Package evaluation to test DirectTrajOpt on Julia 1.11.7 (58327cce5e*) started at 2025-10-29T04:56:27.193 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Set-up completed after 8.59s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Installed DirectTrajOpt ─ v0.5.0 Updating `~/.julia/environments/v1.11/Project.toml` [c823fa1f] + DirectTrajOpt v0.5.0 Updating `~/.julia/environments/v1.11/Manifest.toml` [47edcb42] + ADTypes v1.18.0 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.42 [79e6a3ab] + Adapt v4.4.0 [4fba245c] + ArrayInterface v7.22.0 [4c555306] + ArrayLayouts v1.12.0 [6e4b80f9] + BenchmarkTools v1.6.3 [62783981] + BitTwiddlingConvenienceFunctions v0.1.6 [2a0fbf3d] + CPUSummary v0.2.7 [d360d2e6] + ChainRulesCore v1.26.0 [0b6fb165] + ChunkCodecCore v1.0.0 [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 v0.2.4 [bbf7d656] + CommonSubexpressions v0.3.1 [f70d9fcc] + CommonWorldInvalidations v1.0.0 [34da2185] + Compat v4.18.1 [a33af91c] + CompositionsBase v0.1.2 [2569d6c7] + ConcreteStructs v0.2.3 [187b0558] + ConstructionBase v1.6.0 [adafc99b] + CpuId v0.3.1 [864edb3b] + DataStructures v0.19.1 [2b5f629d] + DiffEqBase v6.190.2 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [c823fa1f] + DirectTrajOpt v0.5.0 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.5 [f151be2c] + EnzymeCore v0.8.15 [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 v1.1.3 [5789e2e9] + FileIO v1.17.1 [1a297f60] + FillArrays v1.14.0 [6a86dc24] + FiniteDiff v2.29.0 [f6369f11] + ForwardDiff v1.2.2 [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 v1.12.1 [92d709cd] + IrrationalConstants v0.2.6 [82899510] + IteratorInterfaceExtensions v1.0.0 [033835bb] + JLD2 v0.6.2 [692b3bcd] + JLLWrappers v1.7.1 [682c06a0] + JSON v1.2.0 [0f8b85d8] + JSON3 v1.14.3 [ae98c720] + Jieko v0.2.1 [10f19ff3] + LayoutPointers v0.1.17 [5078a376] + LazyArrays v2.8.0 [2ab3a3ac] + LogExpFunctions v0.3.29 [e6f89c97] + LoggingExtras v1.2.0 [1914dd2f] + MacroTools v0.5.16 [d125e4d3] + ManualMemory v0.1.8 [b8f27783] + MathOptInterface v1.46.0 [2e0e35c7] + Moshi v0.3.7 [46d2c3a1] + MuladdMacro v0.2.4 [d8a4904e] + MutableArithmetics v1.6.7 [77ba4419] + NaNMath v1.1.3 [538bc3a1] + NamedTrajectories v0.6.0 [bac558e1] + OrderedCollections v1.8.1 [bbf590c4] + OrdinaryDiffEqCore v1.36.0 [b1df2697] + OrdinaryDiffEqTsit5 v1.5.0 [69de0a69] + Parsers v2.8.3 [f517fe37] + Polyester v0.7.18 [1d0040c9] + PolyesterWeave v0.2.2 [d236fae5] + PreallocationTools v0.4.34 ⌅ [aea7be01] + PrecompileTools v1.2.1 [21216c6a] + Preferences v1.5.0 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v3.39.0 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.15 [94e857df] + SIMDTypes v0.1.0 [0bca4576] + SciMLBase v2.124.0 [a6db7da4] + SciMLLogging v1.3.1 [c0aeaf25] + SciMLOperators v1.9.0 [431bcebd] + SciMLPublic v1.0.0 [53ae85a6] + SciMLStructures v1.7.0 [7e506255] + ScopedValues v1.5.0 [efcf1570] + Setfield v1.1.2 [ce78b400] + SimpleUnPack v1.1.0 [276daf66] + SpecialFunctions v2.6.1 [aedffcd0] + Static v1.3.1 [0d7ed370] + StaticArrayInterface v1.8.0 [90137ffa] + StaticArrays v1.9.15 [1e83bf80] + StaticArraysCore v1.4.4 [10745b16] + Statistics v1.11.1 [7792a7ef] + StrideArraysCore v0.5.8 [856f2bd8] + StructTypes v1.11.0 [ec057cc2] + StructUtils v2.5.1 [2efcf032] + SymbolicIndexingInterface v0.3.46 [f8b46487] + TestItemRunner v1.1.0 [1c621080] + TestItems v1.0.0 [8290d209] + ThreadingUtilities v0.5.5 [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 v300.1400.1900+0 [94ce4f54] + Libiconv_jll v1.18.0+0 [d00139f3] + METIS_jll v5.1.3+0 [d7ed1dd3] + MUMPS_seq_jll v500.800.100+0 [656ef2d0] + OpenBLAS32_jll v0.3.29+0 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 ⌅ [319450e9] + SPRAL_jll v2025.5.20+0 ⌅ [02c8fc9c] + XML2_jll v2.13.9+0 [a65dc6b1] + Xorg_libpciaccess_jll v0.18.1+0 [3161d3a3] + Zstd_jll v1.5.7+1 [0dad84c5] + ArgTools v1.1.2 [56f22d72] + Artifacts v1.11.0 [2a0f44e3] + Base64 v1.11.0 [ade2ca70] + Dates v1.11.0 [8ba89e20] + Distributed v1.11.0 [f43a241f] + Downloads v1.6.0 [7b1f6079] + FileWatching v1.11.0 [9fa8497b] + Future v1.11.0 [b77e0a4c] + InteractiveUtils v1.11.0 [b27032c2] + LibCURL v0.6.4 [76f85450] + LibGit2 v1.11.0 [8f399da3] + Libdl v1.11.0 [37e2e46d] + LinearAlgebra v1.11.0 [56ddb016] + Logging v1.11.0 [d6f4376e] + Markdown v1.11.0 [a63ad114] + Mmap v1.11.0 [ca575930] + NetworkOptions v1.2.0 [44cfe95a] + Pkg v1.11.0 [de0858da] + Printf v1.11.0 [9abbd945] + Profile v1.11.0 [9a3f8284] + Random v1.11.0 [ea8e919c] + SHA v0.7.0 [9e88b42a] + Serialization v1.11.0 [6462fe0b] + Sockets v1.11.0 [2f01184e] + SparseArrays v1.11.0 [fa267f1f] + TOML v1.0.3 [a4e569a6] + Tar v1.10.0 [8dfed614] + Test v1.11.0 [cf7118a7] + UUIDs v1.11.0 [4ec0a83e] + Unicode v1.11.0 [e66e0078] + CompilerSupportLibraries_jll v1.1.1+0 [deac9b47] + LibCURL_jll v8.6.0+0 [e37daf67] + LibGit2_jll v1.7.2+0 [29816b5a] + LibSSH2_jll v1.11.0+1 [c8ffd9c3] + MbedTLS_jll v2.28.6+0 [14a3606d] + MozillaCACerts_jll v2023.12.12 [4536629a] + OpenBLAS_jll v0.3.27+1 [05823500] + OpenLibm_jll v0.8.5+0 [bea87d4a] + SuiteSparse_jll v7.7.0+0 [83775a58] + Zlib_jll v1.2.13+1 [8e850b90] + libblastrampoline_jll v5.11.0+0 [8e850ede] + nghttp2_jll v1.59.0+0 [3f19e933] + p7zip_jll v17.4.0+2 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m` Installation completed after 8.31s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompilation completed after 307.69s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_LUJtUH/Project.toml` [c823fa1f] DirectTrajOpt v0.5.0 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.2.2 [b6b21f68] Ipopt v1.12.1 [b8f27783] MathOptInterface v1.46.0 [538bc3a1] NamedTrajectories v0.6.0 [b1df2697] OrdinaryDiffEqTsit5 v1.5.0 [189a3867] Reexport v1.2.2 [f8b46487] TestItemRunner v1.1.0 [1c621080] TestItems v1.0.0 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.11.0 [2f01184e] SparseArrays v1.11.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_LUJtUH/Manifest.toml` [47edcb42] ADTypes v1.18.0 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.42 [79e6a3ab] Adapt v4.4.0 [4fba245c] ArrayInterface v7.22.0 [4c555306] ArrayLayouts v1.12.0 [6e4b80f9] BenchmarkTools v1.6.3 [62783981] BitTwiddlingConvenienceFunctions v0.1.6 [2a0fbf3d] CPUSummary v0.2.7 [d360d2e6] ChainRulesCore v1.26.0 [0b6fb165] ChunkCodecCore v1.0.0 [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 v0.2.4 [bbf7d656] CommonSubexpressions v0.3.1 [f70d9fcc] CommonWorldInvalidations v1.0.0 [34da2185] Compat v4.18.1 [a33af91c] CompositionsBase v0.1.2 [2569d6c7] ConcreteStructs v0.2.3 [187b0558] ConstructionBase v1.6.0 [adafc99b] CpuId v0.3.1 [864edb3b] DataStructures v0.19.1 [2b5f629d] DiffEqBase v6.190.2 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [c823fa1f] DirectTrajOpt v0.5.0 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.5 [f151be2c] EnzymeCore v0.8.15 [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 v1.1.3 [5789e2e9] FileIO v1.17.1 [1a297f60] FillArrays v1.14.0 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.2.2 [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 v1.12.1 [92d709cd] IrrationalConstants v0.2.6 [82899510] IteratorInterfaceExtensions v1.0.0 [033835bb] JLD2 v0.6.2 [692b3bcd] JLLWrappers v1.7.1 [682c06a0] JSON v1.2.0 [0f8b85d8] JSON3 v1.14.3 [ae98c720] Jieko v0.2.1 [10f19ff3] LayoutPointers v0.1.17 [5078a376] LazyArrays v2.8.0 [2ab3a3ac] LogExpFunctions v0.3.29 [e6f89c97] LoggingExtras v1.2.0 [1914dd2f] MacroTools v0.5.16 [d125e4d3] ManualMemory v0.1.8 [b8f27783] MathOptInterface v1.46.0 [2e0e35c7] Moshi v0.3.7 [46d2c3a1] MuladdMacro v0.2.4 [d8a4904e] MutableArithmetics v1.6.7 [77ba4419] NaNMath v1.1.3 [538bc3a1] NamedTrajectories v0.6.0 [bac558e1] OrderedCollections v1.8.1 [bbf590c4] OrdinaryDiffEqCore v1.36.0 [b1df2697] OrdinaryDiffEqTsit5 v1.5.0 [69de0a69] Parsers v2.8.3 [f517fe37] Polyester v0.7.18 [1d0040c9] PolyesterWeave v0.2.2 [d236fae5] PreallocationTools v0.4.34 ⌅ [aea7be01] PrecompileTools v1.2.1 [21216c6a] Preferences v1.5.0 [3cdcf5f2] RecipesBase v1.3.4 [731186ca] RecursiveArrayTools v3.39.0 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.15 [94e857df] SIMDTypes v0.1.0 [0bca4576] SciMLBase v2.124.0 [a6db7da4] SciMLLogging v1.3.1 [c0aeaf25] SciMLOperators v1.9.0 [431bcebd] SciMLPublic v1.0.0 [53ae85a6] SciMLStructures v1.7.0 [7e506255] ScopedValues v1.5.0 [efcf1570] Setfield v1.1.2 [ce78b400] SimpleUnPack v1.1.0 [276daf66] SpecialFunctions v2.6.1 [aedffcd0] Static v1.3.1 [0d7ed370] StaticArrayInterface v1.8.0 [90137ffa] StaticArrays v1.9.15 [1e83bf80] StaticArraysCore v1.4.4 [10745b16] Statistics v1.11.1 [7792a7ef] StrideArraysCore v0.5.8 [856f2bd8] StructTypes v1.11.0 [ec057cc2] StructUtils v2.5.1 [2efcf032] SymbolicIndexingInterface v0.3.46 [f8b46487] TestItemRunner v1.1.0 [1c621080] TestItems v1.0.0 [8290d209] ThreadingUtilities v0.5.5 [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 v300.1400.1900+0 [94ce4f54] Libiconv_jll v1.18.0+0 [d00139f3] METIS_jll v5.1.3+0 [d7ed1dd3] MUMPS_seq_jll v500.800.100+0 [656ef2d0] OpenBLAS32_jll v0.3.29+0 [efe28fd5] OpenSpecFun_jll v0.5.6+0 ⌅ [319450e9] SPRAL_jll v2025.5.20+0 ⌅ [02c8fc9c] XML2_jll v2.13.9+0 [a65dc6b1] Xorg_libpciaccess_jll v0.18.1+0 [3161d3a3] Zstd_jll v1.5.7+1 [0dad84c5] ArgTools v1.1.2 [56f22d72] Artifacts v1.11.0 [2a0f44e3] Base64 v1.11.0 [ade2ca70] Dates v1.11.0 [8ba89e20] Distributed v1.11.0 [f43a241f] Downloads v1.6.0 [7b1f6079] FileWatching v1.11.0 [9fa8497b] Future v1.11.0 [b77e0a4c] InteractiveUtils v1.11.0 [b27032c2] LibCURL v0.6.4 [76f85450] LibGit2 v1.11.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.11.0 [56ddb016] Logging v1.11.0 [d6f4376e] Markdown v1.11.0 [a63ad114] Mmap v1.11.0 [ca575930] NetworkOptions v1.2.0 [44cfe95a] Pkg v1.11.0 [de0858da] Printf v1.11.0 [9abbd945] Profile v1.11.0 [9a3f8284] Random v1.11.0 [ea8e919c] SHA v0.7.0 [9e88b42a] Serialization v1.11.0 [6462fe0b] Sockets v1.11.0 [2f01184e] SparseArrays v1.11.0 [fa267f1f] TOML v1.0.3 [a4e569a6] Tar v1.10.0 [8dfed614] Test v1.11.0 [cf7118a7] UUIDs v1.11.0 [4ec0a83e] Unicode v1.11.0 [e66e0078] CompilerSupportLibraries_jll v1.1.1+0 [deac9b47] LibCURL_jll v8.6.0+0 [e37daf67] LibGit2_jll v1.7.2+0 [29816b5a] LibSSH2_jll v1.11.0+1 [c8ffd9c3] MbedTLS_jll v2.28.6+0 [14a3606d] MozillaCACerts_jll v2023.12.12 [4536629a] OpenBLAS_jll v0.3.27+1 [05823500] OpenLibm_jll v0.8.5+0 [bea87d4a] SuiteSparse_jll v7.7.0+0 [83775a58] Zlib_jll v1.2.13+1 [8e850b90] libblastrampoline_jll v5.11.0+0 [8e850ede] nghttp2_jll v1.59.0+0 [3f19e933] p7zip_jll v17.4.0+2 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. Testing Running tests... initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u ****************************************************************************** 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 5.8.1. Number of nonzeros in equality constraint Jacobian...: 404 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 325 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.5240131e+00 2.84e+00 7.44e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0021718e+00 2.92e-01 3.77e+00 -0.9 1.73e+00 0.0 9.90e-01 1.00e+00h 1 2 2.1664127e+00 4.68e-02 7.21e-01 -1.0 2.81e-01 0.4 9.64e-01 1.00e+00f 1 3 2.0181285e+00 2.20e-03 2.31e-01 -1.4 1.04e-01 -0.1 9.03e-01 1.00e+00h 1 4 2.0106388e+00 2.93e-04 5.42e-02 -2.4 2.29e-02 0.4 9.99e-01 1.00e+00h 1 5 1.9770902e+00 5.00e-03 5.20e-02 -3.1 7.65e-02 -0.1 9.98e-01 1.00e+00h 1 6 1.9580850e+00 6.94e-04 7.50e-02 -3.9 3.64e-02 0.3 1.00e+00 1.00e+00h 1 7 1.9192946e+00 4.70e-03 1.18e-01 -4.0 3.89e-01 -0.2 1.00e+00 2.49e-01f 1 8 1.8516475e+00 3.86e-03 1.80e-01 -3.7 9.28e-02 0.3 1.00e+00 1.00e+00h 1 9 1.7980953e+00 8.91e-04 2.07e-01 -4.0 4.35e-02 0.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.6218174e+00 1.10e-02 3.26e-01 -4.0 2.19e-01 0.2 1.00e+00 7.57e-01f 1 11 1.6189936e+00 1.08e-02 3.24e-01 -4.0 6.55e-02 0.6 7.13e-02 1.77e-02h 1 12 1.3396538e+00 1.54e-02 1.41e+00 -3.1 3.17e-01 0.2 1.00e+00 6.08e-01f 1 13 1.1770755e+00 5.27e-03 3.56e-01 -2.6 8.86e-02 0.6 8.31e-01 8.43e-01h 1 14 9.1520491e-01 1.24e-02 4.52e-01 -2.6 1.81e-01 0.1 9.64e-01 1.00e+00f 1 15 4.2999797e-01 3.29e-02 8.38e-01 -2.9 2.32e-01 0.5 1.00e+00 1.00e+00f 1 16 2.7919171e-01 1.04e-02 1.11e+00 -3.5 6.86e-02 1.0 4.63e-01 6.83e-01h 1 17 8.8432277e-02 7.98e-03 7.81e-01 -3.5 2.71e-01 0.5 1.00e+00 3.02e-01f 1 18 3.9348389e-02 6.33e-03 7.35e-01 -4.0 9.34e-02 0.9 1.00e+00 2.13e-01h 1 19 -1.1505985e-01 5.28e-03 1.52e+00 -4.0 3.60e-01 0.4 1.00e+00 2.48e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 -1.9116047e-01 3.27e-03 1.08e+00 -2.8 8.47e-02 0.9 8.77e-01 5.82e-01h 1 21 -7.0706527e-01 6.56e-02 8.06e-01 -3.3 3.19e-01 0.4 1.00e+00 1.00e+00f 1 22 -9.8773574e-01 1.85e-03 1.07e+00 -2.8 1.64e-01 0.8 1.00e+00 1.00e+00h 1 23 -1.7328102e+00 5.13e-02 9.80e-01 -3.3 4.30e-01 0.3 1.00e+00 1.00e+00f 1 24 -3.7658505e+00 4.54e+00 1.63e+01 -1.8 2.32e+00 -0.1 1.29e-01 1.00e+00f 1 25 -5.8577848e+00 8.18e-02 2.02e+01 -1.1 1.26e+00 1.2 1.00e+00 1.00e+00f 1 26 -6.2665328e+00 3.28e-03 9.46e-01 -1.2 1.81e-01 0.7 9.97e-01 1.00e+00f 1 27 -7.6845325e+00 8.91e-02 9.95e-01 -1.8 6.03e-01 0.2 9.86e-01 1.00e+00f 1 28 -8.3070669e+00 3.34e-03 9.80e-01 -2.6 2.13e-01 0.7 9.96e-01 1.00e+00f 1 29 -9.3107743e+00 2.52e-02 9.64e-01 -3.0 6.18e-01 0.2 1.00e+00 6.41e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 -1.0006672e+01 5.75e-03 9.61e-01 -3.8 2.34e-01 0.6 1.00e+00 1.00e+00f 1 31 -1.2374067e+01 2.63e-01 9.80e-01 -2.2 7.23e-01 0.1 1.00e+00 9.27e-01f 1 32 -1.2634741e+01 6.01e-02 1.15e+00 -2.0 3.10e-01 0.6 1.00e+00 1.00e+00f 1 33 -1.3222519e+01 4.66e-02 1.59e+00 -1.8 1.53e+00 0.1 1.00e+00 2.15e-01f 1 34 -1.3974190e+01 1.78e-02 9.78e-01 -1.9 3.03e-01 0.5 9.95e-01 1.00e+00f 1 35 -1.5234716e+01 4.78e-01 2.32e+00 -1.6 3.47e+00 0.0 6.38e-01 2.63e-01f 1 36 -1.6098040e+01 1.18e-01 1.24e+00 -3.2 3.86e-01 0.5 4.08e-01 9.33e-01h 1 37 -2.0131161e+01 4.78e-01 1.77e+00 -2.3 1.18e+00 -0.0 1.00e+00 9.68e-01f 1 38 -2.1706207e+01 7.96e-02 9.53e-01 -2.3 3.74e-01 0.4 9.98e-01 1.00e+00f 1 39 -2.2698060e+01 1.55e-01 2.50e+00 -1.6 2.81e+00 -0.1 8.56e-01 1.60e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 -2.3605444e+01 1.03e-01 9.50e-01 -2.5 5.49e-01 0.4 7.20e-01 4.17e-01f 1 41 -2.9946906e+01 1.85e+00 4.79e+00 -1.6 2.23e+00 -0.1 8.77e-01 1.00e+00f 1 42 -3.3445271e+01 9.56e-01 7.06e+00 -1.6 1.43e+00 0.3 9.98e-01 9.68e-01f 1 43 -4.1101290e+01 1.11e+00 1.53e+01 -0.9 2.80e+00 -0.2 1.00e+00 1.00e+00f 1 44 -4.4618476e+01 1.60e-01 3.36e+00 -1.3 7.72e-01 0.3 1.00e+00 1.00e+00f 1 45 -4.5910785e+01 1.23e-02 2.70e+00 -2.0 2.06e-01 0.7 1.00e+00 1.00e+00f 1 46 -4.8938844e+01 1.11e-01 3.40e+00 -2.3 5.85e-01 0.2 1.00e+00 8.65e-01f 1 47 -5.9368291e+01 2.59e-01 2.66e+00 -2.4 1.92e+00 -0.3 1.00e+00 9.91e-01f 1 48 -7.4279744e+01 3.59e-01 5.21e+00 -1.7 6.30e+00 -0.8 1.00e+00 4.14e-01f 1 49 -7.4992209e+01 2.36e-01 4.25e+00 -0.8 5.25e-01 0.6 7.14e-01 5.83e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 -7.5600880e+01 3.18e-02 1.28e+01 -1.2 2.28e-01 1.0 8.98e-01 1.00e+00f 1 51 -7.6139626e+01 1.92e-01 1.04e+01 0.5 1.95e+01 0.5 1.39e-01 2.80e-02f 2 52 -8.0758373e+01 3.67e-02 1.24e+01 -1.1 8.38e-01 0.1 9.98e-01 1.00e+00f 1 53 -8.3064427e+01 2.93e-02 9.43e-01 -1.8 3.17e-01 0.5 1.00e+00 1.00e+00f 1 54 -8.8962869e+01 4.24e-01 1.88e+00 -1.4 1.35e+00 -0.0 9.03e-01 8.11e-01f 1 55 -9.1089137e+01 3.92e-01 1.31e+00 -0.5 1.47e+01 -0.5 1.88e-01 6.26e-02f 1 56 -9.3369830e+01 2.52e-01 2.53e+00 -0.8 1.36e+00 -0.1 1.00e+00 2.50e-01f 1 57 -1.1726896e+02 2.18e+00 1.42e+01 -0.9 3.43e+00 -0.5 8.44e-01 1.00e+00f 1 58 -1.2723889e+02 8.92e-01 1.85e+01 -0.6 1.26e+00 -0.1 1.00e+00 1.00e+00f 1 59 -1.4746896e+02 1.63e+00 3.36e+01 -0.3 4.09e+00 -0.6 1.00e+00 8.00e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 -1.5149987e+02 2.09e+00 7.23e+01 0.2 3.28e+00 -0.2 9.77e-01 4.67e-01f 1 61 -1.9334865e+02 2.28e+00 8.41e+01 0.6 1.20e+01 -0.6 8.12e-01 1.00e+00f 1 62 -1.9829382e+02 2.48e+00 3.01e+02 0.9 5.30e+00 -0.2 3.32e-01 3.36e-01h 1 63 -1.9495854e+02 1.68e+00 9.27e+02 0.7 1.89e+00 1.1 9.80e-01 9.60e-01h 1 64 -1.9111181e+02 7.61e-01 1.83e+04 0.6 7.25e-01 3.4 9.83e-01 7.57e-01h 1 65 -1.9284497e+02 7.52e-01 6.88e+05 1.3 3.08e-01 5.6 1.00e+00 1.00e+00f 1 66 -1.9078959e+02 8.86e-01 2.86e+07 1.4 2.81e-01 6.9 1.00e+00 9.68e-01h 1 67 -1.9292827e+02 3.48e-01 7.31e+07 1.3 5.15e-01 7.3 1.00e+00 7.16e-01h 1 68 -1.9634043e+02 1.42e-01 1.04e+08 2.1 1.90e-01 7.8 1.00e+00 1.00e+00f 1 69 -1.9774661e+02 1.37e-01 1.50e+09 2.2 1.27e-01 9.1 1.00e+00 1.00e+00F 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 -1.9686060e+02 9.93e-02 2.08e+10 1.0 5.38e-02 10.4 1.00e+00 1.00e+00h 1 71 -1.9715995e+02 1.66e-02 8.69e+09 0.8 1.30e-02 10.9 1.00e+00 1.00e+00f 1 72 -1.9722587e+02 1.52e-03 1.75e+09 -0.9 6.98e-03 11.3 1.00e+00 1.00e+00h 1 73 -1.9723211e+02 5.51e-06 1.26e+08 -2.5 2.19e-04 10.8 1.00e+00 1.00e+00h 1 74 -1.9723213e+02 6.04e-11 2.34e+04 -4.0 1.11e-06 10.3 1.00e+00 1.00e+00h 1 75 -1.9723213e+02 2.97e-15 3.11e+00 -4.0 4.42e-10 9.8 1.00e+00 1.00e+00h 1 76 -1.9723213e+02 2.61e-15 3.06e+00 -4.1 1.30e-09 9.4 1.00e+00 1.00e+00h 1 77 -1.9723213e+02 2.89e-15 3.06e+00 -4.1 3.91e-09 8.9 1.00e+00 1.00e+00h 1 78 -1.9723213e+02 2.89e-15 3.06e+00 -4.1 1.17e-08 8.4 1.00e+00 1.00e+00h 1 79 -1.9723213e+02 1.68e-14 3.06e+00 -4.1 3.52e-08 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 80 -1.9723213e+02 1.56e-13 3.06e+00 -4.1 1.06e-07 7.5 1.00e+00 1.00e+00f 1 81 -1.9723214e+02 1.41e-12 3.06e+00 -4.1 3.17e-07 7.0 1.00e+00 1.00e+00f 1 82 -1.9723215e+02 1.27e-11 3.06e+00 -4.1 9.50e-07 6.5 1.00e+00 1.00e+00f 1 83 -1.9723220e+02 1.14e-10 3.06e+00 -4.0 2.85e-06 6.0 1.00e+00 1.00e+00f 1 84 -1.9723235e+02 1.03e-09 3.06e+00 -4.0 8.55e-06 5.6 1.00e+00 1.00e+00f 1 85 -1.9723277e+02 9.23e-09 3.06e+00 -4.0 2.57e-05 5.1 1.00e+00 1.00e+00f 1 86 -1.9723406e+02 8.30e-08 3.06e+00 -4.0 7.70e-05 4.6 1.00e+00 1.00e+00f 1 87 -1.9723791e+02 7.45e-07 3.06e+00 -4.0 2.31e-04 4.1 1.00e+00 1.00e+00f 1 88 -1.9724938e+02 6.64e-06 3.06e+00 -4.0 6.92e-04 3.6 1.00e+00 1.00e+00f 1 89 -1.9728314e+02 5.80e-05 3.05e+00 -4.0 2.08e-03 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 90 -1.9737906e+02 4.78e-04 3.04e+00 -4.0 6.20e-03 2.7 1.00e+00 1.00e+00f 1 91 -1.9762807e+02 3.30e-03 3.00e+00 -4.0 1.84e-02 2.2 1.00e+00 1.00e+00f 1 92 -1.9818351e+02 1.34e-02 2.83e+00 -4.0 5.22e-02 1.7 1.00e+00 1.00e+00f 1 93 -1.9944745e+02 2.28e-02 2.15e+00 -4.0 1.22e-01 1.3 1.00e+00 1.00e+00f 1 94 -2.0236479e+02 4.78e-02 2.54e+00 -4.0 2.30e-01 0.8 1.00e+00 1.00e+00f 1 95 -2.0592856e+02 9.51e-02 4.84e+00 -4.0 7.37e-01 0.3 1.00e+00 5.17e-01f 1 96 -2.0906960e+02 5.95e-02 3.95e+00 -2.9 2.55e-01 0.7 1.00e+00 1.00e+00f 1 97 -2.0921775e+02 7.31e-02 3.11e+00 -2.6 9.29e-02 1.2 1.00e+00 2.50e-01f 3 98 -2.0990923e+02 3.60e-02 2.00e+00 -3.3 3.98e-02 1.6 1.00e+00 1.00e+00f 1 99 -2.1095306e+02 8.76e-02 1.81e+00 -4.0 1.06e-01 1.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 -2.1213476e+02 4.90e-01 2.16e+01 -4.0 3.14e-01 0.6 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: -2.1213476335379511e+02 -2.1213476335379511e+02 Dual infeasibility......: 2.1621912817021194e+01 2.1621912817021194e+01 Constraint violation....: 4.8976225537218832e-01 4.8976225537218832e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0297641314866738e-04 1.0297641314866738e-04 Overall NLP error.......: 2.1621912817021194e+01 2.1621912817021194e+01 Number of objective function evaluations = 108 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 108 Number of inequality constraint evaluations = 108 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 80.778 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: symmetry constraint on u This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 422 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 325 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 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 1.2135804e+00 3.71e+00 1.47e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7496482e+00 3.53e-02 1.76e+00 -1.2 2.02e+00 -2.0 9.87e-01 1.00e+00h 1 2 1.7904870e+00 2.43e-01 1.39e+00 -0.8 4.08e+00 -1.6 8.76e-01 3.92e-01f 2 3 1.4542782e+00 2.22e-01 9.74e+00 -0.9 1.21e+00 -1.1 5.31e-01 1.00e+00h 1 4 1.5993286e+00 3.29e-02 2.31e+00 -1.4 2.61e-01 0.2 1.00e+00 1.00e+00h 1 5 1.8031230e+00 8.99e-03 2.06e+00 -1.5 1.78e-01 0.6 9.91e-01 1.00e+00h 1 6 1.8272841e+00 2.51e-03 1.98e+01 -2.5 9.03e-02 1.0 1.00e+00 1.00e+00h 1 7 1.7940611e+00 7.47e-04 7.58e+00 -4.0 5.63e-02 0.6 1.00e+00 1.00e+00h 1 8 1.5377145e+00 4.21e-02 5.73e+00 -4.0 2.78e-01 0.1 1.00e+00 1.00e+00f 1 9 1.4603157e+00 1.05e-02 1.07e+00 -4.0 1.11e-01 0.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 9.8173214e-01 1.98e-01 2.45e+00 -4.0 5.58e-01 0.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 9.8173214457808067e-01 9.8173214457808067e-01 Dual infeasibility......: 2.4475421116480511e+00 2.4475421116480511e+00 Constraint violation....: 1.9805012243256415e-01 1.9805012243256415e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999956658397671e-05 9.9999956658397671e-05 Overall NLP error.......: 2.4475421116480511e+00 2.4475421116480511e+00 Number of objective function evaluations = 13 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 13 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 42.994 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: duration constraint of 10.0 This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 414 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 325 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 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 3.6841232e+00 9.00e+00 6.00e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.6733138e+00 8.34e+00 1.69e+00 -4.0 3.69e+01 -2.0 4.34e-02 7.33e-02h 1 2 3.3582676e+00 8.32e+00 1.77e+00 -4.0 1.99e+02 -0.7 4.01e-04 2.12e-03f 1 3 4.3042854e+00 1.80e+00 1.71e+01 -0.8 8.31e+00 -0.2 8.92e-02 7.83e-01f 1 4 4.1281278e+00 1.62e+00 5.20e+01 -0.4 1.23e+00 1.1 5.66e-01 9.91e-02f 1 5 3.5723268e+00 6.05e-02 1.71e+01 0.1 1.99e+00 0.6 1.00e+00 1.00e+00f 1 6 2.2794875e+00 1.32e-02 3.42e+00 -0.3 3.16e-01 1.0 9.94e-01 1.00e+00f 1 7 2.1597595e+00 5.65e-03 1.29e+00 -1.1 9.62e-02 0.6 9.65e-01 1.00e+00h 1 8 1.9203964e+00 5.35e-02 6.03e-01 -1.6 2.71e-01 0.1 9.83e-01 1.00e+00f 1 9 1.4617059e+00 6.30e-02 4.94e-01 -1.3 6.81e-01 -0.4 1.00e+00 7.55e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.7788777e+00 1.47e-01 2.65e+00 -4.0 5.08e-01 0.0 2.89e-01 9.73e-01h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 1.7788776911095956e+00 1.7788776911095956e+00 Dual infeasibility......: 2.6507537938492121e+00 2.6507537938492121e+00 Constraint violation....: 1.4705560037615001e-01 1.4705560037615001e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.4562492573993875e-02 4.4562492573993875e-02 Overall NLP error.......: 2.6507537938492121e+00 2.6507537938492121e+00 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 45.273 EXIT: Maximum Number of Iterations Exceeded. 20×120 SparseArrays.SparseMatrixCSC{Float64, Int64} with 150 stored entries: ⎡⠀⠘⠀⠀⠀⠶⠀⠀⢀⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢰⣶⣶⣶⎤ ⎢⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠈⠀⠀⠀⠶⠀⠀⢠⡄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢨⣭⣭⣭⎥ ⎢⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠉⠀⠀⠀⠂⠀⠀⢠⡄⠀⠀⣀⠀⢸⣿⣿⣿⎥ ⎣⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠉⠀⠈⠉⠉⠉⎦ 20×120 Matrix{Float64}: 0.0 0.0 0.0 0.0 0.982229 0.187689 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -2.25471 -0.731561 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.00391767 -0.0138505 -0.0368107 -0.0372906 0.0298378 -0.00554298 0.00322055 -0.0437186 0.05122 0.010963 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.68536 -0.728204 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.62459 -1.72615 0.0 0.0 0.0 0.0 0.0 0.00508231 -0.017968 -0.0477537 -0.0483763 0.0387081 -0.0071908 0.00417796 -0.0567153 0.0664467 0.0142221 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 Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 404 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 325 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4226870e+00 3.06e+00 5.31e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 1.9359815e+00 4.10e-01 4.34e+00 -1.0 2.17e+00 0.0 9.87e-01 1.00e+00h 1 Hello, world! 2 1.4496639e+00 3.00e-01 6.72e+00 -0.7 1.33e+00 0.4 1.00e+00 2.73e-01h 1 Hello, world! 3 1.1881893e+00 3.97e-02 1.26e+01 -0.2 3.04e-01 0.9 5.16e-01 1.00e+00f 1 Hello, world! 4 1.0396084e+00 2.15e-03 1.16e+00 -1.0 6.13e-02 1.3 9.91e-01 1.00e+00h 1 Hello, world! 5 5.6659061e-01 8.88e-03 7.76e-01 -1.5 1.35e-01 0.8 9.66e-01 1.00e+00f 1 Hello, world! 6 -7.2780327e-01 1.51e-01 1.04e+00 -1.5 6.41e-01 0.3 9.58e-01 7.01e-01f 1 Hello, world! 7 -1.3454946e+00 1.33e-02 8.26e-01 -1.3 1.58e-01 0.7 1.00e+00 1.00e+00f 1 Hello, world! 8 -2.8347005e+00 2.67e-01 3.28e+00 -0.8 2.47e+00 0.3 7.20e-01 3.51e-01f 1 Hello, world! 9 -3.4006031e+00 7.63e-02 9.57e-01 -1.1 2.64e-01 0.7 8.14e-01 7.49e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 -6.1314031e+00 1.26e+00 1.98e+01 -4.0 3.10e+00 0.2 2.94e-01 6.47e-01f 1 Hello, world! 11 -6.2618323e+00 1.24e+00 1.93e+01 -2.8 2.83e+00 0.6 6.42e-01 2.04e-02h 1 Hello, world! 12 -7.8375684e+00 1.69e-01 3.15e+00 -2.4 4.83e-01 1.1 6.60e-01 1.00e+00f 1 Hello, world! 13 -8.7229811e+00 4.32e-02 2.19e+00 -2.2 2.49e-01 0.6 9.98e-01 6.97e-01f 1 Hello, world! 14 -1.1801658e+01 6.73e-02 1.01e+00 -2.5 7.97e-01 0.1 1.00e+00 8.96e-01f 1 Hello, world! 15 -1.3153208e+01 2.33e-02 9.84e-01 -2.1 2.83e-01 0.5 1.00e+00 1.00e+00f 1 Hello, world! 16 -1.5912960e+01 3.94e+00 1.55e+01 -1.1 3.90e+00 0.1 8.12e-01 7.12e-01f 1 Hello, world! 17 -1.7921943e+01 6.53e+00 4.51e+01 -1.2 3.18e+00 0.5 8.52e-01 9.29e-01f 1 Hello, world! 18 -2.2974021e+01 1.28e-01 9.33e+00 -1.2 1.07e+00 0.9 1.00e+00 1.00e+00f 1 Hello, world! 19 -2.4775072e+01 7.36e-03 1.09e+00 -1.8 3.54e-01 0.4 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 20 -3.0039911e+01 5.97e-02 1.17e+00 -1.8 1.06e+00 -0.0 9.76e-01 1.00e+00f 1 Hello, world! 21 -3.2483227e+01 1.05e-01 9.66e-01 -1.6 3.98e-01 0.4 1.00e+00 1.00e+00f 1 Hello, world! 22 -3.3514260e+01 1.48e-02 1.11e+00 -1.3 1.70e-01 0.8 8.90e-01 1.00e+00f 1 Hello, world! 23 -3.4774597e+01 1.17e-02 9.76e-01 -1.8 4.44e-01 0.3 9.98e-01 4.18e-01f 1 Hello, world! 24 -3.7826363e+01 8.56e-02 1.29e+00 -1.1 1.74e+00 -0.1 1.00e+00 3.32e-01f 1 Hello, world! 25 -5.9575251e+01 1.54e+00 9.07e+00 -0.8 4.29e+00 -0.6 5.59e-01 8.33e-01f 1 Hello, world! 26 -7.3011262e+01 1.42e+00 1.83e+01 -0.7 2.80e+00 -0.2 1.00e+00 1.00e+00f 1 Hello, world! 27 -7.7229603e+01 2.55e-01 9.15e+00 -0.7 7.19e-01 0.2 9.56e-01 1.00e+00f 1 Hello, world! 28 -8.7076233e+01 1.18e+00 2.26e+01 -0.4 3.78e+00 -0.2 8.91e-01 7.32e-01f 1 Hello, world! 29 -8.8477107e+01 1.40e-01 5.79e+00 -0.1 4.69e-01 1.1 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 -9.0273556e+01 7.47e-03 4.65e+00 -1.4 2.22e-01 0.6 9.98e-01 1.00e+00f 1 Hello, world! 31 -9.5376686e+01 2.56e-02 4.75e+00 -2.0 6.64e-01 0.1 1.00e+00 1.00e+00f 1 Hello, world! 32 -1.0455206e+02 1.09e-01 3.09e+00 -2.2 2.18e+00 -0.3 1.00e+00 5.53e-01f 1 Hello, world! 33 -1.3701695e+02 1.49e+00 2.78e+01 -2.3 8.67e+00 -0.8 1.00e+00 5.64e-01f 1 Hello, world! 34 -1.4751964e+02 2.98e+00 2.21e+01 -1.4 9.58e+00 -0.4 1.00e+00 3.71e-01f 1 Hello, world! 35 -1.4878858e+02 1.89e+00 2.42e+01 -0.5 8.48e-01 0.9 8.72e-01 3.90e-01f 1 Hello, world! 36 -1.4919060e+02 7.09e-01 8.18e+01 -0.4 1.00e+00 0.5 8.94e-01 1.00e+00f 1 Hello, world! 37 -1.5454542e+02 1.78e+00 5.56e+01 0.0 1.24e+00 -0.0 1.00e+00 1.00e+00f 1 Hello, world! 38 -1.5267534e+02 2.25e+00 1.18e+02 0.2 5.17e-01 1.3 1.00e+00 1.00e+00h 1 Hello, world! 39 -1.5471234e+02 1.49e+00 8.12e+02 0.6 1.01e+00 1.7 5.09e-01 9.63e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 -1.5330132e+02 1.81e+00 1.38e+03 0.3 9.99e-01 2.2 1.00e+00 1.00e+00f 1 Hello, world! 41 -1.5308958e+02 1.42e+00 7.21e+03 0.2 3.44e-01 3.5 6.03e-01 1.00e+00h 1 Hello, world! 42 -1.5295187e+02 1.05e+00 2.73e+04 0.5 5.02e-01 3.9 1.00e+00 1.00e+00f 1 Hello, world! 43 -1.5401789e+02 9.36e-01 9.47e+04 0.7 7.44e-01 4.3 1.00e+00 1.00e+00f 1 Hello, world! 44 -1.5421974e+02 7.80e-01 7.09e+04 1.0 5.69e-01 4.8 1.00e+00 1.52e-01f 3 Hello, world! 45 -1.5383493e+02 9.50e-01 2.43e+05 1.3 2.95e-01 5.2 1.00e+00 1.00e+00f 1 Hello, world! 46 -1.5442365e+02 8.45e-01 3.03e+05 1.1 1.38e-01 5.6 3.72e-01 4.49e-01f 2 Hello, world! 47 -1.5601086e+02 7.56e-01 5.34e+05 1.4 2.50e-01 5.1 1.00e+00 1.00e+00f 1 Hello, world! 48 -1.5556304e+02 7.23e-01 1.24e+05 1.5 2.71e-01 5.6 1.00e+00 4.64e-01h 2 Hello, world! 49 -1.5605917e+02 5.26e-01 8.66e+05 1.3 3.17e-01 5.1 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 -1.5669175e+02 1.40e-01 9.66e+04 1.0 4.61e-01 4.6 1.00e+00 1.00e+00f 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: -1.5669174999976937e+02 -1.5669174999976937e+02 Dual infeasibility......: 9.6583359212505035e+04 9.6583359212505035e+04 Constraint violation....: 1.4017365714083044e-01 1.4017365714083044e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.1022715654964154e+01 1.1022715654964154e+01 Overall NLP error.......: 1.2992524583739519e+03 9.6583359212505035e+04 Number of objective function evaluations = 60 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 60 Number of inequality constraint evaluations = 60 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 57.472 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 402 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 325 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4226870e+00 3.06e+00 5.31e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 1.9359815e+00 4.10e-01 4.34e+00 -1.0 2.17e+00 0.0 9.87e-01 1.00e+00h 1 Hello, world! 2 1.4496639e+00 3.00e-01 6.72e+00 -0.7 1.33e+00 0.4 1.00e+00 2.73e-01h 1 Hello, world! 3 1.1881893e+00 3.97e-02 1.26e+01 -0.2 3.04e-01 0.9 5.16e-01 1.00e+00f 1 Hello, world! 4 1.0396084e+00 2.15e-03 1.16e+00 -1.0 6.13e-02 1.3 9.91e-01 1.00e+00h 1 Hello, world! 5 5.6659061e-01 8.88e-03 7.76e-01 -1.5 1.35e-01 0.8 9.66e-01 1.00e+00f 1 Hello, world! 6 -7.2780327e-01 1.51e-01 1.04e+00 -1.5 6.41e-01 0.3 9.58e-01 7.01e-01f 1 Hello, world! 7 -1.3454946e+00 1.33e-02 8.26e-01 -1.3 1.58e-01 0.7 1.00e+00 1.00e+00f 1 Hello, world! 8 -2.8347005e+00 2.67e-01 3.28e+00 -0.8 2.47e+00 0.3 7.20e-01 3.51e-01f 1 Hello, world! 9 -3.4006031e+00 7.63e-02 9.57e-01 -1.1 2.64e-01 0.7 8.14e-01 7.49e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 -6.1314031e+00 1.26e+00 1.98e+01 -4.0 3.10e+00 0.2 2.94e-01 6.47e-01f 1 Hello, world! 11 -6.2618323e+00 1.24e+00 1.93e+01 -2.8 2.83e+00 0.6 6.42e-01 2.04e-02h 1 Hello, world! 12 -7.8375684e+00 1.69e-01 3.15e+00 -2.4 4.83e-01 1.1 6.60e-01 1.00e+00f 1 Hello, world! 13 -8.7229811e+00 4.32e-02 2.19e+00 -2.2 2.49e-01 0.6 9.98e-01 6.97e-01f 1 Hello, world! 14 -1.1801658e+01 6.73e-02 1.01e+00 -2.5 7.97e-01 0.1 1.00e+00 8.96e-01f 1 Hello, world! 15 -1.3153208e+01 2.33e-02 9.84e-01 -2.1 2.83e-01 0.5 1.00e+00 1.00e+00f 1 Hello, world! 16 -1.5912960e+01 3.94e+00 1.55e+01 -1.1 3.90e+00 0.1 8.12e-01 7.12e-01f 1 Hello, world! 17 -1.7921943e+01 6.53e+00 4.51e+01 -1.2 3.18e+00 0.5 8.52e-01 9.29e-01f 1 Hello, world! 18 -2.2974021e+01 1.28e-01 9.33e+00 -1.2 1.07e+00 0.9 1.00e+00 1.00e+00f 1 Hello, world! 19 -2.4775072e+01 7.36e-03 1.09e+00 -1.8 3.54e-01 0.4 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 20 -3.0039911e+01 5.97e-02 1.17e+00 -1.8 1.06e+00 -0.0 9.76e-01 1.00e+00f 1 Hello, world! 21 -3.2483227e+01 1.05e-01 9.66e-01 -1.6 3.98e-01 0.4 1.00e+00 1.00e+00f 1 Hello, world! 22 -3.3514260e+01 1.48e-02 1.11e+00 -1.3 1.70e-01 0.8 8.90e-01 1.00e+00f 1 Hello, world! 23 -3.4774597e+01 1.17e-02 9.76e-01 -1.8 4.44e-01 0.3 9.98e-01 4.18e-01f 1 Hello, world! 24 -3.7826363e+01 8.56e-02 1.29e+00 -1.1 1.74e+00 -0.1 1.00e+00 3.32e-01f 1 Hello, world! 25 -5.9575251e+01 1.54e+00 9.07e+00 -0.8 4.29e+00 -0.6 5.59e-01 8.33e-01f 1 Hello, world! 26 -7.3011262e+01 1.42e+00 1.83e+01 -0.7 2.80e+00 -0.2 1.00e+00 1.00e+00f 1 Hello, world! 27 -7.7229603e+01 2.55e-01 9.15e+00 -0.7 7.19e-01 0.2 9.56e-01 1.00e+00f 1 Hello, world! 28 -8.7076233e+01 1.18e+00 2.26e+01 -0.4 3.78e+00 -0.2 8.91e-01 7.32e-01f 1 Hello, world! 29 -8.8477107e+01 1.40e-01 5.79e+00 -0.1 4.69e-01 1.1 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 -9.0273555e+01 7.47e-03 4.65e+00 -1.4 2.22e-01 0.6 9.98e-01 1.00e+00f 1 Hello, world! 31 -9.5376686e+01 2.56e-02 4.75e+00 -2.0 6.64e-01 0.1 1.00e+00 1.00e+00f 1 Hello, world! 32 -1.0455205e+02 1.09e-01 3.09e+00 -2.2 2.18e+00 -0.3 1.00e+00 5.53e-01f 1 Hello, world! 33 -1.3701695e+02 1.49e+00 2.78e+01 -2.3 8.67e+00 -0.8 1.00e+00 5.64e-01f 1 Hello, world! 34 -1.4751963e+02 2.98e+00 2.21e+01 -1.4 9.58e+00 -0.4 1.00e+00 3.71e-01f 1 Hello, world! 35 -1.4878858e+02 1.89e+00 2.42e+01 -0.5 8.48e-01 0.9 8.72e-01 3.90e-01f 1 Hello, world! 36 -1.4919059e+02 7.09e-01 8.18e+01 -0.4 1.00e+00 0.5 8.94e-01 1.00e+00f 1 Hello, world! 37 -1.5454534e+02 1.78e+00 5.56e+01 0.0 1.24e+00 -0.0 1.00e+00 1.00e+00f 1 Hello, world! 38 -1.5267510e+02 2.25e+00 1.18e+02 0.2 5.17e-01 1.3 1.00e+00 1.00e+00h 1 Hello, world! 39 -1.5471219e+02 1.49e+00 8.12e+02 0.6 1.01e+00 1.7 5.08e-01 9.63e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 -1.5330112e+02 1.81e+00 1.38e+03 0.3 9.99e-01 2.2 1.00e+00 1.00e+00f 1 Hello, world! 41 -1.5308992e+02 1.42e+00 7.21e+03 0.2 3.44e-01 3.5 6.03e-01 1.00e+00h 1 Hello, world! 42 -1.5295327e+02 1.05e+00 2.73e+04 0.5 5.02e-01 3.9 1.00e+00 1.00e+00f 1 Hello, world! 43 -1.5402039e+02 9.35e-01 9.44e+04 0.7 7.43e-01 4.3 1.00e+00 1.00e+00f 1 Hello, world! 44 -1.5422271e+02 7.79e-01 7.07e+04 1.0 5.69e-01 4.8 1.00e+00 1.52e-01f 3 Hello, world! 45 -1.5384478e+02 9.52e-01 2.48e+05 1.3 2.96e-01 5.2 1.00e+00 1.00e+00f 1 Hello, world! 46 -1.5444353e+02 8.50e-01 3.06e+05 1.1 1.41e-01 5.6 3.67e-01 4.48e-01f 2 Hello, world! 47 -1.5600299e+02 7.57e-01 5.26e+05 1.4 2.51e-01 5.1 1.00e+00 1.00e+00f 1 Hello, world! 48 -1.5553984e+02 7.33e-01 9.39e+04 1.5 2.73e-01 5.6 1.00e+00 4.63e-01h 2 Hello, world! 49 -1.5596029e+02 5.60e-01 8.75e+05 1.3 3.06e-01 5.1 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 -1.5670572e+02 1.22e-01 9.43e+04 1.0 4.44e-01 4.6 1.00e+00 1.00e+00f 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: -1.5670571525037568e+02 -1.5670571525037568e+02 Dual infeasibility......: 9.4270590098751985e+04 9.4270590098751985e+04 Constraint violation....: 1.2166446183976587e-01 1.2166446183976587e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.1386365855103019e+01 1.1386365855103019e+01 Overall NLP error.......: 1.2445023218503716e+03 9.4270590098751985e+04 Number of objective function evaluations = 59 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 59 Number of inequality constraint evaluations = 59 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.831 EXIT: Stopping optimization at current point as requested by user. Test Summary: | Pass Total Time Package | 64 64 18m10.3s Testing DirectTrajOpt tests passed Testing completed after 1162.88s PkgEval succeeded after 1500.47s