Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.2079 (c0c9a57cb6*) started at 2026-04-23T05:32:11.654 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... ┌ Warning: could not download https://pkg.julialang.org/registries │ exception = RequestError: Could not resolve host: pkg.julialang.org while requesting https://pkg.julialang.org/registries └ @ Pkg.Registry /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Registry/Registry.jl:121 ┌ Warning: could not download https://pkg.julialang.org/registries │ exception = RequestError: Could not resolve host: pkg.julialang.org while requesting https://pkg.julialang.org/registries └ @ Pkg.Registry /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Registry/Registry.jl:121 Activating project at `~/.julia/environments/v1.14` Set-up completed after 14.53s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... ┌ Warning: could not download https://pkg.julialang.org/registries │ exception = RequestError: Could not resolve host: pkg.julialang.org while requesting https://pkg.julialang.org/registries └ @ Pkg.Registry /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Registry/Registry.jl:121 Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.9.0 Updating `~/.julia/environments/v1.14/Manifest.toml` [47edcb42] + ADTypes v1.21.0 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.44 [79e6a3ab] + Adapt v4.5.2 [4fba245c] + ArrayInterface v7.24.0 [4c555306] + ArrayLayouts v1.12.2 [6e4b80f9] + BenchmarkTools v1.8.0 [62783981] + BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] + BracketingNonlinearSolve v1.12.1 [2a0fbf3d] + CPUSummary v0.2.7 [d360d2e6] + ChainRulesCore v1.26.1 [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 v0.1.7 [2569d6c7] + ConcreteStructs v0.2.3 [187b0558] + ConstructionBase v1.6.0 [adafc99b] + CpuId v0.3.1 [864edb3b] + DataStructures v0.19.4 ⌅ [2b5f629d] + DiffEqBase v6.218.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.16 [c823fa1f] + DirectTrajOpt v0.9.0 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.7 [f151be2c] + EnzymeCore v0.8.19 [e24c0720] + ExponentialAction v0.2.10 [e2ba6199] + ExprTools v0.1.10 [55351af7] + ExproniconLite v0.10.14 [7034ab61] + FastBroadcast v1.3.1 [9aa1b823] + FastClosures v0.3.2 [a4df4552] + FastPower v1.3.1 [5789e2e9] + FileIO v1.18.0 [1a297f60] + FillArrays v1.16.0 [6a86dc24] + FiniteDiff v2.30.0 [f6369f11] + ForwardDiff v1.3.3 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v1.7.0 [46192b85] + GPUArraysCore v0.2.0 [076d061b] + HashArrayMappedTries v0.2.0 [615f187c] + IfElse v0.1.1 [3587e190] + InverseFunctions v0.1.17 [b6b21f68] + Ipopt v1.14.1 [92d709cd] + IrrationalConstants v0.2.6 [82899510] + IteratorInterfaceExtensions v1.0.0 [033835bb] + JLD2 v0.6.4 [692b3bcd] + JLLWrappers v1.7.1 [682c06a0] + JSON v1.5.0 [ae98c720] + Jieko v0.2.1 [b964fa9f] + LaTeXStrings v1.4.0 [10f19ff3] + LayoutPointers v0.1.17 [5078a376] + LazyArrays v2.9.7 [2ab3a3ac] + LogExpFunctions v0.3.29 [e6f89c97] + LoggingExtras v1.2.0 [1914dd2f] + MacroTools v0.5.16 [d125e4d3] + ManualMemory v0.1.8 [b8f27783] + MathOptInterface v1.50.1 [bb5d69b7] + MaybeInplace v0.1.4 [2e0e35c7] + Moshi v0.3.7 [46d2c3a1] + MuladdMacro v0.2.4 [d8a4904e] + MutableArithmetics v1.7.1 [77ba4419] + NaNMath v1.1.3 [538bc3a1] + NamedTrajectories v0.8.4 [be0214bd] + NonlinearSolveBase v2.25.0 [510215fc] + Observables v0.5.5 [bac558e1] + OrderedCollections v1.8.1 ⌅ [bbf590c4] + OrdinaryDiffEqCore v3.33.0 [b1df2697] + OrdinaryDiffEqTsit5 v1.12.0 [69de0a69] + Parsers v2.8.3 [f517fe37] + Polyester v0.7.19 [1d0040c9] + PolyesterWeave v0.2.2 [d236fae5] + PreallocationTools v1.2.0 [aea7be01] + PrecompileTools v1.3.3 [21216c6a] + Preferences v1.5.2 [3cdcf5f2] + RecipesBase v1.3.4 ⌅ [731186ca] + RecursiveArrayTools v3.54.0 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.18 [94e857df] + SIMDTypes v0.1.0 ⌅ [0bca4576] + SciMLBase v2.155.0 [19f34311] + SciMLJacobianOperators v0.1.13 [a6db7da4] + SciMLLogging v1.9.1 [c0aeaf25] + SciMLOperators v1.17.0 [431bcebd] + SciMLPublic v1.0.1 [53ae85a6] + SciMLStructures v1.10.0 [7e506255] + ScopedValues v1.6.0 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.7.2 [aedffcd0] + Static v1.3.1 [0d7ed370] + StaticArrayInterface v1.9.0 [90137ffa] + StaticArrays v1.9.18 [1e83bf80] + StaticArraysCore v1.4.4 [10745b16] + Statistics v1.11.1 [7792a7ef] + StrideArraysCore v0.5.8 [ec057cc2] + StructUtils v2.8.0 [2efcf032] + SymbolicIndexingInterface v0.3.46 [f8b46487] + TestItemRunner v1.1.5 [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 v2.13.0+1 [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 v8.19.0+0 [e37daf67] + LibGit2_jll v1.9.2+0 [29816b5a] + LibSSH2_jll v1.11.3+1 [14a3606d] + MozillaCACerts_jll v2026.3.19 [4536629a] + OpenBLAS_jll v0.3.30+0 [05823500] + OpenLibm_jll v0.8.7+0 [458c3c95] + OpenSSL_jll v3.5.6+0 [efcefdf7] + PCRE2_jll v10.47.0+0 [bea87d4a] + SuiteSparse_jll v7.10.1+0 [83775a58] + Zlib_jll v1.3.2+0 [3161d3a3] + Zstd_jll v1.5.7+1 [8e850b90] + libblastrampoline_jll v5.15.0+0 [8e850ede] + nghttp2_jll v1.69.0+0 [3f19e933] + p7zip_jll v17.8.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m` Installation completed after 6.6s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling project... 20.2 s ✓ MadNLP → MadNLPMOI 34.4 s ✓ DirectTrajOpt 35.5 s ✓ DirectTrajOpt → MadNLPSolverExt 3 dependencies successfully precompiled in 94 seconds. 239 already precompiled. Precompilation completed after 120.95s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_HGR6TV/Project.toml` [c823fa1f] DirectTrajOpt v0.9.0 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.30.0 [f6369f11] ForwardDiff v1.3.3 [b6b21f68] Ipopt v1.14.1 [5078a376] LazyArrays v2.9.7 [2621e9c9] MadNLP v0.9.1 [b8f27783] MathOptInterface v1.50.1 [538bc3a1] NamedTrajectories v0.8.4 [b1df2697] OrdinaryDiffEqTsit5 v1.12.0 [189a3867] Reexport v1.2.2 ⌅ [0bca4576] SciMLBase v2.155.0 [f8b46487] TestItemRunner v1.1.5 [1c621080] TestItems v1.0.0 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.13.0 [9a3f8284] Random v1.11.0 [2f01184e] SparseArrays v1.13.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_HGR6TV/Manifest.toml` [47edcb42] ADTypes v1.21.0 [14f7f29c] AMD v0.5.3 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.44 [79e6a3ab] Adapt v4.5.2 [4fba245c] ArrayInterface v7.24.0 [4c555306] ArrayLayouts v1.12.2 [6e4b80f9] BenchmarkTools v1.8.0 [62783981] BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] BracketingNonlinearSolve v1.12.1 [2a0fbf3d] CPUSummary v0.2.7 [d360d2e6] ChainRulesCore v1.26.1 [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 v0.1.7 [2569d6c7] ConcreteStructs v0.2.3 [187b0558] ConstructionBase v1.6.0 [adafc99b] CpuId v0.3.1 [864edb3b] DataStructures v0.19.4 ⌅ [2b5f629d] DiffEqBase v6.218.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a0c0ee7d] DifferentiationInterface v0.7.16 [c823fa1f] DirectTrajOpt v0.9.0 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.7 [f151be2c] EnzymeCore v0.8.19 [e24c0720] ExponentialAction v0.2.10 [e2ba6199] ExprTools v0.1.10 [55351af7] ExproniconLite v0.10.14 [7034ab61] FastBroadcast v1.3.1 [9aa1b823] FastClosures v0.3.2 [a4df4552] FastPower v1.3.1 [5789e2e9] FileIO v1.18.0 [1a297f60] FillArrays v1.16.0 [6a86dc24] FiniteDiff v2.30.0 [f6369f11] ForwardDiff v1.3.3 [069b7b12] FunctionWrappers v1.1.3 [77dc65aa] FunctionWrappersWrappers v1.7.0 [46192b85] GPUArraysCore v0.2.0 [076d061b] HashArrayMappedTries v0.2.0 [615f187c] IfElse v0.1.1 [3587e190] InverseFunctions v0.1.17 [b6b21f68] Ipopt v1.14.1 [92d709cd] IrrationalConstants v0.2.6 [82899510] IteratorInterfaceExtensions v1.0.0 [033835bb] JLD2 v0.6.4 [692b3bcd] JLLWrappers v1.7.1 [682c06a0] JSON v1.5.0 [ae98c720] Jieko v0.2.1 [40e66cde] LDLFactorizations v0.10.2 [b964fa9f] LaTeXStrings v1.4.0 [10f19ff3] LayoutPointers v0.1.17 [5078a376] LazyArrays v2.9.7 [5c8ed15e] LinearOperators v2.13.0 [2ab3a3ac] LogExpFunctions v0.3.29 [e6f89c97] LoggingExtras v1.2.0 [1914dd2f] MacroTools v0.5.16 [2621e9c9] MadNLP v0.9.1 [d125e4d3] ManualMemory v0.1.8 [b8f27783] MathOptInterface v1.50.1 [bb5d69b7] MaybeInplace v0.1.4 [2e0e35c7] Moshi v0.3.7 [46d2c3a1] MuladdMacro v0.2.4 [d8a4904e] MutableArithmetics v1.7.1 [a4795742] NLPModels v0.21.12 [77ba4419] NaNMath v1.1.3 [538bc3a1] NamedTrajectories v0.8.4 [be0214bd] NonlinearSolveBase v2.25.0 [510215fc] Observables v0.5.5 [bac558e1] OrderedCollections v1.8.1 ⌅ [bbf590c4] OrdinaryDiffEqCore v3.33.0 [b1df2697] OrdinaryDiffEqTsit5 v1.12.0 [69de0a69] Parsers v2.8.3 [f517fe37] Polyester v0.7.19 [1d0040c9] PolyesterWeave v0.2.2 [d236fae5] PreallocationTools v1.2.0 [aea7be01] PrecompileTools v1.3.3 [21216c6a] Preferences v1.5.2 [3cdcf5f2] RecipesBase v1.3.4 ⌅ [731186ca] RecursiveArrayTools v3.54.0 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.18 [94e857df] SIMDTypes v0.1.0 ⌅ [0bca4576] SciMLBase v2.155.0 [19f34311] SciMLJacobianOperators v0.1.13 [a6db7da4] SciMLLogging v1.9.1 [c0aeaf25] SciMLOperators v1.17.0 [431bcebd] SciMLPublic v1.0.1 [53ae85a6] SciMLStructures v1.10.0 [7e506255] ScopedValues v1.6.0 [efcf1570] Setfield v1.1.2 [ff4d7338] SolverCore v0.3.10 [276daf66] SpecialFunctions v2.7.2 [aedffcd0] Static v1.3.1 [0d7ed370] StaticArrayInterface v1.9.0 [90137ffa] StaticArrays v1.9.18 [1e83bf80] StaticArraysCore v1.4.4 [10745b16] Statistics v1.11.1 [7792a7ef] StrideArraysCore v0.5.8 [ec057cc2] StructUtils v2.8.0 [2efcf032] SymbolicIndexingInterface v0.3.46 [f8b46487] TestItemRunner v1.1.5 [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 v2.13.0+1 [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 [4607b0f0] SuiteSparse [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 v8.19.0+0 [e37daf67] LibGit2_jll v1.9.2+0 [29816b5a] LibSSH2_jll v1.11.3+1 [14a3606d] MozillaCACerts_jll v2026.3.19 [4536629a] OpenBLAS_jll v0.3.30+0 [05823500] OpenLibm_jll v0.8.7+0 [458c3c95] OpenSSL_jll v3.5.6+0 [efcefdf7] PCRE2_jll v10.47.0+0 [bea87d4a] SuiteSparse_jll v7.10.1+0 [83775a58] Zlib_jll v1.3.2+0 [3161d3a3] Zstd_jll v1.5.7+1 [8e850b90] libblastrampoline_jll v5.15.0+0 [8e850ede] nghttp2_jll v1.69.0+0 [3f19e933] p7zip_jll v17.8.0+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... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 2.148s integrator 2 jacobian structure: 0.061s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (2.261s) integrator 1 hessian structure: 0.056s integrator 2 hessian structure: 0.056s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.422s sub-objective 2 (QuadraticRegularizer): 1.962s sub-objective 3 (MinimumTimeObjective): 0.018s objective hessian structure: 4.506s hessian structure: 1749 nonzeros (4.619s) linear index maps built (0.0s) evaluator ready (total: 7.41s) evaluator created (11.892s) NL constraint bounds extracted (0.114s) NLP block data built (0.0s) Ipopt optimizer configured (0.362s) variables set (0.927s) 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 linear constraints added: 6 (3.98s) optimizer initialization complete (total: 17.385s) ****************************************************************************** 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...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 81 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.5962147e+00 3.59e+00 1.69e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2643586e+00 6.51e+00 1.76e+01 -0.8 1.04e+02 -4.0 6.36e-01 1.00e+00f 1 2 2.7229683e+00 2.82e+00 1.55e+01 -0.9 6.85e+01 -4.5 7.73e-01 1.00e+00h 1 3 2.3558836e+00 1.81e-01 8.47e-01 -1.1 4.65e+00 -3.1 1.00e+00 1.00e+00h 1 4 2.2953686e+00 1.25e-02 1.47e+00 -1.7 2.69e+00 -2.7 8.15e-01 1.00e+00h 1 5 2.2207741e+00 1.31e-02 7.56e-01 -1.7 1.95e+00 -3.2 9.97e-01 1.00e+00h 1 6 2.1521797e+00 4.18e-03 2.55e-02 -2.5 5.54e-01 -3.7 9.99e-01 1.00e+00h 1 7 2.0926173e+00 5.78e-03 1.46e-02 -3.6 8.86e-01 -4.2 9.83e-01 1.00e+00h 1 8 2.0913130e+00 1.60e-04 7.38e-04 -4.0 8.91e-01 -4.6 1.00e+00 1.00e+00h 1 9 2.0910472e+00 7.03e-09 2.07e-05 -4.0 2.65e+00 -5.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902700e+00 2.32e-05 1.07e-04 -4.0 7.90e+00 -5.6 1.00e+00 1.00e+00f 1 11 2.0879713e+00 2.14e-04 9.40e-04 -4.0 2.34e+01 -6.1 1.00e+00 1.00e+00h 1 12 2.0814042e+00 2.04e-03 8.97e-03 -4.0 6.66e+01 -6.5 1.00e+00 1.00e+00h 1 13 2.0798850e+00 1.82e-03 1.49e-01 -4.0 8.58e+01 -7.0 1.00e+00 1.62e-01h 1 14 2.0788048e+00 3.65e-03 1.63e-01 -4.0 6.87e+01 -7.5 1.00e+00 1.00e+00h 1 15 2.0780711e+00 2.11e-02 2.93e-02 -3.7 1.56e+02 -8.0 1.00e+00 1.00e+00h 1 16 2.0768598e+00 1.85e-02 2.82e-02 -3.9 2.51e+02 -8.4 1.00e+00 9.99e-01h 1 17 2.0757370e+00 1.44e-02 1.61e-02 -4.0 4.54e+02 -8.9 1.00e+00 1.00e+00h 1 18 2.0757895e+00 3.96e-04 6.91e-03 -4.0 7.87e+01 -9.4 1.00e+00 1.00e+00h 1 19 2.0757739e+00 1.72e-05 3.14e-04 -4.0 5.71e+01 -9.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0757705e+00 1.52e-08 4.39e-06 -4.0 2.18e+01 -10.4 1.00e+00 1.00e+00h 1 21 2.0757704e+00 1.02e-08 1.74e-06 -4.0 1.54e+01 -10.8 1.00e+00 1.00e+00h 1 22 2.0757704e+00 2.50e-10 2.07e-07 -4.0 7.07e+00 -11.3 1.00e+00 1.00e+00h 1 23 2.0757704e+00 2.22e-11 1.15e-08 -4.0 1.92e+00 -11.8 1.00e+00 1.00e+00h 1 24 2.0757704e+00 1.41e-13 1.13e-10 -4.0 1.88e-01 -12.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 2.0757703960540095e+00 2.0757703960540095e+00 Dual infeasibility......: 1.1331912223356590e-10 1.1331912223356590e-10 Constraint violation....: 1.4119066159279381e-13 1.4119066159279381e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000011e-04 1.0000000000000011e-04 Overall NLP error.......: 1.1331912223356590e-10 1.1331912223356590e-10 Number of objective function evaluations = 25 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 25 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 69.803 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.054s jacobian structure: 180 nonzeros (0.101s) integrator 1 hessian structure: 0.05s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.357s sub-objective 2 (QuadraticRegularizer): 0.087s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 0.563s hessian structure: 375 nonzeros (0.614s) linear index maps built (0.0s) evaluator ready (total: 0.836s) evaluator created (0.836s) NL constraint bounds extracted (0.012s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.117s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.205s) optimizer initialization complete (total: 4.171s) 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 1.9321861e+00 6.90e-01 1.15e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4811420e+00 2.80e-01 1.95e+00 -0.9 9.28e-01 0.0 9.97e-01 1.00e+00h 1 2 1.4537958e+00 8.22e-02 6.03e-01 -0.9 3.26e-01 -0.5 6.98e-01 6.99e-01h 1 3 1.3641787e+00 4.12e-02 1.22e+00 -1.5 1.18e+01 - 9.34e-01 5.00e-01f 2 4 1.8532171e+00 1.84e-02 1.14e+00 -1.7 4.72e-01 -1.0 7.64e-01 1.00e+00H 1 5 1.7003698e+00 3.79e-02 1.13e+00 -1.1 5.48e+00 -1.4 1.00e+00 8.36e-02f 2 6 1.6786495e+00 4.71e-02 1.36e+00 -1.5 1.23e+01 - 9.72e-01 6.13e-02h 3 7 1.4346148e+00 3.48e-02 3.89e-01 -2.0 1.13e+00 -1.9 1.00e+00 5.73e-01h 1 8 1.3020387e+00 6.20e-03 4.56e-01 -4.0 2.81e+00 - 3.27e-01 8.39e-01h 1 9 1.1138439e+00 6.39e-05 4.17e-01 -2.9 1.81e+00 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0916102e+00 2.81e-06 1.43e-02 -3.7 9.49e-01 - 9.91e-01 1.00e+00f 1 11 1.0909027e+00 1.77e-08 1.26e-02 -4.0 1.11e+00 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 6.18e-13 4.18e-06 -4.0 3.98e-01 - 1.00e+00 1.00e+00f 1 13 1.0908997e+00 1.44e-22 1.72e-06 -4.0 1.79e-01 - 1.00e+00 1.00e+00f 1 14 1.0907198e+00 1.01e-27 4.75e-09 -4.1 2.61e-05 - 1.00e+00 1.00e+00f 1 15 1.0908997e+00 7.13e-27 4.75e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 15 (scaled) (unscaled) Objective...............: 1.0908997336734840e+00 1.0908997336734840e+00 Dual infeasibility......: 4.7483149495652910e-09 4.7483149495652910e-09 Constraint violation....: 7.1296654185554404e-27 7.1296654185554404e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081632654274e-04 1.0000081632654274e-04 Overall NLP error.......: 4.7483149495652910e-09 4.7483149495652910e-09 Number of objective function evaluations = 26 Number of objective gradient evaluations = 16 Number of equality constraint evaluations = 26 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 16 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 15 Total seconds in IPOPT = 24.626 EXIT: Optimal Solution Found. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! [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... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.057s) linear index maps built (0.0s) evaluator ready (total: 0.124s) evaluator created (0.124s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 6 (0.386s) optimizer initialization complete (total: 0.509s) 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 3.5313579e+00 3.10e+00 2.70e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3480297e+00 2.20e+00 3.50e+00 -0.8 1.42e+01 -2.0 1.37e-01 2.91e-01f 1 2 2.0509775e+00 1.85e+00 3.31e+00 -0.1 3.36e+00 -0.7 2.16e-01 1.60e-01f 1 3 1.7616645e+00 1.19e+00 1.06e+01 -1.3 4.73e+00 -0.2 1.67e-01 3.92e-01h 1 4 1.7251719e+00 1.07e+00 1.23e+01 -0.1 4.71e+00 0.2 8.36e-01 9.72e-02f 1 5 1.7074035e+00 7.94e-01 1.55e+01 0.0 8.61e+00 -0.3 2.51e-01 3.15e-01h 1 6 1.7126152e+00 4.99e-01 7.88e+00 -0.2 2.40e+00 0.1 5.65e-01 3.78e-01h 1 7 2.0214121e+00 3.32e-01 6.50e+00 -0.4 1.65e+00 0.6 6.86e-01 7.40e-01h 1 8 2.0555413e+00 1.80e-01 1.26e+01 -0.4 4.30e-01 1.0 7.47e-01 4.80e-01f 1 9 2.0669471e+00 5.18e-02 3.65e+00 -1.0 4.11e-01 0.5 7.66e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.9948433e+00 4.48e-02 7.28e-01 -1.2 4.00e-01 0.0 9.92e-01 1.00e+00f 1 11 1.7141593e+00 1.67e-02 2.21e-01 -1.5 3.21e-01 -0.4 9.27e-01 1.00e+00f 1 12 1.3955873e+00 4.43e-03 2.82e-01 -2.7 3.73e-01 -0.9 6.59e-01 1.00e+00f 1 13 1.3209188e+00 1.60e-02 4.90e-02 -2.2 4.00e-01 -1.4 1.00e+00 9.15e-01h 1 14 1.2326237e+00 1.25e-01 4.29e-02 -2.7 7.27e-01 -1.9 9.68e-01 1.00e+00h 1 15 1.2126757e+00 1.96e-02 3.85e-02 -3.4 1.20e+00 -2.4 6.81e-01 9.89e-01h 1 16 1.1964234e+00 4.70e-02 2.37e-02 -3.7 1.13e+00 -2.8 9.97e-01 1.00e+00h 1 17 1.1861316e+00 6.97e-02 1.30e-02 -4.0 2.17e+00 -3.3 1.00e+00 1.00e+00h 1 18 1.1805684e+00 7.21e-02 1.95e-02 -4.0 3.08e+00 -3.8 1.00e+00 1.00e+00h 1 19 1.1757760e+00 9.94e-02 1.13e-02 -4.0 4.47e+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 1.1724183e+00 1.07e-01 1.33e-02 -4.0 6.84e+00 -4.7 1.00e+00 1.00e+00h 1 21 1.1694388e+00 1.41e-01 7.52e-03 -4.0 1.05e+01 -5.2 1.00e+00 1.00e+00h 1 22 1.1672428e+00 1.65e-01 6.16e-03 -4.0 1.60e+01 -5.7 1.00e+00 1.00e+00h 1 23 1.1653846e+00 2.07e-01 9.39e-04 -4.0 2.44e+01 -6.2 1.00e+00 1.00e+00h 1 24 1.1639607e+00 2.47e-01 2.78e-03 -4.0 3.70e+01 -6.7 1.00e+00 1.00e+00h 1 25 1.1627960e+00 3.00e-01 8.78e-03 -4.0 5.56e+01 -7.1 1.00e+00 1.00e+00h 1 26 1.1619000e+00 3.53e-01 1.42e-02 -4.0 8.26e+01 -7.6 1.00e+00 1.00e+00h 1 27 1.1611983e+00 4.10e-01 2.06e-02 -4.0 1.20e+02 -8.1 1.00e+00 1.00e+00h 1 28 1.1607072e+00 4.43e-01 2.45e-02 -4.0 1.69e+02 -8.6 1.00e+00 1.00e+00h 1 29 1.1604782e+00 3.91e-01 2.02e-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 1.1607395e+00 8.23e-02 2.62e-03 -4.0 1.37e+02 -9.5 1.00e+00 1.00e+00h 1 31 1.1608524e+00 2.41e-03 6.90e-04 -4.0 1.52e+01 -10.0 1.00e+00 1.00e+00h 1 32 1.1608491e+00 1.49e-04 1.82e-05 -4.0 5.09e+00 -10.5 1.00e+00 1.00e+00h 1 33 1.1608491e+00 6.52e-08 1.22e-10 -4.0 1.14e-01 -10.9 1.00e+00 1.00e+00h 1 34 1.1608491e+00 5.86e-13 5.66e-14 -4.0 3.13e-04 -11.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 34 (scaled) (unscaled) Objective...............: 1.1608491307790134e+00 1.1608491307790134e+00 Dual infeasibility......: 5.6639751482706613e-14 5.6639751482706613e-14 Constraint violation....: 5.8619775700208265e-13 5.8619775700208265e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000564e-04 1.0000000000000564e-04 Overall NLP error.......: 5.8619775700208265e-13 5.8619775700208265e-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 = 25.214 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.053s jacobian structure: 180 nonzeros (0.095s) integrator 1 hessian structure: 0.048s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.325s sub-objective 2 (QuadraticRegularizer): 0.084s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 0.518s hessian structure: 375 nonzeros (0.566s) linear index maps built (0.0s) evaluator ready (total: 0.784s) evaluator created (0.784s) NL constraint bounds extracted (0.013s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.114s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.995s) optimizer initialization complete (total: 3.907s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 186 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 19 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.0318640e+00 9.58e-01 1.02e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9053081e+00 1.30e-01 1.50e+00 -1.0 8.90e-01 0.0 9.90e-01 1.00e+00h 1 2 1.7511515e+00 5.33e-02 6.04e-01 -1.0 3.65e-01 -0.5 6.39e-01 5.59e-01h 1 3 1.5115610e+00 4.51e-02 2.45e-01 -1.6 3.41e-01 -1.0 9.26e-01 1.00e+00f 1 4 1.1198366e+00 1.02e-03 5.40e-02 -2.6 2.70e-01 -1.4 9.92e-01 1.00e+00h 1 5 1.0947775e+00 3.32e-06 7.68e-03 -3.4 6.47e-02 -1.0 9.99e-01 1.00e+00h 1 6 1.0913366e+00 1.41e-09 1.40e-03 -4.0 5.40e-02 -1.5 1.00e+00 1.00e+00h 1 7 1.0912074e+00 6.17e-15 5.05e-04 -4.0 2.33e-02 -2.0 1.00e+00 1.00e+00f 1 8 1.0911753e+00 1.45e-19 2.88e-04 -4.0 8.03e-02 -2.4 1.00e+00 1.00e+00f 1 9 1.0911163e+00 7.27e-20 3.09e-04 -4.0 5.52e-01 -2.9 4.91e-01 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0911321e+00 8.88e-16 1.21e-03 -4.0 7.24e-01 -2.5 1.00e+00 1.52e-01f 3 11 1.0909823e+00 8.88e-16 6.89e-03 -4.0 8.01e-01 - 1.00e+00 1.00e+00f 1 12 1.0909807e+00 2.67e-23 1.05e-03 -4.0 8.71e-01 - 1.00e+00 8.12e-02f 3 13 1.0910386e+00 8.88e-16 2.74e-05 -4.0 1.20e-02 - 1.00e+00 1.00e+00f 1 14 1.0908542e+00 8.43e-36 2.31e-06 -4.1 1.60e-02 - 1.00e+00 1.00e+00f 1 15 1.0910386e+00 7.47e-35 2.35e-08 -4.0 3.63e-03 - 1.00e+00 1.00e+00f 1 16 1.0908587e+00 1.72e-35 2.04e-09 -4.1 5.85e-04 - 1.00e+00 1.00e+00f 1 17 1.0901453e+00 8.88e-16 2.12e-08 -6.1 7.90e-05 - 1.00e+00 1.00e+00f 1 18 1.0910388e+00 8.88e-16 3.14e-06 -4.0 3.51e-02 - 1.00e+00 1.00e+00f 1 19 1.0908587e+00 8.88e-16 1.93e-06 -4.1 2.79e-02 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0901453e+00 1.78e-15 2.12e-08 -6.1 1.26e-04 - 1.00e+00 1.00e+00f 1 21 1.0901388e+00 8.88e-16 1.48e-07 -9.0 7.88e-03 - 9.69e-01 1.00e+00f 1 22 1.0910388e+00 5.68e-30 3.42e-06 -4.0 3.16e-03 -3.0 1.00e+00 1.00e+00f 1 23 1.0908587e+00 1.78e-15 4.53e-09 -4.1 1.72e-03 - 1.00e+00 1.00e+00f 1 24 1.0901453e+00 2.66e-15 2.12e-08 -6.1 7.90e-05 - 1.00e+00 1.00e+00f 1 25 1.0901388e+00 8.88e-16 1.83e-07 -9.0 8.56e-03 - 9.67e-01 1.00e+00f 1 26 1.0910388e+00 1.16e-29 2.75e-05 -4.0 7.62e-02 -3.4 1.00e+00 1.00e+00f 1 27 1.0908594e+00 1.78e-15 8.45e-06 -4.1 5.49e-02 - 1.00e+00 1.00e+00f 1 28 1.0901454e+00 8.88e-16 2.12e-08 -6.1 1.74e-04 - 1.00e+00 1.00e+00f 1 29 1.0901388e+00 6.54e-37 1.21e-07 -9.0 7.29e-03 - 9.71e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.0901388e+00 8.88e-16 1.76e-07 -9.0 1.47e-03 -3.9 1.00e+00 1.00e+00f 1 31 1.0901388e+00 8.88e-16 1.87e-07 -9.0 4.66e-03 -4.4 1.00e+00 1.00e+00h 1 32 1.0901388e+00 1.78e-15 6.94e-07 -9.0 1.67e-02 -4.9 1.00e+00 1.00e+00h 1 33 1.0901459e+00 1.78e-15 3.75e-04 -4.0 3.45e+01 -5.4 1.00e+00 7.60e-03f 1 34 1.0905424e+00 8.88e-16 1.04e-04 -4.3 1.18e-01 - 1.00e+00 1.00e+00f 1 35 1.0901415e+00 1.00e-34 3.94e-07 -6.5 7.32e-04 - 1.00e+00 1.00e+00f 1 36 1.0901388e+00 2.37e-37 3.00e-08 -9.0 4.33e-03 - 9.70e-01 1.00e+00f 1 37 1.0901388e+00 2.33e-32 3.01e-06 -9.0 5.32e-02 -5.8 1.00e+00 1.00e+00f 1 38 1.0901388e+00 8.88e-16 1.62e-06 -9.0 2.82e-02 -5.4 1.00e+00 1.00e+00f 1 39 1.0901387e+00 1.71e-35 5.54e-05 -9.0 5.51e-01 -5.9 3.87e-01 5.19e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.0903419e+00 1.71e-35 5.14e-03 -4.0 1.57e+04 - 4.75e-08 1.56e-05f 2 41 1.0901471e+00 9.51e-35 1.43e-03 -8.9 1.03e+00 -1.8 1.00e+00 1.19e-01f 2 42 1.0901388e+00 3.43e-35 2.20e-05 -8.9 1.09e-02 -2.3 1.00e+00 1.00e+00f 1 43 1.0901388e+00 8.88e-16 1.75e-07 -8.9 1.07e-04 -2.8 1.00e+00 1.00e+00f 1 44 1.0901388e+00 2.70e-41 6.10e-08 -8.9 1.14e-04 -3.3 1.00e+00 1.00e+00h 1 45 1.0901388e+00 8.88e-16 6.11e-08 -8.9 3.43e-04 -3.7 1.00e+00 1.00e+00f 1 46 1.0901388e+00 1.33e-38 6.14e-08 -8.9 1.03e-03 -4.2 1.00e+00 1.00e+00h 1 47 1.0901388e+00 1.04e-38 6.24e-08 -8.9 3.15e-03 -4.7 1.00e+00 1.00e+00f 1 48 1.0901388e+00 8.88e-16 1.12e-07 -8.9 9.98e-03 -5.2 1.00e+00 1.00e+00f 1 49 1.0901388e+00 4.99e-36 1.54e-06 -8.9 3.67e-02 -5.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.0901387e+00 3.24e-36 5.54e-05 -8.9 9.25e-01 -6.1 1.81e-01 3.52e-01f 1 51 1.0901379e+00 2.83e-36 4.79e-04 -8.9 4.43e-01 - 1.00e+00 1.25e-01f 4 52 1.0915292e+00 8.88e-16 1.18e-02 -4.0 3.37e-01 -2.1 1.00e+00 1.00e+00f 1 53 1.0912884e+00 8.88e-16 3.68e-03 -3.9 1.01e-01 -1.7 8.99e-01 1.00e+00f 1 54 1.0912628e+00 1.32e-36 9.40e-04 -3.9 1.06e-01 - 1.00e+00 1.00e+00f 1 55 1.0901516e+00 7.29e-35 3.57e-05 -5.9 8.24e-03 - 9.96e-01 1.00e+00f 1 56 1.0901513e+00 7.94e-39 7.14e-06 -5.9 3.41e-02 - 1.00e+00 1.00e+00f 1 57 1.0901388e+00 8.88e-16 1.40e-07 -8.8 2.87e-03 - 9.87e-01 1.00e+00f 1 58 1.0901388e+00 8.88e-16 1.03e-07 -8.8 1.45e-05 -2.1 1.00e+00 1.00e+00h 1 59 1.0901388e+00 8.88e-16 1.04e-07 -8.8 4.36e-05 -2.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.0901388e+00 1.78e-15 1.04e-07 -8.8 1.31e-04 -3.1 1.00e+00 1.00e+00h 1 61 1.0901388e+00 8.88e-16 1.04e-07 -8.8 3.94e-04 -3.6 1.00e+00 1.00e+00h 1 62 1.0901388e+00 1.56e-39 1.05e-07 -8.8 1.20e-03 -4.1 1.00e+00 1.00e+00h 1 63 1.0901388e+00 1.84e-38 1.08e-07 -8.8 3.70e-03 -4.5 1.00e+00 1.00e+00f 1 64 1.0901388e+00 1.78e-15 2.62e-07 -8.8 1.23e-02 -5.0 1.00e+00 1.00e+00f 1 65 1.0901388e+00 8.88e-16 5.53e-06 -8.8 5.74e-02 -5.5 1.00e+00 1.00e+00h 1 66 1.0901388e+00 8.88e-16 4.43e-06 -8.8 3.50e-02 -5.1 1.00e+00 1.00e+00h 1 67 1.0901388e+00 8.88e-16 2.12e-06 -8.8 1.94e-02 -4.6 1.00e+00 1.00e+00h 1 68 1.0901386e+00 8.88e-16 5.50e-05 -8.8 1.55e+00 -5.1 2.04e-01 1.12e-01f 1 69 1.0901368e+00 8.88e-16 4.13e-04 -8.8 4.44e-01 - 1.00e+00 2.50e-01f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.0906437e+00 1.78e-15 6.59e-03 -4.0 1.62e+01 -2.9 4.45e-03 2.03e-02f 3 71 1.0901839e+00 2.28e-31 1.33e-03 -6.0 1.76e+00 -1.6 3.73e-01 8.60e-02f 1 72 1.0901686e+00 2.20e-31 3.17e-03 -6.0 2.41e+01 - 2.04e-05 3.12e-02f 6 73 1.0901380e+00 1.78e-15 1.51e-03 -6.0 2.15e-02 -2.0 1.00e+00 5.14e-01f 1 74 1.0901465e+00 1.78e-15 3.91e-04 -6.0 6.92e-01 - 3.64e-02 5.00e-01f 2 75 1.0901457e+00 1.78e-15 5.40e-05 -6.0 1.93e-02 -2.5 1.00e+00 1.00e+00f 1 76 1.0901444e+00 8.88e-16 1.66e-05 -6.0 1.42e-02 -3.0 1.00e+00 1.00e+00f 1 77 1.0901429e+00 6.73e-35 2.25e-04 -6.0 1.39e-01 -3.5 1.00e+00 1.87e-01f 2 78 1.0901403e+00 8.88e-16 3.83e-04 -6.0 2.16e-01 - 1.00e+00 3.15e-01f 2 79 1.0901376e+00 2.86e-35 5.15e-04 -6.0 2.34e-01 - 1.00e+00 3.79e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.0901334e+00 8.88e-16 2.16e-04 -6.0 1.90e-01 - 1.00e+00 1.00e+00f 1 81 1.0932647e+00 2.71e-35 1.30e-01 -4.0 4.54e+00 - 6.13e-02 5.00e-01f 2 82 1.0908534e+00 5.22e-28 4.47e-02 -4.7 7.32e-01 -2.1 1.00e+00 4.15e-01f 1 83 1.0906532e+00 8.88e-16 3.15e-02 -4.7 1.39e+01 - 1.74e-03 2.50e-01f 3 84 1.0905368e+00 3.23e-28 2.33e-02 -4.7 2.02e-01 -2.6 1.00e+00 1.75e-01f 2 85 1.0904766e+00 2.61e-28 1.05e-02 -4.7 1.21e-01 -3.1 1.00e+00 1.97e-01f 2 86 1.0904604e+00 8.88e-16 6.46e-03 -4.7 3.99e+00 - 1.35e-01 5.00e-01f 2 87 1.0904201e+00 8.88e-16 2.47e-03 -4.7 1.09e-02 -2.7 1.00e+00 3.91e-01f 2 88 1.0903662e+00 8.88e-16 1.57e-04 -4.7 2.50e-01 -3.1 1.00e+00 1.00e+00f 1 89 1.0901440e+00 8.88e-16 9.21e-04 -7.0 5.06e-01 -3.6 4.35e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.0901310e+00 5.49e-29 3.78e-04 -7.0 4.53e-02 -2.3 9.30e-01 5.18e-01f 1 91 1.0908346e+00 5.49e-29 3.15e-02 -4.0 7.92e+02 - 2.00e-06 1.36e-03f 5 92 1.0902459e+00 8.88e-16 9.14e-03 -6.4 1.26e-01 -1.9 1.00e+00 5.96e-01f 1 93 1.0901875e+00 1.66e-29 9.39e-03 -6.4 6.74e+00 - 1.49e-04 2.50e-01f 3 94 1.0901319e+00 1.78e-15 5.61e-03 -6.4 6.37e-02 -2.3 1.00e+00 3.75e-01f 1 95 1.0901376e+00 5.19e-30 7.63e-04 -6.4 1.29e+00 - 5.73e-03 5.00e-01f 2 96 1.0901372e+00 8.88e-16 5.35e-05 -6.4 3.65e-02 -2.8 1.00e+00 1.58e-01f 2 97 1.0901360e+00 1.78e-15 1.53e-03 -6.4 7.20e-01 - 1.00e+00 3.57e-02f 2 98 1.0901301e+00 1.78e-15 8.85e-04 -6.4 2.94e-01 - 1.00e+00 1.00e+00f 1 99 1.0934455e+00 1.78e-15 1.42e-01 -4.0 9.14e+00 - 1.83e-02 2.50e-01f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.0905823e+00 6.83e-33 3.66e-02 -5.0 9.68e-02 -1.5 1.00e+00 6.95e-01f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.0905822986717724e+00 1.0905822986717724e+00 Dual infeasibility......: 3.6574418863666067e-02 3.6574418863666067e-02 Constraint violation....: 6.8317573246943353e-33 6.8317573246943353e-33 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.4664752531684884e-05 1.4664752531684884e-05 Overall NLP error.......: 3.6574418863666067e-02 3.6574418863666067e-02 Number of objective function evaluations = 160 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 160 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 21.276 EXIT: Maximum Number of Iterations Exceeded. ┌ 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/LpRux/src/problems.jl:66 initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (QuadraticRegularizer)... objective hessian structure: 0.098s hessian structure: 30 nonzeros (0.099s) linear index maps built (0.0s) evaluator ready (total: 0.099s) evaluator created (0.099s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.137s) 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 linear constraints added: 5 (3.238s) optimizer initialization complete (total: 3.474s) 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 1.7904646e-02 8.33e-17 9.99e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5922171e-02 5.19e-12 1.79e-02 -4.0 2.31e-02 -2.0 9.82e-01 1.00e+00f 1 2 7.4809824e-03 9.97e-13 9.34e-02 -3.1 7.24e-02 -1.6 9.74e-01 1.00e+00f 1 3 1.1504267e-03 1.03e-11 7.72e-02 -3.8 1.38e-01 -1.1 1.00e+00 7.59e-01f 1 4 2.1495952e-04 4.67e-12 2.07e-02 -3.3 4.82e-01 -1.6 1.00e+00 3.72e-01f 2 5 3.7884405e-04 3.18e-12 2.08e-02 -2.9 1.68e+00 -2.1 8.22e-01 4.99e-01f 2 6 3.7884405e-04 3.18e-12 1.44e-02 -3.1 3.67e+00 -2.6 3.26e-01 2.92e-15h 46 7 1.0124847e-03 3.31e-12 9.13e-03 -3.1 3.61e+00 -3.1 2.48e-01 2.48e-01S 62 8 1.0292299e-03 3.22e-12 9.63e-03 -3.1 9.50e-01 -3.5 1.00e+00 2.22e-01f 2 9 1.0292299e-03 3.22e-12 1.63e-02 -3.1 2.48e-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 3.2537320e-04 2.31e-12 1.24e-02 -3.1 2.68e-01 -4.5 1.00e+00 1.00e+00S 60 11 3.2537320e-04 2.31e-12 1.55e-02 -3.1 5.17e-01 -5.0 1.00e+00 7.74e-14h 43 12 2.4213815e-04 2.06e-12 1.15e-02 -3.1 2.90e+00 -4.5 2.48e-01 1.25e-01f 4 13 2.4213815e-04 2.05e-12 8.65e-03 -3.1 3.05e+00 -4.1 1.00e+00 3.15e-10h 31 14 2.4213815e-04 2.06e-12 7.84e-03 -3.1 1.55e+00 -4.6 1.00e+00 5.08e-12h 38 15 1.3385782e-04 1.57e-12 1.07e-02 -4.6 1.29e+00 -5.1 9.35e-01 2.31e-01f 3 16 1.3385782e-04 1.57e-12 1.55e-02 -4.0 8.38e-01 -5.5 1.00e+00 3.73e-09h 29 17 1.3385782e-04 1.57e-12 2.07e-02 -3.4 6.47e-01 -6.0 1.00e+00 1.42e-14h 47 18 1.3385782e-04 1.57e-12 2.59e-02 -3.4 6.52e-01 -6.5 1.00e+00 1.78e-15h 50 19 1.3385782e-04 1.57e-12 3.11e-02 -3.4 6.39e-01 -7.0 1.00e+00 3.55e-15h 49 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.3385782e-04 1.57e-12 3.63e-02 -3.4 6.31e-01 -7.5 1.00e+00 9.31e-10h 31 21 1.3385782e-04 1.57e-12 4.15e-02 -3.4 6.61e-01 -7.9 1.00e+00 1.78e-15h 50 22 1.0017558e-03 4.32e-14 3.85e-02 -3.4 7.05e-01 -8.4 1.00e+00 1.00e+00S 62 23 9.9534528e-04 2.16e-12 5.97e-02 -3.4 1.14e-01 -0.6 1.00e+00 1.25e-01f 4 24 9.8669806e-04 2.42e-12 8.01e-02 -3.4 2.17e-01 -1.0 1.00e+00 1.47e-02f 7 25 9.8423925e-04 2.44e-12 8.44e-02 -3.4 3.92e-01 -1.5 1.00e+00 1.75e-03f 9 26 9.8423925e-04 2.44e-12 5.97e-02 -3.4 5.72e-01 -2.0 1.00e+00 5.02e-14h 44 27 3.7852682e-04 4.88e-12 6.57e-02 -3.4 8.55e-01 -2.5 3.20e-01 3.20e-01s 61 Cannot call restoration phase at point that is almost feasible (violation 4.879305e-12). Abort in line search due to no other fall back. Number of Iterations....: 27 (scaled) (unscaled) Objective...............: 3.7852681729027735e-04 3.7852681729027735e-04 Dual infeasibility......: 6.5654245562045743e-02 6.5654245562045743e-02 Constraint violation....: 4.8793052931372927e-12 4.8793052931372927e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.5671872799274106e-03 3.5671872799274106e-03 Overall NLP error.......: 6.5654245562045743e-02 6.5654245562045743e-02 Number of objective function evaluations = 800 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 800 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 = 28 Total seconds in IPOPT = 3.156 EXIT: Error in step computation! initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (CompositeObjective)... sub-objective 1 (QuadraticRegularizer): 0.1s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.204s hessian structure: 40 nonzeros (0.204s) linear index maps built (0.0s) evaluator ready (total: 0.204s) evaluator created (0.204s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.125s) 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) linear constraints added: 6 (3.146s) optimizer initialization complete (total: 3.476s) 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 1.4117502e+00 4.37e-01 9.53e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0287909e+00 2.66e-09 1.25e-01 -0.5 3.93e-01 -2.0 9.64e-01 1.00e+00f 1 2 2.6296828e-01 1.69e-09 2.45e-01 -1.7 1.10e+00 -1.6 8.66e-01 1.00e+00f 1 3 1.2627574e-01 3.93e-10 4.28e-02 -2.3 4.88e-01 -1.1 1.00e+00 1.00e+00f 1 4 3.4884211e-02 3.08e-11 3.42e-02 -3.2 7.69e-01 -1.6 9.98e-01 1.00e+00f 1 5 7.1661223e-03 2.06e-11 1.49e-02 -4.0 6.82e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.4367452e-03 6.28e-12 4.82e-03 -4.0 4.42e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.3920250e-04 1.60e-12 1.28e-03 -4.0 1.87e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.5131121e-04 1.65e-13 2.38e-04 -4.0 8.60e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.5298559e-04 1.66e-14 1.03e-04 -4.0 2.16e-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 3.0621422e-04 1.27e-14 4.31e-04 -4.1 7.89e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.5658081e-04 6.15e-15 3.58e-04 -4.0 2.00e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7622960e-04 2.70e-15 5.74e-04 -4.1 1.09e-01 -5.4 1.00e+00 1.00e+00f 1 13 4.6310103e-04 1.67e-15 4.78e-04 -4.0 2.60e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6425261e-04 1.55e-15 6.52e-04 -4.1 1.25e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6423547e-04 1.22e-15 5.27e-04 -4.0 2.85e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.6020964e-04 1.13e-15 6.83e-04 -4.1 1.32e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6430452e-04 9.99e-16 5.46e-04 -4.0 2.96e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5888476e-04 9.92e-16 7.01e-04 -4.1 1.36e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6394955e-04 8.88e-16 5.54e-04 -4.0 3.01e-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 2.5846575e-04 8.74e-16 7.14e-04 -4.1 1.38e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6348568e-04 6.66e-16 5.59e-04 -4.0 3.05e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5833662e-04 8.88e-16 7.25e-04 -4.1 1.40e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6300129e-04 6.66e-16 5.62e-04 -4.0 3.08e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5829903e-04 7.77e-16 7.35e-04 -4.1 1.42e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6252629e-04 6.66e-16 5.65e-04 -4.0 3.11e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5828953e-04 7.32e-16 7.45e-04 -4.1 1.44e-01 -12.1 1.00e+00 1.00e+00f 1 27 4.6206961e-04 5.55e-16 5.68e-04 -4.0 3.13e-01 -12.6 1.00e+00 5.00e-01f 2 28 2.5828819e-04 7.01e-16 7.54e-04 -4.1 1.46e-01 -13.1 1.00e+00 1.00e+00f 1 29 3.1054028e-05 8.44e-15 9.41e-04 -6.2 3.98e-01 -13.6 9.66e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.7195090e-03 2.22e-15 7.96e-03 -4.0 2.08e+00 -14.0 1.00e+00 5.00e-01f 2 31 2.4972196e-05 2.19e-14 3.02e-03 -4.1 1.06e+00 -14.5 1.00e+00 1.00e+00f 1 32 1.5647293e-03 2.80e-14 8.30e-03 -4.0 1.02e+00 -15.0 1.00e+00 1.00e+00f 1 33 1.0568638e-05 1.68e-14 2.40e-03 -4.2 1.13e+00 -15.5 1.00e+00 1.00e+00f 1 34 4.5944028e-04 1.55e-15 2.83e-03 -4.0 1.42e+00 -15.9 1.00e+00 5.00e-01f 2 35 2.2119400e-04 2.66e-15 2.52e-04 -4.2 3.80e-01 -16.4 1.00e+00 5.00e-01f 2 36 2.0385245e-05 4.22e-15 8.48e-04 -6.4 4.30e-01 -16.9 9.62e-01 1.00e+00f 1 37 8.2062645e-06 3.11e-15 1.04e-04 -6.4 1.09e-01 -17.4 1.00e+00 1.00e+00f 1 38 1.3373539e-03 1.11e-15 4.70e-03 -4.0 9.99e+00 -17.8 1.00e+00 1.19e-01f 4 39 1.1615779e-04 4.85e-14 3.35e-03 -4.0 7.38e-01 -18.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 7.2337744e-04 2.95e-14 3.38e-03 -4.0 5.11e-01 -18.8 1.00e+00 1.00e+00f 1 41 3.7972623e-04 5.33e-15 4.51e-04 -4.0 4.17e-01 -19.3 1.00e+00 5.00e-01f 2 42 3.5334320e-05 5.44e-15 1.39e-03 -6.0 5.25e-01 -19.8 9.52e-01 1.00e+00f 1 43 1.4556884e-05 4.94e-15 1.66e-04 -6.0 1.31e-01 -20.0 1.00e+00 1.00e+00f 1 44 3.9455787e-06 8.33e-16 1.06e-04 -6.0 1.51e-01 -20.0 1.00e+00 1.00e+00f 1 45 9.1622100e-04 6.94e-16 2.43e-03 -4.0 1.64e+01 -20.0 1.00e+00 7.30e-02f 4 46 1.8705768e-04 4.34e-14 2.61e-03 -4.0 5.15e-01 -20.0 1.00e+00 1.00e+00f 1 47 6.3172426e-04 1.78e-14 2.47e-03 -4.0 3.75e-01 -20.0 1.00e+00 1.00e+00f 1 48 3.8883704e-04 3.11e-15 4.06e-04 -4.0 3.32e-01 -20.0 1.00e+00 5.00e-01f 2 49 3.4840944e-05 5.66e-15 1.51e-03 -6.1 5.69e-01 -20.0 9.47e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.4560936e-05 4.55e-15 1.74e-04 -6.1 1.37e-01 -20.0 1.00e+00 1.00e+00f 1 51 3.8341736e-06 7.22e-16 1.14e-04 -6.1 1.64e-01 -20.0 1.00e+00 1.00e+00f 1 52 7.5318672e-04 3.68e-16 1.53e-03 -4.0 1.77e+01 -20.0 1.00e+00 6.77e-02f 4 53 2.2150465e-04 3.77e-14 2.21e-03 -4.1 4.22e-01 -20.0 1.00e+00 1.00e+00f 1 54 5.7111216e-04 1.24e-14 1.98e-03 -4.1 3.08e-01 -20.0 1.00e+00 1.00e+00f 1 55 3.8471166e-04 2.00e-15 3.74e-04 -4.1 2.86e-01 -20.0 1.00e+00 5.00e-01f 2 56 3.3780224e-05 5.44e-15 1.59e-03 -6.1 6.03e-01 -20.0 9.43e-01 1.00e+00f 1 57 1.4244412e-05 4.11e-15 1.78e-04 -6.1 1.42e-01 -20.0 1.00e+00 1.00e+00f 1 58 3.7019694e-06 6.66e-16 1.19e-04 -6.1 1.74e-01 -20.0 1.00e+00 1.00e+00f 1 59 6.3264277e-04 3.05e-16 7.28e-04 -4.0 1.90e+01 -20.0 1.00e+00 6.27e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.5502529e-04 3.35e-14 1.79e-03 -4.1 3.33e-01 -20.0 1.00e+00 1.00e+00f 1 61 5.1625961e-04 8.44e-15 1.50e-03 -4.1 2.38e-01 -20.0 1.00e+00 1.00e+00f 1 62 3.8075637e-04 1.33e-15 3.29e-04 -4.1 2.33e-01 -20.0 1.00e+00 5.00e-01f 2 63 3.2692048e-05 5.22e-15 1.65e-03 -6.1 6.35e-01 -20.0 9.39e-01 1.00e+00f 1 64 1.3932497e-05 3.77e-15 1.81e-04 -6.1 1.46e-01 -20.0 1.00e+00 1.00e+00f 1 65 3.5906690e-06 6.11e-16 1.23e-04 -6.1 1.82e-01 -20.0 1.00e+00 1.00e+00f 1 66 5.4374710e-04 3.54e-16 7.80e-05 -4.0 2.04e+01 -20.0 1.00e+00 5.85e-02f 4 67 2.8433106e-04 3.02e-14 1.39e-03 -4.1 2.52e-01 -20.0 1.00e+00 1.00e+00f 1 68 4.6995637e-04 5.33e-15 1.05e-03 -4.1 1.71e-01 -20.0 1.00e+00 1.00e+00f 1 69 2.9726202e-04 4.00e-15 9.94e-04 -4.1 1.81e-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 4.6293070e-04 2.89e-15 9.16e-04 -4.1 1.49e-01 -20.0 1.00e+00 1.00e+00f 1 71 3.0438502e-04 3.55e-15 9.00e-04 -4.1 1.63e-01 -20.0 1.00e+00 1.00e+00f 1 72 4.5591531e-04 2.66e-15 8.22e-04 -4.1 1.34e-01 -20.0 1.00e+00 1.00e+00f 1 73 2.3556142e-05 4.66e-15 1.82e-03 -6.1 7.70e-01 -20.0 9.25e-01 1.00e+00f 1 74 1.2295761e-05 3.89e-15 1.20e-04 -6.1 1.06e-01 -20.0 1.00e+00 1.00e+00f 1 75 3.0748697e-06 4.44e-16 1.15e-04 -6.1 1.83e-01 -20.0 1.00e+00 1.00e+00f 1 76 4.9620475e-04 3.47e-16 5.25e-04 -4.0 2.30e+01 -20.0 1.00e+00 5.17e-02f 4 77 3.0895182e-04 2.93e-14 1.08e-03 -4.1 1.92e-01 -20.0 1.00e+00 1.00e+00f 1 78 4.4401496e-04 3.77e-15 7.35e-04 -4.1 1.21e-01 -20.0 1.00e+00 1.00e+00f 1 79 2.4282473e-05 4.44e-15 1.89e-03 -6.1 7.90e-01 -20.0 9.22e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.2435685e-05 3.66e-15 1.31e-04 -6.1 1.15e-01 -20.0 1.00e+00 1.00e+00f 1 81 3.1160074e-06 4.20e-16 1.22e-04 -6.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 82 3.9851504e-06 1.74e-16 2.08e-05 -6.1 3.62e-02 -20.0 1.00e+00 1.00e+00f 1 83 3.4331720e-06 4.16e-17 5.98e-06 -6.1 1.07e-02 -20.0 1.00e+00 1.00e+00h 1 84 2.6105319e-07 8.98e-17 5.27e-05 -9.0 2.34e-01 -20.0 9.77e-01 1.00e+00f 1 85 2.4748772e-03 1.53e-16 1.21e-02 -4.0 1.04e+02 -20.0 1.00e+00 2.33e-02f 3 86 8.3417110e-05 4.88e-14 7.12e-03 -3.9 1.55e+00 -20.0 1.00e+00 1.00e+00f 1 87 7.7289394e-04 2.93e-14 5.39e-03 -3.9 8.17e-01 -20.0 1.00e+00 1.00e+00f 1 88 4.3981711e-04 5.55e-15 7.71e-04 -3.9 5.36e-01 -20.0 1.00e+00 5.00e-01f 2 89 4.3456439e-05 4.22e-15 2.14e-03 -5.9 7.14e-01 -20.0 9.30e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.7950048e-05 4.00e-15 2.62e-04 -5.9 1.86e-01 -20.0 1.00e+00 1.00e+00f 1 91 5.1388888e-06 6.66e-16 1.66e-04 -5.9 2.09e-01 -20.0 1.00e+00 1.00e+00f 1 92 5.8477931e-06 3.33e-16 1.77e-05 -5.9 2.50e-02 -20.0 1.00e+00 1.00e+00h 1 93 5.3996244e-06 4.86e-17 2.78e-06 -5.9 4.00e-03 -20.0 1.00e+00 1.00e+00h 1 94 3.8854179e-07 6.20e-17 7.97e-05 -8.9 2.86e-01 -20.0 9.71e-01 1.00e+00f 1 95 1.5625587e-07 4.64e-17 8.37e-06 -8.9 6.34e-02 -20.0 1.00e+00 1.00e+00f 1 96 1.5915305e-03 3.05e-16 1.42e-03 -4.0 3.13e+02 -20.0 1.00e+00 7.78e-03f 3 97 4.7508766e-04 6.35e-14 5.66e-03 -3.8 7.32e-01 -20.0 1.00e+00 1.00e+00f 1 98 8.9094623e-04 1.91e-14 2.21e-03 -3.8 2.62e-01 -20.0 1.00e+00 1.00e+00f 1 99 5.6138121e-04 8.44e-15 2.31e-03 -3.8 3.01e-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 8.8050451e-04 3.11e-15 1.44e-03 -3.8 1.69e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 8.8050451432622858e-04 8.8050451432622858e-04 Dual infeasibility......: 1.4448643652329833e-03 1.4448643652329833e-03 Constraint violation....: 3.1086244689504383e-15 3.1086244689504383e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.7077945179425758e-04 1.7077945179425758e-04 Overall NLP error.......: 1.4448643652329833e-03 1.4448643652329833e-03 Number of objective function evaluations = 167 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 167 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 = 3.532 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.071s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.072s) integrator 1 hessian structure: 0.056s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.057s) linear index maps built (0.0s) evaluator ready (total: 0.129s) evaluator created (0.129s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 6 (1.923s) optimizer initialization complete (total: 2.052s) 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 4.6984956e+00 2.17e+00 2.96e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8561019e+00 1.78e-02 8.65e-01 -1.1 1.72e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.2953827e+00 1.62e-02 6.99e-02 -1.7 2.50e-01 -1.6 9.78e-01 1.00e+00h 1 3 2.1295297e+00 4.07e-03 2.81e-01 -2.9 1.48e-01 -1.1 9.31e-01 9.84e-01h 1 4 2.1031242e+00 2.04e-03 2.07e-01 -4.0 1.77e-01 -1.6 1.00e+00 7.00e-01h 1 5 2.0913749e+00 3.50e-04 3.93e-02 -4.0 1.91e-01 -2.1 1.00e+00 8.19e-01h 1 6 2.0909354e+00 4.11e-05 5.38e-01 -4.0 9.01e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909631e+00 3.75e-07 1.16e-02 -4.0 2.35e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909927e+00 8.61e-07 2.06e-05 -4.0 7.05e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909716e+00 2.10e-08 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909097e+00 1.47e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907273e+00 1.29e-06 4.96e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902073e+00 1.09e-05 4.20e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888631e+00 8.20e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861726e+00 4.40e-04 1.74e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830966e+00 9.16e-04 4.72e-02 -4.0 5.33e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828388e+00 9.31e-04 2.22e-02 -4.0 5.43e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823427e+00 3.79e-04 1.02e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820401e+00 9.64e-05 1.84e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.68e-04 8.65e-03 -4.0 9.91e+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 3.67e-05 8.42e-04 -4.0 3.10e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.29e-07 1.38e-05 -4.0 4.43e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.73e-10 3.23e-08 -4.0 2.43e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.50e-13 1.20e-11 -4.0 4.57e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190835e+00 2.0819382907190835e+00 Dual infeasibility......: 1.2029464772390919e-11 1.2029464772390919e-11 Constraint violation....: 2.5046631435543532e-13 2.5046631435543532e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000038e-04 1.0000000000000038e-04 Overall NLP error.......: 1.2029464772390919e-11 1.2029464772390919e-11 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 26.553 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.066s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.055s) linear index maps built (0.0s) evaluator ready (total: 0.121s) evaluator created (0.121s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 6 (0.067s) optimizer initialization complete (total: 0.189s) 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 1.9826397e+00 2.34e+00 1.94e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9357641e+00 2.03e-02 5.69e-01 -1.0 1.99e+00 -2.0 9.94e-01 1.00e+00h 1 2 2.3055829e+00 2.79e-02 5.68e-02 -1.6 3.84e-01 -1.6 9.66e-01 1.00e+00h 1 3 2.1487146e+00 4.06e-03 1.14e-01 -2.8 1.18e-01 -1.1 9.93e-01 8.95e-01h 1 4 2.1041382e+00 1.25e-03 1.83e-01 -4.0 9.88e-02 -1.6 1.00e+00 7.39e-01h 1 5 2.0926650e+00 8.75e-04 6.59e-01 -4.0 5.53e-01 -2.1 1.00e+00 6.59e-01h 1 6 2.0911991e+00 6.08e-04 4.23e-01 -4.0 6.59e-01 -2.6 1.00e+00 5.50e-01h 1 7 2.0909014e+00 2.59e-05 4.49e-02 -4.0 4.12e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909027e+00 1.60e-06 2.96e-04 -4.0 6.42e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908899e+00 7.06e-08 2.58e-05 -4.0 1.81e-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 2.0908527e+00 7.38e-08 1.73e-04 -4.0 4.88e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907541e+00 5.40e-07 5.17e-04 -4.0 1.31e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904655e+00 5.70e-06 4.01e-04 -4.0 4.10e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903396e+00 8.60e-07 6.03e-04 -4.0 1.57e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0901932e+00 1.48e-06 1.90e-02 -4.0 6.49e+00 -5.5 1.00e+00 2.21e-01h 2 15 2.0890183e+00 6.44e-05 2.55e-03 -4.0 1.39e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0868756e+00 2.53e-04 4.09e-02 -4.0 3.71e+01 -6.4 1.00e+00 7.06e-01h 1 17 2.0835668e+00 1.36e-03 5.32e-02 -4.0 6.20e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0825616e+00 6.17e-04 3.48e-02 -4.0 3.40e+01 -7.4 1.00e+00 6.23e-01h 1 19 2.0822532e+00 2.40e-04 1.65e-02 -4.0 1.56e+02 -7.9 9.84e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826745e+00 1.11e-03 2.87e-02 -4.0 3.32e+01 -6.5 1.00e+00 1.00e+00h 1 21 2.0823241e+00 5.26e-04 3.97e-02 -4.0 5.14e+01 -7.0 7.79e-01 1.00e+00h 1 22 2.0865409e+00 1.16e-04 4.23e-01 -4.0 1.25e+03 -5.7 6.84e-04 5.20e-03h 1 23 2.0863032e+00 1.07e-04 1.10e+00 -4.0 7.90e-01 -1.7 1.13e-02 7.98e-02h 1 24 2.0845067e+00 3.33e-05 7.37e-01 -3.3 1.54e-01 -1.2 1.00e+00 6.92e-01f 1 25 2.0832658e+00 4.79e-06 4.07e-03 -3.9 8.93e-02 -1.7 1.00e+00 1.00e+00h 1 26 2.0821223e+00 1.71e-05 2.63e-02 -4.0 7.76e-02 -2.2 1.00e+00 9.57e-01h 1 27 2.0823468e+00 1.16e-06 7.83e-04 -4.0 1.88e-01 -2.7 1.00e+00 1.00e+00h 1 28 2.0823598e+00 2.04e-06 6.77e-04 -4.0 7.74e-02 -3.1 1.00e+00 1.00e+00h 1 29 2.0822727e+00 1.77e-06 2.89e-01 -4.0 4.57e-01 -2.7 1.00e+00 1.72e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0822080e+00 2.24e-06 1.35e-04 -4.0 5.29e-02 -3.2 1.00e+00 1.00e+00h 1 31 2.0821928e+00 7.41e-07 1.12e-05 -4.0 3.22e-02 -3.7 1.00e+00 1.00e+00h 1 32 2.0822008e+00 4.76e-07 7.10e-06 -4.0 9.97e-02 -4.1 1.00e+00 1.00e+00h 1 33 2.0822153e+00 1.24e-06 7.51e-06 -4.0 3.16e-01 -4.6 1.00e+00 1.00e+00h 1 34 2.0820908e+00 2.58e-05 1.69e-04 -4.1 8.49e-01 -5.1 1.00e+00 1.00e+00h 1 35 2.0824463e+00 3.24e-06 8.62e-02 -4.0 5.83e+00 -5.6 7.08e-01 1.00e+00H 1 36 2.0821495e+00 2.36e-07 1.13e-03 -4.1 4.90e-02 -1.5 1.00e+00 1.00e+00h 1 37 2.0823620e+00 4.27e-07 3.90e-04 -4.0 1.30e-02 -2.0 1.00e+00 1.00e+00h 1 38 2.0822219e+00 1.48e-07 3.85e-05 -4.1 8.01e-03 -2.5 1.00e+00 1.00e+00h 1 39 2.0816295e+00 2.94e-06 2.96e-02 -6.1 3.89e-02 -3.0 7.89e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0824541e+00 7.41e-06 1.41e-03 -4.0 1.57e-01 -3.4 1.00e+00 1.00e+00f 1 41 2.0821916e+00 4.68e-06 2.02e-04 -4.1 1.09e-01 -3.9 1.00e+00 1.00e+00h 1 42 2.0815773e+00 4.02e-05 3.54e-02 -6.1 4.01e-01 -4.4 8.23e-01 1.00e+00h 1 43 2.0817099e+00 2.12e-05 4.53e-03 -4.6 8.12e-01 -4.9 1.00e+00 1.00e+00h 1 44 2.0815763e+00 1.27e-05 4.69e-03 -4.7 1.80e+00 -5.4 9.92e-01 1.00e+00h 1 45 2.0822692e+00 4.32e-06 1.49e-03 -4.0 3.05e-01 -3.1 1.00e+00 1.00e+00h 1 46 2.0820572e+00 4.62e-07 4.26e-04 -4.1 2.08e-01 -3.6 1.00e+00 1.00e+00h 1 47 2.0821897e+00 1.34e-06 8.75e-05 -4.0 6.22e-02 -4.1 1.00e+00 1.00e+00h 1 48 2.0820597e+00 3.99e-06 7.38e-05 -4.1 1.70e-01 -4.6 1.00e+00 1.00e+00h 1 49 2.0814748e+00 8.09e-05 3.52e-02 -6.1 9.06e-01 -5.0 8.28e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0822437e+00 5.82e-05 1.50e-02 -4.0 4.72e-01 -4.6 1.00e+00 9.25e-01h 1 51 2.0820111e+00 6.09e-05 1.19e-03 -4.1 7.11e-01 -5.1 1.00e+00 1.00e+00h 1 52 2.0819980e+00 2.02e-06 3.33e-04 -4.1 6.20e-01 -5.6 1.00e+00 1.00e+00h 1 53 2.0821741e+00 4.73e-05 3.31e-04 -4.0 1.92e+00 -6.0 1.00e+00 1.00e+00h 1 54 2.0819768e+00 9.64e-05 1.01e-03 -4.1 5.79e+00 -6.5 1.00e+00 1.00e+00h 1 55 2.0819017e+00 3.74e-05 9.45e-04 -4.1 1.34e+01 -7.0 1.00e+00 1.00e+00h 1 56 2.0817928e+00 4.15e-05 2.37e-03 -4.1 2.85e+01 -7.5 1.00e+00 1.00e+00h 1 57 2.0816688e+00 1.01e-04 4.97e-03 -4.1 4.65e+01 -7.9 1.00e+00 1.00e+00h 1 58 2.0815987e+00 1.36e-04 4.51e-03 -4.1 6.01e+01 -8.4 1.00e+00 1.00e+00h 1 59 2.0815820e+00 4.78e-05 1.20e-03 -4.1 4.15e+01 -8.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818395e+00 2.50e-04 1.01e-04 -4.0 1.04e+01 -9.4 1.00e+00 1.00e+00h 1 61 2.0815805e+00 2.16e-04 1.14e-05 -4.1 9.79e+00 -9.9 1.00e+00 1.00e+00h 1 62 2.0805903e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -10.3 9.78e-01 9.71e-01h 1 63 2.0818881e+00 6.54e-03 3.31e-04 -4.0 6.07e+01 -10.8 1.00e+00 1.00e+00f 1 64 2.0816142e+00 4.87e-04 1.18e-05 -4.1 2.07e+01 -11.3 1.00e+00 1.00e+00h 1 65 2.0805990e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -11.8 9.76e-01 9.65e-01h 1 66 2.0805508e+00 8.47e-05 2.32e-06 -6.1 1.70e+01 -12.2 1.00e+00 1.00e+00h 1 67 2.0819793e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -12.7 1.00e+00 1.00e+00f 1 68 2.0816850e+00 9.29e-04 4.90e-05 -4.1 4.57e+01 -13.2 1.00e+00 1.00e+00h 1 69 2.0816490e+00 4.77e-07 7.49e-07 -4.1 8.50e+00 -13.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818389e+00 1.13e-04 4.87e-06 -4.0 7.02e+00 -14.2 1.00e+00 1.00e+00h 1 71 2.0815801e+00 2.08e-04 9.04e-06 -4.1 9.49e+00 -14.6 1.00e+00 1.00e+00h 1 72 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -15.1 9.78e-01 9.71e-01h 1 73 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -15.6 1.00e+00 1.00e+00h 1 74 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -16.1 1.00e+00 1.00e+00f 1 75 2.0816901e+00 9.49e-04 5.23e-05 -4.1 4.72e+01 -16.5 1.00e+00 1.00e+00h 1 76 2.0816518e+00 5.68e-07 7.86e-07 -4.1 8.91e+00 -17.0 1.00e+00 1.00e+00h 1 77 2.0805907e+00 3.69e-03 1.61e-04 -6.1 4.17e+01 -17.5 9.77e-01 9.75e-01h 1 78 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -18.0 1.00e+00 1.00e+00h 1 79 2.0805469e+00 4.72e-08 2.03e-08 -6.1 2.96e+00 -18.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -18.9 1.00e+00 1.00e+00f 1 81 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -19.4 1.00e+00 1.00e+00h 1 82 2.0816664e+00 1.23e-06 1.00e-06 -4.1 1.09e+01 -19.9 1.00e+00 1.00e+00h 1 83 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -20.0 9.76e-01 9.75e-01h 1 84 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 87 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 88 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+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 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 91 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 94 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 95 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 96 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 99 2.0805516e+00 7.08e-05 2.06e-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 100 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 101 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 102 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 103 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 104 2.0805365e+00 6.66e-16 2.22e-16 -9.0 1.99e-12 -20.0 1.00e+00 1.00e+00h 1 105 2.0805365e+00 2.22e-16 2.41e-16 -9.0 8.86e-14 -20.0 1.00e+00 1.00e+00 0 106 2.0805365e+00 8.88e-16 2.03e-16 -9.0 6.79e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 106 (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 = 114 Number of objective gradient evaluations = 107 Number of equality constraint evaluations = 114 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 107 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 107 Total seconds in IPOPT = 27.708 EXIT: Search Direction is becoming Too Small. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s jacobian structure: 180 nonzeros (0.099s) integrator 1 hessian structure: 0.052s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.363s sub-objective 2 (QuadraticRegularizer): 0.105s sub-objective 3 (MinimumTimeObjective): 0.019s objective hessian structure: 0.591s hessian structure: 375 nonzeros (0.643s) linear index maps built (0.0s) evaluator ready (total: 0.881s) evaluator created (0.881s) NL constraint bounds extracted (0.013s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.129s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.864s) optimizer initialization complete (total: 4.888s) 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 1.3059904e+00 8.19e-01 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6603345e+00 1.60e-01 1.61e+00 -0.9 5.95e-01 0.0 9.98e-01 1.00e+00h 1 2 1.6626436e+00 1.00e-01 1.50e+00 -0.6 3.52e+00 - 6.48e-01 3.70e-01H 1 3 1.5201969e+00 5.23e-02 5.91e-01 -1.1 2.04e+00 - 1.00e+00 4.85e-01f 2 4 9.9734155e-01 1.02e-01 1.19e+00 -1.6 4.07e+00 - 1.00e+00 8.35e-01h 1 5 1.0301193e+00 5.00e-02 1.15e+00 -2.1 2.71e+00 - 1.00e+00 6.11e-01h 1 6 1.1852271e+00 3.02e-02 5.71e-01 -2.3 2.95e-01 -0.5 1.00e+00 7.00e-01h 1 7 1.1509375e+00 1.90e-02 1.30e+00 -4.0 7.88e+00 - 9.58e-01 3.76e-01h 1 8 1.1296514e+00 2.06e-04 7.95e-03 -2.4 1.01e-02 -1.0 1.00e+00 1.00e+00f 1 9 1.0979316e+00 9.38e-06 2.37e-01 -4.0 2.66e+00 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0912563e+00 1.35e-06 2.95e-02 -4.0 9.76e-01 - 1.00e+00 8.47e-01h 1 11 1.0908995e+00 6.14e-09 7.56e-03 -4.0 7.26e-01 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 2.10e-13 8.61e-08 -4.0 2.46e-03 - 1.00e+00 1.00e+00h 1 13 1.0908997e+00 6.03e-23 1.36e-14 -4.0 5.84e-07 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0908997263265472e+00 1.0908997263265472e+00 Dual infeasibility......: 1.3638395968129657e-14 1.3638395968129657e-14 Constraint violation....: 6.0334481946087782e-23 6.0334481946087782e-23 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000118028e-04 1.0000000000118028e-04 Overall NLP error.......: 1.3638395968129657e-14 1.3638395968129657e-14 Number of objective function evaluations = 17 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 17 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 23.623 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.456s jacobian structure: 1600 nonzeros (2.523s) integrator 1 hessian structure: 0.056s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.967s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (4.024s) linear index maps built (0.0s) evaluator ready (total: 6.548s) evaluator created (6.574s) NL constraint bounds extracted (0.126s) NLP block data built (0.0s) MadNLP optimizer configured (0.189s) variables set (0.689s) 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 linear constraints added: 5 (3.156s) optimizer initialization complete (total: 10.839s) This is MadNLP version v0.9.1, running with Lapack-CPU (BUNCHKAUFMAN) Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 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 inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.0856108e+00 4.13e+00 4.42e-01 9.45e-01 -1.0 - 0.00e+00 1 0 1 2.6620220e+00 2.87e-01 9.10e-01 1.97e-01 -1.0 -2.0 9.39e-01 1 1h 2 2.3114666e+00 1.37e-01 1.79e-01 3.51e-02 -1.7 -2.5 1.00e+00 1 1h 3 2.1630869e+00 8.15e-02 2.63e-01 1.25e-02 -2.5 -3.0 6.65e-01 1 1h 4 2.1188822e+00 2.18e-03 2.40e-02 3.57e-03 -2.5 -3.4 1.00e+00 1 1h 5 2.0911755e+00 6.07e-04 6.30e-03 1.69e-04 -3.8 -3.9 1.00e+00 1 1h 6 2.0912531e+00 2.51e-05 1.70e-04 1.50e-04 -3.8 -4.4 1.00e+00 1 1h 7 2.0898357e+00 1.51e-04 4.26e-04 3.33e-05 -5.7 -4.9 1.00e+00 1 1h 8 2.0897656e+00 3.65e-05 1.23e-03 2.91e-06 -5.7 -4.4 7.60e-01 1 1h 9 2.0896113e+00 2.33e-05 3.34e-04 1.86e-06 -5.7 -4.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0894210e+00 2.33e-05 9.98e-03 1.89e-06 -5.7 -5.4 4.18e-01 1 1h 11 2.0882129e+00 6.81e-05 2.57e-03 6.02e-06 -5.7 -5.9 1.00e+00 1 1h 12 2.0877871e+00 5.97e-05 1.04e-01 2.39e-06 -5.7 -6.3 1.32e-01 1 1h 13 2.0828940e+00 3.99e-05 6.31e-02 4.52e-06 -5.7 -6.8 1.00e+00 1 1h 14 2.0818541e+00 3.12e-05 1.04e-01 2.45e-06 -5.7 -7.3 2.72e-01 1 1h 15 2.0817300e+00 3.00e-05 8.59e-02 7.99e-06 -5.7 -7.8 3.72e-02 1 1h 16 2.0813145e+00 3.27e-05 1.36e-01 5.88e-06 -5.7 -8.3 3.50e-01 1 1h 17 2.0816931e+00 5.76e-05 1.93e-01 5.59e-04 -5.7 -6.9 5.59e-01 1 1h 18 2.0814828e+00 3.47e-05 2.32e-01 3.10e-04 -5.7 -6.5 4.02e-01 1 1h 19 2.0811196e+00 3.44e-06 1.13e-02 2.28e-06 -5.7 -7.0 9.34e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0809536e+00 3.00e-06 4.06e-03 1.89e-06 -5.7 -7.5 1.00e+00 1 1h 21 2.0807219e+00 2.22e-06 4.94e-03 1.85e-06 -5.7 -7.9 1.00e+00 1 1h 22 2.0806434e+00 9.41e-07 6.68e-03 2.00e-06 -5.7 -8.4 4.45e-01 1 1h 23 2.0806655e+00 6.38e-06 4.20e-03 9.59e-05 -5.7 -7.1 1.00e+00 1 1h 24 2.0806168e+00 6.57e-06 1.44e-02 2.75e-06 -5.7 -7.6 1.00e+00 1 1h 25 2.0806127e+00 3.49e-06 5.72e-02 2.02e-06 -5.7 -6.2 4.56e-01 1 1h 26 2.0806124e+00 1.21e-07 9.32e-05 5.06e-06 -5.7 -6.7 1.00e+00 1 1h 27 2.0806025e+00 1.03e-07 2.25e-02 2.09e-06 -5.7 -7.2 4.65e-01 1 1H 28 2.0805879e+00 1.69e-07 4.07e-04 1.84e-06 -5.7 -7.7 1.00e+00 1 1h 29 2.0805723e+00 3.08e-07 1.60e-03 1.89e-06 -5.7 -8.1 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805881e+00 2.33e-07 1.35e-01 4.92e-06 -5.7 -6.8 1.80e-02 1 2h 31 2.0805762e+00 1.18e-09 1.46e-02 1.95e-06 -5.7 -3.7 1.00e+00 1 1h 32 2.0805737e+00 6.35e-10 6.37e-05 2.10e-06 -5.7 -4.1 1.00e+00 1 1h 33 2.0805734e+00 3.26e-09 1.90e-06 1.88e-06 -5.7 -4.6 1.00e+00 1 1h 34 2.0805524e+00 3.52e-07 1.79e-04 4.12e-07 -8.6 -5.1 9.77e-01 1 1h 35 2.0805513e+00 5.15e-08 2.55e-03 9.38e-08 -8.6 -5.6 8.71e-01 1 1h 36 2.0805501e+00 6.81e-09 2.19e-03 1.27e-08 -8.6 -6.1 1.00e+00 1 1h 37 2.0805497e+00 6.37e-11 2.73e-05 6.50e-09 -8.6 -5.6 1.00e+00 1 1h 38 2.0805496e+00 5.83e-11 1.01e-03 3.72e-09 -8.6 -6.1 9.76e-02 1 1h 39 2.0805475e+00 4.21e-11 2.73e-03 5.83e-09 -8.6 -6.6 7.85e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805474e+00 4.45e-11 1.32e-01 1.21e-08 -8.6 -7.1 1.41e-02 1 1h 41 2.0805466e+00 4.20e-11 6.00e-03 4.37e-09 -8.6 -7.5 2.30e-01 1 1h 42 2.0805412e+00 2.11e-10 4.35e-04 3.98e-09 -8.6 -8.0 1.00e+00 1 1h 43 2.0805375e+00 2.33e-10 2.58e-04 2.51e-09 -8.6 -8.5 1.00e+00 1 1h 44 2.0805365e+00 1.91e-10 2.24e-03 2.52e-09 -8.6 -9.0 1.00e+00 1 1h 45 2.0805366e+00 3.53e-11 3.41e-05 5.79e-07 -8.6 -6.7 1.00e+00 1 1h 46 2.0805365e+00 1.34e-11 7.70e-04 2.51e-09 -8.6 -7.2 1.00e+00 1 1h 47 2.0805369e+00 1.33e-11 5.78e-03 1.41e-08 -8.6 -6.8 2.44e-01 1 1H 48 2.0805366e+00 4.32e-12 9.38e-05 5.93e-08 -8.6 -7.3 1.00e+00 1 1h 49 2.0805365e+00 8.80e-13 5.08e-06 9.14e-09 -8.6 -7.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805365e+00 9.30e-13 1.00e-06 2.51e-09 -8.6 -8.2 1.00e+00 1 1h 51 2.0805365e+00 1.04e-12 1.14e-06 3.47e-09 -8.6 -8.7 1.00e+00 1 1h 52 2.0805365e+00 2.04e-13 4.13e-07 2.54e-09 -8.6 -9.2 1.00e+00 1 1h 53 2.0805365e+00 6.22e-15 1.12e-08 2.51e-09 -8.6 -9.7 1.00e+00 1 1h 54 2.0805365e+00 1.83e-11 5.04e-11 9.09e-10 -9.0 -10.1 1.00e+00 1 1h Number of Iterations....: 54 (scaled) (unscaled) Objective...............: 2.0805364595436791e+00 2.0805364595436791e+00 Dual infeasibility......: 5.0351167679707487e-11 5.0351167679707487e-11 Constraint violation....: 1.8296697490427505e-11 1.8296697490427505e-11 Complementarity.........: 9.0936512631924113e-10 9.0936512631924113e-10 Overall NLP error.......: 9.0936512631924113e-10 9.0936512631924113e-10 Number of objective function evaluations = 58 Number of objective gradient evaluations = 55 Number of constraint evaluations = 58 Number of constraint Jacobian evaluations = 55 Number of Lagrangian Hessian evaluations = 54 Number of KKT factorizations = 129 Number of KKT backsolves = 57 Total wall secs in initialization = 23.212 s Total wall secs in linear solver = 0.114 s Total wall secs in NLP function evaluations = 21.234 s Total wall secs in solver (w/o init./fun./lin. alg.) = 54.340 s Total wall secs = 98.900 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/LpRux/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.339s jacobian structure: 1600 nonzeros (2.406s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.719s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.771s) linear index maps built (0.0s) evaluator ready (total: 6.177s) evaluator created (6.204s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 5 (0.001s) optimizer initialization complete (total: 6.224s) 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 3.5629411e+00 2.37e+00 8.69e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6823401e+00 4.02e-01 3.60e+00 -0.9 2.67e+00 0.0 9.37e-01 8.18e-01f 1 Hello, world! 2 2.4285944e+00 9.27e-02 3.94e+00 -0.6 7.58e-01 0.4 9.05e-01 7.56e-01h 1 Hello, world! 3 2.6660373e+00 1.98e-02 1.67e+00 -1.1 3.20e-01 -0.1 7.73e-01 1.00e+00f 1 Hello, world! 4 2.5417113e+00 1.04e-02 9.15e-01 -1.1 2.89e-01 0.4 9.51e-01 6.13e-01h 1 Hello, world! 5 2.3515164e+00 2.17e-03 1.73e-01 -1.9 8.43e-02 -0.1 9.92e-01 1.00e+00h 1 Hello, world! 6 2.1472336e+00 2.36e-03 6.82e-02 -2.9 9.93e-02 -0.6 9.97e-01 7.01e-01f 1 Hello, world! 7 2.0975451e+00 2.65e-04 2.83e-02 -3.6 1.59e-02 -1.1 1.00e+00 9.06e-01h 1 Hello, world! 8 2.0909101e+00 9.25e-06 1.71e-03 -4.0 7.74e-03 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908932e+00 3.13e-08 1.97e-05 -4.0 2.02e-03 -2.0 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 2.0908926e+00 1.16e-10 1.97e-05 -4.0 6.05e-03 -2.5 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908909e+00 1.78e-10 1.95e-05 -4.0 1.80e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908862e+00 1.50e-09 1.91e-05 -4.0 5.29e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0908735e+00 1.13e-08 1.87e-05 -4.0 1.50e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0908421e+00 6.94e-08 1.30e-04 -4.0 4.04e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0907617e+00 3.76e-07 4.70e-04 -4.0 1.07e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0905325e+00 3.75e-06 5.64e-04 -4.0 3.35e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0904674e+00 3.65e-06 7.39e-03 -4.0 1.11e+02 -5.8 3.66e-02 8.52e-03h 2 Hello, world! 18 2.0888744e+00 1.36e-04 2.27e-02 -4.0 2.51e+01 -6.3 1.00e+00 7.89e-01h 1 Hello, world! 19 2.0862978e+00 1.25e-03 1.04e-01 -4.0 6.23e+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 2.0841336e+00 5.91e-04 9.74e-02 -4.0 8.80e+00 -5.5 1.00e+00 5.77e-01h 1 Hello, world! 21 2.0838969e+00 1.02e-04 8.76e-03 -4.0 6.24e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0831074e+00 4.55e-05 4.46e-03 -4.0 1.20e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0827603e+00 9.54e-05 5.06e-03 -4.0 2.40e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0825855e+00 6.67e-05 2.64e-03 -4.0 6.23e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0821978e+00 6.48e-04 5.54e-03 -4.0 1.48e+02 -7.8 8.11e-01 1.00e+00h 1 Hello, world! 26 2.0999571e+00 5.44e-05 1.74e-01 -4.0 6.65e+01 -6.5 8.73e-01 1.00e+00H 1 Hello, world! 27 2.0830727e+00 1.78e-06 2.66e-03 -4.0 1.81e-01 -0.7 1.00e+00 9.98e-01f 1 Hello, world! 28 2.0831273e+00 1.32e-07 2.05e-03 -4.0 2.77e-02 -1.1 1.00e+00 1.00e+00f 1 Hello, world! 29 2.0829539e+00 7.91e-07 1.64e-03 -4.0 6.81e-02 -1.6 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0827536e+00 2.45e-06 7.88e-04 -4.0 9.85e-02 -2.1 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0828809e+00 1.59e-07 1.10e-04 -4.0 4.09e-02 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0828507e+00 1.01e-07 1.21e-05 -4.0 1.36e-02 -3.1 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0828475e+00 2.09e-08 7.93e-06 -4.0 2.67e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0828424e+00 3.03e-09 7.90e-06 -4.0 7.99e-02 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0828274e+00 2.86e-08 7.82e-06 -4.0 2.37e-01 -4.5 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0827840e+00 2.45e-07 2.32e-05 -4.0 6.89e-01 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0826680e+00 1.85e-06 1.72e-04 -4.0 1.87e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0824258e+00 1.04e-05 9.43e-04 -4.0 4.62e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0821699e+00 3.74e-05 2.05e-03 -4.0 1.14e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0866591e+00 1.92e-06 1.31e-01 -4.0 5.97e+01 -6.9 2.51e-01 1.00e+00H 1 Hello, world! 41 2.0853009e+00 1.10e-04 2.47e+00 -4.1 3.00e+01 -4.6 1.60e-01 4.62e-02f 1 Hello, world! 42 2.0830636e+00 3.23e-04 1.39e+00 -4.1 1.63e+00 -4.2 1.00e+00 4.02e-01f 1 Hello, world! 43 2.0818869e+00 4.43e-04 1.02e+00 -4.1 1.38e+00 -4.7 6.08e-01 8.39e-01f 1 Hello, world! 44 2.0820079e+00 2.65e-04 7.99e-01 -4.0 4.21e+00 -5.2 3.46e-01 5.66e-01f 1 Hello, world! 45 2.0820515e+00 1.07e-04 1.00e-03 -4.0 1.69e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0821321e+00 1.77e-04 5.62e-04 -4.0 3.62e+00 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0821731e+00 6.74e-05 3.18e-04 -4.0 1.14e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0821745e+00 4.74e-04 2.05e-02 -4.0 4.73e+01 -7.1 7.21e-01 1.00e+00h 1 Hello, world! 49 2.0820981e+00 5.35e-04 3.70e+00 -4.1 5.27e+01 -5.7 1.00e+00 4.52e-02h 3 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817895e+00 8.43e-05 9.67e-04 -4.1 3.51e+00 -6.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0817895076481219e+00 2.0817895076481219e+00 Dual infeasibility......: 9.6702196927632683e-04 9.6702196927632683e-04 Constraint violation....: 8.4323214337489460e-05 8.4323214337489460e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.6382843144927208e-05 9.6382843144927208e-05 Overall NLP error.......: 9.6702196927632683e-04 9.6702196927632683e-04 Number of objective function evaluations = 59 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 59 Number of inequality constraint evaluations = 59 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 27.026 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) 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 3.5629411e+00 2.37e+00 8.69e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6823401e+00 4.02e-01 3.60e+00 -0.9 2.67e+00 0.0 9.37e-01 8.18e-01f 1 Hello, world! 2 2.4285944e+00 9.27e-02 3.94e+00 -0.6 7.58e-01 0.4 9.05e-01 7.56e-01h 1 Hello, world! 3 2.6660373e+00 1.98e-02 1.67e+00 -1.1 3.20e-01 -0.1 7.73e-01 1.00e+00f 1 Hello, world! 4 2.5417113e+00 1.04e-02 9.15e-01 -1.1 2.89e-01 0.4 9.51e-01 6.13e-01h 1 Hello, world! 5 2.3515164e+00 2.17e-03 1.73e-01 -1.9 8.43e-02 -0.1 9.92e-01 1.00e+00h 1 Hello, world! 6 2.1472336e+00 2.36e-03 6.82e-02 -2.9 9.93e-02 -0.6 9.97e-01 7.01e-01f 1 Hello, world! 7 2.0975451e+00 2.65e-04 2.83e-02 -3.6 1.59e-02 -1.1 1.00e+00 9.06e-01h 1 Hello, world! 8 2.0909101e+00 9.25e-06 1.71e-03 -4.0 7.74e-03 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908932e+00 3.13e-08 1.97e-05 -4.0 2.02e-03 -2.0 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 2.0908926e+00 1.16e-10 1.97e-05 -4.0 6.05e-03 -2.5 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908909e+00 1.78e-10 1.95e-05 -4.0 1.80e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908862e+00 1.50e-09 1.91e-05 -4.0 5.29e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0908735e+00 1.13e-08 1.87e-05 -4.0 1.50e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0908421e+00 6.94e-08 1.30e-04 -4.0 4.04e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0907617e+00 3.76e-07 4.70e-04 -4.0 1.07e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0905325e+00 3.75e-06 5.64e-04 -4.0 3.35e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0904674e+00 3.65e-06 7.39e-03 -4.0 1.11e+02 -5.8 3.66e-02 8.52e-03h 2 Hello, world! 18 2.0888744e+00 1.36e-04 2.27e-02 -4.0 2.51e+01 -6.3 1.00e+00 7.89e-01h 1 Hello, world! 19 2.0862978e+00 1.25e-03 1.04e-01 -4.0 6.23e+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 2.0841336e+00 5.91e-04 9.74e-02 -4.0 8.80e+00 -5.5 1.00e+00 5.77e-01h 1 Hello, world! 21 2.0838969e+00 1.02e-04 8.76e-03 -4.0 6.24e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0831074e+00 4.55e-05 4.46e-03 -4.0 1.20e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0827603e+00 9.54e-05 5.06e-03 -4.0 2.40e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0825855e+00 6.67e-05 2.64e-03 -4.0 6.23e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0821978e+00 6.48e-04 5.54e-03 -4.0 1.48e+02 -7.8 8.11e-01 1.00e+00h 1 Hello, world! 26 2.0999571e+00 5.44e-05 1.74e-01 -4.0 6.65e+01 -6.5 8.73e-01 1.00e+00H 1 Hello, world! 27 2.0830727e+00 1.78e-06 2.66e-03 -4.0 1.81e-01 -0.7 1.00e+00 9.98e-01f 1 Hello, world! 28 2.0831273e+00 1.32e-07 2.05e-03 -4.0 2.77e-02 -1.1 1.00e+00 1.00e+00f 1 Hello, world! 29 2.0829539e+00 7.91e-07 1.64e-03 -4.0 6.81e-02 -1.6 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0827536e+00 2.45e-06 7.88e-04 -4.0 9.85e-02 -2.1 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0828809e+00 1.59e-07 1.10e-04 -4.0 4.09e-02 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0828507e+00 1.01e-07 1.21e-05 -4.0 1.36e-02 -3.1 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0828475e+00 2.09e-08 7.93e-06 -4.0 2.67e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0828424e+00 3.03e-09 7.90e-06 -4.0 7.99e-02 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0828274e+00 2.86e-08 7.82e-06 -4.0 2.37e-01 -4.5 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0827840e+00 2.45e-07 2.32e-05 -4.0 6.89e-01 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0826680e+00 1.85e-06 1.72e-04 -4.0 1.87e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0824258e+00 1.04e-05 9.43e-04 -4.0 4.62e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0821699e+00 3.74e-05 2.05e-03 -4.0 1.14e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0866591e+00 1.92e-06 1.31e-01 -4.0 5.97e+01 -6.9 2.51e-01 1.00e+00H 1 Hello, world! 41 2.0853009e+00 1.10e-04 2.47e+00 -4.1 3.00e+01 -4.6 1.60e-01 4.62e-02f 1 Hello, world! 42 2.0830636e+00 3.23e-04 1.39e+00 -4.1 1.63e+00 -4.2 1.00e+00 4.02e-01f 1 Hello, world! 43 2.0818869e+00 4.43e-04 1.02e+00 -4.1 1.38e+00 -4.7 6.08e-01 8.39e-01f 1 Hello, world! 44 2.0820079e+00 2.65e-04 7.99e-01 -4.0 4.21e+00 -5.2 3.46e-01 5.66e-01f 1 Hello, world! 45 2.0820515e+00 1.07e-04 1.00e-03 -4.0 1.69e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0821321e+00 1.77e-04 5.62e-04 -4.0 3.62e+00 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0821731e+00 6.74e-05 3.18e-04 -4.0 1.14e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0821745e+00 4.74e-04 2.05e-02 -4.0 4.73e+01 -7.1 7.21e-01 1.00e+00h 1 Hello, world! 49 2.0820981e+00 5.35e-04 3.70e+00 -4.1 5.27e+01 -5.7 1.00e+00 4.52e-02h 3 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817895e+00 8.43e-05 9.67e-04 -4.1 3.51e+00 -6.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0817895076481219e+00 2.0817895076481219e+00 Dual infeasibility......: 9.6702196927632683e-04 9.6702196927632683e-04 Constraint violation....: 8.4323214337489460e-05 8.4323214337489460e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.6382843144927208e-05 9.6382843144927208e-05 Overall NLP error.......: 9.6702196927632683e-04 9.6702196927632683e-04 Number of objective function evaluations = 59 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 59 Number of inequality constraint evaluations = 59 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.942 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.302s jacobian structure: 1600 nonzeros (2.36s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.941s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.99s) linear index maps built (0.0s) evaluator ready (total: 6.351s) evaluator created (6.378s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 5 (0.0s) optimizer initialization complete (total: 6.379s) 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 3.5973374e+00 3.48e+00 4.93e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4771843e+00 1.17e-01 5.39e+00 -0.8 1.99e+00 0.0 6.61e-01 9.71e-01f 1 2 2.5440382e+00 1.67e-02 1.95e+00 -0.7 2.85e-01 0.4 8.99e-01 1.00e+00f 1 3 2.5089751e+00 6.17e-04 2.36e-01 -1.5 4.08e-02 -0.1 9.76e-01 1.00e+00h 1 4 2.2607669e+00 3.30e-03 1.74e-01 -2.2 1.16e-01 -0.5 9.94e-01 6.87e-01f 1 5 2.1091872e+00 1.60e-03 3.08e-02 -3.2 6.61e-02 -1.0 1.00e+00 8.44e-01h 1 6 2.0911450e+00 5.31e-05 6.84e-03 -4.0 1.03e-02 -1.5 1.00e+00 9.67e-01h 1 7 2.0909323e+00 1.30e-07 1.21e-04 -4.0 3.49e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909311e+00 4.64e-10 1.91e-05 -4.0 5.22e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909295e+00 1.26e-10 1.74e-05 -4.0 1.43e-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 2.0909257e+00 8.20e-10 1.72e-05 -4.0 4.24e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909153e+00 6.46e-09 1.67e-05 -4.0 1.23e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908878e+00 4.61e-08 5.52e-05 -4.0 3.46e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908148e+00 2.94e-07 2.38e-04 -4.0 9.56e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0906001e+00 2.78e-06 3.13e-04 -4.0 2.83e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0905118e+00 4.12e-07 3.22e-04 -4.0 1.12e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901660e+00 7.95e-07 2.74e-03 -4.0 4.05e+00 -5.4 1.00e+00 8.23e-01H 1 17 2.0895456e+00 5.17e-05 1.21e-02 -4.0 1.18e+01 -5.8 1.00e+00 1.00e+00f 1 18 2.0887715e+00 5.49e-05 1.34e-01 -4.0 2.61e+01 -5.4 1.00e+00 1.94e-01h 1 19 2.0878537e+00 5.67e-05 1.51e-02 -4.0 1.21e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0862896e+00 1.31e-04 3.33e-02 -4.0 2.95e+01 -6.4 1.00e+00 6.57e-01h 1 21 2.0835081e+00 8.10e-04 4.32e-02 -4.0 5.07e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0826471e+00 2.05e-04 1.43e-02 -4.0 6.38e+01 -7.3 1.00e+00 6.94e-01h 1 23 2.0823869e+00 4.32e-04 1.38e-02 -4.0 1.49e+02 -7.8 9.01e-01 1.00e+00h 1 24 2.0826261e+00 3.76e-04 9.31e-03 -4.0 1.95e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0824690e+00 4.11e-04 3.20e-03 -4.0 5.30e+01 -6.9 6.52e-01 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0824689669953655e+00 2.0824689669953655e+00 Dual infeasibility......: 3.1986377958554699e-03 3.1986377958554699e-03 Constraint violation....: 4.1135827322236196e-04 4.1135827322236196e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0216947873192039e-04 1.0216947873192039e-04 Overall NLP error.......: 3.1986377958554699e-03 3.1986377958554699e-03 Number of objective function evaluations = 27 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 27 Number of inequality constraint evaluations = 27 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 25.549 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) 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 3.5973374e+00 3.48e+00 4.93e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4771843e+00 1.17e-01 5.39e+00 -0.8 1.99e+00 0.0 6.61e-01 9.71e-01f 1 2 2.5440382e+00 1.67e-02 1.95e+00 -0.7 2.85e-01 0.4 8.99e-01 1.00e+00f 1 3 2.5089751e+00 6.17e-04 2.36e-01 -1.5 4.08e-02 -0.1 9.76e-01 1.00e+00h 1 4 2.2607669e+00 3.30e-03 1.74e-01 -2.2 1.16e-01 -0.5 9.94e-01 6.87e-01f 1 5 2.1091872e+00 1.60e-03 3.08e-02 -3.2 6.61e-02 -1.0 1.00e+00 8.44e-01h 1 6 2.0911450e+00 5.31e-05 6.84e-03 -4.0 1.03e-02 -1.5 1.00e+00 9.67e-01h 1 7 2.0909323e+00 1.30e-07 1.21e-04 -4.0 3.49e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909311e+00 4.64e-10 1.91e-05 -4.0 5.22e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909295e+00 1.26e-10 1.74e-05 -4.0 1.43e-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 2.0909257e+00 8.20e-10 1.72e-05 -4.0 4.24e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909153e+00 6.46e-09 1.67e-05 -4.0 1.23e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908878e+00 4.61e-08 5.52e-05 -4.0 3.46e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908148e+00 2.94e-07 2.38e-04 -4.0 9.56e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0906001e+00 2.78e-06 3.13e-04 -4.0 2.83e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0905118e+00 4.12e-07 3.22e-04 -4.0 1.12e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901660e+00 7.95e-07 2.74e-03 -4.0 4.05e+00 -5.4 1.00e+00 8.23e-01H 1 17 2.0895456e+00 5.17e-05 1.21e-02 -4.0 1.18e+01 -5.8 1.00e+00 1.00e+00f 1 18 2.0887715e+00 5.49e-05 1.34e-01 -4.0 2.61e+01 -5.4 1.00e+00 1.94e-01h 1 19 2.0878537e+00 5.67e-05 1.51e-02 -4.0 1.21e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0862896e+00 1.31e-04 3.33e-02 -4.0 2.95e+01 -6.4 1.00e+00 6.57e-01h 1 21 2.0835081e+00 8.10e-04 4.32e-02 -4.0 5.07e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0826471e+00 2.05e-04 1.43e-02 -4.0 6.38e+01 -7.3 1.00e+00 6.94e-01h 1 23 2.0823869e+00 4.32e-04 1.38e-02 -4.0 1.49e+02 -7.8 9.01e-01 1.00e+00h 1 24 2.0826261e+00 3.76e-04 9.31e-03 -4.0 1.95e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0824690e+00 4.11e-04 3.20e-03 -4.0 5.30e+01 -6.9 6.52e-01 1.00e+00h 1 26 2.0823090e+00 6.46e-04 4.89e-02 -4.0 3.15e+01 -5.6 9.87e-02 1.18e-01h 2 27 2.0823355e+00 3.35e-04 2.43e-01 -4.0 7.44e-01 -4.3 6.90e-01 5.26e-01h 1 28 2.0823152e+00 1.32e-05 1.63e-03 -4.0 3.44e-01 -4.8 1.00e+00 1.00e+00h 1 29 2.0823244e+00 1.99e-06 3.29e-04 -4.0 3.55e-01 -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 2.0823017e+00 5.50e-07 4.86e-05 -4.0 8.81e-01 -5.7 1.00e+00 1.00e+00h 1 31 2.0822745e+00 8.16e-07 4.54e-05 -4.0 2.71e+00 -6.2 1.00e+00 1.00e+00h 1 32 2.0822332e+00 9.57e-06 3.10e-04 -4.0 6.88e+00 -6.7 1.00e+00 1.00e+00h 1 33 2.0821577e+00 1.78e-05 9.25e-04 -4.0 1.69e+01 -7.1 1.00e+00 1.00e+00h 1 34 2.0820328e+00 5.46e-05 3.05e-03 -4.0 3.48e+01 -7.6 1.00e+00 1.00e+00h 1 35 2.0819102e+00 1.44e-04 5.56e-03 -4.0 5.26e+01 -8.1 1.00e+00 1.00e+00h 1 36 2.0818553e+00 1.45e-04 3.60e-03 -4.0 5.89e+01 -8.6 1.00e+00 1.00e+00h 1 37 2.0818445e+00 3.07e-05 6.05e-04 -4.0 3.14e+01 -9.0 1.00e+00 1.00e+00h 1 38 2.0818435e+00 1.01e-06 2.76e-05 -4.0 6.80e+00 -9.5 1.00e+00 1.00e+00h 1 39 2.0818434e+00 4.70e-09 1.88e-07 -4.0 5.46e-01 -10.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818434e+00 2.97e-12 1.00e-09 -4.0 1.55e-02 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 40 (scaled) (unscaled) Objective...............: 2.0818434105391845e+00 2.0818434105391845e+00 Dual infeasibility......: 1.0000000067649038e-09 1.0000000067649038e-09 Constraint violation....: 2.9718449923166190e-12 2.9718449923166190e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 1.0000000067649038e-09 1.0000000067649038e-09 Number of objective function evaluations = 45 Number of objective gradient evaluations = 41 Number of equality constraint evaluations = 45 Number of inequality constraint evaluations = 45 Number of equality constraint Jacobian evaluations = 41 Number of inequality constraint Jacobian evaluations = 41 Number of Lagrangian Hessian evaluations = 40 Total seconds in IPOPT = 0.634 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.002s) 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 3.5973374e+00 3.48e+00 4.93e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4771843e+00 1.17e-01 5.39e+00 -0.8 1.99e+00 0.0 6.61e-01 9.71e-01f 1 2 2.5440382e+00 1.67e-02 1.95e+00 -0.7 2.85e-01 0.4 8.99e-01 1.00e+00f 1 3 2.5089751e+00 6.17e-04 2.36e-01 -1.5 4.08e-02 -0.1 9.76e-01 1.00e+00h 1 4 2.2607669e+00 3.30e-03 1.74e-01 -2.2 1.16e-01 -0.5 9.94e-01 6.87e-01f 1 5 2.1091872e+00 1.60e-03 3.08e-02 -3.2 6.61e-02 -1.0 1.00e+00 8.44e-01h 1 6 2.0911450e+00 5.31e-05 6.84e-03 -4.0 1.03e-02 -1.5 1.00e+00 9.67e-01h 1 7 2.0909323e+00 1.30e-07 1.21e-04 -4.0 3.49e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909311e+00 4.64e-10 1.91e-05 -4.0 5.22e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909295e+00 1.26e-10 1.74e-05 -4.0 1.43e-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 2.0909257e+00 8.20e-10 1.72e-05 -4.0 4.24e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909153e+00 6.46e-09 1.67e-05 -4.0 1.23e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908878e+00 4.61e-08 5.52e-05 -4.0 3.46e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908148e+00 2.94e-07 2.38e-04 -4.0 9.56e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0906001e+00 2.78e-06 3.13e-04 -4.0 2.83e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0905118e+00 4.12e-07 3.22e-04 -4.0 1.12e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901660e+00 7.95e-07 2.74e-03 -4.0 4.05e+00 -5.4 1.00e+00 8.23e-01H 1 17 2.0895456e+00 5.17e-05 1.21e-02 -4.0 1.18e+01 -5.8 1.00e+00 1.00e+00f 1 18 2.0887715e+00 5.49e-05 1.34e-01 -4.0 2.61e+01 -5.4 1.00e+00 1.94e-01h 1 19 2.0878537e+00 5.67e-05 1.51e-02 -4.0 1.21e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0862896e+00 1.31e-04 3.33e-02 -4.0 2.95e+01 -6.4 1.00e+00 6.57e-01h 1 21 2.0835081e+00 8.10e-04 4.32e-02 -4.0 5.07e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0826471e+00 2.05e-04 1.43e-02 -4.0 6.38e+01 -7.3 1.00e+00 6.94e-01h 1 23 2.0823869e+00 4.32e-04 1.38e-02 -4.0 1.49e+02 -7.8 9.01e-01 1.00e+00h 1 24 2.0826261e+00 3.76e-04 9.31e-03 -4.0 1.95e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0824690e+00 4.11e-04 3.20e-03 -4.0 5.30e+01 -6.9 6.52e-01 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0824689669953655e+00 2.0824689669953655e+00 Dual infeasibility......: 3.1986377958554699e-03 3.1986377958554699e-03 Constraint violation....: 4.1135827322236196e-04 4.1135827322236196e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0216947873192039e-04 1.0216947873192039e-04 Overall NLP error.......: 3.1986377958554699e-03 3.1986377958554699e-03 Number of objective function evaluations = 27 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 27 Number of inequality constraint evaluations = 27 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 0.379 EXIT: Stopping optimization at current point as requested by user. [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! [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... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.065s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.056s) linear index maps built (0.0s) evaluator ready (total: 0.121s) evaluator created (0.122s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.122s) 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 5.4102065e+00 2.89e+00 6.67e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7041539e+00 4.47e-01 2.05e+00 -1.0 4.73e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.6827565e+00 1.92e-01 2.14e+00 -0.7 2.96e+01 -2.5 3.90e-01 9.96e-02h 2 3 2.5227870e+00 2.97e-01 1.90e+00 -1.2 3.32e+00 -2.1 7.76e-01 1.00e+00h 1 4 2.3525262e+00 3.96e-02 2.57e-01 -1.5 1.24e+00 -2.5 9.60e-01 1.00e+00h 1 5 2.1267716e+00 5.90e-02 1.35e-01 -2.6 1.89e+00 -3.0 9.93e-01 9.87e-01h 1 6 2.1067000e+00 1.01e-02 7.13e-02 -2.7 6.84e-01 -3.5 1.00e+00 8.28e-01h 1 7 2.0908555e+00 2.93e-04 7.61e-04 -4.0 1.83e-01 -4.0 1.00e+00 1.00e+00h 1 8 2.0906517e+00 2.20e-05 3.34e-05 -4.0 5.62e-01 -4.4 1.00e+00 1.00e+00h 1 9 2.0904861e+00 1.14e-06 2.05e-05 -4.0 1.68e+00 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0899907e+00 1.03e-05 4.36e-05 -4.0 5.04e+00 -5.4 1.00e+00 1.00e+00h 1 11 2.0885181e+00 9.43e-05 3.90e-04 -4.0 1.50e+01 -5.9 1.00e+00 1.00e+00h 1 12 2.0842304e+00 8.98e-04 3.61e-03 -4.0 4.36e+01 -6.3 1.00e+00 1.00e+00h 1 13 2.0796982e+00 1.88e-03 2.26e-01 -4.0 1.08e+02 -6.8 1.00e+00 4.20e-01h 1 14 2.0793128e+00 8.54e-03 2.33e-01 -4.1 7.27e+01 -7.3 1.00e+00 6.78e-01h 1 15 2.0781927e+00 1.68e-02 6.38e-02 -3.8 1.17e+02 -7.8 1.00e+00 1.00e+00h 1 16 2.0766883e+00 1.30e-02 2.76e-02 -3.9 2.07e+02 -8.3 1.00e+00 9.99e-01h 1 17 2.0761369e+00 6.66e-03 3.03e-02 -4.0 3.34e+02 -8.7 1.00e+00 1.00e+00h 1 18 2.0775640e+00 4.09e-02 2.21e-02 -3.6 2.85e+02 -9.2 1.00e+00 1.00e+00h 1 19 2.0770284e+00 1.04e-02 3.68e-03 -3.7 1.31e+02 -9.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0770043e+00 8.77e-05 5.88e-05 -3.7 1.49e+01 -10.2 1.00e+00 1.00e+00h 1 21 2.0756905e+00 5.05e-03 2.23e-06 -4.0 5.13e+01 -10.6 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.43e-05 1.52e-06 -4.0 2.76e+01 -11.1 1.00e+00 1.00e+00h 1 23 2.0756712e+00 5.53e-09 1.70e-07 -4.0 5.09e+00 -11.6 1.00e+00 1.00e+00h 1 24 2.0756712e+00 3.92e-11 1.39e-09 -4.0 5.76e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 2.0756712121349130e+00 2.0756712121349130e+00 Dual infeasibility......: 1.3944871349769357e-09 1.3944871349769357e-09 Constraint violation....: 3.9237724180907207e-11 3.9237724180907207e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 1.3944871349769357e-09 1.3944871349769357e-09 Number of objective function evaluations = 27 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 27 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 27.493 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.119s) evaluator created (0.119s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 6 (0.166s) optimizer initialization complete (total: 0.284s) 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 2.7543036e+00 2.05e+00 5.03e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7010628e+00 1.30e-01 1.82e+00 -1.0 1.95e+00 0.0 8.87e-01 9.38e-01f 1 2 2.5024824e+00 4.16e-02 1.20e+00 -1.0 3.91e-01 0.4 8.18e-01 6.79e-01h 1 3 2.2489365e+00 9.43e-03 8.25e-01 -1.5 1.66e-01 -0.1 9.74e-01 1.00e+00h 1 4 2.1549855e+00 4.00e-03 3.29e-01 -2.5 8.94e-02 -0.5 1.00e+00 6.81e-01h 1 5 2.0973970e+00 2.74e-03 4.48e-01 -4.0 2.26e-01 -1.0 1.00e+00 8.69e-01h 1 6 2.0922808e+00 2.68e-03 6.56e-01 -4.0 7.53e-01 -1.5 5.26e-01 7.03e-01h 1 7 2.1028713e+00 3.37e-03 5.49e-01 -3.9 3.17e-01 -1.1 1.00e+00 1.00e+00h 1 8 2.0951844e+00 1.51e-03 2.36e-01 -4.0 3.27e-01 -1.5 1.00e+00 4.74e-01h 1 9 2.0908416e+00 1.66e-03 2.85e-01 -4.0 7.69e-01 -2.0 1.00e+00 2.65e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0917568e+00 9.91e-05 1.17e-01 -4.0 1.21e-01 -2.5 1.00e+00 1.00e+00h 1 11 2.0908904e+00 5.27e-05 1.97e-03 -4.0 5.57e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0909260e+00 1.64e-06 1.44e-04 -4.0 5.74e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0909091e+00 1.24e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908587e+00 9.91e-08 2.06e-05 -4.0 5.13e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907075e+00 8.93e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902554e+00 8.08e-06 3.62e-05 -4.0 4.60e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0889101e+00 7.41e-05 3.22e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849794e+00 7.03e-04 2.93e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796304e+00 2.09e-03 1.86e-01 -4.0 1.04e+02 -6.8 1.00e+00 5.19e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0802065e+00 2.23e-04 1.75e-01 -4.0 6.53e+01 -7.3 1.00e+00 9.87e-01H 1 21 2.0773595e+00 8.56e-03 2.15e-02 -4.0 1.26e+02 -7.7 1.00e+00 9.68e-01h 1 22 2.0771405e+00 1.92e-03 7.68e-02 -4.0 2.11e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760447e+00 5.80e-03 2.10e-02 -4.0 3.51e+02 -8.7 1.00e+00 9.17e-01h 1 24 2.0769260e+00 2.53e-02 2.40e-02 -3.7 2.61e+02 -9.2 1.00e+00 1.00e+00h 1 25 2.0764679e+00 4.47e-03 1.99e-03 -3.8 7.02e+01 -9.6 1.00e+00 1.00e+00h 1 26 2.0764602e+00 6.92e-05 3.22e-05 -3.8 1.54e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756782e+00 1.83e-03 3.46e-06 -4.0 3.14e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756713e+00 6.94e-06 1.39e-06 -4.0 2.18e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756713e+00 4.09e-09 1.61e-07 -4.0 5.41e+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 5.72e-11 2.05e-09 -4.0 8.03e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712527956576e+00 2.0756712527956576e+00 Dual infeasibility......: 2.0455843295825483e-09 2.0455843295825483e-09 Constraint violation....: 5.7219451399248555e-11 5.7219451399248555e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000005e-04 1.0000000000000005e-04 Overall NLP error.......: 2.0455843295825483e-09 2.0455843295825483e-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 = 28.270 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.056s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.122s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.056s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.371s sub-objective 2 (QuadraticRegularizer): 0.1s sub-objective 3 (MinimumTimeObjective): 0.019s objective hessian structure: 0.593s hessian structure: 1749 nonzeros (0.704s) linear index maps built (0.0s) evaluator ready (total: 0.826s) evaluator created (0.826s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.135s) 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 linear constraints added: 6 (5.369s) optimizer initialization complete (total: 6.331s) 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 2.6558977e+00 3.04e+00 3.15e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6345536e+00 2.54e-01 8.23e-01 -1.1 2.73e+00 -2.0 9.78e-01 9.93e-01h 1 2 2.2547960e+00 8.88e-02 3.11e-01 -1.7 1.82e+00 -2.5 9.22e-01 1.00e+00h 1 3 2.1348822e+00 1.94e-02 8.77e-02 -2.5 8.51e-01 -3.0 9.95e-01 9.61e-01h 1 4 2.0934562e+00 1.32e-03 6.28e-03 -3.5 2.06e-01 -3.4 9.91e-01 1.00e+00h 1 5 2.0908246e+00 7.02e-05 3.01e-04 -4.0 1.69e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0907706e+00 9.08e-07 2.06e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906232e+00 8.51e-07 2.05e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0901823e+00 7.71e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888704e+00 7.07e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0850348e+00 6.70e-04 2.80e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796225e+00 2.09e-03 1.76e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.35e-01h 1 12 2.0802670e+00 1.48e-04 1.70e-01 -4.0 6.59e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0773952e+00 8.02e-03 2.42e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.69e-01h 1 14 2.0770787e+00 1.77e-03 5.72e-02 -4.0 2.09e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761617e+00 3.34e-03 1.93e-02 -4.0 3.50e+02 -8.7 1.00e+00 8.34e-01h 1 16 2.0755647e+00 1.44e-03 2.56e-02 -4.0 4.84e+02 -9.2 1.00e+00 7.30e-01h 1 17 2.0757436e+00 3.15e-03 1.06e-02 -4.0 1.35e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0753697e+00 1.30e-03 3.90e-04 -4.1 7.16e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756723e+00 4.67e-04 6.12e-06 -4.0 2.07e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 5.66e-07 8.97e-07 -4.0 1.07e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.58e-09 5.87e-08 -4.0 3.70e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.27e-11 9.12e-10 -4.0 5.38e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121317848e+00 2.0756712121317848e+00 Dual infeasibility......: 9.1157187289032937e-10 9.1157187289032937e-10 Constraint violation....: 2.2690405110381562e-11 2.2690405110381562e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000015e-04 1.0000000000000015e-04 Overall NLP error.......: 9.1157187289032937e-10 9.1157187289032937e-10 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 45.499 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.068s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.122s) evaluator created (0.122s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: per-timestep 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 linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.122s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1360 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1280 Total number of variables............................: 92 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 1.5514516e+00 3.17e+00 1.55e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3550734e+00 3.08e+00 1.49e+00 -0.8 2.93e+01 -2.0 3.34e-01 1.59e-01h 1 2 2.1728654e+00 1.15e+01 1.34e+04 -0.6 2.52e+02 -2.5 2.39e-01 7.78e-01h 1 3 2.3179486e+00 7.93e+00 9.25e+03 -0.8 7.66e+01 -3.0 3.98e-01 3.34e-01f 1 4 2.7647766e+00 1.41e+00 2.06e+03 -0.5 5.79e+01 -2.5 1.00e+00 1.00e+00f 1 5 2.6356155e+00 1.65e-01 2.57e+02 -0.9 1.67e+01 -3.0 1.00e+00 1.00e+00h 1 6 2.3666559e+00 7.56e-01 6.61e+00 -1.6 8.92e+00 -3.5 1.00e+00 9.87e-01h 1 7 2.3672115e+00 1.40e-01 4.90e-01 -1.4 7.36e+00 -4.0 1.00e+00 1.00e+00h 1 8 2.2442137e+00 3.17e-01 2.43e-01 -2.1 1.42e+01 -4.4 9.96e-01 9.89e-01h 1 9 2.2714203e+00 5.00e-01 7.84e-01 -1.9 3.36e+01 -4.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1842473e+00 5.55e-01 5.56e-02 -2.0 2.81e+01 -5.4 1.00e+00 8.55e-01h 1 11 2.1242558e+00 3.99e-01 1.73e-01 -2.7 4.50e+01 -5.9 9.28e-01 1.00e+00h 1 12 2.1286460e+00 1.22e-01 1.22e-01 -2.4 4.12e+01 -6.3 1.00e+00 1.00e+00h 1 13 2.0885681e+00 4.28e-01 2.16e-02 -3.3 8.18e+01 -6.8 1.00e+00 1.00e+00h 1 14 2.0800239e+00 7.38e-02 5.46e-02 -4.0 1.76e+02 -7.3 9.95e-01 1.00e+00h 1 15 2.0802388e+00 1.51e-02 5.94e-02 -3.4 6.63e+01 -7.8 1.00e+00 9.97e-01h 1 16 2.0773988e+00 5.56e-02 4.73e-03 -4.0 1.33e+02 -8.3 1.00e+00 1.00e+00h 1 17 2.0767152e+00 8.16e-03 5.83e-03 -4.0 3.43e+02 -8.7 1.00e+00 1.00e+00h 1 18 2.0771568e+00 2.22e-04 1.90e-02 -3.7 2.78e+02 -9.2 1.00e+00 1.00e+00H 1 19 2.0763450e+00 9.82e-03 2.56e-03 -4.0 9.96e+01 -9.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0763737e+00 2.94e-04 4.20e-05 -4.0 9.26e+01 -10.2 1.00e+00 1.00e+00h 1 21 2.0763688e+00 2.98e-06 7.13e-05 -4.0 9.98e+01 -10.6 1.00e+00 1.00e+00h 1 22 2.0763684e+00 8.73e-07 1.60e-05 -4.0 4.69e+01 -11.1 1.00e+00 1.00e+00h 1 23 2.0763683e+00 3.72e-08 4.76e-07 -4.0 7.95e+00 -11.6 1.00e+00 1.00e+00h 1 24 2.0763683e+00 1.01e-10 1.66e-09 -4.0 4.73e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 2.0763682854131238e+00 2.0763682854131238e+00 Dual infeasibility......: 1.6627827486485978e-09 1.6627827486485978e-09 Constraint violation....: 1.0082290557988927e-10 1.0082290557988927e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000067e-04 1.0000000000000067e-04 Overall NLP error.......: 1.6627827486485978e-09 1.6627827486485978e-09 Number of objective function evaluations = 26 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 26 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 25.588 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.048s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.048s) integrator 1 hessian structure: 0.039s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.04s) linear index maps built (0.0s) evaluator ready (total: 0.088s) evaluator created (0.088s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: bounds on Δt applying constraint: per-timestep equality constraint on trajectory variable u linear constraints added: 3 (0.038s) optimizer initialization complete (total: 0.126s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1264 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1113 Total number of variables............................: 86 variables with only lower bounds: 0 variables with lower and upper bounds: 10 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 2.2125666e+00 2.43e+00 1.51e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6816238e+00 1.40e+00 9.85e+00 -0.6 1.95e+01 - 9.45e-01 4.45e-01h 1 2 2.9157279e+00 1.36e+00 4.43e+03 0.0 8.90e+01 0.0 4.48e-01 5.04e-02h 1 3 3.0196068e+00 1.35e+00 1.05e+04 1.8 3.63e+02 -0.5 8.22e-02 1.53e-02h 1 4 5.4134861e+00 1.66e+00 2.07e+04 -4.0 1.49e+03 - 2.16e-02 8.87e-02h 1 5 5.6031660e+00 1.66e+00 6.82e+04 2.0 2.11e+04 - 5.53e-02 4.19e-04f 2 6 6.5721512e+01 1.23e+01 3.90e+04 2.4 2.12e+03 - 3.80e-01 3.68e-02f 2 7 1.8205398e+02 6.83e+00 2.08e+04 1.9 1.77e+03 - 4.41e-01 4.69e-01h 1 8 1.8573719e+02 6.32e+00 5.29e+05 2.1 2.08e+02 0.9 9.93e-01 7.26e-02f 2 9 2.2581731e+02 3.30e+00 2.24e+06 2.4 2.08e+02 0.4 5.40e-02 5.20e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.7388117e+02 7.82e-01 1.52e+06 2.3 1.86e+02 -0.1 1.00e+00 1.00e+00f 1 11 2.6700785e+02 2.09e+00 1.50e+06 -3.4 9.23e+02 0.3 7.70e-03 1.04e-02h 1 12 2.9708543e+02 3.62e+00 3.50e+05 2.2 5.89e+01 -0.2 1.00e+00 1.00e+00f 1 13 2.6533707e+02 6.43e-01 1.26e+04 2.1 1.08e+01 -0.6 9.00e-01 1.00e+00h 1 14 2.5592543e+02 4.55e-02 3.74e+04 1.3 2.18e+01 -0.2 9.99e-01 1.00e+00f 1 15 2.5255136e+02 6.47e-03 4.02e+02 0.8 3.63e+00 -0.7 1.00e+00 1.00e+00f 1 16 2.4563659e+02 1.89e-02 1.14e+02 -0.3 4.84e+00 -1.2 1.00e+00 1.00e+00f 1 17 2.3719853e+02 6.48e-02 9.92e+01 -0.6 8.91e+00 -1.6 9.98e-01 1.00e+00f 1 18 2.2107647e+02 4.27e-01 9.12e+01 -1.2 2.34e+01 -2.1 1.00e+00 1.00e+00f 1 19 1.9486010e+02 7.56e-01 6.76e+01 -1.0 7.03e+01 -2.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.2961524e+02 1.02e+00 2.58e+02 -0.7 2.12e+02 -3.1 1.00e+00 1.00e+00f 1 21 5.9876908e+01 6.66e+00 6.75e+02 -0.4 6.15e+02 -3.5 1.00e+00 1.00e+00f 1 22 9.8105516e+00 2.27e+00 1.17e+03 -0.5 6.78e+01 -1.3 3.15e-01 5.31e-01f 1 23 9.5922978e+00 2.26e+00 8.48e+03 0.6 3.78e+02 -0.9 1.00e+00 4.53e-03h 1 24 9.7921716e+00 2.14e+00 2.83e+04 1.2 4.53e+02 -1.4 1.00e+00 5.60e-02f 2 25 1.2004316e+02 5.74e+00 1.52e+04 1.1 1.30e+03 - 1.27e-01 5.00e-01h 2 26 1.0060209e+02 6.49e-01 1.26e+04 1.1 1.46e+01 -0.0 4.49e-01 1.00e+00f 1 27 4.3569062e+01 2.19e+00 6.64e+03 -4.0 4.16e+02 - 5.03e-01 1.00e+00f 1 28 3.0460144e+01 1.20e+00 4.76e+02 0.1 8.40e+01 - 1.00e+00 1.00e+00f 1 29 9.1914150e+00 2.79e+00 2.01e+02 1.0 9.40e+02 - 9.49e-01 2.23e-01f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 9.9571982e+00 6.51e-01 1.48e+02 0.6 5.36e+01 - 5.19e-01 7.41e-01h 1 31 1.1583442e+01 2.70e-01 6.20e+02 0.8 1.30e+00 -0.5 1.00e+00 1.00e+00f 1 32 1.1359863e+01 1.72e-02 4.22e+01 -0.2 1.47e+00 -1.0 1.00e+00 1.00e+00h 1 33 9.7921016e+00 1.55e-01 2.67e+00 -1.2 3.71e+00 -1.5 1.00e+00 1.00e+00f 1 34 6.6245037e+00 5.05e-01 2.91e+00 -1.8 1.12e+01 -1.9 9.99e-01 1.00e+00f 1 35 5.2264443e+00 1.16e+00 2.83e+00 -1.1 5.41e+01 - 9.23e-01 2.50e-01f 3 36 5.3188432e+00 3.84e-01 5.49e+00 -4.0 2.28e+01 - 7.37e-02 1.51e-01h 1 37 4.9166025e+00 5.14e-01 1.81e+00 -0.5 9.89e+00 - 1.00e+00 4.09e-01f 1 38 4.9239454e+00 5.19e-01 6.35e+01 -1.2 1.93e+02 -2.4 8.46e-01 1.15e-02h 1 39 6.0884475e+00 6.16e-01 3.18e+03 -0.1 8.98e+02 - 9.25e-01 8.81e-02f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.1094095e+01 6.56e-01 6.01e+02 -0.2 7.76e+02 - 6.61e-01 1.39e-01h 3 41 1.0358907e+01 6.09e-01 5.84e+02 -0.2 9.48e+02 - 3.33e-02 6.25e-02f 5 42 1.0005424e+01 6.78e-01 6.48e+02 -0.2 3.62e+02 - 1.00e+00 1.25e-01f 4 43 1.6216598e+01 8.73e-01 2.32e+02 -0.2 3.15e+01 - 2.82e-01 1.00e+00h 1 44 7.8956460e+00 7.20e-01 8.18e+01 -0.2 4.04e+01 - 1.00e+00 1.00e+00f 1 45 7.6272727e+00 2.33e-01 8.30e+00 -0.2 5.85e+00 - 9.74e-01 1.00e+00h 1 46 6.1285029e+00 1.28e+00 6.48e+00 -1.2 1.51e+01 - 9.90e-01 1.00e+00f 1 47 6.0209465e+00 1.02e+00 3.24e+01 -0.8 3.93e+00 -0.2 7.91e-01 4.44e-01h 1 48 7.0511988e+00 2.25e-01 7.91e+02 0.3 4.02e+02 - 1.03e-01 1.27e-01f 2 49 8.8858378e+00 2.93e-01 3.41e+02 0.7 6.97e+00 -0.7 1.00e+00 3.01e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.3568760e+01 8.85e-02 1.20e+02 0.6 3.24e+00 -1.1 1.00e+00 1.00e+00h 1 51 7.2421327e+00 1.28e+00 3.15e+01 0.6 8.35e+02 - 8.39e-02 5.07e-02f 4 52 7.6986163e+00 3.50e-01 1.50e+01 -0.1 7.75e+00 - 1.00e+00 1.00e+00h 1 53 6.2067227e+00 7.35e-01 4.32e+00 -0.1 1.06e+01 - 1.00e+00 1.00e+00f 1 54 6.5611536e+00 2.25e-01 2.99e+00 -1.0 2.65e+00 - 1.00e+00 1.00e+00h 1 55 6.0704169e+00 8.08e-01 4.09e+00 -2.0 4.02e+00 -1.6 1.00e+00 1.00e+00h 1 56 6.2353657e+00 1.85e-02 1.55e+00 -2.8 1.79e+00 - 1.00e+00 1.00e+00h 1 57 6.2519249e+00 1.25e-02 3.85e-01 -1.4 2.91e-01 - 7.02e-01 1.00e+00f 1 58 6.1466660e+00 5.19e-02 1.62e-01 -2.5 4.48e-01 - 9.90e-01 1.00e+00h 1 59 6.2186966e+00 3.26e-03 8.04e-03 -3.1 1.29e-01 - 9.94e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 6.2210009e+00 6.78e-04 2.02e-03 -4.0 5.38e-02 - 1.00e+00 1.00e+00h 1 61 6.2211534e+00 8.64e-05 2.46e-04 -4.0 1.81e-02 - 1.00e+00 1.00e+00h 1 62 6.2211611e+00 2.50e-06 7.04e-06 -4.0 3.08e-03 - 1.00e+00 1.00e+00h 1 63 6.2211613e+00 2.41e-09 6.79e-09 -4.0 9.57e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 63 (scaled) (unscaled) Objective...............: 6.2211612966109495e+00 6.2211612966109495e+00 Dual infeasibility......: 6.7859554364613217e-09 6.7859554364613217e-09 Constraint violation....: 2.4141340038141834e-09 2.4141340038141834e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000274520652216e-04 1.0000274520652216e-04 Overall NLP error.......: 6.7859554364613217e-09 6.7859554364613217e-09 Number of objective function evaluations = 111 Number of objective gradient evaluations = 64 Number of equality constraint evaluations = 111 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 64 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 63 Total seconds in IPOPT = 27.535 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.054s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.372s jacobian structure: 1600 nonzeros (2.426s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.142s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (4.198s) linear index maps built (0.0s) evaluator ready (total: 6.625s) evaluator created (6.649s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 5 (0.0s) optimizer initialization complete (total: 6.651s) 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 4.2720760e+00 2.95e+00 4.72e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4769467e+00 5.40e-01 2.48e+00 -1.1 2.72e+00 0.0 8.16e-01 8.23e-01f 1 2 2.3140347e+00 2.16e-01 1.36e+00 -1.1 6.89e-01 -0.5 9.60e-01 5.97e-01f 1 3 2.3014383e+00 2.50e-02 7.38e-01 -1.4 4.94e-01 -1.0 9.84e-01 1.00e+00h 1 4 2.2059295e+00 1.01e-03 4.53e-02 -2.1 7.90e-02 -1.4 9.90e-01 1.00e+00h 1 5 2.0925670e+00 6.75e-04 1.18e-02 -3.4 6.33e-02 -1.9 9.98e-01 9.62e-01f 1 6 2.0910718e+00 4.40e-06 1.99e-03 -4.0 2.61e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0910295e+00 3.82e-08 8.45e-05 -4.0 4.14e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0910215e+00 1.17e-09 2.58e-05 -4.0 5.65e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0910015e+00 1.21e-08 2.57e-05 -4.0 1.69e-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 2.0909407e+00 1.06e-07 2.06e-04 -4.0 4.94e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908285e+00 6.38e-07 1.41e-03 -4.0 1.15e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0906419e+00 1.87e-06 4.09e-03 -4.0 2.72e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0901028e+00 2.34e-05 8.00e-04 -4.0 7.82e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898624e+00 3.56e-06 1.53e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0897233e+00 4.01e-06 6.37e-02 -4.0 2.55e+01 -5.8 7.03e-01 5.52e-02h 2 16 2.0879357e+00 2.03e-04 9.18e-03 -4.0 2.36e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0876523e+00 2.07e-04 8.57e-01 -3.6 5.63e+02 -6.7 1.00e+00 1.17e-02h 2 18 2.0844063e+00 2.29e-02 8.97e-02 -4.0 8.54e+01 -7.2 1.00e+00 1.00e+00h 1 19 2.0825105e+00 4.94e-03 8.68e-03 -4.0 1.28e+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 2.0825844e+00 2.30e-04 5.07e-03 -4.0 4.44e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0822382e+00 5.84e-04 3.26e-03 -4.0 1.23e+02 -7.7 8.46e-01 1.00e+00h 1 22 2.1201230e+00 5.47e-05 2.66e-01 -4.0 5.88e+01 -6.4 8.53e-01 1.00e+00H 1 23 2.0833679e+00 1.16e-05 1.76e-01 -4.0 3.34e-01 -0.6 5.54e-01 7.89e-01f 1 24 2.0835964e+00 2.82e-07 2.77e-03 -4.0 2.86e-02 -1.0 1.00e+00 1.00e+00f 1 25 2.0833185e+00 4.53e-07 2.15e-03 -4.0 6.94e-02 -1.5 1.00e+00 1.00e+00h 1 26 2.0829139e+00 5.79e-06 1.70e-03 -4.0 1.68e-01 -2.0 1.00e+00 1.00e+00h 1 27 2.0828377e+00 1.03e-06 2.29e-04 -4.0 5.05e-02 -2.5 1.00e+00 1.00e+00h 1 28 2.0829212e+00 2.08e-07 3.21e-05 -4.0 2.83e-02 -2.9 1.00e+00 1.00e+00h 1 29 2.0829149e+00 3.65e-08 8.14e-06 -4.0 2.17e-02 -3.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0829107e+00 2.38e-09 8.12e-06 -4.0 6.49e-02 -3.9 1.00e+00 1.00e+00h 1 31 2.0828983e+00 1.79e-08 8.05e-06 -4.0 1.93e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0828623e+00 1.56e-07 1.51e-05 -4.0 5.65e-01 -4.9 1.00e+00 1.00e+00h 1 33 2.0827632e+00 1.25e-06 1.18e-04 -4.0 1.57e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0825371e+00 7.46e-06 7.21e-04 -4.0 4.00e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0822479e+00 3.24e-05 2.11e-03 -4.0 9.34e+00 -6.3 1.00e+00 1.00e+00h 1 36 2.0821577e+00 3.06e-04 4.65e-02 -4.0 3.21e+01 -6.8 5.18e-01 1.00e+00h 1 37 2.0819643e+00 1.97e-04 2.19e-01 -4.0 4.84e+00 -5.4 1.00e+00 5.19e-01h 1 38 2.0821726e+00 9.96e-05 3.25e-03 -4.0 3.24e+00 -5.9 1.00e+00 1.00e+00h 1 39 2.0833411e+00 1.20e-05 1.91e-01 -4.0 2.87e+01 -6.4 4.44e-01 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0823700e+00 1.57e-06 8.14e-03 -4.1 1.30e-01 -1.4 9.22e-01 9.07e-01h 1 41 2.0825352e+00 4.70e-06 1.48e-01 -4.0 2.12e-01 -1.9 1.00e+00 5.51e-01f 1 42 2.0829074e+00 1.76e-06 1.06e-03 -4.0 1.03e-01 -2.4 1.00e+00 1.00e+00f 1 43 2.0818518e+00 6.33e-06 2.14e-01 -6.0 5.24e-02 -2.9 7.41e-01 1.00e+00h 1 44 2.0825364e+00 5.84e-06 1.32e-03 -4.0 6.72e-02 -3.4 1.00e+00 1.00e+00f 1 45 2.0822714e+00 2.34e-06 2.98e-05 -4.1 5.09e-02 -3.8 1.00e+00 1.00e+00h 1 46 2.0824170e+00 3.31e-06 6.47e-05 -4.0 1.41e-01 -4.3 1.00e+00 1.00e+00h 1 47 2.0822327e+00 1.11e-05 5.53e-05 -4.1 4.47e-01 -4.8 1.00e+00 1.00e+00h 1 48 2.0814859e+00 2.09e-04 1.95e-03 -6.1 2.11e+00 -5.3 9.91e-01 1.00e+00h 1 49 2.0813282e+00 1.43e-04 1.44e-03 -4.6 5.56e+00 -5.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0814515e+00 1.35e-04 2.84e+00 -4.0 1.68e+01 -5.3 1.00e+00 8.33e-02h 1 51 2.0820809e+00 4.13e-04 7.60e-03 -4.0 4.12e+00 -5.8 1.00e+00 1.00e+00h 1 52 2.0818903e+00 1.47e-04 1.23e-03 -4.1 2.84e+00 -6.3 1.00e+00 1.00e+00h 1 53 2.0818958e+00 4.28e-05 4.00e-04 -4.1 5.24e+00 -6.7 1.00e+00 1.00e+00h 1 54 2.0809140e+00 2.44e-03 2.49e-03 -6.1 2.90e+01 -7.2 9.86e-01 9.66e-01h 1 55 2.0819610e+00 4.05e-03 4.30e-03 -4.0 3.62e+01 -7.7 1.00e+00 1.00e+00f 1 56 2.0816512e+00 1.61e-03 1.96e-03 -4.1 4.99e+01 -8.2 1.00e+00 1.00e+00h 1 57 2.0815992e+00 8.14e-05 2.61e-03 -4.1 5.20e+01 -8.7 1.00e+00 1.00e+00h 1 58 2.0818448e+00 5.08e-04 3.51e-04 -4.0 2.24e+01 -9.1 1.00e+00 1.00e+00h 1 59 2.0815838e+00 2.51e-04 1.11e-05 -4.1 1.12e+01 -9.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805957e+00 3.33e-03 1.63e-04 -6.1 4.09e+01 -10.1 9.77e-01 9.64e-01h 1 61 2.0818908e+00 6.56e-03 3.63e-04 -4.0 6.13e+01 -10.6 1.00e+00 1.00e+00f 1 62 2.0816146e+00 4.96e-04 1.56e-05 -4.1 2.08e+01 -11.0 1.00e+00 1.00e+00h 1 63 2.0806042e+00 3.49e-03 2.33e-04 -6.1 4.24e+01 -11.5 9.76e-01 9.58e-01h 1 64 2.0805507e+00 9.71e-05 2.45e-06 -6.1 1.71e+01 -12.0 1.00e+00 1.00e+00h 1 65 2.0819818e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -12.5 1.00e+00 1.00e+00f 1 66 2.0816804e+00 9.65e-04 4.91e-05 -4.1 4.57e+01 -13.0 1.00e+00 1.00e+00h 1 67 2.0816444e+00 4.72e-07 7.79e-07 -4.1 8.40e+00 -13.4 1.00e+00 1.00e+00h 1 68 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -13.9 1.00e+00 1.00e+00h 1 69 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -14.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -14.9 9.77e-01 9.64e-01h 1 71 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -15.3 1.00e+00 1.00e+00h 1 72 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -15.8 1.00e+00 1.00e+00f 1 73 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -16.3 1.00e+00 1.00e+00h 1 74 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -16.8 1.00e+00 1.00e+00h 1 75 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -17.2 9.76e-01 9.67e-01h 1 76 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -17.7 1.00e+00 1.00e+00h 1 77 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -18.2 1.00e+00 1.00e+00h 1 78 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -18.7 1.00e+00 1.00e+00f 1 79 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+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 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -19.6 1.00e+00 1.00e+00h 1 81 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 82 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 84 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-01 -20.0 1.00e+00 9.97e-01h 1 85 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 86 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 89 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+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 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.46e-01 -20.0 1.00e+00 9.97e-01h 1 92 2.0805365e+00 8.66e-11 2.16e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 93 2.0820415e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 94 2.0817247e+00 1.13e-03 7.75e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0816664e+00 1.64e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 97 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.05e+00 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.47e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 8.67e-11 2.17e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595543834e+00 2.0805364595543834e+00 Dual infeasibility......: 2.1652869355496836e-12 2.1652869355496836e-12 Constraint violation....: 8.6653795250413168e-11 8.6653795250413168e-11 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.1439517080053760e-10 9.1439517080053760e-10 Overall NLP error.......: 9.9999090910191920e-05 9.9999090910191920e-05 Number of objective function evaluations = 108 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 108 Number of inequality constraint evaluations = 108 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 30.611 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 6.167s jacobian structure: 1680 nonzeros (6.234s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 14.309s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.701s objective hessian structure: 0.702s hessian structure: 1964 nonzeros (15.066s) linear index maps built (0.0s) evaluator ready (total: 21.301s) evaluator created (21.327s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 5 (0.0s) optimizer initialization complete (total: 21.329s) 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 6.8908262e+00 2.37e+00 2.94e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6216182e+00 2.02e-01 2.37e+00 -1.1 3.45e+00 -2.0 7.77e-01 1.00e+00f 1 2 2.5987786e+00 6.13e-02 9.30e-01 -1.0 6.47e-01 -1.6 6.97e-01 1.00e+00h 1 3 2.3102372e+00 4.70e-02 2.00e-01 -1.9 8.54e-01 -2.1 9.78e-01 1.00e+00h 1 4 2.1086670e+00 1.78e-02 8.48e-02 -2.7 6.88e-01 -2.5 9.82e-01 9.84e-01h 1 5 2.0913366e+00 3.43e-04 4.90e-03 -3.8 8.33e-02 -3.0 1.00e+00 9.82e-01h 1 6 2.0908635e+00 6.23e-06 5.87e-05 -4.0 5.76e-02 -3.5 1.00e+00 1.00e+00h 1 7 2.0908487e+00 3.35e-08 2.08e-05 -4.0 1.64e-01 -4.0 1.00e+00 1.00e+00h 1 8 2.0908144e+00 5.48e-08 1.47e-04 -4.0 4.41e-01 -4.4 1.00e+00 1.00e+00h 1 9 2.0907266e+00 4.16e-07 5.16e-04 -4.0 1.17e+00 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0904752e+00 4.51e-06 5.15e-04 -4.0 3.68e+00 -5.4 1.00e+00 1.00e+00h 1 11 2.0903675e+00 6.22e-07 4.57e-04 -4.0 1.36e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902225e+00 1.28e-06 1.40e-02 -4.0 5.26e+00 -5.4 1.00e+00 2.76e-01h 2 13 2.0891532e+00 5.07e-05 1.79e-03 -4.0 1.24e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0868193e+00 3.84e-04 2.22e-02 -4.0 3.36e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0858854e+00 2.20e-04 2.85e-02 -4.0 1.53e+01 -6.0 1.00e+00 5.25e-01h 1 16 2.0843647e+00 2.37e-04 1.65e-02 -4.0 2.68e+01 -6.4 1.00e+00 1.00e+00h 1 17 2.0827221e+00 1.37e-04 1.92e-02 -4.0 3.24e+01 -6.9 1.00e+00 8.24e-01h 1 18 2.0829295e+00 1.13e-03 3.40e-02 -4.0 6.49e+01 -7.4 1.00e+00 1.00e+00h 1 19 2.0820343e+00 1.82e-03 1.00e-02 -4.1 1.51e+02 -7.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.7813067e+01 9.33e-04 9.31e+01 -4.0 9.89e+02 -7.5 1.31e-02 1.00e+00H 1 21 2.1034233e+00 1.07e-04 3.03e+00 -4.1 8.74e-01 0.4 3.71e-01 8.86e-01f 1 22 2.1036515e+00 5.36e-09 6.63e-03 -4.1 1.01e-03 0.8 1.00e+00 1.00e+00h 1 23 2.1034381e+00 1.83e-08 4.12e-03 -4.0 1.88e-03 0.3 1.00e+00 1.00e+00f 1 24 2.1033941e+00 1.15e-07 2.90e-03 -4.0 3.98e-03 -0.1 1.00e+00 1.00e+00h 1 25 2.1032866e+00 2.98e-07 2.84e-03 -4.0 1.17e-02 -0.6 1.00e+00 1.00e+00h 1 26 2.1031042e+00 1.61e-07 2.73e-03 -4.0 3.37e-02 -1.1 1.00e+00 1.00e+00h 1 27 2.1028064e+00 7.34e-07 2.64e-03 -4.0 9.78e-02 -1.6 1.00e+00 1.00e+00h 1 28 2.1020255e+00 4.48e-07 2.57e-03 -4.0 2.86e-01 -2.0 1.00e+00 1.00e+00h 1 29 2.0997681e+00 6.16e-06 7.86e-03 -4.1 7.95e-01 -2.5 1.00e+00 9.94e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.1000736e+00 6.56e-06 2.15e+00 -4.1 3.03e-01 -3.0 1.00e+00 4.03e-01f 2 31 2.0998295e+00 3.63e-06 1.18e-04 -4.1 1.09e-01 -3.5 1.00e+00 1.00e+00h 1 32 2.0990792e+00 2.32e-05 1.99e-02 -6.1 2.41e-01 -4.0 8.19e-01 9.92e-01h 1 33 2.0989292e+00 1.11e-05 5.41e-05 -6.1 7.12e-01 -4.4 1.00e+00 1.00e+00h 1 34 2.0986639e+00 7.90e-08 6.81e-05 -6.1 2.12e+00 -4.9 1.00e+00 1.00e+00h 1 35 2.0978986e+00 1.47e-07 5.87e-04 -6.1 6.23e+00 -5.4 1.00e+00 1.00e+00h 1 36 2.0969564e+00 3.01e-07 1.18e-01 -6.1 1.76e+01 -5.9 1.00e+00 4.53e-01h 1 37 2.0951858e+00 1.93e-05 1.55e-01 -6.1 4.01e+01 -6.3 1.00e+00 7.78e-01h 1 38 2.0910250e+00 7.04e-06 1.64e-01 -6.1 9.57e+01 -6.8 6.19e-01 1.00e+00f 1 39 2.0873659e+00 1.07e-05 5.51e-01 -6.1 1.89e+02 -7.3 1.00e+00 5.29e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819934e+00 8.41e-05 2.36e-01 -6.1 2.87e+02 -7.8 8.85e-01 1.00e+00h 1 41 2.0819067e+00 1.16e-04 6.16e-01 -4.0 3.97e+04 -7.3 1.67e-05 3.43e-03f 1 42 2.0815869e+00 3.99e-04 3.74e-01 -4.0 1.56e+02 -6.0 4.25e-02 1.45e-01f 1 43 2.0821259e+00 3.72e-04 3.58e+00 -4.0 1.58e+02 -6.5 1.00e+00 6.74e-02h 4 44 2.0825999e+00 2.78e-03 9.16e-03 -3.9 4.74e+01 -7.0 1.00e+00 1.00e+00h 1 45 2.0822789e+00 7.11e-03 1.27e-02 -3.9 1.02e+02 -7.4 9.18e-01 1.00e+00h 1 46 2.0823643e+00 5.91e-05 2.74e-03 -3.9 8.05e+00 -6.1 1.00e+00 1.00e+00h 1 47 2.0818633e+00 4.32e-04 2.27e-03 -4.0 1.86e+01 -6.6 1.00e+00 1.00e+00h 1 48 2.0815940e+00 1.53e-04 4.33e-04 -4.1 7.76e+00 -6.2 1.00e+00 1.00e+00h 1 49 2.0815370e+00 2.65e-04 2.67e-02 -4.0 4.38e+02 -6.6 2.52e-02 2.97e-02h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0816621e+00 2.11e-04 1.99e-02 -4.0 1.72e+00 -4.4 3.32e-01 3.31e-01h 1 51 2.0817037e+00 2.04e-05 2.19e-03 -4.0 6.33e-01 -4.9 1.00e+00 1.00e+00h 1 52 2.0828631e+00 3.28e-04 6.19e+00 -2.0 5.90e+01 -4.5 1.82e-01 2.05e-02f 1 53 2.0916662e+00 8.04e-03 3.41e+00 -2.9 7.46e+01 -4.9 1.67e-01 6.25e-02f 5 54 2.0860327e+00 2.38e-01 1.08e+00 -2.9 2.95e+01 -5.4 6.77e-01 7.40e-01h 1 55 2.0867013e+00 1.13e-04 3.25e-01 -2.9 1.13e-01 -1.4 8.08e-01 1.00e+00h 1 56 2.0925811e+00 6.51e-04 1.45e-02 -2.9 1.42e-01 -1.9 1.00e+00 1.00e+00h 1 57 2.0906208e+00 9.69e-05 5.11e-03 -2.9 5.27e-02 -2.3 1.00e+00 1.00e+00h 1 58 2.0837826e+00 6.04e-04 5.76e-01 -4.3 2.83e-01 -2.8 8.06e-01 5.74e-01h 1 59 2.0829983e+00 5.13e-06 8.36e-01 -4.3 1.49e-01 -2.4 7.26e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0824741e+00 1.02e-05 7.64e-03 -4.0 1.12e-01 -2.9 1.00e+00 1.00e+00h 1 61 2.0820389e+00 4.73e-06 2.34e-01 -4.0 1.71e-01 -3.3 9.59e-01 8.19e-01h 1 62 2.0824885e+00 3.77e-06 3.21e-03 -4.0 1.82e-01 -3.8 1.00e+00 1.00e+00h 1 63 2.0821255e+00 7.19e-06 3.94e-02 -4.0 3.09e-01 -4.3 1.00e+00 8.87e-01H 1 64 2.0821914e+00 3.15e-05 1.10e-04 -4.0 4.72e-01 -4.8 1.00e+00 1.00e+00f 1 65 2.0819334e+00 3.88e-05 2.27e-04 -4.1 1.64e+00 -5.2 1.00e+00 1.00e+00h 1 66 2.0818492e+00 6.44e-05 4.17e-02 -6.1 1.11e+02 -5.7 2.20e-02 2.56e-02h 3 67 2.0816527e+00 4.27e-05 6.90e-01 -6.1 8.30e-01 -4.4 6.40e-01 3.77e-01h 1 68 2.0820749e+00 2.07e-04 3.59e-01 -4.0 1.27e+00 -4.9 8.09e-01 1.00e+00f 1 69 2.0818877e+00 4.12e-05 9.25e-02 -4.2 2.60e-01 -2.6 1.00e+00 7.99e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0817107e+00 1.71e-07 2.10e-03 -4.2 2.04e-01 -3.1 1.00e+00 1.00e+00f 1 71 2.0819095e+00 5.77e-07 3.99e-04 -4.0 6.49e-02 -3.6 1.00e+00 1.00e+00h 1 72 2.0817710e+00 8.16e-07 1.05e-04 -4.1 4.41e-02 -4.1 1.00e+00 1.00e+00h 1 73 2.0812312e+00 3.22e-05 3.95e-02 -6.1 3.59e-01 -4.6 8.01e-01 9.66e-01h 1 74 2.0819884e+00 2.44e-05 2.28e-03 -4.0 2.07e-01 -5.0 1.00e+00 1.00e+00f 1 75 2.0817331e+00 4.42e-05 1.12e-04 -4.1 6.73e-01 -5.5 1.00e+00 1.00e+00h 1 76 2.0809619e+00 5.51e-04 2.61e-03 -6.1 5.81e+00 -6.0 9.97e-01 9.96e-01h 1 77 2.0809464e+00 1.65e-04 1.33e-02 -5.3 3.66e-01 -3.7 1.00e+00 7.00e-01h 1 78 2.0810947e+00 1.42e-04 3.63e-01 -4.0 3.32e+00 -4.2 1.00e+00 1.46e-01f 1 79 2.0816217e+00 5.93e-05 1.76e-03 -4.0 6.47e-01 -4.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0815784e+00 1.30e-05 6.73e-04 -4.1 8.69e-01 -5.2 1.00e+00 1.00e+00h 1 81 2.0817165e+00 3.14e-05 3.03e-04 -4.0 1.75e+00 -5.7 1.00e+00 1.00e+00h 1 82 2.0815977e+00 2.25e-05 3.64e-04 -4.1 1.47e+00 -6.1 1.00e+00 1.00e+00h 1 83 2.0806952e+00 9.60e-04 6.44e-03 -6.1 1.00e+01 -6.6 9.86e-01 1.00e+00h 1 84 2.0807349e+00 1.09e-04 1.21e-03 -4.8 6.26e+00 -7.1 1.00e+00 1.00e+00h 1 85 2.0818075e+00 3.07e-03 1.73e-02 -4.0 3.05e+01 -7.6 6.73e-01 1.00e+00h 1 86 2.0813577e+00 8.86e-04 1.64e-03 -4.2 1.94e+01 -8.0 1.00e+00 1.00e+00h 1 87 2.0813812e+00 1.62e-05 9.59e-04 -4.2 3.41e+01 -8.5 1.00e+00 1.00e+00h 1 88 2.0818432e+00 8.47e-04 1.58e-04 -4.0 1.92e+01 -9.0 1.00e+00 1.00e+00h 1 89 2.0815840e+00 2.04e-04 4.73e-05 -4.1 9.43e+00 -9.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805946e+00 3.30e-03 1.42e-04 -6.1 4.04e+01 -10.0 9.77e-01 9.66e-01h 1 91 2.0818888e+00 6.50e-03 3.81e-04 -4.0 6.06e+01 -10.4 1.00e+00 1.00e+00f 1 92 2.0816123e+00 4.91e-04 3.34e-05 -4.1 2.06e+01 -10.9 1.00e+00 1.00e+00h 1 93 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -11.4 9.76e-01 9.61e-01h 1 94 2.0805507e+00 9.04e-05 2.50e-06 -6.1 1.70e+01 -11.9 1.00e+00 1.00e+00h 1 95 2.0808225e+00 5.01e-04 2.11e-02 -4.0 8.49e+01 -12.3 1.00e+00 2.07e-01f 1 96 2.0814250e+00 1.03e-03 4.57e-05 -4.2 2.04e+01 -12.8 1.00e+00 1.00e+00f 1 97 2.0814230e+00 1.69e-05 2.78e-05 -4.2 2.01e+01 -13.3 1.00e+00 1.00e+00h 1 98 2.0805874e+00 2.45e-03 1.96e-04 -6.3 3.59e+01 -13.8 9.80e-01 9.62e-01h 1 99 2.0805468e+00 5.78e-05 1.35e-06 -6.3 1.38e+01 -14.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0819955e+00 1.10e-02 4.07e-04 -4.0 8.84e+01 -14.7 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0819954710396309e+00 2.0819954710396309e+00 Dual infeasibility......: 4.0716785769601951e-04 4.0716785769601951e-04 Constraint violation....: 1.0987094734887126e-02 1.0987094734887126e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.2605135319698577e-04 2.2605135319698577e-04 Overall NLP error.......: 1.0987094734887126e-02 1.0987094734887126e-02 Number of objective function evaluations = 128 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 128 Number of inequality constraint evaluations = 128 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 38.597 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 1 integrator 1 jacobian structure: 0.073s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 3.098s jacobian structure: 1594 nonzeros (3.172s) integrator 1 hessian structure: 0.058s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 7.18s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (7.239s) linear index maps built (0.0s) evaluator ready (total: 10.412s) evaluator created (10.439s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 5 (0.0s) optimizer initialization complete (total: 10.44s) 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 4.6578661e+01 4.29e+00 2.10e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.3266789e+01 4.28e+00 5.10e+02 1.2 6.32e+01 0.0 1.24e-01 6.09e-03f 1 2 1.1139508e+01 1.84e+00 1.41e+02 1.0 4.45e+00 -0.5 8.53e-01 5.93e-01f 1 3 6.0543317e+00 1.88e-01 6.44e+01 0.7 3.95e+00 -1.0 8.02e-01 1.00e+00f 1 4 4.1065591e+00 2.64e-02 1.13e+01 0.3 9.07e-01 -0.5 9.54e-01 1.00e+00f 1 5 3.5938460e+00 3.79e-03 1.35e+00 -0.9 3.47e-01 -1.0 9.94e-01 1.00e+00f 1 6 2.7558059e+00 9.01e-02 2.05e-01 -1.4 4.18e-01 -1.5 9.97e-01 1.00e+00f 1 7 2.1714307e+00 4.86e-02 6.96e-02 -2.1 7.49e-01 -2.0 9.77e-01 9.24e-01h 1 8 2.1031401e+00 1.32e-03 3.46e-02 -2.9 9.22e-02 -2.4 8.43e-01 1.00e+00h 1 9 2.0909793e+00 2.18e-05 4.93e-04 -4.0 1.97e-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 2.0909042e+00 1.23e-06 2.23e-04 -4.0 6.39e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908801e+00 1.61e-08 2.23e-04 -4.0 1.85e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908297e+00 9.59e-08 2.23e-04 -4.0 4.63e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907495e+00 3.54e-07 1.18e-03 -4.0 1.02e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0905491e+00 3.15e-06 1.37e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899718e+00 2.79e-05 6.69e-04 -4.0 9.17e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0896683e+00 4.80e-06 2.01e-03 -4.0 3.47e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0887238e+00 4.18e-05 3.19e-03 -4.0 1.07e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0872493e+00 2.84e-04 3.32e-02 -4.0 2.79e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0859705e+00 2.61e-04 1.36e-01 -4.0 3.26e+01 -5.9 1.00e+00 2.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0845718e+00 1.65e-04 2.28e-02 -4.0 2.32e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827545e+00 1.84e-04 2.32e-02 -4.0 3.26e+01 -6.8 1.00e+00 9.67e-01h 1 22 2.0830829e+00 1.21e-03 3.59e-02 -4.0 5.52e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0821698e+00 1.12e-03 7.67e-03 -4.1 1.34e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.2315849e+00 7.91e-05 3.92e+00 -4.0 7.32e+02 -8.3 6.11e-02 1.00e+00H 1 25 2.0850307e+00 1.19e-05 5.28e-01 -4.1 1.10e-01 -0.4 8.77e-01 8.49e-01f 1 26 2.0853548e+00 1.18e-05 4.00e+00 -4.0 9.69e-02 -0.9 1.00e+00 7.81e-03f 8 27 2.0854345e+00 3.54e-07 1.18e-03 -3.9 2.78e-02 -1.4 1.00e+00 1.00e+00h 1 28 2.0844620e+00 3.18e-06 8.79e-02 -5.9 8.76e-02 -1.9 7.91e-01 1.00e+00h 1 29 2.0849640e+00 3.69e-06 1.35e-03 -4.0 1.00e-01 -2.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0848045e+00 4.29e-07 1.78e-04 -4.1 2.55e-02 -2.8 1.00e+00 1.00e+00h 1 31 2.0841379e+00 3.19e-06 2.84e-02 -6.1 3.85e-02 -3.3 8.07e-01 1.00e+00h 1 32 2.0850412e+00 7.75e-06 1.57e-03 -4.0 5.77e-02 -3.8 1.00e+00 1.00e+00f 1 33 2.0847661e+00 7.29e-06 1.79e-04 -4.1 1.73e-01 -4.2 1.00e+00 1.00e+00h 1 34 2.0840475e+00 7.89e-05 1.71e-02 -6.1 8.08e-01 -4.7 8.83e-01 1.00e+00h 1 35 2.0848550e+00 2.00e-04 2.53e-03 -4.0 1.51e+00 -5.2 1.00e+00 1.00e+00h 1 36 2.0843391e+00 1.78e-04 7.67e-04 -4.1 3.99e+00 -5.7 1.00e+00 1.00e+00h 1 37 2.0832095e+00 7.94e-04 7.60e-03 -6.2 1.13e+01 -6.1 9.86e-01 8.97e-01h 1 38 2.0829469e+00 4.80e-04 4.15e-02 -6.2 2.57e+01 -6.6 9.95e-01 4.52e-01h 1 39 2.0820086e+00 3.19e-04 1.58e-02 -6.2 6.27e+01 -7.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0823948e+00 7.00e-03 6.21e-02 -4.0 1.23e+02 -7.6 6.06e-01 7.93e-01f 1 41 2.0816957e+00 3.29e-03 4.89e-02 -4.2 1.72e+02 -8.1 7.76e-01 1.00e+00h 1 42 2.0815702e+00 2.51e-03 1.89e+00 -4.0 1.78e+02 -6.7 1.00e+00 2.33e-01h 1 43 2.0821646e+00 2.62e-03 1.68e-02 -3.9 3.25e+01 -7.2 9.89e-01 1.00e+00h 1 44 2.0957080e+00 2.47e-03 1.01e-01 -4.0 6.84e+01 -7.7 2.46e-01 1.00e+00h 1 45 2.0905101e+00 1.17e-07 7.69e-02 -4.0 5.18e-02 0.2 1.00e+00 1.00e+00h 1 46 2.0849122e+00 3.76e-08 4.45e-02 -4.0 8.91e-02 -0.3 1.00e+00 1.00e+00f 1 47 2.0820976e+00 1.28e-07 1.30e-02 -4.0 9.64e-02 -0.8 1.00e+00 1.00e+00h 1 48 2.0818384e+00 5.64e-09 1.25e-03 -4.0 2.41e-02 -1.3 1.00e+00 1.00e+00h 1 49 2.0819080e+00 4.67e-08 3.19e-04 -4.0 1.08e-02 -1.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817550e+00 1.04e-07 1.80e-04 -4.1 9.37e-03 -2.2 1.00e+00 1.00e+00h 1 51 2.0818780e+00 1.58e-07 2.23e-04 -4.0 7.30e-03 -2.7 1.00e+00 1.00e+00h 1 52 2.0817401e+00 1.78e-07 1.79e-04 -4.1 8.59e-03 -3.2 1.00e+00 1.00e+00h 1 53 2.0818807e+00 3.44e-07 2.23e-04 -4.0 1.86e-02 -3.7 1.00e+00 1.00e+00h 1 54 2.0817399e+00 7.57e-07 1.79e-04 -4.1 3.49e-02 -4.1 1.00e+00 1.00e+00h 1 55 2.0818865e+00 3.02e-06 2.23e-04 -4.0 1.63e-01 -4.6 1.00e+00 1.00e+00h 1 56 2.0817442e+00 6.85e-06 1.79e-04 -4.1 3.17e-01 -5.1 1.00e+00 1.00e+00h 1 57 2.0809856e+00 3.17e-04 3.80e-03 -6.1 3.32e+00 -5.6 9.89e-01 1.00e+00h 1 58 2.0806942e+00 4.65e-05 3.28e-03 -5.2 8.06e+00 -6.0 1.00e+00 8.79e-01h 1 59 2.0830906e+00 4.30e-03 5.75e-02 -4.0 3.47e+01 -6.5 7.10e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0840661e+00 3.04e-03 1.35e+00 -4.0 4.90e+01 -6.1 1.00e+00 3.86e-01h 1 61 2.0830111e+00 1.44e-04 3.95e-02 -4.0 1.47e-01 -2.1 8.28e-01 9.53e-01f 1 62 2.0826661e+00 1.13e-04 2.05e+00 -4.0 4.00e-01 -2.5 1.00e+00 2.16e-01f 1 63 2.0826855e+00 4.17e-05 9.96e-01 -4.0 1.10e-01 -3.0 1.00e+00 6.31e-01f 1 64 2.0826349e+00 3.32e-06 4.87e-04 -4.0 6.49e-02 -3.5 1.00e+00 1.00e+00f 1 65 2.0819883e+00 7.69e-06 2.25e-02 -6.0 1.15e-01 -4.0 9.03e-01 7.72e-01h 1 66 2.0817549e+00 9.00e-06 5.71e-05 -6.0 3.19e-01 -4.4 1.00e+00 1.00e+00h 1 67 2.0817032e+00 1.71e-07 6.43e-05 -6.0 9.59e-01 -4.9 1.00e+00 1.00e+00h 1 68 2.0829119e+00 1.87e-04 1.90e-03 -4.0 1.39e+00 -5.4 1.00e+00 1.00e+00f 1 69 2.0825143e+00 1.84e-05 7.24e-04 -4.1 5.59e-01 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0819809e+00 2.15e-04 3.41e-01 -6.1 4.69e+00 -5.4 8.28e-01 3.96e-01h 1 71 2.0812911e+00 3.65e-04 2.25e-02 -6.1 8.36e+00 -5.9 1.00e+00 8.16e-01h 1 72 2.0807928e+00 2.43e-04 2.64e-02 -6.1 2.13e+01 -6.4 1.00e+00 5.20e-01h 1 73 2.0806526e+00 2.14e-04 7.19e-02 -6.1 2.90e+01 -6.9 1.00e+00 1.29e-01h 1 74 2.0806186e+00 3.49e-05 8.91e-03 -5.6 1.49e+01 -7.3 1.00e+00 1.00e+00h 1 75 2.0851521e+00 1.41e-02 1.56e-01 -4.0 1.16e+02 -7.8 1.63e-01 1.00e+00f 1 76 2.0827199e+00 1.32e-02 1.21e+00 -4.5 5.66e+01 -5.6 9.08e-02 2.15e-01h 1 77 2.0823831e+00 1.37e-02 1.21e+00 -4.5 7.44e+02 -6.1 2.67e-05 1.88e-03f 1 78 2.0824003e+00 1.37e-02 1.21e+00 -4.5 2.88e+04 -6.5 8.31e-08 2.03e-05f 2 79 2.0823926e+00 1.35e-02 2.28e+00 -4.5 1.24e+00 -3.4 8.58e-01 1.24e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0821773e+00 6.56e-06 8.86e-04 -4.5 8.63e-02 -3.9 1.00e+00 1.00e+00f 1 81 2.0821722e+00 4.43e-07 7.09e-05 -4.5 2.51e-01 -4.4 1.00e+00 1.00e+00h 1 82 2.0818223e+00 3.82e-05 1.59e-04 -6.7 8.62e-01 -4.8 1.00e+00 1.00e+00h 1 83 2.0816608e+00 3.45e-06 8.61e-05 -6.7 2.52e+00 -5.3 1.00e+00 1.00e+00h 1 84 2.0824538e+00 5.20e-04 4.08e-03 -4.0 3.95e+00 -5.8 1.00e+00 1.00e+00f 1 85 2.0821042e+00 3.36e-04 4.26e-03 -4.1 5.76e+00 -6.3 1.00e+00 1.00e+00h 1 86 2.0819504e+00 7.56e-05 1.19e-03 -4.1 1.49e+01 -6.8 1.00e+00 1.00e+00h 1 87 2.0817307e+00 5.51e-05 3.27e-03 -4.1 3.55e+01 -7.2 1.00e+00 1.00e+00h 1 88 2.0865021e+00 7.26e-07 2.09e-01 -4.1 1.92e+02 -7.7 1.62e-01 1.00e+00H 1 89 2.0857921e+00 2.92e-05 1.95e+00 -4.1 4.15e+01 -5.5 3.65e-01 4.24e-02f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0855375e+00 7.39e-05 9.34e+00 -4.1 1.80e+01 -5.0 1.00e+00 2.39e-02h 3 91 2.0819339e+00 8.04e-05 5.66e-01 -4.1 1.45e+01 -5.5 1.00e+00 6.38e-01H 1 92 2.0819230e+00 2.29e-05 1.51e+00 -4.1 5.75e+00 -6.0 9.36e-01 1.37e-01f 3 93 2.0820178e+00 2.10e-06 1.30e-02 -4.1 1.12e+01 -6.5 7.99e-01 1.00e+00H 1 94 2.0818394e+00 2.93e-04 2.35e-03 -4.1 2.16e+01 -7.0 1.00e+00 1.00e+00h 1 95 2.0816793e+00 1.02e-04 4.49e-03 -4.1 5.37e+01 -7.4 1.00e+00 1.00e+00h 1 96 2.0818811e+00 1.56e-03 1.46e-02 -4.1 5.70e+01 -7.0 1.00e+00 1.00e+00h 1 97 2.0817893e+00 1.60e-03 2.58e-01 -4.1 3.33e+01 -5.7 1.32e-01 7.13e-02h 2 98 2.0817191e+00 8.80e-04 2.11e-01 -4.1 1.74e-01 -4.4 1.00e+00 4.51e-01h 2 99 2.0817125e+00 1.11e-05 1.75e-04 -4.1 3.58e-01 -4.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0810445e+00 2.05e-04 4.89e-03 -6.2 2.20e+00 -5.3 9.85e-01 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0810445281794339e+00 2.0810445281794339e+00 Dual infeasibility......: 4.8856726496344814e-03 4.8856726496344814e-03 Constraint violation....: 2.0529454358364507e-04 2.0529454358364507e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.8891859419107317e-05 1.8891859419107317e-05 Overall NLP error.......: 4.8856726496344814e-03 4.8856726496344814e-03 Number of objective function evaluations = 130 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 130 Number of inequality constraint evaluations = 130 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 39.140 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.066s) integrator 1 hessian structure: 0.056s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.057s) linear index maps built (0.0s) evaluator ready (total: 0.124s) evaluator created (0.124s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.124s) 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 3.1555233e+00 4.26e+00 9.62e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5355753e+00 7.83e-01 3.88e+00 -0.9 3.41e+00 0.0 4.26e-01 8.17e-01f 1 2 3.1574495e+00 9.90e-02 2.61e+00 -0.9 1.07e+00 -0.5 5.19e-01 1.00e+00f 1 3 2.7653364e+00 2.35e-01 6.52e-01 -0.9 1.96e+00 -1.0 6.23e-01 5.90e-01h 1 4 2.3203652e+00 2.57e-02 9.74e-01 -2.2 4.52e-01 -1.4 6.03e-01 1.00e+00h 1 5 2.2155223e+00 8.77e-03 2.26e-01 -1.9 3.12e-01 -1.9 9.96e-01 8.50e-01h 1 6 2.1009563e+00 5.46e-03 4.25e-02 -3.2 3.33e-01 -2.4 1.00e+00 9.24e-01h 1 7 2.0911131e+00 8.09e-05 1.23e-03 -4.0 3.08e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909469e+00 1.93e-06 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909325e+00 1.40e-08 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 2.0909324964202791e+00 2.0909324964202791e+00 Dual infeasibility......: 2.0588706012722806e-05 2.0588706012722806e-05 Constraint violation....: 1.3978118219327984e-08 1.3978118219327984e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000005138264722e-04 1.0000005138264722e-04 Overall NLP error.......: 2.0588706012722806e-05 2.0588706012722806e-05 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of equality constraint evaluations = 10 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 10 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 9 Total seconds in IPOPT = 27.797 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.073s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.073s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.128s) evaluator created (0.128s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.128s) 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 1.3950365e+00 4.17e+00 4.39e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6142266e+00 1.04e+00 1.91e+00 -0.8 2.53e+00 0.0 1.00e+00 7.53e-01h 1 2 2.2802831e+00 2.69e-01 2.07e+00 -0.9 5.48e-01 0.4 9.76e-01 7.40e-01h 1 3 2.4246049e+00 3.18e-02 3.07e-01 -1.3 2.21e-01 -0.1 9.99e-01 8.81e-01h 1 4 2.2585255e+00 1.04e-02 3.51e-01 -1.7 2.33e-01 -0.5 9.77e-01 7.06e-01h 1 5 2.1277631e+00 1.95e-03 4.61e-02 -2.8 5.93e-02 -1.0 1.00e+00 8.12e-01h 1 6 2.0911170e+00 1.11e-04 6.25e-03 -4.0 1.77e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0909063e+00 5.63e-07 2.69e-04 -4.0 6.51e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909073e+00 5.12e-09 3.69e-05 -4.0 1.01e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909056e+00 1.07e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909006e+00 9.68e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908857e+00 8.72e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908409e+00 7.85e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907065e+00 7.08e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903044e+00 6.40e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891072e+00 5.86e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855977e+00 5.53e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796394e+00 2.29e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.29e-01h 1 18 2.0807068e+00 1.66e-04 1.86e-01 -4.0 6.77e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775341e+00 7.75e-03 2.59e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769479e+00 1.40e-03 7.10e-02 -4.0 1.91e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0762974e+00 2.09e-03 2.11e-02 -4.0 3.38e+02 -8.6 1.00e+00 7.33e-01h 1 22 2.0755139e+00 1.67e-03 2.75e-02 -4.0 5.92e+02 -9.1 1.00e+00 7.54e-01h 1 23 2.0758058e+00 3.68e-03 1.55e-02 -4.0 1.77e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753932e+00 1.37e-03 7.99e-04 -4.1 1.02e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.54e-04 7.91e-06 -4.0 2.14e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.78e-07 1.10e-06 -4.0 1.19e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.22e-09 8.35e-08 -4.0 4.34e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.82e-11 1.52e-09 -4.0 6.89e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121581931e+00 2.0756712121581931e+00 Dual infeasibility......: 1.5183232867049638e-09 1.5183232867049638e-09 Constraint violation....: 3.8216874109764376e-11 3.8216874109764376e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 1.5183232867049638e-09 1.5183232867049638e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 30.071 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.117s) evaluator created (0.117s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.117s) 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 3.9468484e+00 3.75e+00 6.25e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0327571e+00 9.47e-02 4.63e+00 -0.9 2.17e+00 0.0 5.57e-01 1.00e+00f 1 2 2.4158686e+00 2.27e-02 6.09e-01 -1.0 1.73e-01 0.4 9.80e-01 1.00e+00f 1 3 2.3195082e+00 2.51e-03 3.04e-01 -1.8 1.19e-01 -0.1 9.79e-01 1.00e+00h 1 4 2.1245174e+00 1.92e-03 5.40e-02 -2.7 9.50e-02 -0.5 9.99e-01 8.66e-01f 1 5 2.0935635e+00 1.21e-04 4.30e-02 -3.8 2.33e-02 -1.0 9.98e-01 9.77e-01h 1 6 2.0908492e+00 4.65e-06 5.81e-03 -4.0 6.84e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909117e+00 2.81e-08 8.77e-05 -4.0 7.99e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909108e+00 4.33e-10 4.53e-05 -4.0 1.24e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909092e+00 1.08e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909042e+00 9.68e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0909041708570975e+00 2.0909041708570975e+00 Dual infeasibility......: 2.0585273753918270e-05 2.0585273753918270e-05 Constraint violation....: 9.6825466481403888e-10 9.6825466481403888e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999937e-05 9.9999999999999937e-05 Overall NLP error.......: 2.0585273753918270e-05 2.0585273753918270e-05 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 = 30.997 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.07s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.07s) integrator 1 hessian structure: 0.058s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.059s) linear index maps built (0.0s) evaluator ready (total: 0.129s) evaluator created (0.129s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.13s) 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.............: 0 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.3062094e+00 2.48e+00 4.19e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6405871e+00 2.19e-01 1.84e+00 -0.8 2.00e+00 - 1.00e+00 9.13e-01h 1 2 2.8254534e+00 1.44e-02 9.37e-01 -0.9 4.40e-01 - 7.96e-01 1.00e+00f 1 3 2.4829058e+00 6.48e-03 1.62e-01 -1.6 1.10e-01 - 9.56e-01 1.00e+00h 1 4 2.1646460e+00 6.90e-03 1.21e-01 -2.4 1.41e-01 - 9.66e-01 9.67e-01f 1 5 2.1026168e+00 1.37e-03 6.07e-02 -3.4 4.91e-02 - 1.00e+00 8.04e-01h 1 6 2.0907262e+00 1.51e-05 3.48e-03 -4.0 9.40e-03 - 1.00e+00 1.00e+00h 1 7 2.0908549e+00 5.13e-08 8.38e-04 -4.0 8.38e-04 - 1.00e+00 1.00e+00h 1 8 2.0908549e+00 3.89e-12 2.39e-05 -4.0 2.39e-05 - 1.00e+00 1.00e+00h 1 9 2.0908549e+00 1.19e-14 2.38e-05 -4.0 2.38e-05 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908549e+00 2.22e-16 2.37e-05 -4.0 2.37e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908548986083577e+00 2.0908548986083577e+00 Dual infeasibility......: 2.3711211748672189e-05 2.3711211748672189e-05 Constraint violation....: 2.2204460492503131e-16 2.2204460492503131e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000034e-04 1.0000000000000034e-04 Overall NLP error.......: 2.3711211748672189e-05 2.3711211748672189e-05 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 = 0 Total seconds in IPOPT = 9.547 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.113s) evaluator created (0.114s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.114s) 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 3.0320299e+00 3.95e+00 5.65e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7313814e+00 9.70e-02 3.30e+00 -1.0 2.15e+00 0.0 5.24e-01 1.00e+00f 1 2 2.3678514e+00 1.33e-02 8.74e-01 -1.0 1.84e-01 0.4 1.00e+00 9.49e-01h 1 3 2.3332616e+00 1.46e-03 3.66e-01 -1.7 1.40e-01 -0.1 1.00e+00 1.00e+00h 1 4 2.2335050e+00 7.44e-04 1.88e-01 -1.7 5.32e-02 -0.5 1.00e+00 1.00e+00h 1 5 2.1457418e+00 7.91e-04 1.06e-01 -2.5 5.18e-02 -1.0 1.00e+00 6.79e-01h 1 6 2.1145039e+00 7.65e-05 1.34e-02 -2.5 1.97e-02 -1.5 1.00e+00 1.00e+00f 1 7 2.0915926e+00 1.71e-05 9.09e-04 -3.8 6.43e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909644e+00 4.23e-07 2.06e-05 -4.0 5.64e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909628e+00 5.42e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909578e+00 9.71e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0909578239277260e+00 2.0909578239277260e+00 Dual infeasibility......: 2.0593073885086425e-05 2.0593073885086425e-05 Constraint violation....: 9.7067167324771386e-10 9.7067167324771386e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999937e-05 9.9999999999999937e-05 Overall NLP error.......: 2.0593073885086425e-05 2.0593073885086425e-05 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 = 28.295 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.07s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.125s) evaluator created (0.125s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 5 (0.001s) optimizer initialization complete (total: 0.126s) initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.051s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.112s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.048s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.328s sub-objective 2 (QuadraticRegularizer): 0.09s sub-objective 3 (LinearRegularizer): 0.072s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 0.599s hessian structure: 2431 nonzeros (0.696s) linear index maps built (0.0s) evaluator ready (total: 0.809s) evaluator created (0.809s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.127s) applying constraint: L1 slack constraint: |du| ≤ s_du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on s_du applying constraint: bounds on Δt linear constraints added: 6 (3.347s) optimizer initialization complete (total: 4.284s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1808 Number of nonzeros in inequality constraint Jacobian.: 80 Number of nonzeros in Lagrangian Hessian.............: 2239 Total number of variables............................: 122 variables with only lower bounds: 30 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 40 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.0235298e+00 2.55e+00 1.02e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.5504016e+00 3.61e+00 2.90e+00 -0.6 2.08e+01 -4.0 8.08e-01 8.93e-01f 1 2 2.7697480e+00 1.18e+00 1.22e+00 -1.0 7.97e+00 -2.7 4.99e-01 8.31e-01f 1 3 2.7127691e+00 1.03e+00 8.06e-01 -1.3 1.88e+01 -3.1 3.08e-01 4.20e-01h 1 4 2.5329837e+00 4.31e-01 5.82e-01 -1.2 5.45e+00 -2.7 5.66e-01 7.34e-01f 1 5 2.2843641e+00 4.09e-01 5.06e-01 -1.5 3.17e+00 -3.2 7.36e-01 1.00e+00f 1 6 2.1032504e+00 5.78e-02 7.34e-02 -2.1 4.53e+00 -3.7 7.78e-01 8.12e-01h 1 7 2.0061335e+00 4.72e-03 1.57e-02 -3.3 3.72e-01 -4.2 9.56e-01 9.90e-01h 1 8 2.0009707e+00 1.16e-04 9.97e-03 -4.0 5.50e-01 -4.6 9.89e-01 1.00e+00h 1 9 2.0011042e+00 6.13e-06 4.66e-02 -4.0 2.48e+00 -5.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0009708e+00 1.76e-08 5.85e-02 -4.0 3.00e+00 -5.6 1.00e+00 1.00e+00h 1 11 2.0012250e+00 3.62e-09 1.24e-01 -4.0 6.24e+00 -6.1 1.00e+00 1.00e+00f 1 12 2.0007303e+00 3.63e-08 1.01e-01 -4.2 6.55e+00 -6.5 1.00e+00 7.71e-01f 1 13 2.0014818e+00 2.94e-08 4.69e-01 -4.0 2.35e+01 -7.0 1.00e+00 1.00e+00f 1 14 2.0008987e+00 1.36e-07 2.43e-01 -4.1 1.87e+01 -7.5 1.00e+00 6.54e-01f 1 15 2.0012491e+00 5.74e-08 1.02e+00 -4.1 5.09e+01 -8.0 1.00e+00 1.00e+00f 1 16 2.0008474e+00 2.14e-07 1.34e+00 -4.1 7.31e+01 -8.4 1.00e+00 9.16e-01f 1 17 2.0013536e+00 5.72e-08 2.54e+00 -4.1 1.27e+02 -8.9 1.00e+00 1.00e+00f 1 18 2.0008619e+00 2.56e-07 3.34e+00 -4.1 1.88e+02 -9.4 1.00e+00 8.91e-01f 1 19 2.0013489e+00 5.67e-08 7.11e+00 -4.1 3.42e+02 -9.9 9.18e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0008042e+00 2.04e-07 9.59e+00 -4.1 5.23e+02 -10.4 9.85e-01 9.06e-01f 1 21 2.0014415e+00 1.56e-08 2.07e+01 -4.1 9.81e+02 -10.8 8.83e-01 1.00e+00f 1 22 2.0007439e+00 1.20e-07 2.40e+01 -4.1 1.45e+03 -11.3 9.99e-01 8.31e-01f 1 23 2.0015140e+00 1.48e-09 5.95e+01 -4.1 2.81e+03 -11.8 8.62e-01 1.00e+00f 1 24 2.0006428e+00 7.04e-08 1.64e+02 -4.1 2.00e+04 -12.3 4.35e-01 8.27e-01F 1 25 2.0024490e+00 1.05e-08 2.23e+02 -4.0 1.50e+04 -12.7 1.00e+00 1.00e+00f 1 26 2.0005121e+00 4.69e-08 7.01e+01 -4.2 6.98e+03 -13.2 1.00e+00 5.62e-01f 1 27 2.0021024e+00 3.29e-09 5.55e+02 -4.0 3.04e+04 -13.7 1.00e+00 1.00e+00f 1 28 2.0010342e+00 6.64e-09 5.23e+01 -4.2 8.10e+03 -14.2 1.00e+00 3.23e-01f 2 29 2.0007243e+00 1.86e-09 3.02e+02 -4.2 1.51e+04 -14.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0006069e+00 1.78e-10 3.26e+02 -4.2 1.63e+04 -15.1 1.00e+00 1.00e+00f 1 31 2.0005434e+00 2.88e-11 2.49e+02 -4.2 1.24e+04 -15.6 1.00e+00 1.00e+00f 1 32 2.0004971e+00 2.66e-12 1.00e+02 -4.2 5.01e+03 -16.1 1.00e+00 1.00e+00h 1 33 2.0009450e+00 5.26e-12 2.05e+02 -4.0 1.03e+04 -16.6 1.00e+00 1.00e+00f 1 34 2.0005392e+00 1.83e-12 2.04e+02 -4.1 1.02e+04 -17.0 1.00e+00 1.00e+00f 1 35 2.0006751e+00 2.01e-12 8.59e+01 -4.1 4.30e+03 -17.5 1.00e+00 1.00e+00f 1 36 2.0006341e+00 1.56e-12 3.58e+01 -4.1 1.79e+03 -18.0 1.00e+00 1.00e+00h 1 37 2.0006549e+00 3.02e-12 1.09e+01 -4.1 5.46e+02 -18.5 1.00e+00 1.00e+00h 1 38 2.0006480e+00 2.49e-12 6.23e+00 -4.1 3.11e+02 -18.9 1.00e+00 1.00e+00h 1 39 2.0006514e+00 4.49e-12 1.72e+00 -4.1 8.61e+01 -19.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0006502e+00 3.76e-12 1.04e+00 -4.1 5.21e+01 -19.9 1.00e+00 1.00e+00h 1 41 2.0006508e+00 2.83e-12 2.84e-01 -4.1 1.42e+01 -20.0 1.00e+00 1.00e+00h 1 42 2.0006506e+00 7.93e-13 1.74e-01 -4.1 8.68e+00 -20.0 1.00e+00 1.00e+00h 1 43 2.0006507e+00 4.71e-13 4.73e-02 -4.1 2.36e+00 -20.0 1.00e+00 1.00e+00h 1 44 2.0006507e+00 1.32e-13 2.89e-02 -4.1 1.45e+00 -20.0 1.00e+00 1.00e+00h 1 45 2.0006507e+00 7.84e-14 7.88e-03 -4.1 3.94e-01 -20.0 1.00e+00 1.00e+00h 1 46 2.0006507e+00 2.20e-14 4.82e-03 -4.1 2.41e-01 -20.0 1.00e+00 1.00e+00h 1 47 2.0006507e+00 1.31e-14 1.31e-03 -4.1 1.05e-01 -20.0 1.00e+00 1.00e+00h 1 48 2.0006507e+00 3.66e-15 8.04e-04 -4.1 1.05e-01 -20.0 1.00e+00 1.00e+00h 1 49 1.9998553e+00 1.36e-08 2.26e+02 -6.1 1.13e+04 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0006736e+00 3.64e-09 2.03e+03 -4.0 2.03e+05 -20.0 1.00e+00 5.00e-01f 2 51 2.0004362e+00 1.07e-10 2.18e+03 -3.9 1.09e+05 -20.0 1.00e+00 1.00e+00f 1 52 2.0009387e+00 3.21e-09 4.98e+02 -3.9 2.49e+04 -20.0 1.00e+00 1.00e+00f 1 53 2.0010182e+00 2.75e-09 1.02e+02 -3.9 5.10e+03 -20.0 1.00e+00 1.00e+00h 1 54 2.0010325e+00 7.37e-10 2.68e+01 -3.9 1.34e+03 -20.0 1.00e+00 1.00e+00h 1 55 2.0010487e+00 5.27e-10 6.56e+00 -3.9 3.28e+02 -20.0 1.00e+00 1.00e+00h 1 56 2.0010508e+00 1.32e-10 4.68e+00 -3.9 2.34e+02 -20.0 1.00e+00 1.00e+00h 1 57 2.0010534e+00 8.99e-11 1.14e+00 -3.9 5.70e+01 -20.0 1.00e+00 1.00e+00h 1 58 2.0010538e+00 2.22e-11 7.78e-01 -3.9 3.89e+01 -20.0 1.00e+00 1.00e+00h 1 59 2.0010542e+00 1.50e-11 1.91e-01 -3.9 9.56e+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 60 2.0010543e+00 3.70e-12 1.30e-01 -3.9 6.48e+00 -20.0 1.00e+00 1.00e+00h 1 61 2.0010543e+00 2.50e-12 3.19e-02 -3.9 1.60e+00 -20.0 1.00e+00 1.00e+00h 1 62 2.0010543e+00 6.16e-13 2.16e-02 -3.9 1.08e+00 -20.0 1.00e+00 1.00e+00h 1 63 2.0010544e+00 4.17e-13 5.32e-03 -3.9 4.65e-01 -20.0 1.00e+00 1.00e+00h 1 64 2.0010544e+00 1.03e-13 3.60e-03 -3.9 4.65e-01 -20.0 1.00e+00 1.00e+00h 1 65 2.0010544e+00 6.94e-14 8.86e-04 -3.9 4.65e-01 -20.0 1.00e+00 1.00e+00h 1 66 1.9998645e+00 8.06e-08 2.43e+02 -5.9 1.21e+04 -20.0 1.00e+00 1.00e+00f 1 67 1.9998444e+00 2.94e-13 2.22e+02 -5.9 1.20e+04 -20.0 9.27e-01 1.00e+00h 1 68 1.9529972e+00 2.84e-13 5.48e+05 -5.5 1.10e+08 -20.0 1.00e+00 2.50e-01f 3 69 1.9806207e+00 2.64e-13 3.63e+05 -4.0 2.91e+10 -20.0 1.00e+00 6.23e-04f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.9998812e+00 2.53e-12 2.36e+05 -2.3 8.74e+08 -20.0 1.00e+00 1.35e-02f 1 71 2.0031479e+00 1.67e-08 7.30e+02 -2.3 3.65e+04 -20.0 1.00e+00 1.00e+00f 1 72 2.0802019e+00 1.34e-03 1.82e+02 -2.3 9.10e+03 -20.0 1.00e+00 1.00e+00f 1 73 2.0405174e+00 5.95e-02 5.18e+02 -2.3 3.93e+04 -20.0 1.00e+00 1.00e+00h 1 74 2.0566472e+00 4.36e-02 2.17e+02 -2.3 6.30e+04 -20.0 1.00e+00 1.00e+00h 1 75 2.0515148e+00 1.43e-02 4.52e+01 -2.3 5.66e+04 -20.0 1.00e+00 1.00e+00h 1 76 2.0539511e+00 7.30e-03 2.31e+01 -2.3 6.33e+04 -20.0 1.00e+00 1.00e+00h 1 77 2.0530355e+00 2.52e-03 9.78e+00 -2.3 6.00e+04 -20.0 1.00e+00 1.00e+00h 1 78 2.0534380e+00 1.16e-03 3.69e+00 -2.3 6.03e+04 -20.0 1.00e+00 1.00e+00h 1 79 2.0532849e+00 4.13e-04 1.66e+00 -2.3 5.89e+04 -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 2.0533518e+00 1.86e-04 6.08e-01 -2.3 5.82e+04 -20.0 1.00e+00 1.00e+00h 1 81 2.0533263e+00 6.68e-05 2.77e-01 -2.3 5.73e+04 -20.0 1.00e+00 1.00e+00h 1 82 2.0533374e+00 3.00e-05 1.01e-01 -2.3 5.65e+04 -20.0 1.00e+00 1.00e+00h 1 83 2.0533332e+00 1.08e-05 4.61e-02 -2.3 5.56e+04 -20.0 1.00e+00 1.00e+00h 1 84 2.0031712e+00 3.00e-01 2.57e+02 -3.4 1.01e+05 -20.0 1.00e+00 1.00e+00f 1 85 2.0039029e+00 2.08e-05 8.57e+01 -3.4 4.29e+03 -20.0 1.00e+00 1.00e+00h 1 86 2.0041148e+00 3.49e-07 1.44e+02 -3.4 7.18e+03 -20.0 1.00e+00 1.00e+00h 1 87 2.0037316e+00 4.58e-07 7.69e+00 -3.4 3.84e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0038128e+00 2.11e-08 2.83e+01 -3.4 1.42e+03 -20.0 1.00e+00 1.00e+00h 1 89 2.0037428e+00 7.89e-08 7.42e-01 -3.4 3.71e+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 2.0037566e+00 3.33e-09 4.89e+00 -3.4 2.44e+02 -20.0 1.00e+00 1.00e+00h 1 91 2.0037448e+00 1.31e-08 1.93e-01 -3.4 1.93e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0037470e+00 5.49e-10 8.19e-01 -3.4 4.10e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0037451e+00 2.17e-09 3.42e-02 -3.4 1.92e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0037455e+00 9.12e-11 1.37e-01 -3.4 1.92e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0037451e+00 3.62e-10 5.75e-03 -3.4 1.92e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0037452e+00 1.52e-11 2.28e-02 -3.4 1.92e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0037451e+00 6.02e-11 9.61e-04 -3.4 1.92e+01 -20.0 1.00e+00 1.00e+00h 1 98 1.9999234e+00 9.32e-06 2.63e+02 -5.1 1.31e+04 -20.0 1.00e+00 1.00e+00f 1 99 1.9999296e+00 4.72e-11 8.61e+01 -5.1 4.30e+03 -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 1.9998761e+00 3.69e-13 1.04e+03 -5.1 5.20e+04 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.9998760591625084e+00 1.9998760591625084e+00 Dual infeasibility......: 1.0403759456661917e+03 1.0403759456661917e+03 Constraint violation....: 3.6913310949571176e-13 3.6913310949571176e-13 Variable bound violation: 4.8689520512567786e-09 4.8689520512567786e-09 Complementarity.........: 7.8663490496741678e-06 7.8663490496741678e-06 Overall NLP error.......: 1.0403759456661917e+03 1.0403759456661917e+03 Number of objective function evaluations = 109 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 109 Number of inequality constraint evaluations = 109 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 50.427 EXIT: Maximum Number of Iterations Exceeded. Difference in Hessian Difference in Jacobian initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.066s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.057s) linear index maps built (0.0s) evaluator ready (total: 0.123s) evaluator created (0.124s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 6 (0.134s) optimizer initialization complete (total: 0.258s) 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 4.0236895e+00 2.06e+00 5.96e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7199620e+00 2.74e-02 4.12e-01 -1.0 1.92e+00 - 1.00e+00 1.00e+00f 1 2 2.4329353e+00 7.87e-03 1.76e-01 -1.5 1.44e-01 - 8.84e-01 1.00e+00f 1 3 2.1583191e+00 2.94e-03 2.33e-02 -2.4 5.94e-02 - 9.23e-01 9.30e-01h 1 4 2.0922598e+00 9.10e-05 1.36e-03 -4.0 1.14e-02 - 9.80e-01 1.00e+00h 1 5 2.0908978e+00 2.10e-05 8.79e-04 -4.0 1.83e-01 - 1.00e+00 1.00e+00h 1 6 2.0908975e+00 7.98e-08 4.58e-07 -4.0 1.51e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 7.78e-10 3.50e-10 -4.0 1.66e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971968989016e+00 2.0908971968989016e+00 Dual infeasibility......: 3.5039596433237598e-10 3.5039596433237598e-10 Constraint violation....: 7.7836506603154790e-10 7.7836506603154790e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000453903254736e-04 1.0000453903254736e-04 Overall NLP error.......: 4.5428456547751128e-09 4.5428456547751128e-09 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 = 28.487 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.12s) evaluator created (0.12s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.121s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1791907e+00 1.72e+00 7.67e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1558347e+00 6.34e-01 2.74e+00 -0.7 6.26e+00 -4.0 1.00e+00 6.97e-01f 1 2 2.2242593e+00 6.81e-01 1.24e+01 -1.4 4.25e+01 -4.5 7.60e-01 3.49e-01h 1 3 2.5899370e+00 6.31e-01 1.37e+01 -0.8 7.75e+01 -4.1 5.31e-01 6.36e-01f 1 4 2.8846148e+00 5.04e-01 9.03e+00 -0.7 6.49e+00 -2.7 1.00e+00 7.51e-01h 1 5 2.7774596e+00 5.86e-01 3.00e+00 -1.0 9.80e+00 -3.2 9.90e-01 1.00e+00f 1 6 2.9475138e+00 4.45e-01 2.18e+00 -0.7 8.44e+00 -2.8 8.59e-01 1.00e+00h 1 7 2.7578148e+00 1.06e-01 5.90e-01 -0.9 9.24e-01 -1.4 1.00e+00 7.76e-01h 1 8 2.4316271e+00 3.55e-02 1.52e-01 -1.7 4.99e-01 -1.9 9.64e-01 1.00e+00h 1 9 2.2732033e+00 1.97e-02 3.09e-01 -2.1 1.83e+00 -2.4 8.68e-01 5.69e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1334404e+00 2.80e-02 2.16e-01 -2.5 1.22e+00 -2.9 9.96e-01 7.84e-01h 1 11 2.1045848e+00 6.66e-03 1.57e-01 -2.9 4.87e-01 -3.4 1.00e+00 7.55e-01h 1 12 2.0910180e+00 1.02e-03 2.94e-02 -3.9 4.23e-01 -3.8 1.00e+00 9.90e-01h 1 13 2.0907188e+00 4.63e-05 7.46e-04 -4.0 3.71e-01 -4.3 1.00e+00 1.00e+00h 1 14 2.0906239e+00 1.64e-06 1.55e-04 -4.0 1.02e+00 -4.8 1.00e+00 1.00e+00h 1 15 2.0903911e+00 1.88e-06 8.80e-04 -4.0 2.44e+00 -5.3 1.00e+00 1.00e+00h 1 16 2.0900521e+00 3.75e-06 2.66e-03 -4.0 3.87e+00 -5.7 1.00e+00 1.00e+00h 1 17 2.0899013e+00 3.38e-06 2.03e-03 -4.0 5.55e+00 -6.2 1.00e+00 1.00e+00h 1 18 2.0898528e+00 1.18e-06 1.48e-03 -4.0 8.57e+00 -6.7 1.00e+00 1.00e+00h 1 19 2.0898328e+00 2.35e-07 1.26e-03 -4.0 1.13e+01 -7.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898243e+00 1.58e-06 6.02e-04 -4.0 8.65e+00 -7.6 1.00e+00 1.00e+00h 1 21 2.0898221e+00 2.95e-07 5.96e-05 -4.0 2.44e+00 -8.1 1.00e+00 1.00e+00h 1 22 2.0898219e+00 3.69e-09 6.91e-07 -4.0 3.28e-01 -8.6 1.00e+00 1.00e+00h 1 23 2.0898218e+00 5.79e-12 1.85e-09 -4.0 2.45e-02 -9.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0898218499915777e+00 2.0898218499915777e+00 Dual infeasibility......: 1.8516537124662995e-09 1.8516537124662995e-09 Constraint violation....: 5.7904236960837352e-12 5.7904236960837352e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.8516537124662995e-09 1.8516537124662995e-09 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 28.643 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.11s) evaluator created (0.11s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.11s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.6857738e+00 2.58e+00 3.91e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0474445e+00 2.60e+00 2.72e+01 1.5 8.14e+02 -2.0 1.23e-02 3.73e-03f 1 2 2.8836813e+00 3.14e+00 3.84e+01 -4.0 2.11e+02 -2.5 1.82e-02 2.37e-02h 1 3 3.1678668e+00 8.35e+00 4.67e+01 0.6 2.25e+02 -3.0 1.59e-01 1.96e-01f 1 4 2.8037690e+00 6.90e+00 3.80e+01 -0.0 5.74e+01 -1.6 1.27e-01 1.82e-01h 1 5 2.8070975e+00 6.60e+00 8.80e+02 0.3 5.52e+01 -2.1 3.86e-01 3.55e-02h 1 6 3.1933785e+00 6.51e+00 9.74e+04 1.7 5.54e+02 -2.6 9.23e-01 1.33e-02h 1 7 3.2021304e+00 6.45e+00 1.09e+07 1.9 1.17e+02 -3.1 1.00e+00 9.06e-03h 1 8 3.2032788e+00 6.45e+00 3.88e+10 2.5 3.10e+02 -3.5 1.00e+00 2.81e-04h 1 9r 3.2032788e+00 6.45e+00 9.51e+02 2.5 0.00e+00 -4.0 0.00e+00 4.14e-07R 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10r 3.0197261e+00 1.42e+00 8.05e+02 -3.6 4.52e+02 - 4.32e-01 5.03e-02f 1 11r 3.0197261e+00 1.42e+00 9.99e+02 0.2 0.00e+00 -4.5 0.00e+00 4.81e-07R 2 12r 2.4314035e+00 6.29e-01 9.96e+02 2.0 5.73e+03 - 3.94e-03 1.43e-03f 1 13 2.5298823e+00 3.38e-01 6.45e-01 -1.2 1.19e+01 -5.0 4.41e-01 4.64e-01h 1 14 2.5360990e+00 3.34e-01 2.38e+01 -1.2 1.36e+01 -5.4 4.19e-01 1.02e-02h 1 15 2.8274902e+00 4.42e-01 4.95e+02 -0.4 1.18e+02 -5.9 1.00e+00 4.17e-02h 1 16 3.0576247e+00 4.32e-01 9.19e+03 0.5 2.52e+02 -6.4 1.00e+00 2.20e-02f 2 17 3.3150508e+00 4.19e-01 3.15e+05 1.4 1.02e+02 -6.9 1.00e+00 2.99e-02h 1 18 3.3255324e+00 4.19e-01 2.22e+08 1.5 1.95e+01 -7.4 1.00e+00 1.21e-03h 1 19 3.3269099e+00 4.19e-01 1.30e+12 1.9 1.22e+02 -7.8 1.00e+00 1.68e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 3.3269099e+00 4.19e-01 9.99e+02 2.5 0.00e+00 -8.3 0.00e+00 4.65e-07R 4 21r 3.5084976e+00 2.58e-01 4.40e+02 -3.6 2.26e+00 - 6.07e-01 5.23e-01f 1 22r 3.5084976e+00 2.58e-01 9.99e+02 -0.6 0.00e+00 -8.8 0.00e+00 4.83e-07R 3 23r 3.5787383e+00 2.85e-01 9.96e+02 1.4 1.02e+02 - 5.24e-03 2.60e-03f 1 24r 3.5973641e+00 2.70e-01 9.54e+02 0.9 6.88e+00 - 1.00e+00 6.95e-03f 1 25r 3.8717383e+00 2.00e-01 1.67e+02 0.0 6.66e-01 - 1.00e+00 8.28e-01f 1 26 3.8724213e+00 1.99e-01 2.76e+02 -1.4 4.31e-01 -9.3 8.05e-01 3.51e-03h 1 27 3.9261003e+00 1.99e-01 2.26e+05 0.8 2.89e+02 -9.7 9.94e-01 9.12e-04f 2 28 3.9293064e+00 1.99e-01 4.42e+06 2.5 2.67e+02 -10.2 2.46e-02 3.75e-05h 6 29 3.9319624e+00 1.99e-01 1.69e+08 1.3 5.06e+01 -10.7 4.48e-02 7.40e-05h 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 3.9349405e+00 1.99e-01 1.49e+11 1.9 5.08e+01 -11.2 1.00e+00 6.98e-05h 5 31 3.9375555e+00 1.99e-01 7.14e+12 2.5 4.96e+01 -11.6 5.04e-02 6.59e-05h 5 32 3.9400976e+00 1.99e-01 1.09e+14 2.5 4.83e+01 -12.1 1.44e-02 6.22e-05h 5 33 3.9424800e+00 1.99e-01 1.15e+17 2.5 4.74e+01 -12.6 1.00e+00 5.86e-05h 5 34 3.9446554e+00 1.99e-01 3.66e+17 2.5 4.92e+01 -13.1 1.07e-02 5.14e-05h 5 35 3.9467025e+00 1.99e-01 2.14e+17 2.5 4.83e+01 -13.6 3.71e-02 4.85e-05h 5 36 3.9486384e+00 1.99e-01 6.81e+17 2.5 4.79e+01 -14.0 5.20e-02 4.54e-05h 5 37 3.9504536e+00 1.99e-01 2.11e+17 2.5 4.81e+01 -14.5 1.06e-01 4.28e-05h 5 38 3.9538618e+00 1.99e-01 6.62e+17 2.5 1.44e+02 -15.0 1.22e-02 8.07e-05h 4 39 3.9568486e+00 1.99e-01 2.04e+17 2.5 4.33e+02 -15.5 1.00e+00 7.15e-05h 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.9594404e+00 1.99e-01 6.96e+17 2.5 1.25e+03 -15.9 1.14e-02 6.32e-05h 4 41 3.9617181e+00 1.99e-01 1.95e+17 2.5 3.79e+03 -16.4 3.94e-02 5.60e-05h 4 42 3.9637285e+00 1.99e-01 7.07e+17 2.5 1.16e+04 -16.9 3.56e-02 4.95e-05h 4 43 3.9672516e+00 1.99e-01 1.71e+17 2.5 3.50e+04 -17.4 1.00e+00 8.79e-05h 3 44 3.9698943e+00 1.99e-01 7.44e+17 2.5 1.04e+05 -17.8 1.24e-02 6.79e-05h 3 45 3.9718873e+00 1.99e-01 1.31e+17 2.5 3.16e+05 -18.3 1.13e-01 5.30e-05h 3 46 3.9726414e+00 1.99e-01 7.79e+17 2.5 9.51e+05 -18.8 2.16e-02 2.08e-05h 4 47 3.9779257e+00 1.99e-01 4.56e+16 2.5 2.86e+06 -19.3 1.50e-04 1.50e-04s 10 48 3.9779837e+00 1.99e-01 4.56e+16 1.8 2.41e+06 -19.8 3.22e-05 3.22e-05s 8 49r 3.9779837e+00 1.99e-01 1.00e+03 1.1 0.00e+00 -20.0 0.00e+00 3.32e-07R 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50r 3.9779475e+00 1.99e-01 2.48e+02 -4.0 2.06e-01 - 9.48e-01 7.48e-01f 1 51r 4.0376240e+00 1.99e-01 1.48e+00 -0.3 7.76e+00 - 9.92e-01 1.00e+00f 1 52r 4.1973875e+00 1.99e-01 5.69e+01 -1.6 2.17e+00 - 9.47e-01 7.16e-01f 1 53r 4.1978291e+00 1.99e-01 3.03e-01 -2.0 3.04e-03 2.0 1.00e+00 1.00e+00f 1 54r 4.2003175e+00 1.99e-01 2.87e-01 -3.7 3.92e-03 1.5 1.00e+00 9.57e-01f 1 55r 4.2002571e+00 1.99e-01 8.17e-04 -4.0 1.01e-04 1.0 1.00e+00 1.00e+00f 1 56r 4.1838285e+00 1.99e-01 9.47e-05 -4.0 9.60e+00 - 1.00e+00 1.00e+00f 1 57r 4.1819939e+00 1.99e-01 1.38e-06 -4.0 2.29e+00 - 1.00e+00 1.00e+00h 1 58r 4.1819980e+00 1.99e-01 1.00e-09 -4.0 9.37e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 58 (scaled) (unscaled) Objective...............: 4.1819980246522386e+00 4.1819980246522386e+00 Dual infeasibility......: 1.9836152823145565e+00 1.9836152823145565e+00 Constraint violation....: 1.9875045033624184e-01 1.9875045033624184e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000003930422e-04 1.0000000003930422e-04 Overall NLP error.......: 1.9836152823145565e+00 1.9836152823145565e+00 Number of objective function evaluations = 182 Number of objective gradient evaluations = 49 Number of equality constraint evaluations = 182 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 65 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 59 Total seconds in IPOPT = 31.466 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.071s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.072s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1804 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.127s) evaluator created (0.127s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.127s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 6.3795658e+00 3.63e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.6906286e+00 1.07e-01 1.96e+00 -0.9 1.98e+00 0.0 7.37e-01 1.00e+00f 1 2 2.8402441e+00 4.30e-03 6.72e-01 -1.0 2.62e-01 0.4 9.72e-01 1.00e+00f 1 3 2.4679148e+00 2.12e-03 1.15e-01 -1.8 7.44e-02 -0.1 9.44e-01 1.00e+00f 1 4 2.1339382e+00 3.11e-03 4.96e-02 -2.5 9.56e-02 -0.5 9.97e-01 8.37e-01f 1 5 2.0946124e+00 8.11e-05 7.76e-03 -3.2 1.66e-02 -1.0 9.90e-01 1.00e+00h 1 6 2.0909140e+00 1.26e-06 7.31e-04 -4.0 2.34e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909177e+00 5.56e-09 7.80e-05 -4.0 7.11e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909172e+00 1.12e-11 4.02e-05 -4.0 1.10e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909155e+00 1.07e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909105e+00 9.66e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908956e+00 8.70e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908508e+00 7.83e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907164e+00 7.06e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903143e+00 6.39e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891170e+00 5.84e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856072e+00 5.51e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796316e+00 2.29e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.31e-01h 1 18 2.0806934e+00 1.70e-04 1.89e-01 -4.0 6.88e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775262e+00 7.88e-03 2.65e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769798e+00 1.92e-03 8.44e-02 -4.0 2.09e+02 -8.2 9.80e-01 1.00e+00h 1 21 2.0763675e+00 1.96e-03 2.76e-02 -4.0 3.55e+02 -8.6 1.00e+00 6.45e-01h 1 22 2.0755465e+00 1.73e-03 2.74e-02 -4.0 6.28e+02 -9.1 1.00e+00 7.64e-01h 1 23 2.0758135e+00 4.18e-03 1.72e-02 -4.0 1.88e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753850e+00 1.41e-03 9.25e-04 -4.1 1.10e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.70e-04 9.65e-06 -4.0 2.14e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 6.19e-07 1.11e-06 -4.0 1.19e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.22e-09 8.34e-08 -4.0 4.30e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.77e-11 1.50e-09 -4.0 6.81e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121572454e+00 2.0756712121572454e+00 Dual infeasibility......: 1.5022333613601974e-09 1.5022333613601974e-09 Constraint violation....: 3.7722269752293869e-11 3.7722269752293869e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000007e-04 1.0000000000000007e-04 Overall NLP error.......: 1.5022333613601974e-09 1.5022333613601974e-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 = 33.390 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.075s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.117s jacobian structure: 1600 nonzeros (3.192s) integrator 1 hessian structure: 0.057s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.842s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (4.902s) linear index maps built (0.0s) evaluator ready (total: 8.095s) evaluator created (8.122s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 5 (0.0s) optimizer initialization complete (total: 8.123s) This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 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 inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 5.9061635e+00 3.12e+00 6.03e-01 9.62e-01 -1.0 - 0.00e+00 1 0 1 4.5226483e+00 2.17e+00 1.69e+00 4.75e-01 -1.0 -2.0 3.04e-01 1 1h 2 2.8024924e+00 1.72e-01 3.18e+00 2.79e-01 -1.0 -1.6 9.83e-01 2 1h 3 2.7692050e+00 1.87e-01 3.09e+00 1.48e-01 -1.0 -1.1 1.00e+00 1 1h 4 2.7487727e+00 9.93e-02 2.47e+00 1.19e-01 -1.0 -0.7 1.00e+00 1 1h 5 2.7578587e+00 9.30e-03 2.00e-01 1.28e-01 -1.0 -1.2 1.00e+00 2 1h 6 2.3501100e+00 2.11e-02 1.47e-01 3.54e-02 -1.7 -1.7 1.00e+00 2 1h 7 2.1575396e+00 2.70e-02 2.02e-01 1.22e-02 -2.5 -2.2 8.14e-01 2 1h 8 2.1144938e+00 1.29e-03 1.69e-02 3.26e-03 -2.5 -2.6 1.00e+00 2 1h 9 2.0915078e+00 1.64e-03 5.98e-02 1.79e-04 -3.8 -3.1 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0914595e+00 2.53e-06 3.82e-04 1.53e-04 -3.8 -3.6 1.00e+00 2 1h 11 2.0900862e+00 3.98e-05 8.61e-05 7.31e-06 -5.7 -4.1 1.00e+00 2 1h 12 2.0900425e+00 7.16e-05 2.47e-03 3.37e-06 -5.7 -4.5 2.89e-01 2 1h 13 2.0899902e+00 3.96e-04 2.95e-03 3.33e-06 -5.7 -5.0 3.60e-01 2 1h 14 2.0900007e+00 3.91e-04 3.44e-02 1.71e-03 -5.7 -5.5 2.34e-02 2 1h 15 2.0891567e+00 1.05e-02 3.32e-02 1.30e-03 -5.7 -6.0 1.00e+00 2 1h 16 2.0869103e+00 2.89e-05 1.71e-02 2.25e-05 -5.7 -6.4 1.00e+00 1 1h 17 2.0866513e+00 1.80e-05 1.39e-01 2.09e-06 -5.7 -5.1 3.75e-01 1 1h 18 2.0861476e+00 3.01e-07 1.49e-03 3.82e-06 -5.7 -5.6 1.00e+00 1 1h 19 2.0856622e+00 4.59e-07 3.13e-02 2.08e-06 -5.7 -6.1 3.64e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0830076e+00 1.19e-05 1.99e-02 4.83e-06 -5.7 -6.5 1.00e+00 1 1h 21 2.0821132e+00 1.03e-05 8.53e-02 2.45e-06 -5.7 -7.0 2.78e-01 1 1h 22 2.0816706e+00 9.47e-06 1.03e-01 5.73e-06 -5.7 -7.5 1.20e-01 2 1h 23 2.0813447e+00 2.28e-05 1.68e-01 1.43e-05 -5.7 -8.0 3.76e-01 2 1h 24 2.0806800e+00 3.03e-05 7.74e-02 6.53e-06 -5.7 -8.5 9.39e-01 1 1h 25 2.0821820e+00 2.60e-08 2.21e-01 5.32e-04 -5.7 -7.1 1.00e+00 1 1H 26 2.0808448e+00 9.95e-06 4.14e-01 4.19e-05 -5.7 -4.9 9.63e-01 1 1h 27 2.0808410e+00 9.95e-06 4.29e-01 3.49e-05 -5.7 -5.4 4.96e-04 2 2h 28 2.0808292e+00 9.71e-06 1.19e+00 3.47e-05 -5.7 -5.9 3.63e-02 2 1h 29 2.0807937e+00 7.39e-06 9.79e-01 2.08e-05 -5.7 -6.3 2.20e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0807534e+00 7.24e-06 1.41e-02 3.49e-06 -5.7 -6.8 1.00e+00 2 1h 31 2.0806694e+00 1.86e-06 1.08e-03 2.01e-06 -5.7 -7.3 1.00e+00 2 1h 32 2.0806319e+00 5.04e-06 2.15e-03 8.42e-05 -5.7 -6.9 1.00e+00 1 1h 33 2.0806089e+00 3.90e-06 4.27e-03 1.84e-06 -5.7 -7.3 1.00e+00 1 1h 34 2.0806114e+00 4.09e-06 5.57e-02 1.89e-06 -5.7 -6.0 7.19e-02 1 3h 35 2.0806101e+00 7.54e-08 3.47e-05 2.27e-06 -5.7 -4.7 1.00e+00 1 1h 36 2.0806094e+00 4.81e-08 1.70e-04 1.84e-06 -5.7 -5.2 1.00e+00 2 1h 37 2.0806097e+00 3.68e-08 4.24e-05 1.84e-06 -5.7 -5.6 1.00e+00 2 1h 38 2.0806087e+00 2.60e-08 6.36e-06 1.85e-06 -5.7 -6.1 1.00e+00 1 1h 39 2.0805859e+00 3.96e-06 5.36e-04 4.46e-07 -8.6 -6.6 9.23e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805843e+00 1.79e-08 3.86e-06 1.11e-08 -8.6 -5.3 1.00e+00 1 1h 41 2.0805842e+00 1.10e-11 4.97e-07 3.06e-09 -8.6 -4.8 1.00e+00 1 1h 42 2.0805839e+00 2.13e-12 1.11e-05 2.53e-09 -8.6 -5.3 1.00e+00 2 1h 43 2.0805838e+00 2.00e-13 7.16e-07 2.51e-09 -8.6 -4.9 1.00e+00 1 1h 44 2.0805836e+00 2.84e-13 3.82e-03 2.54e-09 -8.6 -5.4 5.67e-01 2 1h 45 2.0805826e+00 4.93e-12 4.86e-06 1.58e-08 -8.6 -5.8 1.00e+00 2 1h 46 2.0805821e+00 7.11e-12 2.00e-02 3.18e-09 -8.6 -6.3 1.42e-01 2 1h 47 2.0805742e+00 1.30e-10 3.91e-05 5.29e-09 -8.6 -6.8 1.00e+00 2 1h 48 2.0805723e+00 1.18e-10 2.58e-03 4.10e-09 -8.6 -7.3 1.09e-01 2 1h 49 2.0805713e+00 1.13e-10 1.02e-02 6.08e-09 -8.6 -7.7 4.36e-02 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805480e+00 2.54e-09 1.69e-03 7.42e-09 -8.6 -8.2 1.00e+00 1 1h 51 2.0805379e+00 2.09e-09 1.67e-03 2.76e-09 -8.6 -8.7 1.00e+00 1 1h 52 2.1203050e+00 1.30e-13 2.49e-01 7.08e-06 -8.6 -7.4 1.00e+00 1 1H 53 2.1203007e+00 2.04e-13 2.49e-01 7.10e-06 -8.6 -4.2 1.58e-05 1 7h 54 2.1202900e+00 2.86e-13 5.58e-01 7.11e-06 -8.6 -3.8 1.12e-04 1 6h 55 2.1202858e+00 3.12e-13 5.87e-01 7.11e-06 -8.6 -3.4 4.92e-05 1 12h 56 2.1202843e+00 3.50e-13 6.20e-01 7.12e-06 -8.6 -3.9 1.44e-05 1 13h 57 2.1202711e+00 3.87e-13 1.17e+02 9.05e-06 -8.6 -0.7 1.73e-04 1 1h 58 2.0890987e+00 1.67e-08 1.18e+02 7.11e-06 -8.6 -1.2 5.76e-01 2 1h 59 2.0805917e+00 3.16e-08 1.13e+02 7.25e-06 -8.6 -1.7 9.51e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805906e+00 4.45e-10 6.15e+01 4.01e-06 -8.6 -2.2 1.00e+00 1 1h 61 2.0805861e+00 2.93e-09 5.85e+01 3.80e-06 -8.6 -2.6 2.98e-01 1 1h 62 2.0805903e+00 2.57e-09 5.79e-01 5.05e-06 -8.6 -3.1 5.02e-01 1 1H 63 2.0805866e+00 2.12e-13 4.41e-05 7.15e-07 -8.6 -3.6 1.00e+00 1 1H 64 2.0805863e+00 7.97e-10 2.79e-02 5.08e-07 -8.6 -4.1 3.06e-01 2 1h 65 2.0805859e+00 7.62e-09 1.54e-02 1.73e-07 -8.6 -4.5 6.58e-01 2 1h 66 2.0805858e+00 7.05e-09 1.50e-02 1.11e-07 -8.6 -5.0 3.63e-01 2 1h 67 2.0805851e+00 3.16e-08 1.54e-05 5.42e-09 -8.6 -5.5 1.00e+00 2 1h 68 2.0805836e+00 5.16e-10 1.90e-06 2.57e-09 -8.6 -6.0 1.00e+00 2 1h 69 2.0805794e+00 1.68e-09 1.55e-05 2.51e-09 -8.6 -6.4 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 70 2.0805694e+00 3.87e-09 1.07e-04 2.51e-09 -8.6 -6.9 1.00e+00 2 1h 71 2.0805526e+00 2.13e-09 4.70e-04 2.51e-09 -8.6 -7.4 1.00e+00 2 1h 72 2.0805397e+00 9.94e-10 2.21e-03 2.51e-09 -8.6 -7.9 1.00e+00 2 1h 73 2.0805487e+00 6.40e-10 3.51e-04 2.18e-05 -8.6 -6.6 1.00e+00 1 1h 74 2.0805380e+00 4.70e-10 2.70e-03 2.51e-09 -8.6 -7.0 1.00e+00 2 1h 75 2.0805368e+00 1.62e-10 4.53e-02 2.66e-09 -8.6 -5.7 5.83e-01 1 1h 76 2.0805378e+00 3.06e-11 1.90e-05 1.77e-06 -8.6 -6.2 1.00e+00 2 1h 77 2.0805371e+00 2.18e-11 1.05e-05 3.29e-07 -8.6 -6.7 1.00e+00 1 1h 78 2.0805368e+00 4.62e-12 5.39e-06 6.22e-08 -8.6 -6.2 1.00e+00 1 1h 79 2.0805367e+00 1.91e-11 7.21e-07 1.60e-08 -8.6 -6.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 80 2.0805367e+00 3.61e-11 9.55e-07 5.10e-09 -8.6 -7.2 1.00e+00 2 1h 81 2.0805366e+00 2.51e-11 1.40e-04 2.51e-09 -8.6 -7.7 1.00e+00 1 1h 82 2.0805366e+00 3.29e-13 5.34e-07 1.66e-08 -8.6 -6.3 1.00e+00 1 1h 83 2.0805366e+00 3.13e-13 1.97e-07 3.15e-09 -8.6 -6.8 1.00e+00 1 1h 84 2.0805366e+00 5.33e-14 8.23e-08 2.53e-09 -8.6 -6.4 1.00e+00 1 1h 85 2.0805366e+00 2.26e-13 8.57e-07 2.51e-09 -8.6 -6.9 1.00e+00 2 1h 86 2.0805366e+00 2.20e-12 1.28e-05 3.73e-09 -8.6 -6.4 1.00e+00 1 1h 87 2.0805366e+00 4.76e-12 1.14e-05 2.51e-09 -8.6 -6.0 1.00e+00 1 1h 88 2.0805366e+00 4.46e-13 4.33e-06 3.06e-09 -8.6 -6.5 1.00e+00 1 1h 89 2.0805366e+00 2.97e-12 1.38e-06 2.51e-09 -8.6 -7.0 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 90 2.0805365e+00 4.63e-12 1.48e-07 2.51e-09 -8.6 -7.4 1.00e+00 1 1h 91 2.0805365e+00 9.34e-12 5.78e-07 2.51e-09 -8.6 -7.9 1.00e+00 2 1h 92 2.0805365e+00 1.63e-11 1.69e-06 2.51e-09 -8.6 -8.4 1.00e+00 1 1h 93 2.0805365e+00 1.37e-11 1.45e-06 2.51e-09 -8.6 -8.9 1.00e+00 1 1h 94 2.0805365e+00 2.45e-12 2.20e-07 2.51e-09 -8.6 -9.3 1.00e+00 1 1h 95 2.0805365e+00 5.94e-14 4.48e-09 2.51e-09 -8.6 -9.8 1.00e+00 1 1h Number of Iterations....: 95 (scaled) (unscaled) Objective...............: 2.0805364803022619e+00 2.0805364803022619e+00 Dual infeasibility......: 4.4799691178987189e-09 4.4799691178987189e-09 Constraint violation....: 5.9396931817445875e-14 5.9396931817445875e-14 Complementarity.........: 2.5059035601051098e-09 2.5059035601051098e-09 Overall NLP error.......: 4.4799691178987189e-09 4.4799691178987189e-09 Number of objective function evaluations = 143 Number of objective gradient evaluations = 96 Number of constraint evaluations = 143 Number of constraint Jacobian evaluations = 96 Number of Lagrangian Hessian evaluations = 95 Number of KKT factorizations = 233 Number of KKT backsolves = 153 Total wall secs in initialization = 5.354 s Total wall secs in linear solver = 0.144 s Total wall secs in NLP function evaluations = 21.667 s Total wall secs in solver (w/o init./fun./lin. alg.) = 31.024 s Total wall secs = 58.189 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/LpRux/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.07s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 3.442s jacobian structure: 1680 nonzeros (3.512s) integrator 1 hessian structure: 0.057s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 12.796s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1964 nonzeros (12.855s) linear index maps built (0.0s) evaluator ready (total: 16.368s) evaluator created (16.395s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.1s) 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 linear constraints added: 5 (5.546s) optimizer initialization complete (total: 22.041s) This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1680 Number of nonzeros in Lagrangian Hessian.............: 1964 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 inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 1.1530501e+01 1.61e+00 3.19e+00 1.74e+00 -1.0 - 0.00e+00 1 0 1 4.1239139e+00 3.41e-01 4.13e+00 1.55e+00 -1.0 0.0 7.95e-01 1 1h 2 3.0068391e+00 1.93e-01 2.80e+00 6.34e-01 -1.0 -0.5 4.33e-01 2 1h 3 2.7329305e+00 4.18e-02 1.20e+00 1.53e-01 -1.0 -0.1 1.00e+00 1 1h 4 2.7393242e+00 8.41e-03 1.03e-01 1.04e-01 -1.0 -0.5 1.00e+00 2 1h 5 2.3058262e+00 4.16e-03 5.42e-02 2.55e-02 -2.5 -1.0 1.00e+00 2 1h 6 2.1189563e+00 2.37e-03 3.07e-02 4.76e-03 -2.5 -1.5 9.21e-01 2 1h 7 2.1151699e+00 6.48e-04 2.74e-03 2.84e-03 -2.5 -2.0 1.00e+00 2 1h 8 2.0915003e+00 1.21e-05 9.71e-05 1.68e-04 -3.8 -2.4 1.00e+00 2 1h 9 2.0900234e+00 2.69e-06 1.98e-05 3.51e-06 -5.7 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900179e+00 9.84e-06 1.95e-05 2.04e-06 -5.7 -3.4 1.00e+00 2 1h 11 2.0900041e+00 4.73e-05 7.42e-05 1.84e-06 -5.7 -3.9 1.00e+00 2 1h 12 2.0899626e+00 2.55e-04 1.79e-04 1.85e-06 -5.7 -4.3 9.79e-01 2 1h 13 2.0898480e+00 1.35e-04 4.21e-04 4.27e-06 -5.7 -4.8 1.00e+00 2 1h 14 2.0897974e+00 4.60e-05 9.93e-04 1.85e-06 -5.7 -4.4 6.63e-01 1 1h 15 2.0896607e+00 1.22e-06 3.63e-04 3.57e-06 -5.7 -4.9 1.00e+00 1 1h 16 2.0894919e+00 1.15e-06 1.01e-02 1.89e-06 -5.7 -5.4 3.83e-01 1 1h 17 2.0883701e+00 2.15e-06 2.04e-03 4.54e-06 -5.7 -5.8 1.00e+00 1 1h 18 2.0879459e+00 1.86e-06 9.32e-02 2.32e-06 -5.7 -6.3 1.45e-01 1 1h 19 2.0831787e+00 3.56e-05 5.69e-02 4.60e-06 -5.7 -6.8 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0821553e+00 2.86e-05 1.13e-01 2.51e-06 -5.7 -7.3 2.54e-01 1 1h 21 2.0817086e+00 2.59e-05 1.13e-01 6.09e-06 -5.7 -7.7 1.07e-01 2 1h 22 2.0814430e+00 2.74e-05 1.87e-01 7.41e-06 -5.7 -8.2 2.24e-01 1 1h 23 2.0829104e+00 3.19e-05 2.22e-01 4.77e-06 -5.7 -8.7 8.53e-01 1 1H 24 2.0814354e+00 8.41e-05 3.41e-01 2.28e-05 -5.7 -6.5 2.61e-01 1 1h 25 2.0814559e+00 8.42e-05 3.37e+00 9.39e-05 -5.7 -6.9 6.30e-03 2 3h 26 2.0813318e+00 7.17e-05 9.02e-01 1.44e-05 -5.7 -7.4 1.74e-01 1 1h 27 2.0807487e+00 2.40e-04 2.44e-01 3.95e-06 -5.7 -7.9 7.87e-01 1 1h 28 2.0807339e+00 2.29e-04 1.14e-01 1.87e-06 -5.7 -6.6 4.81e-02 1 1h 29 2.0806943e+00 1.71e-05 2.69e-03 1.11e-05 -5.7 -7.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806146e+00 1.21e-05 2.92e-03 2.86e-06 -5.7 -7.5 1.00e+00 1 1h 31 2.0805674e+00 4.89e-06 1.01e-02 1.87e-06 -5.7 -8.0 1.00e+00 1 1h 32 2.0805791e+00 8.02e-07 5.98e-04 3.05e-05 -5.7 -6.7 1.00e+00 1 1h 33 2.0805639e+00 8.06e-07 3.09e-03 1.85e-06 -5.7 -7.1 1.00e+00 1 1h 34 2.0805619e+00 6.55e-08 2.06e-05 1.84e-06 -5.7 -5.8 1.00e+00 1 1h 35 2.0805635e+00 6.55e-08 3.70e-05 3.27e-06 -5.7 -6.3 1.00e+00 1 1h 36 2.0805621e+00 6.55e-08 2.70e-05 1.84e-06 -5.7 -6.8 1.00e+00 1 1h 37 2.0805617e+00 6.55e-08 3.13e-05 1.84e-06 -5.7 -6.3 1.00e+00 1 1h 38 2.0826290e+00 1.72e-10 9.14e-02 1.95e-06 -5.7 -6.8 1.00e+00 1 1H 39 2.0825019e+00 1.29e-07 3.01e+00 3.00e-06 -5.7 -3.7 1.09e-02 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0823342e+00 1.24e-07 2.68e+01 2.09e-05 -5.7 -3.3 3.55e-02 1 1h 41 2.0816234e+00 9.60e-08 1.46e+01 7.72e-06 -5.7 -3.7 2.01e-01 1 3h 42 2.0812253e+00 2.46e-07 7.28e+00 6.68e-06 -5.7 -4.2 1.62e-01 1 3h 43 2.0811180e+00 2.84e-07 7.81e+00 6.84e-06 -5.7 -4.7 4.32e-02 1 4h 44 2.0808994e+00 3.30e-07 1.87e+00 7.54e-06 -5.7 -4.3 2.01e-01 1 3h 45 2.0805644e+00 1.98e-06 1.02e+00 3.03e-06 -5.7 -4.7 6.80e-01 1 1h 46 2.0805787e+00 1.59e-07 6.35e-04 2.30e-05 -5.7 -5.2 1.00e+00 1 1h 47 2.0805728e+00 4.15e-07 1.50e-03 7.10e-06 -5.7 -5.7 1.00e+00 2 1h 48 2.0805658e+00 6.56e-08 1.36e-04 2.70e-06 -5.7 -6.2 1.00e+00 1 1h 49 2.0805656e+00 6.57e-08 2.96e-05 1.90e-06 -5.7 -6.6 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805635e+00 6.57e-08 2.91e-05 1.84e-06 -5.7 -7.1 1.00e+00 1 1h 51 2.0823091e+00 2.82e-10 6.28e-02 3.01e-06 -5.7 -7.6 1.00e+00 1 1H 52 2.0819714e+00 3.25e-07 2.65e-01 2.67e-06 -5.7 -4.5 8.99e-02 1 4h 53 2.0818772e+00 3.13e-07 3.24e-01 4.65e-06 -5.7 -1.3 3.52e-02 1 4h 54 2.0806087e+00 5.46e-08 1.47e+00 3.12e-06 -5.7 -1.8 8.60e-01 2 1H 55 2.0806216e+00 5.00e-08 1.33e+00 1.50e-05 -5.7 -2.3 9.59e-02 2 3h 56 2.0805962e+00 7.62e-08 1.22e+00 1.38e-05 -5.7 -2.8 8.08e-02 2 1h 57 2.0806245e+00 9.97e-08 1.03e+00 4.53e-05 -5.7 -3.2 5.13e-01 1 1H 58 2.0805858e+00 9.80e-11 2.28e-02 4.39e-06 -5.7 -3.7 1.00e+00 2 1H 59 2.0805817e+00 2.48e-13 8.59e-06 1.91e-06 -5.7 -4.2 1.00e+00 2 1H iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805591e+00 3.60e-07 4.06e-05 3.66e-07 -8.6 -4.7 1.00e+00 2 1h 61 2.0805580e+00 1.28e-07 2.13e-02 4.53e-08 -8.6 -5.1 6.44e-01 2 1h 62 2.0805572e+00 6.15e-09 3.81e-05 4.41e-09 -8.6 -5.6 1.00e+00 1 1h 63 2.0805555e+00 1.23e-10 2.28e-06 2.70e-09 -8.6 -6.1 1.00e+00 2 1h 64 2.0805510e+00 9.52e-11 8.41e-05 2.51e-09 -8.6 -6.6 9.72e-01 2 1h 65 2.0805467e+00 7.63e-11 4.47e-03 2.57e-07 -8.6 -7.1 5.53e-01 1 1h 66 2.0805419e+00 1.34e-10 2.17e-04 1.00e-06 -8.6 -7.5 1.00e+00 1 1h 67 2.0805377e+00 5.22e-10 1.81e-03 1.98e-07 -8.6 -8.0 1.00e+00 1 1h 68 2.0805398e+00 1.31e-10 6.33e-03 6.48e-06 -8.6 -6.7 8.28e-01 1 1h 69 2.0805372e+00 1.95e-10 2.70e-03 2.52e-09 -8.6 -7.2 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 70 2.0805369e+00 8.07e-11 2.45e-02 2.60e-09 -8.6 -5.8 5.34e-01 1 1h 71 2.0805371e+00 8.88e-16 8.76e-06 4.80e-07 -8.6 -6.3 1.00e+00 1 1H 72 2.0805370e+00 8.88e-16 3.10e-06 1.10e-07 -8.6 -6.8 1.00e+00 1 1H 73 2.0805368e+00 5.79e-11 1.23e-03 2.51e-09 -8.6 -7.3 8.23e-01 1 1h 74 2.0805367e+00 9.06e-11 2.84e-06 2.51e-09 -8.6 -7.7 1.00e+00 1 1h 75 2.0805366e+00 9.48e-11 5.00e-06 2.51e-09 -8.6 -8.2 1.00e+00 1 1h 76 2.0805365e+00 9.80e-11 7.33e-04 2.53e-09 -8.6 -8.7 1.00e+00 1 1h 77 2.0805365e+00 8.92e-11 4.37e-07 1.75e-08 -8.6 -6.5 1.00e+00 1 1h 78 2.0805365e+00 8.92e-11 2.76e-04 2.51e-09 -8.6 -6.9 1.00e+00 1 1h 79 2.0805365e+00 8.92e-11 1.42e-06 2.51e-09 -8.6 -5.6 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 80 2.0805365e+00 8.92e-11 1.38e-07 2.62e-09 -8.6 -6.1 1.00e+00 1 1h 81 2.0805365e+00 8.88e-16 2.00e-03 2.51e-09 -8.6 -6.6 1.00e+00 1 1H 82 2.0805365e+00 9.23e-16 9.70e-06 2.53e-09 -8.6 -5.2 1.00e+00 1 1H 83 2.0805365e+00 8.91e-11 8.99e-07 2.51e-09 -8.6 -4.8 1.00e+00 1 1h 84 2.0805365e+00 8.88e-16 1.59e-06 2.51e-09 -8.6 -5.3 1.00e+00 1 1H 85 2.0805365e+00 8.92e-11 8.89e-07 2.51e-09 -8.6 -5.8 1.00e+00 1 1h 86 2.0805365e+00 8.92e-11 4.69e-06 2.51e-09 -8.6 -6.2 1.00e+00 1 1h 87 2.0805365e+00 8.92e-11 3.29e-06 3.39e-09 -8.6 -6.7 1.00e+00 1 1h 88 2.0805365e+00 8.92e-11 3.90e-06 2.51e-09 -8.6 -7.2 1.00e+00 1 1h 89 2.0805365e+00 8.92e-11 2.52e-06 2.60e-09 -8.6 -7.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 90 2.0805365e+00 8.94e-11 2.59e-07 2.51e-09 -8.6 -8.1 1.00e+00 1 1h 91 2.0805365e+00 8.97e-11 5.57e-08 2.51e-09 -8.6 -8.6 1.00e+00 1 1h 92 2.0805365e+00 8.94e-11 9.65e-09 2.51e-09 -8.6 -9.1 1.00e+00 1 1h Number of Iterations....: 92 (scaled) (unscaled) Objective...............: 2.0805364803037194e+00 2.0805364803037194e+00 Dual infeasibility......: 9.6483648293066437e-09 9.6483648293066437e-09 Constraint violation....: 8.9413365600421457e-11 8.9413365600421457e-11 Complementarity.........: 2.5059035600012457e-09 2.5059035600012457e-09 Overall NLP error.......: 9.6483648293066437e-09 9.6483648293066437e-09 Number of objective function evaluations = 133 Number of objective gradient evaluations = 93 Number of constraint evaluations = 133 Number of constraint Jacobian evaluations = 93 Number of Lagrangian Hessian evaluations = 92 Number of KKT factorizations = 225 Number of KKT backsolves = 143 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.136 s Total wall secs in NLP function evaluations = 26.243 s Total wall secs in solver (w/o init./fun./lin. alg.) = 12.555 s Total wall secs = 38.936 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/LpRux/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.074s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.057s jacobian structure: 1600 nonzeros (3.131s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.73s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (4.783s) linear index maps built (0.0s) evaluator ready (total: 7.915s) evaluator created (7.942s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 5 (0.0s) optimizer initialization complete (total: 7.943s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1376 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1306 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.0783167e+01 3.93e+00 7.57e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0570794e+01 2.30e-01 2.74e+00 -0.8 2.41e+00 -4.0 9.61e-01 1.00e+00f 1 2 1.0218399e+01 1.85e-02 4.54e-01 -0.9 3.27e-01 -4.5 7.54e-01 1.00e+00h 1 3 9.8104046e+00 5.90e-03 5.16e-02 -1.9 2.41e-01 -5.0 9.22e-01 1.00e+00h 1 4 9.5254874e+00 5.15e-03 4.63e-02 -2.7 1.46e-01 -5.4 9.35e-01 1.00e+00f 1 5 9.4437408e+00 8.57e-04 3.85e-03 -3.7 8.08e-02 -5.9 1.00e+00 1.00e+00h 1 6 9.4275379e+00 1.61e-04 7.53e-04 -4.0 2.76e-02 -6.4 1.00e+00 1.00e+00h 1 7 9.4258798e+00 1.32e-05 5.34e-05 -4.0 5.56e-03 -6.9 1.00e+00 1.00e+00h 1 8 9.4258089e+00 1.10e-07 3.79e-07 -4.0 4.82e-04 -7.3 1.00e+00 1.00e+00h 1 9 9.4258086e+00 8.62e-12 1.00e-09 -4.0 7.05e-06 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4258086225871409e+00 9.4258086225871409e+00 Dual infeasibility......: 9.9999999417460603e-10 9.9999999417460603e-10 Constraint violation....: 8.6209928085168031e-12 8.6209928085168031e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000006187090589e-04 1.0000006187090589e-04 Overall NLP error.......: 9.9999999417460603e-10 9.9999999417460603e-10 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of equality constraint evaluations = 10 Number of inequality constraint evaluations = 10 Number of equality constraint Jacobian evaluations = 10 Number of inequality constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Total seconds in IPOPT = 31.548 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) 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 linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.0783167e+01 3.93e+00 7.57e-01 9.58e-01 -1.0 - 0.00e+00 1 0 1 1.0609259e+01 1.61e-01 2.44e+00 4.67e-01 -1.0 -4.0 1.00e+00 2 1h 2 1.0036151e+01 9.92e-02 1.22e-01 1.46e-01 -1.0 -4.5 1.00e+00 2 1h 3 9.6670205e+00 4.37e-03 5.18e-02 3.13e-02 -2.5 -5.0 1.00e+00 2 1h 4 9.5003431e+00 2.73e-03 1.22e-02 8.87e-03 -2.5 -5.4 1.00e+00 2 1h 5 9.4379622e+00 7.66e-04 8.90e-03 2.10e-03 -3.8 -5.9 1.00e+00 2 1h 6 9.4275522e+00 1.39e-04 4.99e-04 4.68e-04 -3.8 -6.4 1.00e+00 2 1h 7 9.4246444e+00 1.98e-05 1.36e-04 4.04e-05 -5.7 -6.9 1.00e+00 2 1h 8 9.4245375e+00 3.64e-07 6.62e-07 2.41e-06 -5.7 -7.3 1.00e+00 2 1h 9 9.4245130e+00 9.35e-10 2.53e-09 4.53e-09 -8.6 -7.8 1.00e+00 2 1h Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4245129860268886e+00 9.4245129860268886e+00 Dual infeasibility......: 2.5336759357230676e-09 2.5336759357230676e-09 Constraint violation....: 9.3500662767809217e-10 9.3500662767809217e-10 Complementarity.........: 4.5274653245200496e-09 4.5274653245200496e-09 Overall NLP error.......: 4.5274653245200496e-09 4.5274653245200496e-09 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of constraint evaluations = 10 Number of constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Number of KKT factorizations = 19 Number of KKT backsolves = 19 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.010 s Total wall secs in NLP function evaluations = 0.187 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.009 s Total wall secs = 0.207 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/LpRux/src/solvers/evaluator.jl:420 Test Summary: | Pass Total Time Package | 257 257 34m05.9s Testing DirectTrajOpt tests passed Testing completed after 2126.98s PkgEval succeeded after 2304.13s