Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.3155 (07edee4e4c*) started at 2026-09-11T01:55:08.399 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 15.71s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.10.1 Updating `~/.julia/environments/v1.14/Manifest.toml` [47edcb42] + ADTypes v1.24.0 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.45 [79e6a3ab] + Adapt v4.7.0 [4fba245c] + ArrayInterface v7.30.1 [4c555306] + ArrayLayouts v1.12.2 [b2a6c25c] + BinaryHeaps v1.1.0 [70df07ce] + BracketingNonlinearSolve v1.12.6 [d360d2e6] + ChainRulesCore v1.26.1 [0b6fb165] + ChunkCodecCore v1.0.2 [4c0bbee4] + ChunkCodecLibZlib v1.1.0 [55437552] + ChunkCodecLibZstd v1.0.0 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.9 [38540f10] + CommonSolve v0.2.14 [bbf7d656] + CommonSubexpressions v0.3.1 [34da2185] + Compat v4.18.1 [a33af91c] + CompositionsBase v0.1.2 [2569d6c7] + ConcreteStructs v0.2.8 [187b0558] + ConstructionBase v1.6.0 [a8cc5b0e] + Crayons v4.2.0 [9a962f9c] + DataAPI v1.16.0 [e2d170a0] + DataValueInterfaces v1.0.0 [2b5f629d] + DiffEqBase v7.21.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.16.0 [a0c0ee7d] + DifferentiationInterface v0.7.21 [c823fa1f] + DirectTrajOpt v0.10.1 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.7 [f151be2c] + EnzymeCore v0.8.21 [e24c0720] + ExponentialAction v0.2.11 [e2ba6199] + ExprTools v0.1.11 [7034ab61] + FastBroadcast v1.4.0 [9aa1b823] + FastClosures v0.3.2 [a4df4552] + FastPower v1.5.0 [5789e2e9] + FileIO v1.20.0 [1a297f60] + FillArrays v1.17.0 [64ca27bc] + FindFirstFunctions v3.2.1 [6a86dc24] + FiniteDiff v2.33.0 [f6369f11] + ForwardDiff v1.4.5 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v1.13.0 [46192b85] + GPUArraysCore v0.2.0 [076d061b] + HashArrayMappedTries v0.2.0 [3587e190] + InverseFunctions v0.1.17 [b6b21f68] + Ipopt v1.16.0 [92d709cd] + IrrationalConstants v0.2.6 [82899510] + IteratorInterfaceExtensions v1.0.0 [033835bb] + JLD2 v0.6.6 [692b3bcd] + JLLWrappers v1.8.0 [682c06a0] + JSON v1.8.0 [b964fa9f] + LaTeXStrings v1.4.1 [5078a376] + LazyArrays v2.13.0 [2ab3a3ac] + LogExpFunctions v1.0.1 [e6f89c97] + LoggingExtras v1.2.0 [1914dd2f] + MacroTools v0.5.16 [b8f27783] + MathOptInterface v1.53.0 [bb5d69b7] + MaybeInplace v0.1.8 [46d2c3a1] + MuladdMacro v0.2.7 [d8a4904e] + MutableArithmetics v1.8.0 [77ba4419] + NaNMath v1.1.4 [538bc3a1] + NamedTrajectories v0.9.4 [be0214bd] + NonlinearSolveBase v2.49.4 ⌅ [bac558e1] + OrderedCollections v1.8.2 [bbf590c4] + OrdinaryDiffEqCore v4.17.0 [b1df2697] + OrdinaryDiffEqTsit5 v2.1.4 [69de0a69] + Parsers v3.0.0 [d236fae5] + PreallocationTools v1.7.1 [aea7be01] + PrecompileTools v1.3.4 [21216c6a] + Preferences v1.5.2 [08abe8d2] + PrettyTables v3.4.8 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v4.5.1 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [9fe22ead] + RespecializeParams v1.3.0 [7e49a35a] + RuntimeGeneratedFunctions v0.5.26 [0bca4576] + SciMLBase v3.53.1 [19f34311] + SciMLJacobianOperators v0.1.19 [a6db7da4] + SciMLLogging v2.1.0 [c0aeaf25] + SciMLOperators v1.30.0 [431bcebd] + SciMLPublic v1.3.0 [53ae85a6] + SciMLStructures v1.10.5 [7e506255] + ScopedValues v1.6.2 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.9.0 [90137ffa] + StaticArrays v1.9.20 [1e83bf80] + StaticArraysCore v1.4.4 [10745b16] + Statistics v1.11.5 ⌅ [892a3eda] + StringManipulation v0.5.0 [ec057cc2] + StructUtils v2.8.5 [2efcf032] + SymbolicIndexingInterface v0.3.55 [3783bdb8] + TableTraits v1.0.1 [bd369af6] + Tables v1.14.0 [f8b46487] + TestItemRunner v1.3.2 [1c621080] + TestItems v1.1.0 [a759f4b9] + TimerOutputs v1.2.1 [6dad8b7f] + TrajectoryIndexingUtils v0.1.0 [3bb67fe8] + TranscodingStreams v0.11.3 [781d530d] + TruncatedStacktraces v1.4.0 [ae81ac8f] + ASL_jll v0.1.5+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 v500.900.100+0 [656ef2d0] + OpenBLAS32_jll v0.3.34+0 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 [319450e9] + SPRAL_jll v2025.9.18+1 ⌅ [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 v1.12.0 [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 [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 v1.5.7+0 [deac9b47] + LibCURL_jll v8.22.0+0 [e37daf67] + LibGit2_jll v1.9.7+0 [29816b5a] + LibSSH2_jll v1.11.104+0 [14a3606d] + MozillaCACerts_jll v2026.8.13 [4536629a] + OpenBLAS_jll v0.3.34+0 [05823500] + OpenLibm_jll v0.8.8+0 [458c3c95] + OpenSSL_jll v3.5.8+0 [efcefdf7] + PCRE2_jll v10.48.0+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 v1.70.0+0 [3f19e933] + p7zip_jll v17.8.2+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 5.4s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... ┌ Warning: Could not use exact versions of packages in manifest, re-resolving └ @ TestEnv ~/.julia/packages/TestEnv/sTG3E/src/julia-1.13/activate_set.jl:78 Precompiling package dependencies... Precompiling project... 47.1 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/wP86V/src/abstractinterpret/typeinfer.jl:239 [2] include(mapexpr::Function, mod::Module, _path::String) @ Base Base.jl:335 [3] top-level scope @ ~/.julia/packages/JET/wP86V/src/JETBase.jl:320 [4] include(mapexpr::Function, mod::Module, _path::String) @ Base Base.jl:335 [5] top-level scope @ ~/.julia/packages/JET/wP86V/src/JET.jl:43 [6] include(mod::Module, _path::String) @ Base Base.jl:334 [7] top-level scope @ stdin:5 in expression starting at /home/pkgeval/.julia/packages/JET/wP86V/src/abstractinterpret/typeinfer.jl:239 in expression starting at /home/pkgeval/.julia/packages/JET/wP86V/src/JETBase.jl:320 in expression starting at /home/pkgeval/.julia/packages/JET/wP86V/src/JET.jl:1 in expression starting at stdin:5 ✗ JET 45.2 s ✓ Ipopt → IpoptMathOptInterfaceExt 4.2 s ✓ BracketingNonlinearSolve → BracketingNonlinearSolveChainRulesCoreExt 15.6 s ✓ MadNLP → MadNLPMOI 25.3 s ✓ DirectTrajOpt 28.1 s ✓ DirectTrajOpt → MadNLPSolverExt 6 dependencies successfully precompiled in 184 seconds. 224 already precompiled. 1 dependency had output during precompilation: ┌ JET │ 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/wP86V/src/abstractinterpret/typeinfer.jl:239 │ [2] include(mapexpr::Function, mod::Module, _path::String) │ @ Base Base.jl:335 │ [3] top-level scope │ @ ~/.julia/packages/JET/wP86V/src/JETBase.jl:320 │ [4] include(mapexpr::Function, mod::Module, _path::String) │ @ Base Base.jl:335 │ [5] top-level scope │ @ ~/.julia/packages/JET/wP86V/src/JET.jl:43 │ [6] include(mod::Module, _path::String) │ @ Base Base.jl:334 │ [7] top-level scope │ @ stdin:5 │ in expression starting at /home/pkgeval/.julia/packages/JET/wP86V/src/abstractinterpret/typeinfer.jl:239 │ in expression starting at /home/pkgeval/.julia/packages/JET/wP86V/src/JETBase.jl:320 │ in expression starting at /home/pkgeval/.julia/packages/JET/wP86V/src/JET.jl:1 │ in expression starting at stdin:5 └ ERROR: LoadError: The following 1 package failed to precompile: JET Failed to precompile JET [c3a54625-cd67-489e-a8e7-0a5a0ff4e31b] to "/home/pkgeval/.julia/compiled/v1.14/JET/jl_tBTZg0" (ProcessExited(1)). in expression starting at /PkgEval.jl/scripts/precompile.jl:34 Precompilation failed after 207.99s ################################################################################ # 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_DDe61T/Project.toml` [4c88cf16] + Aqua v0.8.16 [c823fa1f] + DirectTrajOpt v0.10.1 ⌅ [c3a54625] + JET v0.11.6 ⌅ [2621e9c9] + MadNLP v0.9.2 Updating `/tmp/jl_DDe61T/Manifest.toml` [14f7f29c] + AMD v0.5.4 [4c88cf16] + Aqua v0.8.16 [da1fd8a2] + CodeTracking v3.0.2 [807dbc54] + Compiler v0.1.1 [a8cc5b0e] - Crayons v4.2.0 [9a962f9c] - DataAPI v1.16.0 [e2d170a0] - DataValueInterfaces v1.0.0 [c823fa1f] + DirectTrajOpt v0.10.1 ⌅ [c3a54625] + JET v0.11.6 [aa1ae85d] + JuliaInterpreter v0.11.4 [70703baa] + JuliaSyntax v1.0.2 [40e66cde] + LDLFactorizations v0.10.2 [b964fa9f] - LaTeXStrings v1.4.1 [5c8ed15e] + LinearOperators v2.14.2 [6f1432cf] + LoweredCodeUtils v3.8.0 ⌅ [2621e9c9] + MadNLP v0.9.2 [a4795742] + NLPModels v0.21.12 ⌃ [be0214bd] ↓ NonlinearSolveBase v2.49.4 ⇒ v2.48.0 [08abe8d2] - PrettyTables v3.4.8 [295af30f] + Revise v3.17.0 [ff4d7338] + SolverCore v0.3.10 [892a3eda] - StringManipulation v0.5.0 [3783bdb8] - TableTraits v1.0.1 [bd369af6] - Tables v1.14.0 ⌅ [a759f4b9] ↓ TimerOutputs v1.2.1 ⇒ v0.5.29 ⌅ [9cc047cb] ↓ Ipopt_jll v300.1400.1902+0 ⇒ v300.1400.1901+0 ⌅ [d7ed1dd3] ↓ MUMPS_seq_jll v500.900.100+0 ⇒ v500.800.200+0 [8bf52ea8] + CRC32c 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_DDe61T/Project.toml` [4c88cf16] Aqua v0.8.16 [c823fa1f] DirectTrajOpt v0.10.1 [e24c0720] ExponentialAction v0.2.11 [6a86dc24] FiniteDiff v2.33.0 [f6369f11] ForwardDiff v1.4.5 [b6b21f68] Ipopt v1.16.0 ⌅ [c3a54625] JET v0.11.6 [5078a376] LazyArrays v2.13.0 ⌅ [2621e9c9] MadNLP v0.9.2 [b8f27783] MathOptInterface v1.53.0 [538bc3a1] NamedTrajectories v0.9.4 [b1df2697] OrdinaryDiffEqTsit5 v2.1.4 [189a3867] Reexport v1.2.2 [0bca4576] SciMLBase v3.53.1 [f8b46487] TestItemRunner v1.3.2 [1c621080] TestItems v1.1.0 [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_DDe61T/Manifest.toml` [47edcb42] ADTypes v1.24.0 [14f7f29c] AMD v0.5.4 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.45 [79e6a3ab] Adapt v4.7.0 [4c88cf16] Aqua v0.8.16 [4fba245c] ArrayInterface v7.30.1 [4c555306] ArrayLayouts v1.12.2 [b2a6c25c] BinaryHeaps v1.1.0 [70df07ce] BracketingNonlinearSolve v1.12.6 [d360d2e6] ChainRulesCore v1.26.1 [0b6fb165] ChunkCodecCore v1.0.2 [4c0bbee4] ChunkCodecLibZlib v1.1.0 [55437552] ChunkCodecLibZstd v1.0.0 [da1fd8a2] CodeTracking v3.0.2 [523fee87] CodecBzip2 v0.8.5 [944b1d66] CodecZlib v0.7.9 [38540f10] CommonSolve v0.2.14 [bbf7d656] CommonSubexpressions v0.3.1 [34da2185] Compat v4.18.1 [807dbc54] Compiler v0.1.1 [a33af91c] CompositionsBase v0.1.2 [2569d6c7] ConcreteStructs v0.2.8 [187b0558] ConstructionBase v1.6.0 [2b5f629d] DiffEqBase v7.21.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.16.0 [a0c0ee7d] DifferentiationInterface v0.7.21 [c823fa1f] DirectTrajOpt v0.10.1 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.7 [f151be2c] EnzymeCore v0.8.21 [e24c0720] ExponentialAction v0.2.11 [e2ba6199] ExprTools v0.1.11 [7034ab61] FastBroadcast v1.4.0 [9aa1b823] FastClosures v0.3.2 [a4df4552] FastPower v1.5.0 [5789e2e9] FileIO v1.20.0 [1a297f60] FillArrays v1.17.0 [64ca27bc] FindFirstFunctions v3.2.1 [6a86dc24] FiniteDiff v2.33.0 [f6369f11] ForwardDiff v1.4.5 [069b7b12] FunctionWrappers v1.1.3 [77dc65aa] FunctionWrappersWrappers v1.13.0 [46192b85] GPUArraysCore v0.2.0 [076d061b] HashArrayMappedTries v0.2.0 [3587e190] InverseFunctions v0.1.17 [b6b21f68] Ipopt v1.16.0 [92d709cd] IrrationalConstants v0.2.6 [82899510] IteratorInterfaceExtensions v1.0.0 ⌅ [c3a54625] JET v0.11.6 [033835bb] JLD2 v0.6.6 [692b3bcd] JLLWrappers v1.8.0 [682c06a0] JSON v1.8.0 [aa1ae85d] JuliaInterpreter v0.11.4 [70703baa] JuliaSyntax v1.0.2 [40e66cde] LDLFactorizations v0.10.2 [5078a376] LazyArrays v2.13.0 [5c8ed15e] LinearOperators v2.14.2 [2ab3a3ac] LogExpFunctions v1.0.1 [e6f89c97] LoggingExtras v1.2.0 [6f1432cf] LoweredCodeUtils v3.8.0 [1914dd2f] MacroTools v0.5.16 ⌅ [2621e9c9] MadNLP v0.9.2 [b8f27783] MathOptInterface v1.53.0 [bb5d69b7] MaybeInplace v0.1.8 [46d2c3a1] MuladdMacro v0.2.7 [d8a4904e] MutableArithmetics v1.8.0 [a4795742] NLPModels v0.21.12 [77ba4419] NaNMath v1.1.4 [538bc3a1] NamedTrajectories v0.9.4 ⌃ [be0214bd] NonlinearSolveBase v2.48.0 ⌅ [bac558e1] OrderedCollections v1.8.2 [bbf590c4] OrdinaryDiffEqCore v4.17.0 [b1df2697] OrdinaryDiffEqTsit5 v2.1.4 [69de0a69] Parsers v3.0.0 [d236fae5] PreallocationTools v1.7.1 [aea7be01] PrecompileTools v1.3.4 [21216c6a] Preferences v1.5.2 [3cdcf5f2] RecipesBase v1.3.4 [731186ca] RecursiveArrayTools v4.5.1 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [9fe22ead] RespecializeParams v1.3.0 [295af30f] Revise v3.17.0 [7e49a35a] RuntimeGeneratedFunctions v0.5.26 [0bca4576] SciMLBase v3.53.1 [19f34311] SciMLJacobianOperators v0.1.19 [a6db7da4] SciMLLogging v2.1.0 [c0aeaf25] SciMLOperators v1.30.0 [431bcebd] SciMLPublic v1.3.0 [53ae85a6] SciMLStructures v1.10.5 [7e506255] ScopedValues v1.6.2 [efcf1570] Setfield v1.1.2 [ff4d7338] SolverCore v0.3.10 [276daf66] SpecialFunctions v2.9.0 [90137ffa] StaticArrays v1.9.20 [1e83bf80] StaticArraysCore v1.4.4 [10745b16] Statistics v1.11.5 [ec057cc2] StructUtils v2.8.5 [2efcf032] SymbolicIndexingInterface v0.3.55 [f8b46487] TestItemRunner v1.3.2 [1c621080] TestItems v1.1.0 ⌅ [a759f4b9] TimerOutputs v0.5.29 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [3bb67fe8] TranscodingStreams v0.11.3 [781d530d] TruncatedStacktraces v1.4.0 [ae81ac8f] ASL_jll v0.1.5+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 v0.3.34+0 [efe28fd5] OpenSpecFun_jll v0.5.6+0 [319450e9] SPRAL_jll v2025.9.18+1 ⌅ [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 v1.12.0 [f43a241f] Downloads v1.7.0 [7b1f6079] FileWatching v1.11.0 [9fa8497b] Future 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[efcefdf7] PCRE2_jll v10.48.0+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 v1.70.0+0 [3f19e933] p7zip_jll v17.8.2+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... 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 3.0903081e+00 2.57e+00 1.10e+00 9.80e-01 -1.0 - 0.00e+00 1 0 1 3.0903078e+00 2.57e+00 2.53e-03 7.20e-04 -1.0 0.0 1.00e-07 1 2h 2 2.2241166e+00 8.51e-01 5.41e-03 1.48e-04 -1.0 -0.5 6.68e-01 1 1h 3 2.3536131e+00 2.69e-01 4.00e-03 1.22e-04 -1.7 -1.0 6.16e-01 1 1h 4 2.2677147e+00 7.41e-01 2.49e-03 1.19e-04 -1.7 -1.4 1.77e-01 1 1h 5 2.3837182e+00 4.08e-01 7.73e-04 8.54e-05 -1.7 -1.0 4.51e-01 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.3837181772441802e+00 2.3837181772441802e+00 Dual infeasibility......: 7.7283814743594147e-04 7.7283814743594147e-04 Constraint violation....: 4.0823048313897581e-01 4.0823048313897581e-01 Complementarity.........: 8.5383015698560025e-05 8.5383015698560025e-05 Overall NLP error.......: 4.0823048313897581e-01 4.0823048313897581e-01 Number of objective function evaluations = 7 Number of objective gradient evaluations = 6 Number of constraint evaluations = 7 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 5 Number of KKT factorizations = 14 Number of KKT backsolves = 6 Total wall secs in initialization = 17.842 s Total wall secs in linear solver = 0.030 s Total wall secs in NLP function evaluations = 30.039 s Total wall secs in solver (w/o init./fun./lin. alg.) = 54.329 s Total wall secs = 102.241 s EXIT: Maximum Number of Iterations Exceeded. 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 3.6883518e+00 3.40e+00 9.20e-01 9.73e-01 -1.0 - 0.00e+00 1 0 1 3.6883513e+00 3.40e+00 1.77e-03 9.65e-05 -1.0 0.0 1.00e-07 1 2h 2 2.9581709e+00 1.84e-01 5.92e-03 6.37e-05 -1.0 -0.5 9.47e-01 1 1h 3 2.5980488e+00 7.10e-02 3.99e-03 6.25e-05 -2.5 -0.1 6.28e-01 1 1h 4 2.1802212e+00 8.49e-02 1.27e-03 5.74e-05 -2.5 -0.5 9.10e-01 1 1h 5 2.1429383e+00 4.87e-02 2.82e-03 4.33e-05 -2.5 -1.0 4.27e-01 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1429383333376317e+00 2.1429383333376317e+00 Dual infeasibility......: 2.8188190967851738e-03 2.8188190967851738e-03 Constraint violation....: 4.8688947755405540e-02 4.8688947755405540e-02 Complementarity.........: 4.3269845024176028e-05 4.3269845024176028e-05 Overall NLP error.......: 4.8688947755405540e-02 4.8688947755405540e-02 Number of objective function evaluations = 7 Number of objective gradient evaluations = 6 Number of constraint evaluations = 7 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 5 Number of KKT factorizations = 14 Number of KKT backsolves = 6 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.006 s Total wall secs in NLP function evaluations = 15.465 s Total wall secs in solver (w/o init./fun./lin. alg.) = 19.148 s Total wall secs = 34.620 s EXIT: Maximum Number of Iterations Exceeded. [ Info: Setting fixed_variable_treatment = MadNLP.RelaxBound for AbstractIntermediateCallback (MadNLP's kkt_system default would otherwise eliminate fixed vars from solver.x) 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 2.6464417e+00 3.32e+00 9.59e-01 9.95e-01 -1.0 - 0.00e+00 1 0 1 2.6464414e+00 3.32e+00 1.29e-03 8.07e-05 -1.0 0.0 1.00e-07 1 2h 2 2.1138353e+00 2.52e+00 9.02e-04 5.52e-05 -1.0 -0.5 2.40e-01 1 1h 3 2.9416542e+00 9.71e-02 1.03e-03 4.34e-05 -1.0 -1.0 1.00e+00 1 1h 4 2.4568681e+00 6.83e-02 6.86e-04 4.19e-05 -2.5 -0.5 6.59e-01 1 1h 5 2.2558758e+00 4.24e-02 1.28e-03 5.07e-05 -2.5 -1.0 3.79e-01 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.2558757599660177e+00 2.2558757599660177e+00 Dual infeasibility......: 1.2767123060615062e-03 1.2767123060615062e-03 Constraint violation....: 4.2367432647110487e-02 4.2367432647110487e-02 Complementarity.........: 5.0682924113164999e-05 5.0682924113164999e-05 Overall NLP error.......: 4.2367432647110487e-02 4.2367432647110487e-02 Number of objective function evaluations = 7 Number of objective gradient evaluations = 6 Number of constraint evaluations = 7 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 5 Number of KKT factorizations = 14 Number of KKT backsolves = 6 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.005 s Total wall secs in NLP function evaluations = 15.682 s Total wall secs in solver (w/o init./fun./lin. alg.) = 7.918 s Total wall secs = 23.607 s EXIT: Maximum Number of Iterations Exceeded. This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 4.0479270e+00 2.71e+00 3.24e+00 9.72e-01 -1.0 - 0.00e+00 0 0 1 4.0479260e+00 2.71e+00 4.76e-04 8.92e-05 -1.0 -2.0 2.00e-07 1 1h 2 3.8331438e+00 2.55e+00 3.33e-04 7.16e-05 -1.0 -2.5 9.42e-02 1 1h 3 3.3694885e+00 2.34e+00 2.07e-04 5.17e-05 -1.0 -2.1 8.45e-02 1 1h 4 2.6208149e+00 7.93e-01 6.67e-05 1.35e-05 -1.0 -1.6 6.86e-01 1 1h 5 2.4040983e+00 6.11e-01 1.01e-04 1.34e-05 -1.7 -2.1 5.33e-01 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.4040982945050144e+00 2.4040982945050144e+00 Dual infeasibility......: 1.0099762484129014e-04 1.0099762484129014e-04 Constraint violation....: 6.1062472715867899e-01 6.1062472715867899e-01 Complementarity.........: 1.3367657630488313e-05 1.3367657630488313e-05 Overall NLP error.......: 6.1062472715867899e-01 6.1062472715867899e-01 Number of objective function evaluations = 6 Number of objective gradient evaluations = 6 Number of constraint evaluations = 6 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 5 Number of KKT factorizations = 13 Number of KKT backsolves = 5 Total wall secs in initialization = 11.508 s Total wall secs in linear solver = 0.004 s Total wall secs in NLP function evaluations = 16.864 s Total wall secs in solver (w/o init./fun./lin. alg.) = 27.549 s Total wall secs = 55.925 s EXIT: Maximum Number of Iterations Exceeded. [ Info: Setting fixed_variable_treatment = MadNLP.RelaxBound for AbstractIntermediateCallback (MadNLP's kkt_system default would otherwise eliminate fixed vars from solver.x) This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 4.8620068e+00 1.97e+00 8.39e-01 9.77e-01 -1.0 - 0.00e+00 1 0 1 4.8620060e+00 1.97e+00 1.22e-03 4.81e-05 -1.0 0.0 1.00e-07 1 2h 2 2.7808144e+00 1.34e-01 1.17e-03 2.92e-05 -1.0 -0.5 1.00e+00 1 1h EXIT: Stopping optimization at current point as requested by user. 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 6.2508593e+00 2.42e+00 1.39e+00 9.10e-01 -1.0 - 0.00e+00 1 0 1 2.8411666e+00 1.69e-01 3.43e+00 2.26e-01 -1.0 0.0 9.29e-01 2 1h 2 2.4991915e+00 7.05e-02 1.09e+00 1.18e-01 -1.0 -0.5 6.30e-01 2 1h 3 2.9212968e+00 5.75e-02 1.47e+00 1.01e-01 -1.0 -1.0 1.00e+00 2 1h 4 2.7302511e+00 4.74e-02 7.78e-01 1.29e-01 -1.0 -0.5 2.13e-01 1 1h 5 2.3382918e+00 1.59e-02 2.08e-01 3.63e-02 -1.7 -1.0 1.00e+00 2 1h 6 2.2461417e+00 1.20e-02 1.03e-01 2.13e-02 -1.7 -1.5 1.00e+00 2 1h 7 2.1153333e+00 2.35e-03 7.64e-03 3.96e-03 -2.5 -2.0 1.00e+00 2 1h 8 2.0914788e+00 1.71e-04 1.54e-03 1.83e-04 -3.8 -2.4 1.00e+00 2 1h 9 2.0913785e+00 3.07e-06 1.17e-04 1.50e-04 -3.8 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900310e+00 9.17e-06 7.89e-05 1.24e-05 -5.7 -3.4 1.00e+00 2 1h 11 2.0900114e+00 1.25e-05 2.69e-04 4.08e-06 -5.7 -3.9 1.00e+00 2 1h 12 2.0900089e+00 1.25e-05 1.33e-03 8.05e-06 -5.7 -4.3 5.84e-03 2 2h 13 2.0899648e+00 2.46e-04 4.46e-04 2.67e-06 -5.7 -4.8 1.00e+00 2 1h 14 2.0899562e+00 2.39e-04 3.20e-03 1.85e-06 -5.7 -4.4 2.87e-02 1 1h 15 2.0899318e+00 2.59e-05 2.25e-04 1.84e-06 -5.7 -4.9 1.00e+00 2 1h 16 2.0899156e+00 7.06e-06 2.93e-04 1.84e-06 -5.7 -5.4 1.00e+00 2 1h 17 2.0899049e+00 1.36e-06 2.58e-04 1.84e-06 -5.7 -5.8 1.00e+00 2 1h 18 2.0899071e+00 4.89e-08 2.11e-03 1.85e-06 -5.7 -4.5 1.00e+00 1 1h 19 2.0899070e+00 4.71e-11 6.19e-06 1.85e-06 -5.7 -3.2 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0898896e+00 2.66e-08 8.61e-05 4.96e-07 -8.6 -3.6 1.00e+00 1 1h 21 2.0898884e+00 1.47e-08 1.09e-03 2.80e-09 -8.6 -4.1 4.48e-01 1 1h 22 2.0898871e+00 1.71e-08 5.93e-06 4.29e-09 -8.6 -4.6 1.00e+00 2 1h 23 2.0898858e+00 3.34e-08 6.72e-05 2.51e-09 -8.6 -5.1 8.43e-01 2 1h 24 2.0898841e+00 8.07e-08 2.27e-05 2.79e-09 -8.6 -5.6 1.00e+00 1 1h 25 2.0898820e+00 1.84e-07 6.50e-05 2.51e-09 -8.6 -6.0 1.00e+00 1 1h 26 2.0898805e+00 1.74e-07 1.13e-04 2.51e-09 -8.6 -6.5 1.00e+00 1 1h 27 2.0898807e+00 7.67e-12 1.35e-05 6.69e-07 -8.6 -3.4 1.00e+00 1 1h 28 2.0898806e+00 2.68e-11 1.71e-06 1.30e-07 -8.6 -3.9 1.00e+00 2 1h 29 2.0898805e+00 1.25e-11 1.11e-06 2.51e-09 -8.6 -4.3 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0898804e+00 8.02e-11 3.74e-07 2.89e-09 -8.6 -4.8 1.00e+00 1 1h 31 2.0898804e+00 4.68e-10 3.50e-07 2.51e-09 -8.6 -5.3 1.00e+00 1 1h 32 2.0898803e+00 2.13e-09 1.63e-06 2.51e-09 -8.6 -5.8 1.00e+00 1 1h 33 2.0898801e+00 5.30e-09 5.19e-06 2.51e-09 -8.6 -6.2 1.00e+00 2 1h 34 2.0898803e+00 1.11e-16 1.55e-04 2.51e-09 -8.6 -6.7 1.00e+00 1 1H 35 2.0898802e+00 1.34e-11 4.82e-06 2.51e-09 -8.6 -3.6 1.00e+00 1 1h 36 2.0898801e+00 1.75e-11 1.26e-03 2.51e-09 -8.6 -4.1 2.52e-01 2 1h 37 2.0898801e+00 2.77e-10 3.13e-06 2.01e-08 -8.6 -4.5 1.00e+00 2 1h 38 2.0898801e+00 2.79e-10 1.30e-06 6.03e-09 -8.6 -5.0 1.00e+00 2 1h 39 2.0898801e+00 2.26e-10 1.51e-06 2.51e-09 -8.6 -5.5 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0898801e+00 2.47e-13 1.45e-07 2.67e-09 -8.6 -4.2 1.00e+00 1 1h 41 2.0898801e+00 1.52e-12 1.38e-07 2.51e-09 -8.6 -4.6 1.00e+00 1 1h 42 2.0898800e+00 7.95e-12 9.32e-07 2.51e-09 -8.6 -5.1 1.00e+00 2 1h 43 2.0898800e+00 4.15e-11 1.57e-05 2.51e-09 -8.6 -5.6 1.00e+00 2 1h 44 2.0898800e+00 4.92e-10 2.79e-05 9.83e-09 -8.6 -6.1 1.00e+00 1 1h 45 2.0898800e+00 1.44e-10 1.32e-05 2.51e-09 -8.6 -6.5 1.00e+00 2 1h 46 2.0898800e+00 8.16e-11 6.44e-06 3.49e-09 -8.6 -7.0 1.00e+00 1 1h 47 2.0898800e+00 9.05e-12 1.69e-07 2.53e-09 -8.6 -7.5 1.00e+00 1 1h 48 2.0898800e+00 1.11e-13 3.87e-09 2.51e-09 -8.6 -8.0 1.00e+00 1 1h Number of Iterations....: 48 (scaled) (unscaled) Objective...............: 2.0898800325024314e+00 2.0898800325024314e+00 Dual infeasibility......: 3.8732193485489380e-09 3.8732193485489380e-09 Constraint violation....: 1.1102230246251565e-13 1.1102230246251565e-13 Complementarity.........: 2.5059035599807200e-09 2.5059035599807200e-09 Overall NLP error.......: 3.8732193485489380e-09 3.8732193485489380e-09 Number of objective function evaluations = 52 Number of objective gradient evaluations = 49 Number of constraint evaluations = 52 Number of constraint Jacobian evaluations = 49 Number of Lagrangian Hessian evaluations = 48 Number of KKT factorizations = 115 Number of KKT backsolves = 78 Total wall secs in initialization = 1.936 s Total wall secs in linear solver = 0.052 s Total wall secs in NLP function evaluations = 16.743 s Total wall secs in solver (w/o init./fun./lin. alg.) = 24.832 s Total wall secs = 43.563 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 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 2.7399162e+00 2.05e+00 6.21e-01 9.74e-01 -1.0 - 0.00e+00 1 0 1 2.8859289e+00 8.28e-02 2.44e+00 1.77e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 2 2.7278593e+00 2.70e-02 2.05e-01 1.01e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 3 2.3903133e+00 3.58e-03 1.15e-01 3.59e-02 -1.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 4 2.1174764e+00 4.40e-03 1.03e-01 4.36e-03 -2.5 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 5 2.1153130e+00 9.14e-04 1.01e-02 2.86e-03 -2.5 - 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1153129889063571e+00 2.1153129889063571e+00 Dual infeasibility......: 1.0066619010304763e-02 1.0066619010304763e-02 Constraint violation....: 9.1403861560523936e-04 9.1403861560523936e-04 Complementarity.........: 2.8647021323348807e-03 2.8647021323348807e-03 Overall NLP error.......: 1.0066619010304763e-02 1.0066619010304763e-02 Number of objective function evaluations = 6 Number of objective gradient evaluations = 6 Number of constraint evaluations = 6 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 0 Number of KKT factorizations = 6 Number of KKT backsolves = 6 Total wall secs in initialization = 0.432 s Total wall secs in linear solver = 0.005 s Total wall secs in NLP function evaluations = 0.035 s Total wall secs in solver (w/o init./fun./lin. alg.) = 31.093 s Total wall secs = 31.564 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 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 3.0721159e+00 2.36e+00 9.08e-01 9.82e-01 -1.0 - 0.00e+00 1 0 1 2.8164119e+00 5.20e-02 2.74e+00 1.78e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 2 2.6929128e+00 3.86e-02 2.01e-01 1.05e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 3 2.3852235e+00 3.67e-03 1.46e-01 3.59e-02 -1.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 4 2.1227168e+00 7.38e-03 4.94e-02 4.75e-03 -2.5 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 5 2.1151830e+00 1.55e-03 1.92e-02 2.84e-03 -2.5 - 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1151829874227479e+00 2.1151829874227479e+00 Dual infeasibility......: 1.9239660277538047e-02 1.9239660277538047e-02 Constraint violation....: 1.5469857374423857e-03 1.5469857374423857e-03 Complementarity.........: 2.8429921119540328e-03 2.8429921119540328e-03 Overall NLP error.......: 1.9239660277538047e-02 1.9239660277538047e-02 Number of objective function evaluations = 6 Number of objective gradient evaluations = 6 Number of constraint evaluations = 6 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 0 Number of KKT factorizations = 6 Number of KKT backsolves = 6 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.005 s Total wall secs in NLP function evaluations = 0.032 s Total wall secs in solver (w/o init./fun./lin. alg.) = 8.337 s Total wall secs = 8.375 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 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 5.0255358e+00 3.22e+00 8.55e-01 9.88e-01 -1.0 - 0.00e+00 1 0 1 2.6265629e+00 6.60e-02 3.57e+00 3.38e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 2 2.7409823e+00 2.53e-02 1.71e-01 1.01e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 3 2.3171161e+00 1.20e-02 1.22e-01 2.83e-02 -2.5 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 4 2.1209748e+00 5.58e-03 9.01e-02 4.35e-03 -2.5 - 9.57e-01 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 5 2.1157242e+00 1.13e-03 5.67e-03 3.12e-03 -2.5 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 6 2.0915972e+00 1.82e-05 5.49e-03 1.89e-04 -3.8 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 7 2.0914302e+00 4.28e-08 8.09e-04 1.50e-04 -3.8 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 8 2.0900661e+00 9.23e-06 2.48e-03 4.32e-05 -5.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 9 2.0900279e+00 3.40e-05 7.88e-04 9.57e-06 -5.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900151e+00 3.83e-06 1.20e-03 2.65e-06 -5.7 - 1.00e+00 1 1h Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0900150658778971e+00 2.0900150658778971e+00 Dual infeasibility......: 1.1962023528191016e-03 1.1962023528191016e-03 Constraint violation....: 3.8329813221160691e-06 3.8329813221160691e-06 Complementarity.........: 2.6496457805050854e-06 2.6496457805050854e-06 Overall NLP error.......: 1.1962023528191016e-03 1.1962023528191016e-03 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of constraint evaluations = 11 Number of constraint Jacobian evaluations = 11 Number of Lagrangian Hessian evaluations = 0 Number of KKT factorizations = 11 Number of KKT backsolves = 11 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.011 s Total wall secs in NLP function evaluations = 0.043 s Total wall secs in solver (w/o init./fun./lin. alg.) = 7.939 s Total wall secs = 7.994 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1680 Number of nonzeros in Lagrangian Hessian.............: 1964 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 1.1969262e+01 3.08e+00 3.31e+00 1.97e+00 -1.0 - 0.00e+00 1 0 1 3.5070777e+00 2.12e-01 4.30e+00 4.82e-01 -1.0 0.0 9.63e-01 1 1h 2 2.7856216e+00 1.42e-01 3.30e+00 3.08e-01 -1.0 -0.5 1.00e+00 2 1h 3 2.6294083e+00 6.79e-02 2.02e+00 1.25e-01 -1.0 -1.0 5.31e-01 2 1h 4 2.6128310e+00 2.00e-02 5.59e-01 1.12e-01 -1.0 -1.4 1.00e+00 2 1h 5 2.3866026e+00 1.60e-02 1.19e-01 3.89e-02 -1.7 -1.9 1.00e+00 2 1h 6 2.1442928e+00 1.36e-02 3.82e-02 7.46e-03 -2.5 -2.4 1.00e+00 2 1h 7 2.1147757e+00 2.43e-03 1.24e-02 2.86e-03 -2.5 -2.9 1.00e+00 2 1h 8 2.0917967e+00 4.25e-04 3.40e-04 2.07e-04 -3.8 -3.3 1.00e+00 2 1h 9 2.0900144e+00 5.23e-05 1.82e-03 6.40e-05 -5.7 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899428e+00 5.16e-05 3.17e-01 8.07e-06 -5.7 -4.3 1.27e-02 2 1h 11 2.0899261e+00 4.85e-06 6.36e-04 1.86e-06 -5.7 -4.8 1.00e+00 2 1h 12 2.0899153e+00 4.31e-06 1.88e-04 1.84e-06 -5.7 -5.2 1.00e+00 2 1h 13 2.0899042e+00 2.07e-06 2.55e-04 1.84e-06 -5.7 -5.7 1.00e+00 2 1h 14 2.0899029e+00 1.28e-07 1.03e-03 1.85e-06 -5.7 -5.3 1.00e+00 1 1h 15 2.0899035e+00 1.62e-08 1.18e-03 2.98e-05 -5.7 -4.0 8.77e-01 1 1h 16 2.0899027e+00 1.23e-08 1.29e-04 8.49e-06 -5.7 -4.4 1.00e+00 2 1h 17 2.0899015e+00 5.08e-08 6.80e-06 2.00e-06 -5.7 -4.9 1.00e+00 2 1h 18 2.0898832e+00 8.72e-07 4.73e-05 5.22e-08 -8.6 -5.4 1.00e+00 1 1h 19 2.0898814e+00 1.42e-07 9.66e-05 4.92e-09 -8.6 -5.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0898814e+00 1.41e-07 9.63e-05 2.53e-09 -8.6 -6.4 4.59e-03 1 1h 21 2.0898801e+00 2.13e-07 1.40e-04 2.51e-09 -8.6 -6.8 1.00e+00 1 1h 22 2.0898800e+00 1.98e-08 6.48e-06 2.51e-09 -8.6 -7.3 1.00e+00 2 1h 23 2.0898800e+00 4.20e-10 4.32e-07 2.51e-09 -8.6 -7.8 1.00e+00 1 1h 24 2.0898800e+00 1.27e-12 1.30e-08 2.51e-09 -8.6 -8.3 1.00e+00 1 1h 25 2.0898800e+00 6.68e-14 6.43e-12 9.10e-10 -9.0 -8.7 1.00e+00 1 1h Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0898800181311179e+00 2.0898800181311179e+00 Dual infeasibility......: 6.4306186174114199e-12 6.4306186174114199e-12 Constraint violation....: 6.6772976037299259e-14 6.6772976037299259e-14 Complementarity.........: 9.0981362709794562e-10 9.0981362709794562e-10 Overall NLP error.......: 9.0981362709794562e-10 9.0981362709794562e-10 Number of objective function evaluations = 26 Number of objective gradient evaluations = 26 Number of constraint evaluations = 26 Number of constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Number of KKT factorizations = 56 Number of KKT backsolves = 42 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.029 s Total wall secs in NLP function evaluations = 32.034 s Total wall secs in solver (w/o init./fun./lin. alg.) = 13.582 s Total wall secs = 45.645 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 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 5.0623002e+00 2.61e+00 8.78e-01 9.45e-01 -1.0 - 0.00e+00 1 0 1 2.9048733e+00 4.89e-02 1.87e+00 1.61e-01 -1.0 0.0 1.00e+00 2 1h 2 2.7810814e+00 5.43e-02 1.06e+00 1.32e-01 -1.0 -0.5 4.33e-01 2 1h 3 2.6359526e+00 5.55e-02 1.86e+00 1.57e-01 -1.0 -1.0 1.12e-01 2 2h 4 2.8847968e+00 1.25e-01 8.27e-01 1.55e-01 -1.0 -0.5 1.00e+00 1 1h 5 2.3718724e+00 1.24e-01 2.58e-01 5.95e-02 -1.7 -1.0 8.09e-01 2 1h 6 2.2820506e+00 2.53e-02 1.17e-01 2.47e-02 -1.7 -1.5 1.00e+00 2 1h 7 2.1144267e+00 6.39e-03 1.08e-02 4.51e-03 -2.5 -2.0 1.00e+00 2 1h 8 2.0915728e+00 9.91e-04 2.23e-03 2.18e-04 -3.8 -2.4 1.00e+00 2 1h 9 2.0914057e+00 7.88e-07 2.20e-04 1.59e-04 -3.8 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900358e+00 1.00e-05 2.72e-04 4.25e-05 -5.7 -3.4 1.00e+00 2 1h 11 2.0899823e+00 6.02e-06 5.96e-04 2.35e-06 -5.7 -3.9 8.58e-01 2 1h 12 2.0899665e+00 3.38e-05 5.08e-05 2.29e-06 -5.7 -4.3 1.00e+00 2 1h 13 2.0899396e+00 3.46e-05 2.81e-04 1.84e-06 -5.7 -4.8 1.00e+00 2 1h 14 2.0899189e+00 9.10e-06 4.04e-04 1.84e-06 -5.7 -5.3 1.00e+00 2 1h 15 2.0899055e+00 7.97e-07 3.12e-04 1.84e-06 -5.7 -5.8 1.00e+00 2 1h 16 2.0899038e+00 1.59e-08 6.68e-04 1.85e-06 -5.7 -5.4 1.00e+00 1 1h 17 2.0899062e+00 9.41e-09 1.12e-02 3.38e-05 -5.7 -4.0 4.13e-01 1 1h 18 2.0899041e+00 2.18e-09 2.25e-04 8.17e-06 -5.7 -4.5 1.00e+00 2 1h 19 2.0899025e+00 8.94e-09 2.16e-05 2.30e-06 -5.7 -5.0 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0899005e+00 2.48e-08 5.79e-05 1.85e-06 -5.7 -5.5 1.00e+00 2 1h 21 2.0898984e+00 3.93e-08 1.15e-04 1.85e-06 -5.7 -5.9 1.00e+00 2 1h 22 2.0898970e+00 3.20e-08 9.29e-05 1.84e-06 -5.7 -6.4 1.00e+00 2 1h 23 2.0898966e+00 1.64e-08 2.54e-05 1.84e-06 -5.7 -6.9 1.00e+00 2 1h 24 2.0898966e+00 2.97e-09 2.10e-06 1.84e-06 -5.7 -7.4 1.00e+00 2 1h 25 2.0898800e+00 5.04e-08 3.64e-08 2.53e-09 -8.6 -7.8 1.00e+00 2 1h 26 2.0898800e+00 1.96e-13 8.27e-11 2.51e-09 -8.6 -8.3 1.00e+00 1 1h Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0898800325024305e+00 2.0898800325024305e+00 Dual infeasibility......: 8.2727576525276625e-11 8.2727576525276625e-11 Constraint violation....: 1.9551027463649007e-13 1.9551027463649007e-13 Complementarity.........: 2.5059035723007514e-09 2.5059035723007514e-09 Overall NLP error.......: 2.5059035723007514e-09 2.5059035723007514e-09 Number of objective function evaluations = 29 Number of objective gradient evaluations = 27 Number of constraint evaluations = 29 Number of constraint Jacobian evaluations = 27 Number of Lagrangian Hessian evaluations = 26 Number of KKT factorizations = 59 Number of KKT backsolves = 51 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.028 s Total wall secs in NLP function evaluations = 17.947 s Total wall secs in solver (w/o init./fun./lin. alg.) = 7.749 s Total wall secs = 25.725 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 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 5.6980308e+00 3.86e+00 1.11e+00 9.91e-01 -1.0 - 0.00e+00 1 0 1 2.6279304e+00 3.35e-01 3.28e+00 2.69e-01 -1.0 0.0 9.13e-01 1 1h 2 2.4294626e+00 3.70e-02 1.87e+00 1.80e-01 -1.0 0.4 8.88e-01 1 1h 3 3.0016340e+00 8.80e-02 3.52e+00 1.26e-01 -1.0 -0.1 1.00e+00 1 1h 4 2.7145367e+00 1.96e-02 1.36e+00 1.03e-01 -1.0 1.3 7.79e-01 1 1h 5 2.8693867e+00 1.80e-02 8.67e-01 1.73e-01 -1.0 0.8 1.00e+00 1 1h 6 2.5762511e+00 4.67e-03 2.83e-01 5.60e-02 -1.7 0.3 1.00e+00 1 1h 7 2.3028538e+00 3.04e-02 9.84e-02 4.09e-02 -1.7 -0.2 1.00e+00 1 1h 8 2.1606877e+00 1.25e-02 3.82e-01 1.21e-02 -2.5 -0.6 5.90e-01 1 1h 9 2.1144580e+00 1.20e-03 1.47e-02 4.73e-03 -2.5 -1.1 9.88e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0916827e+00 1.15e-04 1.21e-02 2.22e-04 -3.8 -1.6 1.00e+00 1 1h 11 2.0913834e+00 1.45e-06 9.33e-05 1.51e-04 -3.8 -2.1 1.00e+00 1 1h 12 2.0900440e+00 1.89e-06 5.13e-05 1.85e-05 -5.7 -2.5 1.00e+00 1 1h 13 2.0900292e+00 1.48e-07 9.37e-05 5.59e-06 -5.7 -3.0 1.00e+00 1 1h 14 2.0900095e+00 4.16e-06 1.45e-03 1.85e-06 -5.7 -3.5 4.95e-01 1 1h 15 2.0900014e+00 4.68e-05 5.45e-05 3.80e-06 -5.7 -4.0 1.00e+00 1 1h 16 2.0899778e+00 6.63e-05 4.64e-04 1.85e-06 -5.7 -4.4 7.14e-01 1 1h 17 2.0899447e+00 3.44e-05 4.65e-04 3.10e-06 -5.7 -4.9 1.00e+00 1 1h 18 2.0899187e+00 9.69e-06 4.50e-04 1.84e-06 -5.7 -5.4 1.00e+00 1 1h 19 2.0899046e+00 2.80e-06 4.04e-04 1.84e-06 -5.7 -5.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0899093e+00 2.70e-06 7.73e-03 1.86e-06 -5.7 -4.5 1.00e+00 1 1h 21 2.0899072e+00 1.77e-07 5.30e-04 4.56e-06 -5.7 -4.1 1.00e+00 1 1h 22 2.0899059e+00 9.36e-08 1.01e-04 2.10e-06 -5.7 -4.6 1.00e+00 1 1h 23 2.0899035e+00 3.52e-07 3.35e-05 1.85e-06 -5.7 -5.1 1.00e+00 1 1h 24 2.0899006e+00 8.61e-07 1.17e-04 1.84e-06 -5.7 -5.6 1.00e+00 1 1h 25 2.0898981e+00 1.11e-06 1.63e-04 1.84e-06 -5.7 -6.0 1.00e+00 1 1h 26 2.0898969e+00 5.82e-07 9.58e-05 1.84e-06 -5.7 -6.5 1.00e+00 1 1h 27 2.0898966e+00 9.00e-08 1.87e-05 1.84e-06 -5.7 -7.0 1.00e+00 1 1h 28 2.0898966e+00 2.97e-09 1.14e-06 1.84e-06 -5.7 -7.5 1.00e+00 1 1h 29 2.0898800e+00 2.96e-08 1.18e-08 2.52e-09 -8.6 -7.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0898800e+00 1.79e-14 1.55e-11 2.51e-09 -8.6 -8.4 1.00e+00 1 1h Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0898800325024314e+00 2.0898800325024314e+00 Dual infeasibility......: 1.5515645192254457e-11 1.5515645192254457e-11 Constraint violation....: 1.7874590696465020e-14 1.7874590696465020e-14 Complementarity.........: 2.5059035627961488e-09 2.5059035627961488e-09 Overall NLP error.......: 2.5059035627961488e-09 2.5059035627961488e-09 Number of objective function evaluations = 31 Number of objective gradient evaluations = 31 Number of constraint evaluations = 31 Number of constraint Jacobian evaluations = 31 Number of Lagrangian Hessian evaluations = 30 Number of KKT factorizations = 69 Number of KKT backsolves = 31 Total wall secs in initialization = 4.563 s Total wall secs in linear solver = 0.059 s Total wall secs in NLP function evaluations = 19.212 s Total wall secs in solver (w/o init./fun./lin. alg.) = 23.448 s Total wall secs = 47.282 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 4.8086788e+00 4.22e+00 9.11e-01 9.62e-01 -1.0 - 0.00e+00 1 0 1 2.7344146e+00 1.55e+00 1.47e+00 6.13e-01 -1.3 0.0 6.33e-01 1 1h 2 2.5449631e+00 4.90e-01 2.04e+00 3.11e-01 -0.9 -0.5 6.80e-01 2 1h 3 2.7056480e+00 2.54e-02 9.15e-01 1.48e-01 -1.0 -1.0 1.00e+00 2 1h 4 2.4671285e+00 1.88e-02 5.55e-01 7.89e-02 -1.4 -1.4 4.40e-01 2 1h 5 2.3618800e+00 3.20e-02 4.75e-01 4.42e-02 -1.4 -1.9 8.44e-01 2 1h 6 2.3925264e+00 9.53e-03 4.75e-02 4.57e-02 -1.4 -2.4 1.00e+00 2 1h 7 2.1137395e+00 8.30e-03 3.92e-02 4.75e-03 -7.8 -2.9 1.00e+00 2 1h 8 2.1066196e+00 7.89e-04 3.13e-03 1.87e-03 -2.7 -3.3 1.00e+00 2 1h 9 2.0907214e+00 1.86e-04 5.14e-04 8.92e-05 -4.1 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899568e+00 1.97e-05 1.87e-04 1.59e-06 -6.1 -4.3 1.00e+00 2 1h 11 2.0899331e+00 1.83e-05 8.23e-04 7.88e-07 -6.1 -4.8 9.66e-01 2 1h 12 2.0899332e+00 1.77e-05 8.16e-04 7.87e-07 -6.1 -5.2 3.12e-02 2 6f 13 2.0899322e+00 5.67e-08 4.34e-04 1.59e-05 -6.2 -3.9 1.00e+00 1 1h 14 2.0899267e+00 5.47e-07 1.43e-04 2.23e-06 -6.2 -4.4 1.00e+00 2 1h 15 2.0899139e+00 2.04e-06 1.50e-04 9.22e-07 -6.2 -4.9 1.00e+00 2 1h 16 2.0899089e+00 7.75e-07 4.23e-04 8.35e-07 -6.2 -4.4 7.12e-01 1 1h 17 2.0899036e+00 8.15e-07 1.89e-04 2.29e-06 -6.2 -4.9 1.00e+00 2 1h 18 2.0898993e+00 4.91e-07 9.37e-04 6.55e-07 -6.2 -4.5 4.71e-01 1 1h 19 2.0898963e+00 3.20e-07 4.58e-05 8.47e-07 -6.2 -5.0 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0898925e+00 3.32e-07 5.47e-05 6.54e-07 -6.2 -5.5 1.00e+00 2 1h 21 2.0898886e+00 3.30e-07 7.71e-05 6.54e-07 -6.2 -5.9 1.00e+00 2 1h 22 2.0898898e+00 5.51e-09 4.32e-04 1.31e-05 -6.2 -3.7 1.00e+00 1 1h 23 2.0898892e+00 1.51e-09 4.58e-05 7.72e-07 -6.2 -4.2 1.00e+00 2 1h 24 2.0898888e+00 5.71e-10 2.19e-05 6.56e-07 -6.2 -4.7 1.00e+00 2 1h 25 2.0898882e+00 1.76e-08 1.88e-05 6.54e-07 -6.2 -5.1 1.00e+00 2 1h 26 2.0898873e+00 7.12e-08 3.16e-05 6.54e-07 -6.2 -5.6 1.00e+00 2 1h 27 2.0898864e+00 1.36e-07 4.68e-05 6.54e-07 -6.2 -6.1 1.00e+00 2 1h 28 2.0898860e+00 9.99e-08 2.68e-05 6.54e-07 -6.2 -6.6 1.00e+00 2 1h 29 2.0898859e+00 1.96e-08 3.99e-06 6.54e-07 -6.2 -7.0 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0898800e+00 3.32e-08 1.51e-07 9.30e-10 -9.0 -7.5 1.00e+00 1 1h 31 2.0898800e+00 8.44e-12 1.61e-09 9.09e-10 -9.0 -8.0 1.00e+00 2 1h Number of Iterations....: 31 (scaled) (unscaled) Objective...............: 2.0898800181311499e+00 2.0898800181311499e+00 Dual infeasibility......: 1.6120362388710729e-09 1.6120362388710729e-09 Constraint violation....: 8.4354745411019394e-12 8.4354745411019394e-12 Complementarity.........: 9.0909095689161133e-10 9.0909095689161133e-10 Overall NLP error.......: 1.6120362388710729e-09 1.6120362388710729e-09 Number of objective function evaluations = 37 Number of objective gradient evaluations = 32 Number of constraint evaluations = 37 Number of constraint Jacobian evaluations = 32 Number of Lagrangian Hessian evaluations = 31 Number of KKT factorizations = 72 Number of KKT backsolves = 57 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.032 s Total wall secs in NLP function evaluations = 17.337 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.023 s Total wall secs = 26.393 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 4.0285587e+00 2.25e+00 1.85e+00 9.94e-01 -1.0 - 0.00e+00 1 0 1 2.8801295e+00 1.40e+00 8.47e+00 2.86e+00 -0.2 0.0 3.78e-01 1 1h 2 3.1861322e+00 6.07e-02 1.81e+01 1.65e+00 -0.3 -0.5 1.00e+00 2 1h 3 2.8514796e+00 1.85e-02 4.73e+00 3.23e-01 -6.3 -0.1 1.00e+00 1 1h 4 2.7189207e+00 3.33e-03 1.32e-01 1.15e-01 -1.0 -0.5 1.00e+00 2 1h 5 2.3114006e+00 1.10e-02 7.66e-01 3.09e-02 -2.6 -1.0 1.00e+00 2 1h 6 2.1106283e+00 8.97e-03 3.61e-02 4.38e-03 -2.6 -1.5 1.00e+00 2 1h 7 2.1148744e+00 1.41e-03 5.20e-03 2.79e-03 -2.6 -2.0 1.00e+00 2 1h 8 2.0915657e+00 3.54e-05 8.35e-05 1.72e-04 -3.8 -2.4 1.00e+00 2 1h 9 2.0900980e+00 5.67e-06 2.07e-04 3.82e-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 2.0900538e+00 3.30e-06 1.82e-04 5.73e-06 -5.7 -3.4 1.00e+00 2 1h 11 2.0900443e+00 7.66e-06 1.16e-03 4.62e-06 -5.7 -3.9 3.84e-01 2 2h 12 2.0900069e+00 1.35e-04 1.30e-04 1.79e-06 -5.7 -4.3 1.00e+00 2 1h 13 2.0899587e+00 2.54e-04 4.70e-04 1.85e-06 -5.7 -4.8 1.00e+00 2 1h 14 2.0899228e+00 4.11e-05 6.15e-04 1.78e-06 -5.7 -5.3 1.00e+00 2 1h 15 2.0899059e+00 6.21e-06 3.15e-04 1.78e-06 -5.7 -5.8 1.00e+00 2 1h 16 2.0899130e+00 8.00e-07 1.27e-03 1.79e-06 -5.7 -6.3 1.00e+00 2 1h 17 2.0899032e+00 7.64e-07 9.42e-02 1.81e-06 -5.7 -3.1 4.49e-02 1 1h 18 2.0899136e+00 2.03e-08 7.62e-05 1.18e-05 -5.7 -3.6 1.00e+00 2 1h 19 2.0899046e+00 3.36e-08 5.76e-05 3.46e-06 -5.7 -4.1 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0899012e+00 1.37e-07 2.15e-05 1.78e-06 -5.7 -4.5 1.00e+00 2 1h 21 2.0898975e+00 5.22e-07 4.29e-04 1.78e-06 -5.7 -5.0 1.00e+00 2 1h 22 2.0898976e+00 4.58e-07 1.45e-03 1.11e-05 -5.7 -4.6 1.65e-01 1 2h 23 2.0898970e+00 7.15e-08 5.10e-05 1.94e-06 -5.7 -5.1 1.00e+00 2 1h 24 2.0898966e+00 5.65e-08 7.04e-06 1.79e-06 -5.7 -5.6 1.00e+00 2 1h 25 2.0898803e+00 5.76e-07 1.07e-05 2.93e-09 -8.6 -6.0 1.00e+00 1 1h 26 2.0898801e+00 1.93e-08 7.96e-06 2.38e-09 -8.6 -6.5 1.00e+00 2 1h 27 2.0898800e+00 4.26e-09 2.55e-06 2.38e-09 -8.6 -7.0 1.00e+00 2 1h 28 2.0898800e+00 1.75e-10 1.61e-07 2.38e-09 -8.6 -7.5 1.00e+00 1 1h 29 2.0898800e+00 1.98e-12 1.39e-09 2.38e-09 -8.6 -7.9 1.00e+00 2 1h Number of Iterations....: 29 (scaled) (unscaled) Objective...............: 2.0898800313753747e+00 2.0898800313753747e+00 Dual infeasibility......: 1.3886494168099950e-09 1.3886494168099950e-09 Constraint violation....: 1.9846346788199298e-12 1.9846346788199298e-12 Complementarity.........: 2.3806719689272643e-09 2.3806719689272643e-09 Overall NLP error.......: 2.3806719689272643e-09 2.3806719689272643e-09 Number of objective function evaluations = 33 Number of objective gradient evaluations = 30 Number of constraint evaluations = 33 Number of constraint Jacobian evaluations = 30 Number of Lagrangian Hessian evaluations = 29 Number of KKT factorizations = 67 Number of KKT backsolves = 55 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.031 s Total wall secs in NLP function evaluations = 19.465 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.619 s Total wall secs = 29.117 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.039s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 1.949s jacobian structure: 1600 nonzeros (1.989s) integrator 1 hessian structure: 0.031s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.169s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.2s) linear index maps built (0.0s) evaluator ready (total: 5.189s) evaluator created (5.215s) 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: 5.216s) 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 5.4444290e+00 1.85e+00 1.47e+00 9.77e-01 -1.0 - 0.00e+00 1 0 1 2.3512650e+00 3.98e-01 1.84e+00 4.58e-01 -1.0 0.0 7.87e-01 1 1h 2 2.6216868e+00 4.81e-02 1.13e+00 1.72e-01 -1.0 -0.5 1.00e+00 2 1h 3 2.7019268e+00 2.45e-03 9.96e-02 1.02e-01 -1.0 -1.0 1.00e+00 2 1h 4 2.3266369e+00 1.38e-02 1.65e-01 3.01e-02 -2.5 -1.4 1.00e+00 2 1h 5 2.1252900e+00 9.87e-03 8.64e-02 6.30e-03 -2.5 -1.9 8.50e-01 2 1h 6 2.1157575e+00 1.27e-03 5.56e-03 2.95e-03 -2.5 -2.4 1.00e+00 2 1h 7 2.0917706e+00 1.76e-04 4.73e-04 2.41e-04 -3.8 -2.9 1.00e+00 2 1h 8 2.0901094e+00 1.31e-05 4.46e-03 6.86e-05 -5.7 -3.3 1.00e+00 2 1h 9 2.0900207e+00 8.19e-06 2.30e-04 2.22e-06 -5.7 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899970e+00 4.32e-05 5.21e-05 1.85e-06 -5.7 -4.3 1.00e+00 2 1h 11 2.0899594e+00 8.38e-05 3.17e-04 1.84e-06 -5.7 -4.8 1.00e+00 2 1h 12 2.0899281e+00 3.98e-05 4.70e-04 1.84e-06 -5.7 -5.2 1.00e+00 2 1h 13 2.0899098e+00 1.65e-05 3.44e-04 1.84e-06 -5.7 -5.7 1.00e+00 2 1h 14 2.0899569e+00 2.86e-06 2.75e-03 1.85e-06 -5.7 -6.2 1.00e+00 2 1h 15 2.0899140e+00 2.85e-06 1.58e-01 1.89e-06 -5.7 -3.1 4.40e-03 1 1h 16 2.0899987e+00 2.52e-06 2.10e-01 1.90e-06 -5.7 -3.5 1.42e-01 2 3h 17 2.0899107e+00 2.47e-06 9.88e-01 2.13e-06 -5.7 -3.1 2.52e-02 1 1h 18 2.0899091e+00 2.46e-06 8.00e-01 2.07e-06 -5.7 -3.6 1.58e-03 2 1h 19 2.0902837e+00 1.06e-06 1.42e-01 2.64e-03 -5.7 -2.3 5.69e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0901162e+00 1.96e-07 4.01e-04 6.15e-04 -5.7 -2.7 1.00e+00 2 1h 21 2.0900428e+00 1.54e-07 2.83e-03 1.24e-04 -5.7 -3.2 1.00e+00 2 1h 22 2.0899199e+00 1.35e-08 4.11e-04 1.34e-05 -5.7 -3.7 1.00e+00 2 1h 23 2.0899068e+00 2.39e-08 6.51e-05 2.64e-06 -5.7 -4.2 1.00e+00 2 1h 24 2.0899039e+00 1.18e-07 1.96e-05 1.84e-06 -5.7 -4.7 1.00e+00 2 1h 25 2.0899001e+00 3.45e-07 1.54e-04 1.85e-06 -5.7 -5.1 1.00e+00 2 1h 26 2.0899015e+00 3.09e-07 4.47e-02 2.31e-05 -5.7 -3.8 2.24e-01 1 2h 27 2.0899001e+00 7.39e-09 1.09e-04 1.85e-06 -5.7 -4.3 1.00e+00 2 1h 28 2.0898992e+00 1.27e-08 3.24e-05 1.84e-06 -5.7 -4.8 1.00e+00 2 1h 29 2.0898982e+00 9.27e-08 2.44e-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 2.0898974e+00 1.51e-07 2.87e-05 1.84e-06 -5.7 -5.7 1.00e+00 2 1h 31 2.0898969e+00 1.01e-07 2.64e-05 1.84e-06 -5.7 -6.2 1.00e+00 2 1h 32 2.0898967e+00 2.74e-08 1.71e-05 1.84e-06 -5.7 -6.7 1.00e+00 2 1h 33 2.0898800e+00 5.12e-07 4.17e-06 2.75e-09 -8.6 -7.1 1.00e+00 1 1h 34 2.0898800e+00 6.36e-10 1.85e-07 2.51e-09 -8.6 -7.6 1.00e+00 1 1h 35 2.0898800e+00 4.12e-12 1.11e-09 2.51e-09 -8.6 -8.1 1.00e+00 1 1h Number of Iterations....: 35 (scaled) (unscaled) Objective...............: 2.0898800325024407e+00 2.0898800325024407e+00 Dual infeasibility......: 1.1069812566599779e-09 1.1069812566599779e-09 Constraint violation....: 4.1200376443839559e-12 4.1200376443839559e-12 Complementarity.........: 2.5059035604514300e-09 2.5059035604514300e-09 Overall NLP error.......: 2.5059035604514300e-09 2.5059035604514300e-09 Number of objective function evaluations = 41 Number of objective gradient evaluations = 36 Number of constraint evaluations = 41 Number of constraint Jacobian evaluations = 36 Number of Lagrangian Hessian evaluations = 35 Number of KKT factorizations = 82 Number of KKT backsolves = 66 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.039 s Total wall secs in NLP function evaluations = 16.776 s Total wall secs in solver (w/o init./fun./lin. alg.) = 8.195 s Total wall secs = 25.011 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.038s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 1.832s jacobian structure: 1680 nonzeros (1.87s) integrator 1 hessian structure: 0.02s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 6.389s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1964 nonzeros (6.411s) linear index maps built (0.0s) evaluator ready (total: 8.282s) evaluator created (8.307s) 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: 8.309s) 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 2.4917908e+01 3.98e+00 4.61e+00 1.85e+00 -1.0 - 0.00e+00 1 0 1 9.2427336e+00 1.38e+00 2.62e+00 6.86e-01 -1.0 0.0 6.54e-01 1 1h 2 3.3264662e+00 4.08e-01 4.97e+00 4.48e-01 -1.0 -0.5 7.44e-01 2 1h 3 2.4608491e+00 1.81e-01 1.34e+00 2.92e-01 -1.0 -1.0 1.00e+00 2 1h 4 2.8956708e+00 6.18e-02 5.61e-01 1.35e-01 -1.0 -1.4 1.00e+00 2 1h 5 2.3759400e+00 3.77e-02 1.21e-01 4.90e-02 -1.7 -1.9 7.95e-01 2 1h 6 2.2670972e+00 7.29e-02 1.03e+00 5.11e-02 -2.5 -2.4 1.86e-01 2 1h 7 2.1394458e+00 4.61e-02 5.20e-01 1.70e-02 -2.5 -2.9 9.77e-01 2 1h 8 2.1168318e+00 4.36e-03 2.33e-02 4.32e-03 -2.5 -3.3 1.00e+00 2 1h 9 2.0921112e+00 8.76e-04 1.50e-03 3.08e-04 -3.8 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900787e+00 1.21e-04 1.46e-03 3.22e-05 -5.7 -4.3 1.00e+00 2 1h 11 2.0900106e+00 3.18e-04 1.73e-03 2.16e-06 -5.7 -4.8 1.00e+00 2 1h 12 2.0899419e+00 4.64e-04 5.33e-04 1.86e-06 -5.7 -5.2 1.00e+00 2 1h 13 2.0899398e+00 4.13e-07 1.98e-05 2.15e-06 -5.7 -3.9 1.00e+00 1 1h 14 2.0899325e+00 2.42e-06 1.13e-04 1.84e-06 -5.7 -4.4 1.00e+00 2 1h 15 2.0899208e+00 6.78e-06 9.39e-05 1.84e-06 -5.7 -4.9 1.00e+00 2 1h 16 2.0899117e+00 5.47e-06 1.94e-04 1.84e-06 -5.7 -5.4 1.00e+00 2 1h 17 2.0899099e+00 2.17e-07 4.55e-05 1.84e-06 -5.7 -4.9 1.00e+00 1 1h 18 2.0899095e+00 1.51e-08 4.89e-05 1.84e-06 -5.7 -4.5 1.00e+00 1 1h 19 2.0899095e+00 8.73e-08 7.75e-04 1.85e-06 -5.7 -5.0 2.48e-01 2 3h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0899050e+00 8.51e-07 5.60e-04 5.15e-06 -5.7 -5.5 1.00e+00 2 1h 21 2.0898999e+00 4.72e-07 1.68e-04 2.37e-06 -5.7 -5.9 1.00e+00 2 1h 22 2.0898972e+00 4.19e-07 1.65e-04 1.86e-06 -5.7 -6.4 1.00e+00 2 1h 23 2.0898966e+00 1.11e-07 4.26e-05 1.84e-06 -5.7 -6.9 1.00e+00 2 1h 24 2.0898966e+00 5.60e-09 2.17e-06 1.84e-06 -5.7 -7.4 1.00e+00 1 1h 25 2.0898800e+00 3.51e-08 1.81e-08 2.53e-09 -8.6 -7.8 1.00e+00 1 1h 26 2.0898800e+00 1.96e-13 3.05e-11 2.51e-09 -8.6 -8.3 1.00e+00 2 1h Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0898800325024314e+00 2.0898800325024314e+00 Dual infeasibility......: 3.0476036624871305e-11 3.0476036624871305e-11 Constraint violation....: 1.9562129693895258e-13 1.9562129693895258e-13 Complementarity.........: 2.5059035685074007e-09 2.5059035685074007e-09 Overall NLP error.......: 2.5059035685074007e-09 2.5059035685074007e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 27 Number of constraint evaluations = 30 Number of constraint Jacobian evaluations = 27 Number of Lagrangian Hessian evaluations = 26 Number of KKT factorizations = 59 Number of KKT backsolves = 49 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.031 s Total wall secs in NLP function evaluations = 21.804 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.579 s Total wall secs = 31.415 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.039s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 1.94s jacobian structure: 1600 nonzeros (1.981s) integrator 1 hessian structure: 0.034s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.546s 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 (3.581s) linear index maps built (0.0s) evaluator ready (total: 5.562s) evaluator created (7.122s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.177s) variables set (0.632s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (2.118s) optimizer initialization complete (total: 10.19s) ┌ Warning: `disable_sigint` no longer defers Ctrl-C: SIGINT is delivered as a cancellation of the current ^C scope and observed at cancellation points regardless of the sigatomic region this establishes. Shield a region from cancellation by scoping `Base.CANCEL_TOKEN => nothing` over it instead. │ caller = IpoptSolve(prob::Ipopt.IpoptProblem) at C_wrapper.jl:407 [inlined] └ @ Ipopt ~/.julia/packages/Ipopt/JN6dO/src/C_wrapper.jl:407 ****************************************************************************** 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...: 1376 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1306 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1929915e+01 3.60e+00 1.13e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 9.9541781e+00 3.96e-01 2.99e+00 -0.8 2.55e+00 -4.0 9.11e-01 8.98e-01f 1 2 1.0887804e+01 4.61e-02 1.54e+00 -0.9 7.33e-01 -4.5 7.48e-01 1.00e+00h 1 3 1.0182775e+01 2.71e-02 2.91e-01 -1.6 7.30e-01 -5.0 9.30e-01 5.42e-01f 1 4 9.6151304e+00 1.17e-02 6.93e-02 -2.3 3.14e-01 -5.4 9.94e-01 1.00e+00h 1 5 9.4618133e+00 1.93e-03 9.97e-03 -3.3 1.29e-01 -5.9 9.90e-01 1.00e+00h 1 6 9.4304193e+00 2.79e-04 1.41e-03 -4.0 4.38e-02 -6.4 1.00e+00 1.00e+00h 1 7 9.4261054e+00 3.44e-05 1.62e-04 -4.0 1.11e-02 -6.9 1.00e+00 1.00e+00h 1 8 9.4258122e+00 7.03e-07 2.87e-06 -4.0 1.30e-03 -7.3 1.00e+00 1.00e+00h 1 9 9.4258086e+00 3.23e-10 1.16e-09 -4.0 2.51e-05 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4258086234531238e+00 9.4258086234531238e+00 Dual infeasibility......: 1.1563283663917900e-09 1.1563283663917900e-09 Constraint violation....: 3.2288338669417271e-10 3.2288338669417271e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000112917121902e-04 1.0000112917121902e-04 Overall NLP error.......: 1.1563283663917900e-09 1.1563283663917900e-09 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of equality constraint evaluations = 10 Number of inequality constraint evaluations = 10 Number of equality constraint Jacobian evaluations = 10 Number of inequality constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Total seconds in IPOPT = 28.671 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 (0.0s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.001s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.002s) This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.1929915e+01 3.60e+00 1.13e+00 9.85e-01 -1.0 - 0.00e+00 1 0 1 9.7981318e+00 3.21e-01 2.07e+00 6.12e-01 -1.0 -4.0 9.11e-01 2 1h 2 1.0496674e+01 1.51e-01 1.64e+00 3.25e-01 -1.0 -4.5 1.00e+00 2 1h 3 1.0198440e+01 1.94e-01 6.83e-01 2.63e-01 -1.0 -5.0 4.24e-01 2 1h 4 9.7766056e+00 4.76e-03 2.74e-02 3.76e-02 -1.7 -5.4 1.00e+00 2 1h 5 9.5120480e+00 4.36e-03 8.14e-02 9.65e-03 -3.8 -5.9 1.00e+00 2 1h 6 9.4411853e+00 8.09e-04 2.70e-03 2.41e-03 -3.8 -6.4 1.00e+00 2 1h 7 9.4277844e+00 1.80e-04 6.33e-04 5.32e-04 -3.8 -6.9 1.00e+00 2 1h 8 9.4246646e+00 2.43e-05 1.79e-04 4.90e-05 -5.7 -7.3 1.00e+00 2 1h 9 9.4245377e+00 5.15e-07 9.29e-07 2.66e-06 -5.7 -7.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 9.4245130e+00 1.20e-09 2.95e-09 4.97e-09 -8.6 -8.3 1.00e+00 2 1h Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 9.4245129863299439e+00 9.4245129863299439e+00 Dual infeasibility......: 2.9485582864197113e-09 2.9485582864197113e-09 Constraint violation....: 1.2024785611686184e-09 1.2024785611686184e-09 Complementarity.........: 4.9737703968796324e-09 4.9737703968796324e-09 Overall NLP error.......: 4.9737703968796324e-09 4.9737703968796324e-09 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of constraint evaluations = 11 Number of constraint Jacobian evaluations = 11 Number of Lagrangian Hessian evaluations = 10 Number of KKT factorizations = 21 Number of KKT backsolves = 21 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.010 s Total wall secs in NLP function evaluations = 0.195 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.005 s Total wall secs = 0.211 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.043s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.135s jacobian structure: 1600 nonzeros (2.179s) integrator 1 hessian structure: 0.035s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.41s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.446s) linear index maps built (0.0s) evaluator ready (total: 5.625s) evaluator created (5.655s) 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: 5.655s) This is MadNLP version v0.9.2, running with Lapack-CPU (BUNCHKAUFMAN) Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.4513520e+00 2.77e+00 6.69e-01 9.60e-01 -1.0 - 0.00e+00 1 0 1 2.0505598e+00 4.10e-01 3.36e+00 5.51e-01 -1.0 0.0 8.54e-01 1 1h 2 2.5767273e+00 2.77e-02 1.42e+00 1.23e-01 -1.0 0.4 9.61e-01 1 1h 3 2.5809705e+00 1.79e-02 3.94e-01 1.05e-01 -1.0 -0.1 9.38e-01 1 1h 4 2.3697890e+00 6.36e-03 1.37e-01 4.08e-02 -1.7 -0.5 7.67e-01 1 1h 5 2.1232988e+00 1.19e-02 3.20e-02 7.10e-03 -2.5 -1.0 9.82e-01 1 1h 6 2.1154382e+00 8.63e-04 2.86e-02 3.32e-03 -2.5 -1.5 1.00e+00 1 1h 7 2.1153966e+00 1.70e-05 2.22e-04 2.83e-03 -2.5 -2.0 1.00e+00 1 1h 8 2.0902819e+00 4.61e-05 1.39e-04 9.33e-05 -5.7 -2.4 1.00e+00 1 1h 9 2.0900410e+00 6.89e-07 1.79e-04 2.25e-05 -5.7 -2.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900008e+00 7.17e-07 3.44e-03 1.98e-06 -5.7 -3.4 6.56e-01 1 1h 11 2.0899927e+00 1.04e-05 1.64e-05 2.06e-06 -5.7 -3.9 1.00e+00 1 1h 12 2.0899568e+00 1.31e-05 2.02e-04 2.24e-07 -8.6 -4.3 8.81e-01 1 1h 13 2.0899238e+00 9.63e-06 3.25e-04 3.42e-09 -8.6 -4.8 1.00e+00 1 1h 14 2.0899028e+00 1.94e-06 3.88e-04 2.51e-09 -8.6 -5.3 1.00e+00 1 1h 15 2.0898912e+00 1.62e-06 2.71e-04 2.51e-09 -8.6 -5.8 1.00e+00 1 1h 16 2.0898833e+00 1.02e-06 5.17e-04 2.51e-09 -8.6 -6.3 1.00e+00 1 1h 17 2.0899037e+00 9.08e-09 2.87e-04 5.17e-05 -8.6 -3.1 1.00e+00 1 1h 18 2.0898944e+00 2.38e-08 1.02e-04 8.79e-06 -8.6 -3.6 1.00e+00 1 1h 19 2.0898833e+00 5.97e-09 1.08e-03 2.51e-09 -8.6 -4.1 8.89e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0898832e+00 4.79e-09 4.65e-06 3.23e-09 -8.6 -4.5 1.00e+00 1 1h 21 2.0898829e+00 1.62e-08 1.29e-06 2.51e-09 -8.6 -5.0 1.00e+00 1 1h 22 2.0898822e+00 4.21e-08 7.87e-06 2.51e-09 -8.6 -5.5 1.00e+00 1 1h 23 2.0898812e+00 1.24e-07 3.58e-05 2.51e-09 -8.6 -6.0 1.00e+00 1 1h 24 2.0898803e+00 2.04e-07 7.34e-05 2.51e-09 -8.6 -6.5 1.00e+00 1 1h 25 2.0898804e+00 2.03e-07 1.03e-01 1.01e-07 -8.6 -4.2 1.77e-03 1 7h 26 2.0898803e+00 4.38e-11 5.35e-07 2.33e-08 -8.6 -4.7 1.00e+00 1 1h 27 2.0898803e+00 7.51e-10 7.90e-07 3.72e-09 -8.6 -5.2 1.00e+00 1 1h 28 2.0898802e+00 3.18e-09 8.47e-07 2.52e-09 -8.6 -5.7 1.00e+00 1 1h 29 2.0898801e+00 1.06e-08 3.17e-06 2.51e-09 -8.6 -6.1 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0898801e+00 1.30e-08 3.06e-05 2.51e-09 -8.6 -6.6 1.00e+00 1 1h 31 2.0898800e+00 7.85e-11 4.17e-07 3.21e-09 -8.6 -4.4 1.00e+00 1 1h 32 2.0898800e+00 1.73e-10 1.38e-06 2.51e-09 -8.6 -4.9 1.00e+00 1 1h 33 2.0898800e+00 1.56e-10 3.04e-06 2.51e-09 -8.6 -5.3 1.00e+00 1 1h 34 2.0898800e+00 1.03e-10 2.41e-07 2.51e-09 -8.6 -5.8 1.00e+00 1 1h 35 2.0898800e+00 4.45e-10 7.12e-07 2.51e-09 -8.6 -6.3 1.00e+00 1 1h 36 2.0898800e+00 4.59e-10 3.44e-07 2.51e-09 -8.6 -6.8 1.00e+00 1 1h 37 2.0898800e+00 8.61e-11 4.51e-08 2.51e-09 -8.6 -7.2 1.00e+00 1 1h 38 2.0898800e+00 2.46e-12 3.56e-09 2.51e-09 -8.6 -7.7 1.00e+00 1 1h Number of Iterations....: 38 (scaled) (unscaled) Objective...............: 2.0898800325024638e+00 2.0898800325024638e+00 Dual infeasibility......: 3.5610654792840463e-09 3.5610654792840463e-09 Constraint violation....: 2.4588109326373342e-12 2.4588109326373342e-12 Complementarity.........: 2.5059035603883430e-09 2.5059035603883430e-09 Overall NLP error.......: 3.5610654792840463e-09 3.5610654792840463e-09 Number of objective function evaluations = 46 Number of objective gradient evaluations = 39 Number of constraint evaluations = 46 Number of constraint Jacobian evaluations = 39 Number of Lagrangian Hessian evaluations = 38 Number of KKT factorizations = 90 Number of KKT backsolves = 40 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.077 s Total wall secs in NLP function evaluations = 19.300 s Total wall secs in solver (w/o init./fun./lin. alg.) = 8.492 s Total wall secs = 27.870 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.04s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.04s) integrator 1 hessian structure: 0.034s 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 (0.036s) linear index maps built (0.0s) evaluator ready (total: 0.077s) evaluator created (0.119s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: timesteps all equal constraint applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.593s) optimizer initialization complete (total: 0.713s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 81 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.4775600e+00 3.08e+00 3.75e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7432210e+00 3.74e-02 3.63e+00 -1.0 2.35e+00 -2.0 9.96e-01 1.00e+00f 1 2 2.3675878e+00 6.15e-02 2.34e-01 -1.7 1.46e+00 -2.5 9.99e-01 1.00e+00h 1 3 2.1509215e+00 3.08e-02 9.49e-02 -2.3 1.22e+00 -3.0 9.10e-01 1.00e+00h 1 4 2.1016047e+00 2.28e-03 1.19e-02 -2.9 4.37e-01 -3.4 9.84e-01 1.00e+00h 1 5 2.0909970e+00 1.82e-04 4.38e-04 -4.0 1.66e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908428e+00 7.07e-06 7.92e-05 -4.0 5.01e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906953e+00 8.12e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902550e+00 7.62e-06 5.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889549e+00 6.87e-05 4.80e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0852392e+00 6.18e-04 4.18e-03 -4.0 3.82e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0799875e+00 1.83e-03 1.27e-01 -4.0 9.59e+01 -6.8 1.00e+00 5.66e-01h 1 12 2.0806170e+00 4.07e-05 1.66e-01 -4.0 6.46e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0778679e+00 5.14e-03 2.38e-02 -4.0 1.19e+02 -7.7 1.00e+00 9.96e-01h 1 14 2.0774452e+00 3.56e-04 7.19e-02 -4.0 2.03e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0766228e+00 6.66e-04 2.41e-02 -4.0 3.47e+02 -8.7 1.00e+00 7.66e-01h 1 16 2.0759916e+00 6.49e-04 2.44e-02 -4.0 5.31e+02 -9.2 1.00e+00 7.52e-01h 1 17 2.0762687e+00 8.93e-04 1.24e-02 -4.0 1.63e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0758603e+00 2.03e-03 5.98e-04 -4.1 8.98e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0761671e+00 2.85e-04 8.25e-06 -4.0 1.20e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0761661e+00 2.07e-07 2.77e-07 -4.0 5.05e+00 -11.1 1.00e+00 1.00e+00h 1 21 2.0761661e+00 3.60e-11 1.16e-08 -4.0 1.40e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0761661e+00 1.26e-13 9.80e-11 -4.0 1.41e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0761660582272952e+00 2.0761660582272952e+00 Dual infeasibility......: 9.8026385592737617e-11 9.8026385592737617e-11 Constraint violation....: 1.2598993029411254e-13 1.2598993029411254e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000059e-04 1.0000000000000059e-04 Overall NLP error.......: 9.8026385592737617e-11 9.8026385592737617e-11 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 26.394 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.077s jacobian structure: 180 nonzeros (0.147s) integrator 1 hessian structure: 0.075s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.355s sub-objective 2 (QuadraticRegularizer): 0.105s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.042s objective hessian structure: 0.608s hessian structure: 375 nonzeros (0.683s) linear index maps built (0.0s) evaluator ready (total: 0.992s) evaluator created (1.559s) NL constraint bounds extracted (0.032s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.17s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (1.745s) optimizer initialization complete (total: 3.507s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.5148311e+00 9.72e-01 1.40e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6419783e+00 1.68e-01 2.01e+00 -1.7 1.58e+00 - 5.71e-01 1.00e+00h 1 2 1.8438978e+00 8.21e-02 5.95e-01 -0.7 3.77e-01 0.0 8.73e-01 4.52e-01f 1 3 2.0695536e+00 2.89e-02 1.42e+00 -4.0 1.12e+00 - 8.21e-01 1.00e+00h 1 4 1.8677636e+00 2.23e-02 6.40e-01 -1.1 4.06e-01 -0.5 1.00e+00 2.38e-01f 1 5 1.2957443e+00 1.09e-02 1.12e+00 -1.7 1.45e+00 - 9.73e-01 1.00e+00f 1 6 1.2391826e+00 8.57e-03 3.75e-01 -2.3 4.83e-01 -1.0 9.98e-01 2.12e-01h 1 7 1.0990349e+00 1.53e-04 5.95e-01 -3.5 1.07e+00 - 1.00e+00 1.00e+00h 1 8 1.0917432e+00 1.35e-06 3.08e-02 -3.7 2.48e-01 - 1.00e+00 9.91e-01h 1 9 1.0908872e+00 1.13e-10 6.38e-04 -4.0 3.57e-02 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908997e+00 8.27e-18 7.68e-06 -4.0 1.94e-03 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 1.84e-28 7.60e-06 -4.0 4.12e-07 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 9.82e-29 4.62e-16 -4.0 1.53e-13 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 4.6229703008424106e-16 4.6229703008424106e-16 Constraint violation....: 9.8227730954356384e-29 9.8227730954356384e-29 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 4.6229703008424106e-16 4.6229703008424106e-16 Number of objective function evaluations = 13 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 13 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 13 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 12 Total seconds in IPOPT = 27.320 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.072s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.072s) integrator 1 hessian structure: 0.027s 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 (0.027s) linear index maps built (0.0s) evaluator ready (total: 0.099s) evaluator created (0.099s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on trajectory variable ddu applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.064s) optimizer initialization complete (total: 0.164s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.1257525e+00 3.42e+00 8.35e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7793313e+00 3.59e-02 4.06e-01 -1.1 3.42e+00 - 1.00e+00 1.00e+00f 1 2 2.3934478e+00 1.48e-02 2.68e-01 -1.5 1.68e-01 - 8.06e-01 1.00e+00f 1 3 2.1339866e+00 1.66e-03 4.05e-02 -2.4 4.91e-02 - 9.82e-01 1.00e+00h 1 4 2.0925532e+00 2.71e-04 4.02e-03 -3.6 3.53e-02 - 9.78e-01 1.00e+00h 1 5 2.0908929e+00 1.79e-05 2.52e-04 -4.0 1.17e-01 - 1.00e+00 1.00e+00h 1 6 2.0908979e+00 1.12e-07 1.19e-06 -4.0 1.72e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 1.15e-10 3.00e-10 -4.0 2.34e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971971064227e+00 2.0908971971064227e+00 Dual infeasibility......: 3.0047946997322633e-10 3.0047946997322633e-10 Constraint violation....: 1.1463798722691036e-10 1.1463798722691036e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000796375703870e-04 1.0000796375703870e-04 Overall NLP error.......: 7.9637570386944731e-09 7.9637570386944731e-09 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 26.035 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.046s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.047s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.101s) evaluator created (0.102s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.102s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.9982445e+00 1.93e+00 4.49e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2738761e+00 9.01e-01 7.01e-01 -0.9 7.72e+00 -4.0 7.43e-01 5.32e-01f 1 2 2.1328745e+00 5.76e-01 8.98e+00 -2.5 4.38e+01 -3.6 3.07e-01 4.23e-01h 1 3 2.4063438e+00 2.57e-01 2.42e+00 -1.0 4.79e+00 -2.2 4.65e-01 8.45e-01f 1 4 2.3902308e+00 5.73e-02 7.82e-01 -1.5 3.33e+00 -2.7 9.86e-01 1.00e+00h 1 5 2.2295851e+00 1.66e-01 4.14e-01 -1.8 2.03e+00 -3.2 9.74e-01 1.00e+00h 1 6 2.2040470e+00 4.26e-02 2.91e-01 -1.9 5.18e+00 -3.7 7.75e-01 4.95e-01h 1 7 2.1816370e+00 2.53e-02 2.17e-01 -1.9 2.59e+00 -3.3 8.20e-01 4.46e-01h 1 8 2.1562972e+00 5.28e-02 3.86e-01 -2.2 7.13e+00 -3.7 8.36e-01 4.53e-01h 1 9 2.1215957e+00 1.50e-02 2.52e-01 -2.4 2.57e+00 -4.2 1.00e+00 8.18e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0934033e+00 7.95e-03 3.67e-02 -3.3 2.04e+00 -4.7 1.00e+00 1.00e+00h 1 11 2.0907050e+00 1.20e-03 1.11e-02 -4.0 1.69e+00 -5.2 1.00e+00 1.00e+00h 1 12 2.0902837e+00 1.91e-04 6.52e-04 -4.0 4.44e+00 -5.6 1.00e+00 1.00e+00h 1 13 2.0899883e+00 4.94e-06 3.47e-03 -4.0 5.54e+00 -6.1 1.00e+00 1.00e+00h 1 14 2.0898586e+00 2.58e-06 1.96e-03 -4.0 7.19e+00 -6.6 1.00e+00 1.00e+00h 1 15 2.0898335e+00 1.26e-06 1.23e-03 -4.0 1.07e+01 -7.1 1.00e+00 1.00e+00h 1 16 2.0898283e+00 1.18e-06 8.22e-04 -4.0 9.13e+00 -7.5 1.00e+00 1.00e+00h 1 17 2.0898260e+00 5.21e-07 1.36e-04 -4.0 3.63e+00 -8.0 1.00e+00 1.00e+00h 1 18 2.0898257e+00 1.88e-08 3.34e-06 -4.0 7.43e-01 -8.5 1.00e+00 1.00e+00h 1 19 2.0898256e+00 5.20e-11 1.57e-08 -4.0 7.09e-02 -9.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898256e+00 6.71e-14 1.71e-11 -4.0 2.42e-03 -9.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 20 (scaled) (unscaled) Objective...............: 2.0898256445151691e+00 2.0898256445151691e+00 Dual infeasibility......: 1.7136362749810286e-11 1.7136362749810286e-11 Constraint violation....: 6.7085226262975084e-14 6.7085226262975084e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000072e-04 1.0000000000000072e-04 Overall NLP error.......: 1.7136362749810286e-11 1.7136362749810286e-11 Number of objective function evaluations = 21 Number of objective gradient evaluations = 21 Number of equality constraint evaluations = 21 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 21 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 20 Total seconds in IPOPT = 27.718 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.044s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.044s) integrator 1 hessian structure: 0.036s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.037s) linear index maps built (0.0s) evaluator ready (total: 0.081s) evaluator created (0.081s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on trajectory variable x applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.082s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4101814e+00 3.24e+00 5.73e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4751490e+00 1.47e+00 8.48e+01 -0.6 2.23e+00 0.0 6.40e-03 5.47e-01f 1 2 2.4849303e+00 1.45e+00 8.36e+01 -0.7 2.44e+00 -0.5 2.59e-01 1.20e-02h 1 3 3.4569947e+00 1.37e+00 8.10e+01 -1.3 2.93e+01 -0.1 3.14e-03 3.28e-02h 1 4 3.6752074e+00 1.34e+00 7.92e+01 -4.0 5.33e+00 0.4 2.17e-02 2.20e-02h 1 5 3.8127436e+00 1.25e+00 4.19e+02 0.1 2.83e+00 0.8 1.00e+00 6.45e-02f 1 6 3.9457897e+00 1.22e+00 1.90e+04 0.9 2.10e+01 0.3 1.00e+00 2.34e-02h 1 7 4.1709623e+00 1.18e+00 1.10e+05 1.7 4.28e+01 -0.2 1.00e+00 3.04e-02h 1 8 4.3011076e+00 1.15e+00 1.55e+06 2.5 3.78e+01 -0.6 3.39e-01 1.86e-02h 1 9 4.3387224e+00 1.15e+00 4.42e+07 2.5 1.49e+02 -1.1 5.19e-01 3.20e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.3682307e+00 1.15e+00 6.82e+08 2.5 3.28e+01 -1.6 1.15e-01 4.97e-03h 1 11 4.3822794e+00 1.14e+00 2.74e+11 2.4 2.11e+01 -2.1 1.00e+00 2.42e-03h 1 12 4.3830813e+00 1.14e+00 2.31e+14 2.5 7.88e+01 -2.5 9.87e-02 1.13e-04h 1 13 4.9027131e+00 7.98e-01 2.05e+12 1.9 2.94e+01 -3.0 9.91e-01 5.98e-01h 1 14r 4.9027131e+00 7.98e-01 9.98e+02 2.5 0.00e+00 -3.5 0.00e+00 4.32e-07R 3 15r 4.6563855e+00 2.01e-01 5.21e+02 -3.6 9.05e+00 - 6.41e-01 3.31e-01f 1 16 4.6563855e+00 2.01e-01 8.16e+05 -1.2 3.83e+00 -4.0 8.06e-01 3.22e-07f 3 17r 4.6563855e+00 2.01e-01 1.00e+03 -0.7 0.00e+00 -4.4 0.00e+00 4.27e-07R 4 18r 4.6001363e+00 2.02e-01 9.96e+02 1.2 7.22e+01 - 1.50e-02 1.80e-03f 1 19r 4.5817099e+00 2.02e-01 9.78e+02 0.5 5.36e+00 - 4.11e-01 1.32e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 4.6126018e+00 2.03e-01 8.66e+02 0.5 4.15e+00 - 1.00e+00 1.07e-01f 1 21r 4.6252183e+00 2.02e-01 1.75e+01 0.0 8.04e-01 - 1.00e+00 9.80e-01f 1 22r 4.6846126e+00 1.99e-01 1.73e+02 -1.1 7.15e-01 - 1.00e+00 5.24e-01f 1 23r 4.6781427e+00 1.99e-01 1.72e+00 -1.2 6.95e-03 2.0 1.00e+00 9.96e-01f 1 24r 4.6876281e+00 1.99e-01 3.94e+00 -1.5 4.60e-01 - 9.39e-01 5.07e-01f 1 25r 4.6271566e+00 1.99e-01 6.30e-02 -2.5 8.25e-01 - 9.99e-01 1.00e+00f 1 26r 4.4833346e+00 1.99e-01 1.27e-02 -3.2 1.03e-01 - 9.89e-01 1.00e+00f 1 27r 4.5159955e+00 1.99e-01 3.66e-03 -4.0 3.88e-02 - 1.00e+00 1.00e+00h 1 28r 4.5554847e+00 1.99e-01 1.10e-04 -4.0 1.45e-02 - 1.00e+00 1.00e+00h 1 29r 4.5397565e+00 1.99e-01 3.44e-06 -4.0 6.89e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 29 (scaled) (unscaled) Objective...............: 4.5397936806936583e+00 4.5397936806936583e+00 Dual infeasibility......: 2.0894345644835934e+00 2.0894345644835934e+00 Constraint violation....: 1.9875045036198136e-01 1.9875045036198136e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000297414174798e-04 1.0000297414174798e-04 Overall NLP error.......: 2.0894345644835934e+00 2.0894345644835934e+00 Number of objective function evaluations = 40 Number of objective gradient evaluations = 19 Number of equality constraint evaluations = 40 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 33 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 27.731 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.042s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.043s) integrator 1 hessian structure: 0.039s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (0.04s) linear index maps built (0.0s) evaluator ready (total: 0.083s) evaluator created (0.083s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.164s) applying constraint: bounds constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (3.328s) optimizer initialization complete (total: 3.576s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.0728150e+00 2.72e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.7299398e+00 2.34e-01 9.10e-01 -0.9 2.81e+00 -2.0 6.79e-01 1.00e+00f 1 2 2.4012686e+00 1.54e-01 2.28e-01 -1.5 1.82e+00 -2.5 8.07e-01 1.00e+00f 1 3 2.2097256e+00 2.46e-02 7.72e-02 -1.9 8.79e-01 -3.0 9.81e-01 1.00e+00h 1 4 2.1127312e+00 1.46e-02 5.93e-02 -2.7 1.04e+00 -3.4 9.98e-01 8.92e-01h 1 5 2.0920751e+00 9.69e-05 5.15e-03 -3.7 8.94e-02 -3.9 9.96e-01 1.00e+00h 1 6 2.0908315e+00 7.32e-05 3.84e-04 -4.0 5.03e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906873e+00 8.65e-07 2.05e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902479e+00 7.67e-06 5.42e-05 -4.0 4.47e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889506e+00 6.94e-05 4.77e-04 -4.0 1.32e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0852430e+00 6.32e-04 4.14e-03 -4.0 3.82e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0798645e+00 2.03e-03 1.51e-01 -4.0 9.62e+01 -6.8 1.00e+00 5.79e-01h 1 12 2.0805920e+00 1.27e-04 1.67e-01 -4.0 6.48e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0777514e+00 7.45e-03 2.34e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 14 2.0773472e+00 1.35e-03 6.12e-02 -4.0 1.89e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0763856e+00 1.23e-03 1.87e-02 -4.0 3.35e+02 -8.7 1.00e+00 8.94e-01h 1 16 2.0758603e+00 1.70e-03 2.39e-02 -4.0 4.67e+02 -9.2 1.00e+00 7.55e-01h 1 17 2.0761541e+00 2.12e-03 1.01e-02 -4.0 1.46e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0757656e+00 1.38e-03 4.65e-04 -4.1 7.88e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0760680e+00 2.69e-04 8.31e-06 -4.0 1.19e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760669e+00 2.67e-07 2.78e-07 -4.0 5.12e+00 -11.1 1.00e+00 1.00e+00h 1 21 2.0760669e+00 2.01e-10 1.22e-08 -4.0 1.48e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0760669e+00 1.27e-12 1.15e-10 -4.0 1.52e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0760668692960711e+00 2.0760668692960711e+00 Dual infeasibility......: 1.1497825513407701e-10 1.1497825513407701e-10 Constraint violation....: 1.2737588761524421e-12 1.2737588761524421e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000067e-04 1.0000000000000067e-04 Overall NLP error.......: 1.1497825513407701e-10 1.1497825513407701e-10 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 28.322 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.048s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.048s) integrator 1 hessian structure: 0.037s 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 (0.078s) linear index maps built (0.002s) evaluator ready (total: 0.129s) evaluator created (0.129s) 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: 0.131s) 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 5.1629386e+00 3.13e+00 5.71e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9143662e+00 1.04e-01 6.11e+00 -0.9 2.15e+00 0.0 9.40e-01 1.00e+00f 1 2 2.5033477e+00 3.93e-02 2.57e+00 -0.7 4.21e-01 0.4 8.64e-01 6.67e-01h 1 3 2.4091105e+00 8.91e-03 1.63e+00 -1.3 3.48e-01 -0.1 9.58e-01 1.00e+00h 1 4 2.2891168e+00 1.30e-02 7.17e-01 -1.6 3.00e-01 -0.5 9.62e-01 5.58e-01h 1 5 2.1713754e+00 4.69e-03 4.08e-01 -2.5 5.23e-02 0.8 9.97e-01 6.39e-01h 1 6 2.1120970e+00 1.89e-03 2.07e-01 -3.6 4.89e-02 0.3 1.00e+00 5.97e-01h 1 7 2.0950357e+00 4.47e-04 9.06e-02 -4.0 1.21e-02 -0.2 1.00e+00 7.64e-01h 1 8 2.0907805e+00 4.64e-06 5.76e-03 -4.0 3.80e-03 -0.6 1.00e+00 1.00e+00h 1 9 2.0908878e+00 6.22e-09 5.21e-05 -4.0 6.67e-04 -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 2.0908871e+00 1.09e-10 4.61e-05 -4.0 1.77e-03 -1.6 1.00e+00 1.00e+00h 1 11 2.0908868e+00 2.13e-12 3.32e-05 -4.0 3.83e-03 -2.1 1.00e+00 1.00e+00h 1 12 2.0908861e+00 1.91e-11 2.06e-05 -4.0 7.12e-03 -2.5 1.00e+00 1.00e+00h 1 13 2.0908840e+00 1.72e-10 2.06e-05 -4.0 2.14e-02 -3.0 1.00e+00 1.00e+00h 1 14 2.0908777e+00 1.55e-09 2.06e-05 -4.0 6.41e-02 -3.5 1.00e+00 1.00e+00h 1 15 2.0908588e+00 1.39e-08 2.06e-05 -4.0 1.92e-01 -4.0 1.00e+00 1.00e+00h 1 16 2.0908021e+00 1.25e-07 2.06e-05 -4.0 5.76e-01 -4.4 1.00e+00 1.00e+00h 1 17 2.0906324e+00 1.13e-06 2.05e-05 -4.0 1.73e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0901264e+00 1.02e-05 7.19e-05 -4.0 5.15e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0886360e+00 9.23e-05 6.32e-04 -4.0 1.52e+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 2.0844103e+00 8.43e-04 5.49e-03 -4.0 4.36e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0798505e+00 1.79e-03 2.00e-01 -4.0 1.04e+02 -6.8 1.00e+00 4.54e-01h 1 22 2.0800277e+00 1.29e-04 1.58e-01 -4.0 6.39e+01 -7.3 1.00e+00 1.00e+00H 1 23 2.0776062e+00 7.98e-03 2.48e-02 -4.0 1.27e+02 -7.8 1.00e+00 9.42e-01h 1 24 2.0772736e+00 1.59e-03 5.61e-02 -4.0 2.00e+02 -8.3 1.00e+00 1.00e+00h 1 25 2.0762417e+00 1.06e-03 2.28e-02 -4.0 3.51e+02 -8.7 1.00e+00 1.00e+00h 1 26 2.0758493e+00 1.65e-03 2.29e-02 -4.0 3.43e+02 -9.2 1.00e+00 7.45e-01h 1 27 2.0761137e+00 1.20e-03 6.40e-03 -4.0 1.15e+02 -9.7 1.00e+00 1.00e+00h 1 28 2.0760696e+00 7.13e-05 1.52e-04 -4.0 3.71e+01 -10.2 1.00e+00 1.00e+00h 1 29 2.0760669e+00 3.23e-07 2.18e-06 -4.0 1.21e+01 -10.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0760669e+00 5.77e-09 2.42e-07 -4.0 5.09e+00 -11.1 1.00e+00 1.00e+00h 1 31 2.0760669e+00 1.14e-10 8.52e-09 -4.0 1.14e+00 -11.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 31 (scaled) (unscaled) Objective...............: 2.0760668694713416e+00 2.0760668694713416e+00 Dual infeasibility......: 8.5220158866977300e-09 8.5220158866977300e-09 Constraint violation....: 1.1422496282165184e-10 1.1422496282165184e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000017e-04 1.0000000000000017e-04 Overall NLP error.......: 8.5220158866977300e-09 8.5220158866977300e-09 Number of objective function evaluations = 33 Number of objective gradient evaluations = 32 Number of equality constraint evaluations = 33 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 32 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 31 Total seconds in IPOPT = 28.619 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.056s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.047s) linear index maps built (0.0s) evaluator ready (total: 0.103s) evaluator created (0.103s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.108s) optimizer initialization complete (total: 0.212s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.6693121e+00 3.34e+00 6.30e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3990788e+00 3.99e-01 1.85e+00 -0.8 1.91e+00 0.0 1.00e+00 8.81e-01h 1 2 2.6020450e+00 2.22e-02 3.07e-01 -1.2 3.45e-01 -0.5 9.63e-01 1.00e+00h 1 3 2.2723559e+00 1.56e-02 4.57e-01 -1.9 3.26e-01 -1.0 8.83e-01 1.00e+00h 1 4 2.1150212e+00 3.11e-03 1.38e-01 -2.8 1.83e-01 -1.4 1.00e+00 1.00e+00h 1 5 2.0934982e+00 1.75e-03 4.35e-02 -3.9 3.85e-01 -1.9 1.00e+00 9.87e-01h 1 6 2.0912738e+00 9.13e-04 1.95e-01 -4.0 4.06e-01 -2.4 1.00e+00 5.32e-01h 1 7 2.0909812e+00 1.16e-05 2.59e-02 -4.0 1.11e-01 -2.9 1.00e+00 1.00e+00h 1 8 2.0909510e+00 1.12e-06 3.27e-04 -4.0 4.55e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909387e+00 1.45e-07 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 2.0908988e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907794e+00 5.56e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0904228e+00 5.01e-06 3.56e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893664e+00 4.53e-05 3.15e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0863184e+00 4.13e-04 2.73e-03 -4.0 3.13e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0798520e+00 2.46e-03 7.16e-02 -4.0 8.32e+01 -6.7 1.00e+00 8.08e-01h 1 16 2.0815217e+00 1.28e-04 1.83e-01 -4.0 6.68e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0782518e+00 4.91e-03 2.66e-02 -4.0 1.08e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0783227e+00 1.65e-02 2.85e-02 -3.7 1.50e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0771658e+00 1.37e-02 1.88e-02 -3.8 2.60e+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 2.0760256e+00 2.39e-04 1.86e-02 -4.0 4.35e+02 -9.1 1.00e+00 9.97e-01H 1 21 2.0762018e+00 4.74e-03 1.15e-02 -4.0 1.60e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0757917e+00 1.37e-03 7.03e-04 -4.1 8.48e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0760678e+00 2.45e-04 7.00e-06 -4.0 1.16e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0757393e+00 3.41e-04 1.00e-06 -4.1 1.41e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0760681e+00 3.41e-04 6.55e-07 -4.0 1.40e+01 -11.5 1.00e+00 1.00e+00h 1 26 2.0757393e+00 3.41e-04 6.97e-07 -4.1 1.40e+01 -11.9 1.00e+00 1.00e+00h 1 27 2.0760681e+00 3.41e-04 7.81e-07 -4.0 1.40e+01 -12.4 1.00e+00 1.00e+00h 1 28 2.0757393e+00 3.41e-04 8.07e-07 -4.1 1.40e+01 -12.9 1.00e+00 1.00e+00h 1 29 2.0760681e+00 3.41e-04 8.18e-07 -4.0 1.40e+01 -13.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0757393e+00 3.41e-04 8.21e-07 -4.1 1.40e+01 -13.8 1.00e+00 1.00e+00h 1 31 2.0744293e+00 5.46e-03 1.83e-04 -6.1 5.65e+01 -14.3 9.74e-01 1.00e+00h 1 32 2.0761004e+00 1.94e-02 9.45e-05 -4.0 1.59e+02 -14.8 1.00e+00 1.00e+00h 1 33 2.0757459e+00 2.47e-03 3.12e-05 -4.1 9.82e+01 -15.3 1.00e+00 1.00e+00h 1 34 2.0757442e+00 1.03e-06 6.90e-07 -4.1 1.49e+01 -15.7 1.00e+00 1.00e+00h 1 35 2.0760681e+00 3.33e-04 9.13e-07 -4.0 1.39e+01 -16.2 1.00e+00 1.00e+00h 1 36 2.0757393e+00 3.41e-04 8.32e-07 -4.1 1.40e+01 -16.7 1.00e+00 1.00e+00h 1 37 2.0760681e+00 3.41e-04 8.21e-07 -4.0 1.40e+01 -17.2 1.00e+00 1.00e+00h 1 38 2.0757393e+00 3.41e-04 8.23e-07 -4.1 1.40e+01 -17.7 1.00e+00 1.00e+00h 1 39 2.0744293e+00 5.46e-03 1.83e-04 -6.1 5.65e+01 -18.1 9.74e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0744090e+00 6.52e-05 1.58e-05 -6.1 7.10e+01 -18.6 1.00e+00 1.00e+00h 1 41 2.0761100e+00 4.75e-02 4.80e-04 -4.0 3.85e+02 -19.1 1.00e+00 1.00e+00f 1 42 2.0757520e+00 5.77e-03 1.68e-04 -4.1 2.32e+02 -19.6 1.00e+00 1.00e+00h 1 43 2.0757498e+00 2.71e-06 3.82e-06 -4.1 3.53e+01 -20.0 1.00e+00 1.00e+00h 1 44 2.0744298e+00 5.53e-03 1.81e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 45 2.0744091e+00 6.60e-05 1.58e-05 -6.1 7.10e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0744091e+00 2.20e-09 4.39e-08 -6.1 3.95e+00 -20.0 1.00e+00 1.00e+00h 1 47 2.0761105e+00 4.93e-02 5.13e-04 -4.0 4.00e+02 -20.0 1.00e+00 1.00e+00f 1 48 2.0757524e+00 5.99e-03 1.80e-04 -4.1 2.41e+02 -20.0 1.00e+00 1.00e+00h 1 49 2.0757502e+00 2.84e-06 4.09e-06 -4.1 3.67e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0744298e+00 5.54e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 51 2.0744091e+00 6.61e-05 1.58e-05 -6.1 7.10e+01 -20.0 1.00e+00 1.00e+00h 1 52 2.0744091e+00 2.20e-09 4.40e-08 -6.1 3.96e+00 -20.0 1.00e+00 1.00e+00h 1 53 2.0743968e+00 2.64e-06 5.35e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 54 2.0761118e+00 5.16e-02 5.52e-04 -4.0 4.15e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0757531e+00 6.26e-03 1.97e-04 -4.1 2.52e+02 -20.0 1.00e+00 1.00e+00h 1 56 2.0757508e+00 3.00e-06 4.44e-06 -4.1 3.82e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0744298e+00 5.54e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 58 2.0744092e+00 6.62e-05 1.58e-05 -6.1 7.11e+01 -20.0 1.00e+00 1.00e+00h 1 59 2.0744091e+00 2.21e-09 4.42e-08 -6.1 3.97e+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 2.0743968e+00 2.65e-06 5.37e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 61 2.0743968e+00 3.94e-12 6.57e-12 -9.0 4.71e-02 -20.0 1.00e+00 1.00e+00h 1 62 2.0761118e+00 5.16e-02 5.53e-04 -4.0 4.15e+02 -20.0 1.00e+00 1.00e+00f 1 63 2.0757531e+00 6.26e-03 1.97e-04 -4.1 2.53e+02 -20.0 1.00e+00 1.00e+00h 1 64 2.0757508e+00 3.00e-06 4.44e-06 -4.1 3.83e+01 -20.0 1.00e+00 1.00e+00h 1 65 2.0744298e+00 5.54e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 66 2.0744092e+00 6.62e-05 1.58e-05 -6.1 7.11e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0744091e+00 2.21e-09 4.42e-08 -6.1 3.97e+00 -20.0 1.00e+00 1.00e+00h 1 68 2.0743968e+00 2.65e-06 5.37e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 69 2.0743968e+00 3.94e-12 6.57e-12 -9.0 4.71e-02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0743968e+00 9.02e-16 3.75e-16 -9.0 1.56e-06 -20.0 1.00e+00 1.00e+00h 1 71 2.0743968e+00 8.74e-16 2.22e-16 -9.0 2.71e-13 -20.0 1.00e+00 1.00e+00h 1 72 2.0743968e+00 8.74e-16 1.93e-16 -9.0 7.98e-14 -20.0 1.00e+00 1.00e+00h 1 73 2.0743968e+00 8.74e-16 1.93e-16 -9.0 5.60e-14 -20.0 1.00e+00 1.00e+00h 1 74 2.0743968e+00 8.74e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 75 2.0743968e+00 8.74e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 76 2.0743968e+00 8.74e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 77 2.0743968e+00 8.74e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 78 2.0743968e+00 8.74e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 79 2.0743968e+00 8.74e-16 1.93e-16 -9.0 4.60e-14 -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 2.0743968e+00 8.74e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 81 2.0743968e+00 8.74e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 82 2.0743968e+00 8.73e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 83 2.0743968e+00 8.73e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 84 2.0743968e+00 8.73e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 85 2.0743968e+00 8.73e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 86 2.0743968e+00 8.73e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 87 2.0743968e+00 8.73e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 88 2.0743968e+00 8.73e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 89 2.0743968e+00 8.73e-16 1.93e-16 -9.0 4.60e-14 -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 2.0743968e+00 8.73e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 91 2.0743968e+00 8.73e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 92 2.0743968e+00 8.73e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 93 2.0743968e+00 8.72e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 94 2.0743968e+00 8.72e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 95 2.0743968e+00 8.72e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 96 2.0743968e+00 8.72e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 97 2.0743968e+00 8.72e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 98 2.0743968e+00 8.72e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 99 2.0743968e+00 8.72e-16 1.93e-16 -9.0 4.60e-14 -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 2.0743968e+00 8.72e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0743968106912209e+00 2.0743968106912209e+00 Dual infeasibility......: 1.9300789197668027e-16 1.9300789197668027e-16 Constraint violation....: 8.7188828205853053e-16 8.7188828205853053e-16 Variable bound violation: 9.0908814694840023e-09 9.0908814694840023e-09 Complementarity.........: 9.0909090977297959e-10 9.0909090977297959e-10 Overall NLP error.......: 9.9999090909091374e-05 9.9999090909091374e-05 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 30.240 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.049s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.049s) integrator 1 hessian structure: 0.041s 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 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.042s) linear index maps built (0.0s) evaluator ready (total: 0.091s) evaluator created (0.091s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.092s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 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 2.0085868e+00 2.25e+00 3.82e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5927672e+00 1.04e-01 4.15e+00 -0.8 1.80e+00 0.0 6.92e-01 1.00e+00h 1 2 2.5034287e+00 2.29e-01 1.59e+00 -0.9 1.10e+00 -0.5 8.79e-01 9.88e-01f 1 3 2.7085136e+00 3.90e-02 1.04e+00 -1.1 4.99e-01 -1.0 9.20e-01 1.00e+00f 1 4 2.4196317e+00 2.95e-02 3.33e-01 -1.4 4.70e-01 -1.4 9.57e-01 6.60e-01h 1 5 2.1682244e+00 1.26e-02 5.34e-02 -2.1 3.13e-01 -1.9 9.98e-01 1.00e+00h 1 6 2.1006143e+00 1.74e-03 1.93e-02 -3.1 1.93e-01 -2.4 9.75e-01 9.39e-01h 1 7 2.0909268e+00 2.53e-05 1.07e-03 -4.0 1.55e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909058e+00 8.40e-07 2.81e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908925e+00 6.72e-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 2.0908526e+00 6.18e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907333e+00 5.57e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903769e+00 5.02e-06 3.56e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893212e+00 4.53e-05 3.15e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0862751e+00 4.13e-04 2.73e-03 -4.0 3.13e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0798588e+00 2.43e-03 7.28e-02 -4.0 8.31e+01 -6.7 1.00e+00 8.03e-01h 1 16 2.0814077e+00 1.35e-04 1.94e-01 -4.0 7.12e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0782227e+00 5.65e-03 2.97e-02 -4.0 1.09e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0784303e+00 1.59e-02 6.22e-02 -3.7 1.64e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0772481e+00 1.07e-02 2.27e-02 -3.8 3.01e+02 -8.6 1.00e+00 9.61e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0763066e+00 1.11e-02 2.02e-02 -3.9 4.84e+02 -9.1 1.00e+00 9.84e-01f 1 21 2.0761639e+00 7.55e-03 1.18e-02 -4.0 1.70e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0760731e+00 5.33e-04 6.18e-04 -4.0 7.73e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0760669e+00 1.24e-06 8.39e-06 -4.0 1.49e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0760669e+00 3.05e-08 5.88e-07 -4.0 7.84e+00 -11.0 1.00e+00 1.00e+00h 1 25 2.0760669e+00 4.88e-10 3.58e-08 -4.0 2.23e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 5.01e-12 3.90e-10 -4.0 2.74e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0760668693071231e+00 2.0760668693071231e+00 Dual infeasibility......: 3.9003692810235524e-10 3.9003692810235524e-10 Constraint violation....: 5.0117687777628817e-12 5.0117687777628817e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000056e-04 1.0000000000000056e-04 Overall NLP error.......: 3.9003692810235524e-10 3.9003692810235524e-10 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 29.028 EXIT: Optimal Solution Found. 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: 0.044s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.044s) linear index maps built (0.0s) evaluator ready (total: 0.095s) evaluator created (0.095s) 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: 0.096s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1360 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1280 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.1166842e+00 2.82e+00 3.81e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.3191241e+00 2.79e+00 8.80e+01 1.2 4.60e+01 0.0 1.15e-01 1.08e-02h 1 2 2.9488655e+00 1.49e+00 3.32e+02 0.7 1.72e+01 -0.5 8.47e-01 4.73e-01f 1 3 3.6175829e+00 1.50e+00 1.26e+03 1.2 3.30e+01 -1.0 1.00e+00 5.60e-01f 1 4 3.3559598e+00 5.64e-01 6.38e+02 0.8 2.34e+01 -1.4 9.97e-01 1.00e+00f 1 5 3.2744809e+00 5.38e-01 4.05e+02 0.6 1.42e+01 -1.9 8.52e-01 1.00e+00f 1 6 3.1619251e+00 9.44e-02 9.64e+01 -0.0 1.50e+00 -0.6 1.00e+00 1.00e+00h 1 7 3.0884187e+00 3.12e-03 5.73e+00 -0.8 2.63e-01 -1.1 9.98e-01 1.00e+00h 1 8 2.7085688e+00 4.35e-02 3.19e-01 -1.4 7.02e-01 -1.5 1.00e+00 1.00e+00f 1 9 2.5255958e+00 6.85e-02 5.82e-01 -2.6 1.72e+00 -2.0 8.35e-01 9.65e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.4695149e+00 1.00e-01 1.03e-01 -2.6 2.86e+00 -2.5 9.98e-01 1.00e+00h 1 11 2.3896317e+00 9.11e-02 1.19e-01 -2.7 3.59e+00 -3.0 9.90e-01 1.00e+00h 1 12 2.2840504e+00 1.68e-01 7.86e-01 -2.5 7.05e+00 -3.4 1.00e+00 1.00e+00h 1 13 2.3201482e+00 1.84e-03 3.89e-01 -2.2 1.60e-01 -1.2 9.64e-01 1.00e+00h 1 14 2.2994784e+00 1.01e-03 1.58e-01 -3.2 2.00e-01 -1.7 9.99e-01 7.84e-01h 1 15 2.2809341e+00 1.16e-03 1.08e-01 -3.8 7.86e-01 -2.2 1.00e+00 8.34e-01h 1 16 2.2791918e+00 9.82e-04 6.89e-01 -4.0 1.16e+00 -2.6 1.00e+00 1.56e-01h 1 17 2.2598028e+00 2.76e-02 1.65e-02 -4.0 2.75e+00 -3.1 1.00e+00 1.00e+00h 1 18 2.2292639e+00 6.76e-02 3.56e-02 -4.0 5.08e+00 -3.6 1.00e+00 1.00e+00h 1 19 2.1921789e+00 1.14e-01 6.28e-02 -4.0 8.37e+00 -4.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.1559254e+00 1.56e-01 8.70e-02 -4.0 1.31e+01 -4.5 1.00e+00 1.00e+00h 1 21 2.1253209e+00 1.87e-01 1.03e-01 -4.0 1.96e+01 -5.0 1.00e+00 1.00e+00h 1 22 2.1116020e+00 1.58e-01 2.84e-01 -3.2 2.63e+01 -5.5 1.00e+00 1.00e+00h 1 23 2.0998138e+00 2.59e-01 1.29e-01 -3.2 4.39e+01 -6.0 1.00e+00 9.98e-01h 1 24 2.0939182e+00 2.40e-01 9.19e-02 -3.2 6.23e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0860231e+00 4.45e-02 2.07e-01 -3.8 1.17e+02 -6.9 1.00e+00 1.00e+00h 1 26 2.0800302e+00 2.60e-02 1.98e-01 -4.0 2.69e+02 -7.4 1.00e+00 5.79e-01h 1 27 2.0874607e+00 1.36e-01 1.10e+00 -2.9 5.50e+02 -7.9 1.00e+00 3.06e-01h 1 28 2.0891516e+00 2.75e-02 2.92e-02 -3.0 1.46e+02 -8.4 1.00e+00 1.00e+00h 1 29 2.0796007e+00 2.21e-01 1.43e-02 -3.7 2.88e+02 -8.8 9.98e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0775204e+00 3.42e-02 1.11e-02 -3.8 5.37e+02 -9.3 1.00e+00 1.00e+00h 1 31 2.0771508e+00 3.55e-03 1.27e-03 -4.0 5.74e+01 -9.8 1.00e+00 1.00e+00h 1 32 2.0771221e+00 2.29e-04 2.56e-05 -4.0 5.51e+01 -10.3 1.00e+00 1.00e+00h 1 33 2.0771210e+00 5.37e-07 1.54e-05 -4.0 3.80e+01 -10.8 1.00e+00 1.00e+00h 1 34 2.0771210e+00 5.73e-08 1.14e-06 -4.0 1.04e+01 -11.2 1.00e+00 1.00e+00h 1 35 2.0771210e+00 5.30e-10 1.08e-08 -4.0 1.01e+00 -11.7 1.00e+00 1.00e+00h 1 36 2.0771210e+00 4.59e-13 1.19e-11 -4.0 3.36e-02 -12.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 36 (scaled) (unscaled) Objective...............: 2.0771210111375216e+00 2.0771210111375216e+00 Dual infeasibility......: 1.1923995075829516e-11 1.1923995075829516e-11 Constraint violation....: 4.5874415377511468e-13 4.5874415377511468e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000086e-04 1.0000000000000086e-04 Overall NLP error.......: 1.1923995075829516e-11 1.1923995075829516e-11 Number of objective function evaluations = 37 Number of objective gradient evaluations = 37 Number of equality constraint evaluations = 37 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 37 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 36 Total seconds in IPOPT = 28.375 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.078s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.079s) 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 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.042s) linear index maps built (0.0s) evaluator ready (total: 0.121s) evaluator created (0.122s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: bounds on Δt applying constraint: per-timestep equality constraint on trajectory variable u linear constraints added: 3 (0.092s) optimizer initialization complete (total: 0.215s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1264 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1113 Total number of variables............................: 86 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.8644794e+00 2.25e+00 1.72e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.7645870e+00 1.82e+00 1.85e+01 -0.8 1.93e+01 - 2.89e-01 1.92e-01h 1 2 4.7662582e+00 1.82e+00 1.43e+03 -0.7 7.35e+01 - 8.90e-01 1.91e-03h 1 3 7.5109788e+00 1.75e+00 1.80e+04 0.6 6.00e+02 - 1.00e+00 3.98e-02f 2 4 3.8924171e+02 5.92e+00 5.60e+04 2.4 1.11e+03 - 1.16e-01 1.28e-01F 1 5 6.0231191e+02 4.23e+00 1.52e+05 1.5 3.82e+01 - 8.36e-02 8.57e-01h 1 6 4.5380384e+02 1.81e+00 5.22e+04 2.0 1.44e+01 0.0 1.00e+00 8.34e-01f 1 7 4.8917821e+02 2.66e+00 1.52e+04 1.8 1.93e+01 -0.5 1.00e+00 1.00e+00f 1 8 2.7073142e+02 1.12e+00 4.38e+03 1.8 3.46e+01 -1.0 1.00e+00 1.00e+00f 1 9 1.1980326e+02 4.38e+00 3.49e+03 1.8 9.27e+01 -1.4 9.80e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 9.5247258e+01 3.00e+00 2.60e+03 1.9 3.47e+01 - 9.78e-01 1.87e-01h 1 11 3.8598702e+01 2.34e+00 1.45e+04 1.4 5.65e+02 - 2.38e-01 1.25e-01f 4 12 1.7003874e+02 7.45e-01 2.00e+03 0.3 7.43e+01 - 1.00e+00 5.00e-01h 2 13 1.6967711e+01 1.67e+00 1.79e+03 1.0 6.11e+01 - 1.00e+00 1.00e+00f 1 14 1.2130158e+01 1.52e+00 2.11e+03 1.8 4.80e+01 - 9.09e-01 2.07e-01f 2 15 5.4163473e+01 5.78e-01 7.39e+02 1.4 2.08e+01 - 9.78e-01 1.00e+00h 1 16 2.0684898e+01 3.04e-01 2.24e+02 0.8 1.34e+01 - 9.95e-01 1.00e+00f 1 17 1.3303914e+01 2.03e-01 3.57e+01 0.5 4.56e+00 - 9.60e-01 1.00e+00f 1 18 1.0227792e+01 1.61e-01 9.89e+00 -0.4 2.32e+00 - 9.95e-01 1.00e+00f 1 19 8.5050636e+00 1.09e-01 1.66e+00 -0.7 1.18e+00 - 9.33e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 8.0666504e+00 3.63e-02 6.71e-01 -1.6 3.94e-01 - 9.94e-01 1.00e+00h 1 21 7.8836125e+00 9.62e-03 7.93e-02 -2.3 1.78e-01 - 9.93e-01 1.00e+00h 1 22 7.8475301e+00 1.91e-03 1.14e-02 -3.5 8.27e-02 - 9.96e-01 1.00e+00h 1 23 7.8412782e+00 3.57e-04 1.97e-03 -4.0 3.04e-02 - 1.00e+00 1.00e+00h 1 24 7.8406810e+00 1.96e-05 1.01e-04 -4.0 6.53e-03 - 1.00e+00 1.00e+00h 1 25 7.8406635e+00 6.54e-08 3.28e-07 -4.0 3.97e-04 - 1.00e+00 1.00e+00h 1 26 7.8406635e+00 8.35e-13 4.12e-12 -4.0 1.50e-06 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 7.8406634973512475e+00 7.8406634973512475e+00 Dual infeasibility......: 4.1232572911553689e-12 4.1232572911553689e-12 Constraint violation....: 8.3505424797181149e-13 8.3505424797181149e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000206571529e-04 1.0000000206571529e-04 Overall NLP error.......: 4.1232572911553689e-12 4.1232572911553689e-12 Number of objective function evaluations = 43 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 43 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 = 28.999 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.053s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.053s) 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: 0.101s) evaluator created (0.102s) 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: 0.102s) 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 4.5999925e+00 3.27e+00 6.51e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6342977e+00 5.06e-02 2.79e+00 -0.9 2.79e+00 0.0 9.58e-01 1.00e+00f 1 2 2.5270709e+00 5.13e-02 1.20e+00 -1.0 7.33e-01 -0.5 9.77e-01 5.73e-01h 1 3 2.3058120e+00 3.01e-02 6.50e-01 -1.8 5.60e-01 -1.0 9.95e-01 1.00e+00h 1 4 2.1882155e+00 9.64e-03 8.15e-02 -2.2 1.44e-01 -1.4 9.93e-01 6.80e-01h 1 5 2.0956637e+00 1.01e-03 1.09e-02 -3.5 7.31e-02 -1.9 9.98e-01 9.19e-01h 1 6 2.0909305e+00 1.39e-05 5.19e-04 -4.0 1.47e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909321e+00 3.78e-08 2.26e-05 -4.0 1.65e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909277e+00 7.45e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909144e+00 6.88e-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 2.0908745e+00 6.19e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907552e+00 5.58e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903986e+00 5.03e-06 3.56e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893427e+00 4.54e-05 3.15e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0862957e+00 4.13e-04 2.73e-03 -4.0 3.13e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0798584e+00 2.44e-03 7.23e-02 -4.0 8.31e+01 -6.7 1.00e+00 8.05e-01h 1 16 2.0814853e+00 1.28e-04 1.86e-01 -4.0 6.79e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0782489e+00 5.14e-03 2.75e-02 -4.0 1.08e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0783431e+00 1.57e-02 2.89e-02 -3.7 1.54e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0771634e+00 1.34e-02 1.97e-02 -3.8 2.72e+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 2.0761004e+00 1.36e-02 1.93e-02 -3.9 4.47e+02 -9.1 1.00e+00 9.92e-01h 1 21 2.0761864e+00 5.08e-03 1.05e-02 -4.0 1.61e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0760751e+00 3.94e-04 5.82e-04 -4.0 7.61e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0760668e+00 1.07e-06 7.79e-06 -4.0 1.45e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0760669e+00 2.87e-08 5.58e-07 -4.0 7.64e+00 -11.0 1.00e+00 1.00e+00h 1 25 2.0760669e+00 4.57e-10 3.39e-08 -4.0 2.15e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 4.65e-12 3.65e-10 -4.0 2.62e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0760668693065711e+00 2.0760668693065711e+00 Dual infeasibility......: 3.6546845370443067e-10 3.6546845370443067e-10 Constraint violation....: 4.6543879861360438e-12 4.6543879861360438e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000047e-04 1.0000000000000047e-04 Overall NLP error.......: 3.6546845370443067e-10 3.6546845370443067e-10 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 = 28.150 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.052s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.053s) 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: 0.103s) evaluator created (0.103s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: global linear equality on :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 (0.813s) optimizer initialization complete (total: 0.917s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1522 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 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.................: 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 1.8321820e+00 3.44e+00 3.36e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7265704e+00 1.22e+00 1.61e+00 -0.8 2.03e+00 0.0 1.00e+00 6.47e-01h 1 2 2.7096767e+00 4.48e-02 1.87e+00 -0.9 9.74e-01 -0.5 8.25e-01 1.00e+00h 1 3 2.4719174e+00 2.17e-02 2.01e-01 -1.3 2.42e-01 -1.0 9.10e-01 1.00e+00h 1 4 2.1767023e+00 9.67e-03 3.19e-02 -2.3 2.06e-01 -1.4 9.57e-01 1.00e+00h 1 5 2.0936720e+00 8.22e-04 1.15e-02 -3.5 4.99e-02 -1.9 9.92e-01 9.88e-01h 1 6 2.0908952e+00 5.80e-06 1.95e-03 -4.0 9.52e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908805e+00 5.40e-08 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908761e+00 8.95e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908628e+00 6.88e-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 2.0908230e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907037e+00 5.58e-07 2.05e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903474e+00 5.03e-06 3.56e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892921e+00 4.54e-05 3.15e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0862472e+00 4.13e-04 2.74e-03 -4.0 3.13e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0798492e+00 2.42e-03 7.32e-02 -4.0 8.30e+01 -6.7 1.00e+00 8.01e-01h 1 16 2.0814809e+00 1.22e-04 1.83e-01 -4.0 6.63e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0782426e+00 4.93e-03 2.65e-02 -4.0 1.07e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0783336e+00 1.63e-02 2.84e-02 -3.7 1.50e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0771579e+00 1.36e-02 1.88e-02 -3.8 2.62e+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 2.0760029e+00 2.44e-04 1.87e-02 -4.0 4.36e+02 -9.1 1.00e+00 9.98e-01H 1 21 2.0762036e+00 4.39e-03 1.14e-02 -4.0 1.63e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0757926e+00 1.39e-03 7.07e-04 -4.1 8.66e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0760677e+00 2.77e-04 7.37e-06 -4.0 1.32e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0757393e+00 3.41e-04 9.54e-07 -4.1 1.41e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0760681e+00 3.41e-04 6.28e-07 -4.0 1.40e+01 -11.5 1.00e+00 1.00e+00h 1 26 2.0757393e+00 3.41e-04 6.96e-07 -4.1 1.40e+01 -11.9 1.00e+00 1.00e+00h 1 27 2.0760681e+00 3.41e-04 7.81e-07 -4.0 1.40e+01 -12.4 1.00e+00 1.00e+00h 1 28 2.0757393e+00 3.41e-04 8.07e-07 -4.1 1.40e+01 -12.9 1.00e+00 1.00e+00h 1 29 2.0760681e+00 3.41e-04 8.18e-07 -4.0 1.40e+01 -13.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0757393e+00 3.41e-04 8.21e-07 -4.1 1.40e+01 -13.8 1.00e+00 1.00e+00h 1 31 2.0760681e+00 3.41e-04 8.22e-07 -4.0 1.40e+01 -14.3 1.00e+00 1.00e+00h 1 32 2.0757393e+00 3.41e-04 8.23e-07 -4.1 1.40e+01 -14.8 1.00e+00 1.00e+00h 1 33 2.0744293e+00 5.46e-03 1.84e-04 -6.1 5.65e+01 -15.3 9.74e-01 1.00e+00h 1 34 2.0761004e+00 1.94e-02 9.45e-05 -4.0 1.59e+02 -15.7 1.00e+00 1.00e+00h 1 35 2.0757459e+00 2.47e-03 3.12e-05 -4.1 9.82e+01 -16.2 1.00e+00 1.00e+00h 1 36 2.0757442e+00 1.03e-06 6.90e-07 -4.1 1.49e+01 -16.7 1.00e+00 1.00e+00h 1 37 2.0760681e+00 3.33e-04 9.13e-07 -4.0 1.39e+01 -17.2 1.00e+00 1.00e+00h 1 38 2.0757393e+00 3.41e-04 8.32e-07 -4.1 1.40e+01 -17.7 1.00e+00 1.00e+00h 1 39 2.0760681e+00 3.41e-04 8.21e-07 -4.0 1.40e+01 -18.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0757393e+00 3.41e-04 8.23e-07 -4.1 1.40e+01 -18.6 1.00e+00 1.00e+00h 1 41 2.0744293e+00 5.46e-03 1.84e-04 -6.1 5.65e+01 -19.1 9.74e-01 1.00e+00h 1 42 2.0744089e+00 6.52e-05 1.58e-05 -6.1 7.10e+01 -19.6 1.00e+00 1.00e+00h 1 43 2.0761101e+00 4.75e-02 4.80e-04 -4.0 3.85e+02 -20.0 1.00e+00 1.00e+00f 1 44 2.0757520e+00 5.77e-03 1.68e-04 -4.1 2.32e+02 -20.0 1.00e+00 1.00e+00h 1 45 2.0757498e+00 2.71e-06 3.82e-06 -4.1 3.53e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0744297e+00 5.53e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 47 2.0744091e+00 6.60e-05 1.58e-05 -6.1 7.10e+01 -20.0 1.00e+00 1.00e+00h 1 48 2.0744091e+00 2.20e-09 4.39e-08 -6.1 3.95e+00 -20.0 1.00e+00 1.00e+00h 1 49 2.0761106e+00 4.93e-02 5.13e-04 -4.0 4.00e+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 50 2.0757525e+00 5.99e-03 1.80e-04 -4.1 2.41e+02 -20.0 1.00e+00 1.00e+00h 1 51 2.0757502e+00 2.83e-06 4.09e-06 -4.1 3.67e+01 -20.0 1.00e+00 1.00e+00h 1 52 2.0744298e+00 5.54e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 53 2.0744091e+00 6.61e-05 1.58e-05 -6.1 7.10e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0744091e+00 2.20e-09 4.40e-08 -6.1 3.96e+00 -20.0 1.00e+00 1.00e+00h 1 55 2.0743968e+00 2.64e-06 5.40e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 56 2.0761119e+00 5.16e-02 5.52e-04 -4.0 4.15e+02 -20.0 1.00e+00 1.00e+00f 1 57 2.0757531e+00 6.26e-03 1.97e-04 -4.1 2.52e+02 -20.0 1.00e+00 1.00e+00h 1 58 2.0757508e+00 3.00e-06 4.44e-06 -4.1 3.82e+01 -20.0 1.00e+00 1.00e+00h 1 59 2.0744298e+00 5.54e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0744091e+00 6.62e-05 1.58e-05 -6.1 7.11e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0744091e+00 2.21e-09 4.42e-08 -6.1 3.97e+00 -20.0 1.00e+00 1.00e+00h 1 62 2.0743968e+00 2.65e-06 5.42e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 63 2.0743968e+00 3.94e-12 6.57e-12 -9.0 4.71e-02 -20.0 1.00e+00 1.00e+00h 1 64 2.0761119e+00 5.16e-02 5.53e-04 -4.0 4.15e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0757531e+00 6.26e-03 1.97e-04 -4.1 2.53e+02 -20.0 1.00e+00 1.00e+00h 1 66 2.0757508e+00 3.00e-06 4.44e-06 -4.1 3.82e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0744298e+00 5.54e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 68 2.0744091e+00 6.62e-05 1.58e-05 -6.1 7.11e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0744091e+00 2.21e-09 4.42e-08 -6.1 3.97e+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 2.0743968e+00 2.65e-06 5.42e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 71 2.0743968e+00 3.94e-12 6.57e-12 -9.0 4.71e-02 -20.0 1.00e+00 1.00e+00h 1 72 2.0743968e+00 1.78e-15 2.98e-16 -9.0 1.56e-06 -20.0 1.00e+00 1.00e+00h 1 73 2.0743968e+00 2.22e-16 2.22e-16 -9.0 1.24e-13 -20.0 1.00e+00 1.00e+00h 1 74 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 75 2.0743968e+00 2.22e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 76 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 77 2.0743968e+00 2.22e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 78 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 79 2.0743968e+00 2.22e-16 1.78e-16 -9.0 7.94e-14 -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 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 81 2.0743968e+00 2.22e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 82 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 83 2.0743968e+00 2.22e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 84 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 85 2.0743968e+00 2.22e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 86 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 87 2.0743968e+00 2.22e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 88 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 89 2.0743968e+00 2.22e-16 1.78e-16 -9.0 7.94e-14 -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 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 91 2.0743968e+00 2.22e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 92 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 93 2.0743968e+00 2.22e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 94 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 95 2.0743968e+00 2.22e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 96 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 97 2.0743968e+00 2.22e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 98 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 99 2.0743968e+00 2.22e-16 1.78e-16 -9.0 7.94e-14 -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 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0743967707404747e+00 2.0743967707404747e+00 Dual infeasibility......: 1.7795309894909675e-16 1.7795309894909675e-16 Constraint violation....: 1.7763568394002505e-15 1.7763568394002505e-15 Variable bound violation: 9.0908814694840023e-09 9.0908814694840023e-09 Complementarity.........: 9.0909090978039930e-10 9.0909090978039930e-10 Overall NLP error.......: 9.9999090909091482e-05 9.9999090909091482e-05 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 28.799 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.056s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.11s) evaluator created (0.111s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: global linear constraint on :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 (0.002s) optimizer initialization complete (total: 0.114s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 4 Number of nonzeros in Lagrangian Hessian.............: 1589 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...............: 2 inequality constraints with only lower bounds: 1 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 2.7962789e+00 2.19e+00 7.46e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0395287e+00 5.26e-01 2.00e+00 -0.8 1.96e+00 0.0 6.99e-01 7.60e-01f 1 2 3.5378293e+00 4.28e-01 5.19e+00 -0.6 1.72e+00 -0.5 7.38e-01 8.82e-01h 1 3 3.2180593e+00 1.61e-01 1.12e+00 -0.4 6.23e-01 -0.1 8.20e-01 1.00e+00f 1 4 2.8525309e+00 3.44e-02 1.68e+00 -1.1 6.11e-01 -0.5 6.78e-01 1.00e+00h 1 5 2.4623806e+00 2.64e-02 5.37e-01 -1.5 3.17e-01 -1.0 9.92e-01 1.00e+00h 1 6 2.1879083e+00 6.10e-03 5.64e-02 -2.2 1.50e-01 -1.5 9.38e-01 1.00e+00h 1 7 2.0957293e+00 2.07e-03 1.64e-02 -3.3 1.44e-01 -2.0 9.93e-01 9.52e-01h 1 8 2.0909719e+00 6.38e-06 1.95e-04 -4.0 6.20e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909135e+00 1.71e-07 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 2.0909086e+00 9.45e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908936e+00 8.66e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908488e+00 7.80e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907146e+00 7.02e-07 2.05e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903138e+00 6.33e-06 4.50e-05 -4.0 4.08e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891290e+00 5.73e-05 3.97e-04 -4.0 1.21e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0857273e+00 5.22e-04 3.45e-03 -4.0 3.50e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0798420e+00 2.21e-03 1.16e-01 -4.0 9.05e+01 -6.7 1.00e+00 6.74e-01h 1 18 2.0809790e+00 1.15e-04 1.71e-01 -4.0 6.53e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0779475e+00 5.98e-03 2.43e-02 -4.0 1.14e+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 2.0770277e+00 1.14e-03 2.87e-02 -4.0 1.77e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0766286e+00 2.16e-03 2.58e-02 -4.0 2.76e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0758904e+00 2.08e-03 3.18e-02 -4.0 5.32e+02 -9.1 1.00e+00 7.44e-01h 1 23 2.0762178e+00 2.62e-03 1.55e-02 -4.0 1.79e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0757945e+00 1.50e-03 7.75e-04 -4.1 9.22e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0760677e+00 2.80e-04 6.77e-06 -4.0 1.35e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 2.63e-07 4.01e-07 -4.0 5.99e+00 -11.0 1.00e+00 1.00e+00h 1 27 2.0760669e+00 2.92e-10 1.86e-08 -4.0 1.72e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0760669e+00 2.16e-12 1.00e-09 -4.0 1.89e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0760668692995301e+00 2.0760668692995301e+00 Dual infeasibility......: 9.9999999990732502e-10 9.9999999990732502e-10 Constraint violation....: 2.1634916080870426e-12 2.1634916080870426e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000066e-04 1.0000000000000066e-04 Overall NLP error.......: 9.9999999990732502e-10 9.9999999990732502e-10 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 30 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 29 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 31.415 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: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.056s) linear index maps built (0.0s) evaluator ready (total: 0.12s) evaluator created (0.121s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: global linear constraint on :g initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) integrator 1 hessian structure: 0.052s 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 (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.113s) evaluator created (0.114s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: global linear constraint on :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 (0.002s) optimizer initialization complete (total: 0.116s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 36 Number of nonzeros in Lagrangian Hessian.............: 1589 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...............: 18 inequality constraints with only lower bounds: 9 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 9 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.7988608e+00 3.43e+00 3.55e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5905074e+00 1.12e-01 2.66e+00 -0.8 2.55e+00 0.0 9.94e-01 9.91e-01f 1 2 2.6039721e+00 1.69e-01 2.63e+00 -0.4 2.31e+00 -0.5 5.39e-01 3.81e-01f 1 3 2.6105398e+00 3.95e-02 1.91e+00 -0.8 3.79e-01 -0.1 9.70e-01 7.84e-01f 1 4 2.5383917e+00 5.27e-03 7.16e-01 -1.2 1.20e-01 0.4 9.29e-01 1.00e+00f 1 5 2.2961354e+00 4.23e-03 1.33e-01 -2.0 7.39e-02 -0.1 9.92e-01 9.15e-01f 1 6 2.1184405e+00 2.73e-03 6.99e-02 -2.8 1.12e-01 -0.6 9.92e-01 8.47e-01f 1 7 2.0920459e+00 2.12e-04 2.58e-02 -3.8 2.04e-02 -1.1 9.97e-01 9.24e-01h 1 8 2.0908878e+00 6.34e-07 5.10e-04 -4.0 4.12e-03 -1.5 1.00e+00 1.00e+00h 1 9 2.0908850e+00 3.57e-09 1.12e-04 -4.0 1.15e-02 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908844e+00 1.52e-11 9.08e-05 -4.0 2.79e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908825e+00 1.36e-10 5.84e-05 -4.0 5.39e-02 -3.0 1.00e+00 1.00e+00f 1 12 2.0908769e+00 1.23e-09 2.78e-05 -4.0 7.71e-02 -3.4 1.00e+00 1.00e+00f 1 13 2.0908601e+00 1.11e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908097e+00 9.95e-08 2.06e-05 -4.0 5.12e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906588e+00 8.96e-07 2.05e-05 -4.0 1.53e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902086e+00 8.08e-06 5.69e-05 -4.0 4.58e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888799e+00 7.31e-05 5.01e-04 -4.0 1.36e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0850874e+00 6.67e-04 4.35e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0798636e+00 1.99e-03 1.60e-01 -4.0 9.75e+01 -6.8 1.00e+00 5.54e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0804894e+00 1.25e-04 1.65e-01 -4.0 6.41e+01 -7.3 1.00e+00 1.00e+00H 1 21 2.0776976e+00 7.65e-03 2.27e-02 -4.0 1.21e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0774256e+00 1.52e-03 6.56e-02 -4.0 1.97e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0763304e+00 1.30e-03 1.88e-02 -4.0 3.42e+02 -8.7 1.00e+00 8.82e-01h 1 24 2.0758571e+00 1.63e-03 2.06e-02 -4.0 4.33e+02 -9.2 1.00e+00 7.70e-01h 1 25 2.0761448e+00 1.86e-03 8.98e-03 -4.0 1.37e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0760740e+00 1.81e-04 3.21e-04 -4.0 6.19e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0760669e+00 1.54e-06 4.09e-06 -4.0 1.33e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0760669e+00 1.25e-08 3.45e-07 -4.0 6.07e+00 -11.1 1.00e+00 1.00e+00h 1 29 2.0760669e+00 2.00e-10 1.47e-08 -4.0 1.48e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0760669e+00 1.31e-12 1.00e-09 -4.0 1.46e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0760668692961377e+00 2.0760668692961377e+00 Dual infeasibility......: 9.9999999998864018e-10 9.9999999998864018e-10 Constraint violation....: 1.3062884107739592e-12 1.3062884107739592e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000032e-04 1.0000000000000032e-04 Overall NLP error.......: 9.9999999998864018e-10 9.9999999998864018e-10 Number of objective function evaluations = 32 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 32 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 31 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 28.522 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.053s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.054s) integrator 1 hessian structure: 0.044s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.044s) linear index maps built (0.0s) evaluator ready (total: 0.098s) 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: global linear constraint on :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: 0.099s) 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.: 2 Number of nonzeros in Lagrangian Hessian.............: 1589 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: 1 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 3.0753918e+00 2.60e+00 6.67e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5646052e+00 8.85e-01 1.84e+00 -1.1 1.82e+00 0.0 4.54e-01 6.65e-01h 1 2 3.3720479e+00 8.18e-01 6.51e+00 0.9 3.18e+01 -0.5 5.98e-02 2.63e-02f 1 3 3.2996939e+00 6.16e-02 1.69e+00 -0.3 7.03e-01 -0.1 8.17e-01 1.00e+00f 1 4 3.0314412e+00 3.78e-02 1.23e+00 -1.6 3.72e-01 -0.5 8.35e-01 1.00e+00h 1 5 2.4418626e+00 6.51e-02 6.78e-01 -1.4 6.88e-01 -1.0 9.66e-01 8.49e-01f 1 6 2.2503613e+00 4.35e-03 5.25e-02 -1.8 1.62e-01 -1.5 9.65e-01 1.00e+00h 1 7 2.1047518e+00 2.77e-03 2.38e-02 -3.1 1.65e-01 -2.0 9.86e-01 9.32e-01h 1 8 2.0910492e+00 1.82e-05 1.58e-03 -4.0 1.07e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908697e+00 5.79e-07 4.03e-05 -4.0 3.30e-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 2.0908630e+00 9.14e-09 3.79e-05 -4.0 9.33e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908481e+00 8.72e-09 3.28e-05 -4.0 2.42e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908033e+00 7.85e-08 2.45e-05 -4.0 5.42e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906691e+00 7.07e-07 2.05e-05 -4.0 1.36e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902687e+00 6.38e-06 4.50e-05 -4.0 4.08e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890845e+00 5.77e-05 3.97e-04 -4.0 1.21e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856853e+00 5.26e-04 3.45e-03 -4.0 3.50e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0798593e+00 2.19e-03 1.17e-01 -4.0 9.04e+01 -6.7 1.00e+00 6.69e-01h 1 18 2.0809409e+00 1.06e-04 1.64e-01 -4.0 6.65e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0779518e+00 5.78e-03 2.29e-02 -4.0 1.14e+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 2.0770136e+00 1.00e-03 2.95e-02 -4.0 1.81e+02 -8.2 1.00e+00 9.76e-01h 1 21 2.0766383e+00 2.81e-03 4.16e-02 -4.0 2.95e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0759151e+00 2.85e-03 2.91e-02 -4.0 5.80e+02 -9.1 1.00e+00 7.36e-01h 1 23 2.0762152e+00 3.03e-03 1.86e-02 -4.0 3.05e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0760763e+00 4.52e-04 8.56e-04 -4.0 4.94e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0760668e+00 2.15e-06 1.26e-05 -4.0 8.77e+02 -10.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 4.00e-08 4.14e-07 -4.0 1.46e+03 -11.0 1.00e+00 1.00e+00h 1 27 2.0760669e+00 2.88e-10 2.17e-08 -4.0 2.53e+03 -11.5 1.00e+00 1.00e+00h 1 28 2.0760669e+00 2.48e-12 5.40e-09 -4.0 4.20e+03 -12.0 1.00e+00 1.00e+00f 1 29 2.0760669e+00 3.00e-15 3.42e-09 -4.0 6.93e+03 -12.5 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0757340e+00 3.48e-04 7.65e-07 -4.1 8.65e+03 -12.9 1.00e+00 1.00e+00f 1 31 2.0760682e+00 3.52e-04 8.61e-07 -4.0 1.95e+04 -13.4 1.00e+00 1.00e+00h 1 32 2.0757385e+00 3.43e-04 8.30e-07 -4.1 1.45e+04 -13.9 1.00e+00 1.00e+00h 1 33 2.0744292e+00 5.45e-03 1.84e-04 -6.1 1.96e+02 -14.4 9.74e-01 1.00e+00h 1 34 2.0761004e+00 1.94e-02 9.46e-05 -4.0 2.42e+05 -14.8 1.00e+00 1.00e+00h 1 35 2.0758347e+00 1.85e-03 3.17e-05 -4.1 9.96e+04 -15.3 1.00e+00 1.00e+00h 1 36 2.0758337e+00 4.27e-07 3.44e-07 -4.1 1.05e+05 -15.8 1.00e+00 1.00e+00h 1 37 2.0760675e+00 1.73e-04 4.42e-07 -4.0 3.38e+03 -16.3 1.00e+00 1.00e+00h 1 38 2.0757393e+00 3.39e-04 7.85e-07 -4.1 4.29e+02 -16.8 1.00e+00 1.00e+00h 1 39 2.0760681e+00 3.41e-04 8.29e-07 -4.0 1.36e+02 -17.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0757393e+00 3.41e-04 8.24e-07 -4.1 2.16e+01 -17.7 1.00e+00 1.00e+00h 1 41 2.0744293e+00 5.46e-03 1.84e-04 -6.1 5.65e+01 -18.2 9.74e-01 1.00e+00h 1 42 2.0744089e+00 6.52e-05 1.58e-05 -6.1 7.10e+01 -18.7 1.00e+00 1.00e+00h 1 43 2.0761101e+00 4.75e-02 4.80e-04 -4.0 5.53e+02 -19.1 1.00e+00 1.00e+00f 1 44 2.0757520e+00 5.77e-03 1.68e-04 -4.1 4.43e+02 -19.6 1.00e+00 1.00e+00h 1 45 2.0757498e+00 2.71e-06 3.82e-06 -4.1 1.06e+02 -20.0 1.00e+00 1.00e+00h 1 46 2.0760680e+00 3.21e-04 8.45e-07 -4.0 1.37e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0757393e+00 3.41e-04 8.25e-07 -4.1 1.40e+01 -20.0 1.00e+00 1.00e+00h 1 48 2.0744293e+00 5.46e-03 1.84e-04 -6.1 5.65e+01 -20.0 9.74e-01 1.00e+00h 1 49 2.0744089e+00 6.52e-05 1.58e-05 -6.1 7.11e+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 50 2.0744089e+00 2.17e-09 4.47e-08 -6.1 3.98e+00 -20.0 1.00e+00 1.00e+00h 1 51 2.0761106e+00 4.93e-02 5.13e-04 -4.0 4.00e+02 -20.0 1.00e+00 1.00e+00f 1 52 2.0757522e+00 5.99e-03 1.81e-04 -4.1 2.41e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0757500e+00 2.84e-06 4.10e-06 -4.1 3.67e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0744297e+00 5.53e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 55 2.0744091e+00 6.61e-05 1.58e-05 -6.1 7.10e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0744091e+00 2.20e-09 4.40e-08 -6.1 3.96e+00 -20.0 1.00e+00 1.00e+00h 1 57 2.0743968e+00 2.64e-06 5.39e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 58 2.0761119e+00 5.16e-02 5.52e-04 -4.0 4.15e+02 -20.0 1.00e+00 1.00e+00f 1 59 2.0757529e+00 6.26e-03 1.97e-04 -4.1 2.52e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0757506e+00 3.00e-06 4.44e-06 -4.1 3.83e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0744298e+00 5.54e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 62 2.0744091e+00 6.62e-05 1.58e-05 -6.1 7.11e+01 -20.0 1.00e+00 1.00e+00h 1 63 2.0744091e+00 2.21e-09 4.41e-08 -6.1 3.97e+00 -20.0 1.00e+00 1.00e+00h 1 64 2.0743968e+00 2.65e-06 5.41e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 65 2.0743968e+00 3.93e-12 6.57e-12 -9.0 4.71e-02 -20.0 1.00e+00 1.00e+00h 1 66 2.0761119e+00 5.16e-02 5.53e-04 -4.0 4.15e+02 -20.0 1.00e+00 1.00e+00f 1 67 2.0757529e+00 6.26e-03 1.97e-04 -4.1 2.53e+02 -20.0 1.00e+00 1.00e+00h 1 68 2.0757506e+00 3.01e-06 4.45e-06 -4.1 3.83e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0744298e+00 5.54e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0744091e+00 6.62e-05 1.58e-05 -6.1 7.11e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0744091e+00 2.21e-09 4.41e-08 -6.1 3.97e+00 -20.0 1.00e+00 1.00e+00h 1 72 2.0743968e+00 2.65e-06 5.41e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 73 2.0743968e+00 3.93e-12 6.57e-12 -9.0 4.71e-02 -20.0 1.00e+00 1.00e+00h 1 74 2.0743968e+00 1.78e-15 9.09e-15 -9.0 1.56e-06 -20.0 1.00e+00 1.00e+00h 1 75 2.0743968e+00 1.78e-15 9.09e-15 -9.0 1.05e-13 -20.0 1.00e+00 1.00e+00h 1 76 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 77 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 78 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 79 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -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 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 81 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 82 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 83 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 84 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 85 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 86 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 87 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 88 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 89 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -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 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 91 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 92 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 93 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 94 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 95 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 96 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 97 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 98 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 99 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -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 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0743967707404747e+00 2.0743967707404747e+00 Dual infeasibility......: 9.0909090909090922e-15 9.0909090909090922e-15 Constraint violation....: 1.7763568394002505e-15 1.7763568394002505e-15 Variable bound violation: 9.0908814694840023e-09 9.0908814694840023e-09 Complementarity.........: 9.0909090978039930e-10 9.0909090978039930e-10 Overall NLP error.......: 9.9999090909091482e-05 9.9999090909091482e-05 Number of objective function evaluations = 102 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 102 Number of inequality constraint evaluations = 102 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 29.466 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.054s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.054s) integrator 1 hessian structure: 0.042s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.043s) linear index maps built (0.0s) evaluator ready (total: 0.097s) evaluator created (0.097s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: global linear equality on :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: 0.098s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1522 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 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.................: 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 2.8187721e+00 2.64e+00 5.30e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4038252e+00 1.27e-01 1.89e+00 -0.9 1.89e+00 0.0 1.00e+00 9.76e-01h 1 2 3.2461852e+00 1.04e-01 4.83e+01 1.0 1.33e+01 0.4 4.92e-02 2.10e-02f 1 3 3.2363898e+00 8.75e-02 6.43e+00 0.1 7.45e-01 -0.1 1.00e+00 1.00e+00f 1 4 3.1807315e+00 1.37e-03 1.20e+00 -0.8 1.28e-01 0.4 9.13e-01 1.00e+00h 1 5 2.7868802e+00 2.10e-02 7.57e-01 -1.3 1.84e-01 -0.1 7.79e-01 1.00e+00f 1 6 2.3589315e+00 1.57e-02 1.17e-01 -1.8 1.58e-01 -0.6 9.56e-01 1.00e+00f 1 7 2.2135649e+00 7.74e-03 3.58e-01 -2.6 1.40e-01 -1.1 9.77e-01 5.05e-01h 1 8 2.1050907e+00 1.18e-03 1.29e-02 -3.4 7.42e-02 -1.5 1.00e+00 9.30e-01h 1 9 2.0908985e+00 1.22e-05 7.78e-04 -4.0 6.47e-03 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908595e+00 1.56e-07 2.06e-05 -4.0 6.33e-03 -2.5 1.00e+00 1.00e+00h 1 11 2.0908576e+00 1.58e-10 2.06e-05 -4.0 1.90e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908520e+00 1.23e-09 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908352e+00 1.10e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0907848e+00 9.93e-08 2.06e-05 -4.0 5.12e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906340e+00 8.94e-07 2.05e-05 -4.0 1.53e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901839e+00 8.06e-06 5.69e-05 -4.0 4.58e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888556e+00 7.29e-05 5.01e-04 -4.0 1.36e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0850645e+00 6.64e-04 4.35e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0798606e+00 1.96e-03 1.61e-01 -4.0 9.74e+01 -6.8 1.00e+00 5.53e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0804468e+00 1.32e-04 1.68e-01 -4.0 6.60e+01 -7.3 1.00e+00 1.00e+00H 1 21 2.0777371e+00 7.68e-03 2.47e-02 -4.0 1.20e+02 -7.7 1.00e+00 9.84e-01h 1 22 2.0773154e+00 1.61e-03 6.86e-02 -4.0 2.02e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0764734e+00 1.53e-03 1.56e-02 -4.0 3.47e+02 -8.7 1.00e+00 8.24e-01h 1 24 2.0758824e+00 1.67e-03 2.73e-02 -4.0 5.14e+02 -9.2 1.00e+00 7.39e-01h 1 25 2.0761575e+00 2.45e-03 1.13e-02 -4.0 1.55e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0757735e+00 1.29e-03 5.01e-04 -4.1 8.22e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0760679e+00 2.74e-04 7.53e-06 -4.0 1.24e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0760669e+00 2.58e-07 2.87e-07 -4.0 5.14e+00 -11.1 1.00e+00 1.00e+00h 1 29 2.0760669e+00 1.88e-10 1.15e-08 -4.0 1.39e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0760669e+00 1.08e-12 9.43e-11 -4.0 1.39e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0760668692959015e+00 2.0760668692959015e+00 Dual infeasibility......: 9.4254172121246288e-11 9.4254172121246288e-11 Constraint violation....: 1.0836886943366153e-12 1.0836886943366153e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000045e-04 1.0000000000000045e-04 Overall NLP error.......: 9.4254172121246288e-11 9.4254172121246288e-11 Number of objective function evaluations = 32 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 29.529 EXIT: Optimal Solution Found. ┌ 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/KFMSZ/src/problems.jl:66 initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.11s integrator 2 jacobian structure: 0.091s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.201s) integrator 1 hessian structure: 0.09s integrator 2 hessian structure: 0.094s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.375s sub-objective 2 (QuadraticRegularizer): 0.115s sub-objective 3 (LinearRegularizer): 0.11s sub-objective 4 (MinimumTimeObjective): 0.054s objective hessian structure: 0.78s hessian structure: 2431 nonzeros (0.966s) linear index maps built (0.0s) evaluator ready (total: 1.167s) evaluator created (1.637s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.196s) 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 (2.061s) optimizer initialization complete (total: 3.894s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1808 Number of nonzeros in inequality constraint Jacobian.: 80 Number of nonzeros in Lagrangian Hessian.............: 2239 Total number of variables............................: 122 variables with only lower bounds: 30 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 40 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.8086847e+00 3.36e+00 1.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0625514e+00 3.23e+00 1.22e+00 -4.0 3.37e+01 -4.0 4.14e-01 4.88e-01h 1 2 4.1970648e+00 5.60e+00 1.15e+01 -0.6 1.23e+01 -2.7 3.76e-01 1.00e+00f 1 3 3.0026051e+00 1.23e+00 7.22e+00 -0.7 4.58e+00 -1.3 5.15e-01 1.00e+00f 1 4 2.9933373e+00 5.21e-02 1.24e+00 -0.8 6.73e-01 -0.0 9.34e-01 1.00e+00h 1 5 2.9530618e+00 5.37e-04 1.83e-01 -1.8 7.03e-02 0.4 9.96e-01 1.00e+00h 1 6 2.8780328e+00 1.27e-03 1.03e-01 -2.7 7.59e-02 -0.1 9.96e-01 1.00e+00h 1 7 2.6923974e+00 3.15e-02 1.00e-01 -3.3 4.48e-01 -0.5 1.00e+00 6.34e-01f 1 8 2.6058969e+00 2.61e-02 3.52e-01 -3.1 4.86e-01 -1.0 1.00e+00 1.81e-01h 1 9 2.4666958e+00 3.29e-03 4.23e-02 -3.8 1.65e-01 -0.6 1.00e+00 9.91e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.3618812e+00 9.26e-03 5.17e-02 -4.0 4.77e-01 -1.1 1.00e+00 7.36e-01h 1 11 2.3045904e+00 7.38e-03 9.63e-02 -4.0 1.36e+00 -1.5 1.00e+00 2.53e-01h 1 12 2.2307245e+00 6.35e-03 3.21e-02 -3.7 2.39e-01 -1.1 1.00e+00 1.00e+00h 1 13 2.1694220e+00 1.11e-02 3.34e-02 -4.0 4.22e-01 -1.6 1.00e+00 6.29e-01h 1 14 2.1257610e+00 1.34e-02 6.05e-02 -3.5 1.19e+00 -2.1 1.00e+00 3.88e-01h 1 15 2.0881642e+00 7.25e-02 9.98e-02 -3.2 4.48e+00 -2.6 1.00e+00 2.71e-01h 1 16 2.0664510e+00 2.07e-01 8.76e-02 -4.0 1.50e+01 -3.0 5.83e-02 1.37e-01h 1 17 2.0040640e+00 1.86e-02 6.59e-02 -3.7 2.05e+00 -2.6 1.00e+00 8.78e-01h 1 18 1.9439607e+00 1.12e-01 7.67e-02 -3.3 4.28e+00 -3.1 1.00e+00 1.00e+00h 1 19 1.8885888e+00 2.17e-01 1.69e-01 -3.5 8.83e+00 -3.6 9.96e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.8477390e+00 3.46e-01 7.32e-02 -4.0 8.58e+00 -4.0 7.09e-01 1.00e+00h 1 21 1.8529729e+00 2.99e-02 6.97e-03 -4.0 4.27e+00 -3.6 1.00e+00 1.00e+00h 1 22 1.8340150e+00 1.04e-01 4.07e-02 -4.0 7.78e+00 -4.1 1.00e+00 1.00e+00h 1 23 1.8333200e+00 5.26e+00 3.09e-01 -3.2 4.37e+01 -4.6 1.76e-01 1.00e+00h 1 24 1.8922022e+00 3.63e+00 3.03e-01 -3.0 3.40e+02 -5.0 6.56e-02 1.34e-01H 1 25 1.8596032e+00 2.02e+00 2.67e-01 -3.5 2.04e+01 -4.6 3.15e-01 4.59e-01h 1 26 1.8219355e+00 4.24e-01 6.73e-02 -3.5 4.74e+00 -4.2 4.47e-01 7.89e-01h 1 27 1.7942157e+00 2.92e-02 1.70e-02 -3.8 8.68e+00 -4.7 1.00e+00 1.00e+00h 1 28 1.7880700e+00 1.28e-01 3.07e-02 -3.9 1.90e+01 -5.1 1.00e+00 9.96e-01h 1 29 1.7778636e+00 2.54e-01 4.86e-02 -4.0 3.58e+01 -5.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.7693683e+00 3.95e-01 1.23e-01 -4.0 5.90e+01 -6.1 1.00e+00 1.00e+00h 1 31 1.7615683e+00 5.74e-01 1.91e-01 -4.0 8.80e+01 -6.6 1.00e+00 1.00e+00h 1 32 1.7549889e+00 9.27e-01 3.42e-01 -4.0 2.12e+02 -7.1 1.00e+00 1.00e+00h 1 33 1.7550417e+00 9.86e-01 3.41e-01 -4.0 1.34e+04 -7.5 7.49e-03 3.18e-03h 4 34 1.7520987e+00 6.32e-01 2.15e-01 -4.1 1.25e+02 -7.1 1.00e+00 9.49e-01h 1 35 1.7474428e+00 1.64e+00 7.77e-01 -4.0 3.32e+02 -7.6 1.00e+00 1.00e+00h 1 36 1.7219894e+00 5.41e+00 7.64e-01 -4.0 9.58e+02 -7.2 1.03e-02 7.89e-02h 1 37 1.7211930e+00 1.63e+01 4.46e-01 -3.8 2.18e+02 -6.7 6.17e-01 1.00e+00h 1 38 1.7470257e+00 1.44e-01 3.36e-01 -3.9 1.36e+02 -7.2 1.00e+00 1.00e+00h 1 39 1.7484239e+00 5.66e-01 8.72e-01 -3.7 2.03e+02 -7.7 1.00e+00 8.20e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.7431799e+00 2.36e+00 1.02e+00 -3.8 4.86e+02 -8.2 1.00e+00 1.00e+00h 1 41 1.7455992e+00 5.29e+00 1.36e+00 -3.5 2.34e+02 -7.7 1.00e+00 1.00e+00h 1 42 1.7409520e+00 4.67e-01 6.40e-01 -3.6 4.81e+02 -8.2 1.00e+00 5.06e-01h 1 43 1.7378365e+00 6.29e+00 1.10e+00 -4.0 1.16e+03 -8.7 7.47e-01 9.58e-01h 1 44 1.8167218e+00 2.12e+01 3.81e+01 -2.9 2.74e+03 -9.2 3.76e-01 1.00e+00h 1 45 1.7600755e+00 1.78e+01 8.05e+00 -3.0 2.42e+03 -8.7 7.87e-01 1.48e-01h 1 46 1.7580394e+00 1.84e+01 3.60e+00 -3.0 7.23e+03 -9.2 1.00e+00 3.16e-01h 1 47 1.7594049e+00 2.80e+01 2.28e+01 -3.0 4.66e+03 -9.7 6.99e-01 9.79e-01h 1 48 1.7498278e+00 4.22e+01 4.30e+01 -3.0 9.96e+03 -10.2 1.25e-01 8.39e-01h 1 49 1.7511867e+00 1.82e+01 1.74e+01 -3.0 2.68e+03 -9.7 8.03e-01 6.33e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.7555904e+00 2.35e+01 3.02e+01 -3.0 7.30e+03 -10.2 7.90e-01 8.53e-01h 1 51 1.7493802e+00 1.51e+01 1.23e+01 -3.0 2.72e+03 -9.8 1.00e+00 5.26e-01h 1 52 1.7532473e+00 8.54e+00 4.83e+01 -3.0 3.64e+03 -10.3 7.70e-01 1.00e+00h 1 53 1.7469692e+00 4.91e+00 1.21e+01 -3.0 2.55e+03 -9.8 1.00e+00 7.09e-01h 1 54 1.7525910e+00 9.22e+00 4.44e+01 -3.0 4.14e+03 -10.3 7.99e-01 1.00e+00h 1 55 1.7514169e+00 1.44e+01 3.74e+01 -3.0 1.04e+05 -10.8 2.30e-01 6.59e-02h 2 56 1.7481502e+00 1.07e+01 8.84e+01 -3.0 9.29e+03 -11.3 1.00e+00 9.30e-01h 1 57 1.7494271e+00 8.05e+00 1.73e+02 -3.0 1.55e+04 -11.8 7.95e-01 1.00e+00h 1 58 1.7458764e+00 1.15e+01 9.92e+01 -3.0 2.17e+04 -11.8 1.00e+00 6.61e-01h 1 59 1.7460865e+00 6.12e-01 3.11e+01 -3.0 1.88e+03 -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 1.7350901e+00 6.73e-03 2.09e+00 -3.4 7.50e+02 -10.1 1.00e+00 1.00e+00h 1 61 1.7313118e+00 6.73e-02 6.77e+00 -4.0 1.32e+03 -10.5 8.97e-01 1.00e+00h 1 62 1.7311140e+00 2.55e-01 1.98e+01 -4.0 2.91e+03 -11.0 1.00e+00 1.00e+00h 1 63 1.7310945e+00 1.21e+00 3.38e+01 -4.0 6.39e+03 -11.5 8.27e-01 1.00e+00h 1 64 1.7305808e+00 2.28e+00 4.05e+01 -4.0 1.12e+04 -12.0 1.00e+00 8.05e-01h 1 65 1.7305486e+00 5.76e+00 1.15e+02 -4.0 1.66e+04 -12.4 7.58e-01 1.00e+00h 1 66 1.7300229e+00 5.38e+00 9.82e+01 -4.0 2.30e+04 -12.9 1.00e+00 6.51e-01h 1 67 1.7299386e+00 9.49e+00 2.67e+02 -4.0 2.74e+04 -13.4 9.06e-01 1.00e+00h 1 68 1.7311517e+00 1.08e+01 7.25e+02 -3.8 3.64e+04 -13.9 1.00e+00 1.00e+00h 1 69 1.7289842e+00 1.23e+01 8.79e+01 -3.8 4.41e+04 -14.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.7288699e+00 1.13e+01 2.94e+02 -4.0 5.02e+04 -14.8 1.00e+00 1.00e+00h 1 71 1.7285919e+00 9.98e+00 6.76e+01 -4.0 5.43e+04 -15.3 1.00e+00 1.00e+00h 1 72 1.7284548e+00 9.63e+00 9.49e+01 -4.0 6.02e+04 -15.8 1.00e+00 1.00e+00h 1 73 1.7283078e+00 9.28e+00 1.32e+01 -4.0 6.67e+04 -16.3 1.00e+00 1.00e+00h 1 74 1.7281977e+00 8.98e+00 1.76e+01 -4.0 7.35e+04 -16.7 1.00e+00 1.00e+00h 1 75 1.7280952e+00 8.69e+00 3.08e+00 -4.0 8.05e+04 -17.2 1.00e+00 1.00e+00h 1 76 1.7280072e+00 8.44e+00 2.90e+00 -4.0 8.79e+04 -17.7 1.00e+00 1.00e+00h 1 77 1.7279273e+00 8.22e+00 6.70e-01 -4.0 9.56e+04 -18.2 1.00e+00 1.00e+00h 1 78 1.7278559e+00 8.02e+00 6.83e-01 -4.0 1.04e+05 -18.6 1.00e+00 1.00e+00h 1 79 1.7279395e+00 1.58e-04 1.04e-04 -4.0 2.35e+01 -10.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.7279389e+00 4.47e-06 2.62e-04 -4.0 6.77e+01 -10.8 1.00e+00 1.00e+00h 1 81 1.7279388e+00 2.85e-05 1.33e-03 -4.0 2.03e+02 -11.3 1.00e+00 1.00e+00h 1 82 1.7279387e+00 4.00e-06 5.07e-04 -4.0 7.61e+01 -10.9 1.00e+00 1.00e+00h 1 83 1.7279385e+00 3.58e-05 1.43e-03 -4.0 2.28e+02 -11.4 1.00e+00 1.00e+00h 1 84 1.7279385e+00 5.04e-06 5.71e-04 -4.0 8.56e+01 -10.9 1.00e+00 1.00e+00h 1 85 1.7279383e+00 4.52e-05 1.60e-03 -4.0 2.56e+02 -11.4 1.00e+00 1.00e+00h 1 86 1.7279383e+00 6.37e-06 6.42e-04 -4.0 9.62e+01 -11.0 1.00e+00 1.00e+00h 1 87 1.7279380e+00 5.71e-05 1.80e-03 -4.0 2.88e+02 -11.5 1.00e+00 1.00e+00h 1 88 1.7279380e+00 8.05e-06 7.21e-04 -4.0 1.08e+02 -11.0 1.00e+00 1.00e+00h 1 89 1.7279380e+00 1.13e-06 2.71e-04 -4.0 4.06e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.7279379e+00 1.02e-05 7.60e-04 -4.0 1.22e+02 -11.1 1.00e+00 1.00e+00h 1 91 1.7279376e+00 9.11e-05 2.28e-03 -4.0 3.64e+02 -11.6 1.00e+00 1.00e+00h 1 92 1.7279375e+00 1.28e-05 9.11e-04 -4.0 1.37e+02 -11.2 1.00e+00 1.00e+00h 1 93 1.7279375e+00 1.81e-06 3.42e-04 -4.0 5.13e+01 -10.7 1.00e+00 1.00e+00h 1 94 1.7279374e+00 1.62e-05 9.61e-04 -4.0 1.54e+02 -11.2 1.00e+00 1.00e+00h 1 95 1.7279374e+00 2.29e-06 3.85e-04 -4.0 5.77e+01 -10.8 1.00e+00 1.00e+00h 1 96 1.7279372e+00 2.05e-05 1.08e-03 -4.0 1.73e+02 -11.3 1.00e+00 1.00e+00h 1 97 1.7279368e+00 1.83e-04 3.23e-03 -4.0 5.16e+02 -11.7 1.00e+00 1.00e+00h 1 98 1.7279368e+00 1.83e-04 1.00e+10 -4.0 2.32e+101 -12.7 5.78e-82 2.23e-101f 15 99 2.7751009e+00 4.35e+03 1.00e+10 2.9 3.14e+10 -13.2 3.02e-07 1.96e-05f 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.5090923e+02 6.61e+04 1.00e+10 2.9 4.09e+07 -8.2 2.30e-05 5.44e-03f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.5090923375527871e+02 1.5090923375527871e+02 Dual infeasibility......: 1.0030425162056368e+10 1.0030425162056368e+10 Constraint violation....: 6.6075428519618305e+04 6.6075428519618305e+04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.5761211794183026e+11 1.5761211794183026e+11 Overall NLP error.......: 1.0993409857845458e+05 1.5761211794183017e+11 Number of objective function evaluations = 128 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 130 Number of inequality constraint evaluations = 130 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 46.585 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.058s) 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 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.05s) 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: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (2.325s) optimizer initialization complete (total: 2.434s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.3994346e+00 2.08e+00 2.62e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9144371e+00 3.61e-02 1.69e+00 -1.1 1.91e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.3048154e+00 4.15e-02 7.14e-02 -1.5 4.09e-01 -1.6 9.85e-01 1.00e+00h 1 3 2.1488054e+00 3.32e-03 3.79e-01 -4.0 1.73e-01 -1.1 8.48e-01 1.00e+00h 1 4 2.1009484e+00 6.30e-04 2.19e-01 -3.7 1.24e-01 -1.6 1.00e+00 7.99e-01h 1 5 2.0930412e+00 2.06e-04 3.79e-01 -4.0 5.28e-01 -2.1 1.00e+00 4.99e-01h 1 6 2.0910984e+00 4.32e-04 3.52e-01 -4.0 8.19e-01 -2.6 1.00e+00 6.72e-01h 1 7 2.0909589e+00 3.70e-05 8.56e-02 -4.0 3.75e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909983e+00 1.89e-06 1.12e-03 -4.0 7.28e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909822e+00 1.86e-07 4.85e-05 -4.0 1.98e-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 2.0909480e+00 8.35e-08 2.07e-04 -4.0 4.56e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0909115e+00 1.62e-07 5.31e-04 -4.0 7.38e-01 -5.0 1.00e+00 1.00e+00h 1 12 2.0908925e+00 7.05e-08 4.36e-04 -4.0 9.54e-01 -5.4 1.00e+00 1.00e+00h 1 13 2.0908841e+00 2.52e-08 2.63e-04 -4.0 1.77e+00 -5.9 1.00e+00 1.00e+00h 1 14 2.0908807e+00 2.63e-08 2.94e-04 -4.0 1.93e+00 -6.4 1.00e+00 1.00e+00h 1 15 2.0908799e+00 2.39e-08 8.91e-05 -4.0 1.14e+00 -6.9 1.00e+00 1.00e+00h 1 16 2.0908798e+00 2.22e-09 6.21e-06 -4.0 3.12e-01 -7.4 1.00e+00 1.00e+00h 1 17 2.0908798e+00 1.97e-11 7.33e-08 -4.0 3.44e-02 -7.8 1.00e+00 1.00e+00h 1 18 2.0908798e+00 1.79e-14 1.20e-10 -4.0 1.59e-03 -8.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0908797984798815e+00 2.0908797984798815e+00 Dual infeasibility......: 1.2020726105591191e-10 1.2020726105591191e-10 Constraint violation....: 1.7902346272080649e-14 1.7902346272080649e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000070e-04 1.0000000000000070e-04 Overall NLP error.......: 1.2020726105591191e-10 1.2020726105591191e-10 Number of objective function evaluations = 19 Number of objective gradient evaluations = 19 Number of equality constraint evaluations = 19 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 19 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 18 Total seconds in IPOPT = 32.950 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.075s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.075s) integrator 1 hessian structure: 0.056s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.057s) linear index maps built (0.0s) evaluator ready (total: 0.132s) evaluator created (0.132s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.095s) optimizer initialization complete (total: 0.228s) 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 6.1616538e+00 3.85e+00 4.84e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.7628409e+00 4.82e-01 5.22e+00 -1.5 6.49e+00 -2.0 1.69e-01 9.96e-01f 1 2 2.9561226e+00 3.76e-01 2.46e+00 -0.9 3.91e+00 -1.6 7.63e-01 5.14e-01f 1 3 2.5957701e+00 3.79e-02 4.39e-01 -1.0 4.38e-01 -1.1 9.58e-01 1.00e+00f 1 4 2.3093971e+00 5.68e-03 2.32e-01 -1.9 2.57e-01 -1.6 9.77e-01 1.00e+00h 1 5 2.1187339e+00 4.99e-03 1.65e-01 -2.9 2.48e-01 -2.1 9.97e-01 9.66e-01h 1 6 2.0971925e+00 2.67e-03 4.46e-01 -3.0 1.15e+00 -2.6 9.92e-01 9.55e-01h 1 7 2.0924307e+00 5.41e-04 1.31e-01 -4.0 7.92e-01 -3.1 1.00e+00 8.36e-01h 1 8 2.0909935e+00 1.26e-04 3.64e-02 -4.0 5.08e-01 -3.5 1.00e+00 9.05e-01h 1 9 2.0910870e+00 2.24e-05 5.59e-03 -4.0 3.04e-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 2.0909784e+00 4.07e-06 5.23e-04 -4.0 1.10e+00 -4.5 1.00e+00 1.00e+00h 1 11 2.0932120e+00 1.07e-08 8.19e-02 -4.0 1.11e+01 -5.0 1.58e-01 1.00e+00H 1 12 2.0917023e+00 2.01e-05 6.89e-01 -2.9 4.81e+00 -2.7 3.38e-01 7.64e-02f 1 13 2.0927309e+00 8.33e-06 4.90e-01 -3.5 9.84e-01 -3.2 1.00e+00 1.25e-01h 4 14 2.0931133e+00 1.82e-04 1.72e-02 -3.5 3.85e-01 -3.7 1.00e+00 1.00e+00h 1 15 2.0930066e+00 8.56e-05 9.08e-04 -3.5 9.57e-01 -4.2 1.00e+00 1.00e+00h 1 16 2.0900927e+00 2.63e-04 1.44e-03 -5.3 9.11e-01 -4.6 9.52e-01 1.00e+00h 1 17 2.0908322e+00 5.46e-04 1.07e-02 -4.0 6.37e+00 -5.1 4.06e-01 1.00e+00h 1 18 2.0907520e+00 4.45e-04 5.13e-02 -4.3 2.18e+00 -3.8 1.00e+00 1.93e-01h 1 19 2.0903459e+00 1.60e-05 4.65e-04 -4.3 3.91e-01 -4.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0908026e+00 1.27e-08 4.39e-04 -4.0 4.07e-01 -4.7 1.00e+00 1.00e+00H 1 21 2.0908683e+00 1.95e-07 7.27e-03 -4.0 1.98e+00 -5.2 1.00e+00 1.00e+00f 1 22 2.0907513e+00 7.80e-06 4.65e-03 -4.1 4.72e+00 -5.7 6.62e-01 2.75e-01h 2 23 2.0907842e+00 1.14e-05 4.17e-04 -4.0 1.96e+00 -6.2 1.00e+00 1.00e+00h 1 24 2.0905915e+00 4.18e-05 3.07e-04 -4.1 1.99e+00 -6.7 1.00e+00 1.00e+00h 1 25 2.0898864e+00 7.60e-05 4.21e-05 -6.2 9.66e-01 -7.1 1.00e+00 1.00e+00h 1 26 2.0901301e+00 5.36e-05 6.23e-05 -4.0 9.22e-01 -7.6 1.00e+00 2.73e-01f 1 27 2.0907799e+00 1.23e-05 1.14e-06 -4.0 2.45e-01 -8.1 1.00e+00 1.00e+00f 1 28 2.0905999e+00 4.61e-08 9.15e-09 -4.1 2.29e-03 -8.6 1.00e+00 1.00e+00h 1 29 2.0907799e+00 4.93e-08 9.18e-09 -4.0 2.46e-03 -9.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0907799e+00 3.09e-15 4.49e-15 -4.0 6.38e-06 -9.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0907798543034519e+00 2.0907798543034519e+00 Dual infeasibility......: 4.4941806352782887e-15 4.4941806352782887e-15 Constraint violation....: 3.0947466811426239e-15 3.0947466811426239e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000327e-04 1.0000000000000327e-04 Overall NLP error.......: 4.4941806352782887e-15 4.4941806352782887e-15 Number of objective function evaluations = 43 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 43 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 27.408 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.094s jacobian structure: 180 nonzeros (0.171s) integrator 1 hessian structure: 0.089s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.285s sub-objective 2 (QuadraticRegularizer): 0.132s sub-objective 3 (MinimumTimeObjective): 0.065s objective hessian structure: 0.599s hessian structure: 375 nonzeros (0.688s) linear index maps built (0.0s) evaluator ready (total: 1.007s) evaluator created (1.565s) NL constraint bounds extracted (0.056s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.201s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.685s) optimizer initialization complete (total: 4.508s) 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 1.8852727e+00 8.39e-01 1.49e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7586761e+00 1.71e-01 2.25e+00 -1.3 1.48e+00 - 7.26e-01 1.00e+00h 1 2 1.7757117e+00 1.13e-01 1.11e+00 -0.7 5.21e-01 0.0 6.31e-01 3.38e-01h 1 3 1.2932878e+00 5.31e-02 1.05e+00 -1.5 1.36e+00 - 8.55e-01 1.00e+00F 1 4 1.9931772e+00 4.10e-02 1.14e+00 -0.9 3.20e+00 - 1.00e+00 2.27e-01h 1 5 1.9090238e+00 8.86e-03 6.01e-01 -1.0 2.13e-01 - 4.55e-01 7.67e-01f 1 6 1.4263349e+00 5.39e-03 1.59e-01 -2.1 8.82e-01 - 9.48e-01 3.92e-01f 1 7 1.0970021e+00 2.19e-05 8.98e-02 -3.4 3.79e-01 - 1.00e+00 9.98e-01f 1 8 1.0908398e+00 5.26e-07 4.64e-03 -4.0 8.59e-02 - 1.00e+00 9.76e-01h 1 9 1.0909004e+00 1.93e-10 1.18e-04 -4.0 1.37e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908997e+00 1.80e-17 6.50e-07 -4.0 1.00e-04 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 7.15e-28 4.44e-16 -4.0 3.35e-09 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 11 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 4.4408920985006242e-16 4.4408920985006242e-16 Constraint violation....: 7.1510486609506280e-28 7.1510486609506280e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000091e-04 1.0000000000000091e-04 Overall NLP error.......: 4.4408920985006242e-16 4.4408920985006242e-16 Number of objective function evaluations = 13 Number of objective gradient evaluations = 12 Number of equality constraint evaluations = 13 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 12 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 11 Total seconds in IPOPT = 29.021 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (QuadraticRegularizer)... objective hessian structure: 0.087s hessian structure: 20 nonzeros (0.088s) linear index maps built (0.0s) evaluator ready (total: 0.088s) evaluator created (0.474s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.145s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 linear constraints added: 5 (2.3s) optimizer initialization complete (total: 2.92s) 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.............: 20 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.5909936e-01 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0833060e-01 3.13e-11 4.45e-01 -4.0 1.31e-01 -2.0 9.42e-01 1.00e+00f 1 2 5.8683065e-03 1.89e-11 9.37e-01 -1.5 3.39e+00 -1.6 1.66e-01 2.74e-01f 2 3 5.8683065e-03 1.89e-11 2.75e-01 -1.2 1.20e+00 -1.1 1.00e+00 1.70e-14h 44 4 1.0346208e-02 1.31e-10 7.91e-02 -1.3 1.52e+00 -1.6 1.00e+00 4.07e-01f 2 5 1.0346208e-02 1.31e-10 1.13e-01 -2.0 7.00e-01 -2.1 8.86e-01 3.55e-15h 49 6 1.7964528e-02 1.87e-10 2.64e-01 -2.0 7.06e-01 -2.6 1.00e+00 1.00e+00s 61 7 1.8997327e-02 1.02e-10 3.46e-01 -2.0 9.87e-01 -3.1 1.00e+00 0.00e+00S 61 8 2.1265103e-02 4.68e-12 4.99e-01 -2.0 1.58e+00 -3.5 1.00e+00 1.00e+00f 1 9 1.9320885e-02 4.03e-12 4.26e-01 -2.0 2.34e+00 -4.0 1.00e+00 2.50e-01f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0131339e-02 2.23e-12 4.22e-01 -2.0 4.72e+00 -4.5 1.00e+00 1.00e+00f 1 11 1.0023474e-02 8.30e-13 4.17e-01 -2.0 5.90e+00 -5.0 1.00e+00 1.00e+00f 1 12 7.8766097e-03 2.32e-13 4.14e-01 -2.0 1.08e+01 -5.4 1.00e+00 1.00e+00f 1 13 5.7349050e-03 1.99e-13 4.12e-01 -2.0 1.51e+01 -5.9 1.00e+00 1.00e+00f 1 14 5.7349050e-03 1.98e-13 3.40e-01 -2.8 6.39e+00 -6.4 1.00e+00 7.03e-12h 38 15 5.7349050e-03 1.98e-13 3.63e-01 -2.4 1.36e+01 -6.9 1.00e+00 2.27e-13h 43 16 5.7349050e-03 1.98e-13 3.64e-01 -2.4 1.28e+01 -7.4 1.00e+00 1.46e-11h 37 17 5.7349050e-03 1.98e-13 3.65e-01 -2.4 1.52e+01 -7.8 1.00e+00 5.68e-14h 45 18 5.7349050e-03 1.98e-13 3.66e-01 -2.4 1.61e+01 -8.3 1.00e+00 2.91e-11h 36 19 5.7349050e-03 1.98e-13 3.67e-01 -2.4 1.65e+01 -8.8 1.00e+00 1.46e-11h 37 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 5.7349050e-03 1.98e-13 3.68e-01 -2.4 1.66e+01 -9.3 1.00e+00 1.46e-11h 37 21 5.7349050e-03 1.98e-13 4.39e-01 -2.4 1.67e+01 -9.7 1.00e+00 7.28e-12h 38 22 5.2345252e-03 1.99e-13 5.78e-01 -2.4 1.67e+01 -10.2 1.00e+00 3.12e-02f 6 23 5.2345252e-03 1.96e-13 5.68e-01 -2.7 1.27e+01 -10.7 1.00e+00 3.64e-12h 39 24 4.0713900e-03 1.83e-13 2.08e+00 -2.3 3.03e+01 -11.2 1.00e+00 2.46e-01f 2 25 4.0713900e-03 1.85e-13 4.90e-01 -2.2 3.82e+01 -11.6 1.00e+00 7.33e-15h 46 26 4.0713900e-03 1.83e-13 6.25e-01 -2.1 5.69e+01 -12.1 1.00e+00 7.28e-12h 38 27 4.0713900e-03 1.83e-13 5.93e-01 -2.1 5.69e+01 -12.6 1.00e+00 2.27e-13h 43 28 4.0713900e-03 1.83e-13 6.69e-01 -2.1 5.69e+01 -13.1 1.00e+00 1.82e-12h 40 29 4.0713900e-03 1.83e-13 7.12e-01 -2.1 5.69e+01 -13.6 1.00e+00 2.91e-11h 36 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 4.0713900e-03 1.83e-13 7.68e-01 -2.1 5.69e+01 -14.0 1.00e+00 1.46e-11h 37 31 3.9589920e-03 1.81e-13 7.85e-01 -2.1 5.69e+01 -14.5 1.00e+00 3.12e-02f 6 32 3.9589920e-03 1.81e-13 6.25e-01 -2.4 8.66e+00 -15.0 9.96e-01 1.46e-11h 37 33 2.6798133e-03 1.71e-13 1.51e+00 -2.2 4.26e+01 -15.5 1.00e+00 1.42e-01f 3 34 2.6798133e-03 1.71e-13 4.60e-01 -2.2 3.64e+01 -15.9 1.00e+00 7.28e-12h 38 35 2.6798133e-03 1.71e-13 4.96e-01 -2.1 4.75e+01 -16.4 1.00e+00 1.37e-11h 37 36 2.6798133e-03 1.71e-13 5.08e-01 -2.1 4.75e+01 -16.9 1.00e+00 1.46e-11h 37 37 2.0412191e-03 1.67e-13 5.16e-01 -2.1 4.75e+01 -17.4 1.00e+00 6.25e-02f 5 38 2.0412191e-03 1.67e-13 4.09e-01 -2.4 5.99e+00 -17.8 9.97e-01 3.64e-12h 39 39 2.0412191e-03 1.67e-13 5.32e-01 -2.2 3.20e+01 -18.3 1.00e+00 1.10e-13h 44 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0412191e-03 1.67e-13 5.42e-01 -2.2 3.20e+01 -18.8 1.00e+00 3.64e-12h 39 41 2.0412191e-03 1.67e-13 5.68e-01 -2.2 3.20e+01 -19.3 1.00e+00 4.55e-13h 42 42 1.9556964e-03 1.66e-13 5.97e-01 -2.2 3.20e+01 -19.8 1.00e+00 7.81e-03f 8 43 1.9556964e-03 1.66e-13 4.29e-01 -2.6 2.39e+01 -20.0 1.00e+00 1.82e-12h 40 44 1.4617944e-03 1.61e-13 7.53e-01 -2.2 3.44e+01 -20.0 1.00e+00 5.94e-02f 5 45 1.4617944e-03 1.61e-13 6.28e-01 -2.2 1.83e+01 -20.0 1.00e+00 8.68e-13h 41 46 1.9557083e-03 1.52e-13 8.33e-01 -2.1 5.38e+01 -20.0 1.00e+00 1.24e-01f 4 47 1.9557083e-03 1.52e-13 6.95e-01 -2.1 4.72e+01 -20.0 1.00e+00 3.20e-12h 39 48 1.9557083e-03 1.52e-13 7.59e-01 -2.1 4.72e+01 -20.0 1.00e+00 1.82e-12h 40 49 1.9557083e-03 1.52e-13 8.10e-01 -2.1 4.72e+01 -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 50 1.9557083e-03 1.52e-13 8.72e-01 -2.1 4.72e+01 -20.0 1.00e+00 3.64e-12h 39 51 1.9557083e-03 1.52e-13 9.35e-01 -2.1 4.72e+01 -20.0 1.00e+00 7.28e-12h 38 52 2.1032596e-03 1.50e-13 9.75e-01 -2.1 4.72e+01 -20.0 1.00e+00 3.12e-02f 6 53 2.1116812e-03 1.50e-13 9.82e-01 -2.1 4.57e+01 -20.0 1.00e+00 1.95e-03f 10 54 2.2181643e-03 1.48e-13 1.01e+00 -2.1 4.56e+01 -20.0 1.00e+00 3.12e-02f 6 55 2.2371406e-03 1.47e-13 9.73e-01 -2.1 4.42e+01 -20.0 1.00e+00 7.81e-03f 8 56 2.2658469e-03 1.45e-13 9.75e-01 -2.1 4.38e+01 -20.0 1.00e+00 3.12e-02f 6 57 2.2446068e-03 1.42e-13 9.02e-01 -2.1 4.25e+01 -20.0 1.00e+00 3.12e-02f 6 58 2.1641714e-03 1.40e-13 8.51e-01 -2.1 4.11e+01 -20.0 1.00e+00 3.12e-02f 6 59 2.0253210e-03 1.38e-13 7.72e-01 -2.1 3.98e+01 -20.0 1.00e+00 3.12e-02f 6 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.8345446e-03 1.35e-13 7.16e-01 -2.1 3.86e+01 -20.0 1.00e+00 3.12e-02f 6 61 1.6076286e-03 1.33e-13 6.42e-01 -2.1 3.74e+01 -20.0 1.00e+00 3.12e-02f 6 62 1.3638353e-03 1.31e-13 5.88e-01 -2.1 3.62e+01 -20.0 1.00e+00 3.12e-02f 6 63 1.3638353e-03 1.31e-13 4.65e-01 -2.3 1.66e+01 -20.0 1.00e+00 3.64e-12h 39 64 9.6863719e-04 1.27e-13 9.26e-01 -2.1 2.08e+01 -20.0 1.00e+00 4.37e-02f 5 65 9.6863719e-04 1.27e-13 5.01e-01 -2.1 1.81e+01 -20.0 9.96e-01 1.82e-12h 40 66 6.6596056e-04 1.24e-13 6.24e-01 -2.1 3.59e+01 -20.0 1.00e+00 4.77e-02f 5 67 6.6596056e-04 1.24e-13 4.87e-01 -2.1 1.23e+01 -20.0 9.95e-01 4.55e-13h 42 68 6.6596056e-04 1.36e-13 5.74e-01 -2.1 3.54e+01 -20.0 1.00e+00 3.77e-13h 42 69 6.6596056e-04 1.45e-13 5.76e-01 -2.1 3.54e+01 -20.0 1.00e+00 3.64e-12h 39 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 6.6596056e-04 1.50e-13 5.92e-01 -2.1 3.54e+01 -20.0 1.00e+00 4.55e-13h 42 71 6.6596056e-04 1.58e-13 6.10e-01 -2.1 3.54e+01 -20.0 1.00e+00 3.64e-12h 39 72 6.6596056e-04 1.67e-13 6.30e-01 -2.1 3.54e+01 -20.0 1.00e+00 5.82e-11f 35 73 6.6596056e-04 1.62e-13 6.51e-01 -2.1 3.54e+01 -20.0 1.00e+00 9.09e-13h 41 74 5.9859343e-04 1.57e-13 6.69e-01 -2.1 3.54e+01 -20.0 1.00e+00 1.56e-02f 7 75 5.9859343e-04 1.49e-13 5.51e-01 -2.2 3.88e+00 -20.0 9.94e-01 1.14e-13h 44 76 4.9694904e-04 1.52e-13 7.93e-01 -2.0 4.17e+01 -20.0 1.00e+00 5.93e-02f 5 77 4.9694904e-04 1.53e-13 6.34e-01 -2.1 2.28e+01 -20.0 9.94e-01 2.27e-13h 43 78 6.6383829e-04 1.46e-13 7.74e-01 -2.0 5.32e+01 -20.0 1.00e+00 6.25e-02f 5 79 6.6383829e-04 1.44e-13 6.80e-01 -2.0 4.98e+01 -20.0 1.00e+00 3.64e-12h 39 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 6.6383829e-04 1.41e-13 7.01e-01 -2.0 4.98e+01 -20.0 1.00e+00 3.64e-12h 39 81 6.6383829e-04 1.39e-13 7.24e-01 -2.0 4.98e+01 -20.0 1.00e+00 1.82e-12h 40 82 6.6383829e-04 1.39e-13 7.49e-01 -2.0 4.98e+01 -20.0 1.00e+00 1.78e-15h 50 83 6.6383829e-04 1.26e-13 7.75e-01 -2.0 4.98e+01 -20.0 1.00e+00 2.27e-13h 43 84 7.1245203e-04 1.34e-13 7.94e-01 -2.0 4.98e+01 -20.0 1.00e+00 1.56e-02f 7 85 7.1856530e-04 1.42e-13 8.04e-01 -2.0 4.91e+01 -20.0 1.00e+00 1.95e-03f 10 86 7.6659276e-04 1.47e-13 8.21e-01 -2.0 4.90e+01 -20.0 1.00e+00 1.56e-02f 7 87 7.7824406e-04 1.48e-13 8.26e-01 -2.0 4.82e+01 -20.0 1.00e+00 3.91e-03f 9 88 8.2169910e-04 1.37e-13 8.38e-01 -2.0 4.80e+01 -20.0 1.00e+00 1.56e-02f 7 89 8.4156642e-04 1.38e-13 8.36e-01 -2.0 4.73e+01 -20.0 1.00e+00 7.81e-03f 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 8.7546350e-04 1.25e-13 8.40e-01 -2.0 4.69e+01 -20.0 1.00e+00 1.56e-02f 7 91 8.8872614e-04 1.32e-13 8.34e-01 -2.0 4.62e+01 -20.0 1.00e+00 7.81e-03f 8 92 9.0579165e-04 1.35e-13 8.33e-01 -2.0 4.58e+01 -20.0 1.00e+00 1.56e-02f 7 93 9.1237612e-04 1.39e-13 8.19e-01 -2.0 4.51e+01 -20.0 1.00e+00 1.56e-02f 7 94 9.0698288e-04 1.35e-13 8.03e-01 -2.0 4.44e+01 -20.0 1.00e+00 1.56e-02f 7 95 8.8879364e-04 1.29e-13 7.85e-01 -2.0 4.37e+01 -20.0 1.00e+00 1.56e-02f 7 96 8.5774857e-04 1.38e-13 7.66e-01 -2.0 4.30e+01 -20.0 1.00e+00 1.56e-02f 7 97 8.1461878e-04 1.37e-13 7.46e-01 -2.0 4.23e+01 -20.0 1.00e+00 1.56e-02f 7 98 7.6094967e-04 1.37e-13 7.25e-01 -2.0 4.17e+01 -20.0 1.00e+00 1.56e-02f 7 99 6.9893906e-04 1.30e-13 7.03e-01 -2.0 4.10e+01 -20.0 1.00e+00 1.56e-02f 7 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 6.3125036e-04 1.31e-13 6.80e-01 -2.0 4.04e+01 -20.0 1.00e+00 1.56e-02f 7 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 6.3125036463924456e-04 6.3125036463924456e-04 Dual infeasibility......: 6.8022715506761955e-01 6.8022715506761955e-01 Constraint violation....: 1.3100631690576847e-13 1.3100631690576847e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.9371141146598185e-02 2.9371141146598185e-02 Overall NLP error.......: 6.8022715506761955e-01 6.8022715506761955e-01 Number of objective function evaluations = 2281 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 2281 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 = 2.479 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): 0.175s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.348s hessian structure: 30 nonzeros (0.348s) linear index maps built (0.0s) evaluator ready (total: 0.348s) evaluator created (0.801s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.248s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) linear constraints added: 6 (2.688s) optimizer initialization complete (total: 3.739s) 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.............: 29 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 2.6073868e+00 4.75e-01 9.77e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3762269e+00 2.19e-09 8.71e-02 -0.6 2.48e-01 -2.0 9.96e-01 1.00e+00f 1 2 3.1064258e-01 1.25e-09 4.05e-01 -1.7 1.29e+00 -1.6 9.29e-01 1.00e+00f 1 3 1.5231045e-01 2.02e-10 9.53e-02 -2.3 4.20e-01 -1.1 1.00e+00 1.00e+00f 1 4 3.0712459e-02 2.93e-11 1.39e-01 -3.3 8.26e-01 -1.6 9.95e-01 1.00e+00f 1 5 5.5199779e-03 2.67e-11 5.39e-02 -4.0 5.40e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.1124725e-03 7.35e-12 1.68e-02 -4.0 2.87e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.5553820e-04 2.30e-12 3.54e-03 -4.0 9.18e-02 -3.1 1.00e+00 1.00e+00f 1 8 7.0872022e-04 6.13e-13 7.29e-04 -4.0 3.43e-02 -3.5 1.00e+00 1.00e+00f 1 9 3.7898606e-04 4.56e-14 2.41e-03 -4.1 7.37e-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 9.1053672e-04 1.26e-13 3.00e-03 -4.0 8.96e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.7049850e-04 7.42e-14 2.42e-03 -4.1 1.40e-01 -5.0 1.00e+00 5.00e-01f 2 12 5.1445621e-04 5.11e-14 1.67e-04 -4.1 1.33e-02 -5.4 1.00e+00 1.00e+00f 1 13 2.2288695e-05 9.18e-14 4.21e-03 -6.2 1.98e-01 -5.9 9.88e-01 9.75e-01f 1 14 9.6082902e-04 5.58e-14 7.30e-03 -4.0 5.59e-01 -6.4 1.00e+00 5.00e-01f 2 15 5.4014337e-04 1.17e-13 2.27e-03 -4.2 4.49e-01 -6.9 1.00e+00 1.36e-01f 2 16 2.8220995e-04 1.24e-13 2.35e-03 -4.2 8.79e-02 -7.4 1.00e+00 1.00e+00f 1 17 4.6770853e-04 3.45e-13 1.17e-03 -4.2 4.10e-02 -7.8 1.00e+00 1.00e+00f 1 18 3.1323049e-04 1.07e-13 1.13e-03 -4.2 3.93e-02 -8.3 1.00e+00 1.00e+00f 1 19 4.4565601e-04 4.83e-14 8.64e-04 -4.2 3.06e-02 -8.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 3.7873669e-04 5.24e-14 4.37e-04 -4.2 3.01e-02 -9.3 1.00e+00 5.00e-01f 2 21 2.2259544e-05 8.61e-14 3.31e-03 -6.3 1.65e-01 -9.7 9.91e-01 1.00e+00f 1 22 1.1864864e-05 3.95e-14 2.37e-04 -6.3 2.24e-02 -10.2 1.00e+00 1.00e+00f 1 23 1.0407827e-03 1.30e-14 7.41e-03 -4.0 2.41e+00 -10.7 1.00e+00 1.25e-01f 4 24 8.1013517e-04 2.70e-14 8.49e-04 -4.1 3.79e-01 -11.2 1.00e+00 5.81e-02f 2 25 3.1746186e-04 3.10e-13 3.35e-03 -4.1 1.04e-01 -11.6 1.00e+00 1.00e+00f 1 26 6.2807200e-04 2.07e-13 1.97e-03 -4.1 6.50e-02 -12.1 1.00e+00 1.00e+00f 1 27 4.8144590e-04 1.26e-13 8.90e-04 -4.1 5.54e-02 -12.6 1.00e+00 5.00e-01f 2 28 5.0695941e-04 4.73e-14 1.07e-04 -4.1 4.30e-03 -13.1 1.00e+00 1.00e+00f 1 29 2.2686693e-05 1.10e-13 4.10e-03 -6.2 1.93e-01 -13.6 9.89e-01 9.87e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.3527661e-05 5.51e-14 2.16e-04 -6.2 1.95e-02 -14.0 1.00e+00 1.00e+00f 1 31 3.6542195e-06 4.73e-15 3.05e-04 -6.2 3.71e-02 -14.5 1.00e+00 1.00e+00f 1 32 3.1159996e-03 2.50e-14 1.64e-02 -4.0 4.10e+00 -15.0 1.00e+00 1.25e-01f 4 33 2.6876111e-03 2.33e-14 6.00e-03 -4.0 1.71e+00 -15.5 1.00e+00 8.23e-03f 2 34 9.0701961e-04 3.44e-13 7.99e-03 -4.0 4.12e-01 -15.9 1.00e+00 4.05e-01f 2 35 5.1134556e-04 3.39e-13 2.70e-03 -4.0 7.64e-02 -16.4 1.00e+00 1.00e+00f 1 36 7.1576502e-04 3.75e-13 1.04e-03 -4.0 3.08e-02 -16.9 1.00e+00 1.00e+00f 1 37 5.4654368e-04 1.61e-13 1.06e-03 -4.0 3.17e-02 -17.4 1.00e+00 1.00e+00f 1 38 6.9108790e-04 5.79e-14 7.94e-04 -4.0 2.39e-02 -17.8 1.00e+00 1.00e+00f 1 39 4.1261125e-05 1.23e-13 4.83e-03 -6.0 2.26e-01 -18.3 9.87e-01 8.73e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.1021722e-05 8.50e-14 3.95e-04 -6.0 2.99e-02 -18.8 1.00e+00 1.00e+00f 1 41 5.7557662e-06 7.81e-15 4.02e-04 -6.0 4.21e-02 -19.3 1.00e+00 1.00e+00f 1 42 6.2899390e-06 6.99e-15 2.35e-05 -6.0 4.33e-03 -19.8 1.00e+00 1.00e+00f 1 43 6.7797488e-06 3.74e-15 3.29e-05 -6.0 6.45e-03 -20.0 1.00e+00 1.00e+00f 1 44 5.8734295e-06 4.37e-15 2.86e-05 -6.0 4.73e-03 -20.0 1.00e+00 1.00e+00h 1 45 6.5737584e-06 1.31e-15 1.69e-05 -6.0 2.36e-03 -20.0 1.00e+00 1.00e+00h 1 46 5.8557537e-06 8.08e-16 1.92e-05 -6.0 2.68e-03 -20.0 1.00e+00 1.00e+00h 1 47 6.5176974e-06 7.03e-17 1.70e-05 -6.0 2.37e-03 -20.0 1.00e+00 1.00e+00h 1 48 5.8612005e-06 1.47e-17 1.71e-05 -6.0 2.39e-03 -20.0 1.00e+00 1.00e+00H 1 49 6.4964593e-06 2.21e-16 1.64e-05 -6.0 2.30e-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 50 5.8729136e-06 7.81e-18 1.62e-05 -6.0 2.26e-03 -20.0 1.00e+00 1.00e+00H 1 51 6.4821027e-06 2.42e-16 1.58e-05 -6.0 2.21e-03 -20.0 1.00e+00 1.00e+00f 1 52 5.8853795e-06 9.54e-18 1.55e-05 -6.0 2.16e-03 -20.0 1.00e+00 1.00e+00H 1 53 6.4693892e-06 2.36e-16 1.51e-05 -6.0 2.12e-03 -20.0 1.00e+00 1.00e+00f 1 54 5.8975524e-06 2.37e-16 1.48e-05 -6.0 2.07e-03 -20.0 1.00e+00 1.00e+00h 1 55 6.4573813e-06 2.30e-16 1.45e-05 -6.0 2.03e-03 -20.0 1.00e+00 1.00e+00h 1 56 5.9092619e-06 2.28e-16 1.42e-05 -6.0 1.99e-03 -20.0 1.00e+00 1.00e+00h 1 57 6.4459003e-06 2.20e-16 1.39e-05 -6.0 1.95e-03 -20.0 1.00e+00 1.00e+00h 1 58 5.9204944e-06 2.19e-16 1.36e-05 -6.0 1.90e-03 -20.0 1.00e+00 1.00e+00h 1 59 6.4348990e-06 2.11e-16 1.33e-05 -6.0 1.87e-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 60 5.9312640e-06 2.05e-16 1.30e-05 -6.0 1.83e-03 -20.0 1.00e+00 1.00e+00h 1 61 6.4243533e-06 2.01e-16 1.28e-05 -6.0 1.79e-03 -20.0 1.00e+00 1.00e+00h 1 62 5.9415887e-06 2.02e-16 1.25e-05 -6.0 1.75e-03 -20.0 1.00e+00 1.00e+00h 1 63 6.4142437e-06 1.93e-16 1.22e-05 -6.0 1.71e-03 -20.0 1.00e+00 1.00e+00h 1 64 5.9514864e-06 1.88e-16 1.20e-05 -6.0 1.68e-03 -20.0 1.00e+00 1.00e+00h 1 65 6.4045523e-06 1.92e-16 1.17e-05 -6.0 1.64e-03 -20.0 1.00e+00 1.00e+00h 1 66 5.9609748e-06 1.87e-16 1.15e-05 -6.0 1.61e-03 -20.0 1.00e+00 1.00e+00h 1 67 6.3952618e-06 1.79e-16 1.12e-05 -6.0 1.57e-03 -20.0 1.00e+00 1.00e+00h 1 68 5.9700706e-06 1.80e-16 1.10e-05 -6.0 1.54e-03 -20.0 1.00e+00 1.00e+00h 1 69 6.3863558e-06 1.70e-16 1.08e-05 -6.0 1.51e-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 5.9787900e-06 1.69e-16 1.06e-05 -6.0 1.48e-03 -20.0 1.00e+00 1.00e+00h 1 71 6.3778183e-06 1.62e-16 1.03e-05 -6.0 1.45e-03 -20.0 1.00e+00 1.00e+00h 1 72 5.9871485e-06 1.61e-16 1.01e-05 -6.0 1.42e-03 -20.0 1.00e+00 1.00e+00h 1 73 6.3696343e-06 1.54e-16 9.90e-06 -6.0 1.39e-03 -20.0 1.00e+00 1.00e+00h 1 74 5.9951611e-06 1.55e-16 9.70e-06 -6.0 1.36e-03 -20.0 1.00e+00 1.00e+00h 1 75 2.9989915e-07 1.35e-15 2.11e-04 -9.0 4.25e-02 -20.0 9.97e-01 1.00e+00f 1 76 4.3552522e-03 2.86e-15 2.11e-02 -4.0 1.10e+01 -20.0 7.03e-01 5.67e-02f 5 77 3.4656403e-03 3.14e-14 1.52e-02 -4.1 6.43e+00 -20.0 1.00e+00 4.21e-03f 1 78 9.4091295e-04 5.65e-13 1.06e-02 -4.1 8.26e-01 -20.0 1.00e+00 2.50e-01f 1 79 2.8671768e-04 3.86e-13 5.15e-03 -4.1 1.56e-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 6.7306025e-04 1.07e-12 2.25e-03 -4.1 7.08e-02 -20.0 9.96e-01 1.00e+00f 1 81 3.9450797e-04 7.18e-14 2.08e-03 -4.1 6.53e-02 -20.0 1.00e+00 1.00e+00f 1 82 6.1552967e-04 1.44e-13 1.30e-03 -4.1 4.15e-02 -20.0 1.00e+00 1.00e+00f 1 83 4.1958713e-04 1.14e-13 1.22e-03 -4.1 3.90e-02 -20.0 1.00e+00 1.00e+00f 1 84 5.9911563e-04 1.39e-14 1.07e-03 -4.1 3.43e-02 -20.0 1.00e+00 1.00e+00f 1 85 5.0713778e-04 3.44e-14 5.40e-04 -4.1 3.38e-02 -20.0 1.00e+00 5.00e-01f 2 86 3.0383660e-05 1.22e-13 4.01e-03 -6.1 1.82e-01 -20.0 9.90e-01 1.00e+00f 1 87 1.6352481e-05 5.51e-14 2.88e-04 -6.1 2.45e-02 -20.0 1.00e+00 1.00e+00f 1 88 4.2109283e-06 5.81e-15 3.30e-04 -6.1 3.84e-02 -20.0 1.00e+00 1.00e+00f 1 89 4.7343091e-06 3.21e-15 1.35e-05 -6.1 3.05e-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 5.0049014e-06 2.44e-15 2.37e-05 -6.1 5.38e-03 -20.0 1.00e+00 1.00e+00f 1 91 4.4390500e-06 2.86e-15 1.93e-05 -6.1 3.59e-03 -20.0 1.00e+00 1.00e+00h 1 92 4.8775030e-06 8.30e-16 1.17e-05 -6.1 1.79e-03 -20.0 1.00e+00 1.00e+00h 1 93 4.4231889e-06 5.21e-16 1.34e-05 -6.1 2.06e-03 -20.0 1.00e+00 1.00e+00h 1 94 4.8433247e-06 5.38e-17 1.19e-05 -6.1 1.83e-03 -20.0 1.00e+00 1.00e+00h 1 95 4.4262460e-06 1.04e-17 1.20e-05 -6.1 1.84e-03 -20.0 1.00e+00 1.00e+00H 1 96 4.8301775e-06 1.48e-16 1.15e-05 -6.1 1.77e-03 -20.0 1.00e+00 1.00e+00f 1 97 4.4336188e-06 1.08e-17 1.13e-05 -6.1 1.74e-03 -20.0 1.00e+00 1.00e+00H 1 98 4.8211411e-06 1.58e-16 1.10e-05 -6.1 1.70e-03 -20.0 1.00e+00 1.00e+00f 1 99 4.4415104e-06 9.54e-18 1.08e-05 -6.1 1.67e-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 100 4.8130965e-06 1.52e-16 1.06e-05 -6.1 1.63e-03 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 4.8130965348850622e-06 4.8130965348850622e-06 Dual infeasibility......: 1.0595661363013416e-05 1.0595661363013416e-05 Constraint violation....: 1.5178830414797062e-16 1.5178830414797062e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.3253860702343766e-07 7.3253860702343766e-07 Overall NLP error.......: 9.9269399111182391e-05 9.9269399111182391e-05 Number of objective function evaluations = 148 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 148 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 = 2.992 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: 0.261s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.261s) integrator 1 hessian structure: 0.057s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.059s) linear index maps built (0.0s) evaluator ready (total: 0.32s) evaluator created (0.321s) 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 (0.388s) optimizer initialization complete (total: 0.709s) 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 2.6938518e+00 3.10e+00 2.22e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.9234348e+00 3.69e+00 1.38e+01 -0.8 1.94e+01 -2.0 1.19e-01 4.52e-01h 1 2 3.1524628e+00 2.90e+00 8.60e+00 -0.2 1.35e+01 -1.6 9.15e-01 2.19e-01f 1 3 2.6477065e+00 3.87e+00 1.41e+01 -4.0 1.39e+01 -2.1 2.37e-01 7.62e-01h 1 4 2.2020564e+00 2.35e+00 5.86e+00 -0.4 5.41e+00 -2.5 1.00e+00 4.42e-01f 1 5 1.8869583e+00 4.34e-01 6.09e+00 -0.7 1.15e+01 -3.0 9.50e-01 5.73e-01f 1 6 1.8084885e+00 1.88e-02 1.22e-01 -1.1 1.28e+00 -3.5 9.93e-01 1.00e+00h 1 7 1.5726731e+00 1.69e-03 9.34e-02 -1.9 2.33e-01 -4.0 9.24e-01 1.00e+00h 1 8 1.3789918e+00 6.22e-03 1.34e-02 -2.2 1.98e-01 -4.4 9.43e-01 1.00e+00f 1 9 1.2601018e+00 2.03e-01 2.11e-02 -3.1 7.66e-01 -4.9 9.09e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.2788633e+00 1.01e-01 3.89e-02 -3.3 3.15e+00 -5.4 8.71e-01 1.00e+00h 1 11 1.2663405e+00 8.58e-03 2.68e-03 -4.0 1.19e+00 -5.9 1.00e+00 1.00e+00h 1 12 1.2662586e+00 1.26e-04 3.58e-05 -4.0 4.79e-02 -6.3 1.00e+00 1.00e+00h 1 13 1.2662650e+00 5.37e-06 2.13e-06 -4.0 4.89e-03 -6.8 1.00e+00 1.00e+00h 1 14 1.2662587e+00 1.72e-08 2.55e-09 -4.0 2.94e-04 -7.3 1.00e+00 1.00e+00h 1 15 1.2662587e+00 5.50e-15 4.72e-14 -4.0 1.24e-06 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 15 (scaled) (unscaled) Objective...............: 1.2662587174901268e+00 1.2662587174901268e+00 Dual infeasibility......: 4.7201825781328921e-14 4.7201825781328921e-14 Constraint violation....: 5.4956039718945249e-15 5.4956039718945249e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000011112478e-04 1.0000000011112478e-04 Overall NLP error.......: 1.1112477312034269e-13 1.1112477312034269e-13 Number of objective function evaluations = 16 Number of objective gradient evaluations = 16 Number of equality constraint evaluations = 16 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 16 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 15 Total seconds in IPOPT = 31.597 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.068s jacobian structure: 180 nonzeros (0.186s) integrator 1 hessian structure: 0.061s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.111s sub-objective 2 (QuadraticRegularizer): 0.069s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.053s objective hessian structure: 0.369s hessian structure: 375 nonzeros (0.43s) linear index maps built (0.0s) evaluator ready (total: 0.834s) evaluator created (1.216s) NL constraint bounds extracted (0.05s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.127s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (1.995s) optimizer initialization complete (total: 3.388s) 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 1.2782253e+00 8.74e-01 1.26e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.4328730e+00 3.40e-01 6.84e+00 -0.6 2.94e+00 - 5.06e-01 1.00e+00h 1 2 2.1893525e+00 4.81e-02 5.01e+00 -4.0 4.04e-01 0.0 1.83e-01 1.00e+00f 1 3 1.9233922e+00 4.74e-02 3.72e+00 -0.5 3.72e+00 0.4 1.00e+00 1.52e-02h 1 4 1.5333005e+00 6.38e-03 1.96e+00 -4.0 3.13e+00 - 5.00e-01 1.00e+00f 1 5 1.3312644e+00 5.78e-04 1.69e-01 -2.4 5.11e-02 -0.1 9.01e-01 1.00e+00f 1 6 1.1237134e+00 7.31e-06 3.09e-02 -3.0 2.29e-01 - 9.77e-01 9.71e-01f 1 7 1.1056738e+00 2.38e-09 5.75e-02 -4.0 3.34e-01 - 1.00e+00 1.00e+00f 1 8 1.1046450e+00 4.54e-14 2.04e-03 -4.0 1.65e-01 - 1.00e+00 1.00e+00f 1 9 1.1046570e+00 8.88e-16 1.38e-03 -4.0 4.65e-03 -0.5 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.1044657e+00 1.53e-29 7.70e-04 -4.1 7.54e-03 -1.0 1.00e+00 1.00e+00f 1 11 1.1046161e+00 4.65e-33 6.21e-04 -4.0 1.69e-02 -1.5 1.00e+00 1.00e+00f 1 12 1.1044113e+00 8.88e-16 9.65e-04 -4.1 1.08e-02 -1.1 1.00e+00 1.00e+00f 1 13 1.1043608e+00 8.88e-16 2.67e-03 -4.0 9.46e-02 -1.5 1.00e+00 3.52e-01f 2 14 1.1043516e+00 8.88e-16 2.32e-03 -4.0 2.46e-02 -1.1 1.00e+00 1.00e+00f 1 15 1.1042289e+00 1.78e-15 1.29e-02 -4.0 1.58e-01 -1.6 1.00e+00 1.43e-01f 2 16 1.1035994e+00 8.88e-16 1.09e-02 -4.0 2.23e-01 - 1.00e+00 8.13e-01f 1 17 1.1036604e+00 8.88e-16 7.18e-03 -4.0 1.20e-01 - 1.00e+00 1.00e+00f 1 18 1.1034769e+00 8.70e-28 1.16e-02 -4.1 5.57e-02 - 1.00e+00 5.00e-01f 2 19 1.1035102e+00 8.88e-16 6.90e-06 -4.0 3.72e-03 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1033042e+00 1.64e-27 4.10e-05 -4.1 9.05e-03 - 1.00e+00 1.00e+00f 1 21 1.1035055e+00 2.27e-27 2.73e-05 -4.0 7.39e-03 - 1.00e+00 1.00e+00f 1 22 1.1033029e+00 4.08e-28 2.73e-05 -4.1 7.39e-03 - 1.00e+00 1.00e+00f 1 23 1.1035055e+00 8.88e-16 2.73e-05 -4.0 7.39e-03 - 1.00e+00 1.00e+00f 1 24 1.1033029e+00 1.01e-27 2.73e-05 -4.1 7.39e-03 - 1.00e+00 1.00e+00f 1 25 1.1025783e+00 8.88e-16 1.01e-03 -6.1 2.86e-02 - 1.00e+00 9.00e-01f 1 26 1.1034943e+00 1.03e-24 4.64e-04 -4.0 3.05e-02 - 1.00e+00 1.00e+00f 1 27 1.1032989e+00 2.66e-15 1.16e-05 -4.1 4.82e-03 - 1.00e+00 1.00e+00f 1 28 1.1025776e+00 8.88e-16 1.01e-03 -6.1 2.85e-02 - 1.00e+00 9.01e-01f 1 29 1.1034943e+00 1.20e-24 4.65e-04 -4.0 3.05e-02 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1032989e+00 2.34e-27 1.16e-05 -4.1 4.82e-03 - 1.00e+00 1.00e+00f 1 31 1.1025776e+00 3.15e-28 1.01e-03 -6.1 2.85e-02 - 1.00e+00 9.01e-01f 1 32 1.1025070e+00 1.68e-26 5.90e-07 -6.1 1.09e-03 - 1.00e+00 1.00e+00f 1 33 1.1034948e+00 2.73e-23 5.06e-04 -4.0 3.18e-02 - 1.00e+00 1.00e+00f 1 34 1.1032990e+00 3.55e-28 1.28e-05 -4.1 5.05e-03 - 1.00e+00 1.00e+00f 1 35 1.1025776e+00 2.72e-27 1.01e-03 -6.1 2.85e-02 - 1.00e+00 9.01e-01f 1 36 1.1025070e+00 2.67e-26 5.90e-07 -6.1 1.09e-03 - 1.00e+00 1.00e+00f 1 37 1.1024999e+00 4.80e-25 2.54e-08 -9.0 2.26e-04 - 1.00e+00 1.00e+00f 1 38 1.1034946e+00 8.88e-16 5.12e-04 -4.0 3.20e-02 - 1.00e+00 1.00e+00f 1 39 1.1032990e+00 1.78e-15 1.26e-05 -4.1 5.02e-03 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.1025776e+00 8.88e-16 1.01e-03 -6.1 2.85e-02 - 1.00e+00 9.01e-01f 1 41 1.1025070e+00 8.88e-16 5.90e-07 -6.1 1.09e-03 - 1.00e+00 1.00e+00f 1 42 1.1024999e+00 1.96e-25 2.54e-08 -9.0 2.26e-04 - 1.00e+00 1.00e+00f 1 43 1.1024999e+00 4.34e-35 6.26e-15 -9.0 1.12e-07 - 1.00e+00 1.00e+00f 1 44 1.1024999e+00 1.78e-15 2.38e-16 -9.0 4.54e-15 - 1.00e+00 1.00e+00h 1 45 1.1024999e+00 8.88e-16 2.38e-16 -9.0 1.86e-16 - 1.00e+00 1.00e+00 0 46 1.1024999e+00 6.61e-40 2.40e-16 -9.0 9.84e-17 - 1.00e+00 1.00e+00T 0 Number of Iterations....: 46 (scaled) (unscaled) Objective...............: 1.1024999065909094e+00 1.1024999065909094e+00 Dual infeasibility......: 2.3974934425041265e-16 2.3974934425041265e-16 Constraint violation....: 6.6085960361134707e-40 6.6085960361134707e-40 Variable bound violation: 9.1919192049538800e-09 9.1919192049538800e-09 Complementarity.........: 9.0909090909090910e-10 9.0909090909090910e-10 Overall NLP error.......: 9.9999090909091089e-05 9.9999090909091089e-05 Number of objective function evaluations = 52 Number of objective gradient evaluations = 47 Number of equality constraint evaluations = 52 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 47 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 47 Total seconds in IPOPT = 18.725 EXIT: Search Direction is becoming Too Small. Difference in Hessian Difference in Jacobian [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, global_len=10 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... Difference in jacobian [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... Difference in hessian [test_integrator] Testing Hessian... [test_integrator] Done! [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! [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! [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... Difference in hessian (GN components only) [test_integrator] Testing Hessian (GN components)... [test_integrator] Done! [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! [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! [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! [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... ====================================================================================== 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 43 running 1 of 1 signal (10): User defined signal 1 _ZN4llvm15ValueHandleBase12AddToUseListEv at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm21BranchProbabilityInfo10eraseBlockEPKNS_10BasicBlockE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm21BranchProbabilityInfo18setEdgeProbabilityEPKNS_10BasicBlockERKNS_15SmallVectorImplINS_17BranchProbabilityEEE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm21BranchProbabilityInfo27calcFloatingPointHeuristicsEPKNS_10BasicBlockE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm21BranchProbabilityInfo9calculateERKNS_8FunctionERKNS_8LoopInfoEPKNS_17TargetLibraryInfoEPNS_13DominatorTreeEPNS_17PostDominatorTreeE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm25BranchProbabilityAnalysis3runERNS_8FunctionERNS_15AnalysisManagerIS1_JEEE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm6detail17AnalysisPassModelINS_8FunctionENS_25BranchProbabilityAnalysisENS_15AnalysisManagerIS2_JEE11InvalidatorEJEE3runERS2_RS5_ at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm15AnalysisManagerINS_8FunctionEJEE13getResultImplEPNS_11AnalysisKeyERS1_ at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm8IRCEPass3runERNS_8FunctionERNS_15AnalysisManagerIS1_JEEE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (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.22.1jl (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.22.1jl (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.22.1jl (unknown line) run at /source/src/pipeline.cpp:990:12 operator() at /source/src/jitlayers.cpp:1461:17 operator() at /source/src/jitlayers.cpp:1599:12 [inlined] optimizeModule at /source/src/jitlayers.cpp:2689:18 operator() at /source/src/jitlayers.cpp:1051:35 [inlined] CallImpl):: > at /source/usr/include/llvm/ADT/FunctionExtras.h:212:49 operator() at /source/usr/include/llvm/ADT/FunctionExtras.h:366:62 [inlined] operator() at /source/src/objcache.cpp:340:24 [inlined] get at /source/src/objcache.cpp:381:30 materialize at /source/src/jitlayers.cpp:1061:37 _ZN4llvm3orc19MaterializationTask3runEv at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) dispatch at /source/src/julia-task-dispatcher.h:377:13 [inlined] dispatch at /source/src/julia-task-dispatcher.h:366:6 _ZN4llvm3orc16ExecutionSession12dispatchTaskESt10unique_ptrINS0_4TaskESt14default_deleteIS3_EE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm3orc16ExecutionSession22dispatchOutstandingMUsEv at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (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.22.1jl (unknown line) _ZN4llvm3orc25InProgressFullLookupState8completeESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm3orc16ExecutionSession19OL_applyQueryPhase1ESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EENS_5ErrorE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (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.22.1jl (unknown line) publishCIs at /source/src/jitlayers.cpp:2247:14 jl_compile_codeinst_impl at /source/src/jitlayers.cpp:521:39 jl_compile_method_very_internal at /source/src/gf.c:4105:27 _jl_invoke at /source/src/gf.c:4582:16 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 f! at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/time_dependent_bilinear_integrator.jl:103:0 (pc: 1316) Void at /home/pkgeval/.julia/packages/SciMLBase/2RA1m/src/utils.jl:699:0 [inlined] CallWrapper at /home/pkgeval/.julia/packages/FunctionWrappers/Q5cBx/src/FunctionWrappers.jl:65:0 (pc: 2) unknown function (ip: 0x7a34f29930ad) at (unknown file) macro expansion at /home/pkgeval/.julia/packages/FunctionWrappers/Q5cBx/src/FunctionWrappers.jl:137:0 [inlined] do_ccall at /home/pkgeval/.julia/packages/FunctionWrappers/Q5cBx/src/FunctionWrappers.jl:125:0 [inlined] FunctionWrapper at /home/pkgeval/.julia/packages/FunctionWrappers/Q5cBx/src/FunctionWrappers.jl:144:0 [inlined] _call at /home/pkgeval/.julia/packages/FunctionWrappersWrappers/7CPBX/src/FunctionWrappersWrappers.jl:392:0 [inlined] FunctionWrappersWrapper at /home/pkgeval/.julia/packages/FunctionWrappersWrappers/7CPBX/src/FunctionWrappersWrappers.jl:384:0 [inlined] ODEFunction at /home/pkgeval/.julia/packages/SciMLBase/2RA1m/src/scimlfunctions.jl:2918:0 [inlined] initialize! at /home/pkgeval/.julia/packages/OrdinaryDiffEqTsit5/74X3C/src/tsit_perform_step.jl:199:0 (pc: 279) #_ode_init#95 at /home/pkgeval/.julia/packages/OrdinaryDiffEqCore/f0hq4/src/solve.jl:831:0 (pc: 1056) _ode_init at /home/pkgeval/.julia/packages/OrdinaryDiffEqCore/f0hq4/src/solve.jl:128:0 [inlined] #__init#94 at /home/pkgeval/.julia/packages/OrdinaryDiffEqCore/f0hq4/src/solve.jl:71:0 [inlined] __init at /home/pkgeval/.julia/packages/OrdinaryDiffEqCore/f0hq4/src/solve.jl:53:0 [inlined] __init at /home/pkgeval/.julia/packages/OrdinaryDiffEqCore/f0hq4/src/solve.jl:53:0 [inlined] #__solve#93 at /home/pkgeval/.julia/packages/OrdinaryDiffEqCore/f0hq4/src/solve.jl:9:0 [inlined] __solve at /home/pkgeval/.julia/packages/OrdinaryDiffEqCore/f0hq4/src/solve.jl:1:0 [inlined] #solve_call#27 at /home/pkgeval/.julia/packages/DiffEqBase/xEDij/src/solve.jl:190:0 [inlined] solve_call at /home/pkgeval/.julia/packages/DiffEqBase/xEDij/src/solve.jl:155:0 (pc: 39) unknown function (ip: 0x7a34ea7e02db) at (unknown file) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 #solve_up#34 at /home/pkgeval/.julia/packages/DiffEqBase/xEDij/src/solve.jl:667:0 (pc: 19) solve_up at /home/pkgeval/.julia/packages/DiffEqBase/xEDij/src/solve.jl:637:0 [inlined] #solve#33 at /home/pkgeval/.julia/packages/DiffEqBase/xEDij/src/solve.jl:621:0 (pc: 10) solve at /home/pkgeval/.julia/packages/DiffEqBase/xEDij/src/solve.jl:609:0 [inlined] #28 at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/time_dependent_bilinear_integrator.jl:121:0 (pc: 113) #eval_hessian_of_lagrangian##4 at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/time_dependent_bilinear_integrator.jl:213:0 (pc: 1138) chunk_mode_gradient at /home/pkgeval/.julia/packages/ForwardDiff/EaKqS/src/gradient.jl:135:0 (pc: 273) gradient at /home/pkgeval/.julia/packages/ForwardDiff/EaKqS/src/gradient.jl:22:0 [inlined] #hessian##0 at /home/pkgeval/.julia/packages/ForwardDiff/EaKqS/src/hessian.jl:17:0 [inlined] chunk_mode_jacobian at /home/pkgeval/.julia/packages/ForwardDiff/EaKqS/src/jacobian.jl:191:0 (pc: 280) jacobian at /home/pkgeval/.julia/packages/ForwardDiff/EaKqS/src/jacobian.jl:24:0 [inlined] hessian at /home/pkgeval/.julia/packages/ForwardDiff/EaKqS/src/hessian.jl:18:0 [inlined] hessian at /home/pkgeval/.julia/packages/ForwardDiff/EaKqS/src/hessian.jl:15:0 (pc: 9) unknown function (ip: 0x7a34f2982ede) at (unknown file) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 hessian at /home/pkgeval/.julia/packages/ForwardDiff/EaKqS/src/hessian.jl:15:0 (pc: 2) unknown function (ip: 0x7a34f2981788) at (unknown file) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 eval_hessian_of_lagrangian at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/time_dependent_bilinear_integrator.jl:200:0 (pc: 182) #test_integrator#37 at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/_integrators.jl:187:0 (pc: 458) test_integrator at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/_integrators.jl:97:0 (pc: 15) unknown function (ip: 0x7a34f2900f3d) at (unknown file) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 jl_apply at /source/src/julia.h:2538:12 [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:829:21 jl_interpret_toplevel_thunk at /source/src/interpreter.c:1052:21 ijl_eval_thunk at /source/src/toplevel.c:772:18 jl_toplevel_eval_flex at /source/src/toplevel.c:716:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:601:15 jl_toplevel_eval_flex at /source/src/toplevel.c:688:27 ijl_toplevel_eval at /source/src/toplevel.c:786:12 ijl_toplevel_eval_in at /source/src/toplevel.c:831:13 eval at ./boot.jl:618:0 (pc: 1) include_string at ./loading.jl:3291:0 (pc: 140) include_string at ./loading.jl:3301:0 (pc: 1) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 #run_testitem##6 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:258:0 [inlined] withpath at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/vendored_code.jl:7:0 (pc: 72) #run_testitem##4 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:257:0 [inlined] cd at ./file.jl:113:0 (pc: 19) run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:256:0 (pc: 318) unknown function (ip: 0x7a35c51b4bcc) at (unknown file) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 run_testitem_in_testset at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:298:0 (pc: 45) #run_node!##0 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:737:0 [inlined] macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:703:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2421:0 [inlined] with_testset at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:702:0 (pc: 110) unknown function (ip: 0x7a35c51af050) at (unknown file) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 run_node! at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:736:0 (pc: 68) #run_node!##2 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:746:0 (pc: 7) macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:703:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2421:0 [inlined] with_testset at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:702:0 (pc: 105) run_node! at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:745:0 (pc: 179) #run_node!##2 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:746:0 (pc: 7) macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:703:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2421:0 [inlined] with_testset at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:702:0 (pc: 105) run_node! at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:745:0 (pc: 179) #run_node!##2 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:746:0 (pc: 7) macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:703:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2421:0 [inlined] with_testset at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:702:0 (pc: 105) run_node! at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:745:0 (pc: 179) unknown function (ip: 0x7a35c51ad102) at (unknown file) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 #29 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:861:0 (pc: 11) macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:713:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2421:0 [inlined] with_root_testset at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:712:0 (pc: 105) #run_tests#18 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:860:0 (pc: 1085) run_tests at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:791:0 (pc: 11) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 jl_apply at /source/src/julia.h:2538:12 [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:829:21 jl_interpret_toplevel_thunk at /source/src/interpreter.c:1052:21 ijl_eval_thunk at /source/src/toplevel.c:772:18 jl_toplevel_eval_flex at /source/src/toplevel.c:716:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:601:15 jl_toplevel_eval_flex at /source/src/toplevel.c:688:27 ijl_toplevel_eval at /source/src/toplevel.c:786:12 ijl_toplevel_eval_in at /source/src/toplevel.c:831:13 eval at ./boot.jl:618:0 (pc: 1) include_string at ./loading.jl:3291:0 (pc: 140) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 _include at ./loading.jl:3353:0 (pc: 123) include at ./Base.jl:335:0 (pc: 1) IncludeInto at ./Base.jl:336:0 (pc: 2) jfptr_IncludeInto_1.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 jl_apply at /source/src/julia.h:2538:12 [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:829:21 jl_interpret_toplevel_thunk at /source/src/interpreter.c:1052:21 ijl_eval_thunk at /source/src/toplevel.c:772:18 jl_toplevel_eval_flex at /source/src/toplevel.c:716:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:601:15 jl_toplevel_eval_flex at /source/src/toplevel.c:688:27 ijl_toplevel_eval at /source/src/toplevel.c:786:12 ijl_toplevel_eval_in at /source/src/toplevel.c:831:13 eval at ./boot.jl:618:0 (pc: 1) __script_entry_eval at ./client.jl:106:0 [inlined] exec_options at ./client.jl:350:0 (pc: 426) _start at ./client.jl:695:0 (pc: 217) jfptr__start_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 jl_apply at /source/src/julia.h:2538:12 [inlined] true_main at /source/src/jlapi.c:990:29 jl_repl_entrypoint at /source/src/jlapi.c:1157:15 main at /source/cli/loader_exe.c:117:15 unknown function (ip: 0x7a35e3cb2249) at /lib/x86_64-linux-gnu/libc.so.6 __libc_start_main at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) unknown function (ip: 0x4010b8) at /workspace/srcdir/glibc-2.17/csu/../sysdeps/x86_64/start.S unknown function (ip: (nil)) at (unknown file) ============================================================== Profile collected. A report will print at the next yield point. Disabling --trace-compile ============================================================== ====================================================================================== Information request received. A stacktrace will print followed by a 1.0 second profile. --trace-compile is enabled during profile collection. ====================================================================================== cmd: /opt/julia/bin/julia 1 running 0 of 1 signal (10): User defined signal 1 epoll_pwait at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) uv__io_poll at /workspace/srcdir/libuv/src/unix/linux.c:1404:0 uv_run at /workspace/srcdir/libuv/src/unix/core.c:430:0 ijl_task_get_next at /source/src/scheduler.c:573:34 wait at ./task.jl:1652:0 (pc: 108) wait_forever at ./task.jl:1528:0 (pc: 4) jfptr_wait_forever_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 jl_apply at /source/src/julia.h:2538:12 [inlined] start_task at /source/src/task.c:1280:23 unknown function (ip: (nil)) at (unknown file) ============================================================== Profile collected. A report will print at the next yield point. Disabling --trace-compile ============================================================== Overhead ╎ [+additional indent] Count File:Line Function ========================================================= Thread 1 (default) Task 0x00007beb19ccc130 Total snapshots: 369. Utilization: 0% ╎369 @Base/task.jl:1528 wait_forever() 368╎ 369 @Base/task.jl:? wait() [test_integrator] Computing finite diff Hessian... [43] signal 15: Terminated in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/time_dependent_bilinear_integrator.jl:245 gc_sweep_page_cells at /source/src/gc-stock.c:1030:36 [inlined] gc_sweep_page at /source/src/gc-stock.c:1125:20 gc_sweep_pool_page at /source/src/gc-stock.c:1160:5 [inlined] gc_sweep_pool_parallel at /source/src/gc-stock.c:1461:17 gc_sweep_pool at /source/src/gc-stock.c:1585:9 [inlined] _jl_gc_collect at /source/src/gc-stock.c:3482:9 ijl_gc_collect at /source/src/gc-stock.c:3836:13 maybe_collect at /source/src/gc-stock.c:352:9 [inlined] jl_gc_small_alloc_inner at /source/src/gc-stock.c:834:5 jl_gc_small_alloc_noinline at /source/src/gc-stock.c:892:12 [inlined] jl_gc_alloc_ at /source/src/gc-stock.c:906:13 jl_alloc_genericmemory_unchecked at /source/src/genericmemory.c:41:30 GenericMemory at ./boot.jl:756:0 [inlined] array_new_memory at ./array.jl:1135:0 [inlined] _growend_internal! at ./array.jl:1215:0 (pc: 66) PkgEval terminated after 2728.23s: test duration exceeded the time limit