Package evaluation to test DirectTrajOpt on Julia 1.13.0-alpha2.30 (5abf758bb1*) started at 2026-01-09T12:39:13.131 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Set-up completed after 9.37s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.13/Project.toml` [c823fa1f] + DirectTrajOpt v0.6.0 Updating `~/.julia/environments/v1.13/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 [2569d6c7] + ConcreteStructs v0.2.3 [187b0558] + ConstructionBase v1.6.0 [adafc99b] + CpuId v0.3.1 [864edb3b] + DataStructures v0.19.3 [2b5f629d] + DiffEqBase v6.195.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.13 [c823fa1f] + DirectTrajOpt v0.6.0 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.5 [f151be2c] + EnzymeCore v0.8.18 [e24c0720] + ExponentialAction v0.2.10 [e2ba6199] + ExprTools v0.1.10 [55351af7] + ExproniconLite v0.10.14 [7034ab61] + FastBroadcast v0.3.5 [9aa1b823] + FastClosures v0.3.2 [a4df4552] + FastPower v1.3.0 [5789e2e9] + FileIO v1.17.1 [1a297f60] + FillArrays v1.15.0 [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 v1.13.0 [92d709cd] + IrrationalConstants v0.2.6 [82899510] + IteratorInterfaceExtensions v1.0.0 [033835bb] + JLD2 v0.6.3 [692b3bcd] + JLLWrappers v1.7.1 [682c06a0] + JSON v1.3.0 [0f8b85d8] + JSON3 v1.14.3 [ae98c720] + Jieko v0.2.1 [10f19ff3] + LayoutPointers v0.1.17 [5078a376] + LazyArrays v2.9.4 [2ab3a3ac] + LogExpFunctions v0.3.29 [e6f89c97] + LoggingExtras v1.2.0 [1914dd2f] + MacroTools v0.5.16 [d125e4d3] + ManualMemory v0.1.8 [b8f27783] + MathOptInterface v1.48.0 [bb5d69b7] + MaybeInplace v0.1.4 [2e0e35c7] + Moshi v0.3.7 [46d2c3a1] + MuladdMacro v0.2.4 [d8a4904e] + MutableArithmetics v1.6.7 [77ba4419] + NaNMath v1.1.3 [538bc3a1] + NamedTrajectories v0.7.0 [be0214bd] + NonlinearSolveBase v2.9.0 [bac558e1] + OrderedCollections v1.8.1 [bbf590c4] + OrdinaryDiffEqCore v2.3.0 [b1df2697] + OrdinaryDiffEqTsit5 v1.8.0 [69de0a69] + Parsers v2.8.3 [f517fe37] + Polyester v0.7.18 [1d0040c9] + PolyesterWeave v0.2.2 [d236fae5] + PreallocationTools v1.0.0 [aea7be01] + PrecompileTools v1.3.3 [21216c6a] + Preferences v1.5.1 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v3.43.0 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.16 [94e857df] + SIMDTypes v0.1.0 [0bca4576] + SciMLBase v2.132.0 [19f34311] + SciMLJacobianOperators v0.1.12 [a6db7da4] + SciMLLogging v1.8.0 [c0aeaf25] + SciMLOperators v1.14.1 [431bcebd] + SciMLPublic v1.0.1 [53ae85a6] + SciMLStructures v1.9.0 [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 v2.6.1 [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 v300.1400.1900+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 [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 v1.0.0 [76f85450] + LibGit2 v1.11.0 [8f399da3] + Libdl v1.11.0 [37e2e46d] + LinearAlgebra v1.13.0 [56ddb016] + Logging v1.11.0 [d6f4376e] + Markdown v1.11.0 [a63ad114] + Mmap v1.11.0 [ca575930] + NetworkOptions v1.3.0 [44cfe95a] + Pkg v1.13.0 [de0858da] + Printf v1.11.0 [9abbd945] + Profile v1.11.0 [9a3f8284] + Random v1.11.0 [ea8e919c] + SHA v1.0.0 [9e88b42a] + Serialization v1.11.0 [6462fe0b] + Sockets v1.11.0 [2f01184e] + SparseArrays v1.13.0 [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 v8.16.0+0 [e37daf67] + LibGit2_jll v1.9.1+0 [29816b5a] + LibSSH2_jll v1.11.3+1 [14a3606d] + MozillaCACerts_jll v2025.12.2 [4536629a] + OpenBLAS_jll v0.3.29+0 [05823500] + OpenLibm_jll v0.8.7+0 [458c3c95] + OpenSSL_jll v3.5.4+0 [efcefdf7] + PCRE2_jll v10.46.0+0 [bea87d4a] + SuiteSparse_jll v7.10.1+0 [83775a58] + Zlib_jll v1.3.1+2 [3161d3a3] + Zstd_jll v1.5.7+1 [8e850b90] + libblastrampoline_jll v5.15.0+0 [8e850ede] + nghttp2_jll v1.67.1+0 [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 5.25s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompilation completed after 299.83s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_iybys0/Project.toml` [c823fa1f] DirectTrajOpt v0.6.0 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.3.1 [b6b21f68] Ipopt v1.13.0 [b8f27783] MathOptInterface v1.48.0 [538bc3a1] NamedTrajectories v0.7.0 [b1df2697] OrdinaryDiffEqTsit5 v1.8.0 [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 v1.13.0 [2f01184e] SparseArrays v1.13.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_iybys0/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 [2569d6c7] ConcreteStructs v0.2.3 [187b0558] ConstructionBase v1.6.0 [adafc99b] CpuId v0.3.1 [864edb3b] DataStructures v0.19.3 [2b5f629d] DiffEqBase v6.195.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a0c0ee7d] DifferentiationInterface v0.7.13 [c823fa1f] DirectTrajOpt v0.6.0 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.5 [f151be2c] EnzymeCore v0.8.18 [e24c0720] ExponentialAction v0.2.10 [e2ba6199] ExprTools v0.1.10 [55351af7] ExproniconLite v0.10.14 [7034ab61] FastBroadcast v0.3.5 [9aa1b823] FastClosures v0.3.2 [a4df4552] FastPower v1.3.0 [5789e2e9] FileIO v1.17.1 [1a297f60] FillArrays v1.15.0 [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 v1.13.0 [92d709cd] IrrationalConstants v0.2.6 [82899510] IteratorInterfaceExtensions v1.0.0 [033835bb] JLD2 v0.6.3 [692b3bcd] JLLWrappers v1.7.1 [682c06a0] JSON v1.3.0 [0f8b85d8] JSON3 v1.14.3 [ae98c720] Jieko v0.2.1 [10f19ff3] LayoutPointers v0.1.17 [5078a376] LazyArrays v2.9.4 [2ab3a3ac] LogExpFunctions v0.3.29 [e6f89c97] LoggingExtras v1.2.0 [1914dd2f] MacroTools v0.5.16 [d125e4d3] ManualMemory v0.1.8 [b8f27783] MathOptInterface v1.48.0 [bb5d69b7] MaybeInplace v0.1.4 [2e0e35c7] Moshi v0.3.7 [46d2c3a1] MuladdMacro v0.2.4 [d8a4904e] MutableArithmetics v1.6.7 [77ba4419] NaNMath v1.1.3 [538bc3a1] NamedTrajectories v0.7.0 [be0214bd] NonlinearSolveBase v2.9.0 [bac558e1] OrderedCollections v1.8.1 [bbf590c4] OrdinaryDiffEqCore v2.3.0 [b1df2697] OrdinaryDiffEqTsit5 v1.8.0 [69de0a69] Parsers v2.8.3 [f517fe37] Polyester v0.7.18 [1d0040c9] PolyesterWeave v0.2.2 [d236fae5] PreallocationTools v1.0.0 [aea7be01] PrecompileTools v1.3.3 [21216c6a] Preferences v1.5.1 [3cdcf5f2] RecipesBase v1.3.4 [731186ca] RecursiveArrayTools v3.43.0 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.16 [94e857df] SIMDTypes v0.1.0 [0bca4576] SciMLBase v2.132.0 [19f34311] SciMLJacobianOperators v0.1.12 [a6db7da4] SciMLLogging v1.8.0 [c0aeaf25] SciMLOperators v1.14.1 [431bcebd] SciMLPublic v1.0.1 [53ae85a6] SciMLStructures v1.9.0 [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 v2.6.1 [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 v300.1400.1900+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 [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 v1.0.0 [76f85450] LibGit2 v1.11.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.13.0 [56ddb016] Logging v1.11.0 [d6f4376e] Markdown v1.11.0 [a63ad114] Mmap v1.11.0 [ca575930] NetworkOptions v1.3.0 [44cfe95a] Pkg v1.13.0 [de0858da] Printf v1.11.0 [9abbd945] Profile v1.11.0 [9a3f8284] Random v1.11.0 [ea8e919c] SHA v1.0.0 [9e88b42a] Serialization v1.11.0 [6462fe0b] Sockets v1.11.0 [2f01184e] SparseArrays v1.13.0 [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 v8.16.0+0 [e37daf67] LibGit2_jll v1.9.1+0 [29816b5a] LibSSH2_jll v1.11.3+1 [14a3606d] MozillaCACerts_jll v2025.12.2 [4536629a] OpenBLAS_jll v0.3.29+0 [05823500] OpenLibm_jll v0.8.7+0 [458c3c95] OpenSSL_jll v3.5.4+0 [efcefdf7] PCRE2_jll v10.46.0+0 [bea87d4a] SuiteSparse_jll v7.10.1+0 [83775a58] Zlib_jll v1.3.1+2 [3161d3a3] Zstd_jll v1.5.7+1 [8e850b90] libblastrampoline_jll v5.15.0+0 [8e850ede] nghttp2_jll v1.67.1+0 [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... 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 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...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.8935482e+00 2.95e+00 3.32e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8928069e+00 2.38e-02 7.26e-01 -1.0 2.14e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3029601e+00 2.74e-02 7.70e-02 -1.8 3.99e-01 -1.6 9.78e-01 1.00e+00f 1 3 2.1279553e+00 4.88e-03 2.70e-01 -3.1 1.29e-01 -1.1 9.12e-01 1.00e+00h 1 4 2.0970584e+00 1.27e-03 2.07e-01 -4.0 1.11e-01 -1.6 1.00e+00 7.94e-01h 1 5 2.0914566e+00 3.80e-04 1.48e-01 -4.0 2.95e-01 -2.1 1.00e+00 6.44e-01h 1 6 2.0909355e+00 7.72e-05 1.86e-01 -4.0 6.95e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909929e+00 3.28e-07 5.84e-03 -4.0 2.35e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909942e+00 1.98e-07 2.06e-05 -4.0 7.05e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909734e+00 1.65e-08 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909114e+00 1.47e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907287e+00 1.30e-06 4.97e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902080e+00 1.10e-05 4.20e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888618e+00 8.22e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861681e+00 4.40e-04 1.74e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830911e+00 9.17e-04 4.71e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828582e+00 9.34e-04 2.34e-02 -4.0 5.39e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823456e+00 3.99e-04 1.00e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820401e+00 9.21e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.68e-04 8.67e-03 -4.0 9.92e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.68e-05 8.45e-04 -4.0 3.10e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.31e-07 1.39e-05 -4.0 4.46e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.79e-10 3.27e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.50e-13 1.22e-11 -4.0 4.60e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190978e+00 2.0819382907190978e+00 Dual infeasibility......: 1.2207433441923168e-11 1.2207433441923168e-11 Constraint violation....: 2.5046631435543532e-13 2.5046631435543532e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 1.2207433441923168e-11 1.2207433441923168e-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 = 20.450 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 5.8.1. 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 4.8689604e+00 2.56e+00 3.94e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8380119e+00 1.94e-02 4.86e-01 -1.0 1.77e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3412608e+00 2.24e-02 5.52e-02 -1.7 3.77e-01 -1.6 9.57e-01 1.00e+00h 1 3 2.1527973e+00 2.34e-03 1.59e-01 -2.8 8.22e-02 -1.1 9.87e-01 9.66e-01h 1 4 2.0990759e+00 1.05e-03 9.90e-02 -4.0 9.35e-02 -1.6 1.00e+00 8.82e-01h 1 5 2.0918720e+00 3.86e-04 6.03e-01 -4.0 4.61e-01 -2.1 1.00e+00 3.94e-01h 1 6 2.0909042e+00 3.43e-04 9.94e-01 -4.0 1.46e+00 -2.6 1.00e+00 7.34e-01h 1 7 2.0908720e+00 2.11e-05 2.26e-01 -4.0 4.57e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909252e+00 5.23e-06 7.38e-04 -4.0 9.09e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908763e+00 3.64e-06 8.29e-05 -4.0 2.62e-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 2.0908069e+00 1.93e-07 3.77e-04 -4.0 6.42e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907019e+00 8.92e-07 1.93e-03 -4.0 1.35e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904287e+00 6.94e-06 1.21e-03 -4.0 4.32e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0896028e+00 5.06e-05 1.89e-03 -4.0 1.21e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0878702e+00 1.49e-04 4.15e-02 -4.0 3.13e+01 -6.4 1.00e+00 6.87e-01h 1 15 2.0853319e+00 1.39e-03 9.79e-02 -4.0 6.42e+01 -6.9 1.00e+00 1.00e+00f 1 16 2.0833534e+00 5.34e-04 7.93e-02 -4.0 7.42e+00 -5.5 1.00e+00 6.50e-01h 1 17 2.0831700e+00 8.83e-05 5.96e-03 -4.0 4.19e+00 -6.0 1.00e+00 1.00e+00h 1 18 2.0828587e+00 2.24e-05 2.14e-03 -4.0 9.75e+00 -6.5 1.00e+00 1.00e+00h 1 19 2.0827384e+00 2.51e-05 1.60e-03 -4.0 2.75e+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 2.0824798e+00 1.74e-04 2.82e-03 -4.0 7.23e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821771e+00 1.12e-03 1.26e-02 -4.0 1.88e+02 -7.9 5.00e-01 1.00e+00h 1 22 2.0820068e+00 5.82e-04 7.21e-03 -4.0 6.04e+00 -5.7 1.00e+00 1.00e+00h 1 23 2.0819544e+00 2.90e-04 2.08e-02 -4.0 6.35e+00 -6.2 9.21e-01 1.00e+00h 1 24 2.0820021e+00 5.07e-05 5.20e-02 -4.0 4.33e+00 -6.7 1.00e+00 7.27e-01h 1 25 2.0820208e+00 1.44e-04 1.58e-03 -4.0 9.98e+00 -7.1 1.00e+00 1.00e+00h 1 26 2.0817136e+00 6.16e-04 4.43e-04 -4.1 2.75e+01 -7.6 1.00e+00 1.00e+00h 1 27 2.0818816e+00 1.04e-03 3.37e-03 -4.0 4.44e+01 -8.1 1.00e+00 1.00e+00h 1 28 2.0815890e+00 1.10e-03 2.16e-03 -4.1 4.96e+01 -8.6 1.00e+00 1.00e+00h 1 29 2.0818402e+00 6.37e-04 4.47e-04 -4.0 2.72e+01 -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 30 2.0818383e+00 1.48e-06 2.14e-05 -4.0 5.56e+00 -9.5 1.00e+00 1.00e+00h 1 31 2.0818383e+00 3.04e-09 1.39e-07 -4.0 4.68e-01 -10.0 1.00e+00 1.00e+00h 1 32 2.0818383e+00 2.23e-12 1.26e-10 -4.0 1.38e-02 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 2.0818383021847278e+00 2.0818383021847278e+00 Dual infeasibility......: 1.2594305345793241e-10 1.2594305345793241e-10 Constraint violation....: 2.2293278334473143e-12 2.2293278334473143e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 1.2594305345793241e-10 1.2594305345793241e-10 Number of objective function evaluations = 33 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 33 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 33 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 32 Total seconds in IPOPT = 18.253 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. 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 1.3980265e+00 9.99e-01 1.12e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7647636e+00 2.88e-01 2.06e+00 -0.8 9.99e-01 0.0 9.86e-01 1.00e+00h 1 2 1.6898820e+00 5.71e-02 6.11e-01 -0.9 3.24e-01 -0.5 6.93e-01 8.02e-01h 1 3 1.2896207e+00 2.15e-01 1.16e+00 -1.7 2.79e+00 - 8.67e-01 1.00e+00f 1 4 1.1069459e+00 1.25e-02 3.06e-01 -2.4 2.76e-01 -1.0 1.00e+00 9.42e-01h 1 5 1.0928975e+00 2.34e-04 2.33e-01 -4.0 2.56e+00 - 1.00e+00 1.00e+00h 1 6 1.0908421e+00 2.55e-05 2.49e-02 -4.0 1.05e+00 - 1.00e+00 8.92e-01h 1 7 1.0909019e+00 3.48e-09 1.76e-03 -4.0 3.20e-01 - 1.00e+00 1.00e+00h 1 8 1.0908997e+00 6.67e-14 4.06e-06 -4.0 2.76e-03 - 1.00e+00 1.00e+00h 1 9 1.0908997e+00 2.12e-24 2.74e-14 -4.0 6.16e-07 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 1.0908997263265463e+00 1.0908997263265463e+00 Dual infeasibility......: 2.7376552088655137e-14 2.7376552088655137e-14 Constraint violation....: 2.1199624764561173e-24 2.1199624764561173e-24 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000048260e-04 1.0000000000048260e-04 Overall NLP error.......: 2.7376552088655137e-14 2.7376552088655137e-14 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 = 20.478 EXIT: Optimal Solution Found. Difference in Jacobian 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 5.8.1. 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 2.1701827e+00 3.69e+00 8.83e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6821610e+00 4.33e-02 6.49e-01 -1.0 2.31e+00 - 1.00e+00 1.00e+00f 1 2 2.4323411e+00 5.85e-03 8.67e-02 -1.5 1.24e-01 - 9.25e-01 1.00e+00h 1 3 2.1397978e+00 1.26e-03 1.46e-02 -2.6 3.93e-02 - 9.92e-01 1.00e+00h 1 4 2.0911641e+00 8.61e-05 7.07e-04 -4.0 1.42e-02 - 9.92e-01 9.96e-01h 1 5 2.0908912e+00 1.40e-05 5.37e-04 -4.0 3.88e-01 - 1.00e+00 1.00e+00h 1 6 2.0908972e+00 8.08e-09 7.45e-08 -4.0 1.01e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 1.89e-09 3.55e-10 -4.0 2.59e-02 - 1.00e+00 1.00e+00h 1 8 2.0908972e+00 6.91e-16 1.07e-15 -4.0 6.58e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908971978679047e+00 2.0908971978679047e+00 Dual infeasibility......: 1.0733059406520251e-15 1.0733059406520251e-15 Constraint violation....: 6.9066388892757846e-16 6.9066388892757846e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000006199795e-04 1.0000000006199795e-04 Overall NLP error.......: 6.1997946381765756e-14 6.1997946381765756e-14 Number of objective function evaluations = 9 Number of objective gradient evaluations = 9 Number of equality constraint evaluations = 9 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 9 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 8 Total seconds in IPOPT = 16.936 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 5.8.1. 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 2.8568565e+00 1.89e+00 7.24e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5286144e+00 7.20e-01 1.33e+00 -0.8 6.74e+00 -4.0 8.81e-01 6.83e-01f 1 2 2.1917047e+00 6.44e-01 1.45e+01 -1.9 5.96e+01 -4.5 6.52e-01 7.82e-01h 1 3 2.2397925e+00 2.05e-01 7.73e+00 -2.4 8.86e+00 -3.1 2.97e-01 1.00e+00h 1 4 2.2639266e+00 7.66e-02 1.35e+00 -1.5 3.29e+00 -2.7 9.96e-01 1.00e+00h 1 5 2.2505345e+00 5.14e-02 5.77e+00 -1.7 3.13e+00 -3.2 9.90e-01 3.23e-01h 2 6 2.2184558e+00 4.16e-02 1.45e+00 -1.8 9.10e-01 -1.9 1.00e+00 1.90e-01h 1 7 2.1891389e+00 2.68e-02 1.76e+00 -1.8 2.73e-01 -1.4 1.00e+00 3.56e-01h 1 8 2.2187444e+00 1.95e-03 8.15e-01 -1.8 1.28e-01 -1.9 9.38e-01 1.00e+00f 1 9 2.1317382e+00 2.21e-02 1.63e-01 -2.5 7.23e-01 -2.4 1.00e+00 8.86e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1032978e+00 2.91e-03 1.34e-02 -2.8 2.89e-01 -2.9 9.95e-01 1.00e+00h 1 11 2.0948120e+00 1.04e-03 4.40e-01 -4.0 6.77e-02 -3.4 1.00e+00 6.19e-01h 1 12 2.0905057e+00 6.04e-05 6.75e-03 -4.0 1.10e-01 -3.8 1.00e+00 1.00e+00h 1 13 2.0904313e+00 1.55e-05 7.13e-05 -4.0 2.99e-01 -4.3 1.00e+00 1.00e+00h 1 14 2.0903561e+00 3.48e-07 1.64e-04 -4.0 8.05e-01 -4.8 1.00e+00 1.00e+00h 1 15 2.0901889e+00 1.10e-06 8.43e-04 -4.0 1.76e+00 -5.3 1.00e+00 1.00e+00h 1 16 2.0899746e+00 3.14e-06 1.84e-03 -4.0 3.51e+00 -5.7 1.00e+00 1.00e+00h 1 17 2.0898664e+00 4.45e-06 2.08e-03 -4.0 7.34e+00 -6.2 1.00e+00 1.00e+00h 1 18 2.0898389e+00 1.18e-05 2.67e-03 -4.0 1.09e+01 -6.7 1.00e+00 1.00e+00h 1 19 2.0898268e+00 5.28e-06 1.64e-03 -4.0 1.17e+01 -7.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898226e+00 1.27e-06 6.81e-04 -4.0 9.03e+00 -7.6 1.00e+00 1.00e+00h 1 21 2.0898218e+00 4.06e-07 9.89e-05 -4.0 4.41e+00 -8.1 1.00e+00 1.00e+00h 1 22 2.0898218e+00 2.48e-08 3.96e-06 -4.0 8.43e-01 -8.6 1.00e+00 1.00e+00h 1 23 2.0898218e+00 1.15e-10 2.19e-08 -4.0 6.27e-02 -9.1 1.00e+00 1.00e+00h 1 24 2.0898218e+00 5.59e-14 1.40e-11 -4.0 1.72e-03 -9.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 2.0898218497806975e+00 2.0898218497806975e+00 Dual infeasibility......: 1.3970832357743795e-11 1.3970832357743795e-11 Constraint violation....: 5.5871973714261003e-14 5.5871973714261003e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000045e-04 1.0000000000000045e-04 Overall NLP error.......: 1.3970832357743795e-11 1.3970832357743795e-11 Number of objective function evaluations = 27 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 27 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 19.712 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 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.7706124e+00 3.58e+00 5.19e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.0867462e+00 2.84e+00 5.65e+00 -0.2 1.92e+00 0.0 3.01e-01 2.07e-01f 1 2 4.0435749e+00 2.55e+00 1.34e+01 -0.4 2.60e+00 -0.5 1.32e-01 1.00e-01h 1 3 4.0471569e+00 2.13e+00 3.42e+01 -0.4 6.80e+00 -1.0 6.79e-01 1.64e-01h 1 4 4.2798751e+00 1.98e+00 1.75e+01 -0.2 2.07e+01 -1.4 2.29e-01 7.32e-02h 1 5 4.3625269e+00 1.95e+00 7.20e+02 1.1 1.29e+02 -1.0 1.23e-01 1.11e-02h 1 6 4.2765070e+00 1.79e+00 8.20e+02 -4.0 3.10e+01 -1.5 1.39e-01 8.58e-02h 1 7 4.2793307e+00 1.79e+00 9.39e+03 -4.0 3.53e+01 -1.1 2.89e-02 9.43e-04h 1 8 4.3049300e+00 1.80e+00 9.42e+04 2.2 6.25e+03 -0.6 6.65e-04 1.25e-04h 1 9 4.4229110e+00 2.07e+00 2.11e+05 2.2 4.46e+03 -0.2 2.13e-03 6.28e-04f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.5077259e+00 2.04e+00 1.54e+05 0.1 8.09e+02 -0.7 2.45e-03 9.79e-04f 2 11 4.7016246e+00 1.75e+00 1.41e+05 0.1 5.28e+02 -1.2 8.14e-03 2.90e-03h 1 12 4.7038426e+00 1.75e+00 6.89e+07 1.6 1.75e+02 -1.6 1.92e-01 4.68e-05h 1 13r 4.7038426e+00 1.75e+00 9.97e+02 0.6 0.00e+00 -2.1 0.00e+00 3.28e-07R 5 14r 4.5976435e+00 7.34e-01 9.87e+02 1.4 6.51e+02 - 2.11e-02 4.29e-03f 1 15 4.5974963e+00 7.33e-01 4.90e+02 -4.0 1.06e+01 -2.6 2.67e-01 5.38e-04h 1 16r 4.5974963e+00 7.33e-01 9.90e+02 0.9 0.00e+00 -3.1 0.00e+00 4.54e-07R 5 17r 4.2700284e+00 2.43e-01 9.70e+02 1.4 4.87e+01 - 2.20e-02 1.57e-02f 1 18 4.2676043e+00 2.42e-01 2.50e+02 -1.1 3.80e+00 -3.5 7.90e-01 4.35e-03h 1 19 4.2851071e+00 2.41e-01 3.15e+03 1.1 8.11e+02 -4.0 1.75e-02 8.99e-04f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.3581734e+00 2.41e-01 1.97e+06 1.0 2.08e+02 -4.5 1.00e+00 1.46e-03h 1 21 4.3600194e+00 2.41e-01 2.74e+10 2.5 2.35e+02 -5.0 1.00e+00 6.38e-05h 1 22r 4.3600194e+00 2.41e-01 8.00e+02 2.5 0.00e+00 -5.5 0.00e+00 3.94e-07R 5 23r 3.5408524e+00 1.99e-01 4.76e+02 -3.6 1.50e+00 - 5.66e-01 7.41e-01f 1 24r 3.5408524e+00 1.99e-01 9.99e+02 -0.7 0.00e+00 -5.9 0.00e+00 4.25e-07R 5 25r 3.4575541e+00 2.69e-01 9.96e+02 1.4 7.57e+01 - 1.87e-03 2.93e-03f 1 26r 3.4559170e+00 2.57e-01 9.51e+02 0.9 1.14e+01 - 1.00e+00 3.18e-03f 1 27r 3.7308735e+00 2.00e-01 1.08e+02 0.2 6.47e-01 - 9.98e-01 8.89e-01f 1 28r 4.2278539e+00 2.00e-01 2.17e+01 -0.3 4.71e-01 - 8.97e-01 8.11e-01f 1 29r 4.2657852e+00 1.99e-01 1.81e+02 -1.0 2.67e-02 2.0 1.00e+00 5.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 4.2960373e+00 1.99e-01 8.93e-01 -1.5 2.69e-02 1.5 1.00e+00 1.00e+00f 1 31r 4.3145417e+00 1.99e-01 8.21e-01 -1.9 6.61e-01 - 9.39e-01 7.04e-01f 1 32r 4.3210974e+00 1.99e-01 9.19e-02 -2.1 4.63e-01 - 9.85e-01 1.00e+00f 1 33r 4.2051007e+00 1.99e-01 1.91e-02 -2.8 1.17e-01 - 9.95e-01 1.00e+00f 1 34r 3.9935994e+00 1.99e-01 1.42e-02 -3.6 1.46e-01 - 9.91e-01 1.00e+00f 1 35r 3.8691400e+00 1.99e-01 2.04e-03 -4.0 8.72e-02 - 1.00e+00 1.00e+00h 1 36r 3.9008405e+00 1.99e-01 1.12e-04 -4.0 2.40e-02 - 1.00e+00 1.00e+00h 1 37r 3.9092588e+00 1.99e-01 1.06e-06 -4.0 6.37e-03 - 1.00e+00 1.00e+00h 1 38r 3.9094757e+00 1.99e-01 1.00e-09 -4.0 2.15e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 38 (scaled) (unscaled) Objective...............: 3.9094760756362046e+00 3.9094760756362046e+00 Dual infeasibility......: 1.9876857339898195e+00 1.9876857339898195e+00 Constraint violation....: 1.9875045034198457e-01 1.9875045034198457e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000004944793e-04 1.0000000004944793e-04 Overall NLP error.......: 1.9876857339898195e+00 1.9876857339898195e+00 Number of objective function evaluations = 64 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 64 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 44 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 39 Total seconds in IPOPT = 18.198 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 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.8507708e+00 1.94e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.3344375e+00 9.37e-01 1.37e+00 -1.0 1.93e+00 0.0 6.72e-01 5.22e-01f 1 2 2.1692538e+00 2.11e-01 9.49e-01 -1.3 9.29e-01 -0.5 8.76e-01 7.74e-01f 1 3 2.4821947e+00 4.15e-02 1.38e+00 -1.2 1.08e+00 -1.0 7.37e-01 1.00e+00f 1 4 2.3304055e+00 2.51e-02 7.24e-01 -2.0 5.88e-01 -1.4 9.97e-01 4.97e-01h 1 5 2.2155947e+00 1.29e-02 5.68e-01 -2.0 5.88e-01 -1.9 9.84e-01 5.38e-01h 1 6 2.1003374e+00 3.17e-03 1.77e-01 -2.7 1.74e-01 -2.4 1.00e+00 9.46e-01h 1 7 2.0908794e+00 4.40e-04 1.02e-01 -3.8 1.44e-01 -2.9 1.00e+00 9.55e-01h 1 8 2.0908312e+00 2.36e-06 3.17e-03 -4.0 4.47e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908137e+00 7.61e-07 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 2.0907738e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906544e+00 5.60e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0902971e+00 5.06e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892320e+00 4.62e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861014e+00 4.33e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796240e+00 2.47e-03 8.81e-02 -4.0 8.71e+01 -6.7 1.00e+00 7.52e-01h 1 16 2.0811804e+00 1.21e-04 1.75e-01 -4.0 7.06e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778120e+00 5.64e-03 2.33e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0782574e+00 1.84e-02 5.25e-02 -3.7 1.87e+02 -8.1 9.81e-01 1.00e+00h 1 19 2.0769033e+00 8.18e-03 2.96e-02 -3.8 3.22e+02 -8.6 1.00e+00 8.78e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0761044e+00 8.59e-03 2.62e-02 -3.9 4.74e+02 -9.1 1.00e+00 9.72e-01f 1 21 2.0757483e+00 1.01e-02 1.16e-02 -4.0 1.46e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756771e+00 5.78e-04 4.76e-04 -4.0 6.46e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.54e-06 9.12e-06 -4.0 2.34e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 6.62e-08 1.55e-06 -4.0 1.53e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.71e-09 1.57e-07 -4.0 5.41e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.27e-11 3.22e-09 -4.0 9.56e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122149050e+00 2.0756712122149050e+00 Dual infeasibility......: 3.2176874752978465e-09 3.2176874752978465e-09 Constraint violation....: 8.2718942806536688e-11 8.2718942806536688e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000052e-04 1.0000000000000052e-04 Overall NLP error.......: 3.2176874752978465e-09 3.2176874752978465e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 28.837 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. 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 1.0708717e+00 3.58e+00 1.07e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 9.9727134e-01 1.86e+00 4.58e+00 -0.8 7.97e+00 -2.0 1.26e-01 4.77e-01f 1 2 9.7921430e-01 1.77e+00 4.56e+00 -1.4 1.39e+01 -0.7 4.64e-02 4.91e-02h 1 3 1.2592779e+00 1.35e+00 3.16e+00 -0.7 4.09e+00 -1.1 3.90e-01 3.63e-01h 1 4 1.6349897e+00 4.63e-01 3.03e+00 -1.8 3.67e+00 -1.6 4.96e-01 8.06e-01h 1 5 1.5132243e+00 8.81e-02 1.65e+00 -4.0 1.27e+00 -2.1 1.43e-01 1.00e+00h 1 6 1.4641333e+00 1.04e-01 7.16e-01 -1.8 3.17e+00 -2.6 7.98e-01 3.33e-01f 1 7 1.3690168e+00 1.43e-01 3.09e-01 -2.1 3.57e+00 -3.1 9.96e-01 8.50e-01h 1 8 1.4100220e+00 1.19e+00 1.53e-01 -1.8 5.42e+00 -3.5 7.17e-01 7.64e-01f 1 9 1.3328424e+00 2.33e-01 5.38e-02 -2.0 2.44e+00 -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 1.2395454e+00 8.51e-02 4.89e-02 -2.7 1.14e+00 -4.5 6.70e-01 1.00e+00h 1 11 1.1752277e+00 5.41e-01 8.50e-02 -3.2 3.47e+00 -5.0 9.90e-01 1.00e+00h 1 12 1.1800838e+00 4.77e-01 5.78e-02 -3.4 2.98e+01 -5.4 9.94e-01 1.00e+00h 1 13 1.1700446e+00 1.77e-02 9.36e-03 -4.0 1.39e+01 -5.9 1.00e+00 6.82e-01h 1 14 1.1652498e+00 2.47e-01 1.20e-02 -4.0 2.19e+01 -6.4 1.00e+00 1.00e+00h 1 15 1.1632555e+00 3.71e-01 9.96e-03 -4.0 4.39e+01 -6.9 1.00e+00 1.00e+00h 1 16 1.1624245e+00 3.60e-01 6.89e-03 -4.0 6.74e+01 -7.4 1.00e+00 1.00e+00h 1 17 1.1614491e+00 4.48e-01 2.31e-02 -4.0 1.00e+02 -7.8 1.00e+00 1.00e+00h 1 18 1.1609723e+00 4.41e-01 2.03e-02 -4.0 1.42e+02 -8.3 1.00e+00 1.00e+00h 1 19 1.1605008e+00 4.84e-01 2.90e-02 -4.0 1.95e+02 -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 1.1605253e+00 2.95e-01 1.04e-02 -4.0 2.10e+02 -9.3 1.00e+00 1.00e+00h 1 21 1.1608533e+00 3.33e-04 2.20e-03 -4.0 4.33e+01 -9.7 1.00e+00 1.00e+00h 1 22 1.1608490e+00 6.82e-05 6.62e-07 -4.0 3.35e+00 -10.2 1.00e+00 1.00e+00h 1 23 1.1608491e+00 8.28e-09 3.13e-09 -4.0 3.23e-02 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 1.1608491305697815e+00 1.1608491305697815e+00 Dual infeasibility......: 3.1298233960585196e-09 3.1298233960585196e-09 Constraint violation....: 8.2778246479620066e-09 8.2778246479620066e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000002125559687e-04 1.0000002125559687e-04 Overall NLP error.......: 8.2778246479620066e-09 8.2778246479620066e-09 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 17.890 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 5.8.1. 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 1.9769450e+00 1.12e+00 1.11e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6408776e+00 2.12e-01 1.99e+00 -0.8 8.66e-01 0.0 9.82e-01 1.00e+00h 1 2 1.6626746e+00 4.93e-02 8.15e-01 -0.8 3.08e-01 -0.5 6.78e-01 7.68e-01h 1 3 1.4990640e+00 4.70e-02 1.48e+00 -2.8 6.39e+00 - 5.55e-01 5.00e-01h 2 4 1.8390075e+00 4.76e-02 2.69e+00 -2.0 5.11e-01 -1.0 9.95e-01 1.00e+00h 1 5 1.1222081e+00 3.85e-02 1.29e+00 -2.3 4.88e-01 -0.5 1.00e+00 7.03e-01f 1 6 1.0918831e+00 2.57e-02 5.62e-01 -3.0 9.88e-02 -1.0 1.00e+00 3.33e-01h 1 7 1.0921167e+00 4.47e-05 7.86e-03 -4.0 7.75e-02 -1.5 1.00e+00 9.99e-01h 1 8 1.0923745e+00 1.43e-08 3.80e-04 -4.0 3.46e-02 -2.0 1.00e+00 1.00e+00h 1 9 1.0910597e+00 5.09e-11 1.46e-01 -4.0 3.75e+00 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910366e+00 2.79e-15 2.77e-06 -4.0 1.64e-02 - 1.00e+00 1.00e+00h 1 11 1.0910386e+00 7.91e-22 9.29e-11 -4.0 1.58e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 11 (scaled) (unscaled) Objective...............: 1.0910385779887095e+00 1.0910385779887095e+00 Dual infeasibility......: 9.2909183233357104e-11 9.2909183233357104e-11 Constraint violation....: 7.9086604839334537e-22 7.9086604839334537e-22 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000242926793e-04 1.0000000242926793e-04 Overall NLP error.......: 9.2909183233357104e-11 9.2909183233357104e-11 Number of objective function evaluations = 14 Number of objective gradient evaluations = 12 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 12 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 11 Total seconds in IPOPT = 15.769 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 5.8.1. 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 5.8877131e+00 3.27e+00 5.31e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.8957553e+00 8.06e-02 2.14e+00 -1.0 2.15e+00 0.0 9.69e-01 1.00e+00h 1 Hello, world! 2 2.6410231e+00 2.00e-02 7.73e-01 -1.1 1.28e-01 0.4 9.92e-01 7.56e-01h 1 Hello, world! 3 2.3982089e+00 5.57e-03 1.78e-01 -1.9 1.23e-01 -0.1 9.92e-01 1.00e+00h 1 Hello, world! 4 2.2336006e+00 5.69e-03 5.70e-01 -2.1 2.46e-01 -0.5 9.69e-01 3.89e-01h 1 Hello, world! 5 2.1120005e+00 2.42e-03 2.02e-01 -3.2 9.66e-02 -1.0 1.00e+00 6.41e-01h 1 Hello, world! 6 2.0922442e+00 1.02e-04 4.37e-02 -4.0 1.95e-02 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0907852e+00 2.78e-06 2.00e-03 -4.0 4.37e-03 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908457e+00 7.77e-08 2.28e-05 -4.0 6.22e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908434e+00 5.04e-10 1.76e-05 -4.0 1.44e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908391e+00 6.76e-10 1.74e-05 -4.0 4.28e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908275e+00 5.37e-09 1.69e-05 -4.0 1.24e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906163e+00 7.02e-06 5.14e-05 -4.1 3.51e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907226e+00 1.95e-05 2.92e-04 -4.0 9.59e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0903009e+00 5.54e-05 5.87e-04 -4.1 2.87e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0900672e+00 4.27e-05 3.84e-02 -4.0 1.40e+01 -5.8 1.00e+00 1.77e-01h 1 Hello, world! 16 2.0880685e+00 7.51e-04 2.46e-02 -4.0 2.89e+01 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 17 2.0872550e+00 5.25e-04 5.75e-02 -4.0 1.74e+01 -5.8 1.00e+00 3.30e-01h 1 Hello, world! 18 2.0857874e+00 2.40e-04 1.83e-02 -4.0 2.44e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0840609e+00 2.80e-04 5.32e-02 -4.0 4.43e+01 -6.8 1.00e+00 5.28e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826963e+00 1.20e-04 2.09e-02 -4.0 6.10e+01 -7.3 1.00e+00 7.13e-01h 1 Hello, world! 21 2.0825643e+00 1.04e-03 3.05e-02 -4.0 1.24e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.1183703e+00 1.47e-05 1.50e+00 -4.0 6.36e+02 -8.2 6.78e-02 1.00e+00H 1 Hello, world! 23 2.0941263e+00 2.85e-03 8.65e+00 -4.1 8.40e+01 -4.2 1.72e-03 1.97e-02f 1 Hello, world! 24 2.0883544e+00 2.45e-03 7.42e+00 -4.1 8.92e+00 -2.8 1.00e+00 1.46e-01f 1 Hello, world! 25 2.0857189e+00 1.32e-03 3.37e+00 -4.1 5.31e+00 -3.3 4.61e-01 5.45e-01f 1 Hello, world! 26 2.0846870e+00 4.90e-04 1.60e+00 -4.1 9.38e-01 -3.8 1.00e+00 6.35e-01f 1 Hello, world! 27 2.0838081e+00 1.29e-04 1.50e-01 -4.1 6.89e-01 -4.3 1.00e+00 9.17e-01f 1 Hello, world! 28 2.0840500e+00 2.60e-05 1.43e-04 -4.0 4.83e-01 -4.8 1.00e+00 1.00e+00f 1 Hello, world! 29 2.0839445e+00 3.63e-06 1.21e-04 -4.0 1.39e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0837448e+00 1.11e-05 5.83e-04 -4.0 3.80e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0834788e+00 3.18e-05 1.51e-03 -4.0 9.74e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0831312e+00 5.38e-05 2.65e-03 -4.0 2.45e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0825692e+00 3.34e-04 1.08e-02 -4.0 5.62e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0820006e+00 1.07e-03 2.60e-02 -4.0 1.07e+02 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.4983251e+00 4.22e-04 1.13e+01 -4.0 1.13e+03 -8.1 2.61e-02 9.86e-01H 1 Hello, world! 36 2.4957364e+00 4.19e-04 1.12e+01 -4.1 2.17e+02 -5.0 1.44e-02 1.70e-03f 1 Hello, world! 37 2.4525592e+00 1.75e-03 1.08e+01 -4.1 4.84e+02 -5.4 2.45e-02 3.40e-02f 1 Hello, world! 38 2.3737043e+00 2.15e-03 9.71e+00 -4.1 7.92e+01 -5.0 4.40e-01 1.02e-01f 1 Hello, world! 39 2.2996971e+00 1.83e-02 8.74e+00 -4.1 3.65e+02 -5.5 3.88e-02 8.55e-02f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0971099e+00 3.09e-02 2.03e+00 -4.1 4.99e+01 -5.1 8.80e-01 6.55e-01f 1 Hello, world! 41 2.0973917e+00 3.05e-02 6.72e+00 -4.1 6.07e-01 -1.9 9.58e-01 1.27e-02h 1 Hello, world! 42 2.0973906e+00 2.75e-02 1.51e+00 -4.1 8.32e-01 -1.5 6.82e-01 9.96e-02f 1 Hello, world! 43 2.1260167e+00 2.32e-02 1.24e+01 -4.1 1.61e+00 -2.0 1.69e-01 6.84e-01H 1 Hello, world! 44 2.1255676e+00 2.28e-02 1.36e+01 -4.1 1.20e+00 -2.5 5.01e-01 1.76e-02h 1 Hello, world! 45 2.1248438e+00 2.19e-02 1.29e+01 -4.1 7.31e-01 -2.9 5.68e-01 3.77e-02f 1 Hello, world! 46 2.0976109e+00 4.30e-03 1.41e+00 -4.1 2.00e+00 -3.4 4.07e-01 9.85e-01F 1 Hello, world! 47 2.0913558e+00 1.60e-03 9.23e-01 -4.1 3.50e+00 -3.9 2.90e-01 6.29e-01h 1 Hello, world! 48 2.0916365e+00 1.50e-03 9.65e-01 -4.1 1.67e+00 -4.4 1.00e+00 6.25e-02f 5 Hello, world! 49 2.0913480e+00 9.85e-05 2.04e-03 -4.1 8.60e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0912145e+00 7.34e-05 3.68e-05 -4.1 2.57e+00 -5.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0912144975605491e+00 2.0912144975605491e+00 Dual infeasibility......: 3.6827130661651791e-05 3.6827130661651791e-05 Constraint violation....: 7.3446636370100293e-05 7.3446636370100293e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.5527073615805831e-05 7.5527073615805831e-05 Overall NLP error.......: 7.3446636370100293e-05 7.3446636370100293e-05 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 = 19.450 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. 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 5.8877131e+00 3.27e+00 5.31e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.8957553e+00 8.06e-02 2.14e+00 -1.0 2.15e+00 0.0 9.69e-01 1.00e+00h 1 Hello, world! 2 2.6410231e+00 2.00e-02 7.73e-01 -1.1 1.28e-01 0.4 9.92e-01 7.56e-01h 1 Hello, world! 3 2.3982089e+00 5.57e-03 1.78e-01 -1.9 1.23e-01 -0.1 9.92e-01 1.00e+00h 1 Hello, world! 4 2.2336006e+00 5.69e-03 5.70e-01 -2.1 2.46e-01 -0.5 9.69e-01 3.89e-01h 1 Hello, world! 5 2.1120005e+00 2.42e-03 2.02e-01 -3.2 9.66e-02 -1.0 1.00e+00 6.41e-01h 1 Hello, world! 6 2.0922442e+00 1.02e-04 4.37e-02 -4.0 1.95e-02 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0907852e+00 2.78e-06 2.00e-03 -4.0 4.37e-03 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908457e+00 7.77e-08 2.28e-05 -4.0 6.22e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908434e+00 5.04e-10 1.76e-05 -4.0 1.44e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908391e+00 6.76e-10 1.74e-05 -4.0 4.28e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908275e+00 5.37e-09 1.69e-05 -4.0 1.24e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906163e+00 7.02e-06 5.14e-05 -4.1 3.51e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907226e+00 1.95e-05 2.92e-04 -4.0 9.59e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0903009e+00 5.54e-05 5.87e-04 -4.1 2.87e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0900672e+00 4.27e-05 3.84e-02 -4.0 1.40e+01 -5.8 1.00e+00 1.77e-01h 1 Hello, world! 16 2.0880685e+00 7.51e-04 2.46e-02 -4.0 2.89e+01 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 17 2.0872550e+00 5.25e-04 5.75e-02 -4.0 1.74e+01 -5.8 1.00e+00 3.30e-01h 1 Hello, world! 18 2.0857874e+00 2.40e-04 1.83e-02 -4.0 2.44e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0840609e+00 2.80e-04 5.32e-02 -4.0 4.43e+01 -6.8 1.00e+00 5.28e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826963e+00 1.20e-04 2.09e-02 -4.0 6.10e+01 -7.3 1.00e+00 7.13e-01h 1 Hello, world! 21 2.0825643e+00 1.04e-03 3.05e-02 -4.0 1.24e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.1183703e+00 1.47e-05 1.50e+00 -4.0 6.36e+02 -8.2 6.78e-02 1.00e+00H 1 Hello, world! 23 2.0941263e+00 2.85e-03 8.65e+00 -4.1 8.40e+01 -4.2 1.72e-03 1.97e-02f 1 Hello, world! 24 2.0883544e+00 2.45e-03 7.42e+00 -4.1 8.92e+00 -2.8 1.00e+00 1.46e-01f 1 Hello, world! 25 2.0857189e+00 1.32e-03 3.37e+00 -4.1 5.31e+00 -3.3 4.61e-01 5.45e-01f 1 Hello, world! 26 2.0846870e+00 4.90e-04 1.60e+00 -4.1 9.38e-01 -3.8 1.00e+00 6.35e-01f 1 Hello, world! 27 2.0838081e+00 1.29e-04 1.50e-01 -4.1 6.89e-01 -4.3 1.00e+00 9.17e-01f 1 Hello, world! 28 2.0840500e+00 2.60e-05 1.43e-04 -4.0 4.83e-01 -4.8 1.00e+00 1.00e+00f 1 Hello, world! 29 2.0839445e+00 3.63e-06 1.21e-04 -4.0 1.39e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0837448e+00 1.11e-05 5.83e-04 -4.0 3.80e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0834788e+00 3.18e-05 1.51e-03 -4.0 9.74e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0831312e+00 5.38e-05 2.65e-03 -4.0 2.45e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0825692e+00 3.34e-04 1.08e-02 -4.0 5.62e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0820006e+00 1.07e-03 2.60e-02 -4.0 1.07e+02 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.4983251e+00 4.22e-04 1.13e+01 -4.0 1.13e+03 -8.1 2.61e-02 9.86e-01H 1 Hello, world! 36 2.4957364e+00 4.19e-04 1.12e+01 -4.1 2.17e+02 -5.0 1.44e-02 1.70e-03f 1 Hello, world! 37 2.4525592e+00 1.75e-03 1.08e+01 -4.1 4.84e+02 -5.4 2.45e-02 3.40e-02f 1 Hello, world! 38 2.3737043e+00 2.15e-03 9.71e+00 -4.1 7.92e+01 -5.0 4.40e-01 1.02e-01f 1 Hello, world! 39 2.2996971e+00 1.83e-02 8.74e+00 -4.1 3.65e+02 -5.5 3.88e-02 8.55e-02f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0971099e+00 3.09e-02 2.03e+00 -4.1 4.99e+01 -5.1 8.80e-01 6.55e-01f 1 Hello, world! 41 2.0973917e+00 3.05e-02 6.72e+00 -4.1 6.07e-01 -1.9 9.58e-01 1.27e-02h 1 Hello, world! 42 2.0973906e+00 2.75e-02 1.51e+00 -4.1 8.32e-01 -1.5 6.82e-01 9.96e-02f 1 Hello, world! 43 2.1260167e+00 2.32e-02 1.24e+01 -4.1 1.61e+00 -2.0 1.69e-01 6.84e-01H 1 Hello, world! 44 2.1255676e+00 2.28e-02 1.36e+01 -4.1 1.20e+00 -2.5 5.01e-01 1.76e-02h 1 Hello, world! 45 2.1248438e+00 2.19e-02 1.29e+01 -4.1 7.31e-01 -2.9 5.68e-01 3.77e-02f 1 Hello, world! 46 2.0976109e+00 4.30e-03 1.41e+00 -4.1 2.00e+00 -3.4 4.07e-01 9.85e-01F 1 Hello, world! 47 2.0913558e+00 1.60e-03 9.23e-01 -4.1 3.50e+00 -3.9 2.90e-01 6.29e-01h 1 Hello, world! 48 2.0916365e+00 1.50e-03 9.65e-01 -4.1 1.67e+00 -4.4 1.00e+00 6.25e-02f 5 Hello, world! 49 2.0913480e+00 9.85e-05 2.04e-03 -4.1 8.60e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0912145e+00 7.34e-05 3.68e-05 -4.1 2.57e+00 -5.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0912144975605491e+00 2.0912144975605491e+00 Dual infeasibility......: 3.6827130661651791e-05 3.6827130661651791e-05 Constraint violation....: 7.3446636370100293e-05 7.3446636370100293e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.5527073615805831e-05 7.5527073615805831e-05 Overall NLP error.......: 7.3446636370100293e-05 7.3446636370100293e-05 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 = 0.900 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.8511590e+00 3.79e+00 8.09e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9039180e+00 6.25e-02 2.31e+00 -0.8 1.99e+00 0.0 9.45e-01 1.00e+00f 1 2 2.5919066e+00 3.49e-02 7.78e-01 -1.0 4.76e-01 -0.5 9.87e-01 1.00e+00h 1 3 2.3846000e+00 4.76e-03 6.47e-02 -1.7 1.85e-01 -1.0 9.49e-01 1.00e+00h 1 4 2.1400745e+00 9.20e-03 1.14e-01 -2.5 3.00e-01 -1.4 1.00e+00 8.36e-01h 1 5 2.0979628e+00 1.56e-04 9.08e-03 -3.2 2.57e-02 -1.9 9.92e-01 1.00e+00h 1 6 2.0908372e+00 6.46e-06 6.12e-04 -4.0 5.86e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908587e+00 4.99e-08 2.05e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908544e+00 6.19e-10 2.01e-05 -4.0 4.40e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908430e+00 4.98e-09 1.91e-05 -4.0 1.25e-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 2.0908157e+00 3.40e-08 1.03e-04 -4.0 3.37e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907502e+00 2.43e-07 4.59e-04 -4.0 8.73e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905701e+00 2.39e-06 7.29e-04 -4.0 2.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0899740e+00 1.90e-05 1.50e-03 -4.0 7.18e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0885848e+00 1.61e-04 1.51e-02 -4.0 2.27e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0879499e+00 3.00e-05 8.71e-03 -4.0 1.87e+00 -4.9 1.00e+00 8.62e-01h 1 16 2.0878070e+00 4.69e-06 2.81e-03 -4.0 3.46e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0868763e+00 3.95e-05 5.16e-03 -4.0 1.01e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0853628e+00 1.90e-04 1.02e-02 -4.0 2.37e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0837530e+00 2.52e-04 4.24e-02 -4.0 4.07e+01 -6.8 1.00e+00 5.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826367e+00 7.23e-05 1.20e-02 -4.0 5.69e+01 -7.3 1.00e+00 7.04e-01h 1 21 2.0824934e+00 7.81e-04 2.54e-02 -4.0 1.20e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.3663671e+00 2.34e-04 7.14e+00 -4.0 9.25e+02 -8.2 4.04e-02 1.00e+00H 1 23 2.0874000e+00 3.45e-05 9.22e-01 -4.1 1.43e-01 -0.4 8.64e-01 8.53e-01f 1 24 2.0878329e+00 3.42e-05 5.37e+00 -4.0 8.91e-02 -0.8 1.00e+00 7.81e-03f 8 25 2.0878535e+00 2.23e-07 1.42e-03 -3.9 2.98e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.0873823e+00 1.21e-07 1.27e-03 -4.0 8.01e-02 -1.8 1.00e+00 1.00e+00h 1 27 2.0870974e+00 7.09e-07 8.57e-04 -4.0 1.62e-01 -2.3 1.00e+00 1.00e+00h 1 28 2.0871605e+00 1.46e-07 6.22e-05 -4.0 2.31e-02 -2.8 1.00e+00 1.00e+00h 1 29 2.0871415e+00 1.84e-07 1.25e-05 -4.0 2.12e-02 -3.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0871353e+00 2.63e-08 1.25e-05 -4.0 6.40e-02 -3.7 1.00e+00 1.00e+00h 1 31 2.0871193e+00 3.74e-08 1.25e-05 -4.0 1.91e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0870728e+00 3.28e-07 1.70e-05 -4.0 5.68e-01 -4.7 1.00e+00 1.00e+00h 1 33 2.0869455e+00 2.62e-06 1.35e-04 -4.0 1.66e+00 -5.1 1.00e+00 1.00e+00h 1 34 2.0866557e+00 1.55e-05 8.13e-04 -4.0 4.62e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0862078e+00 4.54e-05 2.40e-03 -4.0 1.21e+01 -6.1 1.00e+00 1.00e+00h 1 36 2.0854679e+00 1.03e-04 4.69e-03 -4.0 3.13e+01 -6.6 1.00e+00 1.00e+00h 1 37 2.0841611e+00 5.92e-04 2.20e-02 -4.0 7.74e+01 -7.0 1.00e+00 1.00e+00h 1 38 2.0824355e+00 9.85e-04 6.13e-02 -4.1 1.49e+02 -7.5 1.00e+00 1.00e+00h 1 39 2.0818567e+00 6.27e-03 3.13e-02 -4.0 2.23e+02 -8.0 6.74e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817885e+00 2.21e-03 3.81e-02 -4.0 4.76e+01 -6.7 1.00e+00 1.00e+00h 1 41 2.0837932e+00 8.01e-03 1.60e-02 -3.5 5.88e+01 -7.2 9.46e-01 1.00e+00h 1 42 2.1531492e+00 3.34e-03 3.62e-01 -3.7 1.38e+02 -6.7 4.24e-02 2.99e-01h 1 43 2.0944938e+00 3.27e-03 1.70e-01 -3.7 4.71e+01 -7.2 2.13e-03 1.00e+00f 1 44 2.0900180e+00 2.98e-03 2.05e+00 -3.7 1.36e+00 -1.4 2.19e-01 8.89e-02h 1 45 2.0845651e+00 1.82e-03 4.58e+00 -3.7 8.21e-01 -1.8 8.14e-01 3.90e-01f 1 46 2.0846842e+00 1.55e-03 2.29e+00 -3.7 3.30e-01 -2.3 7.28e-01 1.45e-01f 2 47 2.0832809e+00 2.64e-04 7.88e-01 -3.7 4.58e-01 -2.8 1.00e+00 8.30e-01h 1 48 2.0834507e+00 1.19e-05 1.31e-03 -3.7 4.39e-02 -3.3 1.00e+00 1.00e+00f 1 49 2.0826806e+00 5.13e-06 1.92e-03 -4.0 5.87e-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 2.0825611e+00 1.13e-06 3.94e-05 -4.0 9.22e-02 -4.2 1.00e+00 1.00e+00h 1 51 2.0825513e+00 7.57e-08 5.48e-06 -4.0 2.73e-01 -4.7 1.00e+00 1.00e+00h 1 52 2.0825182e+00 2.39e-07 1.96e-05 -4.0 7.85e-01 -5.2 1.00e+00 1.00e+00h 1 53 2.0824331e+00 1.89e-06 1.40e-04 -4.0 2.08e+00 -5.7 1.00e+00 1.00e+00h 1 54 2.0822680e+00 1.13e-05 6.38e-04 -4.0 4.44e+00 -6.1 1.00e+00 1.00e+00h 1 55 2.0820907e+00 2.43e-05 1.11e-03 -4.0 1.07e+01 -6.6 1.00e+00 1.00e+00h 1 56 2.0819480e+00 2.67e-04 4.24e-03 -4.0 3.66e+01 -7.1 9.00e-01 1.00e+00h 1 57 2.1016566e+00 2.62e-05 7.92e-01 -4.0 1.67e+01 -5.8 4.88e-01 1.00e+00H 1 58 2.0944313e+00 4.08e-07 6.95e-02 -4.0 5.42e-02 0.1 1.00e+00 1.00e+00f 1 59 2.0876000e+00 6.72e-07 4.05e-02 -4.0 8.74e-02 -0.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0833890e+00 5.33e-08 1.88e-02 -4.0 1.46e-01 -0.9 1.00e+00 1.00e+00f 1 61 2.0824223e+00 4.38e-07 1.23e-02 -4.0 1.15e-01 -1.3 1.00e+00 9.18e-01f 1 62 2.0826046e+00 1.98e-06 4.85e-03 -4.0 9.25e-02 -1.8 1.00e+00 1.00e+00f 1 63 2.0822471e+00 1.19e-06 1.10e-01 -4.1 1.72e-01 -2.3 1.00e+00 7.68e-01H 1 64 2.0822829e+00 1.87e-07 1.46e-03 -4.0 6.35e-02 -2.8 1.00e+00 1.00e+00f 1 65 2.0823516e+00 1.92e-07 3.96e-04 -4.0 2.97e-02 -3.2 1.00e+00 1.00e+00h 1 66 2.0823515e+00 1.88e-07 8.38e-06 -4.0 4.46e-02 -3.7 1.00e+00 1.00e+00h 1 67 2.0823430e+00 1.42e-08 8.33e-06 -4.0 1.33e-01 -4.2 1.00e+00 1.00e+00h 1 68 2.0823206e+00 2.14e-07 8.25e-06 -4.0 3.95e-01 -4.7 1.00e+00 1.00e+00h 1 69 2.0822527e+00 2.39e-06 5.17e-05 -4.0 1.16e+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 70 2.0818588e+00 8.87e-05 4.09e-04 -4.1 3.72e+00 -5.6 1.00e+00 1.00e+00h 1 71 2.0825619e+00 1.56e-04 1.78e-01 -4.0 1.55e+02 -6.1 1.38e-02 4.10e-02h 2 72 2.0819006e+00 1.49e-06 2.88e-01 -4.2 5.42e-02 -1.2 8.21e-01 1.00e+00h 1 73 2.0820523e+00 1.50e-06 3.42e-03 -4.0 1.08e-01 -1.6 1.00e+00 1.00e+00h 1 74 2.0818454e+00 4.44e-07 4.11e-04 -4.1 2.68e-02 -2.1 1.00e+00 1.00e+00h 1 75 2.0819296e+00 6.71e-08 2.22e-04 -4.0 5.92e-02 -2.6 1.00e+00 1.00e+00h 1 76 2.0819239e+00 1.21e-07 1.10e-04 -4.0 4.62e-02 -3.1 1.00e+00 1.00e+00h 1 77 2.0819223e+00 2.79e-07 2.31e-05 -4.0 3.56e-02 -3.6 1.00e+00 1.00e+00h 1 78 2.0819221e+00 7.07e-07 9.65e-06 -4.0 1.04e-01 -4.0 1.00e+00 1.00e+00h 1 79 2.0819219e+00 4.51e-06 1.75e-05 -4.0 2.94e-01 -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 80 2.0817880e+00 3.89e-05 2.13e-04 -4.1 7.89e-01 -5.0 1.00e+00 1.00e+00h 1 81 2.0819104e+00 5.55e-05 3.34e-04 -4.0 1.43e+00 -5.5 1.00e+00 1.00e+00h 1 82 2.0817211e+00 9.63e-05 5.14e-04 -4.1 2.25e+00 -5.9 1.00e+00 1.00e+00h 1 83 2.0818511e+00 2.25e-05 2.47e-04 -4.0 9.76e-01 -6.4 1.00e+00 1.00e+00h 1 84 2.0816089e+00 7.85e-05 5.89e-05 -4.1 3.23e+00 -6.9 1.00e+00 1.00e+00h 1 85 2.0818373e+00 9.44e-05 3.83e-04 -4.0 4.76e+00 -7.4 1.00e+00 1.00e+00h 1 86 2.0815892e+00 2.22e-04 7.53e-05 -4.1 9.17e+00 -7.9 1.00e+00 1.00e+00h 1 87 2.0818404e+00 2.88e-04 9.92e-05 -4.0 1.37e+01 -8.3 1.00e+00 1.00e+00h 1 88 2.0815847e+00 2.39e-04 3.49e-05 -4.1 9.82e+00 -8.8 1.00e+00 1.00e+00h 1 89 2.0818440e+00 2.25e-04 2.07e-05 -4.0 1.04e+01 -9.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0815839e+00 2.02e-04 2.28e-05 -4.1 9.26e+00 -9.8 1.00e+00 1.00e+00h 1 91 2.0818445e+00 2.12e-04 1.37e-05 -4.0 9.71e+00 -10.2 1.00e+00 1.00e+00h 1 92 2.0815837e+00 2.15e-04 1.08e-05 -4.1 9.81e+00 -10.7 1.00e+00 1.00e+00h 1 93 2.0818446e+00 2.16e-04 1.00e-05 -4.0 9.85e+00 -11.2 1.00e+00 1.00e+00h 1 94 2.0815837e+00 2.16e-04 9.50e-06 -4.1 9.87e+00 -11.7 1.00e+00 1.00e+00h 1 95 2.0818446e+00 2.16e-04 9.56e-06 -4.0 9.87e+00 -12.1 1.00e+00 1.00e+00h 1 96 2.0815837e+00 2.16e-04 9.34e-06 -4.1 9.87e+00 -12.6 1.00e+00 1.00e+00h 1 97 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.1 9.77e-01 9.64e-01h 1 98 2.0818908e+00 6.61e-03 2.99e-04 -4.0 6.18e+01 -13.6 1.00e+00 1.00e+00f 1 99 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -14.5 9.76e-01 9.58e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0806041665103714e+00 2.0806041665103714e+00 Dual infeasibility......: 2.3185914090561894e-04 2.3185914090561894e-04 Constraint violation....: 3.4904819303474000e-03 3.4904819303474000e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.9610958570241460e-05 1.9610958570241460e-05 Overall NLP error.......: 3.4904819303474000e-03 3.4904819303474000e-03 Number of objective function evaluations = 115 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 115 Number of inequality constraint evaluations = 115 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 21.005 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 5.8.1. 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 1.1167264e+01 1.82e+00 3.28e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.6495166e+00 7.94e-01 2.07e+00 -0.8 1.61e+00 0.0 7.14e-01 5.62e-01f 1 2 2.7089488e+00 6.73e-02 2.27e+00 -0.9 9.07e-01 -0.5 9.33e-01 1.00e+00f 1 3 2.3500569e+00 1.86e-01 1.23e+00 -4.0 8.05e-01 -1.0 5.12e-01 1.00e+00h 1 4 2.3313566e+00 3.50e-02 2.25e-01 -1.7 6.24e-01 -1.4 9.97e-01 7.61e-01h 1 5 2.1505822e+00 3.86e-02 3.89e-02 -2.2 4.39e-01 -1.9 9.45e-01 1.00e+00h 1 6 2.0959408e+00 5.03e-04 2.04e-03 -3.2 6.28e-02 -2.4 9.63e-01 9.89e-01h 1 7 2.0910062e+00 1.87e-05 4.12e-04 -4.0 2.28e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909761e+00 2.42e-07 7.49e-05 -4.0 5.98e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909522e+00 1.40e-08 3.13e-05 -4.0 1.79e-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 2.0908878e+00 1.08e-07 3.51e-04 -4.0 5.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907988e+00 5.11e-07 1.13e-03 -4.0 1.01e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0906188e+00 2.31e-06 2.49e-03 -4.0 2.71e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0901135e+00 2.36e-05 6.20e-04 -4.0 8.34e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898617e+00 3.20e-06 1.53e-03 -4.0 2.95e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0895814e+00 5.78e-06 2.16e-02 -4.0 9.77e+00 -5.8 1.00e+00 3.23e-01h 2 16 2.0881062e+00 1.06e-04 2.57e-02 -4.0 2.50e+01 -6.3 1.00e+00 6.99e-01h 1 17 2.0850141e+00 1.05e-03 5.84e-02 -4.0 5.46e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0837339e+00 7.67e-04 8.14e-02 -4.0 3.44e+01 -6.3 1.00e+00 3.25e-01h 1 19 2.0828115e+00 2.02e-04 2.00e-02 -4.0 2.02e+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 2.0827703e+00 2.22e-04 9.84e-03 -4.0 5.27e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823047e+00 5.90e-04 7.94e-03 -4.0 1.26e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0824397e+00 1.41e-03 5.76e-02 -4.0 9.89e+01 -7.3 6.07e-01 1.00e+00h 1 23 2.0821918e+00 1.91e-05 4.03e-04 -4.1 7.14e-01 -5.1 1.00e+00 1.00e+00h 1 24 2.0822822e+00 4.83e-05 4.41e-04 -4.0 2.21e+00 -5.6 1.00e+00 1.00e+00h 1 25 2.0818870e+00 1.82e-04 6.45e-04 -4.1 7.26e+00 -6.0 9.93e-01 1.00e+00h 1 26 2.0819465e+00 1.35e-04 7.27e-01 -4.0 2.36e+00 -4.7 1.00e+00 5.23e-01h 1 27 2.0819512e+00 1.98e-05 1.82e-03 -4.0 8.23e-01 -5.2 1.00e+00 1.00e+00f 1 28 2.0820397e+00 4.02e-05 4.18e-04 -4.0 1.62e+00 -5.7 1.00e+00 1.00e+00h 1 29 2.0819222e+00 3.17e-05 6.00e-04 -4.1 1.56e+00 -6.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0821260e+00 1.11e-04 1.93e-04 -4.0 4.71e+00 -6.6 1.00e+00 1.00e+00h 1 31 2.0818722e+00 2.91e-04 1.24e-03 -4.1 1.51e+01 -7.1 1.00e+00 1.00e+00h 1 32 2.0820060e+00 5.76e-04 2.82e-03 -4.0 2.58e+01 -7.6 1.00e+00 1.00e+00h 1 33 2.0816531e+00 1.27e-03 3.62e-03 -4.1 4.94e+01 -8.0 1.00e+00 1.00e+00h 1 34 2.0818533e+00 1.38e-03 3.45e-03 -4.0 5.82e+01 -8.5 1.00e+00 1.00e+00h 1 35 2.0818420e+00 4.50e-05 6.24e-04 -4.0 3.27e+01 -9.0 1.00e+00 1.00e+00h 1 36 2.0818408e+00 1.29e-06 3.94e-05 -4.0 7.89e+00 -9.5 1.00e+00 1.00e+00h 1 37 2.0818407e+00 7.99e-09 3.94e-05 -4.0 7.11e-01 -10.0 1.00e+00 1.00e+00h 1 38 2.0818407e+00 6.39e-12 3.94e-05 -4.0 2.27e-02 -10.4 1.00e+00 1.00e+00h 1 39 2.0818407e+00 4.44e-16 3.94e-05 -4.0 2.51e-04 -10.9 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818407e+00 2.22e-16 3.94e-05 -4.0 1.97e-05 -11.4 1.00e+00 1.00e+00h 1 41 2.0815814e+00 2.08e-04 3.21e-05 -4.1 9.47e+00 -11.9 1.00e+00 1.00e+00h 1 42 2.0818419e+00 2.15e-04 3.95e-05 -4.0 9.79e+00 -12.3 1.00e+00 1.00e+00h 1 43 2.0815819e+00 2.14e-04 3.21e-05 -4.1 9.75e+00 -12.8 1.00e+00 1.00e+00h 1 44 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -13.3 9.77e-01 9.68e-01h 1 45 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -13.8 1.00e+00 1.00e+00f 1 46 2.0816124e+00 4.95e-04 3.28e-05 -4.1 2.07e+01 -14.2 1.00e+00 1.00e+00h 1 47 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -14.7 9.76e-01 9.61e-01h 1 48 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.2 1.00e+00 1.00e+00h 1 49 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -15.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.2 1.00e+00 1.00e+00h 1 51 2.0816420e+00 4.58e-07 3.38e-05 -4.1 8.54e+00 -16.6 1.00e+00 1.00e+00h 1 52 2.0818414e+00 1.26e-04 3.95e-05 -4.0 7.46e+00 -17.1 1.00e+00 1.00e+00h 1 53 2.0815817e+00 2.11e-04 3.21e-05 -4.1 9.63e+00 -17.6 1.00e+00 1.00e+00h 1 54 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -18.1 9.77e-01 9.68e-01h 1 55 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -18.5 1.00e+00 1.00e+00h 1 56 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -19.0 1.00e+00 1.00e+00f 1 57 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -19.5 1.00e+00 1.00e+00h 1 58 2.0816444e+00 5.44e-07 3.38e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 59 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 60 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0805468e+00 5.07e-08 3.37e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 62 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 63 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0816573e+00 1.18e-06 3.42e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 65 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 66 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0805469e+00 5.37e-08 3.43e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 68 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 69 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 70 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0816639e+00 1.62e-06 3.44e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 72 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 73 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0805470e+00 5.53e-08 3.46e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 75 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 76 2.0805365e+00 8.66e-11 3.93e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 77 2.0820406e+00 1.30e-02 4.36e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 78 2.0817222e+00 1.13e-03 7.75e-05 -4.1 5.82e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0816640e+00 1.63e-06 3.44e-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 80 2.0805948e+00 3.76e-03 1.60e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 81 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0805470e+00 5.54e-08 3.46e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 83 2.0805365e+00 9.45e-07 8.04e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 84 2.0805365e+00 8.67e-11 3.93e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 85 2.0805365e+00 2.22e-16 3.93e-10 -9.0 1.02e-05 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 4.44e-16 3.93e-10 -9.0 1.97e-10 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 6.66e-16 3.93e-10 -9.0 1.97e-10 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 6.66e-16 3.93e-10 -9.0 1.97e-10 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 6.66e-16 3.93e-10 -9.0 1.97e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 6.66e-16 3.93e-10 -9.0 1.97e-10 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 6.66e-16 3.93e-10 -9.0 1.97e-10 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 6.66e-16 3.93e-10 -9.0 1.97e-10 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 6.66e-16 3.93e-10 -9.0 1.97e-10 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 6.66e-16 3.93e-10 -9.0 1.97e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 6.66e-16 3.93e-10 -9.0 1.97e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 6.66e-16 3.93e-10 -9.0 1.97e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 6.66e-16 3.93e-10 -9.0 1.97e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 6.66e-16 3.93e-10 -9.0 1.97e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 6.66e-16 3.93e-10 -9.0 1.97e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 6.66e-16 3.93e-10 -9.0 1.97e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436475e+00 2.0805364595436475e+00 Dual infeasibility......: 3.9319615328086509e-10 3.9319615328086509e-10 Constraint violation....: 6.6613381477509392e-16 6.6613381477509392e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971184536e-10 9.0909090971184536e-10 Overall NLP error.......: 9.9999090909091564e-05 9.9999090909091564e-05 Number of objective function evaluations = 105 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 105 Number of inequality constraint evaluations = 105 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 23.690 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 5.8.1. 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 1.8713779e+02 3.79e+00 4.34e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.9324516e+01 1.67e+00 2.06e+01 -0.6 2.60e+00 0.0 1.00e+00 5.20e-01f 1 2 1.0990703e+01 6.60e-01 1.08e+01 -4.0 1.36e+00 -0.5 2.64e-01 5.76e-01f 1 3 2.3980643e+00 3.06e-02 6.63e+00 -1.0 1.39e+00 -1.0 6.48e-01 1.00e+00f 1 4 2.2505133e+00 1.20e-02 7.80e-01 -1.5 2.16e-01 -1.4 9.92e-01 9.82e-01h 1 5 2.1567558e+00 1.47e-03 6.92e-02 -2.6 1.07e-01 -1.9 9.98e-01 1.00e+00h 1 6 2.0933077e+00 5.53e-04 4.19e-03 -3.9 4.56e-02 -2.4 9.96e-01 9.87e-01h 1 7 2.0909265e+00 7.16e-06 1.39e-03 -4.0 1.72e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909179e+00 3.50e-08 2.55e-04 -4.0 5.07e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909016e+00 9.68e-09 2.55e-04 -4.0 1.43e-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 2.0908658e+00 6.01e-08 2.55e-04 -4.0 3.71e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907957e+00 2.80e-07 6.80e-04 -4.0 9.03e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906146e+00 2.55e-06 1.03e-03 -4.0 2.68e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900708e+00 2.14e-05 8.43e-04 -4.0 7.86e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898328e+00 3.64e-06 1.56e-03 -4.0 3.07e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0897332e+00 1.48e-05 6.92e-02 -3.7 1.86e+01 -5.8 1.00e+00 8.39e-02h 2 16 2.0879169e+00 2.79e-05 9.76e-03 -4.0 2.32e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0876510e+00 3.82e-05 8.85e-01 -3.4 7.10e+02 -6.7 8.58e-01 9.64e-03h 2 18 2.0897604e+00 4.28e-02 8.37e-01 -3.4 5.38e+02 -7.2 1.00e+00 4.19e-02f 4 19 2.0889247e+00 4.54e-02 3.70e-01 -3.4 2.54e+02 -6.8 4.31e-01 1.21e-02h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0863004e+00 4.56e-02 9.03e-02 -3.4 1.10e+02 -7.3 1.00e+00 1.00e+00h 1 21 2.0823202e+00 6.44e-03 8.38e-03 -4.0 1.58e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0824914e+00 3.17e-03 3.93e-03 -4.0 4.50e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822241e+00 8.25e-04 1.75e-02 -4.0 1.42e+02 -7.8 5.84e-01 1.00e+00h 1 24 2.0820917e+00 1.15e-03 9.58e-02 -4.0 1.41e+03 -6.5 2.82e-03 8.62e-03h 3 25 2.0821752e+00 1.24e-03 4.27e-01 -4.0 7.81e+01 -5.1 4.01e-02 2.43e-02h 2 26 2.0820208e+00 5.56e-04 2.92e-02 -4.1 3.04e-01 -2.9 1.00e+00 5.50e-01h 1 27 2.0824125e+00 2.79e-05 2.28e-03 -4.0 1.37e-01 -3.4 1.00e+00 1.00e+00f 1 28 2.0821541e+00 4.81e-06 1.04e-03 -4.0 8.97e-02 -3.9 1.00e+00 1.00e+00h 1 29 2.0821473e+00 5.41e-07 5.69e-04 -4.0 1.08e-01 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0821333e+00 3.78e-07 2.55e-04 -4.0 1.24e-01 -4.8 1.00e+00 1.00e+00h 1 31 2.0821348e+00 6.01e-07 2.55e-04 -4.0 2.25e-01 -5.3 1.00e+00 1.00e+00h 1 32 2.0819727e+00 1.59e-05 2.51e-04 -4.1 1.20e+00 -5.8 1.00e+00 1.00e+00h 1 33 2.0821263e+00 3.91e-05 2.99e-04 -4.0 1.71e+00 -6.2 1.00e+00 1.00e+00h 1 34 2.0818997e+00 1.46e-04 6.77e-04 -4.1 7.32e+00 -6.7 1.00e+00 1.00e+00h 1 35 2.0820616e+00 2.74e-04 1.36e-03 -4.0 1.24e+01 -7.2 1.00e+00 1.00e+00h 1 36 2.0817283e+00 8.08e-04 9.71e-04 -4.1 3.38e+01 -7.7 1.00e+00 1.00e+00h 1 37 2.0818813e+00 1.20e-03 4.39e-03 -4.0 5.08e+01 -8.1 1.00e+00 1.00e+00h 1 38 2.0815871e+00 1.16e-03 2.43e-03 -4.1 5.20e+01 -8.6 1.00e+00 1.00e+00h 1 39 2.0818400e+00 5.90e-04 3.92e-04 -4.0 2.51e+01 -9.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818383e+00 1.09e-06 2.55e-04 -4.0 4.46e+00 -9.6 1.00e+00 1.00e+00h 1 41 2.0818383e+00 1.49e-09 2.55e-04 -4.0 3.27e-01 -10.1 1.00e+00 1.00e+00h 1 42 2.0818383e+00 8.22e-13 2.55e-04 -4.0 8.41e-03 -10.5 1.00e+00 1.00e+00h 1 43 2.0815798e+00 2.05e-04 2.04e-04 -4.1 9.34e+00 -11.0 1.00e+00 1.00e+00h 1 44 2.0818395e+00 2.12e-04 2.55e-04 -4.0 9.66e+00 -11.5 1.00e+00 1.00e+00h 1 45 2.0815804e+00 2.11e-04 2.04e-04 -4.1 9.62e+00 -12.0 1.00e+00 1.00e+00h 1 46 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -12.4 9.78e-01 9.71e-01h 1 47 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -12.9 1.00e+00 1.00e+00f 1 48 2.0816136e+00 4.88e-04 2.09e-04 -4.1 2.07e+01 -13.4 1.00e+00 1.00e+00h 1 49 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -13.9 9.76e-01 9.65e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -14.3 1.00e+00 1.00e+00h 1 51 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -14.8 1.00e+00 1.00e+00f 1 52 2.0816837e+00 9.34e-04 2.17e-04 -4.1 4.57e+01 -15.3 1.00e+00 1.00e+00h 1 53 2.0816477e+00 4.73e-07 2.17e-04 -4.1 8.52e+00 -15.8 1.00e+00 1.00e+00h 1 54 2.0818389e+00 1.15e-04 2.55e-04 -4.0 7.07e+00 -16.3 1.00e+00 1.00e+00h 1 55 2.0815801e+00 2.08e-04 2.04e-04 -4.1 9.50e+00 -16.7 1.00e+00 1.00e+00h 1 56 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -17.2 9.78e-01 9.71e-01h 1 57 2.0805497e+00 6.51e-05 1.83e-06 -6.1 1.55e+01 -17.7 1.00e+00 1.00e+00h 1 58 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -18.2 1.00e+00 1.00e+00f 1 59 2.0816887e+00 9.54e-04 2.18e-04 -4.1 4.72e+01 -18.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816504e+00 5.63e-07 2.18e-04 -4.1 8.93e+00 -19.1 1.00e+00 1.00e+00h 1 61 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -19.6 9.77e-01 9.75e-01h 1 62 2.0805511e+00 6.76e-05 2.01e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 63 2.0805469e+00 4.72e-08 2.01e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 64 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 65 2.0817159e+00 1.04e-03 2.21e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0816648e+00 1.22e-06 2.21e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 68 2.0805514e+00 6.96e-05 2.05e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0805471e+00 4.99e-08 2.05e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 71 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 72 2.0817306e+00 1.08e-03 2.22e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0816723e+00 1.67e-06 2.22e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 75 2.0805516e+00 7.07e-05 2.07e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0805472e+00 5.15e-08 2.07e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 77 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 78 2.0805365e+00 9.27e-11 2.32e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 79 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0817309e+00 1.08e-03 2.22e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0816725e+00 1.68e-06 2.22e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 83 2.0805516e+00 7.08e-05 2.07e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0805472e+00 5.16e-08 2.07e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 85 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 86 2.0805365e+00 9.28e-11 2.32e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 8.88e-16 2.32e-09 -9.0 1.10e-05 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 6.66e-16 2.32e-09 -9.0 1.16e-10 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 4.44e-16 2.32e-09 -9.0 1.16e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 4.44e-16 2.32e-09 -9.0 1.16e-10 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 4.44e-16 2.32e-09 -9.0 1.16e-10 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 4.44e-16 2.32e-09 -9.0 1.16e-10 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 2.22e-16 2.32e-09 -9.0 1.16e-10 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 4.44e-16 2.32e-09 -9.0 1.16e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 4.44e-16 2.32e-09 -9.0 1.16e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 4.44e-16 2.32e-09 -9.0 1.16e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 4.44e-16 2.32e-09 -9.0 1.16e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 4.44e-16 2.32e-09 -9.0 1.16e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 2.22e-16 2.32e-09 -9.0 1.16e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 4.44e-16 2.32e-09 -9.0 1.16e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436466e+00 2.0805364595436466e+00 Dual infeasibility......: 2.3185682205981319e-09 2.3185682205981319e-09 Constraint violation....: 4.4408920985006262e-16 4.4408920985006262e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971179366e-10 9.0909090971179366e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 121 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 121 Number of inequality constraint evaluations = 121 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 28.595 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 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4359330e+00 2.55e+00 6.17e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2043408e+00 1.90e-01 7.75e+00 -0.9 2.14e+00 0.0 3.87e-01 9.28e-01f 1 2 2.1689761e+00 1.44e-01 3.11e+01 -0.6 2.65e-01 1.3 1.00e+00 2.44e-01h 1 3 2.1619663e+00 6.37e-02 1.30e+01 -0.3 3.69e-01 0.9 1.00e+00 5.57e-01h 1 4 2.2668695e+00 4.61e-03 8.90e+00 -4.0 3.99e-01 0.4 6.63e-01 1.00e+00h 1 5 2.2408808e+00 7.87e-04 1.23e+00 -2.0 3.97e-02 1.7 1.00e+00 1.00e+00h 1 6 2.1638466e+00 1.82e-04 3.49e-01 -3.4 1.65e-02 1.2 1.00e+00 1.00e+00f 1 7 2.1252362e+00 1.51e-04 2.47e-01 -4.0 1.87e-02 0.7 1.00e+00 4.48e-01f 1 8 2.0945901e+00 2.95e-04 9.02e-02 -4.0 3.82e-02 0.3 1.00e+00 7.21e-01f 1 9 2.0936578e+00 2.29e-04 7.13e-01 -3.8 3.37e-03 -0.2 1.00e+00 2.26e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908420e+00 1.14e-06 3.62e-03 -4.0 2.07e-03 -0.7 1.00e+00 1.00e+00h 1 11 2.0908438e+00 5.14e-10 1.13e-04 -4.0 1.63e-03 -1.2 1.00e+00 1.00e+00h 1 12 2.0908437e+00 2.89e-12 9.82e-05 -4.0 4.25e-03 -1.6 1.00e+00 1.00e+00h 1 13 2.0908434e+00 2.72e-12 6.77e-05 -4.0 8.79e-03 -2.1 1.00e+00 1.00e+00h 1 14 2.0908426e+00 2.45e-11 2.93e-05 -4.0 1.14e-02 -2.6 1.00e+00 1.00e+00h 1 15 2.0908403e+00 2.20e-10 2.06e-05 -4.0 2.40e-02 -3.1 1.00e+00 1.00e+00h 1 16 2.0908332e+00 1.98e-09 2.06e-05 -4.0 7.21e-02 -3.5 1.00e+00 1.00e+00h 1 17 2.0908119e+00 1.78e-08 2.06e-05 -4.0 2.16e-01 -4.0 1.00e+00 1.00e+00h 1 18 2.0907481e+00 1.61e-07 2.06e-05 -4.0 6.48e-01 -4.5 1.00e+00 1.00e+00h 1 19 2.0905570e+00 1.45e-06 2.05e-05 -4.0 1.94e+00 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0899856e+00 1.32e-05 5.79e-05 -4.0 5.81e+00 -5.5 1.00e+00 1.00e+00h 1 21 2.0882897e+00 1.21e-04 5.16e-04 -4.0 1.72e+01 -5.9 1.00e+00 1.00e+00h 1 22 2.0833772e+00 1.16e-03 4.83e-03 -4.0 4.99e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0796413e+00 1.71e-03 2.66e-01 -4.0 1.14e+02 -6.9 1.00e+00 3.26e-01h 1 24 2.0790193e+00 7.71e-03 2.03e-01 -4.1 6.53e+01 -7.4 1.00e+00 6.99e-01h 1 25 2.0778810e+00 1.72e-02 6.09e-02 -3.8 1.28e+02 -7.8 1.00e+00 1.00e+00h 1 26 2.0764487e+00 1.74e-02 2.78e-02 -4.0 2.20e+02 -8.3 1.00e+00 1.00e+00h 1 27 2.0760262e+00 1.49e-03 2.62e-02 -4.0 3.62e+02 -8.8 1.00e+00 1.00e+00h 1 28 2.0755164e+00 1.38e-03 3.06e-02 -4.0 3.59e+02 -9.3 1.00e+00 6.59e-01h 1 29 2.0757220e+00 1.24e-03 6.93e-03 -4.0 1.17e+02 -9.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753599e+00 7.20e-04 1.24e-04 -4.1 3.52e+01 -10.2 1.00e+00 1.00e+00h 1 31 2.0756724e+00 4.30e-04 2.77e-06 -4.0 1.86e+01 -10.7 1.00e+00 1.00e+00h 1 32 2.0756712e+00 4.44e-07 5.25e-07 -4.0 8.40e+00 -11.2 1.00e+00 1.00e+00h 1 33 2.0756712e+00 6.76e-10 2.45e-08 -4.0 2.60e+00 -11.7 1.00e+00 1.00e+00h 1 34 2.0756712e+00 6.35e-12 2.88e-10 -4.0 3.01e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 34 (scaled) (unscaled) Objective...............: 2.0756712120918466e+00 2.0756712120918466e+00 Dual infeasibility......: 2.8848778983628191e-10 2.8848778983628191e-10 Constraint violation....: 6.3453686749426197e-12 6.3453686749426197e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000009e-04 1.0000000000000009e-04 Overall NLP error.......: 2.8848778983628191e-10 2.8848778983628191e-10 Number of objective function evaluations = 35 Number of objective gradient evaluations = 35 Number of equality constraint evaluations = 35 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 35 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 34 Total seconds in IPOPT = 21.040 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 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.2993192e+00 1.83e+00 8.31e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3906548e+00 3.15e-01 2.58e+00 -0.9 1.81e+00 0.0 7.19e-01 8.29e-01h 1 2 2.8596538e+00 7.62e-02 1.32e+00 -0.7 3.70e-01 0.4 7.97e-01 7.63e-01f 1 3 2.7213885e+00 1.63e-02 1.08e+00 -1.3 2.53e-01 -0.1 9.43e-01 7.97e-01h 1 4 2.4336906e+00 3.27e-02 1.09e+00 -1.7 4.21e-01 -0.5 8.54e-01 9.30e-01f 1 5 2.4375305e+00 2.98e-02 1.69e+00 -1.3 9.72e-01 -0.1 6.70e-01 8.98e-02h 1 6 2.3079801e+00 1.32e-02 2.43e-01 -2.0 1.68e-01 -0.6 9.95e-01 5.56e-01h 1 7 2.1321099e+00 9.59e-03 8.31e-02 -2.9 1.84e-01 -1.1 9.93e-01 1.00e+00h 1 8 2.0984381e+00 4.04e-03 7.48e-02 -4.0 2.23e-01 -1.5 1.00e+00 9.76e-01h 1 9 2.0910926e+00 2.23e-03 4.34e-02 -4.0 3.77e-01 -2.0 1.00e+00 6.40e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908224e+00 1.17e-05 8.06e-02 -4.0 1.05e-01 -2.5 1.00e+00 1.00e+00h 1 11 2.0908708e+00 8.50e-07 5.63e-04 -4.0 1.88e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908638e+00 4.26e-07 2.06e-05 -4.0 5.71e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908470e+00 1.14e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0907966e+00 9.94e-08 2.06e-05 -4.0 5.12e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906455e+00 8.97e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901935e+00 8.12e-06 3.62e-05 -4.0 4.60e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888487e+00 7.44e-05 3.23e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849199e+00 7.06e-04 2.94e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796216e+00 2.07e-03 1.86e-01 -4.0 1.03e+02 -6.8 1.00e+00 5.15e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801802e+00 1.61e-04 1.74e-01 -4.0 6.50e+01 -7.3 1.00e+00 9.92e-01H 1 21 2.0773471e+00 8.57e-03 2.26e-02 -4.0 1.26e+02 -7.7 1.00e+00 9.68e-01h 1 22 2.0771431e+00 1.95e-03 7.61e-02 -4.0 2.11e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760111e+00 4.51e-04 2.09e-02 -4.0 3.51e+02 -8.7 1.00e+00 9.22e-01H 1 24 2.0754859e+00 3.93e-03 2.20e-02 -4.0 4.01e+02 -9.2 1.00e+00 7.46e-01h 1 25 2.0757294e+00 1.86e-03 7.72e-03 -4.0 1.18e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0756767e+00 1.40e-04 2.27e-04 -4.0 4.99e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756713e+00 2.36e-06 4.48e-06 -4.0 2.03e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756713e+00 2.88e-08 9.84e-07 -4.0 1.27e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756713e+00 2.09e-09 8.39e-08 -4.0 4.59e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756713e+00 3.41e-11 1.42e-09 -4.0 6.72e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712527772763e+00 2.0756712527772763e+00 Dual infeasibility......: 1.4172915321279504e-09 1.4172915321279504e-09 Constraint violation....: 3.4101277357478921e-11 3.4101277357478921e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000029e-04 1.0000000000000029e-04 Overall NLP error.......: 1.4172915321279504e-09 1.4172915321279504e-09 Number of objective function evaluations = 33 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 33 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 20.530 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.3083513e+00 3.19e+00 6.08e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7862945e+00 6.10e-02 2.26e+00 -1.0 2.24e+00 0.0 8.96e-01 1.00e+00h 1 2 2.4782800e+00 7.67e-03 3.22e-01 -1.3 1.28e-01 0.4 9.93e-01 1.00e+00h 1 3 2.2449857e+00 2.32e-03 2.00e-01 -2.2 1.21e-01 -0.1 9.86e-01 1.00e+00h 1 4 2.1021667e+00 2.64e-03 1.31e-01 -3.1 1.07e-01 -0.5 9.98e-01 7.92e-01f 1 5 2.0922547e+00 3.23e-04 3.30e-02 -4.0 1.98e-02 -1.0 1.00e+00 8.84e-01h 1 6 2.0909391e+00 2.26e-06 2.75e-03 -4.0 5.65e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909710e+00 1.68e-08 1.38e-04 -4.0 1.25e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909703e+00 1.56e-10 7.00e-05 -4.0 1.91e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909687e+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 2.0909637e+00 9.65e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909487e+00 8.68e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0909039e+00 7.82e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907695e+00 7.05e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903673e+00 6.38e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891695e+00 5.84e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856582e+00 5.51e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796301e+00 2.33e-03 1.35e-01 -4.0 9.58e+01 -6.7 1.00e+00 6.35e-01h 1 18 2.0806902e+00 1.34e-04 1.65e-01 -4.0 7.13e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775970e+00 7.02e-03 2.31e-02 -4.0 1.20e+02 -7.7 1.00e+00 9.74e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769866e+00 2.05e-03 3.88e-02 -4.0 2.04e+02 -8.2 9.82e-01 7.26e-01h 1 21 2.0763214e+00 1.48e-03 4.03e-02 -4.0 3.71e+02 -8.6 1.00e+00 6.33e-01h 1 22 2.0755058e+00 4.63e-03 3.60e-02 -4.0 6.56e+02 -9.1 1.00e+00 7.67e-01h 1 23 2.0758326e+00 3.97e-03 2.02e-02 -4.0 1.95e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0754036e+00 1.68e-03 1.15e-03 -4.1 1.20e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756721e+00 4.56e-04 1.29e-05 -4.0 2.21e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.12e-07 1.17e-06 -4.0 1.21e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.30e-09 8.72e-08 -4.0 4.41e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.98e-11 1.58e-09 -4.0 7.02e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121577130e+00 2.0756712121577130e+00 Dual infeasibility......: 1.5763476794771001e-09 1.5763476794771001e-09 Constraint violation....: 3.9847236621426418e-11 3.9847236621426418e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000056e-04 1.0000000000000056e-04 Overall NLP error.......: 1.5763476794771001e-09 1.5763476794771001e-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 = 20.522 EXIT: Optimal Solution Found. Difference in Hessian 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 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 81 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2091156e+00 2.99e+00 2.82e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.2292483e+00 8.48e+00 1.03e+01 -0.8 2.28e+02 -4.0 1.00e+00 1.00e+00H 1 2 2.6168992e+00 1.13e+00 1.45e+00 -1.2 1.54e+01 -4.5 1.00e+00 1.00e+00h 1 3 2.3767156e+00 1.19e+00 1.47e+00 -1.3 5.13e+01 -5.0 1.00e+00 4.94e-01h 2 4 2.3065611e+00 1.15e+00 1.96e+00 -1.7 1.28e+02 -5.4 1.00e+00 2.49e-01h 3 5 2.2547411e+00 1.18e+00 2.34e+00 -1.8 2.09e+02 -5.9 1.00e+00 2.50e-01h 3 6 2.2161960e+00 1.22e+00 2.65e+00 -1.9 3.01e+02 -6.4 1.00e+00 2.50e-01h 3 7 2.2162466e+00 2.69e-02 1.47e+00 -1.9 4.24e+01 -6.9 9.99e-01 1.00e+00h 1 8 2.0968273e+00 1.17e+00 7.64e-02 -2.6 8.95e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0946363e+00 3.23e-03 4.66e-02 -2.9 7.47e+01 -7.8 9.44e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0811149e+00 1.93e-01 6.99e-03 -3.6 1.93e+02 -8.3 9.96e-01 1.00e+00h 1 11 2.0760850e+00 9.16e-02 1.19e-02 -4.0 3.43e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0756613e+00 6.49e-03 1.60e-02 -4.0 2.62e+02 -9.2 1.00e+00 1.00e+00h 1 13 2.0757865e+00 7.78e-05 1.35e-03 -4.0 5.56e+01 -9.7 1.00e+00 1.00e+00h 1 14 2.0757713e+00 1.45e-05 4.22e-05 -4.0 8.10e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757706e+00 4.31e-10 4.62e-05 -4.0 8.27e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0757704e+00 1.40e-08 1.29e-05 -4.0 4.65e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757704e+00 4.32e-09 8.31e-07 -4.0 1.50e+01 -11.6 1.00e+00 1.00e+00h 1 18 2.0757704e+00 5.79e-11 1.12e-08 -4.0 1.88e+00 -12.1 1.00e+00 1.00e+00h 1 19 2.0757704e+00 4.35e-14 2.32e-11 -4.0 8.40e-02 -12.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 19 (scaled) (unscaled) Objective...............: 2.0757703960468166e+00 2.0757703960468166e+00 Dual infeasibility......: 2.3233624795110722e-11 2.3233624795110722e-11 Constraint violation....: 4.3472387148413283e-14 4.3472387148413283e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000011e-04 1.0000000000000011e-04 Overall NLP error.......: 2.3233624795110722e-11 2.3233624795110722e-11 Number of objective function evaluations = 32 Number of objective gradient evaluations = 20 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 20 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 19 Total seconds in IPOPT = 21.885 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 5.8.1. 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 1.6563947e+00 1.01e+00 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7115052e+00 2.83e-01 1.36e+00 -0.8 6.54e-01 0.0 9.22e-01 7.83e-01h 1 2 1.8113698e+00 1.15e-01 2.07e+00 -1.2 4.98e-01 -0.5 8.09e-01 1.00e+00h 1 3 1.8479839e+00 8.95e-02 1.04e+00 -0.9 5.50e+00 -1.0 1.91e-01 1.86e-01h 1 4 1.3418934e+00 6.86e-02 8.65e-01 -3.2 6.21e+00 - 1.08e-01 2.35e-01f 1 5 1.4748449e+00 1.59e-02 1.01e+00 -1.8 5.52e-01 -1.4 9.80e-01 7.50e-01h 1 6 1.2180984e+00 1.09e-02 1.58e-01 -2.1 2.37e+00 -1.9 9.99e-01 3.18e-01f 1 7 1.1105714e+00 5.78e-04 2.87e-02 -3.2 2.41e-01 -2.4 1.00e+00 1.00e+00h 1 8 1.0941401e+00 3.11e-06 9.28e-03 -4.0 2.30e-01 -2.9 1.00e+00 1.00e+00h 1 9 1.0924192e+00 2.22e-08 1.09e-02 -4.0 5.97e-01 -3.3 9.66e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0921763e+00 1.25e-08 6.26e-03 -4.0 2.07e-01 -2.9 1.00e+00 4.36e-01h 2 11 1.0916786e+00 2.39e-11 3.12e-03 -4.0 5.21e-01 -3.4 1.00e+00 1.00e+00f 1 12 1.0914144e+00 2.27e-13 7.99e-03 -4.0 8.92e-01 -3.9 4.96e-01 1.00e+00f 1 13 1.0912689e+00 1.93e-13 3.07e-03 -4.0 2.86e-01 -2.5 1.00e+00 1.51e-01f 2 14 1.0911557e+00 6.07e-17 2.17e-04 -4.0 1.13e-01 -3.0 1.00e+00 1.00e+00f 1 15 1.0911674e+00 3.03e-17 3.62e-03 -4.0 5.88e-01 -3.5 2.97e-01 5.00e-01f 2 16 1.0908550e+00 2.17e-22 5.25e-04 -4.1 6.34e-02 -2.2 1.00e+00 1.00e+00f 1 17 1.0910442e+00 6.39e-29 3.83e-04 -4.0 5.92e-02 -2.6 1.00e+00 1.00e+00f 1 18 1.0909372e+00 1.38e-25 2.01e-03 -4.1 8.81e-01 - 3.28e-01 2.50e-01f 3 19 1.0908524e+00 6.90e-26 5.57e-04 -4.1 1.61e-01 -3.1 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0909007e+00 2.51e-25 3.95e-03 -4.0 6.26e-01 - 1.00e+00 1.00e+00f 1 21 1.0907173e+00 2.19e-27 5.45e-07 -4.1 3.69e-03 - 1.00e+00 1.00e+00f 1 22 1.0908997e+00 1.42e-26 4.22e-09 -4.0 1.01e-03 - 1.00e+00 1.00e+00f 1 23 1.0907198e+00 1.08e-27 3.27e-09 -4.1 1.64e-04 - 1.00e+00 1.00e+00f 1 24 1.0900065e+00 1.87e-26 5.14e-08 -6.1 7.93e-05 - 1.00e+00 1.00e+00f 1 25 1.0908999e+00 1.43e-30 8.07e-08 -4.0 5.67e-03 - 1.00e+00 1.00e+00f 1 26 1.0907198e+00 4.18e-28 3.27e-09 -4.1 4.51e-03 - 1.00e+00 1.00e+00f 1 27 1.0900065e+00 1.44e-26 5.14e-08 -6.1 7.93e-05 - 1.00e+00 1.00e+00f 1 28 1.0899999e+00 4.14e-33 4.20e-12 -9.0 1.42e-06 - 1.00e+00 1.00e+00f 1 29 1.0900017e+00 4.13e-33 4.52e-12 -4.0 1.23e+02 - 1.00e+00 2.01e-03f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.0903965e+00 2.26e-34 1.57e-08 -4.4 1.08e-01 - 1.00e+00 1.00e+00f 1 31 1.0900026e+00 7.53e-26 1.57e-08 -6.5 9.10e-04 - 1.00e+00 1.00e+00f 1 32 1.0899999e+00 1.28e-32 6.99e-13 -9.0 4.23e-04 - 1.00e+00 1.00e+00f 1 33 1.0899999e+00 1.68e-42 4.88e-16 -9.0 1.36e-01 - 1.00e+00 1.00e+00f 1 34 1.0899999e+00 2.05e-46 3.33e-16 -9.0 6.41e-16 - 1.00e+00 1.00e+00 0 35 1.0899999e+00 3.29e-47 3.33e-16 -9.0 2.79e-17 - 1.00e+00 1.00e+00T 0 Number of Iterations....: 35 (scaled) (unscaled) Objective...............: 1.0899999181818181e+00 1.0899999181818181e+00 Dual infeasibility......: 3.3263322651855276e-16 3.3263322651855276e-16 Constraint violation....: 3.2921476453942212e-47 3.2921476453942212e-47 Variable bound violation: 9.0909090932206338e-09 9.0909090932206338e-09 Complementarity.........: 9.0909090909090920e-10 9.0909090909090920e-10 Overall NLP error.......: 9.9999090909091604e-05 9.9999090909091604e-05 Number of objective function evaluations = 43 Number of objective gradient evaluations = 36 Number of equality constraint evaluations = 43 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 36 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 36 Total seconds in IPOPT = 16.920 EXIT: Search Direction is becoming Too Small. Test Summary: | Pass Total Time Package | 174 174 14m53.4s Testing DirectTrajOpt tests passed Testing completed after 1145.85s PkgEval succeeded after 1492.39s