Package evaluation to test DirectTrajOpt on Julia 1.12.4 (422f456051*) started at 2026-01-29T14:50:04.398 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.12` Set-up completed after 8.54s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.12/Project.toml` [c823fa1f] + DirectTrajOpt v0.8.1 Updating `~/.julia/environments/v1.12/Manifest.toml` [47edcb42] + ADTypes v1.21.0 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.43 [79e6a3ab] + Adapt v4.4.0 [4fba245c] + ArrayInterface v7.22.0 [4c555306] + ArrayLayouts v1.12.2 [6e4b80f9] + BenchmarkTools v1.6.3 [62783981] + BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] + BracketingNonlinearSolve v1.6.2 [2a0fbf3d] + CPUSummary v0.2.7 [d360d2e6] + ChainRulesCore v1.26.0 [0b6fb165] + ChunkCodecCore v1.0.1 [4c0bbee4] + ChunkCodecLibZlib v1.0.0 [55437552] + ChunkCodecLibZstd v1.0.0 [fb6a15b2] + CloseOpenIntervals v0.1.13 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.8 [38540f10] + CommonSolve v0.2.6 [bbf7d656] + CommonSubexpressions v0.3.1 [f70d9fcc] + CommonWorldInvalidations v1.0.0 [34da2185] + Compat v4.18.1 [a33af91c] + CompositionsBase v0.1.2 [95dc2771] + ComputePipeline v0.1.6 [2569d6c7] + ConcreteStructs v0.2.3 [187b0558] + ConstructionBase v1.6.0 [adafc99b] + CpuId v0.3.1 [864edb3b] + DataStructures v0.19.3 [2b5f629d] + DiffEqBase v6.199.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.15 [c823fa1f] + DirectTrajOpt v0.8.1 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.6 [f151be2c] + EnzymeCore v0.8.18 [e24c0720] + ExponentialAction v0.2.10 [e2ba6199] + ExprTools v0.1.10 [55351af7] + ExproniconLite v0.10.14 [7034ab61] + FastBroadcast v0.3.5 [9aa1b823] + FastClosures v0.3.2 [a4df4552] + FastPower v1.3.1 [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 6.79s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 505370.2 ms ✓ DirectTrajOpt 1 dependency successfully precompiled in 511 seconds. 226 already precompiled. Precompilation completed after 519.33s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_Zo8Lcx/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_Zo8Lcx/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 5.4190390e+00 3.29e+00 4.64e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.8516650e+00 3.66e-01 3.31e+00 -0.8 2.29e+00 0.0 9.65e-01 9.05e-01f 1 Hello, world! 2 4.0069953e+00 2.98e-01 3.20e+01 1.2 1.55e+01 0.4 4.74e-02 2.91e-02f 1 Hello, world! 3 3.5222121e+00 1.02e-01 5.14e+01 -0.1 6.29e-01 0.9 2.33e-01 5.10e-01f 1 Hello, world! 4 3.2506758e+00 1.39e-02 2.77e+01 -2.0 1.67e-01 0.4 6.06e-01 1.00e+00h 1 Hello, world! 5 3.1412617e+00 1.81e-02 4.57e-01 -1.1 2.43e-01 -0.1 9.76e-01 1.00e+00f 1 Hello, world! 6 2.3817426e+00 4.37e-02 4.55e-01 -1.6 2.53e-01 -0.6 7.53e-01 9.38e-01f 1 Hello, world! 7 2.2829640e+00 2.80e-02 3.91e-01 -1.7 7.96e-01 -1.1 8.18e-01 5.19e-01h 1 Hello, world! 8 2.1554513e+00 1.06e-02 6.59e-02 -2.2 2.96e-01 -1.5 9.82e-01 1.00e+00h 1 Hello, world! 9 2.0952269e+00 2.72e-04 1.16e-02 -3.7 5.59e-02 -2.0 9.96e-01 9.31e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908837e+00 3.95e-06 1.24e-03 -4.0 6.26e-03 -2.5 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908727e+00 6.15e-08 1.98e-05 -4.0 1.70e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908683e+00 1.10e-09 5.87e-05 -4.0 5.03e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0908565e+00 8.63e-09 8.84e-05 -4.0 1.44e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0908262e+00 5.74e-08 1.61e-04 -4.0 3.95e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0907461e+00 3.52e-07 3.97e-04 -4.0 1.07e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0905145e+00 3.64e-06 4.37e-04 -4.0 3.30e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0904167e+00 4.75e-07 3.88e-04 -4.0 1.24e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0902638e+00 1.21e-06 1.08e-02 -4.0 4.60e+00 -5.4 1.00e+00 3.39e-01h 2 Hello, world! 19 2.0892696e+00 4.20e-05 2.91e-03 -4.0 1.16e+01 -5.9 1.00e+00 9.71e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0874905e+00 3.53e-04 3.90e-02 -4.0 3.20e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0861243e+00 3.56e-04 3.02e-01 -4.0 7.34e+01 -5.9 1.00e+00 1.56e-01h 1 Hello, world! 22 2.0845639e+00 3.07e-04 2.84e-02 -4.0 2.56e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0827945e+00 2.17e-04 2.42e-02 -4.0 3.36e+01 -6.9 1.00e+00 9.49e-01h 1 Hello, world! 24 2.0830501e+00 1.15e-03 3.38e-02 -4.0 6.36e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0821086e+00 1.50e-03 1.00e-02 -4.1 1.49e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0891369e+00 5.20e-05 2.49e-01 -4.0 1.90e+02 -7.4 1.54e-01 1.00e+00H 1 Hello, world! 27 2.0832098e+00 8.83e-04 2.61e+00 -4.0 3.02e+00 -4.3 1.04e-01 4.45e-01f 1 Hello, world! 28 2.0827326e+00 7.62e-04 2.32e+00 -4.2 2.66e+00 -2.9 7.14e-01 1.40e-01h 1 Hello, world! 29 2.0836363e+00 2.92e-06 3.46e-03 -4.0 4.26e-01 -3.4 1.00e+00 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0829333e+00 1.54e-05 1.57e-03 -4.0 3.58e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0828291e+00 7.23e-06 2.80e-05 -4.0 1.61e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0827999e+00 3.03e-07 1.18e-05 -4.0 4.74e-01 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0827243e+00 1.37e-06 9.31e-05 -4.0 1.32e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0825728e+00 7.15e-06 4.73e-04 -4.0 3.35e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0824027e+00 1.82e-05 1.07e-03 -4.0 8.48e+00 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0822209e+00 2.26e-05 1.62e-03 -4.0 2.16e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0819348e+00 1.57e-04 3.12e-03 -4.0 5.19e+01 -7.2 7.48e-01 1.00e+00h 1 Hello, world! 38 2.0818751e+00 1.29e-04 1.32e+00 -4.0 2.94e+01 -5.9 1.00e+00 1.31e-01h 3 Hello, world! 39 2.0819093e+00 8.49e-06 1.54e-03 -4.0 2.27e+00 -6.4 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819725e+00 3.03e-05 8.35e-05 -4.0 6.10e+00 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0817142e+00 2.69e-04 8.17e-04 -4.1 1.40e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0819028e+00 6.90e-04 1.53e-03 -4.0 2.98e+01 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0816053e+00 9.77e-04 1.62e-03 -4.1 4.45e+01 -8.3 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0818468e+00 9.08e-04 8.82e-04 -4.0 3.86e+01 -8.8 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0815839e+00 3.71e-04 1.24e-04 -4.1 1.62e+01 -9.3 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0818444e+00 1.82e-04 3.10e-05 -4.0 8.28e+00 -9.7 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0818434e+00 2.48e-08 6.11e-08 -4.0 3.43e-01 -10.2 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0818434e+00 2.41e-13 1.00e-09 -4.0 3.46e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 48 (scaled) (unscaled) Objective...............: 2.0818434105350923e+00 2.0818434105350923e+00 Dual infeasibility......: 1.0000000009915272e-09 1.0000000009915272e-09 Constraint violation....: 2.4102941864612148e-13 2.4102941864612148e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000422654e-04 1.0000000000422654e-04 Overall NLP error.......: 1.0000000009915272e-09 1.0000000009915272e-09 Number of objective function evaluations = 57 Number of objective gradient evaluations = 49 Number of equality constraint evaluations = 57 Number of inequality constraint evaluations = 57 Number of equality constraint Jacobian evaluations = 49 Number of inequality constraint Jacobian evaluations = 49 Number of Lagrangian Hessian evaluations = 48 Total seconds in IPOPT = 61.888 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.4190390e+00 3.29e+00 4.64e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.8516650e+00 3.66e-01 3.31e+00 -0.8 2.29e+00 0.0 9.65e-01 9.05e-01f 1 Hello, world! 2 4.0069953e+00 2.98e-01 3.20e+01 1.2 1.55e+01 0.4 4.74e-02 2.91e-02f 1 Hello, world! 3 3.5222121e+00 1.02e-01 5.14e+01 -0.1 6.29e-01 0.9 2.33e-01 5.10e-01f 1 Hello, world! 4 3.2506758e+00 1.39e-02 2.77e+01 -2.0 1.67e-01 0.4 6.06e-01 1.00e+00h 1 Hello, world! 5 3.1412617e+00 1.81e-02 4.57e-01 -1.1 2.43e-01 -0.1 9.76e-01 1.00e+00f 1 Hello, world! 6 2.3817426e+00 4.37e-02 4.55e-01 -1.6 2.53e-01 -0.6 7.53e-01 9.38e-01f 1 Hello, world! 7 2.2829640e+00 2.80e-02 3.91e-01 -1.7 7.96e-01 -1.1 8.18e-01 5.19e-01h 1 Hello, world! 8 2.1554513e+00 1.06e-02 6.59e-02 -2.2 2.96e-01 -1.5 9.82e-01 1.00e+00h 1 Hello, world! 9 2.0952269e+00 2.72e-04 1.16e-02 -3.7 5.59e-02 -2.0 9.96e-01 9.31e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908837e+00 3.95e-06 1.24e-03 -4.0 6.26e-03 -2.5 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908727e+00 6.15e-08 1.98e-05 -4.0 1.70e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908683e+00 1.10e-09 5.87e-05 -4.0 5.03e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0908565e+00 8.63e-09 8.84e-05 -4.0 1.44e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0908262e+00 5.74e-08 1.61e-04 -4.0 3.95e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0907461e+00 3.52e-07 3.97e-04 -4.0 1.07e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0905145e+00 3.64e-06 4.37e-04 -4.0 3.30e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0904167e+00 4.75e-07 3.88e-04 -4.0 1.24e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0902638e+00 1.21e-06 1.08e-02 -4.0 4.60e+00 -5.4 1.00e+00 3.39e-01h 2 Hello, world! 19 2.0892696e+00 4.20e-05 2.91e-03 -4.0 1.16e+01 -5.9 1.00e+00 9.71e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0874905e+00 3.53e-04 3.90e-02 -4.0 3.20e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0861243e+00 3.56e-04 3.02e-01 -4.0 7.34e+01 -5.9 1.00e+00 1.56e-01h 1 Hello, world! 22 2.0845639e+00 3.07e-04 2.84e-02 -4.0 2.56e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0827945e+00 2.17e-04 2.42e-02 -4.0 3.36e+01 -6.9 1.00e+00 9.49e-01h 1 Hello, world! 24 2.0830501e+00 1.15e-03 3.38e-02 -4.0 6.36e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0821086e+00 1.50e-03 1.00e-02 -4.1 1.49e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0891369e+00 5.20e-05 2.49e-01 -4.0 1.90e+02 -7.4 1.54e-01 1.00e+00H 1 Hello, world! 27 2.0832098e+00 8.83e-04 2.61e+00 -4.0 3.02e+00 -4.3 1.04e-01 4.45e-01f 1 Hello, world! 28 2.0827326e+00 7.62e-04 2.32e+00 -4.2 2.66e+00 -2.9 7.14e-01 1.40e-01h 1 Hello, world! 29 2.0836363e+00 2.92e-06 3.46e-03 -4.0 4.26e-01 -3.4 1.00e+00 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0829333e+00 1.54e-05 1.57e-03 -4.0 3.58e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0828291e+00 7.23e-06 2.80e-05 -4.0 1.61e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0827999e+00 3.03e-07 1.18e-05 -4.0 4.74e-01 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0827243e+00 1.37e-06 9.31e-05 -4.0 1.32e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0825728e+00 7.15e-06 4.73e-04 -4.0 3.35e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0824027e+00 1.82e-05 1.07e-03 -4.0 8.48e+00 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0822209e+00 2.26e-05 1.62e-03 -4.0 2.16e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0819348e+00 1.57e-04 3.12e-03 -4.0 5.19e+01 -7.2 7.48e-01 1.00e+00h 1 Hello, world! 38 2.0818751e+00 1.29e-04 1.32e+00 -4.0 2.94e+01 -5.9 1.00e+00 1.31e-01h 3 Hello, world! 39 2.0819093e+00 8.49e-06 1.54e-03 -4.0 2.27e+00 -6.4 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819725e+00 3.03e-05 8.35e-05 -4.0 6.10e+00 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0817142e+00 2.69e-04 8.17e-04 -4.1 1.40e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0819028e+00 6.90e-04 1.53e-03 -4.0 2.98e+01 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0816053e+00 9.77e-04 1.62e-03 -4.1 4.45e+01 -8.3 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0818468e+00 9.08e-04 8.82e-04 -4.0 3.86e+01 -8.8 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0815839e+00 3.71e-04 1.24e-04 -4.1 1.62e+01 -9.3 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0818444e+00 1.82e-04 3.10e-05 -4.0 8.28e+00 -9.7 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0818434e+00 2.48e-08 6.11e-08 -4.0 3.43e-01 -10.2 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0818434e+00 2.41e-13 1.00e-09 -4.0 3.46e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 48 (scaled) (unscaled) Objective...............: 2.0818434105350923e+00 2.0818434105350923e+00 Dual infeasibility......: 1.0000000009915272e-09 1.0000000009915272e-09 Constraint violation....: 2.4102941864612148e-13 2.4102941864612148e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000422654e-04 1.0000000000422654e-04 Overall NLP error.......: 1.0000000009915272e-09 1.0000000009915272e-09 Number of objective function evaluations = 57 Number of objective gradient evaluations = 49 Number of equality constraint evaluations = 57 Number of inequality constraint evaluations = 57 Number of equality constraint Jacobian evaluations = 49 Number of inequality constraint Jacobian evaluations = 49 Number of Lagrangian Hessian evaluations = 48 Total seconds in IPOPT = 1.287 EXIT: Optimal Solution Found. ┌ Warning: Trajectory has timestep variable :Δt but no bounds on it. │ Adding default lower bound of 0 to prevent negative timesteps. │ │ Recommended: Add explicit bounds when creating the trajectory: │ NamedTrajectory(...; Δt_bounds=(min, max)) │ Example: │ NamedTrajectory(qtraj, N; Δt_bounds=(1e-3, 0.5)) │ │ Or use timesteps_all_equal=true in problem options to fix timesteps. └ @ DirectTrajOpt.Problems ~/.julia/packages/DirectTrajOpt/4TeZc/src/problems.jl:65 initializing optimizer... applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.6746921e-02 8.33e-17 9.99e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3311208e-02 1.25e-11 1.79e-02 -4.0 4.28e-02 -2.0 9.82e-01 1.00e+00f 1 2 1.1774236e-02 3.04e-12 9.69e-02 -2.9 1.32e-01 -1.6 9.99e-01 1.00e+00f 1 3 2.0148151e-03 4.07e-11 7.28e-02 -3.6 2.19e-01 -1.1 1.00e+00 8.54e-01f 1 4 5.8381927e-04 2.81e-11 5.06e-02 -3.2 5.23e-01 -1.6 1.00e+00 2.50e-01f 2 5 6.2799396e-04 4.12e-12 3.68e-02 -2.8 1.65e+00 -2.1 9.46e-01 5.00e-01f 2 6 6.2799396e-04 4.12e-12 1.24e-02 -3.1 6.89e-01 -1.7 9.69e-01 5.67e-15h 47 7 2.8898999e-04 1.25e-11 1.41e-02 -3.1 1.35e+00 -2.2 6.45e-01 6.45e-01s 63 8 2.6790845e-04 1.21e-11 9.35e-03 -3.6 6.09e-01 -2.6 9.96e-01 7.98e-02f 3 9 2.6790845e-04 1.21e-11 1.27e-02 -4.0 4.79e-01 -3.1 1.00e+00 1.30e-14h 47 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.6790845e-04 1.21e-11 1.22e-02 -3.4 1.32e+00 -3.6 1.00e+00 4.87e-14h 45 11 5.3563654e-05 7.11e-12 8.68e-03 -3.4 7.04e-01 -4.1 1.00e+00 1.00e+00S 59 12 5.3563654e-05 7.11e-12 5.84e-03 -3.8 4.32e-01 -4.5 9.96e-01 1.26e-14h 47 13 5.3563654e-05 7.11e-12 5.19e-03 -3.6 4.32e-01 -5.0 1.00e+00 2.84e-14h 46 14 6.3200227e-04 1.13e-13 1.37e-02 -3.6 3.94e-01 -5.5 1.00e+00 1.00e+00S 57 15 1.9999141e-04 3.81e-12 1.45e-02 -3.6 4.33e-02 -1.5 1.00e+00 1.00e+00f 1 16 1.5425310e-04 3.15e-12 1.56e-02 -3.6 5.19e-02 -1.9 1.00e+00 1.08e-01f 4 17 7.3935707e-05 1.54e-12 1.69e-02 -3.6 3.58e-01 -2.4 1.00e+00 2.50e-01f 3 18 1.5978241e-05 4.74e-13 2.35e-02 -3.6 1.24e+00 -2.9 1.00e+00 2.50e-01f 3 19 1.5978241e-05 4.74e-13 3.21e-03 -4.0 1.68e+00 -3.4 1.00e+00 8.64e-15h 46 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.5978241e-05 4.74e-13 2.57e-03 -3.7 1.74e+00 -3.8 1.00e+00 3.36e-14h 45 Cannot call restoration phase at point that is almost feasible (violation 4.739126e-13). Abort in line search due to no other fall back. Number of Iterations....: 20 (scaled) (unscaled) Objective...............: 1.5978241427498577e-05 1.5978241427498577e-05 Dual infeasibility......: 2.5749921747579008e-03 2.5749921747579008e-03 Constraint violation....: 4.7391257584905588e-13 4.7391257584905588e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.4910366869453416e-03 1.4910366869453416e-03 Overall NLP error.......: 2.5749921747579008e-03 2.5749921747579008e-03 Number of objective function evaluations = 599 Number of objective gradient evaluations = 22 Number of equality constraint evaluations = 599 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 = 21 Total seconds in IPOPT = 2.477 EXIT: Error in step computation! initializing optimizer... applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.0517709e+00 4.39e-01 9.93e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.9320996e-01 1.89e-09 2.47e-01 -4.0 8.61e-01 -2.0 8.47e-01 1.00e+00h 1 2 2.1920903e-01 1.73e-10 1.85e-01 -1.4 7.17e-01 -1.6 9.99e-01 1.00e+00f 1 3 8.5025306e-02 2.68e-10 3.61e-02 -2.5 5.67e-01 -1.1 9.97e-01 1.00e+00f 1 4 5.6566279e-02 2.34e-11 3.49e-02 -3.5 1.96e-01 -0.7 1.00e+00 1.00e+00f 1 5 2.8141968e-02 1.54e-11 2.04e-02 -4.0 3.37e-01 -1.2 1.00e+00 1.00e+00f 1 6 9.0291021e-03 1.31e-11 8.84e-03 -4.0 4.29e-01 -1.7 1.00e+00 1.00e+00f 1 7 1.4745513e-03 9.35e-12 4.06e-03 -4.0 3.82e-01 -2.2 1.00e+00 1.00e+00f 1 8 4.3025500e-04 4.24e-12 1.14e-03 -4.0 1.45e-01 -2.6 1.00e+00 1.00e+00f 1 9 4.8300891e-04 6.67e-13 9.87e-04 -4.0 1.92e-01 -3.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.3716069e-04 3.48e-14 3.39e-04 -4.1 8.68e-02 -3.6 1.00e+00 1.00e+00f 1 11 5.3577347e-04 1.58e-14 8.02e-04 -4.0 1.15e-01 -4.1 1.00e+00 1.00e+00f 1 12 2.6398664e-04 2.44e-15 1.01e-03 -4.1 1.91e-01 -4.5 1.00e+00 1.00e+00f 1 13 4.4202671e-04 1.09e-15 4.74e-04 -4.0 2.95e-01 -5.0 1.00e+00 5.00e-01f 2 14 2.6990902e-04 2.22e-15 7.33e-04 -4.1 1.40e-01 -5.5 1.00e+00 1.00e+00f 1 15 3.0820671e-05 6.88e-15 1.09e-03 -6.2 4.55e-01 -6.0 9.59e-01 1.00e+00f 1 16 1.6347093e-03 1.78e-15 8.46e-03 -4.0 2.27e+00 -6.4 1.00e+00 5.00e-01f 2 17 2.6876313e-05 1.87e-14 3.31e-03 -4.1 1.15e+00 -6.9 1.00e+00 1.00e+00f 1 18 1.5523970e-03 2.26e-14 9.05e-03 -4.0 1.11e+00 -7.4 1.00e+00 1.00e+00f 1 19 1.1595698e-05 1.42e-14 2.70e-03 -4.2 1.24e+00 -7.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.4003783e-04 1.55e-15 2.93e-03 -4.0 1.51e+00 -8.4 1.00e+00 5.00e-01f 2 21 2.2480652e-04 2.09e-15 2.78e-04 -4.2 3.85e-01 -8.8 1.00e+00 5.00e-01f 2 22 2.0693013e-05 3.77e-15 9.49e-04 -6.4 4.74e-01 -9.3 9.57e-01 1.00e+00f 1 23 8.3567911e-06 2.66e-15 1.16e-04 -6.4 1.20e-01 -9.8 1.00e+00 1.00e+00f 1 24 1.0177999e-03 1.11e-15 3.32e-03 -4.0 1.08e+01 -10.3 1.00e+00 1.10e-01f 4 25 1.5557091e-04 3.99e-14 3.00e-03 -4.0 6.22e-01 -10.7 1.00e+00 1.00e+00f 1 26 6.5649949e-04 1.95e-14 2.92e-03 -4.0 4.46e-01 -11.2 1.00e+00 1.00e+00f 1 27 3.7787539e-04 3.33e-15 4.59e-04 -4.0 3.89e-01 -11.7 1.00e+00 5.00e-01f 2 28 3.4681373e-05 5.22e-15 1.51e-03 -6.1 5.73e-01 -12.2 9.47e-01 1.00e+00f 1 29 1.4352597e-05 4.33e-15 1.78e-04 -6.1 1.41e-01 -12.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 3.7926849e-06 7.22e-16 1.15e-04 -6.1 1.67e-01 -13.1 1.00e+00 1.00e+00f 1 31 7.0101075e-04 4.44e-16 1.19e-03 -4.0 1.82e+01 -13.6 1.00e+00 6.56e-02f 4 32 2.3582075e-04 3.60e-14 2.04e-03 -4.1 3.85e-01 -14.1 1.00e+00 1.00e+00f 1 33 5.4845565e-04 1.04e-14 1.78e-03 -4.1 2.79e-01 -14.6 1.00e+00 1.00e+00f 1 34 3.8364937e-04 1.55e-15 3.57e-04 -4.1 2.64e-01 -15.0 1.00e+00 5.00e-01f 2 35 3.3380552e-05 5.33e-15 1.62e-03 -6.1 6.16e-01 -15.5 9.41e-01 1.00e+00f 1 36 1.4137121e-05 4.00e-15 1.80e-04 -6.1 1.44e-01 -16.0 1.00e+00 1.00e+00f 1 37 3.6608508e-06 6.66e-16 1.21e-04 -6.1 1.77e-01 -16.5 1.00e+00 1.00e+00f 1 38 5.9413428e-04 4.93e-16 4.42e-04 -4.0 1.96e+01 -16.9 1.00e+00 6.10e-02f 4 39 2.6712158e-04 3.22e-14 1.63e-03 -4.1 3.00e-01 -17.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 4.9680726e-04 7.11e-15 1.31e-03 -4.1 2.11e-01 -17.9 1.00e+00 1.00e+00f 1 41 3.7894785e-04 1.11e-15 3.09e-04 -4.1 2.12e-01 -18.4 1.00e+00 5.00e-01f 2 42 3.2256818e-05 5.11e-15 1.68e-03 -6.1 6.46e-01 -18.9 9.38e-01 1.00e+00f 1 43 1.3804571e-05 3.66e-15 1.82e-04 -6.1 1.48e-01 -19.3 1.00e+00 1.00e+00f 1 44 3.5493361e-06 6.11e-16 1.25e-04 -6.1 1.86e-01 -19.8 1.00e+00 1.00e+00f 1 45 5.1481000e-04 4.44e-16 2.25e-04 -4.0 2.09e+01 -20.0 1.00e+00 5.71e-02f 4 46 2.9482160e-04 2.93e-14 1.23e-03 -4.1 2.23e-01 -20.0 1.00e+00 1.00e+00f 1 47 4.5383193e-04 4.44e-15 8.92e-04 -4.1 1.46e-01 -20.0 1.00e+00 1.00e+00f 1 48 3.0583024e-04 3.33e-15 8.91e-04 -4.1 1.61e-01 -20.0 1.00e+00 1.00e+00f 1 49 4.4770360e-04 2.44e-15 7.75e-04 -4.1 1.27e-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 2.3869617e-05 4.55e-15 1.86e-03 -6.1 7.83e-01 -20.0 9.23e-01 1.00e+00f 1 51 1.2321860e-05 3.77e-15 1.26e-04 -6.1 1.11e-01 -20.0 1.00e+00 1.00e+00f 1 52 3.0751392e-06 4.44e-16 1.19e-04 -6.1 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 53 4.5631151e-04 3.75e-16 8.84e-04 -4.0 2.37e+01 -20.0 1.00e+00 5.03e-02f 4 54 3.2320563e-04 2.75e-14 8.38e-04 -4.1 1.48e-01 -20.0 1.00e+00 1.00e+00f 1 55 3.4074745e-05 5.55e-15 1.64e-03 -6.1 6.27e-01 -20.0 9.39e-01 1.00e+00f 1 56 1.3341152e-05 3.11e-15 2.18e-04 -6.1 1.78e-01 -20.0 1.00e+00 1.00e+00f 1 57 3.5978756e-06 5.55e-16 1.30e-04 -6.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 58 3.6781272e-06 2.22e-16 4.86e-06 -6.1 8.59e-03 -20.0 1.00e+00 1.00e+00h 1 59 2.3760667e-07 7.55e-17 5.62e-05 -9.0 2.55e-01 -20.0 9.75e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.3086875e-03 6.28e-16 1.17e-02 -4.0 1.07e+02 -20.0 1.00e+00 2.28e-02f 3 61 8.3346169e-05 4.62e-14 6.88e-03 -4.0 1.53e+00 -20.0 1.00e+00 1.00e+00f 1 62 7.5678791e-04 2.73e-14 5.34e-03 -4.0 8.15e-01 -20.0 1.00e+00 1.00e+00f 1 63 4.2543731e-04 5.33e-15 7.86e-04 -4.0 5.54e-01 -20.0 1.00e+00 5.00e-01f 2 64 4.2234228e-05 4.11e-15 2.12e-03 -5.9 7.19e-01 -20.0 9.29e-01 1.00e+00f 1 65 1.7371643e-05 3.77e-15 2.62e-04 -5.9 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 66 4.9268575e-06 6.66e-16 1.65e-04 -5.9 2.12e-01 -20.0 1.00e+00 1.00e+00f 1 67 5.5430155e-06 2.53e-16 1.61e-05 -5.9 2.33e-02 -20.0 1.00e+00 1.00e+00h 1 68 5.1592991e-06 5.64e-17 1.96e-06 -5.9 2.88e-03 -20.0 1.00e+00 1.00e+00h 1 69 3.6849551e-07 6.20e-17 7.82e-05 -8.9 2.88e-01 -20.0 9.71e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.4859973e-07 4.25e-17 8.16e-06 -8.9 6.33e-02 -20.0 1.00e+00 1.00e+00f 1 71 1.4969119e-03 3.30e-16 2.42e-03 -4.0 3.30e+02 -20.0 1.00e+00 7.37e-03f 3 72 4.9714205e-04 6.15e-14 5.32e-03 -3.8 6.82e-01 -20.0 1.00e+00 1.00e+00f 1 73 8.7082339e-04 1.73e-14 1.92e-03 -3.8 2.28e-01 -20.0 1.00e+00 1.00e+00f 1 74 5.7404260e-04 7.55e-15 2.19e-03 -3.8 2.84e-01 -20.0 1.00e+00 1.00e+00f 1 75 8.6063814e-04 2.44e-15 1.24e-03 -3.8 1.46e-01 -20.0 1.00e+00 1.00e+00f 1 76 5.1131084e-05 8.66e-15 3.58e-03 -5.7 1.02e+00 -20.0 8.96e-01 1.00e+00f 1 77 2.6759703e-05 6.77e-15 2.55e-04 -5.7 1.53e-01 -20.0 1.00e+00 1.00e+00f 1 78 8.0463093e-06 7.77e-16 2.33e-04 -5.7 2.35e-01 -20.0 1.00e+00 1.00e+00f 1 79 1.1514826e-05 3.39e-16 6.78e-05 -5.7 7.02e-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 8.9033092e-06 1.13e-16 3.65e-05 -5.7 3.99e-02 -20.0 1.00e+00 1.00e+00f 1 81 1.1514800e-05 1.47e-16 5.32e-05 -5.7 5.44e-02 -20.0 1.00e+00 1.00e+00f 1 82 8.9428389e-06 9.80e-17 3.69e-05 -5.7 4.03e-02 -20.0 1.00e+00 1.00e+00f 1 83 1.1449912e-05 1.11e-16 5.19e-05 -5.7 5.32e-02 -20.0 1.00e+00 1.00e+00f 1 84 8.9849880e-06 1.23e-16 3.61e-05 -5.7 3.93e-02 -20.0 1.00e+00 1.00e+00f 1 85 1.1386862e-05 1.11e-16 5.06e-05 -5.7 5.19e-02 -20.0 1.00e+00 1.00e+00f 1 86 9.0263213e-06 1.11e-16 3.53e-05 -5.7 3.84e-02 -20.0 1.00e+00 1.00e+00f 1 87 1.1325452e-05 8.93e-17 4.92e-05 -5.7 5.05e-02 -20.0 1.00e+00 1.00e+00f 1 88 9.0667940e-06 7.20e-17 3.44e-05 -5.7 3.74e-02 -20.0 1.00e+00 1.00e+00f 1 89 1.1265738e-05 1.01e-16 4.77e-05 -5.7 4.90e-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 90 9.1063541e-06 7.29e-17 3.35e-05 -5.7 3.63e-02 -20.0 1.00e+00 1.00e+00f 1 91 1.1207768e-05 1.11e-16 4.62e-05 -5.7 4.76e-02 -20.0 1.00e+00 1.00e+00f 1 92 9.1449557e-06 1.11e-16 3.25e-05 -5.7 3.52e-02 -20.0 1.00e+00 1.00e+00f 1 93 1.1151578e-05 6.07e-17 4.47e-05 -5.7 4.61e-02 -20.0 1.00e+00 1.00e+00f 1 94 9.1825587e-06 6.94e-17 3.15e-05 -5.7 3.42e-02 -20.0 1.00e+00 1.00e+00f 1 95 1.1097195e-05 9.37e-17 4.32e-05 -5.7 4.46e-02 -20.0 1.00e+00 1.00e+00f 1 96 9.2191291e-06 8.33e-17 3.06e-05 -5.7 3.31e-02 -20.0 1.00e+00 1.00e+00f 1 97 1.1044638e-05 6.94e-17 4.17e-05 -5.7 4.31e-02 -20.0 1.00e+00 1.00e+00f 1 98 9.2546387e-06 7.37e-17 2.96e-05 -5.7 3.19e-02 -20.0 1.00e+00 1.00e+00f 1 99 1.0993919e-05 1.11e-16 4.01e-05 -5.7 4.15e-02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 9.2890652e-06 1.11e-16 2.86e-05 -5.7 3.08e-02 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 9.2890652224923972e-06 9.2890652224923972e-06 Dual infeasibility......: 2.8555040723327420e-05 2.8555040723327420e-05 Constraint violation....: 1.1102230246251565e-16 1.1102230246251565e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.2270250141852575e-06 2.2270250141852575e-06 Overall NLP error.......: 9.7778271054581908e-05 9.7778271054581908e-05 Number of objective function evaluations = 153 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 153 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 = 2.803 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 2.8753582e+00 3.23e+00 2.06e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0795062e+00 2.32e+00 4.36e+00 -0.9 1.43e+01 -2.0 1.25e-01 3.36e-01f 1 2 1.9652895e+00 1.76e+00 5.49e+00 -0.2 7.16e+00 -0.7 5.20e-01 2.61e-01f 1 3 1.8690189e+00 1.07e+00 4.64e+00 -4.0 9.17e+00 -1.1 2.14e-01 3.92e-01h 1 4 1.8033061e+00 6.44e-01 4.10e+00 -0.3 3.97e+00 -0.7 6.00e-01 3.87e-01f 1 5 1.9861478e+00 1.66e-01 3.94e+00 -0.6 1.61e+00 -0.3 8.19e-01 8.83e-01h 1 6 2.0004328e+00 2.70e-02 6.81e-01 -0.9 3.69e-01 0.1 8.99e-01 1.00e+00f 1 7 1.9334172e+00 3.14e-04 1.65e+00 -4.0 1.10e-01 -0.3 7.21e-01 1.00e+00h 1 8 1.6485705e+00 5.03e-03 4.09e-01 -1.7 5.76e-01 -0.8 9.99e-01 1.00e+00f 1 9 1.4391138e+00 1.32e-02 4.87e-02 -2.1 4.31e-01 -1.3 8.60e-01 8.38e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.3495073e+00 1.32e-02 2.50e-02 -2.6 3.46e-01 -1.8 8.35e-01 8.33e-01h 1 11 1.2788219e+00 2.63e-02 2.66e-02 -3.4 5.36e-01 -2.3 8.76e-01 1.00e+00h 1 12 1.2683206e+00 2.97e-03 3.27e-03 -3.5 1.93e-01 -1.8 1.00e+00 1.00e+00h 1 13 1.2629377e+00 1.36e-02 1.02e-02 -3.9 9.55e-01 -2.3 8.84e-01 8.67e-01h 1 14 1.2590694e+00 2.11e-02 1.23e-02 -3.8 6.38e-01 -1.9 8.08e-01 1.00e+00h 1 15 1.2519351e+00 1.50e-02 1.49e-02 -4.0 4.05e-01 -1.5 1.00e+00 1.00e+00h 1 16 1.2467451e+00 2.80e-03 1.66e-02 -4.0 1.77e-01 -1.0 1.00e+00 1.00e+00h 1 17 1.2232406e+00 1.30e-01 4.40e-02 -3.6 1.15e+00 -1.5 1.00e+00 1.00e+00h 1 18 1.2210641e+00 1.22e-01 4.06e-01 -3.2 3.05e-01 -1.1 8.57e-01 6.38e-02h 1 19 1.2309132e+00 2.77e-02 1.86e-01 -3.1 6.87e-01 -1.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.2142502e+00 1.55e-01 1.38e-01 -2.7 1.50e+00 -2.0 9.51e-01 8.39e-01h 1 21 1.2070201e+00 6.57e-02 1.35e-01 -3.3 1.10e+00 -2.5 1.00e+00 6.06e-01h 1 22 1.1916704e+00 2.07e-02 3.28e-02 -4.0 1.46e+00 -3.0 1.00e+00 1.00e+00h 1 23 1.1830207e+00 7.29e-02 7.18e-03 -4.0 2.25e+00 -3.5 1.00e+00 1.00e+00h 1 24 1.1789105e+00 6.53e-02 1.83e-02 -4.0 3.31e+00 -3.9 1.00e+00 1.00e+00h 1 25 1.1744338e+00 1.00e-01 9.90e-03 -4.0 5.08e+00 -4.4 1.00e+00 1.00e+00h 1 26 1.1713877e+00 1.12e-01 1.18e-02 -4.0 7.80e+00 -4.9 1.00e+00 1.00e+00h 1 27 1.1686503e+00 1.48e-01 6.56e-03 -4.0 1.20e+01 -5.4 1.00e+00 1.00e+00h 1 28 1.1666029e+00 1.75e-01 4.75e-03 -4.0 1.83e+01 -5.9 1.00e+00 1.00e+00h 1 29 1.1648847e+00 2.19e-01 3.97e-04 -4.0 2.79e+01 -6.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1635589e+00 2.62e-01 4.49e-03 -4.0 4.22e+01 -6.8 1.00e+00 1.00e+00h 1 31 1.1624816e+00 3.17e-01 1.06e-02 -4.0 6.32e+01 -7.3 1.00e+00 1.00e+00h 1 32 1.1616540e+00 3.71e-01 1.62e-02 -4.0 9.34e+01 -7.8 1.00e+00 1.00e+00h 1 33 1.1610170e+00 4.25e-01 2.23e-02 -4.0 1.35e+02 -8.2 1.00e+00 1.00e+00h 1 34 1.1605972e+00 4.42e-01 2.46e-02 -4.0 1.85e+02 -8.7 1.00e+00 1.00e+00h 1 35 1.1605014e+00 3.23e-01 1.42e-02 -4.0 2.10e+02 -9.2 1.00e+00 1.00e+00h 1 36 1.1608417e+00 6.82e-03 3.21e-03 -4.0 6.27e+01 -9.7 1.00e+00 1.00e+00h 1 37 1.1608492e+00 5.06e-06 4.41e-06 -4.0 5.67e-01 -10.1 1.00e+00 1.00e+00h 1 38 1.1608491e+00 3.39e-08 4.59e-09 -4.0 7.48e-02 -10.6 1.00e+00 1.00e+00h 1 39 1.1608491e+00 1.30e-12 1.01e-13 -4.0 4.63e-04 -11.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 39 (scaled) (unscaled) Objective...............: 1.1608491307798703e+00 1.1608491307798703e+00 Dual infeasibility......: 1.0127171995964745e-13 1.0127171995964745e-13 Constraint violation....: 1.3038459201197838e-12 1.3038459201197838e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000410e-04 1.0000000000000410e-04 Overall NLP error.......: 1.3038459201197838e-12 1.3038459201197838e-12 Number of objective function evaluations = 40 Number of objective gradient evaluations = 40 Number of equality constraint evaluations = 40 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 40 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 39 Total seconds in IPOPT = 25.893 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 186 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 19 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.2826575e+00 1.95e+00 1.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6403337e+00 3.12e-01 4.73e+00 -4.0 3.73e+00 -2.0 4.47e-01 1.00e+00h 1 2 1.7621402e+00 1.43e-01 4.26e-01 -0.6 1.61e+00 -0.7 9.17e-01 5.41e-01f 1 3 2.0413547e+00 7.33e-02 1.42e+00 -4.0 4.38e+00 - 8.42e-01 1.00e+00H 1 4 1.8060783e+00 3.55e-02 9.33e-01 -1.0 4.73e+00 -1.1 8.07e-01 2.21e-01f 1 5 1.4742565e+00 1.10e-02 1.21e+00 -1.4 6.58e+00 - 9.97e-01 6.05e-01f 1 6 1.4031082e+00 8.93e-03 5.29e-01 -1.7 1.04e+01 - 1.00e+00 1.90e-01h 1 7 1.2337247e+00 4.49e-03 7.39e-01 -2.1 5.67e+00 - 1.00e+00 5.32e-01f 1 8 1.1081504e+00 3.37e-04 2.76e-01 -2.8 5.13e+00 - 1.00e+00 9.99e-01h 1 9 1.0942619e+00 5.60e-05 4.01e-02 -3.8 1.40e+00 - 1.00e+00 8.41e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910033e+00 8.57e-07 9.01e-03 -4.0 8.77e-01 - 1.00e+00 1.00e+00h 1 11 1.0910388e+00 4.07e-10 1.64e-04 -4.0 1.27e-01 - 1.00e+00 1.00e+00h 1 12 1.0910386e+00 3.77e-16 2.61e-05 -4.0 3.18e-04 - 1.00e+00 1.00e+00h 1 13 1.0910386e+00 7.08e-28 3.67e-16 -4.0 7.84e-09 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0910385779862031e+00 1.0910385779862031e+00 Dual infeasibility......: 3.6743611625533745e-16 3.6743611625533745e-16 Constraint violation....: 7.0776487969741197e-28 7.0776487969741197e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 3.6743611625533745e-16 3.6743611625533745e-16 Number of objective function evaluations = 15 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 15 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 21.653 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 2.0659556e+00 3.73e+00 5.42e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6753665e+00 6.03e-02 5.38e-01 -1.1 2.57e+00 - 1.00e+00 1.00e+00f 1 2 2.1941848e+00 5.79e-03 5.54e-01 -4.0 9.25e-02 - 7.26e-01 1.00e+00h 1 3 2.1117381e+00 7.00e-04 3.94e-02 -2.7 6.03e-02 - 9.96e-01 1.00e+00h 1 4 2.0909320e+00 9.48e-05 3.48e-03 -4.0 3.17e-02 - 1.00e+00 1.00e+00h 1 5 2.0908924e+00 1.25e-05 2.75e-04 -4.0 4.02e-01 - 1.00e+00 1.00e+00h 1 6 2.0908972e+00 2.15e-09 1.69e-08 -4.0 7.38e-02 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 1.70e-13 2.87e-13 -4.0 9.25e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971978646060e+00 2.0908971978646060e+00 Dual infeasibility......: 2.8704507304064264e-13 2.8704507304064264e-13 Constraint violation....: 1.7007058196634450e-13 1.7007058196634450e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000001235646117e-04 1.0000001235646117e-04 Overall NLP error.......: 1.2356461164052084e-11 1.2356461164052084e-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 = 26.422 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 5.5760486e+00 1.82e+00 1.18e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5621237e+00 5.94e-01 3.51e+00 -0.7 5.91e+00 -4.0 4.06e-01 8.14e-01f 1 2 2.3682109e+00 5.19e-01 2.60e+00 -1.2 2.42e+01 -2.7 3.32e-01 1.69e-01h 1 3 2.5076308e+00 4.01e-01 7.81e+00 -1.8 7.54e+00 -2.2 4.30e-01 8.95e-01h 1 4 2.5105799e+00 2.69e-02 1.46e+00 -1.7 8.85e-01 -1.8 6.62e-01 9.25e-01h 1 5 2.3456118e+00 2.42e-01 1.28e+00 -1.3 5.40e+00 -2.3 7.00e-01 3.44e-01f 1 6 2.3213482e+00 4.11e-02 3.07e-01 -1.6 1.56e+00 -2.8 9.43e-01 1.00e+00h 1 7 2.1678289e+00 5.19e-02 1.49e-01 -2.2 1.82e+00 -3.3 9.95e-01 8.78e-01h 1 8 2.1533961e+00 2.23e-02 1.32e+00 -2.2 8.81e+00 -3.7 9.98e-01 2.91e-01h 1 9 2.1299854e+00 1.81e-02 2.89e-01 -2.3 3.23e+00 -4.2 9.97e-01 5.80e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1035793e+00 1.01e-02 6.87e-02 -2.7 2.62e+00 -4.7 9.97e-01 1.00e+00h 1 11 2.0918091e+00 1.48e-03 1.73e-02 -3.7 8.22e-01 -5.2 9.99e-01 1.00e+00h 1 12 2.0904715e+00 8.72e-04 7.75e-03 -4.0 4.28e+00 -5.6 1.00e+00 1.00e+00h 1 13 2.0899988e+00 1.32e-05 3.58e-03 -4.0 6.35e+00 -6.1 1.00e+00 1.00e+00h 1 14 2.0898547e+00 3.32e-06 2.85e-03 -4.0 7.48e+00 -6.6 1.00e+00 1.00e+00h 1 15 2.0898307e+00 7.91e-07 1.10e-03 -4.0 1.13e+01 -7.1 1.00e+00 1.00e+00h 1 16 2.0898243e+00 1.45e-06 8.47e-04 -4.0 9.15e+00 -7.5 1.00e+00 1.00e+00h 1 17 2.0898222e+00 5.18e-07 1.30e-04 -4.0 3.47e+00 -8.0 1.00e+00 1.00e+00h 1 18 2.0898219e+00 1.74e-08 3.07e-06 -4.0 7.42e-01 -8.5 1.00e+00 1.00e+00h 1 19 2.0898219e+00 5.34e-11 1.48e-08 -4.0 6.89e-02 -9.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898218e+00 6.72e-14 1.58e-11 -4.0 2.33e-03 -9.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 20 (scaled) (unscaled) Objective...............: 2.0898218497907375e+00 2.0898218497907375e+00 Dual infeasibility......: 1.5778536056930761e-11 1.5778536056930761e-11 Constraint violation....: 6.7168492989821971e-14 6.7168492989821971e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000037e-04 1.0000000000000037e-04 Overall NLP error.......: 1.5778536056930761e-11 1.5778536056930761e-11 Number of objective function evaluations = 21 Number of objective gradient evaluations = 21 Number of equality constraint evaluations = 21 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 21 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 20 Total seconds in IPOPT = 26.286 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable x applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.3343985e+00 2.34e+00 4.75e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5271508e+00 1.08e+00 7.90e+01 -0.5 2.10e+00 0.0 6.71e-03 5.35e-01h 1 2 1.5630360e+00 1.07e+00 1.16e+03 0.4 3.16e+00 0.4 8.08e-01 1.13e-02h 1 3 2.2760653e+00 9.73e-01 2.21e+03 1.2 1.04e+01 -0.1 1.00e+00 9.22e-02f 1 4 3.5687002e+00 1.67e+00 3.35e+03 2.2 6.51e+01 -0.5 1.86e-01 8.68e-02f 1 5 3.8673569e+00 1.50e+00 4.54e+03 1.5 9.12e+00 -1.0 3.25e-01 1.05e-01h 1 6 3.8799090e+00 1.50e+00 8.67e+04 1.5 6.33e+01 -1.5 2.00e-02 1.26e-03h 1 7 4.0301226e+00 1.50e+00 1.08e+05 1.5 7.30e+02 -2.0 2.23e-03 1.46e-03f 2 8 4.1781967e+00 1.49e+00 1.41e+06 1.5 3.82e+02 -2.4 4.22e-02 2.67e-03h 1 9 4.1797218e+00 1.49e+00 4.98e+08 1.5 9.60e+01 -0.2 1.76e-02 4.44e-05h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10r 4.1797218e+00 1.49e+00 1.00e+03 1.5 0.00e+00 -0.7 0.00e+00 4.25e-07R 3 11r 4.1826759e+00 4.58e-01 1.38e+03 2.3 1.65e+02 - 8.14e-01 2.78e-02f 1 12 4.1828141e+00 4.47e-01 4.62e+01 -0.8 1.23e+00 -1.2 7.03e-01 2.49e-02h 1 13 4.1841311e+00 4.47e-01 1.21e+05 0.7 1.95e+01 -1.6 4.97e-01 3.10e-04h 1 14 4.1898755e+00 4.47e-01 7.44e+08 1.7 6.62e+01 -2.1 1.00e+00 1.63e-04h 1 15r 4.1898755e+00 4.47e-01 9.65e+02 2.5 0.00e+00 -2.6 0.00e+00 2.50e-07R 4 16r 3.8692675e+00 2.39e-01 2.70e+02 1.9 2.26e+00 - 7.47e-01 5.55e-01f 1 17 3.7860202e+00 1.99e-01 3.97e+00 -1.3 5.93e-01 -3.1 7.05e-01 1.66e-01h 1 18 3.7950953e+00 1.99e-01 6.07e+02 -0.1 1.15e+01 -3.5 1.37e-01 2.21e-03h 1 19 3.8367954e+00 1.99e-01 5.36e+05 0.1 4.31e+01 -4.0 1.00e+00 9.50e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 3.8373441e+00 1.99e-01 2.10e+10 1.7 4.77e+01 -4.5 1.00e+00 2.33e-05h 1 21r 3.8373441e+00 1.99e-01 1.00e+03 2.5 0.00e+00 -5.0 0.00e+00 3.37e-07R 3 22r 3.7102897e+00 1.99e-01 1.92e+02 -3.6 4.86e-01 - 8.07e-01 8.04e-01f 1 23r 4.1088952e+00 2.08e-01 3.11e+01 0.6 1.54e+00 0.0 8.36e-01 8.87e-01f 1 24r 4.2704848e+00 1.99e-01 6.95e+00 -0.3 1.03e+00 - 9.28e-01 1.00e+00f 1 25r 4.3486266e+00 2.00e-01 5.37e+00 -0.4 1.22e+00 - 9.51e-01 1.00e+00f 1 26r 4.3904058e+00 1.99e-01 4.03e+01 -4.0 1.74e+00 - 1.38e-01 2.63e-01f 1 27r 4.1874522e+00 2.00e-01 4.06e+01 -0.3 1.34e+00 -0.5 1.00e+00 5.67e-01f 1 28r 4.5989143e+00 2.68e-01 5.04e+01 -0.4 2.32e+00 - 2.71e-01 6.36e-01f 1 29r 4.3564711e+00 1.99e-01 3.84e+00 -0.4 7.87e-01 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 4.1696010e+00 2.40e-01 7.15e+01 -1.0 1.09e+00 - 5.75e-01 1.00e+00f 1 31r 4.3049537e+00 1.99e-01 2.29e-01 -1.1 4.98e-01 - 1.00e+00 1.00e+00f 1 32r 4.3497271e+00 1.99e-01 6.54e+00 -2.2 2.73e-01 - 8.73e-01 9.81e-01f 1 33r 4.2966914e+00 1.99e-01 3.14e-02 -2.8 3.68e-01 - 1.00e+00 1.00e+00f 1 34r 4.2714354e+00 1.99e-01 4.54e-02 -3.4 1.90e-01 - 9.78e-01 1.00e+00h 1 35r 4.2241190e+00 1.99e-01 2.56e-03 -4.0 2.63e-02 - 1.00e+00 1.00e+00h 1 36r 4.2447340e+00 1.99e-01 4.11e-05 -4.0 1.88e-02 - 1.00e+00 1.00e+00h 1 37r 4.2495943e+00 1.99e-01 9.55e-08 -4.0 1.27e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 37 (scaled) (unscaled) Objective...............: 4.2496139880395978e+00 4.2496139880395978e+00 Dual infeasibility......: 2.0059759225274423e+00 2.0059759225274423e+00 Constraint violation....: 1.9875045033680694e-01 1.9875045033680694e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000161284876e-04 1.0000000161284876e-04 Overall NLP error.......: 2.0059759225274423e+00 2.0059759225274423e+00 Number of objective function evaluations = 51 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 51 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 42 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 38 Total seconds in IPOPT = 27.324 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 6.1522120e+00 2.98e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.4044196e+00 9.86e-02 1.88e+00 -0.9 1.91e+00 0.0 7.39e-01 1.00e+00f 1 2 2.5557057e+00 8.30e-02 1.91e+00 -1.2 9.44e-01 -0.5 4.70e-01 9.86e-01f 1 3 2.4810455e+00 3.96e-02 5.92e-01 -1.3 3.44e-01 -1.0 9.48e-01 7.65e-01f 1 4 2.2791255e+00 5.71e-03 7.29e-02 -1.8 2.15e-01 -1.4 9.33e-01 1.00e+00f 1 5 2.1112383e+00 1.03e-02 6.05e-02 -2.7 3.72e-01 -1.9 9.96e-01 8.99e-01h 1 6 2.0921989e+00 9.36e-05 4.05e-03 -3.8 3.21e-02 -2.4 9.96e-01 1.00e+00h 1 7 2.0908980e+00 3.95e-06 8.99e-05 -4.0 1.51e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908956e+00 1.73e-08 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908824e+00 6.89e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908425e+00 6.21e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907231e+00 5.60e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903655e+00 5.06e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893000e+00 4.62e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861680e+00 4.34e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796344e+00 2.52e-03 8.67e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.57e-01h 1 16 2.0811968e+00 1.31e-04 1.71e-01 -4.0 7.26e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778131e+00 5.98e-03 2.49e-02 -4.0 1.14e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0783253e+00 2.09e-02 6.06e-02 -3.7 2.18e+02 -8.1 8.69e-01 1.00e+00h 1 19 2.0769922e+00 1.00e-02 4.15e-02 -3.9 3.49e+02 -8.6 1.00e+00 7.86e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0762386e+00 6.53e-03 2.81e-02 -3.8 5.19e+02 -9.1 1.00e+00 9.56e-01f 1 21 2.0757455e+00 1.23e-02 1.37e-02 -4.0 1.57e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756775e+00 7.68e-04 5.55e-04 -4.0 7.08e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 3.33e-06 1.04e-05 -4.0 2.31e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 7.42e-08 1.50e-06 -4.0 1.51e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.60e-09 1.53e-07 -4.0 5.37e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.09e-11 3.15e-09 -4.0 9.51e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122107404e+00 2.0756712122107404e+00 Dual infeasibility......: 3.1470746132775812e-09 3.1470746132775812e-09 Constraint violation....: 8.0870976582048115e-11 8.0870976582048115e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000015e-04 1.0000000000000015e-04 Overall NLP error.......: 3.1470746132775812e-09 3.1470746132775812e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 42.129 EXIT: Optimal Solution Found. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.0769147e+00 1.69e+00 2.50e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7704344e+00 1.96e-02 4.79e-01 -1.1 1.81e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3047422e+00 4.74e-02 6.01e-02 -1.8 5.40e-01 -1.6 9.56e-01 1.00e+00h 1 3 2.1490858e+00 2.92e-03 1.47e-01 -2.6 1.05e-01 -1.1 8.79e-01 1.00e+00h 1 4 2.0943942e+00 9.98e-04 1.88e-01 -3.5 1.64e-01 -1.6 1.00e+00 8.68e-01h 1 5 2.0917547e+00 4.71e-04 1.16e+00 -4.0 9.26e-01 -2.1 1.00e+00 5.39e-01h 1 6 2.0909181e+00 3.01e-04 3.41e-01 -4.0 5.74e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0908883e+00 2.71e-06 2.84e-02 -4.0 4.81e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909489e+00 1.69e-06 2.06e-05 -4.0 7.03e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909296e+00 1.15e-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 2.0908679e+00 1.46e-07 2.05e-05 -4.0 6.30e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0906861e+00 1.29e-06 4.95e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901680e+00 1.09e-05 4.18e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888285e+00 8.17e-05 3.15e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861478e+00 4.38e-04 1.74e-02 -4.0 3.46e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830846e+00 9.08e-04 4.70e-02 -4.0 5.31e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828612e+00 9.38e-04 2.35e-02 -4.0 5.38e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823445e+00 4.02e-04 9.98e-03 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820395e+00 9.57e-05 1.84e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819518e+00 2.67e-04 8.62e-03 -4.0 9.89e+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 3.65e-05 8.40e-04 -4.0 3.09e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.26e-07 1.38e-05 -4.0 4.42e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.67e-10 3.22e-08 -4.0 2.43e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.47e-13 1.20e-11 -4.0 4.56e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190804e+00 2.0819382907190804e+00 Dual infeasibility......: 1.1991162945403089e-11 1.1991162945403089e-11 Constraint violation....: 2.4691360067663481e-13 2.4691360067663481e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000057e-04 1.0000000000000057e-04 Overall NLP error.......: 1.1991162945403089e-11 1.1991162945403089e-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 = 26.680 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 4.0943305e+00 3.44e+00 2.19e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8323311e+00 2.98e-02 3.99e-01 -1.1 1.89e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2373153e+00 3.77e-02 6.85e-02 -1.7 4.02e-01 -1.6 9.72e-01 9.81e-01h 1 3 2.1115335e+00 1.19e-03 1.36e-01 -3.1 8.97e-02 -1.1 9.22e-01 9.68e-01h 1 4 2.0966899e+00 4.47e-04 4.67e-01 -4.0 3.07e-01 -1.6 1.00e+00 6.24e-01h 1 5 2.0915222e+00 1.94e-04 2.21e-01 -4.0 3.62e-01 -2.1 1.00e+00 6.84e-01h 1 6 2.0909514e+00 4.12e-05 8.15e-02 -4.0 2.24e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909218e+00 6.02e-07 2.50e-04 -4.0 2.93e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909125e+00 6.10e-08 2.53e-05 -4.0 8.63e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908842e+00 2.86e-08 5.94e-05 -4.0 2.38e-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 2.0908308e+00 1.43e-07 2.90e-04 -4.0 5.70e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907294e+00 5.38e-07 1.32e-03 -4.0 1.33e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904548e+00 6.26e-06 9.99e-04 -4.0 4.31e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0901500e+00 9.36e-06 2.62e-02 -4.0 1.11e+01 -5.9 1.00e+00 3.41e-01h 2 14 2.0892544e+00 4.17e-05 7.16e-02 -4.0 3.08e+01 -6.4 1.00e+00 3.46e-01h 1 15 2.0855191e+00 1.77e-03 1.09e-01 -4.0 7.34e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0837769e+00 8.25e-04 7.33e-02 -4.0 7.88e+00 -5.5 1.00e+00 5.56e-01h 1 17 2.0836134e+00 9.11e-05 7.31e-03 -4.0 5.98e+00 -6.0 1.00e+00 1.00e+00h 1 18 2.0829328e+00 2.06e-05 4.08e-03 -4.0 1.02e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0827808e+00 9.47e-05 3.49e-03 -4.0 2.89e+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 2.0825059e+00 1.93e-04 3.36e-03 -4.0 7.43e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821367e+00 9.19e-04 9.33e-03 -4.0 1.78e+02 -7.9 5.98e-01 1.00e+00h 1 22 2.0822198e+00 9.05e-04 9.46e-03 -4.0 3.94e+02 -8.4 1.85e-02 3.88e-02h 4 23 2.0821090e+00 3.56e-06 5.06e-04 -4.0 1.28e-01 -4.4 1.00e+00 1.00e+00h 1 24 2.0821768e+00 1.23e-05 4.27e-04 -4.0 3.38e-01 -4.8 1.00e+00 1.00e+00h 1 25 2.0820428e+00 1.18e-05 8.97e-05 -4.1 1.29e+00 -5.3 1.00e+00 1.00e+00h 1 26 2.0827716e+00 1.42e-05 1.93e-01 -4.0 1.03e+01 -5.8 5.05e-01 1.00e+00H 1 27 2.0824567e+00 2.28e-07 4.00e-03 -4.1 2.75e-02 -0.9 1.00e+00 1.00e+00h 1 28 2.0823904e+00 6.43e-07 1.70e-03 -4.0 3.31e-02 -1.3 1.00e+00 1.00e+00h 1 29 2.0824001e+00 6.65e-08 4.37e-04 -4.0 2.70e-02 -1.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0823956e+00 7.95e-09 9.44e-05 -4.0 1.89e-02 -2.3 1.00e+00 1.00e+00h 1 31 2.0823933e+00 4.66e-09 1.11e-05 -4.0 6.51e-03 -2.8 1.00e+00 1.00e+00h 1 32 2.0823921e+00 1.13e-09 1.11e-05 -4.0 1.96e-02 -3.2 1.00e+00 1.00e+00h 1 33 2.0823887e+00 2.20e-08 1.13e-05 -4.0 5.94e-02 -3.7 1.00e+00 1.00e+00h 1 34 2.0823780e+00 2.23e-07 1.17e-05 -4.0 1.85e-01 -4.2 1.00e+00 1.00e+00h 1 35 2.0823384e+00 2.79e-06 1.44e-04 -4.0 6.31e-01 -4.7 1.00e+00 1.00e+00h 1 36 2.0821530e+00 5.37e-05 3.05e-02 -4.1 2.33e+00 -5.2 7.31e-01 1.00e+00h 1 37 2.0819763e+00 7.53e-07 4.83e-04 -4.1 3.09e-02 -2.9 1.00e+00 1.00e+00h 1 38 2.0821986e+00 6.46e-07 3.45e-04 -4.0 5.94e-02 -3.4 1.00e+00 1.00e+00h 1 39 2.0821857e+00 4.47e-07 1.79e-05 -4.0 4.15e-02 -3.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821842e+00 6.49e-07 5.19e-06 -4.0 1.17e-01 -4.4 1.00e+00 1.00e+00h 1 41 2.0821829e+00 2.14e-06 2.62e-05 -4.0 2.85e-01 -4.8 1.00e+00 1.00e+00h 1 42 2.0821769e+00 5.17e-06 7.57e-05 -4.0 6.00e-01 -5.3 1.00e+00 1.00e+00h 1 43 2.0819905e+00 4.27e-05 1.28e-04 -4.1 1.97e+00 -5.8 1.00e+00 1.00e+00h 1 44 2.0811031e+00 9.47e-04 6.67e-03 -6.1 1.08e+01 -6.3 9.83e-01 1.00e+00h 1 45 2.0811825e+00 3.58e-05 8.10e-03 -4.8 2.44e-01 -4.0 1.00e+00 9.62e-01h 1 46 2.0814899e+00 2.36e-05 2.42e-01 -4.0 1.20e+00 -4.5 1.00e+00 4.02e-01f 1 47 2.0817554e+00 6.76e-05 1.87e-03 -4.0 1.47e+00 -5.0 1.00e+00 1.00e+00h 1 48 2.0817569e+00 7.75e-06 1.26e-03 -4.1 9.02e-01 -5.5 1.00e+00 1.00e+00h 1 49 2.0819647e+00 6.54e-05 4.28e-04 -4.0 3.31e+00 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818401e+00 4.59e-05 1.14e-03 -4.1 2.50e+00 -6.4 1.00e+00 1.00e+00h 1 51 2.0818134e+00 5.48e-06 1.04e-04 -4.1 7.72e+00 -6.9 1.00e+00 1.00e+00h 1 52 2.0808565e+00 2.72e-03 5.53e-04 -6.1 3.38e+01 -7.4 9.82e-01 9.40e-01h 1 53 2.0819187e+00 4.51e-03 3.90e-03 -4.0 4.09e+01 -7.8 1.00e+00 1.00e+00f 1 54 2.0816340e+00 1.49e-03 1.83e-03 -4.1 5.00e+01 -8.3 1.00e+00 1.00e+00h 1 55 2.0815958e+00 4.91e-05 1.51e-03 -4.1 4.25e+01 -8.8 1.00e+00 1.00e+00h 1 56 2.0818394e+00 2.99e-04 1.51e-04 -4.0 1.34e+01 -9.3 1.00e+00 1.00e+00h 1 57 2.0815805e+00 2.22e-04 8.71e-06 -4.1 1.00e+01 -9.8 1.00e+00 1.00e+00h 1 58 2.0805904e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -10.2 9.78e-01 9.71e-01h 1 59 2.0818881e+00 6.53e-03 3.41e-04 -4.0 6.07e+01 -10.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816142e+00 4.87e-04 1.30e-05 -4.1 2.07e+01 -11.2 1.00e+00 1.00e+00h 1 61 2.0805990e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -11.7 9.76e-01 9.65e-01h 1 62 2.0805508e+00 8.47e-05 2.35e-06 -6.1 1.70e+01 -12.1 1.00e+00 1.00e+00h 1 63 2.0819793e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -12.6 1.00e+00 1.00e+00f 1 64 2.0816850e+00 9.29e-04 4.90e-05 -4.1 4.57e+01 -13.1 1.00e+00 1.00e+00h 1 65 2.0816490e+00 4.77e-07 7.50e-07 -4.1 8.50e+00 -13.6 1.00e+00 1.00e+00h 1 66 2.0818389e+00 1.13e-04 4.87e-06 -4.0 7.02e+00 -14.0 1.00e+00 1.00e+00h 1 67 2.0815801e+00 2.08e-04 9.04e-06 -4.1 9.49e+00 -14.5 1.00e+00 1.00e+00h 1 68 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -15.0 9.78e-01 9.71e-01h 1 69 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -15.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -16.0 1.00e+00 1.00e+00f 1 71 2.0816901e+00 9.49e-04 5.23e-05 -4.1 4.72e+01 -16.4 1.00e+00 1.00e+00h 1 72 2.0816518e+00 5.68e-07 7.86e-07 -4.1 8.91e+00 -16.9 1.00e+00 1.00e+00h 1 73 2.0805907e+00 3.69e-03 1.61e-04 -6.1 4.17e+01 -17.4 9.77e-01 9.75e-01h 1 74 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -17.9 1.00e+00 1.00e+00h 1 75 2.0805469e+00 4.72e-08 2.03e-08 -6.1 2.96e+00 -18.3 1.00e+00 1.00e+00h 1 76 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -18.8 1.00e+00 1.00e+00f 1 77 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -19.3 1.00e+00 1.00e+00h 1 78 2.0816664e+00 1.23e-06 1.00e-06 -4.1 1.09e+01 -19.8 1.00e+00 1.00e+00h 1 79 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -20.0 9.76e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 82 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 83 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 84 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 87 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 91 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 92 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 95 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 98 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 6.66e-16 2.22e-16 -9.0 1.99e-12 -20.0 1.00e+00 1.00e+00h 1 101 2.0805365e+00 2.22e-16 2.41e-16 -9.0 8.86e-14 -20.0 1.00e+00 1.00e+00 0 102 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....: 102 (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 = 112 Number of objective gradient evaluations = 103 Number of equality constraint evaluations = 112 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 103 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 103 Total seconds in IPOPT = 28.399 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 1.7249453e+00 8.03e-01 1.12e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0421022e+00 1.02e-01 1.84e+00 -0.9 9.26e-01 0.0 9.96e-01 1.00e+00h 1 2 1.9588397e+00 9.37e-02 1.44e+00 -0.3 1.58e+01 - 1.46e-01 8.57e-02h 1 3 1.8154841e+00 5.10e-02 7.90e-01 -1.3 1.30e+00 - 8.86e-01 1.00e+00f 1 4 1.2894662e+00 1.45e-02 3.69e-01 -1.9 1.61e+00 - 1.00e+00 7.76e-01h 1 5 1.1166573e+00 3.83e-04 6.73e-02 -3.1 6.66e-01 - 9.99e-01 1.00e+00h 1 6 1.0923741e+00 5.00e-06 3.11e-02 -4.0 1.22e+00 - 1.00e+00 1.00e+00h 1 7 1.0909086e+00 9.01e-08 3.13e-02 -4.0 1.69e+00 - 1.00e+00 1.00e+00h 1 8 1.0908992e+00 2.22e-11 3.12e-05 -4.0 5.50e-02 - 1.00e+00 1.00e+00h 1 9 1.0908997e+00 1.96e-18 1.12e-10 -4.0 1.04e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 1.0908997263441256e+00 1.0908997263441256e+00 Dual infeasibility......: 1.1190887992218283e-10 1.1190887992218283e-10 Constraint violation....: 1.9620287631980072e-18 1.9620287631980072e-18 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000001490028729e-04 1.0000001490028729e-04 Overall NLP error.......: 1.1190887992218283e-10 1.1190887992218283e-10 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of equality constraint evaluations = 10 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 10 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 9 Total seconds in IPOPT = 24.681 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 5.0631763e+00 3.29e+00 9.79e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4540774e+00 2.40e+00 5.29e+00 -1.1 4.39e+01 -4.0 9.05e-01 1.00e+00h 1 2 2.2888385e+00 2.40e-01 2.09e+00 -1.5 1.87e+01 -4.5 1.00e+00 1.00e+00h 1 3 2.1639890e+00 1.98e-01 3.60e-01 -2.5 1.42e+01 -5.0 9.97e-01 1.00e+00h 1 4 2.1105010e+00 5.67e-02 3.44e-02 -2.8 9.67e+00 -5.4 9.93e-01 1.00e+00h 1 5 2.0885990e+00 4.17e-02 9.41e-03 -4.0 1.62e+01 -5.9 1.00e+00 1.00e+00h 1 6 2.0836633e+00 4.43e-03 7.96e-03 -4.0 4.69e+01 -6.4 1.00e+00 1.00e+00h 1 7 2.0799843e+00 2.25e-03 1.84e-01 -4.0 1.02e+02 -6.9 1.00e+00 3.53e-01h 1 8 2.0792232e+00 6.27e-03 1.46e-01 -4.0 6.17e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0784993e+00 2.00e-02 2.47e-02 -3.7 1.21e+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 2.0766625e+00 2.12e-02 2.67e-02 -4.0 2.13e+02 -8.3 1.00e+00 9.99e-01h 1 11 2.0761483e+00 3.89e-03 2.50e-02 -4.0 3.49e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0769038e+00 3.81e-04 2.24e-02 -3.7 2.49e+02 -9.2 1.00e+00 1.00e+00H 1 13 2.0757972e+00 9.70e-03 2.41e-03 -4.0 8.39e+01 -9.7 1.00e+00 1.00e+00h 1 14 2.0757709e+00 5.43e-05 7.38e-06 -4.0 3.04e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757705e+00 7.46e-08 4.79e-06 -4.0 2.47e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0757704e+00 1.41e-09 9.67e-07 -4.0 1.23e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757704e+00 1.04e-10 5.14e-08 -4.0 3.28e+00 -11.6 1.00e+00 1.00e+00h 1 18 2.0757704e+00 9.88e-13 4.99e-10 -4.0 3.90e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0757703960823308e+00 2.0757703960823308e+00 Dual infeasibility......: 4.9931703384594947e-10 4.9931703384594947e-10 Constraint violation....: 9.8789401138665855e-13 9.8789401138665855e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000028e-04 1.0000000000000028e-04 Overall NLP error.......: 4.9931703384594947e-10 4.9931703384594947e-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 = 29.107 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 1.4522261e+00 9.67e-01 1.02e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3170705e+00 3.19e-01 2.09e+00 -1.4 2.84e+00 - 9.35e-01 1.00e+00h 1 2 1.4351300e+00 1.06e-01 1.07e+00 -1.1 3.38e-01 0.0 1.00e+00 7.53e-01h 1 3 2.1661929e+00 9.24e-02 2.16e+00 -1.2 3.99e-01 -0.5 7.63e-01 9.80e-01H 1 4 2.0945998e+00 4.87e-02 3.01e+00 -4.0 5.11e-01 -1.0 6.22e-01 4.83e-01h 1 5 1.7423293e+00 7.91e-02 2.62e+00 -4.0 2.33e+00 -0.5 1.77e-03 1.29e-01f 1 6 1.4970679e+00 7.62e-02 2.39e+00 -1.4 1.25e+00 -0.1 1.00e+00 1.47e-01f 1 7 1.3917366e+00 5.67e-02 1.81e+00 -2.1 7.85e+00 - 1.00e+00 2.43e-01h 1 8 1.1223762e+00 2.92e-03 1.59e-01 -2.9 6.71e+00 - 1.00e+00 9.71e-01h 1 9 1.0930019e+00 1.40e-04 1.47e-01 -4.0 2.72e+00 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908358e+00 8.14e-06 1.81e-02 -4.0 1.07e+00 - 1.00e+00 9.41e-01h 1 11 1.0909010e+00 2.14e-09 2.99e-03 -4.0 5.49e-01 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 6.30e-16 8.31e-07 -4.0 9.07e-03 - 1.00e+00 1.00e+00h 1 13 1.0908997e+00 1.06e-27 5.81e-14 -4.0 2.40e-06 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0908997263265490e+00 1.0908997263265490e+00 Dual infeasibility......: 5.8076048310706785e-14 5.8076048310706785e-14 Constraint violation....: 1.0605230573388572e-27 1.0605230573388572e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000324665e-04 1.0000000000324665e-04 Overall NLP error.......: 5.8076048310706785e-14 5.8076048310706785e-14 Number of objective function evaluations = 15 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 15 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 22.230 EXIT: Optimal Solution Found. Difference in Jacobian initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.5569626e+00 2.82e+00 5.13e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2212587e+00 3.94e-01 1.64e+00 -1.0 1.88e+00 0.0 9.75e-01 8.62e-01h 1 2 2.4004321e+00 5.21e-02 1.06e+00 -1.2 3.50e-01 -0.5 9.85e-01 8.56e-01h 1 3 2.2893921e+00 1.09e-02 2.08e-01 -1.8 2.49e-01 -1.0 9.92e-01 1.00e+00h 1 4 2.1202852e+00 2.21e-03 5.44e-02 -2.7 1.03e-01 -1.4 9.96e-01 8.14e-01h 1 5 2.0918885e+00 1.14e-04 6.42e-03 -3.7 1.99e-02 -1.9 9.95e-01 1.00e+00h 1 6 2.0908938e+00 1.00e-06 4.80e-04 -4.0 8.72e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908918e+00 1.11e-08 1.98e-05 -4.0 1.44e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908866e+00 9.46e-10 1.96e-05 -4.0 4.28e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908733e+00 6.67e-09 1.89e-05 -4.0 1.24e-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 2.0908404e+00 4.70e-08 7.79e-05 -4.0 3.40e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907696e+00 2.65e-07 3.79e-04 -4.0 8.72e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905844e+00 2.31e-06 6.19e-04 -4.0 2.61e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0902616e+00 4.33e-06 1.14e-02 -4.0 8.66e+00 -5.7 7.85e-01 3.80e-01h 1 14 2.0894136e+00 2.20e-04 4.25e-02 -4.0 2.59e+01 -6.2 1.00e+00 1.00e+00f 1 15 2.0878358e+00 9.32e-05 3.37e-02 -4.0 3.73e+00 -4.9 1.00e+00 6.54e-01h 1 16 2.0878250e+00 1.94e-05 6.52e-03 -4.0 3.30e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0868085e+00 3.90e-05 6.83e-03 -4.0 9.99e+00 -5.8 1.00e+00 1.00e+00h 1 18 2.0852693e+00 1.88e-04 9.33e-03 -4.0 2.35e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0830319e+00 4.02e-04 2.67e-02 -4.0 3.89e+01 -6.8 1.00e+00 9.73e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826567e+00 4.43e-04 1.20e-02 -4.0 5.43e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823248e+00 4.85e-04 9.38e-03 -4.0 1.23e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.8677521e+00 7.86e-04 1.51e+01 -4.0 1.12e+03 -8.2 3.37e-02 1.00e+00H 1 23 2.0907575e+00 1.10e-04 1.53e+00 -4.1 3.23e-01 -0.4 5.63e-01 8.60e-01f 1 24 2.0909976e+00 1.09e-04 6.08e+00 -4.1 8.16e-02 -0.8 1.00e+00 3.91e-03f 9 25 2.0908362e+00 8.60e-08 1.77e-03 -4.1 3.73e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.0906215e+00 1.44e-07 1.67e-03 -4.0 1.05e-01 -1.8 1.00e+00 1.00e+00h 1 27 2.0901201e+00 1.05e-06 1.44e-03 -4.0 2.73e-01 -2.3 1.00e+00 1.00e+00h 1 28 2.0899252e+00 5.40e-07 4.81e-01 -4.0 1.67e-01 -2.8 1.00e+00 6.85e-01H 1 29 2.0900573e+00 9.95e-07 3.39e-05 -4.0 5.77e-02 -3.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0898783e+00 1.69e-06 4.50e-05 -4.1 7.98e-02 -3.7 1.00e+00 1.00e+00h 1 31 2.0900153e+00 4.82e-06 9.22e-05 -4.0 2.32e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0897849e+00 1.59e-05 7.56e-05 -4.1 7.09e-01 -4.7 1.00e+00 1.00e+00h 1 33 2.0897801e+00 3.92e-05 5.11e-04 -4.0 2.01e+00 -5.1 1.00e+00 1.00e+00h 1 34 2.0891855e+00 1.40e-04 7.67e-04 -4.1 5.73e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0880652e+00 6.29e-04 4.05e-02 -6.1 1.59e+01 -6.1 9.78e-01 6.73e-01h 1 36 2.0867998e+00 7.40e-04 2.21e-02 -6.1 3.94e+01 -6.6 8.68e-01 8.17e-01h 1 37 2.0846562e+00 3.69e-04 1.73e-02 -6.1 9.65e+01 -7.0 9.06e-01 1.00e+00h 1 38 2.0826667e+00 1.23e-04 2.11e-01 -6.1 1.80e+02 -7.5 1.00e+00 7.29e-01h 1 39 2.0810392e+00 5.44e-04 7.94e-02 -5.4 2.76e+02 -8.0 7.75e-01 9.63e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0831859e+00 7.16e-03 1.70e-01 -4.0 3.03e+03 -8.5 1.37e-03 1.63e-01f 3 41 2.0817252e+00 4.76e-03 7.10e-01 -5.1 4.89e+01 -6.2 1.00e+00 3.19e-01h 1 42 2.0821952e+00 9.24e-04 4.20e-01 -5.1 4.81e+01 -6.7 6.65e-01 8.07e-01h 1 43 2.0813752e+00 4.49e-04 2.63e-02 -5.1 6.83e+01 -7.2 1.00e+00 1.00e+00f 1 44 2.0829505e+00 1.35e-02 2.91e-01 -4.0 8.97e+01 -6.8 5.99e-01 1.00e+00h 1 45 2.0821696e+00 3.95e-03 4.71e-02 -4.3 8.02e-02 -1.8 1.00e+00 7.09e-01h 1 46 2.0821530e+00 1.82e-03 2.20e-01 -4.3 1.94e-01 -2.3 1.00e+00 5.39e-01h 1 47 2.0821255e+00 4.98e-07 4.44e-04 -4.3 4.96e-02 -2.8 1.00e+00 1.00e+00f 1 48 2.0824035e+00 9.15e-07 3.67e-04 -4.0 2.32e-02 -3.3 1.00e+00 1.00e+00h 1 49 2.0822291e+00 8.05e-07 5.96e-05 -4.1 3.31e-02 -3.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0816178e+00 2.12e-05 6.31e-02 -6.1 2.30e-01 -4.2 7.21e-01 9.83e-01h 1 51 2.0824611e+00 3.61e-05 1.77e-03 -4.0 3.01e-01 -4.7 1.00e+00 1.00e+00f 1 52 2.0821507e+00 2.50e-05 8.24e-05 -4.1 6.71e-01 -5.2 1.00e+00 1.00e+00h 1 53 2.0813468e+00 3.42e-04 2.02e-03 -6.1 3.60e+00 -5.7 9.99e-01 9.99e-01h 1 54 2.0814168e+00 8.29e-05 5.55e-02 -4.5 3.94e+00 -6.1 1.00e+00 7.22e-01f 1 55 2.0821177e+00 1.24e-03 7.13e-03 -4.0 1.70e+01 -6.6 1.00e+00 1.00e+00f 1 56 2.0821957e+00 3.75e-04 8.03e-02 -4.1 1.93e+01 -7.1 5.29e-01 1.00e+00h 1 57 2.0819152e+00 2.89e-04 2.15e+00 -4.1 8.73e-01 -3.9 6.56e-01 2.17e-01h 1 58 2.0818768e+00 2.85e-04 1.03e+00 -4.1 1.09e+00 -4.4 2.42e-01 1.37e-02h 2 59 2.0817798e+00 1.11e-04 4.71e-01 -4.1 3.34e-01 -4.9 1.00e+00 6.27e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0819112e+00 9.79e-05 7.54e-04 -4.1 1.02e+00 -5.4 1.00e+00 1.00e+00f 1 61 2.0812782e+00 2.29e-04 3.98e-02 -6.1 4.37e+00 -5.9 9.20e-01 7.31e-01h 1 62 2.0811074e+00 9.96e-05 1.88e-02 -5.0 4.38e+00 -6.3 1.00e+00 7.32e-01h 1 63 2.0821501e+00 2.90e-03 9.64e-03 -4.0 2.58e+01 -6.8 1.00e+00 1.00e+00f 1 64 2.0818460e+00 2.53e-04 1.87e-03 -4.1 2.28e+00 -5.5 1.00e+00 1.00e+00h 1 65 2.0817821e+00 2.50e-04 1.19e-02 -4.1 1.58e+02 -6.0 2.75e-02 2.66e-02h 3 66 2.0821027e+00 1.87e-04 1.80e-01 -4.1 2.06e+01 -6.4 1.00e+00 1.61e-01h 1 67 2.0817904e+00 1.20e-04 3.40e-03 -4.1 9.91e+00 -6.9 1.00e+00 1.00e+00f 1 68 2.0817564e+00 1.29e-04 8.65e-04 -4.1 2.33e+01 -7.4 1.00e+00 1.00e+00h 1 69 2.0816666e+00 1.02e-04 2.85e-03 -4.1 4.06e+01 -7.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816058e+00 9.18e-05 3.42e-03 -4.1 4.88e+01 -8.3 1.00e+00 1.00e+00h 1 71 2.0818406e+00 6.22e-04 8.60e-04 -4.0 2.84e+01 -8.8 1.00e+00 1.00e+00h 1 72 2.0815835e+00 3.30e-04 8.64e-05 -4.1 1.38e+01 -9.3 1.00e+00 1.00e+00h 1 73 2.0805972e+00 3.30e-03 1.99e-04 -6.1 4.08e+01 -9.8 9.77e-01 9.62e-01h 1 74 2.0818911e+00 6.51e-03 4.28e-04 -4.0 6.09e+01 -10.3 1.00e+00 1.00e+00f 1 75 2.0816151e+00 5.10e-04 2.39e-05 -4.1 2.14e+01 -10.7 1.00e+00 1.00e+00h 1 76 2.0806045e+00 3.49e-03 2.35e-04 -6.1 4.24e+01 -11.2 9.76e-01 9.58e-01h 1 77 2.0805508e+00 9.77e-05 2.68e-06 -6.1 1.71e+01 -11.7 1.00e+00 1.00e+00h 1 78 2.0819816e+00 1.02e-02 4.00e-04 -4.0 8.54e+01 -12.2 1.00e+00 1.00e+00f 1 79 2.0816803e+00 9.64e-04 4.85e-05 -4.1 4.57e+01 -12.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0816443e+00 4.70e-07 7.88e-07 -4.1 8.39e+00 -13.1 1.00e+00 1.00e+00h 1 81 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -13.6 1.00e+00 1.00e+00h 1 82 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -14.1 1.00e+00 1.00e+00h 1 83 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -14.5 9.77e-01 9.64e-01h 1 84 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -15.0 1.00e+00 1.00e+00h 1 85 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -15.5 1.00e+00 1.00e+00f 1 86 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -16.0 1.00e+00 1.00e+00h 1 87 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -16.5 1.00e+00 1.00e+00h 1 88 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -16.9 9.76e-01 9.67e-01h 1 89 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -17.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -17.9 1.00e+00 1.00e+00h 1 91 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -18.4 1.00e+00 1.00e+00f 1 92 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -18.8 1.00e+00 1.00e+00h 1 93 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -19.3 1.00e+00 1.00e+00h 1 94 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -19.8 9.76e-01 9.67e-01h 1 95 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-01 -20.0 1.00e+00 9.97e-01h 1 98 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 99 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+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 100 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0816662457200010e+00 2.0816662457200010e+00 Dual infeasibility......: 1.1597304775126053e-06 1.1597304775126053e-06 Constraint violation....: 1.6307560304351654e-06 1.6307560304351654e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.8026128348222174e-05 8.8026128348222174e-05 Overall NLP error.......: 1.4212971422118966e-05 1.4212971422118966e-05 Number of objective function evaluations = 120 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 120 Number of inequality constraint evaluations = 120 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 31.642 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.: 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 1.2460362e+01 2.77e+00 3.34e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.4808065e+00 7.64e-01 2.96e+00 -0.8 1.87e+00 0.0 7.64e-01 7.25e-01f 1 2 2.9090340e+00 7.42e-02 3.06e+00 -0.8 9.04e-01 -0.5 5.57e-01 1.00e+00f 1 3 2.6175070e+00 3.11e-02 1.55e-01 -1.0 1.78e-01 -0.1 9.72e-01 1.00e+00h 1 4 2.2849502e+00 3.80e-03 1.05e-01 -2.9 1.43e-01 -0.5 8.63e-01 1.00e+00h 1 5 2.1228439e+00 1.97e-03 1.19e-01 -3.0 1.10e-01 -1.0 9.99e-01 7.42e-01h 1 6 2.0919000e+00 9.14e-05 2.12e-03 -4.0 2.09e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0909217e+00 7.63e-07 3.18e-04 -4.0 2.12e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909122e+00 1.69e-09 9.86e-05 -4.0 2.70e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909073e+00 4.80e-10 1.80e-05 -4.0 1.49e-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 2.0909038e+00 5.12e-10 1.50e-05 -4.0 3.69e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908951e+00 3.86e-09 1.50e-05 -4.0 1.10e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908693e+00 3.35e-08 1.49e-05 -4.0 3.29e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907902e+00 2.95e-07 6.82e-05 -4.0 9.88e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0904665e+00 3.47e-06 1.21e-03 -4.0 3.32e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0898079e+00 3.38e-05 5.07e-03 -4.0 9.93e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0892684e+00 2.48e-05 2.03e-02 -4.0 7.09e+00 -5.4 1.00e+00 4.77e-01h 1 17 2.0884429e+00 4.82e-05 7.51e-03 -4.0 1.12e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0873551e+00 8.24e-05 6.94e-02 -4.0 3.23e+01 -6.3 1.00e+00 3.57e-01h 1 19 2.0840554e+00 1.13e-03 5.01e-02 -4.0 5.47e+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 2.0827659e+00 4.60e-04 1.91e-02 -4.0 5.17e+01 -7.3 1.00e+00 5.82e-01h 1 21 2.0825825e+00 1.27e-03 3.58e-02 -4.0 1.28e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0827541e+00 1.24e-03 5.68e-02 -4.0 6.75e+03 -8.2 4.38e-03 2.52e-02h 6 23 2.0822689e+00 2.15e-04 2.98e-03 -4.1 5.88e+00 -6.0 1.00e+00 1.00e+00h 1 24 2.0818714e+00 1.11e-04 1.12e-02 -4.1 1.61e+01 -6.5 8.68e-01 1.00e+00h 1 25 2.0822489e+00 3.07e-05 1.51e-01 -4.0 2.68e+02 -6.0 1.18e-02 2.63e-02h 2 26 2.0819076e+00 5.35e-07 1.83e-03 -4.0 7.33e-02 -2.0 1.00e+00 1.00e+00h 1 27 2.0818952e+00 6.85e-08 6.74e-04 -4.0 2.06e-02 -1.6 1.00e+00 1.00e+00h 1 28 2.0818804e+00 1.19e-08 2.18e-04 -4.0 2.31e-02 -2.0 1.00e+00 1.00e+00h 1 29 2.0818584e+00 1.22e-07 7.46e-05 -4.0 3.61e-02 -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 30 2.0818594e+00 4.89e-08 3.34e-05 -4.0 2.82e-02 -3.0 1.00e+00 1.00e+00h 1 31 2.0818690e+00 1.23e-07 3.34e-05 -4.0 8.21e-02 -3.5 1.00e+00 1.00e+00h 1 32 2.0818110e+00 1.72e-06 2.25e-04 -4.1 1.33e-01 -4.0 1.00e+00 1.00e+00h 1 33 2.0819392e+00 2.02e-05 4.72e-04 -4.0 6.11e-01 -4.4 1.00e+00 1.00e+00h 1 34 2.0818959e+00 2.87e-05 1.04e-03 -4.1 8.11e-01 -4.9 1.00e+00 1.00e+00h 1 35 2.0818907e+00 5.70e-05 4.24e-04 -4.1 9.74e-01 -5.4 1.00e+00 1.00e+00h 1 36 2.0812349e+00 3.09e-04 3.93e-03 -6.1 4.62e+00 -5.9 9.90e-01 1.00e+00h 1 37 2.0820065e+00 6.84e-06 2.25e-03 -4.0 5.76e-02 -3.6 1.00e+00 1.00e+00h 1 38 2.0816285e+00 1.69e-05 6.78e-04 -4.1 3.07e-01 -4.1 1.00e+00 1.00e+00h 1 39 2.0818184e+00 1.97e-05 4.07e-04 -4.0 6.91e-01 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817985e+00 5.21e-06 8.82e-04 -4.1 5.74e-01 -5.1 1.00e+00 1.00e+00h 1 41 2.0819891e+00 4.48e-05 2.39e-04 -4.0 2.08e+00 -5.5 1.00e+00 1.00e+00h 1 42 2.0819027e+00 2.07e-05 6.23e-04 -4.1 1.56e+00 -6.0 1.00e+00 1.00e+00h 1 43 2.0810775e+00 7.66e-04 5.45e-03 -6.1 1.04e+01 -6.5 9.96e-01 1.00e+00h 1 44 2.0815338e+00 3.26e-04 3.54e-01 -4.0 9.71e-01 -4.3 1.00e+00 5.76e-01h 1 45 2.0816627e+00 2.93e-05 1.28e-03 -4.0 1.37e+00 -4.7 1.00e+00 1.00e+00h 1 46 2.0816930e+00 8.61e-06 2.01e-03 -4.1 1.41e+00 -5.2 1.00e+00 1.00e+00h 1 47 2.0819354e+00 8.37e-05 1.21e-03 -4.0 3.68e+00 -5.7 1.00e+00 1.00e+00h 1 48 2.0818641e+00 4.44e-05 8.74e-04 -4.1 2.23e+00 -6.2 1.00e+00 1.00e+00h 1 49 2.0818729e+00 1.25e-05 3.17e-04 -4.1 4.16e+00 -6.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0809097e+00 2.02e-03 4.57e-03 -6.1 2.35e+01 -7.1 9.86e-01 1.00e+00h 1 51 2.0819854e+00 3.53e-03 3.90e-03 -4.0 3.07e+01 -7.6 1.00e+00 1.00e+00h 1 52 2.0816601e+00 1.44e-03 1.81e-03 -4.1 4.55e+01 -8.1 1.00e+00 1.00e+00h 1 53 2.0816011e+00 8.54e-05 2.96e-03 -4.1 5.41e+01 -8.6 1.00e+00 1.00e+00h 1 54 2.0818425e+00 6.48e-04 5.21e-04 -4.0 2.86e+01 -9.0 1.00e+00 1.00e+00h 1 55 2.0815820e+00 2.74e-04 2.84e-05 -4.1 1.22e+01 -9.5 1.00e+00 1.00e+00h 1 56 2.0818418e+00 2.01e-04 3.49e-05 -4.0 9.17e+00 -10.0 1.00e+00 1.00e+00h 1 57 2.0815819e+00 2.11e-04 2.84e-05 -4.1 9.64e+00 -10.5 1.00e+00 1.00e+00h 1 58 2.0818419e+00 2.13e-04 3.49e-05 -4.0 9.71e+00 -10.9 1.00e+00 1.00e+00h 1 59 2.0815819e+00 2.13e-04 2.84e-05 -4.1 9.73e+00 -11.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818419e+00 2.14e-04 3.49e-05 -4.0 9.74e+00 -11.9 1.00e+00 1.00e+00h 1 61 2.0815819e+00 2.14e-04 2.84e-05 -4.1 9.74e+00 -12.4 1.00e+00 1.00e+00h 1 62 2.0818419e+00 2.14e-04 3.49e-05 -4.0 9.75e+00 -12.8 1.00e+00 1.00e+00h 1 63 2.0815819e+00 2.14e-04 2.84e-05 -4.1 9.75e+00 -13.3 1.00e+00 1.00e+00h 1 64 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -13.8 9.77e-01 9.68e-01h 1 65 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -14.3 1.00e+00 1.00e+00f 1 66 2.0816124e+00 4.95e-04 2.90e-05 -4.1 2.07e+01 -14.8 1.00e+00 1.00e+00h 1 67 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -15.2 9.76e-01 9.61e-01h 1 68 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.7 1.00e+00 1.00e+00h 1 69 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -16.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.7 1.00e+00 1.00e+00h 1 71 2.0816420e+00 4.58e-07 2.99e-05 -4.1 8.54e+00 -17.1 1.00e+00 1.00e+00h 1 72 2.0818414e+00 1.26e-04 3.49e-05 -4.0 7.46e+00 -17.6 1.00e+00 1.00e+00h 1 73 2.0815817e+00 2.11e-04 2.84e-05 -4.1 9.63e+00 -18.1 1.00e+00 1.00e+00h 1 74 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -18.6 9.77e-01 9.68e-01h 1 75 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -19.1 1.00e+00 1.00e+00h 1 76 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -19.5 1.00e+00 1.00e+00f 1 77 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0816444e+00 5.44e-07 2.99e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 79 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0805468e+00 5.07e-08 2.99e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 82 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 83 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0816573e+00 1.18e-06 3.02e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 86 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0805469e+00 5.37e-08 3.04e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 89 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+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 90 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0816639e+00 1.62e-06 3.04e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 93 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0805470e+00 5.53e-08 3.06e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 96 2.0805365e+00 8.66e-11 3.48e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 97 2.0820406e+00 1.30e-02 4.36e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 98 2.0817222e+00 1.13e-03 7.75e-05 -4.1 5.82e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0816640e+00 1.63e-06 3.04e-05 -4.1 1.19e+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 100 2.0805948e+00 3.76e-03 1.60e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805948376385675e+00 2.0805948376385675e+00 Dual infeasibility......: 1.5952608562820082e-04 1.5952608562820082e-04 Constraint violation....: 3.7631750183466650e-03 3.7631750183466650e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.9414170706360415e-05 1.9414170706360415e-05 Overall NLP error.......: 3.7631750183466650e-03 3.7631750183466650e-03 Number of objective function evaluations = 111 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 111 Number of inequality constraint evaluations = 111 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 32.130 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 1.0320547e+02 2.67e+00 3.18e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5842511e+01 1.20e+00 1.42e+01 -0.5 1.90e+00 0.0 1.00e+00 5.53e-01f 1 2 3.1106527e+00 1.27e-01 1.39e+01 -0.2 1.23e+00 -0.5 1.00e+00 9.73e-01f 1 3 3.3759094e+00 1.26e-01 4.42e+00 -0.3 1.10e+00 -1.0 1.00e+00 1.00e+00f 1 4 3.1125753e+00 3.46e-02 6.24e-01 -1.0 5.97e-01 -1.4 9.91e-01 1.00e+00h 1 5 2.3969522e+00 9.99e-02 1.55e-01 -1.7 8.43e-01 -1.9 9.67e-01 1.00e+00f 1 6 2.1214811e+00 1.50e-02 1.32e-01 -3.2 3.97e-01 -2.4 7.54e-01 9.55e-01h 1 7 2.0943587e+00 3.55e-04 8.82e-03 -3.3 7.38e-02 -2.9 9.95e-01 1.00e+00h 1 8 2.0908973e+00 1.93e-05 2.35e-04 -4.0 4.22e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908718e+00 1.69e-07 2.35e-04 -4.0 1.20e-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 2.0908446e+00 3.90e-08 2.35e-04 -4.0 3.30e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907785e+00 2.36e-07 3.84e-04 -4.0 8.73e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905951e+00 2.34e-06 6.14e-04 -4.0 2.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0901525e+00 3.20e-06 1.11e-02 -4.0 7.82e+00 -5.7 1.00e+00 6.29e-01H 1 14 2.0898318e+00 2.17e-04 4.86e-02 -4.0 2.57e+01 -6.2 1.00e+00 1.00e+00f 1 15 2.0877238e+00 1.31e-04 8.40e-02 -4.0 6.28e+00 -4.9 1.00e+00 5.63e-01h 1 16 2.0876724e+00 3.64e-05 9.20e-03 -4.0 3.30e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0867043e+00 5.03e-05 5.98e-03 -4.0 9.89e+00 -5.8 1.00e+00 1.00e+00h 1 18 2.0851776e+00 1.85e-04 9.07e-03 -4.0 2.33e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0829474e+00 3.93e-04 2.68e-02 -4.0 3.83e+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 2.0827952e+00 5.28e-04 1.60e-02 -4.0 5.29e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823228e+00 6.72e-04 8.40e-03 -4.0 1.24e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.1312451e+00 2.06e-05 1.72e+00 -4.0 6.04e+02 -8.2 7.84e-02 1.00e+00H 1 23 2.0908847e+00 1.65e-04 8.41e+00 -4.1 9.82e+00 -2.4 1.33e-02 1.51e-01f 1 24 2.0867946e+00 1.27e-04 6.15e+00 -4.1 2.07e+00 -2.8 1.00e+00 2.72e-01f 1 25 2.0863876e+00 3.38e-04 5.35e+00 -3.4 1.20e+01 -3.3 1.00e+00 1.78e-01f 1 26 2.0851370e+00 1.47e-05 2.98e-03 -4.0 9.48e-02 -3.8 1.00e+00 1.00e+00h 1 27 2.0840951e+00 9.26e-06 2.02e-03 -4.0 1.56e-01 -4.3 1.00e+00 1.00e+00h 1 28 2.0838369e+00 5.31e-06 2.35e-04 -4.0 4.43e-01 -4.8 1.00e+00 1.00e+00h 1 29 2.0837515e+00 1.70e-06 2.35e-04 -4.0 1.28e+00 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0836065e+00 8.61e-06 3.95e-04 -4.0 3.52e+00 -5.7 1.00e+00 1.00e+00h 1 31 2.0834031e+00 1.84e-05 9.57e-04 -4.0 9.33e+00 -6.2 1.00e+00 1.00e+00h 1 32 2.0830732e+00 5.61e-05 2.34e-03 -4.0 2.40e+01 -6.7 1.00e+00 1.00e+00h 1 33 2.0825333e+00 3.24e-04 1.04e-02 -4.0 5.54e+01 -7.1 1.00e+00 1.00e+00h 1 34 2.0819873e+00 1.03e-03 2.50e-02 -4.0 1.06e+02 -7.6 1.00e+00 1.00e+00h 1 35 2.0817641e+00 5.11e-04 4.08e-02 -4.0 1.32e+03 -8.1 2.17e-02 1.03e-01h 4 36 2.1699600e+00 3.05e-04 3.56e-01 -4.0 1.76e+02 -8.6 1.74e-01 4.09e-01h 1 37 2.1615399e+00 1.77e-08 3.49e-01 -4.1 1.86e-02 1.3 1.00e+00 1.00e+00h 1 38 2.1442372e+00 3.90e-06 2.87e-01 -3.2 4.57e-02 0.8 1.00e+00 1.00e+00f 1 39 2.1166077e+00 3.00e-07 2.12e-01 -3.2 9.97e-02 0.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0923289e+00 4.23e-07 2.35e+00 -3.2 1.53e-01 -0.2 7.18e-01 1.00e+00f 1 41 2.0831877e+00 4.42e-07 6.69e-01 -3.2 1.37e-01 -0.6 9.28e-01 1.00e+00f 1 42 2.0823491e+00 7.25e-07 2.23e-03 -4.0 2.72e-02 -1.1 1.00e+00 1.00e+00h 1 43 2.0819624e+00 1.23e-06 5.91e-04 -4.0 2.30e-02 -1.6 1.00e+00 1.00e+00h 1 44 2.0819006e+00 7.70e-08 2.35e-04 -4.0 1.31e-02 -2.1 1.00e+00 1.00e+00h 1 45 2.0818963e+00 4.44e-09 2.35e-04 -4.0 3.45e-03 -2.5 1.00e+00 1.00e+00h 1 46 2.0818963e+00 2.19e-09 2.35e-04 -4.0 2.83e-03 -3.0 1.00e+00 1.00e+00h 1 47 2.0818963e+00 2.57e-10 2.35e-04 -4.0 8.47e-03 -3.5 1.00e+00 1.00e+00h 1 48 2.0818961e+00 1.05e-10 2.35e-04 -4.0 2.54e-02 -4.0 1.00e+00 1.00e+00h 1 49 2.0818957e+00 1.01e-09 2.35e-04 -4.0 7.62e-02 -4.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818945e+00 8.46e-09 2.35e-04 -4.0 2.29e-01 -4.9 1.00e+00 1.00e+00h 1 51 2.0818915e+00 6.37e-08 2.35e-04 -4.0 6.89e-01 -5.4 1.00e+00 1.00e+00h 1 52 2.0818850e+00 4.31e-07 2.35e-04 -4.0 2.08e+00 -5.9 1.00e+00 1.00e+00h 1 53 2.0818690e+00 3.53e-06 2.35e-04 -4.0 6.45e+00 -6.4 1.00e+00 1.00e+00h 1 54 2.0818051e+00 5.79e-05 6.73e-04 -4.0 2.25e+01 -6.8 1.00e+00 1.00e+00h 1 55 2.0817605e+00 8.97e-05 1.37e-03 -4.0 1.22e+01 -6.4 1.00e+00 1.00e+00h 1 56 2.0890201e+00 2.74e-09 7.16e-02 -4.0 4.67e+01 -6.9 2.66e-01 1.00e+00H 1 57 2.0856291e+00 1.71e-06 5.19e+00 -3.7 2.94e-01 -1.0 1.00e+00 2.38e-01f 1 58 2.0821644e+00 1.21e-06 6.40e-01 -4.0 1.47e-01 -1.5 1.00e+00 8.38e-01f 1 59 2.0818598e+00 4.97e-07 1.02e+00 -4.1 9.33e-02 -2.0 7.87e-01 9.52e-01H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818146e+00 9.88e-06 2.17e-01 -4.0 7.24e-02 -2.5 1.00e+00 6.51e-01f 1 61 2.0818118e+00 1.84e-06 2.67e-04 -4.0 3.64e-02 -3.0 1.00e+00 1.00e+00h 1 62 2.0818024e+00 1.18e-07 2.35e-04 -4.0 1.77e-02 -3.4 1.00e+00 1.00e+00h 1 63 2.0818052e+00 1.19e-08 2.35e-04 -4.0 5.26e-02 -3.9 1.00e+00 1.00e+00h 1 64 2.0818132e+00 6.99e-08 2.35e-04 -4.0 1.51e-01 -4.4 1.00e+00 1.00e+00h 1 65 2.0816923e+00 3.46e-06 1.88e-04 -4.1 2.13e-01 -4.9 1.00e+00 1.00e+00h 1 66 2.0818683e+00 2.11e-05 2.50e-04 -4.0 1.05e+00 -5.3 1.00e+00 1.00e+00h 1 67 2.0817375e+00 3.40e-05 4.42e-04 -4.1 1.88e+00 -5.8 1.00e+00 1.00e+00h 1 68 2.0808629e+00 5.91e-04 1.15e-02 -6.1 8.49e+00 -6.3 9.73e-01 8.54e-01h 1 69 2.0807644e+00 6.05e-05 4.26e-03 -4.8 7.20e+00 -6.8 1.00e+00 9.01e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0820275e+00 5.12e-03 7.60e-02 -4.0 4.91e+01 -7.2 3.87e-01 1.00e+00f 1 71 2.0813895e+00 1.90e-04 1.69e-03 -4.3 2.97e+00 -5.9 1.00e+00 1.00e+00h 1 72 2.0811801e+00 1.15e-04 9.97e-04 -4.3 6.28e+00 -6.4 1.00e+00 1.00e+00h 1 73 2.0820752e+00 1.84e-03 1.02e-01 -4.0 4.22e+01 -6.9 5.43e-01 1.00e+00h 1 74 2.0818050e+00 1.53e-03 2.04e+00 -4.2 7.73e+00 -4.6 3.56e-01 1.23e-01h 1 75 2.0817366e+00 1.51e-03 1.03e+00 -4.2 5.91e+00 -5.1 2.14e-01 1.57e-02h 1 76 2.0816116e+00 1.35e-03 1.60e+00 -4.2 3.38e+00 -5.6 1.00e+00 1.07e-01f 1 77 2.0815414e+00 4.05e-04 7.64e-03 -4.2 3.64e+00 -6.1 1.00e+00 1.00e+00f 1 78 2.0818480e+00 2.45e-04 1.17e-01 -4.2 2.29e+01 -6.5 4.60e-01 1.00e+00h 1 79 2.0815972e+00 4.03e-10 1.54e-03 -4.2 6.37e-02 -1.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0818141e+00 1.46e-06 7.09e-04 -4.0 5.43e-02 -2.1 1.00e+00 1.00e+00h 1 81 2.0817194e+00 4.70e-08 1.89e-04 -4.1 1.01e-02 -2.6 1.00e+00 1.00e+00h 1 82 2.0811355e+00 2.54e-06 1.00e-01 -6.1 4.36e-02 -3.0 7.60e-01 1.00e+00h 1 83 2.0819757e+00 5.77e-06 2.56e-03 -4.0 6.23e-02 -3.5 1.00e+00 1.00e+00f 1 84 2.0817074e+00 1.91e-06 1.89e-04 -4.1 4.92e-02 -4.0 1.00e+00 1.00e+00h 1 85 2.0811099e+00 3.67e-05 7.92e-02 -6.1 3.84e-01 -4.5 8.00e-01 1.00e+00h 1 86 2.0819224e+00 5.94e-05 2.96e-03 -4.0 5.03e-01 -4.9 1.00e+00 1.00e+00h 1 87 2.0815879e+00 9.39e-05 1.88e-04 -4.1 1.86e+00 -5.4 1.00e+00 1.00e+00h 1 88 2.0815000e+00 2.65e-04 1.95e-01 -6.1 3.71e+01 -5.9 9.27e-02 1.78e-01h 2 89 2.0810561e+00 1.02e-04 6.20e-01 -6.1 1.46e-01 -2.8 4.22e-01 6.15e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0818667e+00 2.97e-05 7.24e-01 -4.0 3.01e-01 -2.3 1.00e+00 7.06e-01f 1 91 2.0814866e+00 3.00e-07 3.69e-03 -4.1 1.15e-01 -2.8 1.00e+00 1.00e+00h 1 92 2.0815151e+00 8.95e-07 7.12e-04 -4.0 5.11e-02 -3.3 1.00e+00 1.00e+00h 1 93 2.0814432e+00 1.37e-06 2.21e-04 -4.1 8.40e-02 -3.8 1.00e+00 1.00e+00h 1 94 2.0810507e+00 2.05e-05 1.58e-01 -6.1 2.40e-01 -4.2 6.42e-01 1.00e+00h 1 95 2.0816720e+00 6.41e-05 2.46e-03 -4.0 5.85e-01 -4.7 1.00e+00 1.00e+00h 1 96 2.0815081e+00 2.47e-05 6.08e-04 -4.1 7.17e-01 -5.2 1.00e+00 1.00e+00h 1 97 2.0808820e+00 2.76e-04 3.02e-03 -6.1 2.93e+00 -5.7 1.00e+00 1.00e+00h 1 98 2.0807971e+00 6.05e-07 4.45e-03 -6.1 1.73e-01 -3.4 9.11e-01 1.00e+00h 1 99 2.0809792e+00 5.20e-06 1.83e-01 -4.0 2.26e+00 -3.9 1.32e-01 1.88e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0809004e+00 7.24e-06 8.73e-04 -4.9 3.64e-01 -4.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0809004168624430e+00 2.0809004168624430e+00 Dual infeasibility......: 8.7329100007200761e-04 8.7329100007200761e-04 Constraint violation....: 7.2359752714135084e-06 7.2359752714135084e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 5.8326685882931746e-05 5.8326685882931746e-05 Overall NLP error.......: 8.7329100007200761e-04 8.7329100007200761e-04 Number of objective function evaluations = 113 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 113 Number of inequality constraint evaluations = 113 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 36.116 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 4.8922762e+00 5.10e+00 4.72e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5448699e+00 1.14e-01 6.28e-01 -1.3 2.75e+00 -2.0 9.45e-01 1.00e+00h 1 2 2.3341344e+00 1.87e-01 6.60e-01 -1.3 3.15e+00 -2.5 7.69e-01 9.95e-01h 1 3 2.2034744e+00 2.28e-02 3.42e-02 -2.0 8.89e-01 -3.0 9.91e-01 1.00e+00h 1 4 2.1020525e+00 2.20e-02 6.55e-02 -2.9 1.55e+00 -3.4 9.52e-01 9.23e-01h 1 5 2.0923042e+00 2.14e-04 5.64e-03 -3.6 1.60e-01 -3.9 9.97e-01 1.00e+00h 1 6 2.0907951e+00 9.11e-05 2.11e-04 -4.0 5.02e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906499e+00 8.44e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902090e+00 7.79e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888968e+00 7.15e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0850606e+00 6.77e-04 2.80e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796435e+00 2.10e-03 1.77e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.35e-01h 1 12 2.0802250e+00 6.62e-04 1.88e-01 -4.0 6.83e+01 -7.2 1.00e+00 9.51e-01H 1 13 2.0774765e+00 8.35e-03 1.54e-02 -4.0 1.23e+02 -7.7 1.00e+00 9.53e-01h 1 14 2.0768567e+00 1.53e-03 7.23e-02 -4.0 2.05e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0762289e+00 2.43e-03 2.83e-02 -4.0 3.52e+02 -8.7 1.00e+00 8.18e-01h 1 16 2.0755254e+00 1.51e-03 4.02e-02 -4.0 5.95e+02 -9.2 1.00e+00 6.87e-01h 1 17 2.0757747e+00 3.19e-03 1.35e-02 -4.0 1.67e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0753800e+00 1.17e-03 5.60e-04 -4.1 8.35e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756723e+00 4.60e-04 5.20e-06 -4.0 2.09e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 5.62e-07 9.28e-07 -4.0 1.09e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.66e-09 6.13e-08 -4.0 3.79e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.39e-11 9.55e-10 -4.0 5.51e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121311929e+00 2.0756712121311929e+00 Dual infeasibility......: 9.5490879044096352e-10 9.5490879044096352e-10 Constraint violation....: 2.3901436385642683e-11 2.3901436385642683e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 9.5490879044096352e-10 9.5490879044096352e-10 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 28.216 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 2.3806458e+00 2.71e+00 6.95e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8015704e+00 3.59e-02 2.83e+00 -1.1 2.44e+00 0.0 1.00e+00 1.00e+00h 1 2 2.5667414e+00 4.69e-03 3.26e-01 -1.4 1.01e-01 0.4 9.94e-01 1.00e+00h 1 3 2.2253717e+00 3.52e-03 1.19e-01 -2.0 1.22e-01 -0.1 9.73e-01 9.96e-01f 1 4 2.1159510e+00 1.17e-03 3.01e-01 -3.2 8.55e-02 -0.5 1.00e+00 6.71e-01h 1 5 2.0986926e+00 5.79e-04 5.71e-01 -4.0 1.72e-01 -1.0 1.00e+00 6.61e-01h 1 6 2.0925644e+00 3.19e-04 2.54e-02 -4.0 2.79e-01 -1.5 1.00e+00 1.00e+00h 1 7 2.0913844e+00 2.50e-04 6.57e-01 -4.0 2.66e-01 -2.0 1.00e+00 1.84e-01h 1 8 2.0907951e+00 3.55e-05 5.65e-02 -4.0 5.99e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908491e+00 9.35e-07 4.57e-04 -4.0 2.07e-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 2.0908447e+00 1.75e-08 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908298e+00 8.83e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907850e+00 7.87e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906507e+00 7.09e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902487e+00 6.42e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890519e+00 5.87e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855438e+00 5.53e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796263e+00 2.26e-03 1.37e-01 -4.0 9.54e+01 -6.7 1.00e+00 6.26e-01h 1 18 2.0807066e+00 1.58e-04 1.80e-01 -4.0 6.56e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775273e+00 7.42e-03 2.44e-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 2.0769517e+00 1.10e-03 5.29e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759809e+00 1.01e-03 2.35e-02 -4.0 3.15e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754463e+00 4.99e-04 2.95e-02 -4.0 4.65e+02 -9.1 1.00e+00 7.26e-01H 1 23 2.0757698e+00 2.16e-03 1.05e-02 -4.0 1.41e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753800e+00 1.38e-03 4.83e-04 -4.1 7.82e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 4.08e-04 6.99e-06 -4.0 1.85e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.36e-04 8.02e-07 -4.1 2.60e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.14e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.01e-04 2.62e-07 -4.1 2.05e+01 -12.0 1.00e+00 1.00e+00h 1 29 2.0756725e+00 5.53e-04 1.18e-07 -4.0 2.26e+01 -12.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753425e+00 5.53e-04 9.06e-08 -4.1 2.26e+01 -12.9 1.00e+00 1.00e+00h 1 31 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.4 9.28e-01 1.00e+00h 1 32 2.0757517e+00 1.59e-01 1.53e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 33 2.0753574e+00 2.64e-02 8.69e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 34 2.0753474e+00 1.15e-05 2.14e-06 -4.1 1.63e+02 -14.8 1.00e+00 1.00e+00h 1 35 2.0756726e+00 7.25e-04 1.64e-07 -4.0 3.02e+01 -15.3 1.00e+00 1.00e+00h 1 36 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 37 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 38 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 39 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.2 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.7 1.00e+00 1.00e+00h 1 41 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.2 1.00e+00 1.00e+00h 1 42 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.7 1.00e+00 1.00e+00h 1 43 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.1 1.00e+00 1.00e+00h 1 44 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.6 1.00e+00 1.00e+00h 1 45 2.0756726e+00 7.23e-04 1.61e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 48 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 49 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 51 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 58 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 59 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 61 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 68 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 69 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 72 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 73 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 76 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 77 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 79 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 83 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 84 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 86 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 87 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 91 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 93 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 94 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 97 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 98 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0739527e+00 5.48e-08 5.24e-06 -6.5 3.94e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0740476e+00 1.42e-02 4.44e-02 -4.0 9.26e+04 -20.0 1.00e+00 3.50e-02f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740476226011366e+00 2.0740476226011366e+00 Dual infeasibility......: 4.4440948322914557e-02 4.4440948322914557e-02 Constraint violation....: 1.4164404722585289e-02 1.4164404722585289e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728777e-04 2.3095644031728777e-04 Overall NLP error.......: 4.4440948322914557e-02 4.4440948322914557e-02 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 29.473 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 4.6719105e+00 3.03e+00 9.27e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5464729e+00 1.11e-01 2.59e+00 -1.0 2.59e+00 0.0 9.41e-01 1.00e+00f 1 2 2.3695816e+00 1.06e-02 1.03e+00 -1.0 1.78e-01 0.4 8.41e-01 9.40e-01h 1 3 2.3461458e+00 1.39e-03 2.24e-01 -1.7 7.59e-02 -0.1 9.82e-01 1.00e+00h 1 4 2.1479875e+00 1.91e-03 8.47e-02 -2.5 6.63e-02 -0.5 9.87e-01 7.98e-01f 1 5 2.0922699e+00 1.25e-04 1.36e-02 -3.8 1.15e-02 -1.0 9.98e-01 9.41e-01h 1 6 2.0909146e+00 2.95e-07 7.39e-04 -4.0 3.35e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909131e+00 2.59e-09 8.77e-05 -4.0 7.99e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909125e+00 1.71e-11 4.53e-05 -4.0 1.24e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909109e+00 1.07e-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 2.0909059e+00 9.66e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908909e+00 8.70e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908461e+00 7.83e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907118e+00 7.06e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903097e+00 6.39e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891124e+00 5.85e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856027e+00 5.52e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796240e+00 2.30e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.31e-01h 1 18 2.0807219e+00 1.43e-04 1.79e-01 -4.0 6.67e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775267e+00 7.07e-03 2.41e-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 2.0769564e+00 1.04e-03 4.33e-02 -4.0 1.78e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0761280e+00 1.00e-03 1.88e-02 -4.0 3.25e+02 -8.6 1.00e+00 8.45e-01h 1 22 2.0754780e+00 2.02e-03 2.82e-02 -4.0 5.36e+02 -9.1 1.00e+00 7.31e-01h 1 23 2.0757853e+00 2.61e-03 1.42e-02 -4.0 1.59e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756789e+00 3.54e-04 6.38e-04 -4.0 8.08e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756713e+00 2.05e-06 1.03e-05 -4.0 2.31e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 6.51e-08 1.30e-06 -4.0 1.42e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.69e-09 1.12e-07 -4.0 4.65e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.76e-11 1.87e-09 -4.0 7.36e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121668115e+00 2.0756712121668115e+00 Dual infeasibility......: 1.8656063854134361e-09 1.8656063854134361e-09 Constraint violation....: 4.7619685972222214e-11 4.7619685972222214e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000057e-04 1.0000000000000057e-04 Overall NLP error.......: 1.8656063854134361e-09 1.8656063854134361e-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 = 30.239 EXIT: Optimal Solution Found. Test Summary: | Pass Total Time Package | 202 202 20m38.0s Testing DirectTrajOpt tests passed Testing completed after 1319.98s PkgEval succeeded after 1878.44s