Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1699 (993b392fda*) started at 2026-02-14T03:55:58.689 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 11.18s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.8.1 Updating `~/.julia/environments/v1.14/Manifest.toml` [47edcb42] + ADTypes v1.21.0 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.43 [79e6a3ab] + Adapt v4.4.0 [4fba245c] + ArrayInterface v7.22.0 [4c555306] + ArrayLayouts v1.12.2 [6e4b80f9] + BenchmarkTools v1.6.3 [62783981] + BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] + BracketingNonlinearSolve v1.6.2 [2a0fbf3d] + CPUSummary v0.2.7 [d360d2e6] + ChainRulesCore v1.26.0 [0b6fb165] + ChunkCodecCore v1.0.1 [4c0bbee4] + ChunkCodecLibZlib v1.0.0 [55437552] + ChunkCodecLibZstd v1.0.0 [fb6a15b2] + CloseOpenIntervals v0.1.13 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.8 [38540f10] + CommonSolve v0.2.6 [bbf7d656] + CommonSubexpressions v0.3.1 [f70d9fcc] + CommonWorldInvalidations v1.0.0 [34da2185] + Compat v4.18.1 [a33af91c] + CompositionsBase v0.1.2 [95dc2771] + ComputePipeline v0.1.6 [2569d6c7] + ConcreteStructs v0.2.3 [187b0558] + ConstructionBase v1.6.0 [adafc99b] + CpuId v0.3.1 [864edb3b] + DataStructures v0.19.3 [2b5f629d] + DiffEqBase v6.203.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.16 [c823fa1f] + DirectTrajOpt v0.8.1 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.6 [f151be2c] + EnzymeCore v0.8.18 [e24c0720] + ExponentialAction v0.2.10 [e2ba6199] + ExprTools v0.1.10 [55351af7] + ExproniconLite v0.10.14 [7034ab61] + FastBroadcast v0.3.5 [9aa1b823] + FastClosures v0.3.2 [a4df4552] + FastPower v1.3.1 [5789e2e9] + FileIO v1.18.0 [1a297f60] + FillArrays v1.16.0 [6a86dc24] + FiniteDiff v2.29.0 [f6369f11] + ForwardDiff v1.3.2 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v0.1.3 [46192b85] + GPUArraysCore v0.2.0 [076d061b] + HashArrayMappedTries v0.2.0 [615f187c] + IfElse v0.1.1 [3587e190] + InverseFunctions v0.1.17 [b6b21f68] + Ipopt v1.14.0 [92d709cd] + IrrationalConstants v0.2.6 [82899510] + IteratorInterfaceExtensions v1.0.0 [033835bb] + JLD2 v0.6.3 [692b3bcd] + JLLWrappers v1.7.1 [682c06a0] + JSON v1.4.0 [ae98c720] + Jieko v0.2.1 [10f19ff3] + LayoutPointers v0.1.17 [5078a376] + LazyArrays v2.9.5 [2ab3a3ac] + LogExpFunctions v0.3.29 [e6f89c97] + LoggingExtras v1.2.0 [1914dd2f] + MacroTools v0.5.16 [d125e4d3] + ManualMemory v0.1.8 [b8f27783] + MathOptInterface v1.49.0 [bb5d69b7] + MaybeInplace v0.1.4 [2e0e35c7] + Moshi v0.3.7 [46d2c3a1] + MuladdMacro v0.2.4 [d8a4904e] + MutableArithmetics v1.6.7 [77ba4419] + NaNMath v1.1.3 [538bc3a1] + NamedTrajectories v0.8.2 [be0214bd] + NonlinearSolveBase v2.11.2 [510215fc] + Observables v0.5.5 [bac558e1] + OrderedCollections v1.8.1 [bbf590c4] + OrdinaryDiffEqCore v3.5.1 [b1df2697] + OrdinaryDiffEqTsit5 v1.9.0 [69de0a69] + Parsers v2.8.3 [f517fe37] + Polyester v0.7.19 [1d0040c9] + PolyesterWeave v0.2.2 [d236fae5] + PreallocationTools v1.1.2 [aea7be01] + PrecompileTools v1.3.3 [21216c6a] + Preferences v1.5.1 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v3.48.0 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.17 [94e857df] + SIMDTypes v0.1.0 [0bca4576] + SciMLBase v2.138.1 [19f34311] + SciMLJacobianOperators v0.1.12 [a6db7da4] + SciMLLogging v1.8.0 [c0aeaf25] + SciMLOperators v1.15.1 [431bcebd] + SciMLPublic v1.0.1 [53ae85a6] + SciMLStructures v1.10.0 [7e506255] + ScopedValues v1.5.0 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.7.1 [aedffcd0] + Static v1.3.1 [0d7ed370] + StaticArrayInterface v1.9.0 [90137ffa] + StaticArrays v1.9.16 [1e83bf80] + StaticArraysCore v1.4.4 [10745b16] + Statistics v1.11.1 [7792a7ef] + StrideArraysCore v0.5.8 [ec057cc2] + StructUtils v2.6.3 [2efcf032] + SymbolicIndexingInterface v0.3.46 [f8b46487] + TestItemRunner v1.1.4 [1c621080] + TestItems v1.0.0 [8290d209] + ThreadingUtilities v0.5.5 [a759f4b9] + TimerOutputs v0.5.29 [6dad8b7f] + TrajectoryIndexingUtils v0.1.0 [3bb67fe8] + TranscodingStreams v0.11.3 [781d530d] + TruncatedStacktraces v1.4.0 [ae81ac8f] + ASL_jll v0.1.3+0 [6e34b625] + Bzip2_jll v1.0.9+0 [e33a78d0] + Hwloc_jll v2.12.2+0 [9cc047cb] + Ipopt_jll v300.1400.1901+0 [94ce4f54] + Libiconv_jll v1.18.0+0 [d00139f3] + METIS_jll v5.1.3+0 [d7ed1dd3] + MUMPS_seq_jll v500.800.200+0 [656ef2d0] + OpenBLAS32_jll v0.3.30+0 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 [319450e9] + SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] + XML2_jll v2.13.9+0 [a65dc6b1] + Xorg_libpciaccess_jll v0.18.1+0 [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 v1.13.0 [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 v1.14.0 [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 v1.13.0 [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 v8.18.0+0 [e37daf67] + LibGit2_jll v1.9.2+0 [29816b5a] + LibSSH2_jll v1.11.3+1 [14a3606d] + MozillaCACerts_jll v2025.12.2 [4536629a] + OpenBLAS_jll v0.3.30+0 [05823500] + OpenLibm_jll v0.8.7+0 [458c3c95] + OpenSSL_jll v3.5.5+0 [efcefdf7] + PCRE2_jll v10.47.0+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 v1.68.0+1 [3f19e933] + p7zip_jll v17.7.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m` Installation completed after 5.97s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 25549.4 ms ✓ DirectTrajOpt 1 dependency successfully precompiled in 28 seconds. 224 already precompiled. Precompilation completed after 48.43s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_XlGpGf/Project.toml` [c823fa1f] DirectTrajOpt v0.8.1 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.3.2 [b6b21f68] Ipopt v1.14.0 [5078a376] LazyArrays v2.9.5 [b8f27783] MathOptInterface v1.49.0 [538bc3a1] NamedTrajectories v0.8.2 [b1df2697] OrdinaryDiffEqTsit5 v1.9.0 [189a3867] Reexport v1.2.2 [f8b46487] TestItemRunner v1.1.4 [1c621080] TestItems v1.0.0 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.13.0 [2f01184e] SparseArrays v1.13.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_XlGpGf/Manifest.toml` [47edcb42] ADTypes v1.21.0 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.43 [79e6a3ab] Adapt v4.4.0 [4fba245c] ArrayInterface v7.22.0 [4c555306] ArrayLayouts v1.12.2 [6e4b80f9] BenchmarkTools v1.6.3 [62783981] BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] BracketingNonlinearSolve v1.6.2 [2a0fbf3d] CPUSummary v0.2.7 [d360d2e6] ChainRulesCore v1.26.0 [0b6fb165] ChunkCodecCore v1.0.1 [4c0bbee4] ChunkCodecLibZlib v1.0.0 [55437552] ChunkCodecLibZstd v1.0.0 [fb6a15b2] CloseOpenIntervals v0.1.13 [523fee87] CodecBzip2 v0.8.5 [944b1d66] CodecZlib v0.7.8 [38540f10] CommonSolve v0.2.6 [bbf7d656] CommonSubexpressions v0.3.1 [f70d9fcc] CommonWorldInvalidations v1.0.0 [34da2185] Compat v4.18.1 [a33af91c] CompositionsBase v0.1.2 [95dc2771] ComputePipeline v0.1.6 [2569d6c7] ConcreteStructs v0.2.3 [187b0558] ConstructionBase v1.6.0 [adafc99b] CpuId v0.3.1 [864edb3b] DataStructures v0.19.3 [2b5f629d] DiffEqBase v6.203.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a0c0ee7d] DifferentiationInterface v0.7.16 [c823fa1f] DirectTrajOpt v0.8.1 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.6 [f151be2c] EnzymeCore v0.8.18 [e24c0720] ExponentialAction v0.2.10 [e2ba6199] ExprTools v0.1.10 [55351af7] ExproniconLite v0.10.14 [7034ab61] FastBroadcast v0.3.5 [9aa1b823] FastClosures v0.3.2 [a4df4552] FastPower v1.3.1 [5789e2e9] FileIO v1.18.0 [1a297f60] FillArrays v1.16.0 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.3.2 [069b7b12] FunctionWrappers v1.1.3 [77dc65aa] FunctionWrappersWrappers v0.1.3 [46192b85] GPUArraysCore v0.2.0 [076d061b] HashArrayMappedTries v0.2.0 [615f187c] IfElse v0.1.1 [3587e190] InverseFunctions v0.1.17 [b6b21f68] Ipopt v1.14.0 [92d709cd] IrrationalConstants v0.2.6 [82899510] IteratorInterfaceExtensions v1.0.0 [033835bb] JLD2 v0.6.3 [692b3bcd] JLLWrappers v1.7.1 [682c06a0] JSON v1.4.0 [ae98c720] Jieko v0.2.1 [10f19ff3] LayoutPointers v0.1.17 [5078a376] LazyArrays v2.9.5 [2ab3a3ac] LogExpFunctions v0.3.29 [e6f89c97] LoggingExtras v1.2.0 [1914dd2f] MacroTools v0.5.16 [d125e4d3] ManualMemory v0.1.8 [b8f27783] MathOptInterface v1.49.0 [bb5d69b7] MaybeInplace v0.1.4 [2e0e35c7] Moshi v0.3.7 [46d2c3a1] MuladdMacro v0.2.4 [d8a4904e] MutableArithmetics v1.6.7 [77ba4419] NaNMath v1.1.3 [538bc3a1] NamedTrajectories v0.8.2 [be0214bd] NonlinearSolveBase v2.11.2 [510215fc] Observables v0.5.5 [bac558e1] OrderedCollections v1.8.1 [bbf590c4] OrdinaryDiffEqCore v3.5.1 [b1df2697] OrdinaryDiffEqTsit5 v1.9.0 [69de0a69] Parsers v2.8.3 [f517fe37] Polyester v0.7.19 [1d0040c9] PolyesterWeave v0.2.2 [d236fae5] PreallocationTools v1.1.2 [aea7be01] PrecompileTools v1.3.3 [21216c6a] Preferences v1.5.1 [3cdcf5f2] RecipesBase v1.3.4 [731186ca] RecursiveArrayTools v3.48.0 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.17 [94e857df] SIMDTypes v0.1.0 [0bca4576] SciMLBase v2.138.1 [19f34311] SciMLJacobianOperators v0.1.12 [a6db7da4] SciMLLogging v1.8.0 [c0aeaf25] SciMLOperators v1.15.1 [431bcebd] SciMLPublic v1.0.1 [53ae85a6] SciMLStructures v1.10.0 [7e506255] ScopedValues v1.5.0 [efcf1570] Setfield v1.1.2 [276daf66] SpecialFunctions v2.7.1 [aedffcd0] Static v1.3.1 [0d7ed370] StaticArrayInterface v1.9.0 [90137ffa] StaticArrays v1.9.16 [1e83bf80] StaticArraysCore v1.4.4 [10745b16] Statistics v1.11.1 [7792a7ef] StrideArraysCore v0.5.8 [ec057cc2] StructUtils v2.6.3 [2efcf032] SymbolicIndexingInterface v0.3.46 [f8b46487] TestItemRunner v1.1.4 [1c621080] TestItems v1.0.0 [8290d209] ThreadingUtilities v0.5.5 [a759f4b9] TimerOutputs v0.5.29 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [3bb67fe8] TranscodingStreams v0.11.3 [781d530d] TruncatedStacktraces v1.4.0 [ae81ac8f] ASL_jll v0.1.3+0 [6e34b625] Bzip2_jll v1.0.9+0 [e33a78d0] Hwloc_jll v2.12.2+0 [9cc047cb] Ipopt_jll v300.1400.1901+0 [94ce4f54] Libiconv_jll v1.18.0+0 [d00139f3] METIS_jll v5.1.3+0 [d7ed1dd3] MUMPS_seq_jll v500.800.200+0 [656ef2d0] OpenBLAS32_jll v0.3.30+0 [efe28fd5] OpenSpecFun_jll v0.5.6+0 [319450e9] SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] XML2_jll v2.13.9+0 [a65dc6b1] Xorg_libpciaccess_jll v0.18.1+0 [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 v1.13.0 [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 v1.14.0 [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 v1.13.0 [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 v8.18.0+0 [e37daf67] LibGit2_jll v1.9.2+0 [29816b5a] LibSSH2_jll v1.11.3+1 [14a3606d] MozillaCACerts_jll v2025.12.2 [4536629a] OpenBLAS_jll v0.3.30+0 [05823500] OpenLibm_jll v0.8.7+0 [458c3c95] OpenSSL_jll v3.5.5+0 [efcefdf7] PCRE2_jll v10.47.0+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 v1.68.0+1 [3f19e933] p7zip_jll v17.7.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. Testing Running tests... 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 program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit https://github.com/coin-or/Ipopt ****************************************************************************** This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.4308403e+00 2.93e+00 4.22e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9419614e+00 9.62e-02 3.11e+00 -0.9 2.04e+00 0.0 7.17e-01 1.00e+00f 1 2 3.7053317e+00 1.02e-01 1.45e+01 1.2 1.49e+01 0.4 6.32e-02 3.02e-02f 1 3 3.4335397e+00 4.63e-02 1.66e+00 -0.1 5.04e-01 -0.1 1.00e+00 1.00e+00f 1 4 3.0800010e+00 2.35e-02 3.54e+00 -4.0 3.31e-01 -0.5 7.80e-01 9.70e-01h 1 5 2.7733781e+00 1.05e-02 4.99e-01 -1.3 1.66e-01 -1.0 9.79e-01 1.00e+00f 1 6 2.2566010e+00 2.83e-02 8.14e-02 -1.8 3.28e-01 -1.5 9.87e-01 9.26e-01f 1 7 2.1112809e+00 6.93e-03 3.92e-02 -3.0 2.44e-01 -2.0 8.52e-01 9.61e-01h 1 8 2.0914433e+00 2.23e-04 4.09e-03 -4.0 3.20e-02 -2.4 9.95e-01 9.68e-01h 1 9 2.0909511e+00 3.08e-06 4.00e-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 2.0909456e+00 6.61e-09 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909306e+00 8.68e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908858e+00 7.83e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907514e+00 7.06e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903493e+00 6.39e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891517e+00 5.84e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856410e+00 5.52e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796377e+00 2.31e-03 1.35e-01 -4.0 9.57e+01 -6.7 1.00e+00 6.33e-01h 1 18 2.0807105e+00 1.29e-04 1.71e-01 -4.0 6.93e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775304e+00 7.09e-03 2.23e-02 -4.0 1.20e+02 -7.7 1.00e+00 9.99e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769668e+00 1.43e-03 5.66e-02 -4.0 2.09e+02 -8.2 9.75e-01 1.00e+00h 1 21 2.0763472e+00 1.59e-03 4.31e-02 -4.0 3.57e+02 -8.6 1.00e+00 6.26e-01h 1 22 2.0755533e+00 3.78e-03 3.44e-02 -4.0 6.40e+02 -9.1 1.00e+00 7.53e-01h 1 23 2.0758104e+00 3.67e-03 1.96e-02 -4.0 1.92e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756810e+00 6.10e-04 9.87e-04 -4.0 1.03e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756712e+00 4.41e-06 1.63e-05 -4.0 2.30e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 9.49e-08 1.26e-06 -4.0 1.39e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.50e-09 1.05e-07 -4.0 4.44e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.37e-11 1.73e-09 -4.0 7.02e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121631833e+00 2.0756712121631833e+00 Dual infeasibility......: 1.7260809198236474e-09 1.7260809198236474e-09 Constraint violation....: 4.3674064365006871e-11 4.3674064365006871e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 1.7260809198236474e-09 1.7260809198236474e-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 = 63.480 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: equality constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.0615365e+00 2.82e+00 3.98e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3496905e+00 1.74e+00 3.24e+00 -0.8 2.19e+00 0.0 8.31e-01 3.83e-01f 1 2 2.3091539e+00 1.45e+00 6.78e+00 0.7 1.14e+01 -0.5 8.96e-02 1.08e-01f 1 3 2.4646129e+00 5.87e-01 3.89e+00 -0.3 1.23e+00 -0.1 9.60e-01 6.00e-01h 1 4 3.0624377e+00 1.81e-01 1.49e+01 -1.0 1.13e+00 -0.5 5.92e-01 1.00e+00h 1 5 2.8893167e+00 2.48e-02 2.49e+00 -0.8 2.36e-01 -0.1 8.43e-01 1.00e+00h 1 6 2.5525673e+00 1.06e-02 2.33e-01 -1.4 1.66e-01 -0.6 9.95e-01 8.50e-01h 1 7 2.1578992e+00 5.02e-03 1.30e-01 -2.3 1.18e-01 -1.1 9.53e-01 9.82e-01f 1 8 2.1003960e+00 8.28e-04 6.69e-02 -3.2 7.71e-02 -1.5 9.89e-01 9.53e-01h 1 9 2.0923099e+00 1.54e-04 7.65e-02 -4.0 4.40e-02 -2.0 1.00e+00 7.54e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908855e+00 1.79e-05 6.14e-03 -4.0 9.09e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908579e+00 4.53e-07 6.02e-04 -4.0 2.36e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908540e+00 5.92e-08 3.33e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908372e+00 1.17e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0907868e+00 9.98e-08 2.06e-05 -4.0 5.12e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906357e+00 8.99e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901837e+00 8.14e-06 3.62e-05 -4.0 4.59e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888390e+00 7.46e-05 3.23e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849105e+00 7.07e-04 2.94e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796211e+00 2.05e-03 1.87e-01 -4.0 1.03e+02 -6.8 1.00e+00 5.14e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801652e+00 3.82e-04 1.76e-01 -4.0 6.48e+01 -7.3 1.00e+00 9.73e-01H 1 21 2.0773725e+00 8.52e-03 1.81e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.63e-01h 1 22 2.0770768e+00 1.68e-03 7.52e-02 -4.0 2.10e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760434e+00 4.59e-03 2.10e-02 -4.0 3.51e+02 -8.7 1.00e+00 9.13e-01h 1 24 2.0768223e+00 2.60e-02 2.46e-02 -3.7 2.98e+02 -9.2 1.00e+00 1.00e+00h 1 25 2.0764188e+00 6.94e-03 3.47e-03 -3.8 1.07e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0763993e+00 1.28e-04 8.31e-05 -3.8 2.40e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756772e+00 1.57e-03 7.11e-06 -4.0 2.92e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756713e+00 5.58e-06 1.30e-06 -4.0 2.05e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756713e+00 3.63e-09 1.46e-07 -4.0 5.18e+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 5.15e-11 1.87e-09 -4.0 7.68e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712527938976e+00 2.0756712527938976e+00 Dual infeasibility......: 1.8653729654406325e-09 1.8653729654406325e-09 Constraint violation....: 5.1453064031647955e-11 5.1453064031647955e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000055e-04 1.0000000000000055e-04 Overall NLP error.......: 1.8653729654406325e-09 1.8653729654406325e-09 Number of objective function evaluations = 32 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 32 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 = 24.482 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 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.3361431e+00 2.65e+00 3.83e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1722581e+00 3.88e-01 1.79e+00 -0.8 1.84e+00 0.0 1.00e+00 8.54e-01h 1 2 2.6435488e+00 1.57e-02 1.89e+00 -1.0 4.54e-01 -0.5 8.03e-01 1.00e+00h 1 3 2.3489334e+00 1.07e-02 1.48e-01 -1.7 2.13e-01 -1.0 9.95e-01 1.00e+00h 1 4 2.1299029e+00 3.86e-03 2.76e-02 -2.6 1.10e-01 -1.4 9.80e-01 9.36e-01h 1 5 2.0921566e+00 3.53e-04 1.78e-03 -3.5 4.26e-02 -1.9 9.82e-01 9.91e-01h 1 6 2.0909539e+00 1.94e-06 3.98e-04 -4.0 5.21e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909497e+00 1.29e-08 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909452e+00 7.70e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909319e+00 6.89e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908921e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907726e+00 5.59e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0904150e+00 5.05e-06 2.26e-05 -4.0 3.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893491e+00 4.62e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0862160e+00 4.34e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796321e+00 2.55e-03 8.53e-02 -4.0 8.74e+01 -6.7 1.00e+00 7.62e-01h 1 16 2.0812688e+00 1.60e-04 1.99e-01 -4.0 6.98e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778363e+00 6.11e-03 2.86e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781643e+00 1.55e-02 5.80e-02 -3.7 1.58e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767856e+00 1.15e-02 1.91e-02 -3.8 3.02e+02 -8.6 1.00e+00 9.72e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760276e+00 6.16e-03 2.17e-02 -3.9 4.43e+02 -9.1 1.00e+00 9.86e-01f 1 21 2.0757536e+00 8.05e-03 9.02e-03 -4.0 1.43e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756807e+00 4.78e-04 3.94e-04 -4.0 6.08e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 7.95e-06 6.61e-06 -4.0 2.32e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 4.18e-08 1.50e-06 -4.0 1.51e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.53e-09 1.50e-07 -4.0 5.23e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.75e-11 3.04e-09 -4.0 9.23e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122103820e+00 2.0756712122103820e+00 Dual infeasibility......: 3.0353809996096562e-09 3.0353809996096562e-09 Constraint violation....: 7.7510775575717616e-11 7.7510775575717616e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 3.0353809996096562e-09 3.0353809996096562e-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 = 35.238 EXIT: Optimal Solution Found. [test_integrator] Starting... [test_integrator] constraint_dim=8, datavec_len=75, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1979622e+00 2.90e+00 4.89e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.2869603e+00 7.27e-01 1.49e+00 -0.9 1.95e+00 0.0 9.65e-01 7.51e-01h 1 Hello, world! 2 2.5033370e+00 1.52e-02 8.34e-01 -1.3 5.98e-01 -0.5 9.86e-01 1.00e+00h 1 Hello, world! 3 2.2730971e+00 5.52e-03 2.54e-01 -1.9 1.88e-01 -1.0 9.81e-01 8.68e-01h 1 Hello, world! 4 2.1132331e+00 1.99e-03 6.44e-02 -3.0 1.00e-01 -1.4 9.98e-01 7.96e-01h 1 Hello, world! 5 2.0913943e+00 9.13e-05 4.86e-03 -4.0 1.63e-02 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0909685e+00 7.66e-07 2.69e-04 -4.0 2.08e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909641e+00 1.46e-08 2.55e-05 -4.0 1.86e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909568e+00 1.47e-09 2.53e-05 -4.0 5.54e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909368e+00 1.20e-08 2.49e-05 -4.0 1.63e-01 -3.8 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 10 2.0908809e+00 9.61e-08 2.26e-04 -4.0 4.57e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907892e+00 4.22e-07 7.33e-04 -4.0 1.00e+00 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906080e+00 2.00e-06 2.44e-03 -4.0 2.71e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900951e+00 2.29e-05 5.33e-04 -4.0 8.16e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0898292e+00 3.74e-06 1.69e-03 -4.0 3.04e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0890838e+00 2.54e-05 5.69e-03 -4.0 9.64e+00 -5.8 1.00e+00 8.56e-01h 1 Hello, world! 16 2.0877014e+00 2.48e-04 3.18e-02 -4.0 2.60e+01 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 17 2.0864403e+00 2.55e-04 2.61e-01 -4.0 5.80e+01 -5.8 1.00e+00 1.71e-01h 1 Hello, world! 18 2.0850104e+00 2.09e-04 2.51e-02 -4.0 2.25e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0829663e+00 2.17e-04 2.49e-02 -4.0 3.55e+01 -6.8 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 20 2.0827968e+00 4.36e-04 1.49e-02 -4.0 5.34e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823266e+00 6.35e-04 8.61e-03 -4.0 1.25e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 3.0784165e+00 9.83e-04 1.76e+01 -4.0 1.14e+03 -8.2 3.41e-02 1.00e+00H 1 Hello, world! 23 2.0914631e+00 1.39e-04 1.65e+00 -4.1 4.03e-01 -0.4 4.88e-01 8.59e-01f 1 Hello, world! 24 2.0915810e+00 1.39e-04 6.00e+00 -4.1 7.85e-02 -0.8 1.00e+00 1.95e-03f 10 Hello, world! 25 2.0914419e+00 9.38e-08 1.82e-03 -4.1 3.82e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0913083e+00 1.44e-07 1.74e-03 -4.0 1.10e-01 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0907576e+00 1.02e-06 1.56e-03 -4.0 2.95e-01 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0904643e+00 8.59e-07 6.53e-01 -4.0 3.14e-01 -2.8 1.00e+00 5.14e-01H 1 Hello, world! 29 2.0906176e+00 1.19e-06 9.37e-05 -4.0 6.54e-02 -3.2 1.00e+00 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0904211e+00 1.71e-06 4.29e-05 -4.1 8.20e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0905541e+00 4.90e-06 9.08e-05 -4.0 2.39e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0903205e+00 1.64e-05 7.64e-05 -4.1 7.30e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0893880e+00 2.60e-04 1.61e-03 -6.1 2.50e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0886478e+00 1.12e-04 6.61e-03 -6.1 7.20e+00 -5.6 1.00e+00 9.20e-01h 1 Hello, world! 35 2.0926691e+00 4.05e-03 1.20e+00 -4.0 1.15e+02 -6.1 1.00e+00 5.00e-01f 2 Hello, world! 36 2.0919254e+00 7.68e-03 4.71e-02 -3.5 4.72e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0889895e+00 1.21e-02 6.51e-02 -3.5 1.11e+02 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0862850e+00 1.09e-02 1.04e-01 -3.5 2.28e+02 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0847156e+00 2.73e-02 5.35e-02 -3.5 3.70e+02 -8.0 6.39e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0859519e+00 7.61e-03 2.17e+00 -3.5 2.35e+02 -6.7 1.00e+00 3.83e-01h 1 Hello, world! 41 2.0841612e+00 1.00e-02 1.54e+00 -3.5 2.69e+02 -7.2 2.55e-01 2.12e-01f 3 Hello, world! 42 2.0835578e+00 6.84e-03 1.88e-01 -3.5 3.62e-01 -2.2 5.02e-01 3.17e-01h 1 Hello, world! 43 2.0982472e+00 3.69e-03 3.33e+00 -3.5 2.63e+00 -2.7 1.00e+00 4.60e-01h 1 Hello, world! 44 2.0862786e+00 1.68e-03 8.62e-01 -3.5 3.83e-01 -1.4 8.74e-01 5.45e-01f 1 Hello, world! 45 2.0850967e+00 1.00e-05 7.84e-03 -3.5 1.75e-01 -1.8 1.00e+00 1.00e+00f 1 Hello, world! 46 2.0842699e+00 1.40e-05 1.86e-02 -3.7 3.20e-01 -2.3 9.85e-01 1.00e+00h 1 Hello, world! 47 2.0824347e+00 4.50e-05 9.64e-03 -4.0 8.22e-01 -2.8 8.90e-01 1.00e+00h 1 Hello, world! 48 2.0825762e+00 2.91e-07 3.16e-04 -4.0 2.42e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0825093e+00 2.33e-07 5.60e-05 -4.0 4.52e-02 -3.7 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 2.0824906e+00 1.21e-07 8.06e-06 -4.0 1.34e-01 -4.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0824906334380406e+00 2.0824906334380406e+00 Dual infeasibility......: 8.0569873709396008e-06 8.0569873709396008e-06 Constraint violation....: 1.2051128539525280e-07 1.2051128539525280e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0109252290755558e-04 1.0109252290755558e-04 Overall NLP error.......: 8.0569873709396008e-06 8.0569873709396008e-06 Number of objective function evaluations = 71 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 71 Number of inequality constraint evaluations = 71 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 25.197 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1979622e+00 2.90e+00 4.89e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.2869603e+00 7.27e-01 1.49e+00 -0.9 1.95e+00 0.0 9.65e-01 7.51e-01h 1 Hello, world! 2 2.5033370e+00 1.52e-02 8.34e-01 -1.3 5.98e-01 -0.5 9.86e-01 1.00e+00h 1 Hello, world! 3 2.2730971e+00 5.52e-03 2.54e-01 -1.9 1.88e-01 -1.0 9.81e-01 8.68e-01h 1 Hello, world! 4 2.1132331e+00 1.99e-03 6.44e-02 -3.0 1.00e-01 -1.4 9.98e-01 7.96e-01h 1 Hello, world! 5 2.0913943e+00 9.13e-05 4.86e-03 -4.0 1.63e-02 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0909685e+00 7.66e-07 2.69e-04 -4.0 2.08e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909641e+00 1.46e-08 2.55e-05 -4.0 1.86e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909568e+00 1.47e-09 2.53e-05 -4.0 5.54e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909368e+00 1.20e-08 2.49e-05 -4.0 1.63e-01 -3.8 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 10 2.0908809e+00 9.61e-08 2.26e-04 -4.0 4.57e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907892e+00 4.22e-07 7.33e-04 -4.0 1.00e+00 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906080e+00 2.00e-06 2.44e-03 -4.0 2.71e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900951e+00 2.29e-05 5.33e-04 -4.0 8.16e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0898292e+00 3.74e-06 1.69e-03 -4.0 3.04e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0890838e+00 2.54e-05 5.69e-03 -4.0 9.64e+00 -5.8 1.00e+00 8.56e-01h 1 Hello, world! 16 2.0877014e+00 2.48e-04 3.18e-02 -4.0 2.60e+01 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 17 2.0864403e+00 2.55e-04 2.61e-01 -4.0 5.80e+01 -5.8 1.00e+00 1.71e-01h 1 Hello, world! 18 2.0850104e+00 2.09e-04 2.51e-02 -4.0 2.25e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0829663e+00 2.17e-04 2.49e-02 -4.0 3.55e+01 -6.8 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 20 2.0827968e+00 4.36e-04 1.49e-02 -4.0 5.34e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823266e+00 6.35e-04 8.61e-03 -4.0 1.25e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 3.0784165e+00 9.83e-04 1.76e+01 -4.0 1.14e+03 -8.2 3.41e-02 1.00e+00H 1 Hello, world! 23 2.0914631e+00 1.39e-04 1.65e+00 -4.1 4.03e-01 -0.4 4.88e-01 8.59e-01f 1 Hello, world! 24 2.0915810e+00 1.39e-04 6.00e+00 -4.1 7.85e-02 -0.8 1.00e+00 1.95e-03f 10 Hello, world! 25 2.0914419e+00 9.38e-08 1.82e-03 -4.1 3.82e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0913083e+00 1.44e-07 1.74e-03 -4.0 1.10e-01 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0907576e+00 1.02e-06 1.56e-03 -4.0 2.95e-01 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0904643e+00 8.59e-07 6.53e-01 -4.0 3.14e-01 -2.8 1.00e+00 5.14e-01H 1 Hello, world! 29 2.0906176e+00 1.19e-06 9.37e-05 -4.0 6.54e-02 -3.2 1.00e+00 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0904211e+00 1.71e-06 4.29e-05 -4.1 8.20e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0905541e+00 4.90e-06 9.08e-05 -4.0 2.39e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0903205e+00 1.64e-05 7.64e-05 -4.1 7.30e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0893880e+00 2.60e-04 1.61e-03 -6.1 2.50e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0886478e+00 1.12e-04 6.61e-03 -6.1 7.20e+00 -5.6 1.00e+00 9.20e-01h 1 Hello, world! 35 2.0926691e+00 4.05e-03 1.20e+00 -4.0 1.15e+02 -6.1 1.00e+00 5.00e-01f 2 Hello, world! 36 2.0919254e+00 7.68e-03 4.71e-02 -3.5 4.72e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0889895e+00 1.21e-02 6.51e-02 -3.5 1.11e+02 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0862850e+00 1.09e-02 1.04e-01 -3.5 2.28e+02 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0847156e+00 2.73e-02 5.35e-02 -3.5 3.70e+02 -8.0 6.39e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0859519e+00 7.61e-03 2.17e+00 -3.5 2.35e+02 -6.7 1.00e+00 3.83e-01h 1 Hello, world! 41 2.0841612e+00 1.00e-02 1.54e+00 -3.5 2.69e+02 -7.2 2.55e-01 2.12e-01f 3 Hello, world! 42 2.0835578e+00 6.84e-03 1.88e-01 -3.5 3.62e-01 -2.2 5.02e-01 3.17e-01h 1 Hello, world! 43 2.0982472e+00 3.69e-03 3.33e+00 -3.5 2.63e+00 -2.7 1.00e+00 4.60e-01h 1 Hello, world! 44 2.0862786e+00 1.68e-03 8.62e-01 -3.5 3.83e-01 -1.4 8.74e-01 5.45e-01f 1 Hello, world! 45 2.0850967e+00 1.00e-05 7.84e-03 -3.5 1.75e-01 -1.8 1.00e+00 1.00e+00f 1 Hello, world! 46 2.0842699e+00 1.40e-05 1.86e-02 -3.7 3.20e-01 -2.3 9.85e-01 1.00e+00h 1 Hello, world! 47 2.0824347e+00 4.50e-05 9.64e-03 -4.0 8.22e-01 -2.8 8.90e-01 1.00e+00h 1 Hello, world! 48 2.0825762e+00 2.91e-07 3.16e-04 -4.0 2.42e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0825093e+00 2.33e-07 5.60e-05 -4.0 4.52e-02 -3.7 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 2.0824906e+00 1.21e-07 8.06e-06 -4.0 1.34e-01 -4.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0824906334380406e+00 2.0824906334380406e+00 Dual infeasibility......: 8.0569873709396008e-06 8.0569873709396008e-06 Constraint violation....: 1.2051128539525280e-07 1.2051128539525280e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0109252290755558e-04 1.0109252290755558e-04 Overall NLP error.......: 8.0569873709396008e-06 8.0569873709396008e-06 Number of objective function evaluations = 71 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 71 Number of inequality constraint evaluations = 71 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.959 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1542988e+00 3.10e+00 1.35e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8545944e+00 2.32e+00 5.79e+00 -1.2 1.02e+01 -2.0 1.34e-01 5.93e-01h 1 2 1.9015053e+00 2.27e+00 2.41e+01 1.0 7.68e+01 -0.7 7.57e-02 1.05e-02f 1 3 1.8249080e+00 1.24e+00 2.87e+01 0.2 6.75e+00 -1.1 7.50e-01 4.83e-01h 1 4 1.9232797e+00 1.25e-01 6.21e+01 -0.6 1.01e+01 -1.6 5.16e-01 8.07e-01h 1 5 1.9279277e+00 2.16e-02 5.54e+00 -4.0 4.25e-01 0.6 4.70e-01 8.39e-01h 1 6 1.8526794e+00 4.79e-03 4.08e-01 -1.7 1.60e-01 0.1 9.28e-01 1.00e+00f 1 7 1.5458471e+00 3.27e-03 7.64e-02 -2.0 1.70e-01 -0.3 9.92e-01 1.00e+00f 1 8 1.3709005e+00 1.45e-03 6.51e-02 -2.4 2.88e-01 -0.8 9.47e-01 8.36e-01f 1 9 1.3063150e+00 7.98e-04 1.10e-01 -2.8 1.63e-01 -1.3 9.94e-01 6.63e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.2561524e+00 8.13e-03 1.65e-02 -3.6 4.45e-01 -1.8 1.00e+00 9.35e-01h 1 11 1.2478551e+00 1.73e-02 5.92e-02 -4.0 1.99e+00 -2.3 1.00e+00 4.56e-01h 1 12 1.2082373e+00 8.27e-02 2.55e-02 -4.0 4.82e+00 -2.7 1.00e+00 1.00e+00h 1 13 1.1922594e+00 4.72e-02 2.74e-02 -4.0 1.74e+00 -2.3 5.81e-01 6.24e-01h 1 14 1.1921103e+00 4.71e-02 2.73e-02 -4.0 5.48e+00 -1.9 2.61e-03 1.73e-03h 1 15 1.1915803e+00 3.21e-02 2.22e-01 -4.1 9.43e-01 -2.4 5.22e-01 3.18e-01h 1 16 1.1888950e+00 1.37e-02 1.10e-01 -4.0 1.09e+00 -2.8 1.00e+00 6.37e-01h 1 17 1.1839032e+00 3.52e-02 8.16e-03 -4.0 1.63e+00 -3.3 1.00e+00 1.00e+00h 1 18 1.1794175e+00 5.15e-02 1.08e-02 -4.0 2.68e+00 -3.8 1.00e+00 1.00e+00h 1 19 1.1754980e+00 7.64e-02 1.03e-02 -4.0 4.29e+00 -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 20 1.1721898e+00 1.00e-01 1.01e-02 -4.0 6.70e+00 -4.7 1.00e+00 1.00e+00h 1 21 1.1694239e+00 1.30e-01 7.78e-03 -4.0 1.04e+01 -5.2 1.00e+00 1.00e+00h 1 22 1.1671972e+00 1.62e-01 5.14e-03 -4.0 1.59e+01 -5.7 1.00e+00 1.00e+00h 1 23 1.1653915e+00 2.01e-01 1.28e-03 -4.0 2.43e+01 -6.2 1.00e+00 1.00e+00h 1 24 1.1639514e+00 2.45e-01 3.14e-03 -4.0 3.69e+01 -6.7 1.00e+00 1.00e+00h 1 25 1.1628013e+00 2.97e-01 8.52e-03 -4.0 5.55e+01 -7.1 1.00e+00 1.00e+00h 1 26 1.1618976e+00 3.53e-01 1.44e-02 -4.0 8.25e+01 -7.6 1.00e+00 1.00e+00h 1 27 1.1612011e+00 4.08e-01 2.04e-02 -4.0 1.20e+02 -8.1 1.00e+00 1.00e+00h 1 28 1.1607063e+00 4.43e-01 2.45e-02 -4.0 1.69e+02 -8.6 1.00e+00 1.00e+00h 1 29 1.1604797e+00 3.89e-01 2.00e-02 -4.0 2.11e+02 -9.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1607398e+00 8.21e-02 2.61e-03 -4.0 1.36e+02 -9.5 1.00e+00 1.00e+00h 1 31 1.1608523e+00 2.42e-03 6.89e-04 -4.0 1.52e+01 -10.0 1.00e+00 1.00e+00h 1 32 1.1608491e+00 1.48e-04 1.81e-05 -4.0 5.08e+00 -10.5 1.00e+00 1.00e+00h 1 33 1.1608491e+00 6.46e-08 1.19e-10 -4.0 1.13e-01 -10.9 1.00e+00 1.00e+00h 1 34 1.1608491e+00 5.81e-13 5.64e-14 -4.0 3.12e-04 -11.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 34 (scaled) (unscaled) Objective...............: 1.1608491307790114e+00 1.1608491307790114e+00 Dual infeasibility......: 5.6441884586228008e-14 5.6441884586228008e-14 Constraint violation....: 5.8086868648388190e-13 5.8086868648388190e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000581e-04 1.0000000000000581e-04 Overall NLP error.......: 5.8086868648388190e-13 5.8086868648388190e-13 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 = 24.181 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 186 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 19 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1359382e+00 9.73e-01 1.01e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9888050e+00 1.23e-01 2.09e+00 -0.8 6.28e-01 0.0 8.66e-01 1.00e+00h 1 2 2.0912184e+00 2.89e-02 6.53e-01 -0.8 4.12e-01 -0.5 6.57e-01 9.18e-01h 1 3 1.2062980e+01 3.65e-02 1.25e+02 -1.2 2.81e+01 - 9.64e-01 1.00e+00H 1 4 1.5006715e+00 2.63e-02 1.35e+01 -1.1 3.15e+01 -1.0 1.00e+00 2.81e-01f 1 5 1.3365063e+00 4.27e-04 1.12e-01 -1.7 2.85e-01 -1.4 1.00e+00 9.84e-01h 1 6 1.0968760e+00 1.99e-06 8.89e-01 -4.0 3.59e+01 - 5.32e-01 1.00e+00f 1 7 1.0916185e+00 3.64e-09 2.51e-02 -4.0 1.58e+00 - 1.00e+00 1.00e+00f 1 8 1.0910274e+00 5.23e-12 1.97e-04 -4.0 1.18e-01 - 1.00e+00 1.00e+00f 1 9 1.0910386e+00 8.88e-16 2.62e-07 -4.0 5.56e-03 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910386e+00 6.06e-29 8.98e-13 -4.0 9.19e-06 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 1.0910385779862031e+00 1.0910385779862031e+00 Dual infeasibility......: 8.9845459631116009e-13 8.9845459631116009e-13 Constraint violation....: 6.0605542484683690e-29 6.0605542484683690e-29 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000005130e-04 1.0000000000005130e-04 Overall NLP error.......: 8.9845459631116009e-13 8.9845459631116009e-13 Number of objective function evaluations = 12 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 12 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 23.931 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 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 6.1573533e+00 2.85e+00 3.44e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9687776e+00 4.74e-02 7.00e-01 -1.1 2.04e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.2955558e+00 1.77e-02 8.96e-02 -1.8 2.82e-01 -1.6 9.75e-01 1.00e+00f 1 3 2.1480193e+00 2.42e-03 3.24e-01 -3.1 1.28e-01 -1.1 8.99e-01 1.00e+00h 1 4 2.1007150e+00 1.35e-03 9.15e-02 -3.9 8.05e-02 -1.6 1.00e+00 7.88e-01h 1 5 2.0919850e+00 5.98e-04 7.16e-01 -4.0 6.17e-01 -2.1 1.00e+00 6.92e-01h 1 6 2.0905816e+00 2.47e-04 4.09e-01 -4.0 7.67e-01 -2.6 1.00e+00 3.90e-01h 1 7 2.0909744e+00 1.17e-04 2.23e-01 -4.0 1.20e+00 -3.1 1.00e+00 1.00e+00h 1 8 2.0910028e+00 1.79e-06 9.03e-03 -4.0 7.06e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0910090e+00 2.07e-06 2.06e-05 -4.0 2.12e-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 2.0909466e+00 1.48e-07 2.06e-05 -4.0 6.33e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907633e+00 1.30e-06 4.98e-05 -4.0 1.88e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902408e+00 1.10e-05 4.22e-04 -4.0 5.46e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888902e+00 8.24e-05 3.17e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861874e+00 4.42e-04 1.75e-02 -4.0 3.48e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830994e+00 9.23e-04 4.73e-02 -4.0 5.34e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828384e+00 9.31e-04 2.22e-02 -4.0 5.43e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823442e+00 3.81e-04 1.02e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820408e+00 9.20e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819520e+00 2.69e-04 8.72e-03 -4.0 9.95e+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 3.71e-05 8.51e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.36e-07 1.40e-05 -4.0 4.46e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.86e-10 3.28e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.52e-13 1.22e-11 -4.0 4.61e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191040e+00 2.0819382907191040e+00 Dual infeasibility......: 1.2234300568068554e-11 1.2234300568068554e-11 Constraint violation....: 2.5224267119483557e-13 2.5224267119483557e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000018e-04 1.0000000000000018e-04 Overall NLP error.......: 1.2234300568068554e-11 1.2234300568068554e-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 = 23.893 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.3990266e+00 3.94e+00 1.71e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9196685e+00 3.04e-02 4.87e-01 -1.1 2.20e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.3089549e+00 3.58e-02 1.04e-01 -1.6 3.86e-01 -1.6 9.63e-01 8.80e-01h 1 3 2.1348281e+00 1.98e-03 1.51e-01 -3.1 1.33e-01 -1.1 9.70e-01 9.94e-01h 1 4 2.1035489e+00 8.25e-04 2.42e-01 -4.0 7.77e-02 -1.6 1.00e+00 7.28e-01h 1 5 2.0925241e+00 7.40e-04 3.35e-01 -4.0 4.22e-01 -2.1 1.00e+00 5.80e-01h 1 6 2.0911639e+00 4.75e-04 7.52e-01 -4.0 9.44e-01 -2.6 1.00e+00 4.20e-01h 1 7 2.0907755e+00 3.34e-05 1.30e-01 -4.0 7.85e-01 -3.1 1.00e+00 9.93e-01h 1 8 2.0908741e+00 1.73e-06 2.15e-03 -4.0 6.33e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908790e+00 7.27e-07 2.97e-05 -4.0 1.79e-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 2.0908416e+00 7.29e-08 1.57e-04 -4.0 4.86e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907427e+00 5.54e-07 4.87e-04 -4.0 1.31e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904516e+00 5.65e-06 4.26e-04 -4.0 4.06e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903255e+00 8.86e-07 6.07e-04 -4.0 1.58e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0901770e+00 1.53e-06 1.93e-02 -4.0 6.54e+00 -5.5 1.00e+00 2.22e-01h 2 15 2.0889948e+00 6.53e-05 2.60e-03 -4.0 1.39e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0867306e+00 2.82e-04 3.74e-02 -4.0 3.71e+01 -6.4 1.00e+00 7.53e-01h 1 17 2.0835225e+00 1.30e-03 5.24e-02 -4.0 6.08e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0825614e+00 7.51e-04 1.78e-02 -4.0 8.14e+01 -7.4 1.00e+00 1.00e+00h 1 19 2.0874019e+00 4.09e-05 2.69e-01 -4.0 3.75e+02 -7.9 2.00e-01 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0837403e+00 5.20e-03 1.22e+00 -4.0 6.01e+01 -5.6 1.07e-01 2.54e-01f 1 21 2.0834169e+00 5.07e-03 1.38e+00 -4.1 1.06e+01 -3.4 4.39e-01 2.51e-02h 1 22 2.0834128e+00 1.31e-03 5.67e-01 -4.1 1.91e-01 -3.9 1.00e+00 7.40e-01h 1 23 2.0834730e+00 1.71e-05 5.74e-04 -4.0 2.07e-01 -4.4 1.00e+00 1.00e+00f 1 24 2.0834311e+00 2.00e-06 2.02e-05 -4.0 6.13e-01 -4.8 1.00e+00 1.00e+00h 1 25 2.0833123e+00 1.57e-06 1.42e-04 -4.0 1.73e+00 -5.3 1.00e+00 1.00e+00h 1 26 2.0830495e+00 1.12e-05 8.49e-04 -4.0 4.37e+00 -5.8 1.00e+00 1.00e+00h 1 27 2.0827379e+00 3.68e-05 2.32e-03 -4.0 1.01e+01 -6.3 1.00e+00 1.00e+00h 1 28 2.0824876e+00 2.94e-05 2.82e-03 -4.0 2.43e+01 -6.8 1.00e+00 1.00e+00h 1 29 2.0821110e+00 2.25e-04 6.53e-03 -4.0 5.25e+01 -7.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0841652e+00 1.26e-07 1.32e-01 -4.0 1.82e+02 -7.7 1.93e-01 1.00e+00H 1 31 2.0819225e+00 3.71e-04 5.84e-01 -4.0 1.13e+01 -5.5 1.00e+00 5.34e-01f 1 32 2.0830714e+00 4.16e-07 2.75e-02 -4.0 8.60e+00 -6.0 9.94e-01 1.00e+00H 1 33 2.0826106e+00 1.75e-03 1.36e-02 -4.0 1.78e+01 -6.4 1.00e+00 1.00e+00h 1 34 2.0820314e+00 1.53e-03 8.56e-03 -4.1 2.83e+01 -6.9 1.00e+00 1.00e+00h 1 35 2.0818894e+00 2.55e-05 8.16e-04 -4.1 6.90e+00 -6.5 1.00e+00 1.00e+00h 1 36 2.0820279e+00 5.81e-04 1.33e-03 -4.0 2.64e+01 -7.0 1.00e+00 1.00e+00h 1 37 3.9703822e+00 3.95e-04 1.36e+01 -4.1 4.58e+02 -7.4 4.81e-02 1.00e+00H 1 38 2.0858185e+00 1.66e-05 5.18e-01 -4.1 2.80e-01 0.4 6.50e-01 9.58e-01f 1 39 2.0860342e+00 1.65e-05 2.72e+00 -4.1 5.22e-02 -0.1 1.00e+00 7.81e-03f 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0860312e+00 1.41e-07 8.74e-03 -4.1 6.63e-03 -0.5 1.00e+00 1.00e+00h 1 41 2.0858638e+00 1.24e-07 1.63e-03 -4.1 1.72e-02 -1.0 1.00e+00 1.00e+00h 1 42 2.0857818e+00 2.06e-08 1.53e-03 -4.1 4.85e-02 -1.5 1.00e+00 1.00e+00h 1 43 2.0857097e+00 8.23e-07 1.38e-03 -4.0 1.31e-01 -2.0 1.00e+00 1.00e+00h 1 44 2.0852381e+00 3.54e-07 6.42e-02 -4.1 2.55e-01 -2.5 1.00e+00 8.34e-01H 1 45 2.0853817e+00 7.79e-07 1.23e-04 -4.1 9.06e-02 -2.9 1.00e+00 1.00e+00f 1 46 2.0846356e+00 4.22e-06 2.70e-02 -6.1 6.77e-02 -3.4 8.31e-01 1.00e+00h 1 47 2.0845506e+00 1.18e-06 1.64e-05 -6.1 1.19e-01 -3.9 1.00e+00 1.00e+00h 1 48 2.0845210e+00 1.98e-08 1.55e-05 -6.1 3.57e-01 -4.4 1.00e+00 1.00e+00h 1 49 2.0854540e+00 1.17e-04 1.81e-03 -4.0 8.41e-01 -4.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0850044e+00 8.69e-05 2.77e-04 -4.1 2.34e+00 -5.3 1.00e+00 1.00e+00h 1 51 2.0837549e+00 7.34e-04 2.65e-03 -6.1 7.43e+00 -5.8 9.85e-01 1.00e+00h 1 52 2.0835477e+00 5.45e-04 1.04e-01 -6.1 1.59e+01 -6.3 1.00e+00 2.65e-01h 1 53 2.0826808e+00 1.06e-04 2.06e-02 -6.1 3.87e+01 -6.7 6.40e-01 1.00e+00h 1 54 2.0819627e+00 4.93e-05 9.79e-02 -6.1 7.78e+01 -7.2 1.00e+00 5.19e-01h 1 55 2.0808643e+00 8.96e-06 4.63e-02 -6.1 1.20e+02 -7.7 9.34e-01 1.00e+00h 1 56 2.0808607e+00 1.35e-05 3.31e-01 -4.0 4.79e+04 -7.3 3.05e-03 1.29e-03f 1 57 2.0809018e+00 2.77e-04 4.25e-01 -4.0 1.13e+03 -6.9 1.82e-02 4.53e-02f 1 58 2.0808218e+00 1.43e-04 8.16e-02 -5.2 2.74e+01 -7.3 1.00e+00 4.79e-01h 1 59 2.0818879e+00 1.40e-02 3.68e-02 -4.0 1.44e+02 -7.8 4.59e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0814436e+00 9.17e-04 1.61e-02 -4.3 2.23e+01 -6.5 1.00e+00 1.00e+00h 1 61 2.0811202e+00 8.29e-04 8.15e-03 -4.3 1.11e+01 -7.0 1.00e+00 1.00e+00h 1 62 2.0886139e+00 7.84e-06 6.10e-02 -4.3 2.56e+01 -7.4 1.61e-01 6.31e-01h 1 63 2.0825854e+00 8.83e-05 8.17e-02 -4.3 1.24e+01 -7.9 4.74e-03 1.00e+00f 1 64 2.0822512e+00 1.04e-08 1.48e-02 -4.3 1.70e-02 -0.1 1.00e+00 1.00e+00h 1 65 2.0819296e+00 1.82e-07 1.03e-02 -4.0 3.54e-02 -0.5 1.00e+00 1.00e+00f 1 66 2.0815785e+00 5.70e-08 4.64e-03 -4.0 4.90e-02 -1.0 1.00e+00 1.00e+00h 1 67 2.0815073e+00 3.29e-08 7.26e-04 -4.0 2.40e-02 -1.5 1.00e+00 1.00e+00h 1 68 2.0815288e+00 5.59e-09 4.63e-05 -4.0 3.62e-03 -2.0 1.00e+00 1.00e+00h 1 69 2.0815293e+00 2.01e-09 1.42e-05 -4.0 3.99e-03 -2.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0815304e+00 1.07e-09 1.41e-05 -4.0 1.19e-02 -2.9 1.00e+00 1.00e+00h 1 71 2.0815332e+00 7.25e-09 1.39e-05 -4.0 3.51e-02 -3.4 1.00e+00 1.00e+00h 1 72 2.0814433e+00 9.85e-07 1.35e-04 -4.1 4.90e-02 -3.9 1.00e+00 1.00e+00h 1 73 2.0815640e+00 5.89e-06 1.64e-04 -4.0 2.74e-01 -4.4 1.00e+00 1.00e+00h 1 74 2.0814809e+00 5.46e-06 2.80e-04 -4.1 2.81e-01 -4.8 1.00e+00 1.00e+00h 1 75 2.0808757e+00 1.88e-04 4.37e-03 -6.1 1.97e+00 -5.3 9.90e-01 1.00e+00h 1 76 2.0806732e+00 7.77e-05 8.80e-03 -6.1 4.90e+00 -5.8 1.00e+00 6.16e-01h 1 77 2.0806611e+00 2.02e-05 4.09e-02 -5.5 2.82e+00 -6.3 1.00e+00 7.62e-01h 1 78 2.0829391e+00 2.10e-03 7.21e-02 -4.0 7.82e+01 -6.7 4.10e-01 5.00e-01f 2 79 2.0824875e+00 1.91e-03 2.01e+00 -4.3 5.47e-01 -1.8 2.32e-01 8.70e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0814107e+00 1.22e-07 3.95e-03 -4.3 7.56e-02 -1.4 1.00e+00 1.00e+00f 1 81 2.0815254e+00 1.43e-06 1.17e-03 -4.0 3.42e-02 -1.9 1.00e+00 1.00e+00f 1 82 2.0813686e+00 2.51e-07 3.88e-04 -4.1 1.98e-02 -2.3 1.00e+00 1.00e+00h 1 83 2.0814414e+00 3.60e-07 7.14e-05 -4.0 1.63e-02 -2.8 1.00e+00 1.00e+00h 1 84 2.0813598e+00 6.80e-07 1.26e-04 -4.1 2.91e-02 -3.3 1.00e+00 1.00e+00h 1 85 2.0814588e+00 3.22e-06 1.23e-04 -4.0 1.37e-01 -3.8 1.00e+00 1.00e+00h 1 86 2.0813921e+00 4.91e-06 3.24e-04 -4.1 2.09e-01 -4.2 1.00e+00 1.00e+00h 1 87 2.0809177e+00 7.09e-05 9.77e-02 -6.1 7.39e-01 -4.7 8.00e-01 1.00e+00h 1 88 2.0807072e+00 3.15e-05 7.93e-04 -6.1 1.49e+00 -5.2 1.00e+00 1.00e+00h 1 89 2.0806280e+00 1.78e-05 5.67e-03 -6.1 4.20e+00 -5.7 1.00e+00 4.47e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0843582e+00 3.97e-03 4.52e-01 -4.0 1.22e+02 -6.1 1.35e-01 5.00e-01f 2 91 2.0839726e+00 3.29e-03 3.73e-01 -4.2 4.67e+01 -5.7 1.82e-01 1.73e-01h 1 92 2.0839155e+00 3.29e-03 3.73e-01 -4.2 2.26e+02 -6.2 3.41e-04 6.73e-04f 2 93 2.0838838e+00 3.28e-03 6.66e-01 -4.2 1.33e+01 -3.1 4.71e-01 2.61e-03h 1 94 2.0841204e+00 7.64e-07 6.70e-04 -4.2 6.47e-02 -3.5 1.00e+00 1.00e+00f 1 95 2.0840849e+00 1.32e-06 1.14e-04 -4.2 1.54e-01 -4.0 1.00e+00 1.00e+00h 1 96 2.0834952e+00 2.99e-05 2.97e-04 -6.3 4.70e-01 -4.5 9.93e-01 1.00e+00h 1 97 2.0833905e+00 8.43e-07 7.79e-05 -6.3 1.39e+00 -5.0 1.00e+00 1.00e+00h 1 98 2.0831317e+00 3.18e-08 1.77e-04 -6.3 4.06e+00 -5.4 1.00e+00 1.00e+00h 1 99 2.0824565e+00 2.28e-07 1.34e-03 -6.3 1.13e+01 -5.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0810629e+00 1.35e-06 4.20e-02 -6.3 2.73e+01 -6.4 4.23e-01 1.00e+00f 1 101 2.0812922e+00 1.28e-06 7.01e-01 -4.0 1.36e+04 -6.9 7.94e-03 4.23e-04f 3 102 2.0812737e+00 1.79e-05 5.32e-01 -5.6 1.31e+00 -3.7 6.39e-04 9.70e-02h 1 103 2.0811697e+00 1.81e-05 5.27e-01 -5.6 6.94e+00 -4.2 3.14e-02 1.07e-02h 1 104 2.0812045e+00 1.70e-05 3.97e+00 -5.6 5.66e+00 -4.7 4.66e-01 6.39e-03f 5 105 2.0812132e+00 1.70e-05 9.90e-01 -5.6 3.76e+01 -5.2 2.26e-01 1.47e-04h 9 106 2.0810516e+00 1.00e-04 2.44e+00 -5.6 1.51e+01 -5.7 1.00e+00 2.06e-01h 1 107 2.0809188e+00 6.28e-05 3.71e-01 -5.6 9.14e+00 -6.1 9.05e-01 3.84e-01f 1 108 2.0808662e+00 4.87e-05 4.74e-01 -5.6 5.30e+00 -5.7 1.00e+00 2.22e-01f 1 109 2.0806187e+00 2.42e-05 1.73e-01 -5.6 1.18e+01 -6.2 1.00e+00 5.09e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 110 2.0814836e+00 3.80e-04 2.79e-01 -4.0 4.38e+01 -6.7 1.00e+00 2.50e-01f 3 111 2.0816200e+00 1.06e-04 7.03e-02 -4.1 3.09e-01 -4.4 1.00e+00 7.79e-01h 1 112 2.0815946e+00 6.75e-05 3.27e-01 -4.1 4.32e-01 -4.9 1.00e+00 5.25e-01f 1 113 2.0816974e+00 5.97e-05 3.58e-04 -4.1 1.12e+00 -5.4 1.00e+00 1.00e+00f 1 114 2.0808045e+00 5.54e-04 3.21e-02 -6.2 5.91e+00 -5.9 7.27e-01 1.00e+00h 1 115 2.0809672e+00 1.03e-04 5.91e-02 -6.2 3.12e+00 -5.4 1.00e+00 8.18e-01h 1 116 2.0806650e+00 2.91e-07 2.13e+00 -6.2 3.15e-01 -3.2 3.66e-01 1.00e+00h 1 117 2.0820119e+00 3.30e-06 3.43e+00 -4.0 2.57e+00 -3.7 6.09e-01 1.87e-01f 1 118 2.0811969e+00 9.20e-05 2.37e+00 -3.9 3.01e+00 -4.2 1.00e+00 7.95e-01f 1 119 2.0813255e+00 2.78e-05 1.81e+00 -3.9 7.77e-01 -4.6 8.68e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 120 2.0815404e+00 7.11e-05 1.44e+00 -3.9 6.19e+00 -5.1 3.09e-01 1.00e+00h 1 121 2.0817617e+00 4.27e-05 2.94e-02 -3.9 1.90e+00 -5.6 9.79e-01 1.00e+00h 1 122 2.0833476e+00 2.17e-08 2.60e-02 -3.9 9.88e+00 -6.1 1.00e+00 1.00e+00H 1 123 2.0820846e+00 2.05e-06 3.97e-01 -3.9 7.01e-02 -1.1 7.88e-01 1.00e+00f 1 124 2.0819385e+00 1.91e-07 1.50e-03 -3.9 3.43e-02 -1.6 1.00e+00 1.00e+00h 1 125 2.0819204e+00 3.03e-08 4.43e-04 -3.9 5.14e-02 -2.1 1.00e+00 1.00e+00h 1 126 2.0813050e+00 3.04e-06 9.25e-02 -5.9 3.92e-02 -2.6 7.69e-01 1.00e+00f 1 127 2.0811067e+00 8.40e-07 6.76e-03 -5.9 1.83e-02 -3.0 9.41e-01 9.67e-01h 1 128 2.0810740e+00 1.03e-06 8.56e-03 -5.9 7.00e-01 -3.5 1.00e+00 4.95e-01h 1 129 2.0809992e+00 9.62e-07 5.38e-01 -5.9 7.07e-01 -4.0 1.00e+00 7.67e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 130 2.0809889e+00 1.79e-07 1.91e-04 -5.9 3.03e-01 -4.5 1.00e+00 1.00e+00h 1 131 2.0821115e+00 1.36e-04 1.08e-01 -4.0 1.40e+00 -4.9 1.00e+00 8.47e-01f 1 132 2.0817743e+00 3.64e-05 6.92e-02 -4.0 5.33e-01 -5.4 1.00e+00 9.19e-01f 1 133 2.0819178e+00 3.80e-05 1.31e-04 -4.0 1.27e+00 -5.9 1.00e+00 1.00e+00f 1 134 2.0807983e+00 1.09e-03 4.76e-03 -5.9 8.26e+00 -6.4 9.89e-01 1.00e+00h 1 135 2.0807399e+00 8.77e-04 3.13e-01 -5.9 4.79e+00 -5.9 1.00e+00 1.96e-01h 1 136 2.0806114e+00 1.84e-04 7.99e-03 -5.9 3.59e+00 -6.4 1.00e+00 7.94e-01h 1 137 2.0816414e+00 1.45e-03 6.10e-02 -4.0 5.20e+01 -6.9 3.42e-01 5.00e-01f 2 138 2.0812381e+00 1.10e-03 7.39e-01 -4.5 3.50e+00 -4.7 1.74e-01 3.40e-01h 1 139 2.0810968e+00 1.09e-03 7.27e-01 -4.5 5.20e+00 -5.1 3.45e-02 2.02e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 140 2.0814567e+00 8.85e-04 3.49e+00 -4.5 1.07e+01 -5.6 1.00e+00 5.89e-02f 3 141 2.0812083e+00 4.99e-04 1.01e-02 -4.5 4.85e+00 -6.1 1.00e+00 1.00e+00h 1 142 2.0810148e+00 1.73e-03 3.23e-02 -4.5 3.33e+01 -6.6 3.12e-01 4.31e-01h 2 143 2.0810378e+00 1.71e-03 3.59e+00 -4.5 9.06e+01 -6.1 1.00e+00 1.99e-02h 2 144 2.0809927e+00 2.30e-05 1.48e-03 -4.5 2.34e+00 -6.6 1.00e+00 1.00e+00h 1 145 2.0809629e+00 6.39e-05 6.43e-05 -4.5 2.18e+00 -7.1 1.00e+00 1.00e+00h 1 146 2.0806205e+00 2.91e-04 2.53e-03 -6.7 1.14e+01 -7.6 9.92e-01 8.62e-01h 1 147 2.0805447e+00 1.15e-04 2.84e-04 -6.7 2.08e+01 -8.1 1.00e+00 9.92e-01h 1 148 2.0805511e+00 1.25e-05 2.02e-04 -5.9 9.77e+00 -8.5 1.00e+00 1.00e+00h 1 149 2.0806124e+00 2.80e-05 3.18e-02 -4.0 1.16e+02 -9.0 1.00e+00 4.70e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 150 2.0814370e+00 3.16e-03 1.93e-04 -4.2 4.73e+01 -9.5 1.00e+00 1.00e+00f 1 151 2.0814717e+00 1.17e-04 5.97e-04 -4.2 9.98e+01 -10.0 1.00e+00 1.00e+00h 1 152 2.0806308e+00 2.19e-03 5.95e-04 -6.3 3.80e+01 -10.4 9.71e-01 9.27e-01h 1 153 2.0805522e+00 1.56e-04 1.50e-06 -6.3 2.49e+01 -10.9 1.00e+00 1.00e+00h 1 154 2.0805436e+00 2.14e-07 5.78e-07 -6.3 7.75e+00 -11.4 1.00e+00 1.00e+00h 1 155 2.0820183e+00 1.21e-02 4.23e-04 -4.0 9.77e+01 -11.9 1.00e+00 1.00e+00f 1 156 2.0817155e+00 1.02e-03 6.47e-05 -4.1 5.43e+01 -12.3 1.00e+00 1.00e+00h 1 157 2.0816655e+00 1.18e-06 1.03e-06 -4.1 1.07e+01 -12.8 1.00e+00 1.00e+00h 1 158 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -13.3 9.76e-01 9.75e-01h 1 159 2.0805514e+00 6.94e-05 2.01e-06 -6.1 1.65e+01 -13.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 160 2.0805471e+00 4.97e-08 2.16e-08 -6.1 3.04e+00 -14.3 1.00e+00 1.00e+00h 1 161 2.0820211e+00 1.22e-02 4.18e-04 -4.0 9.87e+01 -14.7 1.00e+00 1.00e+00f 1 162 2.0817173e+00 1.03e-03 6.80e-05 -4.1 5.45e+01 -15.2 1.00e+00 1.00e+00h 1 163 2.0816663e+00 1.22e-06 9.99e-07 -4.1 1.09e+01 -15.7 1.00e+00 1.00e+00h 1 164 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -16.2 9.76e-01 9.75e-01h 1 165 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -16.6 1.00e+00 1.00e+00h 1 166 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -17.1 1.00e+00 1.00e+00h 1 167 2.0805365e+00 9.58e-07 8.07e-07 -9.0 9.58e-01 -17.6 1.00e+00 9.97e-01h 1 168 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -18.1 1.00e+00 1.00e+00f 1 169 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+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 170 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -19.0 1.00e+00 1.00e+00h 1 171 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -19.5 9.76e-01 9.75e-01h 1 172 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 173 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 174 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 175 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 176 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 177 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 178 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 179 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 180 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 181 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 182 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 183 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 184 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 185 2.0805365e+00 6.66e-16 2.22e-16 -9.0 1.96e-12 -20.0 1.00e+00 1.00e+00h 1 186 2.0805365e+00 2.22e-16 2.41e-16 -9.0 8.86e-14 -20.0 1.00e+00 1.00e+00 0 187 2.0805365e+00 8.88e-16 2.03e-16 -9.0 5.89e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 187 (scaled) (unscaled) Objective...............: 2.0805364715330508e+00 2.0805364715330508e+00 Dual infeasibility......: 2.0309745975833971e-16 2.0309745975833971e-16 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 9.0909103283437487e-09 9.0909103283437487e-09 Complementarity.........: 9.0909090969342984e-10 9.0909090969342984e-10 Overall NLP error.......: 9.9999090909091523e-05 9.9999090909091523e-05 Number of objective function evaluations = 253 Number of objective gradient evaluations = 188 Number of equality constraint evaluations = 253 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 188 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 188 Total seconds in IPOPT = 27.252 EXIT: Search Direction is becoming Too Small. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7530666e+00 8.40e-01 1.02e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2887529e+00 2.27e-01 1.74e+00 -0.9 7.65e-01 0.0 9.90e-01 1.00e+00h 1 2 1.3344360e+00 1.62e-01 5.12e-01 -0.5 3.70e+00 - 6.77e-01 2.86e-01h 1 3 1.0741713e+00 4.81e-02 4.67e-01 -1.5 1.80e+00 - 9.42e-01 1.00e+00h 1 4 7.6442791e-01 6.60e-02 7.88e-01 -2.0 4.04e+00 - 9.96e-01 5.28e-01h 1 5 6.5887245e-01 1.34e-01 8.16e-01 -2.7 4.59e+00 - 1.00e+00 8.36e-01h 1 6 1.2371461e+00 1.15e-01 3.27e+00 -1.8 2.54e-01 -0.5 1.00e+00 1.00e+00h 1 7 1.2084989e+00 1.97e-02 1.20e+00 -2.3 5.71e-01 -1.0 1.00e+00 4.50e-01h 1 8 1.1844637e+00 1.62e-02 1.84e+00 -4.0 1.60e+01 - 4.28e-01 1.81e-01h 1 9 1.1617527e+00 1.39e-02 1.44e+00 -3.1 1.16e-01 -1.4 1.00e+00 1.41e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.1446957e+00 1.06e-02 6.34e-01 -3.2 5.18e-02 -1.9 1.00e+00 2.37e-01h 1 11 1.1028456e+00 7.03e-04 6.03e-01 -4.0 6.12e+00 - 1.00e+00 1.00e+00h 1 12 1.0954403e+00 4.13e-04 2.31e-01 -4.0 1.12e+00 - 1.00e+00 4.12e-01h 1 13 1.0908991e+00 1.62e-06 2.34e-02 -4.0 1.15e+00 - 1.00e+00 1.00e+00h 1 14 1.0908999e+00 2.82e-10 7.83e-04 -4.0 2.34e-01 - 1.00e+00 1.00e+00h 1 15 1.0908997e+00 5.47e-19 3.50e-05 -4.0 3.17e-05 - 1.00e+00 1.00e+00h 1 16 1.0908997e+00 2.58e-27 1.97e-15 -4.0 4.02e-10 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 16 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 1.9706458687096529e-15 1.9706458687096529e-15 Constraint violation....: 2.5753571952660058e-27 2.5753571952660058e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 1.9706458687096529e-15 1.9706458687096529e-15 Number of objective function evaluations = 17 Number of objective gradient evaluations = 17 Number of equality constraint evaluations = 17 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 17 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 16 Total seconds in IPOPT = 22.482 EXIT: Optimal Solution Found. ┌ Warning: Trajectory has timestep variable :Δt but no bounds on it. │ Adding default lower bound of 0 to prevent negative timesteps. │ │ Recommended: Add explicit bounds when creating the trajectory: │ NamedTrajectory(...; Δt_bounds=(min, max)) │ Example: │ NamedTrajectory(qtraj, N; Δt_bounds=(1e-3, 0.5)) │ │ Or use timesteps_all_equal=true in problem options to fix timesteps. └ @ DirectTrajOpt.Problems ~/.julia/packages/DirectTrajOpt/4TeZc/src/problems.jl:65 initializing optimizer... applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8426434e-02 8.33e-17 9.99e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6388491e-02 7.05e-12 1.72e-02 -4.0 3.03e-02 -2.0 9.83e-01 1.00e+00f 1 2 7.7013894e-03 1.06e-12 8.21e-02 -3.0 8.83e-02 -1.6 9.99e-01 1.00e+00f 1 3 3.8857856e-04 1.58e-11 5.93e-02 -3.5 1.14e-01 -1.1 9.99e-01 9.60e-01f 1 4 1.5374897e-04 1.27e-11 1.11e-02 -3.1 4.66e-01 -1.6 1.00e+00 1.00e+00f 1 5 1.7777569e-04 1.10e-11 1.11e-02 -3.1 1.35e+00 -2.1 8.03e-01 1.18e-01f 4 6 1.7777569e-04 1.10e-11 1.08e-02 -3.2 2.89e+00 -2.6 3.47e-01 4.13e-14h 44 7 5.9517449e-04 8.35e-12 2.52e-02 -3.2 4.59e+00 -3.1 2.46e-01 2.46e-01S 61 8 6.4459494e-04 7.76e-12 3.60e-02 -3.2 2.18e+00 -3.5 8.22e-01 7.37e-02f 3 9 6.4459494e-04 7.76e-12 2.03e-02 -3.2 4.79e-01 -4.0 1.00e+00 1.42e-14h 47 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 5.2306906e-04 1.09e-12 1.24e-02 -3.2 3.83e-01 -4.5 1.00e+00 1.00e+00S 59 11 5.2306906e-04 1.09e-12 1.75e-02 -3.2 7.50e+00 -2.3 1.84e-01 1.06e-10h 29 12 5.2306906e-04 1.09e-12 2.78e-02 -3.2 3.17e+00 -2.7 3.39e-01 1.55e-15h 46 13 1.8709901e-04 5.80e-13 1.63e-02 -3.2 5.87e-01 -3.2 8.96e-01 8.96e-01S 60 14 1.5956228e-04 2.98e-13 7.21e-03 -3.2 1.23e+00 -3.7 9.91e-01 2.29e-01f 2 15 1.8098362e-04 1.94e-13 7.89e-03 -3.2 2.85e-01 -4.2 1.00e+00 1.25e-01f 4 16 1.8098362e-04 1.94e-13 7.51e-03 -3.2 3.75e-01 -4.6 1.00e+00 9.31e-10h 31 17 1.8098362e-04 1.94e-13 7.93e-03 -3.2 3.32e-01 -5.1 1.00e+00 5.68e-14h 45 18 2.9798197e-04 4.64e-13 7.07e-03 -3.2 3.03e-01 -5.6 1.00e+00 1.00e+00s 63 Cannot call restoration phase at point that is almost feasible (violation 4.636855e-13). Abort in line search due to no other fall back. Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.9798196928391957e-04 2.9798196928391957e-04 Dual infeasibility......: 7.0675897729964368e-03 7.0675897729964368e-03 Constraint violation....: 4.6368551359643462e-13 4.6368551359643462e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.3622209919512681e-04 6.3622209919512681e-04 Overall NLP error.......: 7.0675897729964368e-03 7.0675897729964368e-03 Number of objective function evaluations = 514 Number of objective gradient evaluations = 20 Number of equality constraint evaluations = 514 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 19 Total seconds in IPOPT = 2.972 EXIT: Error in step computation! initializing optimizer... applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.4732581e+00 4.88e-01 9.99e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0358381e+00 3.16e-09 2.56e-01 -0.4 4.58e-01 -2.0 9.77e-01 1.00e+00f 1 2 3.3990212e-01 2.17e-09 2.19e-01 -1.2 9.56e-01 -1.6 9.28e-01 1.00e+00f 1 3 1.5428036e-01 3.46e-10 5.70e-02 -2.2 5.77e-01 -1.1 1.00e+00 1.00e+00f 1 4 4.2141707e-02 2.80e-11 4.23e-02 -3.1 8.38e-01 -1.6 9.96e-01 1.00e+00f 1 5 8.5842844e-03 2.49e-11 1.76e-02 -4.0 7.44e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.7057576e-03 6.89e-12 5.60e-03 -4.0 4.91e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.6724888e-04 1.78e-12 1.46e-03 -4.0 2.29e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.4866980e-04 2.40e-13 1.32e-04 -4.0 9.21e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.5742400e-04 1.19e-14 1.37e-04 -4.0 2.08e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.0409309e-04 1.52e-14 4.24e-04 -4.1 7.78e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.5850634e-04 7.76e-15 3.61e-04 -4.0 1.98e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7539393e-04 3.44e-15 5.47e-04 -4.1 1.04e-01 -5.4 1.00e+00 1.00e+00f 1 13 4.6491776e-04 2.44e-15 4.72e-04 -4.0 2.53e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6394247e-04 1.89e-15 6.21e-04 -4.1 1.19e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6589922e-04 1.67e-15 5.17e-04 -4.0 2.77e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.6008891e-04 1.44e-15 6.52e-04 -4.1 1.26e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6589277e-04 1.33e-15 5.35e-04 -4.0 2.87e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5882486e-04 1.24e-15 6.71e-04 -4.1 1.30e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6547146e-04 1.22e-15 5.44e-04 -4.0 2.93e-01 -8.8 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.5842842e-04 1.14e-15 6.85e-04 -4.1 1.32e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6494484e-04 9.99e-16 5.50e-04 -4.0 2.97e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5831009e-04 9.99e-16 6.97e-04 -4.1 1.35e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6439827e-04 9.99e-16 5.54e-04 -4.0 3.01e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5827931e-04 8.95e-16 7.08e-04 -4.1 1.37e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6386148e-04 7.77e-16 5.58e-04 -4.0 3.04e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5827485e-04 8.81e-16 7.19e-04 -4.1 1.39e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0985311e-05 8.99e-15 8.99e-04 -6.2 3.82e-01 -12.6 9.68e-01 1.00e+00f 1 28 1.7360021e-03 2.22e-15 7.71e-03 -4.0 2.01e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4622225e-05 2.34e-14 2.90e-03 -4.1 1.02e+00 -13.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.5738871e-03 3.02e-14 8.04e-03 -4.0 9.88e-01 -14.0 1.00e+00 1.00e+00f 1 31 1.0273987e-05 1.80e-14 2.30e-03 -4.2 1.09e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6443537e-04 1.55e-15 2.77e-03 -4.0 1.38e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.2008181e-04 3.00e-15 2.41e-04 -4.2 3.73e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0260645e-05 4.44e-15 8.13e-04 -6.4 4.15e-01 -15.9 9.64e-01 1.00e+00f 1 35 8.1518710e-06 3.22e-15 1.00e-04 -6.4 1.05e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.4904154e-03 1.11e-15 5.27e-03 -4.0 9.70e+00 -16.9 1.00e+00 1.23e-01f 4 37 1.0243725e-04 5.25e-14 3.45e-03 -4.0 7.80e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.4422068e-04 3.44e-14 3.51e-03 -4.0 5.30e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8018995e-04 6.33e-15 4.41e-04 -4.0 4.20e-01 -18.3 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.5483998e-05 5.55e-15 1.34e-03 -6.0 5.08e-01 -18.8 9.55e-01 1.00e+00f 1 41 1.4614346e-05 5.27e-15 1.61e-04 -6.0 1.27e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0049803e-06 8.33e-16 1.02e-04 -6.0 1.45e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.0191259e-03 7.36e-16 2.94e-03 -4.0 1.58e+01 -20.0 1.00e+00 7.60e-02f 4 44 1.6888784e-04 4.67e-14 2.80e-03 -4.0 5.65e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.6289643e-04 2.15e-14 2.70e-03 -4.0 4.08e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9012736e-04 4.00e-15 4.16e-04 -4.0 3.53e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5281931e-05 5.77e-15 1.46e-03 -6.1 5.51e-01 -20.0 9.49e-01 1.00e+00f 1 48 1.4689020e-05 4.77e-15 1.71e-04 -6.1 1.34e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.9000050e-06 7.77e-16 1.11e-04 -6.1 1.58e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 8.2835544e-04 4.44e-16 1.98e-03 -4.0 1.70e+01 -20.0 1.00e+00 7.05e-02f 4 51 2.0382850e-04 4.04e-14 2.42e-03 -4.0 4.69e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.0087017e-04 1.49e-14 2.23e-03 -4.0 3.43e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8638778e-04 2.66e-15 3.93e-04 -4.0 3.11e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4295436e-05 5.55e-15 1.55e-03 -6.1 5.86e-01 -20.0 9.45e-01 1.00e+00f 1 55 1.4390687e-05 4.33e-15 1.76e-04 -6.1 1.40e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.7616520e-06 6.66e-16 1.16e-04 -6.1 1.69e-01 -20.0 1.00e+00 1.00e+00f 1 57 6.8773219e-04 4.44e-16 1.11e-03 -4.0 1.84e+01 -20.0 1.00e+00 6.50e-02f 4 58 2.3893238e-04 3.55e-14 2.00e-03 -4.1 3.76e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.4245257e-04 1.02e-14 1.73e-03 -4.1 2.72e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.8285406e-04 1.55e-15 3.53e-04 -4.1 2.59e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3237481e-05 5.33e-15 1.62e-03 -6.1 6.19e-01 -20.0 9.41e-01 1.00e+00f 1 62 1.4090390e-05 3.89e-15 1.80e-04 -6.1 1.44e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.6447449e-06 6.66e-16 1.21e-04 -6.1 1.78e-01 -20.0 1.00e+00 1.00e+00f 1 64 5.8467663e-04 4.44e-16 3.67e-04 -4.0 1.97e+01 -20.0 1.00e+00 6.05e-02f 4 65 2.7029831e-04 3.18e-14 1.59e-03 -4.1 2.91e-01 -20.0 1.00e+00 1.00e+00f 1 66 4.9189085e-04 6.66e-15 1.27e-03 -4.1 2.04e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.7851195e-04 8.88e-16 3.04e-04 -4.1 2.06e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2145193e-05 5.00e-15 1.68e-03 -6.1 6.49e-01 -20.0 9.37e-01 1.00e+00f 1 69 1.3772327e-05 3.66e-15 1.82e-04 -6.1 1.48e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.5392342e-06 5.55e-16 1.25e-04 -6.1 1.86e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.0786536e-04 5.93e-16 2.81e-04 -4.0 2.10e+01 -20.0 1.00e+00 5.67e-02f 4 72 2.9740664e-04 2.91e-14 1.20e-03 -4.1 2.16e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.4988828e-04 4.22e-15 8.52e-04 -4.1 1.40e-01 -20.0 1.00e+00 1.00e+00f 1 74 2.3386295e-05 4.33e-15 1.90e-03 -6.1 8.05e-01 -20.0 9.20e-01 1.00e+00f 1 75 1.2193539e-05 3.66e-15 1.26e-04 -6.1 1.12e-01 -20.0 1.00e+00 1.00e+00f 1 76 3.0459852e-06 4.44e-16 1.20e-04 -6.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 77 4.2640685e-04 3.05e-16 1.19e-03 -4.0 2.43e+01 -20.0 1.00e+00 4.89e-02f 4 78 3.3515503e-04 2.64e-14 6.35e-04 -4.1 1.12e-01 -20.0 1.00e+00 1.00e+00f 1 79 3.2508334e-05 5.22e-15 1.71e-03 -6.1 6.63e-01 -20.0 9.35e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.3221083e-05 3.00e-15 2.10e-04 -6.1 1.73e-01 -20.0 1.00e+00 1.00e+00f 1 81 3.5000841e-06 5.22e-16 1.33e-04 -6.1 2.00e-01 -20.0 1.00e+00 1.00e+00f 1 82 3.6668134e-06 2.20e-16 6.54e-06 -6.1 1.16e-02 -20.0 1.00e+00 1.00e+00h 1 83 2.3155988e-07 5.55e-17 5.71e-05 -9.0 2.61e-01 -20.0 9.74e-01 1.00e+00f 1 84 2.1337455e-03 6.35e-16 1.08e-02 -4.0 1.10e+02 -20.0 1.00e+00 2.21e-02f 3 85 9.1250672e-05 4.42e-14 6.79e-03 -4.0 1.48e+00 -20.0 1.00e+00 1.00e+00f 1 86 7.4941852e-04 2.53e-14 5.25e-03 -4.0 7.97e-01 -20.0 1.00e+00 1.00e+00f 1 87 4.2248228e-04 4.88e-15 8.05e-04 -4.0 5.63e-01 -20.0 1.00e+00 5.00e-01f 2 88 4.2035938e-05 4.00e-15 2.16e-03 -5.9 7.30e-01 -20.0 9.28e-01 1.00e+00f 1 89 1.7255107e-05 3.66e-15 2.66e-04 -5.9 1.92e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 4.8574775e-06 6.66e-16 1.68e-04 -5.9 2.17e-01 -20.0 1.00e+00 1.00e+00f 1 91 5.4216389e-06 3.14e-16 1.52e-05 -5.9 2.23e-02 -20.0 1.00e+00 1.00e+00h 1 92 5.0743565e-06 6.51e-17 1.51e-06 -5.9 2.24e-03 -20.0 1.00e+00 1.00e+00h 1 93 3.6086260e-07 5.46e-17 7.86e-05 -8.9 2.92e-01 -20.0 9.71e-01 1.00e+00f 1 94 1.4580174e-07 4.38e-17 8.17e-06 -8.9 6.40e-02 -20.0 1.00e+00 1.00e+00f 1 95 1.3994381e-03 5.31e-16 3.34e-03 -4.0 3.41e+02 -20.0 1.00e+00 7.13e-03f 3 96 5.1364201e-04 5.91e-14 4.97e-03 -3.8 6.35e-01 -20.0 1.00e+00 1.00e+00f 1 97 8.4598192e-04 1.51e-14 1.64e-03 -3.8 1.96e-01 -20.0 1.00e+00 1.00e+00f 1 98 4.8143220e-05 7.77e-15 3.76e-03 -5.7 1.10e+00 -20.0 8.86e-01 1.00e+00f 1 99 2.5685945e-05 6.00e-15 2.56e-04 -5.7 1.58e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 7.8352136e-06 6.66e-16 2.45e-04 -5.7 2.51e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 7.8352136485916317e-06 7.8352136485916317e-06 Dual infeasibility......: 2.4474984796267192e-04 2.4474984796267192e-04 Constraint violation....: 6.6613381477509392e-16 6.6613381477509392e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.1141320471059899e-06 3.1141320471059899e-06 Overall NLP error.......: 2.4474984796267192e-04 2.4474984796267192e-04 Number of objective function evaluations = 168 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 168 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 3.421 EXIT: Maximum Number of Iterations Exceeded. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... applying constraint: bounds constraint on trajectory variable ddu applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.4908630e+00 3.08e+00 1.11e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7862085e+00 3.22e-02 4.73e-01 -1.1 2.80e+00 - 1.00e+00 1.00e+00f 1 2 2.2361008e+00 9.80e-03 6.58e-02 -1.7 1.19e-01 - 9.44e-01 9.94e-01f 1 3 2.1044082e+00 6.55e-04 1.42e-02 -3.0 3.46e-02 - 9.33e-01 9.92e-01h 1 4 2.0909572e+00 2.97e-05 7.07e-04 -4.0 1.67e-02 - 1.00e+00 1.00e+00h 1 5 2.0908941e+00 8.50e-06 1.80e-04 -4.0 3.62e-01 - 1.00e+00 1.00e+00h 1 6 2.0908971e+00 6.85e-10 1.87e-08 -4.0 5.63e-02 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 2.15e-12 6.65e-12 -4.0 2.90e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971978498712e+00 2.0908971978498712e+00 Dual infeasibility......: 6.6537884143430537e-12 6.6537884143430537e-12 Constraint violation....: 2.1483877502524729e-12 2.1483877502524729e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000017224752904e-04 1.0000017224752904e-04 Overall NLP error.......: 1.7224752903838812e-10 1.7224752903838812e-10 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 25.154 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.0059450e+00 1.68e+00 8.34e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9377865e+00 5.95e-01 3.11e+00 -0.6 7.04e+00 -4.0 6.92e-01 7.14e-01f 1 2 2.6286916e+00 1.46e-01 2.34e+00 -0.7 1.13e+00 -0.9 5.50e-01 7.74e-01f 1 3 2.5297847e+00 9.88e-02 1.93e+00 -1.8 8.65e-01 -1.3 7.41e-01 8.71e-01h 1 4 2.3877538e+00 2.17e-02 2.39e-01 -1.5 3.83e-01 -1.8 9.97e-01 1.00e+00f 1 5 2.1757431e+00 1.49e-02 7.45e-02 -2.1 4.94e-01 -2.3 9.78e-01 9.16e-01h 1 6 2.1156728e+00 3.61e-03 1.03e-01 -2.8 3.57e-01 -2.8 9.83e-01 8.05e-01h 1 7 2.0929807e+00 1.64e-03 2.55e-02 -3.9 2.24e-01 -3.3 9.97e-01 9.09e-01h 1 8 2.0908486e+00 4.88e-05 2.25e-03 -4.0 1.02e-01 -3.7 1.00e+00 1.00e+00h 1 9 2.0908259e+00 2.00e-06 3.69e-05 -4.0 2.97e-01 -4.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907447e+00 2.85e-07 1.00e-04 -4.0 8.38e-01 -4.7 1.00e+00 1.00e+00h 1 11 2.0905440e+00 1.65e-06 6.49e-04 -4.0 2.10e+00 -5.2 1.00e+00 1.00e+00h 1 12 2.0902035e+00 4.03e-06 2.38e-03 -4.0 3.81e+00 -5.6 1.00e+00 1.00e+00h 1 13 2.0899697e+00 4.98e-06 2.98e-03 -4.0 5.60e+00 -6.1 1.00e+00 1.00e+00h 1 14 2.0898662e+00 2.54e-06 1.86e-03 -4.0 7.84e+00 -6.6 1.00e+00 1.00e+00h 1 15 2.0898296e+00 4.45e-07 1.34e-03 -4.0 1.17e+01 -7.1 1.00e+00 1.00e+00h 1 16 2.0898245e+00 1.84e-06 8.58e-04 -4.0 9.99e+00 -7.5 1.00e+00 1.00e+00h 1 17 2.0898222e+00 6.02e-07 1.30e-04 -4.0 3.78e+00 -8.0 1.00e+00 1.00e+00h 1 18 2.0898219e+00 1.47e-08 2.61e-06 -4.0 5.78e-01 -8.5 1.00e+00 1.00e+00h 1 19 2.0898219e+00 3.00e-11 9.03e-09 -4.0 5.42e-02 -9.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 19 (scaled) (unscaled) Objective...............: 2.0898218502994248e+00 2.0898218502994248e+00 Dual infeasibility......: 9.0281147524756515e-09 9.0281147524756515e-09 Constraint violation....: 3.0006164219997800e-11 3.0006164219997800e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 9.0281147524756515e-09 9.0281147524756515e-09 Number of objective function evaluations = 20 Number of objective gradient evaluations = 20 Number of equality constraint evaluations = 20 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 = 26.010 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable x applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.5937609e+00 3.15e+00 5.40e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.2794544e+00 3.00e+00 6.98e+00 -4.0 2.58e+00 0.0 6.12e-03 4.89e-02h 1 2 4.2763729e+00 2.99e+00 6.61e+01 -2.4 4.56e+00 -0.5 5.69e-02 9.58e-04h 1 3 4.4569621e+00 2.95e+00 1.64e+03 0.4 3.83e+01 -1.0 5.94e-01 1.96e-02f 1 4 4.7977818e+00 4.79e+00 9.91e+03 1.5 1.81e+02 -1.4 1.00e+00 6.36e-02f 1 5 4.6894908e+00 3.93e+00 9.62e+03 1.4 9.11e+01 -1.9 1.33e-01 9.93e-02h 1 6 4.6921018e+00 3.58e+00 2.56e+04 1.5 4.24e+01 -2.4 1.00e+00 7.45e-02h 1 7 4.9249653e+00 3.47e+00 7.53e+04 2.5 3.14e+02 -2.9 1.22e-01 3.01e-02f 2 8 5.0932592e+00 3.37e+00 1.44e+06 2.1 1.79e+01 -3.3 1.00e+00 2.79e-02h 1 9 5.0741327e+00 3.28e+00 5.61e+07 2.1 1.87e+01 -3.8 1.00e+00 2.52e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 5.0734805e+00 3.27e+00 6.24e+10 2.5 1.45e+02 -4.3 1.00e+00 8.78e-04h 1 11 5.0734213e+00 3.27e+00 1.06e+15 2.5 1.69e+02 -4.8 7.55e-01 4.41e-05h 1 12r 5.0734213e+00 3.27e+00 9.96e+02 2.5 0.00e+00 -5.2 0.00e+00 4.57e-07R 7 13r 5.0469986e+00 9.15e-01 8.86e+02 1.7 6.27e+01 - 4.41e-01 1.01e-01f 1 14 4.9670889e+00 8.86e-01 9.43e+00 -4.0 6.33e+00 -5.7 3.27e-01 3.11e-02h 1 15 4.9469932e+00 8.77e-01 1.72e+03 -0.7 4.95e+00 -6.2 8.26e-01 1.06e-02h 1 16 4.9525491e+00 8.73e-01 4.33e+05 -0.0 1.78e+01 -6.7 1.00e+00 3.89e-03h 1 17 4.9538961e+00 8.73e-01 2.41e+09 1.5 1.64e+02 -7.2 1.00e+00 1.77e-04h 1 18r 4.9538961e+00 8.73e-01 9.82e+02 2.5 0.00e+00 -7.6 0.00e+00 3.77e-07R 4 19r 4.5570778e+00 2.65e-01 3.79e+02 1.8 5.49e+00 - 5.93e-01 3.53e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.5279929e+00 2.59e-01 2.20e+01 -4.0 2.68e+00 -8.1 5.29e-01 2.29e-02h 1 21 4.5355925e+00 2.59e-01 1.24e+03 -4.0 3.51e+01 -8.6 2.34e-02 4.36e-04h 1 22 4.5473496e+00 2.58e-01 3.28e+06 -0.1 8.29e+01 -9.1 1.00e+00 3.56e-04h 1 23r 4.5473496e+00 2.58e-01 9.99e+02 1.6 0.00e+00 -9.5 0.00e+00 3.09e-07R 5 24r 4.4172996e+00 1.99e-01 8.10e+02 0.4 2.94e+00 - 9.97e-01 1.68e-01f 1 25 4.4160507e+00 1.99e-01 5.32e+02 -1.1 2.25e+00 -10.0 8.42e-01 2.12e-03h 1 26 4.4167359e+00 1.99e-01 1.58e+07 0.8 5.68e+02 -10.5 1.00e+00 3.71e-05h 1 27r 4.4167359e+00 1.99e-01 1.00e+03 2.2 0.00e+00 -11.0 0.00e+00 3.06e-07R 4 28r 3.8858299e+00 2.00e-01 2.75e+02 -0.0 5.70e-01 - 7.23e-01 8.26e-01f 1 29r 4.1044953e+00 1.99e-01 3.36e+01 -0.8 4.60e-01 - 8.79e-01 8.49e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 4.6072939e+00 1.99e-01 1.30e+00 -0.9 8.14e-01 - 1.00e+00 9.82e-01f 1 31r 4.5997546e+00 1.99e-01 1.28e+01 -1.4 5.14e-01 - 9.19e-01 1.00e+00f 1 32r 4.2826085e+00 5.03e-01 3.48e-01 -1.6 1.71e+00 - 1.00e+00 1.00e+00f 1 33r 4.2723555e+00 1.99e-01 1.37e+01 -2.4 8.72e-01 - 3.63e-01 1.00e+00f 1 34r 4.3976295e+00 1.99e-01 1.02e-01 -2.2 6.68e-01 - 1.00e+00 1.00e+00h 1 35r 4.4263197e+00 1.99e-01 2.26e-02 -2.3 8.25e-01 - 1.00e+00 1.00e+00h 1 36r 4.3408905e+00 1.99e-01 6.11e-01 -4.0 3.38e-01 - 8.32e-01 1.00e+00f 1 37r 4.3213573e+00 1.99e-01 8.13e-04 -4.0 1.21e-01 - 1.00e+00 1.00e+00h 1 38r 4.3313574e+00 1.99e-01 1.69e-05 -4.0 6.98e-02 - 1.00e+00 1.00e+00h 1 39r 4.3308438e+00 1.99e-01 2.54e-08 -4.0 9.48e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 39 (scaled) (unscaled) Objective...............: 4.3308513671366304e+00 4.3308513671366304e+00 Dual infeasibility......: 2.1092356968733470e+00 2.1092356968733470e+00 Constraint violation....: 1.9875045032383720e-01 1.9875045032383720e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000063238339e-04 1.0000000063238339e-04 Overall NLP error.......: 2.1092356968733470e+00 2.1092356968733470e+00 Number of objective function evaluations = 65 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 65 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 45 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 40 Total seconds in IPOPT = 26.676 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... applying constraint: bounds constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.2049903e+00 2.52e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.9624071e+00 1.00e+00 1.38e+00 -0.8 1.74e+00 0.0 7.82e-01 6.05e-01f 1 2 2.7347746e+00 2.72e-02 3.35e+00 -0.9 9.54e-01 -0.5 6.85e-01 1.00e+00f 1 3 2.5416499e+00 8.24e-03 8.93e-01 -1.2 3.30e-01 -1.0 7.86e-01 7.46e-01h 1 4 2.3412911e+00 3.25e-02 2.77e-01 -1.6 4.68e-01 -1.4 9.80e-01 7.71e-01f 1 5 2.1388742e+00 4.19e-03 4.67e-02 -2.3 1.15e-01 -1.9 9.99e-01 9.84e-01h 1 6 2.0918859e+00 7.42e-04 6.67e-03 -3.4 8.56e-02 -2.4 9.86e-01 9.84e-01h 1 7 2.0908772e+00 3.72e-06 3.12e-04 -4.0 1.51e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908672e+00 6.34e-08 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908539e+00 6.86e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908140e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906946e+00 5.59e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903372e+00 5.06e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892718e+00 4.62e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861404e+00 4.33e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796270e+00 2.48e-03 8.71e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.55e-01h 1 16 2.0811718e+00 1.72e-04 2.05e-01 -4.0 7.27e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778051e+00 6.70e-03 3.06e-02 -4.0 1.14e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0783427e+00 2.02e-02 1.04e-01 -3.7 2.24e+02 -8.1 8.53e-01 1.00e+00h 1 19 2.0769971e+00 8.33e-03 2.45e-02 -3.9 3.53e+02 -8.6 1.00e+00 7.77e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0761383e+00 8.97e-03 2.35e-02 -3.9 5.27e+02 -9.1 1.00e+00 9.52e-01f 1 21 2.0757574e+00 1.03e-02 1.23e-02 -4.0 1.63e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756795e+00 7.75e-04 5.72e-04 -4.0 7.65e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 3.35e-06 9.33e-06 -4.0 2.35e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.90e-08 1.53e-06 -4.0 1.52e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.57e-09 1.52e-07 -4.0 5.23e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.77e-11 3.04e-09 -4.0 9.20e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122093397e+00 2.0756712122093397e+00 Dual infeasibility......: 3.0445507709971759e-09 3.0445507709971759e-09 Constraint violation....: 7.7749806592919413e-11 7.7749806592919413e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000037e-04 1.0000000000000037e-04 Overall NLP error.......: 3.0445507709971759e-09 3.0445507709971759e-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 = 28.848 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 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 5.2997026e+00 2.49e+00 5.29e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7780546e+00 9.84e-02 2.27e+00 -0.9 1.80e+00 0.0 9.98e-01 9.59e-01f 1 2 2.8794676e+00 2.43e-02 2.27e+00 -0.6 2.85e-01 0.4 6.91e-01 1.00e+00f 1 3 2.7117388e+00 9.66e-04 5.53e-01 -1.3 6.09e-02 -0.1 9.94e-01 1.00e+00h 1 4 2.2383921e+00 6.15e-03 9.19e-02 -1.9 1.19e-01 -0.5 9.97e-01 9.24e-01f 1 5 2.1331981e+00 3.63e-03 1.44e-01 -3.0 8.85e-02 -1.0 1.00e+00 6.28e-01h 1 6 2.0910070e+00 1.32e-04 7.24e-03 -4.0 1.66e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0909101e+00 6.87e-08 1.85e-04 -4.0 4.66e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909090e+00 9.05e-10 2.55e-05 -4.0 6.96e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909061e+00 2.56e-10 2.50e-05 -4.0 2.05e-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 2.0908986e+00 1.67e-09 2.44e-05 -4.0 6.00e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908792e+00 1.29e-08 2.85e-05 -4.0 1.68e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908391e+00 7.53e-08 1.70e-04 -4.0 4.20e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907627e+00 3.24e-07 8.74e-04 -4.0 9.97e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905627e+00 3.18e-06 1.10e-03 -4.0 3.03e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899678e+00 2.68e-05 8.43e-04 -4.0 8.88e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0896981e+00 4.55e-06 1.80e-03 -4.0 3.41e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0895508e+00 5.06e-06 7.71e-02 -4.0 2.62e+01 -5.8 7.94e-01 5.70e-02h 2 18 2.0876256e+00 2.48e-04 1.07e-02 -4.0 2.58e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0866946e+00 6.52e-05 6.04e-03 -4.0 1.14e+01 -5.9 1.00e+00 8.85e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0851430e+00 2.32e-04 1.52e-02 -4.0 2.56e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0837687e+00 2.44e-04 5.69e-02 -4.0 4.32e+01 -6.8 1.00e+00 4.26e-01h 1 22 2.0825960e+00 8.99e-05 1.30e-02 -4.0 6.07e+01 -7.3 1.00e+00 7.34e-01h 1 23 2.0824238e+00 6.82e-04 2.28e-02 -4.0 1.29e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0825893e+00 2.10e-03 7.41e-02 -4.0 1.23e+02 -7.4 6.47e-01 1.00e+00h 1 25 2.0824250e+00 2.58e-06 3.82e-04 -4.0 3.90e-01 -5.1 1.00e+00 1.00e+00h 1 26 2.0823748e+00 3.12e-05 1.14e-03 -4.0 2.27e+00 -5.6 1.00e+00 1.00e+00h 1 27 2.0821833e+00 1.49e-05 7.78e-04 -4.0 6.63e+00 -6.1 1.00e+00 1.00e+00h 1 28 2.0820674e+00 2.10e-04 4.69e-02 -4.0 7.23e+01 -6.6 1.44e-01 2.25e-01h 3 29 2.0820512e+00 2.97e-05 4.69e-04 -4.0 4.14e-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 2.0822608e+00 1.39e-07 3.89e-02 -4.0 9.63e-01 -4.8 7.61e-01 1.00e+00H 1 31 2.0821398e+00 4.19e-07 2.05e-01 -4.0 3.58e-01 -2.6 1.00e+00 2.88e-01h 2 32 2.0821314e+00 2.58e-07 2.82e-04 -4.0 5.52e-02 -3.1 1.00e+00 1.00e+00h 1 33 2.0821221e+00 7.30e-07 2.93e-04 -4.0 1.05e-01 -3.5 1.00e+00 1.00e+00h 1 34 2.0821211e+00 1.42e-06 1.14e-05 -4.0 9.21e-02 -4.0 1.00e+00 1.00e+00h 1 35 2.0821248e+00 2.91e-06 3.04e-05 -4.0 2.32e-01 -4.5 1.00e+00 1.00e+00h 1 36 2.0820029e+00 2.06e-05 1.66e-04 -4.1 5.37e-01 -5.0 1.00e+00 1.00e+00h 1 37 2.0821433e+00 1.24e-05 1.93e-04 -4.0 5.42e-01 -5.4 1.00e+00 1.00e+00h 1 38 2.0819819e+00 3.67e-05 1.14e-04 -4.1 1.74e+00 -5.9 1.00e+00 1.00e+00h 1 39 2.0821457e+00 5.77e-05 4.17e-04 -4.0 2.52e+00 -6.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819051e+00 2.08e-04 8.59e-04 -4.1 1.03e+01 -6.9 1.00e+00 1.00e+00h 1 41 2.0820549e+00 3.81e-04 1.97e-03 -4.0 1.76e+01 -7.3 1.00e+00 1.00e+00h 1 42 2.0817036e+00 1.04e-03 2.23e-03 -4.1 4.19e+01 -7.8 1.00e+00 1.00e+00h 1 43 2.0818716e+00 1.36e-03 4.61e-03 -4.0 5.72e+01 -8.3 1.00e+00 1.00e+00h 1 44 2.0815867e+00 1.06e-03 1.77e-03 -4.1 4.73e+01 -8.8 1.00e+00 1.00e+00h 1 45 2.0818447e+00 3.84e-04 1.95e-04 -4.0 1.64e+01 -9.3 1.00e+00 1.00e+00h 1 46 2.0818434e+00 3.10e-07 3.14e-06 -4.0 2.06e+00 -9.7 1.00e+00 1.00e+00h 1 47 2.0818434e+00 1.61e-10 7.63e-09 -4.0 1.10e-01 -10.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 47 (scaled) (unscaled) Objective...............: 2.0818434106740042e+00 2.0818434106740042e+00 Dual infeasibility......: 7.6291266908219951e-09 7.6291266908219951e-09 Constraint violation....: 1.6093970600650209e-10 1.6093970600650209e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 7.6291266908219951e-09 7.6291266908219951e-09 Number of objective function evaluations = 60 Number of objective gradient evaluations = 48 Number of equality constraint evaluations = 60 Number of inequality constraint evaluations = 60 Number of equality constraint Jacobian evaluations = 48 Number of inequality constraint Jacobian evaluations = 48 Number of Lagrangian Hessian evaluations = 47 Total seconds in IPOPT = 27.603 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 96 Number of nonzeros in Lagrangian Hessian.............: 1804 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 8.4622186e+00 2.35e+00 3.13e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6644243e+00 4.79e-01 1.66e+00 -1.0 3.77e+00 -2.0 7.77e-01 1.00e+00f 1 2 3.8097963e+00 2.44e+00 1.75e+01 0.5 2.30e+02 -2.5 8.01e-02 7.12e-02f 1 3 3.0739162e+00 7.15e-01 4.85e+00 -0.5 9.56e-01 -0.2 6.31e-01 7.28e-01f 1 4 2.7252087e+00 4.17e-01 2.97e+00 -0.5 2.10e+00 -0.7 2.69e-01 4.26e-01h 1 5 2.6553337e+00 2.92e-01 1.88e+00 -1.3 3.16e+00 -1.2 5.65e-01 2.99e-01h 1 6 2.6030576e+00 2.43e-01 1.32e+00 -4.0 1.49e+00 -1.7 3.53e-01 1.66e-01h 1 7 2.5526317e+00 2.26e-01 1.32e+00 -2.7 3.14e+00 -1.3 3.10e-01 7.29e-02h 1 8 2.5312205e+00 1.79e-01 2.58e+00 -1.5 2.12e+00 -1.7 8.80e-01 2.06e-01f 1 9 2.6294223e+00 1.74e-01 3.15e+01 -0.1 2.57e+01 -1.3 4.82e-01 2.12e-02f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.5719640e+00 1.04e-01 5.17e+00 -0.5 3.16e+00 -1.8 9.65e-01 1.00e+00h 1 11 2.5478882e+00 1.47e-02 1.93e+00 -1.3 4.65e-01 -1.4 9.96e-01 1.00e+00h 1 12 2.3384050e+00 3.92e-02 3.27e-01 -1.6 7.02e-01 -1.8 9.72e-01 9.29e-01f 1 13 2.2142222e+00 5.78e-02 2.46e-01 -2.0 1.35e+00 -2.3 9.73e-01 5.87e-01h 1 14 2.1517230e+00 1.62e-02 1.25e-01 -2.3 7.91e-01 -2.8 9.76e-01 9.02e-01h 1 15 2.0982830e+00 2.33e-03 8.97e-03 -3.1 2.30e-01 -3.3 1.00e+00 9.35e-01h 1 16 2.0917928e+00 1.26e-04 3.56e-03 -3.8 1.20e-01 -3.7 9.81e-01 1.00e+00h 1 17 2.0909143e+00 2.76e-05 3.43e-04 -4.0 3.28e-01 -4.2 1.00e+00 1.00e+00h 1 18 2.0908059e+00 2.47e-07 2.21e-04 -4.0 9.68e-01 -4.7 1.00e+00 1.00e+00h 1 19 2.0905488e+00 2.94e-06 3.25e-04 -4.0 2.77e+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 20 2.0898426e+00 2.17e-05 1.33e-03 -4.0 7.66e+00 -5.6 1.00e+00 1.00e+00h 1 21 2.0885076e+00 8.39e-05 2.38e-02 -4.0 2.15e+01 -6.1 1.00e+00 6.84e-01h 1 22 2.0855580e+00 8.05e-04 4.02e-02 -4.0 4.67e+01 -6.6 1.00e+00 1.00e+00h 1 23 2.0844579e+00 3.60e-04 1.99e-02 -4.0 1.71e+01 -6.2 1.00e+00 6.01e-01h 1 24 2.0831923e+00 1.05e-04 1.86e-02 -4.0 2.53e+01 -6.7 1.00e+00 1.00e+00h 1 25 2.0826946e+00 2.02e-04 9.35e-03 -4.0 4.36e+01 -7.1 1.00e+00 1.00e+00h 1 26 2.0824276e+00 2.60e-04 7.36e-03 -4.0 1.02e+02 -7.6 1.00e+00 1.00e+00h 1 27 2.0829585e+00 1.08e-06 6.11e-02 -4.0 2.95e+02 -8.1 2.51e-01 1.00e+00H 1 28 2.0824151e+00 2.83e-04 3.89e-01 -4.0 1.14e+01 -5.9 1.00e+00 4.53e-01h 1 29 2.0823630e+00 3.46e-04 9.13e-01 -3.8 2.37e+01 -6.3 1.00e+00 3.28e-02h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0821220e+00 2.38e-04 1.31e-02 -4.0 2.00e+01 -6.8 1.00e+00 1.00e+00h 1 31 2.0827908e+00 4.90e-03 2.44e-03 -3.7 6.26e+01 -7.3 9.50e-01 1.00e+00h 1 32 2.1169515e+00 4.17e-03 3.30e-01 -3.9 6.42e+02 -6.9 6.85e-03 9.12e-02h 2 33 2.1105549e+00 3.98e-08 2.36e-01 -3.9 2.43e-02 1.0 1.00e+00 1.00e+00h 1 34 2.0988154e+00 3.54e-08 1.78e-01 -3.9 5.47e-02 0.5 1.00e+00 1.00e+00f 1 35 2.0870189e+00 6.30e-09 9.32e-02 -3.9 8.61e-02 0.0 1.00e+00 1.00e+00f 1 36 2.0827691e+00 3.34e-08 2.39e-02 -3.9 7.01e-02 -0.4 1.00e+00 1.00e+00f 1 37 2.0823073e+00 1.90e-07 1.94e-03 -4.0 1.58e-02 -0.9 1.00e+00 1.00e+00h 1 38 2.0823071e+00 4.10e-07 7.36e-04 -4.0 1.60e-02 -1.4 1.00e+00 1.00e+00h 1 39 2.0821497e+00 1.83e-07 2.46e-04 -4.0 1.73e-02 -1.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821304e+00 2.26e-08 3.71e-05 -4.0 6.12e-03 -2.4 1.00e+00 1.00e+00h 1 41 2.0821306e+00 5.32e-09 3.72e-05 -4.0 1.77e-03 -2.8 1.00e+00 1.00e+00h 1 42 2.0819844e+00 1.77e-07 5.77e-05 -4.1 8.02e-03 -3.3 1.00e+00 1.00e+00h 1 43 2.0821358e+00 3.70e-07 5.67e-05 -4.0 1.61e-02 -3.8 1.00e+00 1.00e+00h 1 44 2.0819813e+00 1.38e-06 5.29e-05 -4.1 5.93e-02 -4.3 1.00e+00 1.00e+00h 1 45 2.0821324e+00 3.33e-06 6.63e-05 -4.0 1.45e-01 -4.7 1.00e+00 1.00e+00h 1 46 2.0819597e+00 1.11e-05 9.33e-05 -4.1 4.77e-01 -5.2 1.00e+00 1.00e+00h 1 47 2.0821115e+00 3.03e-05 1.24e-04 -4.0 1.30e+00 -5.7 1.00e+00 1.00e+00h 1 48 2.0818759e+00 8.73e-05 2.60e-04 -4.1 3.48e+00 -6.2 1.00e+00 1.00e+00h 1 49 2.0820548e+00 3.19e-04 6.28e-04 -4.0 1.21e+01 -6.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817441e+00 7.54e-04 9.90e-03 -4.1 4.16e+01 -7.1 7.97e-01 1.00e+00h 1 51 2.0847992e+00 3.70e-04 3.02e-01 -4.0 6.33e+01 -5.8 1.57e-01 8.92e-02h 1 52 2.0836339e+00 8.09e-04 8.83e-02 -4.2 1.43e+01 -6.3 1.00e+00 2.22e-01h 1 53 2.0815089e+00 2.51e-04 8.49e-03 -4.2 6.24e+00 -6.7 1.00e+00 1.00e+00f 1 54 2.0819106e+00 3.43e-04 1.38e-03 -4.0 9.33e+00 -7.2 1.00e+00 1.00e+00h 1 55 2.0816269e+00 3.55e-04 9.95e-04 -4.1 1.82e+01 -7.7 1.00e+00 1.00e+00h 1 56 2.0815882e+00 4.66e-05 1.18e-03 -4.1 3.02e+01 -8.2 1.00e+00 1.00e+00h 1 57 2.0818436e+00 7.53e-04 5.53e-04 -4.0 3.07e+01 -8.7 1.00e+00 1.00e+00h 1 58 2.0815825e+00 3.64e-04 1.01e-04 -4.1 1.59e+01 -9.1 1.00e+00 1.00e+00h 1 59 2.0805947e+00 3.38e-03 1.37e-04 -6.1 4.13e+01 -9.6 9.78e-01 9.66e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818892e+00 6.42e-03 4.91e-04 -4.0 5.99e+01 -10.1 1.00e+00 1.00e+00f 1 61 2.0816128e+00 4.95e-04 3.20e-05 -4.1 2.07e+01 -10.6 1.00e+00 1.00e+00h 1 62 2.0806017e+00 3.47e-03 1.93e-04 -6.1 4.19e+01 -11.0 9.76e-01 9.61e-01h 1 63 2.0805508e+00 9.10e-05 2.86e-06 -6.1 1.70e+01 -11.5 1.00e+00 1.00e+00h 1 64 2.0819804e+00 1.03e-02 3.98e-04 -4.0 8.48e+01 -12.0 1.00e+00 1.00e+00f 1 65 2.0816779e+00 9.65e-04 4.81e-05 -4.1 4.56e+01 -12.5 1.00e+00 1.00e+00h 1 66 2.0816420e+00 4.57e-07 3.30e-05 -4.1 8.54e+00 -13.0 1.00e+00 1.00e+00h 1 67 2.0818414e+00 1.26e-04 3.85e-05 -4.0 7.46e+00 -13.4 1.00e+00 1.00e+00h 1 68 2.0815817e+00 2.11e-04 3.14e-05 -4.1 9.63e+00 -13.9 1.00e+00 1.00e+00h 1 69 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -14.4 9.77e-01 9.68e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -14.9 1.00e+00 1.00e+00h 1 71 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -15.3 1.00e+00 1.00e+00f 1 72 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -15.8 1.00e+00 1.00e+00h 1 73 2.0816444e+00 5.44e-07 3.30e-05 -4.1 8.94e+00 -16.3 1.00e+00 1.00e+00h 1 74 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -16.8 9.76e-01 9.71e-01h 1 75 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -17.2 1.00e+00 1.00e+00h 1 76 2.0805468e+00 5.07e-08 3.30e-07 -6.1 2.92e+00 -17.7 1.00e+00 1.00e+00h 1 77 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -18.2 1.00e+00 1.00e+00f 1 78 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -18.7 1.00e+00 1.00e+00h 1 79 2.0816573e+00 1.18e-06 3.34e-05 -4.1 1.10e+01 -19.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -19.6 9.76e-01 9.71e-01h 1 81 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0805469e+00 5.37e-08 3.35e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 83 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 84 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 85 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0816639e+00 1.62e-06 3.36e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 88 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0805470e+00 5.53e-08 3.38e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 91 2.0805365e+00 8.66e-11 3.84e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 92 2.0820406e+00 1.30e-02 4.36e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 93 2.0817222e+00 1.13e-03 7.75e-05 -4.1 5.82e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0816640e+00 1.63e-06 3.36e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0805948e+00 3.76e-03 1.60e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 96 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0805470e+00 5.54e-08 3.38e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 9.45e-07 8.04e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 99 2.0805365e+00 8.67e-11 3.84e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 2.22e-16 3.84e-10 -9.0 1.02e-05 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436480e+00 2.0805364595436480e+00 Dual infeasibility......: 3.8402660107161281e-10 3.8402660107161281e-10 Constraint violation....: 2.2204460492503131e-16 2.2204460492503131e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090995621881e-10 9.0909090995621881e-10 Overall NLP error.......: 9.9999090909091564e-05 9.9999090909091564e-05 Number of objective function evaluations = 111 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 111 Number of inequality constraint evaluations = 111 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 31.800 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 10 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 1 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 8.9717697e+01 3.35e+00 2.97e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.4108398e+01 1.95e+00 1.70e+01 -0.5 2.00e+00 0.0 1.00e+00 4.19e-01f 1 2 3.4090817e+00 1.31e-01 1.13e+01 -0.1 1.24e+00 -0.5 7.64e-01 1.00e+00f 1 3 3.2002058e+00 5.17e-02 5.56e+00 -0.2 9.60e-01 -1.0 8.31e-01 1.00e+00f 1 4 3.0349311e+00 1.50e-02 3.44e-01 -1.0 4.66e-01 -1.4 9.96e-01 1.00e+00h 1 5 2.3098418e+00 8.85e-02 1.92e-01 -1.8 1.02e+00 -1.9 9.46e-01 1.00e+00f 1 6 2.1580776e+00 3.45e-02 8.94e-02 -2.2 7.20e-01 -2.4 8.42e-01 9.99e-01h 1 7 2.0984758e+00 1.95e-03 1.34e-02 -3.1 2.09e-01 -2.9 9.93e-01 9.45e-01h 1 8 2.0909191e+00 6.19e-05 3.75e-04 -4.0 6.37e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908387e+00 2.03e-06 2.36e-04 -4.0 1.56e-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 2.0907959e+00 7.08e-08 2.36e-04 -4.0 4.02e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907234e+00 2.80e-07 9.01e-04 -4.0 9.20e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905445e+00 2.54e-06 1.31e-03 -4.0 2.68e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900297e+00 2.22e-05 5.94e-04 -4.0 8.16e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0897650e+00 3.83e-06 1.70e-03 -4.0 3.06e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890835e+00 2.17e-05 7.33e-03 -4.0 9.80e+00 -5.8 1.00e+00 7.62e-01h 1 16 2.0876243e+00 2.55e-04 3.10e-02 -4.0 2.63e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0864280e+00 2.45e-04 1.85e-01 -4.0 4.18e+01 -5.8 1.00e+00 2.12e-01h 1 18 2.0850094e+00 1.92e-04 2.36e-02 -4.0 2.26e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0828914e+00 2.02e-04 2.52e-02 -4.0 3.60e+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 2.0828491e+00 5.27e-04 1.88e-02 -4.0 5.20e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823267e+00 7.08e-04 7.79e-03 -4.0 1.24e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.1077660e+00 4.93e-06 1.02e+00 -4.0 5.26e+02 -8.2 9.66e-02 1.00e+00H 1 23 2.0876852e+00 2.46e-03 7.60e+00 -4.0 1.47e+01 -4.2 1.05e-02 1.11e-01f 1 24 2.0852286e+00 1.67e-03 5.17e+00 -4.2 6.83e-01 -2.8 1.00e+00 3.23e-01h 1 25 2.0835271e+00 1.04e-03 3.09e+00 -4.2 3.73e+00 -3.3 6.82e-01 4.06e-01f 1 26 2.0833968e+00 4.92e-04 1.94e+00 -4.2 5.18e-01 -3.8 1.00e+00 5.26e-01f 1 27 2.0833559e+00 3.44e-05 1.05e-03 -4.0 2.74e-01 -4.3 1.00e+00 1.00e+00f 1 28 2.0833622e+00 1.00e-05 2.36e-04 -4.0 4.01e-01 -4.8 1.00e+00 1.00e+00h 1 29 2.0832928e+00 1.48e-06 2.36e-04 -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 30 2.0831511e+00 8.07e-06 3.84e-04 -4.0 3.17e+00 -5.7 1.00e+00 1.00e+00h 1 31 2.0829666e+00 2.01e-05 9.34e-04 -4.0 8.23e+00 -6.2 1.00e+00 1.00e+00h 1 32 2.0827176e+00 3.83e-05 1.79e-03 -4.0 2.09e+01 -6.7 1.00e+00 1.00e+00h 1 33 2.0823189e+00 2.36e-04 7.43e-03 -4.0 4.75e+01 -7.1 1.00e+00 1.00e+00h 1 34 2.0819113e+00 7.45e-04 1.76e-02 -4.0 9.44e+01 -7.6 9.88e-01 1.00e+00h 1 35 2.0817006e+00 1.64e-03 2.73e-01 -4.0 1.78e+03 -7.2 6.46e-03 4.30e-02h 2 36 2.0817327e+00 1.61e-03 1.13e+00 -4.0 6.55e+01 -5.9 1.93e-01 3.81e-02h 3 37 2.0819485e+00 3.01e-05 1.95e-03 -4.0 1.13e+01 -6.3 1.00e+00 1.00e+00H 1 38 2.0818680e+00 4.63e-05 1.29e-03 -4.0 5.24e+00 -6.8 1.00e+00 1.00e+00h 1 39 2.0818283e+00 2.08e-04 4.83e-04 -4.0 8.72e+00 -7.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818283e+00 9.97e-06 4.36e-04 -4.0 1.14e+01 -7.8 1.00e+00 1.00e+00h 1 41 2.0818356e+00 1.95e-06 2.36e-04 -4.0 1.27e+01 -8.2 1.00e+00 1.00e+00h 1 42 2.0818380e+00 8.97e-07 2.36e-04 -4.0 9.56e+00 -8.7 1.00e+00 1.00e+00h 1 43 2.0818383e+00 1.40e-07 2.36e-04 -4.0 3.92e+00 -9.2 1.00e+00 1.00e+00h 1 44 2.0818383e+00 4.16e-09 2.36e-04 -4.0 7.23e-01 -9.7 1.00e+00 1.00e+00h 1 45 2.0818383e+00 1.86e-11 2.36e-04 -4.0 4.61e-02 -10.2 1.00e+00 1.00e+00h 1 46 2.0818383e+00 9.29e-12 1.18e-04 -4.0 9.99e-04 -10.6 1.00e+00 5.00e-01h 2 47 2.0818383e+00 8.88e-16 2.36e-04 -4.0 5.06e-04 -11.6 1.00e+00 1.00e+00H 1 48 2.0818383e+00 8.88e-16 2.36e-04 -4.0 2.00e-05 -12.1 1.00e+00 1.00e+00h 1 49 2.0815797e+00 2.05e-04 1.89e-04 -4.1 9.35e+00 -12.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818395e+00 2.13e-04 2.36e-04 -4.0 9.67e+00 -13.0 1.00e+00 1.00e+00h 1 51 2.0815804e+00 2.11e-04 1.89e-04 -4.1 9.63e+00 -13.5 1.00e+00 1.00e+00h 1 52 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -14.0 9.78e-01 9.71e-01h 1 53 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -14.5 1.00e+00 1.00e+00f 1 54 2.0816136e+00 4.88e-04 1.94e-04 -4.1 2.07e+01 -14.9 1.00e+00 1.00e+00h 1 55 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -15.4 9.76e-01 9.65e-01h 1 56 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -15.9 1.00e+00 1.00e+00h 1 57 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -16.4 1.00e+00 1.00e+00f 1 58 2.0816837e+00 9.34e-04 2.01e-04 -4.1 4.57e+01 -16.8 1.00e+00 1.00e+00h 1 59 2.0816477e+00 4.73e-07 2.01e-04 -4.1 8.53e+00 -17.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818389e+00 1.15e-04 2.36e-04 -4.0 7.07e+00 -17.8 1.00e+00 1.00e+00h 1 61 2.0815801e+00 2.08e-04 1.89e-04 -4.1 9.50e+00 -18.3 1.00e+00 1.00e+00h 1 62 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -18.7 9.78e-01 9.71e-01h 1 63 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -19.2 1.00e+00 1.00e+00h 1 64 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -19.7 1.00e+00 1.00e+00f 1 65 2.0816887e+00 9.54e-04 2.02e-04 -4.1 4.72e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0816504e+00 5.63e-07 2.02e-04 -4.1 8.93e+00 -20.0 1.00e+00 1.00e+00h 1 67 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -20.0 9.77e-01 9.75e-01h 1 68 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0805469e+00 4.72e-08 1.87e-06 -6.1 2.95e+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 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 71 2.0817159e+00 1.04e-03 2.04e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 72 2.0816648e+00 1.22e-06 2.04e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 74 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0805471e+00 4.99e-08 1.90e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 76 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 77 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 78 2.0817306e+00 1.08e-03 2.06e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0816723e+00 1.67e-06 2.06e-04 -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 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 81 2.0805516e+00 7.07e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0805472e+00 5.15e-08 1.92e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 83 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 84 2.0805365e+00 9.27e-11 2.15e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 85 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 86 2.0817309e+00 1.08e-03 2.06e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0816725e+00 1.68e-06 2.06e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 89 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805472e+00 5.16e-08 1.92e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 92 2.0805365e+00 9.28e-11 2.15e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 8.88e-16 2.15e-09 -9.0 1.10e-05 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 6.66e-16 2.15e-09 -9.0 1.07e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 4.44e-16 2.15e-09 -9.0 1.07e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 4.44e-16 2.15e-09 -9.0 1.07e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 4.44e-16 2.15e-09 -9.0 1.07e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 4.44e-16 2.15e-09 -9.0 1.07e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 2.22e-16 2.15e-09 -9.0 1.07e-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 2.15e-09 -9.0 1.07e-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......: 2.1482974593207891e-09 2.1482974593207891e-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 = 112 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 112 Number of inequality constraint evaluations = 112 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 36.788 EXIT: Maximum Number of Iterations Exceeded. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... applying constraint: timesteps all equal constraint applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 81 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.2445878e+00 2.78e+00 2.17e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5873990e+00 2.21e-01 1.89e+00 -1.0 6.93e+00 -4.0 9.91e-01 1.00e+00f 1 2 2.3283386e+00 3.17e-01 3.77e-01 -1.9 1.03e+01 -4.5 9.96e-01 1.00e+00h 1 3 2.2139295e+00 3.74e-01 4.94e-01 -2.0 3.64e+01 -5.0 1.00e+00 4.89e-01h 2 4 2.1501302e+00 1.54e-01 3.22e-01 -2.3 2.33e+01 -5.4 9.88e-01 1.00e+00h 1 5 2.1040019e+00 8.48e-02 9.54e-02 -2.9 1.73e+01 -5.9 1.00e+00 1.00e+00h 1 6 2.0867672e+00 5.99e-02 2.62e-02 -3.7 3.49e+01 -6.4 9.98e-01 1.00e+00h 1 7 2.0893354e+00 3.43e-02 4.60e-02 -3.0 4.19e+01 -6.9 1.00e+00 1.00e+00h 1 8 2.0785867e+00 6.19e-02 1.54e-02 -4.0 5.10e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0776168e+00 8.15e-03 1.13e-02 -4.0 1.22e+02 -7.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0777503e+00 2.27e-02 2.90e-02 -3.8 2.15e+02 -8.3 1.00e+00 1.00e+00h 1 11 2.0766439e+00 1.85e-02 2.46e-02 -3.9 3.43e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0761175e+00 1.24e-03 1.86e-02 -3.9 2.73e+02 -9.2 1.00e+00 9.73e-01h 1 13 2.0758013e+00 5.17e-03 2.99e-03 -4.0 1.02e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.0757714e+00 2.92e-05 3.96e-05 -4.0 2.29e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757705e+00 1.83e-08 2.90e-06 -4.0 1.96e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0757704e+00 1.37e-09 6.68e-07 -4.0 1.04e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757704e+00 7.88e-11 3.88e-08 -4.0 2.98e+00 -11.6 1.00e+00 1.00e+00h 1 18 2.0757704e+00 8.04e-13 3.98e-10 -4.0 3.57e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0757703960803613e+00 2.0757703960803613e+00 Dual infeasibility......: 3.9768233202493695e-10 3.9768233202493695e-10 Constraint violation....: 8.0415773866249207e-13 8.0415773866249207e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 3.9768233202493695e-10 3.9768233202493695e-10 Number of objective function evaluations = 24 Number of objective gradient evaluations = 19 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 19 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 18 Total seconds in IPOPT = 28.082 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.3277500e+00 9.26e-01 1.02e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5006565e+00 2.91e-01 2.06e+00 -0.8 9.23e-01 0.0 9.87e-01 1.00e+00h 1 2 1.6715577e+00 6.65e-02 2.81e-01 -0.7 3.30e-01 -0.5 9.85e-01 7.72e-01h 1 3 1.2500828e+00 5.82e-02 5.42e-01 -2.8 2.48e+00 - 8.09e-01 1.00e+00h 1 4 1.1050091e+00 2.85e-02 7.39e-01 -1.8 4.74e+00 - 1.00e+00 5.75e-01h 1 5 1.1199653e+00 5.29e-03 3.20e-01 -2.6 6.52e+00 - 1.00e+00 6.87e-01h 1 6 1.1002026e+00 7.63e-04 1.96e-01 -3.3 6.08e+00 - 1.00e+00 9.30e-01h 1 7 1.0912245e+00 1.94e-05 5.74e-02 -4.0 1.92e+00 - 1.00e+00 1.00e+00h 1 8 1.0908886e+00 4.44e-08 7.94e-03 -4.0 8.72e-01 - 1.00e+00 1.00e+00h 1 9 1.0908998e+00 3.12e-14 8.17e-06 -4.0 2.85e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908997e+00 1.72e-25 1.14e-11 -4.0 3.35e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 1.0908997263261442e+00 1.0908997263261442e+00 Dual infeasibility......: 1.1355761356203128e-11 1.1355761356203128e-11 Constraint violation....: 1.7219539872996135e-25 1.7219539872996135e-25 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.1355761356203128e-11 1.1355761356203128e-11 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 23.340 EXIT: Optimal Solution Found. Difference in Hessian Difference in Jacobian NonlinearKnotPointConstraint - single variable with vector syntax: Test Failed at /home/pkgeval/.julia/packages/DirectTrajOpt/4TeZc/src/constraints/_constraints.jl:202 Expression: all(isapprox.(triu(μ∂²g), triu(μ∂²g_finite_diff), atol = atol)) Evaluated: all(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10 … 101, 102, 103, 104, 105, 106, 107, 108, 109, 110], [1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 110, 110, 110, 110, 110, 110, 110, 110, 110, 110], Bool[1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], 110, 110)) Stacktrace: [1] macro expansion @ /opt/julia/share/julia/stdlib/v1.14/Test/src/Test.jl:782 [inlined] [2] test_constraint(constraint::NonlinearKnotPointConstraint{DirectTrajOpt.Constraints.var"#32#33"{typeof(Main.var"##182".g)}}, traj::NamedTrajectories.StructNamedTrajectory.NamedTrajectory{Float64, (:x, :u, :du, :ddu, :Δt), NTuple{5, Int64}, (:u, :Δt), Tuple{Tuple{Vector{Float64}, Vector{Float64}}, Tuple{Vector{Float64}, Vector{Float64}}}, (:x, :u), Tuple{Vector{Float64}, Vector{Float64}}, (:u,), Tuple{Vector{Float64}}, (:x,), Tuple{Vector{Float64}}, (:x, :u, :du, :ddu, :Δt), NTuple{5, UnitRange{Int64}}, NTuple{5, Symbol}, Tuple{Symbol, Symbol, Symbol}, Tuple{Symbol, Symbol}, (), Tuple{}, (), Tuple{}, Tuple{}}; show_jacobian_diff::Bool, show_hessian_diff::Bool, test_equality::Bool, atol::Float64, rtol::Float64) @ DirectTrajOpt.Constraints ~/.julia/packages/DirectTrajOpt/4TeZc/src/constraints/_constraints.jl:202 NonlinearKnotPointConstraint - single variable with vector syntax: Test Failed at /home/pkgeval/.julia/packages/DirectTrajOpt/4TeZc/src/constraints/_constraints.jl:202 Expression: all(isapprox.(triu(μ∂²g), triu(μ∂²g_finite_diff), atol = atol)) Evaluated: all(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10 … 101, 102, 103, 104, 105, 106, 107, 108, 109, 110], [1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 110, 110, 110, 110, 110, 110, 110, 110, 110, 110], Bool[1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], 110, 110)) Stacktrace: [1] macro expansion @ /opt/julia/share/julia/stdlib/v1.14/Test/src/Test.jl:782 [inlined] [2] test_constraint(constraint::NonlinearKnotPointConstraint{DirectTrajOpt.Constraints.var"#32#33"{typeof(Main.var"##182".g)}}, traj::NamedTrajectories.StructNamedTrajectory.NamedTrajectory{Float64, (:x, :u, :du, :ddu, :Δt), NTuple{5, Int64}, (:u, :Δt), Tuple{Tuple{Vector{Float64}, Vector{Float64}}, Tuple{Vector{Float64}, Vector{Float64}}}, (:x, :u), Tuple{Vector{Float64}, Vector{Float64}}, (:u,), Tuple{Vector{Float64}}, (:x,), Tuple{Vector{Float64}}, (:x, :u, :du, :ddu, :Δt), NTuple{5, UnitRange{Int64}}, NTuple{5, Symbol}, Tuple{Symbol, Symbol, Symbol}, Tuple{Symbol, Symbol}, (), Tuple{}, (), Tuple{}, Tuple{}}; show_jacobian_diff::Bool, show_hessian_diff::Bool, test_equality::Bool, atol::Float64, rtol::Float64) @ DirectTrajOpt.Constraints ~/.julia/packages/DirectTrajOpt/4TeZc/src/constraints/_constraints.jl:202 Test Summary: | Pass Fail Total Time Package | 200 2 202 20m15.2s src/constraints/linear/equality_constraint.jl | 3 3 2m56.1s src/integrators/derivative_integrator.jl | 3 3 22.2s src/objectives/_objectives.jl | 19 19 23.0s src/solvers/ipopt_solver/callbacks.jl | 2 2 37.3s src/constraints/linear/total_constraint.jl | 2 2 57.6s src/constraints/nonlinear/global_constraint.jl | 2 2 24.5s src/objectives/global_objectives.jl | 15 15 36.6s src/constraints/linear/symmetry_constraint.jl | 20 20 1m27.4s src/objectives/knot_point_objectives.jl | 6 6 9.1s src/solvers/ipopt_solver/evaluator.jl | 5 5 1m12.4s src/objectives/regularizers.jl | 3 3 6.5s src/constraints/linear/time_consistency_constraint.jl | 19 19 20.5s src/integrators/time_dependent_bilinear_integrator.jl | 3 3 2m27.0s src/constraints/linear/bounds_constraint.jl | 60 60 1m58.9s src/solvers/ipopt_solver/solver.jl | 9 9 2m15.6s src/integrators/bilinear_integrator.jl | 3 3 37.5s src/constraints/linear/all_equal_constraint.jl | 2 2 1m00.1s src/constraints/nonlinear/global_knot_point_constraint.jl | 2 2 20.9s src/constraints/nonlinear/knot_point_constraint.jl | 22 2 24 2m02.1s NonlinearKnotPointConstraint - single variable | 2 2 15.6s NonlinearKnotPointConstraint - single variable with vector syntax | 3 2 5 25.7s NonlinearKnotPointConstraint - multiple variables concatenated | 2 2 16.0s NonlinearKnotPointConstraint - multiple variables separate arguments | 2 2 16.3s NonlinearKnotPointConstraint - three variables separate arguments | 2 2 12.5s NonlinearKnotPointConstraint - inequality vs equality | 7 7 22.2s NonlinearKnotPointConstraint - subset of times | 4 4 13.9s ERROR: LoadError: Some tests did not pass: 200 passed, 2 failed, 0 errored, 0 broken. in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/4TeZc/test/runtests.jl:6 Testing failed after 1292.63s ERROR: LoadError: Package DirectTrajOpt errored during testing Stacktrace: [1] pkgerror(msg::String) @ Pkg.Types /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Types.jl:68 [2] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, julia_args::Cmd, test_args::Cmd, test_fn::Nothing, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool) @ Pkg.Operations /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Operations.jl:3122 [3] test @ /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Operations.jl:2987 [inlined] [4] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, test_fn::Nothing, julia_args::Cmd, test_args::Cmd, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool, kwargs::@Kwargs{io::IOContext{IO}}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:572 [5] kwcall(::@NamedTuple{julia_args::Cmd, io::IOContext{IO}}, ::typeof(Pkg.API.test), ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:548 [6] test(pkgs::Vector{PackageSpec}; io::IOContext{IO}, kwargs::@Kwargs{julia_args::Cmd}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:172 [7] kwcall(::@NamedTuple{julia_args::Cmd}, ::typeof(Pkg.API.test), pkgs::Vector{PackageSpec}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:161 [8] test(pkgs::Vector{String}; kwargs::@Kwargs{julia_args::Cmd}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:160 [9] test @ /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:160 [inlined] [10] kwcall(::@NamedTuple{julia_args::Cmd}, ::typeof(Pkg.API.test), pkg::String) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:159 [11] top-level scope @ /PkgEval.jl/scripts/evaluate.jl:223 [12] include(mod::Module, _path::String) @ Base ./Base.jl:309 [13] exec_options(opts::Base.JLOptions) @ Base ./client.jl:344 [14] _start() @ Base ./client.jl:585 in expression starting at /PkgEval.jl/scripts/evaluate.jl:214 PkgEval failed after 1381.0s: package has test failures