Package evaluation of DirectTrajOpt on Julia 1.13.0-DEV.453 (0d3c9b0bb4*) started at 2025-05-03T08:49:25.173 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Set-up completed after 8.35s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.13/Project.toml` [c823fa1f] + DirectTrajOpt v0.2.1 Updating `~/.julia/environments/v1.13/Manifest.toml` [c29ec348] + AbstractDifferentiation v0.6.2 [79e6a3ab] + Adapt v4.3.0 [4fba245c] + ArrayInterface v7.18.0 [6e4b80f9] + BenchmarkTools v1.6.0 [d360d2e6] + ChainRulesCore v1.25.1 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.8 [bbf7d656] + CommonSubexpressions v0.3.1 [34da2185] + Compat v4.16.0 [187b0558] + ConstructionBase v1.5.8 [864edb3b] + DataStructures v0.18.22 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [c823fa1f] + DirectTrajOpt v0.2.1 [ffbed154] + DocStringExtensions v0.9.4 [e24c0720] + ExponentialAction v0.2.10 [e2ba6199] + ExprTools v0.1.10 [5789e2e9] + FileIO v1.17.0 [6a86dc24] + FiniteDiff v2.27.0 ⌅ [f6369f11] + ForwardDiff v0.10.38 [b6b21f68] + Ipopt v1.10.2 [92d709cd] + IrrationalConstants v0.2.4 [033835bb] + JLD2 v0.5.13 [692b3bcd] + JLLWrappers v1.7.0 [682c06a0] + JSON v0.21.4 [0f8b85d8] + JSON3 v1.14.2 [2ab3a3ac] + LogExpFunctions v0.3.29 [1914dd2f] + MacroTools v0.5.16 [b8f27783] + MathOptInterface v1.39.0 [d8a4904e] + MutableArithmetics v1.6.4 [77ba4419] + NaNMath v1.1.3 [538bc3a1] + NamedTrajectories v0.3.2 [bac558e1] + OrderedCollections v1.8.0 [69de0a69] + Parsers v2.8.3 [aea7be01] + PrecompileTools v1.3.2 [21216c6a] + Preferences v1.4.3 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.5.1 [1e83bf80] + StaticArraysCore v1.4.3 [10745b16] + Statistics v1.11.1 [856f2bd8] + StructTypes v1.11.0 [f8b46487] + TestItemRunner v1.1.0 [1c621080] + TestItems v1.0.0 [6dad8b7f] + TrajectoryIndexingUtils v0.1.0 [3bb67fe8] + TranscodingStreams v0.11.3 [ae81ac8f] + ASL_jll v0.1.3+0 [6e34b625] + Bzip2_jll v1.0.9+0 [e33a78d0] + Hwloc_jll v2.12.0+0 [9cc047cb] + Ipopt_jll v300.1400.1700+0 [d00139f3] + METIS_jll v5.1.3+0 [d7ed1dd3] + MUMPS_seq_jll v500.700.301+0 [656ef2d0] + OpenBLAS32_jll v0.3.29+0 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 ⌅ [319450e9] + SPRAL_jll v2024.5.8+0 [0dad84c5] + ArgTools v1.1.2 [56f22d72] + Artifacts v1.11.0 [2a0f44e3] + Base64 v1.11.0 [ade2ca70] + Dates v1.11.0 [f43a241f] + Downloads v1.7.0 [7b1f6079] + FileWatching v1.11.0 [9fa8497b] + Future v1.11.0 [b77e0a4c] + InteractiveUtils v1.11.0 [ac6e5ff7] + JuliaSyntaxHighlighting v1.12.0 [b27032c2] + LibCURL v0.6.4 [76f85450] + LibGit2 v1.11.0 [8f399da3] + Libdl v1.11.0 [37e2e46d] + LinearAlgebra v1.12.0 [56ddb016] + Logging v1.11.0 [d6f4376e] + Markdown v1.11.0 [a63ad114] + Mmap v1.11.0 [ca575930] + NetworkOptions v1.3.0 [44cfe95a] + Pkg v1.12.0 [de0858da] + Printf v1.11.0 [9abbd945] + Profile v1.11.0 [9a3f8284] + Random v1.11.0 [ea8e919c] + SHA v0.7.0 [9e88b42a] + Serialization v1.11.0 [2f01184e] + SparseArrays v1.12.0 [f489334b] + StyledStrings v1.11.0 [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 v1.3.0+1 [deac9b47] + LibCURL_jll v8.12.1+1 [e37daf67] + LibGit2_jll v1.9.0+0 [29816b5a] + LibSSH2_jll v1.11.3+1 [14a3606d] + MozillaCACerts_jll v2024.12.31 [4536629a] + OpenBLAS_jll v0.3.29+0 [05823500] + OpenLibm_jll v0.8.5+0 [458c3c95] + OpenSSL_jll v3.0.16+0 [bea87d4a] + SuiteSparse_jll v7.10.1+0 [83775a58] + Zlib_jll v1.3.1+2 [8e850b90] + libblastrampoline_jll v5.12.0+0 [8e850ede] + nghttp2_jll v1.65.0+0 [3f19e933] + p7zip_jll v17.5.0+2 Info Packages marked with ⌅ have new versions available but compatibility constraints restrict them from upgrading. To see why use `status --outdated -m` Installation completed after 4.19s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling packages... 5868.0 ms ✓ TestEnv 1 dependency successfully precompiled in 6 seconds. 25 already precompiled. Precompiling package dependencies... Precompilation completed after 432.9s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_vjQ4J1/Project.toml` [c823fa1f] DirectTrajOpt v0.2.1 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.27.0 ⌅ [f6369f11] ForwardDiff v0.10.38 [b6b21f68] Ipopt v1.10.2 [033835bb] JLD2 v0.5.13 [b8f27783] MathOptInterface v1.39.0 [538bc3a1] NamedTrajectories v0.3.2 [189a3867] Reexport v1.2.2 [f8b46487] TestItemRunner v1.1.0 [1c621080] TestItems v1.0.0 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.12.0 [2f01184e] SparseArrays v1.12.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_vjQ4J1/Manifest.toml` [c29ec348] AbstractDifferentiation v0.6.2 [79e6a3ab] Adapt v4.3.0 [4fba245c] ArrayInterface v7.18.0 [6e4b80f9] BenchmarkTools v1.6.0 [d360d2e6] ChainRulesCore v1.25.1 [523fee87] CodecBzip2 v0.8.5 [944b1d66] CodecZlib v0.7.8 [bbf7d656] CommonSubexpressions v0.3.1 [34da2185] Compat v4.16.0 [187b0558] ConstructionBase v1.5.8 [864edb3b] DataStructures v0.18.22 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [c823fa1f] DirectTrajOpt v0.2.1 [ffbed154] DocStringExtensions v0.9.4 [e24c0720] ExponentialAction v0.2.10 [e2ba6199] ExprTools v0.1.10 [5789e2e9] FileIO v1.17.0 [6a86dc24] FiniteDiff v2.27.0 ⌅ [f6369f11] ForwardDiff v0.10.38 [b6b21f68] Ipopt v1.10.2 [92d709cd] IrrationalConstants v0.2.4 [033835bb] JLD2 v0.5.13 [692b3bcd] JLLWrappers v1.7.0 [682c06a0] JSON v0.21.4 [0f8b85d8] JSON3 v1.14.2 [2ab3a3ac] LogExpFunctions v0.3.29 [1914dd2f] MacroTools v0.5.16 [b8f27783] MathOptInterface v1.39.0 [d8a4904e] MutableArithmetics v1.6.4 [77ba4419] NaNMath v1.1.3 [538bc3a1] NamedTrajectories v0.3.2 [bac558e1] OrderedCollections v1.8.0 [69de0a69] Parsers v2.8.3 [aea7be01] PrecompileTools v1.3.2 [21216c6a] Preferences v1.4.3 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [efcf1570] Setfield v1.1.2 [276daf66] SpecialFunctions v2.5.1 [1e83bf80] StaticArraysCore v1.4.3 [10745b16] Statistics v1.11.1 [856f2bd8] StructTypes v1.11.0 [f8b46487] TestItemRunner v1.1.0 [1c621080] TestItems v1.0.0 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [3bb67fe8] TranscodingStreams v0.11.3 [ae81ac8f] ASL_jll v0.1.3+0 [6e34b625] Bzip2_jll v1.0.9+0 [e33a78d0] Hwloc_jll v2.12.0+0 [9cc047cb] Ipopt_jll v300.1400.1700+0 [d00139f3] METIS_jll v5.1.3+0 [d7ed1dd3] MUMPS_seq_jll v500.700.301+0 [656ef2d0] OpenBLAS32_jll v0.3.29+0 [efe28fd5] OpenSpecFun_jll v0.5.6+0 ⌅ [319450e9] SPRAL_jll v2024.5.8+0 [0dad84c5] ArgTools v1.1.2 [56f22d72] Artifacts v1.11.0 [2a0f44e3] Base64 v1.11.0 [ade2ca70] Dates v1.11.0 [f43a241f] Downloads v1.7.0 [7b1f6079] FileWatching v1.11.0 [9fa8497b] Future v1.11.0 [b77e0a4c] InteractiveUtils v1.11.0 [ac6e5ff7] JuliaSyntaxHighlighting v1.12.0 [b27032c2] LibCURL v0.6.4 [76f85450] LibGit2 v1.11.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.12.0 [56ddb016] Logging v1.11.0 [d6f4376e] Markdown v1.11.0 [a63ad114] Mmap v1.11.0 [ca575930] NetworkOptions v1.3.0 [44cfe95a] Pkg v1.12.0 [de0858da] Printf v1.11.0 [9abbd945] Profile v1.11.0 [9a3f8284] Random v1.11.0 [ea8e919c] SHA v0.7.0 [9e88b42a] Serialization v1.11.0 [2f01184e] SparseArrays v1.12.0 [f489334b] StyledStrings v1.11.0 [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 v1.3.0+1 [deac9b47] LibCURL_jll v8.12.1+1 [e37daf67] LibGit2_jll v1.9.0+0 [29816b5a] LibSSH2_jll v1.11.3+1 [14a3606d] MozillaCACerts_jll v2024.12.31 [4536629a] OpenBLAS_jll v0.3.29+0 [05823500] OpenLibm_jll v0.8.5+0 [458c3c95] OpenSSL_jll v3.0.16+0 [bea87d4a] SuiteSparse_jll v7.10.1+0 [83775a58] Zlib_jll v1.3.1+2 [8e850b90] libblastrampoline_jll v5.12.0+0 [8e850ede] nghttp2_jll v1.65.0+0 [3f19e933] p7zip_jll v17.5.0+2 Info Packages marked with ⌅ have new versions available but compatibility constraints restrict them from upgrading. Testing Running tests... initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u ****************************************************************************** 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 3.14.17, running with linear solver MUMPS 5.7.3. Number of nonzeros in equality constraint Jacobian...: 404 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 325 Total number of variables............................: 102 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 5.9180167e+00 2.50e+00 1.31e+00 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.1165159e+00 5.00e+00 1.05e+02 -1.0 4.20e+00 0.0 1.15e-02 1.00e+00f 1 2 6.3810720e+00 1.30e+00 1.42e+03 -1.0 2.52e+00 2.2 1.79e-01 1.00e+00h 1 3 6.4307432e+00 6.63e-01 5.89e+03 -1.0 1.06e+00 2.7 9.39e-01 1.00e+00h 1 4 1.4736266e+00 2.27e-01 1.36e+04 -1.0 1.34e+00 3.1 1.00e+00 1.00e+00f 1 5 1.4129331e+00 1.53e-02 4.41e+03 -1.0 3.47e-01 3.5 1.00e+00 1.00e+00h 1 6 1.4242212e+00 6.27e-04 2.30e+02 -1.0 2.25e-02 3.0 1.00e+00 1.00e+00h 1 7 1.4226252e+00 4.26e-07 2.21e-01 -1.0 6.76e-04 2.6 1.00e+00 1.00e+00h 1 8 1.4210794e+00 1.37e-06 2.10e-01 -1.7 1.75e-03 2.1 1.00e+00 1.00e+00h 1 9 1.4164925e+00 1.24e-05 2.10e-01 -1.7 5.27e-03 1.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.4031676e+00 1.14e-04 2.12e-01 -1.7 1.59e-02 1.1 1.00e+00 1.00e+00f 1 11 1.3669072e+00 1.08e-03 2.16e-01 -1.7 4.86e-02 0.6 1.00e+00 1.00e+00f 1 12 1.2885749e+00 1.15e-02 2.31e-01 -1.7 1.56e-01 0.2 1.00e+00 1.00e+00f 1 13 1.2625039e+00 6.55e-02 2.86e-01 -1.7 6.94e-01 -0.3 1.00e+00 5.00e-01f 2 14 1.0524465e+00 1.64e-02 3.90e-01 -1.7 2.05e-01 0.1 1.00e+00 1.00e+00h 1 15 1.0129852e+00 1.21e-01 6.45e-01 -1.7 4.78e-01 -0.4 1.00e+00 1.00e+00F 1 16 7.5379057e-01 1.45e-02 5.12e-01 -1.7 2.09e-01 0.1 1.00e+00 1.00e+00h 1 17 6.6502869e-01 1.27e-02 1.44e-01 -1.7 3.51e-01 -0.4 1.00e+00 1.00e+00H 1 18 6.6088347e-01 2.34e-02 1.52e-01 -2.5 1.13e+00 -0.9 1.00e+00 1.25e-01h 4 19 6.4997389e-01 3.54e-02 1.30e-01 -2.5 4.19e-01 -0.5 1.00e+00 5.00e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 6.4134822e-01 4.15e-02 1.39e-01 -2.5 1.37e+01 -0.9 1.00e+00 7.81e-03f 8 21 6.1269842e-01 4.58e-02 1.47e-01 -2.5 7.01e-01 -0.5 1.00e+00 2.50e-01h 3 22 5.0922675e-01 1.19e-02 1.82e-01 -2.5 1.84e-01 -0.1 1.00e+00 1.00e+00h 1 23 4.6352805e-01 2.66e-02 1.52e-01 -2.5 4.04e-01 -0.6 1.00e+00 1.00e+00H 1 24 4.5561841e-01 2.92e-02 1.53e-01 -2.5 2.54e+00 -1.0 1.00e+00 3.12e-02h 6 25 4.3766275e-01 3.07e-02 1.32e-01 -2.5 4.91e-01 -0.6 1.00e+00 2.50e-01h 3 26 4.3157101e-01 3.29e-02 1.36e-01 -2.5 1.54e+01 -1.1 8.96e-01 3.91e-03f 9 27 4.2090204e-01 3.74e-02 1.35e-01 -2.5 6.09e-01 -0.7 1.00e+00 2.50e-01h 3 28 3.3668658e-01 1.46e-02 1.61e-01 -2.5 1.97e-01 -0.2 1.00e+00 1.00e+00h 1 29 3.2378920e-01 1.86e-02 1.09e-01 -2.5 5.03e-01 -0.7 1.00e+00 2.50e-01h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 3.1829317e-01 2.26e-02 1.12e-01 -2.5 3.07e+00 -1.2 1.00e+00 3.12e-02h 6 31 3.1314971e-01 3.45e-02 1.17e-01 -2.5 7.70e-01 -0.8 1.00e+00 2.50e-01h 3 32 2.5686985e-01 2.39e-02 1.08e-01 -2.5 2.37e-01 -0.3 1.00e+00 1.00e+00h 1 33 2.4649391e-01 2.58e-02 1.10e-01 -2.5 7.89e-01 -0.8 1.00e+00 1.25e-01h 4 34 2.1433182e-01 2.44e-02 8.95e-02 -2.5 2.21e-01 -0.4 1.00e+00 1.00e+00h 1 35 2.1181150e-01 3.09e-02 9.54e-02 -2.5 1.01e+00 -0.9 1.00e+00 1.25e-01h 4 36 1.9556648e-01 3.78e-02 1.02e-01 -2.5 2.55e-01 -0.4 1.00e+00 1.00e+00h 1 37 8.8968378e-02 3.97e-03 1.12e-01 -2.5 1.16e-01 -0.0 1.00e+00 1.00e+00h 1 38 4.9808680e-02 6.85e-03 9.56e-02 -2.5 2.65e-01 -0.5 1.00e+00 1.00e+00H 1 39 4.7475978e-02 1.20e-02 1.04e-01 -2.5 3.34e+00 -1.0 1.00e+00 3.12e-02h 6 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.9967826e-02 1.77e-02 1.16e-01 -2.5 5.31e-01 -0.5 1.00e+00 2.50e-01h 3 41 5.6760279e-03 1.30e-02 1.23e-01 -2.5 1.62e-01 -0.1 1.00e+00 1.00e+00h 1 42 2.0121225e-03 2.29e-02 1.32e-01 -2.5 6.37e-01 -0.6 1.00e+00 2.50e-01h 3 43 -3.5176086e-02 1.98e-02 1.24e-01 -2.5 1.84e-01 -0.2 1.00e+00 1.00e+00h 1 44 -4.3703755e-02 2.52e-02 1.33e-01 -2.5 8.81e-01 -0.6 1.00e+00 1.25e-01h 4 45 -7.0450244e-02 3.61e-02 1.50e-01 -2.5 2.51e-01 -0.2 1.00e+00 1.00e+00h 1 46 -8.1319338e-02 4.18e-02 1.68e-01 -2.5 3.57e+00 -0.7 1.00e+00 3.12e-02h 6 47 -1.9619798e-01 4.29e-02 5.18e-01 -2.5 4.40e-01 -0.3 1.00e+00 1.00e+00H 1 48 -2.0204542e-01 5.67e-02 4.62e-01 -2.5 1.08e+01 -0.8 1.00e+00 1.56e-02f 7 49 -2.2087160e-01 7.33e-02 2.96e-01 -2.5 5.90e-01 -0.3 1.00e+00 5.00e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 -3.7954789e-01 6.16e-03 2.68e-01 -2.5 1.60e-01 0.1 1.00e+00 1.00e+00h 1 51 -4.3841099e-01 9.24e-03 1.33e-01 -2.5 2.60e-01 -0.4 1.00e+00 1.00e+00H 1 52 -4.4590623e-01 1.32e-02 1.38e-01 -2.5 1.48e+00 -0.9 1.00e+00 6.25e-02h 5 53 -4.5849333e-01 1.69e-02 1.47e-01 -2.5 4.70e-01 -0.4 1.00e+00 2.50e-01h 3 54 -4.6535189e-01 2.26e-02 1.56e-01 -2.5 3.56e+00 -0.9 1.00e+00 3.12e-02h 6 55 -4.7790356e-01 2.98e-02 1.71e-01 -2.5 6.51e-01 -0.5 1.00e+00 2.50e-01h 3 56 -5.3136704e-01 1.69e-02 1.67e-01 -2.5 1.89e-01 -0.1 1.00e+00 1.00e+00h 1 57 -5.4240902e-01 2.25e-02 1.66e-01 -2.5 5.48e-01 -0.5 1.00e+00 2.50e-01h 3 58 -5.5006685e-01 2.59e-02 1.73e-01 -2.5 1.03e+01 -1.0 1.00e+00 7.81e-03f 8 59 -5.5176031e-01 3.96e-02 1.79e-01 -2.5 7.51e-01 -0.6 1.00e+00 2.50e-01h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 -6.1653667e-01 2.55e-02 1.74e-01 -2.5 2.23e-01 -0.2 1.00e+00 1.00e+00h 1 61 -6.1742337e-01 4.53e-02 1.67e-01 -2.5 8.57e-01 -0.6 1.00e+00 2.50e-01h 3 62 -6.8672597e-01 4.18e-02 1.93e-01 -2.5 3.09e-01 -0.2 1.00e+00 1.00e+00h 1 63 -7.0117138e-01 4.72e-02 1.99e-01 -2.5 1.18e+00 -0.7 1.00e+00 1.25e-01h 4 64 -7.5002289e-01 4.42e-02 1.70e-01 -2.5 3.06e-01 -0.3 1.00e+00 1.00e+00h 1 65 -7.5699424e-01 5.33e-02 1.79e-01 -2.5 1.31e+00 -0.7 1.00e+00 1.25e-01h 4 66 -7.9787120e-01 4.27e-02 1.55e-01 -2.5 2.61e-01 -0.3 1.00e+00 1.00e+00h 1 67 -8.0205896e-01 4.94e-02 1.46e-01 -2.5 4.14e+00 -0.8 1.00e+00 3.12e-02h 6 68 -8.0256210e-01 9.17e-02 2.06e-01 -2.5 4.46e-01 -0.4 1.00e+00 1.00e+00h 1 69 -1.0002165e+00 4.75e-03 1.90e-01 -2.5 1.24e-01 0.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 -1.0443936e+00 4.51e-03 1.34e-01 -2.5 2.69e-01 -0.4 1.00e+00 1.00e+00H 1 71 -1.0492248e+00 9.15e-03 1.35e-01 -2.5 1.54e+00 -0.9 1.00e+00 6.25e-02h 5 72 -1.0583769e+00 1.28e-02 1.21e-01 -2.5 4.09e-01 -0.5 1.00e+00 2.50e-01h 3 73 -1.0624780e+00 1.76e-02 1.30e-01 -2.5 5.88e+00 -0.9 1.00e+00 1.56e-02f 7 74 -1.0700816e+00 2.41e-02 1.37e-01 -2.5 5.14e-01 -0.5 1.00e+00 2.50e-01h 3 75 -1.1232764e+00 1.67e-02 1.49e-01 -2.5 1.82e-01 -0.1 1.00e+00 1.00e+00h 1 76 -1.1298640e+00 2.88e-02 1.59e-01 -2.5 6.85e-01 -0.6 1.00e+00 2.50e-01h 3 77 -1.1785633e+00 2.91e-02 1.82e-01 -2.5 2.50e-01 -0.1 1.00e+00 1.00e+00h 1 78 -1.1925033e+00 3.41e-02 1.91e-01 -2.5 1.06e+00 -0.6 1.00e+00 1.25e-01h 4 79 -1.2284475e+00 4.11e-02 1.90e-01 -2.5 2.94e-01 -0.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 -1.2366703e+00 5.33e-02 2.05e-01 -2.5 1.45e+00 -0.7 1.00e+00 1.25e-01h 4 81 -1.2746970e+00 5.11e-02 1.67e-01 -2.5 2.91e-01 -0.2 1.00e+00 1.00e+00h 1 82 -1.2858723e+00 5.35e-02 1.77e-01 -2.5 5.71e+00 -0.7 1.00e+00 1.56e-02h 7 83 -1.2955534e+00 9.52e-02 2.30e-01 -2.5 4.49e-01 -0.3 1.00e+00 1.00e+00h 1 84 -1.5051364e+00 4.81e-03 2.19e-01 -2.5 1.34e-01 0.1 1.00e+00 1.00e+00h 1 85 -1.5518492e+00 3.42e-03 1.68e-01 -2.5 2.65e-01 -0.3 1.00e+00 1.00e+00H 1 86 -1.5534226e+00 1.38e-02 1.72e-01 -2.5 1.16e+00 -0.8 1.00e+00 1.25e-01f 4 87 -1.5792990e+00 3.36e-02 3.06e-01 -2.5 3.84e-01 -0.4 1.00e+00 1.00e+00H 1 88 -1.6697962e+00 9.53e-03 1.71e-01 -2.5 1.59e-01 0.0 1.00e+00 1.00e+00h 1 89 -1.7011648e+00 3.76e-02 2.51e-01 -2.5 3.97e-01 -0.4 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 -1.7070105e+00 4.67e-02 2.70e-01 -2.5 2.84e+02 -0.9 1.17e-01 4.76e-04f 9 91 -1.7222077e+00 5.83e-02 2.54e-01 -2.5 8.66e-01 -0.5 1.00e+00 2.50e-01h 3 92 -1.8272128e+00 1.64e-02 2.36e-01 -2.5 1.72e-01 -0.1 1.00e+00 1.00e+00h 1 93 -1.8404319e+00 1.91e-02 1.60e-01 -2.5 4.16e-01 -0.5 1.00e+00 2.50e-01h 3 94 -1.8477485e+00 2.19e-02 1.45e-01 -2.5 2.26e+00 -1.0 1.00e+00 3.12e-02h 6 95 -1.8551809e+00 2.74e-02 1.37e-01 -2.5 6.13e-01 -0.6 1.00e+00 2.50e-01h 3 96 -1.9095687e+00 2.53e-02 1.58e-01 -2.5 2.34e-01 -0.2 1.00e+00 1.00e+00h 1 97 -1.9119559e+00 4.03e-02 1.64e-01 -2.5 8.17e-01 -0.6 1.00e+00 2.50e-01h 3 98 -1.9628014e+00 3.61e-02 1.69e-01 -2.5 2.82e-01 -0.2 1.00e+00 1.00e+00h 1 99 -1.9712784e+00 4.39e-02 1.79e-01 -2.5 1.25e+00 -0.7 1.00e+00 1.25e-01h 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 -2.0015349e+00 4.64e-02 1.58e-01 -2.5 2.97e-01 -0.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: -2.0015348671456263e+00 -2.0015348671456263e+00 Dual infeasibility......: 1.5808291674386132e-01 1.5808291674386132e-01 Constraint violation....: 4.6352030805656308e-02 4.6352030805656308e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.8287128153153349e-03 2.8287128153153349e-03 Overall NLP error.......: 1.5808291674386132e-01 1.5808291674386132e-01 Number of objective function evaluations = 326 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 326 Number of inequality constraint evaluations = 326 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 19.043 EXIT: Maximum Number of Iterations Exceeded. Test Summary: | Pass Total Time Package | 28 28 6m00.6s Testing DirectTrajOpt tests passed Testing completed after 437.14s PkgEval succeeded after 900.06s