Package evaluation to test DirectTrajOpt on Julia 1.11.8 (29b3528cce*) started at 2026-01-20T15:24:31.772 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.11` Set-up completed after 8.34s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Installed DirectTrajOpt ─ v0.8.0 Updating `~/.julia/environments/v1.11/Project.toml` [c823fa1f] + DirectTrajOpt v0.8.0 Updating `~/.julia/environments/v1.11/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 v0.7.14 [c823fa1f] + DirectTrajOpt v0.8.0 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.5 [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 v2.9.4 [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 v0.8.1 [be0214bd] + NonlinearSolveBase v2.9.2 [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 v1.0.0 ⌅ [aea7be01] + PrecompileTools v1.2.1 [21216c6a] + Preferences v1.5.1 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v3.44.0 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.16 [94e857df] + SIMDTypes v0.1.0 [0bca4576] + SciMLBase v2.134.0 [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 v0.3.29+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 v1.6.0 [7b1f6079] + FileWatching v1.11.0 [9fa8497b] + Future v1.11.0 [b77e0a4c] + InteractiveUtils v1.11.0 [b27032c2] + LibCURL v0.6.4 [76f85450] + LibGit2 v1.11.0 [8f399da3] + Libdl v1.11.0 [37e2e46d] + LinearAlgebra v1.11.0 [56ddb016] + Logging v1.11.0 [d6f4376e] + Markdown v1.11.0 [a63ad114] + Mmap v1.11.0 [ca575930] + NetworkOptions v1.2.0 [44cfe95a] + Pkg v1.11.0 [de0858da] + Printf v1.11.0 [9abbd945] + Profile v1.11.0 [9a3f8284] + Random v1.11.0 [ea8e919c] + SHA v0.7.0 [9e88b42a] + Serialization v1.11.0 [6462fe0b] + Sockets v1.11.0 [2f01184e] + SparseArrays 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 v1.1.1+0 [deac9b47] + LibCURL_jll v8.6.0+0 [e37daf67] + LibGit2_jll v1.7.2+0 [29816b5a] + LibSSH2_jll v1.11.0+1 [c8ffd9c3] + MbedTLS_jll v2.28.6+0 [14a3606d] + MozillaCACerts_jll v2023.12.12 [4536629a] + OpenBLAS_jll v0.3.27+1 [05823500] + OpenLibm_jll v0.8.5+0 [bea87d4a] + SuiteSparse_jll v7.7.0+0 [83775a58] + Zlib_jll v1.2.13+1 [8e850b90] + libblastrampoline_jll v5.11.0+0 [8e850ede] + nghttp2_jll v1.59.0+0 [3f19e933] + p7zip_jll v17.4.0+2 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 8.66s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling project... 358585.6 ms ✓ DirectTrajOpt 1 dependency successfully precompiled in 365 seconds. 224 already precompiled. Precompilation completed after 377.15s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_qXePHp/Project.toml` [c823fa1f] DirectTrajOpt v0.8.0 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.3.1 [b6b21f68] Ipopt v1.14.0 [5078a376] LazyArrays v2.9.4 [b8f27783] MathOptInterface v1.48.0 [538bc3a1] NamedTrajectories v0.8.1 [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 v1.11.0 [2f01184e] SparseArrays v1.11.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_qXePHp/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 v0.7.14 [c823fa1f] DirectTrajOpt v0.8.0 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.5 [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 v2.9.4 [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 v0.8.1 [be0214bd] NonlinearSolveBase v2.9.2 [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 v1.0.0 ⌅ [aea7be01] PrecompileTools v1.2.1 [21216c6a] Preferences v1.5.1 [3cdcf5f2] RecipesBase v1.3.4 [731186ca] RecursiveArrayTools v3.44.0 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.16 [94e857df] SIMDTypes v0.1.0 [0bca4576] SciMLBase v2.134.0 [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 v0.3.29+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 v1.6.0 [7b1f6079] FileWatching v1.11.0 [9fa8497b] Future v1.11.0 [b77e0a4c] InteractiveUtils v1.11.0 [b27032c2] LibCURL v0.6.4 [76f85450] LibGit2 v1.11.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.11.0 [56ddb016] Logging v1.11.0 [d6f4376e] Markdown v1.11.0 [a63ad114] Mmap v1.11.0 [ca575930] NetworkOptions v1.2.0 [44cfe95a] Pkg v1.11.0 [de0858da] Printf v1.11.0 [9abbd945] Profile v1.11.0 [9a3f8284] Random v1.11.0 [ea8e919c] SHA v0.7.0 [9e88b42a] Serialization v1.11.0 [6462fe0b] Sockets v1.11.0 [2f01184e] SparseArrays 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 v1.1.1+0 [deac9b47] LibCURL_jll v8.6.0+0 [e37daf67] LibGit2_jll v1.7.2+0 [29816b5a] LibSSH2_jll v1.11.0+1 [c8ffd9c3] MbedTLS_jll v2.28.6+0 [14a3606d] MozillaCACerts_jll v2023.12.12 [4536629a] OpenBLAS_jll v0.3.27+1 [05823500] OpenLibm_jll v0.8.5+0 [bea87d4a] SuiteSparse_jll v7.7.0+0 [83775a58] Zlib_jll v1.2.13+1 [8e850b90] libblastrampoline_jll v5.11.0+0 [8e850ede] nghttp2_jll v1.59.0+0 [3f19e933] p7zip_jll v17.4.0+2 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. Testing Running tests... initializing optimizer... 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 program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit https://github.com/coin-or/Ipopt ****************************************************************************** This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.1400846e+00 2.80e+00 3.87e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7569594e+00 8.01e-02 7.45e-01 -1.0 2.16e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3518701e+00 4.76e-02 2.42e-01 -1.8 1.25e+00 -2.5 9.48e-01 1.00e+00h 1 3 2.1746286e+00 8.65e-02 3.39e-01 -2.3 3.85e+00 -3.0 9.86e-01 6.80e-01h 1 4 2.1343140e+00 5.05e-03 5.11e-02 -2.3 8.16e-01 -3.4 9.85e-01 1.00e+00h 1 5 2.0917530e+00 2.19e-03 7.51e-03 -4.0 4.89e-01 -3.9 1.00e+00 9.56e-01h 1 6 2.0907895e+00 1.12e-04 2.08e-04 -4.0 5.02e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906385e+00 6.18e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0901976e+00 7.72e-06 3.45e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888855e+00 7.09e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0850496e+00 6.71e-04 2.80e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796384e+00 2.09e-03 1.77e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.35e-01h 1 12 2.0802284e+00 3.76e-04 1.85e-01 -4.0 6.84e+01 -7.2 1.00e+00 9.75e-01H 1 13 2.0774822e+00 8.26e-03 2.23e-02 -4.0 1.23e+02 -7.7 1.00e+00 9.46e-01h 1 14 2.0768550e+00 1.73e-03 7.20e-02 -4.0 2.05e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0762254e+00 2.41e-03 2.89e-02 -4.0 3.52e+02 -8.7 1.00e+00 8.18e-01h 1 16 2.0755256e+00 1.50e-03 4.05e-02 -4.0 5.96e+02 -9.2 1.00e+00 6.86e-01h 1 17 2.0757750e+00 3.20e-03 1.35e-02 -4.0 1.67e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0753801e+00 1.16e-03 5.62e-04 -4.1 8.35e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756723e+00 4.69e-04 5.10e-06 -4.0 2.13e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 5.75e-07 9.71e-07 -4.0 1.12e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.78e-09 6.56e-08 -4.0 4.00e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.65e-11 1.07e-09 -4.0 5.85e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121333680e+00 2.0756712121333680e+00 Dual infeasibility......: 1.0742185862892568e-09 1.0742185862892568e-09 Constraint violation....: 2.6453172985441142e-11 2.6453172985441142e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000040e-04 1.0000000000000040e-04 Overall NLP error.......: 1.0742185862892568e-09 1.0742185862892568e-09 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 82.919 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 5.0202420e+00 1.95e+00 6.91e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.2244257e+00 5.50e-01 2.20e+00 -0.8 1.84e+00 0.0 3.70e-01 7.07e-01f 1 2 2.6919890e+00 3.39e-02 1.92e+00 -1.2 5.41e-01 0.4 9.52e-01 1.00e+00h 1 3 2.5953121e+00 1.64e-02 3.13e+00 -0.8 4.80e-01 -0.1 7.47e-01 6.29e-01h 1 4 2.4385933e+00 1.91e-02 8.37e-01 -4.0 3.14e-01 -0.5 6.10e-01 5.78e-01h 1 5 2.3445149e+00 1.09e-02 5.05e-01 -1.7 2.39e-01 -1.0 9.77e-01 4.27e-01f 1 6 2.2464993e+00 2.15e-02 4.98e-01 -2.3 9.90e-01 -1.5 9.96e-01 4.94e-01h 1 7 2.1117566e+00 3.83e-03 1.32e-01 -3.3 1.16e-01 -1.1 1.00e+00 9.33e-01h 1 8 2.0914972e+00 1.66e-03 5.58e-02 -4.0 2.13e-01 -1.5 1.00e+00 1.00e+00h 1 9 2.0910154e+00 1.43e-03 7.10e-01 -4.0 1.56e-01 -2.0 1.00e+00 1.34e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908197e+00 5.61e-06 2.44e-02 -4.0 8.38e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908475e+00 2.18e-07 5.73e-04 -4.0 1.93e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908425e+00 3.51e-08 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908257e+00 1.12e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0907753e+00 9.96e-08 2.06e-05 -4.0 5.12e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906242e+00 8.98e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901722e+00 8.13e-06 3.62e-05 -4.0 4.59e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888277e+00 7.45e-05 3.23e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0848996e+00 7.06e-04 2.95e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796287e+00 2.05e-03 1.87e-01 -4.0 1.03e+02 -6.8 1.00e+00 5.13e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801678e+00 3.02e-04 1.75e-01 -4.0 6.48e+01 -7.3 1.00e+00 9.80e-01H 1 21 2.0773621e+00 8.58e-03 1.95e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.67e-01h 1 22 2.0771113e+00 1.81e-03 7.56e-02 -4.0 2.10e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760342e+00 5.10e-03 2.11e-02 -4.0 3.51e+02 -8.7 1.00e+00 9.19e-01h 1 24 2.0768658e+00 2.54e-02 2.42e-02 -3.7 2.74e+02 -9.2 1.00e+00 1.00e+00h 1 25 2.0764336e+00 5.34e-03 2.46e-03 -3.8 8.35e+01 -9.6 1.00e+00 1.00e+00h 1 26 2.0764215e+00 8.42e-05 4.75e-05 -3.8 1.83e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756776e+00 1.66e-03 4.84e-06 -4.0 3.00e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756713e+00 6.06e-06 1.33e-06 -4.0 2.10e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756713e+00 3.81e-09 1.52e-07 -4.0 5.29e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756713e+00 5.40e-11 1.95e-09 -4.0 7.86e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712527934820e+00 2.0756712527934820e+00 Dual infeasibility......: 1.9457505961257768e-09 1.9457505961257768e-09 Constraint violation....: 5.4028781448778318e-11 5.4028781448778318e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000055e-04 1.0000000000000055e-04 Overall NLP error.......: 1.9457505961257768e-09 1.9457505961257768e-09 Number of objective function evaluations = 32 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 32.847 EXIT: Optimal Solution Found. 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 2.3038687e+00 2.01e+00 4.81e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6769553e+00 2.49e-01 1.42e+00 -0.9 2.68e+00 -2.0 1.00e+00 9.69e-01f 1 2 2.5239131e+00 6.58e-02 3.32e-01 -1.2 1.30e+00 -2.5 9.53e-01 1.00e+00f 1 3 2.1998995e+00 7.37e-02 8.91e-02 -2.4 1.47e+00 -3.0 9.30e-01 1.00e+00h 1 4 2.1116075e+00 9.26e-03 1.77e-02 -2.7 7.34e-01 -3.4 9.70e-01 1.00e+00h 1 5 2.0908230e+00 3.98e-04 1.34e-03 -4.0 1.61e-01 -3.9 9.86e-01 1.00e+00h 1 6 2.0907533e+00 1.21e-05 3.05e-04 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906060e+00 8.69e-07 2.05e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0901652e+00 7.73e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888533e+00 7.08e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0850183e+00 6.70e-04 2.80e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796201e+00 2.08e-03 1.77e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.34e-01h 1 12 2.0802748e+00 1.60e-04 1.74e-01 -4.0 6.46e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0773588e+00 8.49e-03 2.41e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.82e-01h 1 14 2.0772004e+00 1.91e-03 7.87e-02 -4.0 2.11e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761077e+00 8.46e-04 1.95e-02 -3.9 3.49e+02 -8.7 1.00e+00 8.58e-01H 1 16 2.0755035e+00 4.49e-03 2.16e-02 -4.0 4.32e+02 -9.2 1.00e+00 7.56e-01h 1 17 2.0757404e+00 2.17e-03 8.82e-03 -4.0 1.24e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0756791e+00 1.90e-04 2.91e-04 -4.0 5.67e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756713e+00 4.98e-06 5.75e-06 -4.0 2.26e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 3.40e-08 1.10e-06 -4.0 1.31e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.98e-09 8.14e-08 -4.0 3.96e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.86e-11 1.14e-09 -4.0 5.71e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121379821e+00 2.0756712121379821e+00 Dual infeasibility......: 1.1364086558709671e-09 1.1364086558709671e-09 Constraint violation....: 2.8578139854573692e-11 2.8578139854573692e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000021e-04 1.0000000000000021e-04 Overall NLP error.......: 1.1364086558709671e-09 1.1364086558709671e-09 Number of objective function evaluations = 25 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 25 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 49.167 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/pHWO3/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 1.7329481e-02 8.33e-17 9.99e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Number of Iterations....: 1 Number of objective function evaluations = 2 Number of objective gradient evaluations = 2 Number of equality constraint evaluations = 2 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 = 1 Total seconds in IPOPT = 2.286 EXIT: Invalid number in NLP function or derivative detected. 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 2.0138426e+00 5.40e-01 9.45e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3550555e+00 2.45e-09 1.82e-01 -0.3 4.55e-01 -2.0 9.99e-01 1.00e+00f 1 2 3.7655730e-01 1.99e-09 3.07e-01 -1.4 1.26e+00 -1.6 8.65e-01 1.00e+00f 1 3 1.7731370e-01 2.02e-10 5.54e-02 -2.1 5.61e-01 -1.1 9.98e-01 1.00e+00f 1 4 4.7719068e-02 3.46e-11 4.61e-02 -3.0 8.78e-01 -1.6 9.96e-01 1.00e+00f 1 5 9.5527954e-03 3.05e-11 1.98e-02 -4.0 7.77e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.8978853e-03 7.77e-12 6.29e-03 -4.0 5.07e-01 -2.6 1.00e+00 1.00e+00f 1 7 6.0819527e-04 1.96e-12 1.69e-03 -4.0 2.41e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.5325256e-04 2.64e-13 2.21e-04 -4.0 8.92e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.5618142e-04 1.48e-14 1.38e-04 -4.0 2.04e-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 3.0493453e-04 1.76e-14 4.12e-04 -4.1 7.54e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.5903436e-04 9.15e-15 3.58e-04 -4.0 1.95e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7545809e-04 3.70e-15 5.40e-04 -4.1 1.02e-01 -5.4 1.00e+00 1.00e+00f 1 13 4.6528983e-04 2.44e-15 4.69e-04 -4.0 2.51e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6394861e-04 2.11e-15 6.13e-04 -4.1 1.18e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6629012e-04 1.89e-15 5.14e-04 -4.0 2.75e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.6008083e-04 1.55e-15 6.44e-04 -4.1 1.24e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6627207e-04 1.55e-15 5.33e-04 -4.0 2.85e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5881476e-04 1.25e-15 6.63e-04 -4.1 1.28e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6583946e-04 1.33e-15 5.42e-04 -4.0 2.91e-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 2.5841883e-04 1.12e-15 6.77e-04 -4.1 1.31e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6529972e-04 1.11e-15 5.47e-04 -4.0 2.95e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5830195e-04 1.01e-15 6.90e-04 -4.1 1.33e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6473942e-04 8.88e-16 5.52e-04 -4.0 2.99e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5827274e-04 9.16e-16 7.01e-04 -4.1 1.36e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6418859e-04 8.88e-16 5.56e-04 -4.0 3.02e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5826971e-04 8.74e-16 7.12e-04 -4.1 1.38e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0972556e-05 9.16e-15 8.91e-04 -6.2 3.79e-01 -12.6 9.68e-01 1.00e+00f 1 28 1.7390650e-03 2.44e-15 7.66e-03 -4.0 1.99e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4558002e-05 2.38e-14 2.88e-03 -4.1 1.02e+00 -13.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.5755681e-03 3.09e-14 7.99e-03 -4.0 9.82e-01 -14.0 1.00e+00 1.00e+00f 1 31 1.0220524e-05 1.82e-14 2.28e-03 -4.2 1.09e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6537481e-04 1.67e-15 2.75e-03 -4.0 1.37e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.1987519e-04 3.00e-15 2.39e-04 -4.2 3.72e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0237463e-05 4.50e-15 8.06e-04 -6.4 4.12e-01 -15.9 9.64e-01 1.00e+00f 1 35 8.1417787e-06 3.28e-15 9.93e-05 -6.4 1.04e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.5214170e-03 1.11e-15 5.38e-03 -4.0 9.64e+00 -16.9 1.00e+00 1.24e-01f 4 37 9.9957815e-05 5.33e-14 3.46e-03 -4.0 7.88e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.4776498e-04 3.53e-14 3.53e-03 -4.0 5.33e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8027601e-04 6.55e-15 4.38e-04 -4.0 4.20e-01 -18.3 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.5506860e-05 5.55e-15 1.33e-03 -6.0 5.04e-01 -18.8 9.55e-01 1.00e+00f 1 41 1.4624305e-05 5.27e-15 1.60e-04 -6.0 1.26e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0162510e-06 8.88e-16 1.01e-04 -6.0 1.43e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.0399629e-03 5.90e-16 3.03e-03 -4.0 1.57e+01 -20.0 1.00e+00 7.66e-02f 4 44 1.6553138e-04 4.73e-14 2.83e-03 -4.0 5.74e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.6861237e-04 2.22e-14 2.74e-03 -4.0 4.13e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9032902e-04 4.00e-15 4.17e-04 -4.0 3.56e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5356567e-05 5.77e-15 1.46e-03 -6.1 5.48e-01 -20.0 9.50e-01 1.00e+00f 1 48 1.4710875e-05 4.83e-15 1.70e-04 -6.1 1.33e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.9123157e-06 7.77e-16 1.10e-04 -6.1 1.57e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 8.4352009e-04 5.69e-16 2.06e-03 -4.0 1.69e+01 -20.0 1.00e+00 7.10e-02f 4 51 2.0051925e-04 4.09e-14 2.45e-03 -4.0 4.78e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.0648162e-04 1.53e-14 2.28e-03 -4.0 3.49e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8666816e-04 2.44e-15 3.96e-04 -4.0 3.15e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4386714e-05 5.55e-15 1.54e-03 -6.1 5.83e-01 -20.0 9.46e-01 1.00e+00f 1 55 1.4416539e-05 4.33e-15 1.76e-04 -6.1 1.39e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.7729063e-06 6.66e-16 1.16e-04 -6.1 1.68e-01 -20.0 1.00e+00 1.00e+00f 1 57 6.9881061e-04 5.34e-16 1.19e-03 -4.0 1.83e+01 -20.0 1.00e+00 6.55e-02f 4 58 2.3587307e-04 3.60e-14 2.04e-03 -4.1 3.84e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.4748990e-04 1.04e-14 1.78e-03 -4.1 2.79e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.8322314e-04 1.55e-15 3.57e-04 -4.1 2.64e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3337472e-05 5.44e-15 1.62e-03 -6.1 6.16e-01 -20.0 9.41e-01 1.00e+00f 1 62 1.4119159e-05 3.89e-15 1.80e-04 -6.1 1.44e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.6550346e-06 6.66e-16 1.21e-04 -6.1 1.77e-01 -20.0 1.00e+00 1.00e+00f 1 64 5.9287784e-04 3.47e-16 4.31e-04 -4.0 1.96e+01 -20.0 1.00e+00 6.09e-02f 4 65 2.6759780e-04 3.20e-14 1.62e-03 -4.1 2.99e-01 -20.0 1.00e+00 1.00e+00f 1 66 4.9616030e-04 6.88e-15 1.31e-03 -4.1 2.10e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.7892549e-04 9.40e-16 3.09e-04 -4.1 2.11e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2243733e-05 5.11e-15 1.68e-03 -6.1 6.47e-01 -20.0 9.38e-01 1.00e+00f 1 69 1.3801314e-05 3.66e-15 1.82e-04 -6.1 1.48e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.5483240e-06 5.62e-16 1.25e-04 -6.1 1.86e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.1401409e-04 2.98e-16 2.31e-04 -4.0 2.09e+01 -20.0 1.00e+00 5.70e-02f 4 72 2.9511461e-04 2.91e-14 1.23e-03 -4.1 2.22e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.5338124e-04 4.44e-15 8.87e-04 -4.1 1.46e-01 -20.0 1.00e+00 1.00e+00f 1 74 3.0607065e-04 3.33e-15 8.88e-04 -4.1 1.60e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.4727991e-04 2.44e-15 7.71e-04 -4.1 1.27e-01 -20.0 1.00e+00 1.00e+00f 1 76 2.3891260e-05 4.55e-15 1.86e-03 -6.1 7.82e-01 -20.0 9.23e-01 1.00e+00f 1 77 1.2324763e-05 3.89e-15 1.27e-04 -6.1 1.12e-01 -20.0 1.00e+00 1.00e+00f 1 78 3.0758555e-06 4.44e-16 1.19e-04 -6.1 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 79 4.5583066e-04 3.43e-16 8.88e-04 -4.0 2.37e+01 -20.0 1.00e+00 5.03e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.2336753e-04 2.75e-14 8.35e-04 -4.1 1.48e-01 -20.0 1.00e+00 1.00e+00f 1 81 3.4050022e-05 5.66e-15 1.64e-03 -6.1 6.27e-01 -20.0 9.39e-01 1.00e+00f 1 82 1.3339028e-05 3.00e-15 2.18e-04 -6.1 1.78e-01 -20.0 1.00e+00 1.00e+00f 1 83 3.5962230e-06 5.55e-16 1.30e-04 -6.1 1.94e-01 -20.0 1.00e+00 1.00e+00f 1 84 3.6776817e-06 2.22e-16 4.88e-06 -6.1 8.63e-03 -20.0 1.00e+00 1.00e+00h 1 85 2.3750431e-07 6.55e-17 5.62e-05 -9.0 2.55e-01 -20.0 9.75e-01 1.00e+00f 1 86 2.3056103e-03 3.71e-16 1.17e-02 -4.0 1.07e+02 -20.0 1.00e+00 2.28e-02f 3 87 8.3480953e-05 4.60e-14 6.88e-03 -4.0 1.53e+00 -20.0 1.00e+00 1.00e+00f 1 88 7.5668495e-04 2.73e-14 5.34e-03 -4.0 8.14e-01 -20.0 1.00e+00 1.00e+00f 1 89 4.2539352e-04 5.11e-15 7.87e-04 -4.0 5.55e-01 -20.0 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 4.2231674e-05 4.11e-15 2.12e-03 -5.9 7.19e-01 -20.0 9.29e-01 1.00e+00f 1 91 1.7369976e-05 3.77e-15 2.62e-04 -5.9 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 92 4.9257760e-06 6.66e-16 1.65e-04 -5.9 2.12e-01 -20.0 1.00e+00 1.00e+00f 1 93 5.5410640e-06 2.74e-16 1.61e-05 -5.9 2.33e-02 -20.0 1.00e+00 1.00e+00h 1 94 5.1579629e-06 1.11e-16 1.95e-06 -5.9 2.87e-03 -20.0 1.00e+00 1.00e+00h 1 95 3.6837343e-07 4.47e-17 7.82e-05 -8.9 2.88e-01 -20.0 9.71e-01 1.00e+00f 1 96 1.4855532e-07 4.64e-17 8.16e-06 -8.9 6.34e-02 -20.0 1.00e+00 1.00e+00f 1 97 1.4952073e-03 8.99e-16 2.43e-03 -4.0 3.31e+02 -20.0 1.00e+00 7.36e-03f 3 98 4.9742530e-04 6.15e-14 5.31e-03 -3.8 6.81e-01 -20.0 1.00e+00 1.00e+00f 1 99 8.7039733e-04 1.69e-14 1.91e-03 -3.8 2.28e-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 5.7416851e-04 7.55e-15 2.18e-03 -3.8 2.84e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 5.7416851042018323e-04 5.7416851042018323e-04 Dual infeasibility......: 2.1839663940345887e-03 2.1839663940345887e-03 Constraint violation....: 7.5495165674510645e-15 7.5495165674510645e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.7051152692421480e-04 1.7051152692421480e-04 Overall NLP error.......: 2.1839663940345887e-03 2.1839663940345887e-03 Number of objective function evaluations = 171 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 171 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 3.077 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=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: 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 3.5950970e+00 2.68e+00 5.45e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.5672544e+00 8.73e-02 2.63e+00 -1.0 1.87e+00 0.0 9.52e-01 9.84e-01f 1 Hello, world! 2 2.6959517e+00 2.89e-02 7.39e-01 -0.8 4.09e-01 -0.5 1.00e+00 1.00e+00f 1 Hello, world! 3 2.4869787e+00 1.04e-02 1.71e-01 -1.7 2.36e-01 -1.0 9.93e-01 1.00e+00h 1 Hello, world! 4 2.1888013e+00 7.76e-03 7.09e-02 -2.1 1.81e-01 -1.4 9.40e-01 8.85e-01f 1 Hello, world! 5 2.1013036e+00 7.20e-04 7.67e-03 -2.9 6.35e-02 -1.9 9.58e-01 9.78e-01h 1 Hello, world! 6 2.0909137e+00 9.13e-06 2.65e-03 -4.0 6.29e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908387e+00 1.47e-07 2.78e-05 -4.0 2.04e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908349e+00 2.08e-09 1.70e-05 -4.0 3.71e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908263e+00 3.56e-09 1.65e-05 -4.0 1.09e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908029e+00 2.79e-08 5.21e-05 -4.0 3.08e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907388e+00 2.44e-07 2.27e-04 -4.0 8.54e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0905528e+00 2.27e-06 3.35e-04 -4.0 2.55e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0904736e+00 2.10e-06 9.09e-03 -4.0 2.28e+01 -5.7 1.61e-01 3.54e-02h 2 Hello, world! 14 2.0889032e+00 1.17e-04 8.09e-03 -4.0 2.07e+01 -6.2 1.00e+00 9.35e-01h 1 Hello, world! 15 2.0865680e+00 9.29e-04 8.51e-02 -4.0 5.37e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0847052e+00 3.72e-04 5.80e-02 -4.0 6.09e+00 -5.4 1.00e+00 6.45e-01h 1 Hello, world! 17 2.0844626e+00 6.42e-05 6.77e-03 -4.0 6.23e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0835201e+00 5.29e-05 4.13e-03 -4.0 1.43e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0827209e+00 8.88e-05 1.07e-02 -4.0 2.00e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827698e+00 2.67e-04 1.08e-02 -4.0 5.11e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0820672e+00 2.12e-03 8.13e-03 -4.1 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0878431e+00 1.64e-03 2.56e-01 -4.0 1.24e+04 -8.2 2.73e-03 2.17e-02h 5 Hello, world! 23 2.0828834e+00 2.45e-03 1.53e+00 -4.2 1.05e+01 -5.1 1.72e-01 4.91e-01h 1 Hello, world! 24 2.0824978e+00 2.74e-03 1.53e+00 -4.2 3.04e+02 -5.6 9.18e-05 2.24e-03f 1 Hello, world! 25 2.0825507e+00 2.78e-03 1.54e+00 -4.0 1.11e+04 -6.0 3.11e-07 4.87e-05f 1 Hello, world! 26 2.0825528e+00 2.78e-03 1.56e+00 -4.2 1.10e+02 -2.9 2.90e-02 1.88e-04f 2 Hello, world! 27 2.0832878e+00 5.85e-06 1.77e-03 -4.2 4.04e-01 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0829912e+00 1.97e-05 2.39e-04 -4.0 3.62e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0829133e+00 4.70e-06 1.19e-05 -4.0 1.34e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0828907e+00 3.13e-07 9.78e-06 -4.0 3.93e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0828300e+00 1.17e-06 7.17e-05 -4.0 1.11e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0827120e+00 5.82e-06 3.36e-04 -4.0 3.02e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0825724e+00 1.26e-05 7.34e-04 -4.0 7.87e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0823888e+00 2.77e-05 1.37e-03 -4.0 2.03e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0820900e+00 1.60e-04 4.44e-03 -4.0 4.59e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0879110e+00 4.13e-07 2.61e-01 -4.0 2.02e+02 -7.7 1.61e-01 1.00e+00H 1 Hello, world! 37 2.0838324e+00 7.54e-04 1.69e+00 -4.1 3.60e+01 -5.4 6.33e-01 2.30e-01f 1 Hello, world! 38 2.0836859e+00 7.40e-04 4.90e-01 -4.1 1.74e+01 -5.9 4.79e-01 1.92e-02f 2 Hello, world! 39 2.0820223e+00 5.54e-04 6.45e-01 -4.1 1.44e+02 -6.4 1.00e+00 2.15e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818690e+00 2.33e-03 1.65e-01 -4.1 3.24e+01 -6.9 9.73e-01 1.00e+00f 1 Hello, world! 41 2.0821911e+00 5.00e-03 1.98e-02 -4.0 5.94e+01 -7.3 8.01e-01 1.00e+00h 1 Hello, world! 42 2.0893715e+00 3.04e-03 3.10e-01 -4.1 2.84e+02 -7.8 1.51e-01 1.00e+00h 1 Hello, world! 43 2.0826925e+00 3.23e-03 2.82e+00 -4.1 6.37e+00 -4.7 1.01e-01 4.41e-01h 1 Hello, world! 44 2.0821200e+00 3.62e-03 2.82e+00 -4.1 3.03e+02 -5.2 2.58e-05 1.98e-03f 1 Hello, world! 45 2.0821701e+00 3.65e-03 2.83e+00 -4.1 4.94e+03 -5.6 3.23e-07 6.23e-05f 2 Hello, world! 46 2.0821284e+00 3.62e-03 3.21e+00 -4.1 6.77e+00 -3.4 4.19e-01 7.73e-03h 1 Hello, world! 47 2.0824964e+00 3.42e-06 1.47e-03 -4.1 1.10e-01 -3.9 1.00e+00 1.00e+00f 1 Hello, world! 48 2.0825150e+00 8.45e-06 1.07e-04 -4.0 1.06e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0823486e+00 8.05e-06 5.96e-05 -4.1 3.69e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0824742e+00 1.84e-05 1.94e-04 -4.0 9.19e-01 -5.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0824741985501074e+00 2.0824741985501074e+00 Dual infeasibility......: 1.9394922442081384e-04 1.9394922442081384e-04 Constraint violation....: 1.8370387076638295e-05 1.8370387076638295e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0094202003710133e-04 1.0094202003710133e-04 Overall NLP error.......: 1.9394922442081384e-04 1.9394922442081384e-04 Number of objective function evaluations = 65 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 65 Number of inequality constraint evaluations = 65 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 33.083 EXIT: Stopping optimization at current point as requested by user. 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 3.5950970e+00 2.68e+00 5.45e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.5672544e+00 8.73e-02 2.63e+00 -1.0 1.87e+00 0.0 9.52e-01 9.84e-01f 1 Hello, world! 2 2.6959517e+00 2.89e-02 7.39e-01 -0.8 4.09e-01 -0.5 1.00e+00 1.00e+00f 1 Hello, world! 3 2.4869787e+00 1.04e-02 1.71e-01 -1.7 2.36e-01 -1.0 9.93e-01 1.00e+00h 1 Hello, world! 4 2.1888013e+00 7.76e-03 7.09e-02 -2.1 1.81e-01 -1.4 9.40e-01 8.85e-01f 1 Hello, world! 5 2.1013036e+00 7.20e-04 7.67e-03 -2.9 6.35e-02 -1.9 9.58e-01 9.78e-01h 1 Hello, world! 6 2.0909137e+00 9.13e-06 2.65e-03 -4.0 6.29e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908387e+00 1.47e-07 2.78e-05 -4.0 2.04e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908349e+00 2.08e-09 1.70e-05 -4.0 3.71e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908263e+00 3.56e-09 1.65e-05 -4.0 1.09e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908029e+00 2.79e-08 5.21e-05 -4.0 3.08e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907388e+00 2.44e-07 2.27e-04 -4.0 8.54e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0905528e+00 2.27e-06 3.35e-04 -4.0 2.55e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0904736e+00 2.10e-06 9.09e-03 -4.0 2.28e+01 -5.7 1.61e-01 3.54e-02h 2 Hello, world! 14 2.0889032e+00 1.17e-04 8.09e-03 -4.0 2.07e+01 -6.2 1.00e+00 9.35e-01h 1 Hello, world! 15 2.0865680e+00 9.29e-04 8.51e-02 -4.0 5.37e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0847052e+00 3.72e-04 5.80e-02 -4.0 6.09e+00 -5.4 1.00e+00 6.45e-01h 1 Hello, world! 17 2.0844626e+00 6.42e-05 6.77e-03 -4.0 6.23e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0835201e+00 5.29e-05 4.13e-03 -4.0 1.43e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0827209e+00 8.88e-05 1.07e-02 -4.0 2.00e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827698e+00 2.67e-04 1.08e-02 -4.0 5.11e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0820672e+00 2.12e-03 8.13e-03 -4.1 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0878431e+00 1.64e-03 2.56e-01 -4.0 1.24e+04 -8.2 2.73e-03 2.17e-02h 5 Hello, world! 23 2.0828834e+00 2.45e-03 1.53e+00 -4.2 1.05e+01 -5.1 1.72e-01 4.91e-01h 1 Hello, world! 24 2.0824978e+00 2.74e-03 1.53e+00 -4.2 3.04e+02 -5.6 9.18e-05 2.24e-03f 1 Hello, world! 25 2.0825507e+00 2.78e-03 1.54e+00 -4.0 1.11e+04 -6.0 3.11e-07 4.87e-05f 1 Hello, world! 26 2.0825528e+00 2.78e-03 1.56e+00 -4.2 1.10e+02 -2.9 2.90e-02 1.88e-04f 2 Hello, world! 27 2.0832878e+00 5.85e-06 1.77e-03 -4.2 4.04e-01 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0829912e+00 1.97e-05 2.39e-04 -4.0 3.62e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0829133e+00 4.70e-06 1.19e-05 -4.0 1.34e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0828907e+00 3.13e-07 9.78e-06 -4.0 3.93e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0828300e+00 1.17e-06 7.17e-05 -4.0 1.11e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0827120e+00 5.82e-06 3.36e-04 -4.0 3.02e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0825724e+00 1.26e-05 7.34e-04 -4.0 7.87e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0823888e+00 2.77e-05 1.37e-03 -4.0 2.03e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0820900e+00 1.60e-04 4.44e-03 -4.0 4.59e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0879110e+00 4.13e-07 2.61e-01 -4.0 2.02e+02 -7.7 1.61e-01 1.00e+00H 1 Hello, world! 37 2.0838324e+00 7.54e-04 1.69e+00 -4.1 3.60e+01 -5.4 6.33e-01 2.30e-01f 1 Hello, world! 38 2.0836859e+00 7.40e-04 4.90e-01 -4.1 1.74e+01 -5.9 4.79e-01 1.92e-02f 2 Hello, world! 39 2.0820223e+00 5.54e-04 6.45e-01 -4.1 1.44e+02 -6.4 1.00e+00 2.15e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818690e+00 2.33e-03 1.65e-01 -4.1 3.24e+01 -6.9 9.73e-01 1.00e+00f 1 Hello, world! 41 2.0821911e+00 5.00e-03 1.98e-02 -4.0 5.94e+01 -7.3 8.01e-01 1.00e+00h 1 Hello, world! 42 2.0893715e+00 3.04e-03 3.10e-01 -4.1 2.84e+02 -7.8 1.51e-01 1.00e+00h 1 Hello, world! 43 2.0826925e+00 3.23e-03 2.82e+00 -4.1 6.37e+00 -4.7 1.01e-01 4.41e-01h 1 Hello, world! 44 2.0821200e+00 3.62e-03 2.82e+00 -4.1 3.03e+02 -5.2 2.58e-05 1.98e-03f 1 Hello, world! 45 2.0821701e+00 3.65e-03 2.83e+00 -4.1 4.94e+03 -5.6 3.23e-07 6.23e-05f 2 Hello, world! 46 2.0821284e+00 3.62e-03 3.21e+00 -4.1 6.77e+00 -3.4 4.19e-01 7.73e-03h 1 Hello, world! 47 2.0824964e+00 3.42e-06 1.47e-03 -4.1 1.10e-01 -3.9 1.00e+00 1.00e+00f 1 Hello, world! 48 2.0825150e+00 8.45e-06 1.07e-04 -4.0 1.06e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0823486e+00 8.05e-06 5.96e-05 -4.1 3.69e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0824742e+00 1.84e-05 1.94e-04 -4.0 9.19e-01 -5.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0824741985501074e+00 2.0824741985501074e+00 Dual infeasibility......: 1.9394922442081384e-04 1.9394922442081384e-04 Constraint violation....: 1.8370387076638295e-05 1.8370387076638295e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0094202003710133e-04 1.0094202003710133e-04 Overall NLP error.......: 1.9394922442081384e-04 1.9394922442081384e-04 Number of objective function evaluations = 65 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 65 Number of inequality constraint evaluations = 65 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.913 EXIT: Stopping optimization at current point as requested by user. 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 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 3.7308381e+00 2.04e+00 6.01e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7418721e+00 5.32e-01 1.17e+00 -0.9 1.47e+00 0.0 9.47e-01 7.39e-01f 1 2 2.9837141e+00 9.76e-02 6.23e+00 -0.5 1.01e+00 -0.5 4.54e-01 1.00e+00f 1 3 2.5706115e+00 1.53e-01 1.44e+00 -0.9 1.09e+00 -1.0 1.00e+00 1.00e+00h 1 4 2.4365046e+00 4.14e-03 2.64e-01 -1.6 2.20e-01 -1.4 9.92e-01 1.00e+00h 1 5 2.1403831e+00 1.06e-02 4.79e-02 -2.4 2.93e-01 -1.9 9.61e-01 1.00e+00f 1 6 2.0946937e+00 1.10e-03 8.40e-03 -3.3 1.31e-01 -2.4 9.49e-01 1.00e+00h 1 7 2.0910055e+00 1.35e-05 5.52e-04 -4.0 2.06e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909791e+00 2.02e-07 6.05e-05 -4.0 5.51e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909590e+00 1.14e-08 2.41e-05 -4.0 1.58e-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 2.0909153e+00 7.93e-08 1.48e-04 -4.0 4.04e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908424e+00 3.20e-07 1.31e-03 -4.0 9.14e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906624e+00 2.25e-06 1.37e-03 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0901428e+00 2.20e-05 5.80e-04 -4.0 8.14e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898770e+00 3.61e-06 1.70e-03 -4.0 3.07e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0892197e+00 1.96e-05 8.41e-03 -4.0 9.90e+00 -5.8 1.00e+00 7.19e-01h 1 16 2.0877074e+00 2.57e-04 3.06e-02 -4.0 2.65e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0865370e+00 2.40e-04 1.59e-01 -4.0 3.66e+01 -5.8 1.00e+00 2.30e-01h 1 18 2.0851076e+00 1.89e-04 2.30e-02 -4.0 2.27e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0830354e+00 2.02e-04 2.46e-02 -4.0 3.67e+01 -6.8 1.00e+00 9.38e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826411e+00 3.65e-04 1.20e-02 -4.0 5.40e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823246e+00 4.57e-04 9.25e-03 -4.0 1.23e+02 -7.7 1.00e+00 1.00e+00h 1 22 3.2610043e+00 1.94e-05 2.07e+01 -4.0 1.22e+03 -8.2 3.01e-02 1.00e+00H 1 23 2.0929052e+00 2.77e-06 1.92e+00 -4.1 4.45e-01 -0.4 4.74e-01 8.58e-01f 1 24 2.0930227e+00 2.77e-06 5.98e+00 -4.1 7.42e-02 -0.8 1.00e+00 1.95e-03f 10 25 2.0928744e+00 8.48e-08 1.90e-03 -4.1 3.99e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.0927193e+00 1.32e-07 1.83e-03 -4.0 1.15e-01 -1.8 1.00e+00 1.00e+00h 1 27 2.0921063e+00 9.45e-07 1.66e-03 -4.0 3.15e-01 -2.3 1.00e+00 1.00e+00h 1 28 2.0917464e+00 9.22e-07 7.07e-01 -4.0 4.06e-01 -2.8 1.00e+00 4.65e-01H 1 29 2.0917297e+00 1.32e-06 8.66e-05 -4.1 5.54e-02 -3.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0910338e+00 1.08e-05 2.74e-02 -6.2 1.04e-01 -3.7 7.99e-01 1.00e+00h 1 31 2.0909285e+00 5.20e-06 4.63e-05 -6.2 2.98e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0918489e+00 1.17e-04 1.92e-03 -4.0 7.82e-01 -4.7 1.00e+00 1.00e+00f 1 33 2.0913487e+00 1.06e-04 3.07e-04 -4.1 2.26e+00 -5.1 1.00e+00 1.00e+00h 1 34 2.0899920e+00 6.62e-04 2.62e-03 -6.1 6.92e+00 -5.6 9.89e-01 1.00e+00h 1 35 2.0897326e+00 5.08e-04 1.28e-01 -6.1 1.71e+01 -6.1 1.00e+00 2.42e-01h 1 36 2.0882992e+00 1.83e-04 2.30e-02 -6.1 4.43e+01 -6.6 8.57e-01 8.72e-01h 1 37 2.0877162e+00 1.56e-02 2.43e-01 -4.0 1.27e+02 -7.0 3.08e-01 1.00e+00f 1 38 2.0833072e+00 5.16e-03 1.74e-01 -4.3 2.12e+02 -7.5 1.00e+00 1.00e+00h 1 39 2.0814592e+00 1.87e-03 5.68e-02 -4.3 2.74e+02 -8.0 7.18e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0824435e+00 1.85e-04 3.92e-01 -4.0 1.34e+02 -6.7 1.00e+00 9.49e-01H 1 41 2.0827617e+00 2.83e-03 5.45e-02 -3.7 5.63e+01 -7.2 9.31e-01 1.00e+00h 1 42 2.0825136e+00 3.53e-03 1.43e-02 -3.8 4.99e+01 -7.6 9.10e-01 1.00e+00h 1 43 2.0824067e+00 1.58e-03 7.49e-03 -3.8 5.68e+01 -8.1 1.00e+00 1.00e+00h 1 44 2.0824312e+00 2.77e-04 2.90e-03 -3.8 3.76e+01 -8.6 1.00e+00 1.00e+00h 1 45 2.0818496e+00 6.87e-04 1.40e-04 -4.0 1.28e+01 -9.1 1.00e+00 1.00e+00h 1 46 2.0815854e+00 2.00e-04 1.62e-05 -4.1 8.97e+00 -9.5 1.00e+00 1.00e+00h 1 47 2.0818445e+00 2.09e-04 1.57e-05 -4.0 9.58e+00 -10.0 1.00e+00 1.00e+00h 1 48 2.0818434e+00 2.69e-08 4.24e-08 -4.0 3.63e-01 -10.5 1.00e+00 1.00e+00h 1 49 2.0818434e+00 1.03e-13 1.00e-09 -4.0 1.76e-03 -11.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 49 (scaled) (unscaled) Objective...............: 2.0818434105317354e+00 2.0818434105317354e+00 Dual infeasibility......: 1.0000000002325857e-09 1.0000000002325857e-09 Constraint violation....: 1.0258460747536446e-13 1.0258460747536446e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000451090e-04 1.0000000000451090e-04 Overall NLP error.......: 1.0000000002325857e-09 1.0000000002325857e-09 Number of objective function evaluations = 63 Number of objective gradient evaluations = 50 Number of equality constraint evaluations = 63 Number of inequality constraint evaluations = 63 Number of equality constraint Jacobian evaluations = 50 Number of inequality constraint Jacobian evaluations = 50 Number of Lagrangian Hessian evaluations = 49 Total seconds in IPOPT = 33.583 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 1.7854993e+01 3.27e+00 4.79e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.9702544e+00 1.08e-01 4.14e+00 -1.0 1.81e+00 0.0 7.43e-01 9.69e-01f 1 2 3.4095152e+00 1.41e-02 2.28e+00 -0.6 4.15e-01 0.4 1.00e+00 1.00e+00f 1 3 2.7839262e+00 3.16e-03 4.50e-01 -1.2 3.45e-01 -0.1 9.96e-01 1.00e+00f 1 4 2.4371887e+00 7.64e-03 1.06e-01 -1.5 1.26e-01 -0.5 9.17e-01 1.00e+00f 1 5 2.1903369e+00 5.47e-03 8.49e-02 -2.5 1.81e-01 -1.0 8.72e-01 6.86e-01h 1 6 2.0995919e+00 5.70e-04 8.26e-03 -3.0 3.60e-02 -1.5 9.71e-01 1.00e+00h 1 7 2.0909266e+00 8.08e-06 5.02e-04 -4.0 6.56e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908749e+00 9.65e-08 9.33e-05 -4.0 2.55e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908700e+00 4.78e-10 2.11e-05 -4.0 1.73e-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 2.0908635e+00 1.11e-09 2.07e-05 -4.0 5.10e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908471e+00 8.60e-09 1.98e-05 -4.0 1.46e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908087e+00 5.44e-08 1.14e-04 -4.0 3.92e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907310e+00 3.21e-07 5.73e-04 -4.0 9.79e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905272e+00 3.09e-06 8.01e-04 -4.0 3.00e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0903028e+00 4.16e-06 2.04e-02 -4.0 8.55e+00 -5.8 1.00e+00 3.12e-01h 2 16 2.0892844e+00 4.74e-05 4.05e-02 -4.0 2.32e+01 -6.3 1.00e+00 5.25e-01h 1 17 2.0863968e+00 1.19e-03 9.44e-02 -4.0 6.02e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0845702e+00 5.16e-04 5.95e-02 -4.0 6.76e+00 -5.4 1.00e+00 5.99e-01h 1 19 2.0843580e+00 6.98e-05 7.43e-03 -4.0 6.57e+00 -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 2.0833635e+00 4.75e-05 4.49e-03 -4.0 1.46e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827157e+00 9.68e-05 9.37e-03 -4.0 2.24e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0826929e+00 1.50e-04 6.82e-03 -4.0 5.70e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822465e+00 6.20e-04 7.41e-03 -4.0 1.37e+02 -7.8 9.71e-01 1.00e+00h 1 24 2.0824546e+00 1.18e-03 1.76e-02 -4.0 2.93e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0820775e+00 1.41e-03 1.90e-02 -4.0 2.24e+01 -6.9 1.00e+00 1.00e+00h 1 26 2.0872617e+00 9.29e-05 2.99e-01 -4.0 1.48e+01 -5.6 2.44e-01 4.99e-01h 1 27 2.0828240e+00 6.26e-05 1.94e+00 -4.0 1.48e+00 -1.6 3.67e-03 3.26e-01h 1 28 2.0826249e+00 2.39e-05 1.56e-02 -4.0 2.59e-01 -2.0 1.00e+00 1.00e+00h 1 29 2.0823302e+00 1.15e-05 2.22e-01 -4.0 1.34e-01 -2.5 9.61e-01 6.34e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0822885e+00 6.83e-07 7.81e-04 -4.0 9.74e-02 -3.0 1.00e+00 1.00e+00h 1 31 2.0824399e+00 1.70e-07 1.00e-03 -4.0 7.85e-02 -3.5 1.00e+00 1.00e+00h 1 32 2.0823905e+00 1.43e-06 8.36e-05 -4.0 8.22e-02 -4.0 1.00e+00 1.00e+00h 1 33 2.0822234e+00 5.70e-06 2.93e-05 -4.1 2.41e-01 -4.4 1.00e+00 1.00e+00h 1 34 2.0823287e+00 1.79e-05 1.45e-04 -4.0 7.85e-01 -4.9 1.00e+00 1.00e+00h 1 35 2.0820091e+00 8.44e-05 1.67e-02 -4.1 3.17e+00 -5.4 8.70e-01 1.00e+00h 1 36 2.0822827e+00 9.45e-05 1.13e+00 -4.0 2.60e+01 -5.9 7.49e-01 8.13e-02h 1 37 2.0822308e+00 7.54e-04 1.18e-01 -4.1 8.69e+00 -6.3 1.00e+00 4.26e-01h 2 38 2.0818669e+00 3.05e-03 8.72e-03 -4.1 1.18e+01 -6.8 1.00e+00 1.00e+00h 1 39 2.0820722e+00 4.94e-04 2.10e-03 -4.0 1.75e+01 -7.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817133e+00 1.03e-03 2.41e-03 -4.1 4.16e+01 -7.8 1.00e+00 1.00e+00h 1 41 2.0818756e+00 1.41e-03 5.19e-03 -4.0 5.78e+01 -8.2 1.00e+00 1.00e+00h 1 42 2.0815861e+00 1.15e-03 2.21e-03 -4.1 5.14e+01 -8.7 1.00e+00 1.00e+00h 1 43 2.0818422e+00 4.72e-04 2.74e-04 -4.0 2.02e+01 -9.2 1.00e+00 1.00e+00h 1 44 2.0818407e+00 5.29e-07 4.01e-05 -4.0 2.85e+00 -9.7 1.00e+00 1.00e+00h 1 45 2.0818407e+00 3.82e-10 4.01e-05 -4.0 1.69e-01 -10.2 1.00e+00 1.00e+00h 1 46 2.0818407e+00 1.34e-13 4.01e-05 -4.0 3.47e-03 -10.6 1.00e+00 1.00e+00h 1 47 2.0815814e+00 2.08e-04 3.26e-05 -4.1 9.46e+00 -11.1 1.00e+00 1.00e+00h 1 48 2.0818419e+00 2.15e-04 4.01e-05 -4.0 9.78e+00 -11.6 1.00e+00 1.00e+00h 1 49 2.0815819e+00 2.14e-04 3.27e-05 -4.1 9.75e+00 -12.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -12.5 9.77e-01 9.68e-01h 1 51 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -13.0 1.00e+00 1.00e+00f 1 52 2.0816124e+00 4.95e-04 3.33e-05 -4.1 2.07e+01 -13.5 1.00e+00 1.00e+00h 1 53 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -14.0 9.76e-01 9.61e-01h 1 54 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -14.5 1.00e+00 1.00e+00h 1 55 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -14.9 1.00e+00 1.00e+00f 1 56 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -15.4 1.00e+00 1.00e+00h 1 57 2.0816420e+00 4.58e-07 3.43e-05 -4.1 8.54e+00 -15.9 1.00e+00 1.00e+00h 1 58 2.0818414e+00 1.26e-04 4.01e-05 -4.0 7.46e+00 -16.4 1.00e+00 1.00e+00h 1 59 2.0815817e+00 2.11e-04 3.26e-05 -4.1 9.63e+00 -16.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -17.3 9.77e-01 9.68e-01h 1 61 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -17.8 1.00e+00 1.00e+00h 1 62 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -18.3 1.00e+00 1.00e+00f 1 63 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -18.7 1.00e+00 1.00e+00h 1 64 2.0816444e+00 5.44e-07 3.44e-05 -4.1 8.94e+00 -19.2 1.00e+00 1.00e+00h 1 65 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -19.7 9.76e-01 9.71e-01h 1 66 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0805468e+00 5.07e-08 3.43e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 68 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 69 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+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 2.0816573e+00 1.18e-06 3.48e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 72 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0805469e+00 5.37e-08 3.49e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 74 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 75 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 76 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0816639e+00 1.62e-06 3.49e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 79 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+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 2.0805470e+00 5.53e-08 3.52e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 81 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 82 2.0805365e+00 8.66e-11 4.00e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 83 2.0820406e+00 1.30e-02 4.36e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 84 2.0817222e+00 1.13e-03 7.75e-05 -4.1 5.82e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0816640e+00 1.63e-06 3.49e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805948e+00 3.76e-03 1.60e-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 5.54e-08 3.52e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 9.45e-07 8.04e-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 8.67e-11 4.00e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 4.44e-16 4.00e-10 -9.0 1.02e-05 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 4.44e-16 4.00e-10 -9.0 2.00e-10 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 6.66e-16 4.00e-10 -9.0 2.00e-10 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 6.66e-16 4.00e-10 -9.0 2.00e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 6.66e-16 4.00e-10 -9.0 2.00e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 6.66e-16 4.00e-10 -9.0 2.00e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 6.66e-16 4.00e-10 -9.0 2.00e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 6.66e-16 4.00e-10 -9.0 2.00e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 6.66e-16 4.00e-10 -9.0 2.00e-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 6.66e-16 4.00e-10 -9.0 2.00e-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......: 3.9977205587013709e-10 3.9977205587013709e-10 Constraint violation....: 6.6613381477509392e-16 6.6613381477509392e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971184536e-10 9.0909090971184536e-10 Overall NLP error.......: 9.9999090909091564e-05 9.9999090909091564e-05 Number of objective function evaluations = 107 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 107 Number of inequality constraint evaluations = 107 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 38.686 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 7.1638871e+01 2.11e+00 2.62e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0955743e+01 1.32e+00 2.62e+01 -0.5 2.09e+00 0.0 1.00e+00 3.85e-01f 1 2 3.6093710e+00 1.07e-01 1.72e+01 -0.1 1.38e+00 -0.5 7.71e-01 1.00e+00f 1 3 3.2036710e+00 4.04e-02 3.27e+00 -0.5 9.21e-01 -1.0 1.00e+00 1.00e+00f 1 4 2.5857026e+00 1.38e-01 2.04e+00 -4.0 9.00e-01 -1.4 6.36e-01 1.00e+00f 1 5 2.4169675e+00 8.05e-02 6.83e-01 -1.5 2.10e+00 -1.9 9.98e-01 5.91e-01h 1 6 2.2174282e+00 4.40e-02 4.12e-01 -2.2 1.91e+00 -2.4 1.00e+00 7.13e-01h 1 7 2.1180477e+00 5.34e-03 7.68e-02 -2.8 2.89e-01 -2.9 9.97e-01 1.00e+00h 1 8 2.0919646e+00 6.24e-04 4.18e-03 -4.0 1.83e-01 -3.3 1.00e+00 9.35e-01h 1 9 2.0909279e+00 2.12e-05 5.35e-04 -4.0 1.28e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908839e+00 2.66e-07 2.17e-04 -4.0 3.93e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908011e+00 3.90e-07 5.93e-04 -4.0 9.39e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906149e+00 2.14e-06 1.40e-03 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900077e+00 1.97e-05 1.70e-03 -4.0 7.27e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0890716e+00 1.73e-04 2.54e-02 -4.0 2.35e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0878674e+00 7.59e-05 5.11e-02 -4.0 3.59e+00 -4.9 1.00e+00 6.60e-01h 1 16 2.0877284e+00 1.72e-05 6.03e-03 -4.0 3.44e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0868139e+00 4.12e-05 4.74e-03 -4.0 1.00e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0852746e+00 1.83e-04 9.29e-03 -4.0 2.37e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0834426e+00 2.89e-04 3.17e-02 -4.0 3.96e+01 -6.8 1.00e+00 7.22e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826081e+00 1.08e-04 5.95e-03 -4.0 5.63e+01 -7.3 1.00e+00 7.16e-01h 1 21 2.0824357e+00 4.93e-04 1.85e-02 -4.0 1.22e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.2779244e+00 1.54e-04 5.34e+00 -4.0 8.52e+02 -8.2 4.56e-02 1.00e+00H 1 23 2.0863806e+00 2.36e-05 7.45e-01 -4.1 1.08e-01 -0.4 9.91e-01 8.47e-01f 1 24 2.0867101e+00 2.34e-05 4.10e+00 -4.0 7.63e-02 -0.8 1.00e+00 7.81e-03f 8 25 2.0867144e+00 1.26e-07 1.30e-03 -4.0 2.75e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.0863758e+00 1.21e-07 1.14e-03 -4.0 7.16e-02 -1.8 1.00e+00 1.00e+00h 1 27 2.0861704e+00 6.05e-07 6.69e-04 -4.0 1.27e-01 -2.3 1.00e+00 1.00e+00h 1 28 2.0862261e+00 1.22e-07 2.17e-04 -4.0 2.08e-02 -2.8 1.00e+00 1.00e+00h 1 29 2.0862127e+00 1.20e-07 2.17e-04 -4.0 1.94e-02 -3.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0862075e+00 1.64e-08 2.17e-04 -4.0 5.83e-02 -3.7 1.00e+00 1.00e+00h 1 31 2.0861938e+00 3.31e-08 2.17e-04 -4.0 1.74e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0861538e+00 2.86e-07 2.17e-04 -4.0 5.18e-01 -4.7 1.00e+00 1.00e+00h 1 33 2.0860455e+00 2.22e-06 2.17e-04 -4.0 1.51e+00 -5.1 1.00e+00 1.00e+00h 1 34 2.0858037e+00 1.29e-05 6.68e-04 -4.0 4.20e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0854333e+00 3.65e-05 1.89e-03 -4.0 1.11e+01 -6.1 1.00e+00 1.00e+00h 1 36 2.0848174e+00 8.35e-05 3.81e-03 -4.0 2.87e+01 -6.6 1.00e+00 1.00e+00h 1 37 2.0837325e+00 4.83e-04 1.82e-02 -4.0 7.03e+01 -7.0 1.00e+00 1.00e+00h 1 38 2.0822619e+00 1.11e-03 5.08e-02 -4.1 1.35e+02 -7.5 1.00e+00 1.00e+00h 1 39 2.0818218e+00 5.73e-03 3.51e-02 -4.0 2.09e+02 -8.0 6.31e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0816402e+00 2.64e-03 3.31e-02 -4.0 5.09e+01 -6.7 1.00e+00 1.00e+00h 1 41 2.0817398e+00 4.28e-04 1.28e-02 -4.0 1.20e+01 -7.2 9.96e-01 1.00e+00h 1 42 2.0852004e+00 1.58e-06 3.24e-02 -4.0 3.57e+01 -7.6 8.14e-01 1.00e+00H 1 43 2.0845872e+00 6.71e-08 2.69e-02 -4.0 1.62e-02 0.2 1.00e+00 1.00e+00h 1 44 2.0835742e+00 3.29e-07 1.95e-02 -4.0 3.47e-02 -0.3 1.00e+00 1.00e+00h 1 45 2.0825884e+00 8.57e-07 1.09e-02 -4.0 5.59e-02 -0.7 1.00e+00 1.00e+00h 1 46 2.0820863e+00 9.99e-07 3.56e-03 -4.0 6.17e-02 -1.2 1.00e+00 1.00e+00h 1 47 2.0820018e+00 1.44e-07 6.81e-04 -4.0 2.39e-02 -1.7 1.00e+00 1.00e+00h 1 48 2.0819972e+00 1.10e-08 2.41e-04 -4.0 3.48e-02 -2.2 1.00e+00 1.00e+00h 1 49 2.0819943e+00 3.57e-08 2.17e-04 -4.0 4.69e-02 -2.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819903e+00 2.09e-07 2.17e-04 -4.0 3.95e-02 -3.1 1.00e+00 1.00e+00h 1 51 2.0819873e+00 7.06e-07 2.17e-04 -4.0 5.26e-02 -3.6 1.00e+00 1.00e+00h 1 52 2.0819859e+00 2.10e-06 2.17e-04 -4.0 1.55e-01 -4.1 1.00e+00 1.00e+00h 1 53 2.0819858e+00 9.28e-06 2.17e-04 -4.0 4.48e-01 -4.6 1.00e+00 1.00e+00h 1 54 2.0819796e+00 7.39e-05 2.17e-04 -4.0 1.20e+00 -5.0 1.00e+00 1.00e+00h 1 55 2.0819529e+00 3.17e-04 8.55e-04 -4.0 2.61e+00 -5.5 1.00e+00 1.00e+00h 1 56 2.0819104e+00 2.28e-04 1.33e-03 -4.0 2.82e+00 -6.0 1.00e+00 1.00e+00h 1 57 2.0818590e+00 8.05e-06 4.57e-04 -4.0 2.15e+00 -6.5 1.00e+00 1.00e+00h 1 58 2.0818272e+00 7.90e-06 2.17e-04 -4.0 2.61e+00 -6.9 1.00e+00 1.00e+00h 1 59 2.0818257e+00 7.10e-07 2.17e-04 -4.0 5.54e+00 -7.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818303e+00 9.16e-06 2.17e-04 -4.0 9.16e+00 -7.9 1.00e+00 1.00e+00h 1 61 2.0815799e+00 2.39e-04 1.74e-04 -4.1 9.86e+00 -8.4 1.00e+00 1.00e+00h 1 62 2.0818380e+00 2.70e-04 2.17e-04 -4.0 1.25e+01 -8.8 1.00e+00 1.00e+00h 1 63 2.0815808e+00 1.65e-04 1.74e-04 -4.1 7.64e+00 -9.3 1.00e+00 1.00e+00h 1 64 2.0818394e+00 2.04e-04 2.17e-04 -4.0 9.32e+00 -9.8 1.00e+00 1.00e+00h 1 65 2.0815804e+00 2.07e-04 1.74e-04 -4.1 9.47e+00 -10.3 1.00e+00 1.00e+00h 1 66 2.0805900e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -10.8 9.78e-01 9.71e-01h 1 67 2.0818881e+00 6.55e-03 3.09e-04 -4.0 6.09e+01 -11.2 1.00e+00 1.00e+00f 1 68 2.0816136e+00 4.88e-04 1.78e-04 -4.1 2.07e+01 -11.7 1.00e+00 1.00e+00h 1 69 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -12.2 9.76e-01 9.65e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805508e+00 8.46e-05 2.24e-06 -6.1 1.69e+01 -12.7 1.00e+00 1.00e+00h 1 71 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -13.1 1.00e+00 1.00e+00f 1 72 2.0816837e+00 9.34e-04 1.85e-04 -4.1 4.57e+01 -13.6 1.00e+00 1.00e+00h 1 73 2.0816477e+00 4.73e-07 1.85e-04 -4.1 8.52e+00 -14.1 1.00e+00 1.00e+00h 1 74 2.0818389e+00 1.15e-04 2.17e-04 -4.0 7.07e+00 -14.6 1.00e+00 1.00e+00h 1 75 2.0815801e+00 2.08e-04 1.74e-04 -4.1 9.50e+00 -15.1 1.00e+00 1.00e+00h 1 76 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -15.5 9.78e-01 9.71e-01h 1 77 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -16.0 1.00e+00 1.00e+00h 1 78 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -16.5 1.00e+00 1.00e+00f 1 79 2.0816887e+00 9.54e-04 1.85e-04 -4.1 4.72e+01 -17.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0816504e+00 5.63e-07 1.85e-04 -4.1 8.93e+00 -17.4 1.00e+00 1.00e+00h 1 81 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -17.9 9.77e-01 9.75e-01h 1 82 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -18.4 1.00e+00 1.00e+00h 1 83 2.0805469e+00 4.72e-08 1.71e-06 -6.1 2.95e+00 -18.9 1.00e+00 1.00e+00h 1 84 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -19.3 1.00e+00 1.00e+00f 1 85 2.0817159e+00 1.04e-03 1.88e-04 -4.1 5.46e+01 -19.8 1.00e+00 1.00e+00h 1 86 2.0816648e+00 1.22e-06 1.88e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 88 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0805471e+00 4.99e-08 1.75e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 91 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 92 2.0817306e+00 1.08e-03 1.89e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0816723e+00 1.67e-06 1.89e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 95 2.0805516e+00 7.07e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0805472e+00 5.15e-08 1.76e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 98 2.0805365e+00 9.27e-11 1.97e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 99 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0817309e+00 1.08e-03 1.89e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0817309354616338e+00 2.0817309354616338e+00 Dual infeasibility......: 1.8897706977559595e-04 1.8897706977559595e-04 Constraint violation....: 1.0814498438803111e-03 1.0814498438803111e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.1664941730925193e-04 1.1664941730925193e-04 Overall NLP error.......: 1.0814498438803111e-03 1.0814498438803111e-03 Number of objective function evaluations = 110 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 110 Number of inequality constraint evaluations = 110 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 53.814 EXIT: Maximum Number of Iterations Exceeded. Difference in Jacobian 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 5.4048601e+00 3.15e+00 1.23e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4521468e+00 3.75e+00 6.18e+00 -1.1 6.27e+01 -4.0 9.22e-01 1.00e+00f 1 2 2.2464237e+00 2.70e-01 1.88e+00 -1.6 2.34e+01 -4.5 9.97e-01 1.00e+00h 1 3 2.1500466e+00 1.43e-01 3.88e-01 -2.4 1.32e+01 -5.0 9.99e-01 1.00e+00h 1 4 2.0935996e+00 1.50e-01 2.89e-01 -3.0 2.33e+01 -5.4 9.98e-01 1.00e+00h 1 5 2.0915039e+00 1.13e-02 4.44e-02 -3.3 2.26e+01 -5.9 1.00e+00 1.00e+00h 1 6 2.0822565e+00 2.37e-02 3.66e-02 -3.9 4.05e+01 -6.4 9.99e-01 1.00e+00h 1 7 2.0850548e+00 5.93e-03 2.25e-02 -3.3 1.46e+01 -6.9 1.00e+00 1.00e+00h 1 8 2.0790453e+00 2.90e-02 7.34e-03 -4.0 5.03e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0774801e+00 1.90e-03 6.92e-03 -4.0 1.15e+02 -7.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1288550e+00 5.36e+00 1.37e+00 -2.0 4.50e+03 -8.3 1.52e-01 3.04e-01f 1 11 2.0859164e+00 2.89e+00 1.00e+00 -2.7 1.07e+03 -8.8 1.00e+00 8.68e-01h 1 12 2.1008358e+00 6.25e-01 5.31e-01 -2.7 1.54e+03 -9.2 1.00e+00 1.00e+00h 1 13 2.1025967e+00 1.83e-01 1.93e-01 -2.7 9.90e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.1025089e+00 4.47e-02 8.14e-03 -2.7 3.04e+02 -10.2 1.00e+00 1.00e+00h 1 15 2.1024925e+00 1.65e-04 1.67e-05 -2.7 2.13e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0797635e+00 5.68e-01 3.75e-03 -4.0 2.58e+02 -11.2 9.01e-01 1.00e+00h 1 17 2.0776850e+00 1.40e-02 3.55e-05 -3.7 2.94e+02 -11.6 1.00e+00 1.00e+00h 1 18 2.0778262e+00 1.89e-05 1.34e-06 -3.7 1.11e+01 -12.1 1.00e+00 1.00e+00h 1 19 2.0758107e+00 1.15e-02 1.60e-06 -4.0 7.37e+01 -12.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0757704e+00 4.86e-05 7.72e-08 -4.0 2.90e+01 -13.1 1.00e+00 1.00e+00h 1 21 2.0757704e+00 3.40e-11 5.67e-12 -4.0 3.51e-02 -13.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 21 (scaled) (unscaled) Objective...............: 2.0757703960453275e+00 2.0757703960453275e+00 Dual infeasibility......: 5.6720053458712838e-12 5.6720053458712838e-12 Constraint violation....: 3.4012593306056993e-11 3.4012593306056993e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000004790640e-04 1.0000000004790640e-04 Overall NLP error.......: 3.4012593306056993e-11 3.4012593306056993e-11 Number of objective function evaluations = 22 Number of objective gradient evaluations = 22 Number of equality constraint evaluations = 22 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 22 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 21 Total seconds in IPOPT = 33.479 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 2.3104141e+00 9.54e-01 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0653799e+00 2.45e-01 2.38e+00 -1.4 3.17e+00 - 8.89e-01 9.97e-01h 1 2 1.2588282e+00 1.25e-01 1.67e+00 -1.3 3.00e-01 0.0 7.77e-01 8.14e-01h 1 3 1.8284251e+00 8.58e-02 2.65e+00 -1.3 3.95e-01 -0.5 8.76e-01 7.89e-01H 1 4 1.9729530e+00 2.27e-02 1.51e+00 -4.0 5.62e-01 -1.0 3.65e-01 6.55e-01h 1 5 1.4646009e+00 1.67e-02 1.60e+00 -1.1 3.42e+01 -0.5 1.07e-01 2.14e-02f 1 6 3.0717358e+00 2.18e-01 5.48e+00 -0.3 2.52e+00 -1.0 5.39e-01 2.05e-01f 1 7 3.8784582e+00 1.52e-01 4.07e+01 -0.8 2.13e+00 -1.5 1.00e+00 1.00e+00h 1 8 2.4857282e+00 7.49e-02 7.26e+01 -0.8 3.91e-01 0.7 2.40e-01 6.29e-01F 1 9 2.3341033e+00 3.21e-02 1.15e+01 -0.8 2.41e-01 0.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.7953558e+00 6.04e-03 1.45e+01 -1.4 9.97e+00 - 1.00e+00 1.00e+00f 1 11 1.3345961e+00 1.67e-03 4.21e+00 -2.0 1.33e-01 -0.2 1.00e+00 6.71e-01f 1 12 1.1201694e+00 1.80e-04 1.09e+00 -2.7 1.13e+01 - 9.98e-01 8.68e-01f 1 13 1.1157871e+00 1.72e-04 5.43e-01 -3.5 7.04e-02 -0.7 1.00e+00 4.41e-02h 1 14 1.0916151e+00 2.51e-06 8.23e-02 -4.0 2.88e+00 - 1.00e+00 1.00e+00f 1 15 1.0908846e+00 1.76e-09 9.67e-03 -4.0 9.60e-01 - 1.00e+00 1.00e+00h 1 16 1.0908997e+00 7.59e-16 1.29e-05 -4.0 3.58e-02 - 1.00e+00 1.00e+00h 1 17 1.0908997e+00 2.72e-24 7.64e-12 -4.0 2.75e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 17 (scaled) (unscaled) Objective...............: 1.0908997263265539e+00 1.0908997263265539e+00 Dual infeasibility......: 7.6373274295483268e-12 7.6373274295483268e-12 Constraint violation....: 2.7202930828347063e-24 2.7202930828347063e-24 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000004637178e-04 1.0000000004637178e-04 Overall NLP error.......: 7.6373274295483268e-12 7.6373274295483268e-12 Number of objective function evaluations = 20 Number of objective gradient evaluations = 18 Number of equality constraint evaluations = 20 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 18 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 17 Total seconds in IPOPT = 42.276 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...: 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 4.9661188e+00 3.70e+00 3.21e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9119576e+00 1.56e-02 6.09e-01 -1.0 2.59e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3701949e+00 1.97e-02 6.20e-02 -1.7 2.55e-01 -1.6 9.75e-01 1.00e+00h 1 3 2.1567349e+00 2.86e-03 3.37e-01 -2.8 1.38e-01 -1.1 9.97e-01 1.00e+00h 1 4 2.1018591e+00 1.10e-03 1.56e-01 -4.0 8.02e-02 -1.6 1.00e+00 7.52e-01h 1 5 2.0927853e+00 2.56e-04 4.32e-01 -4.0 6.42e-01 -2.1 1.00e+00 4.96e-01h 1 6 2.0912304e+00 1.58e-04 3.71e-01 -4.0 9.19e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909565e+00 1.65e-06 1.07e-02 -4.0 2.34e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909631e+00 2.60e-07 2.06e-05 -4.0 7.03e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909424e+00 1.63e-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 2.0908808e+00 1.46e-07 2.05e-05 -4.0 6.30e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0906990e+00 1.29e-06 4.94e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901811e+00 1.09e-05 4.18e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888421e+00 8.16e-05 3.15e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861620e+00 4.38e-04 1.74e-02 -4.0 3.46e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830977e+00 9.09e-04 4.70e-02 -4.0 5.31e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828617e+00 9.35e-04 2.33e-02 -4.0 5.43e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823471e+00 3.98e-04 1.02e-02 -4.0 1.12e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820403e+00 9.37e-05 1.86e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.70e-04 8.69e-03 -4.0 9.93e+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 3.68e-05 8.45e-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 4.43e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.74e-10 3.24e-08 -4.0 2.44e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.49e-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...............: 2.0819382907190875e+00 2.0819382907190875e+00 Dual infeasibility......: 1.2057553577544261e-11 1.2057553577544261e-11 Constraint violation....: 2.4868995751603507e-13 2.4868995751603507e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000059e-04 1.0000000000000059e-04 Overall NLP error.......: 1.2057553577544261e-11 1.2057553577544261e-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 = 30.919 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 2.3511021e+00 3.84e+00 1.85e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5954856e+00 3.09e-02 4.98e-01 -1.1 2.17e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2764392e+00 1.41e-02 5.08e-02 -1.7 2.47e-01 -1.6 9.70e-01 9.02e-01h 1 3 2.1452504e+00 2.07e-03 1.90e-01 -3.0 7.87e-02 -1.1 9.88e-01 1.00e+00h 1 4 2.1021698e+00 1.03e-03 8.28e-02 -4.0 9.82e-02 -1.6 1.00e+00 7.39e-01h 1 5 2.0928869e+00 4.02e-04 5.39e-01 -4.0 7.83e-01 -2.1 1.00e+00 4.58e-01h 1 6 2.0912138e+00 3.83e-04 4.41e-01 -4.0 8.70e-01 -2.6 1.00e+00 5.68e-01h 1 7 2.0909789e+00 3.54e-05 9.08e-02 -4.0 6.00e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909202e+00 3.84e-06 1.39e-03 -4.0 9.02e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909036e+00 2.30e-06 8.30e-05 -4.0 2.55e-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 2.0908418e+00 2.06e-07 3.21e-04 -4.0 6.07e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907389e+00 5.91e-07 1.68e-03 -4.0 1.34e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904648e+00 6.42e-06 1.10e-03 -4.0 4.32e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0896147e+00 4.93e-05 2.33e-03 -4.0 1.18e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0893295e+00 3.52e-04 5.63e-02 -4.0 3.36e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0865840e+00 4.27e-04 9.17e-01 -4.0 3.18e+01 -5.1 1.00e+00 2.46e-01h 1 16 2.0860880e+00 2.07e-04 1.14e-01 -4.0 4.36e+00 -5.5 1.00e+00 5.22e-01h 1 17 2.0855445e+00 1.59e-03 2.45e-02 -4.0 1.31e+01 -6.0 1.00e+00 1.00e+00h 1 18 2.0837882e+00 2.67e-04 1.25e-02 -4.0 2.76e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0827338e+00 6.35e-05 1.13e-02 -4.0 3.27e+01 -7.0 1.00e+00 7.78e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827775e+00 8.00e-04 2.61e-02 -4.0 7.46e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0819444e+00 2.48e-03 1.00e-02 -4.1 1.73e+02 -7.9 7.43e-01 1.00e+00h 1 22 3.3309404e+00 7.06e-04 5.03e+00 -4.0 1.68e+02 -6.6 3.65e-01 9.86e-01H 1 23 2.5819443e+00 3.98e-08 3.18e+00 -3.9 1.81e-01 1.2 1.00e+00 1.00e+00f 1 24 2.1502069e+00 2.25e-08 1.16e+00 -3.9 2.00e-01 0.8 4.92e-01 1.00e+00f 1 25 2.0852168e+00 2.99e-08 1.79e-01 -3.9 9.66e-02 0.3 1.00e+00 1.00e+00f 1 26 2.0841201e+00 1.27e-08 8.98e-02 -4.0 1.50e-02 -0.2 1.00e+00 5.13e-01f 1 27 2.0843766e+00 5.48e-09 5.77e-02 -4.0 8.43e-03 -0.7 1.00e+00 5.00e-01f 2 28 2.0841016e+00 1.02e-07 1.58e-03 -4.1 2.19e-02 -1.1 1.00e+00 1.00e+00h 1 29 2.0840436e+00 3.75e-07 1.28e-03 -4.0 5.33e-02 -1.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0839101e+00 8.64e-07 6.03e-04 -4.0 7.53e-02 -2.1 1.00e+00 1.00e+00h 1 31 2.0839641e+00 8.62e-08 4.42e-05 -4.0 1.51e-02 -2.6 1.00e+00 1.00e+00h 1 32 2.0839559e+00 3.72e-08 1.11e-05 -4.0 1.25e-02 -3.1 1.00e+00 1.00e+00h 1 33 2.0839529e+00 4.57e-09 1.12e-05 -4.0 3.76e-02 -3.5 1.00e+00 1.00e+00h 1 34 2.0839448e+00 3.87e-09 1.11e-05 -4.0 1.13e-01 -4.0 1.00e+00 1.00e+00h 1 35 2.0839208e+00 3.50e-08 1.11e-05 -4.0 3.35e-01 -4.5 1.00e+00 1.00e+00h 1 36 2.0838505e+00 3.06e-07 2.99e-05 -4.0 9.84e-01 -5.0 1.00e+00 1.00e+00h 1 37 2.0836572e+00 2.48e-06 2.41e-04 -4.0 2.76e+00 -5.4 1.00e+00 1.00e+00h 1 38 2.0832145e+00 1.57e-05 1.51e-03 -4.0 6.86e+00 -5.9 1.00e+00 1.00e+00h 1 39 2.0826721e+00 5.83e-05 4.81e-03 -4.0 1.38e+01 -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 2.0823816e+00 5.09e-05 5.10e-03 -4.0 3.06e+01 -6.9 1.00e+00 1.00e+00h 1 41 2.0819530e+00 2.52e-04 3.71e-03 -4.0 6.32e+01 -7.3 8.19e-01 1.00e+00h 1 42 2.0818459e+00 2.58e-04 1.13e-01 -4.0 3.65e+03 -6.9 1.53e-03 7.01e-03h 3 43 2.0818836e+00 2.88e-04 8.81e-01 -4.0 5.12e+01 -5.6 1.69e-01 3.93e-02h 3 44 2.0817507e+00 1.21e-04 8.71e-02 -4.1 3.77e+00 -6.1 1.00e+00 4.47e-01h 1 45 2.0819744e+00 2.81e-04 9.07e-04 -4.0 4.77e+00 -6.5 1.00e+00 1.00e+00f 1 46 2.0817414e+00 2.92e-04 1.36e-03 -4.1 7.61e+00 -7.0 1.00e+00 1.00e+00h 1 47 2.0819266e+00 3.90e-04 8.11e-04 -4.0 1.76e+01 -7.5 1.00e+00 1.00e+00h 1 48 2.0816300e+00 7.50e-04 7.45e-04 -4.1 3.31e+01 -8.0 1.00e+00 1.00e+00h 1 49 2.0818488e+00 1.08e-03 1.82e-03 -4.0 4.59e+01 -8.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0815814e+00 7.01e-04 5.64e-04 -4.1 3.07e+01 -8.9 1.00e+00 1.00e+00h 1 51 2.0818394e+00 2.15e-04 5.16e-05 -4.0 8.93e+00 -9.4 1.00e+00 1.00e+00h 1 52 2.0815805e+00 2.12e-04 1.27e-05 -4.1 9.64e+00 -9.9 1.00e+00 1.00e+00h 1 53 2.0818395e+00 2.08e-04 1.25e-05 -4.0 9.48e+00 -10.4 1.00e+00 1.00e+00h 1 54 2.0815804e+00 2.10e-04 1.02e-05 -4.1 9.58e+00 -10.8 1.00e+00 1.00e+00h 1 55 2.0818395e+00 2.11e-04 9.61e-06 -4.0 9.61e+00 -11.3 1.00e+00 1.00e+00h 1 56 2.0815804e+00 2.11e-04 9.21e-06 -4.1 9.62e+00 -11.8 1.00e+00 1.00e+00h 1 57 2.0818395e+00 2.11e-04 9.29e-06 -4.0 9.62e+00 -12.3 1.00e+00 1.00e+00h 1 58 2.0815804e+00 2.11e-04 9.10e-06 -4.1 9.62e+00 -12.7 1.00e+00 1.00e+00h 1 59 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -13.2 9.78e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -13.7 1.00e+00 1.00e+00f 1 61 2.0816141e+00 4.87e-04 1.05e-05 -4.1 2.07e+01 -14.2 1.00e+00 1.00e+00h 1 62 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -14.7 9.76e-01 9.65e-01h 1 63 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -15.1 1.00e+00 1.00e+00h 1 64 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -15.6 1.00e+00 1.00e+00f 1 65 2.0816850e+00 9.29e-04 4.93e-05 -4.1 4.57e+01 -16.1 1.00e+00 1.00e+00h 1 66 2.0816490e+00 4.77e-07 7.43e-07 -4.1 8.50e+00 -16.6 1.00e+00 1.00e+00h 1 67 2.0818389e+00 1.13e-04 4.87e-06 -4.0 7.02e+00 -17.0 1.00e+00 1.00e+00h 1 68 2.0815801e+00 2.08e-04 9.04e-06 -4.1 9.49e+00 -17.5 1.00e+00 1.00e+00h 1 69 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -18.0 9.78e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -18.5 1.00e+00 1.00e+00h 1 71 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -18.9 1.00e+00 1.00e+00f 1 72 2.0816901e+00 9.49e-04 5.23e-05 -4.1 4.72e+01 -19.4 1.00e+00 1.00e+00h 1 73 2.0816518e+00 5.68e-07 7.86e-07 -4.1 8.91e+00 -19.9 1.00e+00 1.00e+00h 1 74 2.0805907e+00 3.69e-03 1.61e-04 -6.1 4.17e+01 -20.0 9.77e-01 9.75e-01h 1 75 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0805469e+00 4.72e-08 2.03e-08 -6.1 2.96e+00 -20.0 1.00e+00 1.00e+00h 1 77 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -20.0 1.00e+00 1.00e+00f 1 78 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0816664e+00 1.23e-06 1.00e-06 -4.1 1.09e+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 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -20.0 9.76e-01 9.75e-01h 1 81 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 83 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 84 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 85 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 88 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 91 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 92 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 93 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 96 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 99 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-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 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 101 2.0805365e+00 6.66e-16 2.22e-16 -9.0 1.99e-12 -20.0 1.00e+00 1.00e+00h 1 102 2.0805365e+00 2.22e-16 2.41e-16 -9.0 8.86e-14 -20.0 1.00e+00 1.00e+00 0 103 2.0805365e+00 8.88e-16 2.03e-16 -9.0 6.79e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 103 (scaled) (unscaled) Objective...............: 2.0805364715330508e+00 2.0805364715330508e+00 Dual infeasibility......: 2.0309745975833971e-16 2.0309745975833971e-16 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 9.0909103283437487e-09 9.0909103283437487e-09 Complementarity.........: 9.0909090969342984e-10 9.0909090969342984e-10 Overall NLP error.......: 9.9999090909091523e-05 9.9999090909091523e-05 Number of objective function evaluations = 114 Number of objective gradient evaluations = 104 Number of equality constraint evaluations = 114 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 104 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 104 Total seconds in IPOPT = 34.626 EXIT: Search Direction is becoming Too Small. 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 1.6461140e+00 8.26e-01 1.11e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3059206e+00 1.19e-01 1.07e+00 -1.4 1.51e+00 - 9.25e-01 1.00e+00h 1 2 1.8791740e+00 1.78e-01 2.08e+00 -0.5 1.37e+01 -2.0 5.83e-01 2.18e-01f 2 3 1.6051444e+00 1.51e-01 1.19e+00 -0.8 1.09e+01 -2.5 1.14e-01 1.07e-01h 1 4 1.6717674e+00 7.59e-02 1.51e+00 -1.5 1.25e+01 - 2.68e-01 2.31e-01f 3 5 1.6347648e+00 1.87e-02 8.43e-01 -1.7 7.22e-01 -1.1 9.67e-01 8.50e-01h 1 6 1.9065747e+00 1.02e-01 1.05e+00 -0.4 3.66e+01 - 2.99e-01 3.31e-02f 2 7 1.8763310e+00 7.02e-02 1.53e+00 -1.1 1.00e+00 - 9.54e-01 1.00e+00f 1 8 1.6722172e+00 2.16e-02 8.72e-01 -1.1 3.37e-01 -1.6 1.00e+00 5.12e-01h 1 9 1.2659818e+00 3.54e-03 4.27e-01 -1.9 6.46e-01 - 9.94e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.1046779e+00 8.45e-05 3.65e-02 -3.4 4.67e-01 - 1.00e+00 1.00e+00f 1 11 1.0921799e+00 4.52e-07 6.35e-02 -4.0 2.00e+00 - 1.00e+00 1.00e+00h 1 12 1.0908537e+00 3.12e-10 7.19e-03 -4.0 7.34e-01 - 1.00e+00 1.00e+00h 1 13 1.0908999e+00 1.87e-14 1.31e-05 -4.0 3.21e-02 - 1.00e+00 1.00e+00h 1 14 1.0908997e+00 9.51e-25 7.98e-11 -4.0 8.27e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 14 (scaled) (unscaled) Objective...............: 1.0908997263247227e+00 1.0908997263247227e+00 Dual infeasibility......: 7.9774522979223633e-11 7.9774522979223633e-11 Constraint violation....: 9.5126715476666439e-25 9.5126715476666439e-25 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 7.9774522979223633e-11 7.9774522979223633e-11 Number of objective function evaluations = 28 Number of objective gradient evaluations = 15 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 15 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 14 Total seconds in IPOPT = 37.800 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 4.3059738e+00 2.38e+00 4.41e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7038162e+00 3.18e-02 5.91e-01 -1.1 2.19e+00 - 1.00e+00 1.00e+00f 1 2 2.3354347e+00 9.69e-03 1.21e-01 -1.6 1.48e-01 - 9.77e-01 1.00e+00h 1 3 2.1071481e+00 1.26e-03 1.63e-02 -2.8 3.71e-02 - 9.81e-01 9.27e-01h 1 4 2.0909295e+00 1.37e-04 4.66e-03 -4.0 3.51e-02 - 1.00e+00 1.00e+00h 1 5 2.0908993e+00 3.37e-06 2.06e-04 -4.0 2.71e-01 - 1.00e+00 1.00e+00h 1 6 2.0908973e+00 7.10e-09 5.19e-08 -4.0 9.10e-02 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 1.08e-11 1.34e-11 -4.0 6.56e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971977793738e+00 2.0908971977793738e+00 Dual infeasibility......: 1.3371108501013598e-11 1.3371108501013598e-11 Constraint violation....: 1.0841061013310005e-11 1.0841061013310005e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000088670621363e-04 1.0000088670621363e-04 Overall NLP error.......: 8.8670621362183389e-10 8.8670621362183389e-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 = 34.779 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 2.9680194e+00 1.50e+00 8.10e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1980136e+00 8.50e-01 3.17e+00 -1.3 9.84e+00 -4.0 1.60e-01 6.80e-01f 1 2 2.4612419e+00 5.33e-01 3.72e+01 -1.2 1.28e+01 -2.7 8.57e-02 7.82e-01f 1 3 2.4849548e+00 3.85e-01 2.80e+01 -0.8 4.87e+00 -1.3 5.35e-01 2.79e-01f 1 4 2.5585482e+00 1.01e-02 8.15e-01 -0.9 4.75e-01 -0.9 9.98e-01 1.00e+00f 1 5 2.4107111e+00 3.13e-02 4.24e-01 -1.7 5.25e-01 -1.4 9.71e-01 1.00e+00h 1 6 2.2121689e+00 8.40e-03 7.18e-02 -1.9 2.38e-01 -1.0 9.81e-01 1.00e+00h 1 7 2.1721774e+00 5.87e-03 3.59e-01 -2.2 3.47e-01 -1.4 6.79e-01 3.29e-01h 1 8 2.1312119e+00 2.58e-03 1.77e-01 -2.2 1.57e-01 -1.9 9.95e-01 1.00e+00h 1 9 2.1044552e+00 5.97e-04 1.06e-01 -2.8 8.25e-02 -2.4 9.94e-01 8.08e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0934189e+00 6.36e-05 3.05e-02 -3.5 2.91e-02 -2.9 1.00e+00 9.53e-01h 1 11 2.0907800e+00 2.36e-05 1.34e-03 -4.0 4.34e-02 -3.4 1.00e+00 1.00e+00h 1 12 2.0907575e+00 2.77e-07 1.81e-05 -4.0 1.22e-01 -3.8 1.00e+00 1.00e+00h 1 13 2.0907234e+00 6.13e-08 1.97e-05 -4.0 3.56e-01 -4.3 1.00e+00 1.00e+00h 1 14 2.0906294e+00 4.58e-07 1.52e-04 -4.0 9.82e-01 -4.8 1.00e+00 1.00e+00h 1 15 2.0904109e+00 2.36e-06 8.97e-04 -4.0 2.31e+00 -5.3 1.00e+00 1.00e+00h 1 16 2.0901030e+00 4.09e-06 2.50e-03 -4.0 3.61e+00 -5.7 1.00e+00 1.00e+00h 1 17 2.0899292e+00 3.67e-06 2.32e-03 -4.0 5.19e+00 -6.2 1.00e+00 1.00e+00h 1 18 2.0898432e+00 2.58e-06 1.37e-03 -4.0 8.29e+00 -6.7 1.00e+00 1.00e+00h 1 19 2.0898246e+00 6.69e-07 1.29e-03 -4.0 1.07e+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 2.0898231e+00 1.68e-06 6.27e-04 -4.0 8.21e+00 -7.6 1.00e+00 1.00e+00h 1 21 2.0898220e+00 2.86e-07 6.46e-05 -4.0 2.30e+00 -8.1 1.00e+00 1.00e+00h 1 22 2.0898219e+00 4.69e-09 8.42e-07 -4.0 3.73e-01 -8.6 1.00e+00 1.00e+00h 1 23 2.0898218e+00 1.39e-11 4.10e-09 -4.0 2.90e-02 -9.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0898218499728127e+00 2.0898218499728127e+00 Dual infeasibility......: 4.0972218720005879e-09 4.0972218720005879e-09 Constraint violation....: 1.3933687537104333e-11 1.3933687537104333e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 4.0972218720005879e-09 4.0972218720005879e-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 = 34.849 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 2.3987292e+00 3.04e+00 5.90e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3914269e+00 2.21e+00 3.73e+01 -0.5 2.09e+00 0.0 7.18e-03 2.74e-01h 1 2 2.6962229e+00 2.01e+00 3.40e+01 -1.4 7.33e+00 -0.5 3.12e-03 8.84e-02h 1 3 2.6653694e+00 1.84e+00 3.10e+01 -1.8 1.36e+00 -1.0 2.96e-01 8.80e-02h 1 4 2.6682250e+00 1.82e+00 3.08e+01 -2.2 1.41e+00 0.4 1.10e-01 7.46e-03h 1 5 2.6858328e+00 1.78e+00 3.01e+01 -4.0 2.30e+00 -0.1 1.06e-02 2.41e-02h 1 6 2.6882294e+00 1.78e+00 1.68e+02 -1.0 2.75e+00 0.3 2.59e-01 1.99e-03f 1 7 2.8195747e+00 1.74e+00 2.65e+03 0.4 2.25e+01 -0.2 1.00e+00 2.11e-02f 1 8 2.8466296e+00 1.73e+00 4.26e+03 -4.0 5.25e+01 -0.6 2.04e-02 6.04e-03h 1 9 2.8494230e+00 1.69e+00 4.54e+03 0.6 1.69e+02 -1.1 3.06e-02 2.36e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.8515693e+00 1.69e+00 5.12e+03 -4.0 3.67e+02 -1.6 1.53e-02 4.83e-04h 1 11 3.0123201e+00 2.14e+00 1.51e+03 1.6 1.23e+03 -2.1 3.73e-02 1.25e-02f 1 12 3.0305719e+00 2.13e+00 4.17e+03 0.4 3.30e+02 -2.5 6.72e-02 3.12e-03h 1 13 3.2036299e+00 1.62e+00 9.98e+03 0.4 5.45e+02 -3.0 1.32e-01 2.70e-02f 2 14 3.3928457e+00 1.57e+00 1.91e+04 0.6 5.08e+02 -3.5 1.50e-01 3.07e-02h 1 15 3.4368600e+00 1.55e+00 1.03e+06 0.9 3.74e+01 -3.1 9.49e-01 1.54e-02h 1 16 3.4539986e+00 1.54e+00 8.57e+07 0.7 2.45e+02 -3.5 2.11e-01 2.39e-03h 1 17 3.4549266e+00 1.54e+00 5.10e+11 1.3 9.09e+01 -3.1 1.00e+00 1.67e-04h 1 18r 3.4549266e+00 1.54e+00 9.87e+02 2.5 0.00e+00 -3.6 0.00e+00 3.66e-07R 4 19r 3.5588532e+00 4.27e-01 4.80e+02 1.2 1.05e+01 - 6.08e-01 2.07e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 3.5567692e+00 4.19e-01 3.17e+01 -4.0 7.56e+00 -4.1 5.70e-01 1.73e-02h 1 21 3.5661098e+00 4.17e-01 8.78e+03 -0.6 3.70e+01 -4.5 1.00e+00 5.09e-03h 1 22 3.5700792e+00 4.17e-01 8.16e+06 0.2 7.45e+01 -5.0 1.00e+00 1.05e-03h 1 23 3.5701528e+00 4.17e-01 2.68e+11 0.5 4.91e+01 -5.5 1.00e+00 2.99e-05h 1 24 4.3831660e+00 3.66e+00 2.68e+09 2.5 1.88e+03 -6.0 9.90e-01 1.18e-02f 2 25r 4.3831660e+00 3.66e+00 9.40e+02 2.4 0.00e+00 -6.5 0.00e+00 2.55e-07R 2 26r 4.3326811e+00 8.90e-01 7.06e+02 2.0 2.07e+02 - 5.78e-01 6.41e-02f 1 27 4.2714205e+00 8.90e-01 8.69e+03 1.7 3.08e+02 -6.9 1.00e+00 5.05e-04f 1 28 4.3431183e+00 8.60e-01 9.68e+04 1.7 5.48e+00 -7.4 2.20e-01 3.30e-02h 1 29 4.3627169e+00 8.52e-01 1.26e+06 1.7 1.40e+01 -7.9 1.20e-01 9.02e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 4.3639141e+00 8.51e-01 2.35e+08 1.7 3.10e+01 -8.4 2.52e-01 1.32e-03h 1 31 4.3642184e+00 8.51e-01 8.35e+11 1.7 1.41e+01 -8.8 3.20e-01 8.64e-05h 1 32 5.7019867e+00 6.60e-01 1.18e+16 1.7 4.00e+00 -9.3 2.41e-05 3.44e-01f 1 33 5.6929244e+00 6.56e-01 1.17e+16 2.5 7.39e-01 16.5 1.36e-02 6.10e-03h 1 34 5.6928348e+00 6.56e-01 1.17e+16 2.5 7.29e-01 16.0 1.70e-02 6.24e-05h 1 35r 5.6928348e+00 6.56e-01 9.69e+02 2.5 0.00e+00 15.6 0.00e+00 3.28e-07R 2 36r 4.4112012e+00 2.43e-01 4.85e+02 0.3 3.04e+00 - 7.00e-01 4.33e-01f 1 37 4.4122314e+00 2.42e-01 2.14e+12 -1.1 4.16e-01 15.1 7.91e-01 4.16e-03h 1 38 4.4122420e+00 2.42e-01 2.15e+12 -1.3 4.14e-01 14.6 1.00e+00 4.18e-05h 1 39r 4.4122420e+00 2.42e-01 1.00e+03 -0.4 0.00e+00 14.1 0.00e+00 2.09e-07R 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 4.3533699e+00 2.33e-01 9.82e+02 0.5 2.96e+01 - 4.94e-01 5.28e-03f 1 41r 4.3302296e+00 2.04e-01 6.89e+02 -1.0 9.05e-01 - 1.64e-01 4.35e-01f 1 42 4.3365657e+00 2.00e-01 1.84e+11 -2.4 2.06e-01 13.7 8.77e-01 1.95e-02h 1 43 4.3366293e+00 2.00e-01 1.85e+11 -2.4 2.02e-01 13.2 1.00e+00 1.99e-04h 1 44r 4.3366293e+00 2.00e-01 1.00e+03 -0.7 0.00e+00 12.7 0.00e+00 4.98e-07R 3 45r 4.3630607e+00 2.00e-01 1.17e+03 -0.4 4.67e+00 - 5.66e-01 2.00e-02f 1 46r 4.5255647e+00 2.00e-01 7.98e+02 -1.4 1.14e+00 - 2.10e-01 2.85e-01f 1 47r 4.4722528e+00 1.99e-01 4.76e+02 -1.8 1.96e+00 - 4.41e-01 3.82e-01f 1 48r 4.5199335e+00 1.99e-01 9.96e+01 -1.5 9.09e-01 - 8.77e-01 7.70e-01f 1 49r 4.5044457e+00 1.99e-01 7.12e-02 -2.2 4.25e-01 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50r 4.4580385e+00 1.99e-01 9.00e-02 -3.2 1.32e-01 - 9.78e-01 1.00e+00f 1 51r 4.4359526e+00 1.99e-01 3.34e-03 -4.0 2.70e-02 - 1.00e+00 1.00e+00h 1 52r 4.4621500e+00 1.99e-01 1.15e-04 -4.0 2.79e-02 - 1.00e+00 1.00e+00h 1 53r 4.4784981e+00 1.99e-01 5.15e-06 -4.0 9.85e-03 - 1.00e+00 1.00e+00h 1 54r 4.4791788e+00 1.99e-01 1.22e-08 -4.0 7.67e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 54 (scaled) (unscaled) Objective...............: 4.4791820954327619e+00 4.4791820954327619e+00 Dual infeasibility......: 2.0499311776926610e+00 2.0499311776926610e+00 Constraint violation....: 1.9875045045837947e-01 1.9875045045837947e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000031609988e-04 1.0000000031609988e-04 Overall NLP error.......: 2.0499311776926610e+00 2.0499311776926610e+00 Number of objective function evaluations = 75 Number of objective gradient evaluations = 45 Number of equality constraint evaluations = 75 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 61 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 55 Total seconds in IPOPT = 35.784 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 3.8617330e+00 3.08e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.5019317e+00 2.14e-01 1.87e+00 -1.1 1.99e+00 0.0 6.34e-01 9.30e-01f 1 2 2.7692840e+00 7.98e-02 1.23e+00 -1.0 3.48e-01 0.4 8.40e-01 6.20e-01f 1 3 2.6085167e+00 2.27e-03 2.47e-01 -1.3 1.28e-01 -0.1 9.19e-01 1.00e+00f 1 4 2.2786279e+00 3.17e-03 8.20e-02 -1.9 9.95e-02 -0.5 9.28e-01 1.00e+00f 1 5 2.1584870e+00 5.46e-03 2.09e-01 -2.5 1.87e-01 -1.0 9.88e-01 5.08e-01h 1 6 2.0984423e+00 1.68e-04 5.42e-03 -3.3 2.13e-02 -1.5 9.97e-01 1.00e+00h 1 7 2.0908649e+00 1.84e-06 2.90e-04 -4.0 3.97e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908400e+00 2.64e-08 5.07e-05 -4.0 1.39e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908383e+00 1.19e-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 2.0908333e+00 9.72e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908184e+00 8.75e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907736e+00 7.88e-08 2.06e-05 -4.0 4.55e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906393e+00 7.11e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902374e+00 6.43e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890406e+00 5.88e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855329e+00 5.54e-04 2.32e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796304e+00 2.25e-03 1.37e-01 -4.0 9.54e+01 -6.7 1.00e+00 6.24e-01h 1 18 2.0806826e+00 1.61e-04 1.83e-01 -4.0 6.66e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775273e+00 7.64e-03 2.52e-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 2.0769523e+00 1.20e-03 6.40e-02 -4.0 1.83e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0761846e+00 1.14e-03 1.61e-02 -4.0 3.31e+02 -8.6 1.00e+00 7.89e-01h 1 22 2.0754842e+00 1.95e-03 2.77e-02 -4.0 5.64e+02 -9.1 1.00e+00 7.43e-01h 1 23 2.0757984e+00 3.17e-03 1.43e-02 -4.0 1.68e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753805e+00 1.48e-03 7.27e-04 -4.1 9.73e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.79e-04 7.01e-06 -4.0 2.16e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 6.28e-07 1.12e-06 -4.0 1.20e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.27e-09 8.49e-08 -4.0 4.33e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.83e-11 1.53e-09 -4.0 6.79e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121566818e+00 2.0756712121566818e+00 Dual infeasibility......: 1.5257535437981570e-09 1.5257535437981570e-09 Constraint violation....: 3.8272829350205484e-11 3.8272829350205484e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000033e-04 1.0000000000000033e-04 Overall NLP error.......: 1.5257535437981570e-09 1.5257535437981570e-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 = 37.580 EXIT: Optimal Solution Found. 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 8.9946494e-01 3.10e+00 8.11e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0212421e+00 2.15e+00 2.33e+00 -0.6 1.07e+01 -2.0 2.13e-01 3.08e-01f 1 2 1.1817971e+00 1.46e+00 1.63e+00 -4.0 1.81e+00 -0.7 1.81e-01 3.18e-01h 1 3 1.5048983e+00 1.20e+00 1.26e+00 -0.9 5.96e+00 -1.1 2.93e-01 4.50e-01h 1 4 1.5249524e+00 1.17e+00 1.21e+00 -4.0 6.38e+01 -1.6 4.36e-02 3.20e-02h 2 5 1.6785837e+00 7.32e-01 9.97e-01 -1.1 1.69e+00 -1.2 5.33e-01 4.14e-01h 1 6 1.7177823e+00 1.36e-01 3.47e-01 -1.1 8.47e-01 -0.8 9.87e-01 7.98e-01h 1 7 1.6655529e+00 1.45e-01 5.22e-01 -4.0 1.27e+01 -1.3 1.86e-01 9.28e-02h 1 8 1.5230274e+00 7.47e-02 2.54e-01 -1.7 1.54e+00 -1.7 8.19e-01 9.93e-01h 1 9 1.3783943e+00 1.80e-03 4.28e-02 -2.3 4.68e-01 -1.3 9.93e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.2907337e+00 1.08e-02 2.30e-02 -2.7 4.18e-01 -1.8 8.21e-01 1.00e+00h 1 11 1.2611548e+00 2.76e-01 1.48e-01 -2.7 3.57e+00 -2.3 8.13e-01 7.17e-01h 1 12 1.2269940e+00 5.35e-02 8.66e-02 -3.7 1.08e+00 -1.8 9.02e-01 8.27e-01h 1 13 1.2037979e+00 6.84e-02 8.08e-03 -4.0 8.53e-01 -2.3 1.00e+00 1.00e+00h 1 14 1.1989020e+00 3.66e-02 9.30e-02 -3.7 1.92e+00 -2.8 7.05e-01 1.00e+00h 1 15 1.1967777e+00 3.18e-02 1.68e-01 -4.0 2.68e+00 -3.3 6.99e-01 1.95e-01h 1 16 1.1833530e+00 1.01e-01 3.60e-02 -4.0 2.31e+00 -3.7 1.00e+00 1.00e+00h 1 17 1.1766317e+00 1.42e-01 1.43e-02 -4.0 4.38e+00 -4.2 1.00e+00 1.00e+00h 1 18 1.1732552e+00 1.15e-01 2.14e-02 -4.0 6.88e+00 -4.7 1.00e+00 1.00e+00h 1 19 1.1696549e+00 1.66e-01 5.72e-03 -4.0 1.03e+01 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1675956e+00 1.63e-01 9.76e-03 -4.0 1.55e+01 -5.6 1.00e+00 1.00e+00h 1 21 1.1655159e+00 2.17e-01 2.58e-04 -4.0 2.36e+01 -6.1 1.00e+00 1.00e+00h 1 22 1.1641363e+00 2.41e-01 8.63e-04 -4.0 3.54e+01 -6.6 1.00e+00 1.00e+00h 1 23 1.1628856e+00 3.03e-01 9.22e-03 -4.0 5.34e+01 -7.1 1.00e+00 1.00e+00h 1 24 1.1619986e+00 3.46e-01 1.29e-02 -4.0 7.92e+01 -7.6 1.00e+00 1.00e+00h 1 25 1.1612534e+00 4.10e-01 2.07e-02 -4.0 1.16e+02 -8.0 1.00e+00 1.00e+00h 1 26 1.1607549e+00 4.40e-01 2.38e-02 -4.0 1.63e+02 -8.5 1.00e+00 1.00e+00h 1 27 1.1604785e+00 4.09e-01 2.20e-02 -4.0 2.09e+02 -9.0 1.00e+00 1.00e+00h 1 28 1.1606937e+00 1.21e-01 7.72e-04 -4.0 1.57e+02 -9.5 1.00e+00 1.00e+00h 1 29 1.1608550e+00 2.91e-03 9.54e-04 -4.0 1.51e+01 -9.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1608490e+00 3.57e-04 4.28e-05 -4.0 7.80e+00 -10.4 1.00e+00 1.00e+00h 1 31 1.1608491e+00 2.69e-07 2.74e-09 -4.0 2.36e-01 -10.9 1.00e+00 1.00e+00h 1 32 1.1608491e+00 3.12e-12 3.24e-13 -4.0 7.31e-04 -11.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 1.1608491307796662e+00 1.1608491307796662e+00 Dual infeasibility......: 3.2368595651033338e-13 3.2368595651033338e-13 Constraint violation....: 3.1175062531474396e-12 3.1175062531474396e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000388e-04 1.0000000000000388e-04 Overall NLP error.......: 3.1175062531474396e-12 3.1175062531474396e-12 Number of objective function evaluations = 35 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 35 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 33 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 32 Total seconds in IPOPT = 36.238 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 1.4135811e+00 1.17e+00 1.09e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9657212e+00 1.16e-01 1.90e+00 -0.8 8.53e-01 0.0 7.45e-01 1.00e+00h 1 2 2.9791434e+00 1.15e-01 8.86e+00 1.2 2.51e+02 - 8.48e-02 9.36e-03f 2 3 3.8227558e+00 1.51e-01 2.88e+00 0.0 3.92e+00 - 1.00e+00 1.00e+00H 1 4 5.3354804e+00 5.88e-02 1.42e+01 -4.0 8.26e+00 - 5.46e-01 1.00e+00h 1 5 3.0206967e+00 4.80e-03 6.15e+00 -4.0 1.83e-01 -0.5 3.55e-01 1.00e+00f 1 6 1.9544272e+00 1.17e-03 1.17e+00 -1.2 3.69e-01 -0.1 9.91e-01 7.45e-01f 1 7 1.1589644e+00 6.94e-05 1.75e+00 -2.6 1.17e+01 - 8.63e-01 9.37e-01f 1 8 1.1318100e+00 4.86e-05 9.33e-01 -3.0 3.03e-02 -0.5 1.00e+00 2.99e-01f 1 9 1.0923145e+00 1.01e-07 4.74e-01 -3.8 6.09e+00 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0911931e+00 2.54e-08 1.47e-03 -4.0 3.92e-01 - 1.00e+00 7.49e-01f 1 11 1.0910388e+00 7.46e-14 2.13e-04 -4.0 1.12e-01 - 1.00e+00 1.00e+00f 1 12 1.0910386e+00 2.66e-21 1.37e-05 -4.0 2.28e-03 - 1.00e+00 1.00e+00h 1 13 1.0910386e+00 7.01e-33 1.37e-05 -4.0 1.96e-04 - 1.00e+00 1.00e+00h 1 14 1.0908587e+00 8.88e-16 1.03e-09 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 15 1.0910386e+00 1.54e-35 1.10e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 15 (scaled) (unscaled) Objective...............: 1.0910385864123942e+00 1.0910385864123942e+00 Dual infeasibility......: 1.0952157374099266e-09 1.0952157374099266e-09 Constraint violation....: 1.5445381626613996e-35 1.5445381626613996e-35 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000113953934790e-04 1.0000113953934790e-04 Overall NLP error.......: 1.1395393478927807e-09 1.1395393478927807e-09 Number of objective function evaluations = 19 Number of objective gradient evaluations = 16 Number of equality constraint evaluations = 19 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 16 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 15 Total seconds in IPOPT = 31.572 EXIT: Optimal Solution Found. [test_integrator] Starting... [test_integrator] constraint_dim=8, datavec_len=75, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! Test Summary: | Pass Total Time Package | 202 202 24m43.3s Testing DirectTrajOpt tests passed Testing completed after 1559.11s PkgEval succeeded after 1977.52s