Package evaluation of DirectTrajOpt on Julia 1.13.0-DEV.427 (855bef3b06*) started at 2025-04-23T22:04:17.786 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Set-up completed after 7.22s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.13/Project.toml` [c823fa1f] + DirectTrajOpt v0.2.0 Updating `~/.julia/environments/v1.13/Manifest.toml` [c29ec348] + AbstractDifferentiation v0.6.2 [79e6a3ab] + Adapt v4.3.0 [4fba245c] + ArrayInterface v7.18.0 [6e4b80f9] + BenchmarkTools v1.6.0 [d360d2e6] + ChainRulesCore v1.25.1 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.8 [bbf7d656] + CommonSubexpressions v0.3.1 [34da2185] + Compat v4.16.0 [187b0558] + ConstructionBase v1.5.8 [864edb3b] + DataStructures v0.18.22 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [c823fa1f] + DirectTrajOpt v0.2.0 [ffbed154] + DocStringExtensions v0.9.4 [e24c0720] + ExponentialAction v0.2.10 [e2ba6199] + ExprTools v0.1.10 [5789e2e9] + FileIO v1.17.0 [6a86dc24] + FiniteDiff v2.27.0 ⌅ [f6369f11] + ForwardDiff v0.10.38 [b6b21f68] + Ipopt v1.9.0 [92d709cd] + IrrationalConstants v0.2.4 [033835bb] + JLD2 v0.5.13 [692b3bcd] + JLLWrappers v1.7.0 [682c06a0] + JSON v0.21.4 [0f8b85d8] + JSON3 v1.14.2 [2ab3a3ac] + LogExpFunctions v0.3.29 [1914dd2f] + MacroTools v0.5.16 [b8f27783] + MathOptInterface v1.39.0 [d8a4904e] + MutableArithmetics v1.6.4 [77ba4419] + NaNMath v1.1.3 [538bc3a1] + NamedTrajectories v0.3.1 [bac558e1] + OrderedCollections v1.8.0 [69de0a69] + Parsers v2.8.2 [aea7be01] + PrecompileTools v1.3.2 [21216c6a] + Preferences v1.4.3 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.5.1 [1e83bf80] + StaticArraysCore v1.4.3 [10745b16] + Statistics v1.11.1 [856f2bd8] + StructTypes v1.11.0 [f8b46487] + TestItemRunner v1.1.0 [1c621080] + TestItems v1.0.0 [6dad8b7f] + TrajectoryIndexingUtils v0.1.0 [3bb67fe8] + TranscodingStreams v0.11.3 [ae81ac8f] + ASL_jll v0.1.3+0 [6e34b625] + Bzip2_jll v1.0.9+0 [e33a78d0] + Hwloc_jll v2.12.0+0 [9cc047cb] + Ipopt_jll v300.1400.1700+0 [d00139f3] + METIS_jll v5.1.3+0 [d7ed1dd3] + MUMPS_seq_jll v500.700.301+0 [656ef2d0] + OpenBLAS32_jll v0.3.29+0 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 ⌅ [319450e9] + SPRAL_jll v2024.5.8+0 [0dad84c5] + ArgTools v1.1.2 [56f22d72] + Artifacts v1.11.0 [2a0f44e3] + Base64 v1.11.0 [ade2ca70] + Dates v1.11.0 [f43a241f] + Downloads v1.7.0 [7b1f6079] + FileWatching v1.11.0 [9fa8497b] + Future v1.11.0 [b77e0a4c] + InteractiveUtils v1.11.0 [ac6e5ff7] + JuliaSyntaxHighlighting v1.12.0 [b27032c2] + LibCURL v0.6.4 [76f85450] + LibGit2 v1.11.0 [8f399da3] + Libdl v1.11.0 [37e2e46d] + LinearAlgebra v1.12.0 [56ddb016] + Logging v1.11.0 [d6f4376e] + Markdown v1.11.0 [a63ad114] + Mmap v1.11.0 [ca575930] + NetworkOptions v1.3.0 [44cfe95a] + Pkg v1.12.0 [de0858da] + Printf v1.11.0 [9abbd945] + Profile v1.11.0 [9a3f8284] + Random v1.11.0 [ea8e919c] + SHA v0.7.0 [9e88b42a] + Serialization v1.11.0 [2f01184e] + SparseArrays v1.12.0 [f489334b] + StyledStrings v1.11.0 [fa267f1f] + TOML v1.0.3 [a4e569a6] + Tar v1.10.0 [8dfed614] + Test v1.11.0 [cf7118a7] + UUIDs v1.11.0 [4ec0a83e] + Unicode v1.11.0 [e66e0078] + CompilerSupportLibraries_jll v1.3.0+1 [deac9b47] + LibCURL_jll v8.12.1+1 [e37daf67] + LibGit2_jll v1.9.0+0 [29816b5a] + LibSSH2_jll v1.11.3+1 [14a3606d] + MozillaCACerts_jll v2024.12.31 [4536629a] + OpenBLAS_jll v0.3.29+0 [05823500] + OpenLibm_jll v0.8.5+0 [458c3c95] + OpenSSL_jll v3.0.16+0 [bea87d4a] + SuiteSparse_jll v7.10.1+0 [83775a58] + Zlib_jll v1.3.1+2 [8e850b90] + libblastrampoline_jll v5.12.0+0 [8e850ede] + nghttp2_jll v1.65.0+0 [3f19e933] + p7zip_jll v17.5.0+2 Info Packages marked with ⌅ have new versions available but compatibility constraints restrict them from upgrading. To see why use `status --outdated -m` Installation completed after 3.58s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompilation completed after 167.63s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_NE0ngB/Project.toml` [c823fa1f] DirectTrajOpt v0.2.0 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.27.0 ⌅ [f6369f11] ForwardDiff v0.10.38 [b6b21f68] Ipopt v1.9.0 [033835bb] JLD2 v0.5.13 [b8f27783] MathOptInterface v1.39.0 [538bc3a1] NamedTrajectories v0.3.1 [189a3867] Reexport v1.2.2 [f8b46487] TestItemRunner v1.1.0 [1c621080] TestItems v1.0.0 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.12.0 [2f01184e] SparseArrays v1.12.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_NE0ngB/Manifest.toml` [c29ec348] AbstractDifferentiation v0.6.2 [79e6a3ab] Adapt v4.3.0 [4fba245c] ArrayInterface v7.18.0 [6e4b80f9] BenchmarkTools v1.6.0 [d360d2e6] ChainRulesCore v1.25.1 [523fee87] CodecBzip2 v0.8.5 [944b1d66] CodecZlib v0.7.8 [bbf7d656] CommonSubexpressions v0.3.1 [34da2185] Compat v4.16.0 [187b0558] ConstructionBase v1.5.8 [864edb3b] DataStructures v0.18.22 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [c823fa1f] DirectTrajOpt v0.2.0 [ffbed154] DocStringExtensions v0.9.4 [e24c0720] ExponentialAction v0.2.10 [e2ba6199] ExprTools v0.1.10 [5789e2e9] FileIO v1.17.0 [6a86dc24] FiniteDiff v2.27.0 ⌅ [f6369f11] ForwardDiff v0.10.38 [b6b21f68] Ipopt v1.9.0 [92d709cd] IrrationalConstants v0.2.4 [033835bb] JLD2 v0.5.13 [692b3bcd] JLLWrappers v1.7.0 [682c06a0] JSON v0.21.4 [0f8b85d8] JSON3 v1.14.2 [2ab3a3ac] LogExpFunctions v0.3.29 [1914dd2f] MacroTools v0.5.16 [b8f27783] MathOptInterface v1.39.0 [d8a4904e] MutableArithmetics v1.6.4 [77ba4419] NaNMath v1.1.3 [538bc3a1] NamedTrajectories v0.3.1 [bac558e1] OrderedCollections v1.8.0 [69de0a69] Parsers v2.8.2 [aea7be01] PrecompileTools v1.3.2 [21216c6a] Preferences v1.4.3 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [efcf1570] Setfield v1.1.2 [276daf66] SpecialFunctions v2.5.1 [1e83bf80] StaticArraysCore v1.4.3 [10745b16] Statistics v1.11.1 [856f2bd8] StructTypes v1.11.0 [f8b46487] TestItemRunner v1.1.0 [1c621080] TestItems v1.0.0 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [3bb67fe8] TranscodingStreams v0.11.3 [ae81ac8f] ASL_jll v0.1.3+0 [6e34b625] Bzip2_jll v1.0.9+0 [e33a78d0] Hwloc_jll v2.12.0+0 [9cc047cb] Ipopt_jll v300.1400.1700+0 [d00139f3] METIS_jll v5.1.3+0 [d7ed1dd3] MUMPS_seq_jll v500.700.301+0 [656ef2d0] OpenBLAS32_jll v0.3.29+0 [efe28fd5] OpenSpecFun_jll v0.5.6+0 ⌅ [319450e9] SPRAL_jll v2024.5.8+0 [0dad84c5] ArgTools v1.1.2 [56f22d72] Artifacts v1.11.0 [2a0f44e3] Base64 v1.11.0 [ade2ca70] Dates v1.11.0 [f43a241f] Downloads v1.7.0 [7b1f6079] FileWatching v1.11.0 [9fa8497b] Future v1.11.0 [b77e0a4c] InteractiveUtils v1.11.0 [ac6e5ff7] JuliaSyntaxHighlighting v1.12.0 [b27032c2] LibCURL v0.6.4 [76f85450] LibGit2 v1.11.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.12.0 [56ddb016] Logging v1.11.0 [d6f4376e] Markdown v1.11.0 [a63ad114] Mmap v1.11.0 [ca575930] NetworkOptions v1.3.0 [44cfe95a] Pkg v1.12.0 [de0858da] Printf v1.11.0 [9abbd945] Profile v1.11.0 [9a3f8284] Random v1.11.0 [ea8e919c] SHA v0.7.0 [9e88b42a] Serialization v1.11.0 [2f01184e] SparseArrays v1.12.0 [f489334b] StyledStrings v1.11.0 [fa267f1f] TOML v1.0.3 [a4e569a6] Tar v1.10.0 [8dfed614] Test v1.11.0 [cf7118a7] UUIDs v1.11.0 [4ec0a83e] Unicode v1.11.0 [e66e0078] CompilerSupportLibraries_jll v1.3.0+1 [deac9b47] LibCURL_jll v8.12.1+1 [e37daf67] LibGit2_jll v1.9.0+0 [29816b5a] LibSSH2_jll v1.11.3+1 [14a3606d] MozillaCACerts_jll v2024.12.31 [4536629a] OpenBLAS_jll v0.3.29+0 [05823500] OpenLibm_jll v0.8.5+0 [458c3c95] OpenSSL_jll v3.0.16+0 [bea87d4a] SuiteSparse_jll v7.10.1+0 [83775a58] Zlib_jll v1.3.1+2 [8e850b90] libblastrampoline_jll v5.12.0+0 [8e850ede] nghttp2_jll v1.65.0+0 [3f19e933] p7zip_jll v17.5.0+2 Info Packages marked with ⌅ have new versions available but compatibility constraints restrict them from upgrading. Testing Running tests... initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u ****************************************************************************** This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit https://github.com/coin-or/Ipopt ****************************************************************************** This is Ipopt version 3.14.17, running with linear solver MUMPS 5.7.3. Number of nonzeros in equality constraint Jacobian...: 404 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 325 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.0997885e+00 2.95e+00 1.88e+00 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 9.3433304e-01 2.71e+00 5.47e+01 -1.0 2.24e+00 0.0 3.19e-02 1.00e+00f 1 2 1.5626508e+00 4.79e-01 2.44e+02 -1.0 1.71e+00 1.3 5.74e-01 1.00e+00h 1 3 2.2332702e+00 4.27e-01 1.17e+02 -1.0 7.80e-01 1.8 1.00e+00 1.00e+00h 1 4 2.4800635e+00 1.95e-02 7.12e+01 -1.0 4.01e-01 2.2 1.00e+00 1.00e+00h 1 5 2.4232384e+00 5.02e-04 1.69e+01 -1.0 2.68e-02 1.7 1.00e+00 1.00e+00h 1 6 2.4016466e+00 1.45e-05 5.63e-01 -1.0 3.31e-02 1.2 1.00e+00 1.00e+00h 1 7 2.3665223e+00 6.32e-05 3.91e-01 -1.7 6.89e-02 0.7 1.00e+00 1.00e+00f 1 8 2.3362656e+00 4.77e-04 1.72e-01 -1.7 8.81e-02 0.3 1.00e+00 1.00e+00f 1 9 2.3185231e+00 2.61e-03 4.73e-02 -2.5 7.23e-02 -0.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.2998134e+00 2.47e-02 6.54e-02 -2.5 2.20e-01 -0.7 1.00e+00 1.00e+00h 1 11 2.2861597e+00 4.45e-02 1.06e-01 -2.5 1.57e+00 -1.2 1.00e+00 1.25e-01h 4 12 2.2633781e+00 3.51e-02 1.86e-01 -2.5 2.74e-01 -0.7 1.00e+00 1.00e+00h 1 13 2.2555205e+00 3.96e-02 1.95e-01 -2.5 1.80e+00 -1.2 1.00e+00 6.25e-02h 5 14 2.2446008e+00 2.47e-02 1.48e-01 -2.5 2.56e-01 -0.8 1.00e+00 1.00e+00h 1 15 2.1620200e+00 5.11e-03 7.23e-02 -2.5 1.07e-01 -0.4 1.00e+00 1.00e+00h 1 16 2.1328264e+00 1.63e-02 1.45e-01 -2.5 2.60e-01 -0.8 1.00e+00 1.00e+00H 1 17 2.0925481e+00 9.83e-03 5.84e-02 -2.5 1.50e-01 -0.4 1.00e+00 1.00e+00h 1 18 2.0856282e+00 1.22e-02 6.25e-02 -2.5 7.02e-01 -0.9 1.00e+00 1.25e-01h 4 19 2.0684302e+00 1.75e-02 6.94e-02 -2.5 2.00e-01 -0.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0630259e+00 2.18e-02 7.72e-02 -2.5 1.68e+00 -0.9 1.00e+00 6.25e-02h 5 21 1.9919349e+00 1.31e-02 1.87e-01 -2.5 3.11e-01 -0.5 1.00e+00 1.00e+00H 1 22 1.9877850e+00 1.71e-02 1.85e-01 -2.5 1.08e+01 -1.0 1.00e+00 7.81e-03f 8 23 1.9751473e+00 2.01e-02 1.44e-01 -2.5 4.35e-01 -0.6 1.00e+00 2.50e-01h 3 24 1.9239769e+00 8.32e-03 9.35e-02 -2.5 1.28e-01 -0.1 1.00e+00 1.00e+00h 1 25 1.9162385e+00 1.65e-02 1.02e-01 -2.5 5.17e-01 -0.6 1.00e+00 2.50e-01h 3 26 1.8773382e+00 1.83e-02 1.25e-01 -2.5 1.93e-01 -0.2 1.00e+00 1.00e+00h 1 27 1.8656656e+00 2.35e-02 1.36e-01 -2.5 9.71e-01 -0.7 1.00e+00 1.25e-01h 4 28 1.8357036e+00 3.48e-02 1.58e-01 -2.5 2.73e-01 -0.2 1.00e+00 1.00e+00h 1 29 1.8235082e+00 3.91e-02 1.70e-01 -2.5 1.83e+00 -0.7 1.00e+00 6.25e-02h 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.8048314e+00 5.85e-02 1.78e-01 -2.5 3.48e-01 -0.3 1.00e+00 1.00e+00h 1 31 1.8047861e+00 7.25e-02 2.05e-01 -2.5 1.41e+02 -0.8 1.92e-01 1.12e-03f 9 32 1.7504633e+00 6.36e-02 1.91e-01 -2.5 4.84e-01 -0.3 1.00e+00 5.00e-01h 2 33 1.5859825e+00 5.35e-03 2.08e-01 -2.5 1.61e-01 0.1 1.00e+00 1.00e+00h 1 34 1.5268886e+00 7.76e-03 1.35e-01 -2.5 2.96e-01 -0.4 1.00e+00 1.00e+00H 1 35 1.5267844e+00 2.26e-02 1.42e-01 -2.5 1.43e+00 -0.9 1.00e+00 1.25e-01h 4 36 1.5221548e+00 4.04e-02 1.60e-01 -2.5 4.91e-01 -0.4 1.00e+00 5.00e-01h 2 37 1.4373897e+00 1.03e-02 1.31e-01 -2.5 1.37e-01 -0.0 1.00e+00 1.00e+00h 1 38 1.4016757e+00 2.41e-02 1.89e-01 -2.5 3.58e-01 -0.5 1.00e+00 1.00e+00H 1 39 1.3356774e+00 1.10e-02 1.38e-01 -2.5 1.61e-01 -0.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.3243495e+00 1.44e-02 1.35e-01 -2.5 4.41e-01 -0.5 1.00e+00 2.50e-01h 3 41 1.3177904e+00 1.81e-02 1.39e-01 -2.5 2.84e+00 -1.0 1.00e+00 3.12e-02h 6 42 1.3080704e+00 2.62e-02 1.45e-01 -2.5 6.43e-01 -0.6 1.00e+00 2.50e-01h 3 43 1.2634761e+00 2.05e-02 1.44e-01 -2.5 2.13e-01 -0.2 1.00e+00 1.00e+00h 1 44 1.2566663e+00 3.04e-02 1.47e-01 -2.5 6.94e-01 -0.6 1.00e+00 2.50e-01h 3 45 1.2133631e+00 2.42e-02 1.28e-01 -2.5 2.14e-01 -0.2 1.00e+00 1.00e+00h 1 46 1.2022933e+00 2.66e-02 1.31e-01 -2.5 7.54e-01 -0.7 1.00e+00 1.25e-01h 4 47 1.1731978e+00 2.56e-02 1.08e-01 -2.5 2.03e-01 -0.3 1.00e+00 1.00e+00h 1 48 1.1727892e+00 3.85e-02 1.24e-01 -2.5 1.31e+00 -0.8 1.00e+00 1.25e-01h 4 49 1.1545061e+00 6.34e-02 1.74e-01 -2.5 3.67e-01 -0.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.0165954e+00 5.09e-03 1.50e-01 -2.5 1.18e-01 0.1 1.00e+00 1.00e+00h 1 51 9.7027353e-01 5.64e-03 1.26e-01 -2.5 2.86e-01 -0.4 1.00e+00 1.00e+00H 1 52 9.6435248e-01 1.04e-02 1.32e-01 -2.5 1.57e+00 -0.9 1.00e+00 6.25e-02h 5 53 9.5364246e-01 1.36e-02 1.37e-01 -2.5 4.08e-01 -0.4 1.00e+00 2.50e-01h 3 54 9.5153911e-01 2.26e-02 1.49e-01 -2.5 4.07e+00 -0.9 1.00e+00 3.12e-02f 6 55 9.3957397e-01 2.80e-02 1.54e-01 -2.5 5.16e-01 -0.5 1.00e+00 2.50e-01h 3 56 8.7371722e-01 1.59e-02 1.64e-01 -2.5 1.85e-01 -0.1 1.00e+00 1.00e+00h 1 57 8.6190843e-01 2.42e-02 1.67e-01 -2.5 6.00e-01 -0.5 1.00e+00 2.50e-01h 3 58 8.1683318e-01 2.38e-02 1.77e-01 -2.5 2.25e-01 -0.1 1.00e+00 1.00e+00h 1 59 8.1087008e-01 3.99e-02 1.89e-01 -2.5 8.45e-01 -0.6 1.00e+00 2.50e-01h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 7.5615905e-01 3.54e-02 1.90e-01 -2.5 2.71e-01 -0.2 1.00e+00 1.00e+00h 1 61 7.4145108e-01 4.02e-02 1.96e-01 -2.5 1.04e+00 -0.6 1.00e+00 1.25e-01h 4 62 7.0087734e-01 3.75e-02 1.55e-01 -2.5 2.49e-01 -0.2 1.00e+00 1.00e+00h 1 63 6.8705612e-01 3.94e-02 1.61e-01 -2.5 1.49e+00 -0.7 1.00e+00 6.25e-02h 5 64 6.6094378e-01 6.13e-02 1.94e-01 -2.5 3.50e-01 -0.3 1.00e+00 1.00e+00h 1 65 6.5137506e-01 6.88e-02 2.15e-01 -2.5 1.60e+01 -0.7 1.00e+00 7.81e-03f 8 66 6.0065665e-01 1.03e-01 5.83e-01 -2.5 5.35e-01 -0.3 1.00e+00 1.00e+00H 1 67 3.8812236e-01 4.02e-03 2.65e-01 -2.5 1.60e-01 0.1 1.00e+00 1.00e+00h 1 68 3.3872695e-01 3.33e-03 1.59e-01 -2.5 2.08e-01 -0.4 1.00e+00 1.00e+00H 1 69 3.3597024e-01 1.25e-02 1.62e-01 -2.5 1.01e+00 -0.8 1.00e+00 1.25e-01h 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.1204616e-01 4.48e-02 2.79e-01 -2.5 4.10e-01 -0.4 1.00e+00 1.00e+00H 1 71 2.2127950e-01 1.02e-02 1.57e-01 -2.5 1.51e-01 0.0 1.00e+00 1.00e+00h 1 72 1.8466077e-01 2.39e-02 1.77e-01 -2.5 3.81e-01 -0.5 1.00e+00 1.00e+00H 1 73 1.7797106e-01 2.64e-02 1.81e-01 -2.5 4.24e+00 -0.9 1.00e+00 1.56e-02h 7 74 1.6458437e-01 2.89e-02 1.62e-01 -2.5 5.11e-01 -0.5 1.00e+00 2.50e-01h 3 75 1.0133524e-01 1.45e-02 1.49e-01 -2.5 1.81e-01 -0.1 1.00e+00 1.00e+00h 1 76 9.2113836e-02 2.06e-02 1.48e-01 -2.5 5.36e-01 -0.6 1.00e+00 2.50e-01h 3 77 8.6419818e-02 2.46e-02 1.55e-01 -2.5 1.15e+01 -1.0 1.00e+00 7.81e-03f 8 78 7.4886186e-02 2.83e-02 1.64e-01 -2.5 9.33e-01 -0.6 1.00e+00 1.25e-01h 4 79 4.1243564e-02 3.13e-02 1.69e-01 -2.5 2.61e-01 -0.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.1577053e-02 3.80e-02 1.79e-01 -2.5 1.16e+00 -0.7 1.00e+00 1.25e-01h 4 81 3.8539128e-03 4.32e-02 1.66e-01 -2.5 2.88e-01 -0.2 1.00e+00 1.00e+00h 1 82 -8.2133167e-04 5.30e-02 1.83e-01 -2.5 2.30e+00 -0.7 1.00e+00 6.25e-02h 5 83 -1.0423934e-01 4.86e-02 5.78e-01 -2.5 3.82e-01 -0.3 1.00e+00 1.00e+00H 1 84 -2.1922766e-01 6.57e-03 1.90e-01 -2.5 1.39e-01 0.1 1.00e+00 1.00e+00h 1 85 -2.7420482e-01 9.62e-03 1.61e-01 -2.5 3.27e-01 -0.3 1.00e+00 1.00e+00H 1 86 -2.8240200e-01 1.38e-02 1.65e-01 -2.5 1.53e+00 -0.8 1.00e+00 6.25e-02h 5 87 -2.9573886e-01 1.68e-02 1.68e-01 -2.5 4.39e-01 -0.4 1.00e+00 2.50e-01h 3 88 -3.0392481e-01 2.09e-02 1.75e-01 -2.5 2.90e+00 -0.9 1.00e+00 3.12e-02h 6 89 -3.1781653e-01 2.54e-02 1.77e-01 -2.5 5.07e-01 -0.4 1.00e+00 2.50e-01h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 -3.7081226e-01 1.24e-02 1.47e-01 -2.5 1.53e-01 -0.0 1.00e+00 1.00e+00h 1 91 -3.8312107e-01 1.77e-02 1.48e-01 -2.5 4.72e-01 -0.5 1.00e+00 2.50e-01h 3 92 -3.8657648e-01 2.85e-02 1.58e-01 -2.5 4.51e+00 -1.0 1.00e+00 3.12e-02f 6 93 -3.8861598e-01 4.92e-02 1.84e-01 -2.5 9.30e-01 -0.5 1.00e+00 2.50e-01h 3 94 -4.7003942e-01 3.25e-02 2.30e-01 -2.5 2.75e-01 -0.1 1.00e+00 1.00e+00h 1 95 -4.7604925e-01 4.77e-02 2.11e-01 -2.5 8.65e-01 -0.6 1.00e+00 2.50e-01h 3 96 -5.3919015e-01 3.41e-02 1.69e-01 -2.5 2.51e-01 -0.2 1.00e+00 1.00e+00h 1 97 -5.5328547e-01 3.77e-02 1.73e-01 -2.5 8.92e-01 -0.6 1.00e+00 1.25e-01h 4 98 -5.9375480e-01 3.84e-02 1.59e-01 -2.5 2.65e-01 -0.2 1.00e+00 1.00e+00h 1 99 -6.0708718e-01 4.22e-02 1.70e-01 -2.5 1.71e+00 -0.7 1.00e+00 6.25e-02h 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 -6.3179768e-01 6.60e-02 2.02e-01 -2.5 3.79e-01 -0.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: -6.3179767650321272e-01 -6.3179767650321272e-01 Dual infeasibility......: 2.0162013109708310e-01 2.0162013109708310e-01 Constraint violation....: 6.6001822948793976e-02 6.6001822948793976e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.8290733045820602e-03 2.8290733045820602e-03 Overall NLP error.......: 2.0162013109708310e-01 2.0162013109708310e-01 Number of objective function evaluations = 317 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 317 Number of inequality constraint evaluations = 317 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 30.982 EXIT: Maximum Number of Iterations Exceeded. Test Summary: | Pass Total Time Package | 22 22 5m15.2s Testing DirectTrajOpt tests passed Testing completed after 360.1s PkgEval succeeded after 559.29s