Package evaluation to test DirectTrajOpt on Julia 1.12.4 (01a2eadb04*) started at 2026-01-29T15:21:24.776 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.12` Set-up completed after 9.8s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Installed SciMLPublic ────────────────────── v1.0.1 Installed LoggingExtras ──────────────────── v1.2.0 Installed Accessors ──────────────────────── v0.1.43 Installed TimerOutputs ───────────────────── v0.5.29 Installed SciMLLogging ───────────────────── v1.8.0 Installed Preferences ────────────────────── v1.5.1 Installed MutableArithmetics ─────────────── v1.6.7 Installed StaticArrays ───────────────────── v1.9.16 Installed SciMLJacobianOperators ─────────── v0.1.12 Installed EnumX ──────────────────────────── v1.0.6 Installed ScopedValues ───────────────────── v1.5.0 Installed MaybeInplace ───────────────────── v0.1.4 Installed FunctionWrappers ───────────────── v1.1.3 Installed Polyester ──────────────────────── v0.7.18 Installed OrdinaryDiffEqCore ─────────────── v3.2.0 Installed RecursiveArrayTools ────────────── v3.46.0 Installed OpenBLAS32_jll ─────────────────── v0.3.30+0 Installed FileIO ─────────────────────────── v1.17.1 Installed Statistics ─────────────────────── v1.11.1 Installed Static ─────────────────────────── v1.3.1 Installed SIMDTypes ──────────────────────── v0.1.0 Installed IrrationalConstants ────────────── v0.2.6 Installed FiniteDiff ─────────────────────── v2.29.0 Installed MuladdMacro ────────────────────── v0.2.4 Installed JLD2 ───────────────────────────── v0.6.3 Installed FastPower ──────────────────────── v1.3.1 Installed Xorg_libpciaccess_jll ──────────── v0.18.1+0 Installed CpuId ──────────────────────────── v0.3.1 Installed DiffEqBase ─────────────────────── v6.199.0 Installed MUMPS_seq_jll ──────────────────── v500.800.200+0 Installed JSON ───────────────────────────── v1.4.0 Installed ADTypes ────────────────────────── v1.21.0 Installed Hwloc_jll ──────────────────────── v2.12.2+0 Installed SciMLBase ──────────────────────── v2.135.0 Installed Bzip2_jll ──────────────────────── v1.0.9+0 Installed BracketingNonlinearSolve ───────── v1.6.2 Installed CodecBzip2 ─────────────────────── v0.8.5 Installed BenchmarkTools ─────────────────── v1.6.3 Installed SpecialFunctions ───────────────── v2.6.1 Installed TrajectoryIndexingUtils ────────── v0.1.0 Installed MathOptInterface ───────────────── v1.48.0 Installed ChunkCodecLibZstd ──────────────── v1.0.0 Installed NaNMath ────────────────────────── v1.1.3 Installed StaticArraysCore ───────────────── v1.4.4 Installed Ipopt_jll ──────────────────────── v300.1400.1901+0 Installed ManualMemory ───────────────────── v0.1.8 Installed IfElse ─────────────────────────── v0.1.1 Installed ThreadingUtilities ─────────────── v0.5.5 Installed TranscodingStreams ─────────────── v0.11.3 Installed AbstractDifferentiation ────────── v0.4.4 Installed CommonSubexpressions ───────────── v0.3.1 Installed ExprTools ──────────────────────── v0.1.10 Installed CommonWorldInvalidations ───────── v1.0.0 Installed Compat ─────────────────────────── v4.18.1 Installed LazyArrays ─────────────────────── v2.9.5 Installed DataStructures ─────────────────── v0.19.3 Installed DirectTrajOpt ──────────────────── v0.8.1 Installed METIS_jll ──────────────────────── v5.1.3+0 Installed CodecZlib ──────────────────────── v0.7.8 Installed StructTypes ────────────────────── v1.11.0 Installed BitTwiddlingConvenienceFunctions ─ v0.1.6 Installed StaticArrayInterface ───────────── v1.8.0 Installed DiffRules ──────────────────────── v1.15.1 Installed SciMLStructures ────────────────── v1.10.0 Installed ArrayLayouts ───────────────────── v1.12.2 Installed FunctionWrappersWrappers ───────── v0.1.3 Installed Zstd_jll ───────────────────────── v1.5.7+1 Installed SPRAL_jll ──────────────────────── v2025.9.18+0 Installed DiffResults ────────────────────── v1.1.0 Installed ChunkCodecLibZlib ──────────────── v1.0.0 Installed Parsers ────────────────────────── v2.8.3 Installed LayoutPointers ─────────────────── v0.1.17 Installed JSON3 ──────────────────────────── v1.14.3 Installed SciMLOperators ─────────────────── v1.14.1 Installed HashArrayMappedTries ───────────── v0.2.0 Installed JLLWrappers ────────────────────── v1.7.1 Installed Setfield ───────────────────────── v1.1.2 Installed ConstructionBase ───────────────── v1.6.0 Installed OrderedCollections ─────────────── v1.8.1 Installed EnzymeCore ─────────────────────── v0.8.18 Installed NonlinearSolveBase ─────────────── v2.11.1 Installed ExproniconLite ─────────────────── v0.10.14 Installed ChunkCodecCore ─────────────────── v1.0.1 Installed PolyesterWeave ─────────────────── v0.2.2 Installed Reexport ───────────────────────── v1.2.2 Installed ArrayInterface ─────────────────── v7.22.0 Installed FastClosures ───────────────────── v0.3.2 Installed ChainRulesCore ─────────────────── v1.26.0 Installed ComputePipeline ────────────────── v0.1.6 Installed PreallocationTools ─────────────── v1.1.2 Installed LogExpFunctions ────────────────── v0.3.29 Installed OrdinaryDiffEqTsit5 ────────────── v1.9.0 Installed CloseOpenIntervals ─────────────── v0.1.13 Installed ASL_jll ────────────────────────── v0.1.3+0 Installed MacroTools ─────────────────────── v0.5.16 Installed CompositionsBase ───────────────── v0.1.2 Installed OpenSpecFun_jll ────────────────── v0.5.6+0 Installed InverseFunctions ───────────────── v0.1.17 Installed CommonSolve ────────────────────── v0.2.6 Installed GPUArraysCore ──────────────────── v0.2.0 Installed Adapt ──────────────────────────── v4.4.0 Installed XML2_jll ───────────────────────── v2.13.9+0 Installed DocStringExtensions ────────────── v0.9.5 Installed StrideArraysCore ───────────────── v0.5.8 Installed ExponentialAction ──────────────── v0.2.10 Installed RuntimeGeneratedFunctions ──────── v0.5.16 Installed CPUSummary ─────────────────────── v0.2.7 Installed Jieko ──────────────────────────── v0.2.1 Installed Ipopt ──────────────────────────── v1.14.0 Installed RecipesBase ────────────────────── v1.3.4 Installed ConcreteStructs ────────────────── v0.2.3 Installed Moshi ──────────────────────────── v0.3.7 Installed DifferentiationInterface ───────── v0.7.15 Installed Libiconv_jll ───────────────────── v1.18.0+0 Installed IteratorInterfaceExtensions ────── v1.0.0 Installed TruncatedStacktraces ───────────── v1.4.0 Installed SymbolicIndexingInterface ──────── v0.3.46 Installed PrecompileTools ────────────────── v1.3.3 Installed NamedTrajectories ──────────────── v0.8.2 Installed TestItems ──────────────────────── v1.0.0 Installed Requires ───────────────────────── v1.3.1 Installed FillArrays ─────────────────────── v1.16.0 Installed ForwardDiff ────────────────────── v1.3.1 Installed FastBroadcast ──────────────────── v0.3.5 Installed Observables ────────────────────── v0.5.5 Installed StructUtils ────────────────────── v2.6.2 Installed TestItemRunner ─────────────────── v1.1.4 Installing 13 artifacts Installed artifact Xorg_libpciaccess 24.8 KiB Installed artifact Bzip2 503.5 KiB Installed artifact SPRAL 691.9 KiB Installed artifact Zstd 646.0 KiB Installed artifact ASL 276.3 KiB Installed artifact METIS 1.1 MiB Installed artifact OpenSpecFun 194.9 KiB Installed artifact Libiconv 1.9 MiB Installed artifact Ipopt 1.3 MiB Installed artifact Hwloc 3.5 MiB Installed artifact XML2 2.5 MiB Installed artifact MUMPS_seq 8.6 MiB Installed artifact OpenBLAS32 10.0 MiB Updating `~/.julia/environments/v1.12/Project.toml` [c823fa1f] + DirectTrajOpt v0.8.1 Updating `~/.julia/environments/v1.12/Manifest.toml` [47edcb42] + ADTypes v1.21.0 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.43 [79e6a3ab] + Adapt v4.4.0 [4fba245c] + ArrayInterface v7.22.0 [4c555306] + ArrayLayouts v1.12.2 [6e4b80f9] + BenchmarkTools v1.6.3 [62783981] + BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] + BracketingNonlinearSolve v1.6.2 [2a0fbf3d] + CPUSummary v0.2.7 [d360d2e6] + ChainRulesCore v1.26.0 [0b6fb165] + ChunkCodecCore v1.0.1 [4c0bbee4] + ChunkCodecLibZlib v1.0.0 [55437552] + ChunkCodecLibZstd v1.0.0 [fb6a15b2] + CloseOpenIntervals v0.1.13 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.8 [38540f10] + CommonSolve v0.2.6 [bbf7d656] + CommonSubexpressions v0.3.1 [f70d9fcc] + CommonWorldInvalidations v1.0.0 [34da2185] + Compat v4.18.1 [a33af91c] + CompositionsBase v0.1.2 [95dc2771] + ComputePipeline v0.1.6 [2569d6c7] + ConcreteStructs v0.2.3 [187b0558] + ConstructionBase v1.6.0 [adafc99b] + CpuId v0.3.1 [864edb3b] + DataStructures v0.19.3 [2b5f629d] + DiffEqBase v6.199.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.15 [c823fa1f] + DirectTrajOpt v0.8.1 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.6 [f151be2c] + EnzymeCore v0.8.18 [e24c0720] + ExponentialAction v0.2.10 [e2ba6199] + ExprTools v0.1.10 [55351af7] + ExproniconLite v0.10.14 [7034ab61] + FastBroadcast v0.3.5 [9aa1b823] + FastClosures v0.3.2 [a4df4552] + FastPower v1.3.1 [5789e2e9] + FileIO v1.17.1 [1a297f60] + FillArrays v1.16.0 [6a86dc24] + FiniteDiff v2.29.0 [f6369f11] + ForwardDiff v1.3.1 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v0.1.3 [46192b85] + GPUArraysCore v0.2.0 [076d061b] + HashArrayMappedTries v0.2.0 [615f187c] + IfElse v0.1.1 [3587e190] + InverseFunctions v0.1.17 [b6b21f68] + Ipopt v1.14.0 [92d709cd] + IrrationalConstants v0.2.6 [82899510] + IteratorInterfaceExtensions v1.0.0 [033835bb] + JLD2 v0.6.3 [692b3bcd] + JLLWrappers v1.7.1 [682c06a0] + JSON v1.4.0 [0f8b85d8] + JSON3 v1.14.3 [ae98c720] + Jieko v0.2.1 [10f19ff3] + LayoutPointers v0.1.17 [5078a376] + LazyArrays v2.9.5 [2ab3a3ac] + LogExpFunctions v0.3.29 [e6f89c97] + LoggingExtras v1.2.0 [1914dd2f] + MacroTools v0.5.16 [d125e4d3] + ManualMemory v0.1.8 [b8f27783] + MathOptInterface v1.48.0 [bb5d69b7] + MaybeInplace v0.1.4 [2e0e35c7] + Moshi v0.3.7 [46d2c3a1] + MuladdMacro v0.2.4 [d8a4904e] + MutableArithmetics v1.6.7 [77ba4419] + NaNMath v1.1.3 [538bc3a1] + NamedTrajectories v0.8.2 [be0214bd] + NonlinearSolveBase v2.11.1 [510215fc] + Observables v0.5.5 [bac558e1] + OrderedCollections v1.8.1 [bbf590c4] + OrdinaryDiffEqCore v3.2.0 [b1df2697] + OrdinaryDiffEqTsit5 v1.9.0 [69de0a69] + Parsers v2.8.3 [f517fe37] + Polyester v0.7.18 [1d0040c9] + PolyesterWeave v0.2.2 [d236fae5] + PreallocationTools v1.1.2 [aea7be01] + PrecompileTools v1.3.3 [21216c6a] + Preferences v1.5.1 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v3.46.0 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.16 [94e857df] + SIMDTypes v0.1.0 [0bca4576] + SciMLBase v2.135.0 [19f34311] + SciMLJacobianOperators v0.1.12 [a6db7da4] + SciMLLogging v1.8.0 [c0aeaf25] + SciMLOperators v1.14.1 [431bcebd] + SciMLPublic v1.0.1 [53ae85a6] + SciMLStructures v1.10.0 [7e506255] + ScopedValues v1.5.0 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.6.1 [aedffcd0] + Static v1.3.1 [0d7ed370] + StaticArrayInterface v1.8.0 [90137ffa] + StaticArrays v1.9.16 [1e83bf80] + StaticArraysCore v1.4.4 [10745b16] + Statistics v1.11.1 [7792a7ef] + StrideArraysCore v0.5.8 [856f2bd8] + StructTypes v1.11.0 [ec057cc2] + StructUtils v2.6.2 [2efcf032] + SymbolicIndexingInterface v0.3.46 [f8b46487] + TestItemRunner v1.1.4 [1c621080] + TestItems v1.0.0 [8290d209] + ThreadingUtilities v0.5.5 [a759f4b9] + TimerOutputs v0.5.29 [6dad8b7f] + TrajectoryIndexingUtils v0.1.0 [3bb67fe8] + TranscodingStreams v0.11.3 [781d530d] + TruncatedStacktraces v1.4.0 [ae81ac8f] + ASL_jll v0.1.3+0 [6e34b625] + Bzip2_jll v1.0.9+0 [e33a78d0] + Hwloc_jll v2.12.2+0 [9cc047cb] + Ipopt_jll v300.1400.1901+0 [94ce4f54] + Libiconv_jll v1.18.0+0 [d00139f3] + METIS_jll v5.1.3+0 [d7ed1dd3] + MUMPS_seq_jll v500.800.200+0 [656ef2d0] + OpenBLAS32_jll v0.3.30+0 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 [319450e9] + SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] + XML2_jll v2.13.9+0 [a65dc6b1] + Xorg_libpciaccess_jll v0.18.1+0 [3161d3a3] + Zstd_jll v1.5.7+1 [0dad84c5] + ArgTools v1.1.2 [56f22d72] + Artifacts v1.11.0 [2a0f44e3] + Base64 v1.11.0 [ade2ca70] + Dates v1.11.0 [8ba89e20] + Distributed v1.11.0 [f43a241f] + Downloads v1.7.0 [7b1f6079] + FileWatching v1.11.0 [9fa8497b] + Future v1.11.0 [b77e0a4c] + InteractiveUtils v1.11.0 [ac6e5ff7] + JuliaSyntaxHighlighting v1.12.0 [b27032c2] + LibCURL v0.6.4 [76f85450] + LibGit2 v1.11.0 [8f399da3] + Libdl v1.11.0 [37e2e46d] + LinearAlgebra v1.12.0 [56ddb016] + Logging v1.11.0 [d6f4376e] + Markdown v1.11.0 [a63ad114] + Mmap v1.11.0 [ca575930] + NetworkOptions v1.3.0 [44cfe95a] + Pkg v1.12.1 [de0858da] + Printf v1.11.0 [9abbd945] + Profile v1.11.0 [9a3f8284] + Random v1.11.0 [ea8e919c] + SHA v0.7.0 [9e88b42a] + Serialization v1.11.0 [6462fe0b] + Sockets v1.11.0 [2f01184e] + SparseArrays v1.12.0 [f489334b] + StyledStrings v1.11.0 [fa267f1f] + TOML v1.0.3 [a4e569a6] + Tar v1.10.0 [8dfed614] + Test v1.11.0 [cf7118a7] + UUIDs v1.11.0 [4ec0a83e] + Unicode v1.11.0 [e66e0078] + CompilerSupportLibraries_jll v1.3.0+1 [deac9b47] + LibCURL_jll v8.15.0+0 [e37daf67] + LibGit2_jll v1.9.0+0 [29816b5a] + LibSSH2_jll v1.11.3+1 [14a3606d] + MozillaCACerts_jll v2025.11.4 [4536629a] + OpenBLAS_jll v0.3.29+0 [05823500] + OpenLibm_jll v0.8.7+0 [458c3c95] + OpenSSL_jll v3.5.4+0 [bea87d4a] + SuiteSparse_jll v7.8.3+2 [83775a58] + Zlib_jll v1.3.1+2 [8e850b90] + libblastrampoline_jll v5.15.0+0 [8e850ede] + nghttp2_jll v1.64.0+1 [3f19e933] + p7zip_jll v17.7.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m` Installation completed after 16.97s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling packages... 5263.8 ms ✓ TestEnv 1 dependency successfully precompiled in 5 seconds. 26 already precompiled. Precompiling package dependencies... Precompiling packages... 4632.8 ms ✓ FunctionWrappers 817.7 ms ✓ MuladdMacro 812.0 ms ✓ ConcreteStructs 1057.2 ms ✓ ExprTools 931.5 ms ✓ IteratorInterfaceExtensions 1613.5 ms ✓ ADTypes 975.6 ms ✓ ChunkCodecCore 724.9 ms ✓ TrajectoryIndexingUtils 6336.5 ms ✓ ExproniconLite 1908.8 ms ✓ FillArrays 980.1 ms ✓ InverseFunctions 1123.1 ms ✓ Statistics 743.3 ms ✓ CommonSolve 7458.6 ms ✓ MacroTools 920.1 ms ✓ ManualMemory 4123.8 ms ✓ OrderedCollections 3803.5 ms ✓ Observables 1179.9 ms ✓ Requires 840.4 ms ✓ EnumX 758.6 ms ✓ Reexport 727.1 ms ✓ SIMDTypes 1111.7 ms ✓ DocStringExtensions 5166.9 ms ✓ IrrationalConstants 833.7 ms ✓ CompositionsBase 733.5 ms ✓ TestItems 1382.6 ms ✓ TranscodingStreams 768.4 ms ✓ FastPower 1281.0 ms ✓ HashArrayMappedTries 3720.4 ms ✓ NaNMath 1492.8 ms ✓ EnzymeCore 776.0 ms ✓ IfElse 3947.0 ms ✓ ConstructionBase 771.9 ms ✓ CommonWorldInvalidations 821.8 ms ✓ FastClosures 910.3 ms ✓ SciMLPublic 1005.7 ms ✓ StaticArraysCore 4471.3 ms ✓ StructTypes 4255.0 ms ✓ StructUtils 1070.2 ms ✓ LoggingExtras 1948.1 ms ✓ CpuId 1133.4 ms ✓ Preferences 3929.6 ms ✓ Compat 11502.3 ms ✓ MutableArithmetics 766.6 ms ✓ FunctionWrappersWrappers 4002.9 ms ✓ RuntimeGeneratedFunctions 6447.1 ms ✓ TimerOutputs 4839.5 ms ✓ DifferentiationInterface 961.3 ms ✓ ChunkCodecLibZlib 3674.9 ms ✓ Jieko 1698.7 ms ✓ FillArrays → FillArraysSparseArraysExt 1993.0 ms ✓ InverseFunctions → InverseFunctionsTestExt 1256.0 ms ✓ InverseFunctions → InverseFunctionsDatesExt 1813.2 ms ✓ Statistics → SparseArraysExt 1078.4 ms ✓ FillArrays → FillArraysStatisticsExt 1721.1 ms ✓ CommonSubexpressions 4805.7 ms ✓ ThreadingUtilities 3700.3 ms ✓ DataStructures 965.6 ms ✓ Adapt 8297.5 ms ✓ FileIO 1391.3 ms ✓ LogExpFunctions 883.3 ms ✓ CompositionsBase → CompositionsBaseInverseFunctionsExt 27863.8 ms ✓ TestItemRunner 903.3 ms ✓ CodecZlib 849.0 ms ✓ ScopedValues 801.4 ms ✓ ADTypes → ADTypesEnzymeCoreExt 822.1 ms ✓ ConstructionBase → ConstructionBaseLinearAlgebraExt 793.5 ms ✓ ADTypes → ADTypesConstructionBaseExt 830.8 ms ✓ DiffResults 1101.3 ms ✓ JLLWrappers 830.3 ms ✓ PrecompileTools 1528.3 ms ✓ TruncatedStacktraces 4122.2 ms ✓ ComputePipeline 1286.6 ms ✓ SciMLLogging 837.1 ms ✓ Compat → CompatLinearAlgebraExt 1202.4 ms ✓ DifferentiationInterface → DifferentiationInterfaceSparseArraysExt 20421.9 ms ✓ Moshi 1238.1 ms ✓ Adapt → AdaptSparseArraysExt 3961.6 ms ✓ ArrayInterface 1218.3 ms ✓ GPUArraysCore 808.0 ms ✓ EnzymeCore → AdaptExt 1645.3 ms ✓ LogExpFunctions → LogExpFunctionsInverseFunctionsExt 3675.1 ms ✓ Setfield 7932.4 ms ✓ Accessors 1468.8 ms ✓ Bzip2_jll 1491.4 ms ✓ Xorg_libpciaccess_jll 1420.0 ms ✓ METIS_jll 1400.6 ms ✓ ASL_jll 1641.8 ms ✓ Zstd_jll 1450.5 ms ✓ Libiconv_jll 1612.4 ms ✓ OpenSpecFun_jll 1531.8 ms ✓ OpenBLAS32_jll 17541.7 ms ✓ StaticArrays 3458.6 ms ✓ RecipesBase 23673.1 ms ✓ Parsers 8646.5 ms ✓ Static 5332.7 ms ✓ ChainRulesCore 2007.5 ms ✓ MaybeInplace 1420.7 ms ✓ ArrayInterface → ArrayInterfaceSparseArraysExt 861.9 ms ✓ ArrayInterface → ArrayInterfaceStaticArraysCoreExt 4192.1 ms ✓ SciMLStructures 2454.5 ms ✓ PreallocationTools 928.2 ms ✓ DifferentiationInterface → DifferentiationInterfaceGPUArraysCoreExt 792.1 ms ✓ ArrayInterface → ArrayInterfaceGPUArraysCoreExt 2231.8 ms ✓ Accessors → LinearAlgebraExt 1876.2 ms ✓ Accessors → TestExt 1096.6 ms ✓ CodecBzip2 1548.9 ms ✓ MUMPS_seq_jll 1487.7 ms ✓ ChunkCodecLibZstd 1633.9 ms ✓ XML2_jll 6107.6 ms ✓ SpecialFunctions 1755.0 ms ✓ StaticArrays → StaticArraysStatisticsExt 1545.4 ms ✓ FillArrays → FillArraysStaticArraysExt 1707.9 ms ✓ ConstructionBase → ConstructionBaseStaticArraysExt 1602.3 ms ✓ DifferentiationInterface → DifferentiationInterfaceStaticArraysExt 1701.6 ms ✓ Adapt → AdaptStaticArraysExt 1975.0 ms ✓ Accessors → StaticArraysExt 19254.9 ms ✓ JSON3 10686.3 ms ✓ JSON 1827.6 ms ✓ BitTwiddlingConvenienceFunctions 2615.0 ms ✓ CPUSummary 29057.4 ms ✓ StaticArrayInterface 4110.4 ms ✓ ChainRulesCore → ChainRulesCoreSparseArraysExt 4964.0 ms ✓ AbstractDifferentiation 910.1 ms ✓ ADTypes → ADTypesChainRulesCoreExt 1514.6 ms ✓ EnzymeCore → EnzymeCoreChainRulesCoreExt 1043.5 ms ✓ DifferentiationInterface → DifferentiationInterfaceChainRulesCoreExt 3505.3 ms ✓ LogExpFunctions → LogExpFunctionsChainRulesCoreExt 865.4 ms ✓ ArrayInterface → ArrayInterfaceChainRulesCoreExt 4323.1 ms ✓ StaticArrays → StaticArraysChainRulesCoreExt 1297.6 ms ✓ MaybeInplace → MaybeInplaceSparseArraysExt 1403.1 ms ✓ FiniteDiff 7525.4 ms ✓ SciMLOperators 6400.2 ms ✓ SymbolicIndexingInterface 54508.2 ms ✓ JLD2 1592.3 ms ✓ Hwloc_jll 4167.0 ms ✓ SpecialFunctions → SpecialFunctionsChainRulesCoreExt 1445.8 ms ✓ DiffRules 25989.8 ms ✓ ArrayLayouts 3350.1 ms ✓ BenchmarkTools 2013.3 ms ✓ PolyesterWeave 1665.2 ms ✓ StaticArrayInterface → StaticArrayInterfaceStaticArraysExt 1255.5 ms ✓ CloseOpenIntervals 1362.5 ms ✓ LayoutPointers 2298.9 ms ✓ ExponentialAction 1293.7 ms ✓ FiniteDiff → FiniteDiffSparseArraysExt 1385.9 ms ✓ FiniteDiff → FiniteDiffStaticArraysExt 1140.4 ms ✓ DifferentiationInterface → DifferentiationInterfaceFiniteDiffExt 1164.9 ms ✓ SciMLOperators → SciMLOperatorsStaticArraysCoreExt 1722.1 ms ✓ SciMLOperators → SciMLOperatorsSparseArraysExt 12037.8 ms ✓ RecursiveArrayTools 1501.4 ms ✓ SPRAL_jll 9436.0 ms ✓ ForwardDiff 3363.9 ms ✓ ArrayLayouts → ArrayLayoutsSparseArraysExt 2123.9 ms ✓ StrideArraysCore 1699.6 ms ✓ RecursiveArrayTools → RecursiveArrayToolsStatisticsExt 2484.9 ms ✓ RecursiveArrayTools → RecursiveArrayToolsSparseArraysExt 1695.3 ms ✓ Ipopt_jll 1769.4 ms ✓ ForwardDiff → ForwardDiffStaticArraysExt 1133.9 ms ✓ FastPower → FastPowerForwardDiffExt 4101.1 ms ✓ DifferentiationInterface → DifferentiationInterfaceForwardDiffExt 2434.3 ms ✓ PreallocationTools → PreallocationToolsForwardDiffExt 90298.8 ms ✓ MathOptInterface 2076.6 ms ✓ RecursiveArrayTools → RecursiveArrayToolsForwardDiffExt 7332.7 ms ✓ LazyArrays 9612.9 ms ✓ Polyester 38139.5 ms ✓ SciMLBase 1360.9 ms ✓ Ipopt 3557.9 ms ✓ LazyArrays → LazyArraysStaticArraysExt 2170.2 ms ✓ FastBroadcast 3509.0 ms ✓ SciMLBase → SciMLBaseChainRulesCoreExt 3218.2 ms ✓ SciMLBase → SciMLBaseDifferentiationInterfaceExt 6160.3 ms ✓ SciMLBase → SciMLBaseForwardDiffExt 50052.1 ms ✓ Ipopt → IpoptMathOptInterfaceExt 9264.0 ms ✓ NamedTrajectories 2608.8 ms ✓ RecursiveArrayTools → RecursiveArrayToolsFastBroadcastExt 12037.4 ms ✓ SciMLJacobianOperators 24453.0 ms ✓ NonlinearSolveBase 4369.1 ms ✓ NonlinearSolveBase → NonlinearSolveBaseForwardDiffExt 4022.1 ms ✓ NonlinearSolveBase → NonlinearSolveBaseSparseArraysExt 3553.7 ms ✓ NonlinearSolveBase → NonlinearSolveBaseChainRulesCoreExt 10025.4 ms ✓ BracketingNonlinearSolve 3808.5 ms ✓ BracketingNonlinearSolve → BracketingNonlinearSolveForwardDiffExt 8973.6 ms ✓ DiffEqBase 3788.8 ms ✓ BracketingNonlinearSolve → BracketingNonlinearSolveChainRulesCoreExt 3825.8 ms ✓ DiffEqBase → DiffEqBaseChainRulesCoreExt 4497.5 ms ✓ DiffEqBase → DiffEqBaseForwardDiffExt 5100.7 ms ✓ DiffEqBase → DiffEqBaseSparseArraysExt 20235.1 ms ✓ OrdinaryDiffEqCore 4091.1 ms ✓ OrdinaryDiffEqCore → OrdinaryDiffEqCoreEnzymeCoreExt 16717.5 ms ✓ OrdinaryDiffEqTsit5 25482.4 ms ✓ DirectTrajOpt 191 dependencies successfully precompiled in 976 seconds. 36 already precompiled. Precompilation completed after 983.61s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_ah2kak/Project.toml` [c823fa1f] DirectTrajOpt v0.8.1 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.3.1 [b6b21f68] Ipopt v1.14.0 [5078a376] LazyArrays v2.9.5 [b8f27783] MathOptInterface v1.48.0 [538bc3a1] NamedTrajectories v0.8.2 [b1df2697] OrdinaryDiffEqTsit5 v1.9.0 [189a3867] Reexport v1.2.2 [f8b46487] TestItemRunner v1.1.4 [1c621080] TestItems v1.0.0 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.12.0 [2f01184e] SparseArrays v1.12.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_ah2kak/Manifest.toml` [47edcb42] ADTypes v1.21.0 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.43 [79e6a3ab] Adapt v4.4.0 [4fba245c] ArrayInterface v7.22.0 [4c555306] ArrayLayouts v1.12.2 [6e4b80f9] BenchmarkTools v1.6.3 [62783981] BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] BracketingNonlinearSolve v1.6.2 [2a0fbf3d] CPUSummary v0.2.7 [d360d2e6] ChainRulesCore v1.26.0 [0b6fb165] ChunkCodecCore v1.0.1 [4c0bbee4] ChunkCodecLibZlib v1.0.0 [55437552] ChunkCodecLibZstd v1.0.0 [fb6a15b2] CloseOpenIntervals v0.1.13 [523fee87] CodecBzip2 v0.8.5 [944b1d66] CodecZlib v0.7.8 [38540f10] CommonSolve v0.2.6 [bbf7d656] CommonSubexpressions v0.3.1 [f70d9fcc] CommonWorldInvalidations v1.0.0 [34da2185] Compat v4.18.1 [a33af91c] CompositionsBase v0.1.2 [95dc2771] ComputePipeline v0.1.6 [2569d6c7] ConcreteStructs v0.2.3 [187b0558] ConstructionBase v1.6.0 [adafc99b] CpuId v0.3.1 [864edb3b] DataStructures v0.19.3 [2b5f629d] DiffEqBase v6.199.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a0c0ee7d] DifferentiationInterface v0.7.15 [c823fa1f] DirectTrajOpt v0.8.1 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.6 [f151be2c] EnzymeCore v0.8.18 [e24c0720] ExponentialAction v0.2.10 [e2ba6199] ExprTools v0.1.10 [55351af7] ExproniconLite v0.10.14 [7034ab61] FastBroadcast v0.3.5 [9aa1b823] FastClosures v0.3.2 [a4df4552] FastPower v1.3.1 [5789e2e9] FileIO v1.17.1 [1a297f60] FillArrays v1.16.0 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.3.1 [069b7b12] FunctionWrappers v1.1.3 [77dc65aa] FunctionWrappersWrappers v0.1.3 [46192b85] GPUArraysCore v0.2.0 [076d061b] HashArrayMappedTries v0.2.0 [615f187c] IfElse v0.1.1 [3587e190] InverseFunctions v0.1.17 [b6b21f68] Ipopt v1.14.0 [92d709cd] IrrationalConstants v0.2.6 [82899510] IteratorInterfaceExtensions v1.0.0 [033835bb] JLD2 v0.6.3 [692b3bcd] JLLWrappers v1.7.1 [682c06a0] JSON v1.4.0 [0f8b85d8] JSON3 v1.14.3 [ae98c720] Jieko v0.2.1 [10f19ff3] LayoutPointers v0.1.17 [5078a376] LazyArrays v2.9.5 [2ab3a3ac] LogExpFunctions v0.3.29 [e6f89c97] LoggingExtras v1.2.0 [1914dd2f] MacroTools v0.5.16 [d125e4d3] ManualMemory v0.1.8 [b8f27783] MathOptInterface v1.48.0 [bb5d69b7] MaybeInplace v0.1.4 [2e0e35c7] Moshi v0.3.7 [46d2c3a1] MuladdMacro v0.2.4 [d8a4904e] MutableArithmetics v1.6.7 [77ba4419] NaNMath v1.1.3 [538bc3a1] NamedTrajectories v0.8.2 [be0214bd] NonlinearSolveBase v2.11.1 [510215fc] Observables v0.5.5 [bac558e1] OrderedCollections v1.8.1 [bbf590c4] OrdinaryDiffEqCore v3.2.0 [b1df2697] OrdinaryDiffEqTsit5 v1.9.0 [69de0a69] Parsers v2.8.3 [f517fe37] Polyester v0.7.18 [1d0040c9] PolyesterWeave v0.2.2 [d236fae5] PreallocationTools v1.1.2 [aea7be01] PrecompileTools v1.3.3 [21216c6a] Preferences v1.5.1 [3cdcf5f2] RecipesBase v1.3.4 [731186ca] RecursiveArrayTools v3.46.0 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.16 [94e857df] SIMDTypes v0.1.0 [0bca4576] SciMLBase v2.135.0 [19f34311] SciMLJacobianOperators v0.1.12 [a6db7da4] SciMLLogging v1.8.0 [c0aeaf25] SciMLOperators v1.14.1 [431bcebd] SciMLPublic v1.0.1 [53ae85a6] SciMLStructures v1.10.0 [7e506255] ScopedValues v1.5.0 [efcf1570] Setfield v1.1.2 [276daf66] SpecialFunctions v2.6.1 [aedffcd0] Static v1.3.1 [0d7ed370] StaticArrayInterface v1.8.0 [90137ffa] StaticArrays v1.9.16 [1e83bf80] StaticArraysCore v1.4.4 [10745b16] Statistics v1.11.1 [7792a7ef] StrideArraysCore v0.5.8 [856f2bd8] StructTypes v1.11.0 [ec057cc2] StructUtils v2.6.2 [2efcf032] SymbolicIndexingInterface v0.3.46 [f8b46487] TestItemRunner v1.1.4 [1c621080] TestItems v1.0.0 [8290d209] ThreadingUtilities v0.5.5 [a759f4b9] TimerOutputs v0.5.29 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [3bb67fe8] TranscodingStreams v0.11.3 [781d530d] TruncatedStacktraces v1.4.0 [ae81ac8f] ASL_jll v0.1.3+0 [6e34b625] Bzip2_jll v1.0.9+0 [e33a78d0] Hwloc_jll v2.12.2+0 [9cc047cb] Ipopt_jll v300.1400.1901+0 [94ce4f54] Libiconv_jll v1.18.0+0 [d00139f3] METIS_jll v5.1.3+0 [d7ed1dd3] MUMPS_seq_jll v500.800.200+0 [656ef2d0] OpenBLAS32_jll v0.3.30+0 [efe28fd5] OpenSpecFun_jll v0.5.6+0 [319450e9] SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] XML2_jll v2.13.9+0 [a65dc6b1] Xorg_libpciaccess_jll v0.18.1+0 [3161d3a3] Zstd_jll v1.5.7+1 [0dad84c5] ArgTools v1.1.2 [56f22d72] Artifacts v1.11.0 [2a0f44e3] Base64 v1.11.0 [ade2ca70] Dates v1.11.0 [8ba89e20] Distributed v1.11.0 [f43a241f] Downloads v1.7.0 [7b1f6079] FileWatching v1.11.0 [9fa8497b] Future v1.11.0 [b77e0a4c] InteractiveUtils v1.11.0 [ac6e5ff7] JuliaSyntaxHighlighting v1.12.0 [b27032c2] LibCURL v0.6.4 [76f85450] LibGit2 v1.11.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.12.0 [56ddb016] Logging v1.11.0 [d6f4376e] Markdown v1.11.0 [a63ad114] Mmap v1.11.0 [ca575930] NetworkOptions v1.3.0 [44cfe95a] Pkg v1.12.1 [de0858da] Printf v1.11.0 [9abbd945] Profile v1.11.0 [9a3f8284] Random v1.11.0 [ea8e919c] SHA v0.7.0 [9e88b42a] Serialization v1.11.0 [6462fe0b] Sockets v1.11.0 [2f01184e] SparseArrays v1.12.0 [f489334b] StyledStrings v1.11.0 [fa267f1f] TOML v1.0.3 [a4e569a6] Tar v1.10.0 [8dfed614] Test v1.11.0 [cf7118a7] UUIDs v1.11.0 [4ec0a83e] Unicode v1.11.0 [e66e0078] CompilerSupportLibraries_jll v1.3.0+1 [deac9b47] LibCURL_jll v8.15.0+0 [e37daf67] LibGit2_jll v1.9.0+0 [29816b5a] LibSSH2_jll v1.11.3+1 [14a3606d] MozillaCACerts_jll v2025.11.4 [4536629a] OpenBLAS_jll v0.3.29+0 [05823500] OpenLibm_jll v0.8.7+0 [458c3c95] OpenSSL_jll v3.5.4+0 [bea87d4a] SuiteSparse_jll v7.8.3+2 [83775a58] Zlib_jll v1.3.1+2 [8e850b90] libblastrampoline_jll v5.15.0+0 [8e850ede] nghttp2_jll v1.64.0+1 [3f19e933] p7zip_jll v17.7.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. Testing Running tests... Difference in Hessian initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! ****************************************************************************** This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit https://github.com/coin-or/Ipopt ****************************************************************************** This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.5074854e+00 2.27e+00 5.68e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6116216e+00 1.98e-01 4.90e+00 -0.8 1.88e+00 0.0 6.65e-01 9.32e-01h 1 Hello, world! 2 2.7720438e+00 1.99e-01 5.60e+01 1.2 1.99e+01 0.4 8.71e-02 1.12e-02f 2 Hello, world! 3 3.1972638e+00 4.60e-02 4.32e+00 0.1 5.38e-01 -0.1 9.53e-01 1.00e+00f 1 Hello, world! 4 3.1667187e+00 1.01e-02 4.25e+00 -0.8 2.77e-01 -0.5 9.38e-01 1.00e+00h 1 Hello, world! 5 2.7477423e+00 3.15e-02 2.04e-01 -1.3 3.09e-01 -1.0 9.94e-01 1.00e+00f 1 Hello, world! 6 2.2090996e+00 2.77e-02 8.69e-02 -2.1 3.09e-01 -1.5 9.45e-01 9.98e-01f 1 Hello, world! 7 2.1069704e+00 3.12e-03 2.08e-02 -2.7 1.30e-01 -2.0 9.47e-01 9.90e-01h 1 Hello, world! 8 2.0908761e+00 2.68e-05 7.38e-04 -4.0 1.16e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908942e+00 6.97e-07 1.97e-05 -4.0 1.61e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908896e+00 1.14e-09 1.93e-05 -4.0 4.75e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908774e+00 8.06e-09 1.84e-05 -4.0 1.36e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908480e+00 4.96e-08 1.04e-04 -4.0 3.66e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907753e+00 2.75e-07 4.40e-04 -4.0 9.66e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905712e+00 2.92e-06 6.18e-04 -4.0 2.97e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0902267e+00 5.07e-06 1.24e-02 -4.0 9.44e+00 -5.8 7.73e-01 3.81e-01h 1 Hello, world! 16 2.0894745e+00 2.64e-04 5.09e-02 -4.0 2.85e+01 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 17 2.0875692e+00 1.30e-04 5.35e-02 -4.0 5.10e+00 -4.9 1.00e+00 6.05e-01h 1 Hello, world! 18 2.0875393e+00 2.85e-05 8.30e-03 -4.0 3.61e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0864736e+00 4.81e-05 7.20e-03 -4.0 1.08e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0849044e+00 2.05e-04 1.04e-02 -4.0 2.47e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0827810e+00 3.40e-04 2.74e-02 -4.0 3.72e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0831587e+00 1.30e-03 3.82e-02 -4.0 5.51e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0822030e+00 9.84e-04 7.36e-03 -4.1 1.34e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 24 2.1055551e+00 4.35e-06 9.33e-01 -4.0 5.09e+02 -8.3 1.03e-01 1.00e+00H 1 Hello, world! 25 2.0875243e+00 2.26e-03 6.91e+00 -4.1 1.37e+01 -4.2 1.28e-02 1.23e-01f 1 Hello, world! 26 2.0851266e+00 1.62e-03 4.99e+00 -4.1 1.46e+00 -2.9 1.00e+00 2.84e-01f 1 Hello, world! 27 2.0833873e+00 1.06e-03 3.09e+00 -4.1 4.10e+00 -3.4 5.35e-01 3.84e-01f 1 Hello, world! 28 2.0833537e+00 6.17e-04 2.32e+00 -4.0 6.90e-01 -3.9 1.00e+00 4.19e-01f 1 Hello, world! 29 2.0831732e+00 4.60e-05 1.08e-03 -4.0 3.10e-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 2.0832181e+00 1.96e-05 1.49e-05 -4.0 4.26e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0831459e+00 1.69e-06 8.42e-05 -4.0 1.22e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0830043e+00 8.67e-06 4.01e-04 -4.0 3.32e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0828290e+00 2.00e-05 9.17e-04 -4.0 8.57e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0825967e+00 4.23e-05 1.79e-03 -4.0 2.16e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0822325e+00 2.53e-04 7.52e-03 -4.0 5.05e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818720e+00 7.68e-04 1.15e-02 -4.0 1.00e+02 -7.7 9.02e-01 1.00e+00h 1 Hello, world! 37 2.0819914e+00 7.22e-04 1.60e-02 -4.0 1.85e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 38 2.1217043e+00 9.53e-01 7.98e-01 -1.9 1.03e+03 -6.8 4.53e-02 2.67e-01f 1 Hello, world! 39 2.0906849e+00 1.04e+00 5.46e-01 -3.0 3.11e+02 -7.3 4.22e-01 5.51e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.2246062e+00 9.37e-01 9.12e-01 -3.0 2.98e+02 -6.0 1.84e-01 1.01e-01h 1 Hello, world! 41 2.1296323e+00 1.44e-01 7.23e-01 -3.0 5.95e+01 -6.4 2.33e-02 9.58e-01h 1 Hello, world! 42 2.1121207e+00 9.75e-02 3.98e+00 -3.0 3.60e-01 -0.6 5.54e-01 3.21e-01h 1 Hello, world! 43 2.1015709e+00 4.02e-02 8.27e-01 -3.0 4.84e-01 -1.1 6.98e-01 5.88e-01f 1 Hello, world! 44 2.1004261e+00 1.54e-04 1.96e-02 -3.0 1.26e-01 -1.6 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0996346e+00 4.09e-05 3.61e-03 -3.0 1.47e-01 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0908183e+00 2.68e-04 2.92e-03 -4.5 2.91e-01 -2.5 9.39e-01 9.52e-01h 1 Hello, world! 47 2.0899101e+00 3.05e-06 8.95e-04 -4.5 5.16e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0899163e+00 1.60e-06 5.53e-05 -4.5 6.29e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0895576e+00 5.63e-06 3.94e-05 -6.7 1.85e-01 -3.9 1.00e+00 9.99e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0894989e+00 8.02e-08 2.14e-05 -6.7 5.54e-01 -4.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0894988900959044e+00 2.0894988900959044e+00 Dual infeasibility......: 2.1352183171311091e-05 2.1352183171311091e-05 Constraint violation....: 8.0156652204621537e-08 8.0156652204621537e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 5.7827476434218678e-07 5.7827476434218678e-07 Overall NLP error.......: 9.9798006407815978e-05 9.9798006407815978e-05 Number of objective function evaluations = 54 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 54 Number of inequality constraint evaluations = 54 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 60.003 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 2.5074854e+00 2.27e+00 5.68e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6116216e+00 1.98e-01 4.90e+00 -0.8 1.88e+00 0.0 6.65e-01 9.32e-01h 1 Hello, world! 2 2.7720438e+00 1.99e-01 5.60e+01 1.2 1.99e+01 0.4 8.71e-02 1.12e-02f 2 Hello, world! 3 3.1972638e+00 4.60e-02 4.32e+00 0.1 5.38e-01 -0.1 9.53e-01 1.00e+00f 1 Hello, world! 4 3.1667187e+00 1.01e-02 4.25e+00 -0.8 2.77e-01 -0.5 9.38e-01 1.00e+00h 1 Hello, world! 5 2.7477423e+00 3.15e-02 2.04e-01 -1.3 3.09e-01 -1.0 9.94e-01 1.00e+00f 1 Hello, world! 6 2.2090996e+00 2.77e-02 8.69e-02 -2.1 3.09e-01 -1.5 9.45e-01 9.98e-01f 1 Hello, world! 7 2.1069704e+00 3.12e-03 2.08e-02 -2.7 1.30e-01 -2.0 9.47e-01 9.90e-01h 1 Hello, world! 8 2.0908761e+00 2.68e-05 7.38e-04 -4.0 1.16e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908942e+00 6.97e-07 1.97e-05 -4.0 1.61e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908896e+00 1.14e-09 1.93e-05 -4.0 4.75e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908774e+00 8.06e-09 1.84e-05 -4.0 1.36e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908480e+00 4.96e-08 1.04e-04 -4.0 3.66e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907753e+00 2.75e-07 4.40e-04 -4.0 9.66e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905712e+00 2.92e-06 6.18e-04 -4.0 2.97e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0902267e+00 5.07e-06 1.24e-02 -4.0 9.44e+00 -5.8 7.73e-01 3.81e-01h 1 Hello, world! 16 2.0894745e+00 2.64e-04 5.09e-02 -4.0 2.85e+01 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 17 2.0875692e+00 1.30e-04 5.35e-02 -4.0 5.10e+00 -4.9 1.00e+00 6.05e-01h 1 Hello, world! 18 2.0875393e+00 2.85e-05 8.30e-03 -4.0 3.61e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0864736e+00 4.81e-05 7.20e-03 -4.0 1.08e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0849044e+00 2.05e-04 1.04e-02 -4.0 2.47e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0827810e+00 3.40e-04 2.74e-02 -4.0 3.72e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0831587e+00 1.30e-03 3.82e-02 -4.0 5.51e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0822030e+00 9.84e-04 7.36e-03 -4.1 1.34e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 24 2.1055551e+00 4.35e-06 9.33e-01 -4.0 5.09e+02 -8.3 1.03e-01 1.00e+00H 1 Hello, world! 25 2.0875243e+00 2.26e-03 6.91e+00 -4.1 1.37e+01 -4.2 1.28e-02 1.23e-01f 1 Hello, world! 26 2.0851266e+00 1.62e-03 4.99e+00 -4.1 1.46e+00 -2.9 1.00e+00 2.84e-01f 1 Hello, world! 27 2.0833873e+00 1.06e-03 3.09e+00 -4.1 4.10e+00 -3.4 5.35e-01 3.84e-01f 1 Hello, world! 28 2.0833537e+00 6.17e-04 2.32e+00 -4.0 6.90e-01 -3.9 1.00e+00 4.19e-01f 1 Hello, world! 29 2.0831732e+00 4.60e-05 1.08e-03 -4.0 3.10e-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 2.0832181e+00 1.96e-05 1.49e-05 -4.0 4.26e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0831459e+00 1.69e-06 8.42e-05 -4.0 1.22e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0830043e+00 8.67e-06 4.01e-04 -4.0 3.32e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0828290e+00 2.00e-05 9.17e-04 -4.0 8.57e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0825967e+00 4.23e-05 1.79e-03 -4.0 2.16e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0822325e+00 2.53e-04 7.52e-03 -4.0 5.05e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818720e+00 7.68e-04 1.15e-02 -4.0 1.00e+02 -7.7 9.02e-01 1.00e+00h 1 Hello, world! 37 2.0819914e+00 7.22e-04 1.60e-02 -4.0 1.85e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 38 2.1217043e+00 9.53e-01 7.98e-01 -1.9 1.03e+03 -6.8 4.53e-02 2.67e-01f 1 Hello, world! 39 2.0906849e+00 1.04e+00 5.46e-01 -3.0 3.11e+02 -7.3 4.22e-01 5.51e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.2246062e+00 9.37e-01 9.12e-01 -3.0 2.98e+02 -6.0 1.84e-01 1.01e-01h 1 Hello, world! 41 2.1296323e+00 1.44e-01 7.23e-01 -3.0 5.95e+01 -6.4 2.33e-02 9.58e-01h 1 Hello, world! 42 2.1121207e+00 9.75e-02 3.98e+00 -3.0 3.60e-01 -0.6 5.54e-01 3.21e-01h 1 Hello, world! 43 2.1015709e+00 4.02e-02 8.27e-01 -3.0 4.84e-01 -1.1 6.98e-01 5.88e-01f 1 Hello, world! 44 2.1004261e+00 1.54e-04 1.96e-02 -3.0 1.26e-01 -1.6 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0996346e+00 4.09e-05 3.61e-03 -3.0 1.47e-01 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0908183e+00 2.68e-04 2.92e-03 -4.5 2.91e-01 -2.5 9.39e-01 9.52e-01h 1 Hello, world! 47 2.0899101e+00 3.05e-06 8.95e-04 -4.5 5.16e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0899163e+00 1.60e-06 5.53e-05 -4.5 6.29e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0895576e+00 5.63e-06 3.94e-05 -6.7 1.85e-01 -3.9 1.00e+00 9.99e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0894989e+00 8.02e-08 2.14e-05 -6.7 5.54e-01 -4.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0894988900959044e+00 2.0894988900959044e+00 Dual infeasibility......: 2.1352183171311091e-05 2.1352183171311091e-05 Constraint violation....: 8.0156652204621537e-08 8.0156652204621537e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 5.7827476434218678e-07 5.7827476434218678e-07 Overall NLP error.......: 9.9798006407815978e-05 9.9798006407815978e-05 Number of objective function evaluations = 54 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 54 Number of inequality constraint evaluations = 54 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 1.284 EXIT: Stopping optimization at current point as requested by user. ┌ Warning: Trajectory has timestep variable :Δt but no bounds on it. │ Adding default lower bound of 0 to prevent negative timesteps. │ │ Recommended: Add explicit bounds when creating the trajectory: │ NamedTrajectory(...; Δt_bounds=(min, max)) │ Example: │ NamedTrajectory(qtraj, N; Δt_bounds=(1e-3, 0.5)) │ │ Or use timesteps_all_equal=true in problem options to fix timesteps. └ @ DirectTrajOpt.Problems ~/.julia/packages/DirectTrajOpt/4TeZc/src/problems.jl:65 initializing optimizer... applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8202854e-02 8.33e-17 9.99e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6175105e-02 8.23e-12 1.74e-02 -4.0 3.22e-02 -2.0 9.83e-01 1.00e+00f 1 2 8.2373048e-03 9.62e-13 8.68e-02 -2.9 1.14e-01 -1.6 9.97e-01 1.00e+00f 1 3 1.4226462e-03 2.13e-11 6.68e-02 -3.2 1.49e-01 -1.1 9.97e-01 8.66e-01f 1 4 5.7252891e-04 1.37e-11 2.81e-02 -2.8 4.95e-01 -1.6 1.00e+00 1.00e+00f 1 5 5.3388510e-04 1.04e-11 1.94e-02 -2.6 1.29e+00 -2.1 1.00e+00 3.52e-01f 2 6 1.0400501e+00 4.27e-11 4.33e+00 -0.7 1.06e+02 -2.6 5.14e-02 5.79e-02f 1 7 3.2595388e-01 2.73e-10 4.63e+00 -1.9 4.07e-01 0.6 1.00e+00 1.00e+00f 1 8 2.4864183e-01 5.54e-10 2.43e+00 -1.9 4.42e-01 0.1 4.92e-01 1.00e+00f 1 9 2.4887308e-01 5.06e-10 3.73e+00 -1.9 1.84e+00 -0.4 6.97e-01 1.53e-01f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.3966886e-01 5.29e-10 7.82e+00 -1.9 9.00e+00 -0.9 1.60e-01 3.56e-02f 2 11 1.5618513e-01 5.60e-10 1.11e+01 -1.9 5.59e+00 -0.4 1.00e+00 1.08e-01f 1 12 9.3863606e-03 2.46e-10 1.15e+01 -1.9 1.79e+00 -0.9 3.61e-01 2.61e-01f 1 13 6.3690660e-03 1.67e-10 1.11e+01 -1.9 6.19e+00 -1.4 1.67e-01 8.35e-02f 2 14 6.3690660e-03 1.67e-10 1.07e+01 -1.9 2.44e+01 -1.9 3.83e-01 1.52e-15h 47 15 1.5724277e-03 8.91e-11 1.07e+01 -1.9 6.45e+01 -2.4 9.20e-02 9.20e-02S 63 16 1.5724277e-03 8.91e-11 1.07e+01 -1.9 3.48e+02 -2.8 3.02e-03 1.52e-16f 45 17 1.5724277e-03 8.91e-11 1.06e+01 -1.9 2.66e+02 -3.3 7.74e-03 1.99e-16f 45 18 1.5724277e-03 8.91e-11 4.01e+00 -1.9 8.98e+01 -3.8 6.42e-01 1.18e-15f 44 19 1.5724277e-03 8.91e-11 3.51e-01 -1.9 2.01e+00 -4.3 1.00e+00 7.40e-15h 47 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 7.8585879e-03 5.04e-10 5.72e-02 -1.9 1.14e+00 -4.7 8.26e-01 8.26e-01s 66 21 3.9195244e-03 1.10e-10 7.73e-02 -1.9 1.28e+00 -5.2 9.97e-01 9.97e-01s 66 22 3.9195244e-03 1.10e-10 1.32e-01 -2.9 1.30e+00 -5.7 1.00e+00 7.11e-15h 48 23 6.4480698e-04 4.34e-13 9.72e-02 -2.9 4.16e-01 -6.2 9.98e-01 9.98e-01S 60 24 8.2937454e-04 1.47e-12 7.63e-02 -2.9 5.14e+00 -3.0 1.00e+00 9.22e-02f 2 25 8.2937454e-04 1.47e-12 7.12e-02 -2.9 2.43e+00 -3.5 1.00e+00 2.24e-14h 44 26 5.7082797e-03 1.58e-12 2.79e-02 -2.9 3.16e-01 -4.0 1.00e+00 1.00e+00f 1 27 5.2747579e-03 5.57e-11 4.62e-02 -2.9 2.37e-01 -0.9 1.00e+00 1.00e+00f 1 28 3.0316852e-03 5.40e-11 4.26e-02 -2.9 1.50e+00 -1.3 1.00e+00 1.20e-01f 2 29 9.0843300e-04 1.25e-11 6.25e-02 -2.9 1.47e-01 -1.8 1.00e+00 3.87e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 9.0843300e-04 1.25e-11 4.19e-02 -2.9 6.03e-02 -2.3 1.00e+00 2.92e-12h 39 31 6.9655585e-04 6.39e-12 3.80e-02 -2.9 5.24e-02 -2.8 1.00e+00 1.16e-01f 4 32 5.2694259e-04 1.30e-12 3.43e-02 -2.9 1.08e-01 -3.2 1.00e+00 1.23e-01f 4 33 5.2694259e-04 1.30e-12 2.96e-02 -4.0 6.04e-02 -3.7 1.00e+00 4.93e-14h 45 34 5.2694259e-04 1.30e-12 4.54e-02 -3.0 4.18e-01 -4.2 1.00e+00 1.14e-13h 44 35 1.5258642e-05 2.87e-11 6.53e-02 -3.0 6.33e-01 -4.7 1.00e+00 1.00e+00s 62 36 4.6092433e-05 1.51e-11 5.88e-03 -2.7 2.55e+00 -5.2 1.00e+00 4.74e-01f 1 37 2.9589839e-05 1.48e-15 5.09e-03 -2.9 3.93e-01 -5.6 1.00e+00 1.00e+00f 1 38 2.9589839e-05 1.48e-15 6.81e-03 -4.3 2.98e-01 -6.1 8.72e-01 3.64e-12h 39 39 2.9589839e-05 1.48e-15 6.73e-03 -4.3 3.91e-01 -6.6 1.00e+00 3.64e-12h 39 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.9589839e-05 1.48e-15 6.73e-03 -4.3 3.86e-01 -7.1 1.00e+00 1.82e-12h 40 41 2.9589839e-05 1.48e-15 6.73e-03 -4.3 3.87e-01 -7.5 1.00e+00 3.64e-12h 39 42 2.9589839e-05 1.48e-15 6.73e-03 -4.3 3.87e-01 -8.0 1.00e+00 4.55e-13h 42 43 2.9589839e-05 1.48e-15 6.73e-03 -4.3 3.87e-01 -8.5 1.00e+00 1.82e-12h 40 44 2.9589839e-05 1.48e-15 6.73e-03 -4.3 3.87e-01 -9.0 1.00e+00 9.09e-13h 41 45 2.9589839e-05 1.48e-15 6.73e-03 -4.3 3.87e-01 -9.4 1.00e+00 3.64e-12h 39 46 2.9589839e-05 1.48e-15 6.73e-03 -4.3 3.87e-01 -9.9 1.00e+00 3.64e-12h 39 47 2.9589839e-05 1.48e-15 6.73e-03 -4.3 3.87e-01 -10.4 1.00e+00 3.64e-12h 39 48 2.9589839e-05 1.48e-15 6.73e-03 -4.3 3.87e-01 -10.9 1.00e+00 3.64e-12h 39 49 2.9589839e-05 1.48e-15 6.73e-03 -4.3 3.87e-01 -11.4 1.00e+00 3.64e-12h 39 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.9589839e-05 1.48e-15 6.74e-03 -4.3 3.87e-01 -11.8 1.00e+00 3.64e-12h 39 51 2.9589839e-05 1.48e-15 6.74e-03 -4.3 3.87e-01 -12.3 1.00e+00 3.64e-12h 39 52 2.9589839e-05 1.48e-15 6.74e-03 -4.3 3.87e-01 -12.8 1.00e+00 3.64e-12h 39 53 2.9589839e-05 1.48e-15 6.74e-03 -4.3 3.87e-01 -13.3 1.00e+00 1.82e-12h 40 54 2.9589839e-05 1.48e-15 6.74e-03 -4.3 3.87e-01 -13.7 1.00e+00 2.27e-13h 43 55 2.9589839e-05 1.48e-15 6.74e-03 -4.3 3.87e-01 -14.2 1.00e+00 1.82e-12h 40 56 2.9589839e-05 1.48e-15 6.74e-03 -4.3 3.86e-01 -14.7 1.00e+00 3.64e-12h 39 57 2.9589839e-05 1.48e-15 6.74e-03 -4.3 3.86e-01 -15.2 1.00e+00 3.64e-12h 39 58 2.9589839e-05 1.48e-15 6.74e-03 -4.3 3.86e-01 -15.6 1.00e+00 1.82e-12h 40 59 2.9589839e-05 1.48e-15 6.74e-03 -4.3 3.86e-01 -16.1 1.00e+00 9.09e-13h 41 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.9589839e-05 1.48e-15 6.74e-03 -4.3 3.86e-01 -16.6 1.00e+00 3.64e-12h 39 61 2.9589839e-05 1.48e-15 6.74e-03 -4.3 3.86e-01 -17.1 1.00e+00 1.82e-12h 40 62 2.9589839e-05 1.48e-15 6.74e-03 -4.3 3.86e-01 -17.6 1.00e+00 3.64e-12h 39 63 2.9589839e-05 1.48e-15 6.74e-03 -4.3 3.86e-01 -18.0 1.00e+00 3.64e-12h 39 64 2.9589839e-05 1.48e-15 6.74e-03 -4.3 3.86e-01 -18.5 1.00e+00 1.82e-12h 40 65 2.9589839e-05 1.48e-15 6.75e-03 -4.3 3.86e-01 -19.0 1.00e+00 3.64e-12h 39 66 2.9589839e-05 1.48e-15 6.75e-03 -4.3 3.86e-01 -19.5 1.00e+00 2.27e-13h 43 67 2.9589839e-05 1.48e-15 6.75e-03 -4.3 3.86e-01 -19.9 1.00e+00 3.64e-12h 39 68 2.9589839e-05 1.48e-15 6.75e-03 -4.3 3.86e-01 -20.0 1.00e+00 1.82e-12h 40 69 2.9589839e-05 1.48e-15 6.75e-03 -4.3 3.86e-01 -20.0 1.00e+00 3.64e-12h 39 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.9589839e-05 1.48e-15 6.75e-03 -4.3 3.86e-01 -20.0 1.00e+00 3.64e-12h 39 71 2.9589839e-05 1.48e-15 6.75e-03 -4.3 3.86e-01 -20.0 1.00e+00 9.09e-13h 41 72 2.9589839e-05 1.48e-15 6.75e-03 -4.3 3.86e-01 -20.0 1.00e+00 3.64e-12h 39 73 2.9589839e-05 1.48e-15 6.75e-03 -4.3 3.86e-01 -20.0 1.00e+00 1.82e-12h 40 74 2.9589839e-05 1.48e-15 6.75e-03 -4.3 3.86e-01 -20.0 1.00e+00 1.82e-12h 40 75 2.9589839e-05 1.48e-15 6.75e-03 -4.3 3.86e-01 -20.0 1.00e+00 3.64e-12h 39 76 2.9589839e-05 1.48e-15 6.75e-03 -4.3 3.85e-01 -20.0 1.00e+00 3.64e-12h 39 77 2.9589839e-05 1.48e-15 6.75e-03 -4.3 3.85e-01 -20.0 1.00e+00 9.09e-13h 41 78 2.9589839e-05 1.48e-15 6.75e-03 -4.3 3.85e-01 -20.0 1.00e+00 3.64e-12h 39 79 2.9589839e-05 1.48e-15 6.75e-03 -4.3 3.85e-01 -20.0 1.00e+00 3.64e-12h 39 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.9589839e-05 1.48e-15 6.75e-03 -4.3 3.85e-01 -20.0 1.00e+00 3.64e-12h 39 81 2.9589839e-05 1.48e-15 6.75e-03 -4.3 3.85e-01 -20.0 1.00e+00 1.82e-12h 40 82 2.9589839e-05 1.48e-15 6.75e-03 -4.3 3.85e-01 -20.0 1.00e+00 1.82e-12h 40 83 2.9589839e-05 1.48e-15 6.75e-03 -4.3 3.85e-01 -20.0 1.00e+00 1.82e-12h 40 84 2.9589839e-05 1.48e-15 6.75e-03 -4.3 3.85e-01 -20.0 1.00e+00 9.09e-13h 41 85 2.9589839e-05 1.48e-15 6.76e-03 -4.3 3.85e-01 -20.0 1.00e+00 4.55e-13h 42 86 2.9589839e-05 1.48e-15 6.76e-03 -4.3 3.85e-01 -20.0 1.00e+00 9.09e-13h 41 87 2.9589839e-05 1.48e-15 6.76e-03 -4.3 3.85e-01 -20.0 1.00e+00 2.27e-13h 43 88 2.9589839e-05 1.48e-15 6.76e-03 -4.3 3.85e-01 -20.0 1.00e+00 9.09e-13h 41 89 2.9589839e-05 1.48e-15 6.76e-03 -4.3 3.85e-01 -20.0 1.00e+00 4.55e-13h 42 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.9589839e-05 1.48e-15 6.76e-03 -4.3 3.85e-01 -20.0 1.00e+00 9.09e-13h 41 91 2.9589839e-05 1.48e-15 6.76e-03 -4.3 3.85e-01 -20.0 1.00e+00 2.84e-14h 46 92 2.9589839e-05 1.48e-15 6.76e-03 -4.3 3.85e-01 -20.0 1.00e+00 9.09e-13h 41 93 2.9589839e-05 1.48e-15 6.76e-03 -4.3 3.84e-01 -20.0 1.00e+00 4.55e-13h 42 94 2.9589839e-05 1.48e-15 6.76e-03 -4.3 3.84e-01 -20.0 1.00e+00 9.09e-13h 41 95 2.9589839e-05 1.48e-15 6.76e-03 -4.3 3.84e-01 -20.0 1.00e+00 2.27e-13h 43 96 2.9589839e-05 1.48e-15 6.76e-03 -4.3 3.84e-01 -20.0 1.00e+00 9.09e-13h 41 97 2.9589839e-05 1.48e-15 6.76e-03 -4.3 3.84e-01 -20.0 1.00e+00 4.55e-13h 42 98 2.9589839e-05 1.48e-15 6.76e-03 -4.3 3.84e-01 -20.0 1.00e+00 9.09e-13h 41 99 2.9589839e-05 1.48e-15 6.76e-03 -4.3 3.84e-01 -20.0 1.00e+00 1.82e-12h 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.9589839e-05 1.48e-15 6.76e-03 -4.3 3.84e-01 -20.0 1.00e+00 1.82e-12h 40 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.9589838840568442e-05 2.9589838840568442e-05 Dual infeasibility......: 6.7613615575231600e-03 6.7613615575231600e-03 Constraint violation....: 1.4844896145671527e-15 1.4844896145671527e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.1385084132894230e-03 2.1385084132894230e-03 Overall NLP error.......: 6.7613615575231600e-03 6.7613615575231600e-03 Number of objective function evaluations = 3292 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 3292 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 = 3.250 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6465607e+00 4.67e-01 9.72e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2834245e+00 2.46e-09 1.73e-01 -0.3 4.58e-01 -2.0 9.94e-01 1.00e+00f 1 2 3.9224678e-01 1.75e-09 2.72e-01 -1.1 1.17e+00 -1.6 9.53e-01 1.00e+00f 1 3 1.7507940e-01 3.68e-10 6.84e-02 -2.2 6.38e-01 -1.1 1.00e+00 1.00e+00f 1 4 4.5828889e-02 4.13e-11 4.96e-02 -3.0 9.14e-01 -1.6 9.94e-01 1.00e+00f 1 5 9.3023965e-03 3.03e-11 2.00e-02 -4.0 7.94e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.8079552e-03 7.40e-12 6.65e-03 -4.0 5.46e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.3647662e-04 2.15e-12 1.89e-03 -4.0 2.73e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.4153375e-04 4.29e-13 1.32e-04 -4.0 6.14e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.6623723e-04 3.29e-14 2.02e-04 -4.0 3.31e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.9912262e-04 1.80e-14 4.07e-04 -4.1 7.50e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.6246499e-04 1.02e-14 3.58e-04 -4.0 1.90e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7319539e-04 6.55e-15 4.92e-04 -4.1 9.36e-02 -5.4 1.00e+00 1.00e+00f 1 13 4.6874861e-04 5.33e-15 4.51e-04 -4.0 2.36e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6298930e-04 3.89e-15 5.55e-04 -4.1 1.07e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6948231e-04 4.00e-15 4.91e-04 -4.0 2.57e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.5962523e-04 2.94e-15 5.83e-04 -4.1 1.13e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6937723e-04 3.22e-15 5.09e-04 -4.0 2.67e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5854592e-04 2.33e-15 6.02e-04 -4.1 1.16e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6886030e-04 2.55e-15 5.19e-04 -4.0 2.74e-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 2.5823446e-04 2.00e-15 6.18e-04 -4.1 1.20e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6823418e-04 2.22e-15 5.26e-04 -4.0 2.78e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5816507e-04 1.67e-15 6.32e-04 -4.1 1.22e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6758050e-04 1.89e-15 5.32e-04 -4.0 2.83e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5816780e-04 1.44e-15 6.45e-04 -4.1 1.25e-01 -11.2 1.00e+00 1.00e+00f 1 25 3.0832312e-05 1.09e-14 8.10e-04 -6.2 3.47e-01 -11.6 9.71e-01 1.00e+00f 1 26 1.7720419e-03 3.11e-15 7.16e-03 -4.0 1.84e+00 -12.1 1.00e+00 5.00e-01f 2 27 2.3877984e-05 2.76e-14 2.65e-03 -4.1 9.40e-01 -12.6 1.00e+00 1.00e+00f 1 28 1.5934007e-03 3.73e-14 7.45e-03 -4.0 9.13e-01 -13.1 1.00e+00 1.00e+00f 1 29 9.6655854e-06 2.13e-14 2.09e-03 -4.2 1.01e+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 4.7574468e-04 1.78e-15 2.63e-03 -4.0 1.30e+00 -14.0 1.00e+00 5.00e-01f 2 31 2.1763925e-04 3.55e-15 2.17e-04 -4.2 3.59e-01 -14.5 1.00e+00 5.00e-01f 2 32 1.9985084e-05 5.05e-15 7.38e-04 -6.4 3.81e-01 -15.0 9.67e-01 1.00e+00f 1 33 8.0326708e-06 3.77e-15 9.11e-05 -6.4 9.64e-02 -15.5 1.00e+00 1.00e+00f 1 34 1.6072522e-03 1.33e-15 5.35e-03 -4.0 9.04e+00 -15.9 1.00e+00 1.25e-01f 4 35 9.4492871e-05 6.11e-14 3.30e-03 -4.0 7.59e-01 -16.4 1.00e+00 1.00e+00f 1 36 7.6282703e-04 4.21e-14 3.41e-03 -4.0 5.14e-01 -16.9 1.00e+00 1.00e+00f 1 37 3.8222426e-04 7.99e-15 4.00e-04 -4.0 3.98e-01 -17.4 1.00e+00 5.00e-01f 2 38 3.5463565e-05 6.05e-15 1.24e-03 -6.0 4.72e-01 -17.8 9.59e-01 1.00e+00f 1 39 1.4633110e-05 6.00e-15 1.49e-04 -6.0 1.17e-01 -18.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 4.0495885e-06 9.99e-16 9.41e-05 -6.0 1.33e-01 -18.8 1.00e+00 1.00e+00f 1 41 1.2981666e-03 7.49e-16 4.13e-03 -4.0 1.46e+01 -19.3 1.00e+00 8.25e-02f 4 42 1.3114552e-04 5.54e-14 3.15e-03 -4.0 6.69e-01 -19.8 1.00e+00 1.00e+00f 1 43 7.2544795e-04 3.11e-14 3.14e-03 -4.0 4.68e-01 -20.0 1.00e+00 1.00e+00f 1 44 3.9188188e-04 5.77e-15 4.20e-04 -4.0 3.83e-01 -20.0 1.00e+00 5.00e-01f 2 45 3.5990086e-05 6.00e-15 1.36e-03 -6.0 5.12e-01 -20.0 9.54e-01 1.00e+00f 1 46 1.4904191e-05 5.38e-15 1.62e-04 -6.0 1.26e-01 -20.0 1.00e+00 1.00e+00f 1 47 4.0436670e-06 8.88e-16 1.04e-04 -6.0 1.46e-01 -20.0 1.00e+00 1.00e+00f 1 48 1.0343777e-03 5.83e-16 3.04e-03 -4.0 1.56e+01 -20.0 1.00e+00 7.72e-02f 4 49 1.6498977e-04 4.69e-14 2.83e-03 -4.0 5.74e-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 6.6692058e-04 2.22e-14 2.75e-03 -4.0 4.14e-01 -20.0 1.00e+00 1.00e+00f 1 51 3.8904077e-04 4.00e-15 4.18e-04 -4.0 3.57e-01 -20.0 1.00e+00 5.00e-01f 2 52 3.5253835e-05 5.77e-15 1.46e-03 -6.1 5.48e-01 -20.0 9.50e-01 1.00e+00f 1 53 1.4663246e-05 4.77e-15 1.70e-04 -6.1 1.33e-01 -20.0 1.00e+00 1.00e+00f 1 54 3.8964897e-06 7.77e-16 1.10e-04 -6.1 1.57e-01 -20.0 1.00e+00 1.00e+00f 1 55 8.3751679e-04 4.37e-16 2.03e-03 -4.0 1.69e+01 -20.0 1.00e+00 7.07e-02f 4 56 2.0199924e-04 4.06e-14 2.44e-03 -4.0 4.74e-01 -20.0 1.00e+00 1.00e+00f 1 57 6.0428678e-04 1.53e-14 2.26e-03 -4.0 3.47e-01 -20.0 1.00e+00 1.00e+00f 1 58 3.8669148e-04 2.66e-15 3.94e-04 -4.0 3.13e-01 -20.0 1.00e+00 5.00e-01f 2 59 3.4358554e-05 5.55e-15 1.54e-03 -6.1 5.84e-01 -20.0 9.45e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.4410538e-05 4.33e-15 1.76e-04 -6.1 1.39e-01 -20.0 1.00e+00 1.00e+00f 1 61 3.7697486e-06 7.22e-16 1.16e-04 -6.1 1.68e-01 -20.0 1.00e+00 1.00e+00f 1 62 6.9488627e-04 4.44e-16 1.16e-03 -4.0 1.83e+01 -20.0 1.00e+00 6.53e-02f 4 63 2.3693517e-04 3.60e-14 2.02e-03 -4.1 3.81e-01 -20.0 1.00e+00 1.00e+00f 1 64 5.4571382e-04 1.04e-14 1.76e-03 -4.1 2.77e-01 -20.0 1.00e+00 1.00e+00f 1 65 3.8308444e-04 1.78e-15 3.55e-04 -4.1 2.62e-01 -20.0 1.00e+00 5.00e-01f 2 66 3.3301893e-05 5.33e-15 1.62e-03 -6.1 6.17e-01 -20.0 9.41e-01 1.00e+00f 1 67 1.4108781e-05 4.00e-15 1.80e-04 -6.1 1.44e-01 -20.0 1.00e+00 1.00e+00f 1 68 3.6513175e-06 6.66e-16 1.21e-04 -6.1 1.78e-01 -20.0 1.00e+00 1.00e+00f 1 69 5.8994296e-04 4.44e-16 4.08e-04 -4.0 1.96e+01 -20.0 1.00e+00 6.08e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.6856092e-04 3.22e-14 1.61e-03 -4.1 2.96e-01 -20.0 1.00e+00 1.00e+00f 1 71 4.9463734e-04 7.11e-15 1.29e-03 -4.1 2.08e-01 -20.0 1.00e+00 1.00e+00f 1 72 3.7877960e-04 1.11e-15 3.07e-04 -4.1 2.09e-01 -20.0 1.00e+00 5.00e-01f 2 73 3.2208745e-05 5.11e-15 1.68e-03 -6.1 6.48e-01 -20.0 9.38e-01 1.00e+00f 1 74 1.3791037e-05 3.66e-15 1.82e-04 -6.1 1.48e-01 -20.0 1.00e+00 1.00e+00f 1 75 3.5450913e-06 6.11e-16 1.25e-04 -6.1 1.86e-01 -20.0 1.00e+00 1.00e+00f 1 76 5.1181648e-04 3.47e-16 2.49e-04 -4.0 2.09e+01 -20.0 1.00e+00 5.69e-02f 4 77 2.9593133e-04 2.91e-14 1.22e-03 -4.1 2.20e-01 -20.0 1.00e+00 1.00e+00f 1 78 4.5213535e-04 4.44e-15 8.75e-04 -4.1 1.44e-01 -20.0 1.00e+00 1.00e+00f 1 79 3.0674176e-04 3.33e-15 8.79e-04 -4.1 1.59e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 4.4610950e-04 2.44e-15 7.60e-04 -4.1 1.25e-01 -20.0 1.00e+00 1.00e+00f 1 81 2.3951501e-05 4.44e-15 1.86e-03 -6.1 7.82e-01 -20.0 9.23e-01 1.00e+00f 1 82 1.2332864e-05 3.77e-15 1.27e-04 -6.1 1.12e-01 -20.0 1.00e+00 1.00e+00f 1 83 3.0778819e-06 4.44e-16 1.19e-04 -6.1 1.90e-01 -20.0 1.00e+00 1.00e+00f 1 84 4.5451618e-04 3.26e-16 9.00e-04 -4.0 2.37e+01 -20.0 1.00e+00 5.03e-02f 4 85 3.2380992e-04 2.75e-14 8.27e-04 -4.1 1.46e-01 -20.0 1.00e+00 1.00e+00f 1 86 3.3982322e-05 5.55e-15 1.64e-03 -6.1 6.29e-01 -20.0 9.39e-01 1.00e+00f 1 87 1.3333154e-05 3.00e-15 2.18e-04 -6.1 1.78e-01 -20.0 1.00e+00 1.00e+00f 1 88 3.5916945e-06 5.55e-16 1.30e-04 -6.1 1.94e-01 -20.0 1.00e+00 1.00e+00f 1 89 3.6764582e-06 2.22e-16 4.95e-06 -6.1 8.74e-03 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.3722379e-07 5.12e-17 5.62e-05 -9.0 2.55e-01 -20.0 9.75e-01 1.00e+00f 1 91 2.2971865e-03 4.89e-16 1.16e-02 -4.0 1.07e+02 -20.0 1.00e+00 2.27e-02f 3 92 8.3851662e-05 4.60e-14 6.88e-03 -4.0 1.52e+00 -20.0 1.00e+00 1.00e+00f 1 93 7.5639989e-04 2.75e-14 5.34e-03 -4.0 8.14e-01 -20.0 1.00e+00 1.00e+00f 1 94 4.2527380e-04 5.33e-15 7.88e-04 -4.0 5.55e-01 -20.0 1.00e+00 5.00e-01f 2 95 4.2224664e-05 4.00e-15 2.12e-03 -5.9 7.20e-01 -20.0 9.29e-01 1.00e+00f 1 96 1.7365409e-05 3.77e-15 2.62e-04 -5.9 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 97 4.9228108e-06 6.66e-16 1.65e-04 -5.9 2.12e-01 -20.0 1.00e+00 1.00e+00f 1 98 5.5357148e-06 3.33e-16 1.60e-05 -5.9 2.32e-02 -20.0 1.00e+00 1.00e+00h 1 99 5.1542990e-06 8.67e-17 1.93e-06 -5.9 2.84e-03 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 3.6803882e-07 5.59e-17 7.82e-05 -8.9 2.88e-01 -20.0 9.71e-01 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 3.6803881877226996e-07 3.6803881877226996e-07 Dual infeasibility......: 7.8209678410190230e-05 7.8209678410190230e-05 Constraint violation....: 5.5944832100252029e-17 5.5944832100252029e-17 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.9902017974645610e-07 2.9902017974645610e-07 Overall NLP error.......: 9.9999998612003530e-05 9.9999998612003530e-05 Number of objective function evaluations = 174 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 174 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 2.790 EXIT: Maximum Number of Iterations Exceeded. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! [test_integrator] Starting... [test_integrator] constraint_dim=8, datavec_len=75, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.6798674e+00 4.18e+00 7.34e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9531049e+00 2.96e+00 4.02e+00 -0.6 1.90e+01 -2.0 2.73e-01 3.01e-01f 1 2 1.6221680e+00 2.00e+00 4.68e+00 -0.8 6.02e+00 -1.6 1.97e-01 3.55e-01f 1 3 1.6414469e+00 1.61e+00 5.56e+00 -0.3 2.91e+00 -0.2 3.45e-01 1.95e-01h 1 4 1.6975590e+00 8.91e-01 8.45e+00 -0.4 8.65e+00 -0.7 5.91e-01 4.44e-01h 1 5 1.7261102e+00 6.34e-01 5.07e+00 -0.9 1.49e+00 -0.3 3.77e-01 2.87e-01h 1 6 1.7501669e+00 3.95e-01 7.45e+00 -0.6 1.31e+00 0.1 8.58e-01 3.76e-01h 1 7 1.8858261e+00 3.85e-01 6.48e+00 -2.3 5.75e+00 -0.3 2.55e-01 4.12e-01h 1 8 1.8442254e+00 3.63e-01 6.19e+00 -0.1 2.62e+00 0.1 6.02e-01 1.45e-01f 1 9 1.8992469e+00 8.27e-02 8.97e-01 -2.2 1.12e+00 -0.4 7.93e-01 9.16e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.7991931e+00 9.03e-02 4.36e-01 -1.7 7.32e-01 -0.9 7.66e-01 6.22e-01h 1 11 1.6275622e+00 2.40e-01 7.73e-01 -1.2 2.71e+00 -1.4 6.49e-01 5.75e-01f 1 12 1.4723049e+00 4.80e-02 1.87e-01 -2.0 7.42e-01 -1.8 9.97e-01 8.07e-01h 1 13 1.3263771e+00 2.02e-03 7.18e-02 -2.6 1.11e+00 -2.3 9.81e-01 1.00e+00h 1 14 1.2638119e+00 1.66e-02 4.80e-03 -3.2 3.63e-01 -1.9 1.00e+00 1.00e+00h 1 15 1.2346192e+00 1.37e+00 8.62e-01 -2.8 1.19e+01 -2.4 4.50e-01 5.04e-01h 1 16 1.2149898e+00 1.07e+00 6.88e-01 -3.2 2.94e+00 -2.8 9.18e-01 2.25e-01h 1 17 1.2402356e+00 2.24e-01 3.00e-01 -2.8 2.65e+00 -3.3 1.00e+00 1.00e+00h 1 18 1.2820830e+00 2.33e-01 1.87e-01 -2.1 1.71e+00 -2.0 1.00e+00 8.26e-01h 1 19 1.2678816e+00 2.03e-03 2.88e-02 -2.3 4.73e-01 -2.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1904961e+00 2.70e-01 9.31e-02 -3.4 2.14e+00 -2.9 7.12e-01 1.00e+00h 1 21 1.1951439e+00 8.47e-02 1.76e-02 -3.2 2.93e+00 -3.4 9.98e-01 1.00e+00h 1 22 1.1785899e+00 9.33e-02 8.33e-03 -4.0 2.85e+00 -3.9 1.00e+00 1.00e+00h 1 23 1.1752860e+00 7.98e-02 1.70e-02 -4.0 4.97e+00 -4.4 1.00e+00 1.00e+00h 1 24 1.1714956e+00 1.21e-01 7.89e-03 -4.0 7.45e+00 -4.8 1.00e+00 1.00e+00h 1 25 1.1690084e+00 1.36e-01 9.43e-03 -4.0 1.14e+01 -5.3 1.00e+00 1.00e+00h 1 26 1.1667502e+00 1.78e-01 3.46e-03 -4.0 1.75e+01 -5.8 1.00e+00 1.00e+00h 1 27 1.1650792e+00 2.10e-01 1.22e-03 -4.0 2.67e+01 -6.3 1.00e+00 1.00e+00h 1 28 1.1636701e+00 2.60e-01 4.76e-03 -4.0 4.04e+01 -6.8 1.00e+00 1.00e+00h 1 29 1.1625957e+00 3.08e-01 9.35e-03 -4.0 6.05e+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 30 1.1617260e+00 3.67e-01 1.60e-02 -4.0 8.97e+01 -7.7 1.00e+00 1.00e+00h 1 31 1.1610805e+00 4.18e-01 2.14e-02 -4.0 1.30e+02 -8.2 1.00e+00 1.00e+00h 1 32 1.1606272e+00 4.45e-01 2.50e-02 -4.0 1.80e+02 -8.7 1.00e+00 1.00e+00h 1 33 1.1604889e+00 3.48e-01 1.63e-02 -4.0 2.12e+02 -9.1 1.00e+00 1.00e+00h 1 34 1.1608162e+00 2.34e-02 3.86e-03 -4.0 8.84e+01 -9.6 1.00e+00 1.00e+00h 1 35 1.1608497e+00 3.95e-04 1.15e-04 -4.0 6.65e+00 -10.1 1.00e+00 1.00e+00h 1 36 1.1608491e+00 4.48e-06 6.08e-07 -4.0 8.84e-01 -10.6 1.00e+00 1.00e+00h 1 37 1.1608491e+00 4.02e-10 1.70e-11 -4.0 8.41e-03 -11.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 37 (scaled) (unscaled) Objective...............: 1.1608491308036086e+00 1.1608491308036086e+00 Dual infeasibility......: 1.7039523871748008e-11 1.7039523871748008e-11 Constraint violation....: 4.0161296510632383e-10 4.0161296510632383e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000021e-04 1.0000000000000021e-04 Overall NLP error.......: 4.0161296510632383e-10 4.0161296510632383e-10 Number of objective function evaluations = 38 Number of objective gradient evaluations = 38 Number of equality constraint evaluations = 38 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 38 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 37 Total seconds in IPOPT = 28.407 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 2.0522816e+00 9.11e-01 1.40e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9947450e+00 2.12e-01 2.05e+00 -0.8 9.11e-01 0.0 1.00e+00 1.00e+00h 1 2 1.8342112e+00 6.12e-02 6.29e-01 -0.9 3.78e-01 -0.5 6.63e-01 7.12e-01h 1 3 2.0074556e+00 6.66e-02 3.65e+00 -2.8 3.31e+00 - 4.47e-01 1.00e+00H 1 4 2.6981513e+00 2.44e-02 1.39e+00 -0.8 4.09e-01 -0.1 8.43e-01 9.29e-01f 1 5 1.8250164e+00 4.15e-02 1.23e+00 -1.5 1.94e-01 -0.5 9.87e-01 1.00e+00f 1 6 1.2195223e+00 3.57e-03 1.95e-01 -2.5 8.79e-02 -1.0 1.00e+00 1.00e+00f 1 7 1.1073986e+00 1.18e-04 1.64e-02 -3.7 2.46e-02 -1.5 1.00e+00 1.00e+00f 1 8 1.0952711e+00 3.03e-08 4.52e-03 -4.0 4.75e-02 -2.0 1.00e+00 1.00e+00h 1 9 1.0939539e+00 1.94e-12 4.43e-03 -4.0 1.08e-01 -2.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0921204e+00 1.45e-12 1.49e-02 -4.0 9.82e+00 - 1.46e-01 2.50e-01f 3 11 1.0919321e+00 1.27e-12 1.49e-02 -4.0 2.27e+00 - 9.95e-02 1.25e-01f 4 12 1.0918729e+00 8.88e-16 1.67e-03 -4.0 1.23e-01 -2.0 1.00e+00 1.00e+00f 1 13 1.0913048e+00 8.88e-16 1.39e-02 -4.0 1.96e+00 - 6.54e-01 1.00e+00f 1 14 1.0910394e+00 8.88e-16 3.85e-04 -4.0 9.55e-02 -1.6 1.00e+00 1.00e+00f 1 15 1.0910400e+00 2.22e-32 4.53e-05 -4.0 1.88e-02 - 1.00e+00 1.00e+00f 1 16 1.0908605e+00 1.78e-34 1.05e-06 -4.1 3.07e-03 - 1.00e+00 1.00e+00f 1 17 1.0910386e+00 1.95e-33 8.45e-09 -4.0 1.04e-03 - 1.00e+00 1.00e+00f 1 18 1.0908587e+00 4.12e-34 9.80e-10 -4.1 1.53e-04 - 1.00e+00 1.00e+00f 1 19 1.0910386e+00 8.88e-16 9.80e-10 -4.0 6.55e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 19 (scaled) (unscaled) Objective...............: 1.0910385864143555e+00 1.0910385864143555e+00 Dual infeasibility......: 9.8029444796561040e-10 9.8029444796561040e-10 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000534541698038e-04 1.0000534541698038e-04 Overall NLP error.......: 5.3454169803755997e-09 5.3454169803755997e-09 Number of objective function evaluations = 27 Number of objective gradient evaluations = 20 Number of equality constraint evaluations = 27 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 20 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 19 Total seconds in IPOPT = 22.261 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 4.5835862e+00 3.16e+00 7.14e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6656214e+00 3.80e-02 7.60e-01 -1.1 2.35e+00 - 1.00e+00 1.00e+00f 1 2 2.3411586e+00 1.58e-02 9.71e-02 -1.4 2.74e-01 - 9.10e-01 1.00e+00f 1 3 2.1293634e+00 8.57e-04 1.65e-02 -2.5 3.98e-02 - 9.86e-01 1.00e+00h 1 4 2.0915818e+00 2.16e-04 3.15e-03 -4.0 2.95e-02 - 9.88e-01 9.81e-01h 1 5 2.0908955e+00 2.90e-05 2.65e-04 -4.0 2.45e-01 - 1.00e+00 1.00e+00h 1 6 2.0908972e+00 2.52e-08 1.29e-07 -4.0 7.67e-02 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 9.88e-13 6.38e-12 -4.0 1.16e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971978654947e+00 2.0908971978654947e+00 Dual infeasibility......: 6.3811835047770937e-12 6.3811835047770937e-12 Constraint violation....: 9.8847809250999422e-13 9.8847809250999422e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000002116515950e-04 1.0000002116515950e-04 Overall NLP error.......: 2.1165159495893995e-11 2.1165159495893995e-11 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 26.639 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 5.0525826e+00 1.68e+00 6.02e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6836373e+00 6.33e-01 2.48e+00 -0.8 7.73e+00 -4.0 7.82e-01 8.91e-01f 1 2 2.5381865e+00 1.22e-01 1.49e+00 -1.0 1.27e+00 -1.8 7.77e-01 1.00e+00f 1 3 2.4262564e+00 1.28e-02 3.52e-01 -1.5 4.67e-01 -2.2 9.97e-01 1.00e+00h 1 4 2.2802880e+00 1.06e-01 1.61e-01 -1.7 1.99e+00 -2.7 8.03e-01 7.94e-01h 1 5 2.1390044e+00 3.95e-02 9.69e-02 -2.4 1.48e+00 -3.2 9.11e-01 1.00e+00h 1 6 2.0960635e+00 2.69e-03 4.13e-02 -3.2 4.16e-01 -3.7 1.00e+00 9.56e-01h 1 7 2.0908815e+00 4.12e-04 5.37e-03 -4.0 3.44e-01 -4.2 1.00e+00 1.00e+00h 1 8 2.0907612e+00 2.05e-05 4.86e-04 -4.0 7.58e-01 -4.6 1.00e+00 1.00e+00h 1 9 2.0905764e+00 1.31e-06 5.48e-04 -4.0 1.93e+00 -5.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902419e+00 4.21e-06 2.18e-03 -4.0 3.71e+00 -5.6 1.00e+00 1.00e+00h 1 11 2.0899893e+00 7.25e-06 3.11e-03 -4.0 6.09e+00 -6.1 1.00e+00 1.00e+00h 1 12 2.0898773e+00 6.18e-06 2.42e-03 -4.0 8.36e+00 -6.5 1.00e+00 1.00e+00h 1 13 2.0898319e+00 1.51e-06 1.72e-03 -4.0 1.23e+01 -7.0 1.00e+00 1.00e+00h 1 14 2.0898251e+00 2.03e-06 1.11e-03 -4.0 1.14e+01 -7.5 1.00e+00 1.00e+00h 1 15 2.0898223e+00 9.74e-07 1.99e-04 -4.0 5.00e+00 -8.0 1.00e+00 1.00e+00h 1 16 2.0898219e+00 2.30e-08 4.38e-06 -4.0 5.70e-01 -8.4 1.00e+00 1.00e+00h 1 17 2.0898219e+00 4.86e-11 1.21e-08 -4.0 4.11e-02 -8.9 1.00e+00 1.00e+00h 1 18 2.0898218e+00 2.12e-14 5.98e-12 -4.0 1.29e-03 -9.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0898218497850380e+00 2.0898218497850380e+00 Dual infeasibility......: 5.9817480558676389e-12 5.9817480558676389e-12 Constraint violation....: 2.1238208504955735e-14 2.1238208504955735e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 5.9817480558676389e-12 5.9817480558676389e-12 Number of objective function evaluations = 19 Number of objective gradient evaluations = 19 Number of equality constraint evaluations = 19 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 19 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 18 Total seconds in IPOPT = 26.937 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 4.4899196e+00 2.51e+00 9.16e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.9863253e+00 2.21e+00 9.98e+00 -0.2 2.50e+00 0.0 1.10e-02 1.19e-01f 1 2 3.8424319e+00 2.12e+00 9.83e+00 -0.5 2.37e+00 -0.5 2.17e-01 3.86e-02f 1 3 3.5998684e+00 1.75e+00 8.15e+00 -0.6 3.30e+00 -1.0 1.70e-01 1.73e-01h 1 4 3.5545959e+00 1.72e+00 3.63e+02 -0.7 1.24e+00 -0.5 3.98e-01 1.81e-02h 1 5 3.7988990e+00 1.71e+00 7.85e+02 0.9 2.47e+02 -1.0 9.90e-03 5.02e-03h 1 6 3.8142633e+00 1.71e+00 2.62e+03 1.5 6.69e+02 -1.5 3.84e-03 8.33e-04h 1 7 3.8543360e+00 1.72e+00 1.16e+06 1.2 3.76e+03 -2.0 9.96e-01 3.84e-03h 1 8 3.9010793e+00 1.79e+00 8.04e+05 1.8 6.09e+03 -2.4 5.55e-01 1.20e-01f 1 9 3.9028608e+00 1.79e+00 6.51e+06 2.5 2.95e+02 -2.9 9.80e-01 1.06e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.9025002e+00 1.79e+00 2.96e+08 -3.5 6.06e+03 -3.4 1.72e-02 3.80e-04h 1 11 3.9065487e+00 1.79e+00 1.54e+08 2.5 5.07e+06 -3.9 5.30e-06 1.05e-04f 2 12 3.9452567e+00 6.33e+01 4.41e+07 2.4 1.42e+06 -4.3 1.08e-04 1.07e-03f 2 13 3.9982984e+00 3.17e+01 5.90e+08 1.7 9.36e+05 -4.8 4.60e-03 1.69e-03h 1 14 4.0799702e+00 1.04e+01 5.33e+08 1.7 8.09e+04 -5.3 4.69e-03 2.86e-03f 2 15 4.2085865e+00 4.85e+00 3.72e+08 1.7 7.20e+03 -4.9 4.82e-02 5.26e-03f 2 16 4.3379685e+00 3.88e+00 3.11e+08 1.7 9.81e+02 -5.4 9.41e-04 6.44e-03f 1 17 4.3387515e+00 3.88e+00 3.14e+08 1.7 3.35e+02 -4.9 1.75e-01 4.69e-05h 1 18 4.3389203e+00 3.88e+00 1.77e+12 1.7 3.24e+02 -4.5 3.21e-02 1.03e-05h 1 19 4.3392645e+00 3.88e+00 4.53e+16 1.7 3.36e+02 -5.0 5.22e-01 2.02e-05h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.2241516e+01 5.91e+00 1.59e+16 1.7 1.08e+02 -4.5 1.95e-01 7.40e-01h 1 21 1.1552189e+01 3.95e+00 2.30e+16 2.5 3.85e+02 -5.0 1.00e+00 7.01e-02h 1 22 1.1006713e+01 3.66e+00 2.16e+16 2.5 3.18e+02 -5.5 1.00e+00 5.41e-02h 1 23r 1.1006713e+01 3.66e+00 9.16e+02 2.5 0.00e+00 -6.0 0.00e+00 1.07e-07R 2 24r 8.8455508e+00 1.01e+00 8.00e+02 1.4 1.86e+02 - 6.92e-01 8.73e-02f 1 25 8.7789098e+00 9.96e-01 1.04e+02 -1.1 7.43e+00 -6.5 7.71e-01 9.88e-03h 1 26 8.7807367e+00 9.96e-01 1.02e+06 0.6 1.24e+02 -6.9 1.00e+00 1.25e-04h 1 27 8.7842552e+00 9.96e-01 6.59e+08 2.5 2.45e+02 -7.4 2.75e-02 4.31e-05h 1 28r 8.7842552e+00 9.96e-01 9.92e+02 2.5 0.00e+00 -7.9 0.00e+00 2.40e-07R 2 29r 5.1321020e+00 2.05e-01 3.38e+02 1.3 7.89e+00 - 9.56e-01 3.47e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 5.0841012e+00 1.99e-01 2.20e+01 -2.0 9.36e+00 -8.4 6.82e-01 3.11e-02h 1 31 5.0812719e+00 1.99e-01 2.45e+04 0.5 1.77e+02 -8.8 2.33e-01 4.46e-04h 1 32 5.0831434e+00 1.99e-01 4.94e+08 0.4 7.37e+01 -9.3 1.00e+00 4.88e-05h 1 33r 5.0831434e+00 1.99e-01 9.98e+02 2.3 0.00e+00 -9.8 0.00e+00 2.70e-07R 2 34r 3.3800105e+00 2.04e-01 1.29e+02 0.8 6.79e-01 - 9.83e-01 8.17e-01f 1 35r 3.7072573e+00 2.00e-01 6.40e+00 0.1 8.78e-01 - 9.84e-01 9.72e-01f 1 36r 4.2839450e+00 1.99e-01 4.50e+01 -1.8 1.30e+00 - 3.53e-01 8.82e-01f 1 37r 4.4361407e+00 1.99e-01 1.73e+00 -0.5 1.89e-01 0.0 9.88e-01 1.00e+00f 1 38r 4.6053014e+00 1.99e-01 6.48e+01 -1.1 6.91e-01 - 5.81e-01 9.93e-01f 1 39r 4.5824237e+00 1.99e-01 3.89e-01 -1.1 9.22e-01 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 4.6714003e+00 1.99e-01 1.17e-01 -1.2 6.07e-01 - 1.00e+00 1.00e+00f 1 41r 4.6432278e+00 1.99e-01 6.84e+00 -2.4 1.28e+00 - 8.64e-01 9.97e-01f 1 42r 4.5623568e+00 1.99e-01 4.17e-02 -2.3 2.91e-01 - 1.00e+00 1.00e+00h 1 43r 4.6322310e+00 1.99e-01 5.32e-01 -3.9 2.49e-01 - 8.59e-01 1.00e+00f 1 44r 4.6462455e+00 1.99e-01 1.52e-03 -4.0 4.96e-03 -0.5 1.00e+00 1.00e+00h 1 45r 4.8868438e+00 1.99e-01 9.21e-05 -4.0 3.37e-01 - 1.00e+00 1.00e+00h 1 46r 4.8594722e+00 1.99e-01 2.07e-06 -4.0 7.59e-02 - 1.00e+00 1.00e+00h 1 47r 4.8601457e+00 1.99e-01 1.28e-09 -4.0 2.47e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 47 (scaled) (unscaled) Objective...............: 4.8601468654115951e+00 4.8601468654115951e+00 Dual infeasibility......: 2.2533229267333632e+00 2.2533229267333632e+00 Constraint violation....: 1.9875045038713890e-01 1.9875045038713890e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000001323182e-04 1.0000000001323182e-04 Overall NLP error.......: 2.2533229267333632e+00 2.2533229267333632e+00 Number of objective function evaluations = 66 Number of objective gradient evaluations = 35 Number of equality constraint evaluations = 66 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 52 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 48 Total seconds in IPOPT = 28.398 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... applying constraint: bounds constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.3199297e+00 2.17e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.4062645e+00 4.01e-01 1.07e+00 -0.9 1.34e+00 0.0 7.78e-01 8.17e-01f 1 2 2.6608622e+00 2.03e-01 1.95e+00 -0.9 1.39e+00 -0.5 8.61e-01 4.95e-01f 1 3 2.5458737e+00 5.72e-02 4.93e-01 -1.2 2.97e-01 -0.1 9.99e-01 7.18e-01h 1 4 2.3040058e+00 2.77e-03 2.19e-01 -1.9 1.11e-01 -0.5 9.92e-01 1.00e+00h 1 5 2.1439788e+00 2.11e-03 1.27e-01 -2.9 9.81e-02 -1.0 9.97e-01 6.32e-01f 1 6 2.0929599e+00 1.45e-04 5.49e-03 -3.9 1.64e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0908568e+00 1.18e-06 7.17e-04 -4.0 6.64e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908564e+00 3.46e-09 4.04e-05 -4.0 1.11e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908547e+00 1.04e-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 2.0908497e+00 9.67e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908348e+00 8.70e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907900e+00 7.84e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906557e+00 7.07e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902537e+00 6.40e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890568e+00 5.85e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855486e+00 5.52e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796242e+00 2.27e-03 1.37e-01 -4.0 9.54e+01 -6.7 1.00e+00 6.26e-01h 1 18 2.0806843e+00 1.36e-04 1.75e-01 -4.0 6.71e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775230e+00 6.96e-03 2.33e-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 2.0769733e+00 1.12e-03 4.75e-02 -4.0 1.88e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0762261e+00 1.01e-03 2.25e-02 -4.0 3.35e+02 -8.6 1.00e+00 7.37e-01h 1 22 2.0754990e+00 2.67e-03 3.07e-02 -4.0 5.77e+02 -9.1 1.00e+00 7.46e-01h 1 23 2.0757983e+00 3.02e-03 1.61e-02 -4.0 1.71e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753804e+00 1.70e-03 8.23e-04 -4.1 1.00e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.84e-04 7.43e-06 -4.0 2.19e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.99e-07 1.14e-06 -4.0 1.20e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.23e-09 8.40e-08 -4.0 4.29e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.76e-11 1.50e-09 -4.0 6.78e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121585053e+00 2.0756712121585053e+00 Dual infeasibility......: 1.5011080336374810e-09 1.5011080336374810e-09 Constraint violation....: 3.7642222672218395e-11 3.7642222672218395e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 1.5011080336374810e-09 1.5011080336374810e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 41.905 EXIT: Optimal Solution Found. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.7780786e+00 2.78e+00 3.97e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8800294e+00 4.47e-02 5.88e-01 -1.0 1.99e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3194670e+00 2.44e-02 1.35e-01 -1.8 3.59e-01 -1.6 9.54e-01 1.00e+00h 1 3 2.1483123e+00 2.28e-03 2.08e-01 -2.7 1.27e-01 -1.1 9.64e-01 1.00e+00h 1 4 2.0983328e+00 1.35e-03 1.28e-01 -3.9 1.24e-01 -1.6 1.00e+00 9.10e-01h 1 5 2.0907477e+00 3.99e-04 1.32e+00 -4.0 7.81e-01 -2.1 1.00e+00 6.66e-01h 1 6 2.0906195e+00 1.88e-04 4.92e-01 -4.0 1.09e+00 -2.6 1.00e+00 6.33e-01h 1 7 2.0909272e+00 4.23e-05 1.11e-01 -4.0 4.77e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0910058e+00 3.20e-06 2.74e-03 -4.0 7.05e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909828e+00 2.96e-07 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 2.0909209e+00 1.47e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907382e+00 1.29e-06 4.97e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902176e+00 1.09e-05 4.20e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888716e+00 8.21e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861779e+00 4.40e-04 1.75e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830990e+00 9.19e-04 4.72e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828509e+00 9.35e-04 2.30e-02 -4.0 5.43e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823453e+00 3.91e-04 1.02e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820402e+00 9.43e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.69e-04 8.67e-03 -4.0 9.92e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.67e-05 8.43e-04 -4.0 3.10e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.28e-07 1.38e-05 -4.0 4.43e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.70e-10 3.22e-08 -4.0 2.43e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.50e-13 1.20e-11 -4.0 4.57e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190835e+00 2.0819382907190835e+00 Dual infeasibility......: 1.2010147542283744e-11 1.2010147542283744e-11 Constraint violation....: 2.4957813593573519e-13 2.4957813593573519e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000049e-04 1.0000000000000049e-04 Overall NLP error.......: 1.2010147542283744e-11 1.2010147542283744e-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 = 25.939 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 3.0927373e+00 3.45e+00 2.13e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8932408e+00 3.06e-02 6.28e-01 -1.1 1.80e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.3456085e+00 3.73e-02 1.09e-01 -1.6 6.62e-01 -1.6 9.36e-01 8.20e-01h 1 3 2.1726200e+00 2.51e-03 7.06e-02 -2.4 1.05e-01 -1.1 9.09e-01 1.00e+00h 1 4 2.1237889e+00 1.54e-03 5.57e-01 -3.7 2.17e-01 -1.6 1.00e+00 6.55e-01h 1 5 2.0952929e+00 1.30e-03 7.17e-02 -4.0 3.73e-01 -2.1 1.00e+00 7.31e-01h 1 6 2.0917588e+00 3.55e-04 8.02e-01 -4.0 1.00e+00 -2.6 1.00e+00 4.35e-01h 1 7 2.0908232e+00 8.05e-05 1.47e-01 -4.0 7.40e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0908381e+00 2.99e-06 1.28e-03 -4.0 8.24e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908212e+00 5.88e-07 5.01e-05 -4.0 2.25e-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 2.0907728e+00 1.37e-07 2.84e-04 -4.0 5.47e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0906731e+00 7.63e-07 1.11e-03 -4.0 1.32e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0903992e+00 6.39e-06 9.10e-04 -4.0 4.28e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0901806e+00 6.76e-06 2.46e-02 -4.0 1.17e+01 -5.9 8.58e-01 2.23e-01h 2 14 2.0886376e+00 1.57e-04 3.96e-02 -4.0 3.01e+01 -6.4 1.00e+00 6.69e-01h 1 15 2.0859485e+00 1.55e-03 1.19e-01 -4.0 6.94e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0835353e+00 8.49e-04 1.78e-01 -4.0 1.33e+01 -5.5 1.00e+00 5.05e-01h 1 17 2.0833386e+00 1.47e-04 1.04e-02 -4.0 4.89e+00 -6.0 1.00e+00 1.00e+00h 1 18 2.0828911e+00 6.87e-05 2.92e-03 -4.0 1.00e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0827585e+00 5.96e-05 2.44e-03 -4.0 2.82e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0824914e+00 1.82e-04 3.07e-03 -4.0 7.32e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821505e+00 1.01e-03 9.87e-03 -4.0 1.83e+02 -7.9 5.46e-01 1.00e+00h 1 22 2.0820743e+00 1.36e-03 3.11e+00 -4.0 2.96e+02 -6.6 1.00e+00 5.04e-02h 3 23 2.0820761e+00 6.30e-05 4.00e-03 -4.0 3.20e+00 -5.3 1.00e+00 1.00e+00h 1 24 2.0824145e+00 5.53e-07 1.36e-01 -4.0 2.93e+00 -5.7 7.24e-01 1.00e+00H 1 25 2.0820832e+00 1.69e-06 1.01e-03 -4.0 7.20e-02 -1.7 1.00e+00 1.00e+00h 1 26 2.0822012e+00 2.30e-07 5.17e-04 -4.0 3.31e-02 -2.2 1.00e+00 1.00e+00h 1 27 2.0821671e+00 4.86e-08 1.08e-04 -4.0 5.01e-02 -2.7 1.00e+00 1.00e+00h 1 28 2.0821616e+00 2.74e-08 2.41e-05 -4.0 3.43e-02 -3.1 1.00e+00 1.00e+00h 1 29 2.0821580e+00 5.94e-08 9.00e-06 -4.0 3.75e-02 -3.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0821496e+00 2.54e-07 8.36e-06 -4.0 1.00e-01 -4.1 1.00e+00 1.00e+00h 1 31 2.0821331e+00 1.19e-06 4.07e-05 -4.0 2.19e-01 -4.6 1.00e+00 1.00e+00h 1 32 2.0819694e+00 1.07e-05 7.28e-05 -4.1 3.93e-01 -5.1 1.00e+00 1.00e+00h 1 33 2.0821006e+00 7.96e-06 1.34e-04 -4.0 3.30e-01 -5.5 1.00e+00 1.00e+00h 1 34 2.0819077e+00 3.19e-05 3.40e-04 -4.1 2.13e+00 -6.0 1.00e+00 1.00e+00h 1 35 2.0820643e+00 5.25e-05 5.03e-04 -4.0 2.50e+00 -6.5 1.00e+00 1.00e+00h 1 36 2.0818168e+00 2.26e-04 5.86e-04 -4.1 1.05e+01 -7.0 1.00e+00 1.00e+00h 1 37 2.0819831e+00 4.04e-04 1.73e-03 -4.0 1.79e+01 -7.4 1.00e+00 1.00e+00h 1 38 2.0816577e+00 9.59e-04 1.79e-03 -4.1 3.87e+01 -7.9 1.00e+00 1.00e+00h 1 39 2.0818549e+00 1.23e-03 3.06e-03 -4.0 5.20e+01 -8.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0815819e+00 8.56e-04 9.82e-04 -4.1 3.77e+01 -8.9 1.00e+00 1.00e+00h 1 41 2.0818395e+00 2.46e-04 9.36e-05 -4.0 1.05e+01 -9.3 1.00e+00 1.00e+00h 1 42 2.0815805e+00 2.17e-04 1.07e-05 -4.1 9.82e+00 -9.8 1.00e+00 1.00e+00h 1 43 2.0818395e+00 2.07e-04 1.31e-05 -4.0 9.45e+00 -10.3 1.00e+00 1.00e+00h 1 44 2.0815804e+00 2.10e-04 1.03e-05 -4.1 9.57e+00 -10.8 1.00e+00 1.00e+00h 1 45 2.0818395e+00 2.11e-04 9.66e-06 -4.0 9.61e+00 -11.3 1.00e+00 1.00e+00h 1 46 2.0815804e+00 2.11e-04 9.23e-06 -4.1 9.62e+00 -11.7 1.00e+00 1.00e+00h 1 47 2.0818395e+00 2.11e-04 9.30e-06 -4.0 9.62e+00 -12.2 1.00e+00 1.00e+00h 1 48 2.0815804e+00 2.11e-04 9.10e-06 -4.1 9.62e+00 -12.7 1.00e+00 1.00e+00h 1 49 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 50 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -13.6 1.00e+00 1.00e+00f 1 51 2.0816141e+00 4.87e-04 1.05e-05 -4.1 2.07e+01 -14.1 1.00e+00 1.00e+00h 1 52 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -14.6 9.76e-01 9.65e-01h 1 53 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -15.1 1.00e+00 1.00e+00h 1 54 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -15.5 1.00e+00 1.00e+00f 1 55 2.0816850e+00 9.29e-04 4.93e-05 -4.1 4.57e+01 -16.0 1.00e+00 1.00e+00h 1 56 2.0816490e+00 4.77e-07 7.43e-07 -4.1 8.50e+00 -16.5 1.00e+00 1.00e+00h 1 57 2.0818389e+00 1.13e-04 4.87e-06 -4.0 7.02e+00 -17.0 1.00e+00 1.00e+00h 1 58 2.0815801e+00 2.08e-04 9.04e-06 -4.1 9.49e+00 -17.5 1.00e+00 1.00e+00h 1 59 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -17.9 9.78e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -18.4 1.00e+00 1.00e+00h 1 61 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -18.9 1.00e+00 1.00e+00f 1 62 2.0816901e+00 9.49e-04 5.23e-05 -4.1 4.72e+01 -19.4 1.00e+00 1.00e+00h 1 63 2.0816518e+00 5.68e-07 7.86e-07 -4.1 8.91e+00 -19.8 1.00e+00 1.00e+00h 1 64 2.0805907e+00 3.69e-03 1.61e-04 -6.1 4.17e+01 -20.0 9.77e-01 9.75e-01h 1 65 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0805469e+00 4.72e-08 2.03e-08 -6.1 2.96e+00 -20.0 1.00e+00 1.00e+00h 1 67 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -20.0 1.00e+00 1.00e+00f 1 68 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 69 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 70 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -20.0 9.76e-01 9.75e-01h 1 71 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 72 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 73 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 74 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 75 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 78 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 79 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 80 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 81 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 82 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 83 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 86 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 89 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 90 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 8.88e-16 2.22e-16 -9.0 1.94e-12 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 2.22e-16 2.41e-16 -9.0 1.11e-13 -20.0 1.00e+00 1.00e+00 0 93 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....: 93 (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 = 102 Number of objective gradient evaluations = 94 Number of equality constraint evaluations = 102 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 94 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 94 Total seconds in IPOPT = 28.160 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 1.4898818e+00 5.76e-01 1.27e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9191081e+00 1.33e-01 1.77e+00 -0.9 8.01e-01 0.0 9.99e-01 1.00e+00h 1 2 1.7381948e+00 5.21e-02 6.63e-01 -1.0 4.03e-01 -0.5 6.47e-01 6.08e-01h 1 3 1.6883720e+00 1.81e-01 2.74e+00 -1.5 4.81e+00 - 7.68e-01 5.00e-01f 2 4 1.3817137e+00 5.77e-02 9.28e-01 -1.5 4.31e-01 -1.0 9.92e-01 4.82e-01h 1 5 1.1986746e+00 2.39e-03 8.68e-01 -2.4 3.42e+00 - 1.00e+00 1.00e+00h 1 6 1.1613691e+00 2.06e-03 3.63e-01 -2.8 3.31e+00 - 1.00e+00 1.40e-01h 1 7 1.0918975e+00 2.26e-04 8.36e-03 -4.0 5.81e-01 - 1.00e+00 1.00e+00h 1 8 1.0909024e+00 4.63e-07 5.18e-03 -4.0 6.83e-01 - 1.00e+00 1.00e+00h 1 9 1.0908997e+00 5.26e-11 3.44e-06 -4.0 5.24e-03 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908997e+00 5.27e-21 3.38e-06 -4.0 4.65e-07 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 6.59e-26 3.33e-16 -4.0 3.66e-13 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 11 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 3.3332101727172325e-16 3.3332101727172325e-16 Constraint violation....: 6.5898450320561258e-26 6.5898450320561258e-26 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 3.3332101727172325e-16 3.3332101727172325e-16 Number of objective function evaluations = 14 Number of objective gradient evaluations = 12 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 12 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 11 Total seconds in IPOPT = 24.691 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: timesteps all equal constraint applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 81 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.6566060e+00 2.33e+00 8.81e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5455939e+00 5.83e-01 2.21e+00 -1.1 1.72e+01 -4.0 9.98e-01 1.00e+00f 1 2 2.3477497e+00 2.40e-01 3.46e-01 -1.7 9.29e+00 -4.5 9.94e-01 1.00e+00h 1 3 2.0948368e+00 6.09e-01 3.20e-01 -2.3 2.09e+01 -5.0 9.96e-01 1.00e+00h 1 4 2.1720544e+00 4.05e-01 1.00e+00 -2.0 4.81e+01 -5.4 9.04e-01 1.00e+00h 1 5 2.0935448e+00 7.06e-02 3.56e-02 -2.2 7.50e+00 -5.9 1.00e+00 1.00e+00h 1 6 2.0937038e+00 6.30e-03 5.08e-02 -3.4 1.72e+01 -6.4 8.95e-01 1.00e+00h 1 7 2.0840282e+00 8.17e-03 4.48e-02 -3.6 7.39e+01 -6.9 1.00e+00 1.00e+00h 1 8 2.0830681e+00 3.62e-04 4.64e-02 -3.3 5.00e+01 -7.3 1.00e+00 1.00e+00H 1 9 2.0778210e+00 5.38e-02 5.28e-03 -4.0 1.05e+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 2.0778265e+00 2.39e-02 2.02e-02 -3.7 2.17e+02 -8.3 1.00e+00 1.00e+00h 1 11 2.0760061e+00 3.92e-02 2.53e-02 -4.0 3.60e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0768954e+00 1.89e-02 1.77e-02 -3.8 1.86e+02 -9.2 1.00e+00 1.00e+00h 1 13 2.0757772e+00 2.79e-03 5.32e-04 -4.0 2.62e+01 -9.7 1.00e+00 1.00e+00h 1 14 2.0757707e+00 2.03e-05 4.12e-06 -4.0 2.68e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757705e+00 1.96e-08 4.07e-06 -4.0 2.33e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0757704e+00 8.09e-10 9.17e-07 -4.0 1.21e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757704e+00 1.02e-10 5.15e-08 -4.0 3.36e+00 -11.6 1.00e+00 1.00e+00h 1 18 2.0757704e+00 1.03e-12 5.14e-10 -4.0 4.01e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0757703960828096e+00 2.0757703960828096e+00 Dual infeasibility......: 5.1370419270929842e-10 5.1370419270929842e-10 Constraint violation....: 1.0343241020616123e-12 1.0343241020616123e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000017e-04 1.0000000000000017e-04 Overall NLP error.......: 5.1370419270929842e-10 5.1370419270929842e-10 Number of objective function evaluations = 20 Number of objective gradient evaluations = 19 Number of equality constraint evaluations = 20 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 19 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 18 Total seconds in IPOPT = 28.142 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 1.2128267e+00 8.77e-01 1.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4438265e+00 1.21e-01 1.58e+00 -1.0 7.99e-01 0.0 9.98e-01 1.00e+00h 1 2 1.5046132e+00 5.95e-02 6.59e-01 -1.0 3.64e-01 -0.5 6.43e-01 5.09e-01h 1 3 1.9661663e+00 1.79e-02 1.15e+00 -1.7 5.83e-01 -1.0 1.00e+00 1.00e+00H 1 4 1.9351223e+00 1.41e-02 3.32e+00 -1.9 2.74e-01 0.4 1.00e+00 6.65e-01h 1 5 1.4960479e+00 1.85e-02 1.89e+00 -2.0 2.14e-01 0.8 1.00e+00 5.07e-01f 1 6 1.2220306e+00 1.29e-02 1.57e+00 -2.5 2.31e-01 0.3 9.99e-01 3.06e-01f 1 7 1.1597116e+00 7.99e-03 9.68e-01 -3.4 5.55e-02 -0.2 1.00e+00 3.82e-01h 1 8 1.0924344e+00 5.35e-05 1.63e-02 -4.0 7.27e-02 -0.6 1.00e+00 9.92e-01h 1 9 1.0917312e+00 2.24e-09 1.64e-03 -4.0 2.10e-02 -1.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0916851e+00 5.76e-14 2.24e-04 -4.0 8.37e-03 -1.6 1.00e+00 1.00e+00h 1 11 1.0915730e+00 5.04e-14 1.40e-02 -4.0 1.08e+01 - 6.22e-02 1.25e-01f 4 12 1.0914463e+00 2.83e-14 5.23e-03 -4.0 3.70e-02 -2.1 1.00e+00 4.38e-01f 2 13 1.0914045e+00 1.73e-17 2.96e-04 -4.0 1.05e-01 -2.5 1.00e+00 1.00e+00f 1 14 1.0912698e+00 2.17e-20 4.49e-04 -4.0 3.50e-01 -3.0 1.00e+00 1.00e+00f 1 15 1.0912490e+00 1.90e-20 1.50e-03 -4.0 2.24e+00 -3.5 1.04e-01 1.25e-01f 4 16 1.0912520e+00 9.51e-21 6.81e-04 -4.0 1.69e-01 -2.2 1.00e+00 5.00e-01f 2 17 1.0910464e+00 2.64e-24 1.64e-04 -4.1 4.78e-02 -2.6 1.00e+00 1.00e+00f 1 18 1.0910500e+00 2.04e-24 1.15e-03 -4.0 3.88e-01 -3.1 6.19e-01 2.28e-01f 3 19 1.0906352e+00 2.35e-24 1.10e-02 -4.2 1.04e+00 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0909013e+00 7.19e-26 3.35e-06 -4.0 1.39e-02 - 1.00e+00 1.00e+00f 1 21 1.0907203e+00 2.41e-27 6.93e-08 -4.1 2.55e-03 - 1.00e+00 1.00e+00f 1 22 1.0900065e+00 3.18e-26 6.06e-08 -6.1 7.93e-05 - 1.00e+00 1.00e+00f 1 23 1.0908999e+00 3.82e-23 9.49e-08 -4.0 8.79e-02 - 1.00e+00 1.00e+00f 1 24 1.0907198e+00 1.71e-27 3.85e-09 -4.1 6.98e-02 - 1.00e+00 1.00e+00f 1 25 1.0900065e+00 4.50e-26 6.05e-08 -6.1 1.56e-04 - 1.00e+00 1.00e+00f 1 26 1.0901034e+00 5.25e-24 5.51e-08 -4.0 2.42e+00 - 1.00e+00 1.09e-01f 1 27 1.0904331e+00 4.68e-25 1.29e-08 -4.3 1.18e-01 - 1.00e+00 1.00e+00f 1 28 1.0900030e+00 2.03e-26 2.20e-08 -6.5 8.81e-04 - 1.00e+00 1.00e+00f 1 29 1.0900118e+00 2.01e-26 2.18e-08 -4.0 3.78e+01 - 1.00e+00 9.83e-03f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.0904001e+00 1.56e-23 1.79e-08 -4.4 1.09e-01 - 1.00e+00 1.00e+00f 1 31 1.0900026e+00 3.15e-26 1.88e-08 -6.5 9.07e-04 - 1.00e+00 1.00e+00f 1 32 1.0900101e+00 3.13e-26 1.86e-08 -4.0 4.56e+01 - 1.00e+00 8.34e-03f 1 33 1.0903995e+00 2.81e-24 1.80e-08 -4.4 1.09e-01 - 1.00e+00 1.00e+00f 1 34 1.0900026e+00 3.24e-26 1.87e-08 -6.5 9.07e-04 - 1.00e+00 1.00e+00f 1 35 1.0900101e+00 3.21e-26 1.86e-08 -4.0 4.57e+01 - 1.00e+00 8.32e-03f 1 36 1.0903995e+00 1.87e-23 1.80e-08 -4.4 1.09e-01 - 1.00e+00 1.00e+00f 1 37 1.0900026e+00 1.83e-26 1.87e-08 -6.5 9.07e-04 - 1.00e+00 1.00e+00f 1 38 1.0899999e+00 3.10e-33 8.47e-13 -9.0 4.16e-04 - 1.00e+00 1.00e+00f 1 39 1.0899999e+00 3.10e-33 8.46e-13 -4.0 1.48e+04 - 1.00e+00 2.56e-05f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.0903958e+00 2.17e-34 1.86e-08 -4.4 1.08e-01 - 1.00e+00 1.00e+00f 1 41 1.0900026e+00 7.78e-26 1.84e-08 -6.5 9.10e-04 - 1.00e+00 1.00e+00f 1 42 1.0899999e+00 2.11e-32 8.23e-13 -9.0 4.24e-04 - 1.00e+00 1.00e+00f 1 43 1.0899999e+00 3.73e-43 3.61e-16 -9.0 1.36e-01 - 1.00e+00 1.00e+00f 1 44 1.0899999e+00 2.13e-47 3.34e-16 -9.0 6.41e-16 - 1.00e+00 1.00e+00 0 45 1.0899999e+00 3.50e-48 3.34e-16 -9.0 2.79e-17 - 1.00e+00 1.00e+00T 0 Number of Iterations....: 45 (scaled) (unscaled) Objective...............: 1.0899999181818181e+00 1.0899999181818181e+00 Dual infeasibility......: 3.3428663483159315e-16 3.3428663483159315e-16 Constraint violation....: 3.4953878245295910e-48 3.4953878245295910e-48 Variable bound violation: 9.0909090932206338e-09 9.0909090932206338e-09 Complementarity.........: 9.0909090909090920e-10 9.0909090909090920e-10 Overall NLP error.......: 9.9999090909091604e-05 9.9999090909091604e-05 Number of objective function evaluations = 57 Number of objective gradient evaluations = 46 Number of equality constraint evaluations = 57 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 46 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 46 Total seconds in IPOPT = 21.734 EXIT: Search Direction is becoming Too Small. Difference in Jacobian NonlinearKnotPointConstraint - single variable: Test Failed at /home/pkgeval/.julia/packages/DirectTrajOpt/4TeZc/src/constraints/_constraints.jl:202 Expression: all(isapprox.(triu(μ∂²g), triu(μ∂²g_finite_diff), atol = atol)) Stacktrace: [1] macro expansion @ /opt/julia/share/julia/stdlib/v1.12/Test/src/Test.jl:680 [inlined] [2] test_constraint(constraint::NonlinearKnotPointConstraint{DirectTrajOpt.Constraints.var"#32#33"{typeof(Main.var"##302".g)}}, traj::NamedTrajectories.StructNamedTrajectory.NamedTrajectory{Float64, (:x, :u, :du, :ddu, :Δt), NTuple{5, Int64}, (:u, :Δt), Tuple{Tuple{Vector{Float64}, Vector{Float64}}, Tuple{Vector{Float64}, Vector{Float64}}}, (:x, :u), Tuple{Vector{Float64}, Vector{Float64}}, (:u,), Tuple{Vector{Float64}}, (:x,), Tuple{Vector{Float64}}, (:x, :u, :du, :ddu, :Δt), NTuple{5, UnitRange{Int64}}, NTuple{5, Symbol}, Tuple{Symbol, Symbol, Symbol}, Tuple{Symbol, Symbol}, (), Tuple{}, (), Tuple{}, Tuple{}}; show_jacobian_diff::Bool, show_hessian_diff::Bool, test_equality::Bool, atol::Float64, rtol::Float64) @ DirectTrajOpt.Constraints ~/.julia/packages/DirectTrajOpt/4TeZc/src/constraints/_constraints.jl:202 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 4.9769360e+00 3.61e+00 1.09e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5977046e+00 7.00e-02 3.21e+00 -1.0 3.21e+00 0.0 9.58e-01 1.00e+00f 1 2 2.3955093e+00 1.01e-02 9.53e-01 -1.1 1.67e-01 0.4 9.92e-01 1.00e+00h 1 3 2.2879492e+00 1.78e-03 2.14e-01 -1.9 1.20e-01 -0.1 9.89e-01 1.00e+00h 1 4 2.1604154e+00 9.68e-04 2.88e-01 -2.7 1.05e-01 -0.5 9.93e-01 6.07e-01h 1 5 2.1029152e+00 3.72e-04 7.59e-02 -4.0 2.11e-02 -1.0 1.00e+00 7.60e-01h 1 6 2.0909825e+00 1.73e-05 9.72e-03 -4.0 6.63e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909123e+00 9.18e-08 1.66e-04 -4.0 5.92e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909131e+00 3.48e-09 3.20e-05 -4.0 8.74e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909122e+00 1.37e-10 1.79e-05 -4.0 1.47e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909086e+00 8.44e-10 1.76e-05 -4.0 4.33e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908983e+00 6.44e-09 1.70e-05 -4.0 1.25e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908710e+00 4.49e-08 6.79e-05 -4.0 3.49e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907988e+00 2.97e-07 2.81e-04 -4.0 9.56e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905884e+00 2.88e-06 3.51e-04 -4.0 2.89e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0905011e+00 3.75e-07 3.17e-04 -4.0 1.11e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0903377e+00 1.21e-06 7.39e-03 -4.0 3.96e+00 -5.4 1.00e+00 4.28e-01h 2 17 2.0894903e+00 2.94e-05 5.77e-03 -4.0 1.07e+01 -5.8 1.00e+00 8.75e-01h 1 18 2.0877965e+00 3.08e-04 3.54e-02 -4.0 2.96e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0865043e+00 2.98e-04 2.26e-01 -4.0 5.53e+01 -5.9 1.00e+00 1.82e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0849497e+00 2.71e-04 2.66e-02 -4.0 2.48e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0828440e+00 2.28e-04 2.74e-02 -4.0 3.70e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0830060e+00 8.39e-04 2.69e-02 -4.0 5.74e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0821351e+00 1.53e-03 9.07e-03 -4.1 1.33e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.1345025e+00 1.68e-05 1.80e+00 -4.0 6.13e+02 -8.3 7.76e-02 1.00e+00H 1 25 2.0975353e+00 1.55e-04 8.28e+00 -4.2 2.35e+01 -2.4 5.53e-03 6.22e-02f 1 26 2.0860964e+00 7.05e-05 3.90e+00 -4.2 3.62e-01 -2.0 1.00e+00 5.31e-01f 1 27 2.0866323e+00 6.65e-05 3.69e+00 -4.0 1.25e+00 -2.5 1.00e+00 6.25e-02f 5 28 2.0844237e+00 1.05e-04 2.49e-02 -4.0 1.36e+00 -2.9 1.00e+00 1.00e+00h 1 29 2.0839021e+00 8.76e-05 5.15e-01 -4.0 1.52e+00 -3.4 1.00e+00 2.17e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0837926e+00 1.29e-05 1.66e-01 -4.0 9.70e-02 -3.9 1.00e+00 8.47e-01h 1 31 2.0838432e+00 5.16e-06 1.24e-04 -4.0 1.86e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0838085e+00 3.48e-07 1.71e-05 -4.0 5.48e-01 -4.9 1.00e+00 1.00e+00h 1 33 2.0837242e+00 2.45e-06 1.16e-04 -4.0 1.57e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0835663e+00 1.10e-05 4.88e-04 -4.0 4.28e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0833506e+00 1.85e-05 1.08e-03 -4.0 1.13e+01 -6.3 1.00e+00 1.00e+00h 1 36 2.0829830e+00 8.52e-05 3.30e-03 -4.0 2.87e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0824210e+00 4.45e-04 1.32e-02 -4.0 6.66e+01 -7.2 1.00e+00 1.00e+00h 1 38 2.0819183e+00 1.27e-03 2.15e-02 -4.0 1.22e+02 -7.7 9.39e-01 1.00e+00h 1 39 2.0817084e+00 1.42e-03 2.71e-01 -4.0 1.51e+03 -7.3 7.57e-03 5.97e-02h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817507e+00 1.40e-03 1.12e+00 -4.0 7.51e+01 -6.0 2.04e-01 4.48e-02h 3 41 2.0819230e+00 1.72e-03 2.20e-03 -4.0 1.26e+01 -6.4 1.00e+00 1.00e+00h 1 42 2.0818572e+00 7.67e-05 1.87e-03 -4.0 7.27e+00 -6.9 1.00e+00 1.00e+00h 1 43 2.0818238e+00 2.53e-04 5.37e-04 -4.0 1.15e+01 -7.4 1.00e+00 1.00e+00h 1 44 2.0818287e+00 2.93e-05 4.93e-04 -4.0 1.52e+01 -7.9 1.00e+00 1.00e+00h 1 45 2.0818390e+00 1.08e-05 2.66e-04 -4.0 1.48e+01 -8.4 1.00e+00 1.00e+00h 1 46 2.0818428e+00 1.11e-06 7.11e-05 -4.0 8.22e+00 -8.8 1.00e+00 1.00e+00h 1 47 2.0818434e+00 4.59e-08 4.57e-06 -4.0 2.28e+00 -9.3 1.00e+00 1.00e+00h 1 48 2.0818434e+00 5.85e-10 5.54e-08 -4.0 2.76e-01 -9.8 1.00e+00 1.00e+00h 1 49 2.0818434e+00 1.34e-12 1.00e-09 -4.0 1.28e-02 -10.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 49 (scaled) (unscaled) Objective...............: 2.0818434105313108e+00 2.0818434105313108e+00 Dual infeasibility......: 1.0000000246542396e-09 1.0000000246542396e-09 Constraint violation....: 1.3369305662536135e-12 1.3369305662536135e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000045e-04 1.0000000000000045e-04 Overall NLP error.......: 1.0000000246542396e-09 1.0000000246542396e-09 Number of objective function evaluations = 65 Number of objective gradient evaluations = 50 Number of equality constraint evaluations = 65 Number of inequality constraint evaluations = 65 Number of equality constraint Jacobian evaluations = 50 Number of inequality constraint Jacobian evaluations = 50 Number of Lagrangian Hessian evaluations = 49 Total seconds in IPOPT = 30.110 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 1.0345690e+01 2.99e+00 3.14e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.8079838e+00 8.78e-02 4.99e+00 -0.8 2.12e+00 0.0 7.81e-01 1.00e+00f 1 2 2.9123671e+00 1.54e-02 2.26e+00 -0.8 2.87e-01 0.4 9.93e-01 1.00e+00f 1 3 2.5380172e+00 2.17e-03 3.26e-01 -1.8 2.05e-01 -0.1 9.99e-01 1.00e+00h 1 4 2.1584766e+00 4.94e-03 1.32e-01 -2.3 2.99e-01 -0.5 1.00e+00 7.62e-01f 1 5 2.1126702e+00 1.54e-03 1.97e-01 -2.8 4.65e-02 -1.0 9.97e-01 7.13e-01h 1 6 2.0909017e+00 3.87e-05 4.56e-03 -4.0 1.22e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0909144e+00 1.36e-07 2.05e-04 -4.0 2.40e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909130e+00 6.53e-10 2.62e-05 -4.0 7.17e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909100e+00 2.08e-10 2.59e-05 -4.0 2.13e-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 2.0909020e+00 1.68e-09 4.31e-05 -4.0 6.25e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908806e+00 1.26e-08 6.18e-05 -4.0 1.76e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908363e+00 7.13e-08 1.83e-04 -4.0 4.37e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907582e+00 2.99e-07 1.01e-03 -4.0 1.01e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0905579e+00 3.19e-06 1.22e-03 -4.0 3.04e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899722e+00 2.74e-05 7.40e-04 -4.0 9.03e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0896846e+00 4.76e-06 1.91e-03 -4.0 3.44e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0894412e+00 6.39e-06 3.38e-02 -4.0 1.22e+01 -5.8 1.00e+00 2.12e-01h 2 18 2.0873387e+00 2.35e-04 1.12e-02 -4.0 2.72e+01 -6.3 1.00e+00 9.50e-01h 1 19 2.0843994e+00 9.84e-04 5.17e-02 -4.0 5.42e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0832119e+00 5.20e-04 2.41e-02 -4.0 2.02e+01 -6.4 1.00e+00 5.11e-01h 1 21 2.0827532e+00 1.69e-04 1.02e-02 -4.0 2.16e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0826392e+00 5.39e-05 3.19e-03 -4.0 5.69e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822397e+00 5.66e-04 7.25e-03 -4.0 1.35e+02 -7.8 9.59e-01 1.00e+00h 1 24 2.0824668e+00 1.57e-03 2.28e-02 -4.0 3.30e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0820673e+00 1.48e-03 2.12e-02 -4.0 1.89e+01 -6.9 1.00e+00 1.00e+00h 1 26 2.0961365e+00 4.25e-04 1.35e-01 -4.0 5.93e+01 -6.5 6.00e-02 3.05e-01h 1 27 2.0902861e+00 2.09e-04 6.91e-01 -4.1 1.09e-01 -0.7 1.00e+00 5.09e-01h 1 28 2.0878631e+00 8.74e-05 9.15e-01 -4.1 8.85e-02 -1.1 4.23e-01 5.82e-01f 1 29 2.0853855e+00 1.15e-06 1.97e-02 -4.0 9.89e-02 -0.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0831815e+00 7.82e-07 8.88e-03 -3.7 1.67e-01 -1.2 1.00e+00 1.00e+00h 1 31 2.0823725e+00 1.95e-06 4.17e-02 -4.0 1.18e-01 -1.7 1.00e+00 9.48e-01h 1 32 2.0823906e+00 1.43e-07 1.49e-03 -4.0 5.26e-02 -2.1 1.00e+00 1.00e+00h 1 33 2.0823759e+00 1.81e-07 2.67e-04 -4.0 2.71e-02 -2.6 1.00e+00 1.00e+00h 1 34 2.0823449e+00 2.96e-08 3.60e-05 -4.0 7.74e-03 -3.1 1.00e+00 1.00e+00h 1 35 2.0823407e+00 2.15e-09 3.60e-05 -4.0 2.30e-02 -3.6 1.00e+00 1.00e+00h 1 36 2.0823374e+00 4.87e-09 3.60e-05 -4.0 6.90e-02 -4.1 1.00e+00 1.00e+00h 1 37 2.0823279e+00 4.48e-08 3.60e-05 -4.0 2.07e-01 -4.5 1.00e+00 1.00e+00h 1 38 2.0823014e+00 4.14e-07 3.62e-05 -4.0 6.25e-01 -5.0 1.00e+00 1.00e+00h 1 39 2.0822340e+00 4.18e-06 8.56e-05 -4.0 1.93e+00 -5.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0820557e+00 7.72e-05 6.78e-04 -4.0 7.38e+00 -6.0 1.00e+00 1.00e+00h 1 41 2.0857131e+00 2.05e-05 4.35e-02 -4.0 1.42e+01 -6.4 5.84e-01 6.32e-01h 1 42 2.0825919e+00 1.68e-04 8.52e-02 -4.1 1.21e+01 -6.9 7.39e-01 1.00e+00f 1 43 2.0821498e+00 8.99e-07 2.18e-01 -4.1 4.32e-02 -1.1 8.06e-01 1.00e+00h 1 44 2.0821483e+00 2.35e-07 1.01e-03 -4.0 5.24e-02 -1.6 1.00e+00 1.00e+00h 1 45 2.0821375e+00 1.03e-08 2.76e-04 -4.0 2.93e-02 -2.0 1.00e+00 1.00e+00h 1 46 2.0821295e+00 9.18e-08 1.50e-04 -4.0 4.91e-02 -2.5 1.00e+00 1.00e+00h 1 47 2.0821077e+00 6.84e-07 3.37e-04 -4.0 7.15e-02 -3.0 1.00e+00 1.00e+00h 1 48 2.0819616e+00 2.57e-09 1.07e-03 -4.0 1.66e-01 -3.5 1.00e+00 1.00e+00H 1 49 2.0820424e+00 2.42e-07 7.86e-04 -4.0 8.52e-02 -3.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819281e+00 2.52e-06 1.24e-04 -4.1 2.18e-01 -4.4 1.00e+00 1.00e+00h 1 51 2.0820968e+00 7.99e-05 5.97e-04 -4.0 1.05e+00 -4.9 1.00e+00 1.00e+00h 1 52 2.0819701e+00 1.66e-04 1.17e-03 -4.1 2.04e+00 -5.4 1.00e+00 1.00e+00h 1 53 2.0819313e+00 7.02e-05 1.24e-03 -4.1 2.05e+00 -5.8 1.00e+00 1.00e+00h 1 54 2.0818931e+00 9.78e-06 5.82e-04 -4.1 3.43e+00 -6.3 1.00e+00 1.00e+00h 1 55 2.0820847e+00 1.31e-04 6.86e-04 -4.0 5.81e+00 -6.8 1.00e+00 1.00e+00h 1 56 2.0818039e+00 4.27e-04 6.02e-04 -4.1 1.94e+01 -7.3 1.00e+00 1.00e+00h 1 57 2.0819474e+00 7.42e-04 3.26e-03 -4.0 3.23e+01 -7.8 1.00e+00 1.00e+00h 1 58 2.0816184e+00 1.26e-03 3.41e-03 -4.1 5.13e+01 -8.2 1.00e+00 1.00e+00h 1 59 2.0818464e+00 1.16e-03 1.82e-03 -4.0 4.92e+01 -8.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0815821e+00 4.98e-04 2.68e-04 -4.1 2.15e+01 -9.2 1.00e+00 1.00e+00h 1 61 2.0818418e+00 1.74e-04 3.92e-05 -4.0 7.37e+00 -9.7 1.00e+00 1.00e+00h 1 62 2.0818407e+00 2.44e-08 3.92e-05 -4.0 3.46e-01 -10.1 1.00e+00 1.00e+00h 1 63 2.0818407e+00 3.16e-13 3.92e-05 -4.0 4.29e-03 -10.6 1.00e+00 1.00e+00h 1 64 2.0818407e+00 8.88e-16 3.92e-05 -4.0 2.01e-05 -11.1 1.00e+00 1.00e+00H 1 65 2.0818407e+00 8.88e-16 3.92e-05 -4.0 1.96e-05 -11.6 1.00e+00 1.00e+00h 1 66 2.0815814e+00 2.08e-04 3.19e-05 -4.1 9.47e+00 -12.0 1.00e+00 1.00e+00h 1 67 2.0818419e+00 2.15e-04 3.92e-05 -4.0 9.79e+00 -12.5 1.00e+00 1.00e+00h 1 68 2.0815819e+00 2.14e-04 3.19e-05 -4.1 9.75e+00 -13.0 1.00e+00 1.00e+00h 1 69 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -13.5 9.77e-01 9.68e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -14.0 1.00e+00 1.00e+00f 1 71 2.0816124e+00 4.95e-04 3.25e-05 -4.1 2.07e+01 -14.4 1.00e+00 1.00e+00h 1 72 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -14.9 9.76e-01 9.61e-01h 1 73 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.4 1.00e+00 1.00e+00h 1 74 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -15.9 1.00e+00 1.00e+00f 1 75 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.3 1.00e+00 1.00e+00h 1 76 2.0816420e+00 4.58e-07 3.35e-05 -4.1 8.54e+00 -16.8 1.00e+00 1.00e+00h 1 77 2.0818414e+00 1.26e-04 3.92e-05 -4.0 7.46e+00 -17.3 1.00e+00 1.00e+00h 1 78 2.0815817e+00 2.11e-04 3.19e-05 -4.1 9.63e+00 -17.8 1.00e+00 1.00e+00h 1 79 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -18.3 9.77e-01 9.68e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -18.7 1.00e+00 1.00e+00h 1 81 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -19.2 1.00e+00 1.00e+00f 1 82 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -19.7 1.00e+00 1.00e+00h 1 83 2.0816444e+00 5.44e-07 3.36e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 84 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 85 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805468e+00 5.07e-08 3.35e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 87 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 88 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0816573e+00 1.18e-06 3.39e-05 -4.1 1.10e+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 90 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 91 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0805469e+00 5.37e-08 3.41e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 94 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 95 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0816639e+00 1.62e-06 3.41e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 98 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0805470e+00 5.53e-08 3.44e-07 -6.1 3.06e+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 100 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805365098376218e+00 2.0805365098376218e+00 Dual infeasibility......: 8.0307906598144306e-07 8.0307906598144306e-07 Constraint violation....: 9.4501552316827997e-07 9.4501552316827997e-07 Variable bound violation: 9.9678122283952675e-09 9.9678122283952675e-09 Complementarity.........: 1.6345626262421639e-08 1.6345626262421639e-08 Overall NLP error.......: 9.9999999356653477e-05 9.9999999356653477e-05 Number of objective function evaluations = 106 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 106 Number of inequality constraint evaluations = 106 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 33.350 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 6.4001767e+01 2.66e+00 2.51e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9486982e+01 1.70e+00 1.56e+01 -0.5 1.73e+00 0.0 9.31e-01 3.60e-01f 1 2 3.1344046e+00 4.02e-02 4.65e+00 -0.4 1.28e+00 -0.5 8.98e-01 1.00e+00f 1 3 2.8971655e+00 1.58e-02 6.60e-01 -1.0 3.50e-01 -1.0 9.82e-01 1.00e+00h 1 4 2.3495163e+00 3.77e-02 1.15e-01 -1.8 4.59e-01 -1.4 9.90e-01 1.00e+00f 1 5 2.1582132e+00 8.22e-03 7.60e-02 -2.6 2.97e-01 -1.9 9.00e-01 8.28e-01h 1 6 2.0944802e+00 7.79e-04 4.88e-03 -3.6 7.32e-02 -2.4 9.94e-01 9.73e-01h 1 7 2.0909252e+00 1.14e-05 2.97e-04 -4.0 1.79e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909213e+00 7.03e-08 2.97e-04 -4.0 4.80e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909071e+00 8.66e-09 2.97e-04 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908753e+00 5.40e-08 2.97e-04 -4.0 3.56e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908071e+00 2.66e-07 5.82e-04 -4.0 8.92e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906256e+00 2.36e-06 8.96e-04 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900578e+00 2.06e-05 1.05e-03 -4.0 7.59e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0897826e+00 1.89e-05 6.32e-02 -4.0 2.42e+01 -6.2 1.00e+00 1.27e-01h 2 15 2.0860575e+00 8.57e-04 3.72e-02 -4.0 5.07e+01 -6.7 1.00e+00 1.00e+00h 1 16 2.0828052e+00 1.11e-03 8.87e-02 -4.0 6.92e+01 -7.2 1.00e+00 7.90e-01h 1 17 2.0831476e+00 3.12e-03 4.50e-02 -4.0 1.08e+02 -7.6 8.93e-01 1.00e+00h 1 18 2.0829861e+00 6.05e-05 4.89e-03 -4.1 1.04e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0827686e+00 1.18e-04 7.76e-01 -4.0 1.54e+02 -6.8 1.00e+00 6.70e-02h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0824597e+00 3.18e-04 4.59e-03 -4.0 4.96e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823937e+00 8.75e-04 1.01e-02 -4.0 3.88e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0821300e+00 6.69e-04 1.64e-02 -4.0 3.15e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0828485e+00 1.58e-04 1.86e-02 -4.0 4.28e+01 -7.8 1.00e+00 1.00e+00h 1 24 2.0824832e+00 1.32e-04 4.02e-01 -4.1 3.05e-01 -1.9 3.08e-01 1.64e-01h 1 25 2.0821210e+00 3.47e-07 2.86e-03 -4.0 5.80e-02 -2.4 1.00e+00 1.00e+00f 1 26 2.0820871e+00 1.35e-07 3.73e-04 -4.0 5.41e-02 -2.9 1.00e+00 1.00e+00h 1 27 2.0820713e+00 7.60e-07 5.41e-04 -4.0 1.93e-01 -3.4 1.00e+00 1.00e+00h 1 28 2.0820678e+00 2.45e-06 2.97e-04 -4.0 8.95e-02 -3.9 1.00e+00 1.00e+00h 1 29 2.0820667e+00 2.73e-06 2.97e-04 -4.0 2.56e-01 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820630e+00 2.14e-05 2.97e-04 -4.0 6.66e-01 -4.8 1.00e+00 1.00e+00h 1 31 2.0820539e+00 7.62e-05 4.36e-04 -4.0 1.27e+00 -5.3 1.00e+00 1.00e+00h 1 32 2.0820454e+00 3.89e-05 5.74e-04 -4.0 1.42e+00 -5.8 1.00e+00 1.00e+00h 1 33 2.0820187e+00 6.39e-06 3.14e-04 -4.0 2.10e+00 -6.2 1.00e+00 1.00e+00h 1 34 2.0819891e+00 1.20e-05 2.97e-04 -4.0 4.16e+00 -6.7 1.00e+00 1.00e+00h 1 35 2.0819604e+00 1.23e-05 3.44e-04 -4.0 9.49e+00 -7.2 1.00e+00 1.00e+00h 1 36 2.0819160e+00 2.62e-05 9.02e-04 -4.0 2.18e+01 -7.7 1.00e+00 1.00e+00h 1 37 2.0818680e+00 6.04e-05 1.87e-03 -4.0 3.98e+01 -8.1 1.00e+00 1.00e+00h 1 38 2.0818438e+00 5.45e-05 1.36e-03 -4.0 4.25e+01 -8.6 1.00e+00 1.00e+00h 1 39 2.0818388e+00 1.10e-05 2.97e-04 -4.0 2.11e+01 -9.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818383e+00 3.33e-07 2.97e-04 -4.0 4.20e+00 -9.6 1.00e+00 1.00e+00h 1 41 2.0818383e+00 1.34e-09 2.97e-04 -4.0 3.06e-01 -10.1 1.00e+00 1.00e+00h 1 42 2.0818383e+00 7.17e-13 2.97e-04 -4.0 7.83e-03 -10.5 1.00e+00 1.00e+00h 1 43 2.0815798e+00 2.05e-04 2.37e-04 -4.1 9.34e+00 -11.0 1.00e+00 1.00e+00h 1 44 2.0818395e+00 2.12e-04 2.97e-04 -4.0 9.66e+00 -11.5 1.00e+00 1.00e+00h 1 45 2.0815804e+00 2.11e-04 2.38e-04 -4.1 9.62e+00 -12.0 1.00e+00 1.00e+00h 1 46 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -12.4 9.78e-01 9.71e-01h 1 47 2.0818882e+00 6.56e-03 2.97e-04 -4.0 6.10e+01 -12.9 1.00e+00 1.00e+00f 1 48 2.0816136e+00 4.88e-04 2.44e-04 -4.1 2.07e+01 -13.4 1.00e+00 1.00e+00h 1 49 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -13.9 9.76e-01 9.65e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0805508e+00 8.46e-05 2.21e-06 -6.1 1.69e+01 -14.3 1.00e+00 1.00e+00h 1 51 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -14.8 1.00e+00 1.00e+00f 1 52 2.0816837e+00 9.34e-04 2.53e-04 -4.1 4.57e+01 -15.3 1.00e+00 1.00e+00h 1 53 2.0816477e+00 4.73e-07 2.53e-04 -4.1 8.52e+00 -15.8 1.00e+00 1.00e+00h 1 54 2.0818389e+00 1.15e-04 2.97e-04 -4.0 7.07e+00 -16.3 1.00e+00 1.00e+00h 1 55 2.0815801e+00 2.08e-04 2.38e-04 -4.1 9.50e+00 -16.7 1.00e+00 1.00e+00h 1 56 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -17.2 9.78e-01 9.71e-01h 1 57 2.0805497e+00 6.51e-05 2.13e-06 -6.1 1.55e+01 -17.7 1.00e+00 1.00e+00h 1 58 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -18.2 1.00e+00 1.00e+00f 1 59 2.0816887e+00 9.54e-04 2.54e-04 -4.1 4.72e+01 -18.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816504e+00 5.63e-07 2.54e-04 -4.1 8.93e+00 -19.1 1.00e+00 1.00e+00h 1 61 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -19.6 9.77e-01 9.75e-01h 1 62 2.0805511e+00 6.76e-05 2.34e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 63 2.0805469e+00 4.72e-08 2.34e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 64 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 65 2.0817159e+00 1.04e-03 2.57e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0816648e+00 1.22e-06 2.57e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 68 2.0805514e+00 6.96e-05 2.39e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0805471e+00 4.99e-08 2.39e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 71 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 72 2.0817306e+00 1.08e-03 2.58e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0816723e+00 1.67e-06 2.58e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 75 2.0805516e+00 7.07e-05 2.41e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0805472e+00 5.15e-08 2.41e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 77 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 78 2.0805365e+00 9.27e-11 2.70e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 79 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0817309e+00 1.08e-03 2.58e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0816725e+00 1.68e-06 2.58e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 83 2.0805516e+00 7.08e-05 2.41e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0805472e+00 5.16e-08 2.41e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 85 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 86 2.0805365e+00 9.28e-11 2.70e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 8.88e-16 2.70e-09 -9.0 1.10e-05 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 6.66e-16 2.70e-09 -9.0 1.35e-10 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 4.44e-16 2.70e-09 -9.0 1.35e-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 90 2.0805365e+00 4.44e-16 2.70e-09 -9.0 1.35e-10 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 2.22e-16 2.70e-09 -9.0 1.35e-10 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 4.44e-16 2.70e-09 -9.0 1.35e-10 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 4.44e-16 2.70e-09 -9.0 1.35e-10 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 4.44e-16 2.70e-09 -9.0 1.35e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 4.44e-16 2.70e-09 -9.0 1.35e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 4.44e-16 2.70e-09 -9.0 1.35e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 2.22e-16 2.70e-09 -9.0 1.35e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 4.44e-16 2.70e-09 -9.0 1.35e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 2.70e-09 -9.0 1.35e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 4.44e-16 2.70e-09 -9.0 1.35e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436466e+00 2.0805364595436466e+00 Dual infeasibility......: 2.6986258102052925e-09 2.6986258102052925e-09 Constraint violation....: 4.4408920985006262e-16 4.4408920985006262e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971179366e-10 9.0909090971179366e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 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 = 39.560 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.8019251e+00 2.26e+00 6.13e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3574487e+00 5.27e-01 2.36e+00 -0.8 1.97e+00 0.0 1.00e+00 7.72e-01f 1 2 2.6273266e+00 1.73e-02 1.65e+00 -1.0 4.90e-01 -0.5 9.76e-01 1.00e+00h 1 3 2.4814835e+00 1.95e-02 1.06e+00 -1.3 4.29e-01 -1.0 9.76e-01 5.44e-01h 1 4 2.4006380e+00 1.35e-02 9.35e-01 -1.8 3.12e-01 -0.5 1.00e+00 3.08e-01h 1 5 2.2645783e+00 8.29e-03 3.89e-01 -2.3 2.19e-01 -1.0 9.97e-01 3.86e-01h 1 6 2.1181523e+00 2.26e-03 4.63e-02 -3.1 1.19e-01 -1.5 1.00e+00 7.95e-01h 1 7 2.0915154e+00 2.02e-04 3.55e-03 -4.0 2.99e-02 -2.0 1.00e+00 9.78e-01h 1 8 2.0909064e+00 1.41e-06 1.72e-04 -4.0 8.98e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909053e+00 6.97e-09 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 2.0909004e+00 9.70e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908854e+00 8.73e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908406e+00 7.86e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907062e+00 7.09e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903042e+00 6.41e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891069e+00 5.87e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855975e+00 5.54e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796438e+00 2.29e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.29e-01h 1 18 2.0807043e+00 1.67e-04 1.87e-01 -4.0 6.80e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775361e+00 7.80e-03 2.60e-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 2.0769459e+00 1.48e-03 7.32e-02 -4.0 1.94e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0763129e+00 2.07e-03 2.26e-02 -4.0 3.40e+02 -8.6 1.00e+00 7.15e-01h 1 22 2.0755196e+00 1.67e-03 2.72e-02 -4.0 6.00e+02 -9.1 1.00e+00 7.55e-01h 1 23 2.0758075e+00 3.78e-03 1.58e-02 -4.0 1.79e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753939e+00 1.37e-03 8.21e-04 -4.1 1.03e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756721e+00 4.41e-04 8.20e-06 -4.0 2.08e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.67e-07 1.05e-06 -4.0 1.17e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.15e-09 8.12e-08 -4.0 4.31e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.75e-11 1.49e-09 -4.0 6.86e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121563363e+00 2.0756712121563363e+00 Dual infeasibility......: 1.4901381582930074e-09 1.4901381582930074e-09 Constraint violation....: 3.7508773864658451e-11 3.7508773864658451e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 1.4901381582930074e-09 1.4901381582930074e-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 = 29.499 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 1.3869964e+00 3.13e+00 6.31e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7444720e+00 3.21e-02 2.00e+00 -1.0 1.99e+00 0.0 9.83e-01 1.00e+00h 1 2 2.5844224e+00 5.05e-02 3.25e+00 -1.1 4.24e+00 -0.5 1.00e+00 2.52e-01H 1 3 2.3927981e+00 1.27e-02 6.80e-01 -1.5 1.50e-01 -0.1 9.97e-01 8.08e-01h 1 4 2.2142467e+00 4.16e-03 1.86e-01 -2.0 1.79e-01 -0.5 9.91e-01 1.00e+00h 1 5 2.1374080e+00 1.82e-03 2.59e-01 -3.1 7.39e-02 -1.0 1.00e+00 6.22e-01h 1 6 2.0979740e+00 9.14e-04 1.03e-01 -4.0 1.34e-01 -1.5 1.00e+00 8.22e-01h 1 7 2.0920288e+00 3.30e-04 1.76e-01 -4.0 1.73e-01 -2.0 1.00e+00 7.47e-01h 1 8 2.0907530e+00 4.21e-05 5.03e-02 -4.0 1.11e-01 -2.4 1.00e+00 9.01e-01h 1 9 2.0909137e+00 9.88e-07 9.23e-04 -4.0 1.85e-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 2.0909022e+00 1.77e-07 2.07e-05 -4.0 5.09e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908873e+00 8.92e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908425e+00 7.89e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907081e+00 7.11e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903061e+00 6.43e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891088e+00 5.88e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855994e+00 5.55e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796455e+00 2.29e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.29e-01h 1 18 2.0807409e+00 1.64e-04 1.82e-01 -4.0 6.59e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775417e+00 7.54e-03 2.45e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769152e+00 1.13e-03 4.99e-02 -4.0 1.77e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0760147e+00 1.11e-03 2.38e-02 -4.0 3.11e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754491e+00 5.11e-04 3.10e-02 -4.0 4.75e+02 -9.1 1.00e+00 7.21e-01H 1 23 2.0757757e+00 2.23e-03 1.08e-02 -4.0 1.44e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753820e+00 1.38e-03 4.98e-04 -4.1 7.92e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.06e-04 6.66e-06 -4.0 1.85e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.36e-04 8.15e-07 -4.1 2.60e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.15e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.01e-04 2.61e-07 -4.1 2.05e+01 -12.0 1.00e+00 1.00e+00h 1 29 2.0756725e+00 5.53e-04 1.18e-07 -4.0 2.26e+01 -12.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753425e+00 5.53e-04 9.06e-08 -4.1 2.26e+01 -12.9 1.00e+00 1.00e+00h 1 31 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.4 9.28e-01 1.00e+00h 1 32 2.0757517e+00 1.59e-01 1.53e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 33 2.0753574e+00 2.64e-02 8.69e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 34 2.0753474e+00 1.15e-05 2.14e-06 -4.1 1.63e+02 -14.8 1.00e+00 1.00e+00h 1 35 2.0756726e+00 7.25e-04 1.64e-07 -4.0 3.02e+01 -15.3 1.00e+00 1.00e+00h 1 36 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 37 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 38 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 39 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.2 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.7 1.00e+00 1.00e+00h 1 41 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.2 1.00e+00 1.00e+00h 1 42 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.7 1.00e+00 1.00e+00h 1 43 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.1 1.00e+00 1.00e+00h 1 44 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.6 1.00e+00 1.00e+00h 1 45 2.0756726e+00 7.23e-04 1.61e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 48 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 49 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 51 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 58 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 59 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 61 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 68 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 69 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 72 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 73 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 76 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 77 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 79 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 83 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 84 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 86 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 87 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 91 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 93 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 94 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 97 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 98 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0739527e+00 5.48e-08 5.24e-06 -6.5 3.94e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0740476e+00 1.42e-02 4.44e-02 -4.0 9.26e+04 -20.0 1.00e+00 3.50e-02f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740476226011366e+00 2.0740476226011366e+00 Dual infeasibility......: 4.4440948322914557e-02 4.4440948322914557e-02 Constraint violation....: 1.4164404722581736e-02 1.4164404722581736e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728783e-04 2.3095644031728783e-04 Overall NLP error.......: 4.4440948322914557e-02 4.4440948322914557e-02 Number of objective function evaluations = 104 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 104 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 30.668 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.1821156e+00 2.15e+00 9.85e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6635221e+00 5.36e-02 1.44e+00 -1.1 1.44e+00 0.0 9.76e-01 1.00e+00h 1 2 2.3201500e+00 2.43e-02 1.24e+00 -1.2 2.29e-01 0.4 9.83e-01 5.27e-01h 1 3 2.1934460e+00 8.53e-03 3.93e-01 -1.9 1.31e-01 -0.1 9.97e-01 6.72e-01h 1 4 2.1372666e+00 1.54e-03 1.03e-01 -3.1 1.53e-01 -0.5 1.00e+00 1.00e+00h 1 5 2.0999076e+00 2.63e-04 9.94e-02 -4.0 4.71e-02 -1.0 1.00e+00 1.00e+00h 1 6 2.0903627e+00 2.24e-05 1.64e-02 -4.0 1.56e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0909023e+00 1.61e-07 2.69e-04 -4.0 1.50e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0908935e+00 7.41e-09 8.30e-05 -4.0 2.27e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908918e+00 1.12e-10 2.28e-05 -4.0 1.87e-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 2.0908868e+00 9.67e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908719e+00 8.70e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908270e+00 7.84e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906927e+00 7.07e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902907e+00 6.39e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890935e+00 5.85e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855843e+00 5.51e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796277e+00 2.28e-03 1.36e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.29e-01h 1 18 2.0806935e+00 1.65e-04 1.87e-01 -4.0 6.79e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775260e+00 7.72e-03 2.59e-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 2.0769737e+00 1.56e-03 7.58e-02 -4.0 1.97e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0763187e+00 2.23e-03 2.11e-02 -4.0 3.42e+02 -8.6 1.00e+00 7.08e-01h 1 22 2.0755215e+00 1.63e-03 2.62e-02 -4.0 5.98e+02 -9.1 1.00e+00 7.60e-01h 1 23 2.0758070e+00 3.80e-03 1.57e-02 -4.0 1.79e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753938e+00 1.37e-03 8.22e-04 -4.1 1.03e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756721e+00 4.55e-04 8.24e-06 -4.0 2.14e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.78e-07 1.10e-06 -4.0 1.19e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.20e-09 8.31e-08 -4.0 4.27e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.72e-11 1.49e-09 -4.0 6.73e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121565384e+00 2.0756712121565384e+00 Dual infeasibility......: 1.4859075144900598e-09 1.4859075144900598e-09 Constraint violation....: 3.7216452142274647e-11 3.7216452142274647e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 1.4859075144900598e-09 1.4859075144900598e-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 = 31.107 EXIT: Optimal Solution Found. Test Summary: | Pass Fail Total Time Package | 201 1 202 20m48.7s src/constraints/nonlinear/global_knot_point_constraint.jl | 2 2 51.1s src/objectives/global_objectives.jl | 15 15 44.9s src/objectives/knot_point_objectives.jl | 6 6 14.3s src/solvers/ipopt_solver/callbacks.jl | 2 2 1m34.0s src/constraints/linear/time_consistency_constraint.jl | 19 19 20.5s src/objectives/_objectives.jl | 19 19 17.6s src/integrators/bilinear_integrator.jl | 3 3 38.9s src/integrators/derivative_integrator.jl | 3 3 14.8s src/constraints/linear/total_constraint.jl | 2 2 59.2s src/constraints/linear/bounds_constraint.jl | 60 60 2m21.6s src/integrators/time_dependent_bilinear_integrator.jl | 3 3 2m26.8s src/constraints/linear/symmetry_constraint.jl | 20 20 1m32.1s src/constraints/linear/all_equal_constraint.jl | 2 2 58.0s src/constraints/nonlinear/knot_point_constraint.jl | 23 1 24 1m53.7s NonlinearKnotPointConstraint - single variable | 1 1 2 19.7s NonlinearKnotPointConstraint - single variable with vector syntax | 5 5 17.7s NonlinearKnotPointConstraint - multiple variables concatenated | 2 2 15.3s NonlinearKnotPointConstraint - multiple variables separate arguments | 2 2 16.1s NonlinearKnotPointConstraint - three variables separate arguments | 2 2 11.5s NonlinearKnotPointConstraint - inequality vs equality | 7 7 20.2s NonlinearKnotPointConstraint - subset of times | 4 4 13.1s src/solvers/ipopt_solver/evaluator.jl | 5 5 1m13.1s src/constraints/nonlinear/global_constraint.jl | 2 2 22.4s src/objectives/regularizers.jl | 3 3 6.2s src/solvers/ipopt_solver/solver.jl | 9 9 2m20.6s src/constraints/linear/equality_constraint.jl | 3 3 1m39.0s ERROR: LoadError: Some tests did not pass: 201 passed, 1 failed, 0 errored, 0 broken. in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/4TeZc/test/runtests.jl:6 Testing failed after 1329.96s ERROR: LoadError: Package DirectTrajOpt errored during testing Stacktrace: [1] pkgerror(msg::String) @ Pkg.Types /opt/julia/share/julia/stdlib/v1.12/Pkg/src/Types.jl:68 [2] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, julia_args::Cmd, test_args::Cmd, test_fn::Nothing, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool) @ Pkg.Operations /opt/julia/share/julia/stdlib/v1.12/Pkg/src/Operations.jl:2535 [3] test @ /opt/julia/share/julia/stdlib/v1.12/Pkg/src/Operations.jl:2384 [inlined] [4] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, test_fn::Nothing, julia_args::Cmd, test_args::Cmd, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool, kwargs::@Kwargs{io::IOContext{IO}}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.12/Pkg/src/API.jl:538 [5] test(pkgs::Vector{PackageSpec}; io::IOContext{IO}, kwargs::@Kwargs{julia_args::Cmd}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.12/Pkg/src/API.jl:169 [6] test(pkgs::Vector{String}; kwargs::@Kwargs{julia_args::Cmd}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.12/Pkg/src/API.jl:157 [7] test @ /opt/julia/share/julia/stdlib/v1.12/Pkg/src/API.jl:157 [inlined] [8] #test#81 @ /opt/julia/share/julia/stdlib/v1.12/Pkg/src/API.jl:156 [inlined] [9] top-level scope @ /PkgEval.jl/scripts/evaluate.jl:223 [10] include(mod::Module, _path::String) @ Base ./Base.jl:306 [11] exec_options(opts::Base.JLOptions) @ Base ./client.jl:317 [12] _start() @ Base ./client.jl:550 in expression starting at /PkgEval.jl/scripts/evaluate.jl:214 PkgEval failed after 2405.15s: package has test failures