Package evaluation to test DirectTrajOpt on Julia 1.12.4 (0f21d93eaa*) started at 2026-01-27T07:47:11.506 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.12` Set-up completed after 8.1s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.12/Project.toml` [c823fa1f] + DirectTrajOpt v0.8.1 Updating `~/.julia/environments/v1.12/Manifest.toml` [47edcb42] + ADTypes v1.21.0 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.43 [79e6a3ab] + Adapt v4.4.0 [4fba245c] + ArrayInterface v7.22.0 [4c555306] + ArrayLayouts v1.12.2 [6e4b80f9] + BenchmarkTools v1.6.3 [62783981] + BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] + BracketingNonlinearSolve v1.6.2 [2a0fbf3d] + CPUSummary v0.2.7 [d360d2e6] + ChainRulesCore v1.26.0 [0b6fb165] + ChunkCodecCore v1.0.1 [4c0bbee4] + ChunkCodecLibZlib v1.0.0 [55437552] + ChunkCodecLibZstd v1.0.0 [fb6a15b2] + CloseOpenIntervals v0.1.13 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.8 [38540f10] + CommonSolve v0.2.6 [bbf7d656] + CommonSubexpressions v0.3.1 [f70d9fcc] + CommonWorldInvalidations v1.0.0 [34da2185] + Compat v4.18.1 [a33af91c] + CompositionsBase v0.1.2 [95dc2771] + ComputePipeline v0.1.6 [2569d6c7] + ConcreteStructs v0.2.3 [187b0558] + ConstructionBase v1.6.0 [adafc99b] + CpuId v0.3.1 [864edb3b] + DataStructures v0.19.3 [2b5f629d] + DiffEqBase v6.199.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.15 [c823fa1f] + DirectTrajOpt v0.8.1 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.6 [f151be2c] + EnzymeCore v0.8.18 [e24c0720] + ExponentialAction v0.2.10 [e2ba6199] + ExprTools v0.1.10 [55351af7] + ExproniconLite v0.10.14 [7034ab61] + FastBroadcast v0.3.5 [9aa1b823] + FastClosures v0.3.2 [a4df4552] + FastPower v1.3.0 [5789e2e9] + FileIO v1.17.1 [1a297f60] + FillArrays v1.16.0 [6a86dc24] + FiniteDiff v2.29.0 [f6369f11] + ForwardDiff v1.3.1 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v0.1.3 [46192b85] + GPUArraysCore v0.2.0 [076d061b] + HashArrayMappedTries v0.2.0 [615f187c] + IfElse v0.1.1 [3587e190] + InverseFunctions v0.1.17 [b6b21f68] + Ipopt v1.14.0 [92d709cd] + IrrationalConstants v0.2.6 [82899510] + IteratorInterfaceExtensions v1.0.0 [033835bb] + JLD2 v0.6.3 [692b3bcd] + JLLWrappers v1.7.1 [682c06a0] + JSON v1.4.0 [0f8b85d8] + JSON3 v1.14.3 [ae98c720] + Jieko v0.2.1 [10f19ff3] + LayoutPointers v0.1.17 [5078a376] + LazyArrays v2.9.5 [2ab3a3ac] + LogExpFunctions v0.3.29 [e6f89c97] + LoggingExtras v1.2.0 [1914dd2f] + MacroTools v0.5.16 [d125e4d3] + ManualMemory v0.1.8 [b8f27783] + MathOptInterface v1.48.0 [bb5d69b7] + MaybeInplace v0.1.4 [2e0e35c7] + Moshi v0.3.7 [46d2c3a1] + MuladdMacro v0.2.4 [d8a4904e] + MutableArithmetics v1.6.7 [77ba4419] + NaNMath v1.1.3 [538bc3a1] + NamedTrajectories v0.8.2 [be0214bd] + NonlinearSolveBase v2.11.1 [510215fc] + Observables v0.5.5 [bac558e1] + OrderedCollections v1.8.1 [bbf590c4] + OrdinaryDiffEqCore v3.2.0 [b1df2697] + OrdinaryDiffEqTsit5 v1.9.0 [69de0a69] + Parsers v2.8.3 [f517fe37] + Polyester v0.7.18 [1d0040c9] + PolyesterWeave v0.2.2 [d236fae5] + PreallocationTools v1.1.0 [aea7be01] + PrecompileTools v1.3.3 [21216c6a] + Preferences v1.5.1 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v3.46.0 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.16 [94e857df] + SIMDTypes v0.1.0 [0bca4576] + SciMLBase v2.135.0 [19f34311] + SciMLJacobianOperators v0.1.12 [a6db7da4] + SciMLLogging v1.8.0 [c0aeaf25] + SciMLOperators v1.14.1 [431bcebd] + SciMLPublic v1.0.1 [53ae85a6] + SciMLStructures v1.10.0 [7e506255] + ScopedValues v1.5.0 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.6.1 [aedffcd0] + Static v1.3.1 [0d7ed370] + StaticArrayInterface v1.8.0 [90137ffa] + StaticArrays v1.9.16 [1e83bf80] + StaticArraysCore v1.4.4 [10745b16] + Statistics v1.11.1 [7792a7ef] + StrideArraysCore v0.5.8 [856f2bd8] + StructTypes v1.11.0 [ec057cc2] + StructUtils v2.6.2 [2efcf032] + SymbolicIndexingInterface v0.3.46 [f8b46487] + TestItemRunner v1.1.4 [1c621080] + TestItems v1.0.0 [8290d209] + ThreadingUtilities v0.5.5 [a759f4b9] + TimerOutputs v0.5.29 [6dad8b7f] + TrajectoryIndexingUtils v0.1.0 [3bb67fe8] + TranscodingStreams v0.11.3 [781d530d] + TruncatedStacktraces v1.4.0 [ae81ac8f] + ASL_jll v0.1.3+0 [6e34b625] + Bzip2_jll v1.0.9+0 [e33a78d0] + Hwloc_jll v2.12.2+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 v0.3.30+0 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 [319450e9] + SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] + XML2_jll v2.13.9+0 [a65dc6b1] + Xorg_libpciaccess_jll v0.18.1+0 [3161d3a3] + Zstd_jll v1.5.7+1 [0dad84c5] + ArgTools v1.1.2 [56f22d72] + Artifacts v1.11.0 [2a0f44e3] + Base64 v1.11.0 [ade2ca70] + Dates v1.11.0 [8ba89e20] + Distributed v1.11.0 [f43a241f] + Downloads v1.7.0 [7b1f6079] + FileWatching v1.11.0 [9fa8497b] + Future v1.11.0 [b77e0a4c] + InteractiveUtils v1.11.0 [ac6e5ff7] + JuliaSyntaxHighlighting v1.12.0 [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 v1.12.1 [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 [6462fe0b] + Sockets 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 v8.15.0+0 [e37daf67] + LibGit2_jll v1.9.0+0 [29816b5a] + LibSSH2_jll v1.11.3+1 [14a3606d] + MozillaCACerts_jll v2025.11.4 [4536629a] + OpenBLAS_jll v0.3.29+0 [05823500] + OpenLibm_jll v0.8.7+0 [458c3c95] + OpenSSL_jll v3.5.4+0 [bea87d4a] + SuiteSparse_jll v7.8.3+2 [83775a58] + Zlib_jll v1.3.1+2 [8e850b90] + libblastrampoline_jll v5.15.0+0 [8e850ede] + nghttp2_jll v1.64.0+1 [3f19e933] + p7zip_jll v17.7.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m` Installation completed after 6.27s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 465921.6 ms ✓ DirectTrajOpt 1 dependency successfully precompiled in 473 seconds. 226 already precompiled. Precompilation completed after 484.56s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_olSFl0/Project.toml` [c823fa1f] DirectTrajOpt v0.8.1 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.3.1 [b6b21f68] Ipopt v1.14.0 [5078a376] LazyArrays v2.9.5 [b8f27783] MathOptInterface v1.48.0 [538bc3a1] NamedTrajectories v0.8.2 [b1df2697] OrdinaryDiffEqTsit5 v1.9.0 [189a3867] Reexport v1.2.2 [f8b46487] TestItemRunner v1.1.4 [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_olSFl0/Manifest.toml` [47edcb42] ADTypes v1.21.0 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.43 [79e6a3ab] Adapt v4.4.0 [4fba245c] ArrayInterface v7.22.0 [4c555306] ArrayLayouts v1.12.2 [6e4b80f9] BenchmarkTools v1.6.3 [62783981] BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] BracketingNonlinearSolve v1.6.2 [2a0fbf3d] CPUSummary v0.2.7 [d360d2e6] ChainRulesCore v1.26.0 [0b6fb165] ChunkCodecCore v1.0.1 [4c0bbee4] ChunkCodecLibZlib v1.0.0 [55437552] ChunkCodecLibZstd v1.0.0 [fb6a15b2] CloseOpenIntervals v0.1.13 [523fee87] CodecBzip2 v0.8.5 [944b1d66] CodecZlib v0.7.8 [38540f10] CommonSolve v0.2.6 [bbf7d656] CommonSubexpressions v0.3.1 [f70d9fcc] CommonWorldInvalidations v1.0.0 [34da2185] Compat v4.18.1 [a33af91c] CompositionsBase v0.1.2 [95dc2771] ComputePipeline v0.1.6 [2569d6c7] ConcreteStructs v0.2.3 [187b0558] ConstructionBase v1.6.0 [adafc99b] CpuId v0.3.1 [864edb3b] DataStructures v0.19.3 [2b5f629d] DiffEqBase v6.199.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a0c0ee7d] DifferentiationInterface v0.7.15 [c823fa1f] DirectTrajOpt v0.8.1 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.6 [f151be2c] EnzymeCore v0.8.18 [e24c0720] ExponentialAction v0.2.10 [e2ba6199] ExprTools v0.1.10 [55351af7] ExproniconLite v0.10.14 [7034ab61] FastBroadcast v0.3.5 [9aa1b823] FastClosures v0.3.2 [a4df4552] FastPower v1.3.0 [5789e2e9] FileIO v1.17.1 [1a297f60] FillArrays v1.16.0 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.3.1 [069b7b12] FunctionWrappers v1.1.3 [77dc65aa] FunctionWrappersWrappers v0.1.3 [46192b85] GPUArraysCore v0.2.0 [076d061b] HashArrayMappedTries v0.2.0 [615f187c] IfElse v0.1.1 [3587e190] InverseFunctions v0.1.17 [b6b21f68] Ipopt v1.14.0 [92d709cd] IrrationalConstants v0.2.6 [82899510] IteratorInterfaceExtensions v1.0.0 [033835bb] JLD2 v0.6.3 [692b3bcd] JLLWrappers v1.7.1 [682c06a0] JSON v1.4.0 [0f8b85d8] JSON3 v1.14.3 [ae98c720] Jieko v0.2.1 [10f19ff3] LayoutPointers v0.1.17 [5078a376] LazyArrays v2.9.5 [2ab3a3ac] LogExpFunctions v0.3.29 [e6f89c97] LoggingExtras v1.2.0 [1914dd2f] MacroTools v0.5.16 [d125e4d3] ManualMemory v0.1.8 [b8f27783] MathOptInterface v1.48.0 [bb5d69b7] MaybeInplace v0.1.4 [2e0e35c7] Moshi v0.3.7 [46d2c3a1] MuladdMacro v0.2.4 [d8a4904e] MutableArithmetics v1.6.7 [77ba4419] NaNMath v1.1.3 [538bc3a1] NamedTrajectories v0.8.2 [be0214bd] NonlinearSolveBase v2.11.1 [510215fc] Observables v0.5.5 [bac558e1] OrderedCollections v1.8.1 [bbf590c4] OrdinaryDiffEqCore v3.2.0 [b1df2697] OrdinaryDiffEqTsit5 v1.9.0 [69de0a69] Parsers v2.8.3 [f517fe37] Polyester v0.7.18 [1d0040c9] PolyesterWeave v0.2.2 [d236fae5] PreallocationTools v1.1.0 [aea7be01] PrecompileTools v1.3.3 [21216c6a] Preferences v1.5.1 [3cdcf5f2] RecipesBase v1.3.4 [731186ca] RecursiveArrayTools v3.46.0 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.16 [94e857df] SIMDTypes v0.1.0 [0bca4576] SciMLBase v2.135.0 [19f34311] SciMLJacobianOperators v0.1.12 [a6db7da4] SciMLLogging v1.8.0 [c0aeaf25] SciMLOperators v1.14.1 [431bcebd] SciMLPublic v1.0.1 [53ae85a6] SciMLStructures v1.10.0 [7e506255] ScopedValues v1.5.0 [efcf1570] Setfield v1.1.2 [276daf66] SpecialFunctions v2.6.1 [aedffcd0] Static v1.3.1 [0d7ed370] StaticArrayInterface v1.8.0 [90137ffa] StaticArrays v1.9.16 [1e83bf80] StaticArraysCore v1.4.4 [10745b16] Statistics v1.11.1 [7792a7ef] StrideArraysCore v0.5.8 [856f2bd8] StructTypes v1.11.0 [ec057cc2] StructUtils v2.6.2 [2efcf032] SymbolicIndexingInterface v0.3.46 [f8b46487] TestItemRunner v1.1.4 [1c621080] TestItems v1.0.0 [8290d209] ThreadingUtilities v0.5.5 [a759f4b9] TimerOutputs v0.5.29 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [3bb67fe8] TranscodingStreams v0.11.3 [781d530d] TruncatedStacktraces v1.4.0 [ae81ac8f] ASL_jll v0.1.3+0 [6e34b625] Bzip2_jll v1.0.9+0 [e33a78d0] Hwloc_jll v2.12.2+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 v0.3.30+0 [efe28fd5] OpenSpecFun_jll v0.5.6+0 [319450e9] SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] XML2_jll v2.13.9+0 [a65dc6b1] Xorg_libpciaccess_jll v0.18.1+0 [3161d3a3] Zstd_jll v1.5.7+1 [0dad84c5] ArgTools v1.1.2 [56f22d72] Artifacts v1.11.0 [2a0f44e3] Base64 v1.11.0 [ade2ca70] Dates v1.11.0 [8ba89e20] Distributed v1.11.0 [f43a241f] Downloads v1.7.0 [7b1f6079] FileWatching v1.11.0 [9fa8497b] Future v1.11.0 [b77e0a4c] InteractiveUtils v1.11.0 [ac6e5ff7] JuliaSyntaxHighlighting v1.12.0 [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 v1.12.1 [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 [6462fe0b] Sockets 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 v8.15.0+0 [e37daf67] LibGit2_jll v1.9.0+0 [29816b5a] LibSSH2_jll v1.11.3+1 [14a3606d] MozillaCACerts_jll v2025.11.4 [4536629a] OpenBLAS_jll v0.3.29+0 [05823500] OpenLibm_jll v0.8.7+0 [458c3c95] OpenSSL_jll v3.5.4+0 [bea87d4a] SuiteSparse_jll v7.8.3+2 [83775a58] Zlib_jll v1.3.1+2 [8e850b90] libblastrampoline_jll v5.15.0+0 [8e850ede] nghttp2_jll v1.64.0+1 [3f19e933] p7zip_jll v17.7.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. Testing Running tests... Difference in Hessian 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 applying constraint: bounds on Δt Hello, world! ****************************************************************************** This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit https://github.com/coin-or/Ipopt ****************************************************************************** This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9134823e+00 2.56e+00 7.26e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 1.9609634e+00 5.87e-01 1.61e+00 -0.9 2.13e+00 0.0 9.46e-01 7.71e-01f 1 Hello, world! 2 3.8471272e+00 5.17e-01 9.51e+00 1.0 3.12e+01 -0.5 7.33e-02 4.45e-02H 1 Hello, world! 3 3.6146850e+00 6.19e-02 5.73e+00 -0.2 6.46e-01 -0.1 8.99e-01 1.00e+00f 1 Hello, world! 4 3.3027306e+00 3.48e-02 3.66e+00 -1.0 1.35e+00 -0.5 8.99e-01 4.46e-01h 1 Hello, world! 5 2.7317946e+00 9.47e-03 4.93e-01 -1.4 1.52e-01 -0.1 9.97e-01 1.00e+00f 1 Hello, world! 6 2.2189299e+00 2.10e-02 1.20e-01 -1.9 2.00e-01 -0.6 9.59e-01 9.99e-01f 1 Hello, world! 7 2.1266160e+00 7.52e-03 1.27e-01 -2.6 1.54e-01 -1.1 9.64e-01 6.42e-01h 1 Hello, world! 8 2.0919695e+00 2.92e-04 1.32e-02 -3.7 2.65e-02 -1.5 9.97e-01 9.82e-01h 1 Hello, world! 9 2.0910620e+00 1.64e-06 4.20e-04 -4.0 4.36e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0910288e+00 5.25e-09 1.94e-04 -4.0 5.92e-02 -2.5 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0910164e+00 7.00e-10 2.81e-05 -4.0 2.48e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0910067e+00 2.58e-09 2.69e-05 -4.0 7.45e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0909791e+00 2.35e-08 3.93e-05 -4.0 2.23e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0908977e+00 1.90e-07 4.97e-04 -4.0 6.44e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0907923e+00 6.08e-07 1.53e-03 -4.0 1.23e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0905672e+00 4.08e-06 2.92e-03 -4.0 3.52e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0899306e+00 3.69e-05 7.00e-04 -4.0 1.04e+01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0895790e+00 6.31e-06 2.36e-03 -4.0 3.90e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0887266e+00 4.78e-05 3.51e-03 -4.0 1.16e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0881920e+00 2.03e-05 3.79e-03 -4.0 5.35e+00 -5.5 1.00e+00 8.53e-01h 1 Hello, world! 21 2.0873605e+00 5.80e-05 8.27e-03 -4.0 1.27e+01 -5.9 1.00e+00 1.00e+00f 1 Hello, world! 22 2.0863203e+00 9.51e-05 9.96e-02 -4.0 4.09e+01 -6.4 1.00e+00 2.67e-01h 1 Hello, world! 23 2.0832612e+00 1.09e-03 5.49e-02 -4.0 5.36e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0825086e+00 5.15e-04 1.74e-02 -4.0 6.96e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0822465e+00 5.71e-04 1.01e-02 -4.0 1.51e+02 -7.8 8.32e-01 1.00e+00h 1 Hello, world! 26 2.0824577e+00 1.42e-03 2.06e-02 -4.0 3.35e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0820157e+00 1.39e-03 1.96e-02 -4.0 1.81e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0823294e+00 7.54e-04 1.52e-02 -4.0 3.63e+00 -4.8 3.62e-01 3.60e-01h 1 Hello, world! 29 2.0819467e+00 4.55e-04 3.58e-02 -4.1 2.15e+00 -5.2 1.00e+00 8.97e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0822215e+00 6.27e-04 3.67e-03 -4.0 3.13e+00 -5.7 1.00e+00 1.00e+00f 1 Hello, world! 31 2.0819849e+00 3.36e-04 2.07e-03 -4.1 2.82e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0821365e+00 1.03e-04 4.80e-04 -4.0 4.58e+00 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818633e+00 3.48e-04 5.78e-04 -4.1 1.71e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0819947e+00 6.19e-04 3.25e-03 -4.0 2.77e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0816444e+00 1.30e-03 3.79e-03 -4.1 5.01e+01 -8.1 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818536e+00 1.33e-03 2.98e-03 -4.0 5.58e+01 -8.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818443e+00 3.46e-05 4.86e-04 -4.0 2.86e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818435e+00 7.69e-07 2.35e-05 -4.0 6.24e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818434e+00 3.88e-09 1.61e-07 -4.0 5.04e-01 -10.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818434e+00 2.50e-12 1.00e-09 -4.0 1.44e-02 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 40 (scaled) (unscaled) Objective...............: 2.0818434105384109e+00 2.0818434105384109e+00 Dual infeasibility......: 1.0000000065751684e-09 1.0000000065751684e-09 Constraint violation....: 2.5046631435543532e-12 2.5046631435543532e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000019e-04 1.0000000000000019e-04 Overall NLP error.......: 1.0000000065751684e-09 1.0000000065751684e-09 Number of objective function evaluations = 42 Number of objective gradient evaluations = 41 Number of equality constraint evaluations = 42 Number of inequality constraint evaluations = 42 Number of equality constraint Jacobian evaluations = 41 Number of inequality constraint Jacobian evaluations = 41 Number of Lagrangian Hessian evaluations = 40 Total seconds in IPOPT = 66.191 EXIT: Optimal Solution Found. 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 applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9134823e+00 2.56e+00 7.26e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 1.9609634e+00 5.87e-01 1.61e+00 -0.9 2.13e+00 0.0 9.46e-01 7.71e-01f 1 Hello, world! 2 3.8471272e+00 5.17e-01 9.51e+00 1.0 3.12e+01 -0.5 7.33e-02 4.45e-02H 1 Hello, world! 3 3.6146850e+00 6.19e-02 5.73e+00 -0.2 6.46e-01 -0.1 8.99e-01 1.00e+00f 1 Hello, world! 4 3.3027306e+00 3.48e-02 3.66e+00 -1.0 1.35e+00 -0.5 8.99e-01 4.46e-01h 1 Hello, world! 5 2.7317946e+00 9.47e-03 4.93e-01 -1.4 1.52e-01 -0.1 9.97e-01 1.00e+00f 1 Hello, world! 6 2.2189299e+00 2.10e-02 1.20e-01 -1.9 2.00e-01 -0.6 9.59e-01 9.99e-01f 1 Hello, world! 7 2.1266160e+00 7.52e-03 1.27e-01 -2.6 1.54e-01 -1.1 9.64e-01 6.42e-01h 1 Hello, world! 8 2.0919695e+00 2.92e-04 1.32e-02 -3.7 2.65e-02 -1.5 9.97e-01 9.82e-01h 1 Hello, world! 9 2.0910620e+00 1.64e-06 4.20e-04 -4.0 4.36e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0910288e+00 5.25e-09 1.94e-04 -4.0 5.92e-02 -2.5 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0910164e+00 7.00e-10 2.81e-05 -4.0 2.48e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0910067e+00 2.58e-09 2.69e-05 -4.0 7.45e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0909791e+00 2.35e-08 3.93e-05 -4.0 2.23e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0908977e+00 1.90e-07 4.97e-04 -4.0 6.44e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0907923e+00 6.08e-07 1.53e-03 -4.0 1.23e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0905672e+00 4.08e-06 2.92e-03 -4.0 3.52e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0899306e+00 3.69e-05 7.00e-04 -4.0 1.04e+01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0895790e+00 6.31e-06 2.36e-03 -4.0 3.90e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0887266e+00 4.78e-05 3.51e-03 -4.0 1.16e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0881920e+00 2.03e-05 3.79e-03 -4.0 5.35e+00 -5.5 1.00e+00 8.53e-01h 1 Hello, world! 21 2.0873605e+00 5.80e-05 8.27e-03 -4.0 1.27e+01 -5.9 1.00e+00 1.00e+00f 1 Hello, world! 22 2.0863203e+00 9.51e-05 9.96e-02 -4.0 4.09e+01 -6.4 1.00e+00 2.67e-01h 1 Hello, world! 23 2.0832612e+00 1.09e-03 5.49e-02 -4.0 5.36e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0825086e+00 5.15e-04 1.74e-02 -4.0 6.96e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0822465e+00 5.71e-04 1.01e-02 -4.0 1.51e+02 -7.8 8.32e-01 1.00e+00h 1 Hello, world! 26 2.0824577e+00 1.42e-03 2.06e-02 -4.0 3.35e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0820157e+00 1.39e-03 1.96e-02 -4.0 1.81e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0823294e+00 7.54e-04 1.52e-02 -4.0 3.63e+00 -4.8 3.62e-01 3.60e-01h 1 Hello, world! 29 2.0819467e+00 4.55e-04 3.58e-02 -4.1 2.15e+00 -5.2 1.00e+00 8.97e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0822215e+00 6.27e-04 3.67e-03 -4.0 3.13e+00 -5.7 1.00e+00 1.00e+00f 1 Hello, world! 31 2.0819849e+00 3.36e-04 2.07e-03 -4.1 2.82e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0821365e+00 1.03e-04 4.80e-04 -4.0 4.58e+00 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818633e+00 3.48e-04 5.78e-04 -4.1 1.71e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0819947e+00 6.19e-04 3.25e-03 -4.0 2.77e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0816444e+00 1.30e-03 3.79e-03 -4.1 5.01e+01 -8.1 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818536e+00 1.33e-03 2.98e-03 -4.0 5.58e+01 -8.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818443e+00 3.46e-05 4.86e-04 -4.0 2.86e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818435e+00 7.69e-07 2.35e-05 -4.0 6.24e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818434e+00 3.88e-09 1.61e-07 -4.0 5.04e-01 -10.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818434e+00 2.50e-12 1.00e-09 -4.0 1.44e-02 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 40 (scaled) (unscaled) Objective...............: 2.0818434105384109e+00 2.0818434105384109e+00 Dual infeasibility......: 1.0000000065751684e-09 1.0000000065751684e-09 Constraint violation....: 2.5046631435543532e-12 2.5046631435543532e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000019e-04 1.0000000000000019e-04 Overall NLP error.......: 1.0000000065751684e-09 1.0000000065751684e-09 Number of objective function evaluations = 42 Number of objective gradient evaluations = 41 Number of equality constraint evaluations = 42 Number of inequality constraint evaluations = 42 Number of equality constraint Jacobian evaluations = 41 Number of inequality constraint Jacobian evaluations = 41 Number of Lagrangian Hessian evaluations = 40 Total seconds in IPOPT = 1.188 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/4TeZc/src/problems.jl:65 initializing optimizer... 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 This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.6645589e-02 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2956361e-02 1.09e-11 5.30e+219 -4.0 4.18e-02 -2.0 9.82e-01 1.00e+00f 1 2r 2.2956361e-02 1.09e-11 1.04e-01 -3.6 0.00e+00 -1.6 0.00e+00 3.46e-222R 2 3r 2.2931764e-02 7.23e-12 9.98e-04 -4.0 9.69e-03 - 9.90e-01 1.00e+00f 1 4 2.4127631e-02 6.78e-12 5.30e+219 -4.0 2.32e+220 -1.1 1.60e-221 4.32e-222h 1 5 2.4200155e-02 6.79e-12 5.30e+219 -3.7 6.24e+219 -1.6 3.79e-221 2.06e-222h 1 Cannot call restoration phase at point that is almost feasible (violation 6.785031e-12). Abort in line search due to no other fall back. Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.4200154755305625e-02 2.4200154755305625e-02 Dual infeasibility......: 5.2993394642929113e+219 5.2993394642929113e+219 Constraint violation....: 6.7850308704819895e-12 6.7850308704819895e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.5414417686640408e-04 4.5414417686640408e-04 Overall NLP error.......: 5.2993394642929113e+219 5.2993394642929113e+219 Number of objective function evaluations = 12 Number of objective gradient evaluations = 7 Number of equality constraint evaluations = 12 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 = 6 Total seconds in IPOPT = 2.290 EXIT: Error in step computation! initializing optimizer... 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) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6178960e+00 3.56e-01 9.23e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.1227152e+00 3.02e-09 1.36e-01 -0.4 3.95e-01 -2.0 1.00e+00 1.00e+00f 1 2 3.1376099e-01 2.01e-09 2.19e-01 -1.4 1.03e+00 -1.6 9.06e-01 1.00e+00f 1 3 1.4625476e-01 4.28e-10 4.59e-02 -2.2 5.27e-01 -1.1 1.00e+00 1.00e+00f 1 4 4.0321549e-02 2.18e-11 3.92e-02 -3.1 8.02e-01 -1.6 1.00e+00 1.00e+00f 1 5 8.1416501e-03 2.24e-11 1.74e-02 -4.0 7.16e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.6605596e-03 6.46e-12 5.55e-03 -4.0 4.60e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.8872589e-04 1.50e-12 1.48e-03 -4.0 2.10e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.5021735e-04 1.51e-13 2.56e-04 -4.0 1.05e-01 -3.5 1.00e+00 1.00e+00f 1 9 4.5490502e-04 1.19e-14 1.17e-04 -4.0 2.35e-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 3.0506619e-04 1.33e-14 4.41e-04 -4.1 8.08e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.5642838e-04 6.68e-15 3.61e-04 -4.0 2.02e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7602183e-04 2.80e-15 5.75e-04 -4.1 1.09e-01 -5.4 1.00e+00 1.00e+00f 1 13 4.6307165e-04 1.78e-15 4.80e-04 -4.0 2.60e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6418835e-04 1.48e-15 6.54e-04 -4.1 1.26e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6416648e-04 1.11e-15 5.27e-04 -4.0 2.86e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.6019135e-04 1.17e-15 6.85e-04 -4.1 1.32e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6423517e-04 9.99e-16 5.46e-04 -4.0 2.96e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5887957e-04 9.85e-16 7.03e-04 -4.1 1.36e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6388072e-04 8.88e-16 5.55e-04 -4.0 3.02e-01 -8.8 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.5846472e-04 9.23e-16 7.16e-04 -4.1 1.38e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6341925e-04 6.66e-16 5.59e-04 -4.0 3.05e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5833676e-04 8.47e-16 7.27e-04 -4.1 1.41e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6293764e-04 5.97e-16 5.63e-04 -4.0 3.08e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5829942e-04 8.33e-16 7.37e-04 -4.1 1.43e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6246552e-04 6.66e-16 5.66e-04 -4.0 3.11e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5828991e-04 7.32e-16 7.46e-04 -4.1 1.44e-01 -12.1 1.00e+00 1.00e+00f 1 27 4.6201174e-04 5.55e-16 5.68e-04 -4.0 3.13e-01 -12.6 1.00e+00 5.00e-01f 2 28 2.5828847e-04 7.04e-16 7.55e-04 -4.1 1.46e-01 -13.1 1.00e+00 1.00e+00f 1 29 3.1056218e-05 8.38e-15 9.42e-04 -6.2 3.98e-01 -13.6 9.66e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.7189833e-03 2.22e-15 7.97e-03 -4.0 2.09e+00 -14.0 1.00e+00 5.00e-01f 2 31 2.4983467e-05 2.19e-14 3.02e-03 -4.1 1.06e+00 -14.5 1.00e+00 1.00e+00f 1 32 1.5644359e-03 2.80e-14 8.31e-03 -4.0 1.02e+00 -15.0 1.00e+00 1.00e+00f 1 33 1.0578198e-05 1.68e-14 2.40e-03 -4.2 1.13e+00 -15.5 1.00e+00 1.00e+00f 1 34 4.5928304e-04 1.55e-15 2.83e-03 -4.0 1.42e+00 -15.9 1.00e+00 5.00e-01f 2 35 2.2122935e-04 2.78e-15 2.53e-04 -4.2 3.80e-01 -16.4 1.00e+00 5.00e-01f 2 36 2.0389200e-05 4.22e-15 8.49e-04 -6.4 4.31e-01 -16.9 9.62e-01 1.00e+00f 1 37 8.2079951e-06 3.11e-15 1.04e-04 -6.4 1.09e-01 -17.4 1.00e+00 1.00e+00f 1 38 1.3328464e-03 1.14e-15 4.68e-03 -4.0 1.00e+01 -17.8 1.00e+00 1.19e-01f 4 39 1.1660318e-04 4.84e-14 3.34e-03 -4.0 7.36e-01 -18.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 7.2267075e-04 2.93e-14 3.38e-03 -4.0 5.10e-01 -18.8 1.00e+00 1.00e+00f 1 41 3.7971061e-04 5.11e-15 4.51e-04 -4.0 4.17e-01 -19.3 1.00e+00 5.00e-01f 2 42 3.5328780e-05 5.55e-15 1.39e-03 -6.0 5.26e-01 -19.8 9.52e-01 1.00e+00f 1 43 1.4554926e-05 5.00e-15 1.66e-04 -6.0 1.31e-01 -20.0 1.00e+00 1.00e+00f 1 44 3.9437213e-06 8.33e-16 1.06e-04 -6.0 1.51e-01 -20.0 1.00e+00 1.00e+00f 1 45 9.1318948e-04 4.72e-16 2.41e-03 -4.0 1.65e+01 -20.0 1.00e+00 7.29e-02f 4 46 1.8763660e-04 4.33e-14 2.60e-03 -4.0 5.14e-01 -20.0 1.00e+00 1.00e+00f 1 47 6.3072772e-04 1.78e-14 2.46e-03 -4.0 3.74e-01 -20.0 1.00e+00 1.00e+00f 1 48 3.8879033e-04 3.11e-15 4.06e-04 -4.0 3.32e-01 -20.0 1.00e+00 5.00e-01f 2 49 3.4825903e-05 5.66e-15 1.51e-03 -6.1 5.70e-01 -20.0 9.47e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.4556585e-05 4.55e-15 1.74e-04 -6.1 1.37e-01 -20.0 1.00e+00 1.00e+00f 1 51 3.8320944e-06 7.22e-16 1.14e-04 -6.1 1.64e-01 -20.0 1.00e+00 1.00e+00f 1 52 7.5096485e-04 4.44e-16 1.52e-03 -4.0 1.77e+01 -20.0 1.00e+00 6.76e-02f 4 53 2.2206140e-04 3.77e-14 2.20e-03 -4.1 4.21e-01 -20.0 1.00e+00 1.00e+00f 1 54 5.7018197e-04 1.22e-14 1.98e-03 -4.1 3.07e-01 -20.0 1.00e+00 1.00e+00f 1 55 3.8465393e-04 2.00e-15 3.74e-04 -4.1 2.85e-01 -20.0 1.00e+00 5.00e-01f 2 56 3.3763266e-05 5.44e-15 1.59e-03 -6.1 6.03e-01 -20.0 9.43e-01 1.00e+00f 1 57 1.4239582e-05 4.11e-15 1.78e-04 -6.1 1.42e-01 -20.0 1.00e+00 1.00e+00f 1 58 3.7000989e-06 6.66e-16 1.19e-04 -6.1 1.74e-01 -20.0 1.00e+00 1.00e+00f 1 59 6.3100956e-04 4.44e-16 7.16e-04 -4.0 1.91e+01 -20.0 1.00e+00 6.26e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.5552561e-04 3.35e-14 1.79e-03 -4.1 3.31e-01 -20.0 1.00e+00 1.00e+00f 1 61 5.1545382e-04 8.22e-15 1.49e-03 -4.1 2.37e-01 -20.0 1.00e+00 1.00e+00f 1 62 3.8068690e-04 1.33e-15 3.28e-04 -4.1 2.32e-01 -20.0 1.00e+00 5.00e-01f 2 63 3.2674582e-05 5.22e-15 1.65e-03 -6.1 6.35e-01 -20.0 9.39e-01 1.00e+00f 1 64 1.3927412e-05 3.89e-15 1.81e-04 -6.1 1.46e-01 -20.0 1.00e+00 1.00e+00f 1 65 3.5889879e-06 6.66e-16 1.23e-04 -6.1 1.83e-01 -20.0 1.00e+00 1.00e+00f 1 66 5.4252961e-04 5.38e-16 7.79e-05 -4.0 2.04e+01 -20.0 1.00e+00 5.85e-02f 4 67 2.8476282e-04 3.04e-14 1.38e-03 -4.1 2.51e-01 -20.0 1.00e+00 1.00e+00f 1 68 4.6928810e-04 5.33e-15 1.05e-03 -4.1 1.70e-01 -20.0 1.00e+00 1.00e+00f 1 69 2.9761280e-04 3.77e-15 9.90e-04 -4.1 1.80e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 4.6229667e-04 2.89e-15 9.10e-04 -4.1 1.48e-01 -20.0 1.00e+00 1.00e+00f 1 71 3.0471071e-04 3.55e-15 8.96e-04 -4.1 1.62e-01 -20.0 1.00e+00 1.00e+00f 1 72 4.5532725e-04 2.89e-15 8.17e-04 -4.1 1.34e-01 -20.0 1.00e+00 1.00e+00f 1 73 2.3585366e-05 4.66e-15 1.82e-03 -6.1 7.70e-01 -20.0 9.25e-01 1.00e+00f 1 74 1.2299814e-05 4.00e-15 1.20e-04 -6.1 1.06e-01 -20.0 1.00e+00 1.00e+00f 1 75 3.0757847e-06 4.44e-16 1.15e-04 -6.1 1.84e-01 -20.0 1.00e+00 1.00e+00f 1 76 4.9551562e-04 4.44e-16 5.31e-04 -4.0 2.31e+01 -20.0 1.00e+00 5.17e-02f 4 77 3.0917182e-04 2.93e-14 1.07e-03 -4.1 1.91e-01 -20.0 1.00e+00 1.00e+00f 1 78 4.4361572e-04 3.77e-15 7.32e-04 -4.1 1.21e-01 -20.0 1.00e+00 1.00e+00f 1 79 2.4302511e-05 4.44e-15 1.89e-03 -6.1 7.90e-01 -20.0 9.22e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.2438044e-05 3.66e-15 1.32e-04 -6.1 1.15e-01 -20.0 1.00e+00 1.00e+00f 1 81 3.1165032e-06 4.44e-16 1.22e-04 -6.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 82 3.9831340e-06 2.06e-16 2.08e-05 -6.1 3.61e-02 -20.0 1.00e+00 1.00e+00f 1 83 3.4330569e-06 5.03e-17 5.95e-06 -6.1 1.06e-02 -20.0 1.00e+00 1.00e+00h 1 84 2.6093351e-07 5.55e-17 5.27e-05 -9.0 2.35e-01 -20.0 9.77e-01 1.00e+00f 1 85 2.4711506e-03 5.34e-16 1.21e-02 -4.0 1.04e+02 -20.0 1.00e+00 2.33e-02f 3 86 8.3563470e-05 4.86e-14 7.11e-03 -3.9 1.55e+00 -20.0 1.00e+00 1.00e+00f 1 87 7.7278009e-04 2.93e-14 5.39e-03 -3.9 8.16e-01 -20.0 1.00e+00 1.00e+00f 1 88 4.3974914e-04 5.77e-15 7.72e-04 -3.9 5.36e-01 -20.0 1.00e+00 5.00e-01f 2 89 4.3452256e-05 4.33e-15 2.14e-03 -5.9 7.14e-01 -20.0 9.30e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.7947484e-05 4.00e-15 2.62e-04 -5.9 1.86e-01 -20.0 1.00e+00 1.00e+00f 1 91 5.1374273e-06 6.80e-16 1.66e-04 -5.9 2.09e-01 -20.0 1.00e+00 1.00e+00f 1 92 5.8452335e-06 3.32e-16 1.77e-05 -5.9 2.50e-02 -20.0 1.00e+00 1.00e+00h 1 93 5.3978559e-06 1.15e-16 2.78e-06 -5.9 3.99e-03 -20.0 1.00e+00 1.00e+00h 1 94 3.8838068e-07 6.16e-17 7.97e-05 -8.9 2.86e-01 -20.0 9.71e-01 1.00e+00f 1 95 1.5619708e-07 5.29e-17 8.37e-06 -8.9 6.34e-02 -20.0 1.00e+00 1.00e+00f 1 96 1.5894765e-03 5.62e-16 1.44e-03 -4.0 3.13e+02 -20.0 1.00e+00 7.77e-03f 3 97 4.7543140e-04 6.35e-14 5.66e-03 -3.8 7.31e-01 -20.0 1.00e+00 1.00e+00f 1 98 8.9046311e-04 1.91e-14 2.20e-03 -3.8 2.62e-01 -20.0 1.00e+00 1.00e+00f 1 99 5.6153499e-04 8.44e-15 2.30e-03 -3.8 3.01e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 8.8002036e-04 3.11e-15 1.44e-03 -3.8 1.69e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 8.8002036304750289e-04 8.8002036304750289e-04 Dual infeasibility......: 1.4410965388223871e-03 1.4410965388223871e-03 Constraint violation....: 3.1086244689504383e-15 3.1086244689504383e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.7075258179164799e-04 1.7075258179164799e-04 Overall NLP error.......: 1.4410965388223871e-03 1.4410965388223871e-03 Number of objective function evaluations = 166 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 166 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 = 2.800 EXIT: Maximum Number of Iterations Exceeded. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! [test_integrator] Starting... [test_integrator] constraint_dim=8, datavec_len=75, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... 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 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 2.2305745e+00 3.79e+00 1.81e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7613285e+00 3.10e+00 2.79e+00 -0.8 2.01e+01 -2.0 6.36e-02 1.84e-01f 1 2 1.3833752e+00 1.93e+00 4.68e+00 -0.8 2.42e+00 -0.7 1.82e-01 3.69e-01f 1 3 1.4537675e+00 1.67e+00 1.38e+01 -0.1 1.56e+00 0.7 4.98e-01 1.35e-01f 1 4 1.5488570e+00 1.22e+00 3.42e+01 -0.0 2.53e+00 0.2 8.70e-01 2.70e-01h 1 5 1.5618278e+00 1.06e+00 9.10e+01 0.5 5.27e+00 0.6 5.99e-01 1.27e-01f 1 6 1.5701007e+00 9.03e-01 4.51e+01 0.9 5.31e+00 0.1 3.54e-01 1.48e-01f 1 7 1.8157634e+00 1.21e+00 5.03e+01 -4.0 6.59e+00 -0.3 3.54e-01 7.14e-01h 1 8 1.9439499e+00 4.98e-01 6.60e+01 0.4 3.43e+00 0.1 4.10e-01 8.61e-01f 1 9 1.9542336e+00 3.49e-01 4.66e+01 0.1 1.33e+00 -0.4 4.67e-01 2.32e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.9652846e+00 2.09e-01 2.88e+01 -1.3 8.02e-01 0.9 4.37e-01 4.03e-01h 1 11 1.9665802e+00 5.25e-02 3.68e+00 -1.3 5.94e-01 0.5 7.78e-01 1.00e+00f 1 12 1.9195819e+00 3.44e-04 1.68e-01 -1.3 2.32e-02 0.9 9.94e-01 1.00e+00h 1 13 1.7443544e+00 9.15e-04 2.28e-01 -2.0 9.02e-02 0.4 9.78e-01 1.00e+00f 1 14 1.5007704e+00 2.11e-03 1.71e-01 -2.4 1.77e-01 -0.1 9.94e-01 7.20e-01f 1 15 1.3935128e+00 2.68e-03 2.62e-01 -2.7 2.73e-01 -0.6 9.97e-01 5.77e-01h 1 16 1.3244969e+00 2.32e-02 4.05e-01 -2.9 8.62e-01 -1.0 1.00e+00 3.81e-01h 1 17 1.3207241e+00 2.08e-02 1.52e+00 -2.0 1.28e+00 -1.5 1.00e+00 7.41e-02f 1 18 1.2886993e+00 1.68e-02 3.08e-02 -2.4 5.87e-01 -2.0 1.00e+00 1.00e+00h 1 19 1.2166867e+00 1.20e-01 2.18e-02 -2.9 1.01e+00 -2.5 9.87e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.2108878e+00 1.60e-02 8.79e-03 -3.4 5.24e-01 -2.0 9.51e-01 1.00e+00h 1 21 1.1978034e+00 2.21e-02 1.65e-02 -3.8 7.46e-01 -2.5 9.16e-01 1.00e+00h 1 22 1.1902323e+00 4.02e-02 1.14e-02 -4.0 1.69e+00 -3.0 1.00e+00 1.00e+00h 1 23 1.1848592e+00 5.34e-02 1.89e-02 -3.8 2.23e+00 -3.5 1.00e+00 1.00e+00h 1 24 1.1784315e+00 8.15e-02 9.87e-03 -4.0 3.30e+00 -3.9 1.00e+00 1.00e+00h 1 25 1.1746916e+00 8.73e-02 1.44e-02 -4.0 5.08e+00 -4.4 1.00e+00 1.00e+00h 1 26 1.1712463e+00 1.21e-01 8.83e-03 -4.0 7.82e+00 -4.9 1.00e+00 1.00e+00h 1 27 1.1687224e+00 1.41e-01 8.37e-03 -4.0 1.20e+01 -5.4 1.00e+00 1.00e+00h 1 28 1.1665628e+00 1.80e-01 3.54e-03 -4.0 1.84e+01 -5.9 1.00e+00 1.00e+00h 1 29 1.1649071e+00 2.15e-01 4.26e-04 -4.0 2.79e+01 -6.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1635456e+00 2.64e-01 5.09e-03 -4.0 4.22e+01 -6.8 1.00e+00 1.00e+00h 1 31 1.1624899e+00 3.15e-01 1.01e-02 -4.0 6.32e+01 -7.3 1.00e+00 1.00e+00h 1 32 1.1616486e+00 3.73e-01 1.66e-02 -4.0 9.35e+01 -7.8 1.00e+00 1.00e+00h 1 33 1.1610207e+00 4.23e-01 2.20e-02 -4.0 1.35e+02 -8.2 1.00e+00 1.00e+00h 1 34 1.1605947e+00 4.43e-01 2.48e-02 -4.0 1.85e+02 -8.7 1.00e+00 1.00e+00h 1 35 1.1605029e+00 3.22e-01 1.41e-02 -4.0 2.10e+02 -9.2 1.00e+00 1.00e+00h 1 36 1.1608413e+00 6.97e-03 3.21e-03 -4.0 6.29e+01 -9.7 1.00e+00 1.00e+00h 1 37 1.1608492e+00 6.72e-06 5.25e-06 -4.0 6.87e-01 -10.1 1.00e+00 1.00e+00h 1 38 1.1608491e+00 3.99e-08 5.52e-09 -4.0 8.12e-02 -10.6 1.00e+00 1.00e+00h 1 39 1.1608491e+00 1.55e-12 1.18e-13 -4.0 5.06e-04 -11.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 39 (scaled) (unscaled) Objective...............: 1.1608491307799853e+00 1.1608491307799853e+00 Dual infeasibility......: 1.1827908444339563e-13 1.1827908444339563e-13 Constraint violation....: 1.5525358776358189e-12 1.5525358776358189e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000564e-04 1.0000000000000564e-04 Overall NLP error.......: 1.5525358776358189e-12 1.5525358776358189e-12 Number of objective function evaluations = 40 Number of objective gradient evaluations = 40 Number of equality constraint evaluations = 40 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 40 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 39 Total seconds in IPOPT = 25.918 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt 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 9.8696221e-01 8.22e-01 1.15e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6970480e+00 1.13e-01 1.73e+00 -1.0 6.37e-01 0.0 1.00e+00 1.00e+00h 1 2 1.6479205e+00 4.91e-02 6.60e-01 -1.0 3.51e-01 -0.5 6.39e-01 5.64e-01h 1 3 1.8455990e+00 3.85e-02 3.51e+00 -1.5 6.37e+00 - 8.78e-01 1.00e+00H 1 4 1.6983790e+00 3.13e-02 2.63e+00 -2.1 3.98e-01 -1.0 9.99e-01 8.12e-01h 1 5 1.2700612e+00 1.60e-02 1.50e+00 -2.7 2.10e-01 -0.5 1.00e+00 3.80e-01f 1 6 1.1409996e+00 7.50e-03 7.89e-01 -3.1 1.02e-01 -1.0 1.00e+00 4.73e-01h 1 7 1.1009566e+00 8.65e-04 1.01e-01 -3.8 5.75e-02 -0.6 1.00e+00 8.79e-01h 1 8 1.0962526e+00 1.20e-07 5.17e-03 -4.0 6.47e-02 -1.1 1.00e+00 1.00e+00h 1 9 1.0960726e+00 3.75e-11 6.57e-04 -4.0 2.13e-02 -1.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0959639e+00 3.05e-14 1.26e-03 -4.0 6.34e-02 -2.0 1.00e+00 1.00e+00f 1 11 1.0956496e+00 5.62e-17 1.27e-03 -4.0 1.84e-01 -2.5 1.00e+00 1.00e+00f 1 12 1.0953993e+00 8.88e-16 1.64e-02 -4.0 7.64e-01 -3.0 2.60e-01 5.00e-01f 2 13 1.0951871e+00 8.88e-16 8.66e-04 -4.0 5.57e-02 -1.6 1.00e+00 1.00e+00f 1 14 1.0951079e+00 8.88e-16 8.79e-04 -4.0 7.32e-02 -2.1 1.00e+00 1.00e+00f 1 15 1.0950614e+00 8.88e-16 1.16e-02 -4.0 2.59e-01 -2.6 5.26e-01 1.00e+00f 1 16 1.0948846e+00 2.01e-31 1.97e-03 -4.0 2.99e-02 -1.3 1.00e+00 1.00e+00f 1 17 1.0947559e+00 8.88e-16 8.15e-04 -4.0 5.07e-02 -1.7 1.00e+00 1.00e+00f 1 18 1.0946744e+00 4.62e-30 1.43e-03 -4.0 2.88e-01 -2.2 3.70e-01 2.50e-01f 3 19 1.0910841e+00 2.52e-22 3.15e-01 -4.0 5.33e+00 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0910334e+00 3.36e-26 1.60e-04 -4.0 1.13e-01 - 1.00e+00 1.00e+00f 1 21 1.0910386e+00 5.31e-33 3.29e-05 -4.0 4.11e-02 - 1.00e+00 1.00e+00f 1 22 1.0908587e+00 5.08e-35 6.70e-08 -4.1 5.04e-04 - 1.00e+00 1.00e+00f 1 23 1.0910386e+00 1.35e-34 5.01e-09 -4.0 8.10e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 1.0910385864088885e+00 1.0910385864088885e+00 Dual infeasibility......: 5.0065770060541553e-09 5.0065770060541553e-09 Constraint violation....: 1.3480403383146077e-34 1.3480403383146077e-34 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000660813111711e-04 1.0000660813111711e-04 Overall NLP error.......: 6.6136888526104097e-09 6.6136888526104097e-09 Number of objective function evaluations = 32 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 21.434 EXIT: Optimal Solution Found. initializing optimizer... 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 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 3.4194721e+00 2.97e+00 8.83e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7694875e+00 3.20e-02 3.74e-01 -1.0 2.37e+00 - 1.00e+00 1.00e+00f 1 2 2.2951403e+00 3.94e-03 9.06e-02 -2.1 7.96e-02 - 9.07e-01 1.00e+00h 1 3 2.1175357e+00 1.33e-03 2.63e-02 -2.7 5.20e-02 - 9.67e-01 9.11e-01h 1 4 2.0908959e+00 1.84e-04 5.97e-03 -4.0 5.00e-02 - 1.00e+00 1.00e+00h 1 5 2.0908885e+00 2.02e-05 3.13e-04 -4.0 4.05e-01 - 1.00e+00 1.00e+00h 1 6 2.0908972e+00 9.01e-09 7.97e-08 -4.0 1.32e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 3.36e-12 2.04e-12 -4.0 3.86e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971978183519e+00 2.0908971978183519e+00 Dual infeasibility......: 2.0365874785210902e-12 2.0365874785210902e-12 Constraint violation....: 3.3562064531613561e-12 3.3562064531613561e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000028210032328e-04 1.0000028210032328e-04 Overall NLP error.......: 2.8210032327149505e-10 2.8210032327149505e-10 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 = 26.913 EXIT: Optimal Solution Found. initializing optimizer... 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 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 2.3008886e+00 1.93e+00 4.52e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3771019e+00 1.09e+00 1.95e+00 -0.8 7.86e+00 -4.0 8.77e-01 4.38e-01f 1 2 2.9278102e+00 3.35e-01 8.11e+00 -0.5 4.49e+00 -1.8 5.41e-01 1.00e+00f 1 3 2.6823287e+00 1.85e-01 3.83e+00 -0.6 1.12e+00 -0.4 9.57e-01 4.38e-01h 1 4 2.6912901e+00 4.22e-02 2.54e+00 -0.8 9.14e-01 -0.9 9.14e-01 1.00e+00f 1 5 2.5078558e+00 9.60e-03 2.67e-01 -1.4 1.22e-01 -0.5 9.95e-01 1.00e+00h 1 6 2.3355015e+00 1.19e-02 5.39e-01 -2.1 2.63e-01 -1.0 9.76e-01 5.18e-01f 1 7 2.1692177e+00 3.37e-03 1.31e-01 -2.3 1.19e-01 -1.4 1.00e+00 7.18e-01h 1 8 2.0996220e+00 9.63e-04 3.80e-02 -2.9 7.83e-02 -1.9 9.96e-01 9.80e-01h 1 9 2.0907930e+00 1.18e-05 1.00e-02 -4.0 1.03e-02 -2.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908025e+00 2.07e-07 7.08e-05 -4.0 1.40e-02 -2.9 1.00e+00 1.00e+00h 1 11 2.0907984e+00 2.26e-09 1.86e-05 -4.0 4.19e-02 -3.4 1.00e+00 1.00e+00h 1 12 2.0907864e+00 5.19e-09 1.85e-05 -4.0 1.25e-01 -3.8 1.00e+00 1.00e+00h 1 13 2.0907514e+00 4.38e-08 1.84e-05 -4.0 3.64e-01 -4.3 1.00e+00 1.00e+00h 1 14 2.0906546e+00 3.26e-07 1.44e-04 -4.0 1.01e+00 -4.8 1.00e+00 1.00e+00h 1 15 2.0904282e+00 1.66e-06 8.75e-04 -4.0 2.42e+00 -5.3 1.00e+00 1.00e+00h 1 16 2.0901047e+00 3.45e-06 2.60e-03 -4.0 4.09e+00 -5.7 1.00e+00 1.00e+00h 1 17 2.0899291e+00 2.25e-06 2.41e-03 -4.0 5.10e+00 -6.2 1.00e+00 1.00e+00h 1 18 2.0898525e+00 1.21e-06 1.27e-03 -4.0 8.32e+00 -6.7 1.00e+00 1.00e+00h 1 19 2.0898280e+00 3.96e-07 1.21e-03 -4.0 1.08e+01 -7.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898235e+00 1.56e-06 5.71e-04 -4.0 8.26e+00 -7.6 1.00e+00 1.00e+00h 1 21 2.0898220e+00 2.62e-07 5.82e-05 -4.0 2.30e+00 -8.1 1.00e+00 1.00e+00h 1 22 2.0898219e+00 3.88e-09 7.47e-07 -4.0 3.07e-01 -8.6 1.00e+00 1.00e+00h 1 23 2.0898218e+00 4.15e-12 1.58e-09 -4.0 1.73e-02 -9.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0898218498848737e+00 2.0898218498848737e+00 Dual infeasibility......: 1.5824638446685930e-09 1.5824638446685930e-09 Constraint violation....: 4.1495418212633695e-12 4.1495418212633695e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 1.5824638446685930e-09 1.5824638446685930e-09 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 25.797 EXIT: Optimal Solution Found. initializing optimizer... 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 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 1.9762661e+00 2.70e+00 5.47e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1404174e+00 1.81e+00 5.75e+01 -1.4 2.06e+00 0.0 5.62e-03 3.29e-01f 1 2 2.5672294e+00 1.68e+00 5.33e+01 -4.0 1.21e+01 -0.5 6.89e-03 7.27e-02h 1 3 2.5360469e+00 1.61e+00 5.10e+01 -1.4 7.98e+00 -1.0 2.09e-01 4.39e-02h 1 4 2.5408390e+00 1.60e+00 5.07e+01 -4.0 1.39e+00 0.4 7.99e-02 5.06e-03h 1 5 2.5479387e+00 1.59e+00 5.05e+01 -2.3 1.55e+00 -0.1 5.16e-02 3.24e-03h 1 6 2.6627664e+00 1.54e+00 1.16e+02 -0.8 2.90e+00 0.3 1.57e-01 3.58e-02f 1 7 2.6607552e+00 1.52e+00 1.88e+04 0.4 1.63e+01 -0.2 9.89e-01 8.97e-03h 1 8 2.8917118e+00 1.51e+00 3.14e+04 2.1 2.02e+02 -0.6 2.82e-02 7.73e-03f 1 9 2.9289320e+00 1.51e+00 4.65e+05 2.5 3.38e+02 -1.1 3.25e-02 2.80e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.9317303e+00 1.51e+00 1.50e+07 2.5 5.71e+03 -1.6 1.56e-02 2.28e-04h 2 11r 2.9317303e+00 1.51e+00 9.87e+02 2.5 0.00e+00 -2.1 0.00e+00 3.88e-07R 11 12r 3.0872676e+00 4.96e-01 5.41e+02 1.6 7.54e+00 - 5.86e-01 2.21e-01f 1 13 3.0872838e+00 4.72e-01 1.31e+01 -2.0 1.48e+00 -2.5 6.59e-01 4.85e-02h 1 14 3.0813529e+00 4.68e-01 2.50e+03 -0.5 1.62e+01 -3.0 1.00e+00 8.89e-03h 1 15 3.1836328e+00 4.67e-01 1.84e+04 1.6 1.77e+03 -3.5 2.02e-02 1.55e-03f 2 16 3.6053645e+00 6.39e+01 2.52e+04 -0.0 6.22e+04 -4.0 1.17e-04 2.22e-03f 1 17 3.6062541e+00 6.33e+01 2.39e+04 -0.0 2.34e+02 -4.4 4.62e-03 8.84e-03h 1 18 3.6231758e+00 6.31e+01 4.90e+04 -0.0 5.28e+03 -4.9 7.26e-02 9.56e-04h 1 19 3.6321283e+00 6.31e+01 5.45e+04 -0.0 2.66e+02 -5.4 4.16e-03 7.73e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 3.6809221e+00 6.28e+01 8.85e+05 -0.0 1.94e+02 -5.9 1.00e+00 5.06e-03h 1 21 3.6850621e+00 6.27e+01 3.48e+07 -0.0 1.44e+02 -6.4 1.29e-01 6.79e-04h 1 22 3.6991429e+00 6.26e+01 5.44e+09 -0.0 1.38e+02 -6.8 3.69e-01 2.30e-03h 1 23 3.6995579e+00 6.26e+01 7.37e+13 -0.0 1.35e+02 -7.3 1.00e+00 7.28e-05h 1 24 4.2524511e+00 2.22e+01 7.38e+11 -0.0 1.54e+02 -7.8 9.90e-01 6.46e-01h 1 25r 4.2524511e+00 2.22e+01 9.99e+02 1.3 0.00e+00 -8.3 0.00e+00 2.64e-07R 2 26r 4.2659964e+00 2.41e+00 9.66e+02 2.0 3.72e+04 - 6.14e-02 1.18e-03f 1 27 4.2658271e+00 2.41e+00 3.20e+03 -0.7 4.30e+00 -8.7 8.92e-01 5.17e-04h 1 28 4.2664531e+00 2.41e+00 2.78e+06 -0.7 2.40e+01 -9.2 2.23e-01 2.58e-04h 1 29r 4.2664531e+00 2.41e+00 1.00e+03 0.4 0.00e+00 -9.7 0.00e+00 3.92e-07R 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 4.2681822e+00 9.00e-01 9.98e+02 1.6 3.10e+03 - 2.62e-01 1.01e-03f 1 31 4.2681562e+00 9.00e-01 5.00e+03 -1.4 9.11e+00 -10.2 8.28e-01 1.98e-04h 1 32 4.2683469e+00 9.00e-01 8.13e+07 -0.3 1.91e+01 -10.7 1.00e+00 6.12e-05h 1 33r 4.2683469e+00 9.00e-01 1.00e+03 1.6 0.00e+00 -11.1 0.00e+00 4.27e-07R 2 34r 4.3549359e+00 2.88e-01 8.56e+02 0.9 4.56e+01 - 5.33e-01 4.67e-02f 1 35 4.3545979e+00 2.87e-01 4.97e+02 -1.3 8.91e+00 -11.6 8.34e-01 2.06e-03h 1 36 4.3559216e+00 2.87e-01 9.53e+05 -0.3 1.13e+01 -12.1 1.00e+00 5.47e-04h 1 37 4.3560119e+00 2.87e-01 3.57e+10 0.2 4.04e+01 -12.6 1.00e+00 2.63e-05h 1 38r 4.3560119e+00 2.87e-01 9.99e+02 2.5 0.00e+00 -13.0 0.00e+00 2.38e-07R 2 39r 4.3855196e+00 2.07e-01 2.36e+02 0.9 6.42e+00 - 7.68e-01 7.84e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 4.3747526e+00 2.01e-01 3.48e+01 -1.1 8.62e+00 -13.5 7.77e-01 2.93e-02h 1 41 4.2045419e+00 2.00e-01 5.10e+02 0.8 1.06e+03 -14.0 6.47e-02 1.48e-03f 1 42 4.2059649e+00 2.00e-01 1.73e+04 1.8 4.21e+02 -14.5 1.17e-01 1.40e-03h 1 43 4.2389644e+00 1.99e-01 2.23e+06 1.7 1.95e+01 -14.9 1.00e+00 6.08e-03h 1 44 4.2415154e+00 1.99e-01 1.41e+08 2.5 4.21e+01 -15.4 7.72e-03 1.22e-04h 1 45 4.2473577e+00 1.99e-01 6.52e+08 2.5 1.10e+02 -15.9 6.69e-04 1.45e-04h 1 46r 4.2473577e+00 1.99e-01 9.68e+02 2.5 0.00e+00 -16.4 0.00e+00 3.68e-07R 3 47r 4.2196814e+00 2.00e-01 2.24e+02 0.3 4.99e-01 - 7.75e-01 7.96e-01f 1 48r 4.3543062e+00 1.99e-01 9.56e+01 -0.2 7.20e-01 - 6.56e-01 7.65e-01f 1 49r 4.5440780e+00 1.99e-01 2.37e+01 -0.6 1.01e+00 - 9.54e-01 8.38e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50r 4.9670427e+00 1.99e-01 1.41e+01 -0.7 4.04e+00 - 1.00e+00 8.83e-01f 1 51r 4.8457752e+00 1.99e-01 2.00e+01 -0.9 1.28e+00 - 7.10e-01 1.00e+00f 1 52r 4.8278016e+00 1.99e-01 3.88e+01 -4.0 5.91e-01 0.0 9.74e-02 3.13e-01f 1 53r 4.8260182e+00 1.99e-01 4.10e+01 -1.7 5.90e-01 -0.5 2.07e-01 4.79e-01f 1 54r 4.7228780e+00 1.99e-01 9.49e+01 -4.0 4.10e-02 -0.1 8.33e-02 8.82e-01f 1 55r 4.6984416e+00 1.99e-01 5.94e+00 -4.0 9.32e-01 - 9.35e-01 9.67e-01f 1 56r 4.6104148e+00 1.99e-01 4.65e-01 -2.4 1.43e+00 - 9.97e-01 1.00e+00f 1 57r 4.6785472e+00 1.99e-01 1.95e+00 -2.5 2.91e+00 - 2.67e-01 1.00e+00h 1 58r 4.6733961e+00 1.99e-01 3.78e-02 -2.5 3.73e-01 - 1.00e+00 1.00e+00h 1 59r 4.6025313e+00 1.99e-01 4.93e-01 -3.7 6.71e-01 - 8.32e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60r 4.5797036e+00 1.99e-01 8.69e-04 -4.0 3.00e-02 - 1.00e+00 1.00e+00h 1 61r 4.5871662e+00 1.99e-01 9.13e-05 -4.0 6.16e-02 - 1.00e+00 1.00e+00h 1 62r 4.5858495e+00 1.99e-01 6.74e-06 -4.0 1.20e-02 - 1.00e+00 1.00e+00h 1 63r 4.5859126e+00 1.99e-01 4.03e-08 -4.0 9.49e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 63 (scaled) (unscaled) Objective...............: 4.5859129990887686e+00 4.5859129990887686e+00 Dual infeasibility......: 1.8437127514775766e+00 1.8437127514775766e+00 Constraint violation....: 1.9875045034644456e-01 1.9875045034644456e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000076652868e-04 1.0000000076652868e-04 Overall NLP error.......: 1.8437127514775766e+00 1.8437127514775766e+00 Number of objective function evaluations = 95 Number of objective gradient evaluations = 48 Number of equality constraint evaluations = 95 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 71 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 64 Total seconds in IPOPT = 28.075 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... 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 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 4.2956733e+00 2.17e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.8491805e+00 8.40e-02 2.11e+00 -0.9 2.19e+00 0.0 7.66e-01 9.67e-01f 1 2 2.7498807e+00 1.11e-02 1.28e+00 -0.8 3.03e-01 0.4 7.38e-01 1.00e+00f 1 3 2.5059664e+00 4.14e-03 2.13e-01 -1.6 7.05e-02 -0.1 9.91e-01 1.00e+00h 1 4 2.1810845e+00 3.67e-03 6.74e-02 -2.3 7.90e-02 -0.5 9.96e-01 9.22e-01f 1 5 2.0969930e+00 3.88e-04 1.50e-02 -3.3 2.74e-02 -1.0 9.86e-01 9.21e-01h 1 6 2.0909322e+00 4.16e-06 7.83e-04 -4.0 3.73e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909174e+00 1.55e-08 4.84e-05 -4.0 4.41e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909168e+00 3.06e-11 2.52e-05 -4.0 6.88e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909152e+00 1.08e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909102e+00 9.67e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908952e+00 8.71e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908504e+00 7.84e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907160e+00 7.07e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903139e+00 6.40e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891166e+00 5.85e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856068e+00 5.52e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796310e+00 2.30e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.31e-01h 1 18 2.0807292e+00 1.59e-04 1.84e-01 -4.0 6.64e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775314e+00 7.49e-03 2.51e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769306e+00 1.17e-03 5.46e-02 -4.0 1.77e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0760041e+00 1.20e-03 2.37e-02 -4.0 3.18e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754557e+00 1.74e-03 3.27e-02 -4.0 4.87e+02 -9.1 1.00e+00 7.16e-01h 1 23 2.0757693e+00 2.31e-03 1.12e-02 -4.0 1.47e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753717e+00 1.36e-03 5.25e-04 -4.1 8.07e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 4.82e-04 6.80e-06 -4.0 2.13e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 6.41e-07 1.09e-06 -4.0 1.18e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.21e-09 8.29e-08 -4.0 4.35e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.82e-11 1.52e-09 -4.0 6.90e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121572796e+00 2.0756712121572796e+00 Dual infeasibility......: 1.5165175086301504e-09 1.5165175086301504e-09 Constraint violation....: 3.8187009110401959e-11 3.8187009110401959e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000038e-04 1.0000000000000038e-04 Overall NLP error.......: 1.5165175086301504e-09 1.5165175086301504e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 41.004 EXIT: Optimal Solution Found. [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! initializing optimizer... 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 This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.7925849e+00 2.76e+00 2.93e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8785040e+00 2.70e-02 1.21e+00 -1.1 2.56e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2542793e+00 3.08e-02 1.02e-01 -1.8 3.83e-01 -1.6 9.92e-01 1.00e+00h 1 3 2.1297746e+00 1.40e-03 1.67e-01 -2.7 6.61e-02 -1.1 9.80e-01 9.96e-01h 1 4 2.0982125e+00 9.27e-04 2.19e-01 -4.0 1.98e-01 -1.6 1.00e+00 7.96e-01h 1 5 2.0939821e+00 6.43e-04 8.69e-01 -4.0 7.54e-01 -2.1 1.00e+00 4.58e-01h 1 6 2.0907976e+00 2.55e-04 1.13e-01 -4.0 5.18e-01 -2.6 1.00e+00 7.53e-01h 1 7 2.0910002e+00 5.77e-05 3.76e-02 -4.0 3.84e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0910126e+00 4.86e-07 2.07e-04 -4.0 7.05e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909929e+00 9.28e-08 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909308e+00 1.47e-07 2.05e-05 -4.0 6.32e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907477e+00 1.30e-06 4.98e-05 -4.0 1.88e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902258e+00 1.10e-05 4.21e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888767e+00 8.23e-05 3.17e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861771e+00 4.42e-04 1.75e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830932e+00 9.21e-04 4.73e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828608e+00 9.29e-04 2.38e-02 -4.0 5.38e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823457e+00 3.97e-04 1.00e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820397e+00 9.48e-05 1.84e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819518e+00 2.69e-04 8.64e-03 -4.0 9.90e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.67e-05 8.42e-04 -4.0 3.10e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.30e-07 1.38e-05 -4.0 4.44e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.76e-10 3.24e-08 -4.0 2.44e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.50e-13 1.21e-11 -4.0 4.58e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190871e+00 2.0819382907190871e+00 Dual infeasibility......: 1.2069321697659799e-11 1.2069321697659799e-11 Constraint violation....: 2.4957813593573519e-13 2.4957813593573519e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000037e-04 1.0000000000000037e-04 Overall NLP error.......: 1.2069321697659799e-11 1.2069321697659799e-11 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 28.147 EXIT: Optimal Solution Found. initializing optimizer... 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 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 2.9922547e+00 1.86e+00 1.98e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7282220e+00 2.53e-02 4.66e-01 -1.1 1.74e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2921959e+00 2.75e-02 5.13e-02 -1.7 3.08e-01 -1.6 9.66e-01 9.33e-01h 1 3 2.1287549e+00 2.00e-03 2.68e-01 -3.0 7.87e-02 -1.1 9.99e-01 9.84e-01h 1 4 2.0988674e+00 1.05e-03 1.04e-01 -4.0 1.05e-01 -1.6 1.00e+00 7.40e-01h 1 5 2.0915751e+00 2.36e-04 7.23e-01 -3.8 5.78e-01 -2.1 1.00e+00 6.96e-01h 1 6 2.0908641e+00 1.51e-04 3.80e-01 -4.0 6.18e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0908743e+00 9.98e-07 6.30e-03 -4.0 2.36e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909012e+00 4.55e-07 2.49e-05 -4.0 5.90e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908866e+00 1.02e-08 1.67e-05 -4.0 1.71e-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 2.0908476e+00 7.79e-08 7.30e-05 -4.0 4.81e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907429e+00 5.38e-07 2.66e-04 -4.0 1.34e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0903565e+00 5.24e-06 1.04e-03 -4.0 4.22e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0895536e+00 5.80e-05 8.50e-03 -4.0 1.33e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0891105e+00 2.33e-06 1.57e-03 -4.0 9.36e-01 -4.6 1.00e+00 1.00e+00h 1 15 2.0890283e+00 1.25e-06 1.42e-03 -4.0 1.99e+00 -5.1 1.00e+00 1.00e+00h 1 16 2.0884576e+00 1.25e-05 1.81e-03 -4.0 5.92e+00 -5.5 1.00e+00 1.00e+00h 1 17 2.0872415e+00 8.88e-05 3.75e-03 -4.0 1.57e+01 -6.0 1.00e+00 1.00e+00h 1 18 2.0853895e+00 2.47e-04 3.59e-02 -4.0 3.57e+01 -6.5 1.00e+00 6.93e-01h 1 19 2.0829303e+00 6.86e-04 4.59e-02 -4.0 5.07e+01 -7.0 1.00e+00 9.24e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0832223e+00 2.16e-03 5.29e-02 -4.0 8.03e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0833370e+00 1.83e-03 1.15e-01 -4.0 3.09e+02 -7.9 2.30e-01 1.00e+00h 1 22 2.0826291e+00 1.21e-03 3.23e-01 -4.0 9.32e+00 -5.7 9.56e-01 5.00e-01h 1 23 2.0825662e+00 1.23e-03 1.14e+00 -3.7 3.10e+01 -6.2 1.00e+00 1.21e-02h 2 24 2.0821476e+00 5.39e-04 3.52e-02 -4.0 3.37e+01 -6.7 1.00e+00 1.00e+00h 1 25 2.0874720e+00 3.75e-02 2.46e-02 -3.2 9.56e+01 -7.1 9.71e-01 1.00e+00h 1 26 2.1476570e+00 2.01e-02 6.21e-01 -3.3 6.71e+01 -5.8 1.42e-01 3.38e-01h 1 27 2.0913690e+00 1.07e-02 3.75e+01 -3.3 9.48e-01 -0.9 6.36e-02 4.69e-01f 1 28 2.2100213e+00 7.14e-03 2.83e+01 -3.3 1.48e+00 -1.3 5.73e-01 3.30e-01h 1 29 2.2127856e+00 6.94e-03 2.76e+01 -3.3 2.24e+00 -1.8 1.66e-02 2.70e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.2029128e+00 6.82e-03 2.60e+01 -3.3 4.92e+00 -1.4 7.81e-04 1.81e-02f 1 31 2.2091627e+00 6.82e-03 2.60e+01 -3.3 1.46e+02 -1.9 1.01e-06 4.19e-04h 1 32 2.2031860e+00 6.81e-03 1.28e+00 -3.3 6.52e+01 -0.5 5.27e-03 9.44e-04f 1 33 2.1602815e+00 6.34e-03 2.27e+00 -3.3 4.79e+00 -1.0 8.19e-02 7.00e-02f 1 34 2.1424923e+00 4.98e-03 2.87e+01 -3.3 2.23e+00 -1.5 7.73e-01 2.20e-01f 1 35 2.1028346e+00 1.94e-04 5.08e+00 -3.3 1.63e-01 -1.1 5.68e-01 1.00e+00f 1 36 2.0935585e+00 1.41e-04 1.83e+00 -3.3 1.11e-01 -1.5 5.78e-01 1.00e+00h 1 37 2.0895120e+00 2.12e-04 4.60e-01 -3.3 3.17e-01 -2.0 7.41e-01 6.26e-01h 1 38 2.0867965e+00 2.76e-04 1.57e-01 -3.3 4.53e-01 -2.5 1.00e+00 7.18e-01f 1 39 2.0856448e+00 1.90e-04 1.04e+00 -3.8 3.54e-01 -3.0 1.00e+00 3.18e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0835729e+00 4.18e-05 1.35e-01 -4.0 1.47e-01 -3.4 1.00e+00 7.61e-01h 1 41 2.0836073e+00 7.21e-06 1.28e-04 -4.0 8.06e-02 -3.9 1.00e+00 1.00e+00h 1 42 2.0835922e+00 2.27e-07 9.51e-06 -4.0 2.41e-01 -4.4 1.00e+00 1.00e+00h 1 43 2.0835540e+00 1.63e-07 9.42e-06 -4.0 7.15e-01 -4.9 1.00e+00 1.00e+00h 1 44 2.0834429e+00 1.37e-06 6.80e-05 -4.0 2.08e+00 -5.4 1.00e+00 1.00e+00h 1 45 2.0831452e+00 9.96e-06 5.60e-04 -4.0 5.68e+00 -5.8 1.00e+00 1.00e+00h 1 46 2.0825503e+00 4.13e-05 3.36e-03 -4.0 1.22e+01 -6.3 1.00e+00 1.00e+00h 1 47 2.0821028e+00 9.81e-05 5.57e-03 -4.0 1.65e+01 -6.8 1.00e+00 1.00e+00h 1 48 2.0820934e+00 3.21e-04 1.45e-02 -4.0 6.09e+01 -7.3 6.49e-01 1.00e+00h 1 49 2.0820064e+00 4.02e-04 1.67e+00 -4.0 3.36e+01 -5.9 1.00e+00 9.94e-02h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819915e+00 1.10e-05 3.74e-04 -4.0 2.14e+00 -6.4 1.00e+00 1.00e+00h 1 51 2.0819796e+00 4.20e-05 1.71e-04 -4.0 4.59e+00 -6.9 1.00e+00 1.00e+00h 1 52 2.0819456e+00 8.01e-06 2.65e-04 -4.0 1.21e+01 -7.4 1.00e+00 1.00e+00h 1 53 2.0818946e+00 3.34e-05 1.13e-03 -4.0 2.61e+01 -7.8 1.00e+00 1.00e+00h 1 54 2.0818545e+00 6.16e-05 1.72e-03 -4.0 3.99e+01 -8.3 1.00e+00 1.00e+00h 1 55 2.0818406e+00 3.17e-05 7.24e-04 -4.0 3.28e+01 -8.8 1.00e+00 1.00e+00h 1 56 2.0818385e+00 3.11e-06 8.17e-05 -4.0 1.18e+01 -9.3 1.00e+00 1.00e+00h 1 57 2.0818383e+00 4.45e-08 1.67e-06 -4.0 1.63e+00 -9.8 1.00e+00 1.00e+00h 1 58 2.0818383e+00 8.54e-11 4.30e-09 -4.0 8.14e-02 -10.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 58 (scaled) (unscaled) Objective...............: 2.0818383022601483e+00 2.0818383022601483e+00 Dual infeasibility......: 4.3012251949969393e-09 4.3012251949969393e-09 Constraint violation....: 8.5446316688830848e-11 8.5446316688830848e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 4.3012251949969393e-09 4.3012251949969393e-09 Number of objective function evaluations = 65 Number of objective gradient evaluations = 59 Number of equality constraint evaluations = 65 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 59 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 58 Total seconds in IPOPT = 28.512 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt 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 1.9980637e+00 8.74e-01 1.17e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3427551e+00 2.23e-01 1.65e+00 -0.9 6.92e-01 0.0 9.94e-01 1.00e+00h 1 2 1.4173813e+00 7.37e-02 3.80e-01 -0.8 3.07e-01 -0.5 1.00e+00 6.69e-01h 1 3 1.5735540e+00 3.44e-02 8.68e-01 -1.9 6.03e-01 -1.0 9.16e-01 1.00e+00h 1 4 1.3095633e+00 1.93e-02 4.66e-01 -1.6 9.04e-01 -1.4 9.42e-01 2.99e-01f 1 5 1.2287536e+00 1.48e-02 5.72e-01 -1.7 8.00e-01 -1.9 9.43e-01 2.23e-01h 1 6 1.1941414e+00 4.93e-03 2.94e-01 -2.8 1.08e+00 -2.4 9.96e-01 6.39e-01h 1 7 1.0975125e+00 4.80e-04 1.23e-01 -4.0 4.57e-01 - 1.00e+00 9.58e-01h 1 8 1.0909723e+00 5.02e-06 1.18e-02 -4.0 8.97e-01 - 9.93e-01 1.00e+00h 1 9 1.0908991e+00 6.06e-09 2.83e-04 -4.0 1.51e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908997e+00 5.14e-14 8.63e-05 -4.0 2.76e-01 - 1.00e+00 1.00e+00f 1 11 1.0908997e+00 1.43e-24 8.55e-05 -4.0 1.14e-01 - 1.00e+00 1.00e+00f 1 12 1.0907198e+00 7.84e-29 7.83e-09 -4.1 3.52e-05 - 1.00e+00 1.00e+00f 1 13 1.0908997e+00 7.02e-28 9.43e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0908997336734849e+00 1.0908997336734849e+00 Dual infeasibility......: 9.4338492937634522e-09 9.4338492937634522e-09 Constraint violation....: 7.0186261850986552e-28 7.0186261850986552e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081632700947e-04 1.0000081632700947e-04 Overall NLP error.......: 9.4338492937634522e-09 9.4338492937634522e-09 Number of objective function evaluations = 14 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 24.276 EXIT: Optimal Solution Found. initializing optimizer... 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 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 2.7594857e+00 1.80e+00 1.60e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0105469e+00 1.03e+01 1.53e+01 -1.0 1.17e+02 -4.0 9.92e-01 9.91e-01h 1 2 2.2124763e+00 5.80e-01 7.80e+00 -1.6 4.37e+01 -4.5 6.47e-01 1.00e+00h 1 3 2.0874866e+00 9.58e-02 8.16e-01 -1.6 8.05e+00 -4.1 1.00e+00 9.70e-01h 1 4 2.1034140e+00 4.35e-03 5.93e-01 -2.5 2.45e+00 -4.5 9.99e-01 1.00e+00h 1 5 2.0952080e+00 2.93e-03 3.04e-02 -3.6 3.06e+00 -5.0 1.00e+00 1.00e+00h 1 6 2.0878954e+00 4.90e-03 3.02e-03 -4.0 6.02e+00 -5.5 1.00e+00 1.00e+00h 1 7 2.0860571e+00 1.63e-04 1.01e-03 -4.0 1.82e+01 -6.0 1.00e+00 1.00e+00h 1 8 2.0809734e+00 1.30e-03 7.40e-03 -4.0 5.15e+01 -6.4 1.00e+00 1.00e+00h 1 9 2.0799096e+00 1.12e-03 5.70e-02 -4.0 6.13e+01 -6.9 1.00e+00 1.69e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0788158e+00 3.04e-03 1.41e-01 -4.0 7.10e+01 -7.4 1.00e+00 1.00e+00h 1 11 2.0773635e+00 1.47e-03 2.97e-02 -4.0 1.39e+02 -7.9 1.00e+00 8.47e-01h 1 12 2.0764819e+00 6.18e-04 2.84e-02 -4.0 2.49e+02 -8.3 1.00e+00 8.11e-01h 1 13 2.0760589e+00 2.21e-03 3.91e-02 -4.0 4.03e+02 -8.8 1.00e+00 1.00e+00h 1 14 2.0756241e+00 9.41e-04 2.29e-02 -4.0 3.10e+02 -9.3 1.00e+00 6.70e-01h 1 15 2.0758079e+00 4.98e-04 6.24e-03 -4.0 1.11e+02 -9.8 1.00e+00 1.00e+00h 1 16 2.0757715e+00 1.52e-05 5.29e-05 -4.0 2.47e+01 -10.3 1.00e+00 1.00e+00h 1 17 2.0757704e+00 7.07e-09 3.10e-06 -4.0 2.00e+01 -10.7 1.00e+00 1.00e+00h 1 18 2.0757704e+00 1.17e-09 5.42e-07 -4.0 9.28e+00 -11.2 1.00e+00 1.00e+00h 1 19 2.0757704e+00 4.11e-11 2.42e-08 -4.0 2.32e+00 -11.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0757704e+00 3.32e-13 1.98e-10 -4.0 2.53e-01 -12.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 20 (scaled) (unscaled) Objective...............: 2.0757703960664760e+00 2.0757703960664760e+00 Dual infeasibility......: 1.9791379068912450e-10 1.9791379068912450e-10 Constraint violation....: 3.3212733778487102e-13 3.3212733778487102e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000024e-04 1.0000000000000024e-04 Overall NLP error.......: 1.9791379068912450e-10 1.9791379068912450e-10 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 = 29.303 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt 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 9.3045616e-01 7.56e-01 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.5801169e+00 7.50e-01 1.12e+01 -0.7 4.89e+00 -2.0 7.09e-01 1.00e+00h 1 2 1.8729002e+00 4.01e-01 3.50e+00 -0.4 3.25e-01 0.2 1.00e+00 1.00e+00f 1 3 2.0850600e+00 4.84e-02 1.30e+00 -0.9 4.74e-01 -0.2 8.59e-01 1.00e+00h 1 4 1.9669126e+00 2.68e-02 6.37e-01 -0.9 4.60e-01 -0.7 8.67e-01 7.39e-01h 1 5 1.3674360e+00 3.34e-03 3.55e-01 -1.8 2.12e-01 -1.2 9.42e-01 1.00e+00f 1 6 1.1077169e+00 5.08e-05 4.77e-01 -3.1 2.20e+00 - 9.46e-01 9.70e-01f 1 7 1.0920747e+00 1.98e-07 5.83e-01 -4.0 7.40e+00 - 1.00e+00 1.00e+00f 1 8 1.0911550e+00 9.58e-08 3.43e-03 -4.0 4.99e-01 - 1.00e+00 5.15e-01h 1 9 1.0908995e+00 1.75e-10 7.35e-04 -4.0 2.66e-01 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908997e+00 5.15e-16 2.96e-05 -4.0 7.00e-03 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 8.43e-28 2.96e-05 -4.0 2.49e-07 - 1.00e+00 1.00e+00h 1 12 1.0907198e+00 5.98e-28 3.17e-09 -4.1 2.00e-05 - 1.00e+00 1.00e+00f 1 13 1.0908997e+00 3.17e-27 3.50e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0908997336734827e+00 1.0908997336734827e+00 Dual infeasibility......: 3.5049045668793938e-09 3.5049045668793938e-09 Constraint violation....: 3.1746581816775583e-27 3.1746581816775583e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081632638662e-04 1.0000081632638662e-04 Overall NLP error.......: 3.5049045668793938e-09 3.5049045668793938e-09 Number of objective function evaluations = 14 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 22.385 EXIT: Optimal Solution Found. Difference in Jacobian 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 applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.3743440e+00 3.42e+00 6.30e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6819442e+00 1.54e-01 3.34e+00 -0.8 1.99e+00 0.0 9.74e-01 9.55e-01f 1 2 2.4820839e+00 2.18e-02 1.97e+00 -1.0 2.64e-01 0.4 1.00e+00 8.72e-01h 1 3 2.5965314e+00 5.23e-03 1.02e+00 -1.3 1.96e-01 -0.1 9.39e-01 1.00e+00f 1 4 2.4197061e+00 4.61e-03 7.32e-01 -2.2 2.49e-01 -0.5 6.80e-01 3.76e-01h 1 5 2.3209097e+00 4.01e-02 7.16e-01 -4.0 2.57e+00 -1.0 1.59e-01 1.07e-01f 1 6 2.2098532e+00 2.61e-02 4.12e-01 -2.4 9.83e-02 0.3 9.98e-01 3.48e-01h 1 7 2.1440601e+00 1.79e-02 2.54e-01 -3.4 5.81e-02 -0.2 1.00e+00 3.17e-01h 1 8 2.0990682e+00 8.25e-03 2.67e-01 -4.0 5.21e-02 -0.6 1.00e+00 5.38e-01h 1 9 2.0907756e+00 9.48e-04 1.72e-01 -4.0 7.31e-02 -1.1 1.00e+00 8.85e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909092e+00 7.63e-07 1.60e-03 -4.0 1.51e-02 -1.6 1.00e+00 1.00e+00h 1 11 2.0909286e+00 2.08e-08 6.52e-05 -4.0 7.51e-03 -2.1 1.00e+00 1.00e+00h 1 12 2.0909265e+00 2.00e-10 2.72e-05 -4.0 9.37e-03 -2.5 1.00e+00 1.00e+00h 1 13 2.0909226e+00 3.39e-10 3.17e-05 -4.0 2.59e-02 -3.0 1.00e+00 1.00e+00h 1 14 2.0909131e+00 2.40e-09 4.78e-05 -4.0 7.56e-02 -3.5 1.00e+00 1.00e+00h 1 15 2.0908883e+00 1.86e-08 1.67e-04 -4.0 2.10e-01 -4.0 1.00e+00 1.00e+00h 1 16 2.0908400e+00 1.08e-07 1.27e-03 -4.0 5.11e-01 -4.4 1.00e+00 1.00e+00h 1 17 2.0907469e+00 4.78e-07 1.12e-03 -4.0 1.22e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0904963e+00 5.12e-06 9.98e-04 -4.0 3.89e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0897571e+00 3.29e-05 5.26e-03 -4.0 1.03e+01 -5.9 1.00e+00 9.12e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0887139e+00 9.92e-05 5.36e-02 -4.0 3.31e+01 -6.4 1.00e+00 5.00e-01f 2 21 2.0881348e+00 2.90e-05 1.01e-02 -4.0 2.60e+00 -5.0 1.00e+00 8.01e-01h 1 22 2.0878841e+00 4.34e-06 3.36e-03 -4.0 4.96e+00 -5.5 1.00e+00 1.00e+00h 1 23 2.0867845e+00 5.58e-05 8.42e-03 -4.0 1.44e+01 -6.0 1.00e+00 8.22e-01h 1 24 2.0848991e+00 3.26e-04 1.75e-02 -4.0 3.10e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0833167e+00 2.88e-04 4.23e-02 -4.0 4.22e+01 -6.9 1.00e+00 5.43e-01h 1 26 2.0824794e+00 2.23e-04 1.07e-02 -4.0 7.27e+01 -7.4 1.00e+00 8.46e-01h 1 27 2.0822622e+00 2.65e-04 1.19e-02 -4.0 1.53e+02 -7.9 9.11e-01 1.00e+00h 1 28 2.0824738e+00 1.51e-03 2.44e-02 -4.0 3.70e+01 -6.6 1.00e+00 1.00e+00h 1 29 2.0820830e+00 1.47e-03 2.33e-02 -4.0 2.67e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0825911e+00 1.92e-04 9.02e-02 -4.0 2.42e+00 -4.8 6.28e-01 7.08e-01h 1 31 2.0822236e+00 5.00e-04 4.62e-03 -4.0 2.41e+00 -5.3 1.00e+00 1.00e+00h 1 32 2.0821886e+00 3.42e-04 1.96e-01 -4.0 9.00e-01 -4.0 1.83e-01 2.73e-01h 1 33 2.0827719e+00 1.80e-04 6.39e-01 -3.8 1.69e-01 -4.4 1.00e+00 5.00e-01h 2 34 2.0822556e+00 6.52e-04 1.17e-01 -4.0 3.23e+00 -4.9 3.87e-01 5.45e-01h 1 35 2.0822396e+00 1.70e-04 1.46e-01 -4.0 8.84e-01 -4.5 9.03e-01 8.02e-01h 1 36 2.0823301e+00 3.70e-04 5.10e-03 -4.0 1.85e+00 -5.0 1.00e+00 1.00e+00f 1 37 2.0820753e+00 6.82e-05 2.02e-03 -4.1 9.88e-01 -5.4 1.00e+00 1.00e+00h 1 38 2.0822035e+00 2.14e-07 4.41e-03 -4.0 1.38e+00 -5.9 1.00e+00 1.00e+00H 1 39 2.0821477e+00 7.97e-06 8.12e-04 -4.0 2.17e-01 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821560e+00 1.40e-06 1.63e-04 -4.0 4.10e-01 -5.1 1.00e+00 1.00e+00h 1 41 2.0821624e+00 6.21e-06 1.06e-04 -4.0 6.46e-01 -5.5 1.00e+00 1.00e+00h 1 42 2.0819825e+00 4.67e-05 2.14e-04 -4.1 2.44e+00 -6.0 1.00e+00 1.00e+00h 1 43 2.0821383e+00 6.44e-05 6.59e-04 -4.0 3.04e+00 -6.5 1.00e+00 1.00e+00h 1 44 2.0818801e+00 2.78e-04 6.55e-04 -4.1 1.27e+01 -7.0 1.00e+00 1.00e+00h 1 45 2.0820249e+00 4.47e-04 2.47e-03 -4.0 2.10e+01 -7.4 1.00e+00 1.00e+00h 1 46 2.0816752e+00 1.14e-03 2.87e-03 -4.1 4.49e+01 -7.9 1.00e+00 1.00e+00h 1 47 2.0818621e+00 1.35e-03 3.94e-03 -4.0 5.69e+01 -8.4 1.00e+00 1.00e+00h 1 48 2.0818457e+00 6.52e-05 9.76e-04 -4.0 3.91e+01 -8.9 1.00e+00 1.00e+00h 1 49 2.0818436e+00 3.18e-06 8.37e-05 -4.0 1.19e+01 -9.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818434e+00 3.25e-08 1.19e-06 -4.0 1.38e+00 -9.8 1.00e+00 1.00e+00h 1 51 2.0818434e+00 4.28e-11 2.13e-09 -4.0 5.74e-02 -10.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 51 (scaled) (unscaled) Objective...............: 2.0818434105821821e+00 2.0818434105821821e+00 Dual infeasibility......: 2.1320343441286280e-09 2.1320343441286280e-09 Constraint violation....: 4.2761350016462529e-11 4.2761350016462529e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000022e-04 1.0000000000000022e-04 Overall NLP error.......: 2.1320343441286280e-09 2.1320343441286280e-09 Number of objective function evaluations = 59 Number of objective gradient evaluations = 52 Number of equality constraint evaluations = 59 Number of inequality constraint evaluations = 59 Number of equality constraint Jacobian evaluations = 52 Number of inequality constraint Jacobian evaluations = 52 Number of Lagrangian Hessian evaluations = 51 Total seconds in IPOPT = 31.425 EXIT: Optimal Solution Found. 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 applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 96 Number of nonzeros in Lagrangian Hessian.............: 1804 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.4397048e+01 3.91e+00 4.12e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.7354304e+00 3.04e-01 3.87e+00 -1.0 2.64e+00 0.0 7.00e-01 9.24e-01f 1 2 2.6140384e+00 1.59e-02 3.98e+00 -1.2 8.12e-01 -0.5 6.09e-01 1.00e+00f 1 3 2.4486790e+00 1.78e-02 4.19e-01 -1.3 2.28e-01 -1.0 9.82e-01 8.55e-01h 1 4 2.2053689e+00 5.36e-03 6.55e-02 -2.2 1.58e-01 -1.4 9.81e-01 1.00e+00h 1 5 2.0989056e+00 9.71e-04 3.90e-02 -3.6 1.16e-01 -1.9 1.00e+00 8.67e-01h 1 6 2.0910299e+00 9.23e-06 1.19e-03 -4.0 1.03e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908751e+00 3.28e-07 2.49e-05 -4.0 1.84e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908688e+00 9.52e-09 1.62e-05 -4.0 3.55e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908599e+00 3.58e-09 1.60e-05 -4.0 1.05e-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 2.0908354e+00 2.85e-08 2.83e-05 -4.0 3.01e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907689e+00 2.17e-07 1.23e-04 -4.0 8.56e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905616e+00 2.05e-06 3.76e-04 -4.0 2.55e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0904845e+00 2.00e-06 1.53e-02 -4.0 2.89e+02 -5.7 2.92e-02 4.15e-03h 2 14 2.0887873e+00 1.40e-04 5.54e-03 -4.0 2.13e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0878625e+00 1.51e-04 1.55e-01 -4.0 6.22e+01 -6.7 1.00e+00 1.62e-01h 1 16 2.0830315e+00 2.51e-03 1.16e-01 -4.0 8.70e+01 -7.2 1.00e+00 9.19e-01h 1 17 2.0832781e+00 3.86e-03 1.00e-01 -4.0 1.68e+02 -7.6 4.97e-01 1.00e+00h 1 18 3.9448883e+00 2.42e-03 7.52e+00 -4.0 3.01e+02 -7.2 2.70e-02 8.33e-01H 1 19 2.1399445e+00 7.37e-08 1.34e+00 -4.1 4.13e-01 0.6 1.74e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0852452e+00 4.46e-08 1.63e-01 -4.1 7.64e-02 0.2 1.00e+00 9.51e-01f 1 21 2.0856896e+00 4.32e-08 1.26e+00 -4.0 7.74e-02 -0.3 1.00e+00 3.12e-02f 6 22 2.0857732e+00 1.72e-07 2.00e-03 -3.9 1.24e-02 -0.8 1.00e+00 1.00e+00h 1 23 2.0855264e+00 7.98e-08 1.74e-03 -3.9 3.24e-02 -1.3 1.00e+00 1.00e+00h 1 24 2.0853491e+00 7.61e-07 1.46e-03 -3.9 8.19e-02 -1.7 1.00e+00 1.00e+00h 1 25 2.0851388e+00 1.74e-06 6.08e-04 -3.9 1.02e-01 -2.2 1.00e+00 1.00e+00h 1 26 2.0850006e+00 2.16e-07 9.23e-05 -4.0 2.13e-02 -2.7 1.00e+00 1.00e+00h 1 27 2.0849829e+00 7.56e-08 2.82e-05 -4.0 2.01e-02 -3.2 1.00e+00 1.00e+00h 1 28 2.0849778e+00 5.54e-09 2.83e-05 -4.0 6.03e-02 -3.7 1.00e+00 1.00e+00h 1 29 2.0849637e+00 7.45e-09 2.83e-05 -4.0 1.81e-01 -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 30 2.0849215e+00 6.58e-08 2.85e-05 -4.0 5.38e-01 -4.6 1.00e+00 1.00e+00h 1 31 2.0847991e+00 5.54e-07 5.64e-05 -4.0 1.58e+00 -5.1 1.00e+00 1.00e+00h 1 32 2.0844646e+00 4.04e-06 4.56e-04 -4.0 4.41e+00 -5.6 1.00e+00 1.00e+00h 1 33 2.0837157e+00 2.69e-05 2.99e-03 -4.0 1.09e+01 -6.0 1.00e+00 1.00e+00h 1 34 2.0829026e+00 1.02e-04 9.09e-03 -4.0 2.06e+01 -6.5 1.00e+00 1.00e+00h 1 35 2.0825598e+00 1.34e-04 8.54e-03 -4.0 4.36e+01 -7.0 1.00e+00 1.00e+00h 1 36 2.0819844e+00 5.77e-04 7.46e-03 -4.0 8.31e+01 -7.5 6.74e-01 1.00e+00h 1 37 2.0825649e+00 4.46e-04 9.17e-02 -4.0 2.72e+02 -7.0 3.48e-02 1.37e-01h 3 38 2.0819570e+00 3.80e-04 2.75e+00 -4.1 8.46e+00 -4.8 7.79e-01 2.02e-01h 1 39 2.0819457e+00 2.73e-04 9.38e-01 -3.9 1.29e+00 -5.3 1.00e+00 2.88e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0820335e+00 2.86e-04 2.65e-03 -4.0 2.49e+00 -5.8 1.00e+00 1.00e+00h 1 41 2.0821186e+00 1.77e-04 7.80e-04 -4.0 9.72e+00 -6.2 1.00e+00 1.00e+00h 1 42 2.0821825e+00 1.51e-04 1.06e-03 -4.0 5.43e+00 -5.8 1.00e+00 1.00e+00h 1 43 2.0820931e+00 3.28e-04 2.85e-03 -4.0 4.90e+00 -6.3 1.00e+00 1.00e+00h 1 44 2.0820248e+00 4.18e-05 1.18e-03 -4.0 5.20e+00 -6.8 1.00e+00 1.00e+00h 1 45 2.0819826e+00 3.02e-05 5.26e-04 -4.0 1.11e+01 -7.3 1.00e+00 1.00e+00h 1 46 2.0819254e+00 2.47e-05 1.02e-03 -4.0 2.65e+01 -7.7 1.00e+00 1.00e+00h 1 47 2.0818702e+00 6.76e-05 2.20e-03 -4.0 4.55e+01 -8.2 1.00e+00 1.00e+00h 1 48 2.0818456e+00 5.74e-05 1.41e-03 -4.0 4.44e+01 -8.7 1.00e+00 1.00e+00h 1 49 2.0818411e+00 9.41e-06 2.24e-04 -4.0 1.97e+01 -9.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818407e+00 2.19e-07 4.02e-05 -4.0 3.44e+00 -9.6 1.00e+00 1.00e+00h 1 51 2.0818407e+00 6.71e-10 4.02e-05 -4.0 2.19e-01 -10.1 1.00e+00 1.00e+00h 1 52 2.0818407e+00 2.74e-13 4.02e-05 -4.0 4.88e-03 -10.6 1.00e+00 1.00e+00h 1 53 2.0818407e+00 8.88e-16 4.02e-05 -4.0 3.74e-05 -11.1 1.00e+00 1.00e+00H 1 54 2.0818407e+00 2.22e-16 4.02e-05 -4.0 2.01e-05 -11.5 1.00e+00 1.00e+00h 1 55 2.0815814e+00 2.08e-04 3.28e-05 -4.1 9.47e+00 -12.0 1.00e+00 1.00e+00h 1 56 2.0818419e+00 2.15e-04 4.03e-05 -4.0 9.79e+00 -12.5 1.00e+00 1.00e+00h 1 57 2.0815819e+00 2.14e-04 3.28e-05 -4.1 9.75e+00 -13.0 1.00e+00 1.00e+00h 1 58 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -13.5 9.77e-01 9.68e-01h 1 59 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -13.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816124e+00 4.95e-04 3.34e-05 -4.1 2.07e+01 -14.4 1.00e+00 1.00e+00h 1 61 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -14.9 9.76e-01 9.61e-01h 1 62 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.4 1.00e+00 1.00e+00h 1 63 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -15.8 1.00e+00 1.00e+00f 1 64 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.3 1.00e+00 1.00e+00h 1 65 2.0816420e+00 4.58e-07 3.45e-05 -4.1 8.54e+00 -16.8 1.00e+00 1.00e+00h 1 66 2.0818414e+00 1.26e-04 4.03e-05 -4.0 7.46e+00 -17.3 1.00e+00 1.00e+00h 1 67 2.0815817e+00 2.11e-04 3.28e-05 -4.1 9.63e+00 -17.7 1.00e+00 1.00e+00h 1 68 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -18.2 9.77e-01 9.68e-01h 1 69 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -18.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -19.2 1.00e+00 1.00e+00f 1 71 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -19.7 1.00e+00 1.00e+00h 1 72 2.0816444e+00 5.44e-07 3.45e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 73 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 74 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0805468e+00 5.07e-08 3.45e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 76 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 77 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0816573e+00 1.18e-06 3.49e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0805469e+00 5.37e-08 3.50e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 82 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 83 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 84 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0816639e+00 1.62e-06 3.51e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 87 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805470e+00 5.53e-08 3.53e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 8.66e-11 4.01e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 91 2.0820406e+00 1.30e-02 4.36e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 92 2.0817222e+00 1.13e-03 7.75e-05 -4.1 5.82e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0816640e+00 1.63e-06 3.51e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0805948e+00 3.76e-03 1.60e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 95 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0805470e+00 5.54e-08 3.53e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 9.45e-07 8.04e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 98 2.0805365e+00 8.67e-11 4.01e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 2.22e-16 4.01e-10 -9.0 1.02e-05 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 4.44e-16 4.01e-10 -9.0 2.01e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436475e+00 2.0805364595436475e+00 Dual infeasibility......: 4.0137935788072611e-10 4.0137935788072611e-10 Constraint violation....: 4.4408920985006262e-16 4.4408920985006262e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971184526e-10 9.0909090971184526e-10 Overall NLP error.......: 9.9999090909091564e-05 9.9999090909091564e-05 Number of objective function evaluations = 118 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 118 Number of inequality constraint evaluations = 118 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 33.791 EXIT: Maximum Number of Iterations Exceeded. 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 applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 10 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 1 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 7.4317574e+01 3.00e+00 2.74e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.4920836e+01 2.28e+00 2.02e+01 -0.5 2.03e+00 0.0 1.00e+00 2.42e-01f 1 2 4.5239560e+00 1.18e-01 3.31e+01 -0.1 1.58e+00 -0.5 3.38e-01 1.00e+00f 1 3 3.2350440e+00 4.40e-02 2.65e+00 -0.3 3.28e-01 -0.1 9.90e-01 1.00e+00f 1 4 3.0066441e+00 1.68e-02 3.91e-01 -1.1 2.68e-01 -0.5 9.58e-01 1.00e+00h 1 5 2.4861946e+00 2.21e-02 1.20e-01 -1.7 2.49e-01 -1.0 9.17e-01 1.00e+00f 1 6 2.2037021e+00 1.17e-02 1.81e-01 -2.3 2.92e-01 -1.5 9.31e-01 6.80e-01h 1 7 2.1017399e+00 1.23e-03 9.05e-03 -2.9 8.15e-02 -2.0 9.93e-01 1.00e+00h 1 8 2.0909982e+00 1.43e-05 4.68e-04 -4.0 7.55e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909187e+00 2.38e-07 2.59e-04 -4.0 4.40e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909127e+00 6.94e-10 2.59e-04 -4.0 4.39e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909005e+00 7.67e-09 2.59e-04 -4.0 1.27e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908699e+00 5.42e-08 2.59e-04 -4.0 3.55e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907946e+00 3.21e-07 2.80e-04 -4.0 9.65e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905749e+00 2.82e-06 3.53e-04 -4.0 2.80e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0904862e+00 4.15e-07 3.32e-04 -4.0 1.14e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901413e+00 8.99e-07 3.12e-03 -4.0 4.13e+00 -5.4 1.00e+00 7.98e-01H 1 17 2.0894903e+00 5.23e-05 1.18e-02 -4.0 1.19e+01 -5.8 1.00e+00 1.00e+00f 1 18 2.0887449e+00 5.17e-05 8.46e-02 -4.0 1.67e+01 -5.4 1.00e+00 2.66e-01h 1 19 2.0878565e+00 5.36e-05 1.37e-02 -4.0 1.21e+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 2.0864490e+00 1.15e-04 4.27e-02 -4.0 3.02e+01 -6.4 1.00e+00 5.54e-01h 1 21 2.0835362e+00 8.99e-04 4.60e-02 -4.0 5.22e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0826671e+00 2.59e-04 1.42e-02 -4.0 6.37e+01 -7.3 1.00e+00 6.51e-01h 1 23 2.0823969e+00 3.84e-04 1.51e-02 -4.0 1.49e+02 -7.8 9.25e-01 1.00e+00h 1 24 2.0826376e+00 3.35e-04 8.54e-03 -4.0 1.87e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0824205e+00 3.37e-04 1.75e-03 -4.0 5.09e+01 -6.9 7.15e-01 1.00e+00h 1 26 2.0822399e+00 1.04e-03 2.10e-02 -4.0 3.41e+01 -7.4 1.00e+00 1.00e+00h 1 27 2.0820001e+00 5.60e-05 7.56e-03 -4.0 5.12e+01 -7.9 1.00e+00 1.00e+00h 1 28 2.0821781e+00 4.74e-05 1.51e-01 -4.0 2.36e+00 -4.8 2.92e-01 3.84e-01h 1 29 2.0820611e+00 6.73e-05 1.13e-01 -4.0 1.22e+00 -5.2 4.86e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0819762e+00 1.12e-06 1.19e-03 -4.0 7.79e-02 -2.1 1.00e+00 1.00e+00h 1 31 2.0820522e+00 2.04e-07 2.59e-04 -4.0 2.48e-02 -2.6 1.00e+00 1.00e+00h 1 32 2.0820402e+00 3.95e-08 2.59e-04 -4.0 2.18e-02 -3.1 1.00e+00 1.00e+00h 1 33 2.0820377e+00 1.42e-08 2.59e-04 -4.0 2.46e-02 -3.5 1.00e+00 1.00e+00h 1 34 2.0820323e+00 1.32e-07 2.59e-04 -4.0 6.71e-02 -4.0 1.00e+00 1.00e+00h 1 35 2.0820207e+00 6.91e-07 2.59e-04 -4.0 1.56e-01 -4.5 1.00e+00 1.00e+00h 1 36 2.0818618e+00 8.54e-06 2.07e-04 -4.1 3.32e-01 -5.0 1.00e+00 1.00e+00h 1 37 2.0819915e+00 4.72e-06 2.59e-04 -4.0 2.31e-01 -5.4 1.00e+00 1.00e+00h 1 38 2.0818044e+00 2.14e-05 2.71e-04 -4.1 1.51e+00 -5.9 1.00e+00 1.00e+00h 1 39 2.0819599e+00 3.34e-05 2.75e-04 -4.0 1.58e+00 -6.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817295e+00 1.42e-04 4.68e-04 -4.1 6.89e+00 -6.9 1.00e+00 1.00e+00h 1 41 2.0819279e+00 2.77e-04 8.54e-04 -4.0 1.23e+01 -7.3 1.00e+00 1.00e+00h 1 42 2.0816408e+00 6.30e-04 4.39e-04 -4.1 2.68e+01 -7.8 1.00e+00 1.00e+00h 1 43 2.0818536e+00 9.69e-04 1.84e-03 -4.0 4.12e+01 -8.3 1.00e+00 1.00e+00h 1 44 2.0815828e+00 7.91e-04 7.79e-04 -4.1 3.49e+01 -8.8 1.00e+00 1.00e+00h 1 45 2.0818395e+00 2.81e-04 2.59e-04 -4.0 1.20e+01 -9.3 1.00e+00 1.00e+00h 1 46 2.0815805e+00 2.20e-04 2.07e-04 -4.1 9.98e+00 -9.7 1.00e+00 1.00e+00h 1 47 2.0818395e+00 2.06e-04 2.59e-04 -4.0 9.40e+00 -10.2 1.00e+00 1.00e+00h 1 48 2.0815804e+00 2.10e-04 2.07e-04 -4.1 9.56e+00 -10.7 1.00e+00 1.00e+00h 1 49 2.0818395e+00 2.11e-04 2.59e-04 -4.0 9.60e+00 -11.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0815804e+00 2.11e-04 2.07e-04 -4.1 9.62e+00 -11.6 1.00e+00 1.00e+00h 1 51 2.0818395e+00 2.11e-04 2.59e-04 -4.0 9.62e+00 -12.1 1.00e+00 1.00e+00h 1 52 2.0815804e+00 2.11e-04 2.07e-04 -4.1 9.62e+00 -12.6 1.00e+00 1.00e+00h 1 53 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -13.1 9.78e-01 9.71e-01h 1 54 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -13.5 1.00e+00 1.00e+00f 1 55 2.0816136e+00 4.88e-04 2.13e-04 -4.1 2.07e+01 -14.0 1.00e+00 1.00e+00h 1 56 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -14.5 9.76e-01 9.65e-01h 1 57 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -15.0 1.00e+00 1.00e+00h 1 58 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -15.5 1.00e+00 1.00e+00f 1 59 2.0816837e+00 9.34e-04 2.21e-04 -4.1 4.57e+01 -15.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816477e+00 4.73e-07 2.21e-04 -4.1 8.52e+00 -16.4 1.00e+00 1.00e+00h 1 61 2.0818389e+00 1.15e-04 2.59e-04 -4.0 7.07e+00 -16.9 1.00e+00 1.00e+00h 1 62 2.0815801e+00 2.08e-04 2.07e-04 -4.1 9.50e+00 -17.4 1.00e+00 1.00e+00h 1 63 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -17.8 9.78e-01 9.71e-01h 1 64 2.0805497e+00 6.51e-05 1.86e-06 -6.1 1.55e+01 -18.3 1.00e+00 1.00e+00h 1 65 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -18.8 1.00e+00 1.00e+00f 1 66 2.0816887e+00 9.54e-04 2.21e-04 -4.1 4.72e+01 -19.3 1.00e+00 1.00e+00h 1 67 2.0816504e+00 5.63e-07 2.21e-04 -4.1 8.93e+00 -19.7 1.00e+00 1.00e+00h 1 68 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -20.0 9.77e-01 9.75e-01h 1 69 2.0805511e+00 6.76e-05 2.05e-06 -6.1 1.62e+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 70 2.0805469e+00 4.72e-08 2.05e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 71 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 72 2.0817159e+00 1.04e-03 2.24e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0816648e+00 1.22e-06 2.24e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 75 2.0805514e+00 6.96e-05 2.09e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0805471e+00 4.99e-08 2.09e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 77 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 78 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 79 2.0817306e+00 1.08e-03 2.26e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0816723e+00 1.67e-06 2.26e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 82 2.0805516e+00 7.07e-05 2.11e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0805472e+00 5.15e-08 2.11e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 84 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 85 2.0805365e+00 9.27e-11 2.36e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 86 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 87 2.0817309e+00 1.08e-03 2.26e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0816725e+00 1.68e-06 2.26e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805516e+00 7.08e-05 2.11e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0805472e+00 5.16e-08 2.11e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 93 2.0805365e+00 9.28e-11 2.36e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 8.88e-16 2.36e-09 -9.0 1.10e-05 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 6.66e-16 2.36e-09 -9.0 1.18e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 4.44e-16 2.36e-09 -9.0 1.18e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 4.44e-16 2.36e-09 -9.0 1.18e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 2.22e-16 2.36e-09 -9.0 1.18e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 2.36e-09 -9.0 1.18e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 4.44e-16 2.36e-09 -9.0 1.18e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436466e+00 2.0805364595436466e+00 Dual infeasibility......: 2.3564980053257735e-09 2.3564980053257735e-09 Constraint violation....: 4.4408920985006262e-16 4.4408920985006262e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971179366e-10 9.0909090971179366e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 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 = 35.794 EXIT: Maximum Number of Iterations Exceeded. 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 applying constraint: bounds on Δt 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 4.7038818e+00 2.57e+00 6.42e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7180547e+00 7.42e-02 1.87e+00 -0.9 1.74e+00 0.0 7.80e-01 1.00e+00f 1 2 2.8344875e+00 9.27e-02 1.80e+00 -0.7 6.61e-01 -0.5 1.00e+00 8.50e-01f 1 3 2.7848927e+00 4.36e-02 7.41e-01 -0.9 5.88e-01 -1.0 9.64e-01 1.00e+00f 1 4 2.4141818e+00 4.58e-02 1.81e-01 -1.5 5.95e-01 -1.4 9.80e-01 9.88e-01h 1 5 2.1242661e+00 1.25e-02 7.53e-02 -3.4 2.93e-01 -1.9 8.32e-01 1.00e+00h 1 6 2.0927086e+00 2.50e-04 1.08e-02 -3.5 6.12e-02 -2.4 9.94e-01 1.00e+00h 1 7 2.0908715e+00 5.00e-06 1.68e-04 -4.0 1.54e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908567e+00 7.80e-08 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908435e+00 6.89e-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 2.0908036e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906842e+00 5.60e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903268e+00 5.07e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892615e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861303e+00 4.34e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796285e+00 2.49e-03 8.74e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.54e-01h 1 16 2.0812351e+00 1.37e-04 1.85e-01 -4.0 6.84e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778305e+00 5.47e-03 2.54e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781760e+00 1.66e-02 3.62e-02 -3.7 1.54e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767322e+00 1.28e-02 1.83e-02 -3.8 2.95e+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 2.0759763e+00 8.01e-03 2.27e-02 -3.9 4.18e+02 -9.1 1.00e+00 9.90e-01h 1 21 2.0757532e+00 8.19e-03 9.68e-03 -4.0 1.37e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756806e+00 4.24e-04 3.93e-04 -4.0 5.70e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 6.13e-06 7.75e-06 -4.0 2.30e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.47e-08 1.46e-06 -4.0 1.48e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.34e-09 1.43e-07 -4.0 5.06e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.26e-11 2.86e-09 -4.0 8.92e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122073999e+00 2.0756712122073999e+00 Dual infeasibility......: 2.8614526052447853e-09 2.8614526052447853e-09 Constraint violation....: 7.2577055476585883e-11 7.2577055476585883e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000045e-04 1.0000000000000045e-04 Overall NLP error.......: 2.8614526052447853e-09 2.8614526052447853e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 28.970 EXIT: Optimal Solution Found. initializing optimizer... 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 This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.0981862e+00 2.30e+00 8.78e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8638264e+00 2.84e-02 5.67e+00 -0.9 2.04e+00 0.0 8.22e-01 1.00e+00f 1 2 2.6188555e+00 2.15e-03 2.00e-01 -1.5 6.15e-02 0.4 1.00e+00 1.00e+00h 1 3 2.2249494e+00 5.79e-03 1.38e-01 -2.0 1.60e-01 -0.1 9.32e-01 9.04e-01f 1 4 2.1361105e+00 2.53e-03 3.02e-01 -2.8 2.55e-01 -0.5 9.85e-01 5.63e-01h 1 5 2.0946837e+00 2.19e-04 3.84e-02 -3.8 3.03e-02 -1.0 1.00e+00 9.26e-01h 1 6 2.0918732e+00 9.04e-05 2.13e-01 -4.0 4.86e-02 -1.5 1.00e+00 6.00e-01h 1 7 2.0908553e+00 9.26e-06 3.46e-03 -4.0 4.21e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0908739e+00 1.12e-07 3.59e-04 -4.0 1.91e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908724e+00 1.19e-08 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 2.0908674e+00 9.91e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908525e+00 8.72e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908076e+00 7.85e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906733e+00 7.08e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902713e+00 6.41e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890743e+00 5.86e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855657e+00 5.54e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796280e+00 2.28e-03 1.37e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.27e-01h 1 18 2.0807182e+00 1.55e-04 1.81e-01 -4.0 6.57e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775296e+00 7.31e-03 2.45e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769541e+00 1.13e-03 5.01e-02 -4.0 1.75e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759747e+00 9.01e-04 2.34e-02 -4.0 3.12e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754438e+00 4.98e-04 2.79e-02 -4.0 4.52e+02 -9.1 1.00e+00 7.29e-01H 1 23 2.0757701e+00 2.01e-03 1.07e-02 -4.0 1.37e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753801e+00 1.42e-03 4.80e-04 -4.1 7.64e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 4.02e-04 7.12e-06 -4.0 1.83e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.33e-04 7.89e-07 -4.1 2.59e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.15e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.01e-04 2.62e-07 -4.1 2.05e+01 -12.0 1.00e+00 1.00e+00h 1 29 2.0756725e+00 5.53e-04 1.18e-07 -4.0 2.26e+01 -12.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753425e+00 5.53e-04 9.06e-08 -4.1 2.26e+01 -12.9 1.00e+00 1.00e+00h 1 31 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.4 9.28e-01 1.00e+00h 1 32 2.0757517e+00 1.59e-01 1.53e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 33 2.0753574e+00 2.64e-02 8.69e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 34 2.0753474e+00 1.15e-05 2.14e-06 -4.1 1.63e+02 -14.8 1.00e+00 1.00e+00h 1 35 2.0756726e+00 7.25e-04 1.64e-07 -4.0 3.02e+01 -15.3 1.00e+00 1.00e+00h 1 36 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 37 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 38 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 39 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.2 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.7 1.00e+00 1.00e+00h 1 41 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.2 1.00e+00 1.00e+00h 1 42 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.7 1.00e+00 1.00e+00h 1 43 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.1 1.00e+00 1.00e+00h 1 44 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.6 1.00e+00 1.00e+00h 1 45 2.0756726e+00 7.23e-04 1.61e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 48 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 49 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 51 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 58 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 59 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 61 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 68 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 69 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 72 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 73 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 76 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 77 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 79 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 83 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 84 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 86 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 87 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 91 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 93 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 94 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 97 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 98 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0739527e+00 5.48e-08 5.24e-06 -6.5 3.94e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0740476e+00 1.42e-02 4.44e-02 -4.0 9.26e+04 -20.0 1.00e+00 3.50e-02f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740476226011366e+00 2.0740476226011366e+00 Dual infeasibility......: 4.4440948322914557e-02 4.4440948322914557e-02 Constraint violation....: 1.4164404722581736e-02 1.4164404722581736e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728783e-04 2.3095644031728783e-04 Overall NLP error.......: 4.4440948322914557e-02 4.4440948322914557e-02 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 32.004 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... 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 This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6722169e+00 2.98e+00 6.12e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1153649e+00 4.52e-01 2.15e+00 -0.8 2.35e+00 0.0 1.00e+00 8.48e-01h 1 2 2.6628161e+00 7.52e-03 8.64e-01 -1.0 4.78e-01 -0.5 9.59e-01 1.00e+00h 1 3 2.3640020e+00 3.07e-02 2.49e-01 -1.7 3.91e-01 -1.0 9.78e-01 1.00e+00h 1 4 2.1608880e+00 6.91e-03 1.69e-01 -2.4 1.91e-01 -1.4 9.90e-01 7.91e-01h 1 5 2.0972109e+00 4.27e-04 2.95e-03 -3.2 4.02e-02 -1.9 9.94e-01 1.00e+00h 1 6 2.0909050e+00 5.78e-06 2.72e-04 -4.0 5.61e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908996e+00 5.45e-08 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908952e+00 7.56e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908819e+00 6.90e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908421e+00 6.21e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907226e+00 5.60e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903651e+00 5.06e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892996e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861676e+00 4.35e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796311e+00 2.52e-03 8.65e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.58e-01h 1 16 2.0812717e+00 1.43e-04 1.90e-01 -4.0 6.77e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778396e+00 5.59e-03 2.64e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781581e+00 1.64e-02 3.16e-02 -3.7 1.53e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767352e+00 1.30e-02 1.73e-02 -3.8 2.87e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0758918e+00 9.66e-03 2.21e-02 -3.9 4.13e+02 -9.1 1.00e+00 9.91e-01h 1 21 2.0757663e+00 7.34e-03 9.63e-03 -4.0 1.37e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756767e+00 3.79e-04 4.07e-04 -4.0 5.84e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.91e-06 7.92e-06 -4.0 2.32e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.66e-08 1.51e-06 -4.0 1.51e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.53e-09 1.50e-07 -4.0 5.23e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.76e-11 3.04e-09 -4.0 9.24e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122109917e+00 2.0756712122109917e+00 Dual infeasibility......: 3.0365549529053418e-09 3.0365549529053418e-09 Constraint violation....: 7.7559070277288811e-11 7.7559070277288811e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000033e-04 1.0000000000000033e-04 Overall NLP error.......: 3.0365549529053418e-09 3.0365549529053418e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 30.447 EXIT: Optimal Solution Found. Test Summary: | Pass Total Time Package | 202 202 21m08.2s Testing DirectTrajOpt tests passed Testing completed after 1347.33s PkgEval succeeded after 1867.67s