Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.2457 (6e8868916a*) started at 2026-06-29T00:16:02.660 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 13.43s ################################################################################ # 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 v0.1.45 [79e6a3ab] + Adapt v4.7.0 [4fba245c] + ArrayInterface v7.27.0 [4c555306] + ArrayLayouts v1.12.2 [b2a6c25c] + BinaryHeaps v1.0.1 [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 v0.2.9 [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 v7.6.0 [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 v1.3.3 [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 v1.9.3 [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 v0.2.6 [d8a4904e] + MutableArithmetics v1.8.0 [77ba4419] + NaNMath v1.1.4 [538bc3a1] + NamedTrajectories v0.9.1 [be0214bd] + NonlinearSolveBase v2.31.3 ⌅ [bac558e1] + OrderedCollections v1.8.2 [bbf590c4] + OrdinaryDiffEqCore v4.5.0 [b1df2697] + OrdinaryDiffEqTsit5 v2.0.2 [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 v0.5.21 [0bca4576] + SciMLBase v3.28.1 [19f34311] + SciMLJacobianOperators v0.1.14 [a6db7da4] + SciMLLogging v2.0.1 [c0aeaf25] + SciMLOperators v1.22.1 [431bcebd] + SciMLPublic v1.2.1 [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+2 [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 5.25s ################################################################################ # 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... 52.8 s ✓ MadNLP 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 12.8 s ✓ NamedTrajectories 58.5 s ✓ Ipopt → IpoptMathOptInterfaceExt 19.0 s ✓ MadNLP → MadNLPMOI 29.1 s ✓ DirectTrajOpt 30.5 s ✓ DirectTrajOpt → MadNLPSolverExt 6 dependencies successfully precompiled in 220 seconds. 223 already precompiled. Precompilation completed after 247.78s ################################################################################ # 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_LtnDez/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_LtnDez/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_LtnDez/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 v2.0.2 [189a3867] Reexport v1.2.2 [0bca4576] SciMLBase v3.28.1 [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_LtnDez/Manifest.toml` [47edcb42] ADTypes v1.22.1 [14f7f29c] AMD v0.5.3 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.45 [79e6a3ab] Adapt v4.7.0 [4c88cf16] Aqua v0.8.16 [4fba245c] ArrayInterface v7.27.0 [4c555306] ArrayLayouts v1.12.2 [b2a6c25c] BinaryHeaps v1.0.1 [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 v0.2.9 [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 v7.6.0 [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 v1.3.3 [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 v1.9.3 [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 v0.2.6 [d8a4904e] MutableArithmetics v1.8.0 [a4795742] NLPModels v0.21.12 [77ba4419] NaNMath v1.1.4 [538bc3a1] NamedTrajectories v0.9.1 [be0214bd] NonlinearSolveBase v2.31.3 ⌅ [bac558e1] OrderedCollections v1.8.2 [bbf590c4] OrdinaryDiffEqCore v4.5.0 [b1df2697] OrdinaryDiffEqTsit5 v2.0.2 [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 v0.5.21 [0bca4576] SciMLBase v3.28.1 [19f34311] SciMLJacobianOperators v0.1.14 [a6db7da4] SciMLLogging v2.0.1 [c0aeaf25] SciMLOperators v1.22.1 [431bcebd] SciMLPublic v1.2.1 [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+2 [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: 1.894s integrator 2 jacobian structure: 0.057s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (1.992s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.052s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.424s sub-objective 2 (QuadraticRegularizer): 1.817s sub-objective 3 (MinimumTimeObjective): 0.018s objective hessian structure: 4.352s hessian structure: 1749 nonzeros (4.454s) linear index maps built (0.0s) evaluator ready (total: 6.917s) evaluator created (12.185s) NL constraint bounds extracted (0.106s) NLP block data built (0.0s) Ipopt optimizer configured (0.391s) variables set (0.881s) 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 (3.357s) optimizer initialization complete (total: 17.01s) ****************************************************************************** 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 4.7899571e+00 4.62e+00 5.31e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7731286e+00 3.79e-01 7.99e+00 -4.0 3.25e+00 0.0 9.77e-02 9.17e-01h 1 2 2.5276068e+00 1.08e-01 3.89e+00 -1.0 3.54e-01 0.4 9.51e-01 6.96e-01f 1 3 2.6463739e+00 5.67e-03 8.94e-01 -1.3 2.60e-01 -0.1 9.09e-01 1.00e+00f 1 4 2.5906377e+00 5.15e-03 7.06e-01 -1.3 4.35e-01 -0.5 7.53e-01 1.07e-01h 2 5 2.2903287e+00 1.79e-02 2.77e-01 -1.9 3.20e-01 -1.0 9.91e-01 6.94e-01f 1 6 2.1174265e+00 3.11e-03 6.34e-02 -2.9 1.38e-01 -1.5 9.96e-01 7.79e-01h 1 7 2.0922734e+00 1.26e-04 1.93e-02 -3.6 2.18e-02 -2.0 9.99e-01 9.62e-01h 1 8 2.0908855e+00 1.38e-06 1.04e-03 -4.0 1.29e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908687e+00 4.07e-08 2.97e-05 -4.0 2.44e-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 2.0908637e+00 8.92e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908488e+00 8.73e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908039e+00 7.86e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906696e+00 7.09e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902676e+00 6.42e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890706e+00 5.87e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855622e+00 5.54e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796340e+00 2.28e-03 1.37e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.27e-01h 1 18 2.0807145e+00 1.52e-04 1.80e-01 -4.0 6.58e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775324e+00 7.33e-03 2.44e-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 2.0769350e+00 1.07e-03 4.54e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759976e+00 9.70e-04 2.32e-02 -4.0 3.12e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754513e+00 1.65e-03 2.80e-02 -4.0 4.67e+02 -9.1 1.00e+00 7.18e-01h 1 23 2.0757690e+00 2.06e-03 1.14e-02 -4.0 1.41e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756777e+00 2.37e-04 4.64e-04 -4.0 6.75e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756713e+00 1.08e-06 7.84e-06 -4.0 2.29e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.07e-08 1.29e-06 -4.0 1.40e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.64e-09 1.10e-07 -4.0 4.58e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.63e-11 1.82e-09 -4.0 7.22e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121646137e+00 2.0756712121646137e+00 Dual infeasibility......: 1.8209761662967006e-09 1.8209761662967006e-09 Constraint violation....: 4.6315506985195043e-11 4.6315506985195043e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 1.8209761662967006e-09 1.8209761662967006e-09 Number of objective function evaluations = 33 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 33 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 = 65.645 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.058s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.112s) evaluator created (0.112s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: equality constraint on 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 (0.153s) optimizer initialization complete (total: 0.265s) 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 1.3558176e+00 2.33e+00 5.36e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6577415e+00 7.32e-02 2.29e+00 -1.0 1.80e+00 0.0 9.79e-01 1.00e+00h 1 2 2.4737165e+00 3.25e-02 7.80e-01 -1.2 5.29e-01 -0.5 9.98e-01 8.35e-01h 1 3 2.3869409e+00 2.46e-02 7.26e-01 -1.6 1.18e+00 -1.0 9.95e-01 2.45e-01h 1 4 2.1881479e+00 1.71e-02 1.01e-01 -2.2 4.31e-01 -1.4 9.97e-01 8.79e-01h 1 5 2.1254148e+00 8.60e-03 8.19e-02 -3.6 3.28e-01 -1.9 1.00e+00 6.78e-01h 1 6 2.0989706e+00 5.32e-03 9.73e-02 -4.0 7.11e-01 -2.4 1.00e+00 5.96e-01h 1 7 2.0942495e+00 2.93e-03 4.49e-01 -4.0 8.51e-01 -2.9 1.00e+00 4.50e-01h 1 8 2.0910265e+00 2.38e-04 7.95e-02 -4.0 5.30e-01 -3.3 1.00e+00 1.00e+00h 1 9 2.0908316e+00 3.31e-06 2.39e-03 -4.0 1.42e-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 2.0907852e+00 5.63e-07 5.51e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906658e+00 5.66e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903084e+00 5.06e-06 2.25e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892432e+00 4.62e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861125e+00 4.34e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796254e+00 2.48e-03 8.78e-02 -4.0 8.71e+01 -6.7 1.00e+00 7.53e-01h 1 16 2.0812480e+00 1.51e-04 1.90e-01 -4.0 6.69e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778329e+00 5.74e-03 2.66e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781776e+00 1.59e-02 3.72e-02 -3.7 1.49e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767263e+00 1.28e-02 1.83e-02 -3.8 2.83e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0757775e+00 2.23e-04 2.18e-02 -3.9 4.13e+02 -9.1 1.00e+00 9.96e-01H 1 21 2.0757818e+00 6.04e-03 9.66e-03 -4.0 1.43e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0753840e+00 1.13e-03 4.99e-04 -4.1 7.17e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756722e+00 4.18e-04 6.30e-06 -4.0 1.92e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756713e+00 6.65e-07 1.27e-06 -4.0 1.31e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756713e+00 3.49e-09 1.36e-07 -4.0 5.85e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756713e+00 8.66e-11 3.59e-09 -4.0 1.07e+00 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712528680481e+00 2.0756712528680481e+00 Dual infeasibility......: 3.5931006515650763e-09 3.5931006515650763e-09 Constraint violation....: 8.6630369544593577e-11 8.6630369544593577e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 3.5931006515650763e-09 3.5931006515650763e-09 Number of objective function evaluations = 29 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 29 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 = 24.329 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.06s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.124s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.052s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.337s sub-objective 2 (QuadraticRegularizer): 0.097s sub-objective 3 (MinimumTimeObjective): 0.018s objective hessian structure: 0.55s hessian structure: 1749 nonzeros (0.654s) linear index maps built (0.0s) evaluator ready (total: 0.779s) evaluator created (0.821s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.134s) 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 (4.983s) optimizer initialization complete (total: 5.939s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.8944452e+00 2.38e+00 8.43e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.4704796e+00 1.47e+00 2.30e+00 -0.8 1.76e+00 0.0 8.30e-01 3.83e-01h 1 2 2.7713163e+00 4.51e-02 1.07e+00 -0.9 1.22e+00 -0.5 8.18e-01 1.00e+00f 1 3 2.5382348e+00 3.90e-02 1.37e-01 -1.2 3.27e-01 -1.0 9.58e-01 1.00e+00h 1 4 2.2011820e+00 1.13e-02 1.19e-01 -2.3 1.81e-01 -1.4 8.33e-01 1.00e+00h 1 5 2.1203634e+00 2.88e-03 9.98e-02 -3.0 1.28e-01 -1.9 9.76e-01 7.50e-01h 1 6 2.0910957e+00 1.63e-04 8.38e-04 -4.0 2.78e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909276e+00 1.05e-06 2.39e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909230e+00 1.32e-09 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909098e+00 6.87e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908699e+00 6.19e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907505e+00 5.58e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903929e+00 5.04e-06 2.26e-05 -4.0 3.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893271e+00 4.60e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861944e+00 4.32e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796219e+00 2.52e-03 8.56e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.61e-01h 1 16 2.0811953e+00 1.75e-04 2.08e-01 -4.0 7.34e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778030e+00 6.74e-03 3.11e-02 -4.0 1.14e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0772256e+00 4.06e-03 6.43e-02 -4.0 1.91e+02 -8.1 1.00e+00 4.65e-01h 1 19 2.0773569e+00 2.55e-02 3.33e-02 -3.7 3.38e+02 -8.6 1.00e+00 8.31e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760643e+00 2.02e-02 3.51e-02 -3.9 5.13e+02 -9.1 1.00e+00 1.00e+00h 1 21 2.0757878e+00 9.84e-03 1.05e-02 -4.0 1.47e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756770e+00 7.66e-04 4.82e-04 -4.0 7.21e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 2.12e-06 8.15e-06 -4.0 2.35e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.17e-08 1.54e-06 -4.0 1.52e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.62e-09 1.53e-07 -4.0 5.31e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.98e-11 3.11e-09 -4.0 9.40e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122101661e+00 2.0756712122101661e+00 Dual infeasibility......: 3.1121439744653725e-09 3.1121439744653725e-09 Constraint violation....: 7.9840689615195970e-11 7.9840689615195970e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000057e-04 1.0000000000000057e-04 Overall NLP error.......: 3.1121439744653725e-09 3.1121439744653725e-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 = 36.920 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.109s) 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: 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: 0.11s) 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 1.4511146e+00 2.27e+00 1.16e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3331700e+00 1.82e+00 2.50e+00 -0.8 1.39e+01 -2.0 4.12e-01 1.97e-01f 1 2 1.2864732e+00 1.58e+00 2.22e+01 -0.9 3.85e+01 -2.5 9.68e-01 1.54e-01h 1 3 1.7274112e+00 1.96e+00 2.64e+01 0.5 1.77e+02 -3.0 1.48e-01 1.23e-01f 1 4 2.7448912e+00 2.37e+00 6.32e+00 0.1 4.43e+01 -3.4 6.52e-01 6.40e-01f 1 5 2.6933757e+00 2.35e+00 2.65e+01 -4.0 1.15e+03 -3.9 2.67e-03 6.11e-03h 1 6 2.7199931e+00 2.19e+00 5.60e+01 -4.0 5.85e+00 -1.7 6.78e-01 6.89e-02h 1 7 2.8837490e+00 1.03e+00 1.40e+01 -1.5 4.89e+00 -1.3 5.57e-01 5.29e-01f 1 8 2.8950663e+00 4.67e-02 2.38e+00 -1.4 3.52e+00 -1.7 9.99e-01 1.00e+00h 1 9 2.5640194e+00 2.58e-01 1.23e+00 -1.8 2.60e+00 -2.2 9.99e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.4158753e+00 4.19e-02 1.02e-01 -2.0 2.81e+00 -2.7 9.95e-01 1.00e+00h 1 11 2.2756470e+00 1.78e-01 4.31e-01 -2.3 5.07e+00 -3.2 9.16e-01 9.55e-01h 1 12 2.4902387e+00 3.82e+00 1.16e+02 -1.4 2.23e+01 -2.7 3.31e-01 1.00e+00f 1 13 2.4159017e+00 1.04e+00 3.87e+01 -1.8 2.79e+00 -1.4 9.27e-01 7.85e-01h 1 14 2.3182763e+00 1.74e-01 2.86e+01 -1.8 2.94e+00 -1.0 1.00e+00 1.00e+00h 1 15 2.3449012e+00 9.58e-02 2.17e+01 -1.2 3.80e+00 -1.5 1.00e+00 5.35e-01h 1 16 2.3434815e+00 8.05e-02 2.31e+01 -4.0 4.19e+00 -1.9 4.76e-01 1.59e-01h 1 17 2.4042118e+00 9.37e-03 4.30e+00 -2.0 6.61e-01 -1.5 7.20e-01 1.00e+00f 1 18 2.3951724e+00 6.83e-03 5.61e+00 -2.6 1.42e-01 -1.1 1.00e+00 2.78e-01h 1 19 2.3632457e+00 5.39e-03 4.63e-01 -3.6 5.77e-01 -1.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.3532461e+00 4.36e-03 9.29e-02 -4.0 7.28e-01 -2.0 1.00e+00 1.00e+00h 1 21 2.3247860e+00 1.50e-02 4.76e-02 -3.7 1.43e+00 -2.5 1.00e+00 1.00e+00h 1 22 2.2888148e+00 2.49e-02 5.04e-02 -3.7 2.50e+00 -3.0 9.96e-01 1.00e+00h 1 23 2.2835104e+00 2.21e-03 2.60e-03 -4.0 9.49e-01 -2.6 1.00e+00 1.00e+00h 1 24 2.2607939e+00 7.57e-03 2.28e-02 -4.0 2.23e+00 -3.0 1.00e+00 1.00e+00h 1 25 2.2553274e+00 8.53e-04 2.02e-03 -4.0 8.00e-01 -2.6 1.00e+00 1.00e+00h 1 26 2.2354147e+00 1.65e-02 1.04e-01 -4.0 2.66e+00 -3.1 1.00e+00 1.00e+00h 1 27 2.2230188e+00 6.73e-03 1.12e-01 -3.3 1.91e+00 -2.7 1.00e+00 9.13e-01h 1 28 2.1884427e+00 4.80e-02 1.44e+00 -3.6 5.50e+00 -3.1 1.00e+00 6.94e-01h 1 29 2.2074718e+00 3.41e-02 1.91e+01 -2.6 1.63e+00 -1.8 1.00e+00 2.53e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.1914057e+00 2.99e-02 2.33e+01 -3.1 4.83e+00 -2.3 1.00e+00 2.33e-01h 1 31 2.1911080e+00 2.98e-02 1.18e+01 -4.0 2.92e+00 -0.1 1.88e-02 1.95e-03h 1 32 2.2328846e+00 4.74e-03 3.59e+01 -2.3 7.34e-01 -0.5 1.61e-01 1.00e+00f 1 33 2.2280804e+00 1.55e-03 1.31e+01 -3.4 1.88e-01 0.8 1.00e+00 7.98e-01h 1 34 2.2652692e+00 2.70e-03 7.76e+01 -2.1 1.19e-01 1.2 1.00e+00 1.00e+00f 1 35 2.2518531e+00 4.79e-04 1.34e+01 -2.2 3.84e-02 1.6 1.00e+00 1.00e+00h 1 36 2.2497916e+00 3.40e-06 1.05e+00 -3.7 6.70e-03 1.2 1.00e+00 1.00e+00h 1 37 2.2476849e+00 3.99e-06 4.93e-02 -4.0 1.02e-02 0.7 1.00e+00 1.00e+00h 1 38 2.2420466e+00 3.18e-05 4.04e-02 -4.0 2.46e-02 0.2 1.00e+00 1.00e+00h 1 39 2.2285103e+00 1.95e-04 4.03e-02 -4.0 7.39e-02 -0.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.2227420e+00 1.94e-04 1.01e-01 -4.0 2.39e-01 -0.7 1.00e+00 2.25e-01h 1 41 2.2159144e+00 5.64e-05 8.39e-02 -4.0 8.82e-02 -0.3 1.00e+00 1.00e+00h 1 42 2.1991989e+00 3.12e-04 4.51e-02 -4.0 2.39e-01 -0.8 1.00e+00 1.00e+00h 1 43 2.1961142e+00 1.26e-05 2.98e-02 -4.0 6.91e-02 -0.4 1.00e+00 1.00e+00h 1 44 2.1954041e+00 1.21e-05 1.46e+00 -4.0 2.46e-01 -0.8 1.00e+00 4.50e-02h 1 45 2.1891168e+00 3.78e-04 2.60e-01 -4.0 1.36e-01 -1.3 1.00e+00 1.00e+00h 1 46 2.1778812e+00 1.48e-03 4.83e-02 -4.0 4.13e-01 -1.8 1.00e+00 9.14e-01h 1 47 2.1780132e+00 1.81e-03 2.42e+00 -3.1 1.56e+00 -2.3 7.98e-01 2.56e-01f 1 48 2.1768855e+00 1.68e-03 8.69e-01 -3.1 1.23e+00 -2.8 1.00e+00 9.97e-02h 1 49 2.1651847e+00 4.86e-03 1.25e-01 -4.0 1.98e+00 -3.2 1.00e+00 8.50e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.1548200e+00 1.55e-02 7.22e-02 -4.0 3.31e+00 -3.7 1.00e+00 1.00e+00h 1 51 2.1397315e+00 3.08e-02 4.44e-02 -4.0 5.96e+00 -4.2 1.00e+00 1.00e+00h 1 52 2.1244636e+00 6.05e-02 9.76e-02 -3.2 1.01e+01 -4.7 1.00e+00 9.93e-01h 1 53 2.1072398e+00 1.12e-01 9.83e-02 -3.6 1.76e+01 -5.1 1.00e+00 9.92e-01h 1 54 2.1017064e+00 1.13e-01 5.32e-01 -3.1 3.73e+01 -5.6 1.00e+00 9.55e-01h 1 55 2.0998583e+00 1.06e-01 4.93e-01 -4.0 2.14e+02 -6.1 1.36e-01 7.47e-02h 1 56 2.0964353e+00 6.73e-02 5.10e-01 -4.0 3.42e+01 -5.7 9.76e-01 4.03e-01h 1 57 2.0902371e+00 1.20e-01 9.60e-02 -3.2 3.35e+01 -6.1 1.00e+00 1.00e+00h 1 58 2.0852177e+00 2.53e-02 5.61e-02 -3.7 5.31e+01 -6.6 1.00e+00 1.00e+00h 1 59 2.0795873e+00 1.09e-02 3.65e-02 -4.0 1.36e+02 -7.1 1.00e+00 9.85e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0813620e+00 9.54e-03 9.47e-02 -3.8 6.09e+01 -7.6 1.00e+00 1.00e+00h 1 61 2.0792006e+00 7.41e-03 1.11e-02 -4.0 1.09e+02 -8.1 1.00e+00 1.00e+00h 1 62 2.0784989e+00 1.15e-03 7.14e-03 -4.0 2.62e+02 -8.5 1.00e+00 1.00e+00h 1 63 2.0772546e+00 8.01e-03 1.38e-02 -4.0 7.03e+02 -9.0 1.00e+00 9.70e-01h 1 64 2.0781850e+00 2.30e-02 6.48e-02 -3.8 4.96e+02 -9.5 1.00e+00 8.95e-01h 1 65 2.0778151e+00 6.33e-03 4.38e-03 -3.8 2.52e+02 -10.0 1.00e+00 1.00e+00h 1 66 2.0777410e+00 1.21e-04 2.57e-04 -3.8 6.86e+01 -10.4 1.00e+00 1.00e+00h 1 67 2.0771979e+00 1.88e-03 1.48e-05 -4.0 3.98e+01 -10.9 1.00e+00 1.00e+00h 1 68 2.0772038e+00 2.40e-06 1.06e-06 -4.0 2.13e+01 -11.4 1.00e+00 1.00e+00h 1 69 2.0772037e+00 7.49e-10 2.50e-08 -4.0 2.00e+00 -11.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0772037e+00 4.86e-13 2.54e-11 -4.0 6.38e-02 -12.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 70 (scaled) (unscaled) Objective...............: 2.0772036793113271e+00 2.0772036793113271e+00 Dual infeasibility......: 2.5445128263527211e-11 2.5445128263527211e-11 Constraint violation....: 4.8583359557596850e-13 4.8583359557596850e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000051e-04 1.0000000000000051e-04 Overall NLP error.......: 2.5445128263527211e-11 2.5445128263527211e-11 Number of objective function evaluations = 71 Number of objective gradient evaluations = 71 Number of equality constraint evaluations = 71 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 71 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 70 Total seconds in IPOPT = 25.014 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 (0.058s) 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: 0.112s) 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: bounds on Δt applying constraint: per-timestep equality constraint on trajectory variable u linear constraints added: 3 (0.049s) optimizer initialization complete (total: 0.162s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1264 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1113 Total number of variables............................: 86 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.3284639e+00 1.77e+00 2.21e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.5872514e+00 1.47e+00 3.48e+00 -1.5 2.39e+01 - 4.59e-01 1.81e-01h 1 2 5.3994950e+00 1.39e+00 3.02e+02 -0.6 1.47e+03 - 9.25e-01 5.99e-02h 1 3 6.1257069e+00 1.40e+00 1.21e+03 1.4 1.24e+03 - 5.45e-01 1.83e-02f 1 4 1.9006727e+01 5.54e+00 1.66e+03 1.0 1.64e+03 - 9.26e-01 1.25e-01f 4 5 2.2341872e+01 4.74e+00 5.10e+02 1.0 7.58e+02 - 6.11e-01 1.25e-01f 4 6 1.4241463e+01 3.25e+00 1.73e+02 1.0 1.19e+02 -2.0 1.00e+00 1.76e-01h 1 7 8.5520390e+00 3.20e+00 2.67e+03 1.2 3.00e+03 -2.5 8.26e-03 1.04e-03H 1 8 2.2608436e+01 2.41e+00 8.02e+02 1.2 1.18e+03 - 6.35e-01 2.50e-01f 3 9 4.0093277e+01 1.80e+00 3.13e+03 -0.2 1.20e+02 -3.0 5.45e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.6335391e+01 3.57e-01 7.25e+02 -0.1 5.49e+01 - 1.00e+00 1.00e+00f 1 11 1.0862114e+01 1.07e+00 1.91e+02 -0.3 6.75e+01 - 1.00e+00 1.00e+00f 1 12 9.5276479e+00 4.19e-01 4.46e+01 -1.0 1.82e+01 - 9.99e-01 1.00e+00h 1 13 9.0716376e+00 1.02e-01 1.31e+01 -1.9 4.69e+00 -1.6 1.00e+00 1.00e+00h 1 14 6.4096758e+00 7.46e-01 1.03e+01 -1.5 4.67e+01 - 6.89e-01 1.68e-01F 1 15 6.2171470e+00 3.52e-01 1.20e+01 -0.4 1.17e+01 - 8.86e-01 2.67e-01f 1 16 6.3905489e+00 1.29e-01 5.89e+00 -4.0 4.12e+00 - 2.01e-01 1.00e+00h 1 17 6.3803877e+00 5.27e-02 8.60e-01 -2.1 9.33e-01 - 8.22e-01 1.00e+00h 1 18 6.3878014e+00 1.36e-02 1.01e-01 -2.1 5.84e-01 - 9.37e-01 1.00e+00h 1 19 6.3919656e+00 2.44e-03 9.19e-03 -3.2 1.13e-01 - 9.99e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 6.3943277e+00 8.58e-04 3.03e-03 -4.0 5.02e-02 - 1.00e+00 1.00e+00h 1 21 6.3946147e+00 1.59e-04 5.30e-04 -4.0 3.12e-02 - 1.00e+00 1.00e+00h 1 22 6.3945873e+00 1.25e-05 4.08e-05 -4.0 5.84e-03 - 1.00e+00 1.00e+00h 1 23 6.3945835e+00 1.09e-07 3.54e-07 -4.0 5.45e-04 - 1.00e+00 1.00e+00h 1 24 6.3945834e+00 9.52e-12 3.10e-11 -4.0 5.11e-06 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 6.3945834322551391e+00 6.3945834322551391e+00 Dual infeasibility......: 3.0978677956206013e-11 3.0978677956206013e-11 Constraint violation....: 9.5162766555745293e-12 9.5162766555745293e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000001589074861e-04 1.0000001589074861e-04 Overall NLP error.......: 3.0978677956206013e-11 3.0978677956206013e-11 Number of objective function evaluations = 38 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 38 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 27.811 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.07s) integrator 1 hessian structure: 0.06s 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 (0.061s) linear index maps built (0.0s) evaluator ready (total: 0.131s) evaluator created (0.131s) 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: 0.132s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.3159706e+00 2.40e+00 6.90e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5423146e+00 7.79e-02 4.82e+00 -1.0 1.90e+00 0.0 8.41e-01 1.00e+00f 1 2 2.7509751e+00 3.02e-02 1.18e+00 -1.0 5.19e-01 -0.5 9.75e-01 1.00e+00f 1 3 2.6777508e+00 3.00e-02 1.00e+00 -0.8 1.49e+01 -1.0 9.01e-01 2.13e-01H 1 4 2.3569175e+00 1.11e-02 3.78e-02 -1.5 1.58e-01 -1.4 9.85e-01 1.00e+00f 1 5 2.1178899e+00 1.92e-02 9.69e-02 -2.8 5.72e-01 -1.9 9.32e-01 9.54e-01h 1 6 2.0934646e+00 2.51e-04 6.12e-03 -3.5 5.65e-02 -2.4 9.94e-01 1.00e+00h 1 7 2.0909704e+00 5.63e-06 4.79e-05 -4.0 1.54e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909617e+00 5.03e-08 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909484e+00 6.83e-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 2.0909085e+00 6.17e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907891e+00 5.56e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0904314e+00 5.03e-06 2.26e-05 -4.0 3.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893654e+00 4.59e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0862319e+00 4.31e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796230e+00 2.55e-03 8.46e-02 -4.0 8.74e+01 -6.7 1.00e+00 7.65e-01h 1 16 2.0813017e+00 1.43e-04 1.91e-01 -4.0 6.84e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778386e+00 5.53e-03 2.65e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781556e+00 1.65e-02 3.21e-02 -3.7 1.53e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767375e+00 1.30e-02 1.72e-02 -3.8 2.87e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0759074e+00 9.29e-03 2.21e-02 -3.9 4.14e+02 -9.1 1.00e+00 9.91e-01h 1 21 2.0757639e+00 7.50e-03 9.61e-03 -4.0 1.37e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756765e+00 3.83e-04 4.02e-04 -4.0 5.79e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.93e-06 7.78e-06 -4.0 2.30e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.58e-08 1.49e-06 -4.0 1.50e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.52e-09 1.50e-07 -4.0 5.28e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.84e-11 3.06e-09 -4.0 9.37e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122126526e+00 2.0756712122126526e+00 Dual infeasibility......: 3.0620139535356659e-09 3.0620139535356659e-09 Constraint violation....: 7.8405393288960568e-11 7.8405393288960568e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000015e-04 1.0000000000000015e-04 Overall NLP error.......: 3.0620139535356659e-09 3.0620139535356659e-09 Number of objective function evaluations = 29 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 29 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 = 23.526 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: 0.05s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.051s) integrator 1 hessian structure: 0.045s 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 (0.046s) linear index maps built (0.0s) evaluator ready (total: 0.097s) evaluator created (0.098s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (1.955s) optimizer initialization complete (total: 2.053s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.0604520e+00 2.05e+00 1.96e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8800384e+00 1.65e-02 6.78e-01 -1.1 2.00e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3596750e+00 2.39e-02 5.75e-02 -1.5 3.22e-01 -1.6 9.48e-01 1.00e+00h 1 3 2.1371304e+00 4.76e-03 1.51e-01 -2.6 1.07e-01 -1.1 9.74e-01 1.00e+00h 1 4 2.0953392e+00 7.57e-04 2.00e-01 -3.5 1.03e-01 -1.6 9.98e-01 8.04e-01h 1 5 2.0915173e+00 6.64e-04 7.91e-01 -4.0 6.48e-01 -2.1 1.00e+00 1.00e+00h 1 6 2.0907665e+00 1.77e-04 7.15e-02 -4.0 3.26e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0910358e+00 1.70e-06 4.59e-03 -4.0 3.17e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909882e+00 1.23e-06 2.06e-05 -4.0 7.04e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909672e+00 2.16e-08 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909054e+00 1.46e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907233e+00 1.29e-06 4.96e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902043e+00 1.09e-05 4.20e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888624e+00 8.17e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861763e+00 4.37e-04 1.74e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0831039e+00 9.05e-04 4.72e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828547e+00 9.26e-04 2.25e-02 -4.0 5.44e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823469e+00 3.85e-04 1.02e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820407e+00 9.42e-05 1.86e-02 -4.0 1.46e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.70e-04 8.72e-03 -4.0 9.95e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.70e-05 8.48e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.33e-07 1.39e-05 -4.0 4.44e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.79e-10 3.24e-08 -4.0 2.44e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.50e-13 1.21e-11 -4.0 4.58e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190915e+00 2.0819382907190915e+00 Dual infeasibility......: 1.2053001446302863e-11 1.2053001446302863e-11 Constraint violation....: 2.4957813593573519e-13 2.4957813593573519e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 1.2053001446302863e-11 1.2053001446302863e-11 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 26.002 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.049s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.049s) integrator 1 hessian structure: 0.041s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.041s) linear index maps built (0.0s) evaluator ready (total: 0.091s) evaluator created (0.091s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.048s) optimizer initialization complete (total: 0.14s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.4925285e+00 1.95e+00 2.79e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8594441e+00 2.17e-02 4.53e-01 -1.0 1.67e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.2901784e+00 1.78e-02 5.13e-02 -1.7 2.83e-01 -1.6 9.35e-01 1.00e+00h 1 3 2.1185162e+00 1.25e-03 9.93e-02 -2.8 5.48e-02 -1.1 9.52e-01 9.92e-01h 1 4 2.0953673e+00 1.93e-04 2.99e-01 -3.9 1.21e-01 -1.6 1.00e+00 9.03e-01h 1 5 2.0914498e+00 3.36e-04 5.38e-01 -4.0 3.16e-01 -2.1 1.00e+00 4.18e-01h 1 6 2.0907945e+00 7.68e-05 2.09e-01 -4.0 5.83e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0908698e+00 1.28e-06 6.04e-03 -4.0 2.41e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0908835e+00 7.76e-07 4.60e-05 -4.0 6.72e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908653e+00 1.32e-08 2.35e-05 -4.0 1.91e-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 2.0908215e+00 8.08e-08 1.41e-04 -4.0 5.10e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907178e+00 5.93e-07 5.69e-04 -4.0 1.33e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904197e+00 5.68e-06 4.84e-04 -4.0 3.97e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0902940e+00 9.46e-07 6.02e-04 -4.0 1.59e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0901422e+00 1.64e-06 2.03e-02 -4.0 6.63e+00 -5.5 1.00e+00 2.22e-01h 2 15 2.0889510e+00 6.65e-05 2.71e-03 -4.0 1.40e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0865741e+00 3.12e-04 3.39e-02 -4.0 3.69e+01 -6.4 1.00e+00 8.00e-01h 1 17 2.0834701e+00 1.23e-03 5.16e-02 -4.0 5.94e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0826891e+00 7.84e-04 1.68e-02 -4.0 9.55e+01 -7.4 1.00e+00 1.00e+00h 1 19 2.0825280e+00 5.90e-05 3.51e-03 -4.0 2.23e+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 2.0823403e+00 2.16e-04 1.28e-03 -4.0 7.23e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0823246e+00 2.85e-04 4.12e-03 -4.0 3.91e+01 -7.0 1.00e+00 1.00e+00h 1 22 2.0843542e+00 2.61e-05 3.71e-02 -4.0 8.13e+01 -7.5 3.55e-01 1.00e+00h 1 23 2.0851824e+00 3.05e-05 4.68e+00 -2.6 7.97e-01 -1.7 6.73e-01 1.46e-01f 1 24 2.0849497e+00 2.54e-05 2.63e+00 -2.9 1.08e+00 -2.1 6.15e-01 1.11e-01f 2 25 2.0836087e+00 1.13e-05 4.70e-01 -2.9 1.75e-01 -2.6 1.00e+00 8.82e-01h 1 26 2.0835314e+00 5.91e-07 5.71e-03 -3.7 5.30e-02 -3.1 1.00e+00 1.00e+00f 1 27 2.0823510e+00 1.09e-05 1.07e-03 -4.0 9.85e-02 -3.6 1.00e+00 1.00e+00h 1 28 2.0823052e+00 3.30e-07 6.54e-06 -4.0 5.56e-02 -4.0 1.00e+00 1.00e+00h 1 29 2.0822974e+00 3.41e-08 4.98e-06 -4.0 1.66e-01 -4.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0822757e+00 2.42e-07 1.33e-05 -4.0 4.90e-01 -5.0 1.00e+00 1.00e+00h 1 31 2.0822254e+00 1.53e-06 7.79e-05 -4.0 1.42e+00 -5.5 1.00e+00 1.00e+00h 1 32 2.0821407e+00 7.84e-06 2.35e-04 -4.0 4.15e+00 -6.0 1.00e+00 1.00e+00h 1 33 2.0819718e+00 1.13e-04 3.11e-03 -4.0 1.49e+01 -6.4 9.52e-01 1.00e+00h 1 34 2.0819514e+00 1.25e-04 1.34e+01 -4.0 5.90e+02 -6.0 5.59e-01 3.25e-03h 3 35 2.0818441e+00 6.39e-05 1.81e-01 -4.0 3.59e+00 -6.5 1.00e+00 4.97e-01H 1 36 2.0820545e+00 6.41e-04 2.69e-03 -4.0 8.20e+00 -7.0 1.00e+00 1.00e+00h 1 37 2.0817600e+00 4.67e-04 7.48e-04 -4.1 2.19e+01 -7.4 1.00e+00 1.00e+00h 1 38 2.0819098e+00 9.01e-04 3.15e-03 -4.0 3.90e+01 -7.9 1.00e+00 1.00e+00h 1 39 2.0815997e+00 1.18e-03 2.91e-03 -4.1 5.32e+01 -8.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818414e+00 9.35e-04 9.10e-04 -4.0 3.97e+01 -8.9 1.00e+00 1.00e+00h 1 41 2.0815805e+00 3.43e-04 9.54e-05 -4.1 1.50e+01 -9.3 1.00e+00 1.00e+00h 1 42 2.0818394e+00 1.86e-04 2.57e-05 -4.0 8.46e+00 -9.8 1.00e+00 1.00e+00h 1 43 2.0818383e+00 2.52e-08 5.42e-08 -4.0 3.41e-01 -10.3 1.00e+00 1.00e+00h 1 44 2.0818383e+00 1.89e-13 1.22e-11 -4.0 2.63e-03 -10.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 44 (scaled) (unscaled) Objective...............: 2.0818383021807465e+00 2.0818383021807465e+00 Dual infeasibility......: 1.2235017415439947e-11 1.2235017415439947e-11 Constraint violation....: 1.8912649224489542e-13 1.8912649224489542e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000470040e-04 1.0000000000470040e-04 Overall NLP error.......: 1.2235017415439947e-11 1.2235017415439947e-11 Number of objective function evaluations = 53 Number of objective gradient evaluations = 45 Number of equality constraint evaluations = 53 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 45 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 44 Total seconds in IPOPT = 24.534 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 (0.086s) integrator 1 hessian structure: 0.048s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.345s sub-objective 2 (QuadraticRegularizer): 0.089s sub-objective 3 (MinimumTimeObjective): 0.017s objective hessian structure: 0.546s hessian structure: 375 nonzeros (0.595s) linear index maps built (0.0s) evaluator ready (total: 0.805s) evaluator created (1.307s) NL constraint bounds extracted (0.012s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.128s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.621s) optimizer initialization complete (total: 5.068s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.5160219e+00 9.85e-01 1.11e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2591215e+00 3.75e-01 2.65e+00 -1.1 2.00e+00 -2.0 9.99e-01 1.00e+00h 1 2 1.2809072e+00 1.75e-01 4.13e-01 -0.9 3.75e-01 -0.7 1.00e+00 5.79e-01h 1 3 1.5327995e+00 3.96e-02 9.82e-01 -1.9 6.24e-01 -1.1 9.53e-01 1.00e+00h 1 4 2.0698006e+00 4.65e-02 1.47e+00 0.3 8.10e+01 -1.6 1.27e-01 1.35e-02f 2 5 2.0285635e+00 4.77e-02 3.27e+00 -0.9 2.32e+00 - 7.42e-01 1.00e+00H 1 6 1.7368859e+00 7.24e-03 1.77e+00 -1.0 1.36e+00 -2.1 9.90e-01 7.47e-01h 1 7 1.4895554e+00 3.20e-03 3.25e+00 -1.4 4.44e+00 - 9.14e-01 5.83e-01f 1 8 1.4292157e+00 2.78e-03 2.88e+00 -1.2 1.52e+01 - 4.94e-01 1.33e-01h 1 9 1.3833354e+00 2.44e-03 2.52e+00 -1.6 3.37e+00 -2.6 1.00e+00 1.22e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.1198924e+00 9.27e-05 2.13e-01 -2.6 1.61e+00 - 1.00e+00 1.00e+00f 1 11 1.0926023e+00 6.08e-06 3.42e-02 -4.0 1.18e+00 - 1.00e+00 9.42e-01f 1 12 1.0908870e+00 1.16e-08 1.86e-03 -4.0 3.12e-01 - 1.00e+00 1.00e+00h 1 13 1.0908998e+00 4.81e-14 3.74e-06 -4.0 1.44e-02 - 1.00e+00 1.00e+00h 1 14 1.0908997e+00 1.73e-24 6.08e-12 -4.0 1.84e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 14 (scaled) (unscaled) Objective...............: 1.0908997263264557e+00 1.0908997263264557e+00 Dual infeasibility......: 6.0816891345009949e-12 6.0816891345009949e-12 Constraint violation....: 1.7345946463115611e-24 1.7345946463115611e-24 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 6.0816891345009949e-12 6.0816891345009949e-12 Number of objective function evaluations = 19 Number of objective gradient evaluations = 15 Number of equality constraint evaluations = 19 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 15 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 14 Total seconds in IPOPT = 27.626 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: 2.346s jacobian structure: 1600 nonzeros (2.408s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.339s 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 (3.389s) linear index maps built (0.0s) evaluator ready (total: 5.799s) evaluator created (5.825s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 5.826s) 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 3.9061735e+00 2.80e+00 6.67e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8928542e+00 6.07e-02 2.51e+00 -0.8 2.41e+00 0.0 9.39e-01 1.00e+00f 1 2 2.8941493e+00 8.20e-03 5.38e-01 -0.8 1.64e-01 0.4 9.22e-01 1.00e+00h 1 3 2.5662261e+00 2.03e-03 4.98e-01 -1.6 1.59e-01 -0.1 9.80e-01 1.00e+00h 1 4 2.2183536e+00 4.20e-03 1.14e-01 -2.3 2.64e-01 -0.5 9.99e-01 7.98e-01f 1 5 2.1107459e+00 1.89e-03 7.35e-02 -3.5 1.21e-01 -1.0 1.00e+00 7.36e-01h 1 6 2.0908900e+00 2.03e-05 1.85e-03 -4.0 9.38e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909255e+00 6.01e-08 2.65e-04 -4.0 2.42e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909145e+00 4.71e-10 1.00e-04 -4.0 2.73e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909087e+00 4.63e-10 1.89e-05 -4.0 1.55e-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 2.0909034e+00 7.95e-10 1.88e-05 -4.0 4.62e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908899e+00 6.67e-09 2.63e-05 -4.0 1.35e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908547e+00 4.67e-08 6.91e-05 -4.0 3.74e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907750e+00 2.92e-07 3.69e-04 -4.0 9.73e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905434e+00 2.89e-06 4.51e-04 -4.0 2.82e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0904584e+00 4.55e-07 2.96e-04 -4.0 1.14e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902955e+00 1.29e-06 9.74e-03 -4.0 4.25e+00 -5.4 1.00e+00 3.75e-01h 2 17 2.0893266e+00 3.97e-05 2.27e-03 -4.0 1.08e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0874897e+00 2.94e-04 2.75e-02 -4.0 2.90e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0864096e+00 2.05e-04 4.94e-02 -4.0 1.75e+01 -5.9 1.00e+00 4.26e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0849337e+00 2.03e-04 1.84e-02 -4.0 2.45e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0830455e+00 2.25e-04 2.46e-02 -4.0 3.70e+01 -6.8 1.00e+00 8.27e-01h 1 22 2.0826048e+00 3.80e-04 1.33e-02 -4.0 5.94e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822847e+00 5.11e-04 1.04e-02 -4.0 1.33e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0826990e+00 3.33e-06 9.68e-02 -4.0 1.25e+02 -7.4 4.61e-01 1.00e+00H 1 25 2.0824239e+00 2.06e-06 5.42e-03 -4.0 8.69e-01 -5.1 1.00e+00 8.45e-01H 1 26 2.0824492e+00 1.73e-04 4.01e-03 -4.0 2.52e+00 -5.6 1.00e+00 1.00e+00f 1 27 2.0820448e+00 1.37e-04 1.51e-03 -4.1 7.22e+00 -6.1 1.00e+00 1.00e+00h 1 28 2.0818682e+00 1.56e-04 2.48e-02 -4.0 4.96e+02 -6.6 2.55e-02 3.08e-02h 3 29 2.0824701e+00 1.80e-04 1.89e+00 -4.0 1.30e+01 -5.2 1.00e+00 2.80e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0818754e+00 2.35e-05 4.23e-03 -4.1 1.41e+00 -5.7 1.00e+00 1.00e+00h 1 31 2.0820867e+00 1.48e-04 1.68e-03 -4.0 5.36e+00 -6.2 1.00e+00 1.00e+00h 1 32 2.0819147e+00 1.11e-04 2.42e-03 -4.1 6.31e+00 -6.7 1.00e+00 1.00e+00h 1 33 2.0818426e+00 5.65e-05 8.44e-04 -4.1 1.44e+01 -7.1 1.00e+00 1.00e+00h 1 34 2.0819865e+00 6.17e-04 2.44e-03 -4.0 2.70e+01 -7.6 1.00e+00 1.00e+00h 1 35 2.0816429e+00 1.24e-03 3.38e-03 -4.1 4.86e+01 -8.1 1.00e+00 1.00e+00h 1 36 2.0818534e+00 1.32e-03 2.86e-03 -4.0 5.56e+01 -8.6 1.00e+00 1.00e+00h 1 37 2.0815842e+00 6.94e-04 5.77e-04 -4.1 3.02e+01 -9.0 1.00e+00 1.00e+00h 1 38 2.0818445e+00 2.02e-04 4.22e-05 -4.0 8.40e+00 -9.5 1.00e+00 1.00e+00h 1 39 2.0815838e+00 2.15e-04 1.35e-05 -4.1 9.79e+00 -10.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818445e+00 2.14e-04 1.21e-05 -4.0 9.76e+00 -10.5 1.00e+00 1.00e+00h 1 41 2.0815837e+00 2.16e-04 1.02e-05 -4.1 9.84e+00 -11.0 1.00e+00 1.00e+00h 1 42 2.0818446e+00 2.16e-04 9.79e-06 -4.0 9.86e+00 -11.4 1.00e+00 1.00e+00h 1 43 2.0815837e+00 2.16e-04 9.42e-06 -4.1 9.87e+00 -11.9 1.00e+00 1.00e+00h 1 44 2.0818446e+00 2.16e-04 9.53e-06 -4.0 9.87e+00 -12.4 1.00e+00 1.00e+00h 1 45 2.0815837e+00 2.16e-04 9.34e-06 -4.1 9.87e+00 -12.9 1.00e+00 1.00e+00h 1 46 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.3 9.77e-01 9.64e-01h 1 47 2.0818908e+00 6.61e-03 2.98e-04 -4.0 6.18e+01 -13.8 1.00e+00 1.00e+00f 1 48 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.3 1.00e+00 1.00e+00h 1 49 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -14.8 9.76e-01 9.58e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+01 -15.3 1.00e+00 1.00e+00h 1 51 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -15.7 1.00e+00 1.00e+00f 1 52 2.0816805e+00 9.65e-04 4.96e-05 -4.1 4.57e+01 -16.2 1.00e+00 1.00e+00h 1 53 2.0816444e+00 4.73e-07 7.69e-07 -4.1 8.40e+00 -16.7 1.00e+00 1.00e+00h 1 54 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -17.2 1.00e+00 1.00e+00h 1 55 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -17.6 1.00e+00 1.00e+00h 1 56 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -18.1 9.77e-01 9.64e-01h 1 57 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -18.6 1.00e+00 1.00e+00h 1 58 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -19.1 1.00e+00 1.00e+00f 1 59 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -19.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -20.0 1.00e+00 1.00e+00h 1 61 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.67e-01h 1 62 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -20.0 1.00e+00 1.00e+00h 1 63 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -20.0 1.00e+00 1.00e+00h 1 64 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -20.0 1.00e+00 1.00e+00f 1 65 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 68 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-01 -20.0 1.00e+00 9.97e-01h 1 71 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 72 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 75 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 77 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.46e-01 -20.0 1.00e+00 9.97e-01h 1 78 2.0805365e+00 8.66e-11 2.16e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 79 2.0820415e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0817247e+00 1.13e-03 7.75e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0816664e+00 1.64e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 83 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.05e+00 -20.0 1.00e+00 1.00e+00h 1 85 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.47e-01 -20.0 1.00e+00 9.97e-01h 1 86 2.0805365e+00 8.67e-11 2.17e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 8.88e-16 9.09e-15 -9.0 9.99e-06 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 4.44e-16 9.09e-15 -9.0 1.62e-12 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 4.44e-16 9.09e-15 -9.0 8.80e-14 -20.0 1.00e+00 1.00e+00 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 2.22e-16 9.09e-15 -9.0 4.31e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 90 (scaled) (unscaled) Objective...............: 2.0805364595436484e+00 2.0805364595436484e+00 Dual infeasibility......: 9.0909090910998750e-15 9.0909090910998750e-15 Constraint violation....: 2.2204460492503131e-16 2.2204460492503131e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090978348416e-10 9.0909090978348416e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 100 Number of objective gradient evaluations = 91 Number of equality constraint evaluations = 100 Number of inequality constraint evaluations = 100 Number of equality constraint Jacobian evaluations = 91 Number of inequality constraint Jacobian evaluations = 91 Number of Lagrangian Hessian evaluations = 91 Total seconds in IPOPT = 27.241 EXIT: Search Direction is becoming Too Small. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 6.529s jacobian structure: 1680 nonzeros (6.588s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 12.072s 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): 0.52s objective hessian structure: 0.521s hessian structure: 1964 nonzeros (12.644s) linear index maps built (0.0s) evaluator ready (total: 19.233s) evaluator created (19.26s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 19.262s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 96 Number of nonzeros in Lagrangian Hessian.............: 1804 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8688629e+01 3.49e+00 3.43e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6833691e+00 1.52e-01 2.64e+00 -1.2 3.25e+00 -2.0 7.17e-01 1.00e+00f 1 2 3.2557340e+00 1.06e-01 2.06e+00 -0.7 1.70e+00 -1.6 1.00e+00 1.00e+00f 1 3 2.6965414e+00 2.14e-01 7.38e-01 -1.3 1.93e+00 -2.1 9.81e-01 1.00e+00h 1 4 2.2700564e+00 1.23e-01 6.51e-01 -1.9 1.71e+00 -2.5 6.40e-01 8.64e-01h 1 5 2.1997014e+00 1.62e-02 1.08e-01 -1.9 1.00e+00 -3.0 9.68e-01 1.00e+00h 1 6 2.1013394e+00 1.36e-02 2.58e-02 -2.9 1.01e+00 -3.5 9.88e-01 1.00e+00h 1 7 2.0915253e+00 2.93e-04 1.24e-03 -3.8 1.84e-01 -4.0 9.88e-01 1.00e+00h 1 8 2.0909012e+00 3.27e-05 1.63e-04 -4.0 4.27e-01 -4.4 1.00e+00 1.00e+00h 1 9 2.0908105e+00 4.07e-07 3.26e-04 -4.0 1.17e+00 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0905597e+00 4.45e-06 5.32e-04 -4.0 3.72e+00 -5.4 1.00e+00 1.00e+00h 1 11 2.0904514e+00 6.00e-07 4.45e-04 -4.0 1.36e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0903035e+00 1.21e-06 1.29e-02 -4.0 5.13e+00 -5.4 1.00e+00 2.94e-01h 2 13 2.0892210e+00 5.07e-05 2.16e-03 -4.0 1.25e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0872265e+00 3.97e-04 3.78e-02 -4.0 3.42e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0859225e+00 3.67e-04 1.94e-01 -4.0 5.09e+01 -6.0 1.00e+00 2.05e-01h 1 16 2.0843367e+00 2.91e-04 2.71e-02 -4.0 2.68e+01 -6.4 1.00e+00 1.00e+00h 1 17 2.0827618e+00 1.73e-04 2.10e-02 -4.0 3.23e+01 -6.9 1.00e+00 8.78e-01h 1 18 2.0829415e+00 1.04e-03 3.13e-02 -4.0 6.83e+01 -7.4 1.00e+00 1.00e+00h 1 19 2.0820349e+00 1.88e-03 1.06e-02 -4.1 1.57e+02 -7.9 9.88e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0828555e+00 2.10e-05 4.55e-02 -4.0 5.04e+01 -6.5 1.00e+00 1.00e+00H 1 21 2.1018978e+00 5.17e-01 4.97e-01 -2.9 2.46e+02 -7.0 6.58e-01 1.00e+00f 1 22 2.0988598e+00 2.58e-01 6.67e-01 -3.0 3.91e-01 -1.2 8.29e-01 5.01e-01h 1 23 2.1101615e+00 1.20e-04 2.68e-02 -3.0 2.81e-01 -1.7 1.00e+00 1.00e+00h 1 24 2.1005616e+00 5.65e-05 1.59e-02 -3.0 1.44e-01 -1.2 1.00e+00 1.00e+00h 1 25 2.1005081e+00 1.01e-05 4.47e-03 -3.0 4.01e-02 -1.7 1.00e+00 1.00e+00h 1 26 2.0928435e+00 2.03e-04 1.65e-02 -4.5 1.69e-01 -2.2 9.73e-01 9.19e-01f 1 27 2.0915914e+00 1.39e-05 1.27e-02 -4.5 6.66e-02 -2.7 1.00e+00 9.22e-01h 1 28 2.0915414e+00 5.61e-07 7.56e-05 -4.5 3.05e-02 -3.1 1.00e+00 1.00e+00h 1 29 2.0922038e+00 4.88e-06 7.44e-05 -4.0 9.12e-02 -3.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0919765e+00 4.17e-06 2.19e-05 -4.1 2.74e-01 -4.1 1.00e+00 1.00e+00h 1 31 2.0911486e+00 5.03e-05 1.12e-04 -6.1 8.21e-01 -4.6 9.95e-01 9.92e-01h 1 32 2.0908974e+00 3.28e-06 2.03e-04 -6.1 2.45e+00 -5.1 1.00e+00 1.00e+00h 1 33 2.0902460e+00 7.20e-08 5.41e-04 -6.1 7.13e+00 -5.5 1.00e+00 1.00e+00h 1 34 2.0899009e+00 1.56e-03 1.46e-02 -4.0 1.93e+01 -6.0 1.00e+00 1.00e+00f 1 35 2.0880399e+00 1.08e-03 1.70e-01 -4.1 5.45e+01 -6.5 1.00e+00 3.24e-01h 1 36 2.0833794e+00 1.93e-03 9.15e-02 -4.1 8.59e+01 -7.0 1.00e+00 1.00e+00h 1 37 2.0821635e+00 1.03e-03 6.53e-02 -4.1 9.14e+01 -7.4 1.00e+00 5.81e-01h 1 38 2.0822434e+00 2.58e-03 3.42e-02 -4.0 1.64e+02 -7.9 6.51e-01 1.00e+00f 1 39 2.0820340e+00 3.97e-04 1.28e-02 -4.1 2.81e+01 -6.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819842e+00 1.86e-04 4.19e-02 -4.0 2.79e+01 -7.1 8.53e-01 1.00e+00h 1 41 2.0829100e+00 1.72e-04 5.76e-02 -4.0 1.32e+02 -7.5 2.67e-02 7.79e-02h 2 42 2.0827927e+00 1.30e-08 1.07e-02 -4.1 5.29e-03 0.3 1.00e+00 1.00e+00h 1 43 2.0826531e+00 5.05e-08 8.93e-03 -4.0 1.31e-02 -0.2 1.00e+00 1.00e+00h 1 44 2.0824151e+00 2.12e-07 5.81e-03 -4.0 2.50e-02 -0.6 1.00e+00 1.00e+00h 1 45 2.0822184e+00 4.35e-07 2.90e-03 -4.0 3.53e-02 -1.1 1.00e+00 1.00e+00h 1 46 2.0821394e+00 3.53e-07 8.94e-04 -4.0 3.21e-02 -1.6 1.00e+00 1.00e+00h 1 47 2.0821276e+00 4.47e-08 1.63e-04 -4.0 1.55e-02 -2.1 1.00e+00 1.00e+00h 1 48 2.0821168e+00 9.28e-08 9.03e-05 -4.0 3.54e-02 -2.6 1.00e+00 1.00e+00h 1 49 2.0820062e+00 9.73e-10 1.08e-03 -4.0 1.40e-01 -3.0 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0820045e+00 3.27e-06 7.07e-04 -4.0 5.71e-02 -3.5 1.00e+00 1.00e+00f 1 51 2.0820113e+00 4.49e-06 1.13e-04 -4.0 7.79e-02 -4.0 1.00e+00 1.00e+00h 1 52 2.0818571e+00 8.98e-06 9.54e-05 -4.1 1.67e-01 -4.5 1.00e+00 1.00e+00h 1 53 2.0820240e+00 3.85e-05 2.18e-04 -4.0 7.24e-01 -4.9 1.00e+00 1.00e+00h 1 54 2.0819160e+00 3.71e-05 6.14e-04 -4.1 2.78e+00 -5.4 1.00e+00 1.00e+00h 1 55 2.0813123e+00 5.96e-04 5.30e-03 -6.1 5.50e+00 -5.9 6.78e-01 7.09e-01h 1 56 2.0818182e+00 1.82e-04 1.05e-01 -4.0 1.14e+01 -6.4 1.00e+00 5.00e-01f 2 57 2.0851990e+00 1.76e-03 2.45e+00 -3.0 9.83e+00 -5.0 9.95e-01 5.08e-01f 1 58 2.0855368e+00 1.04e-03 1.28e+00 -3.2 6.31e+00 -5.5 6.40e-01 1.00e+00h 1 59 2.0866311e+00 7.55e-04 5.57e-01 -3.2 1.73e+01 -6.0 7.02e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0873923e+00 1.84e-03 1.15e-01 -3.2 1.88e+01 -6.5 8.25e-01 1.00e+00h 1 61 2.0882344e+00 2.68e-03 1.07e-02 -3.2 2.14e+01 -7.0 1.00e+00 1.00e+00h 1 62 2.0886737e+00 1.21e-03 3.40e-03 -3.2 1.47e+01 -7.4 1.00e+00 1.00e+00h 1 63 2.0815252e+00 4.90e-02 2.71e-02 -4.8 7.88e+01 -7.9 9.05e-01 1.00e+00h 1 64 2.0808100e+00 5.02e-03 7.21e-03 -4.8 8.11e+01 -8.4 1.00e+00 9.89e-01h 1 65 2.0818758e+00 3.42e-03 3.25e-04 -4.0 3.52e+01 -8.9 1.00e+00 1.00e+00h 1 66 2.0815906e+00 3.79e-04 2.53e-05 -4.1 1.47e+01 -9.3 1.00e+00 1.00e+00h 1 67 2.0818418e+00 1.77e-04 3.08e-05 -4.0 8.33e+00 -9.8 1.00e+00 1.00e+00h 1 68 2.0818407e+00 3.16e-08 3.08e-05 -4.0 4.44e-01 -10.3 1.00e+00 1.00e+00h 1 69 2.0818407e+00 3.68e-13 3.08e-05 -4.0 3.44e-03 -10.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818407e+00 4.44e-16 3.08e-05 -4.0 1.54e-05 -11.2 1.00e+00 1.00e+00H 1 71 2.0818407e+00 6.66e-16 3.08e-05 -4.0 1.54e-05 -11.7 1.00e+00 1.00e+00h 1 72 2.0815814e+00 2.08e-04 2.51e-05 -4.1 9.47e+00 -12.2 1.00e+00 1.00e+00h 1 73 2.0818419e+00 2.15e-04 3.08e-05 -4.0 9.79e+00 -12.7 1.00e+00 1.00e+00h 1 74 2.0815819e+00 2.14e-04 2.51e-05 -4.1 9.75e+00 -13.2 1.00e+00 1.00e+00h 1 75 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -13.6 9.77e-01 9.68e-01h 1 76 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -14.1 1.00e+00 1.00e+00f 1 77 2.0816124e+00 4.95e-04 2.56e-05 -4.1 2.07e+01 -14.6 1.00e+00 1.00e+00h 1 78 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -15.1 9.76e-01 9.61e-01h 1 79 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -16.0 1.00e+00 1.00e+00f 1 81 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.5 1.00e+00 1.00e+00h 1 82 2.0816420e+00 4.58e-07 2.64e-05 -4.1 8.54e+00 -17.0 1.00e+00 1.00e+00h 1 83 2.0818414e+00 1.26e-04 3.08e-05 -4.0 7.46e+00 -17.4 1.00e+00 1.00e+00h 1 84 2.0815817e+00 2.11e-04 2.51e-05 -4.1 9.63e+00 -17.9 1.00e+00 1.00e+00h 1 85 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -18.4 9.77e-01 9.68e-01h 1 86 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -18.9 1.00e+00 1.00e+00h 1 87 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -19.4 1.00e+00 1.00e+00f 1 88 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -19.8 1.00e+00 1.00e+00h 1 89 2.0816444e+00 5.44e-07 2.64e-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 90 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 91 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0805468e+00 5.07e-08 2.64e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 93 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 94 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0816573e+00 1.18e-06 2.67e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 97 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0805469e+00 5.37e-08 2.68e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 99 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 100 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0820402482838691e+00 2.0820402482838691e+00 Dual infeasibility......: 4.3545694783267213e-04 4.3545694783267213e-04 Constraint violation....: 1.3026378552309481e-02 1.3026378552309481e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.6216591774103911e-04 2.6216591774103911e-04 Overall NLP error.......: 1.3026378552309481e-02 1.3026378552309481e-02 Number of objective function evaluations = 115 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 115 Number of inequality constraint evaluations = 115 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 34.751 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: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 4.647s jacobian structure: 1594 nonzeros (4.716s) integrator 1 hessian structure: 0.16s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 11.447s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1804 nonzeros (11.609s) linear index maps built (0.0s) evaluator ready (total: 16.325s) evaluator created (16.353s) 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: 16.356s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 10 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 1 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.2455333e+02 3.24e+00 3.54e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.1235815e+01 1.48e+00 1.85e+01 -0.5 2.25e+00 0.0 1.00e+00 5.43e-01f 1 2 2.1830112e+01 1.29e+00 5.38e+01 0.6 4.84e+00 -0.5 4.90e-01 1.28e-01f 1 3 3.5883200e+00 9.90e-02 2.41e+01 0.2 1.45e+00 -1.0 7.41e-01 1.00e+00f 1 4 3.6185514e+00 9.66e-03 2.84e+00 -0.3 5.01e-01 -0.5 9.59e-01 1.00e+00h 1 5 3.2972084e+00 6.49e-02 1.27e+00 -0.7 6.98e-01 -1.0 9.77e-01 1.00e+00h 1 6 2.7484626e+00 3.38e-02 2.08e-01 -1.5 4.90e-01 -1.5 9.26e-01 1.00e+00h 1 7 2.2014071e+00 4.66e-02 9.38e-02 -1.9 6.71e-01 -2.0 9.15e-01 9.63e-01h 1 8 2.1030339e+00 4.73e-03 2.24e-02 -2.9 2.63e-01 -2.4 9.47e-01 1.00e+00h 1 9 2.0910542e+00 6.15e-05 2.11e-04 -4.0 2.96e-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 2.0909051e+00 2.23e-06 2.11e-04 -4.0 6.16e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908814e+00 4.59e-08 2.10e-04 -4.0 1.73e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908384e+00 9.54e-08 2.10e-04 -4.0 4.33e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907607e+00 3.79e-07 9.65e-04 -4.0 1.01e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0905597e+00 3.25e-06 1.18e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899663e+00 2.74e-05 8.12e-04 -4.0 8.98e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0896881e+00 4.56e-06 1.87e-03 -4.0 3.44e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0895076e+00 5.34e-06 5.52e-02 -4.0 1.59e+01 -5.8 1.00e+00 1.13e-01h 2 18 2.0874554e+00 2.48e-04 9.98e-03 -4.0 2.65e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0861984e+00 2.64e-04 1.30e-01 -4.0 6.08e+01 -6.8 1.00e+00 2.49e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0828220e+00 1.28e-03 8.47e-02 -4.0 7.34e+01 -7.3 1.00e+00 7.77e-01h 1 21 2.0828516e+00 3.04e-03 4.39e-02 -4.0 1.29e+02 -7.7 9.29e-01 1.00e+00h 1 22 2.0827040e+00 4.25e-05 4.36e-03 -4.1 1.23e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0823847e+00 3.76e-04 4.53e-03 -4.0 2.63e+01 -6.9 1.00e+00 1.00e+00h 1 24 2.0823303e+00 3.84e-05 3.32e-04 -4.0 8.68e+00 -6.5 1.00e+00 1.00e+00h 1 25 2.0822930e+00 1.90e-04 2.26e-03 -4.0 3.27e+01 -6.9 1.00e+00 1.00e+00h 1 26 2.0841707e+00 6.50e-06 1.62e-01 -4.0 3.35e+01 -6.5 4.01e-01 1.00e+00H 1 27 2.0827654e+00 8.87e-06 9.80e-01 -4.0 4.38e-01 -1.6 1.46e-01 3.46e-01h 1 28 2.0828514e+00 9.72e-06 8.95e-01 -4.0 4.48e-01 -2.0 1.00e+00 2.28e-01f 2 29 2.0827089e+00 8.75e-06 1.20e+00 -3.9 2.54e-01 -2.5 9.95e-01 2.15e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0825239e+00 1.07e-11 7.27e-04 -4.0 4.18e-02 -3.0 1.00e+00 1.00e+00H 1 31 2.0826241e+00 1.18e-06 9.82e-04 -4.0 3.65e-02 -3.5 1.00e+00 1.00e+00f 1 32 2.0824451e+00 1.53e-06 1.73e-04 -4.1 7.38e-02 -4.0 1.00e+00 1.00e+00h 1 33 2.0825560e+00 4.11e-06 2.10e-04 -4.0 1.97e-01 -4.4 1.00e+00 1.00e+00h 1 34 2.0823571e+00 1.57e-05 1.68e-04 -4.1 6.24e-01 -4.9 1.00e+00 1.00e+00h 1 35 2.0815623e+00 2.71e-04 1.55e-03 -6.1 2.71e+00 -5.4 9.96e-01 1.00e+00h 1 36 2.0813722e+00 2.19e-04 2.04e-03 -4.6 6.93e+00 -5.9 1.00e+00 1.00e+00h 1 37 2.0820579e+00 2.05e-04 1.23e+00 -4.0 7.33e+01 -6.3 1.00e+00 6.64e-02h 1 38 2.0819459e+00 5.41e-04 7.37e-03 -4.0 7.64e+00 -6.8 1.00e+00 1.00e+00h 1 39 2.0818707e+00 5.49e-04 3.26e-03 -4.1 2.49e+01 -7.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0816835e+00 2.18e-05 3.81e-03 -4.1 4.26e+01 -7.8 1.00e+00 1.00e+00h 1 41 2.0818752e+00 1.62e-03 5.37e-03 -4.0 6.02e+01 -8.2 1.00e+00 1.00e+00h 1 42 2.0815844e+00 1.17e-03 2.29e-03 -4.1 5.27e+01 -8.7 1.00e+00 1.00e+00h 1 43 2.0815780e+00 6.56e-06 3.12e-04 -4.1 2.26e+01 -9.2 1.00e+00 1.00e+00h 1 44 2.0818395e+00 1.87e-04 2.10e-04 -4.0 8.02e+00 -9.7 1.00e+00 1.00e+00h 1 45 2.0815805e+00 2.09e-04 1.68e-04 -4.1 9.51e+00 -10.2 1.00e+00 1.00e+00h 1 46 2.0805901e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -10.6 9.78e-01 9.71e-01h 1 47 2.0818881e+00 6.55e-03 3.14e-04 -4.0 6.09e+01 -11.1 1.00e+00 1.00e+00f 1 48 2.0816136e+00 4.88e-04 1.72e-04 -4.1 2.07e+01 -11.6 1.00e+00 1.00e+00h 1 49 2.0805990e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -12.1 9.76e-01 9.65e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0805508e+00 8.46e-05 2.26e-06 -6.1 1.69e+01 -12.5 1.00e+00 1.00e+00h 1 51 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -13.0 1.00e+00 1.00e+00f 1 52 2.0816837e+00 9.34e-04 1.79e-04 -4.1 4.57e+01 -13.5 1.00e+00 1.00e+00h 1 53 2.0816477e+00 4.73e-07 1.79e-04 -4.1 8.52e+00 -14.0 1.00e+00 1.00e+00h 1 54 2.0818389e+00 1.15e-04 2.10e-04 -4.0 7.07e+00 -14.5 1.00e+00 1.00e+00h 1 55 2.0815801e+00 2.08e-04 1.68e-04 -4.1 9.50e+00 -14.9 1.00e+00 1.00e+00h 1 56 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -15.4 9.78e-01 9.71e-01h 1 57 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -15.9 1.00e+00 1.00e+00h 1 58 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -16.4 1.00e+00 1.00e+00f 1 59 2.0816887e+00 9.54e-04 1.79e-04 -4.1 4.72e+01 -16.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816504e+00 5.63e-07 1.79e-04 -4.1 8.93e+00 -17.3 1.00e+00 1.00e+00h 1 61 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -17.8 9.77e-01 9.75e-01h 1 62 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -18.3 1.00e+00 1.00e+00h 1 63 2.0805469e+00 4.72e-08 1.66e-06 -6.1 2.95e+00 -18.7 1.00e+00 1.00e+00h 1 64 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -19.2 1.00e+00 1.00e+00f 1 65 2.0817159e+00 1.04e-03 1.82e-04 -4.1 5.46e+01 -19.7 1.00e+00 1.00e+00h 1 66 2.0816648e+00 1.22e-06 1.82e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 68 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0805471e+00 4.99e-08 1.69e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 71 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 72 2.0817306e+00 1.08e-03 1.83e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0816723e+00 1.67e-06 1.83e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 75 2.0805516e+00 7.07e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0805472e+00 5.15e-08 1.71e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 77 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 78 2.0805365e+00 9.27e-11 1.91e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 79 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0817309e+00 1.08e-03 1.83e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0816725e+00 1.68e-06 1.83e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 83 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0805472e+00 5.16e-08 1.71e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 85 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 86 2.0805365e+00 9.28e-11 1.91e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 8.88e-16 1.91e-09 -9.0 1.10e-05 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 6.66e-16 1.91e-09 -9.0 9.54e-11 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 4.44e-16 1.91e-09 -9.0 9.54e-11 -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 4.44e-16 1.91e-09 -9.0 9.54e-11 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 2.22e-16 1.91e-09 -9.0 9.54e-11 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 4.44e-16 1.91e-09 -9.0 9.54e-11 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 4.44e-16 1.91e-09 -9.0 9.54e-11 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 4.44e-16 1.91e-09 -9.0 9.54e-11 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 4.44e-16 1.91e-09 -9.0 9.54e-11 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 4.44e-16 1.91e-09 -9.0 9.54e-11 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 2.22e-16 1.91e-09 -9.0 9.54e-11 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 4.44e-16 1.91e-09 -9.0 9.54e-11 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 1.91e-09 -9.0 9.54e-11 -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 1.91e-09 -9.0 9.54e-11 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436466e+00 2.0805364595436466e+00 Dual infeasibility......: 1.9089939017928011e-09 1.9089939017928011e-09 Constraint violation....: 4.4408920985006262e-16 4.4408920985006262e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971179366e-10 9.0909090971179366e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 112 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 112 Number of inequality constraint evaluations = 112 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 35.448 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: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.12s) evaluator created (0.12s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.12s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.6552479e+00 2.41e+00 4.95e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.1393633e+00 5.30e-01 2.11e+00 -0.8 1.82e+00 0.0 1.00e+00 7.89e-01f 1 2 2.7172879e+00 7.95e-02 4.35e-01 -0.8 5.70e-01 -0.5 9.77e-01 9.21e-01f 1 3 2.4881147e+00 6.71e-03 1.17e-01 -1.4 1.48e-01 -1.0 9.56e-01 1.00e+00h 1 4 2.2321350e+00 7.95e-03 1.44e-01 -2.3 2.97e-01 -1.4 9.69e-01 6.93e-01f 1 5 2.1050994e+00 8.37e-04 1.09e-02 -3.0 6.06e-02 -1.9 9.91e-01 1.00e+00h 1 6 2.0908833e+00 2.15e-05 3.97e-04 -4.0 1.04e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909518e+00 5.19e-07 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0909518157193245e+00 2.0909518157193245e+00 Dual infeasibility......: 2.0602001326175284e-05 2.0602001326175284e-05 Constraint violation....: 5.1874773874562019e-07 5.1874773874562019e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0002372691771962e-04 1.0002372691771962e-04 Overall NLP error.......: 2.0602001326175284e-05 2.0602001326175284e-05 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 25.274 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.066s) integrator 1 hessian structure: 0.051s 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: 0.12s) evaluator created (0.12s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) 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 1.5726129e+00 3.20e+00 4.98e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6514236e+00 8.00e-02 2.73e+00 -0.8 2.73e+00 0.0 8.39e-01 1.00e+00h 1 2 2.9604283e+00 2.22e-02 2.88e+00 -0.6 2.79e-01 0.4 1.00e+00 1.00e+00f 1 3 2.6855728e+00 8.75e-03 7.50e-01 -1.2 1.02e-01 -0.1 9.99e-01 1.00e+00h 1 4 2.3803636e+00 4.27e-03 1.45e-01 -1.7 1.44e-01 -0.5 9.91e-01 8.76e-01h 1 5 2.1506240e+00 4.64e-03 6.14e-02 -2.6 1.24e-01 -1.0 1.00e+00 8.22e-01f 1 6 2.0956490e+00 3.94e-04 1.22e-02 -3.5 1.77e-02 -1.5 9.96e-01 9.39e-01h 1 7 2.0909002e+00 6.90e-06 1.90e-03 -4.0 6.31e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908932e+00 2.04e-08 2.06e-05 -4.0 5.63e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908916e+00 2.06e-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 2.0908866e+00 9.74e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908717e+00 8.77e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908268e+00 7.90e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906925e+00 7.12e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902905e+00 6.44e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890933e+00 5.89e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855843e+00 5.56e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796440e+00 2.29e-03 1.36e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.27e-01h 1 18 2.0807261e+00 1.61e-04 1.83e-01 -4.0 6.60e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775388e+00 7.58e-03 2.49e-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 2.0769084e+00 1.15e-03 5.10e-02 -4.0 1.77e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0760201e+00 1.19e-03 2.38e-02 -4.0 3.13e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754535e+00 5.15e-04 3.24e-02 -4.0 4.85e+02 -9.1 1.00e+00 7.16e-01H 1 23 2.0757736e+00 2.29e-03 1.11e-02 -4.0 1.46e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753811e+00 1.34e-03 5.17e-04 -4.1 8.01e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 4.66e-04 6.23e-06 -4.0 2.12e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753424e+00 6.23e-04 9.44e-07 -4.1 2.55e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.17e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 1.11e-07 1.12e-08 -4.0 2.00e+00 -12.0 1.00e+00 1.00e+00h 1 29 2.0756712e+00 6.07e-14 3.42e-12 -4.0 1.53e-02 -12.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 29 (scaled) (unscaled) Objective...............: 2.0756712120666196e+00 2.0756712120666196e+00 Dual infeasibility......: 3.4188530641503928e-12 3.4188530641503928e-12 Constraint violation....: 6.0729199446996063e-14 6.0729199446996063e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000063e-04 1.0000000000000063e-04 Overall NLP error.......: 3.4188530641503928e-12 3.4188530641503928e-12 Number of objective function evaluations = 32 Number of objective gradient evaluations = 30 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 30 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 29 Total seconds in IPOPT = 25.834 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: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.111s) evaluator created (0.112s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.112s) 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 2.1781210e+00 4.56e+00 4.77e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8318714e+00 1.08e-01 5.13e+00 -1.0 2.36e+00 0.0 8.78e-01 1.00e+00h 1 2 2.6062150e+00 7.12e-02 1.42e+00 -0.7 3.04e-01 0.4 1.00e+00 7.99e-01h 1 3 2.4294294e+00 7.06e-03 1.88e+00 -2.4 1.93e-01 -0.1 5.42e-01 1.00e+00h 1 4 2.2964782e+00 1.55e-03 2.34e-01 -1.9 1.14e-01 -0.5 1.00e+00 1.00e+00h 1 5 2.1186149e+00 2.21e-03 6.08e-02 -3.1 1.13e-01 -1.0 1.00e+00 7.93e-01f 1 6 2.0912024e+00 1.00e-04 1.84e-02 -4.0 1.99e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0909371e+00 4.04e-07 8.58e-04 -4.0 4.26e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909365e+00 5.39e-09 2.42e-05 -4.0 6.63e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909349e+00 1.12e-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 2.0909299e+00 9.64e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0909298760795543e+00 2.0909298760795543e+00 Dual infeasibility......: 2.0588872280079944e-05 2.0588872280079944e-05 Constraint violation....: 9.6412997290656888e-10 9.6412997290656888e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999910e-05 9.9999999999999910e-05 Overall NLP error.......: 2.0588872280079944e-05 2.0588872280079944e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 25.905 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.047s 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: 0.109s) evaluator created (0.109s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.109s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 0 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.4171659e+00 3.14e+00 3.78e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8631395e+00 1.12e-01 3.01e+00 -0.9 2.18e+00 - 9.88e-01 9.58e-01h 1 2 2.8395648e+00 8.96e-02 1.48e+00 -0.7 9.22e-01 - 8.83e-01 8.04e-01f 1 3 2.6464850e+00 1.07e-02 2.87e-01 -1.4 1.98e-01 - 9.39e-01 1.00e+00h 1 4 2.1942264e+00 3.14e-02 1.72e-01 -2.4 4.45e-01 - 9.05e-01 1.00e+00f 1 5 2.1066236e+00 4.49e-03 6.75e-02 -2.9 4.16e-01 - 9.94e-01 9.16e-01h 1 6 2.0910074e+00 1.90e-04 1.26e-02 -4.0 4.37e-02 - 1.00e+00 9.72e-01h 1 7 2.0908378e+00 1.80e-07 3.82e-04 -4.0 2.18e-03 - 1.00e+00 1.00e+00h 1 8 2.0908334e+00 1.89e-11 3.14e-05 -4.0 3.14e-05 - 1.00e+00 1.00e+00h 1 9 2.0908334e+00 2.26e-14 3.13e-05 -4.0 3.13e-05 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0795184e+00 2.48e-03 1.84e-01 -4.0 1.92e+02 - 6.78e-01 6.72e-01f 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0795183930902037e+00 2.0795183930902037e+00 Dual infeasibility......: 1.8408660760091936e-01 1.8408660760091936e-01 Constraint violation....: 2.4781978003425298e-03 2.4781978003425298e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000063523983449e-04 1.0000063523983449e-04 Overall NLP error.......: 1.8408660760091936e-01 1.8408660760091936e-01 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 8.408 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 (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.117s) evaluator created (0.117s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.118s) 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 2.7366299e+00 4.13e+00 5.48e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5434819e+00 3.85e-01 3.12e+00 -1.0 3.45e+00 0.0 6.37e-01 9.08e-01h 1 2 2.5846686e+00 2.42e-01 2.03e+00 -1.0 1.50e+00 -0.5 2.85e-01 3.71e-01f 1 3 2.7130425e+00 1.20e-02 3.06e-01 -1.0 3.50e-01 -0.1 1.00e+00 1.00e+00f 1 4 2.3558266e+00 3.41e-03 8.64e-02 -1.7 6.29e-02 -0.5 1.00e+00 1.00e+00h 1 5 2.1234562e+00 2.81e-03 2.10e-02 -2.5 7.92e-02 -1.0 9.35e-01 9.49e-01f 1 6 2.0914537e+00 6.49e-05 2.21e-03 -3.8 1.39e-02 -1.5 9.82e-01 1.00e+00h 1 7 2.0913333e+00 6.78e-07 2.07e-04 -3.8 5.97e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908798e+00 2.84e-07 2.21e-05 -4.0 6.03e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908782e+00 2.38e-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 2.0908732e+00 9.70e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908732177364087e+00 2.0908732177364087e+00 Dual infeasibility......: 2.0581951533427618e-05 2.0581951533427618e-05 Constraint violation....: 9.6989412855241763e-10 9.6989412855241763e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999923e-05 9.9999999999999923e-05 Overall NLP error.......: 2.0581951533427618e-05 2.0581951533427618e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 27.347 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: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) 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: 0.106s) 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: 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: 0.107s) [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.2457 (gated to 1.12.x) initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.525s jacobian structure: 1600 nonzeros (2.588s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.731s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (3.785s) linear index maps built (0.0s) evaluator ready (total: 6.374s) evaluator created (6.407s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.345s) variables set (0.766s) 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 (3.093s) optimizer initialization complete (total: 10.762s) 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 1.5134851e+00 2.64e+00 4.88e-01 9.81e-01 -1.0 - 0.00e+00 1 0 1 2.1722889e+00 4.98e-01 5.01e+00 8.30e-01 -1.0 0.0 8.22e-01 1 1h 2 2.9501083e+00 7.03e-02 1.49e+00 3.61e-01 -1.0 -0.5 1.00e+00 1 1h 3 2.6147250e+00 8.16e-02 4.32e-01 1.08e-01 -1.0 -1.0 9.13e-01 1 1h 4 2.3027608e+00 4.15e-02 3.05e-01 3.58e-02 -1.7 -1.4 1.00e+00 1 1h 5 2.2652089e+00 1.08e-03 3.71e-02 2.20e-02 -1.7 -1.9 1.00e+00 1 1h 6 2.1201135e+00 1.16e-03 1.33e-02 3.84e-03 -2.5 -2.4 1.00e+00 1 1h 7 2.0914943e+00 4.28e-04 1.00e-03 1.76e-04 -3.8 -2.9 1.00e+00 1 1h 8 2.0900107e+00 6.58e-06 2.10e-05 1.12e-05 -5.7 -3.3 1.00e+00 1 1h 9 2.0899944e+00 1.90e-05 1.62e-04 3.78e-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 2.0899551e+00 1.04e-04 1.24e-04 1.84e-06 -5.7 -4.3 1.00e+00 1 1h 11 2.0898442e+00 1.15e-04 3.75e-05 1.85e-06 -5.7 -4.8 1.00e+00 1 1h 12 2.0897257e+00 8.30e-05 8.55e-03 1.88e-06 -5.7 -5.2 3.39e-01 1 1h 13 2.0888033e+00 5.11e-05 1.73e-03 4.24e-06 -5.7 -5.7 1.00e+00 1 1h 14 2.0884911e+00 4.56e-05 9.22e-02 2.29e-06 -5.7 -6.2 1.11e-01 1 1h 15 2.0839945e+00 2.78e-05 4.51e-02 5.34e-06 -5.7 -6.7 1.00e+00 1 1h 16 2.0831569e+00 2.40e-05 1.43e-01 2.90e-06 -5.7 -7.2 1.80e-01 1 1h 17 2.0816757e+00 2.25e-05 1.43e-01 3.34e-06 -5.7 -7.6 2.86e-01 1 1h 18 2.0814040e+00 3.14e-05 1.95e-01 4.45e-05 -5.7 -8.1 2.88e-01 1 1h 19 2.0806745e+00 4.02e-05 1.35e-01 2.11e-05 -5.7 -8.6 8.93e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0876089e+00 2.58e-07 2.82e-01 3.12e-04 -5.7 -7.3 1.00e+00 1 1H 21 2.0836079e+00 7.72e-05 2.20e+00 2.13e-04 -5.7 -5.0 2.48e-01 1 2h 22 2.0813090e+00 2.57e-05 7.58e-01 2.04e-05 -5.7 -1.9 6.69e-01 1 1h 23 2.0811177e+00 1.27e-05 4.31e-01 2.91e-06 -5.7 -2.4 4.98e-01 1 1h 24 2.0811251e+00 1.20e-08 1.60e-05 8.36e-06 -5.7 -2.8 1.00e+00 1 1h 25 2.0810998e+00 5.75e-08 1.69e-04 1.05e-07 -8.6 -3.3 1.00e+00 1 1h 26 2.0810959e+00 1.29e-09 1.12e-05 2.64e-09 -8.6 -3.8 1.00e+00 1 1h 27 2.0810848e+00 1.17e-11 1.12e-05 2.51e-09 -8.6 -4.3 1.00e+00 1 1h 28 2.0810518e+00 1.04e-10 1.11e-05 2.51e-09 -8.6 -4.8 1.00e+00 1 1h 29 2.0809556e+00 9.04e-10 3.82e-05 2.51e-09 -8.6 -5.2 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0809382e+00 8.76e-10 1.26e-02 5.44e-09 -8.6 -5.7 6.43e-02 1 1h 31 2.0809141e+00 1.85e-09 5.28e-03 3.11e-06 -8.6 -6.2 1.00e+00 1 1h 32 2.0809026e+00 1.56e-09 1.03e-02 2.59e-06 -8.6 -6.7 1.49e-01 1 1h 33 2.0807611e+00 1.80e-08 1.97e-03 6.07e-07 -8.6 -7.1 1.00e+00 1 1h 34 2.0806152e+00 6.75e-09 2.60e-03 1.40e-07 -8.6 -7.6 8.88e-01 1 1h 35 2.0805974e+00 5.60e-09 2.12e-01 4.07e-05 -8.6 -7.2 2.23e-01 1 1h 36 2.0805609e+00 1.85e-09 6.78e-02 1.85e-06 -8.6 -7.7 8.06e-01 1 1h 37 2.0805639e+00 1.19e-09 7.03e-02 1.99e-06 -8.6 -6.3 4.85e-01 1 1H 38 2.0805630e+00 1.51e-10 1.28e-02 1.02e-08 -8.6 -4.1 8.78e-01 1 1h 39 2.0805622e+00 4.05e-11 1.22e-04 2.54e-09 -8.6 -4.6 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805620e+00 1.33e-11 2.06e-02 2.53e-09 -8.6 -5.1 6.91e-01 1 1h 41 2.0805617e+00 1.51e-11 5.30e-06 4.40e-08 -8.6 -5.5 1.00e+00 1 1h 42 2.0805610e+00 1.58e-11 2.14e-03 2.68e-09 -8.6 -6.0 5.90e-01 1 1h 43 2.0805585e+00 1.80e-10 3.37e-04 4.01e-09 -8.6 -6.5 8.57e-01 1 1h 44 2.0805568e+00 1.93e-10 7.81e-03 2.29e-07 -8.6 -7.0 4.29e-01 1 1h 45 2.0805521e+00 8.41e-10 1.31e-04 3.37e-07 -8.6 -7.4 1.00e+00 1 1h 46 2.0805462e+00 2.64e-10 9.48e-04 9.91e-08 -8.6 -7.9 7.54e-01 1 1h 47 2.0805390e+00 4.67e-10 4.03e-04 4.94e-09 -8.6 -8.4 1.00e+00 1 1h 48 2.0805367e+00 4.05e-10 2.55e-03 2.57e-09 -8.6 -8.9 1.00e+00 1 1h 49 2.0805367e+00 1.06e-10 3.79e-05 2.36e-06 -8.6 -6.6 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805367e+00 3.28e-11 3.87e-04 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 51 2.0805367e+00 1.24e-14 1.35e-07 2.90e-09 -8.6 -5.8 1.00e+00 1 1h 52 2.0805367e+00 3.73e-14 7.29e-07 2.51e-09 -8.6 -6.3 1.00e+00 1 1h 53 2.0805366e+00 1.77e-13 8.82e-07 2.51e-09 -8.6 -6.7 1.00e+00 1 1h 54 2.0805366e+00 3.60e-13 1.86e-07 2.51e-09 -8.6 -7.2 1.00e+00 1 1h 55 2.0805366e+00 1.01e-12 8.13e-07 2.51e-09 -8.6 -7.7 1.00e+00 1 1h 56 2.0805365e+00 3.32e-12 2.68e-06 2.51e-09 -8.6 -8.2 1.00e+00 1 1h 57 2.0805365e+00 3.55e-12 3.34e-06 2.51e-09 -8.6 -8.7 1.00e+00 1 1h 58 2.0805365e+00 7.80e-13 9.63e-07 2.51e-09 -8.6 -9.1 1.00e+00 1 1h 59 2.0805365e+00 2.58e-14 4.29e-08 2.51e-09 -8.6 -9.6 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805365e+00 8.88e-16 2.47e-10 2.51e-09 -8.6 -10.1 1.00e+00 1 1h Number of Iterations....: 60 (scaled) (unscaled) Objective...............: 2.0805364803022077e+00 2.0805364803022077e+00 Dual infeasibility......: 2.4723090241707268e-10 2.4723090241707268e-10 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Complementarity.........: 2.5059035603075676e-09 2.5059035603075676e-09 Overall NLP error.......: 2.5059035603075676e-09 2.5059035603075676e-09 Number of objective function evaluations = 65 Number of objective gradient evaluations = 61 Number of constraint evaluations = 65 Number of constraint Jacobian evaluations = 61 Number of Lagrangian Hessian evaluations = 60 Number of KKT factorizations = 143 Number of KKT backsolves = 64 Total wall secs in initialization = 23.971 s Total wall secs in linear solver = 0.128 s Total wall secs in NLP function evaluations = 19.863 s Total wall secs in solver (w/o init./fun./lin. alg.) = 53.483 s Total wall secs = 97.444 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: 0.095s hessian structure: 30 nonzeros (0.096s) linear index maps built (0.0s) evaluator ready (total: 0.096s) evaluator created (0.149s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.126s) 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 (3.157s) optimizer initialization complete (total: 3.433s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.0377853e-02 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8144825e-02 7.25e-12 1.74e-02 -4.0 3.12e-02 -2.0 9.83e-01 1.00e+00f 1 2 8.4805063e-03 5.28e-13 8.53e-02 -3.0 9.10e-02 -1.6 9.90e-01 1.00e+00f 1 3 8.4477149e-04 1.27e-11 6.81e-02 -3.6 1.48e-01 -1.1 1.00e+00 8.17e-01f 1 4 1.6394553e-04 4.50e-12 1.83e-02 -3.1 4.86e-01 -1.6 1.00e+00 4.22e-01f 2 5 2.0332632e-04 3.45e-12 1.14e-02 -2.9 1.44e+00 -2.1 9.58e-01 5.00e-01f 2 6 2.0332632e-04 3.45e-12 9.24e-03 -3.1 2.65e+00 -2.6 4.12e-01 2.67e-15h 47 7 6.8226070e-04 3.54e-12 7.49e-03 -3.1 3.22e+00 -3.1 2.70e-01 2.70e-01S 62 8 7.2628598e-04 3.45e-12 3.58e-02 -3.1 1.32e+00 -3.5 1.00e+00 1.14e-01f 3 9 7.2628598e-04 3.45e-12 1.17e-02 -3.1 4.60e-01 -4.0 1.00e+00 2.84e-14h 46 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 5.8059994e-04 2.34e-12 1.82e-02 -3.1 5.98e-01 -4.5 1.00e+00 1.00e+00S 60 11 2.7066995e-04 4.02e-13 2.01e-02 -3.1 7.05e-02 -2.3 1.00e+00 1.00e+00f 1 12 1.6837111e-04 1.22e-13 1.22e-02 -3.1 8.45e-02 -2.7 1.00e+00 5.00e-01f 2 13 1.6837112e-04 1.22e-13 9.86e-03 -3.1 4.07e-01 -3.2 1.00e+00 1.19e-07h 24 14 1.6837112e-04 1.22e-13 9.60e-03 -3.1 4.32e-01 -3.7 1.00e+00 5.96e-08h 25 15 1.6837112e-04 1.22e-13 1.11e-02 -3.1 5.61e-01 -4.2 1.00e+00 1.19e-07h 24 16 1.6837110e-04 1.22e-13 1.89e-02 -3.1 5.96e-01 -4.6 1.00e+00 1.19e-07h 24 17 1.6837108e-04 1.22e-13 2.67e-02 -3.1 5.55e-01 -5.1 1.00e+00 1.19e-07h 24 18 1.6837107e-04 1.22e-13 3.44e-02 -3.1 5.09e-01 -5.6 1.00e+00 5.96e-08h 25 19 1.6837106e-04 1.22e-13 4.22e-02 -3.1 4.58e-01 -6.1 1.00e+00 2.98e-08h 26 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.6837105e-04 1.22e-13 5.00e-02 -3.1 3.97e-01 -6.5 1.00e+00 1.49e-08h 27 21 1.6837104e-04 1.22e-13 5.78e-02 -3.1 3.22e-01 -7.0 1.00e+00 1.49e-08h 27 22 1.6837104e-04 1.22e-13 6.55e-02 -3.1 2.37e-01 -7.5 1.00e+00 7.45e-09h 28 23 1.6837104e-04 1.22e-13 7.33e-02 -3.1 2.36e-01 -8.0 1.00e+00 4.66e-10h 32 24 1.6837104e-04 1.22e-13 8.11e-02 -3.1 3.29e-01 -8.5 1.00e+00 1.86e-09h 30 25 1.6837104e-04 1.22e-13 8.88e-02 -3.1 6.25e-01 -8.9 1.00e+00 9.31e-10h 31 26 1.6837103e-04 1.22e-13 9.66e-02 -3.1 1.32e+00 -9.4 1.00e+00 1.86e-09h 30 27 2.3458078e-04 1.19e-13 7.02e-02 -3.1 2.09e+02 -6.3 4.71e-03 4.32e-03f 7 28 2.3458078e-04 1.19e-13 4.40e-02 -3.1 3.73e+00 -4.0 1.00e+00 9.82e-10h 30 29 2.3458079e-04 1.19e-13 1.76e-02 -3.1 7.40e+00 -4.5 1.00e+00 4.88e-10h 30 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.3458079e-04 1.19e-13 1.18e-02 -3.1 2.59e+00 -5.0 1.00e+00 3.02e-09h 29 31 2.3458079e-04 1.19e-13 3.51e-02 -3.1 1.82e+00 -5.5 1.00e+00 1.86e-09h 30 32 2.3458079e-04 1.19e-13 6.14e-02 -3.1 1.80e+00 -6.0 1.00e+00 3.73e-09h 29 33 2.3458078e-04 1.19e-13 8.78e-02 -3.1 1.77e+00 -6.4 1.00e+00 4.66e-10h 32 34 2.3458078e-04 1.19e-13 1.14e-01 -3.1 1.76e+00 -6.9 1.00e+00 9.31e-10h 31 35 2.3458078e-04 1.19e-13 1.40e-01 -3.1 1.74e+00 -7.4 1.00e+00 9.31e-10h 31 36 2.3458078e-04 1.19e-13 1.67e-01 -3.1 1.72e+00 -7.9 1.00e+00 5.82e-11h 35 37 2.3458078e-04 1.19e-13 1.93e-01 -3.1 1.70e+00 -8.3 1.00e+00 4.66e-10h 32 38 2.3458078e-04 1.19e-13 2.20e-01 -3.1 1.67e+00 -8.8 1.00e+00 4.66e-10h 32 39 2.3458078e-04 1.19e-13 2.46e-01 -3.1 1.64e+00 -9.3 1.00e+00 2.33e-10h 33 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.3458078e-04 1.19e-13 2.72e-01 -3.1 1.61e+00 -9.8 1.00e+00 2.33e-10h 33 41 2.3458078e-04 1.19e-13 2.99e-01 -3.1 1.58e+00 -10.2 1.00e+00 5.82e-11h 35 42 2.3458078e-04 1.19e-13 3.25e-01 -3.1 1.54e+00 -10.7 1.00e+00 1.16e-10h 34 43 2.3458078e-04 1.19e-13 3.51e-01 -3.1 1.49e+00 -11.2 1.00e+00 2.91e-11h 36 44 2.3458078e-04 1.19e-13 3.78e-01 -3.1 1.43e+00 -11.7 1.00e+00 2.91e-11h 36 45 2.2354541e-04 1.19e-13 4.02e-01 -3.1 1.36e+00 -12.2 1.00e+00 3.91e-03f 9 46 2.1246084e-04 1.19e-13 4.26e-01 -3.1 1.60e+00 -12.6 1.00e+00 3.91e-03f 9 47 2.0139423e-04 1.19e-13 4.47e-01 -3.1 1.61e+00 -13.1 1.00e+00 3.91e-03f 9 48 1.9053167e-04 1.19e-13 4.67e-01 -3.1 1.70e+00 -13.6 1.00e+00 3.91e-03f 9 49 1.8515877e-04 1.19e-13 4.86e-01 -3.1 1.76e+00 -14.1 1.00e+00 1.95e-03f 10 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.7467132e-04 1.19e-13 5.04e-01 -3.1 1.68e+00 -14.5 1.00e+00 3.91e-03f 9 51 1.7467132e-04 1.19e-13 5.21e-01 -3.1 1.89e+00 -15.0 1.00e+00 1.46e-11h 37 52 1.6448956e-04 1.19e-13 5.36e-01 -3.1 1.62e+00 -15.5 1.00e+00 3.91e-03f 9 53 1.6448956e-04 1.19e-13 5.51e-01 -3.1 1.97e+00 -16.0 1.00e+00 2.91e-11f 36 54 1.5494269e-04 1.19e-13 5.64e-01 -3.1 1.68e+00 -16.5 1.00e+00 3.91e-03f 9 55 1.3152992e-04 1.19e-13 5.69e-01 -4.0 2.54e+00 -16.9 1.00e+00 1.35e-02f 7 56 1.3152992e-04 1.19e-13 5.75e-01 -4.0 3.18e+00 -17.4 1.00e+00 4.73e-12h 38 57 1.3973590e-04 1.19e-13 5.64e-01 -3.1 1.79e+00 -17.9 1.00e+00 3.12e-02f 6 58 1.3973590e-04 1.19e-13 5.52e-01 -3.1 3.59e+00 -18.4 1.00e+00 3.79e-12h 38 59 1.3973590e-04 1.19e-13 5.41e-01 -3.1 1.84e+00 -18.8 1.00e+00 7.28e-12h 38 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.3973590e-04 1.19e-13 5.29e-01 -3.1 1.86e+00 -19.3 1.00e+00 7.28e-12h 38 61 1.3973590e-04 1.19e-13 5.18e-01 -3.1 1.86e+00 -19.8 1.00e+00 7.28e-12h 38 62 1.3973590e-04 1.19e-13 5.06e-01 -3.1 1.86e+00 -20.0 1.00e+00 3.64e-12h 39 63 1.3973590e-04 1.19e-13 4.95e-01 -3.1 1.85e+00 -20.0 1.00e+00 7.28e-12h 38 64 1.3973590e-04 1.19e-13 4.84e-01 -3.1 1.85e+00 -20.0 1.00e+00 3.64e-12h 39 65 1.3973590e-04 1.19e-13 4.72e-01 -3.1 1.85e+00 -20.0 1.00e+00 1.82e-12h 40 66 1.3973590e-04 1.19e-13 4.61e-01 -3.1 1.85e+00 -20.0 1.00e+00 3.64e-12h 39 67 1.3973590e-04 1.19e-13 4.49e-01 -3.1 1.85e+00 -20.0 1.00e+00 1.46e-11h 37 68 1.3973590e-04 1.19e-13 4.38e-01 -3.1 1.85e+00 -20.0 1.00e+00 1.46e-11h 37 69 1.3973590e-04 1.19e-13 4.26e-01 -3.1 1.85e+00 -20.0 1.00e+00 1.82e-12h 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.3973590e-04 1.19e-13 4.15e-01 -3.1 1.85e+00 -20.0 1.00e+00 3.64e-12h 39 71 1.3973590e-04 1.19e-13 4.04e-01 -3.1 1.85e+00 -20.0 1.00e+00 3.64e-12h 39 72 1.3973590e-04 1.19e-13 3.92e-01 -3.1 1.85e+00 -20.0 1.00e+00 5.68e-14h 45 73 1.3973590e-04 1.19e-13 3.81e-01 -3.1 1.85e+00 -20.0 1.00e+00 9.09e-13h 41 74 1.3973590e-04 1.19e-13 3.69e-01 -3.1 1.85e+00 -20.0 1.00e+00 1.46e-11h 37 75 1.3973590e-04 1.19e-13 3.58e-01 -3.1 1.85e+00 -20.0 1.00e+00 2.91e-11h 36 76 1.3973590e-04 1.19e-13 3.47e-01 -3.1 1.85e+00 -20.0 1.00e+00 7.28e-12h 38 77 1.3973590e-04 1.19e-13 3.35e-01 -3.1 1.85e+00 -20.0 1.00e+00 3.64e-12h 39 78 1.3973590e-04 1.19e-13 3.24e-01 -3.1 1.85e+00 -20.0 1.00e+00 1.46e-11h 37 79 1.3973590e-04 1.19e-13 3.12e-01 -3.1 1.85e+00 -20.0 1.00e+00 2.91e-11h 36 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.3973590e-04 1.19e-13 3.01e-01 -3.1 1.85e+00 -20.0 1.00e+00 3.64e-12h 39 81 1.3973590e-04 1.19e-13 2.89e-01 -3.1 1.85e+00 -20.0 1.00e+00 2.91e-11h 36 82 1.3973590e-04 1.19e-13 2.78e-01 -3.1 1.85e+00 -20.0 1.00e+00 3.64e-12h 39 83 1.3973590e-04 1.19e-13 2.67e-01 -3.1 1.85e+00 -20.0 1.00e+00 2.91e-11h 36 84 1.3973590e-04 1.19e-13 2.55e-01 -3.1 1.85e+00 -20.0 1.00e+00 5.82e-11h 35 85 1.3973590e-04 1.19e-13 2.44e-01 -3.1 1.85e+00 -20.0 1.00e+00 5.82e-11h 35 86 1.4039540e-04 1.19e-13 2.32e-01 -3.1 1.85e+00 -20.0 1.00e+00 9.77e-04f 11 87 1.4168658e-04 1.19e-13 2.20e-01 -3.1 1.85e+00 -20.0 1.00e+00 1.95e-03f 10 88 1.4296263e-04 1.18e-13 2.07e-01 -3.1 1.85e+00 -20.0 1.00e+00 1.95e-03f 10 89 1.4420989e-04 1.18e-13 1.95e-01 -3.1 1.85e+00 -20.0 1.00e+00 1.95e-03f 10 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.4541493e-04 1.18e-13 1.81e-01 -3.1 1.85e+00 -20.0 1.00e+00 1.95e-03f 10 91 1.4656478e-04 1.18e-13 1.68e-01 -3.1 1.84e+00 -20.0 1.00e+00 1.95e-03f 10 92 1.4876640e-04 1.18e-13 1.53e-01 -3.1 1.84e+00 -20.0 1.00e+00 3.91e-03f 9 93 1.4889551e-04 1.18e-13 1.39e-01 -3.1 1.84e+00 -20.0 1.00e+00 2.44e-04f 13 94 1.5074828e-04 1.18e-13 1.24e-01 -3.1 1.82e+00 -20.0 1.00e+00 3.91e-03f 9 95 1.5159226e-04 1.18e-13 1.09e-01 -3.1 1.82e+00 -20.0 1.00e+00 1.95e-03f 10 96 1.5458130e-04 1.18e-13 9.29e-02 -3.1 1.81e+00 -20.0 1.00e+00 7.81e-03f 8 97 1.5458130e-04 1.18e-13 7.69e-02 -3.1 1.81e+00 -20.0 1.00e+00 5.82e-11h 35 98 1.5657089e-04 1.18e-13 6.03e-02 -3.1 1.79e+00 -20.0 1.00e+00 7.81e-03f 8 99 1.5657089e-04 1.18e-13 4.38e-02 -3.1 1.79e+00 -20.0 1.00e+00 5.82e-11h 35 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.5964804e-04 1.18e-13 2.87e-02 -3.1 1.78e+00 -20.0 1.00e+00 3.04e-02f 6 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.5964804048367685e-04 1.5964804048367685e-04 Dual infeasibility......: 2.8713387846599714e-02 2.8713387846599714e-02 Constraint violation....: 1.1785798031960226e-13 1.1785798031960226e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0274370318004069e-02 1.0274370318004069e-02 Overall NLP error.......: 2.8713387846599714e-02 2.8713387846599714e-02 Number of objective function evaluations = 2880 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 2880 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 = 3.265 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): 0.094s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.201s hessian structure: 40 nonzeros (0.201s) linear index maps built (0.0s) evaluator ready (total: 0.201s) evaluator created (0.254s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.138s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) linear constraints added: 6 (3.188s) optimizer initialization complete (total: 3.581s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.5446290e+00 9.16e-01 1.01e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2905101e+00 4.37e-09 4.24e-01 -0.1 8.02e-01 -2.0 9.96e-01 1.00e+00f 1 2 5.8198579e-01 4.50e-09 6.51e-01 -4.0 1.63e+00 -1.6 6.91e-01 1.00e+00f 1 3 2.9478523e-01 2.49e-11 9.21e-02 -1.8 6.65e-01 -1.1 9.98e-01 1.00e+00f 1 4 7.1807459e-02 6.29e-11 7.79e-02 -2.6 1.12e+00 -1.6 9.93e-01 1.00e+00f 1 5 1.4145205e-02 5.57e-11 3.03e-02 -3.4 8.99e-01 -2.1 1.00e+00 1.00e+00f 1 6 2.7577990e-03 1.25e-11 9.61e-03 -4.0 6.06e-01 -2.6 1.00e+00 1.00e+00f 1 7 7.4214036e-04 2.16e-12 2.88e-03 -4.0 3.45e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.2110677e-04 3.99e-13 7.14e-04 -4.0 1.16e-01 -3.5 1.00e+00 1.00e+00f 1 9 4.7989539e-04 5.87e-14 2.40e-04 -4.0 3.74e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.9041797e-04 1.13e-14 4.90e-04 -4.1 9.10e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.6055474e-04 7.22e-15 3.84e-04 -4.0 2.07e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7181487e-04 5.00e-15 5.19e-04 -4.1 9.89e-02 -5.4 1.00e+00 1.00e+00f 1 13 4.6781408e-04 3.77e-15 4.68e-04 -4.0 2.47e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6266948e-04 2.66e-15 5.84e-04 -4.1 1.12e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6817251e-04 2.66e-15 5.04e-04 -4.0 2.66e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.5962333e-04 2.11e-15 6.11e-04 -4.1 1.18e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6804549e-04 2.22e-15 5.21e-04 -4.0 2.76e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5861555e-04 1.67e-15 6.30e-04 -4.1 1.22e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6752624e-04 1.89e-15 5.30e-04 -4.0 2.82e-01 -8.8 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.5831332e-04 1.55e-15 6.45e-04 -4.1 1.25e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6692358e-04 1.67e-15 5.36e-04 -4.0 2.86e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5823476e-04 1.33e-15 6.58e-04 -4.1 1.27e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6630321e-04 1.44e-15 5.41e-04 -4.0 2.90e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5822501e-04 1.22e-15 6.71e-04 -4.1 1.30e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6569251e-04 1.22e-15 5.46e-04 -4.0 2.94e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5823403e-04 1.06e-15 6.83e-04 -4.1 1.32e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0912628e-05 9.88e-15 8.55e-04 -6.2 3.65e-01 -12.6 9.69e-01 1.00e+00f 1 28 1.7533859e-03 2.66e-15 7.45e-03 -4.0 1.93e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4260499e-05 2.53e-14 2.78e-03 -4.1 9.83e-01 -13.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.5833525e-03 3.31e-14 7.75e-03 -4.0 9.52e-01 -14.0 1.00e+00 1.00e+00f 1 31 9.9753741e-06 1.94e-14 2.20e-03 -4.2 1.05e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6981743e-04 1.55e-15 2.70e-03 -4.0 1.34e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.1890821e-04 3.33e-15 2.29e-04 -4.2 3.66e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0128739e-05 4.72e-15 7.76e-04 -6.4 3.98e-01 -15.9 9.65e-01 1.00e+00f 1 35 8.0945839e-06 3.50e-15 9.57e-05 -6.4 1.01e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.5785272e-03 1.11e-15 5.46e-03 -4.0 9.38e+00 -16.9 1.00e+00 1.25e-01f 4 37 9.5964815e-05 5.65e-14 3.42e-03 -4.0 7.84e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.5598195e-04 3.84e-14 3.51e-03 -4.0 5.29e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8104048e-04 7.33e-15 4.23e-04 -4.0 4.12e-01 -18.3 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.5509206e-05 5.77e-15 1.29e-03 -6.0 4.90e-01 -18.8 9.57e-01 1.00e+00f 1 41 1.4635590e-05 5.55e-15 1.55e-04 -6.0 1.22e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0375337e-06 9.44e-16 9.82e-05 -6.0 1.39e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.1428961e-03 4.72e-16 3.50e-03 -4.0 1.52e+01 -20.0 1.00e+00 7.92e-02f 4 44 1.5036373e-04 5.06e-14 2.98e-03 -4.0 6.15e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.9421623e-04 2.55e-14 2.93e-03 -4.0 4.38e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9113846e-04 4.66e-15 4.21e-04 -4.0 3.70e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5666500e-05 5.77e-15 1.42e-03 -6.0 5.32e-01 -20.0 9.52e-01 1.00e+00f 1 48 1.4803177e-05 5.11e-15 1.67e-04 -6.0 1.30e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.9690431e-06 8.88e-16 1.07e-04 -6.0 1.52e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 9.1953450e-04 6.38e-16 2.47e-03 -4.0 1.63e+01 -20.0 1.00e+00 7.36e-02f 4 51 1.8509493e-04 4.33e-14 2.62e-03 -4.0 5.19e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.3273565e-04 1.80e-14 2.49e-03 -4.0 3.78e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8784090e-04 3.11e-15 4.08e-04 -4.0 3.35e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4789402e-05 5.55e-15 1.50e-03 -6.1 5.68e-01 -20.0 9.47e-01 1.00e+00f 1 55 1.4530649e-05 4.44e-15 1.73e-04 -6.1 1.37e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.8258601e-06 7.77e-16 1.14e-04 -6.1 1.63e-01 -20.0 1.00e+00 1.00e+00f 1 57 7.5421844e-04 4.30e-16 1.54e-03 -4.0 1.77e+01 -20.0 1.00e+00 6.77e-02f 4 58 2.2139936e-04 3.77e-14 2.21e-03 -4.1 4.22e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.7154944e-04 1.22e-14 1.99e-03 -4.1 3.09e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.8484289e-04 2.00e-15 3.75e-04 -4.1 2.86e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3793646e-05 5.44e-15 1.59e-03 -6.1 6.03e-01 -20.0 9.43e-01 1.00e+00f 1 62 1.4249800e-05 4.22e-15 1.78e-04 -6.1 1.42e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.7038281e-06 6.66e-16 1.19e-04 -6.1 1.74e-01 -20.0 1.00e+00 1.00e+00f 1 64 6.3376604e-04 3.26e-16 7.36e-04 -4.0 1.90e+01 -20.0 1.00e+00 6.27e-02f 4 65 2.5467155e-04 3.35e-14 1.80e-03 -4.1 3.34e-01 -20.0 1.00e+00 1.00e+00f 1 66 5.1681248e-04 8.44e-15 1.50e-03 -4.1 2.39e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.8079741e-04 1.33e-15 3.30e-04 -4.1 2.33e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2703697e-05 5.22e-15 1.65e-03 -6.1 6.34e-01 -20.0 9.39e-01 1.00e+00f 1 69 1.3935790e-05 3.77e-15 1.81e-04 -6.1 1.46e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.5917613e-06 6.11e-16 1.23e-04 -6.1 1.82e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.4456340e-04 4.44e-16 7.80e-05 -4.0 2.03e+01 -20.0 1.00e+00 5.86e-02f 4 72 2.8404254e-04 3.04e-14 1.39e-03 -4.1 2.53e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.7040396e-04 5.55e-15 1.06e-03 -4.1 1.72e-01 -20.0 1.00e+00 1.00e+00f 1 74 2.9702776e-04 4.00e-15 9.97e-04 -4.1 1.81e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.6335553e-04 2.89e-15 9.20e-04 -4.1 1.50e-01 -20.0 1.00e+00 1.00e+00f 1 76 3.0416748e-04 3.55e-15 9.02e-04 -4.1 1.63e-01 -20.0 1.00e+00 1.00e+00f 1 77 4.5630939e-04 2.66e-15 8.26e-04 -4.1 1.35e-01 -20.0 1.00e+00 1.00e+00f 1 78 2.3536601e-05 4.66e-15 1.82e-03 -6.1 7.70e-01 -20.0 9.25e-01 1.00e+00f 1 79 1.2293045e-05 3.89e-15 1.20e-04 -6.1 1.06e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.0742611e-06 4.44e-16 1.15e-04 -6.1 1.83e-01 -20.0 1.00e+00 1.00e+00f 1 81 4.9666771e-04 3.19e-16 5.22e-04 -4.0 2.30e+01 -20.0 1.00e+00 5.17e-02f 4 82 3.0880413e-04 2.95e-14 1.08e-03 -4.1 1.92e-01 -20.0 1.00e+00 1.00e+00f 1 83 4.4428300e-04 3.77e-15 7.38e-04 -4.1 1.22e-01 -20.0 1.00e+00 1.00e+00f 1 84 2.4269018e-05 4.44e-15 1.89e-03 -6.1 7.90e-01 -20.0 9.22e-01 1.00e+00f 1 85 1.2434095e-05 3.77e-15 1.31e-04 -6.1 1.15e-01 -20.0 1.00e+00 1.00e+00f 1 86 3.1156747e-06 4.44e-16 1.22e-04 -6.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 87 3.9865052e-06 1.84e-16 2.08e-05 -6.1 3.62e-02 -20.0 1.00e+00 1.00e+00f 1 88 3.4332485e-06 5.55e-17 6.00e-06 -6.1 1.07e-02 -20.0 1.00e+00 1.00e+00h 1 89 2.6113359e-07 7.94e-17 5.27e-05 -9.0 2.34e-01 -20.0 9.77e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.4773800e-03 5.45e-16 1.21e-02 -4.0 1.04e+02 -20.0 1.00e+00 2.33e-02f 3 91 8.3319064e-05 4.88e-14 7.12e-03 -3.9 1.56e+00 -20.0 1.00e+00 1.00e+00f 1 92 7.7297001e-04 2.93e-14 5.39e-03 -3.9 8.17e-01 -20.0 1.00e+00 1.00e+00f 1 93 4.3986281e-04 5.55e-15 7.71e-04 -3.9 5.36e-01 -20.0 1.00e+00 5.00e-01f 2 94 4.3459248e-05 4.33e-15 2.14e-03 -5.9 7.14e-01 -20.0 9.30e-01 1.00e+00f 1 95 1.7951771e-05 4.00e-15 2.62e-04 -5.9 1.86e-01 -20.0 1.00e+00 1.00e+00f 1 96 5.1398701e-06 6.68e-16 1.66e-04 -5.9 2.09e-01 -20.0 1.00e+00 1.00e+00f 1 97 5.8495116e-06 2.67e-16 1.77e-05 -5.9 2.50e-02 -20.0 1.00e+00 1.00e+00h 1 98 5.4008116e-06 8.41e-17 2.79e-06 -5.9 4.01e-03 -20.0 1.00e+00 1.00e+00h 1 99 3.8864995e-07 5.55e-17 7.97e-05 -8.9 2.86e-01 -20.0 9.71e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.5629534e-07 5.51e-17 8.37e-06 -8.9 6.34e-02 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.5629533831150520e-07 1.5629533831150520e-07 Dual infeasibility......: 8.3727535334356312e-06 8.3727535334356312e-06 Constraint violation....: 5.5077470362263625e-17 5.5077470362263625e-17 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 5.3839733125134555e-08 5.3839733125134555e-08 Overall NLP error.......: 9.9998662186128644e-05 9.9998662186128644e-05 Number of objective function evaluations = 171 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 171 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 = 3.859 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: 0.055s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.118s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.054s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.359s sub-objective 2 (QuadraticRegularizer): 0.091s sub-objective 3 (LinearRegularizer): 0.082s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 0.646s hessian structure: 2431 nonzeros (0.753s) linear index maps built (0.0s) evaluator ready (total: 0.872s) evaluator created (0.925s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.122s) 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 (3.147s) optimizer initialization complete (total: 4.196s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1808 Number of nonzeros in inequality constraint Jacobian.: 80 Number of nonzeros in Lagrangian Hessian.............: 2239 Total number of variables............................: 122 variables with only lower bounds: 30 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 40 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.3994614e+00 2.22e+00 1.11e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.4451412e+00 1.69e+00 1.33e+00 0.1 2.48e+00 0.0 2.09e-01 2.35e-01f 1 2 3.6039821e+00 7.22e-01 1.86e+01 -1.6 1.81e+00 0.4 1.69e-01 1.00e+00h 1 3 3.8117069e+00 6.58e-02 2.10e+00 -0.3 3.33e-01 0.9 9.51e-01 1.00e+00f 1 4 3.6683575e+00 1.60e-03 2.78e-01 -1.4 7.74e-02 0.4 9.79e-01 1.00e+00h 1 5 3.3147114e+00 2.09e-02 1.48e-01 -2.5 2.41e-01 -0.1 9.97e-01 7.65e-01f 1 6 3.2117452e+00 1.40e-03 1.63e-01 -3.6 7.78e-02 0.3 1.00e+00 1.00e+00h 1 7 3.0718549e+00 3.24e-03 1.51e-01 -3.7 1.93e-01 -0.2 1.00e+00 4.48e-01f 1 8 2.9898745e+00 2.41e-03 3.31e-01 -3.3 8.12e-02 0.3 1.00e+00 5.97e-01h 1 9 2.8667727e+00 1.34e-02 9.71e-01 -3.0 6.56e-01 -0.2 1.00e+00 2.09e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.6939998e+00 7.88e-03 1.72e-01 -3.2 9.96e-02 0.2 1.00e+00 7.17e-01h 1 11 2.6456204e+00 7.71e-03 1.36e+00 -3.6 2.92e-01 -0.3 1.00e+00 8.13e-02h 1 12 2.2730074e+00 6.65e-02 2.09e+00 -1.5 7.76e+00 -0.7 4.30e-02 3.40e-02f 1 13 2.2524497e+00 6.16e-02 7.29e-01 -2.6 1.14e-01 -0.3 1.00e+00 7.34e-02h 1 14 2.0775397e+00 3.28e-02 1.28e+00 -2.6 3.40e-01 -0.8 1.00e+00 6.87e-01h 1 15 2.0344601e+00 1.72e-02 5.80e-01 -3.7 8.04e-02 -0.4 1.00e+00 4.88e-01h 1 16 2.0145822e+00 5.65e-03 2.84e-01 -3.8 1.68e-01 -0.8 1.00e+00 6.72e-01h 1 17 2.0054249e+00 3.09e-03 1.80e-01 -4.0 4.57e-01 -1.3 1.00e+00 4.53e-01h 1 18 2.0012309e+00 2.30e-06 1.59e-02 -4.0 1.61e-02 -1.8 1.00e+00 1.00e+00h 1 19 2.0009685e+00 1.16e-07 4.05e-02 -4.0 4.01e-02 -2.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0010025e+00 3.39e-10 1.41e-03 -4.0 8.36e-02 -2.7 1.00e+00 1.00e+00h 1 21 2.0010100e+00 2.42e-13 3.56e-03 -4.0 1.85e-01 -3.2 1.00e+00 1.00e+00f 1 22 2.0007877e+00 9.78e-10 5.48e-03 -4.1 2.79e-01 -3.7 1.00e+00 1.00e+00f 1 23 2.0010505e+00 9.15e-10 1.51e-02 -4.0 7.64e-01 -4.2 1.00e+00 1.00e+00f 1 24 2.0007910e+00 9.90e-10 1.68e-02 -4.1 8.39e-01 -4.7 1.00e+00 1.00e+00f 1 25 2.0008575e+00 1.61e-12 3.96e-02 -4.1 1.99e+00 -5.1 1.00e+00 1.00e+00f 1 26 2.0008279e+00 1.52e-11 5.86e-02 -4.1 2.93e+00 -5.6 1.00e+00 1.00e+00f 1 27 2.0008997e+00 2.82e-11 1.12e-01 -4.1 5.61e+00 -6.1 1.00e+00 1.00e+00f 1 28 2.0008814e+00 1.04e-10 1.80e-01 -4.1 9.00e+00 -6.6 1.00e+00 1.00e+00f 1 29 2.0009776e+00 2.53e-10 3.15e-01 -4.1 1.58e+01 -7.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0009486e+00 4.35e-10 5.15e-01 -4.1 2.57e+01 -7.5 1.00e+00 1.00e+00f 1 31 2.0010522e+00 4.52e-10 8.65e-01 -4.1 4.33e+01 -8.0 1.00e+00 1.00e+00f 1 32 2.0009753e+00 2.26e-10 1.42e+00 -4.1 7.11e+01 -8.5 1.00e+00 1.00e+00f 1 33 2.0010938e+00 1.12e-10 2.37e+00 -4.1 1.19e+02 -8.9 1.00e+00 1.00e+00f 1 34 2.0009624e+00 8.84e-11 3.96e+00 -4.1 1.98e+02 -9.4 1.00e+00 1.00e+00f 1 35 2.0011292e+00 8.28e-11 6.69e+00 -4.1 3.34e+02 -9.9 1.00e+00 1.00e+00f 1 36 2.0009310e+00 4.60e-10 1.12e+01 -4.1 5.65e+02 -10.4 1.00e+00 9.88e-01f 1 37 2.0011699e+00 2.19e-10 1.92e+01 -4.1 9.59e+02 -10.9 1.00e+00 1.00e+00f 1 38 2.0009467e+00 3.10e-11 2.85e+01 -4.1 1.62e+03 -11.3 1.00e+00 8.81e-01f 1 39 2.0011671e+00 3.09e-11 5.46e+01 -4.1 2.73e+03 -11.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0008707e+00 2.40e-11 9.45e+01 -4.1 5.00e+03 -12.3 1.00e+00 9.44e-01f 1 41 2.0011840e+00 1.18e-11 1.44e+02 -4.1 7.20e+03 -12.8 1.00e+00 1.00e+00f 1 42 2.0007653e+00 1.55e-11 2.00e+02 -4.1 1.03e+04 -13.2 1.00e+00 9.74e-01f 1 43 2.0017905e+00 1.27e-12 3.98e+02 -4.0 1.99e+04 -13.7 1.00e+00 1.00e+00f 1 44 2.0010074e+00 9.18e-12 3.55e+01 -4.1 4.34e+03 -14.2 1.00e+00 4.09e-01f 2 45 2.0007870e+00 2.78e-12 2.79e+02 -4.1 1.39e+04 -14.7 1.00e+00 1.00e+00f 1 46 2.0006539e+00 1.26e-13 2.96e+02 -4.1 1.48e+04 -15.1 1.00e+00 1.00e+00f 1 47 2.0010646e+00 2.18e-13 3.50e+02 -4.0 1.75e+04 -15.6 1.00e+00 1.00e+00f 1 48 2.0005125e+00 5.20e-13 1.60e+02 -4.1 8.02e+03 -16.1 1.00e+00 1.00e+00f 1 49 2.0009018e+00 9.62e-13 2.16e+02 -4.0 1.08e+04 -16.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0005402e+00 1.62e-14 1.53e+02 -4.1 7.66e+03 -17.1 1.00e+00 1.00e+00f 1 51 2.0006561e+00 1.66e-12 8.54e+01 -4.1 4.27e+03 -17.5 1.00e+00 1.00e+00f 1 52 2.0006147e+00 1.62e-12 3.09e+01 -4.1 1.54e+03 -18.0 1.00e+00 1.00e+00h 1 53 2.0006328e+00 2.34e-12 1.24e+01 -4.1 6.20e+02 -18.5 1.00e+00 1.00e+00h 1 54 2.0006258e+00 2.55e-12 5.53e+00 -4.1 2.76e+02 -19.0 1.00e+00 1.00e+00h 1 55 2.0006289e+00 3.47e-12 2.00e+00 -4.1 1.00e+02 -19.4 1.00e+00 1.00e+00h 1 56 2.0006277e+00 3.85e-12 9.29e-01 -4.1 4.64e+01 -19.9 1.00e+00 1.00e+00h 1 57 2.0006282e+00 2.08e-12 3.32e-01 -4.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 58 2.0006280e+00 7.72e-13 1.55e-01 -4.1 7.75e+00 -20.0 1.00e+00 1.00e+00h 1 59 2.0006281e+00 3.46e-13 5.52e-02 -4.1 2.76e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0006280e+00 1.29e-13 2.58e-02 -4.1 1.29e+00 -20.0 1.00e+00 1.00e+00h 1 61 2.0006281e+00 5.76e-14 9.20e-03 -4.1 4.60e-01 -20.0 1.00e+00 1.00e+00h 1 62 2.0006281e+00 2.14e-14 4.31e-03 -4.1 2.15e-01 -20.0 1.00e+00 1.00e+00h 1 63 2.0006281e+00 9.59e-15 1.53e-03 -4.1 9.40e-02 -20.0 1.00e+00 1.00e+00h 1 64 2.0006281e+00 3.56e-15 7.18e-04 -4.1 9.40e-02 -20.0 1.00e+00 1.00e+00h 1 65 1.9998547e+00 1.20e-08 2.25e+02 -6.1 1.12e+04 -20.0 1.00e+00 1.00e+00f 1 66 2.0006847e+00 3.03e-09 2.09e+03 -4.0 2.09e+05 -20.0 1.00e+00 5.00e-01f 2 67 2.0004201e+00 9.56e-11 2.31e+03 -3.9 1.15e+05 -20.0 1.00e+00 1.00e+00f 1 68 2.0009608e+00 3.51e-09 5.60e+02 -3.9 2.80e+04 -20.0 1.00e+00 1.00e+00f 1 69 2.0010420e+00 3.06e-09 1.07e+02 -3.9 5.34e+03 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0010542e+00 7.46e-10 2.72e+01 -3.9 1.36e+03 -20.0 1.00e+00 1.00e+00h 1 71 2.0010712e+00 5.78e-10 6.06e+00 -3.9 3.03e+02 -20.0 1.00e+00 1.00e+00h 1 72 2.0010729e+00 1.33e-10 4.72e+00 -3.9 2.36e+02 -20.0 1.00e+00 1.00e+00h 1 73 2.0010757e+00 9.86e-11 1.06e+00 -3.9 5.29e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0010760e+00 2.24e-11 7.85e-01 -3.9 3.93e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0010764e+00 1.65e-11 1.78e-01 -3.9 8.89e+00 -20.0 1.00e+00 1.00e+00h 1 76 2.0010765e+00 3.74e-12 1.31e-01 -3.9 6.54e+00 -20.0 1.00e+00 1.00e+00h 1 77 2.0010766e+00 2.74e-12 2.97e-02 -3.9 1.48e+00 -20.0 1.00e+00 1.00e+00h 1 78 2.0010766e+00 6.22e-13 2.18e-02 -3.9 1.09e+00 -20.0 1.00e+00 1.00e+00h 1 79 2.0010766e+00 4.57e-13 4.95e-03 -3.9 4.96e-01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0010766e+00 1.04e-13 3.63e-03 -3.9 4.96e-01 -20.0 1.00e+00 1.00e+00h 1 81 2.0010766e+00 7.60e-14 8.24e-04 -3.9 4.96e-01 -20.0 1.00e+00 1.00e+00h 1 82 1.9998649e+00 8.71e-08 2.43e+02 -5.9 1.22e+04 -20.0 1.00e+00 1.00e+00f 1 83 1.9998454e+00 3.11e-13 2.18e+02 -5.9 1.17e+04 -20.0 9.30e-01 1.00e+00h 1 84 1.8273789e+00 2.01e-13 1.94e+06 -5.9 9.69e+07 -20.0 1.81e-03 1.00e+00f 1 85 1.8126237e+00 5.22e-13 2.02e+03 -5.5 1.32e+08 -20.0 1.00e+00 7.61e-04f 1 86 1.9422886e+00 5.22e-13 1.30e+06 -4.0 9.39e+10 -20.0 1.00e+00 6.94e-04f 1 87 1.9999551e+00 5.19e-13 6.40e+05 -3.2 6.28e+09 -20.0 1.00e+00 5.10e-03f 1 88 1.9999074e+00 1.86e-11 1.64e+03 -3.2 8.21e+04 -20.0 1.00e+00 1.00e+00f 1 89 2.0289872e+00 5.58e-06 5.13e+01 -3.2 2.57e+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 90 2.0102335e+00 1.37e-03 8.65e+02 -3.2 8.65e+04 -20.0 1.00e+00 5.00e-01f 2 91 2.0086302e+00 2.60e-04 1.47e+02 -3.2 7.34e+03 -20.0 1.00e+00 1.00e+00h 1 92 2.0060052e+00 1.70e-04 1.46e+02 -3.2 2.17e+04 -17.3 1.00e+00 1.00e+00h 1 93 2.0065627e+00 5.57e-06 3.04e+02 -3.2 2.22e+04 -17.8 1.00e+00 1.00e+00h 1 94 2.0059207e+00 6.98e-06 9.49e+01 -3.2 1.13e+04 -18.2 1.00e+00 1.00e+00h 1 95 2.0059568e+00 2.56e-11 2.62e+01 -3.2 2.89e+03 -13.3 1.00e+00 1.00e+00h 1 96 2.0059080e+00 4.27e-12 2.72e+01 -3.2 2.06e+03 -12.9 1.00e+00 1.00e+00h 1 97 2.0058926e+00 8.32e-14 1.23e+01 -3.2 9.84e+02 -12.5 1.00e+00 1.00e+00h 1 98 2.0058851e+00 1.18e-14 4.57e+00 -3.2 3.50e+02 -12.0 1.00e+00 1.00e+00h 1 99 2.0058913e+00 2.08e-15 1.11e+01 -3.2 8.37e+02 -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 100 2.0058840e+00 8.83e-15 3.87e+00 -3.2 2.90e+02 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0058840036541441e+00 2.0058840036541441e+00 Dual infeasibility......: 3.8668425314103843e+00 3.8668425314103843e+00 Constraint violation....: 8.8302364134326418e-15 8.8302364134326418e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.0466866061172075e-04 6.0466866061172075e-04 Overall NLP error.......: 3.8668425314103843e+00 3.8668425314103843e+00 Number of objective function evaluations = 112 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 112 Number of inequality constraint evaluations = 112 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 44.144 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: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.732s jacobian structure: 1600 nonzeros (2.799s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.284s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (4.339s) linear index maps built (0.0s) evaluator ready (total: 7.138s) evaluator created (7.173s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 7.175s) This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.1754978e+00 3.48e+00 5.09e-01 9.85e-01 -1.0 - 0.00e+00 1 0 1 2.7990492e+00 1.01e-01 1.94e+00 3.47e-01 -1.0 0.0 1.00e+00 1 1h 2 2.5280851e+00 8.01e-02 1.23e+00 1.89e-01 -1.0 -0.5 4.29e-01 2 1h 3 2.7523685e+00 1.31e-01 1.51e+00 1.32e-01 -1.0 -1.0 1.00e+00 2 1h 4 2.7192827e+00 4.78e-02 5.60e-01 1.90e-01 -1.0 -0.5 1.00e+00 1 1h 5 2.4456612e+00 3.88e-03 1.45e-01 6.07e-02 -1.7 -1.0 1.00e+00 2 1h 6 2.1354485e+00 1.19e-02 5.17e-02 7.19e-03 -2.5 -1.5 8.59e-01 2 1h 7 2.1153789e+00 1.31e-03 5.50e-03 2.89e-03 -2.5 -2.0 1.00e+00 2 1h 8 2.0914725e+00 2.30e-05 3.81e-04 1.68e-04 -3.8 -2.4 1.00e+00 2 1h 9 2.0900243e+00 2.45e-06 2.44e-05 1.85e-05 -5.7 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900123e+00 2.24e-06 1.49e-04 5.45e-06 -5.7 -3.4 1.00e+00 2 1h 11 2.0899948e+00 1.77e-05 1.11e-04 2.27e-06 -5.7 -3.9 1.00e+00 2 1h 12 2.0899521e+00 1.03e-04 4.43e-05 1.85e-06 -5.7 -4.3 1.00e+00 2 1h 13 2.0898260e+00 2.46e-04 6.15e-05 1.84e-06 -5.7 -4.8 9.91e-01 2 1h 14 2.0894688e+00 1.36e-04 6.78e-04 5.31e-06 -5.7 -5.3 1.00e+00 1 1h 15 2.0892717e+00 1.20e-04 4.68e-02 2.05e-06 -5.7 -5.8 1.33e-01 1 1h 16 2.0867406e+00 6.76e-05 1.21e-02 4.40e-06 -5.7 -6.3 1.00e+00 1 1h 17 2.0861885e+00 5.99e-05 1.58e-01 2.88e-06 -5.7 -6.7 1.15e-01 1 1h 18 2.0817570e+00 4.75e-05 1.31e-01 2.25e-06 -5.7 -7.2 7.42e-01 1 1h 19 2.0818838e+00 1.61e-04 1.28e-01 8.11e-04 -5.7 -7.7 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0811108e+00 3.29e-05 3.32e-02 3.36e-04 -5.7 -8.2 6.05e-01 1 1h 21 2.0806860e+00 1.42e-05 5.04e-02 1.27e-04 -5.7 -8.6 9.45e-01 1 1h 22 2.0806908e+00 1.33e-05 3.48e-02 1.28e-04 -5.7 -7.3 6.25e-02 1 5h 23 2.0806638e+00 9.61e-06 2.25e-02 9.73e-05 -5.7 -7.8 2.78e-01 1 1h 24 2.0806656e+00 9.09e-06 3.43e-01 5.00e-05 -5.7 -5.6 5.43e-02 1 1h 25 2.0806594e+00 1.20e-06 3.60e-04 1.42e-05 -5.7 -6.0 1.00e+00 1 1h 26 2.0806482e+00 1.37e-06 6.32e-03 2.50e-06 -5.7 -6.5 1.00e+00 2 1h 27 2.0806439e+00 1.78e-08 3.37e-04 1.85e-06 -5.7 -4.3 1.00e+00 1 1h 28 2.0806457e+00 3.84e-08 6.95e-05 3.61e-06 -5.7 -4.8 1.00e+00 1 1h 29 2.0806450e+00 7.66e-08 3.46e-05 1.84e-06 -5.7 -5.2 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806449e+00 9.83e-08 1.85e-03 1.85e-06 -5.7 -5.7 4.34e-01 1 2h 31 2.0806368e+00 3.10e-08 8.51e-05 1.86e-06 -5.7 -6.2 1.00e+00 2 1h 32 2.0806266e+00 6.06e-08 2.13e-04 1.84e-06 -5.7 -6.7 1.00e+00 1 1h 33 2.0806151e+00 9.44e-08 4.42e-04 2.85e-06 -5.7 -7.1 1.00e+00 1 1h 34 2.0805805e+00 2.65e-07 4.75e-04 2.01e-06 -5.7 -7.6 1.00e+00 1 1h 35 2.0805714e+00 1.96e-07 7.99e-03 2.10e-06 -5.7 -8.1 2.96e-01 1 1h 36 2.0805628e+00 6.69e-07 9.01e-04 2.74e-06 -5.7 -8.6 1.00e+00 1 1h 37 2.0805605e+00 2.31e-07 2.37e-04 1.85e-06 -5.7 -9.0 1.00e+00 1 1h 38 2.0805604e+00 9.15e-09 9.77e-06 1.84e-06 -5.7 -9.5 1.00e+00 1 1h 39 2.0805367e+00 3.94e-06 3.56e-06 6.27e-08 -8.6 -10.0 9.93e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805365e+00 1.61e-09 4.62e-09 2.55e-09 -8.6 -10.5 1.00e+00 2 1h Number of Iterations....: 40 (scaled) (unscaled) Objective...............: 2.0805364803819915e+00 2.0805364803819915e+00 Dual infeasibility......: 4.6218856797342056e-09 4.6218856797342056e-09 Constraint violation....: 1.6079881870467716e-09 1.6079881870467716e-09 Complementarity.........: 2.5491179330912117e-09 2.5491179330912117e-09 Overall NLP error.......: 4.6218856797342056e-09 4.6218856797342056e-09 Number of objective function evaluations = 48 Number of objective gradient evaluations = 41 Number of constraint evaluations = 48 Number of constraint Jacobian evaluations = 41 Number of Lagrangian Hessian evaluations = 40 Number of KKT factorizations = 92 Number of KKT backsolves = 60 Total wall secs in initialization = 5.892 s Total wall secs in linear solver = 0.069 s Total wall secs in NLP function evaluations = 20.541 s Total wall secs in solver (w/o init./fun./lin. alg.) = 30.057 s Total wall secs = 56.558 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: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 3.088s jacobian structure: 1680 nonzeros (3.154s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 11.769s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1964 nonzeros (11.822s) linear index maps built (0.0s) evaluator ready (total: 14.977s) evaluator created (15.011s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.102s) 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 (5.09s) optimizer initialization complete (total: 20.203s) 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 8.3051691e+00 3.13e+00 3.26e+00 1.86e+00 -1.0 - 0.00e+00 1 0 1 3.5972392e+00 2.57e-01 4.50e+00 3.83e-01 -1.0 0.0 1.00e+00 1 1h 2 2.7417246e+00 1.09e-01 2.02e+00 1.09e-01 -1.0 -0.5 1.00e+00 2 1h 3 2.7150078e+00 3.68e-03 2.49e-01 1.01e-01 -1.0 -1.0 1.00e+00 2 1h 4 2.3751803e+00 1.45e-02 4.74e-02 3.47e-02 -1.7 -1.4 1.00e+00 2 1h 5 2.1299498e+00 7.55e-03 2.25e-02 5.94e-03 -2.5 -1.9 1.00e+00 2 1h 6 2.0910745e+00 6.09e-04 5.17e-03 2.92e-04 -3.8 -2.4 9.86e-01 2 1h 7 2.0913041e+00 2.18e-05 3.26e-05 1.53e-04 -3.8 -2.9 1.00e+00 2 1h 8 2.0899653e+00 5.25e-06 1.62e-05 1.52e-05 -5.7 -3.3 1.00e+00 2 1h 9 2.0899296e+00 1.42e-06 4.50e-04 4.42e-06 -8.6 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0898885e+00 8.56e-06 7.24e-05 1.42e-08 -8.6 -4.3 9.99e-01 2 1h 11 2.0897747e+00 2.34e-05 4.08e-05 2.62e-09 -8.6 -4.8 1.00e+00 2 1h 12 2.0896930e+00 2.02e-05 9.48e-03 2.57e-09 -8.6 -5.2 2.45e-01 2 1h 13 2.0887570e+00 4.53e-05 1.19e-03 8.64e-09 -8.6 -5.7 1.00e+00 2 1h 14 2.0885492e+00 4.14e-05 8.04e-02 3.05e-09 -8.6 -6.2 8.86e-02 1 1h 15 2.0839890e+00 1.17e-05 4.42e-02 5.86e-09 -8.6 -6.7 1.00e+00 1 1h 16 2.0832149e+00 9.76e-06 1.43e-01 4.00e-09 -8.6 -7.2 1.68e-01 1 1h 17 2.0816572e+00 7.01e-06 1.51e-01 4.54e-09 -8.6 -7.6 2.90e-01 1 1h 18 2.0814819e+00 5.95e-06 2.23e-01 3.71e-06 -8.6 -8.1 1.53e-01 1 1h 19 2.0806687e+00 1.22e-06 1.39e-01 3.12e-06 -8.6 -8.6 8.70e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0806935e+00 5.77e-07 4.65e-02 8.14e-05 -8.6 -7.3 5.26e-01 1 1h 21 2.0806892e+00 5.59e-07 4.06e-02 3.38e-05 -8.6 -7.7 3.15e-02 1 1h 22 2.0806509e+00 4.23e-07 3.37e-01 7.65e-07 -8.6 -6.4 2.44e-01 1 1h 23 2.0806542e+00 2.73e-07 2.22e-02 1.26e-05 -8.6 -6.9 3.54e-01 1 1h 24 2.0806142e+00 3.60e-09 1.56e-03 2.94e-06 -8.6 -7.4 1.00e+00 1 1h 25 2.0805988e+00 2.85e-09 6.81e-03 1.72e-06 -8.6 -7.8 2.52e-01 2 1h 26 2.0805828e+00 2.41e-09 1.12e-02 3.14e-07 -8.6 -8.3 2.15e-01 1 1h 27 2.0805772e+00 2.07e-09 1.98e-02 1.73e-07 -8.6 -7.9 2.25e-01 1 1h 28 2.0805474e+00 6.06e-09 2.12e-03 2.82e-08 -8.6 -8.4 1.00e+00 1 1h 29 2.0805590e+00 2.02e-15 5.96e-02 4.13e-05 -8.6 -7.0 1.00e+00 1 1H iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805584e+00 4.31e-12 8.16e-02 2.71e-09 -8.6 -7.5 2.46e-03 1 1h 31 2.0805507e+00 1.59e-10 9.57e-02 5.39e-07 -8.6 -5.3 4.13e-01 1 1h 32 2.0805506e+00 1.57e-10 1.65e-01 3.36e-07 -8.6 -5.8 1.34e-02 2 1h 33 2.0805493e+00 1.32e-10 8.42e-02 1.10e-07 -8.6 -6.2 4.74e-01 1 1h 34 2.0805485e+00 1.10e-09 6.31e-02 1.01e-07 -8.6 -6.7 5.07e-01 1 1h 35 2.0805461e+00 5.87e-09 6.12e-04 3.00e-09 -8.6 -7.2 1.00e+00 1 1h 36 2.0805453e+00 3.79e-10 2.18e-06 7.86e-09 -8.6 -6.8 1.00e+00 1 1h 37 2.0805561e+00 9.54e-11 4.62e-03 2.52e-09 -8.6 -7.2 1.00e+00 1 1h 38 2.0805515e+00 8.13e-11 5.01e-01 3.73e-09 -8.6 -5.0 1.48e-01 1 1h 39 2.0805433e+00 5.10e-10 5.91e-01 5.81e-08 -8.6 -5.5 2.38e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805434e+00 5.05e-10 3.67e-01 1.14e-07 -8.6 -6.0 1.04e-02 1 1h 41 2.0805431e+00 1.54e-10 1.86e-04 1.49e-08 -8.6 -6.4 1.00e+00 1 1h 42 2.0805426e+00 1.85e-10 1.70e-06 2.54e-09 -8.6 -6.9 1.00e+00 1 1h 43 2.0805415e+00 1.76e-10 1.39e-05 2.69e-09 -8.6 -7.4 1.00e+00 1 1h 44 2.0805395e+00 1.77e-10 4.93e-05 2.51e-09 -8.6 -7.9 1.00e+00 1 1h 45 2.0805374e+00 2.23e-10 1.11e-04 2.51e-09 -8.6 -8.4 1.00e+00 1 1h 46 2.0805366e+00 1.71e-10 1.93e-03 2.52e-09 -8.6 -8.8 1.00e+00 1 1h 47 2.0805366e+00 1.09e-10 7.66e-06 5.19e-07 -8.6 -6.6 1.00e+00 1 1h 48 2.0805366e+00 9.45e-11 1.55e-03 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 49 2.0805366e+00 8.92e-11 3.75e-07 2.70e-09 -8.6 -5.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805366e+00 8.93e-11 5.57e-05 2.51e-09 -8.6 -6.2 1.00e+00 1 1h 51 2.0805367e+00 1.78e-15 2.68e-04 5.99e-09 -8.6 -5.8 1.00e+00 1 1H 52 2.0805366e+00 4.77e-11 2.79e-02 2.55e-09 -8.6 -4.5 7.62e-01 1 1h 53 2.0805366e+00 8.88e-16 5.79e-06 2.51e-09 -8.6 -4.9 1.00e+00 1 1H 54 2.0805366e+00 8.92e-11 4.90e-07 2.51e-09 -8.6 -5.4 1.00e+00 1 1h 55 2.0805366e+00 8.91e-11 4.27e-07 2.51e-09 -8.6 -5.9 1.00e+00 1 1h 56 2.0805366e+00 8.92e-11 1.08e-07 2.51e-09 -8.6 -6.4 1.00e+00 1 1h 57 2.0805366e+00 8.94e-11 6.14e-08 2.51e-09 -8.6 -6.9 1.00e+00 1 1h 58 2.0805365e+00 9.00e-11 8.54e-08 2.51e-09 -8.6 -7.3 1.00e+00 1 1h 59 2.0805365e+00 9.04e-11 4.71e-07 2.51e-09 -8.6 -7.8 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805365e+00 9.03e-11 1.32e-06 2.51e-09 -8.6 -8.3 1.00e+00 1 1h 61 2.0805365e+00 8.98e-11 1.32e-06 2.51e-09 -8.6 -8.8 1.00e+00 1 1h 62 2.0805365e+00 8.93e-11 2.64e-07 2.51e-09 -8.6 -9.2 1.00e+00 1 1h 63 2.0805365e+00 8.92e-11 7.72e-09 2.51e-09 -8.6 -9.7 1.00e+00 1 1h Number of Iterations....: 63 (scaled) (unscaled) Objective...............: 2.0805364803023445e+00 2.0805364803023445e+00 Dual infeasibility......: 7.7230433159769518e-09 7.7230433159769518e-09 Constraint violation....: 8.9188212371027475e-11 8.9188212371027475e-11 Complementarity.........: 2.5059035601010405e-09 2.5059035601010405e-09 Overall NLP error.......: 7.7230433159769518e-09 7.7230433159769518e-09 Number of objective function evaluations = 67 Number of objective gradient evaluations = 64 Number of constraint evaluations = 67 Number of constraint Jacobian evaluations = 64 Number of Lagrangian Hessian evaluations = 63 Number of KKT factorizations = 151 Number of KKT backsolves = 81 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.086 s Total wall secs in NLP function evaluations = 24.310 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.999 s Total wall secs = 35.397 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: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.779s jacobian structure: 1600 nonzeros (2.846s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.948s 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 (4.002s) linear index maps built (0.0s) evaluator ready (total: 6.849s) evaluator created (6.88s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 6.881s) 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 3.0741843e+01 3.97e+00 9.25e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0298341e+01 2.54e-01 2.63e+00 -0.8 3.12e+00 -4.0 9.28e-01 9.85e-01f 1 2 1.0308517e+01 1.22e-02 3.13e-01 -0.9 2.37e-01 -4.5 9.12e-01 1.00e+00f 1 3 9.8500594e+00 8.19e-03 7.02e-02 -1.7 2.85e-01 -5.0 9.74e-01 1.00e+00h 1 4 9.5317783e+00 5.25e-03 5.21e-02 -2.8 1.67e-01 -5.4 9.16e-01 1.00e+00h 1 5 9.4445521e+00 9.53e-04 4.20e-03 -3.9 8.34e-02 -5.9 9.97e-01 1.00e+00h 1 6 9.4276377e+00 1.40e-04 6.95e-04 -4.0 2.78e-02 -6.4 1.00e+00 1.00e+00h 1 7 9.4258879e+00 1.06e-05 4.52e-05 -4.0 5.46e-03 -6.9 1.00e+00 1.00e+00h 1 8 9.4258090e+00 8.01e-08 2.77e-07 -4.0 4.32e-04 -7.3 1.00e+00 1.00e+00h 1 9 9.4258086e+00 5.70e-12 1.00e-09 -4.0 5.16e-06 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4258086225992592e+00 9.4258086225992592e+00 Dual infeasibility......: 9.9999998356297727e-10 9.9999998356297727e-10 Constraint violation....: 5.7029936328945041e-12 5.7029936328945041e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000003587923116e-04 1.0000003587923116e-04 Overall NLP error.......: 9.9999998356297727e-10 9.9999998356297727e-10 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of equality constraint evaluations = 10 Number of inequality constraint evaluations = 10 Number of equality constraint Jacobian evaluations = 10 Number of inequality constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Total seconds in IPOPT = 29.145 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.002s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.004s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.005s) 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 3.0741843e+01 3.97e+00 9.25e-01 9.67e-01 -1.0 - 0.00e+00 1 0 1 1.0355191e+01 2.01e-01 2.09e+00 4.87e-01 -1.0 -4.0 1.00e+00 2 1h 2 1.0092906e+01 5.05e-02 1.94e-01 1.51e-01 -1.0 -4.5 1.00e+00 2 1h 3 9.6890633e+00 9.44e-03 6.27e-02 3.73e-02 -2.5 -5.0 1.00e+00 2 1h 4 9.5042751e+00 2.76e-03 9.22e-03 9.57e-03 -2.5 -5.4 1.00e+00 2 1h 5 9.4384866e+00 6.90e-04 5.91e-03 2.33e-03 -3.8 -5.9 1.00e+00 2 1h 6 9.4274759e+00 1.10e-04 4.06e-04 5.16e-04 -3.8 -6.4 1.00e+00 2 1h 7 9.4246371e+00 1.52e-05 8.96e-05 4.48e-05 -5.7 -6.9 1.00e+00 2 1h 8 9.4245374e+00 2.33e-07 4.06e-07 2.23e-06 -5.7 -7.3 1.00e+00 2 1h 9 9.4245130e+00 7.28e-10 2.15e-09 4.18e-09 -8.6 -7.8 1.00e+00 2 1h Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4245129859758592e+00 9.4245129859758592e+00 Dual infeasibility......: 2.1532158278603220e-09 2.1532158278603220e-09 Constraint violation....: 7.2846861876030289e-10 7.2846861876030289e-10 Complementarity.........: 4.1801665711183737e-09 4.1801665711183737e-09 Overall NLP error.......: 4.1801665711183737e-09 4.1801665711183737e-09 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of constraint evaluations = 10 Number of constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Number of KKT factorizations = 19 Number of KKT backsolves = 19 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.009 s Total wall secs in NLP function evaluations = 0.182 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.010 s Total wall secs = 0.202 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:438 Difference in Hessian 1 undefined exports detected. To get a list, set `broken = false`. [test_integrator] Starting... [test_integrator] constraint_dim=8, datavec_len=75, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.068s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.058s) linear index maps built (0.0s) evaluator ready (total: 0.127s) evaluator created (0.128s) 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 (0.416s) optimizer initialization complete (total: 0.544s) 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 2.1912580e+00 3.10e+00 1.75e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4586878e+00 2.39e+00 7.81e+00 -0.6 9.58e+00 -2.0 1.01e-01 5.64e-01f 1 2 1.3051651e+00 1.94e+00 1.89e+01 -0.2 3.46e+00 0.2 5.66e-01 1.87e-01f 1 3 1.3260468e+00 1.54e+00 2.38e+01 0.1 4.61e+00 -0.2 6.75e-01 2.06e-01h 1 4 1.6398976e+00 8.58e-01 2.07e+01 -4.0 7.09e+00 -0.7 3.44e-01 6.11e-01h 1 5 1.8527909e+00 3.84e-01 6.80e+00 -0.0 2.94e+00 -0.3 9.00e-01 5.68e-01f 1 6 1.8022309e+00 1.84e+00 2.67e+01 -4.0 1.86e+01 -0.8 1.03e-02 2.45e-02H 1 7 1.8751807e+00 1.49e+00 2.42e+01 0.3 2.03e+01 -0.3 3.58e-01 2.43e-01f 1 8 1.9394546e+00 7.50e-01 1.36e+01 -0.1 3.51e+00 -0.8 1.00e+00 7.52e-01h 1 9 1.9419605e+00 7.27e-01 8.08e+00 -0.1 4.97e+00 -0.4 3.97e-01 3.13e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.9813347e+00 8.36e-01 1.83e+01 0.1 2.94e+00 0.0 8.81e-01 8.11e-01f 1 11 1.9873781e+00 6.54e-01 1.55e+01 -0.0 1.94e+00 -0.4 5.59e-01 2.67e-01h 1 12 1.9900290e+00 6.28e-01 2.79e+02 -0.0 2.07e+01 -0.9 7.62e-01 4.16e-02h 3 13 1.9786544e+00 5.30e-01 6.15e+01 -0.0 5.70e+00 -1.4 1.00e+00 3.29e-01h 2 14 1.9676470e+00 4.84e-01 1.28e+02 0.3 8.68e+00 -1.0 1.00e+00 2.17e-01h 3 15 2.0411115e+00 7.88e-01 2.20e+02 1.1 2.68e+01 -0.6 8.27e-01 1.77e-01f 1 16 2.2212833e+00 2.62e+00 1.93e+02 0.8 1.53e+02 -0.1 2.62e-02 5.06e-02f 1 17 2.0292441e+00 6.76e-01 1.03e+02 0.8 4.65e+00 -0.6 1.00e+00 9.46e-01f 1 18 2.0253378e+00 3.30e-01 4.20e+01 0.8 5.26e+00 -1.1 1.00e+00 4.42e-01f 1 19 2.0098528e+00 1.80e-03 1.01e+00 -0.9 9.10e-01 -1.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.7851289e+00 3.68e-03 8.55e-03 -1.4 2.25e-01 -2.0 9.99e-01 1.00e+00f 1 21 1.4145919e+00 4.78e-03 8.24e-02 -2.4 3.10e-01 -2.5 8.75e-01 1.00e+00f 1 22 1.2175345e+00 2.96e-01 4.71e-02 -2.6 8.26e-01 -3.0 1.00e+00 1.00e+00h 1 23 1.2359430e+00 8.13e-01 3.16e-01 -2.7 6.98e+00 -3.5 7.30e-01 1.00e+00h 1 24 1.2154451e+00 3.22e-01 1.32e-01 -2.8 1.87e+00 -3.9 1.00e+00 6.59e-01h 1 25 1.1848990e+00 6.20e-02 2.73e-02 -3.6 1.56e+00 -4.4 1.00e+00 1.00e+00h 1 26 1.1707156e+00 2.83e-01 5.97e-03 -4.0 6.67e+00 -4.9 1.00e+00 1.00e+00h 1 27 1.1700416e+00 1.45e-01 3.72e-02 -4.0 1.28e+01 -5.4 1.00e+00 1.00e+00h 1 28 1.1658047e+00 3.15e-01 1.68e-02 -4.0 1.96e+01 -5.9 1.00e+00 1.00e+00h 1 29 1.1653997e+00 1.81e-01 1.81e-02 -4.0 2.84e+01 -6.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1632111e+00 3.49e-01 1.92e-02 -4.0 4.37e+01 -6.8 1.00e+00 1.00e+00h 1 31 1.1626820e+00 2.79e-01 2.45e-04 -4.0 6.28e+01 -7.3 1.00e+00 1.00e+00h 1 32 1.1615009e+00 4.29e-01 2.58e-02 -4.0 9.53e+01 -7.8 1.00e+00 1.00e+00h 1 33 1.1611075e+00 3.92e-01 1.53e-02 -4.0 1.34e+02 -8.2 1.00e+00 1.00e+00h 1 34 1.1605251e+00 4.83e-01 3.09e-02 -4.0 1.88e+02 -8.7 1.00e+00 1.00e+00h 1 35 1.1605345e+00 3.04e-01 1.09e-02 -4.0 2.09e+02 -9.2 1.00e+00 1.00e+00h 1 36 1.1608313e+00 1.22e-02 3.10e-03 -4.0 6.95e+01 -9.7 1.00e+00 1.00e+00h 1 37 1.1608494e+00 1.48e-04 4.45e-05 -4.0 4.18e+00 -10.1 1.00e+00 1.00e+00h 1 38 1.1608491e+00 6.35e-07 9.54e-08 -4.0 3.33e-01 -10.6 1.00e+00 1.00e+00h 1 39 1.1608491e+00 3.39e-11 1.96e-12 -4.0 2.39e-03 -11.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 39 (scaled) (unscaled) Objective...............: 1.1608491307850657e+00 1.1608491307850657e+00 Dual infeasibility......: 1.9587826640635880e-12 1.9587826640635880e-12 Constraint violation....: 3.3896441209435579e-11 3.3896441209435579e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000574e-04 1.0000000000000574e-04 Overall NLP error.......: 3.3896441209435579e-11 3.3896441209435579e-11 Number of objective function evaluations = 50 Number of objective gradient evaluations = 40 Number of equality constraint evaluations = 50 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 40 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 39 Total seconds in IPOPT = 29.658 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s jacobian structure: 180 nonzeros (0.095s) integrator 1 hessian structure: 0.054s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.391s sub-objective 2 (QuadraticRegularizer): 0.095s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.019s objective hessian structure: 0.612s hessian structure: 375 nonzeros (0.666s) linear index maps built (0.0s) evaluator ready (total: 0.935s) evaluator created (1.371s) NL constraint bounds extracted (0.012s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.13s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.248s) optimizer initialization complete (total: 4.762s) 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 1.3561694e+00 6.36e-01 1.11e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8685556e+00 8.26e-02 1.25e+00 -1.0 8.51e-01 0.0 9.98e-01 1.00e+00h 1 2 1.8149197e+00 2.99e-02 6.01e-01 -0.8 4.10e-01 -0.5 1.00e+00 6.38e-01h 1 3 1.6038516e+00 2.21e-02 1.57e-01 -1.4 2.40e-01 -1.0 8.81e-01 1.00e+00f 1 4 1.2697700e+00 1.33e-02 2.10e-01 -4.0 3.14e+00 - 5.85e-01 6.59e-01f 1 5 1.1167593e+00 5.59e-04 1.71e-01 -3.1 2.23e+00 - 9.94e-01 1.00e+00h 1 6 1.0919681e+00 3.04e-07 8.61e-02 -3.9 1.41e+00 - 1.00e+00 1.00e+00f 1 7 1.0910337e+00 2.44e-09 1.90e-03 -4.0 3.46e-01 - 1.00e+00 1.00e+00f 1 8 1.0910386e+00 4.28e-14 1.03e-05 -4.0 4.62e-02 - 1.00e+00 1.00e+00f 1 9 1.0910386e+00 3.70e-23 4.88e-05 -4.0 3.35e-01 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910387e+00 8.88e-16 1.41e-04 -4.0 1.47e-01 - 1.00e+00 1.00e+00f 1 11 1.0908587e+00 8.88e-16 1.21e-06 -4.1 2.18e-03 - 1.00e+00 1.00e+00f 1 12 1.0910386e+00 1.03e-35 2.68e-09 -4.0 4.36e-04 - 1.00e+00 1.00e+00f 1 13 1.0908587e+00 1.78e-15 7.25e-10 -4.1 5.86e-05 - 1.00e+00 1.00e+00f 1 14 1.0910386e+00 1.78e-15 7.25e-10 -4.0 3.58e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 14 (scaled) (unscaled) Objective...............: 1.0910385864132179e+00 1.0910385864132179e+00 Dual infeasibility......: 7.2544506095643599e-10 7.2544506095643599e-10 Constraint violation....: 1.7763568394002505e-15 1.7763568394002505e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000292249732752e-04 1.0000292249732752e-04 Overall NLP error.......: 2.9224973275139522e-09 2.9224973275139522e-09 Number of objective function evaluations = 15 Number of objective gradient evaluations = 15 Number of equality constraint evaluations = 15 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 15 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 14 Total seconds in IPOPT = 24.751 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: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.041s jacobian structure: 1600 nonzeros (3.11s) integrator 1 hessian structure: 0.058s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.178s 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 (4.238s) linear index maps built (0.0s) evaluator ready (total: 7.348s) evaluator created (7.381s) 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: 7.399s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.2493394e+00 2.32e+00 5.72e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.9328974e+00 1.02e-01 1.78e+00 -0.9 1.84e+00 0.0 9.52e-01 9.56e-01f 1 Hello, world! 2 2.4986584e+00 1.52e-02 8.29e-01 -1.0 3.12e-01 0.4 9.41e-01 1.00e+00h 1 Hello, world! 3 2.4348157e+00 1.06e-03 3.01e-01 -1.7 1.07e-01 -0.1 9.94e-01 1.00e+00h 1 Hello, world! 4 2.1976084e+00 6.82e-03 1.14e-01 -1.9 2.09e-01 -0.5 9.62e-01 1.00e+00f 1 Hello, world! 5 2.1390048e+00 3.60e-03 2.83e-01 -2.9 6.47e-02 -1.0 9.99e-01 4.96e-01h 1 Hello, world! 6 2.0924647e+00 1.91e-04 1.90e-02 -4.0 2.37e-02 -1.5 1.00e+00 9.47e-01h 1 Hello, world! 7 2.0909065e+00 1.56e-06 1.90e-03 -4.0 1.67e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908944e+00 9.08e-09 7.81e-05 -4.0 2.14e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908902e+00 3.14e-10 1.61e-05 -4.0 1.32e-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 2.0908863e+00 5.60e-10 1.60e-05 -4.0 3.95e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908763e+00 4.01e-09 1.58e-05 -4.0 1.16e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908487e+00 3.25e-08 2.89e-05 -4.0 3.37e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907720e+00 2.73e-07 8.41e-05 -4.0 9.68e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0904858e+00 3.05e-06 8.63e-04 -4.0 3.11e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0896699e+00 3.03e-05 2.69e-03 -4.0 9.58e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0889293e+00 4.40e-05 8.06e-02 -4.0 3.18e+01 -6.3 1.00e+00 2.40e-01h 1 Hello, world! 17 2.0850158e+00 1.36e-03 4.84e-02 -4.0 5.90e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0840646e+00 7.20e-04 2.51e-02 -4.0 1.96e+01 -6.3 1.00e+00 4.86e-01h 1 Hello, world! 19 2.0828994e+00 1.14e-04 2.04e-02 -4.0 2.38e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0828822e+00 4.26e-04 1.53e-02 -4.0 5.46e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823296e+00 7.01e-04 8.53e-03 -4.0 1.30e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0823348e+00 1.03e-03 2.94e-02 -4.0 8.97e+01 -7.3 8.13e-01 1.00e+00h 1 Hello, world! 23 2.0822052e+00 1.47e-03 1.93e+00 -4.0 5.61e+01 -6.0 1.00e+00 1.61e-01h 2 Hello, world! 24 2.0824776e+00 2.17e-04 1.24e+00 -4.0 7.23e+00 -5.6 5.71e-01 1.00e+00h 1 Hello, world! 25 2.0827361e+00 7.19e-05 8.28e-01 -3.6 3.75e-01 -2.4 5.15e-01 6.78e-01h 1 Hello, world! 26 2.0825245e+00 6.45e-05 1.33e+00 -3.8 8.96e-01 -2.9 1.00e+00 1.06e-01h 1 Hello, world! 27 2.0822683e+00 2.97e-06 1.39e-03 -4.0 6.58e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0822653e+00 7.65e-06 2.95e-04 -4.0 9.06e-02 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0822718e+00 5.24e-06 1.46e-05 -4.0 2.61e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0822165e+00 5.54e-06 4.77e-04 -4.0 9.28e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0821485e+00 1.78e-05 1.82e-03 -4.0 1.45e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0821538e+00 5.59e-06 5.41e-04 -4.0 8.68e-01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0821746e+00 1.60e-05 1.25e-04 -4.0 1.79e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0819445e+00 1.60e-04 7.41e-04 -4.1 8.41e+00 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0820973e+00 2.91e-04 1.79e-03 -4.0 1.43e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0817488e+00 9.16e-04 1.62e-03 -4.1 3.75e+01 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818918e+00 1.27e-03 5.32e-03 -4.0 5.39e+01 -8.1 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0815913e+00 1.23e-03 2.83e-03 -4.1 5.53e+01 -8.6 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818452e+00 6.25e-04 4.40e-04 -4.0 2.67e+01 -9.1 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818434e+00 1.24e-06 1.57e-05 -4.0 4.75e+00 -9.6 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0818434e+00 1.67e-09 7.72e-08 -4.0 3.48e-01 -10.1 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0818434e+00 9.26e-13 1.00e-09 -4.0 8.96e-03 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 42 (scaled) (unscaled) Objective...............: 2.0818434105344945e+00 2.0818434105344945e+00 Dual infeasibility......: 1.0000000041086084e-09 1.0000000041086084e-09 Constraint violation....: 9.2637009174723062e-13 9.2637009174723062e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.0000000041086084e-09 1.0000000041086084e-09 Number of objective function evaluations = 46 Number of objective gradient evaluations = 43 Number of equality constraint evaluations = 46 Number of inequality constraint evaluations = 46 Number of equality constraint Jacobian evaluations = 43 Number of inequality constraint Jacobian evaluations = 43 Number of Lagrangian Hessian evaluations = 42 Total seconds in IPOPT = 31.771 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) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.2493394e+00 2.32e+00 5.72e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.9328974e+00 1.02e-01 1.78e+00 -0.9 1.84e+00 0.0 9.52e-01 9.56e-01f 1 Hello, world! 2 2.4986584e+00 1.52e-02 8.29e-01 -1.0 3.12e-01 0.4 9.41e-01 1.00e+00h 1 Hello, world! 3 2.4348157e+00 1.06e-03 3.01e-01 -1.7 1.07e-01 -0.1 9.94e-01 1.00e+00h 1 Hello, world! 4 2.1976084e+00 6.82e-03 1.14e-01 -1.9 2.09e-01 -0.5 9.62e-01 1.00e+00f 1 Hello, world! 5 2.1390048e+00 3.60e-03 2.83e-01 -2.9 6.47e-02 -1.0 9.99e-01 4.96e-01h 1 Hello, world! 6 2.0924647e+00 1.91e-04 1.90e-02 -4.0 2.37e-02 -1.5 1.00e+00 9.47e-01h 1 Hello, world! 7 2.0909065e+00 1.56e-06 1.90e-03 -4.0 1.67e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908944e+00 9.08e-09 7.81e-05 -4.0 2.14e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908902e+00 3.14e-10 1.61e-05 -4.0 1.32e-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 2.0908863e+00 5.60e-10 1.60e-05 -4.0 3.95e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908763e+00 4.01e-09 1.58e-05 -4.0 1.16e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908487e+00 3.25e-08 2.89e-05 -4.0 3.37e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907720e+00 2.73e-07 8.41e-05 -4.0 9.68e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0904858e+00 3.05e-06 8.63e-04 -4.0 3.11e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0896699e+00 3.03e-05 2.69e-03 -4.0 9.58e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0889293e+00 4.40e-05 8.06e-02 -4.0 3.18e+01 -6.3 1.00e+00 2.40e-01h 1 Hello, world! 17 2.0850158e+00 1.36e-03 4.84e-02 -4.0 5.90e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0840646e+00 7.20e-04 2.51e-02 -4.0 1.96e+01 -6.3 1.00e+00 4.86e-01h 1 Hello, world! 19 2.0828994e+00 1.14e-04 2.04e-02 -4.0 2.38e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0828822e+00 4.26e-04 1.53e-02 -4.0 5.46e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823296e+00 7.01e-04 8.53e-03 -4.0 1.30e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0823348e+00 1.03e-03 2.94e-02 -4.0 8.97e+01 -7.3 8.13e-01 1.00e+00h 1 Hello, world! 23 2.0822052e+00 1.47e-03 1.93e+00 -4.0 5.61e+01 -6.0 1.00e+00 1.61e-01h 2 Hello, world! 24 2.0824776e+00 2.17e-04 1.24e+00 -4.0 7.23e+00 -5.6 5.71e-01 1.00e+00h 1 Hello, world! 25 2.0827361e+00 7.19e-05 8.28e-01 -3.6 3.75e-01 -2.4 5.15e-01 6.78e-01h 1 Hello, world! 26 2.0825245e+00 6.45e-05 1.33e+00 -3.8 8.96e-01 -2.9 1.00e+00 1.06e-01h 1 Hello, world! 27 2.0822683e+00 2.97e-06 1.39e-03 -4.0 6.58e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0822653e+00 7.65e-06 2.95e-04 -4.0 9.06e-02 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0822718e+00 5.24e-06 1.46e-05 -4.0 2.61e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0822165e+00 5.54e-06 4.77e-04 -4.0 9.28e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0821485e+00 1.78e-05 1.82e-03 -4.0 1.45e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0821538e+00 5.59e-06 5.41e-04 -4.0 8.68e-01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0821746e+00 1.60e-05 1.25e-04 -4.0 1.79e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0819445e+00 1.60e-04 7.41e-04 -4.1 8.41e+00 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0820973e+00 2.91e-04 1.79e-03 -4.0 1.43e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0817488e+00 9.16e-04 1.62e-03 -4.1 3.75e+01 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818918e+00 1.27e-03 5.32e-03 -4.0 5.39e+01 -8.1 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0815913e+00 1.23e-03 2.83e-03 -4.1 5.53e+01 -8.6 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818452e+00 6.25e-04 4.40e-04 -4.0 2.67e+01 -9.1 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818434e+00 1.24e-06 1.57e-05 -4.0 4.75e+00 -9.6 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0818434e+00 1.67e-09 7.72e-08 -4.0 3.48e-01 -10.1 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0818434e+00 9.26e-13 1.00e-09 -4.0 8.96e-03 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 42 (scaled) (unscaled) Objective...............: 2.0818434105344945e+00 2.0818434105344945e+00 Dual infeasibility......: 1.0000000041086084e-09 1.0000000041086084e-09 Constraint violation....: 9.2637009174723062e-13 9.2637009174723062e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.0000000041086084e-09 1.0000000041086084e-09 Number of objective function evaluations = 46 Number of objective gradient evaluations = 43 Number of equality constraint evaluations = 46 Number of inequality constraint evaluations = 46 Number of equality constraint Jacobian evaluations = 43 Number of inequality constraint Jacobian evaluations = 43 Number of Lagrangian Hessian evaluations = 42 Total seconds in IPOPT = 0.768 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.071s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.992s jacobian structure: 1600 nonzeros (3.064s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.294s 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 (4.35s) linear index maps built (0.0s) evaluator ready (total: 7.414s) evaluator created (7.443s) 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: 7.444s) 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 1.5225051e+00 2.36e+00 7.32e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6496882e+00 1.10e+00 1.23e+00 -1.0 2.49e+00 0.0 8.28e-01 5.35e-01h 1 2 2.2869388e+00 1.03e+00 4.81e+01 1.0 1.96e+01 -0.5 2.89e-01 1.96e-02f 1 3 3.7075205e+00 2.85e-01 3.37e+01 0.5 1.89e+00 -1.0 6.90e-01 1.00e+00f 1 4 3.6501246e+00 5.15e-02 6.64e+00 -0.2 7.94e-01 -0.5 9.95e-01 1.00e+00h 1 5 3.4546327e+00 9.04e-04 7.20e-01 -0.9 5.66e-02 0.8 9.26e-01 1.00e+00h 1 6 2.8951056e+00 3.97e-03 2.24e-01 -1.3 1.06e-01 0.3 9.86e-01 1.00e+00f 1 7 2.2880939e+00 5.20e-03 9.71e-02 -1.9 1.60e-01 -0.2 9.44e-01 7.74e-01f 1 8 2.1063348e+00 1.20e-03 5.64e-02 -2.8 6.20e-02 -0.6 9.93e-01 9.08e-01h 1 9 2.0908177e+00 5.21e-06 4.13e-04 -4.0 3.00e-03 -1.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908965e+00 3.09e-08 7.83e-05 -4.0 3.01e-03 -1.6 1.00e+00 1.00e+00h 1 11 2.0908959e+00 2.17e-11 5.51e-05 -4.0 6.35e-03 -2.1 1.00e+00 1.00e+00h 1 12 2.0908945e+00 2.85e-11 2.42e-05 -4.0 8.35e-03 -2.5 1.00e+00 1.00e+00h 1 13 2.0908920e+00 1.79e-10 1.99e-05 -4.0 2.07e-02 -3.0 1.00e+00 1.00e+00h 1 14 2.0908856e+00 1.39e-09 1.94e-05 -4.0 6.06e-02 -3.5 1.00e+00 1.00e+00h 1 15 2.0908692e+00 1.05e-08 2.60e-05 -4.0 1.71e-01 -4.0 1.00e+00 1.00e+00h 1 16 2.0908316e+00 6.75e-08 1.46e-04 -4.0 4.55e-01 -4.4 1.00e+00 1.00e+00h 1 17 2.0907408e+00 5.22e-07 5.61e-04 -4.0 1.20e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0904829e+00 4.85e-06 5.18e-04 -4.0 3.77e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0903725e+00 6.38e-07 4.73e-04 -4.0 1.39e+00 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0902296e+00 1.26e-06 1.48e-02 -4.0 5.46e+00 -5.5 1.00e+00 2.60e-01h 2 21 2.0891505e+00 5.21e-05 1.79e-03 -4.0 1.26e+01 -5.9 1.00e+00 1.00e+00h 1 22 2.0865943e+00 3.94e-04 1.97e-02 -4.0 3.42e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0856768e+00 3.84e-04 2.36e-01 -4.0 9.80e+01 -6.9 1.00e+00 1.16e-01h 1 24 2.0827507e+00 1.11e-03 7.85e-02 -4.0 7.17e+01 -7.4 1.00e+00 7.65e-01h 1 25 2.0825836e+00 2.59e-03 4.73e-02 -4.0 1.42e+02 -7.8 9.98e-01 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0825836386929306e+00 2.0825836386929306e+00 Dual infeasibility......: 4.7302222296874211e-02 4.7302222296874211e-02 Constraint violation....: 2.5865223342020349e-03 2.5865223342020349e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.5532741906894096e-04 3.5532741906894096e-04 Overall NLP error.......: 4.7302222296874211e-02 4.7302222296874211e-02 Number of objective function evaluations = 29 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 29 Number of inequality constraint evaluations = 29 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 30.042 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.5225051e+00 2.36e+00 7.32e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6496882e+00 1.10e+00 1.23e+00 -1.0 2.49e+00 0.0 8.28e-01 5.35e-01h 1 2 2.2869388e+00 1.03e+00 4.81e+01 1.0 1.96e+01 -0.5 2.89e-01 1.96e-02f 1 3 3.7075205e+00 2.85e-01 3.37e+01 0.5 1.89e+00 -1.0 6.90e-01 1.00e+00f 1 4 3.6501246e+00 5.15e-02 6.64e+00 -0.2 7.94e-01 -0.5 9.95e-01 1.00e+00h 1 5 3.4546327e+00 9.04e-04 7.20e-01 -0.9 5.66e-02 0.8 9.26e-01 1.00e+00h 1 6 2.8951056e+00 3.97e-03 2.24e-01 -1.3 1.06e-01 0.3 9.86e-01 1.00e+00f 1 7 2.2880939e+00 5.20e-03 9.71e-02 -1.9 1.60e-01 -0.2 9.44e-01 7.74e-01f 1 8 2.1063348e+00 1.20e-03 5.64e-02 -2.8 6.20e-02 -0.6 9.93e-01 9.08e-01h 1 9 2.0908177e+00 5.21e-06 4.13e-04 -4.0 3.00e-03 -1.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908965e+00 3.09e-08 7.83e-05 -4.0 3.01e-03 -1.6 1.00e+00 1.00e+00h 1 11 2.0908959e+00 2.17e-11 5.51e-05 -4.0 6.35e-03 -2.1 1.00e+00 1.00e+00h 1 12 2.0908945e+00 2.85e-11 2.42e-05 -4.0 8.35e-03 -2.5 1.00e+00 1.00e+00h 1 13 2.0908920e+00 1.79e-10 1.99e-05 -4.0 2.07e-02 -3.0 1.00e+00 1.00e+00h 1 14 2.0908856e+00 1.39e-09 1.94e-05 -4.0 6.06e-02 -3.5 1.00e+00 1.00e+00h 1 15 2.0908692e+00 1.05e-08 2.60e-05 -4.0 1.71e-01 -4.0 1.00e+00 1.00e+00h 1 16 2.0908316e+00 6.75e-08 1.46e-04 -4.0 4.55e-01 -4.4 1.00e+00 1.00e+00h 1 17 2.0907408e+00 5.22e-07 5.61e-04 -4.0 1.20e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0904829e+00 4.85e-06 5.18e-04 -4.0 3.77e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0903725e+00 6.38e-07 4.73e-04 -4.0 1.39e+00 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0902296e+00 1.26e-06 1.48e-02 -4.0 5.46e+00 -5.5 1.00e+00 2.60e-01h 2 21 2.0891505e+00 5.21e-05 1.79e-03 -4.0 1.26e+01 -5.9 1.00e+00 1.00e+00h 1 22 2.0865943e+00 3.94e-04 1.97e-02 -4.0 3.42e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0856768e+00 3.84e-04 2.36e-01 -4.0 9.80e+01 -6.9 1.00e+00 1.16e-01h 1 24 2.0827507e+00 1.11e-03 7.85e-02 -4.0 7.17e+01 -7.4 1.00e+00 7.65e-01h 1 25 2.0825836e+00 2.59e-03 4.73e-02 -4.0 1.42e+02 -7.8 9.98e-01 1.00e+00h 1 26 2.0829145e+00 8.28e-04 1.94e-02 -4.0 2.81e+01 -6.5 1.00e+00 1.00e+00h 1 27 2.0826765e+00 9.83e-04 5.25e-03 -4.0 6.94e+01 -7.0 6.07e-01 1.00e+00h 1 28 2.0824998e+00 4.10e-06 5.92e-04 -4.0 2.81e-01 -4.8 1.00e+00 1.00e+00h 1 29 2.0824587e+00 6.47e-06 3.09e-04 -4.0 1.39e+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 30 2.0822126e+00 5.00e-05 7.20e-04 -4.0 5.00e+00 -5.7 1.00e+00 1.00e+00h 1 31 2.0832706e+00 4.80e-05 1.12e-01 -4.0 1.85e+01 -6.2 1.00e+00 2.33e-01h 1 32 2.0820433e+00 1.10e-04 1.17e-02 -4.1 9.74e+00 -6.7 1.00e+00 1.00e+00f 1 33 2.0821372e+00 4.00e-04 2.33e-03 -4.0 1.51e+01 -7.1 1.00e+00 1.00e+00h 1 34 2.0817689e+00 9.86e-04 1.91e-03 -4.1 3.82e+01 -7.6 1.00e+00 1.00e+00h 1 35 2.0819046e+00 1.31e-03 6.13e-03 -4.0 5.37e+01 -8.1 1.00e+00 1.00e+00h 1 36 2.0815939e+00 1.33e-03 3.53e-03 -4.1 5.85e+01 -8.6 1.00e+00 1.00e+00h 1 37 2.0818455e+00 7.28e-04 5.64e-04 -4.0 3.10e+01 -9.0 1.00e+00 1.00e+00h 1 38 2.0818435e+00 2.04e-06 2.56e-05 -4.0 6.13e+00 -9.5 1.00e+00 1.00e+00h 1 39 2.0818434e+00 3.56e-09 1.57e-07 -4.0 4.99e-01 -10.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818434e+00 2.44e-12 1.00e-09 -4.0 1.43e-02 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 40 (scaled) (unscaled) Objective...............: 2.0818434105383008e+00 2.0818434105383008e+00 Dual infeasibility......: 1.0000000068462189e-09 1.0000000068462189e-09 Constraint violation....: 2.4424906541753444e-12 2.4424906541753444e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000037e-04 1.0000000000000037e-04 Overall NLP error.......: 1.0000000068462189e-09 1.0000000068462189e-09 Number of objective function evaluations = 44 Number of objective gradient evaluations = 41 Number of equality constraint evaluations = 44 Number of inequality constraint evaluations = 44 Number of equality constraint Jacobian evaluations = 41 Number of inequality constraint Jacobian evaluations = 41 Number of Lagrangian Hessian evaluations = 40 Total seconds in IPOPT = 0.610 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.5225051e+00 2.36e+00 7.32e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6496882e+00 1.10e+00 1.23e+00 -1.0 2.49e+00 0.0 8.28e-01 5.35e-01h 1 2 2.2869388e+00 1.03e+00 4.81e+01 1.0 1.96e+01 -0.5 2.89e-01 1.96e-02f 1 3 3.7075205e+00 2.85e-01 3.37e+01 0.5 1.89e+00 -1.0 6.90e-01 1.00e+00f 1 4 3.6501246e+00 5.15e-02 6.64e+00 -0.2 7.94e-01 -0.5 9.95e-01 1.00e+00h 1 5 3.4546327e+00 9.04e-04 7.20e-01 -0.9 5.66e-02 0.8 9.26e-01 1.00e+00h 1 6 2.8951056e+00 3.97e-03 2.24e-01 -1.3 1.06e-01 0.3 9.86e-01 1.00e+00f 1 7 2.2880939e+00 5.20e-03 9.71e-02 -1.9 1.60e-01 -0.2 9.44e-01 7.74e-01f 1 8 2.1063348e+00 1.20e-03 5.64e-02 -2.8 6.20e-02 -0.6 9.93e-01 9.08e-01h 1 9 2.0908177e+00 5.21e-06 4.13e-04 -4.0 3.00e-03 -1.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908965e+00 3.09e-08 7.83e-05 -4.0 3.01e-03 -1.6 1.00e+00 1.00e+00h 1 11 2.0908959e+00 2.17e-11 5.51e-05 -4.0 6.35e-03 -2.1 1.00e+00 1.00e+00h 1 12 2.0908945e+00 2.85e-11 2.42e-05 -4.0 8.35e-03 -2.5 1.00e+00 1.00e+00h 1 13 2.0908920e+00 1.79e-10 1.99e-05 -4.0 2.07e-02 -3.0 1.00e+00 1.00e+00h 1 14 2.0908856e+00 1.39e-09 1.94e-05 -4.0 6.06e-02 -3.5 1.00e+00 1.00e+00h 1 15 2.0908692e+00 1.05e-08 2.60e-05 -4.0 1.71e-01 -4.0 1.00e+00 1.00e+00h 1 16 2.0908316e+00 6.75e-08 1.46e-04 -4.0 4.55e-01 -4.4 1.00e+00 1.00e+00h 1 17 2.0907408e+00 5.22e-07 5.61e-04 -4.0 1.20e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0904829e+00 4.85e-06 5.18e-04 -4.0 3.77e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0903725e+00 6.38e-07 4.73e-04 -4.0 1.39e+00 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0902296e+00 1.26e-06 1.48e-02 -4.0 5.46e+00 -5.5 1.00e+00 2.60e-01h 2 21 2.0891505e+00 5.21e-05 1.79e-03 -4.0 1.26e+01 -5.9 1.00e+00 1.00e+00h 1 22 2.0865943e+00 3.94e-04 1.97e-02 -4.0 3.42e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0856768e+00 3.84e-04 2.36e-01 -4.0 9.80e+01 -6.9 1.00e+00 1.16e-01h 1 24 2.0827507e+00 1.11e-03 7.85e-02 -4.0 7.17e+01 -7.4 1.00e+00 7.65e-01h 1 25 2.0825836e+00 2.59e-03 4.73e-02 -4.0 1.42e+02 -7.8 9.98e-01 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0825836386929306e+00 2.0825836386929306e+00 Dual infeasibility......: 4.7302222296874211e-02 4.7302222296874211e-02 Constraint violation....: 2.5865223342020349e-03 2.5865223342020349e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.5532741906894096e-04 3.5532741906894096e-04 Overall NLP error.......: 4.7302222296874211e-02 4.7302222296874211e-02 Number of objective function evaluations = 29 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 29 Number of inequality constraint evaluations = 29 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 0.845 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.074s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.235s jacobian structure: 1600 nonzeros (3.31s) integrator 1 hessian structure: 0.056s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 5.46s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (5.518s) linear index maps built (0.0s) evaluator ready (total: 8.828s) evaluator created (8.86s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 8.86s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4511042e+00 3.54e+00 8.22e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.5872454e+00 7.21e-01 1.96e+00 -0.7 2.05e+00 0.0 1.00e+00 7.98e-01f 1 Hello, world! 2 2.6600675e+00 2.84e-02 1.05e+00 -1.1 5.55e-01 -0.5 8.05e-01 1.00e+00h 1 Hello, world! 3 2.5539398e+00 1.61e-02 1.10e+00 -1.2 2.42e-01 -1.0 9.60e-01 4.35e-01h 1 Hello, world! 4 2.2125411e+00 1.76e-02 1.75e-01 -2.0 4.48e-01 -1.4 1.00e+00 1.00e+00h 1 Hello, world! 5 2.1068806e+00 3.64e-03 3.22e-02 -3.1 2.13e-01 -1.9 9.99e-01 9.04e-01h 1 Hello, world! 6 2.0911206e+00 2.95e-05 5.15e-04 -4.0 1.32e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908720e+00 4.78e-07 1.68e-05 -4.0 1.23e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908692e+00 7.42e-10 1.66e-05 -4.0 3.64e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908610e+00 3.18e-09 1.63e-05 -4.0 1.07e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908380e+00 2.56e-08 4.61e-05 -4.0 3.05e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907739e+00 2.25e-07 1.99e-04 -4.0 8.52e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0905854e+00 2.21e-06 2.69e-04 -4.0 2.52e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0905085e+00 3.25e-07 2.52e-04 -4.0 9.83e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0901711e+00 4.14e-06 1.33e-03 -4.0 3.39e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0896059e+00 3.66e-05 7.63e-03 -4.0 1.01e+01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0889680e+00 3.56e-05 6.63e-02 -4.0 1.33e+01 -5.4 1.00e+00 2.91e-01h 1 Hello, world! 17 2.0881315e+00 4.38e-05 1.11e-02 -4.0 1.10e+01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0868376e+00 9.70e-05 4.20e-02 -4.0 2.81e+01 -6.3 1.00e+00 5.36e-01h 1 Hello, world! 19 2.0838831e+00 8.95e-04 4.32e-02 -4.0 5.11e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827576e+00 3.36e-04 1.13e-02 -4.0 5.21e+01 -7.3 1.00e+00 5.92e-01h 1 Hello, world! 21 2.0825364e+00 9.70e-04 2.98e-02 -4.0 1.31e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0826054e+00 2.32e-03 4.17e-02 -4.0 1.25e+02 -7.3 9.84e-01 1.00e+00h 1 Hello, world! 23 2.0825138e+00 2.04e-05 3.88e-04 -4.0 7.66e-01 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0824175e+00 1.69e-05 2.14e-04 -4.0 2.30e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0821712e+00 5.56e-05 6.94e-04 -4.0 7.60e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0821353e+00 6.21e-05 3.38e-03 -4.0 5.05e+01 -6.5 9.93e-02 8.85e-02h 4 Hello, world! 27 2.0821661e+00 7.95e-05 8.74e-01 -4.0 2.63e+01 -5.2 1.80e-01 3.93e-02h 2 Hello, world! 28 2.0819923e+00 1.15e-04 4.60e-02 -4.1 1.87e+00 -5.7 1.00e+00 6.93e-01h 1 Hello, world! 29 2.0822015e+00 1.22e-04 8.20e-04 -4.0 3.19e+00 -6.1 1.00e+00 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0819935e+00 2.35e-04 1.98e-03 -4.1 6.66e+00 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0819127e+00 8.00e-05 1.00e-03 -4.1 1.54e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0820344e+00 6.20e-04 2.99e-03 -4.0 2.86e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0816640e+00 1.38e-03 4.42e-03 -4.1 5.36e+01 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0818572e+00 1.47e-03 4.05e-03 -4.0 6.15e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818448e+00 5.21e-05 6.98e-04 -4.0 3.44e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818435e+00 1.44e-06 4.09e-05 -4.0 8.28e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818434e+00 8.87e-09 3.49e-07 -4.0 7.45e-01 -10.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818434e+00 7.02e-12 1.00e-09 -4.0 2.38e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 38 (scaled) (unscaled) Objective...............: 2.0818434105459449e+00 2.0818434105459449e+00 Dual infeasibility......: 1.0000000116167085e-09 1.0000000116167085e-09 Constraint violation....: 7.0210504077294900e-12 7.0210504077294900e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000045e-04 1.0000000000000045e-04 Overall NLP error.......: 1.0000000116167085e-09 1.0000000116167085e-09 Number of objective function evaluations = 47 Number of objective gradient evaluations = 39 Number of equality constraint evaluations = 47 Number of inequality constraint evaluations = 47 Number of equality constraint Jacobian evaluations = 39 Number of inequality constraint Jacobian evaluations = 39 Number of Lagrangian Hessian evaluations = 38 Total seconds in IPOPT = 31.087 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.002s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4511042e+00 3.54e+00 8.22e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.5872454e+00 7.21e-01 1.96e+00 -0.7 2.05e+00 0.0 1.00e+00 7.98e-01f 1 Hello, world! 2 2.6600675e+00 2.84e-02 1.05e+00 -1.1 5.55e-01 -0.5 8.05e-01 1.00e+00h 1 Hello, world! 3 2.5539398e+00 1.61e-02 1.10e+00 -1.2 2.42e-01 -1.0 9.60e-01 4.35e-01h 1 Hello, world! 4 2.2125411e+00 1.76e-02 1.75e-01 -2.0 4.48e-01 -1.4 1.00e+00 1.00e+00h 1 Hello, world! 5 2.1068806e+00 3.64e-03 3.22e-02 -3.1 2.13e-01 -1.9 9.99e-01 9.04e-01h 1 Hello, world! 6 2.0911206e+00 2.95e-05 5.15e-04 -4.0 1.32e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908720e+00 4.78e-07 1.68e-05 -4.0 1.23e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908692e+00 7.42e-10 1.66e-05 -4.0 3.64e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908610e+00 3.18e-09 1.63e-05 -4.0 1.07e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908380e+00 2.56e-08 4.61e-05 -4.0 3.05e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907739e+00 2.25e-07 1.99e-04 -4.0 8.52e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0905854e+00 2.21e-06 2.69e-04 -4.0 2.52e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0905085e+00 3.25e-07 2.52e-04 -4.0 9.83e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0901711e+00 4.14e-06 1.33e-03 -4.0 3.39e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0896059e+00 3.66e-05 7.63e-03 -4.0 1.01e+01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0889680e+00 3.56e-05 6.63e-02 -4.0 1.33e+01 -5.4 1.00e+00 2.91e-01h 1 Hello, world! 17 2.0881315e+00 4.38e-05 1.11e-02 -4.0 1.10e+01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0868376e+00 9.70e-05 4.20e-02 -4.0 2.81e+01 -6.3 1.00e+00 5.36e-01h 1 Hello, world! 19 2.0838831e+00 8.95e-04 4.32e-02 -4.0 5.11e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827576e+00 3.36e-04 1.13e-02 -4.0 5.21e+01 -7.3 1.00e+00 5.92e-01h 1 Hello, world! 21 2.0825364e+00 9.70e-04 2.98e-02 -4.0 1.31e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0826054e+00 2.32e-03 4.17e-02 -4.0 1.25e+02 -7.3 9.84e-01 1.00e+00h 1 Hello, world! 23 2.0825138e+00 2.04e-05 3.88e-04 -4.0 7.66e-01 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0824175e+00 1.69e-05 2.14e-04 -4.0 2.30e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0821712e+00 5.56e-05 6.94e-04 -4.0 7.60e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0821353e+00 6.21e-05 3.38e-03 -4.0 5.05e+01 -6.5 9.93e-02 8.85e-02h 4 Hello, world! 27 2.0821661e+00 7.95e-05 8.74e-01 -4.0 2.63e+01 -5.2 1.80e-01 3.93e-02h 2 Hello, world! 28 2.0819923e+00 1.15e-04 4.60e-02 -4.1 1.87e+00 -5.7 1.00e+00 6.93e-01h 1 Hello, world! 29 2.0822015e+00 1.22e-04 8.20e-04 -4.0 3.19e+00 -6.1 1.00e+00 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0819935e+00 2.35e-04 1.98e-03 -4.1 6.66e+00 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0819127e+00 8.00e-05 1.00e-03 -4.1 1.54e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0820344e+00 6.20e-04 2.99e-03 -4.0 2.86e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0816640e+00 1.38e-03 4.42e-03 -4.1 5.36e+01 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0818572e+00 1.47e-03 4.05e-03 -4.0 6.15e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818448e+00 5.21e-05 6.98e-04 -4.0 3.44e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818435e+00 1.44e-06 4.09e-05 -4.0 8.28e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818434e+00 8.87e-09 3.49e-07 -4.0 7.45e-01 -10.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818434e+00 7.02e-12 1.00e-09 -4.0 2.38e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 38 (scaled) (unscaled) Objective...............: 2.0818434105459449e+00 2.0818434105459449e+00 Dual infeasibility......: 1.0000000116167085e-09 1.0000000116167085e-09 Constraint violation....: 7.0210504077294900e-12 7.0210504077294900e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000045e-04 1.0000000000000045e-04 Overall NLP error.......: 1.0000000116167085e-09 1.0000000116167085e-09 Number of objective function evaluations = 47 Number of objective gradient evaluations = 39 Number of equality constraint evaluations = 47 Number of inequality constraint evaluations = 47 Number of equality constraint Jacobian evaluations = 39 Number of inequality constraint Jacobian evaluations = 39 Number of Lagrangian Hessian evaluations = 38 Total seconds in IPOPT = 0.535 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.076s jacobian structure: 1600 nonzeros (3.144s) integrator 1 hessian structure: 0.056s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.423s 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 (4.482s) linear index maps built (0.0s) evaluator ready (total: 7.626s) evaluator created (7.655s) 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: 7.657s) 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 5.7818754e+00 2.03e+00 2.15e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8418999e+00 8.82e-02 3.15e+00 -0.9 1.87e+00 0.0 9.39e-01 1.00e+00f 1 2 2.5315694e+00 1.32e-02 9.71e-01 -1.2 1.99e-01 0.4 9.96e-01 9.22e-01h 1 3 2.2989326e+00 7.38e-03 1.88e-01 -2.0 1.19e-01 -0.1 9.92e-01 1.00e+00h 1 4 2.1462599e+00 2.65e-03 1.97e-01 -2.8 1.40e-01 -0.5 1.00e+00 6.38e-01h 1 5 2.1044175e+00 7.59e-04 8.41e-02 -3.9 5.09e-02 -1.0 1.00e+00 7.14e-01h 1 6 2.0911652e+00 4.74e-05 3.12e-02 -4.0 1.87e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0910022e+00 1.33e-07 8.61e-04 -4.0 6.74e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0910021e+00 8.25e-09 2.98e-05 -4.0 8.09e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909982e+00 3.94e-10 2.72e-05 -4.0 2.23e-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 2.0909895e+00 2.01e-09 2.70e-05 -4.0 6.65e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909642e+00 1.73e-08 4.56e-05 -4.0 1.96e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908997e+00 1.28e-07 3.66e-04 -4.0 5.29e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908126e+00 3.80e-07 1.36e-03 -4.0 1.05e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0906119e+00 2.85e-06 1.92e-03 -4.0 3.06e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0900443e+00 2.85e-05 6.96e-04 -4.0 9.30e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0897353e+00 4.75e-06 2.02e-03 -4.0 3.44e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0889201e+00 3.76e-05 2.50e-03 -4.0 1.03e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0884998e+00 9.79e-06 1.31e-03 -4.0 4.27e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0876281e+00 4.73e-05 2.40e-03 -4.0 1.15e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0863416e+00 1.14e-04 4.45e-02 -4.0 2.97e+01 -6.4 1.00e+00 5.15e-01h 1 21 2.0834775e+00 9.22e-04 4.36e-02 -4.0 5.10e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0826307e+00 2.62e-04 1.81e-02 -4.0 5.75e+01 -7.3 1.00e+00 6.70e-01h 1 23 2.0823716e+00 3.52e-04 1.39e-02 -4.0 1.47e+02 -7.8 8.95e-01 1.00e+00h 1 24 2.0826069e+00 4.75e-04 1.07e-02 -4.0 2.10e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0824884e+00 1.63e-04 1.02e-02 -4.0 4.95e+01 -6.9 6.44e-01 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0824884286859788e+00 2.0824884286859788e+00 Dual infeasibility......: 1.0206237081961186e-02 1.0206237081961186e-02 Constraint violation....: 1.6285049805997431e-04 1.6285049805997431e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0129095038141038e-04 1.0129095038141038e-04 Overall NLP error.......: 1.0206237081961186e-02 1.0206237081961186e-02 Number of objective function evaluations = 26 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 26 Number of inequality constraint evaluations = 26 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 32.430 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 (0.002s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 0.004s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.7818754e+00 2.03e+00 2.15e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8418999e+00 8.82e-02 3.15e+00 -0.9 1.87e+00 0.0 9.39e-01 1.00e+00f 1 2 2.5315694e+00 1.32e-02 9.71e-01 -1.2 1.99e-01 0.4 9.96e-01 9.22e-01h 1 3 2.2989326e+00 7.38e-03 1.88e-01 -2.0 1.19e-01 -0.1 9.92e-01 1.00e+00h 1 4 2.1462599e+00 2.65e-03 1.97e-01 -2.8 1.40e-01 -0.5 1.00e+00 6.38e-01h 1 5 2.1044175e+00 7.59e-04 8.41e-02 -3.9 5.09e-02 -1.0 1.00e+00 7.14e-01h 1 6 2.0911652e+00 4.74e-05 3.12e-02 -4.0 1.87e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0910022e+00 1.33e-07 8.61e-04 -4.0 6.74e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0910021e+00 8.25e-09 2.98e-05 -4.0 8.09e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909982e+00 3.94e-10 2.72e-05 -4.0 2.23e-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 2.0909895e+00 2.01e-09 2.70e-05 -4.0 6.65e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909642e+00 1.73e-08 4.56e-05 -4.0 1.96e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908997e+00 1.28e-07 3.66e-04 -4.0 5.29e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908126e+00 3.80e-07 1.36e-03 -4.0 1.05e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0906119e+00 2.85e-06 1.92e-03 -4.0 3.06e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0900443e+00 2.85e-05 6.96e-04 -4.0 9.30e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0897353e+00 4.75e-06 2.02e-03 -4.0 3.44e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0889201e+00 3.76e-05 2.50e-03 -4.0 1.03e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0884998e+00 9.79e-06 1.31e-03 -4.0 4.27e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0876281e+00 4.73e-05 2.40e-03 -4.0 1.15e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0863416e+00 1.14e-04 4.45e-02 -4.0 2.97e+01 -6.4 1.00e+00 5.15e-01h 1 21 2.0834775e+00 9.22e-04 4.36e-02 -4.0 5.10e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0826307e+00 2.62e-04 1.81e-02 -4.0 5.75e+01 -7.3 1.00e+00 6.70e-01h 1 23 2.0823716e+00 3.52e-04 1.39e-02 -4.0 1.47e+02 -7.8 8.95e-01 1.00e+00h 1 24 2.0826069e+00 4.75e-04 1.07e-02 -4.0 2.10e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0824884e+00 1.63e-04 1.02e-02 -4.0 4.95e+01 -6.9 6.44e-01 1.00e+00h 1 26 2.0823850e+00 1.12e-04 2.23e-02 -4.0 7.92e-01 -4.7 1.00e+00 9.68e-01h 1 27 2.0823289e+00 1.23e-04 5.38e-04 -4.0 1.86e+00 -5.2 1.00e+00 1.00e+00h 1 28 2.0838603e+00 3.04e-05 5.19e-02 -4.0 6.74e+00 -5.7 3.34e-01 6.83e-01h 1 29 2.0825989e+00 1.83e-05 3.53e-01 -4.0 2.26e+00 -6.1 1.31e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0823900e+00 4.81e-07 2.16e-03 -4.0 2.84e-02 -1.2 1.00e+00 1.00e+00h 1 31 2.0823572e+00 6.70e-07 7.72e-04 -4.0 5.03e-02 -1.7 1.00e+00 1.00e+00h 1 32 2.0823375e+00 1.94e-08 1.69e-04 -4.0 2.40e-02 -2.1 1.00e+00 1.00e+00h 1 33 2.0823143e+00 2.79e-07 2.11e-04 -4.0 5.28e-02 -2.6 1.00e+00 1.00e+00h 1 34 2.0821646e+00 2.82e-09 8.62e-04 -4.0 1.47e-01 -3.1 1.00e+00 1.00e+00H 1 35 2.0822480e+00 8.07e-07 3.94e-04 -4.0 6.87e-02 -3.6 1.00e+00 1.00e+00f 1 36 2.0821218e+00 9.45e-07 7.21e-05 -4.1 9.31e-02 -4.1 1.00e+00 1.00e+00h 1 37 2.0822744e+00 1.78e-05 1.22e-04 -4.0 3.76e-01 -4.5 1.00e+00 1.00e+00h 1 38 2.0821552e+00 2.12e-05 1.86e-04 -4.1 1.16e+00 -5.0 1.00e+00 1.00e+00h 1 39 2.0818207e+00 3.25e-05 2.69e-02 -6.1 2.90e+00 -5.5 4.76e-01 3.83e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822731e+00 1.76e-04 1.01e-03 -4.0 2.28e+00 -6.0 1.00e+00 1.00e+00f 1 41 2.0821404e+00 1.91e-07 1.49e-02 -4.1 9.98e+00 -6.4 7.56e-01 1.00e+00H 1 42 2.0821653e+00 1.20e-06 8.96e-04 -4.0 5.75e-02 -2.4 1.00e+00 1.00e+00h 1 43 2.0821029e+00 3.95e-07 3.18e-04 -4.1 4.17e-02 -2.9 1.00e+00 1.00e+00h 1 44 2.0822148e+00 6.05e-07 1.25e-04 -4.0 4.04e-02 -3.4 1.00e+00 1.00e+00h 1 45 2.0820824e+00 1.78e-06 5.66e-05 -4.1 8.51e-02 -3.8 1.00e+00 1.00e+00h 1 46 2.0821962e+00 4.51e-06 1.18e-04 -4.0 2.34e-01 -4.3 1.00e+00 1.00e+00h 1 47 2.0820286e+00 1.15e-05 1.85e-04 -4.1 4.45e-01 -4.8 1.00e+00 1.00e+00h 1 48 2.0821543e+00 1.14e-05 2.53e-04 -4.0 5.44e-01 -5.3 1.00e+00 1.00e+00h 1 49 2.0820046e+00 1.90e-05 3.10e-04 -4.1 8.17e-01 -5.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0821787e+00 5.84e-05 3.42e-04 -4.0 2.55e+00 -6.2 1.00e+00 1.00e+00h 1 51 2.0819640e+00 1.39e-04 1.12e-03 -4.1 7.91e+00 -6.7 1.00e+00 1.00e+00h 1 52 2.0818756e+00 4.48e-05 1.32e-03 -4.1 1.75e+01 -7.2 1.00e+00 1.00e+00h 1 53 2.0820003e+00 6.97e-04 3.35e-03 -4.0 3.08e+01 -7.7 1.00e+00 1.00e+00h 1 54 2.0816428e+00 1.39e-03 4.40e-03 -4.1 5.34e+01 -8.1 1.00e+00 1.00e+00h 1 55 2.0818529e+00 1.36e-03 3.06e-03 -4.0 5.72e+01 -8.6 1.00e+00 1.00e+00h 1 56 2.0815840e+00 6.72e-04 5.46e-04 -4.1 2.92e+01 -9.1 1.00e+00 1.00e+00h 1 57 2.0818445e+00 1.96e-04 4.20e-05 -4.0 8.13e+00 -9.6 1.00e+00 1.00e+00h 1 58 2.0815838e+00 2.15e-04 1.35e-05 -4.1 9.77e+00 -10.0 1.00e+00 1.00e+00h 1 59 2.0818445e+00 2.14e-04 1.19e-05 -4.0 9.77e+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 2.0815837e+00 2.16e-04 1.01e-05 -4.1 9.84e+00 -11.0 1.00e+00 1.00e+00h 1 61 2.0818446e+00 2.16e-04 9.77e-06 -4.0 9.86e+00 -11.5 1.00e+00 1.00e+00h 1 62 2.0815837e+00 2.16e-04 9.42e-06 -4.1 9.87e+00 -11.9 1.00e+00 1.00e+00h 1 63 2.0818446e+00 2.16e-04 9.53e-06 -4.0 9.87e+00 -12.4 1.00e+00 1.00e+00h 1 64 2.0815837e+00 2.16e-04 9.34e-06 -4.1 9.87e+00 -12.9 1.00e+00 1.00e+00h 1 65 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.4 9.77e-01 9.64e-01h 1 66 2.0818908e+00 6.61e-03 2.98e-04 -4.0 6.18e+01 -13.9 1.00e+00 1.00e+00f 1 67 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.3 1.00e+00 1.00e+00h 1 68 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -14.8 9.76e-01 9.58e-01h 1 69 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+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 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -15.8 1.00e+00 1.00e+00f 1 71 2.0816805e+00 9.65e-04 4.96e-05 -4.1 4.57e+01 -16.2 1.00e+00 1.00e+00h 1 72 2.0816444e+00 4.73e-07 7.69e-07 -4.1 8.40e+00 -16.7 1.00e+00 1.00e+00h 1 73 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -17.2 1.00e+00 1.00e+00h 1 74 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -17.7 1.00e+00 1.00e+00h 1 75 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -18.1 9.77e-01 9.64e-01h 1 Number of Iterations....: 75 (scaled) (unscaled) Objective...............: 2.0805950004099412e+00 2.0805950004099412e+00 Dual infeasibility......: 1.5808706577889140e-04 1.5808706577889140e-04 Constraint violation....: 3.3272202876508672e-03 3.3272202876508672e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.7880913867580492e-05 1.7880913867580492e-05 Overall NLP error.......: 3.3272202876508672e-03 3.3272202876508672e-03 Number of objective function evaluations = 78 Number of objective gradient evaluations = 76 Number of equality constraint evaluations = 78 Number of inequality constraint evaluations = 78 Number of equality constraint Jacobian evaluations = 76 Number of inequality constraint Jacobian evaluations = 76 Number of Lagrangian Hessian evaluations = 75 Total seconds in IPOPT = 1.030 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: 0.015s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.017s) linear index maps built (0.0s) evaluator ready (total: 0.019s) evaluator created (0.019s) 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: 0.019s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.7818754e+00 2.03e+00 2.15e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8418999e+00 8.82e-02 3.15e+00 -0.9 1.87e+00 0.0 9.39e-01 1.00e+00f 1 2 2.5315694e+00 1.32e-02 9.71e-01 -1.2 1.99e-01 0.4 9.96e-01 9.22e-01h 1 3 2.2989326e+00 7.38e-03 1.88e-01 -2.0 1.19e-01 -0.1 9.92e-01 1.00e+00h 1 4 2.1462599e+00 2.65e-03 1.97e-01 -2.8 1.40e-01 -0.5 1.00e+00 6.38e-01h 1 5 2.1044175e+00 7.59e-04 8.41e-02 -3.9 5.09e-02 -1.0 1.00e+00 7.14e-01h 1 6 2.0911652e+00 4.74e-05 3.12e-02 -4.0 1.87e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0910022e+00 1.33e-07 8.61e-04 -4.0 6.74e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0910021e+00 8.25e-09 2.98e-05 -4.0 8.09e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909982e+00 3.94e-10 2.72e-05 -4.0 2.23e-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 2.0909895e+00 2.01e-09 2.70e-05 -4.0 6.65e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909642e+00 1.73e-08 4.56e-05 -4.0 1.96e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908997e+00 1.28e-07 3.66e-04 -4.0 5.29e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908126e+00 3.80e-07 1.36e-03 -4.0 1.05e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0906119e+00 2.85e-06 1.92e-03 -4.0 3.06e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0900443e+00 2.85e-05 6.96e-04 -4.0 9.30e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0897353e+00 4.75e-06 2.02e-03 -4.0 3.44e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0889201e+00 3.76e-05 2.50e-03 -4.0 1.03e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0884998e+00 9.79e-06 1.31e-03 -4.0 4.27e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0876281e+00 4.73e-05 2.40e-03 -4.0 1.15e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0863416e+00 1.14e-04 4.45e-02 -4.0 2.97e+01 -6.4 1.00e+00 5.15e-01h 1 21 2.0834775e+00 9.22e-04 4.36e-02 -4.0 5.10e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0826307e+00 2.62e-04 1.81e-02 -4.0 5.75e+01 -7.3 1.00e+00 6.70e-01h 1 23 2.0823716e+00 3.52e-04 1.39e-02 -4.0 1.47e+02 -7.8 8.95e-01 1.00e+00h 1 24 2.0826069e+00 4.75e-04 1.07e-02 -4.0 2.10e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0824884e+00 1.63e-04 1.02e-02 -4.0 4.95e+01 -6.9 6.44e-01 1.00e+00h 1 26 2.0823850e+00 1.12e-04 2.23e-02 -4.0 7.92e-01 -4.7 1.00e+00 9.68e-01h 1 27 2.0823289e+00 1.23e-04 5.38e-04 -4.0 1.86e+00 -5.2 1.00e+00 1.00e+00h 1 28 2.0838603e+00 3.04e-05 5.19e-02 -4.0 6.74e+00 -5.7 3.34e-01 6.83e-01h 1 29 2.0825989e+00 1.83e-05 3.53e-01 -4.0 2.26e+00 -6.1 1.31e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0823900e+00 4.81e-07 2.16e-03 -4.0 2.84e-02 -1.2 1.00e+00 1.00e+00h 1 31 2.0823572e+00 6.70e-07 7.72e-04 -4.0 5.03e-02 -1.7 1.00e+00 1.00e+00h 1 32 2.0823375e+00 1.94e-08 1.69e-04 -4.0 2.40e-02 -2.1 1.00e+00 1.00e+00h 1 33 2.0823143e+00 2.79e-07 2.11e-04 -4.0 5.28e-02 -2.6 1.00e+00 1.00e+00h 1 34 2.0821646e+00 2.82e-09 8.62e-04 -4.0 1.47e-01 -3.1 1.00e+00 1.00e+00H 1 35 2.0822480e+00 8.07e-07 3.94e-04 -4.0 6.87e-02 -3.6 1.00e+00 1.00e+00f 1 36 2.0821218e+00 9.45e-07 7.21e-05 -4.1 9.31e-02 -4.1 1.00e+00 1.00e+00h 1 37 2.0822744e+00 1.78e-05 1.22e-04 -4.0 3.76e-01 -4.5 1.00e+00 1.00e+00h 1 38 2.0821552e+00 2.12e-05 1.86e-04 -4.1 1.16e+00 -5.0 1.00e+00 1.00e+00h 1 39 2.0818207e+00 3.25e-05 2.69e-02 -6.1 2.90e+00 -5.5 4.76e-01 3.83e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822731e+00 1.76e-04 1.01e-03 -4.0 2.28e+00 -6.0 1.00e+00 1.00e+00f 1 41 2.0821404e+00 1.91e-07 1.49e-02 -4.1 9.98e+00 -6.4 7.56e-01 1.00e+00H 1 42 2.0821653e+00 1.20e-06 8.96e-04 -4.0 5.75e-02 -2.4 1.00e+00 1.00e+00h 1 43 2.0821029e+00 3.95e-07 3.18e-04 -4.1 4.17e-02 -2.9 1.00e+00 1.00e+00h 1 44 2.0822148e+00 6.05e-07 1.25e-04 -4.0 4.04e-02 -3.4 1.00e+00 1.00e+00h 1 45 2.0820824e+00 1.78e-06 5.66e-05 -4.1 8.51e-02 -3.8 1.00e+00 1.00e+00h 1 46 2.0821962e+00 4.51e-06 1.18e-04 -4.0 2.34e-01 -4.3 1.00e+00 1.00e+00h 1 47 2.0820286e+00 1.15e-05 1.85e-04 -4.1 4.45e-01 -4.8 1.00e+00 1.00e+00h 1 48 2.0821543e+00 1.14e-05 2.53e-04 -4.0 5.44e-01 -5.3 1.00e+00 1.00e+00h 1 49 2.0820046e+00 1.90e-05 3.10e-04 -4.1 8.17e-01 -5.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0821787e+00 5.84e-05 3.42e-04 -4.0 2.55e+00 -6.2 1.00e+00 1.00e+00h 1 51 2.0819640e+00 1.39e-04 1.12e-03 -4.1 7.91e+00 -6.7 1.00e+00 1.00e+00h 1 52 2.0818756e+00 4.48e-05 1.32e-03 -4.1 1.75e+01 -7.2 1.00e+00 1.00e+00h 1 53 2.0820003e+00 6.97e-04 3.35e-03 -4.0 3.08e+01 -7.7 1.00e+00 1.00e+00h 1 54 2.0816428e+00 1.39e-03 4.40e-03 -4.1 5.34e+01 -8.1 1.00e+00 1.00e+00h 1 55 2.0818529e+00 1.36e-03 3.06e-03 -4.0 5.72e+01 -8.6 1.00e+00 1.00e+00h 1 56 2.0815840e+00 6.72e-04 5.46e-04 -4.1 2.92e+01 -9.1 1.00e+00 1.00e+00h 1 57 2.0818445e+00 1.96e-04 4.20e-05 -4.0 8.13e+00 -9.6 1.00e+00 1.00e+00h 1 58 2.0815838e+00 2.15e-04 1.35e-05 -4.1 9.77e+00 -10.0 1.00e+00 1.00e+00h 1 59 2.0818445e+00 2.14e-04 1.19e-05 -4.0 9.77e+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 2.0815837e+00 2.16e-04 1.01e-05 -4.1 9.84e+00 -11.0 1.00e+00 1.00e+00h 1 61 2.0818446e+00 2.16e-04 9.77e-06 -4.0 9.86e+00 -11.5 1.00e+00 1.00e+00h 1 62 2.0815837e+00 2.16e-04 9.42e-06 -4.1 9.87e+00 -11.9 1.00e+00 1.00e+00h 1 63 2.0818446e+00 2.16e-04 9.53e-06 -4.0 9.87e+00 -12.4 1.00e+00 1.00e+00h 1 64 2.0815837e+00 2.16e-04 9.34e-06 -4.1 9.87e+00 -12.9 1.00e+00 1.00e+00h 1 65 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.4 9.77e-01 9.64e-01h 1 66 2.0818908e+00 6.61e-03 2.98e-04 -4.0 6.18e+01 -13.9 1.00e+00 1.00e+00f 1 67 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.3 1.00e+00 1.00e+00h 1 68 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -14.8 9.76e-01 9.58e-01h 1 69 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+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 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -15.8 1.00e+00 1.00e+00f 1 71 2.0816805e+00 9.65e-04 4.96e-05 -4.1 4.57e+01 -16.2 1.00e+00 1.00e+00h 1 72 2.0816444e+00 4.73e-07 7.69e-07 -4.1 8.40e+00 -16.7 1.00e+00 1.00e+00h 1 73 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -17.2 1.00e+00 1.00e+00h 1 74 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -17.7 1.00e+00 1.00e+00h 1 75 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -18.1 9.77e-01 9.64e-01h 1 76 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -18.6 1.00e+00 1.00e+00h 1 77 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -19.1 1.00e+00 1.00e+00f 1 78 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -19.6 1.00e+00 1.00e+00h 1 79 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+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 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.67e-01h 1 81 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -20.0 1.00e+00 1.00e+00h 1 83 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -20.0 1.00e+00 1.00e+00f 1 84 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 87 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-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 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 91 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 94 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.46e-01 -20.0 1.00e+00 9.97e-01h 1 97 2.0805365e+00 8.66e-11 2.16e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 98 2.0820415e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 99 2.0817247e+00 1.13e-03 7.75e-05 -4.1 5.81e+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 2.0816664e+00 1.64e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0816663822437644e+00 2.0816663822437644e+00 Dual infeasibility......: 1.1621190402690701e-06 1.1621190402690701e-06 Constraint violation....: 1.6406472004293349e-06 1.6406472004293349e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.8042974965724523e-05 8.8042974965724523e-05 Overall NLP error.......: 1.4205492367467249e-05 1.4205492367467249e-05 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 103 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 1.297 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: 0.079s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.123s jacobian structure: 1600 nonzeros (3.203s) integrator 1 hessian structure: 0.056s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.589s 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 (4.646s) linear index maps built (0.0s) evaluator ready (total: 7.849s) evaluator created (7.881s) 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: 7.883s) 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 4.4282842e+00 2.22e+00 4.48e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.6209415e+00 1.85e+00 7.91e-01 -1.0 2.15e+01 -2.0 1.43e-01 1.98e-01h 1 2 2.7164921e+00 2.06e-01 2.34e+00 -0.8 1.55e+00 -1.6 7.98e-01 1.00e+00f 1 3 2.8119357e+00 3.62e-02 4.63e-01 -0.9 5.59e-01 -1.1 9.83e-01 1.00e+00h 1 4 2.4651822e+00 8.81e-03 1.70e-01 -1.7 2.93e-01 -1.6 8.76e-01 1.00e+00h 1 5 2.1776749e+00 1.72e-02 6.54e-02 -2.1 3.90e-01 -2.1 9.82e-01 9.09e-01h 1 6 2.1034109e+00 9.11e-04 9.06e-03 -2.9 7.99e-02 -2.6 9.64e-01 1.00e+00h 1 7 2.0908857e+00 2.86e-05 1.13e-03 -4.0 2.19e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0908695e+00 2.04e-06 8.44e-05 -4.0 5.80e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908576e+00 1.58e-08 1.90e-05 -4.0 1.54e-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 2.0908223e+00 7.99e-08 1.57e-05 -4.0 4.53e-01 -4.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908222969450949e+00 2.0908222969450949e+00 Dual infeasibility......: 1.5718078141833351e-05 1.5718078141833351e-05 Constraint violation....: 7.9911886705086310e-08 7.9911886705086310e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999996346e-05 9.9999999999996346e-05 Overall NLP error.......: 1.5718078141833351e-05 1.5718078141833351e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 11 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 11 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 31.826 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: 0.076s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.196s jacobian structure: 1600 nonzeros (3.272s) integrator 1 hessian structure: 0.059s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.794s 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 (4.855s) linear index maps built (0.0s) evaluator ready (total: 8.127s) evaluator created (8.157s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 8.159s) ====================================================================================== 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 34 running 1 of 1 signal (10): User defined signal 1 _ZNK4llvm5Value15getMetadataImplEj at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN12_GLOBAL__N_18Verifier16visitInstructionERN4llvm11InstructionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN12_GLOBAL__N_18Verifier6verifyERKN4llvm8FunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm14verifyFunctionERKNS_8FunctionEPNS_11raw_ostreamE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) verifyLLVMIR at /source/src/pipeline.cpp:1133:23 processLoop at /source/src/llvm-simdloop.cpp:305:5 [inlined] run at /source/src/llvm-simdloop.cpp:323:20 run at /source/usr/include/llvm/IR/PassManagerInternal.h:91:41 _ZN4llvm11PassManagerINS_4LoopENS_15AnalysisManagerIS1_JRNS_27LoopStandardAnalysisResultsEEEEJS4_RNS_10LPMUpdaterEEE13runSinglePassIS1_St10unique_ptrINS_6detail11PassConceptIS1_S5_JS4_S7_EEESt14default_deleteISD_EEEESt8optionalINS_17PreservedAnalysesEERT_RT0_RS5_S4_S7_RNS_19PassInstrumentationE.isra.0 at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm11PassManagerINS_4LoopENS_15AnalysisManagerIS1_JRNS_27LoopStandardAnalysisResultsEEEEJS4_RNS_10LPMUpdaterEEE24runWithoutLoopNestPassesERS1_RS5_S4_S7_ at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm11PassManagerINS_4LoopENS_15AnalysisManagerIS1_JRNS_27LoopStandardAnalysisResultsEEEEJS4_RNS_10LPMUpdaterEEE3runERS1_RS5_S4_S7_ at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) run at /source/usr/include/llvm/IR/PassManagerInternal.h:91:41 _ZN4llvm25FunctionToLoopPassAdaptor3runERNS_8FunctionERNS_15AnalysisManagerIS1_JEEE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) run at /source/usr/include/llvm/IR/PassManagerInternal.h:91:41 _ZN4llvm11PassManagerINS_8FunctionENS_15AnalysisManagerIS1_JEEEJEE3runERS1_RS3_ at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) run at /source/usr/include/llvm/IR/PassManagerInternal.h:91:41 _ZN4llvm27ModuleToFunctionPassAdaptor3runERNS_6ModuleERNS_15AnalysisManagerIS1_JEEE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) run at /source/usr/include/llvm/IR/PassManagerInternal.h:91:41 _ZN4llvm11PassManagerINS_6ModuleENS_15AnalysisManagerIS1_JEEEJEE3runERS1_RS3_ at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) run at /source/src/pipeline.cpp:989:12 operator() at /source/src/jitlayers.cpp:1297:17 operator() at /source/src/jitlayers.cpp:1434:12 [inlined] optimizeModule at /source/src/jitlayers.cpp:2381:18 materialize at /source/src/jitlayers.cpp:904:31 _ZN4llvm3orc19MaterializationTask3runEv at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) dispatch at /source/src/julia-task-dispatcher.h:353:11 _ZN4llvm3orc16ExecutionSession22dispatchOutstandingMUsEv at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm3orc16ExecutionSession17OL_completeLookupESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EESt10shared_ptrINS0_23AsynchronousSymbolQueryEESt8functionIFvRKNS_8DenseMapIPNS0_8JITDylibENS_8DenseSetINS0_15SymbolStringPtrENS_12DenseMapInfoISF_vEEEENSG_ISD_vEENS_6detail12DenseMapPairISD_SI_EEEEEE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm3orc25InProgressFullLookupState8completeESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm3orc16ExecutionSession19OL_applyQueryPhase1ESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EENS_5ErrorE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm3orc16ExecutionSession6lookupENS0_10LookupKindERKSt6vectorISt4pairIPNS0_8JITDylibENS0_19JITDylibLookupFlagsEESaIS8_EENS0_15SymbolLookupSetENS0_11SymbolStateENS_15unique_functionIFvNS_8ExpectedINS_8DenseMapINS0_15SymbolStringPtrENS0_17ExecutorSymbolDefENS_12DenseMapInfoISI_vEENS_6detail12DenseMapPairISI_SJ_EEEEEEEEESt8functionIFvRKNSH_IS6_NS_8DenseSetISI_SL_EENSK_IS6_vEENSN_IS6_SV_EEEEEE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) publishCIs at /source/src/jitlayers.cpp:2084:14 jl_compile_codeinst_impl at /source/src/jitlayers.cpp:511:39 jl_compile_method_very_internal at /source/src/gf.c:3908:27 _jl_invoke at /source/src/gf.c:4318:16 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 jacobian! at /home/pkgeval/.julia/packages/ForwardDiff/4J2wz/src/jacobian.jl:58:0 (pc: 2) unknown function (ip: 0x7f74a6fd226f) at (unknown file) _jl_invoke at /source/src/gf.c:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 eval_jacobian at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/integrators/bilinear_integrator.jl:114:0 (pc: 131) unknown function (ip: 0x7f74a6fd1e8e) at (unknown file) _jl_invoke at /source/src/gf.c:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 _fill_jacobian_values! at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:507:0 (pc: 117) unknown function (ip: 0x7f74cdb28345) at (unknown file) _jl_invoke at /source/src/gf.c:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 eval_constraint_jacobian at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:377:0 (pc: 19) unknown function (ip: 0x7f7503392b15) at (unknown file) _jl_invoke at /source/src/gf.c:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 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: 0x7f75033907c2) at (unknown file) _jl_invoke at /source/src/gf.c:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 _Eval_Jac_G_CB at /home/pkgeval/.julia/packages/Ipopt/WLbcQ/src/C_wrapper.jl:0:0 (pc: 39) unknown function (ip: 0x7f750335d68b) 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: 0x7f7503357e52) at (unknown file) _jl_invoke at /source/src/gf.c:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 jl_apply at /source/src/julia.h:2406:12 [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:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 jl_apply at /source/src/julia.h:2406:12 [inlined] jl_f_invokelatest at /source/src/builtins.c:933:23 #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: 0x7f7511bd7dc6) at (unknown file) _jl_invoke at /source/src/gf.c:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:117:0 (pc: 258) unknown function (ip: 0x7f7511bd798e) at (unknown file) _jl_invoke at /source/src/gf.c:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 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:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 jl_apply at /source/src/julia.h:2406:12 [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:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 _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:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 jl_apply at /source/src/julia.h:2406:12 [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:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 jl_apply at /source/src/julia.h:2406:12 [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: 0x7f7530903249) 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 ============================================================== Fidelity: ====================================================================================== 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:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 jl_apply at /source/src/julia.h:2406:12 [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 ============================================================== 0.51 ┌ 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 0x000074a46a9771c0 Total snapshots: 376. Utilization: 0% ╎376 @Base/task.jl:1170 wait_forever() 375╎ 376 @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 [34] signal 15: Terminated in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/ipopt_solver/callbacks.jl:582 getindex at ./essentials.jl:1040:0 [inlined] getindex at ./../usr/share/julia/Compiler/src/ssair/ir.jl:372:0 [inlined] is_union_phi at ./../usr/share/julia/Compiler/src/ssair/passes.jl:2120:0 [inlined] adce_pass! at ./../usr/share/julia/Compiler/src/ssair/passes.jl:2206:0 (pc: 663) run_passes_ipo_safe at ./../usr/share/julia/Compiler/src/optimize.jl:1050:0 (pc: 22) run_passes_ipo_safe at ./../usr/share/julia/Compiler/src/optimize.jl:1063:0 [inlined] optimize at ./../usr/share/julia/Compiler/src/optimize.jl:1036:0 [inlined] finish_nocycle at ./../usr/share/julia/Compiler/src/typeinfer.jl:272:0 (pc: 14) jfptr_finish_nocycle_1.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 typeinf at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:5001:0 (pc: 252) typeinf_ext at ./../usr/share/julia/Compiler/src/typeinfer.jl:1539:0 (pc: 150) PkgEval terminated after 2725.8s: test duration exceeded the time limit