Package evaluation to test DirectTrajOpt on Julia 1.10.10 (c8be17dcfd*) started at 2026-02-03T01:10:03.975 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.10` Set-up completed after 5.47s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.10/Project.toml` [c823fa1f] + DirectTrajOpt v0.8.1 Updating `~/.julia/environments/v1.10/Manifest.toml` [47edcb42] + ADTypes v1.21.0 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.43 [79e6a3ab] + Adapt v4.4.0 [4fba245c] + ArrayInterface v7.22.0 [4c555306] + ArrayLayouts v1.12.2 [6e4b80f9] + BenchmarkTools v1.6.3 [62783981] + BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] + BracketingNonlinearSolve v1.6.2 [2a0fbf3d] + CPUSummary v0.2.7 [d360d2e6] + ChainRulesCore v1.26.0 [0b6fb165] + ChunkCodecCore v1.0.1 [4c0bbee4] + ChunkCodecLibZlib v1.0.0 [55437552] + ChunkCodecLibZstd v1.0.0 [fb6a15b2] + CloseOpenIntervals v0.1.13 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.8 [38540f10] + CommonSolve v0.2.6 [bbf7d656] + CommonSubexpressions v0.3.1 [f70d9fcc] + CommonWorldInvalidations v1.0.0 [34da2185] + Compat v4.18.1 [a33af91c] + CompositionsBase v0.1.2 [95dc2771] + ComputePipeline v0.1.6 [2569d6c7] + ConcreteStructs v0.2.3 [187b0558] + ConstructionBase v1.6.0 [adafc99b] + CpuId v0.3.1 [864edb3b] + DataStructures v0.19.3 [2b5f629d] + DiffEqBase v6.200.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.16 [c823fa1f] + DirectTrajOpt v0.8.1 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.6 [f151be2c] + EnzymeCore v0.8.18 [e24c0720] + ExponentialAction v0.2.10 [e2ba6199] + ExprTools v0.1.10 [55351af7] + ExproniconLite v0.10.14 [7034ab61] + FastBroadcast v0.3.5 [9aa1b823] + FastClosures v0.3.2 [a4df4552] + FastPower v1.3.1 [5789e2e9] + FileIO v1.18.0 [1a297f60] + FillArrays v1.16.0 [6a86dc24] + FiniteDiff v2.29.0 [f6369f11] + ForwardDiff v1.3.2 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v0.1.3 [46192b85] + GPUArraysCore v0.2.0 [076d061b] + HashArrayMappedTries v0.2.0 [615f187c] + IfElse v0.1.1 [3587e190] + InverseFunctions v0.1.17 [b6b21f68] + Ipopt v1.14.0 [92d709cd] + IrrationalConstants v0.2.6 [82899510] + IteratorInterfaceExtensions v1.0.0 [033835bb] + JLD2 v0.6.3 [692b3bcd] + JLLWrappers v1.7.1 [682c06a0] + JSON v1.4.0 [ae98c720] + Jieko v0.2.1 [10f19ff3] + LayoutPointers v0.1.17 [5078a376] + LazyArrays v2.9.5 [2ab3a3ac] + LogExpFunctions v0.3.29 [e6f89c97] + LoggingExtras v1.2.0 [1914dd2f] + MacroTools v0.5.16 [d125e4d3] + ManualMemory v0.1.8 [b8f27783] + MathOptInterface v1.49.0 [bb5d69b7] + MaybeInplace v0.1.4 [2e0e35c7] + Moshi v0.3.7 [46d2c3a1] + MuladdMacro v0.2.4 [d8a4904e] + MutableArithmetics v1.6.7 [77ba4419] + NaNMath v1.1.3 [538bc3a1] + NamedTrajectories v0.8.2 [be0214bd] + NonlinearSolveBase v2.11.2 [510215fc] + Observables v0.5.5 [bac558e1] + OrderedCollections v1.8.1 [bbf590c4] + OrdinaryDiffEqCore v3.4.0 [b1df2697] + OrdinaryDiffEqTsit5 v1.9.0 [69de0a69] + Parsers v2.8.3 [f517fe37] + Polyester v0.7.18 [1d0040c9] + PolyesterWeave v0.2.2 [d236fae5] + PreallocationTools v1.1.2 ⌅ [aea7be01] + PrecompileTools v1.2.1 [21216c6a] + Preferences v1.5.1 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v3.47.0 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.17 [94e857df] + SIMDTypes v0.1.0 [0bca4576] + SciMLBase v2.136.0 [19f34311] + SciMLJacobianOperators v0.1.12 [a6db7da4] + SciMLLogging v1.8.0 [c0aeaf25] + SciMLOperators v1.15.1 [431bcebd] + SciMLPublic v1.0.1 [53ae85a6] + SciMLStructures v1.10.0 [7e506255] + ScopedValues v1.5.0 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.6.1 [aedffcd0] + Static v1.3.1 [0d7ed370] + StaticArrayInterface v1.8.0 [90137ffa] + StaticArrays v1.9.16 [1e83bf80] + StaticArraysCore v1.4.4 [7792a7ef] + StrideArraysCore v0.5.8 [ec057cc2] + StructUtils v2.6.2 [2efcf032] + SymbolicIndexingInterface v0.3.46 [f8b46487] + TestItemRunner v1.1.4 [1c621080] + TestItems v1.0.0 [8290d209] + ThreadingUtilities v0.5.5 [a759f4b9] + TimerOutputs v0.5.29 [6dad8b7f] + TrajectoryIndexingUtils v0.1.0 [3bb67fe8] + TranscodingStreams v0.11.3 [781d530d] + TruncatedStacktraces v1.4.0 [ae81ac8f] + ASL_jll v0.1.3+0 [6e34b625] + Bzip2_jll v1.0.9+0 [e33a78d0] + Hwloc_jll v2.12.2+0 [9cc047cb] + Ipopt_jll v300.1400.1901+0 [94ce4f54] + Libiconv_jll v1.18.0+0 [d00139f3] + METIS_jll v5.1.3+0 [d7ed1dd3] + MUMPS_seq_jll v500.800.200+0 ⌅ [656ef2d0] + OpenBLAS32_jll v0.3.24+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 [3161d3a3] + Zstd_jll v1.5.7+1 [0dad84c5] + ArgTools v1.1.1 [56f22d72] + Artifacts [2a0f44e3] + Base64 [ade2ca70] + Dates [8ba89e20] + Distributed [f43a241f] + Downloads v1.6.0 [7b1f6079] + FileWatching [9fa8497b] + Future [b77e0a4c] + InteractiveUtils [b27032c2] + LibCURL v0.6.4 [76f85450] + LibGit2 [8f399da3] + Libdl [37e2e46d] + LinearAlgebra [56ddb016] + Logging [d6f4376e] + Markdown [a63ad114] + Mmap [ca575930] + NetworkOptions v1.2.0 [44cfe95a] + Pkg v1.10.0 [de0858da] + Printf [9abbd945] + Profile [3fa0cd96] + REPL [9a3f8284] + Random [ea8e919c] + SHA v0.7.0 [9e88b42a] + Serialization [6462fe0b] + Sockets [2f01184e] + SparseArrays v1.10.0 [10745b16] + Statistics v1.10.0 [fa267f1f] + TOML v1.0.3 [a4e569a6] + Tar v1.10.0 [8dfed614] + Test [cf7118a7] + UUIDs [4ec0a83e] + Unicode [e66e0078] + CompilerSupportLibraries_jll v1.1.1+0 [deac9b47] + LibCURL_jll v8.4.0+0 [e37daf67] + LibGit2_jll v1.6.4+0 [29816b5a] + LibSSH2_jll v1.11.0+1 [c8ffd9c3] + MbedTLS_jll v2.28.1010+0 [14a3606d] + MozillaCACerts_jll v2025.12.2 [4536629a] + OpenBLAS_jll v0.3.23+5 [05823500] + OpenLibm_jll v0.8.5+0 [bea87d4a] + SuiteSparse_jll v7.2.1+1 [83775a58] + Zlib_jll v1.2.13+1 [8e850b90] + libblastrampoline_jll v5.11.0+0 [8e850ede] + nghttp2_jll v1.52.0+1 [3f19e933] + p7zip_jll v17.4.0+2 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m` Installation completed after 8.66s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... ┌ Warning: Circular dependency detected. │ Precompilation will be skipped for dependencies in this cycle: │ ┌ OrdinaryDiffEqCore → OrdinaryDiffEqCoreEnzymeCoreExt │ └─ OrdinaryDiffEqCore → OrdinaryDiffEqCoreSparseArraysExt │ Precompilation will also be skipped for the following, which depend on the above cycle: │ DirectTrajOpt │ OrdinaryDiffEqTsit5 └ @ Pkg.API.Precompilation /opt/julia/share/julia/stdlib/v1.10/Pkg/src/precompilation.jl:583 Precompilation completed after 19.04s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_hSKb5w/Project.toml` [c823fa1f] DirectTrajOpt v0.8.1 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.3.2 [b6b21f68] Ipopt v1.14.0 [5078a376] LazyArrays v2.9.5 [b8f27783] MathOptInterface v1.49.0 [538bc3a1] NamedTrajectories v0.8.2 [b1df2697] OrdinaryDiffEqTsit5 v1.9.0 [189a3867] Reexport v1.2.2 [f8b46487] TestItemRunner v1.1.4 [1c621080] TestItems v1.0.0 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [8f399da3] Libdl [37e2e46d] LinearAlgebra [2f01184e] SparseArrays v1.10.0 [8dfed614] Test Status `/tmp/jl_hSKb5w/Manifest.toml` [47edcb42] ADTypes v1.21.0 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.43 [79e6a3ab] Adapt v4.4.0 [4fba245c] ArrayInterface v7.22.0 [4c555306] ArrayLayouts v1.12.2 [6e4b80f9] BenchmarkTools v1.6.3 [62783981] BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] BracketingNonlinearSolve v1.6.2 [2a0fbf3d] CPUSummary v0.2.7 [d360d2e6] ChainRulesCore v1.26.0 [0b6fb165] ChunkCodecCore v1.0.1 [4c0bbee4] ChunkCodecLibZlib v1.0.0 [55437552] ChunkCodecLibZstd v1.0.0 [fb6a15b2] CloseOpenIntervals v0.1.13 [523fee87] CodecBzip2 v0.8.5 [944b1d66] CodecZlib v0.7.8 [38540f10] CommonSolve v0.2.6 [bbf7d656] CommonSubexpressions v0.3.1 [f70d9fcc] CommonWorldInvalidations v1.0.0 [34da2185] Compat v4.18.1 [a33af91c] CompositionsBase v0.1.2 [95dc2771] ComputePipeline v0.1.6 [2569d6c7] ConcreteStructs v0.2.3 [187b0558] ConstructionBase v1.6.0 [adafc99b] CpuId v0.3.1 [864edb3b] DataStructures v0.19.3 [2b5f629d] DiffEqBase v6.200.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a0c0ee7d] DifferentiationInterface v0.7.16 [c823fa1f] DirectTrajOpt v0.8.1 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.6 [f151be2c] EnzymeCore v0.8.18 [e24c0720] ExponentialAction v0.2.10 [e2ba6199] ExprTools v0.1.10 [55351af7] ExproniconLite v0.10.14 [7034ab61] FastBroadcast v0.3.5 [9aa1b823] FastClosures v0.3.2 [a4df4552] FastPower v1.3.1 [5789e2e9] FileIO v1.18.0 [1a297f60] FillArrays v1.16.0 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.3.2 [069b7b12] FunctionWrappers v1.1.3 [77dc65aa] FunctionWrappersWrappers v0.1.3 [46192b85] GPUArraysCore v0.2.0 [076d061b] HashArrayMappedTries v0.2.0 [615f187c] IfElse v0.1.1 [3587e190] InverseFunctions v0.1.17 [b6b21f68] Ipopt v1.14.0 [92d709cd] IrrationalConstants v0.2.6 [82899510] IteratorInterfaceExtensions v1.0.0 [033835bb] JLD2 v0.6.3 [692b3bcd] JLLWrappers v1.7.1 [682c06a0] JSON v1.4.0 [ae98c720] Jieko v0.2.1 [10f19ff3] LayoutPointers v0.1.17 [5078a376] LazyArrays v2.9.5 [2ab3a3ac] LogExpFunctions v0.3.29 [e6f89c97] LoggingExtras v1.2.0 [1914dd2f] MacroTools v0.5.16 [d125e4d3] ManualMemory v0.1.8 [b8f27783] MathOptInterface v1.49.0 [bb5d69b7] MaybeInplace v0.1.4 [2e0e35c7] Moshi v0.3.7 [46d2c3a1] MuladdMacro v0.2.4 [d8a4904e] MutableArithmetics v1.6.7 [77ba4419] NaNMath v1.1.3 [538bc3a1] NamedTrajectories v0.8.2 [be0214bd] NonlinearSolveBase v2.11.2 [510215fc] Observables v0.5.5 [bac558e1] OrderedCollections v1.8.1 [bbf590c4] OrdinaryDiffEqCore v3.4.0 [b1df2697] OrdinaryDiffEqTsit5 v1.9.0 [69de0a69] Parsers v2.8.3 [f517fe37] Polyester v0.7.18 [1d0040c9] PolyesterWeave v0.2.2 [d236fae5] PreallocationTools v1.1.2 ⌅ [aea7be01] PrecompileTools v1.2.1 [21216c6a] Preferences v1.5.1 [3cdcf5f2] RecipesBase v1.3.4 [731186ca] RecursiveArrayTools v3.47.0 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.17 [94e857df] SIMDTypes v0.1.0 [0bca4576] SciMLBase v2.136.0 [19f34311] SciMLJacobianOperators v0.1.12 [a6db7da4] SciMLLogging v1.8.0 [c0aeaf25] SciMLOperators v1.15.1 [431bcebd] SciMLPublic v1.0.1 [53ae85a6] SciMLStructures v1.10.0 [7e506255] ScopedValues v1.5.0 [efcf1570] Setfield v1.1.2 [276daf66] SpecialFunctions v2.6.1 [aedffcd0] Static v1.3.1 [0d7ed370] StaticArrayInterface v1.8.0 [90137ffa] StaticArrays v1.9.16 [1e83bf80] StaticArraysCore v1.4.4 [7792a7ef] StrideArraysCore v0.5.8 [ec057cc2] StructUtils v2.6.2 [2efcf032] SymbolicIndexingInterface v0.3.46 [f8b46487] TestItemRunner v1.1.4 [1c621080] TestItems v1.0.0 [8290d209] ThreadingUtilities v0.5.5 [a759f4b9] TimerOutputs v0.5.29 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [3bb67fe8] TranscodingStreams v0.11.3 [781d530d] TruncatedStacktraces v1.4.0 [ae81ac8f] ASL_jll v0.1.3+0 [6e34b625] Bzip2_jll v1.0.9+0 [e33a78d0] Hwloc_jll v2.12.2+0 [9cc047cb] Ipopt_jll v300.1400.1901+0 [94ce4f54] Libiconv_jll v1.18.0+0 [d00139f3] METIS_jll v5.1.3+0 [d7ed1dd3] MUMPS_seq_jll v500.800.200+0 ⌅ [656ef2d0] OpenBLAS32_jll v0.3.24+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 [3161d3a3] Zstd_jll v1.5.7+1 [0dad84c5] ArgTools v1.1.1 [56f22d72] Artifacts [2a0f44e3] Base64 [ade2ca70] Dates [8ba89e20] Distributed [f43a241f] Downloads v1.6.0 [7b1f6079] FileWatching [9fa8497b] Future [b77e0a4c] InteractiveUtils [b27032c2] LibCURL v0.6.4 [76f85450] LibGit2 [8f399da3] Libdl [37e2e46d] LinearAlgebra [56ddb016] Logging [d6f4376e] Markdown [a63ad114] Mmap [ca575930] NetworkOptions v1.2.0 [44cfe95a] Pkg v1.10.0 [de0858da] Printf [9abbd945] Profile [3fa0cd96] REPL [9a3f8284] Random [ea8e919c] SHA v0.7.0 [9e88b42a] Serialization [6462fe0b] Sockets [2f01184e] SparseArrays v1.10.0 [10745b16] Statistics v1.10.0 [fa267f1f] TOML v1.0.3 [a4e569a6] Tar v1.10.0 [8dfed614] Test [cf7118a7] UUIDs [4ec0a83e] Unicode [e66e0078] CompilerSupportLibraries_jll v1.1.1+0 [deac9b47] LibCURL_jll v8.4.0+0 [e37daf67] LibGit2_jll v1.6.4+0 [29816b5a] LibSSH2_jll v1.11.0+1 [c8ffd9c3] MbedTLS_jll v2.28.1010+0 [14a3606d] MozillaCACerts_jll v2025.12.2 [4536629a] OpenBLAS_jll v0.3.23+5 [05823500] OpenLibm_jll v0.8.5+0 [bea87d4a] SuiteSparse_jll v7.2.1+1 [83775a58] Zlib_jll v1.2.13+1 [8e850b90] libblastrampoline_jll v5.11.0+0 [8e850ede] nghttp2_jll v1.52.0+1 [3f19e933] p7zip_jll v17.4.0+2 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. Testing Running tests... ┌ Warning: Module OrdinaryDiffEqCoreEnzymeCoreExt with build ID ffffffff-ffff-ffff-2b8f-77fc67a72a5f is missing from the cache. │ This may mean OrdinaryDiffEqCoreEnzymeCoreExt [ca1c724a-f4aa-55ef-b8e4-2f05449449ac] does not support precompilation but is imported by a module that does. └ @ Base loading.jl:2021 ┌ Error: Error during loading of extension OrdinaryDiffEqCoreEnzymeCoreExt of OrdinaryDiffEqCore, use `Base.retry_load_extensions()` to retry. │ exception = │ 1-element ExceptionStack: │ Declaring __precompile__(false) is not allowed in files that are being precompiled. │ Stacktrace: │ [1] _require(pkg::Base.PkgId, env::Nothing) │ @ Base ./loading.jl:2025 │ [2] __require_prelocked(uuidkey::Base.PkgId, env::Nothing) │ @ Base ./loading.jl:1885 │ [3] #invoke_in_world#3 │ @ ./essentials.jl:926 [inlined] │ [4] invoke_in_world │ @ ./essentials.jl:923 [inlined] │ [5] _require_prelocked │ @ ./loading.jl:1876 [inlined] │ [6] _require_prelocked │ @ ./loading.jl:1875 [inlined] │ [7] run_extension_callbacks(extid::Base.ExtensionId) │ @ Base ./loading.jl:1368 │ [8] run_extension_callbacks(pkgid::Base.PkgId) │ @ Base ./loading.jl:1403 │ [9] run_package_callbacks(modkey::Base.PkgId) │ @ Base ./loading.jl:1227 │ [10] __require_prelocked(uuidkey::Base.PkgId, env::String) │ @ Base ./loading.jl:1892 │ [11] #invoke_in_world#3 │ @ ./essentials.jl:926 [inlined] │ [12] invoke_in_world │ @ ./essentials.jl:923 [inlined] │ [13] _require_prelocked(uuidkey::Base.PkgId, env::String) │ @ Base ./loading.jl:1876 │ [14] macro expansion │ @ ./loading.jl:1863 [inlined] │ [15] macro expansion │ @ ./lock.jl:270 [inlined] │ [16] __require(into::Module, mod::Symbol) │ @ Base ./loading.jl:1826 │ [17] #invoke_in_world#3 │ @ ./essentials.jl:926 [inlined] │ [18] invoke_in_world │ @ ./essentials.jl:923 [inlined] │ [19] require(into::Module, mod::Symbol) │ @ Base ./loading.jl:1819 │ [20] include │ @ ./Base.jl:495 [inlined] │ [21] include_package_for_output(pkg::Base.PkgId, input::String, depot_path::Vector{String}, dl_load_path::Vector{String}, load_path::Vector{String}, concrete_deps::Vector{Pair{Base.PkgId, UInt128}}, source::String) │ @ Base ./loading.jl:2295 │ [22] top-level scope │ @ stdin:4 │ [23] eval │ @ ./boot.jl:385 [inlined] │ [24] include_string(mapexpr::typeof(identity), mod::Module, code::String, filename::String) │ @ Base ./loading.jl:2149 │ [25] include_string │ @ ./loading.jl:2159 [inlined] │ [26] exec_options(opts::Base.JLOptions) │ @ Base ./client.jl:314 │ [27] _start() │ @ Base ./client.jl:550 └ @ Base loading.jl:1374 Difference in Hessian initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! ****************************************************************************** This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit https://github.com/coin-or/Ipopt ****************************************************************************** This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.8600213e+00 3.01e+00 4.31e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.5061065e+00 3.30e-01 2.44e+00 -0.8 1.85e+00 0.0 9.94e-01 8.98e-01f 1 Hello, world! 2 2.7117634e+00 6.88e-02 5.18e+00 -1.1 5.44e-01 -0.5 4.84e-01 1.00e+00f 1 Hello, world! 3 2.5571827e+00 5.67e-02 9.38e-01 -1.0 3.66e-01 -1.0 9.88e-01 8.38e-01h 1 Hello, world! 4 2.4790777e+00 5.51e-02 6.13e-01 -1.4 1.80e+00 -1.4 1.00e+00 3.81e-01h 1 Hello, world! 5 2.3211147e+00 3.39e-02 8.12e-01 -2.1 1.90e+00 -1.9 9.99e-01 3.85e-01h 1 Hello, world! 6 2.1384221e+00 3.37e-02 1.48e-01 -2.5 1.07e+00 -2.4 9.99e-01 1.00e+00h 1 Hello, world! 7 2.0941461e+00 2.08e-03 1.35e-02 -3.6 1.98e-01 -2.9 1.00e+00 9.32e-01h 1 Hello, world! 8 2.0910502e+00 5.24e-05 1.36e-03 -4.0 6.75e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0910149e+00 7.21e-07 1.17e-04 -4.0 1.76e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909473e+00 1.13e-07 3.38e-04 -4.0 5.18e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908504e+00 6.66e-07 9.75e-04 -4.0 1.06e+00 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906697e+00 2.02e-06 2.96e-03 -4.0 2.73e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0901617e+00 2.38e-05 5.68e-04 -4.0 8.32e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0899080e+00 3.07e-06 1.55e-03 -4.0 2.96e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0896240e+00 5.70e-06 2.16e-02 -4.0 9.79e+00 -5.8 1.00e+00 3.25e-01h 2 Hello, world! 16 2.0881394e+00 1.07e-04 2.58e-02 -4.0 2.51e+01 -6.3 1.00e+00 7.00e-01h 1 Hello, world! 17 2.0850312e+00 1.05e-03 5.79e-02 -4.0 5.46e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0837564e+00 7.55e-04 7.68e-02 -4.0 3.31e+01 -6.3 1.00e+00 3.35e-01h 1 Hello, world! 19 2.0828184e+00 1.94e-04 2.00e-02 -4.0 2.03e+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 2.0827753e+00 2.29e-04 9.90e-03 -4.0 5.28e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823086e+00 5.95e-04 7.97e-03 -4.0 1.26e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0824583e+00 1.45e-03 6.02e-02 -4.0 1.00e+02 -7.3 5.92e-01 1.00e+00h 1 Hello, world! 23 2.0822000e+00 1.47e-05 3.91e-04 -4.1 6.53e-01 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0822968e+00 4.84e-05 4.93e-04 -4.0 2.17e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0819082e+00 1.70e-04 3.37e-04 -4.1 6.88e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0831927e+00 2.03e-04 1.95e-02 -4.0 8.59e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0821349e+00 1.49e-06 6.84e-01 -4.1 6.36e-02 -1.6 7.13e-01 1.00e+00h 1 Hello, world! 28 2.0820643e+00 5.68e-07 3.59e-03 -4.0 4.85e-02 -1.1 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0820203e+00 1.29e-07 5.02e-04 -4.0 1.52e-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 2.0820111e+00 6.47e-09 2.68e-04 -4.0 3.32e-02 -2.1 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0819611e+00 5.01e-07 6.26e-04 -4.0 9.78e-02 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0818851e+00 7.39e-07 3.56e-01 -4.0 1.82e-01 -3.1 1.00e+00 3.31e-01h 2 Hello, world! 33 2.0819126e+00 1.78e-07 2.38e-05 -4.0 6.31e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0819367e+00 1.17e-06 1.79e-05 -4.0 1.81e-01 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818685e+00 5.07e-06 3.40e-04 -4.1 2.53e-01 -4.5 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0820467e+00 9.19e-05 1.06e-03 -4.0 1.30e+00 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0819261e+00 1.94e-04 1.53e-03 -4.1 1.67e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0819322e+00 1.85e-05 6.18e-04 -4.1 1.19e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0811062e+00 8.72e-04 5.24e-03 -6.2 1.07e+01 -6.4 9.95e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0811338e+00 3.40e-05 3.95e-03 -5.1 2.61e-01 -4.2 1.00e+00 9.61e-01h 1 Hello, world! 41 2.0812952e+00 2.59e-05 6.20e-01 -4.0 2.49e+00 -4.6 1.00e+00 1.96e-01f 1 Hello, world! 42 2.0815668e+00 6.40e-05 1.49e-03 -4.1 1.58e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0817138e+00 2.71e-05 1.54e-03 -4.1 1.79e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0820123e+00 1.27e-04 5.02e-04 -4.0 4.15e+00 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0818872e+00 6.58e-05 1.49e-03 -4.1 3.55e+00 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0818494e+00 6.04e-06 1.77e-04 -4.1 1.09e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0820101e+00 5.20e-04 1.74e-03 -4.0 2.23e+01 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0816649e+00 1.14e-03 2.83e-03 -4.1 4.58e+01 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0815979e+00 1.07e-04 3.99e-03 -4.1 5.78e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0815828e+00 3.97e-05 9.91e-04 -4.1 3.83e+01 -8.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0815828043563496e+00 2.0815828043563496e+00 Dual infeasibility......: 9.9073338089583803e-04 9.9073338089583803e-04 Constraint violation....: 3.9717835190522521e-05 3.9717835190522521e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.9925024775353337e-05 7.9925024775353337e-05 Overall NLP error.......: 9.9073338089583803e-04 9.9073338089583803e-04 Number of objective function evaluations = 57 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 57 Number of inequality constraint evaluations = 57 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 60.958 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.8600213e+00 3.01e+00 4.31e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.5061065e+00 3.30e-01 2.44e+00 -0.8 1.85e+00 0.0 9.94e-01 8.98e-01f 1 Hello, world! 2 2.7117634e+00 6.88e-02 5.18e+00 -1.1 5.44e-01 -0.5 4.84e-01 1.00e+00f 1 Hello, world! 3 2.5571827e+00 5.67e-02 9.38e-01 -1.0 3.66e-01 -1.0 9.88e-01 8.38e-01h 1 Hello, world! 4 2.4790777e+00 5.51e-02 6.13e-01 -1.4 1.80e+00 -1.4 1.00e+00 3.81e-01h 1 Hello, world! 5 2.3211147e+00 3.39e-02 8.12e-01 -2.1 1.90e+00 -1.9 9.99e-01 3.85e-01h 1 Hello, world! 6 2.1384221e+00 3.37e-02 1.48e-01 -2.5 1.07e+00 -2.4 9.99e-01 1.00e+00h 1 Hello, world! 7 2.0941461e+00 2.08e-03 1.35e-02 -3.6 1.98e-01 -2.9 1.00e+00 9.32e-01h 1 Hello, world! 8 2.0910502e+00 5.24e-05 1.36e-03 -4.0 6.75e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0910149e+00 7.21e-07 1.17e-04 -4.0 1.76e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909473e+00 1.13e-07 3.38e-04 -4.0 5.18e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908504e+00 6.66e-07 9.75e-04 -4.0 1.06e+00 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906697e+00 2.02e-06 2.96e-03 -4.0 2.73e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0901617e+00 2.38e-05 5.68e-04 -4.0 8.32e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0899080e+00 3.07e-06 1.55e-03 -4.0 2.96e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0896240e+00 5.70e-06 2.16e-02 -4.0 9.79e+00 -5.8 1.00e+00 3.25e-01h 2 Hello, world! 16 2.0881394e+00 1.07e-04 2.58e-02 -4.0 2.51e+01 -6.3 1.00e+00 7.00e-01h 1 Hello, world! 17 2.0850312e+00 1.05e-03 5.79e-02 -4.0 5.46e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0837564e+00 7.55e-04 7.68e-02 -4.0 3.31e+01 -6.3 1.00e+00 3.35e-01h 1 Hello, world! 19 2.0828184e+00 1.94e-04 2.00e-02 -4.0 2.03e+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 2.0827753e+00 2.29e-04 9.90e-03 -4.0 5.28e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823086e+00 5.95e-04 7.97e-03 -4.0 1.26e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0824583e+00 1.45e-03 6.02e-02 -4.0 1.00e+02 -7.3 5.92e-01 1.00e+00h 1 Hello, world! 23 2.0822000e+00 1.47e-05 3.91e-04 -4.1 6.53e-01 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0822968e+00 4.84e-05 4.93e-04 -4.0 2.17e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0819082e+00 1.70e-04 3.37e-04 -4.1 6.88e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0831927e+00 2.03e-04 1.95e-02 -4.0 8.59e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0821349e+00 1.49e-06 6.84e-01 -4.1 6.36e-02 -1.6 7.13e-01 1.00e+00h 1 Hello, world! 28 2.0820643e+00 5.68e-07 3.59e-03 -4.0 4.85e-02 -1.1 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0820203e+00 1.29e-07 5.02e-04 -4.0 1.52e-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 2.0820111e+00 6.47e-09 2.68e-04 -4.0 3.32e-02 -2.1 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0819611e+00 5.01e-07 6.26e-04 -4.0 9.78e-02 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0818851e+00 7.39e-07 3.56e-01 -4.0 1.82e-01 -3.1 1.00e+00 3.31e-01h 2 Hello, world! 33 2.0819126e+00 1.78e-07 2.38e-05 -4.0 6.31e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0819367e+00 1.17e-06 1.79e-05 -4.0 1.81e-01 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818685e+00 5.07e-06 3.40e-04 -4.1 2.53e-01 -4.5 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0820467e+00 9.19e-05 1.06e-03 -4.0 1.30e+00 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0819261e+00 1.94e-04 1.53e-03 -4.1 1.67e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0819322e+00 1.85e-05 6.18e-04 -4.1 1.19e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0811062e+00 8.72e-04 5.24e-03 -6.2 1.07e+01 -6.4 9.95e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0811338e+00 3.40e-05 3.95e-03 -5.1 2.61e-01 -4.2 1.00e+00 9.61e-01h 1 Hello, world! 41 2.0812952e+00 2.59e-05 6.20e-01 -4.0 2.49e+00 -4.6 1.00e+00 1.96e-01f 1 Hello, world! 42 2.0815668e+00 6.40e-05 1.49e-03 -4.1 1.58e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0817138e+00 2.71e-05 1.54e-03 -4.1 1.79e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0820123e+00 1.27e-04 5.02e-04 -4.0 4.15e+00 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0818872e+00 6.58e-05 1.49e-03 -4.1 3.55e+00 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0818494e+00 6.04e-06 1.77e-04 -4.1 1.09e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0820101e+00 5.20e-04 1.74e-03 -4.0 2.23e+01 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0816649e+00 1.14e-03 2.83e-03 -4.1 4.58e+01 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0815979e+00 1.07e-04 3.99e-03 -4.1 5.78e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0815828e+00 3.97e-05 9.91e-04 -4.1 3.83e+01 -8.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0815828043563496e+00 2.0815828043563496e+00 Dual infeasibility......: 9.9073338089583803e-04 9.9073338089583803e-04 Constraint violation....: 3.9717835190522521e-05 3.9717835190522521e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.9925024775353337e-05 7.9925024775353337e-05 Overall NLP error.......: 9.9073338089583803e-04 9.9073338089583803e-04 Number of objective function evaluations = 57 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 57 Number of inequality constraint evaluations = 57 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 2.064 EXIT: Stopping optimization at current point as requested by user. ┌ Warning: Trajectory has timestep variable :Δt but no bounds on it. │ Adding default lower bound of 0 to prevent negative timesteps. │ │ Recommended: Add explicit bounds when creating the trajectory: │ NamedTrajectory(...; Δt_bounds=(min, max)) │ Example: │ NamedTrajectory(qtraj, N; Δt_bounds=(1e-3, 0.5)) │ │ Or use timesteps_all_equal=true in problem options to fix timesteps. └ @ DirectTrajOpt.Problems ~/.julia/packages/DirectTrajOpt/4TeZc/src/problems.jl:65 initializing optimizer... applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Number of Iterations....: 0 Number of objective function evaluations = 0 Number of objective gradient evaluations = 1 Number of equality constraint evaluations = 0 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 = 0 Total seconds in IPOPT = 0.782 EXIT: Invalid number in NLP function or derivative detected. initializing optimizer... applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.5508943e+00 4.89e-01 7.63e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 9.6863215e-01 9.94e-10 7.62e-02 -0.6 2.48e-01 -2.0 9.73e-01 1.00e+00f 1 2 2.4057833e-01 7.42e-10 2.20e-01 -2.0 1.08e+00 -1.6 8.40e-01 1.00e+00f 1 3 1.0669121e-01 1.35e-10 4.30e-02 -2.6 4.31e-01 -1.1 9.60e-01 1.00e+00f 1 4 3.2156590e-02 2.65e-11 2.68e-02 -3.5 6.95e-01 -1.6 1.00e+00 1.00e+00f 1 5 6.9394375e-03 1.72e-11 1.43e-02 -4.0 6.92e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.4370428e-03 6.80e-12 5.09e-03 -4.0 4.86e-01 -2.6 1.00e+00 1.00e+00f 1 7 4.8629132e-04 2.14e-12 1.43e-03 -4.0 3.21e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.4794187e-04 4.85e-13 2.35e-04 -4.0 7.25e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.6087352e-04 6.28e-14 2.21e-04 -4.0 3.59e-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 3.0152951e-04 2.29e-14 3.75e-04 -4.1 6.89e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.6370486e-04 1.51e-14 3.44e-04 -4.0 1.81e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7314670e-04 9.27e-15 4.75e-04 -4.1 9.02e-02 -5.4 1.00e+00 1.00e+00f 1 13 4.6961546e-04 7.94e-15 4.39e-04 -4.0 2.29e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6279736e-04 5.61e-15 5.33e-04 -4.1 1.03e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.7054577e-04 5.66e-15 4.79e-04 -4.0 2.49e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.5943422e-04 4.05e-15 5.61e-04 -4.1 1.08e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.7047941e-04 4.33e-15 4.98e-04 -4.0 2.60e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5838940e-04 3.11e-15 5.79e-04 -4.1 1.12e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6997811e-04 3.44e-15 5.08e-04 -4.0 2.66e-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 2.5811038e-04 2.44e-15 5.95e-04 -4.1 1.15e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6934610e-04 2.78e-15 5.16e-04 -4.0 2.72e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5806808e-04 2.11e-15 6.10e-04 -4.1 1.18e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6867489e-04 2.33e-15 5.23e-04 -4.0 2.76e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5809221e-04 1.78e-15 6.24e-04 -4.1 1.21e-01 -11.2 1.00e+00 1.00e+00f 1 25 3.0781778e-05 1.18e-14 7.84e-04 -6.2 3.37e-01 -11.6 9.73e-01 1.00e+00f 1 26 1.7833968e-03 3.22e-15 6.99e-03 -4.0 1.79e+00 -12.1 1.00e+00 5.00e-01f 2 27 2.3647404e-05 2.93e-14 2.57e-03 -4.1 9.15e-01 -12.6 1.00e+00 1.00e+00f 1 28 1.5993388e-03 3.99e-14 7.27e-03 -4.0 8.90e-01 -13.1 1.00e+00 1.00e+00f 1 29 9.4837686e-06 2.26e-14 2.03e-03 -4.2 9.85e-01 -13.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 4.7940954e-04 1.89e-15 2.59e-03 -4.0 1.27e+00 -14.0 1.00e+00 5.00e-01f 2 31 2.1686866e-04 3.77e-15 2.10e-04 -4.2 3.54e-01 -14.5 1.00e+00 5.00e-01f 2 32 1.9897335e-05 5.38e-15 7.15e-04 -6.4 3.71e-01 -15.0 9.68e-01 1.00e+00f 1 33 7.9951132e-06 3.89e-15 8.84e-05 -6.4 9.38e-02 -15.5 1.00e+00 1.00e+00f 1 34 1.6249972e-03 1.33e-15 5.28e-03 -4.0 8.84e+00 -15.9 1.00e+00 1.25e-01f 4 35 9.3596745e-05 6.42e-14 3.22e-03 -4.0 7.43e-01 -16.4 1.00e+00 1.00e+00f 1 36 7.6695835e-04 4.49e-14 3.36e-03 -4.0 5.05e-01 -16.9 1.00e+00 1.00e+00f 1 37 3.8294512e-04 8.66e-15 3.86e-04 -4.0 3.89e-01 -17.4 1.00e+00 5.00e-01f 2 38 3.5436050e-05 6.27e-15 1.21e-03 -6.0 4.61e-01 -17.8 9.60e-01 1.00e+00f 1 39 1.4631713e-05 6.27e-15 1.45e-04 -6.0 1.14e-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 4.0570475e-06 9.99e-16 9.16e-05 -6.0 1.29e-01 -18.8 1.00e+00 1.00e+00f 1 41 1.4060401e-03 8.88e-16 4.54e-03 -4.0 1.42e+01 -19.3 1.00e+00 8.47e-02f 4 42 1.1988175e-04 5.86e-14 3.24e-03 -4.0 7.01e-01 -19.8 1.00e+00 1.00e+00f 1 43 7.4273006e-04 3.46e-14 3.25e-03 -4.0 4.84e-01 -20.0 1.00e+00 1.00e+00f 1 44 3.9220450e-04 6.55e-15 4.16e-04 -4.0 3.88e-01 -20.0 1.00e+00 5.00e-01f 2 45 3.6143118e-05 6.11e-15 1.33e-03 -6.0 5.00e-01 -20.0 9.55e-01 1.00e+00f 1 46 1.4956092e-05 5.61e-15 1.59e-04 -6.0 1.23e-01 -20.0 1.00e+00 1.00e+00f 1 47 4.0895713e-06 8.88e-16 1.01e-04 -6.0 1.42e-01 -20.0 1.00e+00 1.00e+00f 1 48 4.4960790e-06 3.89e-16 9.01e-06 -6.0 1.45e-02 -20.0 1.00e+00 1.00e+00h 1 49 2.6579500e-07 3.73e-17 4.66e-05 -9.0 1.98e-01 -20.0 9.81e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 6.4691653e-04 2.26e-16 1.82e-04 -4.0 6.93e+01 -20.0 1.00e+00 1.77e-02f 4 51 2.8433508e-04 4.61e-14 1.46e-03 -4.0 2.60e-01 -20.0 1.00e+00 1.00e+00f 1 52 5.2820690e-04 9.99e-15 1.23e-03 -4.0 1.92e-01 -20.0 1.00e+00 1.00e+00f 1 53 4.0259567e-04 1.78e-15 2.32e-04 -4.0 1.76e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.3346808e-05 6.66e-15 1.49e-03 -6.1 5.71e-01 -20.0 9.47e-01 1.00e+00f 1 55 1.4413000e-05 4.83e-15 1.59e-04 -6.1 1.27e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.7634915e-06 7.77e-16 1.10e-04 -6.1 1.59e-01 -20.0 1.00e+00 1.00e+00f 1 57 4.1638247e-06 3.33e-16 9.51e-06 -6.1 1.59e-02 -20.0 1.00e+00 1.00e+00h 1 58 3.9303342e-06 3.21e-17 2.29e-06 -6.1 3.91e-03 -20.0 1.00e+00 1.00e+00h 1 59 2.7107336e-07 4.60e-17 4.73e-05 -9.0 2.05e-01 -20.0 9.80e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.1007018e-07 3.12e-17 4.86e-06 -9.0 4.39e-02 -20.0 1.00e+00 1.00e+00f 1 61 4.1887641e-03 3.19e-16 1.09e-02 -4.0 3.15e+02 -20.0 1.00e+00 7.80e-03f 3 62 2.9521628e-04 1.28e-13 9.58e-03 -3.7 1.27e+00 -20.0 1.00e+00 1.00e+00f 1 63 1.3128999e-03 7.17e-14 5.31e-03 -3.7 5.72e-01 -20.0 1.00e+00 1.00e+00f 1 64 8.9454506e-04 1.98e-14 8.76e-04 -3.7 3.78e-01 -20.0 1.00e+00 5.00e-01f 2 65 8.4711112e-05 1.21e-14 3.14e-03 -5.5 7.49e-01 -20.0 9.30e-01 1.00e+00f 1 66 3.7386453e-05 1.03e-14 3.57e-04 -5.5 1.77e-01 -20.0 1.00e+00 1.00e+00f 1 67 1.2523396e-05 1.67e-15 2.33e-04 -5.5 1.91e-01 -20.0 1.00e+00 1.00e+00f 1 68 1.6457708e-05 6.66e-16 5.95e-05 -5.5 5.10e-02 -20.0 1.00e+00 1.00e+00f 1 69 1.3477570e-05 1.30e-16 2.75e-05 -5.5 2.46e-02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.0943963e-06 1.20e-16 1.37e-04 -8.2 2.98e-01 -20.0 9.71e-01 1.00e+00f 1 71 4.2352648e-07 1.11e-16 1.60e-05 -8.2 7.32e-02 -20.0 1.00e+00 1.00e+00f 1 72 7.1698059e-08 3.47e-17 1.03e-05 -8.2 1.02e-01 -20.0 1.00e+00 1.00e+00f 1 73 2.5559316e-03 4.37e-16 6.09e-03 -4.0 3.68e+02 -20.0 1.00e+00 6.67e-03f 3 74 3.0673345e-04 8.28e-14 7.69e-03 -3.8 1.09e+00 -20.0 1.00e+00 1.00e+00f 1 75 1.0395604e-03 3.89e-14 4.25e-03 -3.8 5.00e-01 -20.0 1.00e+00 1.00e+00f 1 76 7.1765841e-04 1.04e-14 8.77e-04 -3.8 3.97e-01 -20.0 1.00e+00 5.00e-01f 2 77 6.8392064e-05 8.99e-15 3.00e-03 -5.6 7.90e-01 -20.0 9.23e-01 1.00e+00f 1 78 2.9511941e-05 6.88e-15 3.46e-04 -5.6 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 79 9.1316781e-06 1.11e-15 2.26e-04 -5.6 2.16e-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 80 1.1362263e-05 4.44e-16 4.15e-05 -5.6 4.25e-02 -20.0 1.00e+00 1.00e+00f 1 81 9.7924552e-06 1.04e-16 1.64e-05 -5.6 1.73e-02 -20.0 1.00e+00 1.00e+00h 1 82 7.5957305e-07 1.02e-16 1.21e-04 -8.5 3.12e-01 -20.0 9.69e-01 1.00e+00f 1 83 2.9870067e-07 6.85e-17 1.35e-05 -8.5 7.36e-02 -20.0 1.00e+00 1.00e+00f 1 84 4.8802526e-08 1.80e-17 8.93e-06 -8.5 1.06e-01 -20.0 1.00e+00 1.00e+00f 1 85 1.6373829e-03 6.49e-16 8.57e-04 -4.0 5.42e+02 -20.0 1.00e+00 4.52e-03f 3 86 4.6737959e-04 6.64e-14 5.65e-03 -3.8 7.33e-01 -20.0 1.00e+00 1.00e+00f 1 87 9.0352925e-04 2.04e-14 2.32e-03 -3.8 2.75e-01 -20.0 1.00e+00 1.00e+00f 1 88 5.5664757e-04 9.10e-15 2.31e-03 -3.8 3.03e-01 -20.0 1.00e+00 1.00e+00f 1 89 8.9325252e-04 3.55e-15 1.55e-03 -3.8 1.80e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 4.8941141e-05 8.66e-15 3.53e-03 -5.7 1.02e+00 -20.0 8.96e-01 1.00e+00f 1 91 2.6385323e-05 7.11e-15 2.31e-04 -5.7 1.40e-01 -20.0 1.00e+00 1.00e+00f 1 92 7.9702417e-06 7.77e-16 2.23e-04 -5.7 2.27e-01 -20.0 1.00e+00 1.00e+00f 1 93 1.1682866e-05 4.44e-16 7.06e-05 -5.7 7.28e-02 -20.0 1.00e+00 1.00e+00f 1 94 1.0189394e-05 2.22e-16 5.55e-06 -5.7 4.21e-02 -20.0 1.00e+00 5.00e-01f 2 95 7.3285579e-07 6.42e-17 1.31e-04 -8.5 3.41e-01 -20.0 9.66e-01 1.00e+00f 1 96 2.9755717e-07 6.85e-17 1.36e-05 -8.5 7.46e-02 -20.0 1.00e+00 1.00e+00f 1 97 4.7268181e-08 2.82e-17 9.39e-06 -8.5 1.13e-01 -20.0 1.00e+00 1.00e+00f 1 98 1.3574910e-03 4.72e-16 3.04e-03 -4.0 5.77e+02 -20.0 1.00e+00 4.24e-03f 3 99 5.0336696e-04 5.84e-14 4.74e-03 -3.8 6.13e-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 8.2908639e-04 1.47e-14 1.61e-03 -3.8 1.95e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 8.2908639218788865e-04 8.2908639218788865e-04 Dual infeasibility......: 1.6125276604394556e-03 1.6125276604394556e-03 Constraint violation....: 1.4654943925052066e-14 1.4654943925052066e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.6515372929496309e-04 1.6515372929496309e-04 Overall NLP error.......: 1.6125276604394556e-03 1.6125276604394556e-03 Number of objective function evaluations = 152 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 152 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 = 2.266 EXIT: Maximum Number of Iterations Exceeded. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! [test_integrator] Starting... [test_integrator] constraint_dim=8, datavec_len=75, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.0528699e+00 3.10e+00 1.52e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3342641e+00 2.74e+00 5.44e+00 -0.9 1.84e+01 -2.0 1.02e-01 4.36e-01f 1 2 2.0827311e+00 2.17e+00 4.91e+00 -0.1 6.10e+00 -0.7 3.83e-01 2.03e-01f 1 3 2.2138602e+00 2.06e+00 4.36e+00 -4.0 8.25e+01 -1.1 2.20e-02 4.96e-02H 1 4 1.9845141e+00 1.30e+00 9.59e+00 -0.8 7.71e+00 -0.7 1.54e-01 4.04e-01h 1 5 1.9233991e+00 9.88e-01 6.31e+00 -0.9 4.54e+00 -0.3 2.02e-01 2.47e-01f 1 6 1.9349508e+00 6.22e-01 4.47e+00 -4.0 3.98e+00 -0.8 2.68e-01 3.91e-01h 1 7 1.9645766e+00 4.67e-01 3.69e+00 -0.8 3.60e+00 -0.3 8.08e-01 2.53e-01f 1 8 2.0777419e+00 1.55e+00 8.93e+00 -0.4 8.50e+00 -0.8 7.98e-01 6.72e-01f 1 9 1.9800932e+00 7.18e-01 6.66e+00 -0.7 5.57e+00 -1.3 6.84e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.9048487e+00 1.26e-01 1.23e+00 -0.7 1.03e+00 0.0 7.37e-01 8.75e-01f 1 11 1.8629335e+00 2.13e-02 4.23e+00 -0.9 2.92e-01 0.5 5.65e-01 1.00e+00f 1 12 1.7630796e+00 4.52e-04 4.85e-02 -1.5 5.12e-02 -0.0 9.97e-01 1.00e+00h 1 13 1.4822538e+00 2.63e-03 4.87e-02 -2.3 1.54e-01 -0.5 9.31e-01 1.00e+00f 1 14 1.3417768e+00 9.83e-03 3.69e-02 -2.4 2.85e-01 -1.0 9.68e-01 7.98e-01h 1 15 1.2737691e+00 3.07e-02 9.22e-02 -2.7 4.59e-01 -1.5 9.55e-01 7.26e-01h 1 16 1.2309378e+00 2.85e-02 2.38e-02 -3.1 6.35e-01 -1.9 9.99e-01 8.69e-01h 1 17 1.2037685e+00 6.15e-02 1.55e-02 -3.7 8.88e-01 -2.4 9.88e-01 9.86e-01h 1 18 1.2047673e+00 1.34e-03 4.90e-03 -3.8 4.72e-01 -2.0 9.93e-01 1.00e+00h 1 19 1.1969976e+00 1.91e-02 1.03e-02 -4.0 7.16e-01 -2.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1927603e+00 2.31e-02 4.36e-02 -4.0 1.76e+00 -2.9 8.99e-01 7.02e-01h 1 21 1.1845429e+00 6.17e-02 2.11e-02 -4.0 2.04e+00 -3.4 1.00e+00 1.00e+00h 1 22 1.1791371e+00 8.15e-02 1.27e-02 -4.0 3.19e+00 -3.9 1.00e+00 1.00e+00h 1 23 1.1751123e+00 8.93e-02 1.48e-02 -4.0 4.93e+00 -4.4 1.00e+00 1.00e+00h 1 24 1.1715953e+00 1.19e-01 9.57e-03 -4.0 7.48e+00 -4.8 1.00e+00 1.00e+00h 1 25 1.1689819e+00 1.40e-01 8.69e-03 -4.0 1.15e+01 -5.3 1.00e+00 1.00e+00h 1 26 1.1667723e+00 1.77e-01 4.07e-03 -4.0 1.76e+01 -5.8 1.00e+00 1.00e+00h 1 27 1.1650698e+00 2.12e-01 8.60e-04 -4.0 2.67e+01 -6.3 1.00e+00 1.00e+00h 1 28 1.1636764e+00 2.59e-01 4.49e-03 -4.0 4.04e+01 -6.8 1.00e+00 1.00e+00h 1 29 1.1625918e+00 3.09e-01 9.56e-03 -4.0 6.06e+01 -7.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1617283e+00 3.67e-01 1.59e-02 -4.0 8.97e+01 -7.7 1.00e+00 1.00e+00h 1 31 1.1610787e+00 4.19e-01 2.15e-02 -4.0 1.30e+02 -8.2 1.00e+00 1.00e+00h 1 32 1.1606282e+00 4.45e-01 2.49e-02 -4.0 1.80e+02 -8.7 1.00e+00 1.00e+00h 1 33 1.1604881e+00 3.49e-01 1.64e-02 -4.0 2.12e+02 -9.1 1.00e+00 1.00e+00h 1 34 1.1608163e+00 2.34e-02 3.87e-03 -4.0 8.84e+01 -9.6 1.00e+00 1.00e+00h 1 35 1.1608497e+00 3.90e-04 1.14e-04 -4.0 6.60e+00 -10.1 1.00e+00 1.00e+00h 1 36 1.1608491e+00 4.43e-06 6.02e-07 -4.0 8.79e-01 -10.6 1.00e+00 1.00e+00h 1 37 1.1608491e+00 3.96e-10 1.69e-11 -4.0 8.35e-03 -11.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 37 (scaled) (unscaled) Objective...............: 1.1608491308034343e+00 1.1608491308034343e+00 Dual infeasibility......: 1.6872735088442614e-11 1.6872735088442614e-11 Constraint violation....: 3.9598013756858563e-10 3.9598013756858563e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000025e-04 1.0000000000000025e-04 Overall NLP error.......: 3.9598013756858563e-10 3.9598013756858563e-10 Number of objective function evaluations = 39 Number of objective gradient evaluations = 38 Number of equality constraint evaluations = 39 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 38 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 37 Total seconds in IPOPT = 31.002 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 186 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 19 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.2346735e+00 8.71e-01 1.17e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5721882e+00 2.47e-01 1.76e+00 -1.0 7.06e-01 0.0 9.97e-01 1.00e+00h 1 2 1.5877784e+00 9.67e-02 3.61e-01 -0.8 4.69e-01 -0.5 8.44e-01 6.08e-01f 1 3 1.5006800e+00 8.19e-02 3.25e+00 -1.2 1.90e+01 - 9.74e-01 1.81e-01f 2 4 1.2488192e+00 3.37e-02 3.45e-01 -1.9 3.86e+00 - 1.00e+00 1.00e+00h 1 5 1.1391152e+00 2.43e-02 4.71e-01 -2.0 8.63e+00 - 1.00e+00 7.48e-01h 1 6 1.1403708e+00 1.25e-02 1.19e+00 -4.0 1.65e+01 - 7.23e-01 9.05e-01h 1 7 1.1235453e+00 1.11e-02 8.76e-01 -3.2 1.12e-01 -1.0 1.00e+00 1.12e-01h 1 8 1.0916521e+00 8.49e-05 2.17e-01 -4.0 4.52e+00 - 1.00e+00 1.00e+00h 1 9 1.0910174e+00 1.35e-07 3.74e-03 -4.0 5.95e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910386e+00 9.72e-13 2.12e-05 -4.0 2.24e-02 - 1.00e+00 1.00e+00h 1 11 1.0910386e+00 3.34e-21 2.10e-05 -4.0 3.39e-05 - 1.00e+00 1.00e+00h 1 12 1.0910386e+00 2.89e-28 5.70e-16 -4.0 1.95e-10 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0910385779862031e+00 1.0910385779862031e+00 Dual infeasibility......: 5.7012771240150251e-16 5.7012771240150251e-16 Constraint violation....: 2.8949339199385377e-28 2.8949339199385377e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 5.7012771240150251e-16 5.7012771240150251e-16 Number of objective function evaluations = 16 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 16 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 13 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 12 Total seconds in IPOPT = 30.133 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable ddu applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.7760548e+00 2.82e+00 3.99e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6941577e+00 6.27e-02 1.09e+00 -1.0 2.32e+00 - 1.00e+00 1.00e+00f 1 2 2.5236292e+00 1.03e-02 1.73e-01 -1.3 2.77e-01 - 9.60e-01 1.00e+00f 1 3 2.1749252e+00 1.04e-03 4.69e-02 -2.5 5.41e-02 - 9.28e-01 1.00e+00h 1 4 2.0929119e+00 1.58e-04 1.96e-03 -3.6 1.46e-02 - 9.83e-01 1.00e+00h 1 5 2.0909028e+00 1.69e-05 4.81e-04 -4.0 8.07e-02 - 1.00e+00 1.00e+00h 1 6 2.0908978e+00 5.00e-08 1.01e-06 -4.0 1.15e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 6.95e-11 1.56e-10 -4.0 1.58e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971973378168e+00 2.0908971973378168e+00 Dual infeasibility......: 1.5599805036061939e-10 1.5599805036061939e-10 Constraint violation....: 6.9469445143242534e-11 6.9469445143242534e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000385863716565e-04 1.0000385863716565e-04 Overall NLP error.......: 3.8586371656473134e-09 3.8586371656473134e-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 = 29.969 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.9636660e+00 1.72e+00 8.52e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5236404e+00 6.64e-01 5.22e+00 -0.9 7.90e+00 -4.0 7.84e-01 8.71e-01f 1 2 2.7054232e+00 6.56e-02 1.06e+00 -0.8 5.39e-01 -0.9 7.34e-01 1.00e+00f 1 3 2.5678996e+00 3.23e-02 3.39e-01 -1.5 5.64e-01 -1.3 9.59e-01 1.00e+00h 1 4 2.3263648e+00 1.95e-02 1.13e-01 -1.6 6.81e-01 -1.8 8.26e-01 7.53e-01h 1 5 2.1639685e+00 3.07e-02 1.40e-01 -2.2 7.11e-01 -2.3 9.37e-01 9.35e-01h 1 6 2.1094907e+00 6.26e-03 7.31e-02 -2.9 1.64e-01 -2.8 1.00e+00 7.95e-01h 1 7 2.0915801e+00 7.04e-04 2.72e-02 -3.9 1.63e-01 -3.3 1.00e+00 9.88e-01h 1 8 2.0908411e+00 2.79e-05 4.84e-04 -4.0 1.03e-01 -3.7 1.00e+00 1.00e+00h 1 9 2.0908129e+00 9.44e-07 2.17e-05 -4.0 3.02e-01 -4.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907309e+00 2.64e-07 1.00e-04 -4.0 8.51e-01 -4.7 1.00e+00 1.00e+00h 1 11 2.0905274e+00 1.56e-06 6.57e-04 -4.0 2.14e+00 -5.2 1.00e+00 1.00e+00h 1 12 2.0901808e+00 3.97e-06 2.45e-03 -4.0 3.92e+00 -5.6 1.00e+00 1.00e+00h 1 13 2.0899679e+00 3.83e-06 2.93e-03 -4.0 4.93e+00 -6.1 1.00e+00 1.00e+00h 1 14 2.0898720e+00 1.46e-06 1.47e-03 -4.0 7.29e+00 -6.6 1.00e+00 1.00e+00h 1 15 2.0898255e+00 1.76e-06 1.15e-03 -4.0 1.08e+01 -7.1 1.00e+00 1.00e+00h 1 16 2.0898229e+00 1.92e-06 6.99e-04 -4.0 9.27e+00 -7.5 1.00e+00 1.00e+00h 1 17 2.0898220e+00 5.12e-07 9.31e-05 -4.0 3.42e+00 -8.0 1.00e+00 1.00e+00h 1 18 2.0898219e+00 7.41e-09 1.42e-06 -4.0 3.34e-01 -8.5 1.00e+00 1.00e+00h 1 19 2.0898218e+00 9.28e-12 2.69e-09 -4.0 1.71e-02 -9.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 19 (scaled) (unscaled) Objective...............: 2.0898218497230960e+00 2.0898218497230960e+00 Dual infeasibility......: 2.6864788029790435e-09 2.6864788029790435e-09 Constraint violation....: 9.2829077757983214e-12 9.2829077757983214e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 2.6864788029790435e-09 2.6864788029790435e-09 Number of objective function evaluations = 20 Number of objective gradient evaluations = 20 Number of equality constraint evaluations = 20 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 20 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 19 Total seconds in IPOPT = 28.752 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable x applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 6.8821330e+00 2.48e+00 5.36e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 6.3408000e+00 2.06e+00 9.99e+00 -0.2 4.73e+01 -2.0 8.12e-03 8.95e-02f 1 2 6.1333640e+00 1.87e+00 1.57e+01 0.1 1.34e+01 -1.6 4.44e-01 1.17e-01f 1 3 5.2853776e+00 1.80e+00 4.40e+01 0.2 4.00e+01 -2.1 2.86e-01 2.13e-01f 1 4 5.2228857e+00 1.75e+00 5.56e+01 -4.0 7.24e+01 -1.6 2.81e-02 4.47e-02h 1 5 5.1469403e+00 1.55e+00 2.09e+02 0.4 3.29e+01 -2.1 5.74e-01 1.04e-01f 1 6 5.0804776e+00 1.17e+00 1.79e+02 -1.0 3.50e+01 -2.6 2.17e-01 1.62e-01h 1 7 5.3165635e+00 9.27e-01 4.69e+02 0.5 2.79e+01 -3.1 1.00e+00 2.06e-01h 1 8 5.7085665e+00 9.12e-01 4.38e+03 1.1 5.76e+01 -3.5 8.91e-01 1.32e-01h 1 9 5.8592468e+00 8.08e-01 2.28e+04 1.3 6.92e+00 -4.0 1.00e+00 1.15e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 5.9082875e+00 6.97e-01 1.28e+05 1.0 4.02e+00 -4.5 1.00e+00 1.34e-01h 1 11 5.9331087e+00 6.77e-01 1.08e+05 -4.0 3.73e+01 -5.0 1.15e-02 2.95e-02h 1 12 5.9333041e+00 6.77e-01 1.52e+06 0.6 8.03e+01 -5.4 1.00e+00 1.13e-03h 1 13 5.9500422e+00 6.47e-01 2.83e+07 1.4 2.80e+02 -5.0 1.00e+00 4.42e-02h 1 14 5.9520115e+00 6.41e-01 3.12e+09 2.5 5.60e+02 -5.5 1.00e+00 8.95e-03h 1 15 5.9520178e+00 6.41e-01 6.45e+12 2.5 1.07e+02 -6.0 1.00e+00 4.70e-04h 1 16 6.4505492e+00 4.62e-01 1.11e+17 2.5 4.03e+02 -6.4 1.62e-05 2.83e-01f 1 17 6.4434558e+00 4.59e-01 1.10e+17 2.5 4.94e-01 17.4 4.78e-03 6.05e-03h 1 18 6.4433841e+00 4.59e-01 1.10e+17 2.5 4.92e-01 16.9 8.09e-03 6.19e-05h 1 19r 6.4433841e+00 4.59e-01 8.34e+02 2.5 0.00e+00 16.4 0.00e+00 3.25e-07R 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 5.4998143e+00 2.58e-01 3.71e+02 -3.6 2.82e+00 - 6.55e-01 5.04e-01f 1 21r 5.4998143e+00 2.58e-01 9.99e+02 -0.6 0.00e+00 16.0 0.00e+00 3.48e-07R 3 22r 5.1258272e+00 2.64e-01 9.96e+02 1.4 1.62e+02 - 2.37e-03 2.74e-03f 1 23r 5.0507966e+00 2.47e-01 9.53e+02 0.7 3.62e+01 - 1.00e+00 4.02e-03f 1 24r 5.0236291e+00 2.00e-01 1.94e+02 -0.1 1.19e+00 - 1.00e+00 8.03e-01f 1 25 5.0245127e+00 1.99e-01 1.53e+12 -4.0 2.08e-01 15.5 8.75e-01 2.39e-03h 1 26 5.0245215e+00 1.99e-01 1.53e+12 -2.5 2.07e-01 15.0 1.00e+00 2.39e-05h 1 27r 5.0245215e+00 1.99e-01 1.00e+03 -0.7 0.00e+00 14.5 0.00e+00 1.20e-07R 2 28r 4.9766031e+00 1.99e-01 9.70e+02 0.0 3.33e+01 - 1.00e+00 2.52e-02f 1 29r 5.0648507e+00 1.99e-01 3.40e+02 -1.1 8.56e-01 - 1.00e+00 6.51e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 5.0568579e+00 1.99e-01 4.53e-01 -1.4 4.51e-03 2.0 1.00e+00 1.00e+00f 1 31r 5.0624338e+00 1.99e-01 2.35e-01 -3.0 5.72e-03 1.5 1.00e+00 9.90e-01f 1 32r 5.0637696e+00 1.99e-01 3.36e-02 -4.0 1.21e-03 1.0 1.00e+00 9.34e-01f 1 33r 5.0637581e+00 1.99e-01 6.76e-04 -4.0 1.83e-04 0.6 1.00e+00 1.00e+00f 1 34r 5.0550140e+00 1.99e-01 5.70e-04 -4.0 2.96e+00 - 1.00e+00 1.00e+00h 1 35r 5.0471753e+00 1.99e-01 6.52e-06 -4.0 1.99e+00 - 1.00e+00 1.00e+00h 1 36r 5.0473404e+00 1.99e-01 1.00e-09 -4.0 2.38e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 36 (scaled) (unscaled) Objective...............: 5.0473404675080040e+00 5.0473404675080040e+00 Dual infeasibility......: 2.0194879534386825e+00 2.0194879534386825e+00 Constraint violation....: 1.9875045038396311e-01 1.9875045038396311e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000004738720e-04 1.0000000004738720e-04 Overall NLP error.......: 2.0194879534386825e+00 2.0194879534386825e+00 Number of objective function evaluations = 45 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 45 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 41 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 37 Total seconds in IPOPT = 30.256 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... applying constraint: bounds constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.0037493e+00 2.45e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.8396682e+00 5.90e-01 1.91e+00 -1.3 1.83e+00 0.0 2.11e-01 7.60e-01h 1 2 3.2562514e+00 1.29e-01 2.94e+00 -0.8 1.02e+00 -0.5 9.72e-01 1.00e+00f 1 3 2.8863100e+00 1.68e-01 1.26e+00 -0.8 1.36e+00 -1.0 9.13e-01 5.38e-01f 1 4 2.5593373e+00 1.62e-01 9.79e-01 -1.2 1.50e+00 -1.4 9.30e-01 9.33e-01f 1 5 2.2284400e+00 4.20e-02 1.65e-01 -1.8 6.89e-01 -1.9 9.91e-01 9.88e-01h 1 6 2.1152052e+00 9.92e-03 8.18e-02 -2.7 5.12e-01 -2.4 9.98e-01 9.40e-01h 1 7 2.0914092e+00 1.70e-04 4.85e-03 -3.8 3.99e-02 -2.9 9.98e-01 1.00e+00h 1 8 2.0908860e+00 5.64e-06 2.65e-04 -4.0 4.52e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908714e+00 7.45e-08 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908316e+00 6.18e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907122e+00 5.59e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903546e+00 5.06e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892892e+00 4.62e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861573e+00 4.33e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796217e+00 2.51e-03 8.65e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.58e-01h 1 16 2.0812505e+00 1.39e-04 1.87e-01 -4.0 6.84e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778285e+00 5.49e-03 2.57e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781602e+00 1.66e-02 3.46e-02 -3.7 1.54e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767367e+00 1.29e-02 1.71e-02 -3.8 2.92e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0759656e+00 7.94e-03 2.25e-02 -3.9 4.18e+02 -9.1 1.00e+00 9.90e-01h 1 21 2.0757563e+00 8.15e-03 9.71e-03 -4.0 1.37e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756780e+00 4.14e-04 3.96e-04 -4.0 5.74e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 2.34e-06 7.85e-06 -4.0 2.33e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.66e-08 1.53e-06 -4.0 1.52e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.57e-09 1.52e-07 -4.0 5.20e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.71e-11 3.03e-09 -4.0 9.09e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122105725e+00 2.0756712122105725e+00 Dual infeasibility......: 3.0287633715874850e-09 3.0287633715874850e-09 Constraint violation....: 7.7095663186810270e-11 7.7095663186810270e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000051e-04 1.0000000000000051e-04 Overall NLP error.......: 3.0287633715874850e-09 3.0287633715874850e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 45.304 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! initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4146687e+00 2.69e+00 1.55e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9302171e+00 2.59e-02 7.99e-01 -1.1 1.77e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2866351e+00 2.43e-02 9.54e-02 -1.7 3.43e-01 -1.6 9.82e-01 1.00e+00f 1 3 2.1322154e+00 3.13e-03 4.06e-01 -3.1 1.66e-01 -1.1 9.78e-01 1.00e+00h 1 4 2.0961793e+00 8.69e-04 1.79e-01 -4.0 1.54e-01 -1.6 1.00e+00 7.24e-01h 1 5 2.0925833e+00 6.16e-04 8.22e-01 -4.0 5.30e-01 -2.1 1.00e+00 3.60e-01h 1 6 2.0909394e+00 9.33e-05 2.22e-01 -4.0 6.13e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0910070e+00 8.92e-07 9.04e-03 -4.0 2.36e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0910191e+00 5.70e-07 2.07e-05 -4.0 7.06e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909982e+00 1.69e-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 2.0909361e+00 1.47e-07 2.06e-05 -4.0 6.32e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907529e+00 1.30e-06 4.98e-05 -4.0 1.88e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902311e+00 1.10e-05 4.21e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888820e+00 8.23e-05 3.17e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861822e+00 4.42e-04 1.75e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830974e+00 9.25e-04 4.73e-02 -4.0 5.33e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828492e+00 9.27e-04 2.31e-02 -4.0 5.41e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823446e+00 3.88e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820401e+00 9.38e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.69e-04 8.66e-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 3.68e-05 8.44e-04 -4.0 3.10e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.32e-07 1.39e-05 -4.0 4.45e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.83e-10 3.27e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.51e-13 1.22e-11 -4.0 4.60e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190960e+00 2.0819382907190960e+00 Dual infeasibility......: 1.2197773580037083e-11 1.2197773580037083e-11 Constraint violation....: 2.5135449277513544e-13 2.5135449277513544e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000057e-04 1.0000000000000057e-04 Overall NLP error.......: 1.2197773580037083e-11 1.2197773580037083e-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 = 30.987 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.3265993e+00 3.13e+00 1.79e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7607343e+00 3.25e-02 5.09e-01 -1.2 2.36e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2511602e+00 3.11e-02 1.20e-01 -1.7 4.06e-01 -1.6 9.82e-01 9.09e-01h 1 3 2.1504061e+00 3.48e-03 3.04e-01 -2.7 1.64e-01 -1.1 9.99e-01 8.83e-01h 1 4 2.1018153e+00 1.06e-03 1.78e-01 -4.0 2.36e-01 -1.6 1.00e+00 8.03e-01h 1 5 2.0948444e+00 4.34e-04 7.59e-01 -4.0 6.14e-01 -2.1 1.00e+00 4.73e-01h 1 6 2.0912916e+00 4.14e-04 1.15e-01 -4.0 4.41e-01 -2.6 1.00e+00 7.50e-01h 1 7 2.0909161e+00 1.65e-05 3.50e-02 -4.0 1.17e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0908694e+00 9.10e-07 1.01e-04 -4.0 8.13e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908448e+00 2.30e-08 4.97e-05 -4.0 2.21e-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 2.0907980e+00 1.04e-07 2.89e-04 -4.0 5.40e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0906985e+00 6.60e-07 1.05e-03 -4.0 1.32e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904237e+00 6.26e-06 8.78e-04 -4.0 4.28e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0902379e+00 6.15e-06 2.01e-02 -4.0 1.22e+01 -5.9 6.89e-01 1.77e-01h 2 14 2.0886809e+00 1.56e-04 3.97e-02 -4.0 3.02e+01 -6.4 1.00e+00 6.71e-01h 1 15 2.0859461e+00 1.56e-03 1.19e-01 -4.0 6.96e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0835550e+00 8.45e-04 1.68e-01 -4.0 1.28e+01 -5.5 1.00e+00 5.10e-01h 1 17 2.0833569e+00 1.42e-04 1.02e-02 -4.0 4.97e+00 -6.0 1.00e+00 1.00e+00h 1 18 2.0828959e+00 6.38e-05 3.01e-03 -4.0 1.01e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0827626e+00 6.27e-05 2.53e-03 -4.0 2.82e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0824941e+00 1.83e-04 3.09e-03 -4.0 7.33e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821487e+00 1.00e-03 9.79e-03 -4.0 1.82e+02 -7.9 5.52e-01 1.00e+00h 1 22 2.0821044e+00 1.33e-03 2.60e+00 -4.0 2.49e+02 -6.6 1.00e+00 5.94e-02h 3 23 2.0820894e+00 5.11e-05 2.83e-03 -4.0 2.67e+00 -5.3 1.00e+00 1.00e+00h 1 24 2.0829295e+00 2.04e-06 1.43e-01 -4.0 1.64e+00 -4.8 5.08e-01 1.00e+00H 1 25 2.0823946e+00 6.34e-07 7.54e-03 -4.0 4.76e-02 -0.8 1.00e+00 1.00e+00h 1 26 2.0821474e+00 7.39e-07 2.17e-03 -4.0 4.49e-02 -1.3 1.00e+00 1.00e+00h 1 27 2.0821275e+00 1.04e-07 3.66e-04 -4.0 1.40e-02 -1.8 1.00e+00 1.00e+00h 1 28 2.0821347e+00 5.40e-09 1.68e-04 -4.0 2.89e-02 -2.2 1.00e+00 1.00e+00h 1 29 2.0821349e+00 8.79e-09 6.31e-05 -4.0 3.28e-02 -2.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0821345e+00 1.72e-08 1.13e-05 -4.0 1.77e-02 -3.2 1.00e+00 1.00e+00h 1 31 2.0821345e+00 2.70e-08 4.69e-06 -4.0 2.20e-02 -3.7 1.00e+00 1.00e+00h 1 32 2.0820023e+00 1.53e-06 5.38e-05 -4.1 6.90e-02 -4.1 1.00e+00 1.00e+00h 1 33 2.0821388e+00 2.82e-06 6.12e-05 -4.0 1.61e-01 -4.6 1.00e+00 1.00e+00h 1 34 2.0819909e+00 1.21e-05 3.93e-05 -4.1 4.81e-01 -5.1 1.00e+00 1.00e+00h 1 35 2.0821223e+00 9.96e-06 2.15e-04 -4.0 7.58e-01 -5.6 1.00e+00 1.00e+00h 1 36 2.0819201e+00 6.07e-05 1.82e-04 -4.1 2.71e+00 -6.1 1.00e+00 1.00e+00h 1 37 2.0820696e+00 5.60e-05 6.91e-04 -4.0 2.88e+00 -6.5 1.00e+00 1.00e+00h 1 38 2.0818136e+00 2.61e-04 4.69e-04 -4.1 1.17e+01 -7.0 1.00e+00 1.00e+00h 1 39 2.0819771e+00 4.46e-04 1.93e-03 -4.0 1.97e+01 -7.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0816499e+00 1.01e-03 2.07e-03 -4.1 4.05e+01 -8.0 1.00e+00 1.00e+00h 1 41 2.0818522e+00 1.24e-03 2.90e-03 -4.0 5.24e+01 -8.4 1.00e+00 1.00e+00h 1 42 2.0815815e+00 8.01e-04 8.22e-04 -4.1 3.51e+01 -8.9 1.00e+00 1.00e+00h 1 43 2.0818395e+00 2.23e-04 6.84e-05 -4.0 9.24e+00 -9.4 1.00e+00 1.00e+00h 1 44 2.0815805e+00 2.14e-04 1.19e-05 -4.1 9.71e+00 -9.9 1.00e+00 1.00e+00h 1 45 2.0818395e+00 2.08e-04 1.26e-05 -4.0 9.47e+00 -10.4 1.00e+00 1.00e+00h 1 46 2.0815804e+00 2.10e-04 1.02e-05 -4.1 9.58e+00 -10.8 1.00e+00 1.00e+00h 1 47 2.0818395e+00 2.11e-04 9.62e-06 -4.0 9.61e+00 -11.3 1.00e+00 1.00e+00h 1 48 2.0815804e+00 2.11e-04 9.21e-06 -4.1 9.62e+00 -11.8 1.00e+00 1.00e+00h 1 49 2.0818395e+00 2.11e-04 9.29e-06 -4.0 9.62e+00 -12.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0815804e+00 2.11e-04 9.10e-06 -4.1 9.62e+00 -12.7 1.00e+00 1.00e+00h 1 51 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -13.2 9.78e-01 9.71e-01h 1 52 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -13.7 1.00e+00 1.00e+00f 1 53 2.0816141e+00 4.87e-04 1.05e-05 -4.1 2.07e+01 -14.2 1.00e+00 1.00e+00h 1 54 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -14.6 9.76e-01 9.65e-01h 1 55 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -15.1 1.00e+00 1.00e+00h 1 56 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -15.6 1.00e+00 1.00e+00f 1 57 2.0816850e+00 9.29e-04 4.93e-05 -4.1 4.57e+01 -16.1 1.00e+00 1.00e+00h 1 58 2.0816490e+00 4.77e-07 7.43e-07 -4.1 8.50e+00 -16.6 1.00e+00 1.00e+00h 1 59 2.0818389e+00 1.13e-04 4.87e-06 -4.0 7.02e+00 -17.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0815801e+00 2.08e-04 9.04e-06 -4.1 9.49e+00 -17.5 1.00e+00 1.00e+00h 1 61 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -18.0 9.78e-01 9.71e-01h 1 62 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -18.5 1.00e+00 1.00e+00h 1 63 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -18.9 1.00e+00 1.00e+00f 1 64 2.0816901e+00 9.49e-04 5.23e-05 -4.1 4.72e+01 -19.4 1.00e+00 1.00e+00h 1 65 2.0816518e+00 5.68e-07 7.86e-07 -4.1 8.91e+00 -19.9 1.00e+00 1.00e+00h 1 66 2.0805907e+00 3.69e-03 1.61e-04 -6.1 4.17e+01 -20.0 9.77e-01 9.75e-01h 1 67 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0805469e+00 4.72e-08 2.03e-08 -6.1 2.96e+00 -20.0 1.00e+00 1.00e+00h 1 69 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.88e+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 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0816664e+00 1.23e-06 1.00e-06 -4.1 1.09e+01 -20.0 1.00e+00 1.00e+00h 1 72 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -20.0 9.76e-01 9.75e-01h 1 73 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 75 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 76 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 77 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 82 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 83 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 84 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 85 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 88 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 91 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 6.66e-16 2.22e-16 -9.0 1.97e-12 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 2.22e-16 2.03e-16 -9.0 7.58e-14 -20.0 1.00e+00 1.00e+00 0 95 2.0805365e+00 2.22e-16 1.95e-16 -9.0 3.50e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 95 (scaled) (unscaled) Objective...............: 2.0805364715330508e+00 2.0805364715330508e+00 Dual infeasibility......: 1.9538669384635720e-16 1.9538669384635720e-16 Constraint violation....: 2.2204460492503131e-16 2.2204460492503131e-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 = 104 Number of objective gradient evaluations = 96 Number of equality constraint evaluations = 104 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 96 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 96 Total seconds in IPOPT = 34.736 EXIT: Search Direction is becoming Too Small. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9075135e+00 7.67e-01 1.11e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.1517933e+00 3.51e-01 2.18e+00 -1.4 1.75e+00 -2.0 9.25e-01 1.00e+00h 1 2 9.7167751e-01 1.93e-01 6.21e-01 -1.5 1.91e-01 -0.7 9.97e-01 5.82e-01h 1 3 1.2011487e+00 3.99e-02 1.40e+00 -1.7 4.67e-01 -1.1 9.56e-01 1.00e+00h 1 4 1.1151601e+00 3.27e-02 3.18e-01 -1.5 2.76e+00 -1.6 1.00e+00 2.05e-01h 1 5 1.3182425e+00 5.62e-02 1.69e+00 -4.0 2.50e+00 -2.1 3.20e-01 9.35e-01h 1 6 1.3023794e+00 1.67e-02 9.13e-01 -1.2 6.45e+00 -1.7 1.00e+00 1.93e-01f 1 7 1.2137111e+00 1.10e-02 1.84e-01 -2.2 1.39e-01 -2.2 9.97e-01 1.00e+00h 1 8 1.1071365e+00 1.60e-03 1.88e-01 -3.8 1.63e+00 - 9.99e-01 1.00e+00h 1 9 1.0924199e+00 1.15e-05 1.06e-01 -4.0 1.81e+00 - 1.00e+00 9.92e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908481e+00 4.18e-09 2.48e-02 -4.0 1.26e+00 - 1.00e+00 1.00e+00h 1 11 1.0909004e+00 2.01e-12 1.06e-04 -4.0 8.58e-02 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 4.60e-19 6.21e-10 -4.0 2.08e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0908997262609230e+00 1.0908997262609230e+00 Dual infeasibility......: 6.2077379179995354e-10 6.2077379179995354e-10 Constraint violation....: 4.6004923823847187e-19 4.6004923823847187e-19 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000889228e-04 1.0000000000889228e-04 Overall NLP error.......: 6.2077379179995354e-10 6.2077379179995354e-10 Number of objective function evaluations = 13 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 13 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 13 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 12 Total seconds in IPOPT = 32.204 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: timesteps all equal constraint applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 81 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.5027621e+00 3.42e+00 1.64e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1537428e+00 1.10e+01 2.42e+01 -1.0 1.25e+02 -4.0 1.00e+00 9.90e-01h 1 2 2.0913394e+00 1.13e-02 7.47e+00 -2.6 1.56e+01 -4.5 5.36e-01 1.00e+00h 1 3 2.0941895e+00 7.11e-04 1.02e-01 -2.9 2.06e+00 -5.0 1.00e+00 1.00e+00h 1 4 2.0897672e+00 2.32e-03 6.12e-03 -4.0 5.42e+00 -5.4 1.00e+00 1.00e+00h 1 5 2.0883915e+00 4.01e-04 1.42e-03 -4.0 1.64e+01 -5.9 1.00e+00 1.00e+00h 1 6 2.0837069e+00 1.05e-03 4.26e-03 -4.0 4.76e+01 -6.4 1.00e+00 1.00e+00h 1 7 2.0797786e+00 1.59e-03 2.03e-01 -4.0 1.11e+02 -6.9 1.00e+00 3.52e-01h 1 8 2.0794800e+00 5.18e-03 1.48e-01 -4.0 6.46e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0775300e+00 5.85e-03 2.05e-02 -4.0 1.34e+02 -7.8 1.00e+00 8.66e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0767323e+00 8.21e-04 3.67e-02 -4.0 2.20e+02 -8.3 1.00e+00 1.00e+00h 1 11 2.0761294e+00 4.50e-05 2.97e-02 -4.0 3.61e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0758743e+00 4.51e-05 2.67e-02 -4.0 4.15e+02 -9.2 1.00e+00 3.12e-01h 2 13 2.0757479e+00 1.38e-04 4.16e-03 -4.0 5.11e+01 -9.7 1.00e+00 1.00e+00h 1 14 2.0757708e+00 7.03e-06 2.07e-05 -4.0 2.75e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757705e+00 1.63e-07 4.27e-06 -4.0 2.47e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0757704e+00 1.14e-09 9.02e-07 -4.0 1.23e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757704e+00 1.61e-10 5.69e-08 -4.0 3.87e+00 -11.6 1.00e+00 1.00e+00h 1 18 2.0757704e+00 1.66e-12 6.98e-10 -4.0 4.68e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0757703960891072e+00 2.0757703960891072e+00 Dual infeasibility......: 6.9826778460366744e-10 6.9826778460366744e-10 Constraint violation....: 1.6647139396142041e-12 1.6647139396142041e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 6.9826778460366744e-10 6.9826778460366744e-10 Number of objective function evaluations = 22 Number of objective gradient evaluations = 19 Number of equality constraint evaluations = 22 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 19 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 18 Total seconds in IPOPT = 29.564 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8454399e+00 1.10e+00 1.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5624359e+00 1.19e-01 1.72e+00 -1.0 8.65e-01 0.0 9.97e-01 1.00e+00h 1 2 1.6044819e+00 4.86e-02 6.50e-01 -1.0 3.39e-01 -0.5 6.58e-01 5.86e-01h 1 3 1.6414231e+00 4.19e-02 1.08e+00 -1.0 3.41e+01 - 8.24e-01 1.32e-01f 3 4 1.8978438e+00 3.59e-02 1.43e+00 -1.5 4.38e-01 -1.0 9.92e-01 1.00e+00h 1 5 1.5338366e+00 2.67e-02 2.55e-01 -1.6 3.29e+00 -1.4 9.95e-01 2.60e-01f 1 6 1.1662091e+00 5.18e-03 2.24e-01 -3.1 3.15e+00 - 8.83e-01 8.10e-01f 1 7 1.1075500e+00 4.44e-05 1.20e-02 -2.8 8.25e-02 -1.9 9.99e-01 1.00e+00h 1 8 1.0937667e+00 4.39e-07 1.51e-03 -4.0 1.12e-01 -2.4 1.00e+00 1.00e+00h 1 9 1.0931634e+00 1.55e-09 1.18e-03 -4.0 3.17e-01 -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 1.0930590e+00 1.16e-09 5.81e-03 -4.0 1.15e+00 -3.3 1.37e-01 2.50e-01f 3 11 1.0928981e+00 1.32e-13 7.52e-04 -4.0 6.57e-02 -2.0 1.00e+00 1.00e+00f 1 12 1.0927493e+00 2.91e-17 3.98e-04 -4.0 1.22e-01 -2.5 1.00e+00 1.00e+00f 1 13 1.0927283e+00 1.88e-21 9.57e-03 -4.0 3.36e-01 -3.0 6.70e-01 1.00e+00f 1 14 1.0925409e+00 8.06e-30 1.12e-03 -4.0 3.92e-02 -1.6 1.00e+00 1.00e+00f 1 15 1.0923982e+00 6.52e-28 3.73e-04 -4.0 4.64e-02 -2.1 1.00e+00 1.00e+00f 1 16 1.0909661e+00 1.09e-20 1.25e-01 -4.0 3.53e+00 - 1.00e+00 1.00e+00f 1 17 1.0909028e+00 9.95e-25 9.87e-04 -4.0 8.79e-02 - 1.00e+00 1.00e+00f 1 18 1.0909002e+00 4.78e-28 2.53e-04 -4.0 6.30e-02 - 1.00e+00 1.00e+00f 1 19 1.0908997e+00 3.12e-28 1.49e-05 -4.0 7.06e-03 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0908997e+00 5.68e-28 1.63e-07 -4.0 1.43e-03 - 1.00e+00 1.00e+00f 1 21 1.0908997e+00 7.44e-28 5.39e-12 -4.0 4.29e-06 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 21 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 5.3931119433974994e-12 5.3931119433974994e-12 Constraint violation....: 7.4394046851777388e-28 7.4394046851777388e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000002725011e-04 1.0000000002725011e-04 Overall NLP error.......: 5.3931119433974994e-12 5.3931119433974994e-12 Number of objective function evaluations = 27 Number of objective gradient evaluations = 22 Number of equality constraint evaluations = 27 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 22 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 21 Total seconds in IPOPT = 24.729 EXIT: Optimal Solution Found. Difference in Jacobian initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.5477046e+00 3.00e+00 5.23e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3702809e+00 5.01e-01 2.37e+00 -1.0 2.02e+00 0.0 9.46e-01 8.34e-01f 1 2 3.0462654e+00 1.25e-01 9.18e+00 -0.8 1.11e+00 -0.5 8.49e-01 1.00e+00f 1 3 2.6359566e+00 6.67e-02 1.89e+00 -0.9 2.60e-01 -0.1 9.91e-01 8.81e-01f 1 4 2.3143912e+00 1.34e-02 1.04e+00 -2.4 2.06e-01 -0.5 6.14e-01 9.30e-01h 1 5 2.2462364e+00 2.89e-03 1.61e-01 -1.7 1.13e-01 -1.0 9.76e-01 1.00e+00f 1 6 2.1154893e+00 8.44e-04 1.11e-02 -2.9 3.64e-02 -1.5 9.80e-01 1.00e+00h 1 7 2.0910955e+00 7.58e-05 1.05e-03 -4.0 1.91e-02 -2.0 1.00e+00 9.86e-01h 1 8 2.0908779e+00 4.14e-07 1.36e-04 -4.0 2.01e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908753e+00 5.03e-10 1.80e-05 -4.0 1.48e-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 2.0908721e+00 4.76e-10 1.54e-05 -4.0 3.80e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908636e+00 3.75e-09 1.53e-05 -4.0 1.13e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908388e+00 3.05e-08 2.61e-05 -4.0 3.30e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907662e+00 2.73e-07 1.06e-04 -4.0 9.53e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905340e+00 2.57e-06 4.42e-04 -4.0 2.85e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0904519e+00 2.48e-06 1.77e-02 -4.0 1.46e+02 -5.8 6.37e-02 8.28e-03h 2 16 2.0885974e+00 1.70e-04 6.48e-03 -4.0 2.35e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0877577e+00 1.75e-04 1.86e-01 -4.0 7.17e+01 -6.7 1.00e+00 1.25e-01h 1 18 2.0829645e+00 2.51e-03 1.24e-01 -4.0 8.86e+01 -7.2 1.00e+00 8.82e-01h 1 19 2.0831074e+00 3.75e-03 6.81e-02 -4.0 1.48e+02 -7.7 6.76e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0831815e+00 5.11e-04 8.98e-03 -4.0 1.75e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0828765e+00 3.60e-05 1.47e-03 -4.0 4.07e+00 -5.9 1.00e+00 1.00e+00h 1 22 2.0824547e+00 7.54e-05 3.21e-03 -4.0 6.74e+00 -6.4 1.00e+00 1.00e+00h 1 23 2.0823447e+00 2.40e-05 1.15e-03 -4.0 2.41e+01 -6.9 1.00e+00 1.00e+00h 1 24 2.0823648e+00 7.75e-05 1.18e-03 -4.0 1.21e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0824012e+00 1.82e-04 6.04e-04 -4.0 1.19e+03 -6.9 1.02e-02 9.88e-03h 5 26 2.0823940e+00 1.82e-04 3.50e-01 -4.1 1.02e+02 -7.4 1.00e+00 1.57e-02h 3 27 2.0818031e+00 2.41e-03 4.45e-02 -4.1 7.31e+01 -7.9 1.00e+00 1.00e+00h 1 28 2.0818790e+00 1.95e-03 1.10e-02 -4.0 7.63e+01 -8.4 1.00e+00 1.00e+00h 1 29 2.0818475e+00 1.70e-04 2.57e-03 -4.0 5.51e+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 30 2.0818437e+00 8.29e-06 1.76e-04 -4.0 1.75e+01 -9.3 1.00e+00 1.00e+00h 1 31 2.0818434e+00 8.88e-08 2.83e-06 -4.0 2.15e+00 -9.8 1.00e+00 1.00e+00h 1 32 2.0818434e+00 1.27e-10 5.77e-09 -4.0 9.50e-02 -10.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 2.0818434106271928e+00 2.0818434106271928e+00 Dual infeasibility......: 5.7714148901611903e-09 5.7714148901611903e-09 Constraint violation....: 1.2653256220573894e-10 1.2653256220573894e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 5.7714148901611903e-09 5.7714148901611903e-09 Number of objective function evaluations = 45 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 45 Number of inequality constraint evaluations = 45 Number of equality constraint Jacobian evaluations = 33 Number of inequality constraint Jacobian evaluations = 33 Number of Lagrangian Hessian evaluations = 32 Total seconds in IPOPT = 29.141 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 96 Number of nonzeros in Lagrangian Hessian.............: 1804 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 6.2305802e+00 2.42e+00 2.71e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8874342e+00 6.26e-01 1.76e+00 -0.8 1.94e+00 0.0 8.21e-01 7.41e-01f 1 2 2.7372516e+00 1.91e-02 3.60e+00 -0.9 6.22e-01 -0.5 7.39e-01 1.00e+00f 1 3 2.4426812e+00 7.46e-02 5.87e-01 -1.4 7.29e-01 -1.0 9.87e-01 1.00e+00h 1 4 2.2178136e+00 1.35e-02 1.13e-01 -1.9 3.28e-01 -1.4 9.77e-01 1.00e+00h 1 5 2.1087312e+00 3.02e-03 5.59e-02 -3.0 1.82e-01 -1.9 9.90e-01 8.74e-01h 1 6 2.0910832e+00 4.05e-05 1.56e-03 -4.0 1.36e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908908e+00 5.46e-07 2.88e-05 -4.0 2.08e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908821e+00 7.67e-09 2.34e-05 -4.0 5.11e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908643e+00 1.07e-08 2.24e-05 -4.0 1.47e-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 2.0908222e+00 6.89e-08 1.19e-04 -4.0 3.86e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907478e+00 2.88e-07 7.05e-04 -4.0 9.11e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905676e+00 2.40e-06 1.21e-03 -4.0 2.68e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900367e+00 2.15e-05 7.45e-04 -4.0 7.93e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0897901e+00 3.58e-06 1.59e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0896180e+00 4.31e-06 4.90e-02 -4.0 1.42e+01 -5.8 1.00e+00 1.20e-01h 2 16 2.0877384e+00 2.01e-04 8.32e-03 -4.0 2.40e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0865247e+00 2.22e-04 1.28e-01 -4.0 5.83e+01 -6.7 1.00e+00 2.45e-01h 1 18 2.0828732e+00 1.50e-03 8.42e-02 -4.0 7.53e+01 -7.2 1.00e+00 8.24e-01h 1 19 2.0829814e+00 3.16e-03 3.90e-02 -4.0 1.25e+02 -7.7 9.03e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827249e+00 5.53e-05 3.26e-03 -4.1 8.94e+00 -6.4 1.00e+00 1.00e+00h 1 21 2.0823598e+00 2.36e-04 4.27e-03 -4.0 1.78e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0822546e+00 5.32e-05 2.22e-03 -4.0 5.91e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0824058e+00 3.39e-04 4.52e-03 -4.0 9.10e+00 -6.0 1.00e+00 1.00e+00h 1 24 2.0821273e+00 7.32e-04 1.60e-02 -4.1 1.32e+01 -6.5 9.31e-01 1.00e+00h 1 25 2.0828590e+00 6.57e-04 1.55e-01 -4.0 7.45e+01 -6.9 1.00e+00 7.16e-02h 1 26 2.0818153e+00 6.68e-04 1.68e-02 -4.1 3.13e+01 -7.4 1.00e+00 1.00e+00h 1 27 2.0819574e+00 1.06e-03 6.48e-03 -4.0 4.67e+01 -7.9 1.00e+00 1.00e+00h 1 28 2.0815964e+00 1.69e-03 4.97e-03 -4.1 6.27e+01 -8.4 1.00e+00 1.00e+00h 1 29 2.0818450e+00 1.19e-03 1.59e-03 -4.0 4.80e+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 30 2.0815820e+00 3.94e-04 1.56e-04 -4.1 1.69e+01 -9.3 1.00e+00 1.00e+00h 1 31 2.0818418e+00 1.82e-04 4.40e-05 -4.0 8.29e+00 -9.8 1.00e+00 1.00e+00h 1 32 2.0818407e+00 2.52e-08 4.39e-05 -4.0 3.36e-01 -10.3 1.00e+00 1.00e+00h 1 33 2.0818407e+00 1.99e-13 4.39e-05 -4.0 2.77e-03 -10.8 1.00e+00 1.00e+00h 1 34 2.0818407e+00 8.88e-16 4.39e-05 -4.0 2.20e-05 -11.2 1.00e+00 1.00e+00H 1 35 2.0818407e+00 8.88e-16 4.39e-05 -4.0 2.20e-05 -11.7 1.00e+00 1.00e+00h 1 36 2.0815814e+00 2.08e-04 3.57e-05 -4.1 9.47e+00 -12.2 1.00e+00 1.00e+00h 1 37 2.0818419e+00 2.15e-04 4.40e-05 -4.0 9.79e+00 -12.7 1.00e+00 1.00e+00h 1 38 2.0815819e+00 2.14e-04 3.58e-05 -4.1 9.75e+00 -13.1 1.00e+00 1.00e+00h 1 39 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -13.6 9.77e-01 9.68e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -14.1 1.00e+00 1.00e+00f 1 41 2.0816124e+00 4.95e-04 3.65e-05 -4.1 2.07e+01 -14.6 1.00e+00 1.00e+00h 1 42 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -15.0 9.76e-01 9.61e-01h 1 43 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.5 1.00e+00 1.00e+00h 1 44 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -16.0 1.00e+00 1.00e+00f 1 45 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.5 1.00e+00 1.00e+00h 1 46 2.0816420e+00 4.58e-07 3.76e-05 -4.1 8.54e+00 -17.0 1.00e+00 1.00e+00h 1 47 2.0818414e+00 1.26e-04 4.39e-05 -4.0 7.46e+00 -17.4 1.00e+00 1.00e+00h 1 48 2.0815817e+00 2.11e-04 3.58e-05 -4.1 9.63e+00 -17.9 1.00e+00 1.00e+00h 1 49 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -18.4 9.77e-01 9.68e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -18.9 1.00e+00 1.00e+00h 1 51 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -19.3 1.00e+00 1.00e+00f 1 52 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -19.8 1.00e+00 1.00e+00h 1 53 2.0816444e+00 5.44e-07 3.77e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 54 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 55 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0805468e+00 5.07e-08 3.76e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 57 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 58 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 59 2.0816573e+00 1.18e-06 3.81e-05 -4.1 1.10e+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 60 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 61 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 62 2.0805469e+00 5.37e-08 3.82e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 63 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 64 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0816639e+00 1.62e-06 3.83e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 68 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0805470e+00 5.53e-08 3.85e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 71 2.0805365e+00 8.66e-11 4.38e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 72 2.0820406e+00 1.30e-02 4.36e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 73 2.0817222e+00 1.13e-03 7.75e-05 -4.1 5.82e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0816640e+00 1.63e-06 3.83e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0805948e+00 3.76e-03 1.60e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 76 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0805470e+00 5.54e-08 3.85e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 78 2.0805365e+00 9.45e-07 8.04e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 79 2.0805365e+00 8.67e-11 4.38e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805365e+00 4.44e-16 4.38e-10 -9.0 1.02e-05 -20.0 1.00e+00 1.00e+00h 1 81 2.0805365e+00 4.44e-16 4.38e-10 -9.0 2.19e-10 -20.0 1.00e+00 1.00e+00h 1 82 2.0805365e+00 4.44e-16 4.38e-10 -9.0 2.19e-10 -20.0 1.00e+00 1.00e+00h 1 83 2.0805365e+00 6.66e-16 4.38e-10 -9.0 2.19e-10 -20.0 1.00e+00 1.00e+00h 1 84 2.0805365e+00 6.66e-16 4.38e-10 -9.0 2.19e-10 -20.0 1.00e+00 1.00e+00h 1 85 2.0805365e+00 6.66e-16 4.38e-10 -9.0 2.19e-10 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 6.66e-16 4.38e-10 -9.0 2.19e-10 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 6.66e-16 4.38e-10 -9.0 2.19e-10 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 6.66e-16 4.38e-10 -9.0 2.19e-10 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 6.66e-16 4.38e-10 -9.0 2.19e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 6.66e-16 4.38e-10 -9.0 2.19e-10 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 6.66e-16 4.38e-10 -9.0 2.19e-10 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 6.66e-16 4.38e-10 -9.0 2.19e-10 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 6.66e-16 4.38e-10 -9.0 2.19e-10 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 6.66e-16 4.38e-10 -9.0 2.19e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 6.66e-16 4.38e-10 -9.0 2.19e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 6.66e-16 4.38e-10 -9.0 2.19e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 6.66e-16 4.38e-10 -9.0 2.19e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 6.66e-16 4.38e-10 -9.0 2.19e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 6.66e-16 4.38e-10 -9.0 2.19e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 6.66e-16 4.38e-10 -9.0 2.19e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436475e+00 2.0805364595436475e+00 Dual infeasibility......: 4.3785504840001282e-10 4.3785504840001282e-10 Constraint violation....: 6.6613381477509392e-16 6.6613381477509392e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971184536e-10 9.0909090971184536e-10 Overall NLP error.......: 9.9999090909091564e-05 9.9999090909091564e-05 Number of objective function evaluations = 105 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 105 Number of inequality constraint evaluations = 105 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 31.283 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 10 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 1 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 7.1255195e+01 3.06e+00 2.61e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.2150198e+01 2.81e+00 1.69e+01 -0.3 2.44e+01 -2.0 4.76e-01 3.46e-01f 1 2 2.7842483e+00 6.76e-01 2.69e+00 -0.6 9.06e+00 -2.5 7.72e-01 1.00e+00f 1 3 2.5411603e+00 4.27e-01 9.00e-01 -1.1 6.41e+00 -3.0 9.94e-01 9.40e-01h 1 4 2.3190764e+00 5.52e-01 4.97e-01 -1.7 8.40e+00 -3.4 9.67e-01 9.66e-01h 1 5 2.1516033e+00 2.24e-01 1.72e-01 -2.1 5.98e+00 -3.9 1.00e+00 9.62e-01h 1 6 2.0980232e+00 1.51e-02 2.65e-02 -3.0 1.78e+00 -4.4 9.92e-01 9.98e-01h 1 7 2.0907852e+00 8.41e-04 4.27e-03 -4.0 1.76e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0910408e+00 4.34e-04 1.22e-02 -3.6 4.37e+00 -5.3 9.53e-01 4.21e-01h 1 9 2.0898069e+00 6.90e-04 1.08e-02 -4.0 1.19e+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 2.0891829e+00 6.12e-04 5.42e-01 -3.7 7.56e+01 -5.4 1.00e+00 6.92e-02h 1 11 2.0881418e+00 1.15e-04 1.58e-02 -4.0 1.22e+01 -5.9 1.00e+00 1.00e+00h 1 12 2.0859077e+00 4.10e-04 1.21e-02 -4.0 2.93e+01 -6.3 1.00e+00 1.00e+00h 1 13 2.0834380e+00 6.59e-04 3.80e-02 -4.0 4.73e+01 -6.8 1.00e+00 1.00e+00h 1 14 2.0825571e+00 3.48e-04 1.47e-02 -4.0 6.37e+01 -7.3 1.00e+00 9.56e-01h 1 15 2.0823325e+00 3.67e-04 1.06e-02 -4.0 1.42e+02 -7.8 9.12e-01 1.00e+00h 1 16 2.0825772e+00 4.56e-04 1.06e-02 -4.0 2.03e+01 -6.4 1.00e+00 1.00e+00h 1 17 2.0824590e+00 1.57e-04 9.67e-03 -4.0 4.84e+01 -6.9 6.51e-01 1.00e+00h 1 18 2.0823600e+00 2.64e-05 7.26e-02 -4.0 8.31e-01 -4.7 1.00e+00 9.00e-01H 1 19 2.0823056e+00 1.11e-04 5.36e-04 -4.0 1.76e+00 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827466e+00 4.88e-05 1.60e-02 -4.0 3.32e+00 -5.6 1.00e+00 1.00e+00h 1 21 2.0820987e+00 1.89e-05 2.89e-03 -4.1 3.79e-01 -4.3 1.00e+00 1.00e+00h 1 22 2.0822494e+00 1.77e-05 8.62e-04 -4.0 4.51e-01 -4.8 1.00e+00 1.00e+00h 1 23 2.0820949e+00 6.63e-05 2.27e-04 -4.1 1.09e+00 -5.3 1.00e+00 1.00e+00h 1 24 2.0822379e+00 1.72e-05 4.70e-04 -4.0 1.18e+00 -5.7 1.00e+00 1.00e+00h 1 25 2.0820384e+00 8.89e-05 2.28e-04 -4.1 3.82e+00 -6.2 1.00e+00 1.00e+00h 1 26 2.0821940e+00 1.22e-04 1.03e-03 -4.0 5.67e+00 -6.7 1.00e+00 1.00e+00h 1 27 2.0818972e+00 4.60e-04 3.87e-04 -4.1 2.02e+01 -7.2 1.00e+00 1.00e+00h 1 28 2.0820038e+00 7.06e-04 4.20e-03 -4.0 3.32e+01 -7.7 1.00e+00 1.00e+00h 1 29 2.0816396e+00 1.47e-03 4.94e-03 -4.1 5.54e+01 -8.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0818476e+00 1.38e-03 3.22e-03 -4.0 5.79e+01 -8.6 1.00e+00 1.00e+00h 1 31 2.0818390e+00 3.40e-05 4.47e-04 -4.0 2.74e+01 -9.1 1.00e+00 1.00e+00h 1 32 2.0818383e+00 5.95e-07 2.85e-04 -4.0 5.50e+00 -9.6 1.00e+00 1.00e+00h 1 33 2.0818383e+00 2.51e-09 2.85e-04 -4.0 4.06e-01 -10.0 1.00e+00 1.00e+00h 1 34 2.0818383e+00 1.35e-12 2.85e-04 -4.0 1.06e-02 -10.5 1.00e+00 1.00e+00h 1 35 2.0818383e+00 6.77e-13 1.43e-04 -4.0 9.54e-05 -11.0 1.00e+00 5.00e-01h 2 36 2.0818383e+00 8.88e-16 2.85e-04 -4.0 4.80e-05 -12.0 1.00e+00 1.00e+00H 1 37 2.0818383e+00 4.44e-16 2.85e-04 -4.0 2.00e-05 -12.4 1.00e+00 1.00e+00h 1 38 2.0815797e+00 2.05e-04 2.28e-04 -4.1 9.35e+00 -12.9 1.00e+00 1.00e+00h 1 39 2.0818395e+00 2.13e-04 2.85e-04 -4.0 9.67e+00 -13.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0815804e+00 2.11e-04 2.28e-04 -4.1 9.63e+00 -13.9 1.00e+00 1.00e+00h 1 41 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -14.3 9.78e-01 9.71e-01h 1 42 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -14.8 1.00e+00 1.00e+00f 1 43 2.0816136e+00 4.88e-04 2.34e-04 -4.1 2.07e+01 -15.3 1.00e+00 1.00e+00h 1 44 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -15.8 9.76e-01 9.65e-01h 1 45 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -16.2 1.00e+00 1.00e+00h 1 46 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -16.7 1.00e+00 1.00e+00f 1 47 2.0816837e+00 9.34e-04 2.43e-04 -4.1 4.57e+01 -17.2 1.00e+00 1.00e+00h 1 48 2.0816477e+00 4.73e-07 2.43e-04 -4.1 8.53e+00 -17.7 1.00e+00 1.00e+00h 1 49 2.0818389e+00 1.15e-04 2.85e-04 -4.0 7.07e+00 -18.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0815801e+00 2.08e-04 2.28e-04 -4.1 9.50e+00 -18.6 1.00e+00 1.00e+00h 1 51 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -19.1 9.78e-01 9.71e-01h 1 52 2.0805497e+00 6.51e-05 2.04e-06 -6.1 1.55e+01 -19.6 1.00e+00 1.00e+00h 1 53 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -20.0 1.00e+00 1.00e+00f 1 54 2.0816887e+00 9.54e-04 2.44e-04 -4.1 4.72e+01 -20.0 1.00e+00 1.00e+00h 1 55 2.0816504e+00 5.63e-07 2.44e-04 -4.1 8.93e+00 -20.0 1.00e+00 1.00e+00h 1 56 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -20.0 9.77e-01 9.75e-01h 1 57 2.0805511e+00 6.76e-05 2.25e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 58 2.0805469e+00 4.72e-08 2.25e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 59 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0817159e+00 1.04e-03 2.47e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0816648e+00 1.22e-06 2.47e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 62 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 63 2.0805514e+00 6.96e-05 2.29e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0805471e+00 4.99e-08 2.29e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 65 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 66 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 67 2.0817306e+00 1.08e-03 2.48e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0816723e+00 1.67e-06 2.48e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805516e+00 7.07e-05 2.32e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0805472e+00 5.15e-08 2.32e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 72 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 73 2.0805365e+00 9.27e-11 2.59e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 74 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 75 2.0817309e+00 1.08e-03 2.48e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0816725e+00 1.68e-06 2.48e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 78 2.0805516e+00 7.08e-05 2.32e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0805472e+00 5.16e-08 2.32e-06 -6.1 3.09e+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 80 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 81 2.0805365e+00 9.28e-11 2.59e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 82 2.0805365e+00 4.44e-16 2.59e-09 -9.0 1.10e-05 -20.0 1.00e+00 1.00e+00h 1 83 2.0805365e+00 6.66e-16 2.59e-09 -9.0 1.30e-10 -20.0 1.00e+00 1.00e+00h 1 84 2.0805365e+00 8.88e-16 2.59e-09 -9.0 1.30e-10 -20.0 1.00e+00 1.00e+00h 1 85 2.0805365e+00 8.88e-16 2.59e-09 -9.0 1.30e-10 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 4.44e-16 2.59e-09 -9.0 1.30e-10 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 4.44e-16 2.59e-09 -9.0 1.30e-10 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 2.22e-16 2.59e-09 -9.0 1.30e-10 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 4.44e-16 2.59e-09 -9.0 1.30e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 2.22e-16 2.59e-09 -9.0 1.30e-10 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 4.44e-16 2.59e-09 -9.0 1.30e-10 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 2.22e-16 2.59e-09 -9.0 1.30e-10 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 4.44e-16 2.59e-09 -9.0 1.30e-10 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 2.22e-16 2.59e-09 -9.0 1.30e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 4.44e-16 2.59e-09 -9.0 1.30e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 2.22e-16 2.59e-09 -9.0 1.30e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 4.44e-16 2.59e-09 -9.0 1.30e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 2.22e-16 2.59e-09 -9.0 1.30e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 2.59e-09 -9.0 1.30e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 2.22e-16 2.59e-09 -9.0 1.30e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436466e+00 2.0805364595436466e+00 Dual infeasibility......: 2.5935316610032681e-09 2.5935316610032681e-09 Constraint violation....: 2.2204460492503131e-16 2.2204460492503131e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971179366e-10 9.0909090971179366e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 104 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 104 Number of inequality constraint evaluations = 104 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 47.866 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 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 5.0240196e+00 3.84e+00 4.63e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9647754e+00 1.53e-01 3.57e+00 -0.9 3.61e+00 0.0 5.15e-01 9.86e-01f 1 2 2.7630914e+00 8.00e-02 2.26e+00 -0.6 4.15e-01 0.4 9.33e-01 5.56e-01f 1 3 2.6535472e+00 7.24e-02 1.11e+00 -1.8 8.79e-01 -0.1 4.49e-01 4.03e-01h 1 4 2.6027744e+00 5.67e-02 2.28e+00 -4.0 9.25e-02 0.4 5.37e-01 2.17e-01h 1 5 2.7042436e+00 7.36e-03 1.02e+00 -1.5 1.93e-01 -0.1 9.43e-01 1.00e+00f 1 6 2.5363683e+00 5.85e-03 5.92e-01 -1.3 6.71e-01 -0.6 8.32e-01 1.51e-01h 1 7 2.3938750e+00 4.88e-02 1.02e+00 -1.4 6.86e-01 -1.1 8.69e-01 6.89e-01f 1 8 2.3194931e+00 4.10e-02 3.94e-01 -1.8 3.71e-01 -1.5 9.96e-01 1.61e-01h 1 9 2.1621910e+00 1.46e-02 1.13e-01 -2.3 5.11e-01 -2.0 1.00e+00 6.92e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0958144e+00 1.70e-03 4.74e-02 -3.7 1.52e-01 -2.5 1.00e+00 8.83e-01h 1 11 2.0907907e+00 5.17e-05 1.26e-02 -4.0 4.16e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908070e+00 3.32e-07 2.74e-05 -4.0 5.69e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0907905e+00 2.06e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0907401e+00 1.00e-07 2.06e-05 -4.0 5.12e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0905891e+00 9.05e-07 2.05e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901372e+00 8.20e-06 3.62e-05 -4.0 4.59e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0887929e+00 7.52e-05 3.23e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0848661e+00 7.13e-04 2.95e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796466e+00 2.04e-03 1.87e-01 -4.0 1.03e+02 -6.8 1.00e+00 5.09e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801261e+00 1.38e-04 1.60e-01 -4.0 6.79e+01 -7.3 1.00e+00 1.00e+00H 1 21 2.0774425e+00 7.97e-03 2.46e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.36e-01h 1 22 2.0768504e+00 1.61e-03 4.46e-02 -4.0 2.05e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0761360e+00 1.98e-03 3.46e-02 -4.0 3.52e+02 -8.7 1.00e+00 8.85e-01h 1 24 2.0755164e+00 1.45e-03 3.17e-02 -4.0 5.60e+02 -9.2 1.00e+00 6.62e-01h 1 25 2.0757560e+00 2.55e-03 1.39e-02 -4.0 1.56e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0756808e+00 3.02e-04 4.17e-04 -4.0 6.29e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756713e+00 6.69e-06 6.98e-06 -4.0 2.24e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.36e-08 1.06e-06 -4.0 1.29e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 1.92e-09 7.80e-08 -4.0 4.00e+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 2.0756712e+00 2.73e-11 1.08e-09 -4.0 5.68e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712121340253e+00 2.0756712121340253e+00 Dual infeasibility......: 1.0755493032386498e-09 1.0755493032386498e-09 Constraint violation....: 2.7276736425108083e-11 2.7276736425108083e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000053e-04 1.0000000000000053e-04 Overall NLP error.......: 1.0755493032386498e-09 1.0755493032386498e-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 = 30.204 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: equality constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.0428738e+00 2.08e+00 5.44e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5714754e+00 1.04e-01 3.75e+00 -0.9 1.62e+00 0.0 2.49e-01 9.58e-01f 1 2 2.4362487e+00 1.59e-02 7.37e-01 -1.2 1.40e-01 0.4 8.68e-01 8.34e-01f 1 3 2.2860377e+00 1.15e-03 1.71e-01 -1.9 4.54e-02 -0.1 9.99e-01 1.00e+00h 1 4 2.1197016e+00 1.84e-03 1.75e-01 -3.0 6.12e-02 -0.5 9.97e-01 8.32e-01f 1 5 2.1005338e+00 5.93e-04 4.74e-01 -4.0 1.53e-01 -1.0 1.00e+00 6.78e-01h 1 6 2.0933735e+00 4.51e-04 8.43e-02 -4.0 2.85e-01 -1.5 1.00e+00 1.00e+00h 1 7 2.0914687e+00 2.54e-04 9.31e-01 -4.0 1.64e-01 -2.0 1.00e+00 4.00e-01h 1 8 2.0908817e+00 3.06e-06 3.01e-02 -4.0 4.02e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908992e+00 5.32e-07 2.77e-04 -4.0 1.85e-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 2.0908945e+00 1.49e-08 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908796e+00 8.71e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908348e+00 7.89e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907004e+00 7.11e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902984e+00 6.44e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891012e+00 5.89e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855919e+00 5.56e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796356e+00 2.30e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.29e-01h 1 18 2.0807338e+00 1.56e-04 1.81e-01 -4.0 6.59e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775350e+00 7.33e-03 2.45e-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 2.0769265e+00 1.12e-03 4.63e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0760084e+00 9.41e-04 2.34e-02 -4.0 3.09e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754500e+00 5.01e-04 2.89e-02 -4.0 4.65e+02 -9.1 1.00e+00 7.20e-01H 1 23 2.0757731e+00 2.04e-03 1.13e-02 -4.0 1.41e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753810e+00 1.43e-03 5.05e-04 -4.1 7.79e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 4.01e-04 7.07e-06 -4.0 1.83e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.33e-04 8.05e-07 -4.1 2.59e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.13e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.01e-04 2.61e-07 -4.1 2.05e+01 -12.0 1.00e+00 1.00e+00h 1 29 2.0756725e+00 5.53e-04 1.18e-07 -4.0 2.26e+01 -12.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753425e+00 5.53e-04 9.06e-08 -4.1 2.26e+01 -12.9 1.00e+00 1.00e+00h 1 31 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.4 9.28e-01 1.00e+00h 1 32 2.0757517e+00 1.59e-01 1.53e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 33 2.0753574e+00 2.64e-02 8.69e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 34 2.0753474e+00 1.15e-05 2.14e-06 -4.1 1.63e+02 -14.8 1.00e+00 1.00e+00h 1 35 2.0756726e+00 7.25e-04 1.64e-07 -4.0 3.02e+01 -15.3 1.00e+00 1.00e+00h 1 36 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 37 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 38 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 39 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.2 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.7 1.00e+00 1.00e+00h 1 41 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.2 1.00e+00 1.00e+00h 1 42 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.7 1.00e+00 1.00e+00h 1 43 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.1 1.00e+00 1.00e+00h 1 44 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.6 1.00e+00 1.00e+00h 1 45 2.0756726e+00 7.23e-04 1.61e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 48 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 49 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 51 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 58 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 59 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 61 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 68 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 69 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 72 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 73 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 76 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 77 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 79 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 83 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 84 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 86 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 87 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 91 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 93 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 94 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 97 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 98 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0739527e+00 5.48e-08 5.24e-06 -6.5 3.94e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0740476e+00 1.42e-02 4.44e-02 -4.0 9.26e+04 -20.0 1.00e+00 3.50e-02f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740476226011366e+00 2.0740476226011366e+00 Dual infeasibility......: 4.4440948322914557e-02 4.4440948322914557e-02 Constraint violation....: 1.4164404722585289e-02 1.4164404722585289e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728780e-04 2.3095644031728780e-04 Overall NLP error.......: 4.4440948322914557e-02 4.4440948322914557e-02 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 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 = 32.187 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.8980212e+00 3.97e+00 5.53e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8841463e+00 5.14e-02 2.40e+00 -1.0 2.41e+00 0.0 9.84e-01 1.00e+00f 1 2 2.5662371e+00 2.00e-02 3.33e-01 -1.4 2.44e-01 -0.5 9.76e-01 1.00e+00h 1 3 2.3350228e+00 1.98e-02 1.87e-01 -1.5 3.14e-01 -1.0 9.08e-01 7.57e-01h 1 4 2.1513475e+00 7.36e-03 1.08e-01 -2.5 2.70e-01 -1.4 9.59e-01 8.32e-01h 1 5 2.0932855e+00 2.18e-04 1.68e-03 -3.8 2.89e-02 -1.9 1.00e+00 1.00e+00h 1 6 2.0908464e+00 4.34e-06 3.82e-04 -4.0 9.73e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908437e+00 1.22e-08 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908393e+00 7.76e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908260e+00 6.93e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907862e+00 6.24e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906668e+00 5.63e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903094e+00 5.09e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892442e+00 4.65e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861135e+00 4.36e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796380e+00 2.49e-03 8.81e-02 -4.0 8.71e+01 -6.7 1.00e+00 7.52e-01h 1 16 2.0812109e+00 1.30e-04 1.80e-01 -4.0 6.94e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778289e+00 5.55e-03 2.43e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781765e+00 1.72e-02 4.25e-02 -3.7 1.63e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0768262e+00 1.05e-02 2.25e-02 -3.8 3.06e+02 -8.6 1.00e+00 9.42e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760882e+00 6.79e-03 2.44e-02 -3.9 4.47e+02 -9.1 1.00e+00 9.83e-01f 1 21 2.0757478e+00 9.77e-03 1.06e-02 -4.0 1.41e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756794e+00 5.14e-04 4.17e-04 -4.0 5.94e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 4.72e-06 8.28e-06 -4.0 2.33e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.96e-08 1.52e-06 -4.0 1.52e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.59e-09 1.53e-07 -4.0 5.28e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.89e-11 3.08e-09 -4.0 9.31e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122101413e+00 2.0756712122101413e+00 Dual infeasibility......: 3.0841739925033338e-09 3.0841739925033338e-09 Constraint violation....: 7.8948958481817044e-11 7.8948958481817044e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 3.0841739925033338e-09 3.0841739925033338e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 30.417 EXIT: Optimal Solution Found. Test Summary: | Pass Total Time Package | 202 202 29m58.3s Testing DirectTrajOpt tests passed Testing completed after 2118.93s PkgEval succeeded after 2169.21s