Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.2435 (e1b2c72e96*) started at 2026-06-26T00:07:13.660 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 15.04s ################################################################################ # 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 v1.22.1 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.44 [79e6a3ab] + Adapt v4.7.0 [4fba245c] + ArrayInterface v7.25.0 [4c555306] + ArrayLayouts v1.12.2 [b2a6c25c] + BinaryHeaps v1.0.0 [70df07ce] + BracketingNonlinearSolve v1.12.2 [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 v0.2.8 [bbf7d656] + CommonSubexpressions v0.3.1 [34da2185] + Compat v4.18.1 [a33af91c] + CompositionsBase v0.1.2 [2569d6c7] + ConcreteStructs v0.2.5 [187b0558] + ConstructionBase v1.6.0 [864edb3b] + DataStructures v0.19.5 [2b5f629d] + DiffEqBase v7.5.7 [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 v1.3.3 [9aa1b823] + FastClosures v0.3.2 [a4df4552] + FastPower v1.3.2 [5789e2e9] + FileIO v1.19.0 [1a297f60] + FillArrays v1.16.0 [6a86dc24] + FiniteDiff v2.31.1 [f6369f11] + ForwardDiff v1.4.1 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v1.9.2 [46192b85] + GPUArraysCore v0.2.0 [076d061b] + HashArrayMappedTries v0.2.0 [3587e190] + InverseFunctions v0.1.17 [b6b21f68] + Ipopt v1.15.0 [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 v2.9.10 [2ab3a3ac] + LogExpFunctions v1.0.1 [e6f89c97] + LoggingExtras v1.2.0 [1914dd2f] + MacroTools v0.5.16 [b8f27783] + MathOptInterface v1.51.1 [bb5d69b7] + MaybeInplace v0.1.5 [46d2c3a1] + MuladdMacro v0.2.5 [d8a4904e] + MutableArithmetics v1.8.0 [77ba4419] + NaNMath v1.1.4 [538bc3a1] + NamedTrajectories v0.9.1 [be0214bd] + NonlinearSolveBase v2.31.1 ⌅ [bac558e1] + OrderedCollections v1.8.2 [bbf590c4] + OrdinaryDiffEqCore v4.4.0 [b1df2697] + OrdinaryDiffEqTsit5 v2.0.1 [69de0a69] + Parsers v2.8.6 [d236fae5] + PreallocationTools v1.2.1 [aea7be01] + PrecompileTools v1.3.4 [21216c6a] + Preferences v1.5.2 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v4.3.2 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.20 [0bca4576] + SciMLBase v3.22.0 [19f34311] + SciMLJacobianOperators v0.1.14 [a6db7da4] + SciMLLogging v2.0.1 [c0aeaf25] + SciMLOperators v1.22.1 [431bcebd] + SciMLPublic v1.2.0 [53ae85a6] + SciMLStructures v1.10.1 [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 v0.3.49 [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 v2.14.0+0 [9cc047cb] + Ipopt_jll v300.1400.1902+0 [94ce4f54] + Libiconv_jll v1.18.0+0 [d00139f3] + METIS_jll v5.1.3+0 [d7ed1dd3] + MUMPS_seq_jll v500.900.0+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 v1.5.5+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 5.79s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... ┌ Warning: Could not use exact versions of packages in manifest, re-resolving └ @ TestEnv ~/.julia/packages/TestEnv/RUPmD/src/julia-1.13/activate_set.jl:78 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/ofYLk/src/abstractinterpret/typeinfer.jl:233  [2] include(mapexpr::Function, mod::Module, _path::String)  @ Base Base.jl:326  [3] top-level scope  @ ~/.julia/packages/JET/ofYLk/src/JETBase.jl:320  [4] include(mapexpr::Function, mod::Module, _path::String)  @ Base Base.jl:326  [5] top-level scope  @ ~/.julia/packages/JET/ofYLk/src/JET.jl:43  [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/ofYLk/src/abstractinterpret/typeinfer.jl:233 in expression starting at /home/pkgeval/.julia/packages/JET/ofYLk/src/JETBase.jl:320 in expression starting at /home/pkgeval/.julia/packages/JET/ofYLk/src/JET.jl:1 in expression starting at stdin:5 ✗ JET 12.6 s ✓ NamedTrajectories 18.4 s ✓ MadNLP → MadNLPMOI 57.2 s ✓ Ipopt → IpoptMathOptInterfaceExt 30.9 s ✓ DirectTrajOpt 32.1 s ✓ DirectTrajOpt → MadNLPSolverExt 5 dependencies successfully precompiled in 170 seconds. 223 already precompiled. Precompilation completed after 196.22s ################################################################################ # Testing # Testing DirectTrajOpt Test Could not use exact versions of packages in manifest, re-resolving. Note: if you do not check your manifest file into source control, then you can probably ignore this message. However, if you do check your manifest file into source control, then you probably want to pass the `allow_reresolve = false` kwarg when calling the `Pkg.test` function. Updating `/tmp/jl_JbcZkH/Project.toml` [4c88cf16] + Aqua v0.8.16 [c823fa1f] + DirectTrajOpt v0.9.6 [c3a54625] + JET v0.11.5 ⌅ [2621e9c9] + MadNLP v0.9.2 Updating `/tmp/jl_JbcZkH/Manifest.toml` [14f7f29c] + AMD v0.5.3 [4c88cf16] + Aqua v0.8.16 [da1fd8a2] + CodeTracking v3.0.2 [807dbc54] + Compiler v0.1.1 [c823fa1f] + DirectTrajOpt v0.9.6 [c3a54625] + JET v0.11.5 ⌅ [aa1ae85d] + JuliaInterpreter v0.10.12 [70703baa] + JuliaSyntax v1.0.2 [40e66cde] + LDLFactorizations v0.10.2 [5c8ed15e] + LinearOperators v2.14.1 ⌃ [6f1432cf] + LoweredCodeUtils v3.6.2 ⌅ [2621e9c9] + MadNLP v0.9.2 [a4795742] + NLPModels v0.21.12 [295af30f] + Revise v3.15.1 [ff4d7338] + SolverCore v0.3.10 ⌃ [9cc047cb] ↓ Ipopt_jll v300.1400.1902+0 ⇒ v300.1400.1901+0 ⌅ [d7ed1dd3] ↓ MUMPS_seq_jll v500.900.0+0 ⇒ v500.800.200+0 [8bf52ea8] + CRC32c v1.11.0 [3fa0cd96] + REPL v1.11.0 [4607b0f0] + SuiteSparse 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` Test Successfully re-resolved Status `/tmp/jl_JbcZkH/Project.toml` [4c88cf16] Aqua v0.8.16 [c823fa1f] DirectTrajOpt v0.9.6 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.31.1 [f6369f11] ForwardDiff v1.4.1 [b6b21f68] Ipopt v1.15.0 [c3a54625] JET v0.11.5 [5078a376] LazyArrays v2.9.10 ⌅ [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 v3.22.0 [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_JbcZkH/Manifest.toml` [47edcb42] ADTypes v1.22.1 [14f7f29c] AMD v0.5.3 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.44 [79e6a3ab] Adapt v4.7.0 [4c88cf16] Aqua v0.8.16 [4fba245c] ArrayInterface v7.25.0 [4c555306] ArrayLayouts v1.12.2 [b2a6c25c] BinaryHeaps v1.0.0 [70df07ce] BracketingNonlinearSolve v1.12.2 [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 v0.2.8 [bbf7d656] CommonSubexpressions v0.3.1 [34da2185] Compat v4.18.1 [807dbc54] Compiler v0.1.1 [a33af91c] CompositionsBase v0.1.2 [2569d6c7] ConcreteStructs v0.2.5 [187b0558] ConstructionBase v1.6.0 [864edb3b] DataStructures v0.19.5 [2b5f629d] DiffEqBase v7.5.7 [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 v1.3.3 [9aa1b823] FastClosures v0.3.2 [a4df4552] FastPower v1.3.2 [5789e2e9] FileIO v1.19.0 [1a297f60] FillArrays v1.16.0 [6a86dc24] FiniteDiff v2.31.1 [f6369f11] ForwardDiff v1.4.1 [069b7b12] FunctionWrappers v1.1.3 [77dc65aa] FunctionWrappersWrappers v1.9.2 [46192b85] GPUArraysCore v0.2.0 [076d061b] HashArrayMappedTries v0.2.0 [3587e190] InverseFunctions v0.1.17 [b6b21f68] Ipopt v1.15.0 [92d709cd] IrrationalConstants v0.2.6 [82899510] IteratorInterfaceExtensions v1.0.0 [c3a54625] JET v0.11.5 [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 v2.9.10 [5c8ed15e] LinearOperators v2.14.1 [2ab3a3ac] LogExpFunctions v1.0.1 [e6f89c97] LoggingExtras v1.2.0 ⌃ [6f1432cf] LoweredCodeUtils v3.6.2 [1914dd2f] MacroTools v0.5.16 ⌅ [2621e9c9] MadNLP v0.9.2 [b8f27783] MathOptInterface v1.51.1 [bb5d69b7] MaybeInplace v0.1.5 [46d2c3a1] MuladdMacro v0.2.5 [d8a4904e] MutableArithmetics v1.8.0 [a4795742] NLPModels v0.21.12 [77ba4419] NaNMath v1.1.4 [538bc3a1] NamedTrajectories v0.9.1 [be0214bd] NonlinearSolveBase v2.31.1 ⌅ [bac558e1] OrderedCollections v1.8.2 [bbf590c4] OrdinaryDiffEqCore v4.4.0 [b1df2697] OrdinaryDiffEqTsit5 v2.0.1 [69de0a69] Parsers v2.8.6 [d236fae5] PreallocationTools v1.2.1 [aea7be01] PrecompileTools v1.3.4 [21216c6a] Preferences v1.5.2 [3cdcf5f2] RecipesBase v1.3.4 [731186ca] RecursiveArrayTools v4.3.2 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [295af30f] Revise v3.15.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.20 [0bca4576] SciMLBase v3.22.0 [19f34311] SciMLJacobianOperators v0.1.14 [a6db7da4] SciMLLogging v2.0.1 [c0aeaf25] SciMLOperators v1.22.1 [431bcebd] SciMLPublic v1.2.0 [53ae85a6] SciMLStructures v1.10.1 [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 v0.3.49 [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 v2.14.0+0 ⌃ [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 v1.5.5+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: 1.877s integrator 2 jacobian structure: 0.056s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (1.97s) integrator 1 hessian structure: 0.165s integrator 2 hessian structure: 0.045s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.145s sub-objective 2 (QuadraticRegularizer): 1.773s sub-objective 3 (MinimumTimeObjective): 0.017s objective hessian structure: 4.02s hessian structure: 1749 nonzeros (4.232s) linear index maps built (0.0s) evaluator ready (total: 6.612s) evaluator created (12.587s) NL constraint bounds extracted (0.107s) NLP block data built (0.0s) Ipopt optimizer configured (0.395s) variables set (0.856s) 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 (3.096s) optimizer initialization complete (total: 17.133s) ****************************************************************************** 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 2.3295089e+00 3.35e+00 1.37e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6908861e+00 1.46e-01 2.22e+00 -1.0 2.13e+00 0.0 9.32e-01 9.78e-01h 1 2 2.4487465e+00 5.97e-02 4.82e+00 -0.7 4.32e-01 0.4 1.00e+00 6.84e-01h 1 3 2.6199303e+00 1.34e-02 1.33e+00 -0.9 4.57e-01 -0.1 9.71e-01 1.00e+00f 1 4 2.5051551e+00 5.12e-03 8.14e-01 -1.4 9.92e-02 0.4 9.88e-01 7.82e-01h 1 5 2.3107133e+00 3.38e-03 1.74e-01 -2.1 1.28e-01 -0.1 9.98e-01 1.00e+00f 1 6 2.1581943e+00 3.06e-03 1.82e-01 -2.6 3.24e-01 -0.6 9.93e-01 4.79e-01f 1 7 2.1048593e+00 1.21e-03 2.10e-01 -3.5 6.12e-02 -1.1 9.99e-01 6.59e-01h 1 8 2.0909046e+00 3.68e-05 1.66e-03 -4.0 1.11e-02 -1.5 1.00e+00 1.00e+00h 1 9 2.0908858e+00 4.61e-08 7.67e-05 -4.0 2.27e-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 2.0908851e+00 6.59e-11 2.06e-05 -4.0 6.33e-03 -2.5 1.00e+00 1.00e+00h 1 11 2.0908833e+00 1.36e-10 2.06e-05 -4.0 1.90e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908777e+00 1.22e-09 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908608e+00 1.10e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908104e+00 9.91e-08 2.06e-05 -4.0 5.13e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906593e+00 8.94e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902073e+00 8.09e-06 3.62e-05 -4.0 4.60e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888624e+00 7.42e-05 3.23e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849332e+00 7.03e-04 2.94e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796293e+00 2.06e-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 2.0801684e+00 2.94e-04 1.78e-01 -4.0 6.58e+01 -7.3 1.00e+00 9.81e-01H 1 21 2.0773880e+00 8.46e-03 2.12e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.58e-01h 1 22 2.0770491e+00 1.70e-03 7.35e-02 -4.0 2.08e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760484e+00 4.40e-03 2.12e-02 -4.0 3.51e+02 -8.7 1.00e+00 9.20e-01h 1 24 2.0767981e+00 2.61e-02 2.47e-02 -3.7 3.15e+02 -9.2 1.00e+00 1.00e+00h 1 25 2.0764144e+00 8.25e-03 4.37e-03 -3.8 1.25e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0763890e+00 1.70e-04 1.20e-04 -3.8 2.88e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756770e+00 1.53e-03 9.27e-06 -4.0 2.88e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 5.59e-06 1.39e-06 -4.0 2.11e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 3.49e-09 1.43e-07 -4.0 4.79e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756712e+00 4.26e-11 1.59e-09 -4.0 6.45e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712121471215e+00 2.0756712121471215e+00 Dual infeasibility......: 1.5864117223921090e-09 1.5864117223921090e-09 Constraint violation....: 4.2568060187875290e-11 4.2568060187875290e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000021e-04 1.0000000000000021e-04 Overall NLP error.......: 1.5864117223921090e-09 1.5864117223921090e-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 = 64.977 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.054s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.055s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.104s) evaluator created (0.104s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: equality constraint on 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 (0.154s) optimizer initialization complete (total: 0.258s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.5109011e+00 3.15e+00 4.99e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7391812e+00 7.53e-02 2.58e+00 -0.9 2.61e+00 0.0 9.29e-01 9.88e-01h 1 2 2.7588616e+00 3.51e-03 4.71e-01 -0.9 8.77e-02 0.4 9.85e-01 1.00e+00f 1 3 2.4042639e+00 2.48e-03 1.37e-01 -1.7 1.54e-01 -0.1 9.42e-01 1.00e+00f 1 4 2.1607957e+00 1.47e-03 1.15e-01 -2.6 8.81e-02 -0.5 9.86e-01 7.97e-01f 1 5 2.0951592e+00 2.39e-04 4.18e-02 -4.0 2.87e-02 -1.0 1.00e+00 9.39e-01h 1 6 2.0909960e+00 9.02e-05 1.05e-02 -4.0 9.00e-02 -1.5 1.00e+00 9.80e-01h 1 7 2.0909152e+00 1.26e-06 5.16e-03 -4.0 1.37e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909030e+00 1.98e-08 7.08e-05 -4.0 9.87e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909013e+00 4.49e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908963e+00 9.70e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908813e+00 8.71e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908365e+00 7.85e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907022e+00 7.07e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903001e+00 6.40e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891029e+00 5.85e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855935e+00 5.52e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796320e+00 2.29e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.29e-01h 1 18 2.0807332e+00 1.60e-04 1.81e-01 -4.0 6.59e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775329e+00 7.42e-03 2.46e-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 2.0769385e+00 1.13e-03 5.09e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759924e+00 1.01e-03 2.36e-02 -4.0 3.12e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754455e+00 5.00e-04 2.96e-02 -4.0 4.66e+02 -9.1 1.00e+00 7.26e-01H 1 23 2.0757731e+00 2.17e-03 1.05e-02 -4.0 1.41e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753812e+00 1.39e-03 4.85e-04 -4.1 7.84e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 3.94e-04 6.96e-06 -4.0 1.80e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.32e-04 7.53e-07 -4.1 2.59e+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......: 4.4440948322914557e-02 4.4440948322914557e-02 Constraint violation....: 1.4164404722581736e-02 1.4164404722581736e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728794e-04 2.3095644031728794e-04 Overall NLP error.......: 4.4440948322914557e-02 4.4440948322914557e-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 = 24.241 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s integrator 2 jacobian structure: 0.055s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.11s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.05s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.346s sub-objective 2 (QuadraticRegularizer): 0.091s sub-objective 3 (MinimumTimeObjective): 0.016s objective hessian structure: 0.55s hessian structure: 1749 nonzeros (0.65s) linear index maps built (0.0s) evaluator ready (total: 0.76s) evaluator created (0.801s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.124s) 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 (4.849s) optimizer initialization complete (total: 5.774s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.0674046e+00 3.27e+00 6.90e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7346636e+00 1.16e-01 3.00e+00 -1.1 2.25e+00 0.0 8.94e-01 1.00e+00f 1 2 2.6242648e+00 4.89e-02 2.63e+00 -0.6 3.70e-01 0.4 7.84e-01 5.75e-01f 1 3 2.8048078e+00 2.13e-02 6.68e+00 -1.2 3.54e-01 -0.1 6.31e-01 1.00e+00f 1 4 2.6178197e+00 8.42e-03 2.20e+00 -1.4 1.10e-01 0.4 1.00e+00 7.02e-01h 1 5 2.3839605e+00 9.06e-03 2.21e-01 -1.8 1.16e-01 -0.1 1.00e+00 9.03e-01f 1 6 2.1360449e+00 1.19e-02 1.23e-01 -2.2 1.72e-01 -0.6 9.61e-01 1.00e+00f 1 7 2.1230183e+00 8.96e-03 5.41e-01 -2.9 5.38e-02 -1.1 9.99e-01 2.52e-01h 1 8 2.0909535e+00 1.72e-04 9.52e-03 -4.0 2.22e-02 -1.5 1.00e+00 1.00e+00h 1 9 2.0909073e+00 5.67e-07 3.12e-04 -4.0 3.89e-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 2.0909063e+00 3.62e-09 2.06e-05 -4.0 6.33e-03 -2.5 1.00e+00 1.00e+00h 1 11 2.0909044e+00 1.39e-10 2.06e-05 -4.0 1.90e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908988e+00 1.23e-09 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908820e+00 1.11e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908316e+00 1.00e-07 2.06e-05 -4.0 5.13e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906804e+00 9.02e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902283e+00 8.17e-06 3.62e-05 -4.0 4.60e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888833e+00 7.49e-05 3.23e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849537e+00 7.10e-04 2.94e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796520e+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 2.0796441e+00 2.06e-03 1.96e-01 -4.1 6.35e+01 -7.3 1.00e+00 8.00e-01H 1 21 2.0774381e+00 8.92e-03 3.05e-02 -4.0 1.22e+02 -7.7 1.00e+00 9.53e-01h 1 22 2.0769193e+00 1.65e-03 7.03e-02 -4.0 2.07e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0761777e+00 3.24e-03 1.88e-02 -4.0 3.56e+02 -8.7 1.00e+00 8.55e-01h 1 24 2.0755414e+00 1.75e-03 3.28e-02 -4.0 5.14e+02 -9.2 1.00e+00 6.98e-01h 1 25 2.0757480e+00 2.92e-03 1.05e-02 -4.0 1.41e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0753706e+00 1.12e-03 3.90e-04 -4.1 7.18e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756723e+00 4.69e-04 6.15e-06 -4.0 2.07e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 5.70e-07 8.82e-07 -4.0 1.07e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 1.55e-09 5.68e-08 -4.0 3.73e+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 8.98e-10 -4.0 5.35e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712121274834e+00 2.0756712121274834e+00 Dual infeasibility......: 8.9756570294144238e-10 8.9756570294144238e-10 Constraint violation....: 2.1762036617190006e-11 2.1762036617190006e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000048e-04 1.0000000000000048e-04 Overall NLP error.......: 8.9756570294144238e-10 8.9756570294144238e-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 = 33.529 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.055s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.105s) evaluator created (0.106s) 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: 0.106s) 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 3.1030943e+00 3.22e+00 5.04e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5490911e+00 2.56e+00 5.38e+00 -0.8 2.49e+01 -2.0 2.14e-01 2.02e-01f 1 2 2.4937511e+00 1.29e+00 1.20e+01 -0.9 1.15e+01 -1.6 3.45e-01 8.61e-01f 1 3 2.6017830e+00 9.18e-01 9.37e+01 -0.6 9.03e+00 -1.1 1.00e+00 2.80e-01h 1 4 2.9794910e+00 9.36e-02 3.32e+01 -1.0 4.97e+00 -1.6 1.00e+00 9.75e-01h 1 5 2.8568824e+00 1.00e-01 2.37e+00 -1.2 1.83e+00 -2.1 9.98e-01 1.00e+00f 1 6 2.6069916e+00 3.70e-01 1.15e+00 -1.7 7.67e+00 -2.6 9.56e-01 1.00e+00f 1 7 2.3778779e+00 6.05e-01 5.35e-01 -2.4 5.41e+00 -3.1 1.00e+00 1.00e+00h 1 8 2.3179371e+00 2.11e-01 2.39e-01 -2.3 1.01e+01 -3.5 9.89e-01 1.00e+00h 1 9 2.2419589e+00 1.86e-01 1.68e-01 -2.7 1.19e+01 -4.0 9.95e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1717805e+00 3.11e-01 9.93e-02 -3.5 2.02e+01 -4.5 1.00e+00 1.00e+00h 1 11 2.1718898e+00 1.89e-02 3.64e-02 -3.6 7.33e+00 -4.1 1.00e+00 1.00e+00h 1 12 2.1429154e+00 9.80e-02 4.74e-02 -4.0 1.50e+01 -4.5 1.00e+00 1.00e+00h 1 13 2.1225693e+00 1.66e-01 1.40e-01 -3.2 2.10e+01 -5.0 1.00e+00 1.00e+00h 1 14 2.1045348e+00 2.12e-01 2.92e-01 -3.5 3.22e+01 -5.5 1.00e+00 1.00e+00h 1 15 2.0972374e+00 1.68e-01 1.47e-01 -3.1 3.93e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0900147e+00 2.18e-01 7.62e-02 -3.5 6.01e+01 -6.4 1.00e+00 9.98e-01h 1 17 2.0845884e+00 2.34e-02 3.75e-02 -4.0 1.10e+02 -6.9 1.00e+00 1.00e+00h 1 18 2.0792598e+00 5.57e-02 2.24e-01 -3.5 2.74e+02 -7.4 1.00e+00 6.38e-01h 1 19 2.1031643e+00 7.72e-01 1.16e+00 -2.9 5.18e+02 -7.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0946948e+00 1.44e-01 2.20e-01 -2.9 2.61e+02 -8.4 1.00e+00 1.00e+00h 1 21 2.0937340e+00 2.53e-02 1.15e-02 -2.9 1.50e+02 -8.8 1.00e+00 1.00e+00h 1 22 2.0791956e+00 3.29e-01 3.23e-03 -3.7 2.50e+02 -9.3 9.67e-01 1.00e+00h 1 23 2.0757017e+00 4.39e-02 2.67e-03 -4.0 3.06e+02 -9.8 1.00e+00 1.00e+00h 1 24 2.0757840e+00 2.09e-04 1.16e-04 -4.0 5.35e+01 -10.3 1.00e+00 1.00e+00h 1 25 2.0757767e+00 5.32e-06 1.49e-05 -4.0 5.10e+01 -10.7 1.00e+00 1.00e+00h 1 26 2.0757765e+00 5.41e-08 2.35e-06 -4.0 1.99e+01 -11.2 1.00e+00 1.00e+00h 1 27 2.0757765e+00 1.30e-09 4.69e-08 -4.0 2.80e+00 -11.7 1.00e+00 1.00e+00h 1 28 2.0757765e+00 2.24e-12 1.11e-10 -4.0 1.37e-01 -12.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0757764695687904e+00 2.0757764695687904e+00 Dual infeasibility......: 1.1083372262500613e-10 1.1083372262500613e-10 Constraint violation....: 2.2390977960640157e-12 2.2390977960640157e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000047e-04 1.0000000000000047e-04 Overall NLP error.......: 1.1083372262500613e-10 1.1083372262500613e-10 Number of objective function evaluations = 29 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 29 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 23.538 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.056s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.105s) evaluator created (0.105s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: bounds on Δt applying constraint: per-timestep equality constraint on trajectory variable u linear constraints added: 3 (0.048s) optimizer initialization complete (total: 0.154s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1264 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1113 Total number of variables............................: 86 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.0499233e+00 2.65e+00 1.80e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8257951e+01 2.72e+00 1.90e+01 -0.8 1.67e+01 - 5.26e-01 9.84e-01h 1 2 1.8235787e+01 2.71e+00 8.44e+02 -0.4 2.13e+01 0.0 1.00e+00 4.39e-03h 1 3 1.3096487e+01 2.07e+00 1.01e+04 0.8 1.24e+02 -0.5 1.63e-01 3.30e-01F 1 4 1.6591310e+01 1.92e+00 1.87e+04 0.5 5.81e+01 -1.0 1.00e+00 5.60e-02h 1 5 1.7528139e+01 1.64e+00 1.55e+04 -4.0 5.95e+01 - 1.57e-01 1.45e-01h 3 6 2.1044317e+01 1.26e+00 7.48e+03 0.8 1.97e+01 - 4.88e-01 2.39e-01H 1 7 3.1226687e+01 1.55e+00 3.79e+03 0.4 2.41e+02 - 1.00e+00 5.00e-01h 2 8 2.3150138e+01 1.33e+00 7.58e+02 -0.1 7.60e+01 - 5.75e-01 1.00e+00f 1 9 1.4439468e+01 2.09e-01 2.71e+02 0.4 1.92e+00 -0.5 1.00e+00 9.45e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.2706169e+01 1.10e+00 6.25e+02 0.7 2.09e+01 -1.0 5.17e-01 3.25e-01f 1 11 9.5341432e+00 1.46e-01 1.02e+02 0.4 4.01e+00 -1.5 1.00e+00 1.00e+00f 1 12 8.0416495e+00 1.58e-01 8.87e+00 -0.4 5.05e+00 -2.0 9.99e-01 1.00e+00f 1 13 6.8236549e+00 5.24e-01 8.47e+00 -0.5 1.45e+01 -2.4 8.23e-01 1.00e+00f 1 14 5.6258507e+00 1.00e+00 7.80e+00 -0.6 4.04e+01 -2.9 9.16e-01 1.00e+00f 1 15 6.1547554e+00 7.25e-01 9.55e+00 -0.7 2.01e+01 - 5.54e-01 2.05e-01h 3 16 5.3182888e+00 2.94e-01 5.20e-01 -0.9 3.46e+00 - 9.81e-01 1.00e+00f 1 17 5.2983071e+00 3.06e-01 4.41e+01 -3.0 7.33e+01 - 3.42e-01 1.47e-02h 1 18 5.4001749e+00 2.82e-01 2.33e+02 -1.9 5.07e+02 - 1.00e+00 8.36e-02h 3 19 6.0142591e+00 2.83e-01 1.20e+02 0.6 3.40e+02 - 2.85e-01 1.24e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 5.4829756e+00 1.23e+00 3.36e+02 -0.0 3.69e+02 - 1.00e+00 2.50e-01f 3 21 1.0834101e+01 1.02e+00 7.94e+01 -0.0 9.16e+01 - 6.21e-01 1.00e+00h 1 22 5.6678532e+00 1.23e+00 1.64e+01 -0.0 1.80e+02 - 1.00e+00 5.00e-01f 2 23 5.7363016e+00 2.30e-01 1.62e+01 -0.0 2.31e+01 - 7.88e-01 1.00e+00F 1 24 5.8014379e+00 6.96e-02 3.24e+01 -0.8 1.71e+00 -0.7 9.89e-01 1.00e+00h 1 25 5.5490734e+00 5.46e-02 3.24e+00 -1.5 8.34e-01 - 1.00e+00 1.00e+00h 1 26 5.5623102e+00 2.77e-02 5.01e-01 -2.2 1.45e+00 - 9.97e-01 1.00e+00h 1 27 5.5712997e+00 1.42e-02 9.28e-02 -3.2 6.77e-01 - 9.99e-01 1.00e+00h 1 28 5.5840197e+00 1.04e-03 3.58e-03 -4.0 7.13e-02 - 1.00e+00 1.00e+00h 1 29 5.5847942e+00 2.59e-04 7.99e-04 -4.0 2.96e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 5.5849082e+00 4.78e-05 1.45e-04 -4.0 1.27e-02 - 1.00e+00 1.00e+00h 1 31 5.5849293e+00 4.32e-06 1.30e-05 -4.0 3.81e-03 - 1.00e+00 1.00e+00h 1 32 5.5849313e+00 5.31e-08 1.59e-07 -4.0 4.22e-04 - 1.00e+00 1.00e+00h 1 33 5.5849313e+00 8.43e-12 2.52e-11 -4.0 5.32e-06 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 33 (scaled) (unscaled) Objective...............: 5.5849313132644376e+00 5.5849313132644376e+00 Dual infeasibility......: 2.5180687396320067e-11 2.5180687396320067e-11 Constraint violation....: 8.4282580914418759e-12 8.4282580914418759e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000001059246913e-04 1.0000001059246913e-04 Overall NLP error.......: 2.5180687396320067e-11 2.5180687396320067e-11 Number of objective function evaluations = 62 Number of objective gradient evaluations = 34 Number of equality constraint evaluations = 62 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 34 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 33 Total seconds in IPOPT = 24.381 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 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) 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 global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.112s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4805818e+00 2.02e+00 6.39e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7287008e+00 3.52e-02 3.11e+00 -1.0 1.64e+00 0.0 1.00e+00 1.00e+00h 1 2 2.5587672e+00 6.76e-03 3.11e-01 -1.2 1.13e-01 0.4 9.87e-01 1.00e+00f 1 3 2.3259430e+00 2.96e-03 1.06e-01 -1.9 1.00e-01 -0.1 9.38e-01 1.00e+00h 1 4 2.1929404e+00 3.13e-03 1.89e-01 -2.9 1.98e-01 -0.5 9.93e-01 4.20e-01f 1 5 2.1116832e+00 4.95e-04 7.08e-02 -3.5 3.32e-02 -1.0 9.98e-01 8.42e-01h 1 6 2.0909290e+00 3.19e-05 9.55e-03 -4.0 1.03e-02 -1.5 1.00e+00 9.92e-01h 1 7 2.0909264e+00 8.65e-08 1.15e-04 -4.0 1.05e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909251e+00 4.33e-09 5.85e-05 -4.0 1.60e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909235e+00 1.07e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909185e+00 9.67e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909035e+00 8.70e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908587e+00 7.84e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907243e+00 7.06e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903222e+00 6.39e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891248e+00 5.85e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856148e+00 5.51e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796298e+00 2.29e-03 1.35e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.31e-01h 1 18 2.0807027e+00 1.69e-04 1.88e-01 -4.0 6.85e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775277e+00 7.82e-03 2.63e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769857e+00 1.81e-03 8.28e-02 -4.0 2.06e+02 -8.2 9.92e-01 1.00e+00h 1 21 2.0763616e+00 2.27e-03 2.52e-02 -4.0 3.51e+02 -8.6 1.00e+00 6.64e-01h 1 22 2.0755407e+00 1.70e-03 2.66e-02 -4.0 6.17e+02 -9.1 1.00e+00 7.65e-01h 1 23 2.0758111e+00 4.08e-03 1.66e-02 -4.0 1.85e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753954e+00 1.35e-03 8.81e-04 -4.1 1.07e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756721e+00 4.61e-04 9.05e-06 -4.0 2.18e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.84e-07 1.14e-06 -4.0 1.20e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.25e-09 8.50e-08 -4.0 4.29e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.78e-11 1.51e-09 -4.0 6.74e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121579177e+00 2.0756712121579177e+00 Dual infeasibility......: 1.5084692476521281e-09 1.5084692476521281e-09 Constraint violation....: 3.7764458227229625e-11 3.7764458227229625e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000066e-04 1.0000000000000066e-04 Overall NLP error.......: 1.5084692476521281e-09 1.5084692476521281e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 24.172 EXIT: Optimal Solution Found. Difference in Jacobian ┌ 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: 0.055s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.055s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.047s) linear index maps built (0.0s) evaluator ready (total: 0.102s) evaluator created (0.103s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (2.121s) optimizer initialization complete (total: 2.224s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.6082641e+00 2.83e+00 1.88e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8516980e+00 1.36e-02 9.00e-01 -1.1 1.73e+00 -2.0 9.88e-01 1.00e+00h 1 2 2.2444494e+00 1.49e-02 5.30e-02 -1.7 1.98e-01 -1.6 9.83e-01 1.00e+00f 1 3 2.1352596e+00 4.39e-03 1.61e+00 -3.0 1.65e-01 -1.1 9.18e-01 1.00e+00h 1 4 2.0948426e+00 1.41e-03 2.14e-01 -3.8 8.56e-02 -1.6 1.00e+00 1.00e+00h 1 5 2.0909664e+00 4.98e-04 8.91e-01 -4.0 7.23e-01 -2.1 1.00e+00 3.88e-01h 1 6 2.0906197e+00 3.22e-04 7.64e-01 -4.0 1.45e+00 -2.6 1.00e+00 7.45e-01h 1 7 2.0908366e+00 3.99e-05 1.61e-01 -4.0 4.57e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909765e+00 3.64e-06 1.38e-03 -4.0 7.03e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909377e+00 1.56e-06 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908762e+00 1.46e-07 2.05e-05 -4.0 6.30e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0906946e+00 1.29e-06 4.94e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901771e+00 1.09e-05 4.18e-04 -4.0 5.43e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888393e+00 8.16e-05 3.15e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861615e+00 4.37e-04 1.74e-02 -4.0 3.46e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830994e+00 9.08e-04 4.69e-02 -4.0 5.31e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828552e+00 9.33e-04 2.28e-02 -4.0 5.45e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823470e+00 3.92e-04 1.02e-02 -4.0 1.12e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820408e+00 9.38e-05 1.87e-02 -4.0 1.46e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819520e+00 2.72e-04 8.75e-03 -4.0 9.96e+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 3.72e-05 8.52e-04 -4.0 3.12e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.37e-07 1.40e-05 -4.0 4.46e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.88e-10 3.28e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.54e-13 1.22e-11 -4.0 4.61e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191057e+00 2.0819382907191057e+00 Dual infeasibility......: 1.2227861139000457e-11 1.2227861139000457e-11 Constraint violation....: 2.5401902803423582e-13 2.5401902803423582e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000033e-04 1.0000000000000033e-04 Overall NLP error.......: 1.2227861139000457e-11 1.2227861139000457e-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 = 24.769 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 (0.059s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.11s) evaluator created (0.11s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.058s) optimizer initialization complete (total: 0.168s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.2291898e+00 3.12e+00 3.33e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8586699e+00 3.00e-02 8.63e-01 -1.0 2.71e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3416325e+00 6.45e-02 1.40e-01 -1.6 6.35e-01 -1.6 9.37e-01 1.00e+00h 1 3 2.1314332e+00 2.17e-03 2.09e-01 -2.6 8.75e-02 -1.1 9.88e-01 9.98e-01h 1 4 2.0991357e+00 4.15e-04 4.88e-01 -3.7 1.28e-01 -1.6 9.99e-01 9.21e-01h 1 5 2.0941266e+00 2.94e-04 7.36e-01 -4.0 3.34e-01 -2.1 1.00e+00 2.85e-01h 1 6 2.0907938e+00 4.15e-04 1.09e+00 -4.0 1.01e+00 -2.6 1.00e+00 9.07e-01h 1 7 2.0908959e+00 1.08e-05 1.13e-01 -4.0 2.04e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909320e+00 2.35e-06 1.72e-04 -4.0 7.29e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909091e+00 6.46e-07 3.93e-05 -4.0 2.01e-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 2.0908675e+00 1.22e-07 2.44e-04 -4.0 5.14e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907681e+00 5.58e-07 7.77e-04 -4.0 1.32e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904875e+00 5.99e-06 6.73e-04 -4.0 4.23e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903655e+00 7.56e-07 5.52e-04 -4.0 1.53e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0902301e+00 1.29e-06 1.83e-02 -4.0 6.32e+00 -5.5 1.00e+00 2.12e-01h 2 15 2.0891014e+00 5.98e-05 2.35e-03 -4.0 1.35e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0876204e+00 1.34e-04 6.18e-02 -4.0 3.77e+01 -6.4 1.00e+00 4.59e-01h 1 17 2.0837685e+00 1.67e-03 5.78e-02 -4.0 6.77e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0835893e+00 4.33e-04 2.79e-03 -3.8 5.17e+00 -6.5 1.00e+00 9.60e-01h 1 19 2.0827793e+00 2.58e-03 4.22e-03 -4.0 2.89e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825041e+00 6.25e-05 3.34e-03 -4.0 7.41e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821305e+00 8.57e-04 9.14e-03 -4.0 1.75e+02 -7.9 6.23e-01 1.00e+00h 1 22 2.2894901e+00 8.97e-04 8.37e-01 -4.0 3.66e+02 -8.4 5.47e-02 3.98e-01h 1 23 2.2631435e+00 3.15e-08 7.92e-01 -4.1 2.89e-02 1.4 1.00e+00 1.00e+00h 1 24 2.2106418e+00 4.69e-08 6.43e-01 -4.1 6.68e-02 1.0 3.49e-01 1.00e+00f 1 25 2.1370477e+00 4.95e-08 4.15e-01 -4.1 1.34e-01 0.5 1.00e+00 1.00e+00f 1 26 2.0900039e+00 6.48e-08 2.79e-01 -4.1 1.66e-01 0.0 7.81e-01 1.00e+00f 1 27 2.0822254e+00 1.12e-07 2.33e-02 -4.0 8.53e-02 -0.5 1.00e+00 1.00e+00f 1 28 2.0822006e+00 6.05e-09 2.07e-04 -4.0 1.81e-03 -0.9 1.00e+00 1.00e+00h 1 29 2.0822280e+00 5.31e-09 1.44e-04 -4.0 3.79e-03 -1.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0822280e+00 4.81e-09 4.53e-05 -4.0 3.62e-03 -1.9 1.00e+00 1.00e+00h 1 31 2.0822289e+00 1.23e-09 5.45e-06 -4.0 1.31e-03 -2.4 1.00e+00 1.00e+00h 1 32 2.0822289e+00 4.58e-10 3.98e-06 -4.0 2.86e-03 -2.9 1.00e+00 1.00e+00h 1 33 2.0822285e+00 9.74e-11 3.98e-06 -4.0 8.58e-03 -3.3 1.00e+00 1.00e+00h 1 34 2.0822273e+00 8.55e-10 3.97e-06 -4.0 2.57e-02 -3.8 1.00e+00 1.00e+00h 1 35 2.0822237e+00 7.48e-09 3.95e-06 -4.0 7.67e-02 -4.3 1.00e+00 1.00e+00h 1 36 2.0822138e+00 6.16e-08 3.90e-06 -4.0 2.27e-01 -4.8 1.00e+00 1.00e+00h 1 37 2.0820230e+00 1.66e-05 1.04e-04 -4.1 7.51e-01 -5.2 1.00e+00 1.00e+00h 1 38 2.0821317e+00 3.63e-05 3.50e-04 -4.0 1.82e+00 -5.7 1.00e+00 1.00e+00h 1 39 2.0818589e+00 1.17e-04 2.38e-04 -4.1 5.08e+00 -6.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819981e+00 2.95e-04 5.71e-04 -4.0 1.35e+01 -6.7 1.00e+00 1.00e+00h 1 41 2.0816057e+00 7.97e-04 4.63e-03 -4.1 3.91e+01 -7.2 7.00e-01 1.00e+00h 1 42 2.0861956e+00 8.56e-04 6.23e-01 -4.0 3.86e+02 -6.7 1.81e-01 2.55e-02h 1 43 2.0815131e+00 1.47e-04 1.58e-02 -4.2 1.17e+01 -7.2 1.00e+00 1.00e+00h 1 44 2.0818624e+00 6.67e-04 6.54e-04 -4.0 1.86e+01 -7.7 1.00e+00 1.00e+00h 1 45 2.0815816e+00 6.44e-04 6.10e-04 -4.1 2.69e+01 -8.2 1.00e+00 1.00e+00h 1 46 2.0806142e+00 4.18e-03 7.13e-04 -6.2 5.22e+01 -8.6 9.77e-01 9.51e-01h 1 47 2.0809158e+00 3.43e-03 2.10e-02 -4.0 4.48e+01 -9.1 1.00e+00 2.43e-01f 1 48 2.0818514e+00 1.77e-03 1.27e-03 -4.0 2.05e+01 -9.6 1.00e+00 1.00e+00h 1 49 2.0815824e+00 2.13e-04 6.10e-04 -4.1 8.72e+00 -10.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0805865e+00 3.35e-03 1.40e-04 -6.1 4.05e+01 -10.5 9.78e-01 9.74e-01h 1 51 2.0808553e+00 2.94e-03 1.46e-02 -4.0 6.14e+01 -11.0 1.00e+00 2.12e-01f 1 52 2.0818349e+00 2.84e-03 3.54e-04 -4.0 3.39e+01 -11.5 1.00e+00 1.00e+00h 1 53 2.0815787e+00 1.80e-04 5.22e-05 -4.1 8.21e+00 -12.0 1.00e+00 1.00e+00h 1 54 2.0805865e+00 3.30e-03 1.39e-04 -6.1 3.99e+01 -12.5 9.78e-01 9.74e-01h 1 55 2.0805495e+00 5.87e-05 1.65e-06 -6.1 1.51e+01 -12.9 1.00e+00 1.00e+00h 1 56 2.0809742e+00 1.12e-03 1.84e-02 -4.0 8.67e+01 -13.4 1.00e+00 3.19e-01f 1 57 2.0814418e+00 6.34e-04 2.30e-05 -4.2 1.44e+01 -13.9 1.00e+00 1.00e+00f 1 58 2.0805553e+00 2.59e-03 2.45e-04 -6.2 3.48e+01 -14.4 9.81e-01 1.00e+00h 1 59 2.0805451e+00 9.78e-06 1.30e-06 -6.2 9.08e+00 -14.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805860e+00 2.09e-05 2.77e-02 -4.0 9.68e+01 -15.3 1.00e+00 3.16e-02f 1 61 2.0813449e+00 1.74e-03 7.76e-05 -4.2 2.77e+01 -15.8 1.00e+00 1.00e+00f 1 62 2.0813686e+00 6.03e-05 5.24e-06 -4.2 4.99e+01 -16.3 1.00e+00 1.00e+00h 1 63 2.0805939e+00 2.09e-03 3.01e-04 -6.3 3.45e+01 -16.7 9.80e-01 9.52e-01h 1 64 2.0805468e+00 6.90e-05 1.48e-06 -6.3 1.54e+01 -17.2 1.00e+00 1.00e+00h 1 65 2.0805428e+00 4.58e-08 2.03e-08 -6.3 3.22e+00 -17.7 1.00e+00 1.00e+00h 1 66 2.0820274e+00 1.25e-02 4.24e-04 -4.0 1.01e+02 -18.2 1.00e+00 1.00e+00f 1 67 2.0817225e+00 1.05e-03 7.12e-05 -4.1 5.58e+01 -18.7 1.00e+00 1.00e+00h 1 68 2.0816690e+00 1.37e-06 1.03e-06 -4.1 1.12e+01 -19.1 1.00e+00 1.00e+00h 1 69 2.0805917e+00 3.79e-03 1.68e-04 -6.1 4.22e+01 -19.6 9.76e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805515e+00 7.00e-05 2.03e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0805472e+00 5.05e-08 2.17e-08 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 72 2.0805365e+00 9.66e-07 8.16e-07 -9.0 9.63e-01 -20.0 1.00e+00 9.97e-01h 1 73 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 74 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 77 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 79 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 81 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 82 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 85 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 88 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -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 6.66e-16 2.22e-16 -9.0 1.97e-12 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 2.22e-16 2.41e-16 -9.0 7.57e-14 -20.0 1.00e+00 1.00e+00 0 92 2.0805365e+00 8.88e-16 2.03e-16 -9.0 6.78e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 92 (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 = 96 Number of objective gradient evaluations = 93 Number of equality constraint evaluations = 96 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 93 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 93 Total seconds in IPOPT = 26.819 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: 0.053s jacobian structure: 180 nonzeros (0.082s) integrator 1 hessian structure: 0.046s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.351s sub-objective 2 (QuadraticRegularizer): 0.089s sub-objective 3 (MinimumTimeObjective): 0.016s objective hessian structure: 0.547s hessian structure: 375 nonzeros (0.594s) linear index maps built (0.0s) evaluator ready (total: 0.806s) evaluator created (1.282s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.118s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.506s) optimizer initialization complete (total: 4.917s) 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 2.4904570e+00 1.14e+00 1.06e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6130365e+00 3.24e-01 1.34e+00 -0.8 7.74e-01 0.0 9.96e-01 7.86e-01h 1 2 1.6344770e+00 2.80e-01 2.41e+00 -4.0 8.69e+01 - 7.51e-02 5.77e-02h 1 3 1.9207209e+00 2.54e-01 5.86e+00 -2.0 3.63e-01 -0.5 5.87e-01 1.00e+00h 1 4 1.2598594e+00 5.11e-02 2.58e+00 -1.6 7.16e-01 -1.0 9.99e-01 5.76e-01f 1 5 1.1879441e+00 2.11e-02 1.09e+00 -2.3 1.41e-01 -1.4 1.00e+00 5.79e-01h 1 6 1.1063470e+00 3.00e-04 2.08e-02 -3.2 6.24e-02 -1.9 1.00e+00 1.00e+00h 1 7 1.0973835e+00 2.76e-06 4.65e-03 -4.0 1.40e-01 -2.4 1.00e+00 1.00e+00h 1 8 1.0967646e+00 2.68e-09 2.74e-03 -4.0 5.24e-02 -2.0 1.00e+00 1.00e+00h 1 9 1.0964064e+00 9.50e-13 5.60e-04 -4.0 1.53e-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 1.0955646e+00 9.95e-16 2.87e-03 -4.0 4.24e-01 -2.9 1.00e+00 1.00e+00f 1 11 1.0952902e+00 8.70e-16 1.75e-03 -4.0 2.32e+00 -3.4 9.75e-02 1.25e-01f 4 12 1.0951833e+00 7.37e-20 1.34e-03 -4.0 1.39e-01 -2.1 1.00e+00 1.00e+00f 1 13 1.0909330e+00 1.39e-22 3.94e-01 -4.0 4.95e+00 - 1.00e+00 1.00e+00f 1 14 1.0908832e+00 1.28e-23 2.52e-05 -4.0 3.94e-02 - 1.00e+00 1.00e+00f 1 15 1.0908997e+00 5.58e-26 4.05e-07 -4.0 4.06e-03 - 1.00e+00 1.00e+00f 1 16 1.0907198e+00 2.47e-26 4.15e-09 -4.1 2.00e-05 - 1.00e+00 1.00e+00f 1 17 1.0908997e+00 2.63e-25 4.15e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 17 (scaled) (unscaled) Objective...............: 1.0908997336734922e+00 1.0908997336734922e+00 Dual infeasibility......: 4.1515972079401997e-09 4.1515972079401997e-09 Constraint violation....: 2.6323411141233680e-25 2.6323411141233680e-25 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081632745693e-04 1.0000081632745693e-04 Overall NLP error.......: 4.1515972079401997e-09 4.1515972079401997e-09 Number of objective function evaluations = 21 Number of objective gradient evaluations = 18 Number of equality constraint evaluations = 21 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 18 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 17 Total seconds in IPOPT = 26.628 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: 2.415s jacobian structure: 1600 nonzeros (2.479s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.59s 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 (3.644s) linear index maps built (0.0s) evaluator ready (total: 6.123s) evaluator created (6.148s) 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: 6.151s) 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 4.0908745e+00 3.42e+00 7.25e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7648183e+00 7.70e-02 6.99e+00 -0.9 2.71e+00 0.0 9.76e-01 1.00e+00f 1 2 2.4837882e+00 1.59e-02 2.26e+00 -1.0 2.39e-01 0.4 9.73e-01 8.14e-01h 1 3 2.4762921e+00 1.25e-03 5.82e-01 -1.5 1.42e-01 -0.1 9.74e-01 1.00e+00h 1 4 2.2861710e+00 3.08e-03 4.71e-01 -1.9 1.38e-01 -0.5 9.96e-01 4.22e-01h 1 5 2.1290255e+00 1.32e-03 1.03e-01 -2.9 1.37e-01 -1.0 1.00e+00 7.35e-01h 1 6 2.0926256e+00 1.80e-04 3.41e-02 -4.0 2.28e-02 -1.5 1.00e+00 8.97e-01h 1 7 2.0908656e+00 8.82e-07 1.63e-03 -4.0 4.48e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908650e+00 1.52e-08 2.44e-05 -4.0 6.68e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908634e+00 1.57e-10 1.54e-05 -4.0 1.26e-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 2.0908604e+00 4.55e-10 1.53e-05 -4.0 3.78e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908518e+00 3.73e-09 1.52e-05 -4.0 1.12e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908268e+00 3.36e-08 2.20e-05 -4.0 3.28e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907536e+00 3.03e-07 8.61e-05 -4.0 9.54e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905135e+00 2.52e-06 4.88e-04 -4.0 2.89e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0903884e+00 2.75e-06 3.38e-02 -4.0 1.57e+01 -5.8 7.04e-01 7.70e-02h 2 16 2.0885459e+00 1.77e-04 6.63e-03 -4.0 2.36e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0875994e+00 5.36e-05 5.07e-03 -4.0 1.08e+01 -5.8 1.00e+00 9.61e-01h 1 18 2.0859976e+00 2.45e-04 1.83e-02 -4.0 2.55e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0848323e+00 2.69e-04 1.55e-01 -4.0 7.06e+01 -6.8 1.00e+00 1.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827228e+00 3.89e-04 4.76e-02 -4.0 5.75e+01 -7.3 1.00e+00 7.82e-01h 1 21 2.0826107e+00 1.60e-03 3.76e-02 -4.0 1.22e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.1058008e+00 3.50e-06 1.05e+00 -4.0 5.75e+02 -8.2 7.83e-02 1.00e+00H 1 23 2.0858454e+00 2.08e-02 8.19e+00 -4.1 2.02e+02 -5.1 6.17e-03 6.63e-02f 1 24 2.0846316e+00 2.10e-02 8.16e+00 -4.1 4.42e+02 -3.7 8.14e-06 3.07e-03f 1 25 2.0846483e+00 2.10e-02 8.27e+00 -4.1 2.35e+03 -4.2 7.96e-08 1.29e-04f 2 26 2.0841032e+00 1.73e-02 6.97e+00 -4.1 2.94e-01 -2.9 1.00e+00 1.77e-01h 1 27 2.0838672e+00 1.24e-02 5.59e+00 -4.1 9.22e-01 -3.4 1.00e+00 2.81e-01f 1 28 2.0840378e+00 7.30e-06 2.49e-03 -4.1 7.67e-02 -3.9 1.00e+00 1.00e+00f 1 29 2.0842022e+00 6.55e-06 7.19e-05 -4.0 2.15e-01 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0839699e+00 1.83e-05 5.88e-05 -4.1 6.84e-01 -4.8 1.00e+00 1.00e+00h 1 31 2.0840064e+00 4.63e-05 3.61e-04 -4.0 1.80e+00 -5.3 1.00e+00 1.00e+00h 1 32 2.0834567e+00 1.39e-04 5.87e-04 -4.1 4.90e+00 -5.8 1.00e+00 1.00e+00h 1 33 2.0831746e+00 2.20e-04 4.16e-03 -4.0 1.10e+01 -6.2 1.00e+00 1.00e+00h 1 34 2.0828805e+00 9.99e-05 3.88e-03 -4.0 2.50e+01 -6.7 1.00e+00 1.00e+00h 1 35 2.0823790e+00 3.30e-04 1.05e-02 -4.0 5.58e+01 -7.2 1.00e+00 1.00e+00h 1 36 2.0819137e+00 9.61e-04 1.79e-02 -4.0 1.06e+02 -7.7 9.38e-01 1.00e+00h 1 37 2.0817144e+00 1.59e-03 2.58e-01 -4.0 1.12e+03 -7.2 1.14e-02 7.47e-02h 2 38 2.0818159e+00 1.64e-03 8.08e-01 -4.0 6.02e+01 -5.9 2.36e-01 1.10e-01h 3 39 2.0816986e+00 1.48e-03 6.62e-01 -4.1 7.48e-01 -2.8 1.74e-01 9.56e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0825483e+00 7.06e-04 4.05e-01 -4.0 2.50e-01 -3.3 4.90e-01 5.00e-01f 2 41 2.0821572e+00 8.93e-07 2.77e-03 -4.1 2.72e-02 -1.0 1.00e+00 1.00e+00h 1 42 2.0818892e+00 8.49e-07 1.47e-03 -4.0 4.90e-02 -1.5 1.00e+00 1.00e+00h 1 43 2.0818023e+00 5.51e-08 1.37e-04 -4.0 2.70e-02 -2.0 1.00e+00 1.00e+00h 1 44 2.0818220e+00 1.83e-08 1.27e-05 -4.0 3.80e-03 -2.5 1.00e+00 1.00e+00h 1 45 2.0818221e+00 6.08e-09 1.14e-05 -4.0 9.74e-03 -2.9 1.00e+00 1.00e+00h 1 46 2.0818207e+00 3.16e-09 1.14e-05 -4.0 2.91e-02 -3.4 1.00e+00 1.00e+00h 1 47 2.0818159e+00 5.96e-08 1.10e-05 -4.0 8.47e-02 -3.9 1.00e+00 1.00e+00h 1 48 2.0818036e+00 5.00e-07 2.14e-05 -4.0 2.31e-01 -4.4 1.00e+00 1.00e+00h 1 49 2.0816496e+00 9.24e-06 1.45e-04 -4.1 4.93e-01 -4.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817695e+00 1.70e-05 3.10e-04 -4.0 8.42e-01 -5.3 1.00e+00 1.00e+00h 1 51 2.0817876e+00 1.36e-05 2.82e-04 -4.0 1.57e+00 -5.8 1.00e+00 1.00e+00h 1 52 2.0818197e+00 1.92e-05 3.91e-04 -4.0 2.53e+00 -6.3 1.00e+00 1.00e+00h 1 53 2.0816084e+00 9.60e-05 2.28e-04 -4.1 4.13e+00 -6.7 1.00e+00 1.00e+00h 1 54 2.0818238e+00 2.00e-04 2.92e-04 -4.0 8.27e+00 -7.2 1.00e+00 1.00e+00h 1 55 2.0815801e+00 2.03e-04 4.07e-04 -4.1 8.72e+00 -7.7 1.00e+00 1.00e+00h 1 56 2.0818389e+00 3.53e-04 1.13e-04 -4.0 1.47e+01 -8.2 1.00e+00 1.00e+00h 1 57 2.0815846e+00 1.81e-04 1.03e-04 -4.1 8.47e+00 -8.7 1.00e+00 1.00e+00h 1 58 2.0806026e+00 3.29e-03 2.01e-04 -6.1 4.08e+01 -9.1 9.78e-01 9.58e-01h 1 59 2.0818897e+00 6.16e-03 8.31e-04 -4.0 5.77e+01 -9.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816155e+00 4.93e-04 7.11e-05 -4.1 2.07e+01 -10.1 1.00e+00 1.00e+00h 1 61 2.0806048e+00 3.49e-03 2.38e-04 -6.1 4.24e+01 -10.6 9.76e-01 9.57e-01h 1 62 2.0805508e+00 9.81e-05 4.26e-06 -6.1 1.72e+01 -11.0 1.00e+00 1.00e+00h 1 63 2.0819815e+00 1.02e-02 4.05e-04 -4.0 8.53e+01 -11.5 1.00e+00 1.00e+00f 1 64 2.0816802e+00 9.64e-04 4.55e-05 -4.1 4.56e+01 -12.0 1.00e+00 1.00e+00h 1 65 2.0816443e+00 4.71e-07 8.62e-07 -4.1 8.40e+00 -12.5 1.00e+00 1.00e+00h 1 66 2.0818441e+00 1.27e-04 5.48e-06 -4.0 7.55e+00 -13.0 1.00e+00 1.00e+00h 1 67 2.0815834e+00 2.14e-04 9.29e-06 -4.1 9.76e+00 -13.4 1.00e+00 1.00e+00h 1 68 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -13.9 9.77e-01 9.64e-01h 1 69 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -14.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -14.9 1.00e+00 1.00e+00f 1 71 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -15.3 1.00e+00 1.00e+00h 1 72 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -15.8 1.00e+00 1.00e+00h 1 73 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -16.3 9.76e-01 9.67e-01h 1 74 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -16.8 1.00e+00 1.00e+00h 1 75 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -17.2 1.00e+00 1.00e+00h 1 76 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -17.7 1.00e+00 1.00e+00f 1 77 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -18.2 1.00e+00 1.00e+00h 1 78 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -18.7 1.00e+00 1.00e+00h 1 79 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -19.2 9.76e-01 9.67e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -19.6 1.00e+00 1.00e+00h 1 81 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 82 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-01 -20.0 1.00e+00 9.97e-01h 1 83 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 84 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 87 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 89 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 90 2.0805365e+00 8.66e-11 2.16e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 91 2.0820415e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 92 2.0817247e+00 1.13e-03 7.75e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0816664e+00 1.64e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 95 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.05e+00 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.47e-01 -20.0 1.00e+00 9.97e-01h 1 98 2.0805365e+00 8.67e-11 2.17e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 8.88e-16 9.09e-15 -9.0 9.99e-06 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 4.44e-16 9.09e-15 -9.0 1.62e-12 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436484e+00 2.0805364595436484e+00 Dual infeasibility......: 9.0909090910998750e-15 9.0909090910998750e-15 Constraint violation....: 4.4408920985006262e-16 4.4408920985006262e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090978348416e-10 9.0909090978348416e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 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 = 27.855 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: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 6.587s jacobian structure: 1680 nonzeros (6.645s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 12.843s 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): 0.567s objective hessian structure: 0.568s hessian structure: 1964 nonzeros (13.462s) linear index maps built (0.0s) evaluator ready (total: 20.108s) evaluator created (20.136s) 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: 20.137s) 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 6.1277554e+00 3.82e+00 2.76e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.6299896e+00 1.49e+00 2.34e+00 -0.9 2.21e+00 0.0 7.35e-01 6.11e-01f 1 2 2.8098939e+00 3.88e-02 1.97e+00 -0.8 9.86e-01 -0.5 8.98e-01 1.00e+00f 1 3 2.5337297e+00 1.77e-02 2.73e-01 -1.3 2.34e-01 -1.0 9.96e-01 1.00e+00h 1 4 2.2027492e+00 8.12e-03 6.01e-02 -2.2 1.84e-01 -1.4 9.60e-01 1.00e+00h 1 5 2.1008944e+00 1.08e-03 3.24e-02 -3.2 1.17e-01 -1.9 9.95e-01 9.12e-01h 1 6 2.0910205e+00 1.14e-05 7.33e-04 -4.0 1.00e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908896e+00 2.17e-07 5.75e-05 -4.0 4.25e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908853e+00 3.29e-10 1.50e-05 -4.0 3.27e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908776e+00 2.72e-09 1.49e-05 -4.0 9.79e-02 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908551e+00 2.43e-08 1.48e-05 -4.0 2.91e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907873e+00 2.24e-07 5.46e-05 -4.0 8.66e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905430e+00 2.25e-06 6.59e-04 -4.0 2.75e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0899266e+00 4.48e-06 9.53e-03 -4.0 9.02e+00 -5.7 1.00e+00 7.26e-01H 1 14 2.0885482e+00 2.26e-04 3.16e-02 -4.0 2.52e+01 -6.2 1.00e+00 1.00e+00f 1 15 2.0873063e+00 2.90e-04 7.05e-01 -3.7 1.60e+02 -5.8 1.00e+00 6.89e-02h 1 16 2.0857239e+00 2.16e-04 2.91e-02 -4.0 2.20e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0834982e+00 2.49e-04 2.53e-02 -4.0 3.89e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0826675e+00 1.14e-04 4.72e-03 -4.0 5.43e+01 -7.2 1.00e+00 7.66e-01h 1 19 2.0824898e+00 3.96e-04 1.49e-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 2.1450834e+00 8.01e-05 2.28e+00 -4.0 6.87e+02 -8.2 6.58e-02 1.00e+00H 1 21 2.0914426e+00 1.96e-04 9.21e+00 -4.1 9.77e+00 -2.3 1.47e-02 1.80e-01f 1 22 2.0876598e+00 1.40e-04 6.67e+00 -4.1 9.24e-01 -2.8 1.00e+00 2.78e-01f 1 23 2.0861994e+00 2.59e-04 3.83e+00 -3.9 4.84e+00 -3.3 1.00e+00 4.36e-01f 1 24 2.0851737e+00 1.28e-05 1.36e-02 -4.0 3.53e-01 -3.7 1.00e+00 1.00e+00h 1 25 2.0846216e+00 4.01e-05 1.78e-03 -4.0 3.29e-01 -4.2 1.00e+00 1.00e+00h 1 26 2.0845486e+00 7.64e-06 3.64e-05 -4.0 4.64e-01 -4.7 1.00e+00 1.00e+00h 1 27 2.0844622e+00 1.69e-06 9.42e-05 -4.0 1.35e+00 -5.2 1.00e+00 1.00e+00h 1 28 2.0842755e+00 9.80e-06 5.12e-04 -4.0 3.73e+00 -5.7 1.00e+00 1.00e+00h 1 29 2.0840049e+00 2.58e-05 1.36e-03 -4.0 9.82e+00 -6.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0835839e+00 5.89e-05 2.75e-03 -4.0 2.53e+01 -6.6 1.00e+00 1.00e+00h 1 31 2.0828767e+00 3.56e-04 1.25e-02 -4.0 5.76e+01 -7.1 1.00e+00 1.00e+00h 1 32 2.0818910e+00 1.25e-03 3.28e-02 -4.1 1.07e+02 -7.6 1.00e+00 1.00e+00h 1 33 2.0818624e+00 5.52e-03 3.57e-02 -4.0 2.37e+02 -8.0 2.81e-01 1.00e+00h 1 34 2.0937916e+00 3.55e-04 6.89e-01 -4.0 1.07e+02 -6.7 6.29e-01 1.00e+00H 1 35 2.0824015e+00 4.73e-05 9.10e-02 -4.1 1.16e-01 -0.9 1.00e+00 8.67e-01h 1 36 2.0827706e+00 2.61e-07 1.60e-03 -4.0 3.17e-02 -1.3 1.00e+00 1.00e+00f 1 37 2.0824883e+00 8.32e-07 1.13e-03 -4.0 6.73e-02 -1.8 1.00e+00 1.00e+00h 1 38 2.0823362e+00 1.36e-06 5.00e-04 -4.0 8.77e-02 -2.3 1.00e+00 1.00e+00h 1 39 2.0823811e+00 6.12e-08 3.81e-05 -4.0 1.78e-02 -2.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0823740e+00 3.65e-08 3.79e-05 -4.0 1.16e-02 -3.3 1.00e+00 1.00e+00h 1 41 2.0823718e+00 4.71e-09 3.79e-05 -4.0 3.47e-02 -3.7 1.00e+00 1.00e+00h 1 42 2.0823657e+00 7.08e-09 3.80e-05 -4.0 1.03e-01 -4.2 1.00e+00 1.00e+00h 1 43 2.0823476e+00 6.27e-08 3.81e-05 -4.0 3.02e-01 -4.7 1.00e+00 1.00e+00h 1 44 2.0822975e+00 5.20e-07 4.25e-05 -4.0 8.37e-01 -5.2 1.00e+00 1.00e+00h 1 45 2.0821786e+00 3.62e-06 2.56e-04 -4.0 2.01e+00 -5.6 1.00e+00 1.00e+00h 1 46 2.0819999e+00 1.50e-05 7.83e-04 -4.0 3.93e+00 -6.1 1.00e+00 1.00e+00h 1 47 2.0818888e+00 2.62e-05 8.68e-04 -4.0 1.05e+01 -6.6 1.00e+00 1.00e+00h 1 48 2.0817559e+00 1.46e-04 6.25e-03 -4.0 3.80e+01 -7.1 8.54e-01 1.00e+00h 1 49 2.0817095e+00 1.93e-04 2.21e+00 -4.0 2.55e+01 -5.7 1.00e+00 1.10e-01h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817216e+00 1.48e-05 1.28e-03 -4.0 1.55e+00 -6.2 1.00e+00 1.00e+00h 1 51 2.0818061e+00 1.02e-04 4.81e-04 -4.0 3.85e+00 -6.7 1.00e+00 1.00e+00h 1 52 2.0815915e+00 5.92e-05 1.18e-04 -4.1 2.47e+00 -7.2 1.00e+00 1.00e+00h 1 53 2.0818333e+00 1.35e-04 1.80e-04 -4.0 5.61e+00 -7.7 1.00e+00 1.00e+00h 1 54 2.0815849e+00 1.20e-04 1.25e-04 -4.1 5.96e+00 -8.1 1.00e+00 1.00e+00h 1 55 2.0818403e+00 2.49e-04 6.68e-05 -4.0 1.04e+01 -8.6 1.00e+00 1.00e+00h 1 56 2.0815826e+00 1.99e-04 4.26e-05 -4.1 9.14e+00 -9.1 1.00e+00 1.00e+00h 1 57 2.0818417e+00 1.92e-04 4.02e-05 -4.0 8.82e+00 -9.6 1.00e+00 1.00e+00h 1 58 2.0815820e+00 2.08e-04 3.27e-05 -4.1 9.50e+00 -10.0 1.00e+00 1.00e+00h 1 59 2.0818419e+00 2.12e-04 4.02e-05 -4.0 9.65e+00 -10.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0815819e+00 2.13e-04 3.27e-05 -4.1 9.71e+00 -11.0 1.00e+00 1.00e+00h 1 61 2.0818419e+00 2.13e-04 4.02e-05 -4.0 9.74e+00 -11.5 1.00e+00 1.00e+00h 1 62 2.0815819e+00 2.14e-04 3.27e-05 -4.1 9.74e+00 -11.9 1.00e+00 1.00e+00h 1 63 2.0818419e+00 2.14e-04 4.02e-05 -4.0 9.74e+00 -12.4 1.00e+00 1.00e+00h 1 64 2.0815819e+00 2.14e-04 3.27e-05 -4.1 9.75e+00 -12.9 1.00e+00 1.00e+00h 1 65 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -13.4 9.77e-01 9.68e-01h 1 66 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -13.9 1.00e+00 1.00e+00f 1 67 2.0816124e+00 4.95e-04 3.34e-05 -4.1 2.07e+01 -14.3 1.00e+00 1.00e+00h 1 68 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -14.8 9.76e-01 9.61e-01h 1 69 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -15.8 1.00e+00 1.00e+00f 1 71 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.2 1.00e+00 1.00e+00h 1 72 2.0816420e+00 4.58e-07 3.44e-05 -4.1 8.54e+00 -16.7 1.00e+00 1.00e+00h 1 73 2.0818414e+00 1.26e-04 4.02e-05 -4.0 7.46e+00 -17.2 1.00e+00 1.00e+00h 1 74 2.0815817e+00 2.11e-04 3.27e-05 -4.1 9.63e+00 -17.7 1.00e+00 1.00e+00h 1 75 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -18.1 9.77e-01 9.68e-01h 1 76 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -18.6 1.00e+00 1.00e+00h 1 77 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -19.1 1.00e+00 1.00e+00f 1 78 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -19.6 1.00e+00 1.00e+00h 1 79 2.0816444e+00 5.44e-07 3.45e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 81 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0805468e+00 5.07e-08 3.44e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 83 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 84 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0816573e+00 1.18e-06 3.48e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 87 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805469e+00 5.37e-08 3.50e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-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 90 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 91 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0816639e+00 1.62e-06 3.50e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 94 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0805470e+00 5.53e-08 3.53e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 97 2.0805365e+00 8.66e-11 4.01e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 98 2.0820406e+00 1.30e-02 4.36e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 99 2.0817222e+00 1.13e-03 7.75e-05 -4.1 5.82e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0816640e+00 1.63e-06 3.50e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0816640288047314e+00 2.0816640288047314e+00 Dual infeasibility......: 3.5005968819078769e-05 3.5005968819078769e-05 Constraint violation....: 1.6277555169308400e-06 1.6277555169308400e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.8058991655518785e-05 8.8058991655518785e-05 Overall NLP error.......: 3.5005968819078769e-05 3.5005968819078769e-05 Number of objective function evaluations = 108 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 108 Number of inequality constraint evaluations = 108 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 33.792 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: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 4.265s jacobian structure: 1594 nonzeros (4.323s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 10.73s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (10.782s) linear index maps built (0.0s) evaluator ready (total: 15.106s) evaluator created (15.132s) 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 (0.001s) optimizer initialization complete (total: 15.134s) 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 6.9877242e+01 3.23e+00 2.63e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.1877162e+01 2.47e+00 1.74e+01 -0.6 2.10e+01 -2.0 1.98e-01 3.68e-01f 1 2 1.5163284e+01 1.65e+00 1.15e+01 -4.0 2.30e+01 -2.5 1.87e-01 3.44e-01f 1 3 1.3342910e+01 1.54e+00 2.60e+01 -0.4 3.08e+00 -1.1 8.15e-01 7.10e-02f 1 4 4.6141945e+00 8.64e-01 2.58e+01 0.0 8.53e+00 -1.6 8.88e-01 5.70e-01f 1 5 2.8907019e+00 1.57e+00 1.57e+01 -2.1 1.34e+01 -2.1 4.01e-01 8.78e-01f 1 6 3.1232142e+00 7.39e-01 7.70e+00 -0.1 3.67e+00 -1.7 1.00e+00 9.31e-01f 1 7 2.9863762e+00 6.97e-01 1.19e+01 -0.5 1.00e+01 -1.3 6.53e-01 3.35e-01h 1 8 3.2037299e+00 4.04e-02 3.73e+00 -0.3 1.74e+00 -1.7 7.94e-01 1.00e+00f 1 9 3.0679510e+00 8.06e-03 1.37e+00 -1.4 2.09e-01 -0.4 8.81e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.4984169e+00 6.01e-02 5.10e-01 -1.4 5.30e-01 -0.9 9.47e-01 1.00e+00f 1 11 2.2498104e+00 1.88e-02 2.26e-01 -1.8 3.90e-01 -1.4 9.03e-01 7.79e-01h 1 12 2.1415058e+00 4.60e-03 7.96e-02 -2.4 1.55e-01 -1.8 9.43e-01 8.59e-01h 1 13 2.0955519e+00 1.00e-03 1.24e-02 -3.3 1.07e-01 -2.3 9.86e-01 1.00e+00h 1 14 2.0910051e+00 1.13e-05 2.25e-04 -4.0 1.28e-02 -2.8 1.00e+00 1.00e+00h 1 15 2.0910470e+00 9.73e-07 2.25e-04 -4.0 3.56e-02 -3.3 1.00e+00 1.00e+00h 1 16 2.0910369e+00 1.09e-08 2.25e-04 -4.0 1.03e-01 -3.7 1.00e+00 1.00e+00h 1 17 2.0910121e+00 5.96e-08 2.25e-04 -4.0 2.84e-01 -4.2 1.00e+00 1.00e+00h 1 18 2.0909539e+00 2.85e-07 3.20e-04 -4.0 7.49e-01 -4.7 1.00e+00 1.00e+00h 1 19 2.0907969e+00 1.53e-06 6.35e-04 -4.0 2.18e+00 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0902668e+00 1.34e-05 1.32e-03 -4.0 6.23e+00 -5.6 1.00e+00 1.00e+00h 1 21 2.0889308e+00 1.23e-04 1.19e-02 -4.0 1.98e+01 -6.1 1.00e+00 1.00e+00h 1 22 2.0884674e+00 5.32e-06 2.18e-03 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 23 2.0883370e+00 1.86e-06 1.78e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 24 2.0874914e+00 3.11e-05 4.20e-03 -4.0 8.95e+00 -5.7 1.00e+00 1.00e+00h 1 25 2.0860098e+00 1.65e-04 8.45e-03 -4.0 2.18e+01 -6.2 1.00e+00 1.00e+00h 1 26 2.0843985e+00 2.48e-04 5.20e-02 -4.0 4.23e+01 -6.7 1.00e+00 5.27e-01h 1 27 2.0827412e+00 2.30e-04 3.28e-02 -4.0 5.14e+01 -7.2 1.00e+00 7.23e-01h 1 28 2.0827009e+00 1.46e-03 3.96e-02 -4.0 1.07e+02 -7.7 1.00e+00 1.00e+00h 1 29 2.0853360e+00 1.39e-06 1.96e-01 -4.0 3.86e+02 -8.1 1.57e-01 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0832545e+00 4.62e-03 7.56e-01 -4.0 1.27e+02 -5.9 8.36e-02 1.51e-01f 1 31 2.0830025e+00 4.60e-03 7.47e-01 -4.1 3.73e+01 -3.7 2.82e-03 6.18e-03h 1 32 2.0831190e+00 4.41e-03 8.18e-01 -4.1 3.86e+00 -4.1 1.00e+00 4.22e-02h 1 33 2.0828649e+00 3.66e-03 1.40e+00 -4.1 9.60e-01 -4.6 1.00e+00 1.72e-01f 1 34 2.0828986e+00 3.61e-05 1.51e-03 -4.1 1.16e+00 -5.1 1.00e+00 1.00e+00f 1 35 2.0828731e+00 7.31e-05 7.63e-04 -4.0 2.63e+00 -5.6 1.00e+00 1.00e+00h 1 36 2.0825557e+00 3.31e-05 1.63e-03 -4.0 5.94e+00 -6.1 1.00e+00 1.00e+00h 1 37 2.0823438e+00 4.93e-05 2.17e-03 -4.0 1.36e+01 -6.5 1.00e+00 1.00e+00h 1 38 2.0821319e+00 5.99e-05 2.82e-03 -4.0 3.17e+01 -7.0 1.00e+00 1.00e+00h 1 39 2.0818579e+00 2.30e-04 3.15e-03 -4.0 6.64e+01 -7.5 8.30e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0816558e+00 1.22e-03 1.51e-02 -4.0 1.95e+01 -6.2 1.00e+00 1.00e+00h 1 41 2.0817624e+00 1.39e-04 5.75e-03 -4.0 4.25e+00 -6.6 1.00e+00 1.00e+00h 1 42 2.0819774e+00 3.62e-07 6.93e-03 -4.0 7.42e+00 -7.1 1.00e+00 1.00e+00H 1 43 2.0818812e+00 1.10e-05 2.01e-03 -4.0 9.52e+00 -7.6 1.00e+00 1.00e+00h 1 44 2.0879498e+00 7.21e-02 2.96e-01 -2.0 3.10e+03 -8.1 1.39e-01 4.67e-02f 1 45 2.1417912e+00 5.63e-02 6.11e-01 -3.0 1.47e+02 -8.5 1.00e+00 1.00e+00h 1 46 2.0933510e+00 1.46e-02 9.38e-02 -3.0 3.36e-01 -0.7 1.00e+00 7.40e-01h 1 47 2.1248568e+00 1.17e-06 4.43e-02 -3.0 1.09e-01 -1.2 1.00e+00 1.00e+00h 1 48 2.1034144e+00 1.04e-05 4.52e-02 -3.0 2.27e-01 -1.7 1.00e+00 1.00e+00f 1 49 2.0955902e+00 4.02e-07 9.94e-03 -3.0 6.87e-02 -2.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0875083e+00 1.53e-04 3.68e-02 -4.5 2.21e-01 -2.6 8.55e-01 1.00e+00h 1 51 2.0851419e+00 3.55e-05 1.78e-03 -4.5 8.80e-02 -3.1 1.00e+00 9.94e-01h 1 52 2.0851013e+00 1.88e-06 1.51e-04 -4.5 5.98e-02 -3.6 1.00e+00 1.00e+00h 1 53 2.0847129e+00 6.84e-06 6.48e-05 -6.7 1.79e-01 -4.0 1.00e+00 1.00e+00h 1 54 2.0846608e+00 6.19e-08 2.10e-05 -6.7 5.34e-01 -4.5 1.00e+00 1.00e+00h 1 55 2.0855490e+00 1.75e-04 4.18e-04 -4.0 1.59e+00 -5.0 1.00e+00 1.00e+00f 1 56 2.0849846e+00 8.97e-05 5.40e-04 -4.1 4.56e+00 -5.5 1.00e+00 1.00e+00h 1 57 2.0833318e+00 1.10e-03 3.41e-03 -6.1 1.26e+01 -5.9 9.49e-01 1.00e+00h 1 58 2.0815092e+00 1.02e-04 1.77e-02 -6.1 3.01e+01 -6.4 7.00e-01 1.00e+00h 1 59 2.0811870e+00 9.71e-05 2.31e+00 -4.0 3.85e+03 -6.9 1.09e-01 5.16e-03f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0823904e+00 2.04e-02 1.65e-01 -4.2 1.02e+02 -7.4 1.00e+00 1.54e-01f 2 61 2.0816698e+00 4.90e-03 1.84e-01 -4.2 3.20e+00 -5.1 6.68e-01 8.61e-01h 1 62 2.0815942e+00 2.10e-03 4.01e-01 -4.2 8.25e-02 -2.0 1.00e+00 5.72e-01h 1 63 2.0817772e+00 6.76e-07 3.59e-04 -4.2 2.71e-02 -2.5 1.00e+00 1.00e+00f 1 64 2.0820351e+00 1.03e-06 1.20e-03 -4.0 9.11e-02 -3.0 1.00e+00 1.00e+00h 1 65 2.0818624e+00 1.21e-06 1.98e-04 -4.1 3.40e-02 -3.4 1.00e+00 1.00e+00h 1 66 2.0812942e+00 1.60e-05 3.22e-02 -6.1 1.65e-01 -3.9 7.97e-01 1.00e+00h 1 67 2.0816806e+00 2.39e-05 7.64e-01 -4.0 1.01e+00 -4.4 1.00e+00 4.72e-01h 1 68 2.0816941e+00 4.68e-06 6.68e-04 -4.2 2.26e-01 -4.9 1.00e+00 1.00e+00h 1 69 2.0819243e+00 2.30e-05 3.22e-04 -4.0 3.84e-01 -5.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0817475e+00 2.02e-05 2.01e-04 -4.1 9.06e-01 -5.8 1.00e+00 1.00e+00h 1 71 2.0808925e+00 6.30e-04 5.21e-03 -6.1 8.55e+00 -6.3 9.93e-01 1.00e+00h 1 72 2.0809649e+00 2.31e-05 3.42e-03 -4.9 2.38e-01 -4.1 1.00e+00 9.64e-01h 1 73 2.0812076e+00 2.55e-05 3.45e-01 -4.0 1.47e+00 -4.6 1.00e+00 3.32e-01f 1 74 2.0813907e+00 3.59e-05 7.40e-04 -4.1 1.15e+00 -5.0 1.00e+00 1.00e+00h 1 75 2.0809399e+00 1.21e-04 2.92e-03 -6.2 1.68e+00 -5.5 1.00e+00 1.00e+00h 1 76 2.0810338e+00 1.04e-04 1.58e+00 -4.0 1.91e+00 -4.2 1.00e+00 1.43e-01h 1 77 2.0813051e+00 5.14e-05 2.55e-03 -4.1 9.81e-01 -4.7 1.00e+00 1.00e+00h 1 78 2.0814053e+00 9.51e-06 1.73e-03 -4.1 1.01e+00 -5.1 1.00e+00 1.00e+00h 1 79 2.0817004e+00 9.61e-05 5.84e-04 -4.0 2.82e+00 -5.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0816303e+00 2.36e-05 8.59e-04 -4.1 1.40e+00 -6.1 1.00e+00 1.00e+00h 1 81 2.0816595e+00 3.79e-06 1.85e-04 -4.1 2.56e+00 -6.6 1.00e+00 1.00e+00h 1 82 2.0818887e+00 1.36e-04 2.41e-04 -4.0 5.59e+00 -7.0 1.00e+00 1.00e+00h 1 83 2.0816377e+00 2.67e-04 5.24e-04 -4.1 1.24e+01 -7.5 1.00e+00 1.00e+00h 1 84 2.0806632e+00 3.03e-03 5.13e-04 -6.1 3.83e+01 -8.0 9.73e-01 9.39e-01h 1 85 2.0818759e+00 5.22e-03 2.31e-03 -4.0 4.46e+01 -8.5 1.00e+00 1.00e+00f 1 86 2.0816246e+00 6.02e-04 9.26e-04 -4.1 2.57e+01 -8.9 1.00e+00 1.00e+00h 1 87 2.0816056e+00 1.90e-06 1.84e-04 -4.1 8.29e+00 -9.4 1.00e+00 1.00e+00h 1 88 2.0818392e+00 1.70e-04 2.25e-04 -4.0 8.61e+00 -9.9 1.00e+00 1.00e+00h 1 89 2.0815803e+00 2.08e-04 1.80e-04 -4.1 9.47e+00 -10.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805900e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -10.9 9.78e-01 9.71e-01h 1 91 2.0818882e+00 6.56e-03 3.07e-04 -4.0 6.09e+01 -11.3 1.00e+00 1.00e+00f 1 92 2.0816136e+00 4.88e-04 1.84e-04 -4.1 2.07e+01 -11.8 1.00e+00 1.00e+00h 1 93 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -12.3 9.76e-01 9.65e-01h 1 94 2.0805508e+00 8.46e-05 2.24e-06 -6.1 1.69e+01 -12.8 1.00e+00 1.00e+00h 1 95 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -13.2 1.00e+00 1.00e+00f 1 96 2.0816837e+00 9.34e-04 1.91e-04 -4.1 4.57e+01 -13.7 1.00e+00 1.00e+00h 1 97 2.0816477e+00 4.73e-07 1.91e-04 -4.1 8.52e+00 -14.2 1.00e+00 1.00e+00h 1 98 2.0818389e+00 1.15e-04 2.25e-04 -4.0 7.07e+00 -14.7 1.00e+00 1.00e+00h 1 99 2.0815801e+00 2.08e-04 1.80e-04 -4.1 9.50e+00 -15.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -15.6 9.78e-01 9.71e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805898451931801e+00 2.0805898451931801e+00 Dual infeasibility......: 1.3889702250295433e-04 1.3889702250295433e-04 Constraint violation....: 3.2931333254628825e-03 3.2931333254628825e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.7646791691744016e-05 1.7646791691744016e-05 Overall NLP error.......: 3.2931333254628825e-03 3.2931333254628825e-03 Number of objective function evaluations = 107 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 107 Number of inequality constraint evaluations = 107 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 34.780 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: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.068s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.121s) evaluator created (0.122s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.122s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 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 2.6652498e+00 4.22e+00 4.14e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4319593e+00 1.91e+00 3.99e+00 -4.0 3.08e+00 0.0 1.01e-01 5.46e-01h 1 2 2.8026896e+00 1.89e-01 1.85e+00 -0.9 1.45e+00 -0.5 1.00e+00 9.01e-01h 1 3 2.6585189e+00 8.23e-02 4.40e-01 -1.0 8.66e-01 -1.0 9.58e-01 7.56e-01f 1 4 2.3205574e+00 5.34e-02 2.09e-01 -1.8 6.58e-01 -1.4 9.72e-01 1.00e+00h 1 5 2.1708871e+00 1.24e-02 6.44e-02 -2.2 3.49e-01 -1.9 9.04e-01 8.34e-01h 1 6 2.0963380e+00 1.08e-03 1.97e-02 -3.1 1.20e-01 -2.4 9.76e-01 9.64e-01h 1 7 2.0908926e+00 1.98e-05 9.43e-04 -4.0 1.68e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908365e+00 6.52e-07 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908364821348870e+00 2.0908364821348870e+00 Dual infeasibility......: 2.0578148654443486e-05 2.0578148654443486e-05 Constraint violation....: 6.5185971394603366e-07 6.5185971394603366e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0002765319806291e-04 1.0002765319806291e-04 Overall NLP error.......: 2.0578148654443486e-05 2.0578148654443486e-05 Number of objective function evaluations = 9 Number of objective gradient evaluations = 9 Number of equality constraint evaluations = 9 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 9 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 8 Total seconds in IPOPT = 26.653 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.112s) evaluator created (0.113s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.113s) 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 5.4357155e+00 3.26e+00 6.33e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.2118429e+00 1.84e+00 2.18e+00 -0.8 1.90e+00 0.0 8.68e-01 4.37e-01f 1 2 2.5310564e+00 2.63e-02 1.71e+00 -0.9 1.21e+00 -0.5 9.42e-01 1.00e+00f 1 3 2.5156404e+00 2.47e-03 4.09e-01 -1.3 1.73e-01 -1.0 9.66e-01 1.00e+00h 1 4 2.2192318e+00 1.23e-02 1.33e-01 -2.1 3.14e-01 -1.4 9.94e-01 7.46e-01f 1 5 2.0997425e+00 1.16e-03 1.80e-02 -3.0 6.05e-02 -1.9 9.94e-01 1.00e+00h 1 6 2.0908165e+00 1.83e-05 6.98e-04 -4.0 8.53e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908947e+00 4.40e-07 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908904e+00 1.11e-09 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908771e+00 6.91e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908372e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907178e+00 5.61e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903603e+00 5.07e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892948e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861630e+00 4.35e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796412e+00 2.51e-03 8.69e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.56e-01h 1 16 2.0812398e+00 1.29e-04 1.82e-01 -4.0 6.97e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778364e+00 5.56e-03 2.45e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781817e+00 1.73e-02 4.32e-02 -3.7 1.64e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0768349e+00 1.03e-02 2.30e-02 -3.8 3.07e+02 -8.6 1.00e+00 9.37e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760942e+00 6.85e-03 2.45e-02 -3.9 4.49e+02 -9.1 1.00e+00 9.82e-01f 1 21 2.0757477e+00 9.87e-03 1.07e-02 -4.0 1.41e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756794e+00 5.23e-04 4.20e-04 -4.0 5.97e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 4.75e-06 8.49e-06 -4.0 2.38e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 6.19e-08 1.59e-06 -4.0 1.55e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.80e-09 1.61e-07 -4.0 5.45e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.45e-11 3.28e-09 -4.0 9.66e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122147261e+00 2.0756712122147261e+00 Dual infeasibility......: 3.2754761672339639e-09 3.2754761672339639e-09 Constraint violation....: 8.4476092787610924e-11 8.4476092787610924e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000051e-04 1.0000000000000051e-04 Overall NLP error.......: 3.2754761672339639e-09 3.2754761672339639e-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 = 27.116 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.111s) evaluator created (0.111s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.111s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.6189573e+00 4.67e+00 5.28e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9062848e+00 4.41e+00 7.58e+01 0.4 4.67e+00 0.0 5.72e-01 5.64e-02f 1 2 3.6790941e+00 1.69e-01 5.01e+01 0.6 3.47e+00 -0.5 1.00e+00 1.00e+00f 1 3 3.6217706e+00 2.10e-01 2.91e+01 -0.0 2.27e+00 -1.0 9.43e-01 1.00e+00f 1 4 3.4693278e+00 7.17e-02 3.02e+00 -0.6 1.30e+00 -1.4 8.80e-01 1.00e+00f 1 5 2.9618334e+00 1.14e-01 7.70e-01 -1.1 1.61e+00 -1.9 9.99e-01 1.00e+00h 1 6 2.3703413e+00 4.43e-02 3.66e-01 -1.8 1.06e+00 -2.4 8.17e-01 1.00e+00h 1 7 2.1438676e+00 3.17e-02 1.22e-01 -2.3 1.07e+00 -2.9 9.87e-01 9.49e-01h 1 8 2.0976278e+00 4.87e-03 6.11e-03 -3.1 3.74e-01 -3.3 9.93e-01 1.00e+00h 1 9 2.0908391e+00 7.51e-05 1.86e-04 -4.0 1.28e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907806e+00 2.11e-06 2.91e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0907806393112978e+00 2.0907806393112978e+00 Dual infeasibility......: 2.9094684209028996e-05 2.9094684209028996e-05 Constraint violation....: 2.1096491658297370e-06 2.1096491658297370e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0003731308012540e-04 1.0003731308012540e-04 Overall NLP error.......: 2.9094684209028996e-05 2.9094684209028996e-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 = 26.767 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: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.119s) evaluator created (0.119s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.12s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 0 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4244037e+00 3.06e+00 5.47e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9480559e+00 6.17e-01 1.68e+00 -1.2 2.09e+00 - 4.77e-01 7.99e-01f 1 2 2.5395280e+00 2.11e-02 3.52e-01 -1.4 5.22e-01 - 9.51e-01 1.00e+00h 1 3 2.3443431e+00 5.83e-03 2.07e-01 -1.6 2.48e-01 - 8.54e-01 1.00e+00h 1 4 2.1310904e+00 3.89e-03 1.22e-01 -2.4 1.53e-01 - 1.00e+00 8.87e-01h 1 5 2.0938243e+00 2.47e-04 2.05e-02 -3.3 1.00e-02 - 9.97e-01 9.43e-01h 1 6 2.0908204e+00 2.18e-06 2.35e-03 -4.0 2.52e-03 - 1.00e+00 1.00e+00h 1 7 2.0908082e+00 8.71e-10 1.44e-04 -4.0 1.23e-03 - 1.00e+00 1.00e+00h 1 8 2.0907394e+00 4.19e-08 8.04e-03 -4.0 8.04e-01 - 1.00e+00 1.00e+00h 1 9 2.0906723e+00 1.92e-07 8.04e-03 -4.0 8.03e-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 2.0906053e+00 1.92e-07 8.04e-03 -4.0 8.03e-01 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0906053263924522e+00 2.0906053263924522e+00 Dual infeasibility......: 8.0402130928463270e-03 8.0402130928463270e-03 Constraint violation....: 1.9199385655616075e-07 1.9199385655616075e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000198920388e-04 1.0000000198920388e-04 Overall NLP error.......: 8.0402130928463270e-03 8.0402130928463270e-03 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 8.866 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) integrator 1 hessian structure: 0.052s 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 (0.054s) 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 6.3673798e+00 2.74e+00 8.38e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9634396e+00 5.87e-02 1.98e+00 -1.0 1.99e+00 0.0 7.62e-01 1.00e+00f 1 2 2.7088650e+00 4.07e-02 8.17e-01 -1.0 2.96e-01 -0.5 9.95e-01 9.05e-01h 1 3 2.4877244e+00 2.45e-02 2.15e-01 -1.7 2.45e-01 -1.0 6.90e-01 3.97e-01f 1 4 2.2875782e+00 6.18e-03 4.87e-02 -1.7 1.71e-01 -1.4 1.00e+00 1.00e+00f 1 5 2.1206489e+00 1.12e-03 8.43e-03 -2.5 5.58e-02 -1.9 1.00e+00 1.00e+00h 1 6 2.0913677e+00 4.35e-05 9.86e-04 -3.8 1.13e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909213e+00 1.20e-06 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909168e+00 1.04e-09 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909036e+00 6.90e-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 2.0908637e+00 6.21e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908637047960239e+00 2.0908637047960239e+00 Dual infeasibility......: 2.0579653912545583e-05 2.0579653912545583e-05 Constraint violation....: 6.2108905346872079e-08 6.2108905346872079e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999994774e-05 9.9999999999994774e-05 Overall NLP error.......: 2.0579653912545583e-05 2.0579653912545583e-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 = 26.762 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: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.117s) 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: 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: 0.12s) [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.2435 (gated to 1.12.x) initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.054s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.298s jacobian structure: 1600 nonzeros (2.352s) integrator 1 hessian structure: 0.045s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.271s 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 (3.317s) linear index maps built (0.0s) evaluator ready (total: 5.67s) evaluator created (5.697s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.152s) variables set (0.636s) 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 (2.644s) optimizer initialization complete (total: 9.276s) 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 3.4221052e+00 2.94e+00 5.20e-01 9.83e-01 -1.0 - 0.00e+00 1 0 1 2.5538952e+00 1.59e+00 1.20e+00 2.84e-01 -1.0 0.0 4.59e-01 1 1h 2 2.5951047e+00 4.08e-02 1.50e+00 1.43e-01 -1.0 -0.5 1.00e+00 1 1h 3 2.6592871e+00 1.80e-02 1.84e-01 1.04e-01 -1.0 -1.0 1.00e+00 1 1h 4 2.2577341e+00 1.84e-02 2.26e-01 2.81e-02 -2.5 -1.4 1.00e+00 1 1h 5 2.1137917e+00 1.06e-02 9.10e-02 5.23e-03 -2.5 -1.9 9.89e-01 1 1h 6 2.1151181e+00 2.11e-03 5.24e-03 2.86e-03 -2.5 -2.4 1.00e+00 1 1h 7 2.0914426e+00 3.04e-05 2.29e-04 1.72e-04 -3.8 -2.9 1.00e+00 1 1h 8 2.0899745e+00 7.12e-06 2.04e-05 1.98e-06 -5.7 -3.3 1.00e+00 1 1h 9 2.0899619e+00 3.02e-06 1.93e-05 1.85e-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 2.0899311e+00 5.88e-05 3.02e-04 1.84e-06 -5.7 -4.3 1.00e+00 1 1h 11 2.0899084e+00 6.12e-05 1.27e-03 1.85e-06 -5.7 -4.8 1.15e-01 1 1h 12 2.0896028e+00 1.42e-04 8.58e-04 3.48e-06 -5.7 -5.2 1.00e+00 1 1h 13 2.0895000e+00 7.78e-05 4.73e-03 1.86e-06 -5.7 -4.8 4.56e-01 1 1h 14 2.0891536e+00 5.32e-06 1.20e-03 8.07e-06 -5.7 -5.3 1.00e+00 1 1h 15 2.0888235e+00 4.89e-06 2.81e-02 1.97e-06 -5.7 -5.8 3.04e-01 1 1h 16 2.0864141e+00 1.29e-05 1.03e-02 4.91e-06 -5.7 -6.3 1.00e+00 1 1h 17 2.0856923e+00 1.09e-05 1.38e-01 2.76e-06 -5.7 -6.7 1.64e-01 1 1h 18 2.0817509e+00 3.87e-05 1.22e-01 2.12e-06 -5.7 -7.2 7.04e-01 1 1h 19 2.0818367e+00 1.95e-08 1.25e-01 7.55e-04 -5.7 -7.7 1.00e+00 1 1H iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0811154e+00 2.67e-05 3.38e-02 3.25e-04 -5.7 -8.2 5.79e-01 1 1h 21 2.0806844e+00 1.30e-05 4.99e-02 1.25e-04 -5.7 -8.6 9.32e-01 1 1h 22 2.0806818e+00 1.21e-05 4.67e-02 1.19e-04 -5.7 -7.3 7.14e-02 1 2h 23 2.0806701e+00 9.95e-06 5.61e-02 7.90e-05 -5.7 -7.8 1.81e-01 1 1h 24 2.0807015e+00 7.41e-06 1.34e-01 2.44e-05 -5.7 -5.6 2.56e-01 1 1h 25 2.0806604e+00 2.28e-06 7.65e-02 6.23e-06 -5.7 -6.0 6.98e-01 1 1h 26 2.0806467e+00 5.21e-07 5.76e-03 4.96e-06 -5.7 -6.5 9.00e-01 1 1h 27 2.0806312e+00 2.16e-07 9.12e-03 3.01e-06 -5.7 -7.0 5.32e-01 1 1h 28 2.0806046e+00 4.05e-07 1.47e-03 3.33e-06 -5.7 -7.5 1.00e+00 1 1h 29 2.0805748e+00 3.34e-07 3.84e-03 2.42e-06 -5.7 -7.9 5.45e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805708e+00 6.16e-07 8.57e-04 9.68e-06 -5.7 -8.4 1.00e+00 1 1h 31 2.0805612e+00 3.61e-07 3.90e-04 2.41e-06 -5.7 -8.9 1.00e+00 1 1h 32 2.0805604e+00 2.81e-08 2.79e-05 1.85e-06 -5.7 -9.4 1.00e+00 1 1h 33 2.0805604e+00 2.77e-10 3.88e-07 1.84e-06 -5.7 -9.8 1.00e+00 1 1h 34 2.0805367e+00 3.95e-06 3.44e-06 6.16e-08 -8.6 -10.3 9.93e-01 1 1h 35 2.0805365e+00 1.55e-09 2.21e-09 2.56e-09 -8.6 -10.8 1.00e+00 1 1h Number of Iterations....: 35 (scaled) (unscaled) Objective...............: 2.0805364804174871e+00 2.0805364804174871e+00 Dual infeasibility......: 2.2100419549975214e-09 2.2100419549975214e-09 Constraint violation....: 1.5517938045661595e-09 1.5517938045661595e-09 Complementarity.........: 2.5646163665475127e-09 2.5646163665475127e-09 Overall NLP error.......: 2.5646163665475127e-09 2.5646163665475127e-09 Number of objective function evaluations = 39 Number of objective gradient evaluations = 36 Number of constraint evaluations = 39 Number of constraint Jacobian evaluations = 36 Number of Lagrangian Hessian evaluations = 35 Number of KKT factorizations = 79 Number of KKT backsolves = 38 Total wall secs in initialization = 21.116 s Total wall secs in linear solver = 0.074 s Total wall secs in NLP function evaluations = 17.785 s Total wall secs in solver (w/o init./fun./lin. alg.) = 49.714 s Total wall secs = 88.689 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: 0.088s hessian structure: 30 nonzeros (0.088s) linear index maps built (0.0s) evaluator ready (total: 0.088s) evaluator created (0.137s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.12s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: 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 (3.064s) optimizer initialization complete (total: 3.322s) 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 1.4526017e-02 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3018919e-02 5.26e-12 1.77e-02 -4.0 2.04e-02 -2.0 9.82e-01 1.00e+00f 1 2 6.1914249e-03 1.50e-12 9.25e-02 -3.0 8.91e-02 -1.6 9.96e-01 1.00e+00f 1 3 7.4474028e-04 1.25e-11 7.23e-02 -3.5 9.57e-02 -1.1 1.00e+00 8.38e-01f 1 4 5.5501582e-05 8.85e-12 2.03e-02 -3.0 5.05e-01 -1.6 1.00e+00 9.70e-01f 1 5 4.3056001e-04 7.60e-12 1.14e-02 -2.7 1.32e+00 -2.1 1.00e+00 5.00e-01f 2 6 4.3056001e-04 7.60e-12 1.19e-02 -2.9 1.72e+00 -2.6 7.83e-01 2.77e-15h 48 7 9.6704275e-04 2.25e-12 3.04e-03 -2.9 1.15e+00 -3.1 5.85e-01 5.85e-01S 61 8 5.3776042e-04 9.51e-13 1.80e-02 -4.4 2.99e-01 -3.5 8.84e-01 3.86e-01f 2 9 2.8265588e-04 4.93e-13 2.18e-02 -4.4 4.55e-01 -4.0 1.00e+00 3.04e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1827598e-04 4.74e-13 1.94e-02 -4.4 7.50e-01 -4.5 1.00e+00 1.11e-01f 4 11 2.1827597e-04 4.74e-13 1.82e-02 -4.4 6.60e-01 -5.0 1.00e+00 2.02e-08h 25 12 1.5623845e-04 4.52e-13 1.69e-02 -4.4 1.58e+00 -5.4 1.00e+00 1.17e-01f 4 13 1.5623845e-04 4.52e-13 2.37e-02 -4.4 6.49e+00 -4.1 1.93e-01 5.47e-10h 26 14 1.5623845e-04 4.52e-13 1.66e-02 -4.4 9.90e-01 -4.6 1.00e+00 1.36e-08h 26 15 1.5623844e-04 4.52e-13 1.60e-02 -4.4 7.55e-01 -5.1 1.00e+00 1.43e-08h 27 16 1.5623844e-04 4.52e-13 1.59e-02 -4.4 1.38e+00 -5.5 1.00e+00 7.20e-09h 28 17 1.4961062e-04 4.49e-13 1.58e-02 -4.4 1.87e+00 -6.0 1.00e+00 1.51e-02f 7 18 1.4356737e-04 4.46e-13 1.55e-02 -4.4 2.97e+00 -6.5 1.00e+00 1.50e-02f 7 19 1.4078504e-04 4.44e-13 1.54e-02 -4.4 3.88e+00 -7.0 1.00e+00 7.42e-03f 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.3809558e-04 4.43e-13 1.53e-02 -4.4 4.77e+00 -7.5 1.00e+00 7.63e-03f 8 21 1.3560500e-04 4.41e-13 1.52e-02 -4.4 5.32e+00 -7.9 1.00e+00 7.64e-03f 8 22 1.3560500e-04 4.41e-13 1.51e-02 -4.4 5.56e+00 -8.4 1.00e+00 4.56e-10h 32 23 1.3530769e-04 4.41e-13 1.51e-02 -4.4 5.66e+00 -8.9 1.00e+00 9.57e-04f 11 24 1.3527070e-04 4.41e-13 1.51e-02 -4.4 5.70e+00 -9.4 1.00e+00 1.20e-04f 14 25 1.3512291e-04 4.41e-13 1.51e-02 -4.4 5.72e+00 -9.8 1.00e+00 4.79e-04f 12 26 1.3508603e-04 4.41e-13 1.51e-02 -4.4 5.73e+00 -10.3 1.00e+00 1.20e-04f 14 27 1.3501227e-04 4.40e-13 1.51e-02 -4.4 5.74e+00 -10.8 1.00e+00 2.40e-04f 13 28 1.3497540e-04 4.41e-13 1.51e-02 -4.4 5.74e+00 -11.3 1.00e+00 1.20e-04f 14 29 1.3490168e-04 4.41e-13 1.51e-02 -4.4 5.75e+00 -11.7 1.00e+00 2.40e-04f 13 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.3486484e-04 4.41e-13 1.51e-02 -4.4 5.75e+00 -12.2 1.00e+00 1.20e-04f 14 31 1.3482799e-04 4.41e-13 1.51e-02 -4.4 5.76e+00 -12.7 1.00e+00 1.20e-04f 14 32 1.3475434e-04 4.41e-13 1.51e-02 -4.4 5.76e+00 -13.2 1.00e+00 2.41e-04f 13 33 1.3473594e-04 4.41e-13 1.51e-02 -4.4 5.77e+00 -13.7 1.00e+00 6.02e-05f 15 34 1.3466235e-04 4.41e-13 1.51e-02 -4.4 5.77e+00 -14.1 1.00e+00 2.41e-04f 13 35 1.3464397e-04 4.41e-13 1.51e-02 -4.4 5.77e+00 -14.6 1.00e+00 6.02e-05f 15 36 1.3457049e-04 4.41e-13 1.51e-02 -4.4 5.78e+00 -15.1 1.00e+00 2.41e-04f 13 37 1.3456131e-04 4.41e-13 1.51e-02 -4.4 5.78e+00 -15.6 1.00e+00 3.01e-05f 16 38 1.3448791e-04 4.41e-13 1.51e-02 -4.4 5.79e+00 -16.0 1.00e+00 2.41e-04f 13 39 1.3447875e-04 4.41e-13 1.51e-02 -4.4 5.79e+00 -16.5 1.00e+00 3.02e-05f 16 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.3440547e-04 4.41e-13 1.51e-02 -4.4 5.79e+00 -17.0 1.00e+00 2.41e-04f 13 41 1.3440318e-04 4.41e-13 1.51e-02 -4.4 5.80e+00 -17.5 1.00e+00 7.54e-06f 18 42 1.3433002e-04 4.41e-13 1.51e-02 -4.4 5.80e+00 -17.9 1.00e+00 2.41e-04f 13 43 1.3432973e-04 4.40e-13 1.51e-02 -4.4 5.80e+00 -18.4 1.00e+00 9.43e-07f 21 44 1.3425669e-04 4.40e-13 1.51e-02 -4.4 5.81e+00 -18.9 1.00e+00 2.42e-04f 13 45 1.3425669e-04 4.41e-13 1.51e-02 -4.4 5.81e+00 -19.4 1.00e+00 1.15e-10h 34 46 1.3418380e-04 4.40e-13 1.51e-02 -4.4 5.81e+00 -19.9 1.00e+00 2.42e-04f 13 47 1.3418380e-04 4.40e-13 1.51e-02 -4.4 5.82e+00 -20.0 1.00e+00 1.84e-09h 30 48 1.3414739e-04 4.40e-13 1.51e-02 -4.4 5.82e+00 -20.0 1.00e+00 1.21e-04f 14 49 1.3411103e-04 4.40e-13 1.51e-02 -4.4 5.82e+00 -20.0 1.00e+00 1.21e-04f 14 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.3407472e-04 4.40e-13 1.51e-02 -4.4 5.83e+00 -20.0 1.00e+00 1.21e-04f 14 51 1.3403846e-04 4.40e-13 1.51e-02 -4.4 5.83e+00 -20.0 1.00e+00 1.21e-04f 14 52 1.3402034e-04 4.40e-13 1.51e-02 -4.4 5.83e+00 -20.0 1.00e+00 6.05e-05f 15 53 1.3398414e-04 4.40e-13 1.51e-02 -4.4 5.83e+00 -20.0 1.00e+00 1.21e-04f 14 54 1.3394800e-04 4.40e-13 1.51e-02 -4.4 5.84e+00 -20.0 1.00e+00 1.21e-04f 14 55 1.3391192e-04 4.40e-13 1.51e-02 -4.4 5.84e+00 -20.0 1.00e+00 1.21e-04f 14 56 1.3389389e-04 4.40e-13 1.51e-02 -4.4 5.84e+00 -20.0 1.00e+00 6.05e-05f 15 57 1.3385789e-04 4.40e-13 1.51e-02 -4.4 5.84e+00 -20.0 1.00e+00 1.21e-04f 14 58 1.3382195e-04 4.40e-13 1.51e-02 -4.4 5.84e+00 -20.0 1.00e+00 1.21e-04f 14 59 1.3378607e-04 4.39e-13 1.51e-02 -4.4 5.84e+00 -20.0 1.00e+00 1.21e-04f 14 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.3376816e-04 4.39e-13 1.51e-02 -4.4 5.84e+00 -20.0 1.00e+00 6.05e-05f 15 61 1.3373238e-04 4.39e-13 1.51e-02 -4.4 5.84e+00 -20.0 1.00e+00 1.21e-04f 14 62 1.3369667e-04 4.39e-13 1.51e-02 -4.4 5.85e+00 -20.0 1.00e+00 1.21e-04f 14 63 1.3366105e-04 4.39e-13 1.51e-02 -4.4 5.85e+00 -20.0 1.00e+00 1.21e-04f 14 64 1.3362550e-04 4.39e-13 1.52e-02 -4.4 5.84e+00 -20.0 1.00e+00 1.21e-04f 14 65 1.3360775e-04 4.39e-13 1.52e-02 -4.4 5.84e+00 -20.0 1.00e+00 6.06e-05f 15 66 1.3357230e-04 4.39e-13 1.52e-02 -4.4 5.84e+00 -20.0 1.00e+00 1.21e-04f 14 67 1.3353694e-04 4.39e-13 1.52e-02 -4.4 5.84e+00 -20.0 1.00e+00 1.21e-04f 14 68 1.3350166e-04 4.39e-13 1.52e-02 -4.4 5.84e+00 -20.0 1.00e+00 1.21e-04f 14 69 1.3346647e-04 4.39e-13 1.52e-02 -4.4 5.84e+00 -20.0 1.00e+00 1.21e-04f 14 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.3343137e-04 4.40e-13 1.52e-02 -4.4 5.84e+00 -20.0 1.00e+00 1.21e-04f 14 71 1.3336147e-04 4.40e-13 1.52e-02 -4.4 5.84e+00 -20.0 1.00e+00 2.42e-04f 13 72 1.3336147e-04 4.40e-13 1.53e-02 -4.4 5.83e+00 -20.0 1.00e+00 4.62e-10h 32 73 1.3329193e-04 4.40e-13 1.53e-02 -4.4 5.83e+00 -20.0 1.00e+00 2.42e-04f 13 74 1.3327461e-04 4.40e-13 1.53e-02 -4.4 5.83e+00 -20.0 1.00e+00 6.06e-05f 15 75 1.3320556e-04 4.39e-13 1.53e-02 -4.4 5.82e+00 -20.0 1.00e+00 2.43e-04f 13 76 1.3317119e-04 4.40e-13 1.54e-02 -4.4 5.82e+00 -20.0 1.00e+00 1.21e-04f 14 77 1.3310277e-04 4.40e-13 1.54e-02 -4.4 5.81e+00 -20.0 1.00e+00 2.43e-04f 13 78 1.3306872e-04 4.40e-13 1.54e-02 -4.4 5.80e+00 -20.0 1.00e+00 1.21e-04f 14 79 1.3300092e-04 4.39e-13 1.55e-02 -4.4 5.79e+00 -20.0 1.00e+00 2.43e-04f 13 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.3293356e-04 4.39e-13 1.55e-02 -4.4 5.78e+00 -20.0 1.00e+00 2.43e-04f 13 81 1.3286663e-04 4.39e-13 1.56e-02 -4.4 5.77e+00 -20.0 1.00e+00 2.43e-04f 13 82 1.3273415e-04 4.39e-13 1.56e-02 -4.4 5.75e+00 -20.0 1.00e+00 4.85e-04f 12 83 1.3270131e-04 4.39e-13 1.57e-02 -4.4 5.74e+00 -20.0 1.00e+00 1.21e-04f 14 84 1.3257101e-04 4.39e-13 1.58e-02 -4.4 5.71e+00 -20.0 1.00e+00 4.85e-04f 12 85 1.3244255e-04 4.39e-13 1.59e-02 -4.4 5.70e+00 -20.0 1.00e+00 4.85e-04f 12 86 1.3231586e-04 4.39e-13 1.61e-02 -4.4 5.67e+00 -20.0 1.00e+00 4.85e-04f 12 87 1.3206795e-04 4.39e-13 1.63e-02 -4.4 5.63e+00 -20.0 1.00e+00 9.71e-04f 11 88 1.3182747e-04 4.39e-13 1.66e-02 -4.4 5.59e+00 -20.0 1.00e+00 9.71e-04f 11 89 1.3136875e-04 4.38e-13 1.69e-02 -4.4 5.53e+00 -20.0 1.00e+00 1.94e-03f 10 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.3093939e-04 4.38e-13 1.75e-02 -4.4 5.45e+00 -20.0 1.00e+00 1.94e-03f 10 91 1.3016486e-04 4.37e-13 1.86e-02 -4.4 5.33e+00 -20.0 1.00e+00 3.89e-03f 9 92 1.2898825e-04 4.35e-13 2.07e-02 -4.4 5.20e+00 -20.0 1.00e+00 7.46e-03f 8 93 1.2801870e-04 4.30e-13 2.66e-02 -4.4 4.97e+00 -20.0 1.00e+00 2.75e-02f 6 94 1.3487569e-04 4.22e-13 4.59e-02 -4.4 4.51e+00 -20.0 1.00e+00 3.89e-02f 5 95 1.3487569e-04 4.22e-13 4.12e-02 -4.4 3.97e+00 -20.0 3.73e-01 2.77e-10h 32 96 1.4167026e-04 4.18e-13 7.62e-02 -4.4 4.99e+00 -20.0 1.00e+00 2.28e-02f 5 97 1.4167026e-04 4.18e-13 4.81e-02 -4.4 3.92e+00 -20.0 4.87e-01 1.97e-10h 33 98 1.4167026e-04 4.18e-13 4.99e-02 -4.4 3.98e+00 -20.0 1.00e+00 1.08e-10h 33 99 1.4167026e-04 4.18e-13 4.04e-02 -4.4 4.10e+00 -20.0 3.72e-01 4.45e-10h 32 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.4167026e-04 4.18e-13 4.12e-02 -4.4 4.14e+00 -20.0 1.00e+00 5.45e-10h 31 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.4167025973474455e-04 1.4167025973474455e-04 Dual infeasibility......: 4.1236991375073861e-02 4.1236991375073861e-02 Constraint violation....: 4.1810999107383395e-13 4.1810999107383395e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 5.7305024054750677e-03 5.7305024054750677e-03 Overall NLP error.......: 4.1236991375073861e-02 4.1236991375073861e-02 Number of objective function evaluations = 1508 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 1508 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 = 3.003 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): 0.087s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.179s hessian structure: 40 nonzeros (0.179s) linear index maps built (0.0s) evaluator ready (total: 0.179s) evaluator created (0.227s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.113s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) linear constraints added: 6 (2.71s) optimizer initialization complete (total: 3.052s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.1249608e+00 4.64e-01 9.64e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 6.3017679e-01 2.05e-09 7.09e-02 -0.7 3.43e-01 -2.0 9.42e-01 1.00e+00h 1 2 1.8275702e-01 1.30e-09 1.30e-01 -2.1 7.80e-01 -1.6 8.84e-01 1.00e+00f 1 3 8.5108051e-02 1.93e-10 2.32e-02 -2.6 3.90e-01 -1.1 1.00e+00 1.00e+00f 1 4 2.5835917e-02 1.34e-11 2.17e-02 -3.5 6.26e-01 -1.6 1.00e+00 1.00e+00f 1 5 5.6863086e-03 1.36e-11 1.07e-02 -4.0 5.94e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.1427521e-03 5.61e-12 3.64e-03 -4.0 3.88e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.1564514e-04 1.64e-12 6.98e-04 -4.0 1.91e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.7242307e-04 1.18e-13 6.79e-04 -4.0 1.66e-01 -3.5 1.00e+00 1.00e+00f 1 9 4.3628637e-04 1.36e-14 3.57e-05 -4.0 1.78e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.6533810e-04 9.81e-15 1.64e-04 -4.0 2.55e-02 -4.5 1.00e+00 1.00e+00f 1 11 2.9421788e-04 6.63e-15 5.41e-04 -4.1 9.98e-02 -5.0 1.00e+00 1.00e+00f 1 12 4.5782423e-04 3.89e-15 4.09e-04 -4.0 2.26e-01 -5.4 1.00e+00 5.00e-01f 2 13 2.7084051e-04 2.44e-15 6.20e-04 -4.1 1.18e-01 -5.9 1.00e+00 1.00e+00f 1 14 4.6313459e-04 1.44e-15 5.05e-04 -4.0 2.75e-01 -6.4 1.00e+00 5.00e-01f 2 15 2.6227444e-04 1.22e-15 6.81e-04 -4.1 1.31e-01 -6.9 1.00e+00 1.00e+00f 1 16 4.6359006e-04 9.99e-16 5.40e-04 -4.0 2.94e-01 -7.4 1.00e+00 5.00e-01f 2 17 2.5955973e-04 9.99e-16 7.05e-04 -4.1 1.36e-01 -7.8 1.00e+00 1.00e+00f 1 18 4.6349784e-04 7.77e-16 5.54e-04 -4.0 3.02e-01 -8.3 1.00e+00 5.00e-01f 2 19 2.5868150e-04 8.74e-16 7.20e-04 -4.1 1.39e-01 -8.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.6311117e-04 6.66e-16 5.60e-04 -4.0 3.06e-01 -9.3 1.00e+00 5.00e-01f 2 21 2.5840722e-04 8.12e-16 7.32e-04 -4.1 1.42e-01 -9.7 1.00e+00 1.00e+00f 1 22 4.6266409e-04 5.55e-16 5.64e-04 -4.0 3.10e-01 -10.2 1.00e+00 5.00e-01f 2 23 2.5832290e-04 7.95e-16 7.42e-04 -4.1 1.43e-01 -10.7 1.00e+00 1.00e+00f 1 24 4.6221096e-04 6.66e-16 5.67e-04 -4.0 3.12e-01 -11.2 1.00e+00 5.00e-01f 2 25 2.5829821e-04 7.15e-16 7.51e-04 -4.1 1.45e-01 -11.6 1.00e+00 1.00e+00f 1 26 4.6177146e-04 5.55e-16 5.70e-04 -4.0 3.14e-01 -12.1 1.00e+00 5.00e-01f 2 27 2.5829167e-04 6.90e-16 7.60e-04 -4.1 1.47e-01 -12.6 1.00e+00 1.00e+00f 1 28 3.1065250e-05 8.33e-15 9.48e-04 -6.2 4.01e-01 -13.1 9.65e-01 1.00e+00f 1 29 1.7168004e-03 2.22e-15 8.00e-03 -4.0 2.10e+00 -13.6 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.5030276e-05 2.16e-14 3.04e-03 -4.1 1.07e+00 -14.0 1.00e+00 1.00e+00f 1 31 1.5632297e-03 2.75e-14 8.35e-03 -4.0 1.03e+00 -14.5 1.00e+00 1.00e+00f 1 32 1.0617769e-05 1.67e-14 2.42e-03 -4.2 1.14e+00 -15.0 1.00e+00 1.00e+00f 1 33 4.5863338e-04 1.44e-15 2.83e-03 -4.0 1.43e+00 -15.5 1.00e+00 5.00e-01f 2 34 2.2137527e-04 2.66e-15 2.54e-04 -4.2 3.81e-01 -15.9 1.00e+00 5.00e-01f 2 35 2.0405499e-05 4.16e-15 8.54e-04 -6.4 4.33e-01 -16.4 9.61e-01 1.00e+00f 1 36 8.2151332e-06 3.05e-15 1.05e-04 -6.4 1.10e-01 -16.9 1.00e+00 1.00e+00f 1 37 1.3144687e-03 9.78e-16 4.61e-03 -4.0 1.00e+01 -17.4 1.00e+00 1.19e-01f 4 38 1.1844605e-04 4.79e-14 3.33e-03 -4.0 7.31e-01 -17.8 1.00e+00 1.00e+00f 1 39 7.1972947e-04 2.89e-14 3.36e-03 -4.0 5.07e-01 -18.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.7964519e-04 5.11e-15 4.52e-04 -4.0 4.16e-01 -18.8 1.00e+00 5.00e-01f 2 41 3.5305395e-05 5.44e-15 1.39e-03 -6.0 5.28e-01 -19.3 9.52e-01 1.00e+00f 1 42 1.4546748e-05 4.88e-15 1.67e-04 -6.0 1.31e-01 -19.8 1.00e+00 1.00e+00f 1 43 3.9360763e-06 7.77e-16 1.06e-04 -6.0 1.52e-01 -20.0 1.00e+00 1.00e+00f 1 44 9.0082911e-04 4.44e-16 2.35e-03 -4.0 1.65e+01 -20.0 1.00e+00 7.25e-02f 4 45 1.9002492e-04 4.29e-14 2.58e-03 -4.0 5.07e-01 -20.0 1.00e+00 1.00e+00f 1 46 6.2661599e-04 1.75e-14 2.43e-03 -4.0 3.70e-01 -20.0 1.00e+00 1.00e+00f 1 47 3.8859394e-04 3.11e-15 4.04e-04 -4.0 3.29e-01 -20.0 1.00e+00 5.00e-01f 2 48 3.4763226e-05 5.55e-15 1.52e-03 -6.1 5.72e-01 -20.0 9.47e-01 1.00e+00f 1 49 1.4538459e-05 4.55e-15 1.74e-04 -6.1 1.37e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 3.8235265e-06 7.22e-16 1.14e-04 -6.1 1.65e-01 -20.0 1.00e+00 1.00e+00f 1 51 7.4190100e-04 4.44e-16 1.46e-03 -4.0 1.78e+01 -20.0 1.00e+00 6.73e-02f 4 52 2.2435414e-04 3.75e-14 2.18e-03 -4.1 4.14e-01 -20.0 1.00e+00 1.00e+00f 1 53 5.6635659e-04 1.20e-14 1.94e-03 -4.1 3.03e-01 -20.0 1.00e+00 1.00e+00f 1 54 3.8441298e-04 1.78e-15 3.71e-04 -4.1 2.82e-01 -20.0 1.00e+00 5.00e-01f 2 55 3.3692976e-05 5.44e-15 1.59e-03 -6.1 6.06e-01 -20.0 9.43e-01 1.00e+00f 1 56 1.4219551e-05 4.11e-15 1.79e-04 -6.1 1.43e-01 -20.0 1.00e+00 1.00e+00f 1 57 3.6924003e-06 6.11e-16 1.19e-04 -6.1 1.74e-01 -20.0 1.00e+00 1.00e+00f 1 58 6.2434389e-04 4.86e-16 6.68e-04 -4.0 1.91e+01 -20.0 1.00e+00 6.23e-02f 4 59 2.5758188e-04 3.33e-14 1.76e-03 -4.1 3.26e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 5.1214762e-04 8.22e-15 1.46e-03 -4.1 2.32e-01 -20.0 1.00e+00 1.00e+00f 1 61 3.8039864e-04 1.18e-15 3.25e-04 -4.1 2.28e-01 -20.0 1.00e+00 5.00e-01f 2 62 3.2602485e-05 5.22e-15 1.66e-03 -6.1 6.37e-01 -20.0 9.39e-01 1.00e+00f 1 63 1.3906403e-05 3.77e-15 1.81e-04 -6.1 1.47e-01 -20.0 1.00e+00 1.00e+00f 1 64 3.5820779e-06 6.11e-16 1.24e-04 -6.1 1.83e-01 -20.0 1.00e+00 1.00e+00f 1 65 5.3755801e-04 4.54e-16 7.77e-05 -4.0 2.05e+01 -20.0 1.00e+00 5.82e-02f 4 66 2.8653459e-04 3.00e-14 1.36e-03 -4.1 2.46e-01 -20.0 1.00e+00 1.00e+00f 1 67 4.6654988e-04 5.11e-15 1.02e-03 -4.1 1.66e-01 -20.0 1.00e+00 1.00e+00f 1 68 2.9905395e-04 4.00e-15 9.73e-04 -4.1 1.77e-01 -20.0 1.00e+00 1.00e+00f 1 69 4.5970151e-04 2.66e-15 8.87e-04 -4.1 1.45e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.0604771e-04 3.33e-15 8.79e-04 -4.1 1.59e-01 -20.0 1.00e+00 1.00e+00f 1 71 4.5292078e-04 2.66e-15 7.95e-04 -4.1 1.30e-01 -20.0 1.00e+00 1.00e+00f 1 72 2.3705101e-05 4.66e-15 1.82e-03 -6.1 7.69e-01 -20.0 9.25e-01 1.00e+00f 1 73 1.2316172e-05 3.89e-15 1.22e-04 -6.1 1.07e-01 -20.0 1.00e+00 1.00e+00f 1 74 3.0795417e-06 4.44e-16 1.15e-04 -6.1 1.84e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.9269916e-04 2.71e-16 5.54e-04 -4.0 2.31e+01 -20.0 1.00e+00 5.17e-02f 4 76 3.1007507e-04 2.91e-14 1.06e-03 -4.1 1.88e-01 -20.0 1.00e+00 1.00e+00f 1 77 4.4198114e-04 3.77e-15 7.16e-04 -4.1 1.18e-01 -20.0 1.00e+00 1.00e+00f 1 78 2.4384673e-05 4.55e-15 1.89e-03 -6.1 7.89e-01 -20.0 9.22e-01 1.00e+00f 1 79 1.2447616e-05 3.77e-15 1.33e-04 -6.1 1.16e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.1185508e-06 4.44e-16 1.22e-04 -6.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 81 3.9749104e-06 1.93e-16 2.06e-05 -6.1 3.58e-02 -20.0 1.00e+00 1.00e+00f 1 82 3.4325866e-06 4.94e-17 5.83e-06 -6.1 1.04e-02 -20.0 1.00e+00 1.00e+00h 1 83 2.6044539e-07 5.55e-17 5.28e-05 -9.0 2.35e-01 -20.0 9.77e-01 1.00e+00f 1 84 2.4559263e-03 4.02e-16 1.20e-02 -4.0 1.05e+02 -20.0 1.00e+00 2.32e-02f 3 85 8.4165712e-05 4.86e-14 7.11e-03 -3.9 1.55e+00 -20.0 1.00e+00 1.00e+00f 1 86 7.7230701e-04 2.91e-14 5.39e-03 -3.9 8.15e-01 -20.0 1.00e+00 1.00e+00f 1 87 4.3947186e-04 5.77e-15 7.73e-04 -3.9 5.37e-01 -20.0 1.00e+00 5.00e-01f 2 88 4.3435124e-05 4.33e-15 2.14e-03 -5.9 7.15e-01 -20.0 9.30e-01 1.00e+00f 1 89 1.7937005e-05 4.00e-15 2.62e-04 -5.9 1.86e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 5.1314445e-06 6.66e-16 1.66e-04 -5.9 2.09e-01 -20.0 1.00e+00 1.00e+00f 1 91 5.8347577e-06 3.33e-16 1.76e-05 -5.9 2.49e-02 -20.0 1.00e+00 1.00e+00h 1 92 5.3906153e-06 6.94e-17 2.74e-06 -5.9 3.94e-03 -20.0 1.00e+00 1.00e+00h 1 93 3.8772133e-07 4.16e-17 7.97e-05 -8.9 2.87e-01 -20.0 9.71e-01 1.00e+00f 1 94 1.5595645e-07 5.33e-17 8.37e-06 -8.9 6.34e-02 -20.0 1.00e+00 1.00e+00f 1 95 1.5810825e-03 4.44e-16 1.51e-03 -4.0 3.14e+02 -20.0 1.00e+00 7.75e-03f 3 96 4.7683742e-04 6.33e-14 5.63e-03 -3.8 7.27e-01 -20.0 1.00e+00 1.00e+00f 1 97 8.8848303e-04 1.91e-14 2.18e-03 -3.8 2.59e-01 -20.0 1.00e+00 1.00e+00f 1 98 5.6216453e-04 8.44e-15 2.30e-03 -3.8 3.00e-01 -20.0 1.00e+00 1.00e+00f 1 99 8.7803855e-04 2.89e-15 1.43e-03 -3.8 1.67e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 4.9898858e-05 8.55e-15 3.58e-03 -5.7 1.03e+00 -20.0 8.95e-01 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 4.9898857980895202e-05 4.9898857980895202e-05 Dual infeasibility......: 3.5758423500809374e-03 3.5758423500809374e-03 Constraint violation....: 8.5487172896137054e-15 8.5487172896137054e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.8163962496831767e-05 4.8163962496831767e-05 Overall NLP error.......: 3.5758423500809374e-03 3.5758423500809374e-03 Number of objective function evaluations = 167 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 167 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 = 3.037 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.052s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.11s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.045s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.32s sub-objective 2 (QuadraticRegularizer): 0.086s sub-objective 3 (LinearRegularizer): 0.085s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 0.595s hessian structure: 2431 nonzeros (0.689s) linear index maps built (0.0s) evaluator ready (total: 0.799s) evaluator created (0.856s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.126s) 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 (3.162s) optimizer initialization complete (total: 4.146s) 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 2.6459461e+00 2.68e+00 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6297164e+00 1.90e+00 1.72e+00 -4.0 1.35e+01 -2.0 1.95e-01 2.87e-01h 1 2 2.5767226e+00 1.36e+00 4.83e+00 -0.7 1.78e+01 -2.5 4.30e-01 3.81e-01f 1 3 2.3856948e+00 5.45e-01 5.88e+00 -1.9 1.02e+01 -2.1 1.59e-01 5.74e-01h 1 4 2.5023133e+00 1.37e-01 1.72e+00 -1.7 4.89e+00 -2.5 4.17e-01 7.44e-01h 1 5 2.4524902e+00 8.24e-03 4.52e-01 -2.0 3.56e-01 -1.2 8.44e-01 1.00e+00h 1 6 2.2523153e+00 2.50e-02 2.62e-01 -1.9 1.24e+00 -1.7 4.98e-01 4.00e-01f 1 7 2.1341470e+00 2.35e-02 3.08e-01 -2.4 1.35e+00 -2.2 6.44e-01 3.56e-01h 1 8 2.0675186e+00 4.78e-02 2.98e-01 -2.4 3.95e+00 -2.6 5.28e-01 3.08e-01h 1 9 2.0221647e+00 2.24e-02 1.54e-01 -3.4 1.97e+00 -3.1 7.87e-01 5.32e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0020475e+00 1.86e-03 1.39e-02 -4.0 3.08e-01 -3.6 9.27e-01 9.17e-01h 1 11 2.0010256e+00 5.46e-06 7.83e-03 -4.0 6.48e-01 -4.1 1.00e+00 1.00e+00h 1 12 2.0010883e+00 1.66e-07 1.53e-02 -4.0 1.14e+00 -4.5 7.86e-01 1.00e+00h 1 13 2.0009753e+00 4.06e-10 3.33e-02 -4.0 1.68e+00 -5.0 9.80e-01 1.00e+00f 1 14 2.0012168e+00 2.99e-09 7.17e-02 -4.0 3.32e+00 -5.5 8.14e-01 1.00e+00f 1 15 2.0007738e+00 1.90e-08 4.50e-02 -4.1 3.51e+00 -6.0 1.00e+00 6.42e-01f 1 16 2.0013772e+00 2.50e-08 2.69e-01 -4.0 1.30e+01 -6.4 7.75e-01 1.00e+00f 1 17 2.0009065e+00 5.69e-08 1.18e-01 -4.1 1.03e+01 -6.9 1.00e+00 5.76e-01f 1 18 2.0011780e+00 3.83e-08 5.93e-01 -4.1 2.88e+01 -7.4 8.30e-01 1.00e+00f 1 19 2.0008801e+00 7.88e-08 5.43e-01 -4.1 3.37e+01 -7.9 1.00e+00 8.07e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0013183e+00 7.57e-08 1.52e+00 -4.1 7.21e+01 -8.4 8.50e-01 1.00e+00f 1 21 2.0009072e+00 1.27e-07 1.39e+00 -4.1 9.53e+01 -8.8 1.00e+00 7.29e-01f 1 22 2.0013688e+00 7.76e-08 4.12e+00 -4.1 1.94e+02 -9.3 8.28e-01 1.00e+00f 1 23 2.0008132e+00 1.90e-07 4.06e+00 -4.1 2.59e+02 -9.8 1.00e+00 7.82e-01f 1 24 2.0014996e+00 2.32e-08 1.18e+01 -4.1 5.47e+02 -10.3 7.89e-01 1.00e+00f 1 25 2.0007331e+00 1.57e-07 1.03e+01 -4.1 7.10e+02 -10.7 1.00e+00 7.27e-01f 1 26 2.0023877e+00 2.19e-08 4.23e+01 -4.0 2.01e+03 -11.2 7.48e-01 1.00e+00f 1 27 2.0002714e+00 3.00e-07 1.03e+01 -4.2 9.47e+02 -11.7 1.00e+00 5.46e-01f 1 28 2.0025739e+00 4.22e-08 1.17e+02 -4.0 5.79e+03 -12.2 9.24e-01 1.00e+00f 1 29 2.0013168e+00 5.16e-08 6.11e+00 -4.3 1.15e+03 -12.7 1.00e+00 2.65e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0007634e+00 1.25e-08 9.72e+01 -4.3 4.86e+03 -13.1 1.00e+00 1.00e+00f 1 31 2.0006903e+00 1.03e-09 2.01e+02 -4.3 1.01e+04 -13.6 1.00e+00 1.00e+00f 1 32 2.0006307e+00 6.42e-10 3.25e+02 -4.3 1.63e+04 -14.1 1.00e+00 1.00e+00f 1 33 2.0005296e+00 3.33e-10 3.65e+02 -4.3 1.83e+04 -14.6 1.00e+00 1.00e+00f 1 34 2.0005047e+00 5.67e-11 3.33e+02 -4.3 1.66e+04 -15.0 1.00e+00 1.00e+00f 1 35 2.0004227e+00 2.26e-11 1.99e+02 -4.3 9.93e+03 -15.5 1.00e+00 1.00e+00f 1 36 2.0004074e+00 5.89e-13 8.97e+01 -4.3 4.48e+03 -16.0 1.00e+00 1.00e+00h 1 37 2.0003864e+00 4.35e-14 3.46e+01 -4.3 1.73e+03 -16.5 1.00e+00 1.00e+00h 1 38 2.0003829e+00 6.42e-15 1.45e+01 -4.3 7.25e+02 -16.9 1.00e+00 1.00e+00h 1 39 2.0003792e+00 1.33e-14 5.51e+00 -4.3 2.75e+02 -17.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0003786e+00 9.14e-15 2.43e+00 -4.3 1.21e+02 -17.9 1.00e+00 1.00e+00h 1 41 2.0003779e+00 1.97e-14 9.11e-01 -4.3 4.55e+01 -18.4 1.00e+00 1.00e+00h 1 42 2.0003778e+00 1.36e-14 4.04e-01 -4.3 2.02e+01 -18.9 1.00e+00 1.00e+00h 1 43 2.0003777e+00 2.94e-14 1.52e-01 -4.3 7.58e+00 -19.3 1.00e+00 1.00e+00h 1 44 2.0008974e+00 1.41e-09 1.61e+02 -4.0 8.07e+03 -19.8 1.00e+00 1.00e+00f 1 45 2.0005352e+00 3.70e-10 2.29e+02 -4.1 1.14e+04 -20.0 1.00e+00 1.00e+00f 1 46 2.0006645e+00 5.83e-10 6.58e+01 -4.1 3.29e+03 -20.0 1.00e+00 1.00e+00h 1 47 2.0006338e+00 9.76e-11 3.55e+01 -4.1 1.78e+03 -20.0 1.00e+00 1.00e+00h 1 48 2.0006531e+00 1.01e-10 6.91e+00 -4.1 3.46e+02 -20.0 1.00e+00 1.00e+00h 1 49 2.0006480e+00 1.75e-11 5.93e+00 -4.1 2.97e+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 2.0006512e+00 1.69e-11 1.05e+00 -4.1 5.26e+01 -20.0 1.00e+00 1.00e+00h 1 51 2.0006503e+00 2.94e-12 9.86e-01 -4.1 4.93e+01 -20.0 1.00e+00 1.00e+00h 1 52 2.0006509e+00 2.81e-12 1.73e-01 -4.1 8.63e+00 -20.0 1.00e+00 1.00e+00h 1 53 2.0006507e+00 4.91e-13 1.64e-01 -4.1 8.22e+00 -20.0 1.00e+00 1.00e+00h 1 54 2.0006508e+00 4.69e-13 2.87e-02 -4.1 1.43e+00 -20.0 1.00e+00 1.00e+00h 1 55 2.0006508e+00 8.17e-14 2.74e-02 -4.1 1.37e+00 -20.0 1.00e+00 1.00e+00h 1 56 2.0006508e+00 7.80e-14 4.78e-03 -4.1 2.39e-01 -20.0 1.00e+00 1.00e+00h 1 57 2.0006508e+00 1.36e-14 4.56e-03 -4.1 2.28e-01 -20.0 1.00e+00 1.00e+00h 1 58 2.0006508e+00 1.30e-14 7.96e-04 -4.1 1.05e-01 -20.0 1.00e+00 1.00e+00h 1 59 1.9998553e+00 1.37e-08 2.26e+02 -6.1 1.13e+04 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0006736e+00 3.64e-09 2.03e+03 -4.0 2.03e+05 -20.0 1.00e+00 5.00e-01f 2 61 2.0004362e+00 1.07e-10 2.18e+03 -3.9 1.09e+05 -20.0 1.00e+00 1.00e+00f 1 62 2.0009386e+00 3.21e-09 4.98e+02 -3.9 2.49e+04 -20.0 1.00e+00 1.00e+00f 1 63 2.0010181e+00 2.75e-09 1.02e+02 -3.9 5.10e+03 -20.0 1.00e+00 1.00e+00h 1 64 2.0010324e+00 7.37e-10 2.68e+01 -3.9 1.34e+03 -20.0 1.00e+00 1.00e+00h 1 65 2.0010486e+00 5.27e-10 6.56e+00 -3.9 3.28e+02 -20.0 1.00e+00 1.00e+00h 1 66 2.0010507e+00 1.32e-10 4.68e+00 -3.9 2.34e+02 -20.0 1.00e+00 1.00e+00h 1 67 2.0010533e+00 8.99e-11 1.14e+00 -3.9 5.70e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0010537e+00 2.22e-11 7.78e-01 -3.9 3.89e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0010541e+00 1.50e-11 1.91e-01 -3.9 9.56e+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 70 2.0010542e+00 3.70e-12 1.30e-01 -3.9 6.48e+00 -20.0 1.00e+00 1.00e+00h 1 71 2.0010542e+00 2.50e-12 3.19e-02 -3.9 1.60e+00 -20.0 1.00e+00 1.00e+00h 1 72 2.0010543e+00 6.16e-13 2.16e-02 -3.9 1.08e+00 -20.0 1.00e+00 1.00e+00h 1 73 2.0010543e+00 4.17e-13 5.32e-03 -3.9 4.65e-01 -20.0 1.00e+00 1.00e+00h 1 74 2.0010543e+00 1.03e-13 3.60e-03 -3.9 4.65e-01 -20.0 1.00e+00 1.00e+00h 1 75 2.0010543e+00 6.93e-14 8.87e-04 -3.9 4.65e-01 -20.0 1.00e+00 1.00e+00h 1 76 1.9998645e+00 8.05e-08 2.43e+02 -5.9 1.21e+04 -20.0 1.00e+00 1.00e+00f 1 77 1.9998444e+00 2.94e-13 2.22e+02 -5.9 1.20e+04 -20.0 9.27e-01 1.00e+00h 1 78 1.9529889e+00 2.84e-13 5.48e+05 -5.5 1.10e+08 -20.0 1.00e+00 2.50e-01f 3 79 1.9805469e+00 2.64e-13 3.63e+05 -4.0 2.93e+10 -20.0 1.00e+00 6.19e-04f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.9998806e+00 2.85e-12 2.37e+05 -2.3 8.81e+08 -20.0 1.00e+00 1.35e-02f 1 81 2.0031549e+00 1.84e-08 7.21e+02 -2.3 3.61e+04 -20.0 1.00e+00 1.00e+00f 1 82 2.0799270e+00 1.47e-03 1.82e+02 -2.3 9.10e+03 -20.0 1.00e+00 1.00e+00f 1 83 2.0434769e+00 3.99e+01 5.20e+02 -2.3 2.68e+07 -20.0 1.00e+00 1.00e+00h 1 84 2.0433755e+00 3.25e+01 8.65e+02 -2.3 5.06e+06 -20.0 1.00e+00 1.82e-01h 2 85 2.0586629e+00 2.31e+00 1.83e+02 -2.3 3.17e+06 -20.0 1.00e+00 1.00e+00h 1 86 2.0509972e+00 9.56e-02 6.71e+01 -2.3 2.16e+05 -20.0 1.00e+00 1.00e+00h 1 87 2.0543789e+00 4.30e-02 3.95e+01 -2.3 2.54e+05 -20.0 1.00e+00 1.00e+00h 1 88 2.0530702e+00 1.77e-02 1.39e+01 -2.3 2.47e+05 -20.0 1.00e+00 1.00e+00h 1 89 2.0536281e+00 6.89e-03 6.30e+00 -2.3 2.45e+05 -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 2.0534081e+00 2.87e-03 2.41e+00 -2.3 2.41e+05 -20.0 1.00e+00 1.00e+00h 1 91 2.0535007e+00 1.11e-03 1.04e+00 -2.3 2.37e+05 -20.0 1.00e+00 1.00e+00h 1 92 2.0534640e+00 4.64e-04 4.05e-01 -2.3 2.33e+05 -20.0 1.00e+00 1.00e+00h 1 93 2.0534795e+00 1.79e-04 1.72e-01 -2.3 2.30e+05 -20.0 1.00e+00 1.00e+00h 1 94 2.0534734e+00 7.47e-05 6.75e-02 -2.3 2.26e+05 -20.0 1.00e+00 1.00e+00h 1 95 2.0534759e+00 2.91e-05 2.86e-02 -2.3 2.23e+05 -20.0 1.00e+00 1.00e+00h 1 96 2.0031829e+00 9.06e-01 2.57e+02 -3.4 3.04e+05 -20.0 1.00e+00 1.00e+00f 1 97 2.0039189e+00 1.23e-05 8.58e+01 -3.4 4.29e+03 -20.0 1.00e+00 1.00e+00h 1 98 2.0041313e+00 9.82e-08 1.43e+02 -3.4 7.17e+03 -20.0 1.00e+00 1.00e+00h 1 99 2.0037471e+00 2.29e-06 7.69e+00 -3.4 3.86e+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 2.0038285e+00 8.63e-08 2.83e+01 -3.4 1.42e+03 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0038284932630175e+00 2.0038284932630175e+00 Dual infeasibility......: 2.8300931370407625e+01 2.8300931370407625e+01 Constraint violation....: 8.6337958116189384e-08 8.6337958116189384e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.9288844614463706e-04 3.9288844614463706e-04 Overall NLP error.......: 2.8300931370407625e+01 2.8300931370407625e+01 Number of objective function evaluations = 109 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 109 Number of inequality constraint evaluations = 109 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 41.937 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.449s jacobian structure: 1600 nonzeros (2.507s) integrator 1 hessian structure: 0.045s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.437s 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 (3.484s) linear index maps built (0.0s) evaluator ready (total: 5.992s) evaluator created (6.022s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 6.023s) 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 4.1358401e+00 3.78e+00 3.22e-01 9.82e-01 -1.0 - 0.00e+00 1 0 1 2.7569916e+00 1.96e-01 1.51e+00 6.21e-01 -1.0 -2.0 1.00e+00 1 1h 2 2.7063938e+00 3.69e-01 4.49e-01 1.53e-01 -1.0 -2.5 1.00e+00 2 1h 3 2.4482610e+00 3.59e-01 3.37e-01 5.38e-02 -1.7 -3.0 6.42e-01 2 1h 4 2.3379017e+00 3.92e-01 4.13e-01 3.89e-02 -1.7 -3.4 4.16e-01 2 1h 5 2.3098155e+00 2.28e-01 7.60e-01 3.04e-02 -1.7 -3.0 4.20e-01 1 1H 6 2.2515109e+00 3.00e-01 3.33e-01 2.47e-02 -1.7 -3.5 5.60e-01 2 1h 7 2.2574415e+00 5.13e-02 1.62e-01 2.11e-02 -1.7 -4.0 1.00e+00 2 1h 8 2.1200688e+00 2.03e-02 1.60e-02 4.60e-03 -2.5 -4.4 1.00e+00 2 1h 9 2.0911332e+00 1.86e-03 3.28e-03 2.17e-04 -3.8 -4.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0909746e+00 6.61e-04 5.66e-03 1.51e-04 -3.8 -5.4 1.00e+00 2 1h 11 2.0903126e+00 1.69e-04 2.37e-03 1.50e-04 -3.8 -5.9 1.00e+00 2 1h 12 2.0886746e+00 5.23e-04 6.18e-03 1.50e-04 -3.8 -6.3 1.00e+00 2 1h 13 2.0856526e+00 2.79e-03 3.79e-02 1.50e-04 -3.8 -6.8 1.00e+00 2 1h 14 2.0832191e+00 3.36e-03 9.08e-02 1.51e-04 -3.8 -7.3 8.31e-01 2 1h 15 2.0833805e+00 4.11e-03 4.94e-02 7.17e-04 -3.8 -7.8 1.00e+00 2 1h 16 2.0826393e+00 1.18e-03 1.49e-02 2.62e-04 -3.8 -8.3 1.00e+00 2 1h 17 2.0825185e+00 4.79e-04 5.92e-03 1.62e-04 -3.8 -8.7 1.00e+00 1 1h 18 2.0824994e+00 3.39e-05 4.29e-04 1.50e-04 -3.8 -9.2 1.00e+00 1 1h 19 2.0806041e+00 1.02e-02 8.91e-04 3.72e-05 -5.7 -9.7 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0805687e+00 9.35e-05 6.28e-05 6.61e-06 -5.7 -10.2 1.00e+00 1 1h 21 2.0805609e+00 1.30e-07 2.24e-06 2.10e-06 -5.7 -10.6 1.00e+00 1 1h 22 2.0805368e+00 4.71e-06 4.70e-06 8.12e-08 -8.6 -11.1 9.92e-01 2 1h 23 2.0805365e+00 2.55e-09 6.52e-10 2.63e-09 -8.6 -11.6 1.00e+00 2 1h Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0805364805586959e+00 2.0805364805586959e+00 Dual infeasibility......: 6.5175503882741737e-10 6.5175503882741737e-10 Constraint violation....: 2.5469830688962247e-09 2.5469830688962247e-09 Complementarity.........: 2.6349936007955742e-09 2.6349936007955742e-09 Overall NLP error.......: 2.6349936007955742e-09 2.6349936007955742e-09 Number of objective function evaluations = 25 Number of objective gradient evaluations = 24 Number of constraint evaluations = 25 Number of constraint Jacobian evaluations = 24 Number of Lagrangian Hessian evaluations = 23 Number of KKT factorizations = 49 Number of KKT backsolves = 42 Total wall secs in initialization = 5.590 s Total wall secs in linear solver = 0.048 s Total wall secs in NLP function evaluations = 19.282 s Total wall secs in solver (w/o init./fun./lin. alg.) = 28.838 s Total wall secs = 53.757 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: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 3.143s jacobian structure: 1680 nonzeros (3.208s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 11.994s 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 (12.048s) linear index maps built (0.0s) evaluator ready (total: 15.256s) evaluator created (15.29s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.094s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (5.055s) optimizer initialization complete (total: 20.439s) 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 1.0008426e+01 2.45e+00 3.68e+00 1.94e+00 -1.0 - 0.00e+00 1 0 1 2.5621278e+00 2.00e-01 1.93e+00 5.52e-01 -1.0 -2.0 9.51e-01 1 1h 2 2.6757406e+00 3.65e-01 8.17e-01 1.18e-01 -1.0 -2.5 9.99e-01 2 1h 3 2.4477298e+00 4.29e-01 3.21e-01 6.18e-02 -1.7 -3.0 4.63e-01 2 1h 4 2.2804811e+00 4.25e-01 8.70e-01 5.29e-02 -1.7 -3.4 1.00e+00 2 1h 5 2.2478068e+00 3.03e-01 3.49e-01 2.89e-02 -1.7 -3.9 3.87e-01 2 1h 6 2.2841628e+00 7.74e-01 1.15e+00 2.09e-02 -1.7 -4.4 1.00e+00 2 1h 7 2.2348564e+00 3.09e-01 2.27e-01 2.13e-02 -1.7 -4.0 5.55e-01 1 1h 8 2.2590797e+00 1.19e-01 9.86e-02 3.35e-02 -1.7 -4.4 1.00e+00 2 1h 9 2.1432195e+00 2.92e-01 2.15e-01 1.10e-02 -2.5 -4.9 7.93e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.1139858e+00 4.25e-02 5.45e-02 3.81e-03 -2.5 -5.4 1.00e+00 2 1h 11 2.1134607e+00 5.56e-03 1.58e-02 2.87e-03 -2.5 -5.9 1.00e+00 2 1h 12 2.0885300e+00 6.72e-02 3.29e-03 4.84e-04 -3.8 -6.3 1.00e+00 1 1h 13 2.0858111e+00 5.01e-03 4.47e-03 2.05e-04 -3.8 -6.8 1.00e+00 1 1h 14 2.0831773e+00 1.86e-03 8.28e-02 1.51e-04 -3.8 -7.3 9.52e-01 2 1h 15 2.0832122e+00 3.64e-03 4.39e-02 5.26e-04 -3.8 -7.8 1.00e+00 1 1h 16 2.0826051e+00 6.95e-04 1.49e-02 2.17e-04 -3.8 -8.3 1.00e+00 1 1h 17 2.0825077e+00 4.43e-04 5.57e-03 1.55e-04 -3.8 -8.7 1.00e+00 1 1h 18 2.0824939e+00 3.27e-05 4.11e-04 1.50e-04 -3.8 -9.2 1.00e+00 1 1h 19 2.0806067e+00 1.01e-02 8.69e-04 3.70e-05 -5.7 -9.7 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0805685e+00 9.12e-05 6.14e-05 6.60e-06 -5.7 -10.2 1.00e+00 2 1h 21 2.0805610e+00 1.32e-07 2.25e-06 2.11e-06 -5.7 -10.6 1.00e+00 2 1h 22 2.0805368e+00 4.76e-06 4.70e-06 8.23e-08 -8.6 -11.1 9.92e-01 1 1h 23 2.0805365e+00 2.58e-09 1.16e-09 2.64e-09 -8.6 -11.6 1.00e+00 1 1h Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0805364805675031e+00 2.0805364805675031e+00 Dual infeasibility......: 1.1637740792729246e-09 1.1637740792729246e-09 Constraint violation....: 2.5848658768978794e-09 2.5848658768978794e-09 Complementarity.........: 2.6392864722371680e-09 2.6392864722371680e-09 Overall NLP error.......: 2.6392864722371680e-09 2.6392864722371680e-09 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of constraint evaluations = 24 Number of constraint Jacobian evaluations = 24 Number of Lagrangian Hessian evaluations = 23 Number of KKT factorizations = 49 Number of KKT backsolves = 37 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.029 s Total wall secs in NLP function evaluations = 24.000 s Total wall secs in solver (w/o init./fun./lin. alg.) = 11.235 s Total wall secs = 35.266 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: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.865s jacobian structure: 1600 nonzeros (2.929s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.066s 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 (4.12s) linear index maps built (0.0s) evaluator ready (total: 7.05s) evaluator created (7.082s) 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: 7.085s) 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 2.0905754e+01 3.04e+00 1.65e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 9.9270586e+00 4.24e-01 2.22e+00 -0.7 2.54e+00 -4.0 7.95e-01 8.61e-01f 1 2 1.0886142e+01 7.38e-02 7.69e-01 -0.9 6.90e-01 -4.5 8.52e-01 1.00e+00f 1 3 9.9976355e+00 1.71e-02 3.25e-01 -1.5 5.03e-01 -5.0 9.88e-01 1.00e+00f 1 4 9.5819230e+00 7.53e-03 3.37e-02 -2.3 1.92e-01 -5.4 9.94e-01 1.00e+00h 1 5 9.4576556e+00 1.45e-03 1.00e-02 -3.4 1.03e-01 -5.9 9.84e-01 1.00e+00h 1 6 9.4294514e+00 2.37e-04 1.19e-03 -4.0 3.93e-02 -6.4 1.00e+00 1.00e+00h 1 7 9.4260096e+00 2.65e-05 1.17e-04 -4.0 9.22e-03 -6.9 1.00e+00 1.00e+00h 1 8 9.4258106e+00 4.89e-07 1.72e-06 -4.0 1.08e-03 -7.3 1.00e+00 1.00e+00h 1 9 9.4258086e+00 2.08e-10 1.00e-09 -4.0 3.29e-05 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4258086229154454e+00 9.4258086229154454e+00 Dual infeasibility......: 9.9999982114949183e-10 9.9999982114949183e-10 Constraint violation....: 2.0838275549550644e-10 2.0838275549550644e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000133323497657e-04 1.0000133323497657e-04 Overall NLP error.......: 1.3332349765616007e-09 1.3332349765616007e-09 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of equality constraint evaluations = 10 Number of inequality constraint evaluations = 10 Number of equality constraint Jacobian evaluations = 10 Number of inequality constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Total seconds in IPOPT = 28.290 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.002s) This is MadNLP version v0.9.2, 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 2.0905754e+01 3.04e+00 1.65e+00 9.89e-01 -1.0 - 0.00e+00 1 0 1 9.9518508e+00 2.25e-01 1.91e+00 7.04e-01 -1.0 -4.0 1.00e+00 2 1h 2 1.0279908e+01 1.16e-01 7.38e-01 3.33e-01 -1.0 -4.5 1.00e+00 2 1h 3 9.7045741e+00 1.22e-02 3.49e-02 6.39e-02 -1.7 -5.0 9.50e-01 2 1h 4 9.5034085e+00 2.77e-03 1.46e-02 8.94e-03 -2.5 -5.4 1.00e+00 2 1h 5 9.4378663e+00 1.12e-03 3.69e-03 2.12e-03 -3.8 -5.9 1.00e+00 2 1h 6 9.4273863e+00 1.71e-04 4.93e-04 4.64e-04 -3.8 -6.4 1.00e+00 2 1h 7 9.4246282e+00 2.33e-05 1.51e-04 4.76e-05 -5.7 -6.9 1.00e+00 2 1h 8 9.4245373e+00 5.01e-07 6.70e-07 2.64e-06 -5.7 -7.3 1.00e+00 2 1h 9 9.4245130e+00 1.19e-09 2.70e-09 4.99e-09 -8.6 -7.8 1.00e+00 2 1h Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4245129858545518e+00 9.4245129858545518e+00 Dual infeasibility......: 2.6992084123378390e-09 2.6992084123378390e-09 Constraint violation....: 1.1854219827966972e-09 1.1854219827966972e-09 Complementarity.........: 4.9908697579865360e-09 4.9908697579865360e-09 Overall NLP error.......: 4.9908697579865360e-09 4.9908697579865360e-09 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of constraint evaluations = 10 Number of constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Number of KKT factorizations = 19 Number of KKT backsolves = 19 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.009 s Total wall secs in NLP function evaluations = 0.213 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.006 s Total wall secs = 0.230 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: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.121s) evaluator created (0.121s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.413s) optimizer initialization complete (total: 0.535s) 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 2.6842928e-01 3.78e+00 1.03e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9459124e-01 3.42e+00 6.21e+00 -4.0 1.07e+02 -4.0 9.07e-02 1.36e-01H 1 2 3.4682231e-01 2.73e+00 4.18e+00 -2.7 1.18e+02 -3.6 4.63e-02 2.04e-01H 1 3 9.3687890e-01 1.56e+00 4.04e+00 -2.2 1.89e+01 -3.1 3.13e-01 5.80e-01h 1 4 1.0513800e+00 1.22e+00 2.33e+00 -0.9 8.98e+00 -1.8 9.33e-02 2.22e-01f 1 5 1.2857594e+00 1.03e+00 8.07e+00 -0.5 1.70e+01 -1.4 5.39e-01 1.47e-01f 1 6 1.3282061e+00 1.70e+00 6.77e+00 -0.1 6.38e+01 -1.9 1.51e-01 1.06e-01f 1 7 1.4342586e+00 1.37e+00 7.66e+00 -0.8 1.11e+01 -2.3 3.68e-01 1.97e-01h 1 8 1.5234319e+00 9.46e-01 5.30e+00 -2.8 2.36e+01 -2.8 2.55e-01 3.05e-01h 1 9 2.0902305e+00 1.63e+01 4.76e+00 -1.0 6.12e+01 -3.3 6.05e-01 7.99e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0744039e+00 1.51e+01 7.86e+00 -1.1 7.96e+00 -1.1 1.57e-02 7.75e-02h 1 11 2.0479480e+00 1.41e+01 1.19e+01 -1.1 5.17e+00 -1.5 8.27e-01 6.66e-02h 1 12 1.8136983e+00 8.00e+00 6.22e+00 -1.1 3.33e+01 -2.0 3.20e-01 3.98e-01f 1 13 1.7242001e+00 4.44e+00 6.89e+00 -1.1 2.14e+01 -2.5 1.00e+00 4.19e-01h 1 14 1.5015348e+00 7.75e-03 3.49e+00 -2.0 9.94e+00 -3.0 8.91e-01 1.00e+00h 1 15 1.3353855e+00 3.85e-03 5.49e-02 -2.4 8.72e-01 -3.5 9.98e-01 1.00e+00h 1 16 1.2798880e+00 1.39e-03 6.47e-03 -3.4 4.68e-01 -3.9 9.83e-01 1.00e+00h 1 17 1.2663293e+00 2.82e-03 9.70e-04 -4.0 1.49e+00 -4.4 1.00e+00 1.00e+00h 1 18 1.2650584e+00 3.86e-03 1.17e-03 -4.0 4.97e+00 -4.9 1.00e+00 1.00e+00h 1 19 1.2635117e+00 1.59e-01 1.44e-02 -4.0 2.46e+01 -5.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.2615225e+00 1.06e-01 2.62e-03 -4.0 1.43e+01 -4.9 1.00e+00 1.00e+00h 1 21 1.2597611e+00 2.30e-02 6.17e-03 -4.0 5.71e+00 -4.5 1.00e+00 1.00e+00h 1 22 1.2727875e+00 1.98e-01 1.68e-02 -3.0 2.11e+01 -5.0 1.00e+00 8.07e-01h 1 23 1.2681690e+00 1.18e-01 7.35e-02 -3.1 1.07e+01 -4.6 1.00e+00 1.00e+00h 1 24 1.2651059e+00 1.06e-01 5.20e-02 -3.1 6.32e+00 -4.1 1.00e+00 1.00e+00h 1 25 1.2599516e+00 8.44e-02 8.01e-02 -3.1 6.60e+00 -3.7 1.00e+00 5.19e-01H 1 26 1.2537977e+00 1.33e-01 4.46e-02 -3.1 3.84e+00 -3.3 1.00e+00 1.00e+00f 1 27 1.2353611e+00 2.93e-01 8.66e-02 -3.1 3.75e+00 -2.9 9.74e-01 1.00e+00h 1 28 1.2308961e+00 2.56e-02 3.16e-02 -2.9 4.18e-01 -1.5 1.00e+00 1.00e+00h 1 29 1.2158450e+00 4.58e-02 2.16e-02 -3.2 6.96e-01 -2.0 1.00e+00 9.78e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1982794e+00 1.17e-01 1.21e-01 -3.6 1.14e+00 -2.5 5.36e-01 8.42e-01h 1 31 1.1943029e+00 4.25e-02 5.74e-02 -4.0 1.55e+00 -3.0 9.83e-01 6.50e-01h 1 32 1.1879212e+00 3.96e-02 6.21e-02 -4.0 1.99e+00 -3.4 1.00e+00 6.91e-01h 1 33 1.1797869e+00 1.00e-01 2.35e-02 -4.0 3.01e+00 -3.9 1.00e+00 1.00e+00h 1 34 1.1750271e+00 1.21e-01 1.34e-02 -4.0 5.16e+00 -4.4 1.00e+00 1.00e+00h 1 35 1.1717229e+00 1.24e-01 1.40e-02 -4.0 7.78e+00 -4.9 1.00e+00 1.00e+00h 1 36 1.1688287e+00 1.57e-01 7.21e-03 -4.0 1.19e+01 -5.3 1.00e+00 1.00e+00h 1 37 1.1667416e+00 1.79e-01 5.57e-03 -4.0 1.80e+01 -5.8 1.00e+00 1.00e+00h 1 38 1.1649724e+00 2.22e-01 2.23e-04 -4.0 2.74e+01 -6.3 1.00e+00 1.00e+00h 1 39 1.1636326e+00 2.62e-01 4.04e-03 -4.0 4.13e+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 40 1.1625337e+00 3.17e-01 1.04e-02 -4.0 6.19e+01 -7.3 1.00e+00 1.00e+00h 1 41 1.1616970e+00 3.69e-01 1.58e-02 -4.0 9.14e+01 -7.7 1.00e+00 1.00e+00h 1 42 1.1610464e+00 4.24e-01 2.21e-02 -4.0 1.32e+02 -8.2 1.00e+00 1.00e+00h 1 43 1.1606147e+00 4.44e-01 2.46e-02 -4.0 1.82e+02 -8.7 1.00e+00 1.00e+00h 1 44 1.1604913e+00 3.39e-01 1.56e-02 -4.0 2.12e+02 -9.2 1.00e+00 1.00e+00h 1 45 1.1608293e+00 1.46e-02 3.68e-03 -4.0 7.68e+01 -9.6 1.00e+00 1.00e+00h 1 46 1.1608495e+00 1.33e-04 4.60e-05 -4.0 3.80e+00 -10.1 1.00e+00 1.00e+00h 1 47 1.1608491e+00 9.27e-07 1.32e-07 -4.0 3.99e-01 -10.6 1.00e+00 1.00e+00h 1 48 1.1608491e+00 5.57e-11 3.24e-12 -4.0 3.08e-03 -11.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 48 (scaled) (unscaled) Objective...............: 1.1608491307874282e+00 1.1608491307874282e+00 Dual infeasibility......: 3.2368270661432136e-12 3.2368270661432136e-12 Constraint violation....: 5.5663917919446249e-11 5.5663917919446249e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000433e-04 1.0000000000000433e-04 Overall NLP error.......: 5.5663917919446249e-11 5.5663917919446249e-11 Number of objective function evaluations = 52 Number of objective gradient evaluations = 49 Number of equality constraint evaluations = 52 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 49 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 48 Total seconds in IPOPT = 28.704 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.054s jacobian structure: 180 nonzeros (0.088s) integrator 1 hessian structure: 0.052s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.385s sub-objective 2 (QuadraticRegularizer): 0.09s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 0.594s hessian structure: 375 nonzeros (0.646s) linear index maps built (0.0s) evaluator ready (total: 0.9s) evaluator created (1.322s) NL constraint bounds extracted (0.012s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.125s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.14s) optimizer initialization complete (total: 4.599s) 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 1.2822116e+00 9.37e-01 1.21e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7859308e+00 1.69e-01 1.70e+00 -1.0 7.73e-01 0.0 9.99e-01 1.00e+00h 1 2 1.6918280e+00 6.02e-02 5.93e-01 -0.9 5.23e-01 -0.5 8.42e-01 5.54e-01f 1 3 1.7096014e+00 3.19e-02 1.09e+00 -1.6 5.33e-01 -1.0 9.60e-01 1.00e+00h 1 4 1.3715036e+00 2.02e-02 2.84e-01 -1.9 1.29e+00 -1.4 9.99e-01 3.54e-01f 1 5 1.1094993e+00 2.23e-03 7.67e-02 -2.5 6.51e-02 -1.0 9.99e-01 9.97e-01h 1 6 1.0921632e+00 4.87e-05 1.43e-03 -4.0 8.09e-02 -1.5 1.00e+00 9.82e-01h 1 7 1.0916807e+00 2.81e-09 1.13e-03 -4.0 3.02e-02 -2.0 1.00e+00 1.00e+00h 1 8 1.0915597e+00 7.81e-13 8.81e-04 -4.0 8.33e-02 -2.4 1.00e+00 1.00e+00h 1 9 1.0915126e+00 3.90e-13 1.82e-03 -4.0 7.75e-01 -2.9 2.95e-01 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0914924e+00 8.88e-16 6.44e-04 -4.0 2.57e-02 -1.6 1.00e+00 1.00e+00f 1 11 1.0914343e+00 7.79e-22 1.29e-04 -4.0 9.04e-02 -2.1 1.00e+00 1.00e+00f 1 12 1.0910468e+00 3.82e-25 1.65e-02 -4.0 1.27e+00 - 1.00e+00 1.00e+00f 1 13 1.0910385e+00 7.78e-31 6.40e-05 -4.0 4.74e-02 - 1.00e+00 1.00e+00f 1 14 1.0910386e+00 8.88e-16 4.91e-07 -4.0 1.01e-03 - 1.00e+00 1.00e+00f 1 15 1.0908587e+00 3.04e-33 2.42e-09 -4.1 7.37e-05 - 1.00e+00 1.00e+00f 1 16 1.0910386e+00 5.54e-33 2.42e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 16 (scaled) (unscaled) Objective...............: 1.0910385864116037e+00 1.0910385864116037e+00 Dual infeasibility......: 2.4159692024738888e-09 2.4159692024738888e-09 Constraint violation....: 5.5379769424355727e-33 5.5379769424355727e-33 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000093623366055e-04 1.0000093623366055e-04 Overall NLP error.......: 2.4159692024738888e-09 2.4159692024738888e-09 Number of objective function evaluations = 18 Number of objective gradient evaluations = 17 Number of equality constraint evaluations = 18 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 17 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 16 Total seconds in IPOPT = 23.961 EXIT: Optimal Solution Found. [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: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.992s jacobian structure: 1600 nonzeros (3.061s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.189s 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 (4.245s) linear index maps built (0.0s) evaluator ready (total: 7.306s) evaluator created (7.335s) 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: 7.351s) 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 3.7500664e+00 2.67e+00 5.40e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.4270699e+00 5.31e-01 1.54e+00 -0.9 2.01e+00 0.0 9.52e-01 8.03e-01f 1 Hello, world! 2 2.2304805e+00 3.19e-01 1.75e+00 -1.1 1.44e+00 -0.5 4.65e-01 3.38e-01h 1 Hello, world! 3 2.0698143e+00 2.84e-01 2.05e+00 -1.6 8.75e+00 -1.0 2.99e-01 1.10e-01h 1 Hello, world! 4 2.3022233e+00 9.25e-03 4.93e+00 -1.6 5.10e-01 -1.4 5.32e-01 1.00e+00h 1 Hello, world! 5 2.2051433e+00 2.68e-03 6.19e-01 -1.9 1.68e-01 -1.0 9.97e-01 8.39e-01h 1 Hello, world! 6 2.1102139e+00 9.84e-04 3.46e-02 -3.2 6.62e-02 -1.5 1.00e+00 9.52e-01h 1 Hello, world! 7 2.0909481e+00 4.46e-05 5.43e-03 -4.0 1.31e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908800e+00 4.88e-07 1.33e-04 -4.0 7.31e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908778e+00 2.94e-09 1.94e-05 -4.0 1.59e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908726e+00 9.77e-10 1.91e-05 -4.0 4.71e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908587e+00 7.53e-09 1.84e-05 -4.0 1.36e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908254e+00 4.98e-08 8.78e-05 -4.0 3.69e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907500e+00 3.13e-07 4.10e-04 -4.0 9.65e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905430e+00 2.96e-06 5.29e-04 -4.0 2.94e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0904649e+00 2.77e-06 8.20e-03 -4.0 2.38e+01 -5.8 1.44e-01 3.32e-02h 2 Hello, world! 16 2.0889094e+00 1.23e-04 1.60e-02 -4.0 2.28e+01 -6.3 1.00e+00 8.46e-01h 1 Hello, world! 17 2.0864754e+00 1.08e-03 9.57e-02 -4.0 5.80e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0844243e+00 4.81e-04 7.90e-02 -4.0 7.51e+00 -5.4 1.00e+00 6.04e-01h 1 Hello, world! 19 2.0841827e+00 8.54e-05 8.02e-03 -4.0 6.33e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0832948e+00 4.62e-05 4.39e-03 -4.0 1.35e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0827208e+00 9.85e-05 7.98e-03 -4.0 2.20e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0826599e+00 9.78e-05 4.98e-03 -4.0 5.65e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0822422e+00 5.91e-04 6.51e-03 -4.0 1.36e+02 -7.8 9.48e-01 1.00e+00h 1 Hello, world! 24 2.0824719e+00 1.56e-03 2.25e-02 -4.0 3.28e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0820501e+00 1.44e-03 2.06e-02 -4.0 1.78e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0853816e+00 6.73e-04 3.28e-01 -4.0 2.44e+01 -5.6 8.15e-02 2.45e-01h 1 Hello, world! 27 2.0825350e+00 1.48e-04 2.44e+00 -4.1 7.99e+00 -4.3 1.45e-03 1.55e-01h 1 Hello, world! 28 2.0822715e+00 1.10e-03 6.43e+00 -4.0 9.47e+01 -4.8 1.11e-01 1.38e-02f 1 Hello, world! 29 2.0836846e+00 3.93e-03 1.64e+00 -3.1 9.93e+01 -5.2 2.56e-01 2.68e-02f 2 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0844753e+00 5.94e-03 5.01e+01 -3.1 4.60e+02 -5.7 1.00e+00 2.00e-02f 2 Hello, world! 31 2.0848472e+00 1.24e-03 1.55e+00 -3.1 1.10e+01 -6.2 9.69e-01 1.00e+00h 1 Hello, world! 32 2.0882216e+00 2.84e-02 1.16e+00 -3.1 9.88e+01 -6.7 3.00e-01 1.00e+00h 1 Hello, world! 33 2.0891465e+00 2.01e-03 1.59e-02 -3.1 1.42e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0895607e+00 1.30e-03 1.70e-03 -3.1 1.99e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0816164e+00 7.24e-02 2.14e-02 -4.7 1.01e+02 -8.1 8.97e-01 1.00e+00h 1 Hello, world! 36 2.0818687e+00 3.72e-03 8.99e-03 -4.0 7.85e+01 -8.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818465e+00 7.36e-05 1.22e-03 -4.0 3.42e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818435e+00 1.58e-06 2.96e-05 -4.0 7.06e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818434e+00 5.82e-09 1.88e-07 -4.0 5.58e-01 -10.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818434e+00 3.23e-12 1.00e-09 -4.0 1.58e-02 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 40 (scaled) (unscaled) Objective...............: 2.0818434105400327e+00 2.0818434105400327e+00 Dual infeasibility......: 1.0000000061143825e-09 1.0000000061143825e-09 Constraint violation....: 3.2338576261281560e-12 3.2338576261281560e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 1.0000000061143825e-09 1.0000000061143825e-09 Number of objective function evaluations = 50 Number of objective gradient evaluations = 41 Number of equality constraint evaluations = 50 Number of inequality constraint evaluations = 50 Number of equality constraint Jacobian evaluations = 41 Number of inequality constraint Jacobian evaluations = 41 Number of Lagrangian Hessian evaluations = 40 Total seconds in IPOPT = 29.467 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) 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 3.7500664e+00 2.67e+00 5.40e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.4270699e+00 5.31e-01 1.54e+00 -0.9 2.01e+00 0.0 9.52e-01 8.03e-01f 1 Hello, world! 2 2.2304805e+00 3.19e-01 1.75e+00 -1.1 1.44e+00 -0.5 4.65e-01 3.38e-01h 1 Hello, world! 3 2.0698143e+00 2.84e-01 2.05e+00 -1.6 8.75e+00 -1.0 2.99e-01 1.10e-01h 1 Hello, world! 4 2.3022233e+00 9.25e-03 4.93e+00 -1.6 5.10e-01 -1.4 5.32e-01 1.00e+00h 1 Hello, world! 5 2.2051433e+00 2.68e-03 6.19e-01 -1.9 1.68e-01 -1.0 9.97e-01 8.39e-01h 1 Hello, world! 6 2.1102139e+00 9.84e-04 3.46e-02 -3.2 6.62e-02 -1.5 1.00e+00 9.52e-01h 1 Hello, world! 7 2.0909481e+00 4.46e-05 5.43e-03 -4.0 1.31e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908800e+00 4.88e-07 1.33e-04 -4.0 7.31e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908778e+00 2.94e-09 1.94e-05 -4.0 1.59e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908726e+00 9.77e-10 1.91e-05 -4.0 4.71e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908587e+00 7.53e-09 1.84e-05 -4.0 1.36e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908254e+00 4.98e-08 8.78e-05 -4.0 3.69e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907500e+00 3.13e-07 4.10e-04 -4.0 9.65e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905430e+00 2.96e-06 5.29e-04 -4.0 2.94e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0904649e+00 2.77e-06 8.20e-03 -4.0 2.38e+01 -5.8 1.44e-01 3.32e-02h 2 Hello, world! 16 2.0889094e+00 1.23e-04 1.60e-02 -4.0 2.28e+01 -6.3 1.00e+00 8.46e-01h 1 Hello, world! 17 2.0864754e+00 1.08e-03 9.57e-02 -4.0 5.80e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0844243e+00 4.81e-04 7.90e-02 -4.0 7.51e+00 -5.4 1.00e+00 6.04e-01h 1 Hello, world! 19 2.0841827e+00 8.54e-05 8.02e-03 -4.0 6.33e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0832948e+00 4.62e-05 4.39e-03 -4.0 1.35e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0827208e+00 9.85e-05 7.98e-03 -4.0 2.20e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0826599e+00 9.78e-05 4.98e-03 -4.0 5.65e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0822422e+00 5.91e-04 6.51e-03 -4.0 1.36e+02 -7.8 9.48e-01 1.00e+00h 1 Hello, world! 24 2.0824719e+00 1.56e-03 2.25e-02 -4.0 3.28e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0820501e+00 1.44e-03 2.06e-02 -4.0 1.78e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0853816e+00 6.73e-04 3.28e-01 -4.0 2.44e+01 -5.6 8.15e-02 2.45e-01h 1 Hello, world! 27 2.0825350e+00 1.48e-04 2.44e+00 -4.1 7.99e+00 -4.3 1.45e-03 1.55e-01h 1 Hello, world! 28 2.0822715e+00 1.10e-03 6.43e+00 -4.0 9.47e+01 -4.8 1.11e-01 1.38e-02f 1 Hello, world! 29 2.0836846e+00 3.93e-03 1.64e+00 -3.1 9.93e+01 -5.2 2.56e-01 2.68e-02f 2 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0844753e+00 5.94e-03 5.01e+01 -3.1 4.60e+02 -5.7 1.00e+00 2.00e-02f 2 Hello, world! 31 2.0848472e+00 1.24e-03 1.55e+00 -3.1 1.10e+01 -6.2 9.69e-01 1.00e+00h 1 Hello, world! 32 2.0882216e+00 2.84e-02 1.16e+00 -3.1 9.88e+01 -6.7 3.00e-01 1.00e+00h 1 Hello, world! 33 2.0891465e+00 2.01e-03 1.59e-02 -3.1 1.42e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0895607e+00 1.30e-03 1.70e-03 -3.1 1.99e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0816164e+00 7.24e-02 2.14e-02 -4.7 1.01e+02 -8.1 8.97e-01 1.00e+00h 1 Hello, world! 36 2.0818687e+00 3.72e-03 8.99e-03 -4.0 7.85e+01 -8.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818465e+00 7.36e-05 1.22e-03 -4.0 3.42e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818435e+00 1.58e-06 2.96e-05 -4.0 7.06e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818434e+00 5.82e-09 1.88e-07 -4.0 5.58e-01 -10.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818434e+00 3.23e-12 1.00e-09 -4.0 1.58e-02 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 40 (scaled) (unscaled) Objective...............: 2.0818434105400327e+00 2.0818434105400327e+00 Dual infeasibility......: 1.0000000061143825e-09 1.0000000061143825e-09 Constraint violation....: 3.2338576261281560e-12 3.2338576261281560e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 1.0000000061143825e-09 1.0000000061143825e-09 Number of objective function evaluations = 50 Number of objective gradient evaluations = 41 Number of equality constraint evaluations = 50 Number of inequality constraint evaluations = 50 Number of equality constraint Jacobian evaluations = 41 Number of inequality constraint Jacobian evaluations = 41 Number of Lagrangian Hessian evaluations = 40 Total seconds in IPOPT = 0.829 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.93s jacobian structure: 1600 nonzeros (2.993s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.114s 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 (4.166s) linear index maps built (0.0s) evaluator ready (total: 7.16s) evaluator created (7.186s) 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: 7.187s) 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 1.0703939e+00 3.50e+00 7.01e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8181887e+00 1.03e-01 2.77e+00 -0.9 2.65e+00 0.0 9.97e-01 1.00e+00h 1 2 2.4737097e+00 1.05e-02 7.19e-01 -1.0 1.57e-01 0.4 9.93e-01 1.00e+00h 1 3 2.3629276e+00 1.14e-03 2.28e-01 -2.0 7.33e-02 -0.1 9.94e-01 1.00e+00h 1 4 2.1090030e+00 3.22e-03 5.61e-02 -2.6 1.03e-01 -0.5 9.98e-01 8.70e-01f 1 5 2.0999256e+00 1.01e-03 1.18e-01 -3.0 1.63e-02 -1.0 1.00e+00 6.93e-01h 1 6 2.0908855e+00 9.77e-06 4.41e-03 -4.0 5.46e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909582e+00 2.55e-08 6.53e-05 -4.0 5.81e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909573e+00 3.21e-10 3.28e-05 -4.0 8.96e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909553e+00 1.86e-10 2.28e-05 -4.0 1.87e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909493e+00 1.55e-09 2.23e-05 -4.0 5.48e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909335e+00 1.17e-08 2.49e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908991e+00 6.86e-08 1.41e-04 -4.0 3.96e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908244e+00 3.21e-07 6.53e-04 -4.0 9.85e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0906224e+00 3.05e-06 8.77e-04 -4.0 3.01e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899704e+00 2.50e-05 1.50e-03 -4.0 8.27e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0882279e+00 1.88e-04 1.72e-02 -4.0 2.48e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0875353e+00 1.89e-04 3.95e-01 -4.0 9.91e+01 -5.8 9.93e-01 7.37e-02h 1 18 2.0857201e+00 4.98e-04 1.72e-02 -4.0 2.58e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0831684e+00 2.50e-04 3.17e-02 -4.0 4.25e+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 2.0825130e+00 9.60e-06 1.32e-02 -4.0 5.58e+01 -7.3 1.00e+00 9.63e-01H 1 21 2.0823535e+00 2.02e-04 1.03e-02 -4.0 1.22e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0831656e+00 9.05e-06 1.36e-01 -4.0 1.34e+02 -7.3 3.92e-01 1.00e+00H 1 23 2.0826042e+00 1.04e-04 1.55e-01 -4.0 2.24e+00 -5.1 1.00e+00 6.59e-01h 1 24 2.0825074e+00 1.20e-04 6.44e-01 -4.1 2.96e+00 -5.6 1.00e+00 1.14e-01h 2 25 2.0821343e+00 1.66e-04 4.29e-03 -4.1 5.40e+00 -6.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0821343065197819e+00 2.0821343065197819e+00 Dual infeasibility......: 4.2865027602662833e-03 4.2865027602662833e-03 Constraint violation....: 1.6599320075316726e-04 1.6599320075316726e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.9966446881244913e-05 7.9966446881244913e-05 Overall NLP error.......: 4.2865027602662833e-03 4.2865027602662833e-03 Number of objective function evaluations = 31 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 31 Number of inequality constraint evaluations = 31 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 28.344 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 1.0703939e+00 3.50e+00 7.01e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8181887e+00 1.03e-01 2.77e+00 -0.9 2.65e+00 0.0 9.97e-01 1.00e+00h 1 2 2.4737097e+00 1.05e-02 7.19e-01 -1.0 1.57e-01 0.4 9.93e-01 1.00e+00h 1 3 2.3629276e+00 1.14e-03 2.28e-01 -2.0 7.33e-02 -0.1 9.94e-01 1.00e+00h 1 4 2.1090030e+00 3.22e-03 5.61e-02 -2.6 1.03e-01 -0.5 9.98e-01 8.70e-01f 1 5 2.0999256e+00 1.01e-03 1.18e-01 -3.0 1.63e-02 -1.0 1.00e+00 6.93e-01h 1 6 2.0908855e+00 9.77e-06 4.41e-03 -4.0 5.46e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909582e+00 2.55e-08 6.53e-05 -4.0 5.81e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909573e+00 3.21e-10 3.28e-05 -4.0 8.96e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909553e+00 1.86e-10 2.28e-05 -4.0 1.87e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909493e+00 1.55e-09 2.23e-05 -4.0 5.48e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909335e+00 1.17e-08 2.49e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908991e+00 6.86e-08 1.41e-04 -4.0 3.96e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908244e+00 3.21e-07 6.53e-04 -4.0 9.85e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0906224e+00 3.05e-06 8.77e-04 -4.0 3.01e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899704e+00 2.50e-05 1.50e-03 -4.0 8.27e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0882279e+00 1.88e-04 1.72e-02 -4.0 2.48e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0875353e+00 1.89e-04 3.95e-01 -4.0 9.91e+01 -5.8 9.93e-01 7.37e-02h 1 18 2.0857201e+00 4.98e-04 1.72e-02 -4.0 2.58e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0831684e+00 2.50e-04 3.17e-02 -4.0 4.25e+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 2.0825130e+00 9.60e-06 1.32e-02 -4.0 5.58e+01 -7.3 1.00e+00 9.63e-01H 1 21 2.0823535e+00 2.02e-04 1.03e-02 -4.0 1.22e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0831656e+00 9.05e-06 1.36e-01 -4.0 1.34e+02 -7.3 3.92e-01 1.00e+00H 1 23 2.0826042e+00 1.04e-04 1.55e-01 -4.0 2.24e+00 -5.1 1.00e+00 6.59e-01h 1 24 2.0825074e+00 1.20e-04 6.44e-01 -4.1 2.96e+00 -5.6 1.00e+00 1.14e-01h 2 25 2.0821343e+00 1.66e-04 4.29e-03 -4.1 5.40e+00 -6.0 1.00e+00 1.00e+00h 1 26 2.0822049e+00 2.95e-04 2.19e-03 -4.0 1.32e+01 -6.5 1.00e+00 1.00e+00h 1 27 2.0822210e+00 9.19e-07 2.18e-02 -4.1 4.17e+01 -7.0 4.04e-01 1.00e+00H 1 28 2.0818467e+00 1.35e-05 1.20e-01 -4.0 1.05e+00 -4.8 1.00e+00 7.87e-01h 1 29 2.0822750e+00 3.55e-05 2.84e-03 -4.0 1.18e+00 -5.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0821108e+00 1.27e-04 1.55e-03 -4.1 3.39e+00 -5.7 1.00e+00 1.00e+00h 1 31 2.0821320e+00 3.40e-04 9.10e-03 -4.1 1.35e+01 -6.2 9.24e-01 1.00e+00h 1 32 2.0840032e+00 1.55e-05 6.19e-01 -4.1 2.98e+00 -4.9 4.72e-01 1.00e+00H 1 33 2.0825334e+00 1.95e-06 1.16e-02 -4.1 7.63e-02 -0.8 1.00e+00 1.00e+00h 1 34 2.0821844e+00 9.51e-07 2.52e-03 -4.1 4.62e-02 -1.3 1.00e+00 1.00e+00h 1 35 2.0822648e+00 1.29e-07 6.01e-04 -4.0 3.32e-02 -1.8 1.00e+00 1.00e+00h 1 36 2.0822811e+00 6.90e-09 2.92e-04 -4.0 5.14e-02 -2.2 1.00e+00 1.00e+00h 1 37 2.0822814e+00 1.51e-08 1.11e-04 -4.0 5.89e-02 -2.7 1.00e+00 1.00e+00h 1 38 2.0822803e+00 3.82e-08 2.46e-05 -4.0 3.54e-02 -3.2 1.00e+00 1.00e+00h 1 39 2.0822798e+00 4.56e-08 5.21e-06 -4.0 2.50e-02 -3.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822790e+00 1.16e-07 5.01e-06 -4.0 7.21e-02 -4.2 1.00e+00 1.00e+00h 1 41 2.0822763e+00 6.95e-07 8.90e-06 -4.0 1.96e-01 -4.6 1.00e+00 1.00e+00h 1 42 2.0821201e+00 1.47e-05 5.61e-05 -4.1 6.07e-01 -5.1 1.00e+00 1.00e+00h 1 43 2.0814188e+00 2.76e-04 1.04e-02 -6.1 3.27e+00 -5.6 9.54e-01 1.00e+00h 1 44 2.0816494e+00 6.86e-05 1.11e-01 -4.3 2.97e-01 -4.3 1.00e+00 7.54e-01h 1 45 2.0822555e+00 8.94e-06 5.09e-03 -4.0 3.98e-01 -4.7 1.00e+00 1.00e+00h 1 46 2.0820042e+00 5.57e-06 1.43e-03 -4.1 4.70e-01 -5.2 1.00e+00 1.00e+00h 1 47 2.0821326e+00 2.53e-05 3.64e-04 -4.0 1.25e+00 -5.7 1.00e+00 1.00e+00h 1 48 2.0819309e+00 8.27e-05 1.90e-04 -4.1 3.10e+00 -6.2 1.00e+00 1.00e+00h 1 49 2.0809732e+00 1.43e-03 4.70e-03 -6.1 1.59e+01 -6.6 9.87e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0810700e+00 9.22e-06 3.64e-04 -4.9 6.85e-01 -5.3 1.00e+00 1.00e+00h 1 51 2.0814785e+00 7.38e-05 9.82e-02 -4.0 6.45e+00 -5.8 1.00e+00 3.23e-01h 1 52 2.0816881e+00 2.53e-04 1.06e-02 -4.1 7.13e+00 -6.3 9.09e-01 1.00e+00f 1 53 2.0817038e+00 2.27e-05 1.10e-03 -4.1 5.52e+00 -6.7 1.00e+00 1.00e+00h 1 54 2.0816739e+00 2.51e-05 3.32e-04 -4.1 1.33e+01 -7.2 1.00e+00 1.00e+00h 1 55 2.0807617e+00 3.41e-03 8.06e-04 -6.2 4.67e+01 -7.7 9.75e-01 9.41e-01h 1 56 2.0818895e+00 6.22e-03 3.27e-03 -4.0 5.59e+01 -8.2 1.00e+00 1.00e+00f 1 57 2.0816370e+00 1.27e-03 1.48e-03 -4.1 4.77e+01 -8.7 1.00e+00 1.00e+00h 1 58 2.0820435e+00 6.33e-06 1.41e-02 -4.1 2.40e+01 -9.1 9.10e-01 1.00e+00h 1 59 2.0819419e+00 1.83e-04 4.14e-03 -4.0 8.11e+00 -9.6 9.42e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0817346e+00 5.74e-07 4.21e-04 -4.1 3.26e-02 -1.8 1.00e+00 1.00e+00h 1 61 2.0818711e+00 2.70e-07 1.31e-04 -4.0 2.08e-02 -2.2 1.00e+00 1.00e+00h 1 62 2.0818656e+00 7.14e-09 4.12e-05 -4.0 2.17e-02 -2.7 1.00e+00 1.00e+00h 1 63 2.0818651e+00 1.98e-08 7.30e-06 -4.0 1.16e-02 -3.2 1.00e+00 1.00e+00h 1 64 2.0818654e+00 5.62e-08 6.32e-06 -4.0 2.99e-02 -3.7 1.00e+00 1.00e+00h 1 65 2.0817390e+00 2.02e-06 7.70e-05 -4.1 9.01e-02 -4.2 1.00e+00 1.00e+00h 1 66 2.0811784e+00 3.44e-05 3.62e-02 -6.1 3.69e-01 -4.6 8.37e-01 1.00e+00h 1 67 2.0811235e+00 2.51e-05 2.11e-02 -6.1 8.01e-01 -4.2 2.58e-01 2.72e-01h 1 68 2.0810640e+00 8.49e-06 8.66e-02 -6.1 5.08e-01 -4.7 1.00e+00 6.87e-01h 1 69 2.0813714e+00 3.15e-05 3.31e-01 -4.0 4.00e+00 -5.2 5.62e-01 2.61e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0817060e+00 3.06e-03 5.90e-03 -4.2 6.22e+00 -5.6 1.00e+00 1.00e+00h 1 71 2.0815859e+00 7.75e-04 5.10e-03 -4.2 3.66e+00 -6.1 1.00e+00 1.00e+00h 1 72 2.0815563e+00 2.36e-03 4.89e-03 -4.2 1.12e+01 -6.6 1.00e+00 1.00e+00h 1 73 2.0814038e+00 4.32e-07 5.79e-04 -4.2 4.23e-02 -1.6 1.00e+00 1.00e+00h 1 74 2.0816917e+00 9.42e-07 7.11e-04 -4.0 2.39e-02 -2.1 1.00e+00 1.00e+00h 1 75 2.0815679e+00 1.53e-07 1.09e-04 -4.1 2.04e-02 -2.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 75 (scaled) (unscaled) Objective...............: 2.0815678799044290e+00 2.0815678799044290e+00 Dual infeasibility......: 1.0870784454847400e-04 1.0870784454847400e-04 Constraint violation....: 1.5319984658646035e-07 1.5319984658646035e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.3050202807918597e-05 8.3050202807918597e-05 Overall NLP error.......: 1.0870784454847400e-04 1.0870784454847400e-04 Number of objective function evaluations = 83 Number of objective gradient evaluations = 76 Number of equality constraint evaluations = 83 Number of inequality constraint evaluations = 83 Number of equality constraint Jacobian evaluations = 76 Number of inequality constraint Jacobian evaluations = 76 Number of Lagrangian Hessian evaluations = 75 Total seconds in IPOPT = 1.084 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 1.0703939e+00 3.50e+00 7.01e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8181887e+00 1.03e-01 2.77e+00 -0.9 2.65e+00 0.0 9.97e-01 1.00e+00h 1 2 2.4737097e+00 1.05e-02 7.19e-01 -1.0 1.57e-01 0.4 9.93e-01 1.00e+00h 1 3 2.3629276e+00 1.14e-03 2.28e-01 -2.0 7.33e-02 -0.1 9.94e-01 1.00e+00h 1 4 2.1090030e+00 3.22e-03 5.61e-02 -2.6 1.03e-01 -0.5 9.98e-01 8.70e-01f 1 5 2.0999256e+00 1.01e-03 1.18e-01 -3.0 1.63e-02 -1.0 1.00e+00 6.93e-01h 1 6 2.0908855e+00 9.77e-06 4.41e-03 -4.0 5.46e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909582e+00 2.55e-08 6.53e-05 -4.0 5.81e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909573e+00 3.21e-10 3.28e-05 -4.0 8.96e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909553e+00 1.86e-10 2.28e-05 -4.0 1.87e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909493e+00 1.55e-09 2.23e-05 -4.0 5.48e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909335e+00 1.17e-08 2.49e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908991e+00 6.86e-08 1.41e-04 -4.0 3.96e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908244e+00 3.21e-07 6.53e-04 -4.0 9.85e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0906224e+00 3.05e-06 8.77e-04 -4.0 3.01e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899704e+00 2.50e-05 1.50e-03 -4.0 8.27e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0882279e+00 1.88e-04 1.72e-02 -4.0 2.48e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0875353e+00 1.89e-04 3.95e-01 -4.0 9.91e+01 -5.8 9.93e-01 7.37e-02h 1 18 2.0857201e+00 4.98e-04 1.72e-02 -4.0 2.58e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0831684e+00 2.50e-04 3.17e-02 -4.0 4.25e+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 2.0825130e+00 9.60e-06 1.32e-02 -4.0 5.58e+01 -7.3 1.00e+00 9.63e-01H 1 21 2.0823535e+00 2.02e-04 1.03e-02 -4.0 1.22e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0831656e+00 9.05e-06 1.36e-01 -4.0 1.34e+02 -7.3 3.92e-01 1.00e+00H 1 23 2.0826042e+00 1.04e-04 1.55e-01 -4.0 2.24e+00 -5.1 1.00e+00 6.59e-01h 1 24 2.0825074e+00 1.20e-04 6.44e-01 -4.1 2.96e+00 -5.6 1.00e+00 1.14e-01h 2 25 2.0821343e+00 1.66e-04 4.29e-03 -4.1 5.40e+00 -6.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0821343065197819e+00 2.0821343065197819e+00 Dual infeasibility......: 4.2865027602662833e-03 4.2865027602662833e-03 Constraint violation....: 1.6599320075316726e-04 1.6599320075316726e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.9966446881244913e-05 7.9966446881244913e-05 Overall NLP error.......: 4.2865027602662833e-03 4.2865027602662833e-03 Number of objective function evaluations = 31 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 31 Number of inequality constraint evaluations = 31 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 0.347 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: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.963s jacobian structure: 1600 nonzeros (3.027s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.106s 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 (4.16s) linear index maps built (0.0s) evaluator ready (total: 7.187s) evaluator created (7.215s) 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: 7.216s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.0610125e+00 2.40e+00 7.92e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6364120e+00 6.99e-02 2.52e+00 -1.0 1.76e+00 0.0 8.60e-01 9.74e-01h 1 Hello, world! 2 2.9755963e+00 3.46e-02 1.22e+00 -1.0 4.97e-01 -0.5 9.41e-01 1.00e+00f 1 Hello, world! 3 2.5869326e+00 5.22e-02 4.52e-01 -1.1 7.18e-01 -1.0 6.71e-01 4.60e-01h 1 Hello, world! 4 2.2840680e+00 4.01e-02 1.27e-01 -1.8 5.05e-01 -1.4 9.71e-01 8.55e-01h 1 Hello, world! 5 2.1225571e+00 8.89e-03 3.68e-02 -2.6 2.62e-01 -1.9 9.64e-01 9.65e-01h 1 Hello, world! 6 2.0911176e+00 2.69e-04 3.09e-02 -3.6 6.62e-02 -2.4 9.81e-01 1.00e+00h 1 Hello, world! 7 2.0908846e+00 1.47e-06 1.38e-03 -4.0 1.54e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908709e+00 3.91e-08 3.89e-05 -4.0 3.84e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908634e+00 2.75e-09 1.48e-05 -4.0 9.73e-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 2.0908413e+00 2.45e-08 1.95e-05 -4.0 2.89e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907745e+00 2.24e-07 5.42e-05 -4.0 8.59e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0905409e+00 2.15e-06 5.54e-04 -4.0 2.69e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900729e+00 8.61e-06 1.54e-02 -4.0 9.44e+00 -5.7 1.00e+00 5.05e-01h 1 Hello, world! 14 2.0885080e+00 2.32e-04 2.92e-02 -4.0 2.56e+01 -6.2 1.00e+00 1.00e+00f 1 Hello, world! 15 2.0873745e+00 2.29e-04 2.61e-01 -4.0 6.16e+01 -5.8 1.00e+00 1.44e-01h 1 Hello, world! 16 2.0858490e+00 2.69e-04 2.55e-02 -4.0 2.28e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0836381e+00 2.43e-04 2.88e-02 -4.0 4.07e+01 -6.7 1.00e+00 8.61e-01h 1 Hello, world! 18 2.0826872e+00 9.45e-05 6.40e-03 -4.0 5.54e+01 -7.2 1.00e+00 7.01e-01h 1 Hello, world! 19 2.0825568e+00 7.21e-04 2.37e-02 -4.0 1.16e+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 2.0839618e+00 2.66e-06 1.29e-01 -4.0 3.64e+02 -8.2 1.77e-01 1.00e+00H 1 Hello, world! 21 2.0827705e+00 1.45e-03 6.30e-02 -4.0 3.76e+01 -5.9 3.14e-01 3.04e-01f 1 Hello, world! 22 2.0826554e+00 1.53e-03 6.23e-02 -4.1 5.65e+02 -6.4 8.71e-04 1.14e-03h 2 Hello, world! 23 2.0825755e+00 1.53e-03 5.31e-01 -4.0 8.20e+01 -4.2 3.95e-02 9.22e-04h 1 Hello, world! 24 2.0829085e+00 3.09e-05 8.18e-04 -4.0 3.12e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0826827e+00 3.95e-05 5.17e-04 -4.0 7.95e-01 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0825477e+00 4.47e-06 2.57e-04 -4.0 2.07e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0823659e+00 1.72e-05 8.45e-04 -4.0 5.22e+00 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0822264e+00 2.17e-05 1.17e-03 -4.0 1.28e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0820454e+00 5.10e-05 2.21e-03 -4.0 3.06e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0818215e+00 2.06e-04 4.70e-03 -4.0 7.75e+01 -7.5 5.93e-01 1.00e+00h 1 Hello, world! 31 2.0819649e+00 1.78e-04 7.12e-01 -4.0 5.59e+01 -6.2 4.91e-01 1.43e-01h 3 Hello, world! 32 2.0817791e+00 1.55e-04 4.69e-01 -4.1 7.70e+00 -6.7 3.32e-01 1.36e-01h 1 Hello, world! 33 2.0817668e+00 1.54e-04 3.97e+00 -4.0 1.26e+02 -6.2 1.00e+00 1.17e-02f 2 Hello, world! 34 2.0818101e+00 1.39e-05 3.35e-04 -4.0 1.87e+00 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818688e+00 1.25e-04 7.63e-05 -4.0 6.74e+00 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0816123e+00 2.48e-04 4.70e-04 -4.1 1.10e+01 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818517e+00 5.42e-04 3.72e-04 -4.0 2.31e+01 -8.1 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0815870e+00 5.70e-04 3.24e-04 -4.1 2.50e+01 -8.6 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818444e+00 2.77e-04 1.13e-04 -4.0 1.19e+01 -9.1 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0815839e+00 2.29e-04 1.07e-05 -4.1 1.04e+01 -9.6 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0818445e+00 2.08e-04 1.68e-05 -4.0 9.52e+00 -10.1 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0815837e+00 2.14e-04 1.16e-05 -4.1 9.78e+00 -10.5 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0818446e+00 2.16e-04 1.03e-05 -4.0 9.84e+00 -11.0 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0815837e+00 2.16e-04 9.59e-06 -4.1 9.86e+00 -11.5 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0818446e+00 2.16e-04 9.59e-06 -4.0 9.87e+00 -12.0 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0815837e+00 2.16e-04 9.35e-06 -4.1 9.87e+00 -12.4 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0818446e+00 2.16e-04 9.51e-06 -4.0 9.87e+00 -12.9 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0815837e+00 2.16e-04 9.33e-06 -4.1 9.87e+00 -13.4 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.9 9.77e-01 9.64e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818908e+00 6.61e-03 2.98e-04 -4.0 6.18e+01 -14.3 1.00e+00 1.00e+00f 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0818908340509417e+00 2.0818908340509417e+00 Dual infeasibility......: 2.9845944039969327e-04 2.9845944039969327e-04 Constraint violation....: 6.6127469069945377e-03 6.6127469069945377e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.4224034050353104e-04 1.4224034050353104e-04 Overall NLP error.......: 6.6127469069945377e-03 6.6127469069945377e-03 Number of objective function evaluations = 60 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 60 Number of inequality constraint evaluations = 60 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 31.321 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.004s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.0610125e+00 2.40e+00 7.92e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6364120e+00 6.99e-02 2.52e+00 -1.0 1.76e+00 0.0 8.60e-01 9.74e-01h 1 Hello, world! 2 2.9755963e+00 3.46e-02 1.22e+00 -1.0 4.97e-01 -0.5 9.41e-01 1.00e+00f 1 Hello, world! 3 2.5869326e+00 5.22e-02 4.52e-01 -1.1 7.18e-01 -1.0 6.71e-01 4.60e-01h 1 Hello, world! 4 2.2840680e+00 4.01e-02 1.27e-01 -1.8 5.05e-01 -1.4 9.71e-01 8.55e-01h 1 Hello, world! 5 2.1225571e+00 8.89e-03 3.68e-02 -2.6 2.62e-01 -1.9 9.64e-01 9.65e-01h 1 Hello, world! 6 2.0911176e+00 2.69e-04 3.09e-02 -3.6 6.62e-02 -2.4 9.81e-01 1.00e+00h 1 Hello, world! 7 2.0908846e+00 1.47e-06 1.38e-03 -4.0 1.54e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908709e+00 3.91e-08 3.89e-05 -4.0 3.84e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908634e+00 2.75e-09 1.48e-05 -4.0 9.73e-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 2.0908413e+00 2.45e-08 1.95e-05 -4.0 2.89e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907745e+00 2.24e-07 5.42e-05 -4.0 8.59e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0905409e+00 2.15e-06 5.54e-04 -4.0 2.69e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900729e+00 8.61e-06 1.54e-02 -4.0 9.44e+00 -5.7 1.00e+00 5.05e-01h 1 Hello, world! 14 2.0885080e+00 2.32e-04 2.92e-02 -4.0 2.56e+01 -6.2 1.00e+00 1.00e+00f 1 Hello, world! 15 2.0873745e+00 2.29e-04 2.61e-01 -4.0 6.16e+01 -5.8 1.00e+00 1.44e-01h 1 Hello, world! 16 2.0858490e+00 2.69e-04 2.55e-02 -4.0 2.28e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0836381e+00 2.43e-04 2.88e-02 -4.0 4.07e+01 -6.7 1.00e+00 8.61e-01h 1 Hello, world! 18 2.0826872e+00 9.45e-05 6.40e-03 -4.0 5.54e+01 -7.2 1.00e+00 7.01e-01h 1 Hello, world! 19 2.0825568e+00 7.21e-04 2.37e-02 -4.0 1.16e+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 2.0839618e+00 2.66e-06 1.29e-01 -4.0 3.64e+02 -8.2 1.77e-01 1.00e+00H 1 Hello, world! 21 2.0827705e+00 1.45e-03 6.30e-02 -4.0 3.76e+01 -5.9 3.14e-01 3.04e-01f 1 Hello, world! 22 2.0826554e+00 1.53e-03 6.23e-02 -4.1 5.65e+02 -6.4 8.71e-04 1.14e-03h 2 Hello, world! 23 2.0825755e+00 1.53e-03 5.31e-01 -4.0 8.20e+01 -4.2 3.95e-02 9.22e-04h 1 Hello, world! 24 2.0829085e+00 3.09e-05 8.18e-04 -4.0 3.12e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0826827e+00 3.95e-05 5.17e-04 -4.0 7.95e-01 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0825477e+00 4.47e-06 2.57e-04 -4.0 2.07e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0823659e+00 1.72e-05 8.45e-04 -4.0 5.22e+00 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0822264e+00 2.17e-05 1.17e-03 -4.0 1.28e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0820454e+00 5.10e-05 2.21e-03 -4.0 3.06e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0818215e+00 2.06e-04 4.70e-03 -4.0 7.75e+01 -7.5 5.93e-01 1.00e+00h 1 Hello, world! 31 2.0819649e+00 1.78e-04 7.12e-01 -4.0 5.59e+01 -6.2 4.91e-01 1.43e-01h 3 Hello, world! 32 2.0817791e+00 1.55e-04 4.69e-01 -4.1 7.70e+00 -6.7 3.32e-01 1.36e-01h 1 Hello, world! 33 2.0817668e+00 1.54e-04 3.97e+00 -4.0 1.26e+02 -6.2 1.00e+00 1.17e-02f 2 Hello, world! 34 2.0818101e+00 1.39e-05 3.35e-04 -4.0 1.87e+00 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818688e+00 1.25e-04 7.63e-05 -4.0 6.74e+00 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0816123e+00 2.48e-04 4.70e-04 -4.1 1.10e+01 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818517e+00 5.42e-04 3.72e-04 -4.0 2.31e+01 -8.1 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0815870e+00 5.70e-04 3.24e-04 -4.1 2.50e+01 -8.6 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818444e+00 2.77e-04 1.13e-04 -4.0 1.19e+01 -9.1 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0815839e+00 2.29e-04 1.07e-05 -4.1 1.04e+01 -9.6 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0818445e+00 2.08e-04 1.68e-05 -4.0 9.52e+00 -10.1 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0815837e+00 2.14e-04 1.16e-05 -4.1 9.78e+00 -10.5 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0818446e+00 2.16e-04 1.03e-05 -4.0 9.84e+00 -11.0 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0815837e+00 2.16e-04 9.59e-06 -4.1 9.86e+00 -11.5 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0818446e+00 2.16e-04 9.59e-06 -4.0 9.87e+00 -12.0 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0815837e+00 2.16e-04 9.35e-06 -4.1 9.87e+00 -12.4 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0818446e+00 2.16e-04 9.51e-06 -4.0 9.87e+00 -12.9 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0815837e+00 2.16e-04 9.33e-06 -4.1 9.87e+00 -13.4 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.9 9.77e-01 9.64e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818908e+00 6.61e-03 2.98e-04 -4.0 6.18e+01 -14.3 1.00e+00 1.00e+00f 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0818908340509417e+00 2.0818908340509417e+00 Dual infeasibility......: 2.9845944039969327e-04 2.9845944039969327e-04 Constraint violation....: 6.6127469069945377e-03 6.6127469069945377e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.4224034050353104e-04 1.4224034050353104e-04 Overall NLP error.......: 6.6127469069945377e-03 6.6127469069945377e-03 Number of objective function evaluations = 60 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 60 Number of inequality constraint evaluations = 60 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.713 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: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.978s jacobian structure: 1600 nonzeros (3.042s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.043s 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 (4.096s) linear index maps built (0.0s) evaluator ready (total: 7.139s) evaluator created (7.165s) 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: 7.168s) 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 3.9882576e+00 2.56e+00 8.20e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7358691e+00 9.72e-01 1.79e+00 -0.9 1.98e+00 0.0 9.18e-01 6.21e-01f 1 2 2.5173561e+00 1.07e-01 1.31e+00 -1.0 8.55e-01 -0.5 7.87e-01 8.84e-01f 1 3 2.3797617e+00 1.32e-02 2.72e-01 -1.5 2.13e-01 -1.0 9.75e-01 1.00e+00h 1 4 2.1841325e+00 5.96e-03 3.89e-02 -2.2 1.87e-01 -1.4 9.70e-01 1.00e+00h 1 5 2.1031022e+00 1.83e-03 6.04e-02 -3.5 1.54e-01 -1.9 9.94e-01 8.02e-01h 1 6 2.0910845e+00 1.76e-05 1.64e-03 -4.0 8.97e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909140e+00 3.17e-07 4.00e-05 -4.0 1.75e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909044e+00 1.60e-08 2.35e-05 -4.0 5.15e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908869e+00 9.95e-09 2.23e-05 -4.0 1.46e-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 2.0908479e+00 6.34e-08 1.31e-04 -4.0 3.80e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907764e+00 2.70e-07 7.11e-04 -4.0 9.03e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905968e+00 2.37e-06 1.11e-03 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900677e+00 2.13e-05 7.17e-04 -4.0 7.94e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898182e+00 3.71e-06 1.59e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0896312e+00 4.61e-06 4.11e-02 -4.0 1.28e+01 -5.8 1.00e+00 1.48e-01h 2 16 2.0876992e+00 2.04e-04 7.94e-03 -4.0 2.42e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0858861e+00 2.97e-04 8.65e-02 -4.0 5.34e+01 -6.7 1.00e+00 4.37e-01h 1 18 2.0828532e+00 1.05e-03 6.94e-02 -4.0 6.77e+01 -7.2 1.00e+00 7.84e-01h 1 19 2.0829574e+00 2.86e-03 3.70e-02 -4.0 1.23e+02 -7.7 8.97e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826869e+00 6.98e-05 3.12e-03 -4.1 8.71e+00 -6.4 1.00e+00 1.00e+00h 1 21 2.0823651e+00 2.57e-04 3.77e-03 -4.0 1.82e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0822597e+00 1.22e-04 4.15e-03 -4.0 6.28e+01 -7.3 8.99e-01 1.00e+00h 1 23 2.0872826e+00 1.34e-05 2.98e-02 -4.0 2.18e+01 -6.0 1.00e+00 1.00e+00H 1 24 2.0834753e+00 1.59e-07 1.13e-02 -4.0 1.66e-01 -1.0 1.00e+00 1.00e+00h 1 25 2.0828218e+00 1.64e-07 2.70e-03 -4.0 5.20e-02 -1.5 1.00e+00 1.00e+00f 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0828217685178365e+00 2.0828217685178365e+00 Dual infeasibility......: 2.6993228391529803e-03 2.6993228391529803e-03 Constraint violation....: 1.6368474188913074e-07 1.6368474188913074e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.2716392432330948e-04 1.2716392432330948e-04 Overall NLP error.......: 2.6993228391529803e-03 2.6993228391529803e-03 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 = 28.489 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: 0.002s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.9882576e+00 2.56e+00 8.20e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7358691e+00 9.72e-01 1.79e+00 -0.9 1.98e+00 0.0 9.18e-01 6.21e-01f 1 2 2.5173561e+00 1.07e-01 1.31e+00 -1.0 8.55e-01 -0.5 7.87e-01 8.84e-01f 1 3 2.3797617e+00 1.32e-02 2.72e-01 -1.5 2.13e-01 -1.0 9.75e-01 1.00e+00h 1 4 2.1841325e+00 5.96e-03 3.89e-02 -2.2 1.87e-01 -1.4 9.70e-01 1.00e+00h 1 5 2.1031022e+00 1.83e-03 6.04e-02 -3.5 1.54e-01 -1.9 9.94e-01 8.02e-01h 1 6 2.0910845e+00 1.76e-05 1.64e-03 -4.0 8.97e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909140e+00 3.17e-07 4.00e-05 -4.0 1.75e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909044e+00 1.60e-08 2.35e-05 -4.0 5.15e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908869e+00 9.95e-09 2.23e-05 -4.0 1.46e-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 2.0908479e+00 6.34e-08 1.31e-04 -4.0 3.80e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907764e+00 2.70e-07 7.11e-04 -4.0 9.03e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905968e+00 2.37e-06 1.11e-03 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900677e+00 2.13e-05 7.17e-04 -4.0 7.94e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898182e+00 3.71e-06 1.59e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0896312e+00 4.61e-06 4.11e-02 -4.0 1.28e+01 -5.8 1.00e+00 1.48e-01h 2 16 2.0876992e+00 2.04e-04 7.94e-03 -4.0 2.42e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0858861e+00 2.97e-04 8.65e-02 -4.0 5.34e+01 -6.7 1.00e+00 4.37e-01h 1 18 2.0828532e+00 1.05e-03 6.94e-02 -4.0 6.77e+01 -7.2 1.00e+00 7.84e-01h 1 19 2.0829574e+00 2.86e-03 3.70e-02 -4.0 1.23e+02 -7.7 8.97e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826869e+00 6.98e-05 3.12e-03 -4.1 8.71e+00 -6.4 1.00e+00 1.00e+00h 1 21 2.0823651e+00 2.57e-04 3.77e-03 -4.0 1.82e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0822597e+00 1.22e-04 4.15e-03 -4.0 6.28e+01 -7.3 8.99e-01 1.00e+00h 1 23 2.0872826e+00 1.34e-05 2.98e-02 -4.0 2.18e+01 -6.0 1.00e+00 1.00e+00H 1 24 2.0834753e+00 1.59e-07 1.13e-02 -4.0 1.66e-01 -1.0 1.00e+00 1.00e+00h 1 25 2.0828218e+00 1.64e-07 2.70e-03 -4.0 5.20e-02 -1.5 1.00e+00 1.00e+00f 1 26 2.0826021e+00 2.19e-06 8.43e-04 -4.0 8.07e-02 -2.0 1.00e+00 1.00e+00h 1 27 2.0826945e+00 1.30e-07 9.47e-05 -4.0 2.75e-02 -2.5 1.00e+00 1.00e+00h 1 28 2.0826787e+00 8.70e-08 9.32e-06 -4.0 8.44e-03 -2.9 1.00e+00 1.00e+00h 1 29 2.0826770e+00 1.28e-08 8.33e-06 -4.0 2.22e-02 -3.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0826729e+00 3.29e-09 8.32e-06 -4.0 6.65e-02 -3.9 1.00e+00 1.00e+00h 1 31 2.0826604e+00 2.99e-08 8.28e-06 -4.0 1.99e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0826233e+00 2.97e-07 1.61e-05 -4.0 5.96e-01 -4.9 1.00e+00 1.00e+00h 1 33 2.0825120e+00 3.62e-06 1.27e-04 -4.0 1.81e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0822079e+00 9.71e-05 4.31e-02 -4.0 7.03e+00 -5.8 7.40e-01 1.00e+00h 1 35 2.0824942e+00 5.14e-06 8.61e-01 -4.0 1.58e+00 -4.5 5.62e-01 9.84e-01H 1 36 2.0823195e+00 7.53e-05 9.30e-02 -4.0 1.13e+00 -5.0 7.93e-01 1.00e+00f 1 37 2.0820469e+00 2.31e-06 1.25e-02 -4.1 5.46e-02 -1.8 1.00e+00 9.69e-01h 1 38 2.0823462e+00 1.02e-06 4.10e-04 -4.0 2.72e-02 -2.3 1.00e+00 1.00e+00f 1 39 2.0822825e+00 1.89e-07 1.05e-04 -4.0 2.12e-02 -2.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822704e+00 1.07e-07 1.16e-05 -4.0 2.00e-02 -3.3 1.00e+00 1.00e+00h 1 41 2.0822652e+00 5.70e-08 1.06e-05 -4.0 5.71e-02 -3.7 1.00e+00 1.00e+00h 1 42 2.0822531e+00 4.49e-07 1.73e-05 -4.0 1.49e-01 -4.2 1.00e+00 1.00e+00h 1 43 2.0822317e+00 1.91e-06 7.81e-05 -4.0 3.03e-01 -4.7 1.00e+00 1.00e+00h 1 44 2.0822140e+00 1.42e-06 1.24e-04 -4.0 4.05e-01 -5.2 1.00e+00 1.00e+00h 1 45 2.0822077e+00 3.49e-06 8.41e-05 -4.0 5.89e-01 -5.6 1.00e+00 1.00e+00h 1 46 2.0822019e+00 3.73e-06 5.99e-05 -4.0 1.67e+00 -6.1 1.00e+00 1.00e+00h 1 47 2.0821828e+00 8.24e-07 3.63e-05 -4.0 5.01e+00 -6.6 1.00e+00 1.00e+00h 1 48 2.0821311e+00 6.81e-06 4.54e-04 -4.0 1.33e+01 -7.1 1.00e+00 1.00e+00h 1 49 2.0817860e+00 7.98e-04 1.63e-03 -4.1 3.32e+01 -7.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819151e+00 1.18e-03 5.46e-03 -4.0 5.00e+01 -8.0 1.00e+00 1.00e+00h 1 51 2.0815980e+00 1.35e-03 3.75e-03 -4.1 5.94e+01 -8.5 1.00e+00 1.00e+00h 1 52 2.0818459e+00 8.41e-04 7.25e-04 -4.0 3.58e+01 -9.0 1.00e+00 1.00e+00h 1 53 2.0818435e+00 3.36e-06 4.48e-05 -4.0 8.20e+00 -9.5 1.00e+00 1.00e+00h 1 54 2.0818434e+00 8.79e-09 3.74e-07 -4.0 7.71e-01 -9.9 1.00e+00 1.00e+00h 1 55 2.0818434e+00 8.08e-12 1.00e-09 -4.0 2.57e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 55 (scaled) (unscaled) Objective...............: 2.0818434105477626e+00 2.0818434105477626e+00 Dual infeasibility......: 1.0000000135818249e-09 1.0000000135818249e-09 Constraint violation....: 8.0762063703332387e-12 8.0762063703332387e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.0000000135818249e-09 1.0000000135818249e-09 Number of objective function evaluations = 61 Number of objective gradient evaluations = 56 Number of equality constraint evaluations = 61 Number of inequality constraint evaluations = 61 Number of equality constraint Jacobian evaluations = 56 Number of inequality constraint Jacobian evaluations = 56 Number of Lagrangian Hessian evaluations = 55 Total seconds in IPOPT = 0.763 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.003s) 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 3.9882576e+00 2.56e+00 8.20e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7358691e+00 9.72e-01 1.79e+00 -0.9 1.98e+00 0.0 9.18e-01 6.21e-01f 1 2 2.5173561e+00 1.07e-01 1.31e+00 -1.0 8.55e-01 -0.5 7.87e-01 8.84e-01f 1 3 2.3797617e+00 1.32e-02 2.72e-01 -1.5 2.13e-01 -1.0 9.75e-01 1.00e+00h 1 4 2.1841325e+00 5.96e-03 3.89e-02 -2.2 1.87e-01 -1.4 9.70e-01 1.00e+00h 1 5 2.1031022e+00 1.83e-03 6.04e-02 -3.5 1.54e-01 -1.9 9.94e-01 8.02e-01h 1 6 2.0910845e+00 1.76e-05 1.64e-03 -4.0 8.97e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909140e+00 3.17e-07 4.00e-05 -4.0 1.75e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909044e+00 1.60e-08 2.35e-05 -4.0 5.15e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908869e+00 9.95e-09 2.23e-05 -4.0 1.46e-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 2.0908479e+00 6.34e-08 1.31e-04 -4.0 3.80e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907764e+00 2.70e-07 7.11e-04 -4.0 9.03e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905968e+00 2.37e-06 1.11e-03 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900677e+00 2.13e-05 7.17e-04 -4.0 7.94e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898182e+00 3.71e-06 1.59e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0896312e+00 4.61e-06 4.11e-02 -4.0 1.28e+01 -5.8 1.00e+00 1.48e-01h 2 16 2.0876992e+00 2.04e-04 7.94e-03 -4.0 2.42e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0858861e+00 2.97e-04 8.65e-02 -4.0 5.34e+01 -6.7 1.00e+00 4.37e-01h 1 18 2.0828532e+00 1.05e-03 6.94e-02 -4.0 6.77e+01 -7.2 1.00e+00 7.84e-01h 1 19 2.0829574e+00 2.86e-03 3.70e-02 -4.0 1.23e+02 -7.7 8.97e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826869e+00 6.98e-05 3.12e-03 -4.1 8.71e+00 -6.4 1.00e+00 1.00e+00h 1 21 2.0823651e+00 2.57e-04 3.77e-03 -4.0 1.82e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0822597e+00 1.22e-04 4.15e-03 -4.0 6.28e+01 -7.3 8.99e-01 1.00e+00h 1 23 2.0872826e+00 1.34e-05 2.98e-02 -4.0 2.18e+01 -6.0 1.00e+00 1.00e+00H 1 24 2.0834753e+00 1.59e-07 1.13e-02 -4.0 1.66e-01 -1.0 1.00e+00 1.00e+00h 1 25 2.0828218e+00 1.64e-07 2.70e-03 -4.0 5.20e-02 -1.5 1.00e+00 1.00e+00f 1 26 2.0826021e+00 2.19e-06 8.43e-04 -4.0 8.07e-02 -2.0 1.00e+00 1.00e+00h 1 27 2.0826945e+00 1.30e-07 9.47e-05 -4.0 2.75e-02 -2.5 1.00e+00 1.00e+00h 1 28 2.0826787e+00 8.70e-08 9.32e-06 -4.0 8.44e-03 -2.9 1.00e+00 1.00e+00h 1 29 2.0826770e+00 1.28e-08 8.33e-06 -4.0 2.22e-02 -3.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0826729e+00 3.29e-09 8.32e-06 -4.0 6.65e-02 -3.9 1.00e+00 1.00e+00h 1 31 2.0826604e+00 2.99e-08 8.28e-06 -4.0 1.99e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0826233e+00 2.97e-07 1.61e-05 -4.0 5.96e-01 -4.9 1.00e+00 1.00e+00h 1 33 2.0825120e+00 3.62e-06 1.27e-04 -4.0 1.81e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0822079e+00 9.71e-05 4.31e-02 -4.0 7.03e+00 -5.8 7.40e-01 1.00e+00h 1 35 2.0824942e+00 5.14e-06 8.61e-01 -4.0 1.58e+00 -4.5 5.62e-01 9.84e-01H 1 36 2.0823195e+00 7.53e-05 9.30e-02 -4.0 1.13e+00 -5.0 7.93e-01 1.00e+00f 1 37 2.0820469e+00 2.31e-06 1.25e-02 -4.1 5.46e-02 -1.8 1.00e+00 9.69e-01h 1 38 2.0823462e+00 1.02e-06 4.10e-04 -4.0 2.72e-02 -2.3 1.00e+00 1.00e+00f 1 39 2.0822825e+00 1.89e-07 1.05e-04 -4.0 2.12e-02 -2.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822704e+00 1.07e-07 1.16e-05 -4.0 2.00e-02 -3.3 1.00e+00 1.00e+00h 1 41 2.0822652e+00 5.70e-08 1.06e-05 -4.0 5.71e-02 -3.7 1.00e+00 1.00e+00h 1 42 2.0822531e+00 4.49e-07 1.73e-05 -4.0 1.49e-01 -4.2 1.00e+00 1.00e+00h 1 43 2.0822317e+00 1.91e-06 7.81e-05 -4.0 3.03e-01 -4.7 1.00e+00 1.00e+00h 1 44 2.0822140e+00 1.42e-06 1.24e-04 -4.0 4.05e-01 -5.2 1.00e+00 1.00e+00h 1 45 2.0822077e+00 3.49e-06 8.41e-05 -4.0 5.89e-01 -5.6 1.00e+00 1.00e+00h 1 46 2.0822019e+00 3.73e-06 5.99e-05 -4.0 1.67e+00 -6.1 1.00e+00 1.00e+00h 1 47 2.0821828e+00 8.24e-07 3.63e-05 -4.0 5.01e+00 -6.6 1.00e+00 1.00e+00h 1 48 2.0821311e+00 6.81e-06 4.54e-04 -4.0 1.33e+01 -7.1 1.00e+00 1.00e+00h 1 49 2.0817860e+00 7.98e-04 1.63e-03 -4.1 3.32e+01 -7.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819151e+00 1.18e-03 5.46e-03 -4.0 5.00e+01 -8.0 1.00e+00 1.00e+00h 1 51 2.0815980e+00 1.35e-03 3.75e-03 -4.1 5.94e+01 -8.5 1.00e+00 1.00e+00h 1 52 2.0818459e+00 8.41e-04 7.25e-04 -4.0 3.58e+01 -9.0 1.00e+00 1.00e+00h 1 53 2.0818435e+00 3.36e-06 4.48e-05 -4.0 8.20e+00 -9.5 1.00e+00 1.00e+00h 1 54 2.0818434e+00 8.79e-09 3.74e-07 -4.0 7.71e-01 -9.9 1.00e+00 1.00e+00h 1 55 2.0818434e+00 8.08e-12 1.00e-09 -4.0 2.57e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 55 (scaled) (unscaled) Objective...............: 2.0818434105477626e+00 2.0818434105477626e+00 Dual infeasibility......: 1.0000000135818249e-09 1.0000000135818249e-09 Constraint violation....: 8.0762063703332387e-12 8.0762063703332387e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.0000000135818249e-09 1.0000000135818249e-09 Number of objective function evaluations = 61 Number of objective gradient evaluations = 56 Number of equality constraint evaluations = 61 Number of inequality constraint evaluations = 61 Number of equality constraint Jacobian evaluations = 56 Number of inequality constraint Jacobian evaluations = 56 Number of Lagrangian Hessian evaluations = 55 Total seconds in IPOPT = 0.712 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.643s jacobian structure: 1600 nonzeros (2.705s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.381s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (4.431s) linear index maps built (0.0s) evaluator ready (total: 7.137s) evaluator created (7.174s) 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: 7.175s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.1463763e+00 4.48e+00 5.47e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8083343e+00 3.76e-01 5.96e-01 -1.1 4.61e+00 -2.0 9.88e-01 1.00e+00f 1 2 2.3877615e+00 3.77e-01 5.98e-01 -1.4 4.43e+00 -2.5 5.88e-01 7.07e-01h 1 3 2.2266221e+00 1.50e-01 3.38e-01 -1.7 3.71e+00 -3.0 9.65e-01 9.70e-01h 1 4 2.1473653e+00 9.84e-02 3.48e-01 -2.3 5.95e+00 -3.4 1.00e+00 6.23e-01h 1 5 2.1071868e+00 5.08e-03 4.30e-02 -2.8 9.44e-01 -3.9 9.95e-01 1.00e+00h 1 6 2.0909015e+00 1.43e-03 1.08e-03 -4.0 6.62e-01 -4.4 1.00e+00 9.98e-01h 1 7 2.0908674e+00 8.72e-05 1.61e-03 -4.0 1.23e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0906487e+00 3.86e-06 2.89e-03 -4.0 3.42e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0900291e+00 3.55e-05 6.97e-04 -4.0 1.03e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0896924e+00 5.60e-06 2.24e-03 -4.0 3.75e+00 -5.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0896923595734389e+00 2.0896923595734389e+00 Dual infeasibility......: 2.2352534701631506e-03 2.2352534701631506e-03 Constraint violation....: 5.6014443721996710e-06 5.6014443721996710e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999967763e-05 9.9999999999967763e-05 Overall NLP error.......: 2.2352534701631506e-03 2.2352534701631506e-03 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 = 30.185 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: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.891s jacobian structure: 1600 nonzeros (2.952s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.081s 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 (4.131s) linear index maps built (0.0s) evaluator ready (total: 7.084s) evaluator created (7.109s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 7.11s) 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: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.912s jacobian structure: 1600 nonzeros (2.978s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.229s 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 (4.277s) linear index maps built (0.0s) evaluator ready (total: 7.256s) evaluator created (7.285s) 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: 7.286s) 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: 0.08s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.263s jacobian structure: 1600 nonzeros (3.344s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s ====================================================================================== 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 31 running 1 of 1 signal (10): User defined signal 1 iterate at ./range.jl:928:0 [inlined] ⊑ at ./../usr/share/julia/Compiler/src/typelattice.jl:490:0 (pc: 492) inline_cost_model at ./../usr/share/julia/Compiler/src/typeinfer.jl:443:0 (pc: 138) compute_inlining_cost at ./../usr/share/julia/Compiler/src/typeinfer.jl:408:0 [inlined] compute_inlining_cost at ./../usr/share/julia/Compiler/src/typeinfer.jl:404:0 [inlined] transform_result_for_local_cache at ./../usr/share/julia/Compiler/src/typeinfer.jl:470:0 [inlined] finish! at ./../usr/share/julia/Compiler/src/typeinfer.jl:195:0 (pc: 526) 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:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 typeinf at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4997:0 (pc: 252) const_prop_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:1475:0 (pc: 514) abstract_call_method_with_const_args at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:969:0 (pc: 136) abstract_call_method_with_const_args at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:937:0 [inlined] handle1 at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:193:0 (pc: 137) infercalls at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:263:0 (pc: 91) abstract_call_gf_by_type at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:357:0 (pc: 117) abstract_call_known at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3018:0 (pc: 1607) abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3171:0 (pc: 189) abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3164:0 [inlined] abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3310:0 [inlined] abstract_eval_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3328:0 (pc: 119) abstract_eval_statement_expr at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3698:0 (pc: 4) abstract_eval_basic_statement at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4171:0 [inlined] abstract_eval_basic_statement at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4128:0 [inlined] typeinf_local at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4712:0 (pc: 3576) jfptr_typeinf_local_1.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 typeinf at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4990:0 (pc: 463) 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: 16) jfptr_typeinf_ext_toplevel_5.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 jl_apply at /source/src/julia.h:2405:12 [inlined] jl_type_infer at /source/src/gf.c:475:35 jl_compile_method_very_internal at /source/src/gf.c:3907:20 _jl_invoke at /source/src/gf.c:4340:16 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 _ 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 (pc: 7) unknown function (ip: 0x745df390ff36) at (unknown file) _jl_invoke at /source/src/gf.c:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 #get_optimizer_and_variables#3 at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/ipopt_solver/solver.jl:68:0 (pc: 10) unknown function (ip: 0x745da7533b31) at (unknown file) _jl_invoke at /source/src/gf.c:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 get_optimizer_and_variables at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/ipopt_solver/solver.jl:55:0 (pc: 1) _jl_invoke at /source/src/gf.c:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 jl_apply at /source/src/julia.h:2405:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:259:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:757:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:947:21 ijl_eval_thunk at /source/src/toplevel.c:764:18 jl_toplevel_eval_flex at /source/src/toplevel.c:708:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:598:15 jl_toplevel_eval_flex at /source/src/toplevel.c:680:27 ijl_toplevel_eval at /source/src/toplevel.c:778:12 ijl_toplevel_eval_in at /source/src/toplevel.c:823:13 eval at ./boot.jl:522:0 (pc: 1) include_string at ./loading.jl:3132:0 (pc: 208) include_string at ./loading.jl:3142:0 (pc: 1) _jl_invoke at /source/src/gf.c:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 jl_apply at /source/src/julia.h:2405:12 [inlined] jl_f_invokelatest at /source/src/builtins.c:931:23 #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:113:0 (pc: 19) unknown function (ip: 0x745e061d84a6) at (unknown file) _jl_invoke at /source/src/gf.c:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:117:0 (pc: 258) unknown function (ip: 0x745e061d806e) at (unknown file) _jl_invoke at /source/src/gf.c:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 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:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 jl_apply at /source/src/julia.h:2405:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:259:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:757:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:947:21 ijl_eval_thunk at /source/src/toplevel.c:764:18 jl_toplevel_eval_flex at /source/src/toplevel.c:708:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:598:15 jl_toplevel_eval_flex at /source/src/toplevel.c:680:27 ijl_toplevel_eval at /source/src/toplevel.c:778:12 ijl_toplevel_eval_in at /source/src/toplevel.c:823:13 eval at ./boot.jl:522:0 (pc: 1) include_string at ./loading.jl:3132:0 (pc: 208) _jl_invoke at /source/src/gf.c:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 _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:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 jl_apply at /source/src/julia.h:2405:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:259:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:757:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:947:21 ijl_eval_thunk at /source/src/toplevel.c:764:18 jl_toplevel_eval_flex at /source/src/toplevel.c:708:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:598:15 jl_toplevel_eval_flex at /source/src/toplevel.c:680:27 ijl_toplevel_eval at /source/src/toplevel.c:778:12 ijl_toplevel_eval_in at /source/src/toplevel.c:823:13 eval at ./boot.jl:522:0 (pc: 1) exec_options at ./client.jl:321:0 (pc: 426) _start at ./client.jl:596:0 (pc: 295) jfptr__start_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 jl_apply at /source/src/julia.h:2405:12 [inlined] true_main at /source/src/jlapi.c:985:29 jl_repl_entrypoint at /source/src/jlapi.c:1152:15 main at /source/cli/loader_exe.c:58:15 unknown function (ip: 0x745e2560c249) 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 ============================================================== constraint 1 (NonlinearKnotPointConstraint) hessian structure: 5.409s ====================================================================================== 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:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 jl_apply at /source/src/julia.h:2405:12 [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 ============================================================== computing objective hessian structure (CompositeObjective)... ┌ 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 0x00007eaae383aa40 Total snapshots: 397. Utilization: 0% ╎397 @Base/task.jl:1170 wait_forever() 396╎ 397 @Base/task.jl:1248 wait() ┌ Warning: There were no samples collected in one or more groups. │ This may be due to idle threads, or you may need to run your │ program longer (perhaps by running it multiple times), │ or adjust the delay between samples with `Profile.init()`. └ @ Profile /opt/julia/share/julia/stdlib/v1.14/Profile/src/Profile.jl:1361 sub-objective 1 (KnotPointObjective): 0.0sOverhead ╎ [+additional indent] Count File:Line Function ========================================================= Thread 1 (default) Task 0x0000745e0a9fc010 Total snapshots: 1. Utilization: 100% ╎1 @Base/client.jl:596 _start() ╎ 1 @Base/client.jl:321 exec_options(opts::Base.JLOptions) ╎ 1 @Base/boot.jl:522 eval(m::Module, e::Any) ╎ 1 @Base/Base.jl:327 (::Base.IncludeInto)(fname::String) ╎ 1 @Base/Base.jl:326 include(mapexpr::Function, mod::Module, _path::Strin… ╎ 1 @Base/loading.jl:3192 _include(mapexpr::Function, mod::Module, _path:… ╎ ╎ 1 @Base/loading.jl:3132 include_string(mapexpr::typeof(identity), mod:… ╎ ╎ 1 @Base/boot.jl:522 eval(m::Module, e::Any) ╎ ╎ 1 @TestItemRunner/…er.jl:134 kwcall(::@NamedTuple{filter::var"#2#3"}… ╎ ╎ 1 @TestItemRunner/…r.jl:250 run_tests(path::String; filter::var"#2#… ╎ ╎ 1 @Test/src/Test.jl:2415 macro expansion ╎ ╎ ╎ 1 @TestItemRunner/….jl:253 macro expansion ╎ ╎ ╎ 1 @Test/src/Test.jl:2415 macro expansion ╎ ╎ ╎ 1 @TestItemRunner/….jl:275 macro expansion ╎ ╎ ╎ 1 @Test/src/Test.jl:2415 macro expansion ╎ ╎ ╎ 1 @TestItemRunner/…jl:277 macro expansion ╎ ╎ ╎ ╎ 1 @TestItemRunner/…l:117 run_testitem(filepath::String, use_… ╎ ╎ ╎ ╎ 1 @Base/file.jl:113 cd(f::TestItemRunner.var"#run_testitem#… ╎ ╎ ╎ ╎ 1 @TestItemRunner/…l:118 (::TestItemRunner.var"#run_testit… ╎ ╎ ╎ ╎ 1 @TestItemRunner/…l:7 withpath(f::TestItemRunner.var"#ru… ╎ ╎ ╎ ╎ 1 @TestItemRunner/…:119 (::TestItemRunner.var"#run_testi… ╎ ╎ ╎ ╎ ╎ 1 @Base/loading.jl:3142 include_string(m::Module, txt::… ╎ ╎ ╎ ╎ ╎ 1 @Base/loading.jl:3132 include_string(mapexpr::typeof… ╎ ╎ ╎ ╎ ╎ 1 @Base/boot.jl:522 eval(m::Module, e::Any) ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:55 get_optimizer_and_variables(pr… ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:68 get_optimizer_and_variables(p… ╎ ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:99 kwcall(::@NamedTuple{eval_he… ╎ ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:171 Evaluator(prob::DirectTraj… ╎ ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:286 eval_hessian_of_lagrangia… ╎ ╎ ╎ ╎ ╎ ╎ 1 @Compiler/…jl:1759 typeinf_ext_toplevel(mi::C… ╎ ╎ ╎ ╎ ╎ ╎ 1 @Compiler/…l:1750 typeinf_ext_toplevel(inter… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @Compiler/…l:1545 typeinf_ext(interp::Compi… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @Compiler/…l:4990 typeinf(interp::Compiler… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @Compiler/…l:4712 typeinf_local(interp::C… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @Compiler/…l:4128 abstract_eval_basic_st… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @Compiler/…l:4171 abstract_eval_basic_s… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @Compiler/…l:3698 abstract_eval_statem… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @Compiler/…l:3328 abstract_eval_call(… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @Compiler/…l:3310 abstract_call(inte… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @Compiler/…l:3164 abstract_call(int… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @Compiler/…l:3171 abstract_call(in… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +1 1 @Compiler/…l:3018 abstract_call_kn… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +2 1 @Compiler/…l:357 abstract_call_gf_… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +3 1 @Compiler/…l:182 (::Compiler.var"#… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +4 1 @Compiler/…l:785 abstract_call_met… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +5 1 @Compiler/…l:1155 typeinf_edge(int… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +6 1 @Base/…ls.jl:1908 specialize_metho… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +7 1 @Base/…ls.jl:1921 specialize_metho… sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 2.602s hessian structure: 1749 nonzeros (14.796s) linear index maps built (0.0s) evaluator ready (total: 18.141s) evaluator created (18.167s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 18.168s) [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:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 jl_apply at /source/src/julia.h:2405:12 [inlined] start_task at /source/src/task.c:1276:19 unknown function (ip: (nil)) at (unknown file) Allocations: 21318974 (Pool: 21318235; Big: 739); GC: 18 [31] signal 15: Terminated in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/ipopt_solver/callbacks.jl:657 unknown function (ip: 0x745e257372b8) at /lib/x86_64-linux-gnu/libc.so.6 _ZNK4llvm16FoldingSetNodeIDeqERKS0_ at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm14FoldingSetBase19FindNodeOrInsertPosERKNS_16FoldingSetNodeIDERPvRKNS0_14FoldingSetInfoE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm16AttributeSetNode9getSortedERNS_11LLVMContextENS_8ArrayRefINS_9AttributeEEE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm12AttributeSet3getERNS_11LLVMContextERKNS_11AttrBuilderE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) get_specsig_function at /source/src/codegen.cpp:8469:32 get_call_target at /source/src/jitlayers.cpp:279:64 emit_invoke at /source/src/codegen.cpp:5719:61 emit_invoke at /source/src/codegen.cpp:5660:58 [inlined] emit_expr at /source/src/codegen.cpp:6744:43 emit_ssaval_assign at /source/src/codegen.cpp:6281:25 emit_stmtpos at /source/src/codegen.cpp:6582:27 [inlined] emit_function at /source/src/codegen.cpp:9889:25 jl_emit_code at /source/src/codegen.cpp:10230:67 jl_emit_codeinst at /source/src/codegen.cpp:10295:93 jl_emit_codeinsts_to_jit_impl at /source/src/jitlayers.cpp:472:49 jl_add_codeinsts_to_jit at /source/src/gf.c:3684:5 add_codeinsts_to_jit! at ./../usr/share/julia/Compiler/src/typeinfer.jl:1744:0 (pc: 375) typeinf_ext_toplevel at ./../usr/share/julia/Compiler/src/typeinfer.jl:1751:0 [inlined] typeinf_ext_toplevel at ./../usr/share/julia/Compiler/src/typeinfer.jl:1759:0 (pc: 21) jfptr_typeinf_ext_toplevel_5.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 jl_apply at /source/src/julia.h:2405:12 [inlined] jl_type_infer at /source/src/gf.c:475:35 jl_compile_method_very_internal at /source/src/gf.c:3907:20 _jl_invoke at /source/src/gf.c:4340:16 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 jacobian! at /home/pkgeval/.julia/packages/ForwardDiff/4J2wz/src/jacobian.jl:58:0 (pc: 2) unknown function (ip: 0x745d9c0715cf) at (unknown file) _jl_invoke at /source/src/gf.c:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 eval_jacobian at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/integrators/bilinear_integrator.jl:114:0 (pc: 131) unknown function (ip: 0x745d9c0711ee) at (unknown file) _jl_invoke at /source/src/gf.c:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 _fill_jacobian_values! at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:507:0 (pc: 117) unknown function (ip: 0x745dc6528345) at (unknown file) _jl_invoke at /source/src/gf.c:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 eval_constraint_jacobian at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:377:0 (pc: 19) unknown function (ip: 0x745df3992ae5) at (unknown file) _jl_invoke at /source/src/gf.c:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 eval_constraint_jacobian at /home/pkgeval/.julia/packages/Ipopt/WLbcQ/ext/IpoptMathOptInterfaceExt/MOI_wrapper.jl:1190:0 (pc: 118) _eval_jac_g_cb at /home/pkgeval/.julia/packages/Ipopt/WLbcQ/ext/IpoptMathOptInterfaceExt/MOI_wrapper.jl:1279:0 [inlined] #_setup_inner##7 at /home/pkgeval/.julia/packages/Ipopt/WLbcQ/ext/IpoptMathOptInterfaceExt/MOI_wrapper.jl:1324:0 (pc: 2) unknown function (ip: 0x745df3990792) at (unknown file) _jl_invoke at /source/src/gf.c:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 _Eval_Jac_G_CB at /home/pkgeval/.julia/packages/Ipopt/WLbcQ/src/C_wrapper.jl:0:0 (pc: 39) unknown function (ip: 0x745df395d65b) at (unknown file) _ZN5Ipopt11TNLPAdapter19internal_eval_jac_gEb at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt11TNLPAdapter10Eval_jac_cERKNS_6VectorERNS_6MatrixE at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt15GradientScaling30DetermineScalingParametersImplENS_8SmartPtrIKNS_11VectorSpaceEEES4_S4_NS1_IKNS_11MatrixSpaceEEES7_NS1_IKNS_14SymMatrixSpaceEEERKNS_6MatrixERKNS_6VectorESD_SG_RdRNS1_ISE_EESJ_SJ_ at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt19StandardScalingBase16DetermineScalingENS_8SmartPtrIKNS_11VectorSpaceEEES4_S4_NS1_IKNS_11MatrixSpaceEEES7_NS1_IKNS_14SymMatrixSpaceEEERS7_SB_RSA_RKNS_6MatrixERKNS_6VectorESF_SI_ at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt12OrigIpoptNLP20InitializeStructuresERNS_8SmartPtrINS_6VectorEEEbS4_bS4_bS4_bS4_bS4_S4_ at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt9IpoptData24InitializeDataStructuresERNS_8IpoptNLPEbbbbb at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt25DefaultIterateInitializer18SetInitialIteratesEv at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt14IpoptAlgorithm18InitializeIteratesEv at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt14IpoptAlgorithm8OptimizeEb at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt16IpoptApplication13call_optimizeEv at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt16IpoptApplication11OptimizeNLPERKNS_8SmartPtrINS_3NLPEEERNS1_INS_16AlgorithmBuilderEEE at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt16IpoptApplication11OptimizeNLPERKNS_8SmartPtrINS_3NLPEEE at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt16IpoptApplication12OptimizeTNLPERKNS_8SmartPtrINS_4TNLPEEE at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) IpoptSolve at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) #IpoptSolve##0 at /home/pkgeval/.julia/packages/Ipopt/WLbcQ/src/C_wrapper.jl:408:0 [inlined] disable_sigint at ./c.jl:153:0 (pc: 34) IpoptSolve at /home/pkgeval/.julia/packages/Ipopt/WLbcQ/src/C_wrapper.jl:407:0 [inlined] optimize! at /home/pkgeval/.julia/packages/Ipopt/WLbcQ/ext/IpoptMathOptInterfaceExt/MOI_wrapper.jl:1487:0 (pc: 1698) unknown function (ip: 0x745df3957e22) at (unknown file) _jl_invoke at /source/src/gf.c:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 jl_apply at /source/src/julia.h:2405:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:259:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:757:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:947:21 ijl_eval_thunk at /source/src/toplevel.c:764:18 jl_toplevel_eval_flex at /source/src/toplevel.c:708:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:598:15 jl_toplevel_eval_flex at /source/src/toplevel.c:680:27 ijl_toplevel_eval at /source/src/toplevel.c:778:12 ijl_toplevel_eval_in at /source/src/toplevel.c:823:13 eval at ./boot.jl:522:0 (pc: 1) include_string at ./loading.jl:3132:0 (pc: 208) include_string at ./loading.jl:3142:0 (pc: 1) _jl_invoke at /source/src/gf.c:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 jl_apply at /source/src/julia.h:2405:12 [inlined] jl_f_invokelatest at /source/src/builtins.c:931:23 #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:113:0 (pc: 19) unknown function (ip: 0x745e061d84a6) at (unknown file) _jl_invoke at /source/src/gf.c:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:117:0 (pc: 258) unknown function (ip: 0x745e061d806e) at (unknown file) _jl_invoke at /source/src/gf.c:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 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:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 jl_apply at /source/src/julia.h:2405:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:259:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:757:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:947:21 ijl_eval_thunk at /source/src/toplevel.c:764:18 jl_toplevel_eval_flex at /source/src/toplevel.c:708:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:598:15 jl_toplevel_eval_flex at /source/src/toplevel.c:680:27 ijl_toplevel_eval at /source/src/toplevel.c:778:12 ijl_toplevel_eval_in at /source/src/toplevel.c:823:13 eval at ./boot.jl:522:0 (pc: 1) include_string at ./loading.jl:3132:0 (pc: 208) _jl_invoke at /source/src/gf.c:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 _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:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 jl_apply at /source/src/julia.h:2405:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:259:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:757:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:947:21 ijl_eval_thunk at /source/src/toplevel.c:764:18 jl_toplevel_eval_flex at /source/src/toplevel.c:708:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:598:15 jl_toplevel_eval_flex at /source/src/toplevel.c:680:27 ijl_toplevel_eval at /source/src/toplevel.c:778:12 ijl_toplevel_eval_in at /source/src/toplevel.c:823:13 eval at ./boot.jl:522:0 (pc: 1) exec_options at ./client.jl:321:0 (pc: 426) _start at ./client.jl:596:0 (pc: 295) jfptr__start_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4348:23 [inlined] ijl_apply_generic at /source/src/gf.c:4586:12 jl_apply at /source/src/julia.h:2405:12 [inlined] true_main at /source/src/jlapi.c:985:29 jl_repl_entrypoint at /source/src/jlapi.c:1152:15 main at /source/cli/loader_exe.c:58:15 unknown function (ip: 0x745e2560c249) 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: 2067898550 (Pool: 2067839746; Big: 58804); GC: 859 PkgEval terminated after 2723.63s: test duration exceeded the time limit