Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.2114 (cccbcd9611*) started at 2026-05-05T15:47:40.964 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 15.17s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.9.3 Updating `~/.julia/environments/v1.14/Manifest.toml` [47edcb42] + ADTypes v1.22.0 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.44 [79e6a3ab] + Adapt v4.5.2 [4fba245c] + ArrayInterface v7.24.0 [4c555306] + ArrayLayouts v1.12.2 [70df07ce] + BracketingNonlinearSolve v1.12.1 [d360d2e6] + ChainRulesCore v1.26.1 [0b6fb165] + ChunkCodecCore v1.0.1 [4c0bbee4] + ChunkCodecLibZlib v1.0.0 [55437552] + ChunkCodecLibZstd v1.0.0 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.8 [38540f10] + CommonSolve v0.2.6 [bbf7d656] + CommonSubexpressions v0.3.1 [34da2185] + Compat v4.18.1 [a33af91c] + CompositionsBase v0.1.2 [95dc2771] + ComputePipeline v0.1.7 [2569d6c7] + ConcreteStructs v0.2.3 [187b0558] + ConstructionBase v1.6.0 [864edb3b] + DataStructures v0.19.4 [2b5f629d] + DiffEqBase v7.2.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.17 [c823fa1f] + DirectTrajOpt v0.9.3 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.7 [f151be2c] + EnzymeCore v0.8.20 [e24c0720] + ExponentialAction v0.2.10 [e2ba6199] + ExprTools v0.1.10 [7034ab61] + FastBroadcast v1.3.2 [9aa1b823] + FastClosures v0.3.2 [a4df4552] + FastPower v1.3.1 [5789e2e9] + FileIO v1.19.0 [1a297f60] + FillArrays v1.16.0 [6a86dc24] + FiniteDiff v2.31.0 [f6369f11] + ForwardDiff v1.3.3 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v1.8.0 [46192b85] + GPUArraysCore v0.2.0 [076d061b] + HashArrayMappedTries v0.2.0 [3587e190] + InverseFunctions v0.1.17 [b6b21f68] + Ipopt v1.14.3 [92d709cd] + IrrationalConstants v0.2.6 [82899510] + IteratorInterfaceExtensions v1.0.0 [033835bb] + JLD2 v0.6.4 [692b3bcd] + JLLWrappers v1.7.1 [682c06a0] + JSON v1.5.2 [b964fa9f] + LaTeXStrings v1.4.0 [5078a376] + LazyArrays v2.9.7 [2ab3a3ac] + LogExpFunctions v0.3.29 [e6f89c97] + LoggingExtras v1.2.0 [1914dd2f] + MacroTools v0.5.16 [b8f27783] + MathOptInterface v1.51.0 [bb5d69b7] + MaybeInplace v0.1.4 [46d2c3a1] + MuladdMacro v0.2.4 [d8a4904e] + MutableArithmetics v1.7.1 [77ba4419] + NaNMath v1.1.3 [538bc3a1] + NamedTrajectories v0.8.4 [be0214bd] + NonlinearSolveBase v2.25.0 [510215fc] + Observables v0.5.5 [bac558e1] + OrderedCollections v1.8.1 [bbf590c4] + OrdinaryDiffEqCore v4.0.0 [b1df2697] + OrdinaryDiffEqTsit5 v2.0.0 [69de0a69] + Parsers v2.8.4 [d236fae5] + PreallocationTools v1.2.0 [aea7be01] + PrecompileTools v1.3.3 [21216c6a] + Preferences v1.5.2 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v4.3.0 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.18 [0bca4576] + SciMLBase v3.7.1 [19f34311] + SciMLJacobianOperators v0.1.13 ⌅ [a6db7da4] + SciMLLogging v1.9.1 [c0aeaf25] + SciMLOperators v1.18.0 [431bcebd] + SciMLPublic v1.0.1 [53ae85a6] + SciMLStructures v1.10.0 [7e506255] + ScopedValues v1.6.2 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.7.2 [90137ffa] + StaticArrays v1.9.18 [1e83bf80] + StaticArraysCore v1.4.4 [10745b16] + Statistics v1.11.1 [ec057cc2] + StructUtils v2.8.1 [2efcf032] + SymbolicIndexingInterface v0.3.46 [f8b46487] + TestItemRunner v1.1.5 [1c621080] + TestItems v1.0.0 [a759f4b9] + TimerOutputs v0.5.29 [6dad8b7f] + TrajectoryIndexingUtils v0.1.0 [3bb67fe8] + TranscodingStreams v0.11.3 [781d530d] + TruncatedStacktraces v1.4.0 [ae81ac8f] + ASL_jll v0.1.3+0 [6e34b625] + Bzip2_jll v1.0.9+0 [e33a78d0] + Hwloc_jll v2.13.0+1 [9cc047cb] + Ipopt_jll v300.1400.1901+0 [94ce4f54] + Libiconv_jll v1.18.0+0 [d00139f3] + METIS_jll v5.1.3+0 ⌅ [d7ed1dd3] + MUMPS_seq_jll v500.800.200+0 [656ef2d0] + OpenBLAS32_jll v0.3.33+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 v0.19.0+0 [0dad84c5] + ArgTools v1.1.2 [56f22d72] + Artifacts v1.11.0 [2a0f44e3] + Base64 v1.11.0 [ade2ca70] + Dates v1.11.0 [8ba89e20] + Distributed v1.11.0 [f43a241f] + Downloads v1.7.0 [7b1f6079] + FileWatching v1.11.0 [9fa8497b] + Future v1.11.0 [b77e0a4c] + InteractiveUtils v1.11.0 [ac6e5ff7] + JuliaSyntaxHighlighting v1.13.0 [b27032c2] + LibCURL v1.0.0 [76f85450] + LibGit2 v1.11.0 [8f399da3] + Libdl v1.11.0 [37e2e46d] + LinearAlgebra v1.13.0 [56ddb016] + Logging v1.11.0 [d6f4376e] + Markdown v1.11.0 [a63ad114] + Mmap v1.11.0 [ca575930] + NetworkOptions v1.3.0 [44cfe95a] + Pkg v1.14.0 [de0858da] + Printf v1.11.0 [9a3f8284] + Random v1.11.0 [ea8e919c] + SHA v1.0.0 [9e88b42a] + Serialization v1.11.0 [6462fe0b] + Sockets v1.11.0 [2f01184e] + SparseArrays v1.13.0 [f489334b] + StyledStrings v1.13.0 [fa267f1f] + TOML v1.0.3 [a4e569a6] + Tar v1.10.0 [8dfed614] + Test v1.11.0 [cf7118a7] + UUIDs v1.11.0 [4ec0a83e] + Unicode v1.11.0 [e66e0078] + CompilerSupportLibraries_jll v1.5.1+0 [deac9b47] + LibCURL_jll v8.19.0+0 [e37daf67] + LibGit2_jll v1.9.2+0 [29816b5a] + LibSSH2_jll v1.11.3+1 [14a3606d] + MozillaCACerts_jll v2026.3.19 [4536629a] + OpenBLAS_jll v0.3.33+0 [05823500] + OpenLibm_jll v0.8.7+0 [458c3c95] + OpenSSL_jll v3.5.6+0 [efcefdf7] + PCRE2_jll v10.47.0+0 [bea87d4a] + SuiteSparse_jll v7.10.1+0 [83775a58] + Zlib_jll v1.3.2+0 [3161d3a3] + Zstd_jll v1.5.7+1 [8e850b90] + libblastrampoline_jll v5.15.0+0 [8e850ede] + nghttp2_jll v1.69.0+0 [3f19e933] + p7zip_jll v17.8.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m` Installation completed after 6.54s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling project... 54.6 s ✓ MadNLP 4.6 s ✓ BracketingNonlinearSolve → BracketingNonlinearSolveChainRulesCoreExt 19.7 s ✓ MadNLP → MadNLPMOI 30.2 s ✓ DirectTrajOpt 32.2 s ✓ DirectTrajOpt → MadNLPSolverExt 5 dependencies successfully precompiled in 143 seconds. 213 already precompiled. Precompilation completed after 169.52s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_Vlf10g/Project.toml` [c823fa1f] DirectTrajOpt v0.9.3 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.31.0 [f6369f11] ForwardDiff v1.3.3 [b6b21f68] Ipopt v1.14.3 [5078a376] LazyArrays v2.9.7 [2621e9c9] MadNLP v0.9.1 [b8f27783] MathOptInterface v1.51.0 [538bc3a1] NamedTrajectories v0.8.4 [b1df2697] OrdinaryDiffEqTsit5 v2.0.0 [189a3867] Reexport v1.2.2 [0bca4576] SciMLBase v3.7.1 [f8b46487] TestItemRunner v1.1.5 [1c621080] TestItems v1.0.0 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.13.0 [9a3f8284] Random v1.11.0 [2f01184e] SparseArrays v1.13.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_Vlf10g/Manifest.toml` [47edcb42] ADTypes v1.22.0 [14f7f29c] AMD v0.5.3 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.44 [79e6a3ab] Adapt v4.5.2 [4fba245c] ArrayInterface v7.24.0 [4c555306] ArrayLayouts v1.12.2 [70df07ce] BracketingNonlinearSolve v1.12.1 [d360d2e6] ChainRulesCore v1.26.1 [0b6fb165] ChunkCodecCore v1.0.1 [4c0bbee4] ChunkCodecLibZlib v1.0.0 [55437552] ChunkCodecLibZstd v1.0.0 [523fee87] CodecBzip2 v0.8.5 [944b1d66] CodecZlib v0.7.8 [38540f10] CommonSolve v0.2.6 [bbf7d656] CommonSubexpressions v0.3.1 [34da2185] Compat v4.18.1 [a33af91c] CompositionsBase v0.1.2 [95dc2771] ComputePipeline v0.1.7 [2569d6c7] ConcreteStructs v0.2.3 [187b0558] ConstructionBase v1.6.0 [864edb3b] DataStructures v0.19.4 [2b5f629d] DiffEqBase v7.2.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a0c0ee7d] DifferentiationInterface v0.7.17 [c823fa1f] DirectTrajOpt v0.9.3 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.7 [f151be2c] EnzymeCore v0.8.20 [e24c0720] ExponentialAction v0.2.10 [e2ba6199] ExprTools v0.1.10 [7034ab61] FastBroadcast v1.3.2 [9aa1b823] FastClosures v0.3.2 [a4df4552] FastPower v1.3.1 [5789e2e9] FileIO v1.19.0 [1a297f60] FillArrays v1.16.0 [6a86dc24] FiniteDiff v2.31.0 [f6369f11] ForwardDiff v1.3.3 [069b7b12] FunctionWrappers v1.1.3 [77dc65aa] FunctionWrappersWrappers v1.8.0 [46192b85] GPUArraysCore v0.2.0 [076d061b] HashArrayMappedTries v0.2.0 [3587e190] InverseFunctions v0.1.17 [b6b21f68] Ipopt v1.14.3 [92d709cd] IrrationalConstants v0.2.6 [82899510] IteratorInterfaceExtensions v1.0.0 [033835bb] JLD2 v0.6.4 [692b3bcd] JLLWrappers v1.7.1 [682c06a0] JSON v1.5.2 [40e66cde] LDLFactorizations v0.10.2 [b964fa9f] LaTeXStrings v1.4.0 [5078a376] LazyArrays v2.9.7 [5c8ed15e] LinearOperators v2.13.0 [2ab3a3ac] LogExpFunctions v0.3.29 [e6f89c97] LoggingExtras v1.2.0 [1914dd2f] MacroTools v0.5.16 [2621e9c9] MadNLP v0.9.1 [b8f27783] MathOptInterface v1.51.0 [bb5d69b7] MaybeInplace v0.1.4 [46d2c3a1] MuladdMacro v0.2.4 [d8a4904e] MutableArithmetics v1.7.1 [a4795742] NLPModels v0.21.12 [77ba4419] NaNMath v1.1.3 [538bc3a1] NamedTrajectories v0.8.4 [be0214bd] NonlinearSolveBase v2.25.0 [510215fc] Observables v0.5.5 [bac558e1] OrderedCollections v1.8.1 [bbf590c4] OrdinaryDiffEqCore v4.0.0 [b1df2697] OrdinaryDiffEqTsit5 v2.0.0 [69de0a69] Parsers v2.8.4 [d236fae5] PreallocationTools v1.2.0 [aea7be01] PrecompileTools v1.3.3 [21216c6a] Preferences v1.5.2 [3cdcf5f2] RecipesBase v1.3.4 [731186ca] RecursiveArrayTools v4.3.0 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.18 [0bca4576] SciMLBase v3.7.1 [19f34311] SciMLJacobianOperators v0.1.13 ⌅ [a6db7da4] SciMLLogging v1.9.1 [c0aeaf25] SciMLOperators v1.18.0 [431bcebd] SciMLPublic v1.0.1 [53ae85a6] SciMLStructures v1.10.0 [7e506255] ScopedValues v1.6.2 [efcf1570] Setfield v1.1.2 [ff4d7338] SolverCore v0.3.10 [276daf66] SpecialFunctions v2.7.2 [90137ffa] StaticArrays v1.9.18 [1e83bf80] StaticArraysCore v1.4.4 [10745b16] Statistics v1.11.1 [ec057cc2] StructUtils v2.8.1 [2efcf032] SymbolicIndexingInterface v0.3.46 [f8b46487] TestItemRunner v1.1.5 [1c621080] TestItems v1.0.0 [a759f4b9] TimerOutputs v0.5.29 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [3bb67fe8] TranscodingStreams v0.11.3 [781d530d] TruncatedStacktraces v1.4.0 [ae81ac8f] ASL_jll v0.1.3+0 [6e34b625] Bzip2_jll v1.0.9+0 [e33a78d0] Hwloc_jll v2.13.0+1 [9cc047cb] Ipopt_jll v300.1400.1901+0 [94ce4f54] Libiconv_jll v1.18.0+0 [d00139f3] METIS_jll v5.1.3+0 ⌅ [d7ed1dd3] MUMPS_seq_jll v500.800.200+0 [656ef2d0] OpenBLAS32_jll v0.3.33+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 v0.19.0+0 [0dad84c5] ArgTools v1.1.2 [56f22d72] Artifacts v1.11.0 [2a0f44e3] Base64 v1.11.0 [ade2ca70] Dates v1.11.0 [8ba89e20] Distributed v1.11.0 [f43a241f] Downloads v1.7.0 [7b1f6079] FileWatching v1.11.0 [9fa8497b] Future v1.11.0 [b77e0a4c] InteractiveUtils v1.11.0 [ac6e5ff7] JuliaSyntaxHighlighting v1.13.0 [b27032c2] LibCURL v1.0.0 [76f85450] LibGit2 v1.11.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.13.0 [56ddb016] Logging v1.11.0 [d6f4376e] Markdown v1.11.0 [a63ad114] Mmap v1.11.0 [ca575930] NetworkOptions v1.3.0 [44cfe95a] Pkg v1.14.0 [de0858da] Printf v1.11.0 [9a3f8284] Random v1.11.0 [ea8e919c] SHA v1.0.0 [9e88b42a] Serialization v1.11.0 [6462fe0b] Sockets v1.11.0 [2f01184e] SparseArrays v1.13.0 [f489334b] StyledStrings v1.13.0 [4607b0f0] SuiteSparse [fa267f1f] TOML v1.0.3 [a4e569a6] Tar v1.10.0 [8dfed614] Test v1.11.0 [cf7118a7] UUIDs v1.11.0 [4ec0a83e] Unicode v1.11.0 [e66e0078] CompilerSupportLibraries_jll v1.5.1+0 [deac9b47] LibCURL_jll v8.19.0+0 [e37daf67] LibGit2_jll v1.9.2+0 [29816b5a] LibSSH2_jll v1.11.3+1 [14a3606d] MozillaCACerts_jll v2026.3.19 [4536629a] OpenBLAS_jll v0.3.33+0 [05823500] OpenLibm_jll v0.8.7+0 [458c3c95] OpenSSL_jll v3.5.6+0 [efcefdf7] PCRE2_jll v10.47.0+0 [bea87d4a] SuiteSparse_jll v7.10.1+0 [83775a58] Zlib_jll v1.3.2+0 [3161d3a3] Zstd_jll v1.5.7+1 [8e850b90] libblastrampoline_jll v5.15.0+0 [8e850ede] nghttp2_jll v1.69.0+0 [3f19e933] p7zip_jll v17.8.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. Testing Running tests... ┌ 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/bnQ8f/src/problems.jl:66 initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 1.879s integrator 2 jacobian structure: 0.06s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (1.978s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.05s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.24s sub-objective 2 (QuadraticRegularizer): 1.719s sub-objective 3 (LinearRegularizer): 0.079s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 4.147s hessian structure: 2431 nonzeros (4.247s) linear index maps built (0.0s) evaluator ready (total: 6.701s) evaluator created (11.046s) NL constraint bounds extracted (0.097s) NLP block data built (0.0s) Ipopt optimizer configured (0.403s) variables set (0.878s) applying constraint: L1 slack constraint: |du| ≤ s_du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on s_du applying constraint: bounds on Δt linear constraints added: 6 (3.935s) optimizer initialization complete (total: 16.456s) ****************************************************************************** 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...: 1808 Number of nonzeros in inequality constraint Jacobian.: 80 Number of nonzeros in Lagrangian Hessian.............: 2239 Total number of variables............................: 122 variables with only lower bounds: 30 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 40 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.4208597e+00 2.63e+00 1.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.5953554e+00 1.31e+00 4.36e+00 -0.4 1.29e+01 -2.0 4.56e-01 4.82e-01f 1 2 3.2321359e+00 1.34e+00 2.70e+00 -1.3 6.61e+00 -2.5 4.16e-01 1.00e+00f 1 3 2.9861566e+00 6.04e-02 5.85e-01 -0.8 7.82e-01 -1.1 7.18e-01 1.00e+00f 1 4 2.7493549e+00 6.02e-03 6.88e-02 -1.7 3.09e-01 -0.7 9.96e-01 1.00e+00h 1 5 2.5131765e+00 2.70e-02 3.17e-01 -2.8 1.05e+00 -1.2 6.02e-01 3.40e-01f 1 6 1.6111788e+01 1.09e+01 8.32e+01 -0.4 2.06e+01 -1.7 1.77e-01 1.00e+00f 1 7 1.0832266e+01 2.72e+00 4.49e+01 -0.4 4.71e+00 0.6 1.00e+00 7.67e-01h 1 8 1.0422339e+01 2.30e+00 1.18e+02 -0.4 3.11e+00 1.0 1.00e+00 1.57e-01h 1 9 1.1556039e+01 9.93e-01 2.44e+02 -0.4 2.52e+00 1.4 1.00e+00 5.82e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.1599389e+01 9.62e-01 7.30e+02 -0.4 1.12e+00 1.8 1.00e+00 3.20e-02h 1 11 1.5494998e+01 4.45e-01 3.03e+02 -0.4 1.16e+00 1.4 1.00e+00 1.00e+00h 1 12 1.3013400e+01 5.19e-02 3.85e+02 -0.4 3.89e-01 1.8 1.00e+00 1.00e+00f 1 13 1.2619097e+01 1.89e-03 6.42e+00 -0.4 7.91e-02 1.3 1.00e+00 1.00e+00f 1 14 1.2581144e+01 1.05e-04 3.65e-01 -1.3 3.27e-02 0.8 9.93e-01 1.00e+00f 1 15 1.2479655e+01 1.20e-03 2.24e-01 -1.9 9.97e-02 0.4 9.94e-01 1.00e+00f 1 16 1.2207813e+01 8.09e-03 2.23e-01 -2.0 2.99e-01 -0.1 8.07e-01 1.00e+00f 1 17 1.1659205e+01 1.33e-01 6.78e-01 -2.0 8.93e-01 -0.6 5.79e-01 1.00e+00f 1 18 1.0566457e+01 3.58e-01 3.24e+00 -2.0 2.65e+00 -1.1 5.38e-01 6.87e-01f 1 19 8.1836677e+00 3.59e-01 1.60e+00 -2.0 7.71e+00 -1.6 1.00e+00 9.60e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 8.1418171e+00 3.40e-01 1.45e+00 -2.0 2.49e+00 -1.1 3.46e-01 1.11e-01h 1 21 7.9337809e+00 1.74e-01 2.33e+00 -2.0 6.63e-01 -0.7 1.00e+00 1.00e+00f 1 22 7.5279725e+00 2.53e-02 3.52e-01 -2.0 4.64e-01 -1.2 1.00e+00 8.86e-01h 1 23 7.3105335e+00 3.89e-02 2.97e-01 -2.0 8.96e-01 -1.7 1.00e+00 1.00e+00h 1 24 7.0419082e+00 7.50e-02 4.48e-01 -2.0 1.75e+00 -2.1 1.00e+00 1.00e+00h 1 25 6.6644513e+00 1.11e-01 2.06e-01 -2.0 3.21e+00 -2.6 1.00e+00 1.00e+00h 1 26 6.2656820e+00 2.14e-01 1.38e-01 -2.0 5.81e+00 -3.1 1.00e+00 1.00e+00h 1 27 5.9784182e+00 3.37e-01 1.21e-01 -2.0 1.07e+01 -3.6 1.00e+00 1.00e+00h 1 28 5.3522004e+00 6.35e+00 1.43e+00 -2.0 4.52e+01 -4.0 1.00e+00 8.37e-01h 1 29 5.7481419e+00 3.02e+00 4.70e-01 -2.0 7.32e+00 -3.6 1.66e-01 5.00e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 5.7788910e+00 1.16e+00 8.10e-01 -2.0 1.29e+01 -4.1 1.00e+00 1.00e+00h 1 31 5.8016307e+00 6.73e-03 3.05e-01 -2.0 1.87e-01 -1.0 1.00e+00 1.00e+00h 1 32 5.2821651e+00 4.44e-01 1.72e+00 -2.0 2.85e+00 -1.4 2.56e-01 1.00e+00H 1 33 5.0885911e+00 3.60e-01 1.04e+00 -2.0 2.13e+00 -1.9 1.00e+00 1.00e+00H 1 34 5.5339305e+00 5.33e-02 7.61e-01 -2.0 7.39e-01 -2.4 1.00e+00 1.00e+00h 1 35 5.4363464e+00 5.46e-03 2.42e-01 -2.0 1.38e+00 -2.9 1.00e+00 1.00e+00h 1 36 5.4024010e+00 1.31e-02 3.24e-02 -2.0 3.40e+00 -3.3 1.00e+00 1.00e+00h 1 37 5.2249560e+00 5.94e-02 7.66e-02 -3.1 9.72e+00 -3.8 1.00e+00 1.00e+00h 1 38 5.1357333e+00 1.16e-01 8.49e-02 -3.1 1.81e+01 -4.3 1.00e+00 5.01e-01h 1 39 5.0093758e+00 4.21e-01 1.27e-01 -3.1 2.26e+01 -4.8 1.00e+00 4.76e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 4.9656986e+00 3.12e-01 5.55e-02 -3.1 1.46e+01 -4.4 1.00e+00 8.92e-01h 1 41 4.8577110e+00 9.22e-01 8.70e-02 -3.1 2.58e+01 -4.8 1.00e+00 1.00e+00h 1 42 4.7650555e+00 1.61e+00 1.31e-01 -3.1 3.70e+01 -5.3 9.60e-01 1.00e+00h 1 43 4.7913954e+00 3.54e-02 4.98e-02 -3.1 1.93e+01 -4.9 1.00e+00 1.00e+00h 1 44 4.7332868e+00 6.04e-01 1.19e-01 -3.1 3.42e+01 -5.4 1.00e+00 1.00e+00h 1 45 4.7472434e+00 5.44e-02 4.39e-02 -3.1 1.46e+01 -4.9 1.00e+00 1.00e+00h 1 46 4.7094001e+00 2.66e-01 1.11e-01 -3.1 3.25e+01 -5.4 1.00e+00 1.00e+00h 1 47 4.6341790e+00 6.34e-01 2.29e-01 -3.1 8.04e+01 -5.9 1.00e+00 1.00e+00h 1 48 4.2817122e+00 2.01e+01 5.26e-01 -3.1 2.86e+02 -6.4 6.49e-01 1.00e+00h 1 49 4.1854464e+00 2.49e+01 1.84e+00 -3.1 5.70e+03 -6.8 4.06e-02 4.28e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 4.4877043e+00 1.15e+01 7.88e-01 -3.1 3.85e+02 -7.3 1.00e+00 8.66e-01h 1 51 4.4521370e+00 1.16e+01 1.18e+00 -3.1 1.54e+03 -7.8 2.21e-01 2.47e-01h 2 52 4.3730858e+00 3.34e+00 1.34e+00 -3.1 1.20e+02 -6.5 1.00e+00 1.00e+00h 1 53 4.5537218e+00 5.68e-01 6.96e-01 -3.1 1.72e+02 -6.9 1.00e+00 8.88e-01H 1 54 4.5702698e+00 7.86e-02 7.57e-02 -3.1 1.44e+01 -5.6 1.00e+00 1.00e+00h 1 55 4.5492538e+00 4.11e-01 4.43e-01 -3.1 3.77e+01 -6.1 1.00e+00 1.00e+00h 1 56 4.5722836e+00 3.13e-02 2.72e-01 -3.1 6.17e+01 -6.6 1.00e+00 1.00e+00H 1 57 4.4973965e+00 4.05e+00 9.60e-01 -3.1 2.96e+02 -7.0 1.00e+00 1.00e+00h 1 58 4.5449752e+00 3.85e-01 1.34e+00 -3.1 2.64e+02 -7.5 1.00e+00 1.00e+00H 1 59 4.5223998e+00 1.64e+00 5.25e-01 -3.1 2.20e+02 -7.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 4.5234265e+00 1.07e+00 1.27e+00 -3.1 2.45e+02 -7.6 1.00e+00 1.00e+00H 1 61 4.1930318e+00 4.92e+01 5.57e+00 -3.1 2.86e+03 -8.1 6.26e-01 5.68e-01h 1 62 4.2023721e+00 4.72e+01 5.32e+00 -3.1 3.88e+03 -8.5 9.74e-01 4.02e-02h 4 63 4.2036388e+00 4.70e+01 5.30e+00 -3.1 3.02e+03 -9.0 2.04e-01 5.33e-03h 6 64 4.2042115e+00 4.69e+01 5.28e+00 -3.1 1.51e+03 -9.5 3.07e-01 2.34e-03h 8 65 4.2042780e+00 4.68e+01 5.28e+00 -3.1 1.45e+03 -10.0 1.15e-01 2.66e-04h 12 66 4.2042966e+00 4.68e+01 5.28e+00 -3.1 2.48e+03 -10.4 6.02e-02 7.45e-05h 14 67 4.3161969e+00 3.04e+01 8.96e+00 -3.1 1.05e+04 -10.9 1.77e-02 5.23e-01H 1 68 4.3630429e+00 1.04e+01 2.18e+00 -3.1 3.44e+02 -7.8 8.30e-01 9.66e-01h 1 69 4.4778667e+00 1.51e+01 2.23e+00 -3.1 1.55e+03 -8.3 1.00e+00 8.15e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 4.4738859e+00 1.43e+01 5.16e-01 -3.1 3.58e+03 -8.7 1.00e+00 1.01e-01h 4 71 4.4695480e+00 1.46e+01 4.87e-01 -3.1 1.80e+04 -9.2 4.04e-01 1.68e-02h 4 72 4.4685016e+00 1.43e+01 7.33e-01 -3.1 6.69e+03 -9.7 1.00e+00 4.17e-02h 4 73 4.4925775e+00 7.81e+00 3.41e+01 -3.1 1.74e+03 -10.2 1.00e+00 1.00e+00h 1 74 4.4526360e+00 8.06e+00 6.09e+00 -3.1 7.82e+03 -10.6 1.00e+00 2.09e-01h 1 75 4.4771403e+00 2.63e+00 5.76e+01 -3.1 2.96e+03 -11.1 6.04e-01 9.39e-01H 1 76 4.4754416e+00 5.13e-01 9.71e+01 -3.1 3.64e+03 -11.6 5.69e-01 1.00e+00H 1 77 4.4688264e+00 9.86e+00 1.56e+02 -3.1 7.10e+03 -12.1 8.56e-01 1.00e+00h 1 78 4.4649685e+00 7.98e+00 1.39e+02 -3.1 8.58e+03 -12.5 1.00e+00 8.08e-01h 1 79 4.4612068e+00 7.48e+00 3.43e+02 -3.1 1.72e+04 -13.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 4.4624736e+00 8.93e-01 2.73e+02 -3.1 1.40e+04 -13.5 1.00e+00 9.75e-01H 1 81 4.4585486e+00 6.81e+00 4.31e+02 -3.1 2.16e+04 -14.0 1.00e+00 1.00e+00h 1 82 4.4575731e+00 8.98e+00 1.21e+02 -3.1 6.10e+03 -14.5 1.00e+00 1.00e+00h 1 83 4.4534191e+00 5.32e+00 2.88e+02 -3.1 1.45e+04 -14.9 1.00e+00 1.00e+00h 1 84 4.4538421e+00 9.02e+00 5.85e+01 -3.1 4.73e+03 -15.4 1.00e+00 1.00e+00h 1 85 4.4528456e+00 5.66e+00 5.70e+01 -3.1 5.77e+03 -15.9 1.00e+00 1.00e+00h 1 86 4.4530999e+00 7.89e+00 1.72e+01 -3.1 5.67e+03 -16.4 1.00e+00 1.00e+00h 1 87 4.4506313e+00 4.90e+00 9.47e+00 -3.1 6.81e+03 -16.8 1.00e+00 1.00e+00h 1 88 4.4509328e+00 7.75e+00 3.09e+00 -3.1 6.45e+03 -17.3 1.00e+00 1.00e+00h 1 89 4.4491664e+00 4.58e+00 1.56e+00 -3.1 7.70e+03 -17.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 4.4495676e+00 7.36e+00 5.22e-01 -3.1 7.35e+03 -18.3 1.00e+00 1.00e+00h 1 91 4.4480257e+00 4.35e+00 8.10e-01 -3.1 8.65e+03 -18.8 1.00e+00 1.00e+00h 1 92 4.4484407e+00 7.00e+00 4.73e-01 -3.1 8.32e+03 -19.2 1.00e+00 1.00e+00h 1 93 4.4470968e+00 4.20e+00 8.21e-01 -3.1 9.65e+03 -19.7 1.00e+00 1.00e+00h 1 94 4.4474889e+00 6.67e+00 4.90e-01 -3.1 9.36e+03 -20.0 1.00e+00 1.00e+00h 1 95 4.4463015e+00 4.08e+00 8.30e-01 -3.1 1.07e+04 -20.0 1.00e+00 1.00e+00h 1 96 4.4466586e+00 6.38e+00 5.09e-01 -3.1 1.05e+04 -20.0 1.00e+00 1.00e+00h 1 97 4.4456072e+00 4.00e+00 8.38e-01 -3.1 1.18e+04 -20.0 1.00e+00 1.00e+00h 1 98 4.4459249e+00 6.11e+00 5.30e-01 -3.1 1.16e+04 -20.0 1.00e+00 1.00e+00h 1 99 4.4449933e+00 3.94e+00 8.45e-01 -3.1 1.30e+04 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 4.4452697e+00 5.86e+00 5.52e-01 -3.1 1.29e+04 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 4.4452696918474972e+00 4.4452696918474972e+00 Dual infeasibility......: 5.5205085343206206e-01 5.5205085343206206e-01 Constraint violation....: 5.8640963192510753e+00 5.8640963192510753e+00 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.4875209315035758e-04 8.4875209315035758e-04 Overall NLP error.......: 5.8640963192510753e+00 5.8640963192510753e+00 Number of objective function evaluations = 168 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 168 Number of inequality constraint evaluations = 168 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 67.349 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.054s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.112s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.049s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.326s sub-objective 2 (QuadraticRegularizer): 0.086s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.503s hessian structure: 1749 nonzeros (0.603s) linear index maps built (0.0s) evaluator ready (total: 0.716s) evaluator created (0.716s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.118s) applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (3.095s) optimizer initialization complete (total: 3.931s) 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 1.5322624e+00 3.10e+00 1.24e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5330780e+00 2.55e+00 1.76e+00 -4.0 1.18e+01 -2.0 6.11e-02 1.76e-01h 1 2 1.4730050e+00 2.08e+00 2.28e+00 -0.9 1.35e+01 -1.6 1.72e-01 2.48e-01f 1 3 1.5326944e+00 1.79e+00 2.49e+00 -0.4 3.20e+00 -0.2 2.23e-01 1.41e-01f 1 4 1.5659258e+00 1.43e+00 1.99e+00 -0.5 6.56e+00 -0.7 2.67e-01 2.12e-01f 1 5 1.5571950e+00 1.30e+00 1.82e+00 -4.0 2.03e+01 -1.2 1.07e-01 9.69e-02h 1 6 1.6409120e+00 8.80e-01 1.55e+00 -1.9 3.40e+00 -0.8 3.22e-01 3.31e-01h 1 7 1.7250259e+00 7.11e-01 7.88e+00 -0.6 3.06e+00 -0.3 5.66e-01 1.96e-01f 1 8 1.7903794e+00 6.48e-01 6.52e+00 -1.1 3.61e+00 0.1 1.78e-01 1.62e-01h 1 9 1.8099040e+00 5.16e-01 2.18e+00 -1.4 1.79e+00 -0.4 5.39e-01 2.08e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.7832131e+00 4.66e-01 2.05e+00 -1.7 6.56e+00 -0.9 3.26e-01 1.87e-01h 1 11 1.8630236e+00 3.69e-01 3.62e+00 -0.7 2.26e+00 -0.4 8.72e-01 2.57e-01f 1 12 1.9454716e+00 2.57e-01 7.13e+00 -0.5 1.30e+00 -0.0 6.81e-01 3.03e-01f 1 13 1.9140632e+00 1.07e+00 1.89e+01 -0.3 6.39e+00 -0.5 7.83e-01 6.06e-01f 1 14 2.0340943e+00 5.15e-01 7.52e+00 -0.1 2.13e+00 -0.1 1.00e+00 9.00e-01h 1 15 2.0081375e+00 2.62e-02 6.73e+00 -1.5 1.27e+00 -0.6 6.83e-01 1.00e+00h 1 16 1.9069937e+00 3.40e-03 8.55e-01 -1.8 8.03e-02 -0.1 8.87e-01 1.00e+00h 1 17 1.5426856e+00 3.80e-03 5.36e-02 -2.0 2.17e-01 -0.6 9.88e-01 1.00e+00f 1 18 1.3236209e+00 2.50e-03 5.26e-02 -2.7 2.48e-01 -1.1 7.37e-01 8.91e-01f 1 19 1.2496734e+00 1.89e-02 1.62e-02 -2.9 4.83e-01 -1.6 9.86e-01 9.93e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.2235447e+00 2.41e-02 2.14e-02 -3.2 6.63e-01 -2.0 9.90e-01 7.70e-01h 1 21 1.2015220e+00 4.06e-02 2.54e-02 -3.9 9.10e-01 -2.5 9.98e-01 1.00e+00h 1 22 1.1976737e+00 3.39e-02 8.37e-02 -4.0 2.05e+00 -3.0 7.63e-01 4.14e-01h 1 23 1.1859269e+00 8.62e-02 3.24e-02 -4.0 2.08e+00 -3.5 1.00e+00 1.00e+00h 1 24 1.1866993e+00 3.11e-03 2.37e-03 -4.0 1.35e+00 -3.0 1.00e+00 1.00e+00h 1 25 1.1818304e+00 3.83e-02 1.05e-02 -4.0 2.00e+00 -3.5 5.60e-01 1.00e+00h 1 26 1.1828700e+00 3.39e-04 8.49e-04 -4.0 1.30e-01 -2.2 1.00e+00 1.00e+00h 1 27 1.1823958e+00 7.05e-04 6.90e-04 -4.0 3.18e-01 -2.7 1.00e+00 1.00e+00h 1 28 1.1821243e+00 4.23e-03 9.88e-03 -4.0 8.10e-01 -3.1 4.30e-01 1.00e+00h 1 29 1.1818098e+00 4.04e-03 3.71e-01 -2.9 6.01e+00 -1.8 1.00e+00 4.53e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1811712e+00 3.75e-05 6.47e-04 -4.0 1.26e-01 -2.3 1.00e+00 1.00e+00h 1 31 1.1808118e+00 5.94e-04 5.75e-04 -4.0 3.37e-01 -2.8 1.00e+00 1.00e+00h 1 32 1.1797606e+00 3.73e-03 6.53e-04 -4.0 8.49e-01 -3.2 1.00e+00 1.00e+00h 1 33 1.1795212e+00 3.56e-04 7.46e-04 -4.0 3.07e-01 -2.8 1.00e+00 1.00e+00h 1 34 1.1787029e+00 2.95e-03 4.67e-04 -4.0 8.15e-01 -3.3 1.00e+00 1.00e+00h 1 35 1.1770133e+00 1.36e-02 1.94e-03 -4.0 1.87e+00 -3.8 1.00e+00 1.00e+00h 1 36 1.1745243e+00 3.77e-02 4.47e-03 -4.0 3.58e+00 -4.2 1.00e+00 1.00e+00h 1 37 1.1718263e+00 7.02e-02 6.15e-03 -4.0 6.10e+00 -4.7 1.00e+00 1.00e+00h 1 38 1.1693367e+00 1.06e-01 6.02e-03 -4.0 9.82e+00 -5.2 1.00e+00 1.00e+00h 1 39 1.1671994e+00 1.45e-01 4.25e-03 -4.0 1.54e+01 -5.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.1654290e+00 1.88e-01 1.14e-03 -4.0 2.37e+01 -6.2 1.00e+00 1.00e+00h 1 41 1.1639911e+00 2.36e-01 3.08e-03 -4.0 3.62e+01 -6.6 1.00e+00 1.00e+00h 1 42 1.1628385e+00 2.89e-01 8.24e-03 -4.0 5.46e+01 -7.1 1.00e+00 1.00e+00h 1 43 1.1619271e+00 3.46e-01 1.41e-02 -4.0 8.13e+01 -7.6 1.00e+00 1.00e+00h 1 44 1.1612243e+00 4.03e-01 2.01e-02 -4.0 1.19e+02 -8.1 1.00e+00 1.00e+00h 1 45 1.1607214e+00 4.41e-01 2.44e-02 -4.0 1.67e+02 -8.5 1.00e+00 1.00e+00h 1 46 1.1604827e+00 3.92e-01 2.04e-02 -4.0 2.10e+02 -9.0 1.00e+00 1.00e+00h 1 47 1.1607267e+00 9.29e-02 2.10e-03 -4.0 1.42e+02 -9.5 1.00e+00 1.00e+00h 1 48 1.1608530e+00 2.66e-03 7.83e-04 -4.0 1.56e+01 -10.0 1.00e+00 1.00e+00h 1 49 1.1608491e+00 1.99e-04 2.42e-05 -4.0 5.88e+00 -10.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.1608491e+00 1.05e-07 5.40e-10 -4.0 1.45e-01 -10.9 1.00e+00 1.00e+00h 1 51 1.1608491e+00 1.02e-12 1.01e-13 -4.0 4.15e-04 -11.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 51 (scaled) (unscaled) Objective...............: 1.1608491307791657e+00 1.1608491307791657e+00 Dual infeasibility......: 1.0127911963947467e-13 1.0127911963947467e-13 Constraint violation....: 1.0214051826551440e-12 1.0214051826551440e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000552e-04 1.0000000000000552e-04 Overall NLP error.......: 1.0214051826551440e-12 1.0214051826551440e-12 Number of objective function evaluations = 52 Number of objective gradient evaluations = 52 Number of equality constraint evaluations = 52 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 52 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 51 Total seconds in IPOPT = 37.094 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.051s jacobian structure: 180 nonzeros (0.081s) integrator 1 hessian structure: 0.047s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.327s sub-objective 2 (QuadraticRegularizer): 0.089s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.018s objective hessian structure: 0.52s hessian structure: 375 nonzeros (0.568s) linear index maps built (0.0s) evaluator ready (total: 0.767s) evaluator created (0.767s) NL constraint bounds extracted (0.013s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.115s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.798s) optimizer initialization complete (total: 3.694s) 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 1.0098272e+00 8.50e-01 1.01e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6543756e+00 5.90e-01 2.67e+00 -0.6 1.32e+01 - 7.23e-01 3.54e-01H 1 2 1.8954122e+00 2.44e-01 2.50e+00 -0.8 5.07e-01 0.0 9.16e-01 1.00e+00f 1 3 2.0668688e+00 2.31e-01 1.33e+00 -0.9 5.07e-01 -0.5 6.35e-01 9.98e-01h 1 4 2.0174085e+00 2.76e-01 9.54e-01 -1.0 9.84e-01 -1.0 8.30e-01 8.84e-01h 1 5 1.4785212e+00 5.74e-02 3.90e-01 -1.3 7.46e-01 -1.4 9.61e-01 7.92e-01f 1 6 1.2296822e+00 7.65e-03 7.72e-01 -2.1 4.13e+00 - 9.88e-01 8.72e-01h 1 7 1.1749907e+00 5.76e-03 3.45e-01 -2.6 5.03e+00 - 9.98e-01 2.47e-01h 1 8 1.0978009e+00 4.10e-04 6.93e-02 -3.8 2.32e+00 - 1.00e+00 9.31e-01h 1 9 1.0914967e+00 6.25e-07 1.16e-01 -4.0 3.26e+00 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910074e+00 6.25e-09 4.41e-03 -4.0 6.39e-01 - 1.00e+00 1.00e+00h 1 11 1.0910387e+00 4.28e-14 2.90e-05 -4.0 4.42e-02 - 1.00e+00 1.00e+00h 1 12 1.0910386e+00 8.88e-16 5.77e-10 -4.0 2.38e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0910385779838725e+00 1.0910385779838725e+00 Dual infeasibility......: 5.7687140969046174e-10 5.7687140969046174e-10 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000230e-04 1.0000000000000230e-04 Overall NLP error.......: 5.7687140969046174e-10 5.7687140969046174e-10 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 = 24.715 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (QuadraticRegularizer)... objective hessian structure: 0.089s hessian structure: 30 nonzeros (0.089s) linear index maps built (0.0s) evaluator ready (total: 0.089s) evaluator created (0.089s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.122s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 linear constraints added: 5 (2.915s) optimizer initialization complete (total: 3.126s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8435902e-02 8.33e-17 9.97e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6219443e-02 6.16e-12 1.78e-02 -4.0 3.24e-02 -2.0 9.82e-01 1.00e+00f 1 2 7.8280036e-03 9.00e-13 9.57e-02 -3.0 1.00e-01 -1.6 9.93e-01 1.00e+00f 1 3 1.0084704e-03 1.28e-11 7.24e-02 -3.5 1.48e-01 -1.1 1.00e+00 8.83e-01f 1 4 7.9105347e-04 1.04e-11 1.98e-02 -3.0 5.12e-01 -1.6 1.00e+00 1.00e+00f 1 5 7.9105347e-04 1.04e-11 1.44e-02 -3.5 1.86e-01 -1.2 9.93e-01 1.42e-14h 47 6 7.9105347e-04 1.04e-11 1.72e-02 -3.4 9.32e-01 -1.7 1.00e+00 7.28e-15h 46 7 4.1101188e-04 7.44e-12 2.12e-02 -3.4 1.50e+00 -2.2 5.63e-01 2.21e-01f 3 8 4.1101188e-04 7.44e-12 2.53e-02 -3.5 3.78e+00 -2.6 1.00e+00 3.70e-15h 47 9 4.1101188e-04 7.44e-12 2.97e-02 -3.1 3.09e+00 -3.1 1.00e+00 9.14e-15h 46 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.3583275e-04 7.26e-12 3.26e-02 -3.1 1.23e+00 -3.6 1.00e+00 2.53e-02f 6 11 1.9986901e-04 5.55e-12 3.17e-02 -2.8 6.34e-01 -2.3 1.00e+00 2.50e-01f 3 12 1.9986901e-04 5.55e-12 2.70e-02 -2.8 1.13e+00 -2.7 9.42e-01 8.54e-15h 46 13 2.7259658e-04 5.38e-12 2.48e-02 -2.6 9.29e-01 -3.2 1.00e+00 3.12e-02f 6 14 2.7259658e-04 5.38e-12 1.92e-02 -2.6 8.48e-01 -3.7 1.00e+00 2.27e-13h 43 15 2.7259658e-04 5.38e-12 1.78e-02 -4.0 8.11e-01 -4.2 6.61e-01 1.55e-15h 50 16 5.5886395e-06 1.24e-12 1.85e-02 -4.0 7.80e-01 -4.6 9.98e-01 9.98e-01S 63 17 9.5837446e-05 1.19e-12 3.64e-02 -2.8 1.82e+01 -5.1 1.00e+00 4.56e-02f 1 18 5.8869544e-04 6.86e-14 1.13e-02 -3.2 4.58e-01 -5.6 1.00e+00 1.00e+00f 1 19 5.8870039e-04 7.88e-16 1.58e-02 -3.2 9.41e-02 -6.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 5.8870038e-04 7.88e-16 2.06e-02 -3.2 2.49e-02 -6.5 1.00e+00 2.98e-08h 26 21 5.8870038e-04 7.88e-16 2.38e-02 -3.2 3.93e-02 -7.0 1.00e+00 3.73e-09h 29 22 5.8870038e-04 7.88e-16 2.59e-02 -3.2 5.46e-02 -7.5 1.00e+00 2.33e-10h 33 23 5.8870038e-04 7.88e-16 2.72e-02 -3.2 7.20e-02 -8.0 1.00e+00 2.33e-10h 33 24 5.8870038e-04 7.88e-16 2.81e-02 -3.2 9.18e-02 -8.5 1.00e+00 1.16e-10h 34 25 5.8870038e-04 7.88e-16 2.88e-02 -3.2 1.14e-01 -8.9 1.00e+00 5.82e-11h 35 26 5.8870038e-04 7.88e-16 2.93e-02 -3.2 1.40e-01 -9.4 1.00e+00 2.91e-11h 36 27 5.8870038e-04 7.88e-16 2.97e-02 -3.2 1.70e-01 -9.9 1.00e+00 2.91e-11h 36 28 5.8870038e-04 7.88e-16 3.01e-02 -3.2 2.03e-01 -10.4 1.00e+00 1.46e-11h 37 29 5.8870038e-04 7.88e-16 3.04e-02 -3.2 2.43e-01 -10.8 1.00e+00 7.28e-12h 38 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 5.8870038e-04 7.88e-16 3.07e-02 -3.2 2.88e-01 -11.3 1.00e+00 3.64e-12h 39 31 5.8870038e-04 7.88e-16 3.10e-02 -3.2 3.42e-01 -11.8 1.00e+00 1.82e-12h 40 32 5.8870038e-04 7.88e-16 3.14e-02 -3.2 4.04e-01 -12.3 1.00e+00 1.82e-12h 40 33 5.8870038e-04 7.88e-16 3.17e-02 -3.2 4.77e-01 -12.8 1.00e+00 3.64e-12h 39 34 5.8870038e-04 7.88e-16 3.21e-02 -3.2 5.61e-01 -13.2 1.00e+00 3.64e-12h 39 35 5.8870038e-04 7.88e-16 3.25e-02 -3.2 6.56e-01 -13.7 1.00e+00 2.27e-13h 43 36 5.8870038e-04 7.88e-16 3.29e-02 -3.2 7.61e-01 -14.2 1.00e+00 1.82e-12h 40 37 5.5389759e-04 7.63e-16 3.28e-02 -3.2 8.71e-01 -14.7 1.00e+00 3.12e-02f 6 38 5.2071355e-04 7.39e-16 3.21e-02 -3.2 9.61e-01 -15.1 1.00e+00 3.12e-02f 6 39 4.8918277e-04 7.15e-16 3.13e-02 -3.2 1.05e+00 -15.6 1.00e+00 3.12e-02f 6 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 4.8161990e-04 7.10e-16 3.10e-02 -3.2 1.09e+00 -16.1 1.00e+00 7.81e-03f 8 41 4.5198473e-04 6.87e-16 3.09e-02 -3.2 1.14e+00 -16.6 1.00e+00 3.12e-02f 6 42 4.4490847e-04 6.82e-16 3.07e-02 -3.2 1.13e+00 -17.0 1.00e+00 7.81e-03f 8 43 4.1718219e-04 6.61e-16 3.08e-02 -3.2 1.18e+00 -17.5 1.00e+00 3.12e-02f 6 44 4.1058218e-04 6.56e-16 3.06e-02 -3.2 1.14e+00 -18.0 1.00e+00 7.81e-03f 8 45 3.8467957e-04 6.35e-16 3.09e-02 -3.2 1.19e+00 -18.5 1.00e+00 3.12e-02f 6 46 3.7243273e-04 6.26e-16 3.08e-02 -3.2 1.12e+00 -19.0 1.00e+00 1.56e-02f 7 47 3.4864821e-04 6.05e-16 3.11e-02 -3.2 1.18e+00 -19.4 1.00e+00 3.12e-02f 6 48 3.2641024e-04 5.86e-16 3.09e-02 -3.2 1.08e+00 -19.9 1.00e+00 3.12e-02f 6 49 3.0533155e-04 5.67e-16 3.09e-02 -3.2 1.13e+00 -20.0 1.00e+00 3.12e-02f 6 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.9529839e-04 5.59e-16 3.14e-02 -3.2 1.03e+00 -20.0 1.00e+00 1.56e-02f 7 51 2.7568656e-04 5.41e-16 3.24e-02 -3.2 1.09e+00 -20.0 1.00e+00 3.12e-02f 6 52 2.5724820e-04 5.26e-16 3.23e-02 -3.2 9.95e-01 -20.0 1.00e+00 3.12e-02f 6 53 2.3977088e-04 5.10e-16 3.23e-02 -3.2 1.03e+00 -20.0 1.00e+00 3.12e-02f 6 54 2.3558491e-04 5.05e-16 3.21e-02 -3.2 9.80e-01 -20.0 1.00e+00 7.81e-03f 8 55 2.2726638e-04 4.98e-16 3.28e-02 -3.2 1.07e+00 -20.0 1.00e+00 1.56e-02f 7 56 2.2321484e-04 4.93e-16 3.23e-02 -3.2 1.11e+00 -20.0 1.00e+00 7.81e-03f 8 57 2.1520870e-04 4.86e-16 3.26e-02 -3.2 1.18e+00 -20.0 1.00e+00 1.56e-02f 7 58 2.1520870e-04 4.86e-16 3.16e-02 -3.2 1.19e+00 -20.0 1.00e+00 3.64e-12f 39 59 2.0739733e-04 4.79e-16 3.23e-02 -3.2 1.26e+00 -20.0 1.00e+00 1.56e-02f 7 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0739733e-04 4.79e-16 3.07e-02 -3.2 1.23e+00 -20.0 1.00e+00 9.09e-13f 41 61 2.0356601e-04 4.74e-16 3.19e-02 -3.2 1.32e+00 -20.0 1.00e+00 7.81e-03f 8 62 2.0356601e-04 4.74e-16 3.01e-02 -3.2 1.25e+00 -20.0 1.00e+00 4.55e-13h 42 63 1.9600098e-04 4.65e-16 3.20e-02 -3.2 1.39e+00 -20.0 1.00e+00 1.56e-02f 7 64 1.9600098e-04 4.65e-16 2.80e-02 -3.2 1.22e+00 -20.0 1.00e+00 4.55e-13h 42 65 1.8860435e-04 4.58e-16 3.19e-02 -3.2 1.51e+00 -20.0 1.00e+00 1.56e-02f 7 66 1.8860435e-04 4.58e-16 2.47e-02 -3.2 1.11e+00 -20.0 1.00e+00 1.14e-13h 44 67 1.7534052e-04 4.46e-16 3.37e-02 -3.2 1.80e+00 -20.0 1.00e+00 2.84e-02f 6 68 1.7534052e-04 4.46e-16 1.99e-02 -3.2 8.78e-01 -20.0 9.85e-01 1.14e-13h 44 69 1.5774276e-04 4.28e-16 3.96e-02 -3.2 2.62e+00 -20.0 1.00e+00 3.78e-02f 5 initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (CompositeObjective)... sub-objective 1 (QuadraticRegularizer): 0.091s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.187s hessian structure: 40 nonzeros (0.187s) linear index maps built (0.0s) evaluator ready (total: 0.188s) evaluator created (0.188s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.124s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) linear constraints added: 6 (3.032s) optimizer initialization complete (total: 3.343s) 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 2.0903395e+00 8.73e-01 8.46e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7113720e+00 5.36e-09 5.16e-01 -0.2 7.70e-01 -2.0 9.67e-01 1.00e+00f 1 2 4.0783597e-01 4.75e-09 4.13e-01 -4.0 1.34e+00 -1.6 7.63e-01 1.00e+00f 1 3 2.1213822e-01 4.00e-11 6.24e-02 -2.0 5.38e-01 -1.1 1.00e+00 1.00e+00f 1 4 5.6272527e-02 2.34e-11 5.66e-02 -2.8 9.53e-01 -1.6 9.97e-01 1.00e+00f 1 5 1.1110192e-02 3.82e-11 2.39e-02 -3.7 8.27e-01 -2.1 1.00e+00 1.00e+00f 1 6 2.1681813e-03 1.03e-11 7.53e-03 -4.0 5.50e-01 -2.6 1.00e+00 1.00e+00f 1 7 6.4285299e-04 2.05e-12 2.10e-03 -4.0 2.90e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.3102876e-04 3.13e-13 3.58e-04 -4.0 7.27e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.7500814e-04 3.13e-14 2.19e-04 -4.0 3.20e-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 2.9535272e-04 1.09e-14 4.88e-04 -4.1 9.00e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.5865986e-04 6.08e-15 3.78e-04 -4.0 2.06e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7345842e-04 3.89e-15 5.39e-04 -4.1 1.02e-01 -5.4 1.00e+00 1.00e+00f 1 13 4.6610519e-04 2.66e-15 4.74e-04 -4.0 2.53e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6327681e-04 2.11e-15 6.11e-04 -4.1 1.17e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6667240e-04 2.00e-15 5.14e-04 -4.0 2.74e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.5987010e-04 1.67e-15 6.39e-04 -4.1 1.23e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6661530e-04 1.67e-15 5.31e-04 -4.0 2.84e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5873944e-04 1.33e-15 6.57e-04 -4.1 1.27e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6614881e-04 1.33e-15 5.40e-04 -4.0 2.90e-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 2.5838911e-04 1.22e-15 6.71e-04 -4.1 1.30e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6559285e-04 1.22e-15 5.46e-04 -4.0 2.94e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5828776e-04 1.06e-15 6.84e-04 -4.1 1.32e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6501950e-04 1.11e-15 5.50e-04 -4.0 2.97e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5826455e-04 1.02e-15 6.96e-04 -4.1 1.35e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6445685e-04 8.88e-16 5.54e-04 -4.0 3.00e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5826427e-04 9.16e-16 7.07e-04 -4.1 1.37e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0962044e-05 9.27e-15 8.85e-04 -6.2 3.76e-01 -12.6 9.68e-01 1.00e+00f 1 28 1.7415908e-03 2.44e-15 7.63e-03 -4.0 1.98e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4505224e-05 2.40e-14 2.86e-03 -4.1 1.01e+00 -13.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.5769465e-03 3.11e-14 7.94e-03 -4.0 9.77e-01 -14.0 1.00e+00 1.00e+00f 1 31 1.0176776e-05 1.83e-14 2.27e-03 -4.2 1.08e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6615181e-04 1.67e-15 2.75e-03 -4.0 1.37e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.1970498e-04 3.00e-15 2.37e-04 -4.2 3.71e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0218361e-05 4.55e-15 8.01e-04 -6.4 4.09e-01 -15.9 9.64e-01 1.00e+00f 1 35 8.1334687e-06 3.33e-15 9.87e-05 -6.4 1.04e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.5476023e-03 1.33e-15 5.47e-03 -4.0 9.60e+00 -16.9 1.00e+00 1.25e-01f 4 37 9.7933670e-05 5.40e-14 3.48e-03 -4.0 7.94e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.5059953e-04 3.62e-14 3.55e-03 -4.0 5.36e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8034854e-04 6.77e-15 4.36e-04 -4.0 4.20e-01 -18.3 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.5524623e-05 5.55e-15 1.32e-03 -6.0 5.02e-01 -18.8 9.55e-01 1.00e+00f 1 41 1.4632391e-05 5.33e-15 1.59e-04 -6.0 1.25e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0255984e-06 8.88e-16 1.01e-04 -6.0 1.42e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.0575626e-03 6.66e-16 3.12e-03 -4.0 1.56e+01 -20.0 1.00e+00 7.71e-02f 4 44 1.6277359e-04 4.77e-14 2.86e-03 -4.0 5.81e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.7329311e-04 2.29e-14 2.78e-03 -4.0 4.18e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9048635e-04 4.22e-15 4.18e-04 -4.0 3.59e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5416239e-05 5.77e-15 1.45e-03 -6.1 5.45e-01 -20.0 9.50e-01 1.00e+00f 1 48 1.4728410e-05 4.88e-15 1.69e-04 -6.1 1.33e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.9224736e-06 7.77e-16 1.10e-04 -6.1 1.56e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 8.5631494e-04 4.16e-16 2.13e-03 -4.0 1.68e+01 -20.0 1.00e+00 7.15e-02f 4 51 1.9778966e-04 4.12e-14 2.48e-03 -4.0 4.85e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.1111719e-04 1.60e-14 2.32e-03 -4.0 3.55e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8689160e-04 2.89e-15 3.98e-04 -4.0 3.19e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4460726e-05 5.66e-15 1.53e-03 -6.1 5.80e-01 -20.0 9.46e-01 1.00e+00f 1 55 1.4437497e-05 4.44e-15 1.75e-04 -6.1 1.39e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.7822134e-06 7.22e-16 1.16e-04 -6.1 1.67e-01 -20.0 1.00e+00 1.00e+00f 1 57 7.0814941e-04 5.69e-16 1.25e-03 -4.0 1.81e+01 -20.0 1.00e+00 6.59e-02f 4 58 2.3333820e-04 3.62e-14 2.07e-03 -4.1 3.91e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.5167700e-04 1.09e-14 1.81e-03 -4.1 2.84e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.8352186e-04 1.78e-15 3.60e-04 -4.1 2.68e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3419397e-05 5.44e-15 1.61e-03 -6.1 6.14e-01 -20.0 9.42e-01 1.00e+00f 1 62 1.4142692e-05 4.00e-15 1.79e-04 -6.1 1.44e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.6635652e-06 6.66e-16 1.20e-04 -6.1 1.77e-01 -20.0 1.00e+00 1.00e+00f 1 64 5.9978415e-04 3.54e-16 4.84e-04 -4.0 1.95e+01 -20.0 1.00e+00 6.12e-02f 4 65 2.6535200e-04 3.24e-14 1.65e-03 -4.1 3.05e-01 -20.0 1.00e+00 1.00e+00f 1 66 4.9972279e-04 7.33e-15 1.34e-03 -4.1 2.15e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.7926342e-04 1.11e-15 3.12e-04 -4.1 2.15e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2325046e-05 5.11e-15 1.67e-03 -6.1 6.45e-01 -20.0 9.38e-01 1.00e+00f 1 69 1.3825186e-05 3.77e-15 1.82e-04 -6.1 1.48e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.5558784e-06 6.11e-16 1.24e-04 -6.1 1.85e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.1918624e-04 4.23e-16 1.90e-04 -4.0 2.08e+01 -20.0 1.00e+00 5.73e-02f 4 72 2.9320307e-04 2.93e-14 1.26e-03 -4.1 2.28e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.5630233e-04 4.66e-15 9.17e-04 -4.1 1.50e-01 -20.0 1.00e+00 1.00e+00f 1 74 3.0450205e-04 3.33e-15 9.07e-04 -4.1 1.64e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.5002719e-04 2.44e-15 7.97e-04 -4.1 1.31e-01 -20.0 1.00e+00 1.00e+00f 1 76 2.3750085e-05 4.55e-15 1.86e-03 -6.1 7.84e-01 -20.0 9.23e-01 1.00e+00f 1 77 1.2305395e-05 3.77e-15 1.25e-04 -6.1 1.11e-01 -20.0 1.00e+00 1.00e+00f 1 78 3.0711175e-06 4.44e-16 1.18e-04 -6.1 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 79 4.5892123e-04 3.89e-16 8.62e-04 -4.0 2.36e+01 -20.0 1.00e+00 5.04e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.2233305e-04 2.78e-14 8.54e-04 -4.1 1.51e-01 -20.0 1.00e+00 1.00e+00f 1 81 3.4208599e-05 5.66e-15 1.63e-03 -6.1 6.24e-01 -20.0 9.40e-01 1.00e+00f 1 82 1.3352584e-05 3.00e-15 2.19e-04 -6.1 1.78e-01 -20.0 1.00e+00 1.00e+00f 1 83 3.6068394e-06 5.55e-16 1.30e-04 -6.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 84 3.6805879e-06 2.22e-16 4.74e-06 -6.1 8.37e-03 -20.0 1.00e+00 1.00e+00h 1 85 2.3816187e-07 4.47e-17 5.61e-05 -9.0 2.54e-01 -20.0 9.75e-01 1.00e+00f 1 86 2.3254299e-03 2.71e-16 1.18e-02 -4.0 1.06e+02 -20.0 1.00e+00 2.29e-02f 3 87 8.2617695e-05 4.64e-14 6.89e-03 -4.0 1.53e+00 -20.0 1.00e+00 1.00e+00f 1 88 7.5733554e-04 2.78e-14 5.35e-03 -4.0 8.16e-01 -20.0 1.00e+00 1.00e+00f 1 89 4.2567433e-04 5.33e-15 7.85e-04 -4.0 5.53e-01 -20.0 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 4.2247901e-05 4.00e-15 2.12e-03 -5.9 7.18e-01 -20.0 9.30e-01 1.00e+00f 1 91 1.7380636e-05 3.89e-15 2.61e-04 -5.9 1.88e-01 -20.0 1.00e+00 1.00e+00f 1 92 4.9327044e-06 6.66e-16 1.65e-04 -5.9 2.11e-01 -20.0 1.00e+00 1.00e+00f 1 93 5.5535812e-06 3.33e-16 1.61e-05 -5.9 2.34e-02 -20.0 1.00e+00 1.00e+00h 1 94 5.1665246e-06 6.25e-17 2.00e-06 -5.9 2.93e-03 -20.0 1.00e+00 1.00e+00h 1 95 3.6915630e-07 5.55e-17 7.81e-05 -8.9 2.88e-01 -20.0 9.71e-01 1.00e+00f 1 96 1.4884000e-07 4.90e-17 8.16e-06 -8.9 6.33e-02 -20.0 1.00e+00 1.00e+00f 1 97 1.5061829e-03 6.97e-16 2.33e-03 -4.0 3.30e+02 -20.0 1.00e+00 7.39e-03f 3 98 4.9560313e-04 6.17e-14 5.35e-03 -3.8 6.86e-01 -20.0 1.00e+00 1.00e+00f 1 99 8.7313456e-04 1.78e-14 1.94e-03 -3.8 2.31e-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 5.7335949e-04 7.77e-15 2.20e-03 -3.8 2.85e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 5.7335948564996237e-04 5.7335948564996237e-04 Dual infeasibility......: 2.1967995248382121e-03 2.1967995248382121e-03 Constraint violation....: 7.7715611723760958e-15 7.7715611723760958e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.7067048308332084e-04 1.7067048308332084e-04 Overall NLP error.......: 2.1967995248382121e-03 2.1967995248382121e-03 Number of objective function evaluations = 170 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 170 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 3.166 EXIT: Maximum Number of Iterations Exceeded. [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... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.643s jacobian structure: 1600 nonzeros (2.722s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.572s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 0.017s hessian structure: 1749 nonzeros (3.636s) linear index maps built (0.0s) evaluator ready (total: 6.358s) evaluator created (6.381s) NL constraint bounds extracted (0.091s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.109s) optimizer initialization complete (total: 6.581s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.3305822e+00 3.09e+00 4.71e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6858341e+00 2.52e-01 1.41e+00 -0.9 3.10e+00 -2.0 9.81e-01 9.54e-01f 1 2 2.4574530e+00 3.20e-01 7.61e-01 -1.3 3.43e+00 -2.5 8.55e-01 8.68e-01h 1 3 2.2163404e+00 1.70e-01 5.76e-01 -1.9 3.40e+00 -3.0 8.60e-01 9.86e-01h 1 4 2.1474869e+00 3.13e-02 8.90e-02 -2.2 1.83e+00 -3.4 9.78e-01 1.00e+00h 1 5 2.0955164e+00 2.71e-03 9.67e-03 -3.2 3.96e-01 -3.9 9.95e-01 1.00e+00h 1 6 2.0907648e+00 2.97e-04 2.47e-03 -4.0 4.46e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906175e+00 7.83e-06 8.59e-04 -4.0 1.21e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0903755e+00 3.59e-06 5.34e-04 -4.0 3.37e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0902080e+00 9.66e-07 4.63e-04 -4.0 1.46e+00 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0898596e+00 6.01e-06 4.37e-04 -4.0 4.16e+00 -5.4 1.00e+00 1.00e+00h 1 11 2.0895045e+00 9.46e-06 3.44e-02 -4.0 1.35e+01 -5.9 1.00e+00 2.73e-01h 2 12 2.0873485e+00 2.46e-04 2.41e-02 -4.0 3.10e+01 -6.3 1.00e+00 8.33e-01h 1 13 2.0840788e+00 1.13e-03 4.49e-02 -4.0 5.73e+01 -6.8 1.00e+00 1.00e+00h 1 14 2.0832214e+00 6.10e-04 1.12e-02 -3.8 3.62e+01 -7.3 1.00e+00 7.32e-01H 1 15 2.0823814e+00 1.02e-02 1.69e-02 -4.0 1.34e+02 -7.8 1.00e+00 1.00e+00h 1 16 2.0823221e+00 1.17e-03 1.75e-02 -4.0 9.61e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0820158e+00 7.02e-04 2.96e-02 -4.0 6.38e+01 -7.8 1.00e+00 1.00e+00h 1 18 2.0861545e+00 5.45e-04 3.80e-02 -4.0 8.16e+01 -8.3 1.00e+00 1.00e+00h 1 19 2.0838610e+00 2.94e-06 2.20e-02 -4.0 5.92e-02 -0.5 1.00e+00 9.95e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0834543e+00 1.51e-06 8.24e-03 -4.0 7.07e-02 -0.9 1.00e+00 1.00e+00f 1 21 2.0824952e+00 2.86e-07 4.99e-03 -4.0 1.37e-01 -1.4 1.00e+00 1.00e+00h 1 22 2.0821492e+00 1.18e-07 1.78e-01 -3.7 1.77e-01 -1.9 8.81e-01 9.48e-01H 1 23 2.0819711e+00 4.26e-07 4.31e-01 -4.0 1.08e-01 -2.4 1.00e+00 5.51e-01f 1 24 2.0819903e+00 8.86e-07 2.54e-04 -4.0 6.16e-02 -2.8 1.00e+00 1.00e+00f 1 25 2.0818223e+00 4.25e-07 7.74e-05 -4.1 1.33e-02 -3.3 1.00e+00 1.00e+00h 1 26 2.0819556e+00 7.12e-07 8.50e-05 -4.0 3.50e-02 -3.8 1.00e+00 1.00e+00h 1 27 2.0818059e+00 2.37e-06 5.35e-05 -4.1 1.04e-01 -4.3 1.00e+00 1.00e+00h 1 28 2.0819369e+00 6.83e-06 1.31e-04 -4.0 3.30e-01 -4.8 1.00e+00 1.00e+00h 1 29 2.0817386e+00 2.30e-05 1.11e-04 -4.1 1.03e+00 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0817422e+00 1.02e-04 1.40e-03 -4.0 5.73e+00 -5.7 1.00e+00 1.00e+00h 1 31 2.0817826e+00 9.87e-05 2.21e-01 -4.1 2.99e+01 -6.2 2.05e-01 6.76e-02h 2 32 2.0816008e+00 1.07e-04 2.94e-03 -4.1 3.92e+00 -6.7 1.00e+00 1.00e+00h 1 33 2.0818597e+00 1.43e-04 6.67e-04 -4.0 5.61e+00 -7.1 1.00e+00 1.00e+00h 1 34 2.0816105e+00 2.20e-04 5.10e-04 -4.1 1.12e+01 -7.6 1.00e+00 1.00e+00h 1 35 2.0806555e+00 3.23e-03 5.50e-04 -6.1 4.21e+01 -8.1 9.79e-01 9.28e-01h 1 36 2.0818819e+00 5.41e-03 2.01e-03 -4.0 4.67e+01 -8.6 1.00e+00 1.00e+00f 1 37 2.0816202e+00 4.85e-04 5.89e-04 -4.1 1.99e+01 -9.0 1.00e+00 1.00e+00h 1 38 2.0806087e+00 3.54e-03 2.90e-04 -6.1 4.30e+01 -9.5 9.75e-01 9.55e-01h 1 39 2.0808964e+00 3.05e-03 1.33e-02 -4.0 5.73e+01 -10.0 1.00e+00 2.31e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0814216e+00 6.84e-04 6.39e-05 -4.2 1.52e+01 -10.5 1.00e+00 1.00e+00h 1 41 2.0818491e+00 6.90e-04 2.97e-05 -4.0 1.93e+01 -11.0 1.00e+00 1.00e+00h 1 42 2.0815860e+00 2.36e-04 1.04e-05 -4.1 1.08e+01 -11.4 1.00e+00 1.00e+00h 1 43 2.0818445e+00 2.10e-04 9.35e-06 -4.0 9.68e+00 -11.9 1.00e+00 1.00e+00h 1 44 2.0815837e+00 2.16e-04 9.35e-06 -4.1 9.86e+00 -12.4 1.00e+00 1.00e+00h 1 45 2.0818446e+00 2.17e-04 9.51e-06 -4.0 9.88e+00 -12.9 1.00e+00 1.00e+00h 1 46 2.0815837e+00 2.16e-04 9.33e-06 -4.1 9.87e+00 -13.3 1.00e+00 1.00e+00h 1 47 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.8 9.77e-01 9.64e-01h 1 48 2.0818908e+00 6.61e-03 2.98e-04 -4.0 6.18e+01 -14.3 1.00e+00 1.00e+00f 1 49 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -15.3 9.76e-01 9.58e-01h 1 51 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+01 -15.7 1.00e+00 1.00e+00h 1 52 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -16.2 1.00e+00 1.00e+00f 1 53 2.0816805e+00 9.65e-04 4.96e-05 -4.1 4.57e+01 -16.7 1.00e+00 1.00e+00h 1 54 2.0816444e+00 4.73e-07 7.69e-07 -4.1 8.40e+00 -17.2 1.00e+00 1.00e+00h 1 55 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -17.6 1.00e+00 1.00e+00h 1 56 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -18.1 1.00e+00 1.00e+00h 1 57 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -18.6 9.77e-01 9.64e-01h 1 58 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -19.1 1.00e+00 1.00e+00h 1 59 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -19.5 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -20.0 1.00e+00 1.00e+00h 1 62 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.67e-01h 1 63 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -20.0 1.00e+00 1.00e+00h 1 65 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -20.0 1.00e+00 1.00e+00f 1 66 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 69 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+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 70 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 71 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-01 -20.0 1.00e+00 9.97e-01h 1 72 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 73 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 76 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 78 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.46e-01 -20.0 1.00e+00 9.97e-01h 1 79 2.0805365e+00 8.66e-11 2.16e-12 -9.0 2.61e-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 2.0820415e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.084s integrator 2 jacobian structure: 0.051s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 5.594s jacobian structure: 1680 nonzeros (5.73s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.047s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 11.336s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.313s sub-objective 2 (QuadraticRegularizer): 0.084s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.017s sub-objective 5 (GlobalObjective): 0.851s objective hessian structure: 1.351s hessian structure: 1964 nonzeros (12.782s) linear index maps built (0.0s) evaluator ready (total: 21.432s) evaluator created (21.456s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.107s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (4.82s) optimizer initialization complete (total: 26.383s) 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 1.0246141e+01 2.45e+00 3.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.0173028e+00 1.08e+00 1.89e+00 -0.9 2.02e+00 0.0 7.95e-01 5.60e-01f 1 2 2.6577623e+00 4.11e-02 1.56e+00 -0.8 1.09e+00 -0.5 7.77e-01 1.00e+00f 1 3 2.5569208e+00 1.14e-02 3.62e-01 -1.2 1.96e-01 -1.0 9.65e-01 1.00e+00h 1 4 2.3173355e+00 2.57e-02 4.22e-01 -1.8 9.72e-01 -1.4 1.00e+00 6.09e-01h 1 5 2.1478093e+00 6.13e-03 1.86e-01 -2.5 2.12e-01 -1.9 9.97e-01 1.00e+00h 1 6 2.0950792e+00 6.78e-04 1.70e-02 -3.8 6.91e-02 -2.4 1.00e+00 8.71e-01h 1 7 2.0910138e+00 2.03e-05 2.20e-03 -4.0 5.48e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909755e+00 2.52e-07 3.13e-05 -4.0 5.68e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909545e+00 1.16e-08 2.59e-05 -4.0 1.70e-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 2.0908936e+00 1.03e-07 2.69e-04 -4.0 4.85e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907975e+00 4.47e-07 8.15e-04 -4.0 1.04e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0906160e+00 2.39e-06 2.89e-03 -4.0 2.73e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0901042e+00 2.38e-05 5.35e-04 -4.0 8.23e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898400e+00 3.66e-06 1.67e-03 -4.0 3.03e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890925e+00 2.56e-05 5.50e-03 -4.0 9.62e+00 -5.8 1.00e+00 8.64e-01h 1 16 2.0877393e+00 2.50e-04 3.27e-02 -4.0 2.61e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0864387e+00 2.71e-04 4.07e-01 -4.0 8.78e+01 -5.8 1.00e+00 1.24e-01h 1 18 2.0849970e+00 2.87e-04 2.68e-02 -4.0 2.25e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0830030e+00 2.44e-04 2.50e-02 -4.0 3.53e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827758e+00 4.16e-04 1.37e-02 -4.0 5.42e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823190e+00 6.17e-04 8.97e-03 -4.0 1.26e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0822711e+00 5.32e-04 8.68e-03 -4.0 7.35e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0824519e+00 4.43e-04 3.63e-02 -4.0 9.27e+01 -7.8 5.35e-01 1.00e+00h 1 24 2.0828244e+00 2.64e-04 5.50e-01 -3.4 2.22e+00 -4.7 1.00e+00 2.92e-01h 2 25 2.0826382e+00 2.39e-04 3.66e-01 -3.5 2.28e+00 -4.2 1.65e-01 5.18e-02h 1 26 2.0827679e+00 1.59e-04 2.44e-01 -3.5 1.61e+00 -4.7 1.00e+00 2.39e-01f 2 27 2.0822818e+00 6.89e-05 1.46e-03 -4.0 8.41e-01 -5.2 1.00e+00 1.00e+00h 1 28 2.0820713e+00 6.53e-05 2.49e-04 -4.0 2.26e+00 -5.7 1.00e+00 1.00e+00h 1 29 2.0819243e+00 7.40e-05 2.49e-04 -4.0 7.88e+00 -6.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0818840e+00 1.16e-04 1.04e-02 -4.0 1.75e+02 -6.6 3.84e-02 4.52e-02h 4 31 2.0820154e+00 9.50e-05 4.04e-01 -4.0 1.56e+00 -4.4 4.04e-01 5.42e-01H 1 32 2.0817822e+00 7.20e-05 3.40e-03 -4.1 7.74e-01 -4.9 1.00e+00 1.00e+00h 1 33 2.0819330e+00 1.06e-05 4.86e-04 -4.0 5.06e-01 -5.3 1.00e+00 1.00e+00h 1 34 2.0819489e+00 1.42e-06 1.03e-04 -4.0 9.81e-01 -5.8 1.00e+00 1.00e+00h 1 35 2.0819773e+00 2.18e-06 1.43e-04 -4.0 1.82e+00 -6.3 1.00e+00 1.00e+00h 1 36 2.0817648e+00 9.56e-05 6.47e-04 -4.1 5.69e+00 -6.8 1.00e+00 1.00e+00h 1 37 2.0819593e+00 2.52e-04 7.44e-04 -4.0 1.12e+01 -7.2 1.00e+00 1.00e+00h 1 38 2.0816673e+00 6.03e-04 4.39e-04 -4.1 2.61e+01 -7.7 1.00e+00 1.00e+00h 1 39 2.0818654e+00 1.01e-03 2.32e-03 -4.0 4.30e+01 -8.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0815866e+00 9.39e-04 1.24e-03 -4.1 4.18e+01 -8.7 1.00e+00 1.00e+00h 1 41 2.0818421e+00 4.26e-04 2.30e-04 -4.0 1.82e+01 -9.2 1.00e+00 1.00e+00h 1 42 2.0815821e+00 2.38e-04 3.04e-05 -4.1 1.07e+01 -9.6 1.00e+00 1.00e+00h 1 43 2.0818419e+00 2.06e-04 3.73e-05 -4.0 9.41e+00 -10.1 1.00e+00 1.00e+00h 1 44 2.0815819e+00 2.12e-04 3.04e-05 -4.1 9.66e+00 -10.6 1.00e+00 1.00e+00h 1 45 2.0818419e+00 2.13e-04 3.73e-05 -4.0 9.72e+00 -11.1 1.00e+00 1.00e+00h 1 46 2.0815819e+00 2.14e-04 3.04e-05 -4.1 9.74e+00 -11.5 1.00e+00 1.00e+00h 1 47 2.0818419e+00 2.14e-04 3.73e-05 -4.0 9.74e+00 -12.0 1.00e+00 1.00e+00h 1 48 2.0815819e+00 2.14e-04 3.04e-05 -4.1 9.74e+00 -12.5 1.00e+00 1.00e+00h 1 49 2.0818419e+00 2.14e-04 3.73e-05 -4.0 9.75e+00 -13.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0815819e+00 2.14e-04 3.04e-05 -4.1 9.75e+00 -13.4 1.00e+00 1.00e+00h 1 51 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -13.9 9.77e-01 9.68e-01h 1 52 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -14.4 1.00e+00 1.00e+00f 1 53 2.0816124e+00 4.95e-04 3.10e-05 -4.1 2.07e+01 -14.9 1.00e+00 1.00e+00h 1 54 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -15.4 9.76e-01 9.61e-01h 1 55 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.8 1.00e+00 1.00e+00h 1 56 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -16.3 1.00e+00 1.00e+00f 1 57 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.8 1.00e+00 1.00e+00h 1 58 2.0816420e+00 4.58e-07 3.19e-05 -4.1 8.54e+00 -17.3 1.00e+00 1.00e+00h 1 59 2.0818414e+00 1.26e-04 3.73e-05 -4.0 7.46e+00 -17.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0815817e+00 2.11e-04 3.04e-05 -4.1 9.63e+00 -18.2 1.00e+00 1.00e+00h 1 61 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -18.7 9.77e-01 9.68e-01h 1 62 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -19.2 1.00e+00 1.00e+00h 1 63 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -19.6 1.00e+00 1.00e+00f 1 64 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -20.0 1.00e+00 1.00e+00h 1 65 2.0816444e+00 5.44e-07 3.20e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 66 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 67 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0805468e+00 5.07e-08 3.19e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 69 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+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 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0816573e+00 1.18e-06 3.23e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 72 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 73 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0805469e+00 5.37e-08 3.24e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 75 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 76 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 77 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0816639e+00 1.62e-06 3.25e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0805470e+00 5.53e-08 3.27e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 82 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 83 2.0805365e+00 8.66e-11 3.72e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 84 2.0820406e+00 1.30e-02 4.36e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 85 2.0817222e+00 1.13e-03 7.75e-05 -4.1 5.82e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0816640e+00 1.63e-06 3.25e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0805948e+00 3.76e-03 1.60e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 88 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0805470e+00 5.54e-08 3.27e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 9.45e-07 8.04e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 91 2.0805365e+00 8.67e-11 3.72e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 2.22e-16 3.72e-10 -9.0 1.02e-05 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 4.44e-16 3.72e-10 -9.0 1.86e-10 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 6.66e-16 3.72e-10 -9.0 1.86e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 6.66e-16 3.72e-10 -9.0 1.86e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 6.66e-16 3.72e-10 -9.0 1.86e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 6.66e-16 3.72e-10 -9.0 1.86e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 6.66e-16 3.72e-10 -9.0 1.86e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 6.66e-16 3.72e-10 -9.0 1.86e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 6.66e-16 3.72e-10 -9.0 1.86e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436475e+00 2.0805364595436475e+00 Dual infeasibility......: 3.7180678009231952e-10 3.7180678009231952e-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 = 111 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 111 Number of inequality constraint evaluations = 111 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 54.239 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 1 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 3.988s jacobian structure: 1594 nonzeros (4.048s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 12.569s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (12.617s) linear index maps built (0.0s) evaluator ready (total: 16.666s) evaluator created (16.691s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 16.692s) 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 1.1996883e+02 3.12e+00 3.47e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 7.1568178e+01 2.36e+00 2.61e+01 -0.5 2.72e+00 0.0 1.00e+00 2.44e-01f 1 2 4.6744808e+01 2.22e+00 3.28e+01 1.3 2.93e+01 -0.5 6.64e-02 5.45e-02f 1 3 9.3268883e+00 9.10e-01 1.24e+01 0.3 2.95e+00 -1.0 8.49e-01 6.01e-01f 1 4 6.4414425e+00 8.38e-01 1.61e+02 0.1 2.52e+01 -1.4 1.53e-02 3.01e-01f 1 5 4.0124947e+00 3.55e-01 6.14e+01 0.2 5.92e-01 0.8 9.75e-01 5.68e-01f 1 6 3.9121354e+00 3.18e-01 2.00e+01 -4.0 4.13e-01 0.3 4.31e-01 1.03e-01h 1 7 3.4204488e+00 7.12e-03 3.11e+00 -0.5 2.38e-01 0.7 9.94e-01 1.00e+00f 1 8 3.1703817e+00 4.77e-03 1.70e+00 -1.2 7.57e-02 0.3 9.95e-01 1.00e+00f 1 9 2.6600852e+00 2.40e-02 2.51e-01 -1.8 1.62e-01 -0.2 9.91e-01 9.80e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.4026672e+00 9.35e-03 6.83e-02 -2.2 2.41e-01 -0.7 8.87e-01 8.54e-01h 1 11 2.1804270e+00 2.28e-02 5.47e-02 -2.6 7.07e-01 -1.2 9.44e-01 1.00e+00h 1 12 2.1069601e+00 1.59e-03 8.11e-02 -3.9 2.73e-01 -0.7 1.00e+00 1.00e+00h 1 13 2.1019625e+00 1.50e-03 7.01e-01 -2.2 6.58e-01 -1.2 8.06e-01 7.69e-02f 1 14 2.1026344e+00 1.29e-03 8.80e-01 -2.1 2.99e-01 -1.7 1.00e+00 1.36e-01f 1 15 2.0957174e+00 4.85e-04 3.15e-01 -3.5 2.98e-02 -2.2 1.00e+00 6.31e-01h 1 16 2.0910859e+00 1.52e-05 2.67e-03 -4.0 7.16e-02 -2.6 1.00e+00 1.00e+00h 1 17 2.0910026e+00 2.18e-07 3.32e-04 -4.0 3.06e-02 -3.1 1.00e+00 1.00e+00h 1 18 2.0909889e+00 2.72e-09 3.32e-04 -4.0 9.19e-02 -3.6 1.00e+00 1.00e+00h 1 19 2.0909599e+00 3.15e-08 3.32e-04 -4.0 2.75e-01 -4.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0908735e+00 2.75e-07 3.32e-04 -4.0 8.09e-01 -4.5 1.00e+00 1.00e+00h 1 21 2.0906582e+00 2.05e-06 1.70e-03 -4.0 2.18e+00 -5.0 1.00e+00 1.00e+00h 1 22 2.0905459e+00 3.85e-07 3.32e-04 -4.0 8.16e-01 -4.6 1.00e+00 1.00e+00h 1 23 2.0904896e+00 1.22e-06 1.71e-03 -4.0 2.04e+00 -5.1 1.00e+00 1.00e+00h 1 24 2.0902573e+00 1.08e-06 1.08e-03 -4.0 1.10e+00 -4.7 1.00e+00 1.00e+00h 1 25 2.0901239e+00 1.55e-06 1.63e-03 -4.0 2.42e+00 -5.1 1.00e+00 1.00e+00h 1 26 2.0899165e+00 2.72e-06 4.94e-02 -4.0 1.25e+01 -5.6 1.00e+00 1.42e-01h 2 27 2.0883504e+00 1.29e-04 9.00e-03 -4.0 1.85e+01 -6.1 1.00e+00 1.00e+00h 1 28 2.0859370e+00 3.57e-04 4.37e-02 -4.0 4.32e+01 -6.6 1.00e+00 7.21e-01h 1 29 2.0830033e+00 1.02e-03 5.79e-02 -4.0 6.06e+01 -7.0 1.00e+00 9.05e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0833030e+00 2.75e-03 6.22e-02 -4.0 9.72e+01 -7.5 1.00e+00 1.00e+00h 1 31 2.0828707e+00 7.59e-05 4.62e-03 -4.0 6.51e+00 -6.2 1.00e+00 1.00e+00h 1 32 2.0825665e+00 1.66e-04 3.09e-03 -4.0 1.28e+01 -6.7 1.00e+00 1.00e+00h 1 33 2.0823938e+00 4.09e-05 1.68e-03 -4.0 3.63e+01 -7.1 1.00e+00 1.00e+00h 1 34 2.0822029e+00 4.82e-04 8.54e-03 -4.0 1.10e+02 -7.6 7.06e-01 1.00e+00h 1 35 2.0823007e+00 5.25e-04 6.08e-01 -4.0 8.42e+01 -6.3 4.59e-01 5.84e-02h 3 36 2.0821868e+00 1.83e-04 4.69e-01 -4.1 1.07e+01 -6.8 2.40e-01 2.95e-01h 1 37 2.0819083e+00 1.66e-04 1.35e+00 -4.0 1.22e+00 -3.6 2.69e-02 2.10e-01f 1 38 2.0821617e+00 1.27e-05 1.75e-03 -4.0 1.36e-01 -4.1 1.00e+00 1.00e+00h 1 39 2.0821167e+00 5.90e-06 3.32e-04 -4.0 1.75e-01 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821215e+00 1.15e-05 3.32e-04 -4.0 4.36e-01 -5.1 1.00e+00 1.00e+00h 1 41 2.0819813e+00 2.69e-05 2.66e-04 -4.1 9.63e-01 -5.5 1.00e+00 1.00e+00h 1 42 2.0821325e+00 2.71e-05 3.32e-04 -4.0 1.18e+00 -6.0 1.00e+00 1.00e+00h 1 43 2.0819279e+00 9.93e-05 6.35e-04 -4.1 5.20e+00 -6.5 1.00e+00 1.00e+00h 1 44 2.0809868e+00 1.91e-03 4.17e-04 -6.1 2.29e+01 -7.0 9.87e-01 9.47e-01h 1 45 2.0816338e+00 1.33e-03 4.53e-02 -4.0 2.77e+01 -7.4 1.00e+00 6.07e-01f 1 46 2.0819822e+00 1.94e-03 5.72e-03 -4.0 4.63e+01 -7.9 1.00e+00 1.00e+00h 1 47 2.0816194e+00 1.31e-03 4.56e-03 -4.1 6.05e+01 -8.4 1.00e+00 1.00e+00h 1 48 2.0818437e+00 1.00e-03 1.19e-03 -4.0 4.41e+01 -8.9 1.00e+00 1.00e+00h 1 49 2.0818384e+00 7.17e-06 3.32e-04 -4.0 1.24e+01 -9.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818383e+00 3.41e-08 3.32e-04 -4.0 1.44e+00 -9.8 1.00e+00 1.00e+00h 1 51 2.0818383e+00 4.69e-11 3.32e-04 -4.0 6.01e-02 -10.3 1.00e+00 1.00e+00h 1 52 2.0818383e+00 2.35e-11 1.66e-04 -4.0 8.71e-04 -10.8 1.00e+00 5.00e-01h 2 53 2.0818383e+00 8.88e-16 3.32e-04 -4.0 4.40e-04 -11.7 1.00e+00 1.00e+00H 1 54 2.0818383e+00 8.88e-16 3.32e-04 -4.0 2.00e-05 -12.2 1.00e+00 1.00e+00h 1 55 2.0815797e+00 2.05e-04 2.66e-04 -4.1 9.35e+00 -12.7 1.00e+00 1.00e+00h 1 56 2.0818395e+00 2.13e-04 3.32e-04 -4.0 9.67e+00 -13.2 1.00e+00 1.00e+00h 1 57 2.0815804e+00 2.11e-04 2.66e-04 -4.1 9.63e+00 -13.6 1.00e+00 1.00e+00h 1 58 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -14.1 9.78e-01 9.71e-01h 1 59 2.0818882e+00 6.56e-03 3.32e-04 -4.0 6.10e+01 -14.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816136e+00 4.88e-04 2.73e-04 -4.1 2.07e+01 -15.1 1.00e+00 1.00e+00h 1 61 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -15.6 9.76e-01 9.65e-01h 1 62 2.0805508e+00 8.46e-05 2.47e-06 -6.1 1.69e+01 -16.0 1.00e+00 1.00e+00h 1 63 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -16.5 1.00e+00 1.00e+00f 1 64 2.0816837e+00 9.34e-04 2.83e-04 -4.1 4.57e+01 -17.0 1.00e+00 1.00e+00h 1 65 2.0816477e+00 4.73e-07 2.83e-04 -4.1 8.53e+00 -17.5 1.00e+00 1.00e+00h 1 66 2.0818389e+00 1.15e-04 3.32e-04 -4.0 7.07e+00 -17.9 1.00e+00 1.00e+00h 1 67 2.0815801e+00 2.08e-04 2.66e-04 -4.1 9.50e+00 -18.4 1.00e+00 1.00e+00h 1 68 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -18.9 9.78e-01 9.71e-01h 1 69 2.0805497e+00 6.51e-05 2.38e-06 -6.1 1.55e+01 -19.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -19.9 1.00e+00 1.00e+00f 1 71 2.0816887e+00 9.54e-04 2.84e-04 -4.1 4.72e+01 -20.0 1.00e+00 1.00e+00h 1 72 2.0816504e+00 5.63e-07 2.84e-04 -4.1 8.93e+00 -20.0 1.00e+00 1.00e+00h 1 73 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -20.0 9.77e-01 9.75e-01h 1 74 2.0805511e+00 6.76e-05 2.62e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0805469e+00 4.72e-08 2.62e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 76 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 77 2.0817159e+00 1.04e-03 2.87e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0816648e+00 1.22e-06 2.87e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+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 2.0805514e+00 6.96e-05 2.67e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0805471e+00 4.99e-08 2.67e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 82 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 83 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 84 2.0817306e+00 1.08e-03 2.89e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0816723e+00 1.67e-06 2.89e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 87 2.0805516e+00 7.07e-05 2.70e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805472e+00 5.15e-08 2.70e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 9.27e-11 3.02e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 91 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 92 2.0817309e+00 1.08e-03 2.89e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0816725e+00 1.68e-06 2.89e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 95 2.0805516e+00 7.08e-05 2.70e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0805472e+00 5.16e-08 2.70e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 98 2.0805365e+00 9.28e-11 3.02e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 3.02e-09 -9.0 1.10e-05 -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 8.88e-16 3.02e-09 -9.0 1.51e-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......: 3.0217816060456021e-09 3.0217816060456021e-09 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971179376e-10 9.0909090971179376e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 110 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 110 Number of inequality constraint evaluations = 110 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 34.806 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.069s) integrator 1 hessian structure: 0.056s integrator 2 hessian structure: 0.055s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.113s) linear index maps built (0.0s) evaluator ready (total: 0.184s) evaluator created (0.184s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.185s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.3664178e+00 3.87e+00 4.77e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8456012e+00 1.14e-01 2.28e+00 -1.0 2.23e+00 0.0 8.07e-01 1.00e+00f 1 2 3.1404443e+00 1.22e-02 6.57e-01 -0.7 1.84e-01 0.4 1.00e+00 1.00e+00f 1 3 2.8073728e+00 5.13e-03 1.88e-01 -1.4 8.13e-02 -0.1 9.76e-01 1.00e+00h 1 4 2.2566739e+00 1.03e-02 6.52e-02 -2.0 1.31e-01 -0.5 9.94e-01 9.19e-01f 1 5 2.1305059e+00 2.14e-03 3.20e-02 -2.8 7.42e-02 -1.0 8.76e-01 7.92e-01h 1 6 2.0921633e+00 1.69e-04 4.55e-03 -4.0 2.46e-02 -1.5 1.00e+00 9.45e-01h 1 7 2.0909104e+00 5.52e-07 3.29e-04 -4.0 2.12e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909088e+00 2.68e-09 2.06e-05 -4.0 5.63e-03 -2.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0909088088869776e+00 2.0909088088869776e+00 Dual infeasibility......: 2.0585935806170761e-05 2.0585935806170761e-05 Constraint violation....: 2.6799795915452562e-09 2.6799795915452562e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000015493889508e-04 1.0000015493889508e-04 Overall NLP error.......: 2.0585935806170761e-05 2.0585935806170761e-05 Number of objective function evaluations = 9 Number of objective gradient evaluations = 9 Number of equality constraint evaluations = 9 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 9 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 8 Total seconds in IPOPT = 26.494 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.066s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.056s) linear index maps built (0.0s) evaluator ready (total: 0.123s) evaluator created (0.123s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 0.125s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1927112e+00 3.83e+00 7.85e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4865152e+00 1.15e-01 4.77e+00 -0.9 2.12e+00 0.0 4.27e-01 9.78e-01f 1 2 2.4070841e+00 2.62e-02 8.55e-01 -0.9 2.08e-01 0.4 9.81e-01 8.22e-01f 1 3 2.4096772e+00 2.54e-03 3.99e-01 -1.7 1.27e-01 -0.1 9.96e-01 1.00e+00h 1 4 2.1870060e+00 2.19e-03 1.95e-01 -2.5 9.71e-02 -0.5 9.94e-01 5.77e-01f 1 5 2.1086612e+00 6.29e-04 4.61e-02 -3.8 3.63e-02 -1.0 1.00e+00 8.17e-01h 1 6 2.0911026e+00 3.50e-05 1.63e-02 -4.0 1.10e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0908797e+00 1.28e-07 5.03e-04 -4.0 8.33e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908831e+00 1.22e-08 4.72e-05 -4.0 1.29e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908814e+00 1.06e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908764e+00 9.72e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908615e+00 8.75e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908167e+00 7.88e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906823e+00 7.10e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902803e+00 6.43e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890833e+00 5.88e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855745e+00 5.55e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796435e+00 2.28e-03 1.37e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.27e-01h 1 18 2.0806883e+00 1.30e-04 1.71e-01 -4.0 6.83e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775333e+00 7.08e-03 2.25e-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 2.0769680e+00 1.34e-03 5.41e-02 -4.0 2.03e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0763090e+00 1.41e-03 3.66e-02 -4.0 3.50e+02 -8.6 1.00e+00 6.56e-01h 1 22 2.0755345e+00 3.48e-03 3.34e-02 -4.0 6.24e+02 -9.1 1.00e+00 7.52e-01h 1 23 2.0758083e+00 3.49e-03 1.86e-02 -4.0 1.87e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756808e+00 5.66e-04 9.31e-04 -4.0 9.96e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.92e-06 1.51e-05 -4.0 2.28e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.93e-08 1.26e-06 -4.0 1.39e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.52e-09 1.06e-07 -4.0 4.45e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.39e-11 1.74e-09 -4.0 6.99e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121640231e+00 2.0756712121640231e+00 Dual infeasibility......: 1.7374092951545454e-09 1.7374092951545454e-09 Constraint violation....: 4.3880121758377300e-11 4.3880121758377300e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000047e-04 1.0000000000000047e-04 Overall NLP error.......: 1.7374092951545454e-09 1.7374092951545454e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 26.727 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.056s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.057s) linear index maps built (0.0s) evaluator ready (total: 0.121s) evaluator created (0.121s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.122s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.1472096e+00 3.80e+00 4.77e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7243006e+00 1.56e+00 7.29e+00 -4.0 2.32e+00 0.0 7.19e-02 5.89e-01h 1 2 2.3274538e+00 1.86e-01 1.61e+00 -1.1 8.46e-01 -0.5 3.36e-01 8.81e-01h 1 3 2.4394556e+00 4.40e-02 3.12e-01 -1.2 5.08e-01 -1.0 9.82e-01 1.00e+00f 1 4 2.1579015e+00 1.21e-02 5.08e-02 -2.1 2.00e-01 -1.4 9.53e-01 1.00e+00h 1 5 2.0970299e+00 2.54e-04 8.72e-03 -3.3 2.36e-02 -1.9 9.44e-01 1.00e+00h 1 6 2.0908864e+00 8.01e-06 6.19e-04 -4.0 6.26e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908704e+00 1.39e-07 5.70e-05 -4.0 4.16e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908660e+00 7.93e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908527e+00 6.90e-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 2.0908129e+00 6.21e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908128774940726e+00 2.0908128774940726e+00 Dual infeasibility......: 2.0574147449767114e-05 2.0574147449767114e-05 Constraint violation....: 6.2103924763218243e-08 6.2103924763218243e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999994706e-05 9.9999999999994706e-05 Overall NLP error.......: 2.0574147449767114e-05 2.0574147449767114e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 26.276 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.113s) evaluator created (0.113s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.114s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 0 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 6.0642059e+00 2.94e+00 4.19e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6924580e+00 5.68e-02 1.89e+00 -1.0 1.90e+00 - 8.16e-01 1.00e+00f 1 2 2.6546022e+00 8.70e-03 1.74e-01 -1.0 1.61e-01 - 9.75e-01 1.00e+00h 1 3 2.3147714e+00 3.50e-03 1.49e-01 -2.2 9.10e-02 - 9.22e-01 1.00e+00f 1 4 2.1276542e+00 2.03e-03 8.59e-02 -2.9 9.21e-02 - 9.91e-01 8.49e-01h 1 5 2.0916752e+00 5.15e-05 1.12e-02 -3.8 8.29e-03 - 1.00e+00 9.78e-01h 1 6 2.0908629e+00 8.05e-07 9.57e-04 -4.0 1.92e-03 - 1.00e+00 1.00e+00h 1 7 2.0908682e+00 9.16e-09 6.07e-05 -4.0 8.01e-03 - 1.00e+00 1.00e+00h 1 8 2.0908680e+00 3.14e-12 4.21e-05 -4.0 5.56e-03 - 1.00e+00 1.00e+00h 1 9 2.0908677e+00 2.91e-12 2.92e-05 -4.0 3.86e-03 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908677e+00 1.38e-14 2.91e-05 -4.0 2.91e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908677079368716e+00 2.0908677079368716e+00 Dual infeasibility......: 2.9147828451089018e-05 2.9147828451089018e-05 Constraint violation....: 1.3771969675779872e-14 1.3771969675779872e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000176447191e-04 1.0000000176447191e-04 Overall NLP error.......: 2.9147828451089018e-05 2.9147828451089018e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 8.408 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.12s) evaluator created (0.12s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.12s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.9385446e+00 3.32e+00 4.77e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5289330e+00 1.68e+00 1.04e+00 -1.0 2.06e+00 0.0 4.54e-01 4.93e-01h 1 2 2.5696679e+00 7.82e-02 3.29e+00 -1.0 1.21e+00 -0.5 1.00e+00 1.00e+00f 1 3 2.5340092e+00 7.29e-02 1.54e+00 -1.0 4.90e+00 -1.0 2.92e-01 6.60e-02h 2 4 2.8045464e+00 8.03e-03 3.58e-01 -1.0 1.77e-01 -0.5 1.00e+00 1.00e+00f 1 5 2.3439291e+00 1.55e-02 7.65e-02 -1.7 2.45e-01 -1.0 9.74e-01 1.00e+00f 1 6 2.1647410e+00 9.77e-03 9.50e-02 -2.5 3.05e-01 -1.5 8.92e-01 7.14e-01h 1 7 2.1149737e+00 6.24e-04 6.89e-03 -2.5 6.25e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0915952e+00 2.73e-05 3.20e-04 -3.8 1.03e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909335e+00 1.42e-06 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909285e+00 1.78e-09 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0909285479074438e+00 2.0909285479074438e+00 Dual infeasibility......: 2.0589411278644563e-05 2.0589411278644563e-05 Constraint violation....: 1.7834385947212983e-09 1.7834385947212983e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000162730e-04 1.0000000000162730e-04 Overall NLP error.......: 2.0589411278644563e-05 2.0589411278644563e-05 Number of objective function evaluations = 14 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 26.671 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.056s) linear index maps built (0.0s) evaluator ready (total: 0.12s) evaluator created (0.12s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.121s) initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.069s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.123s) evaluator created (0.123s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (2.173s) optimizer initialization complete (total: 2.297s) 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 2.8511757e+00 2.93e+00 1.76e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9028964e+00 2.71e-02 5.58e-01 -1.0 2.24e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3740600e+00 1.33e-02 3.52e-02 -1.8 2.02e-01 -1.6 9.62e-01 1.00e+00h 1 3 2.1130138e+00 5.91e-03 2.12e-01 -3.0 1.06e-01 -1.1 9.89e-01 9.90e-01h 1 4 2.0939358e+00 1.06e-03 1.63e-01 -3.9 9.59e-02 -1.6 1.00e+00 8.47e-01h 1 5 2.0909360e+00 2.58e-04 2.90e-01 -4.0 3.72e-01 -2.1 1.00e+00 6.67e-01h 1 6 2.0909684e+00 9.32e-06 2.95e-02 -4.0 1.71e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909999e+00 5.54e-07 5.40e-04 -4.0 2.35e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909951e+00 4.99e-08 2.06e-05 -4.0 7.04e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909744e+00 1.66e-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 2.0909125e+00 1.47e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907301e+00 1.29e-06 4.96e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902103e+00 1.09e-05 4.20e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888664e+00 8.20e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861769e+00 4.39e-04 1.74e-02 -4.0 3.46e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0831027e+00 9.16e-04 4.71e-02 -4.0 5.31e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828679e+00 9.34e-04 2.37e-02 -4.0 5.43e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823494e+00 4.02e-04 1.02e-02 -4.0 1.12e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820407e+00 9.14e-05 1.87e-02 -4.0 1.46e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.71e-04 8.74e-03 -4.0 9.96e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.71e-05 8.51e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.35e-07 1.40e-05 -4.0 4.46e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.84e-10 3.28e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.53e-13 1.22e-11 -4.0 4.61e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191049e+00 2.0819382907191049e+00 Dual infeasibility......: 1.2234300974644369e-11 1.2234300974644369e-11 Constraint violation....: 2.5313084961453569e-13 2.5313084961453569e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000061e-04 1.0000000000000061e-04 Overall NLP error.......: 1.2234300974644369e-11 1.2234300974644369e-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 = 25.802 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.119s) evaluator created (0.119s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.064s) optimizer initialization complete (total: 0.183s) 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 3.8866284e+00 2.14e+00 2.92e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8343741e+00 3.82e-02 5.25e-01 -1.1 1.99e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2598321e+00 3.20e-02 1.48e-01 -1.7 3.42e-01 -1.6 9.51e-01 1.00e+00h 1 3 2.1230383e+00 2.14e-03 2.79e-01 -2.9 7.97e-02 -1.1 9.58e-01 1.00e+00h 1 4 2.0959726e+00 6.31e-04 6.59e-02 -3.8 1.14e-01 -1.6 1.00e+00 7.44e-01h 1 5 2.0919994e+00 2.37e-04 1.58e+00 -3.8 6.82e-01 -2.1 1.00e+00 5.82e-01h 1 6 2.0909576e+00 1.14e-04 2.45e-01 -4.0 3.52e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0908755e+00 1.48e-06 2.72e-03 -4.0 1.79e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0908750e+00 7.92e-07 1.56e-05 -4.0 5.34e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908626e+00 1.26e-08 1.54e-05 -4.0 1.58e-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 2.0908268e+00 6.11e-08 3.02e-05 -4.0 4.60e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907212e+00 5.51e-07 1.18e-04 -4.0 1.34e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0905594e+00 1.29e-06 9.82e-03 -4.0 4.70e+00 -5.4 1.00e+00 3.69e-01h 2 13 2.0897144e+00 2.88e-05 1.23e-02 -4.0 1.27e+01 -5.9 1.00e+00 7.44e-01h 1 14 2.0877328e+00 4.40e-04 4.71e-02 -4.0 3.59e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0866221e+00 1.11e-04 9.92e-03 -4.0 2.69e+00 -5.1 1.00e+00 7.76e-01h 1 16 2.0864432e+00 1.26e-05 3.61e-03 -4.0 4.69e+00 -5.5 1.00e+00 1.00e+00h 1 17 2.0854223e+00 5.58e-05 3.91e-03 -4.0 1.29e+01 -6.0 1.00e+00 1.00e+00h 1 18 2.0838759e+00 2.11e-04 1.29e-02 -4.0 2.69e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0827462e+00 5.44e-05 1.10e-02 -4.0 3.25e+01 -7.0 1.00e+00 7.87e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827866e+00 7.59e-04 2.52e-02 -4.0 7.59e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0819473e+00 2.49e-03 6.92e-03 -4.1 1.71e+02 -7.9 7.94e-01 1.00e+00h 1 22 2.1951678e+00 2.97e-04 8.73e-01 -4.0 1.12e+02 -6.6 6.05e-01 1.00e+00H 1 23 2.1018312e+00 2.84e-04 1.55e+00 -3.9 1.48e+01 -0.8 7.64e-03 4.46e-02f 1 24 2.0850390e+00 6.88e-05 3.81e-01 -3.9 2.41e-01 -1.2 1.00e+00 7.58e-01f 1 25 2.0850167e+00 6.60e-06 7.47e-03 -4.0 1.25e-01 -1.7 1.00e+00 1.00e+00f 1 26 2.0841862e+00 1.61e-05 4.87e-03 -4.0 3.15e-01 -2.2 1.00e+00 1.00e+00f 1 27 2.0830647e+00 4.07e-05 4.28e-02 -4.0 7.83e-01 -2.7 1.00e+00 6.56e-01h 1 28 2.0834515e+00 2.33e-06 1.06e-03 -4.0 2.02e-01 -3.1 1.00e+00 1.00e+00h 1 29 2.0831740e+00 3.50e-06 3.77e-04 -4.0 1.55e-01 -3.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0831453e+00 1.03e-06 8.90e-06 -4.0 1.11e-01 -4.1 1.00e+00 1.00e+00h 1 31 2.0831241e+00 5.03e-08 8.80e-06 -4.0 3.30e-01 -4.6 1.00e+00 1.00e+00h 1 32 2.0830615e+00 4.07e-07 3.85e-05 -4.0 9.54e-01 -5.1 1.00e+00 1.00e+00h 1 33 2.0828971e+00 3.06e-06 2.83e-04 -4.0 2.57e+00 -5.5 1.00e+00 1.00e+00h 1 34 2.0825732e+00 1.56e-05 1.43e-03 -4.0 6.01e+00 -6.0 1.00e+00 1.00e+00h 1 35 2.0822972e+00 4.63e-05 2.74e-03 -4.0 1.29e+01 -6.5 1.00e+00 1.00e+00h 1 36 2.0820615e+00 3.67e-05 2.97e-03 -4.0 3.21e+01 -7.0 1.00e+00 1.00e+00h 1 37 2.0819497e+00 1.59e-04 2.27e-03 -4.0 1.63e+01 -6.5 1.00e+00 1.00e+00h 1 38 2.0820762e+00 1.50e-04 4.70e-02 -4.0 1.85e+01 -7.0 7.04e-01 1.00e+00h 1 39 2.0819102e+00 7.23e-05 2.57e+00 -4.1 9.79e+00 -4.8 5.10e-01 1.10e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821590e+00 1.16e-04 2.43e-01 -4.0 1.69e+00 -5.3 1.00e+00 7.85e-01f 1 41 2.0819295e+00 3.42e-04 3.27e-01 -4.0 3.34e+01 -5.7 2.29e-01 1.69e-01h 3 42 2.0822317e+00 1.21e-06 5.02e-03 -4.0 5.25e+00 -6.2 1.00e+00 1.00e+00H 1 43 2.0820636e+00 2.56e-03 2.84e-03 -4.0 8.04e+00 -6.7 1.00e+00 1.00e+00h 1 44 2.0817519e+00 1.22e-03 7.86e-04 -4.1 1.41e+01 -7.2 1.00e+00 1.00e+00h 1 45 2.0819271e+00 5.21e-04 1.92e-03 -4.0 2.34e+01 -7.6 1.00e+00 1.00e+00h 1 46 2.0816197e+00 9.63e-04 1.72e-03 -4.1 4.06e+01 -8.1 1.00e+00 1.00e+00h 1 47 2.0818452e+00 1.10e-03 1.69e-03 -4.0 4.64e+01 -8.6 1.00e+00 1.00e+00h 1 48 2.0815808e+00 5.67e-04 3.52e-04 -4.1 2.47e+01 -9.1 1.00e+00 1.00e+00h 1 49 2.0818394e+00 1.88e-04 3.95e-05 -4.0 7.81e+00 -9.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818383e+00 2.58e-08 8.90e-08 -4.0 3.72e-01 -10.0 1.00e+00 1.00e+00h 1 51 2.0818383e+00 1.10e-12 4.97e-11 -4.0 6.85e-03 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 51 (scaled) (unscaled) Objective...............: 2.0818383021889830e+00 2.0818383021889830e+00 Dual infeasibility......: 4.9666393176980850e-11 4.9666393176980850e-11 Constraint violation....: 1.1048939541069558e-12 1.1048939541069558e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000343419e-04 1.0000000000343419e-04 Overall NLP error.......: 4.9666393176980850e-11 4.9666393176980850e-11 Number of objective function evaluations = 61 Number of objective gradient evaluations = 52 Number of equality constraint evaluations = 61 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 52 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 51 Total seconds in IPOPT = 28.599 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.051s jacobian structure: 180 nonzeros (0.083s) integrator 1 hessian structure: 0.048s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.319s sub-objective 2 (QuadraticRegularizer): 0.082s sub-objective 3 (MinimumTimeObjective): 0.016s objective hessian structure: 0.503s hessian structure: 375 nonzeros (0.552s) linear index maps built (0.0s) evaluator ready (total: 0.769s) evaluator created (0.77s) NL constraint bounds extracted (0.015s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.111s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.53s) optimizer initialization complete (total: 4.426s) 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 1.7203410e+00 9.56e-01 1.08e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7268218e+00 3.50e-01 1.55e+00 -0.8 8.34e-01 0.0 1.00e+00 7.24e-01h 1 2 1.7038980e+00 7.60e-02 1.48e+00 -1.2 5.20e-01 -0.5 9.32e-01 1.00e+00h 1 3 1.5464697e+00 5.53e-02 2.35e-01 -0.9 7.86e-01 -1.0 1.00e+00 3.35e-01h 1 4 1.2373271e+00 5.72e-02 6.61e-01 -1.9 1.70e+00 - 9.07e-01 9.89e-01h 1 5 1.1489726e+00 4.01e-02 1.02e+00 -1.7 5.55e+00 - 1.00e+00 4.01e-01h 1 6 1.1709370e+00 2.06e-02 6.76e-01 -2.8 4.11e+00 - 1.00e+00 9.28e-01h 1 7 1.1379866e+00 1.29e-02 3.11e-01 -3.0 3.95e+00 - 1.00e+00 3.74e-01h 1 8 1.0939073e+00 1.60e-04 6.46e-02 -3.5 1.92e+00 - 1.00e+00 9.88e-01h 1 9 1.0909196e+00 1.41e-07 2.08e-02 -4.0 1.07e+00 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908992e+00 9.77e-11 1.70e-04 -4.0 1.01e-01 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 1.34e-17 1.16e-05 -4.0 2.64e-04 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 4.81e-26 1.15e-05 -4.0 1.31e-08 - 1.00e+00 1.00e+00h 1 13 1.0907198e+00 4.25e-27 1.93e-09 -4.1 2.00e-05 - 1.00e+00 1.00e+00f 1 14 1.0908997e+00 1.38e-26 2.05e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 14 (scaled) (unscaled) Objective...............: 1.0908997336734827e+00 1.0908997336734827e+00 Dual infeasibility......: 2.0469496214681714e-09 2.0469496214681714e-09 Constraint violation....: 1.3752136022921725e-26 1.3752136022921725e-26 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081632638662e-04 1.0000081632638662e-04 Overall NLP error.......: 2.0469496214681714e-09 2.0469496214681714e-09 Number of objective function evaluations = 15 Number of objective gradient evaluations = 15 Number of equality constraint evaluations = 15 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 15 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 14 Total seconds in IPOPT = 24.565 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.44s jacobian structure: 1600 nonzeros (2.506s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.781s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (3.836s) linear index maps built (0.0s) evaluator ready (total: 6.343s) evaluator created (6.366s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.17s) variables set (0.653s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (2.838s) optimizer initialization complete (total: 10.148s) This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.6741521e+00 2.34e+00 4.80e-01 9.54e-01 -1.0 - 0.00e+00 1 0 1 2.7529334e+00 1.03e-01 3.52e+00 7.19e-01 -1.0 0.0 1.00e+00 2 1h 2 2.4473893e+00 2.30e-02 1.19e+00 1.39e-01 -1.0 0.4 1.00e+00 1 1h 3 2.8497780e+00 1.74e-02 1.42e+00 1.00e-01 -1.0 -0.1 1.00e+00 2 1h 4 2.7949554e+00 8.15e-03 4.73e-01 1.11e-01 -1.0 -0.5 5.35e-01 2 1h 5 2.3351923e+00 1.23e-02 1.36e-01 3.69e-02 -1.7 -1.0 1.00e+00 2 1h 6 2.1623249e+00 9.03e-03 1.39e-01 1.16e-02 -2.5 -1.5 7.27e-01 2 1h 7 2.1150306e+00 5.15e-04 1.39e-02 2.97e-03 -2.5 -2.0 1.00e+00 2 1h 8 2.0914158e+00 2.83e-05 1.08e-03 1.71e-04 -3.8 -2.4 1.00e+00 2 1h 9 2.0900065e+00 2.41e-06 4.44e-05 3.66e-06 -5.7 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900015e+00 3.40e-06 1.85e-05 2.13e-06 -5.7 -3.4 1.00e+00 2 1h 11 2.0899871e+00 1.37e-05 5.59e-05 1.84e-06 -5.7 -3.9 1.00e+00 2 1h 12 2.0899485e+00 3.08e-05 2.05e-04 1.85e-06 -5.7 -4.3 8.67e-01 1 1h 13 2.0898292e+00 2.55e-05 2.37e-04 3.32e-06 -5.7 -4.8 1.00e+00 1 1h 14 2.0897530e+00 2.47e-05 1.86e-02 1.92e-06 -5.7 -5.3 8.90e-02 1 1h 15 2.0887155e+00 1.29e-05 3.13e-03 2.67e-06 -5.7 -5.8 1.00e+00 1 1h 16 2.0884132e+00 1.16e-05 9.52e-02 2.31e-06 -5.7 -6.3 1.06e-01 1 1h 17 2.0836654e+00 3.21e-05 5.17e-02 5.18e-06 -5.7 -6.7 1.00e+00 1 1h 18 2.0828009e+00 2.73e-05 1.35e-01 2.79e-06 -5.7 -7.2 1.92e-01 1 1h 19 2.0816871e+00 2.38e-05 1.37e-01 3.95e-06 -5.7 -7.7 2.26e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0814319e+00 2.87e-05 2.03e-01 2.45e-05 -5.7 -8.2 2.38e-01 2 1h 21 2.0806639e+00 4.39e-05 1.49e-01 1.29e-05 -5.7 -8.6 8.73e-01 2 1h 22 2.0806680e+00 3.60e-05 1.19e-01 3.33e-05 -5.7 -6.4 1.80e-01 1 1h 23 2.0806550e+00 1.90e-05 1.09e-02 1.12e-05 -5.7 -6.9 4.71e-01 1 1h 24 2.0806320e+00 2.47e-06 2.78e-03 4.21e-06 -5.7 -7.4 8.48e-01 1 1h 25 2.0805987e+00 1.61e-06 1.16e-03 3.08e-06 -5.7 -7.8 1.00e+00 1 1h 26 2.0805719e+00 2.92e-06 8.86e-03 2.65e-06 -5.7 -8.3 1.00e+00 1 1h 27 2.0856120e+00 4.10e-09 1.46e-01 8.55e-05 -5.7 -7.0 1.00e+00 1 1H 28 2.0849140e+00 6.24e-07 5.75e-01 7.94e-05 -5.7 -3.9 5.86e-02 1 3h 29 2.0813276e+00 1.33e-08 1.97e-02 1.91e-05 -5.7 -0.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806366e+00 1.91e-09 3.55e-03 1.84e-06 -5.7 -1.2 1.00e+00 2 1h 31 2.0806044e+00 5.01e-08 2.07e-02 1.85e-06 -5.7 -1.7 4.10e-01 2 1h 32 2.0806255e+00 3.95e-08 1.18e-04 2.69e-05 -5.7 -2.1 1.00e+00 2 1h 33 2.0806083e+00 3.11e-08 3.32e-05 3.99e-06 -5.7 -2.6 1.00e+00 2 1h 34 2.0806061e+00 1.90e-09 3.87e-06 1.85e-06 -5.7 -3.1 1.00e+00 2 1h 35 2.0805892e+00 9.23e-08 8.75e-03 2.70e-07 -8.6 -3.6 1.00e+00 2 1h 36 2.0805827e+00 3.05e-08 1.02e-05 1.15e-08 -8.6 -4.1 1.00e+00 2 1h 37 2.0805809e+00 2.68e-08 1.89e-03 2.25e-08 -8.6 -4.5 1.21e-01 2 1h 38 2.0805804e+00 1.48e-10 1.90e-04 5.31e-07 -8.6 -5.0 1.00e+00 2 1h 39 2.0805781e+00 1.77e-11 1.12e-03 1.67e-07 -8.6 -5.5 6.95e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805765e+00 2.87e-10 1.57e-04 4.34e-07 -8.6 -6.0 1.00e+00 2 1h 41 2.0805709e+00 1.33e-09 2.63e-04 6.23e-08 -8.6 -6.4 9.32e-01 2 1h 42 2.0805670e+00 1.26e-09 4.06e-03 4.50e-08 -8.6 -6.9 2.80e-01 2 1h 43 2.0805537e+00 2.56e-09 5.24e-03 8.36e-08 -8.6 -7.4 5.69e-01 2 1h 44 2.0805428e+00 3.41e-09 1.33e-02 1.58e-08 -8.6 -7.9 1.00e+00 2 1h 45 2.0805425e+00 2.68e-09 1.24e-02 1.14e-08 -8.6 -6.5 2.15e-01 1 1h 46 2.0805409e+00 1.51e-09 8.01e-03 6.26e-09 -8.6 -7.0 4.34e-01 2 1h 47 2.0805409e+00 1.35e-09 6.48e-03 2.98e-08 -8.6 -6.6 1.07e-01 1 1h 48 2.0805402e+00 1.73e-11 2.13e-04 6.43e-09 -8.6 -7.1 1.00e+00 1 1h 49 2.0805400e+00 5.59e-12 4.15e-06 1.16e-07 -8.6 -6.6 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805395e+00 1.05e-11 2.69e-03 2.57e-09 -8.6 -7.1 1.00e+00 2 1h 51 2.0805395e+00 7.28e-12 1.74e-02 2.94e-09 -8.6 -5.8 3.74e-01 1 1h 52 2.0805395e+00 5.13e-12 1.13e-05 1.10e-07 -8.6 -6.3 1.00e+00 1 1h 53 2.0805394e+00 1.22e-13 3.78e-06 2.46e-08 -8.6 -5.8 1.00e+00 1 1h 54 2.0805393e+00 2.13e-13 3.39e-07 4.79e-09 -8.6 -6.3 1.00e+00 2 1h 55 2.0805391e+00 8.00e-13 8.16e-07 2.51e-09 -8.6 -6.8 1.00e+00 2 1h 56 2.0805387e+00 4.23e-12 6.13e-06 5.70e-09 -8.6 -7.3 1.00e+00 2 1h 57 2.0805382e+00 7.38e-12 3.40e-04 2.52e-09 -8.6 -7.8 5.47e-01 2 1h 58 2.0805371e+00 4.99e-11 6.30e-05 2.51e-09 -8.6 -8.2 1.00e+00 1 1h 59 2.0805366e+00 7.35e-11 6.12e-04 2.51e-09 -8.6 -8.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805366e+00 5.73e-12 7.33e-06 2.05e-07 -8.6 -6.5 1.00e+00 1 1h 61 2.0805367e+00 4.44e-16 1.78e-03 2.56e-09 -8.6 -7.0 1.00e+00 2 1H 62 2.0805366e+00 2.78e-11 2.41e-02 2.59e-09 -8.6 -5.6 1.60e-02 1 1h 63 2.0805366e+00 2.78e-11 3.89e-01 8.88e-07 -8.6 -6.1 1.59e-03 2 2h 64 2.0805366e+00 7.17e-12 7.06e-06 3.61e-09 -8.6 -6.6 1.00e+00 1 1h 65 2.0805366e+00 6.39e-12 2.17e-07 2.51e-09 -8.6 -7.1 1.00e+00 2 1h 66 2.0805512e+00 8.88e-16 5.11e-03 2.52e-09 -8.6 -7.5 1.00e+00 2 1H 67 2.0805506e+00 1.71e-13 6.93e-01 1.66e-08 -8.6 -4.4 1.80e-02 1 4h 68 2.0805505e+00 2.10e-13 9.97e-01 2.69e-08 -8.6 -4.9 3.02e-03 1 8h 69 2.0805501e+00 2.45e-13 6.63e-01 1.74e-08 -8.6 -4.4 1.24e-02 1 7h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 70 2.0805501e+00 2.57e-13 1.00e+00 2.79e-08 -8.6 -4.9 1.43e-03 2 9h 71 2.0805366e+00 1.65e-10 1.49e-01 2.13e-08 -8.6 -4.5 7.75e-01 1 1h 72 2.0805368e+00 8.41e-11 2.77e-01 3.65e-07 -8.6 -5.0 5.03e-01 1 1h 73 2.0805367e+00 1.22e-11 5.97e-06 9.25e-08 -8.6 -5.5 1.00e+00 1 1h 74 2.0805366e+00 3.84e-13 3.99e-07 1.85e-08 -8.6 -5.9 1.00e+00 2 1h 75 2.0805366e+00 4.23e-13 9.46e-08 4.24e-09 -8.6 -6.4 1.00e+00 2 1h 76 2.0805366e+00 1.05e-12 1.31e-07 2.68e-09 -8.6 -6.9 1.00e+00 2 1h 77 2.0805366e+00 1.28e-12 5.43e-07 2.51e-09 -8.6 -7.4 1.00e+00 2 1h 78 2.0805365e+00 3.50e-12 1.46e-06 2.51e-09 -8.6 -7.8 1.00e+00 1 1h 79 2.0805365e+00 5.12e-12 4.54e-04 2.51e-09 -8.6 -8.3 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 80 2.0805365e+00 4.60e-12 3.45e-02 5.19e-08 -8.6 -7.0 2.74e-02 1 4h 81 2.0805365e+00 5.22e-13 2.11e-03 3.21e-09 -8.6 -7.5 1.00e+00 2 1h 82 2.0805365e+00 5.20e-13 2.18e-03 8.23e-09 -8.6 -7.0 9.47e-02 1 3h 83 2.0805365e+00 1.22e-13 7.16e-04 3.70e-09 -8.6 -7.5 1.00e+00 1 1h 84 2.0805365e+00 8.88e-16 5.42e-05 3.43e-09 -8.6 -6.2 1.00e+00 1 1H 85 2.0805365e+00 3.87e-14 4.72e-06 2.63e-09 -8.6 -6.7 1.00e+00 2 1h 86 2.0805365e+00 3.38e-14 9.15e-07 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 87 2.0805365e+00 2.49e-14 3.09e-07 2.59e-09 -8.6 -7.6 1.00e+00 1 1h 88 2.0805365e+00 1.02e-13 1.10e-07 2.51e-09 -8.6 -8.1 1.00e+00 1 1h 89 2.0805365e+00 1.52e-13 1.94e-07 2.51e-09 -8.6 -8.6 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 90 2.0805365e+00 4.97e-14 8.17e-08 2.51e-09 -8.6 -9.0 1.00e+00 1 1h 91 2.0805365e+00 2.66e-15 5.49e-09 2.51e-09 -8.6 -9.5 1.00e+00 1 1h Number of Iterations....: 91 (scaled) (unscaled) Objective...............: 2.0805364803024458e+00 2.0805364803024458e+00 Dual infeasibility......: 5.4856459374974520e-09 5.4856459374974520e-09 Constraint violation....: 2.6645352591003757e-15 2.6645352591003757e-15 Complementarity.........: 2.5059035603715769e-09 2.5059035603715769e-09 Overall NLP error.......: 5.4856459374974520e-09 5.4856459374974520e-09 Number of objective function evaluations = 136 Number of objective gradient evaluations = 92 Number of constraint evaluations = 136 Number of constraint Jacobian evaluations = 92 Number of Lagrangian Hessian evaluations = 91 Number of KKT factorizations = 222 Number of KKT backsolves = 152 Total wall secs in initialization = 22.210 s Total wall secs in linear solver = 0.113 s Total wall secs in NLP function evaluations = 21.792 s Total wall secs in solver (w/o init./fun./lin. alg.) = 55.503 s Total wall secs = 99.618 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 2.855s jacobian structure: 1680 nonzeros (2.92s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 11.108s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1964 nonzeros (11.16s) linear index maps built (0.0s) evaluator ready (total: 14.081s) evaluator created (14.108s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.095s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (5.22s) optimizer initialization complete (total: 19.424s) This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1680 Number of nonzeros in Lagrangian Hessian.............: 1964 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 1.0467960e+01 3.50e+00 3.36e+00 1.91e+00 -1.0 - 0.00e+00 1 0 1 5.2647660e+00 1.33e+00 1.99e+00 5.49e-01 -1.0 0.0 6.21e-01 1 1h 2 2.6253828e+00 9.99e-02 1.14e+00 1.34e-01 -1.0 -0.5 1.00e+00 2 1h 3 2.6746946e+00 5.33e-02 1.64e-01 1.12e-01 -1.0 -1.0 1.00e+00 2 1h 4 2.2695929e+00 2.92e-02 2.30e-01 2.72e-02 -2.5 -1.4 1.00e+00 2 1h 5 2.1205979e+00 1.07e-02 3.53e-02 5.41e-03 -2.5 -1.9 1.00e+00 2 1h 6 2.1152834e+00 2.82e-03 2.29e-03 2.85e-03 -2.5 -2.4 1.00e+00 2 1h 7 2.0915985e+00 3.81e-05 1.74e-04 1.75e-04 -3.8 -2.9 1.00e+00 2 1h 8 2.0900891e+00 9.04e-06 2.41e-05 2.11e-05 -5.7 -3.3 1.00e+00 2 1h 9 2.0900678e+00 4.76e-06 1.81e-04 5.77e-06 -5.7 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900274e+00 6.48e-05 2.74e-05 1.85e-06 -5.7 -4.3 1.00e+00 2 1h 11 2.0900037e+00 8.98e-05 1.21e-03 1.85e-06 -5.7 -4.8 2.07e-01 2 1h 12 2.0896924e+00 1.94e-03 7.84e-04 2.81e-06 -5.7 -5.2 1.00e+00 2 1h 13 2.0895935e+00 1.11e-03 4.83e-03 1.86e-06 -5.7 -4.8 4.30e-01 1 1h 14 2.0892459e+00 2.50e-05 1.24e-03 9.12e-06 -5.7 -5.3 1.00e+00 1 1h 15 2.0889233e+00 2.11e-05 2.97e-02 1.98e-06 -5.7 -5.8 2.87e-01 1 1h 16 2.0864875e+00 4.56e-05 1.06e-02 4.76e-06 -5.7 -6.3 1.00e+00 1 1h 17 2.0857782e+00 3.86e-05 1.41e-01 2.76e-06 -5.7 -6.7 1.59e-01 1 1h 18 2.0817476e+00 4.03e-05 1.24e-01 2.14e-06 -5.7 -7.2 7.12e-01 1 1h 19 2.0818467e+00 1.50e-04 1.26e-01 7.70e-04 -5.7 -7.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0811120e+00 3.43e-05 3.35e-02 3.28e-04 -5.7 -8.2 5.87e-01 1 1h 21 2.0806850e+00 1.34e-05 4.98e-02 1.26e-04 -5.7 -8.6 9.31e-01 1 1h 22 2.0807749e+00 1.45e-05 1.13e-01 1.17e-04 -5.7 -7.3 1.14e-01 1 1h 23 2.0807855e+00 1.22e-05 3.30e-01 1.25e-04 -5.7 -5.1 3.35e-01 1 1h 24 2.0808256e+00 2.38e-06 3.14e-03 2.66e-04 -5.7 -5.6 1.00e+00 2 1h 25 2.0807627e+00 1.48e-06 5.59e-02 2.57e-05 -5.7 -6.0 2.94e-01 2 1h 26 2.0806893e+00 3.07e-06 2.61e-01 1.92e-05 -5.7 -5.6 4.19e-01 1 1h 27 2.0806918e+00 2.96e-06 8.24e-01 8.79e-05 -5.7 -6.1 4.80e-02 2 1h 28 2.0806714e+00 6.84e-07 1.97e-03 6.60e-06 -5.7 -6.6 1.00e+00 1 1h 29 2.0806444e+00 1.40e-07 8.03e-03 3.65e-06 -5.7 -7.0 6.23e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806395e+00 8.98e-08 3.87e-04 3.74e-06 -5.7 -6.6 1.00e+00 1 1h 31 2.0806182e+00 8.20e-08 1.56e-03 2.16e-06 -5.7 -7.1 1.00e+00 1 1h 32 2.0806590e+00 2.85e-07 9.90e-02 5.70e-05 -5.7 -5.8 6.47e-01 1 1H 33 2.0806244e+00 4.46e-12 1.34e-03 1.46e-05 -5.7 -6.2 1.00e+00 1 1H 34 2.0806213e+00 1.56e-07 3.24e-01 4.87e-06 -5.7 -4.9 1.12e-01 1 2h 35 2.0806161e+00 1.29e-07 7.84e-05 2.06e-06 -5.7 -5.4 1.00e+00 1 1h 36 2.0806145e+00 6.43e-08 3.90e-05 1.85e-06 -5.7 -5.9 1.00e+00 1 1h 37 2.0806123e+00 6.43e-08 1.89e-05 2.15e-06 -5.7 -6.3 1.00e+00 1 1h 38 2.0806059e+00 6.43e-08 3.77e-05 1.85e-06 -5.7 -6.8 1.00e+00 1 1h 39 2.0805893e+00 6.76e-08 1.91e-04 1.84e-06 -5.7 -7.3 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805736e+00 7.76e-08 2.50e-03 1.88e-06 -5.7 -7.8 5.29e-01 1 1h 41 2.0805676e+00 4.02e-07 5.46e-04 4.94e-06 -5.7 -8.2 1.00e+00 1 1h 42 2.0805610e+00 3.87e-07 4.35e-04 1.97e-06 -5.7 -8.7 1.00e+00 1 1h 43 2.0805604e+00 6.54e-08 6.06e-05 1.84e-06 -5.7 -9.2 1.00e+00 1 1h 44 2.0805604e+00 6.54e-08 1.64e-06 1.84e-06 -5.7 -9.7 1.00e+00 1 1h 45 2.0805367e+00 3.98e-06 3.42e-06 6.23e-08 -8.6 -10.2 9.93e-01 1 1h 46 2.0805365e+00 1.57e-09 3.29e-09 2.56e-09 -8.6 -10.6 1.00e+00 1 1h Number of Iterations....: 46 (scaled) (unscaled) Objective...............: 2.0805364804040547e+00 2.0805364804040547e+00 Dual infeasibility......: 3.2945416394980498e-09 3.2945416394980498e-09 Constraint violation....: 1.5706145273242100e-09 1.5706145273242100e-09 Complementarity.........: 2.5587330365041765e-09 2.5587330365041765e-09 Overall NLP error.......: 3.2945416394980498e-09 3.2945416394980498e-09 Number of objective function evaluations = 52 Number of objective gradient evaluations = 47 Number of constraint evaluations = 52 Number of constraint Jacobian evaluations = 47 Number of Lagrangian Hessian evaluations = 46 Number of KKT factorizations = 107 Number of KKT backsolves = 65 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.056 s Total wall secs in NLP function evaluations = 24.927 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.811 s Total wall secs = 35.796 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.074s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.658s jacobian structure: 1600 nonzeros (2.732s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.602s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.649s) linear index maps built (0.0s) evaluator ready (total: 6.382s) evaluator created (6.407s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 6.41s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1376 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1306 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.9368959e+01 3.26e+00 1.02e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0345010e+01 4.74e-01 2.39e+00 -0.9 3.19e+00 -4.0 4.67e-01 8.55e-01f 1 2 1.0459914e+01 4.50e-02 4.06e-01 -0.9 7.33e-01 -4.5 9.81e-01 1.00e+00f 1 3 9.8797528e+00 8.60e-03 2.32e-01 -1.7 4.00e-01 -5.0 9.52e-01 1.00e+00h 1 4 9.5598838e+00 5.29e-03 4.95e-02 -2.3 1.58e-01 -5.4 9.15e-01 1.00e+00f 1 5 9.4548548e+00 1.06e-03 5.72e-03 -3.3 8.91e-02 -5.9 1.00e+00 1.00e+00h 1 6 9.4288699e+00 2.35e-04 1.15e-03 -4.0 3.64e-02 -6.4 1.00e+00 1.00e+00h 1 7 9.4259691e+00 2.61e-05 1.10e-04 -4.0 8.39e-03 -6.9 1.00e+00 1.00e+00h 1 8 9.4258099e+00 4.36e-07 1.58e-06 -4.0 9.69e-04 -7.3 1.00e+00 1.00e+00h 1 9 9.4258086e+00 1.47e-10 1.00e-09 -4.0 2.16e-05 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4258086226978168e+00 9.4258086226978168e+00 Dual infeasibility......: 9.9999993658991815e-10 9.9999993658991815e-10 Constraint violation....: 1.4694234717893551e-10 1.4694234717893551e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000061952072051e-04 1.0000061952072051e-04 Overall NLP error.......: 9.9999993658991815e-10 9.9999993658991815e-10 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of equality constraint evaluations = 10 Number of inequality constraint evaluations = 10 Number of equality constraint Jacobian evaluations = 10 Number of inequality constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Total seconds in IPOPT = 29.091 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.9368959e+01 3.26e+00 1.02e+00 9.56e-01 -1.0 - 0.00e+00 1 0 1 9.9829068e+00 2.57e-01 2.49e+00 6.54e-01 -1.0 -4.0 9.50e-01 2 1h 2 1.0146768e+01 1.69e-01 2.43e-01 1.73e-01 -1.0 -4.5 1.00e+00 2 1h 3 9.7810428e+00 1.68e-02 1.97e-01 5.36e-02 -1.7 -5.0 1.00e+00 2 1h 4 9.5242433e+00 3.92e-03 5.52e-02 1.01e-02 -2.5 -5.4 1.00e+00 2 1h 5 9.4661607e+00 1.35e-03 2.08e-03 4.13e-03 -2.5 -5.9 1.00e+00 2 1h 6 9.4313489e+00 2.33e-04 3.17e-03 9.84e-04 -3.8 -6.4 1.00e+00 2 1h 7 9.4267215e+00 5.59e-05 1.58e-04 2.45e-04 -3.8 -6.9 1.00e+00 2 1h 8 9.4245777e+00 7.31e-06 2.13e-05 1.70e-05 -5.7 -7.3 1.00e+00 2 1h 9 9.4245370e+00 6.28e-08 9.60e-08 1.94e-06 -5.7 -7.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 9.4245130e+00 5.04e-10 1.78e-09 3.73e-09 -8.6 -8.3 1.00e+00 2 1h Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 9.4245129854798897e+00 9.4245129854798897e+00 Dual infeasibility......: 1.7838344135157058e-09 1.7838344135157058e-09 Constraint violation....: 5.0446780086588205e-10 5.0446780086588205e-10 Complementarity.........: 3.7295845311450458e-09 3.7295845311450458e-09 Overall NLP error.......: 3.7295845311450458e-09 3.7295845311450458e-09 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of constraint evaluations = 11 Number of constraint Jacobian evaluations = 11 Number of Lagrangian Hessian evaluations = 10 Number of KKT factorizations = 21 Number of KKT backsolves = 21 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.010 s Total wall secs in NLP function evaluations = 0.142 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.009 s Total wall secs = 0.162 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.106s) evaluator created (0.106s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: timesteps all equal constraint applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.324s) optimizer initialization complete (total: 0.431s) 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 3.3731478e+00 3.31e+00 6.57e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6486556e+00 6.81e-01 1.30e+00 -1.2 1.96e+01 -4.0 9.94e-01 1.00e+00h 1 2 2.2792999e+00 5.70e-01 6.30e-01 -1.8 1.75e+01 -4.5 9.89e-01 1.00e+00h 1 3 2.1743551e+00 2.05e-01 2.11e-01 -2.0 1.70e+01 -5.0 9.52e-01 1.00e+00h 1 4 2.0934870e+00 2.08e-01 2.12e-01 -2.9 2.21e+01 -5.4 9.98e-01 1.00e+00h 1 5 2.0961301e+00 1.67e-03 7.95e-02 -3.0 2.21e+01 -5.9 9.97e-01 1.00e+00h 1 6 2.0848838e+00 2.91e-02 3.80e-02 -3.6 3.45e+01 -6.4 1.00e+00 1.00e+00h 1 7 2.0871375e+00 1.15e-02 3.71e-02 -3.1 2.19e+01 -6.9 1.00e+00 1.00e+00h 1 8 2.0787265e+00 4.45e-02 2.87e-03 -4.0 4.91e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0775155e+00 1.05e-03 7.81e-03 -4.0 1.14e+02 -7.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0765011e+00 5.53e-04 2.13e-02 -4.0 2.23e+02 -8.3 1.00e+00 8.97e-01h 1 11 2.0761518e+00 8.42e-04 3.12e-02 -4.0 3.53e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0756204e+00 8.01e-05 2.40e-02 -4.0 3.97e+02 -9.2 1.00e+00 6.36e-01h 1 13 2.0758316e+00 5.45e-04 7.82e-03 -4.0 1.22e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.0754444e+00 9.83e-04 1.60e-04 -4.1 4.08e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757716e+00 5.23e-04 3.54e-06 -4.0 2.09e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0754220e+00 6.53e-04 6.39e-07 -4.1 2.47e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757717e+00 3.80e-04 7.05e-07 -4.0 1.43e+01 -11.6 1.00e+00 1.00e+00h 1 18 2.0754219e+00 5.53e-04 2.32e-07 -4.1 2.09e+01 -12.1 1.00e+00 1.00e+00h 1 19 2.0757717e+00 6.04e-04 9.83e-08 -4.0 2.28e+01 -12.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0754219e+00 6.02e-04 1.03e-07 -4.1 2.27e+01 -13.1 1.00e+00 1.00e+00h 1 21 2.0757717e+00 6.06e-04 1.17e-07 -4.0 2.29e+01 -13.5 1.00e+00 1.00e+00h 1 22 2.0754219e+00 6.06e-04 1.21e-07 -4.1 2.29e+01 -14.0 1.00e+00 1.00e+00h 1 23 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -14.5 9.28e-01 1.00e+00h 1 24 2.0758523e+00 1.72e-01 1.58e-04 -4.0 1.29e+03 -15.0 1.00e+00 1.00e+00h 1 25 2.0754378e+00 2.85e-02 8.92e-05 -4.1 1.05e+03 -15.5 1.00e+00 1.00e+00h 1 26 2.0754277e+00 1.25e-05 2.07e-06 -4.1 1.63e+02 -15.9 1.00e+00 1.00e+00h 1 27 2.0757717e+00 7.85e-04 1.74e-07 -4.0 3.02e+01 -16.4 1.00e+00 1.00e+00h 1 28 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -16.9 1.00e+00 1.00e+00h 1 29 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -17.4 9.28e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -17.8 8.16e-01 1.00e+00h 1 31 2.0743069e+00 2.58e-02 1.46e-02 -4.0 8.97e+03 -18.3 1.00e+00 1.46e-01f 1 32 2.0749156e+00 3.43e-02 4.23e-05 -4.3 7.15e+02 -18.8 1.00e+00 1.00e+00h 1 33 2.0749194e+00 4.29e-04 1.42e-05 -4.3 5.34e+02 -19.3 1.00e+00 1.00e+00h 1 34 2.0757799e+00 1.06e-02 3.26e-06 -4.0 1.65e+02 -19.7 1.00e+00 1.00e+00h 1 35 2.0754236e+00 2.17e-03 7.34e-07 -4.1 8.12e+01 -20.0 1.00e+00 1.00e+00h 1 36 2.0754217e+00 1.05e-06 2.50e-08 -4.1 1.90e+01 -20.0 1.00e+00 1.00e+00h 1 37 2.0757718e+00 7.83e-04 1.70e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 38 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 39 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 41 2.0739618e+00 7.48e-07 1.83e-05 -6.1 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 42 2.0741610e+00 2.72e-02 1.81e-02 -4.0 3.03e+04 -20.0 1.00e+00 8.17e-02f 1 43 2.0748450e+00 7.42e-02 5.83e-05 -4.3 1.43e+03 -20.0 1.00e+00 1.00e+00f 1 44 2.0748594e+00 4.17e-04 5.58e-06 -4.3 3.96e+02 -20.0 1.00e+00 1.00e+00h 1 45 2.0740038e+00 1.17e-02 4.14e-04 -6.5 1.83e+02 -20.0 8.92e-01 1.00e+00h 1 46 2.0739628e+00 2.48e-04 2.84e-04 -6.5 7.31e+02 -20.0 7.61e-01 1.00e+00h 1 47 2.0739529e+00 2.78e-07 2.04e-05 -6.5 6.29e+02 -20.0 1.00e+00 1.00e+00h 1 48 2.0741325e+00 2.58e-02 1.91e-02 -4.0 3.70e+04 -20.0 1.00e+00 7.19e-02f 1 49 2.0748276e+00 8.42e-02 6.63e-05 -4.3 1.60e+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 50 2.0748443e+00 3.56e-04 3.40e-06 -4.3 3.15e+02 -20.0 1.00e+00 1.00e+00h 1 51 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 52 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 53 2.0739527e+00 2.69e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 54 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 55 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 56 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 57 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 58 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 59 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+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 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 61 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 64 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 65 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 66 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 67 2.0741226e+00 2.63e-02 1.95e-02 -4.0 4.26e+04 -20.0 1.00e+00 6.77e-02f 1 68 2.0748234e+00 8.99e-02 7.10e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 69 2.0748412e+00 3.13e-04 2.43e-06 -4.3 2.70e+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 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 71 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 72 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 73 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0741225e+00 2.63e-02 1.95e-02 -4.0 4.27e+04 -20.0 1.00e+00 6.76e-02f 1 75 2.0748233e+00 9.00e-02 7.11e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 76 2.0748411e+00 3.13e-04 2.42e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 77 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 78 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 79 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+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 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 82 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 83 2.0748092e+00 1.02e-01 8.36e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 84 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 86 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 87 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0739518e+00 4.59e-09 7.61e-07 -6.5 1.66e+02 -20.0 1.00e+00 1.00e+00h 1 89 2.0741220e+00 2.63e-02 1.96e-02 -4.0 4.28e+04 -20.0 1.00e+00 6.75e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0748230e+00 9.02e-02 7.13e-05 -4.3 1.71e+03 -20.0 1.00e+00 1.00e+00f 1 91 2.0748409e+00 3.11e-04 2.38e-06 -4.3 2.68e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 93 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 94 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0739520e+00 4.54e-09 7.53e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 96 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 97 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 98 2.0748092e+00 1.02e-01 8.37e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 99 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+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 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740025697366158e+00 2.0740025697366158e+00 Dual infeasibility......: 4.1148314624879999e-04 4.1148314624879999e-04 Constraint violation....: 1.1636767918259405e-02 1.1636767918259405e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0683766331762527e-05 1.0683766331762527e-05 Overall NLP error.......: 1.1636767918259405e-02 1.1636767918259405e-02 Number of objective function evaluations = 101 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 101 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 = 28.899 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.056s jacobian structure: 180 nonzeros (0.089s) integrator 1 hessian structure: 0.052s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.348s sub-objective 2 (QuadraticRegularizer): 0.088s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 0.543s hessian structure: 375 nonzeros (0.595s) linear index maps built (0.0s) evaluator ready (total: 0.836s) evaluator created (0.836s) NL constraint bounds extracted (0.012s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.119s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.05s) optimizer initialization complete (total: 4.017s) 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 1.4213503e+00 9.90e-01 1.09e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5376616e+00 2.21e-01 2.09e+00 -0.8 7.54e-01 0.0 9.51e-01 1.00e+00h 1 2 1.6716087e+00 4.29e-02 6.46e-01 -0.8 4.04e-01 -0.5 7.25e-01 8.55e-01h 1 3 1.5649615e+00 4.61e-02 1.19e+00 -2.7 3.93e+00 - 6.37e-01 5.00e-01h 2 4 1.9888667e+00 6.65e-02 2.50e+00 -1.7 5.29e-01 -1.0 9.79e-01 1.00e+00h 1 5 1.2569826e+00 5.34e-02 1.22e+00 -1.5 1.10e+00 -0.5 1.00e+00 5.13e-01f 1 6 1.1447195e+00 2.22e-02 5.74e-01 -2.1 2.30e-01 -1.0 9.96e-01 5.34e-01h 1 7 1.1075659e+00 1.35e-04 4.13e-02 -2.9 5.33e-02 -1.5 1.00e+00 1.00e+00h 1 8 1.0931215e+00 2.17e-06 2.26e-03 -4.0 7.36e-02 -2.0 1.00e+00 1.00e+00h 1 9 1.0925471e+00 2.12e-09 6.66e-04 -4.0 7.79e-02 -2.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0922326e+00 1.21e-12 5.18e-04 -4.0 2.16e-01 -2.9 1.00e+00 1.00e+00f 1 11 1.0916913e+00 2.21e-15 3.15e-03 -4.0 5.18e-01 -3.4 1.00e+00 1.00e+00f 1 12 1.0916380e+00 3.87e-19 4.47e-03 -4.0 1.77e-01 -3.0 1.00e+00 1.00e+00f 1 13 1.0918196e+00 2.30e-19 1.44e-03 -3.7 3.18e-01 -2.5 1.00e+00 4.06e-01f 2 14 1.0910983e+00 2.80e-27 3.50e-02 -3.9 1.86e+00 - 1.00e+00 1.00e+00f 1 15 1.0908966e+00 8.46e-28 9.05e-06 -4.0 5.40e-02 - 1.00e+00 1.00e+00f 1 16 1.0908997e+00 4.24e-28 4.26e-07 -4.0 5.70e-03 - 1.00e+00 1.00e+00f 1 17 1.0907198e+00 1.22e-28 2.90e-09 -4.1 2.00e-05 - 1.00e+00 1.00e+00f 1 18 1.0908997e+00 4.91e-28 2.90e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 1.0908997336734778e+00 1.0908997336734778e+00 Dual infeasibility......: 2.8996238049527889e-09 2.8996238049527889e-09 Constraint violation....: 4.9117012261817663e-28 4.9117012261817663e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081632585059e-04 1.0000081632585059e-04 Overall NLP error.......: 2.8996238049527889e-09 2.8996238049527889e-09 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 = 22.788 EXIT: Optimal Solution Found. ┌ Error: Invalid options argument (an instance of String, not a subtype of AbstractSolverOptions) └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/solve.jl:78 ┌ Error: No solver backend with matching options argument type (an instance of Main.var"##178"._FakeSolverOptions) └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/solve.jl:122 initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.108s) evaluator created (0.108s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on trajectory variable ddu applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.1s) optimizer initialization complete (total: 0.209s) 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 2.2304260e+00 3.30e+00 8.52e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7709245e+00 3.25e-02 5.90e-01 -1.1 2.66e+00 - 1.00e+00 1.00e+00f 1 2 2.2233735e+00 5.85e-03 4.89e-01 -2.0 9.24e-02 - 7.92e-01 1.00e+00h 1 3 2.1142700e+00 8.45e-04 2.72e-02 -2.6 6.23e-02 - 9.93e-01 1.00e+00h 1 4 2.0912343e+00 1.34e-04 1.69e-03 -4.0 3.80e-02 - 1.00e+00 9.91e-01h 1 5 2.0908943e+00 1.92e-05 1.74e-04 -4.0 3.86e-01 - 1.00e+00 1.00e+00h 1 6 2.0908972e+00 1.83e-08 8.43e-08 -4.0 1.53e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 1.69e-12 2.17e-12 -4.0 2.93e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971978426121e+00 2.0908971978426121e+00 Dual infeasibility......: 2.1676131755406919e-12 2.1676131755406919e-12 Constraint violation....: 1.6945790473968381e-12 1.6945790473968381e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000016495382338e-04 1.0000016495382338e-04 Overall NLP error.......: 1.6495382337345429e-10 1.6495382337345429e-10 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 29.917 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.065s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.119s) evaluator created (0.119s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.12s) 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 2.2965487e+00 1.87e+00 4.62e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7051604e+00 7.96e-01 1.79e+00 -1.0 8.19e+00 -4.0 8.08e-01 7.31e-01f 1 2 2.8145581e+00 1.84e+00 3.10e+00 -1.0 1.15e+01 -3.6 5.28e-01 1.00e+00f 1 3 2.5861013e+00 4.76e-01 1.42e+00 -0.7 5.38e-01 -1.3 8.72e-01 7.67e-01h 1 4 2.4196312e+00 2.33e-02 1.78e+00 -1.8 1.04e+00 -1.8 5.58e-01 1.00e+00h 1 5 2.3345000e+00 9.80e-03 1.10e+00 -1.7 9.56e-01 -2.3 9.93e-01 1.00e+00h 1 6 2.1397039e+00 3.47e-02 6.38e-02 -2.3 8.00e-01 -2.8 9.98e-01 9.26e-01h 1 7 2.1073381e+00 3.48e-03 1.16e-01 -2.8 4.01e-01 -3.3 9.66e-01 9.10e-01h 1 8 2.0934500e+00 5.75e-04 2.72e-02 -3.5 2.36e-01 -3.7 1.00e+00 9.40e-01h 1 9 2.0908509e+00 1.53e-04 9.76e-04 -4.0 2.94e-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 2.0907617e+00 2.76e-06 9.77e-05 -4.0 8.30e-01 -4.7 1.00e+00 1.00e+00h 1 11 2.0905758e+00 1.27e-06 6.78e-04 -4.0 2.04e+00 -5.2 1.00e+00 1.00e+00h 1 12 2.0902738e+00 3.72e-06 2.21e-03 -4.0 3.93e+00 -5.6 1.00e+00 1.00e+00h 1 13 2.0899861e+00 7.40e-06 3.02e-03 -4.0 5.98e+00 -6.1 1.00e+00 1.00e+00h 1 14 2.0898602e+00 1.52e-06 2.26e-03 -4.0 7.45e+00 -6.6 1.00e+00 1.00e+00h 1 15 2.0898333e+00 1.19e-06 1.29e-03 -4.0 1.08e+01 -7.1 1.00e+00 1.00e+00h 1 16 2.0898252e+00 1.75e-06 7.78e-04 -4.0 9.40e+00 -7.5 1.00e+00 1.00e+00h 1 17 2.0898223e+00 5.05e-07 1.17e-04 -4.0 3.44e+00 -8.0 1.00e+00 1.00e+00h 1 18 2.0898219e+00 1.31e-08 2.38e-06 -4.0 5.46e-01 -8.5 1.00e+00 1.00e+00h 1 19 2.0898219e+00 2.55e-11 7.91e-09 -4.0 5.02e-02 -9.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 19 (scaled) (unscaled) Objective...............: 2.0898218503150710e+00 2.0898218503150710e+00 Dual infeasibility......: 7.9059305589516179e-09 7.9059305589516179e-09 Constraint violation....: 2.5516033730355048e-11 2.5516033730355048e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 7.9059305589516179e-09 7.9059305589516179e-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 = 29.308 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.066s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.12s) evaluator created (0.12s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on trajectory variable x applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.121s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.5358597e+00 2.30e+00 4.81e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3984948e+00 2.20e+00 6.78e+00 -4.0 1.98e+00 0.0 5.94e-03 4.61e-02h 1 2 2.3960701e+00 2.19e+00 4.31e+01 -4.0 3.27e+00 -0.5 2.73e-02 6.72e-04h 1 3 2.3904752e+00 2.19e+00 4.39e+02 -1.8 3.14e+01 -1.0 1.86e-02 8.75e-04h 1 4 2.5072812e+00 2.19e+00 4.27e+02 -4.0 4.03e+03 -1.4 3.22e-04 3.31e-04h 1 5 2.8418452e+00 2.19e+00 1.40e+02 0.9 3.15e+02 -1.0 3.78e-03 2.58e-03f 1 6 2.8410455e+00 2.19e+00 1.05e+03 -0.6 1.70e+01 -0.6 1.13e-02 1.27e-04h 1 7 2.8429327e+00 2.19e+00 2.44e+05 -0.6 1.57e+02 -1.1 1.26e-02 5.00e-05h 1 8 2.8441630e+00 2.19e+00 1.94e+08 -0.6 1.49e+02 -0.6 2.77e-02 3.46e-05h 1 9r 2.8441630e+00 2.19e+00 1.00e+03 0.3 0.00e+00 -1.1 0.00e+00 1.74e-07R 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10r 2.4209107e+00 1.01e+00 9.89e+02 2.1 1.43e+03 - 2.13e-02 1.51e-03f 1 11 2.4195496e+00 1.01e+00 4.13e+02 -1.0 2.36e+00 -1.6 2.52e-01 9.09e-04h 1 12 2.4200451e+00 1.01e+00 3.66e+07 1.0 1.52e+02 -2.1 1.00e+00 1.35e-05h 1 13r 2.4200451e+00 1.01e+00 1.00e+03 1.9 0.00e+00 -2.5 0.00e+00 3.72e-07R 4 14r 3.5434814e+00 4.02e-01 9.83e+02 2.1 1.87e+01 - 7.17e-01 1.13e-01f 1 15 3.4237344e+00 3.76e-01 5.35e+00 -4.0 5.54e+00 -3.0 4.06e-01 6.39e-02h 1 16 3.4234231e+00 3.76e-01 5.72e+02 -4.0 7.73e+01 -3.5 6.05e-02 7.19e-04h 1 17 3.4362325e+00 3.76e-01 4.64e+05 1.2 2.41e+03 -4.0 1.69e-01 1.39e-04f 2 18 3.4429943e+00 3.76e-01 2.49e+09 1.4 9.37e+01 -4.4 1.00e+00 1.83e-04h 1 19r 3.4429943e+00 3.76e-01 9.84e+02 2.5 0.00e+00 -4.9 0.00e+00 2.63e-07R 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 3.0228526e+00 2.04e-01 3.14e+02 0.9 9.74e-01 - 7.03e-01 6.62e-01f 1 21 3.0180403e+00 1.99e-01 2.52e+01 -4.0 2.50e+00 -5.4 6.48e-01 2.46e-02h 1 22 3.0247653e+00 1.99e-01 3.02e+03 -0.4 6.16e+01 -5.9 3.87e-02 3.74e-04h 1 23r 3.0247653e+00 1.99e-01 1.00e+03 -0.7 0.00e+00 -6.4 0.00e+00 2.86e-07R 6 24r 3.0858421e+00 1.99e-01 9.87e+02 0.5 6.21e+01 - 6.59e-01 1.87e-03f 1 25r 3.7347846e+00 1.99e-01 4.05e+02 -1.4 5.39e-01 - 6.53e-01 5.90e-01f 1 26r 4.1111198e+00 9.17e-01 3.22e+02 0.5 1.33e+01 - 3.11e-01 2.03e-01f 1 27r 4.2471531e+00 2.17e-01 8.48e+00 0.0 1.78e+00 - 1.00e+00 1.00e+00f 1 28r 4.6140707e+00 1.99e-01 3.33e+01 -0.7 8.65e-01 - 6.15e-01 7.84e-01f 1 29r 4.5113153e+00 1.99e-01 1.15e+00 -0.9 4.90e-01 - 9.98e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 4.4260534e+00 1.99e-01 3.71e-01 -1.8 9.76e-02 0.0 9.89e-01 1.00e+00f 1 31r 4.3212836e+00 1.99e-01 6.05e+00 -1.8 9.26e-01 - 9.90e-01 1.15e-01h 3 32r 3.9099282e+00 1.99e-01 7.87e-02 -2.2 5.78e-01 - 1.00e+00 1.00e+00f 1 33r 3.8671257e+00 1.99e-01 2.02e+00 -3.3 1.64e-01 - 7.50e-01 1.00e+00f 1 34r 3.8568936e+00 1.99e-01 2.69e-03 -3.6 6.12e-02 - 1.00e+00 1.00e+00h 1 35r 3.7163260e+00 1.99e-01 2.45e-03 -4.0 9.21e-02 - 1.00e+00 1.00e+00h 1 36r 3.7440968e+00 1.99e-01 2.06e-04 -4.0 2.07e-02 - 1.00e+00 1.00e+00h 1 37r 3.7488078e+00 1.99e-01 5.06e-06 -4.0 3.04e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 37 (scaled) (unscaled) Objective...............: 3.7489698016736872e+00 3.7489698016736872e+00 Dual infeasibility......: 2.0028044886098022e+00 2.0028044886098022e+00 Constraint violation....: 1.9875045033397709e-01 1.9875045033397709e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000004425037e-04 1.0000000004425037e-04 Overall NLP error.......: 2.0028044886098022e+00 2.0028044886098022e+00 Number of objective function evaluations = 63 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 63 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 43 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 38 Total seconds in IPOPT = 30.053 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.117s) evaluator created (0.117s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.117s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 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 4.8596090e+00 2.91e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9956579e+00 2.45e-01 2.77e+00 -0.7 1.95e+00 0.0 9.34e-01 9.15e-01f 1 2 2.6362794e+00 9.91e-02 8.86e+00 -0.4 4.61e-01 0.4 9.83e-01 5.88e-01f 1 3 2.7273379e+00 1.06e-02 2.97e+00 -1.1 2.00e-01 -0.1 7.07e-01 1.00e+00h 1 4 2.5969144e+00 2.36e-03 4.05e-01 -1.5 6.77e-02 0.4 9.94e-01 1.00e+00h 1 5 2.3955185e+00 6.44e-03 2.73e-01 -1.9 1.68e-01 -0.1 9.82e-01 5.02e-01f 1 6 2.1536097e+00 5.52e-03 2.08e-01 -2.4 2.65e-01 -0.6 9.97e-01 7.08e-01f 1 7 2.1258555e+00 2.96e-03 3.73e-01 -2.9 4.46e-02 -1.1 1.00e+00 4.67e-01h 1 8 2.0908312e+00 3.17e-04 5.61e-03 -4.0 3.59e-02 -1.5 1.00e+00 1.00e+00h 1 9 2.0908629e+00 5.42e-08 1.16e-04 -4.0 2.28e-03 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908620e+00 5.31e-10 2.06e-05 -4.0 6.33e-03 -2.5 1.00e+00 1.00e+00h 1 11 2.0908601e+00 1.36e-10 2.06e-05 -4.0 1.90e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908545e+00 1.22e-09 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908377e+00 1.10e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0907873e+00 9.92e-08 2.06e-05 -4.0 5.12e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906362e+00 8.95e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901842e+00 8.10e-06 3.62e-05 -4.0 4.59e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888395e+00 7.42e-05 3.23e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849110e+00 7.03e-04 2.95e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796249e+00 2.05e-03 1.87e-01 -4.0 1.03e+02 -6.8 1.00e+00 5.14e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801512e+00 3.15e-04 1.78e-01 -4.0 6.61e+01 -7.3 1.00e+00 9.79e-01H 1 21 2.0773982e+00 8.41e-03 2.12e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.54e-01h 1 22 2.0770075e+00 1.65e-03 7.25e-02 -4.0 2.08e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760541e+00 3.51e-03 2.04e-02 -4.0 3.52e+02 -8.7 1.00e+00 9.05e-01h 1 24 2.0755183e+00 1.57e-03 3.07e-02 -4.0 4.69e+02 -9.2 1.00e+00 7.03e-01h 1 25 2.0757359e+00 2.48e-03 9.30e-03 -4.0 1.31e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0753614e+00 1.13e-03 3.36e-04 -4.1 6.65e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756724e+00 4.87e-04 6.35e-06 -4.0 2.09e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 6.11e-07 9.13e-07 -4.0 1.09e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 1.62e-09 5.94e-08 -4.0 3.80e+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 2.27e-11 9.24e-10 -4.0 5.42e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712121281562e+00 2.0756712121281562e+00 Dual infeasibility......: 9.2365661698442202e-10 9.2365661698442202e-10 Constraint violation....: 2.2720381132046441e-11 2.2720381132046441e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000018e-04 1.0000000000000018e-04 Overall NLP error.......: 9.2365661698442202e-10 9.2365661698442202e-10 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 = 30.736 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.604s jacobian structure: 1600 nonzeros (2.667s) integrator 1 hessian structure: 0.056s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.001s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (4.058s) linear index maps built (0.0s) evaluator ready (total: 6.726s) evaluator created (6.749s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 6.75s) This is MadNLP version v0.9.1, running with Lapack-CPU (BUNCHKAUFMAN) Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 5.2131282e+00 3.54e+00 5.21e-01 9.53e-01 -1.0 - 0.00e+00 1 0 1 2.7197839e+00 1.18e-01 3.60e+00 2.23e-01 -1.0 0.0 1.00e+00 1 1h 2 2.6823568e+00 3.41e-02 1.21e+00 1.47e-01 -1.0 -0.5 1.00e+00 1 1h 3 2.7929075e+00 9.45e-03 1.11e-01 1.06e-01 -1.0 -1.0 1.00e+00 1 1h 4 2.2953101e+00 2.33e-02 1.68e-01 3.24e-02 -2.5 -1.4 1.00e+00 1 1h 5 2.1108366e+00 9.08e-03 8.29e-02 5.92e-03 -2.5 -1.9 1.00e+00 1 1h 6 2.1149671e+00 8.54e-04 4.33e-03 2.84e-03 -2.5 -2.4 1.00e+00 1 1h 7 2.0915750e+00 3.71e-05 1.93e-04 1.78e-04 -3.8 -2.9 1.00e+00 1 1h 8 2.0900535e+00 8.92e-06 2.32e-05 1.06e-05 -5.7 -3.3 1.00e+00 1 1h 9 2.0900360e+00 1.56e-05 1.09e-04 3.17e-06 -5.7 -3.8 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899985e+00 1.38e-04 2.52e-04 1.84e-06 -5.7 -4.3 1.00e+00 1 1h 11 2.0899842e+00 4.46e-05 9.36e-05 1.84e-06 -5.7 -3.9 1.00e+00 1 1h 12 2.0899515e+00 6.28e-05 4.62e-04 1.85e-06 -5.7 -4.3 7.19e-01 1 1h 13 2.0898339e+00 1.31e-04 3.10e-04 3.46e-06 -5.7 -4.8 1.00e+00 1 1h 14 2.0897697e+00 1.34e-04 1.30e-02 1.89e-06 -5.7 -5.3 1.87e-02 1 1h 15 2.0887339e+00 1.33e-04 3.81e-03 3.42e-06 -5.7 -5.8 1.00e+00 1 1h 16 2.0884267e+00 1.20e-04 1.00e-01 2.33e-06 -5.7 -6.3 1.02e-01 1 1h 17 2.0836737e+00 3.24e-05 5.21e-02 5.30e-06 -5.7 -6.7 1.00e+00 1 1h 18 2.0828095e+00 2.75e-05 1.36e-01 2.79e-06 -5.7 -7.2 1.92e-01 1 1h 19 2.0816898e+00 2.40e-05 1.38e-01 3.95e-06 -5.7 -7.7 2.27e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0814262e+00 2.94e-05 2.02e-01 2.55e-05 -5.7 -8.2 2.46e-01 1 1h 21 2.0806662e+00 4.29e-05 1.49e-01 1.34e-05 -5.7 -8.6 8.69e-01 1 1h 22 2.0806703e+00 3.53e-05 1.18e-01 3.30e-05 -5.7 -6.4 1.78e-01 1 1h 23 2.0806567e+00 1.92e-05 1.02e-02 1.13e-05 -5.7 -6.9 4.55e-01 1 1h 24 2.0806334e+00 2.50e-06 2.77e-03 4.24e-06 -5.7 -7.4 8.48e-01 1 1h 25 2.0805995e+00 1.64e-06 1.18e-03 3.17e-06 -5.7 -7.8 1.00e+00 1 1h 26 2.0805721e+00 2.97e-06 8.85e-03 2.67e-06 -5.7 -8.3 1.00e+00 1 1h 27 2.0845473e+00 3.58e-09 1.36e-01 8.56e-05 -5.7 -7.0 1.00e+00 1 1H 28 2.0838567e+00 6.13e-07 5.55e-01 7.78e-05 -5.7 -3.9 7.76e-02 1 3h 29 2.0812449e+00 3.91e-10 1.74e-02 1.95e-05 -5.7 -0.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806295e+00 1.02e-09 3.54e-03 1.84e-06 -5.7 -1.2 1.00e+00 1 1h 31 2.0806076e+00 1.36e-08 1.90e-01 2.30e-06 -5.7 -1.7 3.05e-01 1 1h 32 2.0806033e+00 5.33e-09 2.58e-01 2.79e-06 -5.7 -2.1 6.25e-01 1 1h 33 2.0806050e+00 2.71e-10 4.00e-06 2.43e-06 -5.7 -2.6 1.00e+00 1 1h 34 2.0805889e+00 3.33e-08 3.01e-02 3.52e-07 -8.6 -3.1 1.00e+00 1 1h 35 2.0805854e+00 1.11e-08 1.02e-05 1.69e-08 -8.6 -3.6 1.00e+00 1 1h 36 2.0805805e+00 2.08e-10 1.02e-05 5.48e-09 -8.6 -4.1 1.00e+00 1 1h 37 2.0805790e+00 1.87e-10 2.32e-03 1.30e-08 -8.6 -4.5 1.00e-01 1 1h 38 2.0805784e+00 1.03e-10 1.79e-04 3.04e-07 -8.6 -5.0 1.00e+00 1 1h 39 2.0805763e+00 1.35e-11 7.80e-04 1.09e-07 -8.6 -5.5 6.51e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805748e+00 7.33e-11 1.53e-04 4.36e-07 -8.6 -6.0 1.00e+00 1 1h 41 2.0805693e+00 3.56e-10 1.46e-04 5.22e-08 -8.6 -6.4 9.61e-01 1 1h 42 2.0805658e+00 3.29e-10 3.92e-03 3.86e-08 -8.6 -6.9 2.65e-01 1 1h 43 2.0805531e+00 6.58e-10 4.82e-03 7.50e-08 -8.6 -7.4 5.64e-01 1 1h 44 2.0805533e+00 8.88e-16 5.60e-04 5.04e-06 -8.6 -7.0 1.00e+00 1 1H 45 2.0805450e+00 3.25e-10 1.30e-03 1.17e-06 -8.6 -7.4 8.03e-01 1 1h 46 2.0805442e+00 1.76e-10 2.39e-02 2.51e-07 -8.6 -6.1 4.37e-01 1 1h 47 2.0805432e+00 3.10e-11 1.00e-03 4.02e-07 -8.6 -6.6 8.30e-01 1 1h 48 2.0805419e+00 2.97e-11 7.08e-04 6.20e-09 -8.6 -7.1 1.00e+00 1 1h 49 2.0805416e+00 1.97e-12 5.29e-06 2.54e-09 -8.6 -6.6 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805409e+00 1.34e-11 4.40e-03 2.52e-09 -8.6 -7.1 1.00e+00 1 1h 51 2.0805407e+00 1.11e-11 1.21e-02 2.75e-09 -8.6 -5.8 4.82e-01 1 1h 52 2.0805408e+00 1.64e-11 1.26e-05 3.36e-07 -8.6 -6.3 1.00e+00 1 1h 53 2.0805404e+00 1.33e-11 3.99e-03 2.53e-09 -8.6 -6.7 7.14e-01 1 1h 54 2.0805398e+00 9.10e-12 1.52e-05 2.51e-09 -8.6 -7.2 1.00e+00 1 1h 55 2.0805387e+00 2.36e-11 2.83e-05 2.51e-09 -8.6 -7.7 1.00e+00 1 1h 56 2.0805374e+00 5.46e-11 5.94e-05 2.51e-09 -8.6 -8.2 1.00e+00 1 1h 57 2.0805366e+00 1.02e-10 6.33e-04 2.51e-09 -8.6 -8.7 1.00e+00 1 1h 58 2.0856098e+00 1.78e-15 3.67e-02 3.50e-06 -8.6 -7.3 1.00e+00 1 1H 59 2.0855455e+00 3.35e-12 1.69e-01 3.48e-06 -8.6 -3.3 6.09e-03 1 4h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0855322e+00 4.86e-12 2.72e-01 3.48e-06 -8.6 -3.8 1.05e-03 1 4h 61 2.0855248e+00 5.03e-12 5.37e-01 3.49e-06 -8.6 -3.3 6.89e-04 1 7h 62 2.0855248e+00 5.03e-12 5.64e-01 3.49e-06 -8.6 -3.8 1.79e-06 1 17h 63 2.0855232e+00 5.34e-12 3.10e+01 4.52e-06 -8.6 -1.6 1.31e-04 1 1h 64 2.0849606e+00 1.54e-09 3.08e+01 4.24e-06 -8.6 -2.1 6.30e-02 1 1h 65 2.0849147e+00 2.37e-09 3.08e+01 4.21e-06 -8.6 -2.5 3.36e-03 1 1h 66 2.0810839e+00 2.40e-07 3.07e+01 1.35e-06 -8.6 -2.1 6.70e-01 1 1h 67 2.0809474e+00 2.09e-07 1.01e+01 1.25e-06 -8.6 -2.6 1.39e-01 1 1h 68 2.0805599e+00 2.77e-07 1.61e+00 8.83e-09 -8.6 -3.1 8.62e-01 1 1h 69 2.0805587e+00 2.65e-07 2.48e+00 2.37e-08 -8.6 -3.5 4.34e-02 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 70 2.0805419e+00 2.66e-07 2.27e+00 8.82e-08 -8.6 -4.0 5.84e-02 1 1h 71 2.0805469e+00 1.07e-08 2.49e-01 3.53e-06 -8.6 -4.5 8.67e-01 1 1h 72 2.0805450e+00 9.68e-09 2.75e-01 3.42e-06 -8.6 -5.0 2.33e-01 1 1h 73 2.0805414e+00 3.00e-07 6.20e-03 5.98e-08 -8.6 -5.5 9.75e-01 1 1h 74 2.0805413e+00 1.96e-07 3.72e-03 3.49e-08 -8.6 -5.9 3.45e-01 1 1h 75 2.0805409e+00 1.21e-09 2.58e-06 6.98e-09 -8.6 -6.4 1.00e+00 1 1h 76 2.0805399e+00 4.75e-11 9.23e-06 2.56e-09 -8.6 -6.9 1.00e+00 1 1h 77 2.0805383e+00 5.28e-11 4.29e-05 2.51e-09 -8.6 -7.4 1.00e+00 1 1h 78 2.0805369e+00 1.01e-10 4.70e-04 2.51e-09 -8.6 -7.8 1.00e+00 1 1h 79 2.0805379e+00 6.17e-11 3.41e-05 2.32e-06 -8.6 -6.5 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 80 2.0805368e+00 4.98e-11 1.72e-04 2.51e-09 -8.6 -7.0 1.00e+00 1 1h 81 2.0805366e+00 1.69e-11 1.54e-02 2.57e-09 -8.6 -5.7 5.77e-01 1 1h 82 2.0805368e+00 7.72e-12 7.32e-06 4.03e-07 -8.6 -6.1 1.00e+00 1 1h 83 2.0805366e+00 4.50e-12 2.58e-06 9.56e-08 -8.6 -6.6 1.00e+00 1 1h 84 2.0805365e+00 3.71e-12 2.13e-06 1.55e-08 -8.6 -7.1 1.00e+00 1 1h 85 2.0805365e+00 1.90e-13 1.13e-06 2.51e-09 -8.6 -6.7 1.00e+00 1 1h 86 2.0805365e+00 4.86e-13 1.45e-07 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 87 2.0805365e+00 3.16e-13 4.35e-05 2.51e-09 -8.6 -7.6 1.00e+00 1 1h 88 2.0805365e+00 1.38e-12 2.27e-06 4.46e-08 -8.6 -6.3 1.00e+00 1 1h 89 2.0805365e+00 9.83e-13 6.38e-04 2.52e-09 -8.6 -6.8 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 90 2.0805365e+00 1.10e-12 5.71e-05 6.55e-09 -8.6 -6.3 1.00e+00 1 1h 91 2.0805365e+00 2.22e-16 6.42e-07 2.51e-09 -8.6 -5.0 1.00e+00 1 1H 92 2.0805365e+00 9.30e-13 9.17e-07 2.51e-09 -8.6 -5.5 1.00e+00 1 1h 93 2.0805365e+00 5.68e-14 4.30e-08 2.51e-09 -8.6 -6.0 1.00e+00 1 1h 94 2.0805365e+00 6.22e-15 1.12e-08 2.51e-09 -8.6 -6.4 1.00e+00 1 1h 95 2.0805365e+00 1.04e-10 6.29e-09 9.20e-10 -9.0 -6.9 1.00e+00 1 1h Number of Iterations....: 95 (scaled) (unscaled) Objective...............: 2.0805364735936376e+00 2.0805364735936376e+00 Dual infeasibility......: 6.2888393520451753e-09 6.2888393520451753e-09 Constraint violation....: 1.0429923591459556e-10 1.0429923591459556e-10 Complementarity.........: 9.2035550747748808e-10 9.2035550747748808e-10 Overall NLP error.......: 6.2888393520451753e-09 6.2888393520451753e-09 Number of objective function evaluations = 135 Number of objective gradient evaluations = 96 Number of constraint evaluations = 135 Number of constraint Jacobian evaluations = 96 Number of Lagrangian Hessian evaluations = 95 Number of KKT factorizations = 235 Number of KKT backsolves = 105 Total wall secs in initialization = 5.625 s Total wall secs in linear solver = 0.212 s Total wall secs in NLP function evaluations = 20.121 s Total wall secs in solver (w/o init./fun./lin. alg.) = 29.270 s Total wall secs = 55.228 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 3.0339492e+00 3.75e+00 9.70e-01 9.89e-01 -1.0 - 0.00e+00 1 0 1 2.1559255e+00 1.93e+00 1.90e+00 2.48e-01 -1.0 0.0 4.84e-01 2 1h 2 2.6446027e+00 6.51e-02 1.89e+00 1.49e-01 -1.0 -0.5 1.00e+00 2 1h 3 2.7430876e+00 1.02e-02 2.77e-01 1.01e-01 -1.0 -1.0 1.00e+00 2 1h 4 2.3414297e+00 8.10e-03 1.65e-01 3.34e-02 -1.7 -1.4 1.00e+00 2 1h 5 2.1359301e+00 5.76e-03 4.41e-02 7.71e-03 -2.5 -1.9 8.95e-01 2 1h 6 2.1148415e+00 5.58e-04 5.95e-03 2.87e-03 -2.5 -2.4 1.00e+00 2 1h 7 2.0914887e+00 3.67e-05 6.34e-04 1.78e-04 -3.8 -2.9 1.00e+00 2 1h 8 2.0899785e+00 7.09e-06 1.95e-05 2.22e-06 -5.7 -3.3 1.00e+00 2 1h 9 2.0899667e+00 3.74e-06 3.68e-05 1.87e-06 -5.7 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899318e+00 2.47e-05 3.21e-04 1.84e-06 -5.7 -4.3 1.00e+00 2 1h 11 2.0898217e+00 8.00e-05 1.54e-04 1.86e-06 -5.7 -4.8 1.00e+00 1 1h 12 2.0897206e+00 7.06e-05 9.40e-03 1.89e-06 -5.7 -5.2 2.87e-01 1 1h 13 2.0887993e+00 1.34e-04 1.79e-03 4.06e-06 -5.7 -5.7 1.00e+00 1 1h 14 2.0885050e+00 1.21e-04 9.73e-02 2.31e-06 -5.7 -6.2 1.00e-01 1 1h 15 2.0839999e+00 3.00e-05 4.54e-02 5.47e-06 -5.7 -6.7 1.00e+00 1 1h 16 2.0831838e+00 2.48e-05 1.44e-01 2.94e-06 -5.7 -7.2 1.74e-01 1 1h 17 2.0816842e+00 2.27e-05 1.43e-01 3.34e-06 -5.7 -7.6 2.88e-01 2 1h 18 2.0814010e+00 3.31e-05 1.97e-01 4.63e-05 -5.7 -8.1 2.98e-01 1 1h 19 2.0806721e+00 4.02e-05 1.35e-01 2.17e-05 -5.7 -8.6 9.00e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0922063e+00 3.50e-07 3.28e-01 3.50e-04 -5.7 -7.3 1.00e+00 1 1H 21 2.0881753e+00 8.14e-05 2.31e+00 2.54e-04 -5.7 -5.0 1.01e-01 1 2h 22 2.0820593e+00 5.74e-05 1.66e+00 1.04e-04 -5.7 -1.9 3.05e-01 1 1h 23 2.0815674e+00 1.19e-05 2.33e-01 3.84e-05 -5.7 -2.4 1.00e+00 2 1h 24 2.0812037e+00 1.46e-05 7.40e-02 2.14e-06 -5.7 -2.8 3.15e-01 2 1h 25 2.0812075e+00 1.24e-06 6.91e-02 9.13e-06 -5.7 -3.3 9.14e-01 1 1h 26 2.0811984e+00 1.03e-07 1.10e-05 1.86e-06 -5.7 -3.8 1.00e+00 2 1h 27 2.0811686e+00 5.45e-07 1.13e-05 8.42e-08 -8.6 -4.3 1.00e+00 2 1h 28 2.0811341e+00 1.21e-08 1.13e-05 1.55e-08 -8.6 -4.8 1.00e+00 2 1h 29 2.0810340e+00 9.39e-10 3.94e-05 3.79e-09 -8.6 -5.2 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0809991e+00 9.39e-10 1.27e-02 4.54e-09 -8.6 -5.7 1.24e-01 2 1h 31 2.0809783e+00 6.96e-09 5.19e-02 1.85e-06 -8.6 -6.2 7.24e-01 2 1h 32 2.0809049e+00 5.71e-08 1.99e-03 5.83e-07 -8.6 -6.7 1.00e+00 2 1h 33 2.0807638e+00 7.99e-08 2.39e-03 4.06e-08 -8.6 -7.1 9.70e-01 2 1h 34 2.0806003e+00 2.67e-08 4.97e-03 8.54e-09 -8.6 -7.6 1.00e+00 2 1h 35 2.0806000e+00 2.58e-08 2.69e-01 6.25e-06 -8.6 -7.2 3.35e-02 1 1h 36 2.0805654e+00 8.07e-09 5.12e-02 2.43e-07 -8.6 -7.7 7.36e-01 2 1h 37 2.0805647e+00 6.66e-09 1.94e-02 1.51e-06 -8.6 -6.3 1.75e-01 1 1h 38 2.0805642e+00 2.50e-09 4.89e-03 1.71e-06 -8.6 -6.8 6.29e-01 2 1h 39 2.0805593e+00 1.38e-09 4.07e-03 8.58e-07 -8.6 -7.3 4.58e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805582e+00 1.06e-09 2.70e-02 5.61e-07 -8.6 -6.9 2.34e-01 1 1h 41 2.0805518e+00 1.80e-10 2.78e-02 2.80e-09 -8.6 -7.3 9.16e-01 2 1h 42 2.0805499e+00 6.10e-11 1.54e-05 8.04e-09 -8.6 -6.9 1.00e+00 1 1h 43 2.0805493e+00 2.86e-11 1.30e-03 2.54e-09 -8.6 -6.5 1.00e+00 1 1h 44 2.0805494e+00 1.22e-15 1.41e-04 2.32e-08 -8.6 -6.1 1.00e+00 1 1H 45 2.0805492e+00 5.12e-12 1.88e-05 6.98e-09 -8.6 -4.7 1.00e+00 1 1h 46 2.0805491e+00 5.66e-11 1.64e-02 2.54e-09 -8.6 -5.2 7.34e-01 2 1h 47 2.0805490e+00 1.47e-11 3.89e-06 2.12e-08 -8.6 -5.7 1.00e+00 2 1h 48 2.0805489e+00 1.70e-11 1.76e-03 2.51e-09 -8.6 -6.2 6.08e-01 1 1h 49 2.0805482e+00 2.10e-10 4.44e-06 3.93e-09 -8.6 -6.6 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805478e+00 1.73e-10 5.84e-04 2.53e-09 -8.6 -7.1 2.32e-01 2 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805478409987423e+00 2.0805478409987423e+00 Dual infeasibility......: 5.8411620353060467e-04 5.8411620353060467e-04 Constraint violation....: 1.7273982244603303e-10 1.7273982244603303e-10 Complementarity.........: 2.5290680709844059e-09 2.5290680709844059e-09 Overall NLP error.......: 5.8411620353060467e-04 5.8411620353060467e-04 Number of objective function evaluations = 55 Number of objective gradient evaluations = 51 Number of constraint evaluations = 55 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 121 Number of KKT backsolves = 84 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.054 s Total wall secs in NLP function evaluations = 22.283 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.759 s Total wall secs = 32.097 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.3651007e+00 2.76e+00 5.82e-01 9.69e-01 -1.0 - 0.00e+00 1 0 1 2.5958335e+00 4.46e-02 2.53e+00 3.09e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 2 2.7161054e+00 4.42e-02 1.87e-01 1.02e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 3 2.3076446e+00 6.81e-03 1.52e-01 3.05e-02 -2.5 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 4 2.1189966e+00 6.41e-03 1.12e-01 4.92e-03 -2.5 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 5 2.1143073e+00 2.02e-03 9.47e-03 2.85e-03 -2.5 - 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1143072853094425e+00 2.1143072853094425e+00 Dual infeasibility......: 9.4700070909558825e-03 9.4700070909558825e-03 Constraint violation....: 2.0213486142415249e-03 2.0213486142415249e-03 Complementarity.........: 2.8527665419255267e-03 2.8527665419255267e-03 Overall NLP error.......: 9.4700070909558825e-03 9.4700070909558825e-03 Number of objective function evaluations = 6 Number of objective gradient evaluations = 6 Number of constraint evaluations = 6 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 0 Number of KKT factorizations = 6 Number of KKT backsolves = 6 Total wall secs in initialization = 0.644 s Total wall secs in linear solver = 0.005 s Total wall secs in NLP function evaluations = 0.142 s Total wall secs in solver (w/o init./fun./lin. alg.) = 39.352 s Total wall secs = 40.143 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.5658200e+00 2.94e+00 6.15e-01 9.74e-01 -1.0 - 0.00e+00 1 0 1 2.6741591e+00 5.92e-02 1.89e+00 1.31e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 2 2.7112733e+00 1.97e-02 2.09e-01 1.01e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 3 2.3788468e+00 7.70e-03 2.45e-01 3.59e-02 -1.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 4 2.2581540e+00 2.28e-03 4.12e-02 2.03e-02 -1.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 5 2.1202688e+00 9.06e-04 3.48e-02 3.85e-03 -2.5 - 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1202687891086409e+00 2.1202687891086409e+00 Dual infeasibility......: 3.4812126409047330e-02 3.4812126409047330e-02 Constraint violation....: 9.0578084289285980e-04 9.0578084289285980e-04 Complementarity.........: 3.8544023578987309e-03 3.8544023578987309e-03 Overall NLP error.......: 3.4812126409047330e-02 3.4812126409047330e-02 Number of objective function evaluations = 6 Number of objective gradient evaluations = 6 Number of constraint evaluations = 6 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 0 Number of KKT factorizations = 6 Number of KKT backsolves = 6 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.005 s Total wall secs in NLP function evaluations = 0.159 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.973 s Total wall secs = 10.138 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.2327126e+00 3.38e+00 6.22e-01 9.36e-01 -1.0 - 0.00e+00 1 0 1 2.6148143e+00 4.22e-02 2.99e+00 3.46e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 2 2.7570585e+00 1.30e-02 1.72e-01 1.11e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 3 2.3342031e+00 7.16e-03 1.77e-01 2.81e-02 -2.5 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 4 2.1092046e+00 3.81e-03 8.20e-02 3.77e-03 -2.5 - 9.65e-01 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 5 2.1155833e+00 8.31e-04 7.22e-03 3.10e-03 -2.5 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 6 2.0915217e+00 2.32e-05 6.43e-03 1.89e-04 -3.8 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 7 2.0913309e+00 2.91e-08 9.44e-05 1.51e-04 -3.8 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 8 2.0899931e+00 2.55e-06 2.98e-04 4.81e-06 -5.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 9 2.0899660e+00 4.91e-05 2.45e-03 3.86e-06 -5.7 - 6.39e-01 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0898900e+00 7.85e-05 8.13e-03 2.37e-06 -5.7 - 1.00e+00 1 1h Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0898900151436668e+00 2.0898900151436668e+00 Dual infeasibility......: 8.1287928012192083e-03 8.1287928012192083e-03 Constraint violation....: 7.8464392667898508e-05 7.8464392667898508e-05 Complementarity.........: 2.3733772384750718e-06 2.3733772384750718e-06 Overall NLP error.......: 8.1287928012192083e-03 8.1287928012192083e-03 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of constraint evaluations = 11 Number of constraint Jacobian evaluations = 11 Number of Lagrangian Hessian evaluations = 0 Number of KKT factorizations = 11 Number of KKT backsolves = 11 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.008 s Total wall secs in NLP function evaluations = 0.158 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.086 s Total wall secs = 9.254 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1680 Number of nonzeros in Lagrangian Hessian.............: 1964 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 1.3971959e+01 2.97e+00 4.01e+00 1.95e+00 -1.0 - 0.00e+00 1 0 1 4.5466723e+00 2.47e-01 6.55e+00 1.10e+00 -1.0 0.0 1.00e+00 1 1h 2 4.0635467e+00 2.21e-01 6.19e+00 8.23e-01 -1.0 0.4 1.09e-01 1 1h 3 3.3586397e+00 7.33e-02 2.73e+00 4.58e-01 -1.0 0.9 7.23e-01 1 1h 4 3.1154702e+00 6.07e-02 3.84e+00 1.26e-01 -1.0 0.4 2.07e-01 2 1h 5 2.4220318e+00 3.83e-02 5.61e+00 1.06e-01 -1.0 -0.1 1.00e+00 2 1h 6 2.3486727e+00 2.71e-02 5.71e+00 1.39e-01 -1.0 1.2 2.99e-01 1 1h 7 2.2457892e+00 1.65e-02 4.85e+00 1.89e-01 -1.0 0.7 1.00e+00 2 1h 8 2.3971396e+00 3.64e-03 2.38e+00 1.01e-01 -1.0 0.3 1.00e+00 2 1h 9 3.4460702e+00 4.18e-02 4.75e+00 1.13e-01 -1.0 0.7 5.00e-01 1 2h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 3.2437554e+00 5.51e-03 1.91e+00 1.06e-01 -1.0 1.1 1.00e+00 1 1h 11 3.0507368e+00 1.24e-02 4.58e-01 1.02e-01 -1.0 0.6 1.00e+00 2 1h 12 2.5559179e+00 7.03e-03 1.82e-01 4.11e-02 -1.7 0.2 8.37e-01 2 1h 13 2.1812360e+00 1.12e-02 8.75e-02 1.48e-02 -2.5 -0.3 6.48e-01 2 1h 14 2.1139648e+00 1.34e-03 2.67e-02 3.58e-03 -2.5 -0.8 8.86e-01 2 1h 15 2.0916224e+00 2.35e-04 3.49e-03 2.27e-04 -3.8 -1.3 1.00e+00 2 1h 16 2.0913635e+00 1.13e-06 7.58e-05 1.50e-04 -3.8 -1.7 1.00e+00 2 1h 17 2.0900266e+00 5.62e-07 2.92e-05 5.72e-06 -5.7 -2.2 1.00e+00 2 1h 18 2.0900236e+00 3.42e-07 4.39e-05 2.15e-06 -5.7 -2.7 1.00e+00 2 1h 19 2.0900184e+00 3.01e-06 3.29e-05 1.84e-06 -5.7 -3.2 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0900079e+00 5.04e-05 5.15e-05 1.84e-06 -5.7 -3.6 1.00e+00 2 1h 21 2.0899819e+00 6.93e-05 1.97e-05 1.85e-06 -5.7 -4.1 1.00e+00 2 1h 22 2.0899122e+00 4.61e-05 3.52e-04 1.84e-06 -5.7 -4.6 1.00e+00 1 1h 23 2.0897618e+00 2.36e-05 2.64e-03 1.86e-06 -5.7 -5.1 6.64e-01 2 1h 24 2.0891366e+00 8.75e-06 1.56e-03 6.83e-06 -5.7 -5.6 1.00e+00 1 1h 25 2.0888875e+00 8.08e-06 1.08e-01 2.32e-06 -5.7 -6.0 7.78e-02 1 1h 26 2.0851745e+00 1.69e-05 2.91e-02 3.84e-06 -5.7 -6.5 1.00e+00 1 1h 27 2.0844606e+00 1.52e-05 1.60e-01 3.15e-06 -5.7 -7.0 1.42e-01 1 1h 28 2.0816893e+00 2.73e-05 1.50e-01 2.43e-06 -5.7 -7.5 4.75e-01 1 1h 29 2.0812643e+00 1.90e-04 1.46e-01 3.82e-04 -5.7 -7.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0810813e+00 1.48e-04 2.38e-02 2.62e-04 -5.7 -8.4 2.02e-01 1 1h 31 2.0809814e+00 6.93e-05 5.86e-02 1.01e-03 -5.7 -7.1 1.00e+00 1 1h 32 2.0808977e+00 4.13e-05 1.92e-01 3.93e-05 -5.7 -7.6 3.49e-01 2 1h 33 2.0808865e+00 8.48e-07 9.65e-04 4.91e-06 -5.7 -6.2 1.00e+00 1 1h 34 2.0808610e+00 1.76e-07 3.61e-03 2.77e-06 -5.7 -6.7 1.00e+00 1 1h 35 2.0808558e+00 3.68e-07 4.16e-01 2.71e-06 -5.7 -4.5 1.86e-02 1 2h 36 2.0808545e+00 3.63e-07 7.18e-01 1.95e-06 -5.7 -4.1 2.58e-02 1 2h 37 2.0808484e+00 6.10e-08 2.07e-04 1.85e-06 -5.7 -4.5 1.00e+00 1 1h 38 2.0808474e+00 6.18e-08 2.90e-05 2.24e-06 -5.7 -5.0 1.00e+00 1 1h 39 2.0808439e+00 7.40e-08 1.67e-05 1.85e-06 -5.7 -5.5 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0808330e+00 4.19e-06 1.75e-02 1.27e-06 -8.6 -6.0 9.41e-01 2 1h 41 2.0808179e+00 9.15e-07 5.82e-02 5.10e-07 -8.6 -3.7 7.82e-01 1 1h 42 2.0808154e+00 8.64e-08 2.12e-02 4.93e-09 -8.6 -4.2 9.06e-01 1 1h 43 2.0808166e+00 2.51e-10 8.47e-05 2.85e-06 -8.6 -4.7 1.00e+00 1 1h 44 2.0808141e+00 9.28e-11 2.46e-05 6.84e-07 -8.6 -5.2 1.00e+00 1 1h 45 2.0808101e+00 9.38e-11 4.52e-06 1.29e-07 -8.6 -5.6 1.00e+00 1 1h 46 2.0808005e+00 1.29e-10 2.22e-04 2.51e-09 -8.6 -6.1 8.65e-01 1 1h 47 2.0807698e+00 1.16e-09 9.16e-05 5.87e-09 -8.6 -6.6 1.00e+00 1 1h 48 2.0807646e+00 1.10e-09 1.10e-02 1.86e-08 -8.6 -7.1 6.51e-02 1 1h 49 2.0807116e+00 2.18e-09 1.37e-02 2.13e-07 -8.6 -7.5 4.96e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0806989e+00 2.06e-09 2.05e-02 2.12e-07 -8.6 -8.0 6.86e-02 2 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0806988933560056e+00 2.0806988933560056e+00 Dual infeasibility......: 2.0452739582966617e-02 2.0452739582966617e-02 Constraint violation....: 2.0561343738734195e-09 2.0561343738734195e-09 Complementarity.........: 2.1193198983591742e-07 2.1193198983591742e-07 Overall NLP error.......: 2.0452739582966617e-02 2.0452739582966617e-02 Number of objective function evaluations = 56 Number of objective gradient evaluations = 51 Number of constraint evaluations = 56 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 120 Number of KKT backsolves = 72 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.062 s Total wall secs in NLP function evaluations = 25.089 s Total wall secs in solver (w/o init./fun./lin. alg.) = 11.301 s Total wall secs = 36.454 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.3317925e+00 4.15e+00 8.92e-01 9.60e-01 -1.0 - 0.00e+00 1 0 1 2.8699261e+00 5.51e-02 2.55e+00 1.45e-01 -1.0 0.0 1.00e+00 1 1h 2 2.4354842e+00 2.78e-02 1.97e+00 1.08e-01 -1.0 0.4 7.75e-01 1 1h 3 2.6385200e+00 2.42e-02 7.57e-01 1.01e-01 -1.0 -0.1 1.00e+00 2 1h 4 2.3405599e+00 8.97e-03 2.44e-01 3.57e-02 -1.7 -0.5 1.00e+00 2 1h 5 2.2466501e+00 3.79e-03 7.65e-02 2.04e-02 -1.7 -1.0 1.00e+00 2 1h 6 2.1262752e+00 6.37e-04 6.75e-03 4.21e-03 -2.5 -1.5 1.00e+00 2 1h 7 2.0913277e+00 9.14e-04 4.22e-03 1.87e-04 -3.8 -2.0 1.00e+00 2 1h 8 2.0913366e+00 5.21e-07 1.04e-04 1.51e-04 -3.8 -2.4 1.00e+00 2 1h 9 2.0899969e+00 2.70e-06 2.21e-05 1.62e-05 -5.7 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899853e+00 2.23e-06 1.06e-04 4.83e-06 -5.7 -3.4 1.00e+00 2 1h 11 2.0899683e+00 1.88e-05 7.79e-05 2.29e-06 -5.7 -3.9 1.00e+00 2 1h 12 2.0899263e+00 7.38e-05 3.41e-05 1.86e-06 -5.7 -4.3 1.00e+00 2 1h 13 2.0898517e+00 4.45e-05 1.98e-03 1.85e-06 -5.7 -4.8 5.90e-01 1 1h 14 2.0894944e+00 7.27e-05 7.10e-04 3.75e-06 -5.7 -5.3 1.00e+00 1 1h 15 2.0893508e+00 6.87e-05 8.23e-02 2.19e-06 -5.7 -5.8 5.45e-02 1 1h 16 2.0867932e+00 7.06e-05 1.34e-02 3.28e-06 -5.7 -6.3 1.00e+00 1 1h 17 2.0863000e+00 6.35e-05 1.62e-01 2.92e-06 -5.7 -6.7 1.02e-01 1 1h 18 2.0817545e+00 4.91e-05 1.33e-01 2.26e-06 -5.7 -7.2 7.50e-01 1 1h 19 2.0818880e+00 1.65e-04 1.29e-01 8.18e-04 -5.7 -7.7 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0811096e+00 3.31e-05 3.34e-02 3.37e-04 -5.7 -8.2 6.08e-01 2 1h 21 2.0806869e+00 1.42e-05 4.95e-02 1.28e-04 -5.7 -8.6 9.38e-01 1 1h 22 2.0806863e+00 1.32e-05 5.26e-02 1.22e-04 -5.7 -7.3 7.36e-02 1 2h 23 2.0806762e+00 9.55e-06 1.68e-01 1.96e-05 -5.7 -6.0 2.75e-01 1 1h 24 2.0806753e+00 1.43e-07 1.09e-04 2.28e-06 -5.7 -5.6 1.00e+00 1 1h 25 2.0806685e+00 1.50e-07 8.49e-03 1.85e-06 -5.7 -6.0 1.00e+00 2 1h 26 2.0806696e+00 7.10e-08 1.30e-04 5.77e-06 -5.7 -4.7 1.00e+00 1 1h 27 2.0806683e+00 1.46e-08 2.58e-05 2.43e-06 -5.7 -5.2 1.00e+00 1 1h 28 2.0806660e+00 2.17e-09 6.78e-06 1.88e-06 -5.7 -5.7 1.00e+00 2 1h 29 2.0806392e+00 4.21e-06 3.16e-04 4.41e-07 -8.6 -6.1 9.68e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806359e+00 5.05e-08 1.17e-05 5.80e-08 -8.6 -5.7 1.00e+00 1 1h 31 2.0806280e+00 3.61e-10 8.29e-06 1.57e-08 -8.6 -6.2 1.00e+00 2 1h 32 2.0806205e+00 2.46e-10 2.00e-03 2.87e-09 -8.6 -6.7 3.33e-01 2 1h 33 2.0806038e+00 4.28e-10 1.35e-03 2.78e-07 -8.6 -7.1 1.00e+00 1 1h 34 2.0806028e+00 3.01e-12 9.32e-06 3.12e-08 -8.6 -5.8 1.00e+00 1 1h 35 2.0806024e+00 1.45e-12 1.45e-06 2.58e-09 -8.6 -5.4 1.00e+00 1 1h 36 2.0806020e+00 5.01e-12 9.51e-04 2.53e-09 -8.6 -5.9 4.99e-01 2 1h 37 2.0805992e+00 9.75e-11 4.89e-06 7.56e-09 -8.6 -6.3 1.00e+00 2 1h 38 2.0805984e+00 1.11e-10 1.55e-02 3.10e-09 -8.6 -6.8 9.26e-02 1 1h 39 2.0805772e+00 8.58e-10 1.28e-04 4.71e-09 -8.6 -7.3 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805690e+00 7.25e-10 5.48e-03 4.42e-09 -8.6 -7.8 1.70e-01 1 1h 41 2.0805539e+00 6.27e-10 1.18e-02 2.71e-09 -8.6 -8.2 1.56e-01 1 1h 42 2.0805391e+00 1.80e-09 1.33e-03 9.87e-07 -8.6 -8.7 1.00e+00 1 1h 43 2.0805365e+00 4.00e-10 3.35e-03 3.63e-09 -8.6 -9.2 1.00e+00 1 1h 44 2.0812632e+00 8.88e-16 1.69e-02 9.28e-06 -8.6 -7.0 1.00e+00 1 1H 45 2.0812566e+00 3.05e-12 9.52e-02 9.29e-06 -8.6 -3.8 2.95e-03 1 4h 46 2.0812484e+00 4.09e-12 1.98e-01 9.25e-06 -8.6 -3.4 5.51e-03 1 5h 47 2.0812461e+00 5.57e-12 2.81e-01 9.28e-06 -8.6 -3.9 6.57e-04 1 4h 48 2.0812431e+00 5.94e-12 5.23e-01 9.30e-06 -8.6 -3.5 1.96e-03 1 6h 49 2.0806251e+00 3.73e-08 5.58e+00 3.03e-06 -8.6 -3.0 6.82e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0806244e+00 3.72e-08 5.56e+00 2.93e-06 -8.6 -1.7 4.03e-03 1 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0806244296564094e+00 2.0806244296564094e+00 Dual infeasibility......: 5.5584211402586714e+00 5.5584211402586714e+00 Constraint violation....: 3.7193840896065922e-08 3.7193840896065922e-08 Complementarity.........: 2.9282116680847653e-06 2.9282116680847653e-06 Overall NLP error.......: 5.5584211402586714e+00 5.5584211402586714e+00 Number of objective function evaluations = 73 Number of objective gradient evaluations = 51 Number of constraint evaluations = 73 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 127 Number of KKT backsolves = 77 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.054 s Total wall secs in NLP function evaluations = 21.302 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.236 s Total wall secs = 31.593 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with Lapack-CPU (BUNCHKAUFMAN) Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.1997744e+00 3.02e+00 6.13e-01 9.64e-01 -1.0 - 0.00e+00 1 0 1 2.4541755e+00 8.51e-02 4.90e+00 8.55e-01 -1.0 0.0 1.00e+00 1 1h 2 2.9552669e+00 1.08e-01 1.43e+00 4.90e-01 -1.0 -0.5 1.00e+00 1 1h 3 2.8554571e+00 1.45e-01 1.25e+00 4.25e-01 -1.0 -1.0 1.07e-01 1 2h 4 2.7073219e+00 1.44e-01 1.11e+00 1.31e-01 -1.0 -0.5 2.93e-01 1 1h 5 2.6307163e+00 3.32e-02 1.04e+00 1.10e-01 -1.0 -1.0 1.00e+00 1 1h 6 2.7685225e+00 1.34e-02 3.99e-01 1.01e-01 -1.0 -1.5 1.00e+00 1 1h 7 2.3506647e+00 5.04e-02 1.22e-01 3.56e-02 -1.7 -2.0 1.00e+00 1 1h 8 2.1865967e+00 3.09e-02 2.92e-01 1.58e-02 -2.5 -2.4 6.06e-01 1 1h 9 2.1210336e+00 1.02e-03 3.36e-02 3.80e-03 -2.5 -2.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.1152742e+00 2.10e-04 7.77e-03 2.84e-03 -2.5 -3.4 1.00e+00 1 1h 11 2.0915874e+00 3.85e-04 6.83e-04 1.84e-04 -3.8 -3.9 1.00e+00 1 1h 12 2.0899929e+00 1.43e-04 1.32e-04 1.03e-05 -5.7 -4.3 1.00e+00 1 1h 13 2.0899585e+00 2.08e-04 6.09e-03 3.36e-06 -5.7 -4.8 1.89e-01 1 1h 14 2.0897721e+00 2.21e-04 8.76e-03 1.96e-06 -5.7 -5.3 1.00e+00 1 1h 15 2.0897552e+00 1.85e-04 3.95e-02 1.08e-04 -5.7 -4.0 1.61e-01 1 1h 16 2.0897041e+00 1.12e-06 1.37e-04 1.37e-05 -5.7 -4.4 1.00e+00 1 1h 17 2.0896344e+00 1.71e-06 2.76e-03 1.86e-06 -5.7 -4.9 3.96e-01 1 1h 18 2.0891842e+00 1.46e-05 6.81e-04 2.89e-06 -5.7 -5.4 1.00e+00 1 1h 19 2.0889892e+00 1.32e-05 5.23e-02 2.08e-06 -5.7 -5.9 1.22e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0860494e+00 2.58e-05 1.61e-02 5.91e-06 -5.7 -6.4 1.00e+00 1 1h 21 2.0854751e+00 2.30e-05 1.68e-01 3.07e-06 -5.7 -6.8 1.12e-01 1 1h 22 2.0817195e+00 3.81e-05 1.43e-01 2.05e-06 -5.7 -7.3 6.25e-01 1 1h 23 2.0816094e+00 1.74e-04 1.35e-01 6.10e-04 -5.7 -7.8 1.00e+00 1 1h 24 2.0811000e+00 7.91e-05 3.68e-02 3.19e-04 -5.7 -8.3 4.43e-01 1 1h 25 2.0806914e+00 1.33e-05 5.36e-02 1.54e-04 -5.7 -8.7 8.20e-01 1 1h 26 2.0807755e+00 6.14e-06 9.20e-02 1.23e-04 -5.7 -6.5 1.00e+00 1 1h 27 2.0807331e+00 4.86e-06 8.30e-02 9.01e-05 -5.7 -7.0 2.08e-01 1 1h 28 2.0806515e+00 1.96e-06 3.66e-02 3.88e-05 -5.7 -7.5 5.50e-01 1 1h 29 2.0806678e+00 2.18e-07 8.28e-03 3.20e-05 -5.7 -7.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806328e+00 1.02e-07 3.36e-04 6.11e-06 -5.7 -6.6 1.00e+00 1 1h 31 2.0806149e+00 7.45e-08 3.07e-04 2.17e-06 -5.7 -7.1 1.00e+00 1 1h 32 2.0806154e+00 3.52e-07 6.79e-03 1.86e-06 -5.7 -7.6 5.58e-02 1 5h 33 2.0806165e+00 1.06e-07 4.74e-05 4.98e-06 -5.7 -5.3 1.00e+00 1 1h 34 2.0806133e+00 4.83e-08 1.26e-02 1.90e-06 -5.7 -5.8 1.00e+00 1 1h 35 2.0806142e+00 2.99e-08 1.85e-05 2.57e-06 -5.7 -4.5 1.00e+00 1 1h 36 2.0806141e+00 5.06e-09 1.56e-05 1.85e-06 -5.7 -5.0 1.00e+00 1 1h 37 2.0805960e+00 6.46e-07 1.40e-03 5.40e-07 -8.6 -5.4 8.66e-01 1 1h 38 2.0805933e+00 5.37e-08 1.67e-03 1.31e-07 -8.6 -5.0 9.61e-01 1 1h 39 2.0805930e+00 5.80e-10 2.82e-06 2.78e-08 -8.6 -4.6 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805924e+00 4.94e-11 8.91e-04 2.71e-09 -8.6 -5.1 9.25e-01 1 1h 41 2.0805921e+00 2.35e-11 1.68e-02 1.57e-08 -8.6 -5.5 4.73e-01 1 1h 42 2.0805908e+00 1.46e-11 4.50e-05 3.42e-08 -8.6 -6.0 1.00e+00 1 1h 43 2.0805904e+00 8.22e-12 2.02e-02 2.60e-09 -8.6 -5.6 4.36e-01 1 1h 44 2.0805888e+00 8.90e-12 9.84e-06 4.18e-09 -8.6 -6.1 1.00e+00 1 1h 45 2.0805871e+00 1.12e-11 3.75e-04 2.71e-09 -8.6 -6.5 3.49e-01 1 1h 46 2.0805743e+00 1.21e-10 5.45e-05 7.08e-09 -8.6 -7.0 1.00e+00 1 1h 47 2.0805679e+00 9.80e-11 3.35e-03 4.01e-09 -8.6 -7.5 2.09e-01 1 1h 48 2.0805534e+00 1.35e-10 8.05e-03 4.05e-09 -8.6 -8.0 2.10e-01 1 1h 49 2.0805521e+00 1.34e-10 1.83e-02 3.92e-08 -8.6 -8.5 3.65e-02 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805373e+00 1.91e-09 2.26e-03 1.37e-08 -8.6 -8.9 1.00e+00 1 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805372732336433e+00 2.0805372732336433e+00 Dual infeasibility......: 2.2562110650652389e-03 2.2562110650652389e-03 Constraint violation....: 1.9096016989905706e-09 1.9096016989905706e-09 Complementarity.........: 1.3663890362418522e-08 1.3663890362418522e-08 Overall NLP error.......: 2.2562110650652389e-03 2.2562110650652389e-03 Number of objective function evaluations = 59 Number of objective gradient evaluations = 51 Number of constraint evaluations = 59 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 119 Number of KKT backsolves = 54 Total wall secs in initialization = 0.169 s Total wall secs in linear solver = 0.112 s Total wall secs in NLP function evaluations = 23.301 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.048 s Total wall secs = 33.630 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.4502240e+00 1.70e+00 5.05e-01 9.33e-01 -1.0 - 0.00e+00 1 0 1 2.3844186e+00 6.87e-01 9.76e+00 2.40e+00 -0.7 0.0 5.95e-01 1 1h 2 2.8640082e+00 2.71e-02 1.41e+01 1.37e+00 -0.7 -0.5 1.00e+00 2 1h 3 2.8695048e+00 4.29e-02 9.11e+00 9.86e-01 -0.8 -1.0 5.09e-01 2 1H 4 2.7340169e+00 5.76e-02 1.41e+00 1.73e-01 -0.8 -0.5 5.22e-01 1 1h 5 2.9174637e+00 5.19e-02 1.17e+00 1.54e-01 -0.9 -1.0 1.00e+00 2 1h 6 2.6334368e+00 3.05e-02 4.17e-01 8.87e-02 -5.5 -1.5 3.80e-01 2 1h 7 2.3651861e+00 9.50e-02 1.69e-01 3.82e-02 -1.4 -2.0 9.77e-01 2 1h 8 2.1652235e+00 1.12e-02 6.09e-02 1.09e-02 -2.2 -2.4 9.71e-01 2 1h 9 2.0950392e+00 1.86e-03 9.85e-03 1.10e-03 -3.2 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0952564e+00 1.10e-03 1.27e-03 5.88e-04 -3.2 -3.4 1.00e+00 2 1h 11 2.0901071e+00 8.10e-05 1.80e-04 1.89e-05 -4.8 -3.9 1.00e+00 2 1h 12 2.0900606e+00 6.51e-05 1.71e-04 1.48e-05 -4.8 -4.3 1.00e+00 2 1h 13 2.0899581e+00 7.49e-05 6.76e-04 1.42e-05 -4.8 -4.8 1.00e+00 2 1h 14 2.0896266e+00 9.14e-05 9.00e-04 1.43e-05 -4.8 -5.3 1.00e+00 2 1h 15 2.0894064e+00 8.01e-05 4.70e-02 1.58e-05 -4.8 -5.8 1.45e-01 2 1h 16 2.0869275e+00 6.88e-05 1.18e-02 1.93e-05 -4.8 -6.3 1.00e+00 2 1h 17 2.0863320e+00 6.29e-05 2.25e-01 2.51e-05 -4.8 -6.7 8.66e-02 2 1h 18 2.0819002e+00 4.07e-04 1.30e-01 1.52e-05 -4.8 -7.2 7.65e-01 2 1h 19 2.0822578e+00 1.89e-06 1.31e-01 1.06e-03 -4.8 -7.7 1.00e+00 2 1H iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0810381e+00 1.82e-03 1.93e-02 3.27e-04 -8.1 -8.2 8.01e-01 2 1h 21 2.0807185e+00 4.51e-04 4.23e-02 1.19e-04 -5.2 -8.6 9.64e-01 1 1h 22 2.0810137e+00 5.19e-05 2.57e-01 2.99e-04 -5.2 -6.4 1.00e+00 1 1h 23 2.0812313e+00 3.51e-05 1.32e-01 1.99e-04 -5.2 -6.9 3.87e-01 2 1h 24 2.0811733e+00 3.41e-05 1.04e+01 9.59e-05 -5.2 -2.8 3.10e-02 1 1h 25 2.0807852e+00 1.18e-06 1.45e-01 1.74e-05 -5.2 -3.3 9.63e-01 1 1h 26 2.0809904e+00 4.58e-08 3.11e-03 3.89e-04 -5.2 -3.8 1.00e+00 1 1h 27 2.0808613e+00 4.65e-07 7.33e-04 9.90e-05 -5.2 -4.3 1.00e+00 2 1h 28 2.0808176e+00 8.83e-08 2.56e-04 2.75e-05 -5.2 -4.8 1.00e+00 2 1h 29 2.0808034e+00 7.40e-08 4.12e-05 1.01e-05 -5.2 -5.2 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0807257e+00 1.08e-05 1.65e-03 2.69e-06 -7.9 -5.7 9.27e-01 2 1h 31 2.0806667e+00 2.81e-06 4.26e-04 6.59e-07 -7.9 -6.2 1.00e+00 2 1h 32 2.0806532e+00 2.50e-06 2.15e-02 2.16e-07 -7.9 -6.7 1.10e-01 2 1h 33 2.0806477e+00 1.41e-06 2.63e-02 7.31e-08 -7.9 -6.2 4.37e-01 1 1h 34 2.0806093e+00 3.23e-08 1.61e-02 1.69e-05 -7.9 -6.7 1.00e+00 1 1h 35 2.0806076e+00 3.15e-08 6.26e-02 1.68e-07 -7.9 -7.2 2.67e-02 1 1h 36 2.0805727e+00 1.02e-08 1.40e-02 1.31e-07 -7.9 -7.7 6.94e-01 2 1h 37 2.0805509e+00 8.16e-09 1.17e-02 1.05e-07 -7.9 -8.1 2.36e-01 2 1h 38 2.0805504e+00 8.00e-09 1.96e-02 4.56e-08 -7.9 -8.6 1.89e-02 1 1h 39 2.0805370e+00 1.07e-08 3.00e-03 1.74e-08 -7.9 -9.1 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805374e+00 1.24e-09 1.11e-04 2.62e-06 -7.9 -6.9 1.00e+00 1 1h 41 2.0805386e+00 4.44e-16 1.37e-02 1.43e-08 -7.9 -7.3 1.00e+00 2 1H 42 2.0805370e+00 3.41e-11 1.44e-04 1.40e-08 -7.9 -4.2 1.00e+00 1 1h 43 2.0805369e+00 6.97e-13 1.21e-02 1.41e-08 -7.9 -4.7 8.65e-01 1 1h 44 2.0805370e+00 4.69e-12 4.21e-06 9.32e-08 -7.9 -5.2 1.00e+00 1 1h 45 2.0805369e+00 5.86e-13 1.08e-06 3.04e-08 -7.9 -5.6 1.00e+00 2 1h 46 2.0805369e+00 2.77e-12 1.53e-07 1.59e-08 -7.9 -6.1 1.00e+00 1 1h 47 2.0805369e+00 1.01e-11 3.37e-08 1.41e-08 -7.9 -6.6 1.00e+00 1 1h 48 2.0805367e+00 7.42e-09 5.73e-07 1.81e-09 -9.0 -7.1 1.00e+00 2 1h 49 2.0805367e+00 1.18e-11 1.06e-06 9.09e-10 -9.0 -7.5 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805366e+00 2.84e-12 3.13e-06 9.09e-10 -9.0 -8.0 1.00e+00 1 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805365596967644e+00 2.0805365596967644e+00 Dual infeasibility......: 3.1314035260909812e-06 3.1314035260909812e-06 Constraint violation....: 2.8416158315280882e-12 2.8416158315280882e-12 Complementarity.........: 9.0909090967219384e-10 9.0909090967219384e-10 Overall NLP error.......: 3.1314035260909812e-06 3.1314035260909812e-06 Number of objective function evaluations = 54 Number of objective gradient evaluations = 51 Number of constraint evaluations = 54 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 120 Number of KKT backsolves = 88 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.055 s Total wall secs in NLP function evaluations = 20.940 s Total wall secs in solver (w/o init./fun./lin. alg.) = 11.741 s Total wall secs = 32.737 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.8073252e+00 2.50e+00 7.01e-01 9.80e-01 -1.0 - 0.00e+00 1 0 1 2.4928151e+00 2.03e+00 2.46e+01 2.86e+00 -0.2 0.0 1.89e-01 1 1h 2 3.2642851e+00 1.12e-01 1.73e+01 1.94e+00 0.1 -0.5 1.00e+00 2 1h 3 2.9693212e+00 2.60e-01 1.51e+01 6.39e-01 -5.9 -1.0 1.00e+00 2 1h 4 2.8277654e+00 2.39e-02 9.73e-01 2.85e-01 -0.7 -0.5 1.00e+00 1 1h 5 2.4425930e+00 1.84e-02 5.05e-01 7.44e-02 -2.6 -1.0 1.00e+00 2 1h 6 2.3961053e+00 1.90e-02 1.35e-01 6.80e-02 -1.5 -1.5 1.00e+00 2 1h 7 2.1164921e+00 1.75e-02 1.87e-02 6.42e-03 -3.4 -2.0 9.73e-01 2 1h 8 2.1140902e+00 1.23e-03 5.19e-03 2.76e-03 -2.6 -2.4 1.00e+00 2 1h 9 2.0913519e+00 2.50e-05 2.55e-04 1.64e-04 -3.9 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899789e+00 5.83e-06 1.67e-05 8.20e-06 -5.8 -3.4 1.00e+00 2 1h 11 2.0899616e+00 1.06e-05 6.86e-05 2.66e-06 -5.8 -3.9 1.00e+00 2 1h 12 2.0899187e+00 5.54e-05 8.11e-05 1.65e-06 -5.8 -4.3 9.57e-01 2 1h 13 2.0897962e+00 8.20e-05 1.51e-04 2.37e-06 -5.8 -4.8 1.00e+00 1 1h 14 2.0897040e+00 7.06e-05 1.51e-02 1.70e-06 -5.8 -5.3 1.91e-01 2 1h 15 2.0886740e+00 7.05e-05 2.20e-03 3.40e-06 -5.8 -5.8 1.00e+00 2 1h 16 2.0883559e+00 6.30e-05 9.56e-02 2.07e-06 -5.8 -6.3 1.10e-01 1 1h 17 2.0836377e+00 2.86e-05 5.16e-02 4.64e-06 -5.8 -6.7 1.00e+00 1 1h 18 2.0827616e+00 2.42e-05 1.31e-01 2.46e-06 -5.8 -7.2 1.97e-01 1 1h 19 2.0816934e+00 2.11e-05 1.35e-01 3.62e-06 -5.8 -7.7 2.18e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0814538e+00 2.46e-05 2.07e-01 2.29e-05 -5.8 -8.2 2.21e-01 1 1h 21 2.0806630e+00 4.14e-05 1.50e-01 1.19e-05 -5.8 -8.6 8.75e-01 2 1h 22 2.0806659e+00 3.67e-05 1.25e-01 2.47e-05 -5.8 -6.4 1.14e-01 1 1h 23 2.0806651e+00 3.56e-05 1.54e-02 9.88e-06 -5.8 -6.9 3.00e-02 1 5f 24 2.0806635e+00 5.36e-05 7.34e-04 4.98e-06 -5.4 -7.4 1.00e+00 1 1h 25 2.0806199e+00 4.62e-05 1.14e-03 3.59e-06 -5.5 -7.8 1.00e+00 1 1h 26 2.0805908e+00 4.27e-06 1.07e-02 3.53e-06 -5.5 -8.3 1.00e+00 1 1h 27 2.0820854e+00 3.93e-06 1.05e-01 1.25e-05 -5.5 -7.9 3.39e-03 1 1h 28 2.0806069e+00 2.04e-06 4.79e-03 1.70e-04 -5.5 -8.4 1.00e+00 1 1h 29 2.0805807e+00 1.54e-07 2.44e-04 4.46e-06 -5.5 -8.8 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805803e+00 3.26e-08 2.40e-05 3.38e-06 -5.5 -9.3 1.00e+00 1 1h 31 2.0805372e+00 1.23e-05 1.09e-05 1.90e-07 -8.2 -9.8 9.88e-01 2 1h 32 2.0805365e+00 1.57e-08 3.74e-08 6.97e-09 -8.2 -10.3 1.00e+00 2 1h 33 2.0805365e+00 4.21e-11 5.79e-10 1.01e-09 -9.0 -10.8 1.00e+00 2 1h Number of Iterations....: 33 (scaled) (unscaled) Objective...............: 2.0805364595439122e+00 2.0805364595439122e+00 Dual infeasibility......: 5.7935801418684579e-10 5.7935801418684579e-10 Constraint violation....: 4.2109427056402637e-11 4.2109427056402637e-11 Complementarity.........: 1.0074162810224626e-09 1.0074162810224626e-09 Overall NLP error.......: 1.0074162810224626e-09 1.0074162810224626e-09 Number of objective function evaluations = 38 Number of objective gradient evaluations = 34 Number of constraint evaluations = 38 Number of constraint Jacobian evaluations = 34 Number of Lagrangian Hessian evaluations = 33 Number of KKT factorizations = 74 Number of KKT backsolves = 51 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.033 s Total wall secs in NLP function evaluations = 20.941 s Total wall secs in solver (w/o init./fun./lin. alg.) = 12.762 s Total wall secs = 33.737 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.916s jacobian structure: 1600 nonzeros (2.982s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.585s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (4.639s) linear index maps built (0.0s) evaluator ready (total: 7.622s) evaluator created (7.647s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 7.662s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.7103818e+00 2.28e+00 6.39e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 3.1001722e+00 9.30e-02 3.41e+00 -0.9 2.03e+00 0.0 9.36e-01 1.00e+00f 1 Hello, world! 2 2.5604528e+00 2.93e-02 6.92e-01 -1.0 2.15e-01 0.4 9.76e-01 1.00e+00h 1 Hello, world! 3 2.4576471e+00 4.69e-03 4.19e-01 -1.5 1.64e-01 -0.1 9.86e-01 1.00e+00h 1 Hello, world! 4 2.2880837e+00 1.49e-02 5.11e-01 -1.8 2.30e-01 -0.5 9.59e-01 6.69e-01h 1 Hello, world! 5 2.1706688e+00 8.06e-03 1.70e-01 -2.7 7.93e-02 -1.0 1.00e+00 4.60e-01h 1 Hello, world! 6 2.0952954e+00 7.93e-04 3.10e-02 -3.9 6.93e-02 -1.5 1.00e+00 9.09e-01h 1 Hello, world! 7 2.0908828e+00 1.16e-05 6.85e-03 -4.0 1.28e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908888e+00 4.66e-08 4.11e-05 -4.0 1.13e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908861e+00 7.84e-10 1.85e-05 -4.0 1.52e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908813e+00 9.42e-10 1.83e-05 -4.0 4.50e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908686e+00 7.19e-09 1.76e-05 -4.0 1.30e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908373e+00 5.06e-08 7.42e-05 -4.0 3.58e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907627e+00 3.04e-07 3.28e-04 -4.0 9.58e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905519e+00 2.84e-06 3.68e-04 -4.0 2.88e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0904650e+00 3.90e-07 3.17e-04 -4.0 1.11e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0901208e+00 6.57e-07 2.58e-03 -4.0 3.95e+00 -5.4 1.00e+00 8.54e-01H 1 Hello, world! 17 2.0895513e+00 5.10e-05 1.26e-02 -4.0 1.18e+01 -5.8 1.00e+00 1.00e+00f 1 Hello, world! 18 2.1003920e+00 1.34e-02 1.70e-01 -2.7 1.00e+02 -5.4 3.66e-01 2.62e-01f 2 Hello, world! 19 2.0957186e+00 5.82e-03 2.37e-01 -3.2 9.13e-01 -3.2 4.97e-01 5.97e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0950275e+00 5.83e-03 2.41e-01 -3.2 3.43e+01 -2.7 5.47e-03 6.58e-04h 2 Hello, world! 21 2.0943557e+00 5.85e-03 7.30e-01 -3.2 3.31e+01 -3.2 1.16e-01 1.38e-03h 1 Hello, world! 22 2.0933368e+00 5.85e-03 3.02e-01 -3.2 2.43e+01 -2.8 4.07e-02 8.59e-04h 1 Hello, world! 23 2.0936429e+00 5.85e-03 3.02e-01 -3.2 1.43e+02 -3.3 7.89e-05 1.50e-04f 9 Hello, world! 24 2.0942459e+00 5.86e-03 4.44e+00 -3.2 7.14e+01 -2.8 1.92e-01 2.75e-04h 8 Hello, world! 25 2.1301945e+00 9.13e-03 1.44e-01 -3.2 8.62e-01 -3.3 1.00e+00 1.00e+00H 1 Hello, world! 26 2.1208631e+00 5.39e-03 9.63e-02 -3.2 2.08e+00 -3.8 1.00e+00 9.44e-01H 1 Hello, world! 27 2.1000090e+00 4.23e-03 2.40e-02 -3.2 7.98e-01 -4.3 8.13e-02 1.00e+00f 1 Hello, world! 28 2.0949897e+00 3.84e-04 1.82e-02 -3.2 1.27e+00 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0943154e+00 2.51e-04 5.34e-03 -3.2 5.35e-01 -4.3 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 2.0895137e+00 7.71e-04 6.46e-04 -4.9 1.34e+00 -4.8 9.94e-01 1.00e+00h 1 Hello, world! 31 2.0898098e+00 3.63e-04 4.51e-04 -4.0 4.30e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0900350e+00 1.96e-04 4.33e-02 -4.1 1.42e+01 -5.8 3.35e-01 1.00e+00h 1 Hello, world! 33 2.0881250e+00 1.83e-04 5.22e-01 -4.1 1.08e+01 -4.4 7.12e-01 2.99e-01h 1 Hello, world! 34 2.0888033e+00 1.41e-04 3.20e-01 -4.0 2.11e+00 -4.9 1.00e+00 2.50e-01f 3 Hello, world! 35 2.0885327e+00 2.14e-04 4.70e-02 -4.0 4.19e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0875026e+00 2.03e-04 1.53e-01 -4.0 4.07e+01 -5.9 1.00e+00 2.15e-01h 1 Hello, world! 37 2.0855496e+00 3.35e-04 1.06e-02 -4.0 2.75e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0830372e+00 4.92e-04 3.39e-02 -4.0 4.34e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0826705e+00 4.67e-04 1.24e-02 -4.0 5.77e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822876e+00 5.69e-04 1.00e-02 -4.0 1.31e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0921690e+00 6.31e-05 3.23e-01 -4.0 2.02e+02 -7.3 1.40e-01 1.00e+00H 1 Hello, world! 42 2.0836070e+00 1.57e-03 3.94e+00 -4.1 4.65e+00 -4.2 5.98e-02 3.51e-01f 1 Hello, world! 43 2.0826535e+00 2.18e-03 3.94e+00 -4.1 5.15e+02 -4.7 7.70e-06 1.09e-03f 1 Hello, world! 44 2.0827432e+00 2.21e-03 3.95e+00 -4.1 2.63e+03 -5.2 4.62e-07 8.79e-05f 2 Hello, world! 45 2.0826839e+00 2.13e-03 4.39e+00 -4.1 1.58e+00 -2.9 1.00e+00 3.86e-02h 1 Hello, world! 46 2.0828915e+00 4.66e-06 4.20e-03 -4.1 3.59e-02 -3.4 1.00e+00 1.00e+00f 1 Hello, world! 47 2.0830420e+00 2.84e-06 6.79e-05 -4.0 5.75e-02 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0830270e+00 1.27e-07 7.41e-06 -4.0 1.71e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0829961e+00 1.79e-07 1.33e-05 -4.0 5.01e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0829145e+00 1.39e-06 1.00e-04 -4.0 1.40e+00 -5.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0829145230493209e+00 2.0829145230493209e+00 Dual infeasibility......: 1.0010781963250908e-04 1.0010781963250908e-04 Constraint violation....: 1.3898521704636124e-06 1.3898521704636124e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999992985e-05 9.9999999999992985e-05 Overall NLP error.......: 1.0010781963250908e-04 1.0010781963250908e-04 Number of objective function evaluations = 83 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 83 Number of inequality constraint evaluations = 83 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 31.427 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 4.538s hessian structure: 1749 nonzeros (4.538s) linear index maps built (0.0s) evaluator ready (total: 4.539s) evaluator created (4.539s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 4.54s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.7103818e+00 2.28e+00 6.39e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 3.1001722e+00 9.30e-02 3.41e+00 -0.9 2.03e+00 0.0 9.36e-01 1.00e+00f 1 Hello, world! 2 2.5604528e+00 2.93e-02 6.92e-01 -1.0 2.15e-01 0.4 9.76e-01 1.00e+00h 1 Hello, world! 3 2.4576471e+00 4.69e-03 4.19e-01 -1.5 1.64e-01 -0.1 9.86e-01 1.00e+00h 1 Hello, world! 4 2.2880837e+00 1.49e-02 5.11e-01 -1.8 2.30e-01 -0.5 9.59e-01 6.69e-01h 1 Hello, world! 5 2.1706688e+00 8.06e-03 1.70e-01 -2.7 7.93e-02 -1.0 1.00e+00 4.60e-01h 1 Hello, world! 6 2.0952954e+00 7.93e-04 3.10e-02 -3.9 6.93e-02 -1.5 1.00e+00 9.09e-01h 1 Hello, world! 7 2.0908828e+00 1.16e-05 6.85e-03 -4.0 1.28e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908888e+00 4.66e-08 4.11e-05 -4.0 1.13e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908861e+00 7.84e-10 1.85e-05 -4.0 1.52e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908813e+00 9.42e-10 1.83e-05 -4.0 4.50e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908686e+00 7.19e-09 1.76e-05 -4.0 1.30e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908373e+00 5.06e-08 7.42e-05 -4.0 3.58e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907627e+00 3.04e-07 3.28e-04 -4.0 9.58e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905519e+00 2.84e-06 3.68e-04 -4.0 2.88e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0904650e+00 3.90e-07 3.17e-04 -4.0 1.11e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0901208e+00 6.57e-07 2.58e-03 -4.0 3.95e+00 -5.4 1.00e+00 8.54e-01H 1 Hello, world! 17 2.0895513e+00 5.10e-05 1.26e-02 -4.0 1.18e+01 -5.8 1.00e+00 1.00e+00f 1 Hello, world! 18 2.1003920e+00 1.34e-02 1.70e-01 -2.7 1.00e+02 -5.4 3.66e-01 2.62e-01f 2 Hello, world! 19 2.0957186e+00 5.82e-03 2.37e-01 -3.2 9.13e-01 -3.2 4.97e-01 5.97e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0950275e+00 5.83e-03 2.41e-01 -3.2 3.43e+01 -2.7 5.47e-03 6.58e-04h 2 Hello, world! 21 2.0943557e+00 5.85e-03 7.30e-01 -3.2 3.31e+01 -3.2 1.16e-01 1.38e-03h 1 Hello, world! 22 2.0933368e+00 5.85e-03 3.02e-01 -3.2 2.43e+01 -2.8 4.07e-02 8.59e-04h 1 Hello, world! 23 2.0936429e+00 5.85e-03 3.02e-01 -3.2 1.43e+02 -3.3 7.89e-05 1.50e-04f 9 Hello, world! 24 2.0942459e+00 5.86e-03 4.44e+00 -3.2 7.14e+01 -2.8 1.92e-01 2.75e-04h 8 Hello, world! 25 2.1301945e+00 9.13e-03 1.44e-01 -3.2 8.62e-01 -3.3 1.00e+00 1.00e+00H 1 Hello, world! 26 2.1208631e+00 5.39e-03 9.63e-02 -3.2 2.08e+00 -3.8 1.00e+00 9.44e-01H 1 Hello, world! 27 2.1000090e+00 4.23e-03 2.40e-02 -3.2 7.98e-01 -4.3 8.13e-02 1.00e+00f 1 Hello, world! 28 2.0949897e+00 3.84e-04 1.82e-02 -3.2 1.27e+00 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0943154e+00 2.51e-04 5.34e-03 -3.2 5.35e-01 -4.3 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 2.0895137e+00 7.71e-04 6.46e-04 -4.9 1.34e+00 -4.8 9.94e-01 1.00e+00h 1 Hello, world! 31 2.0898098e+00 3.63e-04 4.51e-04 -4.0 4.30e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0900350e+00 1.96e-04 4.33e-02 -4.1 1.42e+01 -5.8 3.35e-01 1.00e+00h 1 Hello, world! 33 2.0881250e+00 1.83e-04 5.22e-01 -4.1 1.08e+01 -4.4 7.12e-01 2.99e-01h 1 Hello, world! 34 2.0888033e+00 1.41e-04 3.20e-01 -4.0 2.11e+00 -4.9 1.00e+00 2.50e-01f 3 Hello, world! 35 2.0885327e+00 2.14e-04 4.70e-02 -4.0 4.19e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0875026e+00 2.03e-04 1.53e-01 -4.0 4.07e+01 -5.9 1.00e+00 2.15e-01h 1 Hello, world! 37 2.0855496e+00 3.35e-04 1.06e-02 -4.0 2.75e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0830372e+00 4.92e-04 3.39e-02 -4.0 4.34e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0826705e+00 4.67e-04 1.24e-02 -4.0 5.77e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822876e+00 5.69e-04 1.00e-02 -4.0 1.31e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0921690e+00 6.31e-05 3.23e-01 -4.0 2.02e+02 -7.3 1.40e-01 1.00e+00H 1 Hello, world! 42 2.0836070e+00 1.57e-03 3.94e+00 -4.1 4.65e+00 -4.2 5.98e-02 3.51e-01f 1 Hello, world! 43 2.0826535e+00 2.18e-03 3.94e+00 -4.1 5.15e+02 -4.7 7.70e-06 1.09e-03f 1 Hello, world! 44 2.0827432e+00 2.21e-03 3.95e+00 -4.1 2.63e+03 -5.2 4.62e-07 8.79e-05f 2 Hello, world! 45 2.0826839e+00 2.13e-03 4.39e+00 -4.1 1.58e+00 -2.9 1.00e+00 3.86e-02h 1 Hello, world! 46 2.0828915e+00 4.66e-06 4.20e-03 -4.1 3.59e-02 -3.4 1.00e+00 1.00e+00f 1 Hello, world! 47 2.0830420e+00 2.84e-06 6.79e-05 -4.0 5.75e-02 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0830270e+00 1.27e-07 7.41e-06 -4.0 1.71e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0829961e+00 1.79e-07 1.33e-05 -4.0 5.01e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0829145e+00 1.39e-06 1.00e-04 -4.0 1.40e+00 -5.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0829145230493209e+00 2.0829145230493209e+00 Dual infeasibility......: 1.0010781963250908e-04 1.0010781963250908e-04 Constraint violation....: 1.3898521704636124e-06 1.3898521704636124e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999992985e-05 9.9999999999992985e-05 Overall NLP error.......: 1.0010781963250908e-04 1.0010781963250908e-04 Number of objective function evaluations = 83 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 83 Number of inequality constraint evaluations = 83 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 1.470 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.132s jacobian structure: 1600 nonzeros (3.2s) integrator 1 hessian structure: 0.056s integrator 2 hessian structure: 0.115s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.717s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (4.888s) linear index maps built (0.0s) evaluator ready (total: 8.088s) evaluator created (8.113s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 8.114s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 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 1.9597321e+00 3.44e+00 6.47e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4259007e+00 2.26e-01 3.57e+00 -0.8 1.79e+00 0.0 7.29e-01 9.35e-01h 1 2 2.3394264e+00 1.28e-01 7.53e+00 -0.5 4.31e-01 0.4 9.65e-01 4.20e-01f 1 3 2.6996178e+00 2.11e-02 3.30e+00 -0.6 5.67e-01 -0.1 7.76e-01 1.00e+00f 1 4 2.5387540e+00 2.81e-02 8.80e-01 -1.1 3.63e-01 -0.5 9.78e-01 7.74e-01h 1 5 2.3440384e+00 3.23e-03 1.60e-01 -1.9 1.34e-01 -1.0 9.51e-01 1.00e+00h 1 6 2.1367431e+00 4.32e-03 4.22e-02 -2.5 1.19e-01 -1.5 9.94e-01 9.49e-01h 1 7 2.0928478e+00 2.02e-04 9.26e-03 -3.5 2.80e-02 -2.0 9.97e-01 9.60e-01h 1 8 2.0910211e+00 4.70e-06 6.57e-04 -4.0 1.56e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0910074e+00 4.12e-08 3.54e-05 -4.0 2.79e-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 2.0909977e+00 2.28e-09 2.67e-05 -4.0 6.56e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909729e+00 1.77e-08 4.44e-05 -4.0 1.91e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0909139e+00 1.26e-07 2.93e-04 -4.0 5.01e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908292e+00 4.28e-07 1.26e-03 -4.0 1.04e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0906279e+00 3.05e-06 1.66e-03 -4.0 3.06e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0900543e+00 2.82e-05 6.87e-04 -4.0 9.24e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0897443e+00 4.73e-06 2.04e-03 -4.0 3.47e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888869e+00 3.86e-05 2.56e-03 -4.0 1.04e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0881530e+00 5.24e-05 9.08e-02 -4.0 3.49e+01 -6.3 1.00e+00 2.21e-01h 1 19 2.0843664e+00 1.40e-03 4.69e-02 -4.0 5.94e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0836288e+00 1.26e-03 1.62e-01 -4.0 1.94e+02 -7.3 1.00e+00 1.14e-01h 1 21 2.0823240e+00 8.58e-04 4.73e-02 -4.0 1.24e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0820286e+00 1.07e-03 3.46e-02 -4.0 2.25e+02 -8.2 5.82e-01 1.00e+00h 1 23 2.8688809e+00 5.74e-04 4.64e+00 -4.0 4.14e+02 -8.7 5.82e-02 1.00e+00h 1 24 2.2868091e+00 1.03e-09 2.37e+00 -4.1 1.66e-01 1.2 1.00e+00 1.00e+00f 1 25 2.0951462e+00 1.26e-08 6.03e-01 -4.1 1.29e-01 0.7 1.00e+00 1.00e+00f 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0951461744351678e+00 2.0951461744351678e+00 Dual infeasibility......: 6.0322933115081390e-01 6.0322933115081390e-01 Constraint violation....: 1.2578858503420332e-08 1.2578858503420332e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.7041805288776820e-05 7.7041805288776820e-05 Overall NLP error.......: 6.0322933115081390e-01 6.0322933115081390e-01 Number of objective function evaluations = 26 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 26 Number of inequality constraint evaluations = 26 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 33.942 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.006s) evaluator created (0.006s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.006s) 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 1.9597321e+00 3.44e+00 6.47e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4259007e+00 2.26e-01 3.57e+00 -0.8 1.79e+00 0.0 7.29e-01 9.35e-01h 1 2 2.3394264e+00 1.28e-01 7.53e+00 -0.5 4.31e-01 0.4 9.65e-01 4.20e-01f 1 3 2.6996178e+00 2.11e-02 3.30e+00 -0.6 5.67e-01 -0.1 7.76e-01 1.00e+00f 1 4 2.5387540e+00 2.81e-02 8.80e-01 -1.1 3.63e-01 -0.5 9.78e-01 7.74e-01h 1 5 2.3440384e+00 3.23e-03 1.60e-01 -1.9 1.34e-01 -1.0 9.51e-01 1.00e+00h 1 6 2.1367431e+00 4.32e-03 4.22e-02 -2.5 1.19e-01 -1.5 9.94e-01 9.49e-01h 1 7 2.0928478e+00 2.02e-04 9.26e-03 -3.5 2.80e-02 -2.0 9.97e-01 9.60e-01h 1 8 2.0910211e+00 4.70e-06 6.57e-04 -4.0 1.56e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0910074e+00 4.12e-08 3.54e-05 -4.0 2.79e-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 2.0909977e+00 2.28e-09 2.67e-05 -4.0 6.56e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909729e+00 1.77e-08 4.44e-05 -4.0 1.91e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0909139e+00 1.26e-07 2.93e-04 -4.0 5.01e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908292e+00 4.28e-07 1.26e-03 -4.0 1.04e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0906279e+00 3.05e-06 1.66e-03 -4.0 3.06e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0900543e+00 2.82e-05 6.87e-04 -4.0 9.24e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0897443e+00 4.73e-06 2.04e-03 -4.0 3.47e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888869e+00 3.86e-05 2.56e-03 -4.0 1.04e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0881530e+00 5.24e-05 9.08e-02 -4.0 3.49e+01 -6.3 1.00e+00 2.21e-01h 1 19 2.0843664e+00 1.40e-03 4.69e-02 -4.0 5.94e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0836288e+00 1.26e-03 1.62e-01 -4.0 1.94e+02 -7.3 1.00e+00 1.14e-01h 1 21 2.0823240e+00 8.58e-04 4.73e-02 -4.0 1.24e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0820286e+00 1.07e-03 3.46e-02 -4.0 2.25e+02 -8.2 5.82e-01 1.00e+00h 1 23 2.8688809e+00 5.74e-04 4.64e+00 -4.0 4.14e+02 -8.7 5.82e-02 1.00e+00h 1 24 2.2868091e+00 1.03e-09 2.37e+00 -4.1 1.66e-01 1.2 1.00e+00 1.00e+00f 1 25 2.0951462e+00 1.26e-08 6.03e-01 -4.1 1.29e-01 0.7 1.00e+00 1.00e+00f 1 26 2.0825858e+00 3.57e-09 1.35e-01 -4.1 3.92e-02 0.2 1.00e+00 8.63e-01f 1 27 2.0832591e+00 3.17e-09 4.07e-01 -4.0 3.24e-02 -0.3 1.00e+00 1.25e-01f 4 28 2.0831157e+00 2.27e-08 7.56e-04 -4.0 4.27e-03 -0.8 1.00e+00 1.00e+00f 1 29 2.0822915e+00 1.35e-06 9.37e-02 -5.9 2.54e-02 -1.2 8.54e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0827994e+00 2.27e-06 1.37e-03 -4.0 3.22e-02 -1.7 1.00e+00 1.00e+00h 1 31 2.0825753e+00 4.24e-07 1.37e-04 -4.1 2.10e-02 -2.2 1.00e+00 1.00e+00h 1 32 2.0826764e+00 5.68e-08 4.38e-05 -4.0 5.32e-03 -2.7 1.00e+00 1.00e+00h 1 33 2.0825270e+00 1.76e-07 6.22e-05 -4.1 8.33e-03 -3.1 1.00e+00 1.00e+00h 1 34 2.0826775e+00 3.91e-07 6.80e-05 -4.0 1.90e-02 -3.6 1.00e+00 1.00e+00h 1 35 2.0825197e+00 1.55e-06 5.04e-05 -4.1 6.67e-02 -4.1 1.00e+00 1.00e+00h 1 36 2.0818556e+00 5.04e-05 2.44e-02 -6.1 5.24e-01 -4.6 8.56e-01 1.00e+00h 1 37 2.0827189e+00 7.46e-05 2.21e-03 -4.0 5.62e-01 -5.0 1.00e+00 1.00e+00h 1 38 2.0823524e+00 6.59e-05 1.77e-04 -4.1 1.48e+00 -5.5 1.00e+00 1.00e+00h 1 39 2.0813378e+00 5.54e-04 2.66e-03 -6.1 5.79e+00 -6.0 9.91e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0813440e+00 1.61e-04 2.35e-03 -4.7 9.71e+00 -6.5 1.00e+00 1.00e+00h 1 41 2.0821788e+00 2.13e-03 1.48e-03 -4.0 3.10e+01 -7.0 1.00e+00 1.00e+00h 1 42 2.0817464e+00 9.22e-04 9.01e-03 -4.1 6.77e+01 -7.4 1.00e+00 1.00e+00h 1 43 2.0815478e+00 5.60e-04 2.58e-02 -4.1 1.45e+02 -7.9 5.08e-01 1.00e+00h 1 44 2.0819114e+00 2.54e-04 7.30e-01 -4.1 3.12e+02 -6.6 1.82e-01 4.70e-02h 3 45 2.0816616e+00 4.08e-05 1.76e-02 -4.1 6.93e-02 -1.6 1.00e+00 8.39e-01h 1 46 2.0817427e+00 3.85e-07 5.99e-04 -4.0 1.08e-01 -2.1 1.00e+00 1.00e+00f 1 47 2.0817844e+00 1.67e-07 4.64e-04 -4.0 4.63e-02 -2.6 1.00e+00 1.00e+00h 1 48 2.0817908e+00 4.91e-08 9.76e-06 -4.0 8.10e-03 -3.1 1.00e+00 1.00e+00h 1 49 2.0817914e+00 1.72e-08 6.87e-06 -4.0 2.43e-02 -3.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817903e+00 1.54e-08 6.93e-06 -4.0 7.37e-02 -4.0 1.00e+00 1.00e+00h 1 51 2.0817869e+00 1.51e-07 7.12e-06 -4.0 2.27e-01 -4.5 1.00e+00 1.00e+00h 1 52 2.0817753e+00 1.68e-06 3.06e-05 -4.0 7.43e-01 -5.0 1.00e+00 1.00e+00h 1 53 2.0815519e+00 5.54e-05 6.71e-04 -4.1 2.85e+00 -5.5 1.00e+00 1.00e+00h 1 54 2.0845007e+00 3.52e-05 2.02e-01 -4.0 1.56e+01 -5.9 2.19e-01 5.66e-01H 1 55 2.0820514e+00 4.48e-05 6.35e-01 -4.2 1.79e+00 -6.4 8.32e-02 1.00e+00f 1 56 2.0815494e+00 1.09e-06 7.57e-01 -4.2 5.14e-02 -1.5 6.79e-01 1.00e+00h 1 57 2.0816532e+00 1.06e-06 2.63e-03 -4.0 2.82e-02 -1.0 1.00e+00 1.00e+00h 1 58 2.0815708e+00 1.44e-07 6.67e-04 -4.1 2.07e-02 -1.5 1.00e+00 1.00e+00h 1 59 2.0816471e+00 1.24e-07 1.26e-04 -4.0 9.27e-03 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0815561e+00 7.87e-08 1.01e-04 -4.1 1.31e-02 -2.5 1.00e+00 1.00e+00h 1 61 2.0816484e+00 3.63e-07 9.67e-05 -4.0 1.67e-02 -3.0 1.00e+00 1.00e+00h 1 62 2.0815528e+00 6.96e-07 1.17e-04 -4.1 3.40e-02 -3.4 1.00e+00 1.00e+00h 1 63 2.0810919e+00 7.89e-06 1.09e-01 -6.1 1.21e-01 -3.9 7.16e-01 1.00e+00h 1 64 2.0818876e+00 6.71e-06 2.31e-01 -4.0 1.09e+00 -3.5 8.22e-02 1.90e-01h 2 65 2.0812739e+00 4.93e-07 3.43e-03 -4.7 8.15e-02 -1.2 1.00e+00 1.00e+00h 1 66 2.0817567e+00 2.47e-06 3.51e-03 -4.0 4.56e-02 -1.7 1.00e+00 1.00e+00f 1 67 2.0815875e+00 5.14e-07 1.46e-04 -4.1 2.17e-02 -2.2 1.00e+00 1.00e+00h 1 68 2.0811605e+00 1.73e-06 1.22e-01 -6.1 2.99e-02 -2.7 7.10e-01 1.00e+00h 1 69 2.0817745e+00 3.15e-06 3.10e-03 -4.0 1.50e-01 -3.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0815445e+00 3.17e-06 2.34e-04 -4.1 5.11e-02 -3.6 1.00e+00 1.00e+00h 1 71 2.0812897e+00 1.98e-06 2.12e-02 -6.1 4.26e-01 -3.2 4.33e-01 3.92e-01h 1 72 2.0810233e+00 1.47e-06 3.03e-02 -6.1 5.74e-02 -3.7 7.76e-01 6.67e-01h 1 73 2.0821344e+00 1.75e-05 7.20e-03 -4.0 2.70e-01 -4.2 1.00e+00 1.00e+00f 1 74 2.0817509e+00 7.59e-06 1.42e-01 -4.0 1.37e-01 -1.9 7.39e-01 1.00e+00h 1 75 2.0816332e+00 6.47e-07 7.43e-04 -4.0 4.51e-02 -2.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 75 (scaled) (unscaled) Objective...............: 2.0816332050570541e+00 2.0816332050570541e+00 Dual infeasibility......: 7.4280728156980778e-04 7.4280728156980778e-04 Constraint violation....: 6.4700596422856416e-07 6.4700596422856416e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9887371617596044e-05 9.9887371617596044e-05 Overall NLP error.......: 7.4280728156980778e-04 7.4280728156980778e-04 Number of objective function evaluations = 91 Number of objective gradient evaluations = 76 Number of equality constraint evaluations = 91 Number of inequality constraint evaluations = 91 Number of equality constraint Jacobian evaluations = 76 Number of inequality constraint Jacobian evaluations = 76 Number of Lagrangian Hessian evaluations = 75 Total seconds in IPOPT = 1.225 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.015s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.016s) linear index maps built (0.0s) evaluator ready (total: 0.018s) evaluator created (0.018s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.019s) 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 1.9597321e+00 3.44e+00 6.47e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4259007e+00 2.26e-01 3.57e+00 -0.8 1.79e+00 0.0 7.29e-01 9.35e-01h 1 2 2.3394264e+00 1.28e-01 7.53e+00 -0.5 4.31e-01 0.4 9.65e-01 4.20e-01f 1 3 2.6996178e+00 2.11e-02 3.30e+00 -0.6 5.67e-01 -0.1 7.76e-01 1.00e+00f 1 4 2.5387540e+00 2.81e-02 8.80e-01 -1.1 3.63e-01 -0.5 9.78e-01 7.74e-01h 1 5 2.3440384e+00 3.23e-03 1.60e-01 -1.9 1.34e-01 -1.0 9.51e-01 1.00e+00h 1 6 2.1367431e+00 4.32e-03 4.22e-02 -2.5 1.19e-01 -1.5 9.94e-01 9.49e-01h 1 7 2.0928478e+00 2.02e-04 9.26e-03 -3.5 2.80e-02 -2.0 9.97e-01 9.60e-01h 1 8 2.0910211e+00 4.70e-06 6.57e-04 -4.0 1.56e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0910074e+00 4.12e-08 3.54e-05 -4.0 2.79e-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 2.0909977e+00 2.28e-09 2.67e-05 -4.0 6.56e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909729e+00 1.77e-08 4.44e-05 -4.0 1.91e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0909139e+00 1.26e-07 2.93e-04 -4.0 5.01e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908292e+00 4.28e-07 1.26e-03 -4.0 1.04e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0906279e+00 3.05e-06 1.66e-03 -4.0 3.06e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0900543e+00 2.82e-05 6.87e-04 -4.0 9.24e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0897443e+00 4.73e-06 2.04e-03 -4.0 3.47e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888869e+00 3.86e-05 2.56e-03 -4.0 1.04e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0881530e+00 5.24e-05 9.08e-02 -4.0 3.49e+01 -6.3 1.00e+00 2.21e-01h 1 19 2.0843664e+00 1.40e-03 4.69e-02 -4.0 5.94e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0836288e+00 1.26e-03 1.62e-01 -4.0 1.94e+02 -7.3 1.00e+00 1.14e-01h 1 21 2.0823240e+00 8.58e-04 4.73e-02 -4.0 1.24e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0820286e+00 1.07e-03 3.46e-02 -4.0 2.25e+02 -8.2 5.82e-01 1.00e+00h 1 23 2.8688809e+00 5.74e-04 4.64e+00 -4.0 4.14e+02 -8.7 5.82e-02 1.00e+00h 1 24 2.2868091e+00 1.03e-09 2.37e+00 -4.1 1.66e-01 1.2 1.00e+00 1.00e+00f 1 25 2.0951462e+00 1.26e-08 6.03e-01 -4.1 1.29e-01 0.7 1.00e+00 1.00e+00f 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0951461744351678e+00 2.0951461744351678e+00 Dual infeasibility......: 6.0322933115081390e-01 6.0322933115081390e-01 Constraint violation....: 1.2578858503420332e-08 1.2578858503420332e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.7041805288776820e-05 7.7041805288776820e-05 Overall NLP error.......: 6.0322933115081390e-01 6.0322933115081390e-01 Number of objective function evaluations = 26 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 26 Number of inequality constraint evaluations = 26 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 0.355 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.07s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.126s jacobian structure: 1600 nonzeros (3.309s) integrator 1 hessian structure: 0.058s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.815s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (4.874s) linear index maps built (0.0s) evaluator ready (total: 8.184s) evaluator created (8.21s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 8.212s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2321914e+00 3.01e+00 6.52e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6935374e+00 6.83e-02 2.81e+00 -1.0 2.38e+00 0.0 9.44e-01 1.00e+00f 1 Hello, world! 2 2.8156233e+00 5.53e-02 2.47e+00 -0.7 4.36e-01 0.4 1.00e+00 1.00e+00f 1 Hello, world! 3 2.6455321e+00 5.29e-02 8.11e-01 -1.1 2.71e-01 -0.1 5.16e-01 5.63e-01H 1 Hello, world! 4 2.5634765e+00 4.26e-02 2.24e+00 -1.1 1.16e+00 -0.5 6.18e-01 1.95e-01f 2 Hello, world! 5 2.5139795e+00 1.80e-03 4.35e+00 -1.0 6.62e-02 1.7 8.60e-01 1.00e+00h 1 Hello, world! 6 2.4709954e+00 1.15e-04 6.65e-01 -1.7 1.70e-02 1.2 1.00e+00 1.00e+00h 1 Hello, world! 7 2.2951036e+00 1.12e-03 3.25e-01 -2.6 4.79e-02 0.7 9.96e-01 8.63e-01f 1 Hello, world! 8 2.1643268e+00 1.79e-03 2.01e-01 -3.6 9.89e-02 0.3 1.00e+00 5.23e-01f 1 Hello, world! 9 2.1419515e+00 6.19e-04 1.25e-01 -4.0 1.93e-02 0.7 1.00e+00 6.56e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1013795e+00 4.35e-04 1.09e-01 -4.0 5.98e-02 0.2 1.00e+00 5.91e-01h 1 Hello, world! 11 2.0926445e+00 4.98e-04 1.13e-01 -4.0 7.50e-01 -0.3 1.47e-02 1.22e-02f 1 Hello, world! 12 2.0922145e+00 4.96e-04 3.65e-01 -4.0 7.87e-02 0.2 1.00e+00 5.55e-03h 1 Hello, world! 13 2.0911259e+00 2.17e-04 4.24e-01 -4.0 3.86e-03 -0.3 1.00e+00 5.61e-01h 1 Hello, world! 14 2.0908767e+00 1.27e-07 3.58e-03 -4.0 1.47e-03 -0.8 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0908761e+00 3.12e-10 2.24e-04 -4.0 4.10e-03 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0908737e+00 1.27e-11 1.82e-04 -4.0 9.96e-03 -1.7 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0908697e+00 7.87e-11 1.07e-04 -4.0 1.75e-02 -2.2 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0908657e+00 2.23e-10 3.32e-05 -4.0 1.63e-02 -2.7 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0908621e+00 4.00e-10 1.74e-05 -4.0 2.58e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0908548e+00 1.99e-09 1.71e-05 -4.0 7.59e-02 -3.6 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0908354e+00 1.56e-08 2.61e-05 -4.0 2.17e-01 -4.1 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0907872e+00 1.11e-07 1.28e-04 -4.0 5.96e-01 -4.6 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0906575e+00 1.01e-06 3.07e-04 -4.0 1.67e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0903030e+00 4.33e-06 7.55e-03 -4.0 5.76e+00 -5.6 1.00e+00 6.40e-01h 1 Hello, world! 25 2.0896958e+00 1.14e-04 2.67e-02 -4.0 1.84e+01 -6.0 1.00e+00 1.00e+00f 1 Hello, world! 26 2.0885427e+00 3.91e-05 1.71e-02 -4.0 2.21e+00 -4.7 1.00e+00 7.36e-01h 1 Hello, world! 27 2.0885444e+00 9.06e-06 4.32e-03 -4.0 2.41e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0877554e+00 2.06e-05 4.50e-03 -4.0 7.36e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0864109e+00 1.22e-04 5.80e-03 -4.0 1.86e+01 -6.1 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 2.0843326e+00 3.37e-04 2.89e-02 -4.0 3.81e+01 -6.6 1.00e+00 8.05e-01h 1 Hello, world! 31 2.0827830e+00 2.33e-04 2.63e-02 -4.0 4.45e+01 -7.1 1.00e+00 7.55e-01h 1 Hello, world! 32 2.0828476e+00 1.38e-03 3.87e-02 -4.0 9.32e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0820137e+00 2.39e-03 3.97e-02 -4.1 2.43e+02 -8.0 3.93e-01 1.00e+00h 1 Hello, world! 34 2.0820728e+00 2.47e-04 4.60e-03 -4.0 5.28e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0819138e+00 3.06e-04 7.92e-03 -4.0 1.46e+01 -6.3 8.02e-01 1.00e+00h 1 Hello, world! 36 2.0841779e+00 2.40e-04 6.17e-02 -4.0 3.55e+01 -6.8 1.00e+00 2.26e-01h 1 Hello, world! 37 2.0820528e+00 2.95e-04 1.08e-02 -4.0 1.28e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0817202e+00 4.66e-04 1.17e-03 -4.1 2.68e+01 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818710e+00 8.97e-04 2.52e-03 -4.0 4.48e+01 -8.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0815788e+00 1.01e-03 1.44e-03 -4.1 4.35e+01 -8.7 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0818448e+00 4.54e-04 2.40e-04 -4.0 1.87e+01 -9.2 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0818434e+00 5.08e-07 6.45e-06 -4.0 2.96e+00 -9.6 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0818434e+00 5.15e-10 2.49e-08 -4.0 1.97e-01 -10.1 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0818434e+00 2.29e-13 1.00e-09 -4.0 4.58e-03 -10.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 44 (scaled) (unscaled) Objective...............: 2.0818434105319072e+00 2.0818434105319072e+00 Dual infeasibility......: 1.0000000020892819e-09 1.0000000020892819e-09 Constraint violation....: 2.2915003228263231e-13 2.2915003228263231e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.0000000020892819e-09 1.0000000020892819e-09 Number of objective function evaluations = 50 Number of objective gradient evaluations = 45 Number of equality constraint evaluations = 50 Number of inequality constraint evaluations = 50 Number of equality constraint Jacobian evaluations = 45 Number of inequality constraint Jacobian evaluations = 45 Number of Lagrangian Hessian evaluations = 44 Total seconds in IPOPT = 32.455 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2321914e+00 3.01e+00 6.52e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6935374e+00 6.83e-02 2.81e+00 -1.0 2.38e+00 0.0 9.44e-01 1.00e+00f 1 Hello, world! 2 2.8156233e+00 5.53e-02 2.47e+00 -0.7 4.36e-01 0.4 1.00e+00 1.00e+00f 1 Hello, world! 3 2.6455321e+00 5.29e-02 8.11e-01 -1.1 2.71e-01 -0.1 5.16e-01 5.63e-01H 1 Hello, world! 4 2.5634765e+00 4.26e-02 2.24e+00 -1.1 1.16e+00 -0.5 6.18e-01 1.95e-01f 2 Hello, world! 5 2.5139795e+00 1.80e-03 4.35e+00 -1.0 6.62e-02 1.7 8.60e-01 1.00e+00h 1 Hello, world! 6 2.4709954e+00 1.15e-04 6.65e-01 -1.7 1.70e-02 1.2 1.00e+00 1.00e+00h 1 Hello, world! 7 2.2951036e+00 1.12e-03 3.25e-01 -2.6 4.79e-02 0.7 9.96e-01 8.63e-01f 1 Hello, world! 8 2.1643268e+00 1.79e-03 2.01e-01 -3.6 9.89e-02 0.3 1.00e+00 5.23e-01f 1 Hello, world! 9 2.1419515e+00 6.19e-04 1.25e-01 -4.0 1.93e-02 0.7 1.00e+00 6.56e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1013795e+00 4.35e-04 1.09e-01 -4.0 5.98e-02 0.2 1.00e+00 5.91e-01h 1 Hello, world! 11 2.0926445e+00 4.98e-04 1.13e-01 -4.0 7.50e-01 -0.3 1.47e-02 1.22e-02f 1 Hello, world! 12 2.0922145e+00 4.96e-04 3.65e-01 -4.0 7.87e-02 0.2 1.00e+00 5.55e-03h 1 Hello, world! 13 2.0911259e+00 2.17e-04 4.24e-01 -4.0 3.86e-03 -0.3 1.00e+00 5.61e-01h 1 Hello, world! 14 2.0908767e+00 1.27e-07 3.58e-03 -4.0 1.47e-03 -0.8 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0908761e+00 3.12e-10 2.24e-04 -4.0 4.10e-03 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0908737e+00 1.27e-11 1.82e-04 -4.0 9.96e-03 -1.7 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0908697e+00 7.87e-11 1.07e-04 -4.0 1.75e-02 -2.2 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0908657e+00 2.23e-10 3.32e-05 -4.0 1.63e-02 -2.7 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0908621e+00 4.00e-10 1.74e-05 -4.0 2.58e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0908548e+00 1.99e-09 1.71e-05 -4.0 7.59e-02 -3.6 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0908354e+00 1.56e-08 2.61e-05 -4.0 2.17e-01 -4.1 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0907872e+00 1.11e-07 1.28e-04 -4.0 5.96e-01 -4.6 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0906575e+00 1.01e-06 3.07e-04 -4.0 1.67e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0903030e+00 4.33e-06 7.55e-03 -4.0 5.76e+00 -5.6 1.00e+00 6.40e-01h 1 Hello, world! 25 2.0896958e+00 1.14e-04 2.67e-02 -4.0 1.84e+01 -6.0 1.00e+00 1.00e+00f 1 Hello, world! 26 2.0885427e+00 3.91e-05 1.71e-02 -4.0 2.21e+00 -4.7 1.00e+00 7.36e-01h 1 Hello, world! 27 2.0885444e+00 9.06e-06 4.32e-03 -4.0 2.41e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0877554e+00 2.06e-05 4.50e-03 -4.0 7.36e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0864109e+00 1.22e-04 5.80e-03 -4.0 1.86e+01 -6.1 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 2.0843326e+00 3.37e-04 2.89e-02 -4.0 3.81e+01 -6.6 1.00e+00 8.05e-01h 1 Hello, world! 31 2.0827830e+00 2.33e-04 2.63e-02 -4.0 4.45e+01 -7.1 1.00e+00 7.55e-01h 1 Hello, world! 32 2.0828476e+00 1.38e-03 3.87e-02 -4.0 9.32e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0820137e+00 2.39e-03 3.97e-02 -4.1 2.43e+02 -8.0 3.93e-01 1.00e+00h 1 Hello, world! 34 2.0820728e+00 2.47e-04 4.60e-03 -4.0 5.28e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0819138e+00 3.06e-04 7.92e-03 -4.0 1.46e+01 -6.3 8.02e-01 1.00e+00h 1 Hello, world! 36 2.0841779e+00 2.40e-04 6.17e-02 -4.0 3.55e+01 -6.8 1.00e+00 2.26e-01h 1 Hello, world! 37 2.0820528e+00 2.95e-04 1.08e-02 -4.0 1.28e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0817202e+00 4.66e-04 1.17e-03 -4.1 2.68e+01 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818710e+00 8.97e-04 2.52e-03 -4.0 4.48e+01 -8.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0815788e+00 1.01e-03 1.44e-03 -4.1 4.35e+01 -8.7 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0818448e+00 4.54e-04 2.40e-04 -4.0 1.87e+01 -9.2 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0818434e+00 5.08e-07 6.45e-06 -4.0 2.96e+00 -9.6 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0818434e+00 5.15e-10 2.49e-08 -4.0 1.97e-01 -10.1 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0818434e+00 2.29e-13 1.00e-09 -4.0 4.58e-03 -10.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 44 (scaled) (unscaled) Objective...............: 2.0818434105319072e+00 2.0818434105319072e+00 Dual infeasibility......: 1.0000000020892819e-09 1.0000000020892819e-09 Constraint violation....: 2.2915003228263231e-13 2.2915003228263231e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.0000000020892819e-09 1.0000000020892819e-09 Number of objective function evaluations = 50 Number of objective gradient evaluations = 45 Number of equality constraint evaluations = 50 Number of inequality constraint evaluations = 50 Number of equality constraint Jacobian evaluations = 45 Number of inequality constraint Jacobian evaluations = 45 Number of Lagrangian Hessian evaluations = 44 Total seconds in IPOPT = 0.628 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.07s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.065s jacobian structure: 1600 nonzeros (3.136s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.614s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (4.67s) linear index maps built (0.0s) evaluator ready (total: 7.806s) evaluator created (7.832s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 7.832s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.7586210e+00 2.64e+00 5.46e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0257382e+00 5.77e-01 1.56e+00 -0.9 1.96e+00 0.0 9.52e-01 7.88e-01f 1 2 2.8452991e+00 6.22e-02 3.08e+00 -0.7 1.06e+00 -0.5 6.82e-01 1.00e+00f 1 3 2.5586571e+00 2.70e-02 8.19e-01 -1.3 3.52e-01 -1.0 9.96e-01 1.00e+00h 1 4 2.3285000e+00 6.41e-03 7.58e-02 -1.9 2.11e-01 -1.4 9.77e-01 1.00e+00h 1 5 2.1399782e+00 6.55e-03 1.35e-01 -2.8 3.65e-01 -1.9 9.91e-01 7.62e-01h 1 6 2.0941799e+00 3.49e-04 5.35e-03 -3.6 4.61e-02 -2.4 9.97e-01 1.00e+00h 1 7 2.0909008e+00 6.09e-06 7.61e-04 -4.0 3.11e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908836e+00 7.48e-08 4.16e-05 -4.0 3.86e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908739e+00 3.63e-09 2.05e-05 -4.0 1.05e-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 2.0908491e+00 2.89e-08 3.05e-05 -4.0 3.02e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907825e+00 2.57e-07 1.30e-04 -4.0 8.55e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905753e+00 2.13e-06 3.73e-04 -4.0 2.55e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0904993e+00 1.98e-06 1.47e-02 -4.0 5.51e+02 -5.7 1.54e-02 2.20e-03h 2 14 2.0888046e+00 1.39e-04 5.52e-03 -4.0 2.12e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0878866e+00 1.50e-04 1.56e-01 -4.0 6.24e+01 -6.7 1.00e+00 1.60e-01h 1 16 2.0830319e+00 2.53e-03 1.16e-01 -4.0 8.69e+01 -7.2 1.00e+00 9.24e-01h 1 17 2.0832867e+00 3.88e-03 1.01e-01 -4.0 1.69e+02 -7.6 4.90e-01 1.00e+00h 1 18 2.8672986e+00 2.99e-05 3.55e+00 -4.0 2.05e+02 -7.2 5.39e-02 1.00e+00H 1 19 2.1720878e+00 1.75e-08 1.21e+00 -4.1 2.95e-01 0.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0851533e+00 1.78e-08 1.62e-01 -4.1 1.27e-01 0.2 1.00e+00 1.00e+00f 1 21 2.0840461e+00 1.01e-08 8.64e-02 -4.0 1.68e-02 -0.3 1.00e+00 5.42e-01f 1 22 2.0844002e+00 1.21e-08 5.39e-02 -4.0 1.24e-02 -0.8 1.00e+00 5.00e-01f 2 23 2.0840817e+00 9.04e-08 1.61e-03 -4.1 2.98e-02 -1.3 1.00e+00 1.00e+00h 1 24 2.0838546e+00 3.26e-07 1.12e-03 -4.1 6.28e-02 -1.7 1.00e+00 1.00e+00h 1 25 2.0839459e+00 1.64e-07 1.14e-04 -4.0 1.71e-02 -2.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0839458680637049e+00 2.0839458680637049e+00 Dual infeasibility......: 1.1371647480839332e-04 1.1371647480839332e-04 Constraint violation....: 1.6370584662861454e-07 1.6370584662861454e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0019365080781867e-04 1.0019365080781867e-04 Overall NLP error.......: 1.1371647480839332e-04 1.1371647480839332e-04 Number of objective function evaluations = 34 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 34 Number of inequality constraint evaluations = 34 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 31.566 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.002s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.7586210e+00 2.64e+00 5.46e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0257382e+00 5.77e-01 1.56e+00 -0.9 1.96e+00 0.0 9.52e-01 7.88e-01f 1 2 2.8452991e+00 6.22e-02 3.08e+00 -0.7 1.06e+00 -0.5 6.82e-01 1.00e+00f 1 3 2.5586571e+00 2.70e-02 8.19e-01 -1.3 3.52e-01 -1.0 9.96e-01 1.00e+00h 1 4 2.3285000e+00 6.41e-03 7.58e-02 -1.9 2.11e-01 -1.4 9.77e-01 1.00e+00h 1 5 2.1399782e+00 6.55e-03 1.35e-01 -2.8 3.65e-01 -1.9 9.91e-01 7.62e-01h 1 6 2.0941799e+00 3.49e-04 5.35e-03 -3.6 4.61e-02 -2.4 9.97e-01 1.00e+00h 1 7 2.0909008e+00 6.09e-06 7.61e-04 -4.0 3.11e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908836e+00 7.48e-08 4.16e-05 -4.0 3.86e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908739e+00 3.63e-09 2.05e-05 -4.0 1.05e-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 2.0908491e+00 2.89e-08 3.05e-05 -4.0 3.02e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907825e+00 2.57e-07 1.30e-04 -4.0 8.55e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905753e+00 2.13e-06 3.73e-04 -4.0 2.55e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0904993e+00 1.98e-06 1.47e-02 -4.0 5.51e+02 -5.7 1.54e-02 2.20e-03h 2 14 2.0888046e+00 1.39e-04 5.52e-03 -4.0 2.12e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0878866e+00 1.50e-04 1.56e-01 -4.0 6.24e+01 -6.7 1.00e+00 1.60e-01h 1 16 2.0830319e+00 2.53e-03 1.16e-01 -4.0 8.69e+01 -7.2 1.00e+00 9.24e-01h 1 17 2.0832867e+00 3.88e-03 1.01e-01 -4.0 1.69e+02 -7.6 4.90e-01 1.00e+00h 1 18 2.8672986e+00 2.99e-05 3.55e+00 -4.0 2.05e+02 -7.2 5.39e-02 1.00e+00H 1 19 2.1720878e+00 1.75e-08 1.21e+00 -4.1 2.95e-01 0.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0851533e+00 1.78e-08 1.62e-01 -4.1 1.27e-01 0.2 1.00e+00 1.00e+00f 1 21 2.0840461e+00 1.01e-08 8.64e-02 -4.0 1.68e-02 -0.3 1.00e+00 5.42e-01f 1 22 2.0844002e+00 1.21e-08 5.39e-02 -4.0 1.24e-02 -0.8 1.00e+00 5.00e-01f 2 23 2.0840817e+00 9.04e-08 1.61e-03 -4.1 2.98e-02 -1.3 1.00e+00 1.00e+00h 1 24 2.0838546e+00 3.26e-07 1.12e-03 -4.1 6.28e-02 -1.7 1.00e+00 1.00e+00h 1 25 2.0839459e+00 1.64e-07 1.14e-04 -4.0 1.71e-02 -2.2 1.00e+00 1.00e+00h 1 26 2.0837867e+00 1.40e-07 3.74e-05 -4.1 7.72e-03 -2.7 1.00e+00 1.00e+00h 1 27 2.0839657e+00 4.15e-07 2.80e-05 -4.0 1.64e-02 -3.2 1.00e+00 1.00e+00h 1 28 2.0837817e+00 1.34e-06 2.25e-05 -4.1 5.22e-02 -3.7 1.00e+00 1.00e+00h 1 29 2.0839517e+00 3.81e-06 4.24e-05 -4.0 1.48e-01 -4.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0837374e+00 1.19e-05 3.17e-05 -4.1 4.63e-01 -4.6 1.00e+00 1.00e+00h 1 31 2.0838282e+00 3.32e-05 1.87e-04 -4.0 1.28e+00 -5.1 1.00e+00 1.00e+00h 1 32 2.0833889e+00 9.70e-05 3.02e-04 -4.1 3.69e+00 -5.6 1.00e+00 1.00e+00h 1 33 2.0830696e+00 2.00e-04 2.86e-03 -4.0 8.52e+00 -6.0 1.00e+00 1.00e+00h 1 34 2.0826754e+00 8.24e-05 4.81e-03 -4.0 1.68e+01 -6.5 1.00e+00 1.00e+00h 1 35 2.0823263e+00 1.13e-04 4.83e-03 -4.0 3.90e+01 -7.0 1.00e+00 1.00e+00h 1 36 2.0820461e+00 4.67e-04 1.75e-02 -4.0 8.72e+01 -7.5 4.09e-01 1.00e+00h 1 37 2.0821073e+00 1.36e-04 2.27e-03 -4.0 5.38e+00 -6.1 1.00e+00 1.00e+00h 1 38 2.0821528e+00 4.25e-04 1.36e-03 -4.0 2.10e+01 -6.6 9.97e-01 1.00e+00h 1 39 2.0849526e+00 3.83e-06 3.28e-01 -4.1 5.95e+00 -5.3 6.78e-01 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0841372e+00 3.58e-06 3.77e-01 -4.1 8.04e-01 -1.3 3.68e-01 6.62e-02h 1 41 2.0821191e+00 3.17e-06 8.24e-02 -4.1 1.06e-01 -1.7 1.00e+00 8.86e-01f 1 42 2.0832585e+00 9.40e-06 2.23e+00 -4.0 4.98e-02 -2.2 6.50e-01 1.00e+00f 1 43 2.0825296e+00 3.21e-06 2.34e-03 -4.1 5.16e-02 -2.7 1.00e+00 1.00e+00h 1 44 2.0822365e+00 6.26e-07 8.61e-04 -4.1 1.73e-01 -2.3 1.00e+00 1.00e+00h 1 45 2.0823465e+00 4.98e-07 1.80e-04 -4.0 2.63e-02 -2.7 1.00e+00 1.00e+00h 1 46 2.0823257e+00 2.32e-07 1.38e-05 -4.0 2.26e-02 -3.2 1.00e+00 1.00e+00h 1 47 2.0823204e+00 4.21e-09 1.38e-05 -4.0 6.80e-02 -3.7 1.00e+00 1.00e+00h 1 48 2.0823035e+00 1.04e-07 4.92e-05 -4.0 2.01e-01 -4.2 1.00e+00 1.00e+00h 1 49 2.0822560e+00 2.49e-06 3.04e-04 -4.0 4.96e-01 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0820399e+00 2.63e-05 2.93e-04 -4.1 7.12e-01 -5.1 1.00e+00 1.00e+00h 1 51 2.0821622e+00 2.76e-05 3.41e-04 -4.0 7.79e-01 -5.6 1.00e+00 1.00e+00h 1 52 2.0819189e+00 5.11e-05 3.36e-04 -4.1 3.32e+00 -6.1 1.00e+00 1.00e+00h 1 53 2.0820400e+00 4.40e-05 9.68e-04 -4.0 3.46e+00 -6.6 1.00e+00 1.00e+00h 1 54 2.0817757e+00 2.67e-04 8.42e-05 -4.1 1.09e+01 -7.0 1.00e+00 1.00e+00h 1 55 2.0819584e+00 4.49e-04 1.60e-03 -4.0 1.97e+01 -7.5 1.00e+00 1.00e+00h 1 56 2.0816436e+00 9.18e-04 1.50e-03 -4.1 3.75e+01 -8.0 1.00e+00 1.00e+00h 1 57 2.0818556e+00 1.19e-03 2.38e-03 -4.0 5.03e+01 -8.5 1.00e+00 1.00e+00h 1 58 2.0815848e+00 7.51e-04 6.77e-04 -4.1 3.29e+01 -8.9 1.00e+00 1.00e+00h 1 59 2.0818445e+00 2.19e-04 5.57e-05 -4.0 9.10e+00 -9.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0815838e+00 2.18e-04 1.30e-05 -4.1 9.89e+00 -9.9 1.00e+00 1.00e+00h 1 61 2.0818445e+00 2.13e-04 1.28e-05 -4.0 9.73e+00 -10.4 1.00e+00 1.00e+00h 1 62 2.0815837e+00 2.15e-04 1.04e-05 -4.1 9.83e+00 -10.8 1.00e+00 1.00e+00h 1 63 2.0818446e+00 2.16e-04 9.87e-06 -4.0 9.86e+00 -11.3 1.00e+00 1.00e+00h 1 64 2.0815837e+00 2.16e-04 9.45e-06 -4.1 9.87e+00 -11.8 1.00e+00 1.00e+00h 1 65 2.0818446e+00 2.16e-04 9.54e-06 -4.0 9.87e+00 -12.3 1.00e+00 1.00e+00h 1 66 2.0815837e+00 2.16e-04 9.34e-06 -4.1 9.87e+00 -12.8 1.00e+00 1.00e+00h 1 67 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.2 9.77e-01 9.64e-01h 1 68 2.0818908e+00 6.61e-03 2.98e-04 -4.0 6.18e+01 -13.7 1.00e+00 1.00e+00f 1 69 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -14.7 9.76e-01 9.58e-01h 1 71 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+01 -15.1 1.00e+00 1.00e+00h 1 72 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -15.6 1.00e+00 1.00e+00f 1 73 2.0816805e+00 9.65e-04 4.96e-05 -4.1 4.57e+01 -16.1 1.00e+00 1.00e+00h 1 74 2.0816444e+00 4.73e-07 7.69e-07 -4.1 8.40e+00 -16.6 1.00e+00 1.00e+00h 1 75 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -17.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 75 (scaled) (unscaled) Objective...............: 2.0818440588647333e+00 2.0818440588647333e+00 Dual infeasibility......: 5.4683285487673572e-06 5.4683285487673572e-06 Constraint violation....: 1.2714960192727887e-04 1.2714960192727887e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0053087464687634e-04 1.0053087464687634e-04 Overall NLP error.......: 1.2714960192727887e-04 1.2714960192727887e-04 Number of objective function evaluations = 85 Number of objective gradient evaluations = 76 Number of equality constraint evaluations = 85 Number of inequality constraint evaluations = 85 Number of equality constraint Jacobian evaluations = 76 Number of inequality constraint Jacobian evaluations = 76 Number of Lagrangian Hessian evaluations = 75 Total seconds in IPOPT = 1.040 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.7586210e+00 2.64e+00 5.46e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0257382e+00 5.77e-01 1.56e+00 -0.9 1.96e+00 0.0 9.52e-01 7.88e-01f 1 2 2.8452991e+00 6.22e-02 3.08e+00 -0.7 1.06e+00 -0.5 6.82e-01 1.00e+00f 1 3 2.5586571e+00 2.70e-02 8.19e-01 -1.3 3.52e-01 -1.0 9.96e-01 1.00e+00h 1 4 2.3285000e+00 6.41e-03 7.58e-02 -1.9 2.11e-01 -1.4 9.77e-01 1.00e+00h 1 5 2.1399782e+00 6.55e-03 1.35e-01 -2.8 3.65e-01 -1.9 9.91e-01 7.62e-01h 1 6 2.0941799e+00 3.49e-04 5.35e-03 -3.6 4.61e-02 -2.4 9.97e-01 1.00e+00h 1 7 2.0909008e+00 6.09e-06 7.61e-04 -4.0 3.11e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908836e+00 7.48e-08 4.16e-05 -4.0 3.86e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908739e+00 3.63e-09 2.05e-05 -4.0 1.05e-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 2.0908491e+00 2.89e-08 3.05e-05 -4.0 3.02e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907825e+00 2.57e-07 1.30e-04 -4.0 8.55e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905753e+00 2.13e-06 3.73e-04 -4.0 2.55e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0904993e+00 1.98e-06 1.47e-02 -4.0 5.51e+02 -5.7 1.54e-02 2.20e-03h 2 14 2.0888046e+00 1.39e-04 5.52e-03 -4.0 2.12e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0878866e+00 1.50e-04 1.56e-01 -4.0 6.24e+01 -6.7 1.00e+00 1.60e-01h 1 16 2.0830319e+00 2.53e-03 1.16e-01 -4.0 8.69e+01 -7.2 1.00e+00 9.24e-01h 1 17 2.0832867e+00 3.88e-03 1.01e-01 -4.0 1.69e+02 -7.6 4.90e-01 1.00e+00h 1 18 2.8672986e+00 2.99e-05 3.55e+00 -4.0 2.05e+02 -7.2 5.39e-02 1.00e+00H 1 19 2.1720878e+00 1.75e-08 1.21e+00 -4.1 2.95e-01 0.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0851533e+00 1.78e-08 1.62e-01 -4.1 1.27e-01 0.2 1.00e+00 1.00e+00f 1 21 2.0840461e+00 1.01e-08 8.64e-02 -4.0 1.68e-02 -0.3 1.00e+00 5.42e-01f 1 22 2.0844002e+00 1.21e-08 5.39e-02 -4.0 1.24e-02 -0.8 1.00e+00 5.00e-01f 2 23 2.0840817e+00 9.04e-08 1.61e-03 -4.1 2.98e-02 -1.3 1.00e+00 1.00e+00h 1 24 2.0838546e+00 3.26e-07 1.12e-03 -4.1 6.28e-02 -1.7 1.00e+00 1.00e+00h 1 25 2.0839459e+00 1.64e-07 1.14e-04 -4.0 1.71e-02 -2.2 1.00e+00 1.00e+00h 1 26 2.0837867e+00 1.40e-07 3.74e-05 -4.1 7.72e-03 -2.7 1.00e+00 1.00e+00h 1 27 2.0839657e+00 4.15e-07 2.80e-05 -4.0 1.64e-02 -3.2 1.00e+00 1.00e+00h 1 28 2.0837817e+00 1.34e-06 2.25e-05 -4.1 5.22e-02 -3.7 1.00e+00 1.00e+00h 1 29 2.0839517e+00 3.81e-06 4.24e-05 -4.0 1.48e-01 -4.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0837374e+00 1.19e-05 3.17e-05 -4.1 4.63e-01 -4.6 1.00e+00 1.00e+00h 1 31 2.0838282e+00 3.32e-05 1.87e-04 -4.0 1.28e+00 -5.1 1.00e+00 1.00e+00h 1 32 2.0833889e+00 9.70e-05 3.02e-04 -4.1 3.69e+00 -5.6 1.00e+00 1.00e+00h 1 33 2.0830696e+00 2.00e-04 2.86e-03 -4.0 8.52e+00 -6.0 1.00e+00 1.00e+00h 1 34 2.0826754e+00 8.24e-05 4.81e-03 -4.0 1.68e+01 -6.5 1.00e+00 1.00e+00h 1 35 2.0823263e+00 1.13e-04 4.83e-03 -4.0 3.90e+01 -7.0 1.00e+00 1.00e+00h 1 36 2.0820461e+00 4.67e-04 1.75e-02 -4.0 8.72e+01 -7.5 4.09e-01 1.00e+00h 1 37 2.0821073e+00 1.36e-04 2.27e-03 -4.0 5.38e+00 -6.1 1.00e+00 1.00e+00h 1 38 2.0821528e+00 4.25e-04 1.36e-03 -4.0 2.10e+01 -6.6 9.97e-01 1.00e+00h 1 39 2.0849526e+00 3.83e-06 3.28e-01 -4.1 5.95e+00 -5.3 6.78e-01 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0841372e+00 3.58e-06 3.77e-01 -4.1 8.04e-01 -1.3 3.68e-01 6.62e-02h 1 41 2.0821191e+00 3.17e-06 8.24e-02 -4.1 1.06e-01 -1.7 1.00e+00 8.86e-01f 1 42 2.0832585e+00 9.40e-06 2.23e+00 -4.0 4.98e-02 -2.2 6.50e-01 1.00e+00f 1 43 2.0825296e+00 3.21e-06 2.34e-03 -4.1 5.16e-02 -2.7 1.00e+00 1.00e+00h 1 44 2.0822365e+00 6.26e-07 8.61e-04 -4.1 1.73e-01 -2.3 1.00e+00 1.00e+00h 1 45 2.0823465e+00 4.98e-07 1.80e-04 -4.0 2.63e-02 -2.7 1.00e+00 1.00e+00h 1 46 2.0823257e+00 2.32e-07 1.38e-05 -4.0 2.26e-02 -3.2 1.00e+00 1.00e+00h 1 47 2.0823204e+00 4.21e-09 1.38e-05 -4.0 6.80e-02 -3.7 1.00e+00 1.00e+00h 1 48 2.0823035e+00 1.04e-07 4.92e-05 -4.0 2.01e-01 -4.2 1.00e+00 1.00e+00h 1 49 2.0822560e+00 2.49e-06 3.04e-04 -4.0 4.96e-01 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0820399e+00 2.63e-05 2.93e-04 -4.1 7.12e-01 -5.1 1.00e+00 1.00e+00h 1 51 2.0821622e+00 2.76e-05 3.41e-04 -4.0 7.79e-01 -5.6 1.00e+00 1.00e+00h 1 52 2.0819189e+00 5.11e-05 3.36e-04 -4.1 3.32e+00 -6.1 1.00e+00 1.00e+00h 1 53 2.0820400e+00 4.40e-05 9.68e-04 -4.0 3.46e+00 -6.6 1.00e+00 1.00e+00h 1 54 2.0817757e+00 2.67e-04 8.42e-05 -4.1 1.09e+01 -7.0 1.00e+00 1.00e+00h 1 55 2.0819584e+00 4.49e-04 1.60e-03 -4.0 1.97e+01 -7.5 1.00e+00 1.00e+00h 1 56 2.0816436e+00 9.18e-04 1.50e-03 -4.1 3.75e+01 -8.0 1.00e+00 1.00e+00h 1 57 2.0818556e+00 1.19e-03 2.38e-03 -4.0 5.03e+01 -8.5 1.00e+00 1.00e+00h 1 58 2.0815848e+00 7.51e-04 6.77e-04 -4.1 3.29e+01 -8.9 1.00e+00 1.00e+00h 1 59 2.0818445e+00 2.19e-04 5.57e-05 -4.0 9.10e+00 -9.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0815838e+00 2.18e-04 1.30e-05 -4.1 9.89e+00 -9.9 1.00e+00 1.00e+00h 1 61 2.0818445e+00 2.13e-04 1.28e-05 -4.0 9.73e+00 -10.4 1.00e+00 1.00e+00h 1 62 2.0815837e+00 2.15e-04 1.04e-05 -4.1 9.83e+00 -10.8 1.00e+00 1.00e+00h 1 63 2.0818446e+00 2.16e-04 9.87e-06 -4.0 9.86e+00 -11.3 1.00e+00 1.00e+00h 1 64 2.0815837e+00 2.16e-04 9.45e-06 -4.1 9.87e+00 -11.8 1.00e+00 1.00e+00h 1 65 2.0818446e+00 2.16e-04 9.54e-06 -4.0 9.87e+00 -12.3 1.00e+00 1.00e+00h 1 66 2.0815837e+00 2.16e-04 9.34e-06 -4.1 9.87e+00 -12.8 1.00e+00 1.00e+00h 1 67 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.2 9.77e-01 9.64e-01h 1 68 2.0818908e+00 6.61e-03 2.98e-04 -4.0 6.18e+01 -13.7 1.00e+00 1.00e+00f 1 69 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -14.7 9.76e-01 9.58e-01h 1 71 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+01 -15.1 1.00e+00 1.00e+00h 1 72 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -15.6 1.00e+00 1.00e+00f 1 73 2.0816805e+00 9.65e-04 4.96e-05 -4.1 4.57e+01 -16.1 1.00e+00 1.00e+00h 1 74 2.0816444e+00 4.73e-07 7.69e-07 -4.1 8.40e+00 -16.6 1.00e+00 1.00e+00h 1 75 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -17.1 1.00e+00 1.00e+00h 1 76 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -17.5 1.00e+00 1.00e+00h 1 77 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -18.0 9.77e-01 9.64e-01h 1 78 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -18.5 1.00e+00 1.00e+00h 1 79 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -19.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -19.4 1.00e+00 1.00e+00h 1 81 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -19.9 1.00e+00 1.00e+00h 1 82 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.67e-01h 1 83 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -20.0 1.00e+00 1.00e+00h 1 85 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -20.0 1.00e+00 1.00e+00f 1 86 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 89 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-01 -20.0 1.00e+00 9.97e-01h 1 92 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 93 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 96 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.46e-01 -20.0 1.00e+00 9.97e-01h 1 99 2.0805365e+00 8.66e-11 2.16e-12 -9.0 2.61e-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 2.0820415e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0820415295388561e+00 2.0820415295388561e+00 Dual infeasibility......: 4.3786251298038556e-04 4.3786251298038556e-04 Constraint violation....: 1.2973533977015062e-02 1.2973533977015062e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.6076026829081162e-04 2.6076026829081162e-04 Overall NLP error.......: 1.2973533977015062e-02 1.2973533977015062e-02 Number of objective function evaluations = 110 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 110 Number of inequality constraint evaluations = 110 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 1.347 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.957s jacobian structure: 1600 nonzeros (3.021s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.485s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (4.533s) linear index maps built (0.0s) evaluator ready (total: 7.555s) evaluator created (7.578s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 7.578s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.5006056e+00 2.46e+00 3.36e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6532307e+00 2.92e-01 1.14e+00 -1.0 3.57e+00 -2.0 9.90e-01 9.87e-01h 1 2 2.3119936e+00 2.14e-01 2.21e-01 -1.6 2.28e+00 -2.5 9.13e-01 1.00e+00h 1 3 2.1366819e+00 2.98e-02 7.50e-02 -2.4 1.01e+00 -3.0 9.70e-01 1.00e+00h 1 4 2.0956013e+00 1.76e-03 7.63e-03 -3.3 2.82e-01 -3.4 9.88e-01 1.00e+00h 1 5 2.0908748e+00 5.90e-05 5.60e-04 -4.0 1.25e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908370e+00 1.46e-06 4.02e-05 -4.0 3.61e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907559e+00 3.61e-07 7.94e-05 -4.0 1.05e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0904708e+00 3.11e-06 6.91e-04 -4.0 3.27e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0898340e+00 6.70e-06 1.45e-02 -4.0 1.08e+01 -5.8 1.00e+00 6.32e-01H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0882172e+00 3.12e-04 3.92e-02 -4.0 2.98e+01 -6.3 1.00e+00 1.00e+00f 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0882171913809362e+00 2.0882171913809362e+00 Dual infeasibility......: 3.9246444701141962e-02 3.9246444701141962e-02 Constraint violation....: 3.1201167019290210e-04 3.1201167019290210e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.1139145426244410e-04 2.1139145426244410e-04 Overall NLP error.......: 3.9246444701141962e-02 3.9246444701141962e-02 Number of objective function evaluations = 12 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 12 Number of inequality constraint evaluations = 12 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 11 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 30.554 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.08s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.058s jacobian structure: 1600 nonzeros (3.139s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.705s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (4.761s) linear index maps built (0.0s) evaluator ready (total: 7.901s) evaluator created (7.926s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 7.927s) Fidelity: 0.51 Fidelity: 0.52 Fidelity: 0.53 Fidelity: 0.54 Fidelity: 0.55 Fidelity: 0.56 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.073s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.152s jacobian structure: 1600 nonzeros (3.226s) integrator 1 hessian structure: 0.057s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.647s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (4.704s) linear index maps built (0.0s) evaluator ready (total: 7.931s) evaluator created (7.957s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 7.958s) Fidelity: 0.1 Best fidelities: 0: 0.1 Fidelity: 0.2 Best fidelities: 1: 0.2 0: 0.1 Fidelity: 0.30000000000000004 Best fidelities: 2: 0.30000000000000004 1: 0.2 0: 0.1 Fidelity: 0.4 Best fidelities: 3: 0.4 2: 0.30000000000000004 1: 0.2 Fidelity: 0.5 Best fidelities: 3: 0.4 2: 0.30000000000000004 4: 0.5 Fidelity: 0.6000000000000001 Best fidelities: 3: 0.4 4: 0.5 5: 0.6000000000000001 Fidelity: 0.7000000000000001 Best fidelities: 6: 0.7000000000000001 4: 0.5 5: 0.6000000000000001 Fidelity: 0.8 Best fidelities: 6: 0.7000000000000001 5: 0.6000000000000001 7: 0.8 Fidelity: 0.9 Best fidelities: 6: 0.7000000000000001 8: 0.9 7: 0.8 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.05s jacobian structure: 1600 nonzeros (3.116s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.856s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (4.909s) linear index maps built (0.0s) evaluator ready (total: 8.025s) evaluator created (8.05s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 8.05s) initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.071s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.072s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.057s) linear index maps built (0.0s) evaluator ready (total: 0.129s) evaluator created (0.129s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.129s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.4743910e+00 1.98e+00 4.33e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6150586e+00 7.77e-01 5.53e+00 -0.6 2.11e+00 0.0 1.00e+00 6.06e-01f 1 2 2.9150150e+00 1.72e-02 7.76e+00 -0.6 1.09e+00 -0.5 6.18e-01 1.00e+00f 1 3 2.6944345e+00 6.63e-03 2.85e-01 -1.3 1.04e-01 -1.0 9.99e-01 1.00e+00h 1 4 2.2433919e+00 3.17e-02 1.34e-01 -2.2 4.03e-01 -1.4 8.93e-01 1.00e+00f 1 5 2.1279849e+00 8.68e-03 9.83e-02 -2.6 4.06e-01 -1.9 9.85e-01 7.98e-01h 1 6 2.0924157e+00 9.67e-05 2.50e-03 -3.8 2.42e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908727e+00 3.72e-06 5.43e-05 -4.0 1.52e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908662e+00 3.27e-08 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908530e+00 6.91e-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 2.0908131e+00 6.24e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906937e+00 5.62e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903362e+00 5.08e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892709e+00 4.64e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861397e+00 4.36e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796422e+00 2.50e-03 8.76e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.54e-01h 1 16 2.0812546e+00 1.55e-04 1.93e-01 -4.0 6.77e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778432e+00 5.94e-03 2.73e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781425e+00 1.57e-02 4.14e-02 -3.7 1.53e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767313e+00 1.30e-02 1.93e-02 -3.8 2.88e+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 2.0758757e+00 9.58e-03 2.13e-02 -3.9 4.21e+02 -9.1 1.00e+00 9.91e-01h 1 21 2.0757695e+00 6.39e-03 8.56e-03 -4.0 1.41e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756770e+00 3.81e-04 3.94e-04 -4.0 6.10e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.06e-06 6.30e-06 -4.0 2.29e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 4.42e-08 1.48e-06 -4.0 1.49e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.47e-09 1.48e-07 -4.0 5.18e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.59e-11 2.98e-09 -4.0 9.10e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122084564e+00 2.0756712122084564e+00 Dual infeasibility......: 2.9806777242528861e-09 2.9806777242528861e-09 Constraint violation....: 7.5876971372679236e-11 7.5876971372679236e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 2.9806777242528861e-09 2.9806777242528861e-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 = 34.327 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.085s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.086s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.139s) evaluator created (0.139s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: equality constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.151s) optimizer initialization complete (total: 0.29s) 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 5.0855728e+00 3.09e+00 8.99e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8475346e+00 2.24e-02 2.55e+00 -1.0 1.77e+00 0.0 9.91e-01 1.00e+00f 1 2 2.7568172e+00 3.76e-02 2.23e+00 -1.0 2.21e+00 -0.5 4.10e-01 2.14e-01h 1 3 2.5827645e+00 2.28e-02 9.70e-01 -1.4 3.09e-01 -0.1 9.95e-01 3.97e-01h 1 4 2.3721880e+00 1.87e-02 2.77e-01 -1.8 2.46e-01 -0.5 9.98e-01 8.70e-01f 1 5 2.1396349e+00 7.60e-03 1.31e-01 -2.5 1.13e-01 -1.0 9.94e-01 9.94e-01h 1 6 2.1038588e+00 1.28e-03 1.39e-01 -3.9 3.18e-01 -1.5 9.99e-01 7.46e-01h 1 7 2.0988297e+00 1.10e-03 1.36e-01 -4.0 1.85e+00 -2.0 2.03e-01 1.36e-01h 1 8 2.0952340e+00 9.50e-04 3.27e-01 -4.0 3.48e-01 -1.5 5.08e-01 1.34e-01h 1 9 2.0949543e+00 9.38e-04 2.56e+00 -4.0 2.89e-01 -1.1 1.00e+00 1.23e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909347e+00 2.78e-04 1.35e+00 -4.0 4.24e-01 -1.6 1.00e+00 6.66e-01h 1 11 2.0909518e+00 1.14e-05 1.30e-01 -4.0 1.85e-01 -2.1 1.00e+00 1.00e+00h 1 12 2.0908559e+00 2.38e-06 2.89e-03 -4.0 1.63e-02 -2.5 1.00e+00 1.00e+00h 1 13 2.0908780e+00 2.84e-07 2.92e-05 -4.0 2.16e-02 -3.0 1.00e+00 1.00e+00h 1 14 2.0908717e+00 2.06e-09 2.06e-05 -4.0 6.41e-02 -3.5 1.00e+00 1.00e+00h 1 15 2.0908528e+00 1.40e-08 2.06e-05 -4.0 1.92e-01 -4.0 1.00e+00 1.00e+00h 1 16 2.0907960e+00 1.26e-07 2.06e-05 -4.0 5.77e-01 -4.4 1.00e+00 1.00e+00h 1 17 2.0906261e+00 1.13e-06 2.06e-05 -4.0 1.73e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0901178e+00 1.03e-05 4.58e-05 -4.0 5.17e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0886073e+00 9.44e-05 4.08e-04 -4.0 1.54e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0842110e+00 9.01e-04 3.75e-03 -4.0 4.46e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0796280e+00 1.87e-03 2.32e-01 -4.0 1.10e+02 -6.8 1.00e+00 4.16e-01h 1 22 2.0792884e+00 7.69e-03 1.90e-01 -4.1 6.14e+01 -7.3 1.00e+00 7.60e-01h 1 23 2.0780773e+00 1.71e-02 4.34e-02 -3.8 1.18e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0765349e+00 1.73e-02 2.66e-02 -4.0 2.06e+02 -8.3 1.00e+00 1.00e+00h 1 25 2.0761155e+00 1.61e-03 2.65e-02 -4.0 3.34e+02 -8.7 1.00e+00 1.00e+00h 1 26 2.0755111e+00 6.69e-04 3.90e-02 -4.0 4.52e+02 -9.2 1.00e+00 6.39e-01H 1 27 2.0757511e+00 1.70e-03 9.25e-03 -4.0 1.30e+02 -9.7 1.00e+00 1.00e+00h 1 28 2.0753700e+00 9.40e-04 2.17e-04 -4.1 4.93e+01 -10.2 1.00e+00 1.00e+00h 1 29 2.0756723e+00 4.37e-04 4.40e-06 -4.0 1.92e+01 -10.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753425e+00 6.04e-04 5.04e-07 -4.1 2.47e+01 -11.1 1.00e+00 1.00e+00h 1 31 2.0756725e+00 3.35e-04 6.96e-07 -4.0 1.37e+01 -11.6 1.00e+00 1.00e+00h 1 32 2.0753425e+00 5.09e-04 2.26e-07 -4.1 2.08e+01 -12.1 1.00e+00 1.00e+00h 1 33 2.0756725e+00 5.56e-04 9.42e-08 -4.0 2.27e+01 -12.6 1.00e+00 1.00e+00h 1 34 2.0753425e+00 5.55e-04 9.42e-08 -4.1 2.27e+01 -13.0 1.00e+00 1.00e+00h 1 35 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.5 9.28e-01 1.00e+00h 1 36 2.0757517e+00 1.59e-01 1.54e-04 -4.0 1.29e+03 -14.0 1.00e+00 1.00e+00h 1 37 2.0753574e+00 2.65e-02 8.73e-05 -4.1 1.05e+03 -14.5 1.00e+00 1.00e+00h 1 38 2.0753474e+00 1.15e-05 2.13e-06 -4.1 1.63e+02 -14.9 1.00e+00 1.00e+00h 1 39 2.0756726e+00 7.26e-04 1.64e-07 -4.0 3.02e+01 -15.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.9 1.00e+00 1.00e+00h 1 41 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.4 9.28e-01 1.00e+00h 1 42 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.9 8.16e-01 1.00e+00h 1 43 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.3 1.00e+00 1.46e-01f 1 44 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.8 1.00e+00 1.00e+00h 1 45 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.3 1.00e+00 1.00e+00h 1 46 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.8 1.00e+00 1.00e+00h 1 47 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.2 1.00e+00 1.00e+00h 1 48 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.7 1.00e+00 1.00e+00h 1 49 2.0756726e+00 7.23e-04 1.61e-07 -4.0 2.96e+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 50 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 51 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 52 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 53 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+02 -20.0 1.00e+00 1.00e+00h 1 54 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 55 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 56 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 57 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 58 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 59 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+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 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 62 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 63 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 64 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 65 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 66 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 67 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 69 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+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 70 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 72 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 73 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 75 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 76 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 77 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 81 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 82 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 83 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 84 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 87 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 88 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 89 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 91 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 94 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 95 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 96 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 97 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 98 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740029855935704e+00 2.0740029855935704e+00 Dual infeasibility......: 5.2112147346577758e-04 5.2112147346577758e-04 Constraint violation....: 1.0803737393220825e-02 1.0803737393220825e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0806576080383957e-05 1.0806576080383957e-05 Overall NLP error.......: 1.0803737393220825e-02 1.0803737393220825e-02 Number of objective function evaluations = 102 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 102 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 = 33.574 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.073s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.073s) integrator 1 hessian structure: 0.058s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.06s) linear index maps built (0.0s) evaluator ready (total: 0.134s) evaluator created (0.134s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.134s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.7113562e+00 2.00e+00 6.25e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6342768e+00 8.54e-02 5.02e-01 -1.1 2.36e+00 -2.0 6.32e-01 9.83e-01f 1 2 2.3104166e+00 1.74e-01 4.70e-01 -1.6 3.00e+00 -2.5 8.96e-01 8.06e-01h 1 3 2.1693189e+00 4.34e-02 1.77e-01 -2.0 1.74e+00 -3.0 9.73e-01 1.00e+00h 1 4 2.1060672e+00 7.46e-03 1.85e-02 -2.9 6.87e-01 -3.4 9.94e-01 1.00e+00h 1 5 2.0908458e+00 4.54e-04 1.89e-03 -4.0 2.32e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908880e+00 7.99e-06 2.73e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907406e+00 9.39e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902994e+00 7.69e-06 3.45e-05 -4.0 4.49e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889866e+00 7.04e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0851474e+00 6.67e-04 2.78e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796303e+00 2.15e-03 1.75e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.43e-01h 1 12 2.0803242e+00 1.77e-04 1.79e-01 -4.0 6.57e+01 -7.2 1.00e+00 9.91e-01H 1 13 2.0773727e+00 8.53e-03 2.24e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.81e-01h 1 14 2.0771717e+00 1.85e-03 7.97e-02 -4.0 2.12e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761390e+00 5.13e-03 1.90e-02 -4.0 3.50e+02 -8.7 1.00e+00 8.38e-01h 1 16 2.0769270e+00 3.22e-02 2.72e-02 -3.7 3.19e+02 -9.2 1.00e+00 1.00e+00h 1 17 2.0765039e+00 7.20e-03 3.69e-03 -3.8 1.05e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0764795e+00 1.60e-04 9.17e-05 -3.8 2.63e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756785e+00 1.94e-03 8.68e-06 -4.0 3.25e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 7.42e-06 1.46e-06 -4.0 2.23e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 3.98e-09 1.62e-07 -4.0 5.07e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 5.02e-11 1.85e-09 -4.0 6.94e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121551164e+00 2.0756712121551164e+00 Dual infeasibility......: 1.8509815585647516e-09 1.8509815585647516e-09 Constraint violation....: 5.0191073519556539e-11 5.0191073519556539e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000044e-04 1.0000000000000044e-04 Overall NLP error.......: 1.8509815585647516e-09 1.8509815585647516e-09 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 31.916 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.071s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.071s) integrator 1 hessian structure: 0.069s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.07s) linear index maps built (0.0s) evaluator ready (total: 0.142s) evaluator created (0.142s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: per-timestep equality constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.142s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1360 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1280 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.3043525e+00 1.94e+00 1.67e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7396034e+00 1.43e+00 3.46e+00 -4.0 1.83e+01 -2.0 7.85e-02 3.19e-01h 1 2 2.4395657e+00 4.19e+00 3.71e+03 -1.4 1.14e+02 -2.5 7.63e-02 8.84e-01h 1 3 2.5434412e+00 7.81e-01 8.57e+02 -1.2 3.73e+01 -3.0 8.79e-01 1.00e+00f 1 4 2.2976536e+00 4.52e-01 2.53e+02 -4.0 1.20e+01 -3.4 5.16e-01 7.96e-01h 1 5 2.2744635e+00 2.66e-01 1.53e+02 -1.8 4.07e+01 -3.9 1.00e+00 4.05e-01h 1 6 2.1935862e+00 2.60e-01 3.12e+01 -2.1 2.31e+01 -4.4 1.00e+00 9.90e-01h 1 7 2.1812390e+00 2.73e-01 2.36e+00 -2.1 2.55e+01 -4.9 9.11e-01 1.00e+00h 1 8 2.1503913e+00 5.67e-02 5.98e-02 -2.4 1.01e+01 -4.4 1.00e+00 1.00e+00h 1 9 2.1228176e+00 8.60e-02 6.79e-02 -3.2 1.47e+01 -4.9 9.81e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1014590e+00 1.82e-01 5.40e-02 -4.0 2.66e+01 -5.4 1.00e+00 1.00e+00h 1 11 2.0953323e+00 1.40e-01 3.74e-01 -4.0 5.90e+01 -5.9 9.58e-01 3.55e-01h 1 12 2.0977100e+00 1.59e-02 1.57e-01 -3.4 1.75e+01 -5.4 1.00e+00 1.00e+00h 1 13 2.0917812e+00 7.80e-02 3.19e-02 -3.4 2.96e+01 -5.9 1.00e+00 9.70e-01h 1 14 2.0884797e+00 1.77e-02 4.37e-02 -3.7 3.76e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0839187e+00 1.24e-02 1.80e-02 -4.0 1.00e+02 -6.9 1.00e+00 1.00e+00h 1 16 2.0779881e+00 7.50e-03 2.38e-01 -4.0 2.62e+02 -7.4 1.00e+00 6.06e-01h 1 17 2.0819694e+00 9.61e-03 4.43e-01 -3.6 1.64e+02 -7.8 1.00e+00 7.22e-01H 1 18 2.0779816e+00 2.73e-02 3.64e-02 -4.0 1.80e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0764727e+00 1.67e-02 1.26e-02 -4.0 4.13e+02 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0775285e+00 4.53e-02 2.44e-02 -3.6 3.31e+02 -9.3 1.00e+00 1.00e+00h 1 21 2.0772190e+00 1.37e-02 4.92e-03 -3.8 1.70e+02 -9.7 1.00e+00 1.00e+00h 1 22 2.0760591e+00 5.49e-03 3.75e-04 -4.0 7.44e+01 -10.2 1.00e+00 1.00e+00h 1 23 2.0760752e+00 8.18e-05 3.37e-05 -4.0 9.40e+01 -10.7 1.00e+00 1.00e+00h 1 24 2.0760732e+00 4.15e-07 1.10e-05 -4.0 3.84e+01 -11.2 1.00e+00 1.00e+00h 1 25 2.0760731e+00 1.90e-08 2.43e-07 -4.0 5.63e+00 -11.6 1.00e+00 1.00e+00h 1 26 2.0760731e+00 3.67e-11 6.25e-10 -4.0 2.87e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0760731418431706e+00 2.0760731418431706e+00 Dual infeasibility......: 6.2495602166619604e-10 6.2495602166619604e-10 Constraint violation....: 3.6746605758253281e-11 3.6746605758253281e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000026e-04 1.0000000000000026e-04 Overall NLP error.......: 6.2495602166619604e-10 6.2495602166619604e-10 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 = 34.275 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.071s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.072s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.126s) evaluator created (0.126s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: bounds on Δt applying constraint: per-timestep equality constraint on trajectory variable u linear constraints added: 3 (0.054s) optimizer initialization complete (total: 0.18s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1264 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1113 Total number of variables............................: 86 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2657317e+00 2.93e+00 1.28e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.6784299e+00 2.19e-01 7.42e+00 -0.8 7.19e+00 - 9.30e-01 1.00e+00h 1 2 4.5885670e+00 1.89e-01 1.52e+03 -0.6 3.16e+01 0.0 9.70e-01 1.65e-01h 1 3 4.6748625e+00 1.99e-01 6.95e+03 1.3 6.39e+02 -0.5 4.52e-02 9.28e-03f 2 4 4.8410409e+00 1.62e+00 6.12e+03 0.0 4.59e+02 -1.0 1.43e-02 1.78e-02f 2 5 5.9838299e+00 1.42e+00 1.47e+04 0.0 1.79e+02 - 6.71e-02 1.18e-01f 3 6 1.5864508e+01 1.02e+00 2.17e+05 0.0 2.80e+01 0.4 9.84e-01 1.00e+00h 1 7 1.5645820e+01 9.74e-01 2.08e+05 0.0 1.01e+01 2.6 3.30e-01 4.91e-02h 1 8 1.3967843e+01 6.40e-01 1.70e+05 0.0 1.16e+01 2.1 1.00e+00 3.52e-01h 1 9 1.3495439e+01 4.26e-01 8.53e+04 0.0 8.91e+00 1.7 1.74e-01 5.22e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.1342804e+01 7.54e-02 3.22e+04 0.0 4.95e+00 1.2 1.00e+00 1.00e+00f 1 11 1.0662993e+01 6.11e-02 2.11e+03 1.3 1.25e+00 0.7 1.00e+00 1.00e+00f 1 12 1.0684397e+01 4.78e-02 1.77e+03 1.1 2.09e+00 2.0 9.96e-01 2.17e-01h 1 13 1.0974268e+01 9.08e-01 7.41e+05 1.9 1.76e+01 1.6 1.00e+00 5.86e-01f 1 14 1.0776183e+01 2.10e-01 1.88e+05 1.8 4.95e+00 1.1 1.00e+00 1.00e+00f 1 15 1.1247882e+01 1.37e-01 5.70e+04 1.8 9.97e+00 0.6 1.00e+00 1.00e+00h 1 16 1.1484848e+01 1.53e-02 8.66e+03 1.8 1.67e+00 1.0 1.00e+00 1.00e+00f 1 17 1.1495603e+01 2.42e-04 1.69e+02 0.5 1.46e-01 0.5 1.00e+00 1.00e+00h 1 18 1.1449611e+01 2.19e-04 2.55e-01 -1.1 1.03e-01 0.1 1.00e+00 1.00e+00f 1 19 1.1295214e+01 2.73e-03 1.26e-01 -2.0 3.24e-01 -0.4 9.96e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0939336e+01 1.50e-02 1.19e-01 -2.9 9.19e-01 -0.9 1.00e+00 1.00e+00f 1 21 1.0064126e+01 7.19e-02 3.48e-01 -3.7 2.62e+00 -1.4 1.00e+00 1.00e+00f 1 22 8.4896547e+00 1.26e-01 1.54e+00 -4.0 7.58e+00 -1.8 1.00e+00 1.00e+00f 1 23 5.6860122e+00 6.35e-01 3.31e+00 -3.6 2.23e+01 -2.3 1.00e+00 1.00e+00f 1 24 5.5328195e+00 4.07e-01 3.20e+00 -2.4 1.47e+00 -1.0 1.00e+00 3.59e-01h 1 25 1.6890145e+01 3.27e-01 5.26e+01 -2.7 1.46e+02 - 3.68e-02 2.76e-01H 1 26 1.2361917e+01 2.58e-01 3.71e+01 -2.5 1.19e+00 0.3 1.27e-02 2.10e-01f 1 27 6.3144599e+00 1.13e-01 1.18e+01 -2.5 3.15e+00 -0.1 9.11e-01 5.48e-01f 1 28 6.5911804e+00 8.28e-03 1.61e+00 -2.8 2.71e-01 -0.6 1.00e+00 1.00e+00h 1 29 6.5122506e+00 9.54e-03 6.25e-02 -3.5 6.93e-01 -1.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 6.3934268e+00 4.88e-03 5.58e-02 -4.0 2.07e+00 -1.6 1.00e+00 1.00e+00h 1 31 6.0443370e+00 3.50e-02 5.69e-01 -3.7 6.26e+00 -2.0 1.00e+00 1.00e+00f 1 32 5.3187300e+00 5.28e-01 1.79e+00 -3.8 1.90e+01 -2.5 1.00e+00 1.00e+00f 1 33 5.1892667e+00 9.04e-01 2.31e+00 -4.0 9.68e+00 - 4.80e-01 1.00e+00h 1 34 4.9112695e+00 5.32e-01 1.28e+00 -3.7 5.74e-01 -0.3 1.00e+00 3.74e-01h 1 35 4.9213148e+00 5.19e-01 1.75e+00 -3.1 1.96e+02 - 2.27e-01 1.44e-02h 1 36 4.9211958e+00 5.19e-01 1.11e+03 -2.5 1.13e+01 -0.8 1.00e+00 1.26e-04h 1 37 5.1176936e+00 4.74e-01 8.18e+02 -2.1 4.31e+02 - 1.00e+00 8.64e-02h 3 38 5.2714898e+00 4.58e-01 4.91e+02 -4.0 3.56e+02 - 3.35e-01 3.40e-02h 4 39 5.2792881e+00 4.57e-01 2.83e+00 -0.2 2.57e+02 -1.2 5.36e-02 1.85e-03f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 6.1810258e+01 9.36e+00 2.84e+03 0.9 1.58e+04 - 6.72e-04 1.97e-02f 1 41 9.0552577e+00 2.42e+00 5.77e+02 -1.3 3.26e+01 -1.7 1.00e+00 6.69e-01f 1 42 8.8382703e+00 2.39e+00 4.45e+02 -1.3 1.58e+01 -2.2 4.31e-01 1.09e-02h 1 43 8.8900259e+00 2.38e+00 5.31e+02 -1.3 2.42e+02 -2.7 1.82e-02 5.72e-03h 4 44 8.9717728e+00 2.37e+00 4.38e+02 -1.3 3.22e+02 -2.2 2.04e-01 5.18e-03f 4 45 9.0261603e+00 2.35e+00 5.32e+02 -1.3 2.61e+02 -2.7 4.82e-01 7.89e-03h 4 46 9.1022487e+00 2.34e+00 5.35e+02 -1.3 6.61e+02 -3.2 2.94e-03 1.83e-03h 5 47 9.0107400e+00 2.33e+00 4.44e+02 -1.3 6.46e+01 -2.8 2.39e-01 3.89e-03h 1 48 9.1274632e+00 2.32e+00 5.08e+02 -1.3 4.42e+02 -3.3 2.34e-02 5.98e-03h 4 49 9.2987637e+00 2.31e+00 2.52e+02 -1.3 6.87e+02 -2.8 2.55e-01 4.51e-03h 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 9.5144588e+00 2.27e+00 4.97e+02 -1.3 4.09e+02 -3.3 7.10e-01 1.83e-02h 3 51 9.4932782e+00 2.25e+00 9.94e+02 -1.3 4.29e+02 -3.8 1.00e+00 6.22e-03h 1 52 1.8981485e+01 1.41e+00 2.67e+03 -1.3 5.38e+02 - 1.00e+00 8.62e-01H 1 53 3.0510394e+01 5.99e-01 3.15e+03 -1.3 2.23e+02 - 8.15e-02 1.00e+00h 1 54 1.4521711e+01 1.36e+00 1.43e+03 -1.3 3.06e+02 - 1.29e-01 1.00e+00f 1 55 1.0538932e+01 5.00e-01 3.26e+02 -1.3 9.81e+01 - 1.00e+00 1.00e+00f 1 56 8.3556129e+00 1.38e+00 2.73e+02 -1.3 7.52e+02 - 1.17e-01 1.25e-01f 4 57 7.5070216e+00 1.86e+00 2.50e+03 -1.3 3.57e+01 -0.6 1.77e-01 5.33e-01f 1 58 7.6671748e+00 1.52e-01 6.08e+05 -1.3 6.94e+00 2.5 1.00e+00 1.00e+00h 1 59 8.2750213e+00 3.26e-02 2.89e+05 -1.3 4.01e+00 2.9 8.95e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 8.2261395e+00 1.12e-02 1.96e+05 -1.3 9.53e-01 3.3 1.00e+00 1.00e+00h 1 61 8.2363473e+00 6.55e-05 1.22e+03 -1.3 1.80e-02 2.9 1.00e+00 1.00e+00h 1 62 8.2362782e+00 4.33e-09 8.42e-02 -3.1 3.46e-04 2.4 1.00e+00 1.00e+00h 1 63 8.2360925e+00 3.23e-08 6.92e-02 -4.0 8.56e-04 1.9 1.00e+00 1.00e+00h 1 64 8.2355380e+00 2.87e-07 6.90e-02 -4.0 2.56e-03 1.4 1.00e+00 1.00e+00f 1 65 8.2338990e+00 2.48e-06 6.83e-02 -4.0 7.60e-03 1.0 1.00e+00 1.00e+00f 1 66 8.2291876e+00 2.00e-05 6.63e-02 -4.0 2.22e-02 0.5 1.00e+00 1.00e+00f 1 67 8.2165748e+00 1.32e-04 6.12e-02 -4.0 6.14e-02 -0.0 1.00e+00 1.00e+00f 1 68 8.1871901e+00 7.91e-04 5.38e-02 -4.0 1.62e-01 -0.5 1.00e+00 1.00e+00h 1 69 8.1336661e+00 3.09e-03 5.38e-02 -4.0 4.85e-01 -1.0 1.00e+00 9.24e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 8.0374829e+00 9.18e-03 5.44e-02 -4.0 1.47e+00 -1.4 1.00e+00 1.00e+00h 1 71 7.7763459e+00 1.11e-02 2.67e-01 -3.9 4.43e+00 -1.9 1.00e+00 1.00e+00f 1 72 7.0369521e+00 5.58e-02 1.99e+00 -3.9 1.34e+01 -2.4 1.00e+00 1.00e+00f 1 73 6.9213542e+00 1.87e+00 5.50e+01 -3.9 5.99e+03 - 1.80e-03 1.05e-02f 5 74 6.0682985e+00 1.52e+00 3.74e+01 -3.9 1.43e+02 -2.0 2.15e-01 5.94e-02f 1 75 5.6038648e+00 1.09e+00 1.81e+01 -3.9 1.48e+02 -2.4 1.00e+00 8.22e-02f 1 76 1.3039714e+01 3.56e-01 1.39e+03 -3.9 5.14e+02 - 3.79e-03 5.32e-01h 1 77 1.2340576e+01 3.48e-01 1.15e+03 -3.9 3.29e+02 - 1.00e+00 1.86e-01f 3 78 1.2032014e+01 4.20e-01 8.67e+02 -3.9 1.39e+02 -2.9 1.86e-01 2.50e-01h 3 79 1.2331678e+01 4.27e-01 6.58e+02 -3.9 1.37e+01 -1.6 5.79e-01 2.50e-01h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.3009941e+01 2.30e-01 4.01e+02 -3.9 3.48e+00 -0.3 3.86e-01 5.00e-01h 2 81 1.2734394e+01 2.55e-01 3.96e+02 -3.9 3.38e+02 - 6.70e-02 1.47e-02f 4 82 1.0225432e+01 2.23e-01 3.23e+02 -3.9 2.44e+02 - 1.00e+00 2.11e-01f 3 83 5.8947447e+00 4.06e-01 8.82e+01 -3.9 1.12e+02 - 1.00e+00 1.00e+00F 1 84 5.8543920e+00 4.03e-01 8.77e+01 -1.8 3.57e+02 - 1.00e+00 6.06e-03h 2 85 5.5358384e+00 3.21e-01 6.69e+01 -1.9 1.89e+00 - 9.21e-02 2.05e-01h 1 86 5.7711795e+00 2.91e-01 6.02e+01 -1.9 2.39e+02 - 1.15e-01 9.45e-02H 1 87 5.5020704e+00 2.89e-01 5.58e+01 -1.9 4.05e+00 -0.7 1.00e+00 6.87e-02H 1 88 5.5164080e+00 2.92e-01 1.29e+02 -1.9 2.23e+01 -1.2 3.91e-02 2.62e-03H 1 89 6.0908403e+00 2.68e-01 1.43e+02 -1.9 4.13e+01 -1.7 1.00e+00 1.25e-01h 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 8.0286658e+00 2.47e-01 5.52e+02 -1.9 1.28e+01 -1.3 9.27e-02 2.24e-01h 3 91 7.7640219e+00 4.63e-01 4.50e+02 -1.9 1.52e+01 - 7.00e-03 2.50e-01f 3 92 8.1736312e+00 1.10e-01 2.04e+01 -1.9 6.12e+00 - 1.00e+00 1.00e+00h 1 93 4.8902483e+00 9.50e-01 1.01e+01 -1.9 4.75e+00 -1.7 3.12e-01 5.98e-01f 1 94 6.9641437e+00 5.03e-01 3.94e+01 -2.1 2.55e+01 -2.2 1.00e+00 5.00e-01h 2 95 5.6013055e+00 3.90e-01 1.73e+02 -2.2 7.96e+00 -0.9 5.63e-01 1.00e+00f 1 96 5.4477920e+00 1.86e-01 3.07e+01 -2.2 3.70e+01 - 1.00e+00 5.00e-01h 2 97 5.7352500e+00 2.03e-01 5.43e+01 -1.8 5.04e+00 - 1.00e+00 1.00e+00h 1 98 5.1516887e+00 7.05e-01 3.00e+01 -1.5 2.71e+01 - 1.00e+00 5.00e-01f 2 99 5.1030675e+00 2.38e-01 2.26e+01 -1.6 3.17e+01 -1.4 9.59e-02 1.36e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 4.8059133e+00 4.89e-01 1.31e+01 -1.6 2.78e+00 - 2.88e-01 4.28e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 4.8059133394892211e+00 4.8059133394892211e+00 Dual infeasibility......: 1.3080245228574375e+01 1.3080245228574375e+01 Constraint violation....: 4.8854304033615770e-01 4.8854304033615770e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.2661442255610122e-02 3.2661442255610122e-02 Overall NLP error.......: 1.3080245228574375e+01 1.3080245228574375e+01 Number of objective function evaluations = 207 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 207 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 = 37.110 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.071s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.072s) integrator 1 hessian structure: 0.056s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.057s) linear index maps built (0.0s) evaluator ready (total: 0.129s) evaluator created (0.129s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.13s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.1321274e+00 4.39e+00 4.27e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8050632e+00 5.46e-02 2.26e+00 -0.9 2.29e+00 0.0 9.18e-01 1.00e+00h 1 2 2.5303823e+00 1.19e-02 4.33e-01 -1.2 1.58e-01 0.4 9.84e-01 1.00e+00h 1 3 2.3551700e+00 2.95e-03 2.01e-01 -1.9 1.10e-01 -0.1 9.91e-01 1.00e+00h 1 4 2.1402765e+00 2.61e-03 8.83e-02 -2.6 1.42e-01 -0.5 9.98e-01 6.67e-01f 1 5 2.0937963e+00 2.39e-04 1.59e-02 -3.4 2.19e-02 -1.0 9.98e-01 9.76e-01h 1 6 2.0908917e+00 5.01e-06 3.79e-03 -4.0 6.13e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0908973e+00 7.95e-09 1.01e-04 -4.0 9.16e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908967e+00 6.11e-11 5.15e-05 -4.0 1.41e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908950e+00 1.07e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908900e+00 9.63e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908751e+00 8.67e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908303e+00 7.81e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906959e+00 7.04e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902939e+00 6.37e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890967e+00 5.83e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855873e+00 5.50e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796137e+00 2.29e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.31e-01h 1 18 2.0807215e+00 1.49e-04 1.81e-01 -4.0 6.58e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775204e+00 7.22e-03 2.47e-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 2.0769651e+00 1.10e-03 4.89e-02 -4.0 1.75e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759653e+00 8.10e-04 2.31e-02 -4.0 3.14e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754467e+00 1.67e-03 2.69e-02 -4.0 4.53e+02 -9.1 1.00e+00 7.26e-01h 1 23 2.0757653e+00 1.98e-03 1.09e-02 -4.0 1.38e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756776e+00 2.20e-04 4.39e-04 -4.0 6.57e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756713e+00 9.11e-07 7.56e-06 -4.0 2.30e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 4.89e-08 1.29e-06 -4.0 1.41e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.67e-09 1.11e-07 -4.0 4.63e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.71e-11 1.85e-09 -4.0 7.33e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121653185e+00 2.0756712121653185e+00 Dual infeasibility......: 1.8470074775991854e-09 1.8470074775991854e-09 Constraint violation....: 4.7122528101795069e-11 4.7122528101795069e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000026e-04 1.0000000000000026e-04 Overall NLP error.......: 1.8470074775991854e-09 1.8470074775991854e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 32.742 EXIT: Optimal Solution Found. ====================================================================================== Information request received. A stacktrace will print followed by a 1.0 second profile. --trace-compile is enabled during profile collection. ====================================================================================== cmd: /opt/julia/bin/julia 28 running 1 of 1 signal (10): User defined signal 1 KnotPoint at /home/pkgeval/.julia/packages/NamedTrajectories/V6fcV/src/base_named_trajectory.jl:91:30 getindex at /home/pkgeval/.julia/packages/NamedTrajectories/V6fcV/src/base_named_trajectory.jl:99:2 [inlined] evaluate! at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/integrators/derivative_integrator.jl:57:15 unknown function (ip: 0x77a3393de63b) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 #15 at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:694:71 unknown function (ip: 0x77a2d05d8602) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 #24 at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:762:22 #finite_difference_hessian!#35 at /home/pkgeval/.julia/packages/FiniteDiff/hMV7l/src/hessians.jl:268:317 unknown function (ip: 0x77a2d04432bd) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 finite_difference_hessian! at /home/pkgeval/.julia/packages/FiniteDiff/hMV7l/src/hessians.jl:202:31 #finite_difference_hessian#33 at /home/pkgeval/.julia/packages/FiniteDiff/hMV7l/src/hessians.jl:165:10 finite_difference_hessian at /home/pkgeval/.julia/packages/FiniteDiff/hMV7l/src/hessians.jl:159:31 [inlined] #finite_difference_hessian#32 at /home/pkgeval/.julia/packages/FiniteDiff/hMV7l/src/hessians.jl:146:10 [inlined] finite_difference_hessian at /home/pkgeval/.julia/packages/FiniteDiff/hMV7l/src/hessians.jl:140:11 [inlined] finite_difference_hessian at /home/pkgeval/.julia/packages/FiniteDiff/hMV7l/src/hessians.jl:140:5 unknown function (ip: 0x77a32cf639da) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:243:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:710:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:901:21 ijl_eval_thunk at /source/src/toplevel.c:768:18 jl_toplevel_eval_flex at /source/src/toplevel.c:712:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:602:15 jl_toplevel_eval_flex at /source/src/toplevel.c:684:27 ijl_toplevel_eval at /source/src/toplevel.c:782:12 ijl_toplevel_eval_in at /source/src/toplevel.c:827:13 eval at ./boot.jl:517:3 include_string at ./loading.jl:3113:145 include_string at ./loading.jl:3123:3 _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] jl_f_invokelatest at /source/src/builtins.c:910:23 #run_testitem##6 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:119:7 [inlined] withpath at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/vendored_code.jl:7:16 #run_testitem##4 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:118:16 [inlined] cd at ./file.jl:112:19 unknown function (ip: 0x77a35e9d8246) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:117:127 unknown function (ip: 0x77a35e9d7dee) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:277:2 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:5 [inlined] macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:275:21 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:24 [inlined] macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:253:26 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:29 [inlined] #run_tests#7 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:250:687 run_tests at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:134:3 unknown function (ip: 0x77a35e91df22) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:243:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:710:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:901:21 ijl_eval_thunk at /source/src/toplevel.c:768:18 jl_toplevel_eval_flex at /source/src/toplevel.c:712:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:602:15 jl_toplevel_eval_flex at /source/src/toplevel.c:684:27 ijl_toplevel_eval at /source/src/toplevel.c:782:12 ijl_toplevel_eval_in at /source/src/toplevel.c:827:13 eval at ./boot.jl:517:3 include_string at ./loading.jl:3113:145 _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 _include at ./loading.jl:3173:45 include at ./Base.jl:327:3 IncludeInto at ./Base.jl:328:4 jfptr_IncludeInto_1.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:243:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:710:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:901:21 ijl_eval_thunk at /source/src/toplevel.c:768:18 jl_toplevel_eval_flex at /source/src/toplevel.c:712:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:602:15 jl_toplevel_eval_flex at /source/src/toplevel.c:684:27 ijl_toplevel_eval at /source/src/toplevel.c:782:12 ijl_toplevel_eval_in at /source/src/toplevel.c:827:13 eval at ./boot.jl:517:3 exec_options at ./client.jl:318:410 _start at ./client.jl:593:36 jfptr__start_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] true_main at /source/src/jlapi.c:971:29 jl_repl_entrypoint at /source/src/jlapi.c:1138:15 main at /source/cli/loader_exe.c:58:15 unknown function (ip: 0x77a367d26249) at /lib/x86_64-linux-gnu/libc.so.6 __libc_start_main at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) unknown function (ip: 0x4010b8) at /workspace/srcdir/glibc-2.17/csu/../sysdeps/x86_64/start.S unknown function (ip: (nil)) at (unknown file) ============================================================== Profile collected. A report will print at the next yield point. Disabling --trace-compile ============================================================== ====================================================================================== Information request received. A stacktrace will print followed by a 1.0 second profile. --trace-compile is enabled during profile collection. ====================================================================================== cmd: /opt/julia/bin/julia 1 running 0 of 1 signal (10): User defined signal 1 epoll_pwait at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) uv__io_poll at /workspace/srcdir/libuv/src/unix/linux.c:1404 uv_run at /workspace/srcdir/libuv/src/unix/core.c:430 ijl_task_get_next at /source/src/scheduler.c:457:34 wait at ./task.jl:1246:50 wait_forever at ./task.jl:1168:5 jfptr_wait_forever_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] start_task at /source/src/task.c:1275:19 unknown function (ip: (nil)) at (unknown file) ============================================================== Profile collected. A report will print at the next yield point. Disabling --trace-compile ============================================================== ┌ Warning: There were no samples collected in one or more groups. │ This may be due to idle threads, or you may need to run your │ program longer (perhaps by running it multiple times), │ or adjust the delay between samples with `Profile.init()`. └ @ Profile /opt/julia/share/julia/stdlib/v1.14/Profile/src/Profile.jl:1361 Overhead ╎ [+additional indent] Count File:Line Function ========================================================= Thread 1 (default) Task 0x00007049bccac5b0 Total snapshots: 466. Utilization: 0% ╎466 @Base/task.jl:1168 wait_forever() 465╎ 466 @Base/task.jl:1246 wait() [1] signal 15: Terminated in expression starting at /PkgEval.jl/scripts/evaluate.jl:214 epoll_pwait at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) uv__io_poll at /workspace/srcdir/libuv/src/unix/linux.c:1404 uv_run at /workspace/srcdir/libuv/src/unix/core.c:430 ijl_task_get_next at /source/src/scheduler.c:457:34 wait at ./task.jl:1246:50 wait_forever at ./task.jl:1168:5 jfptr_wait_forever_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] start_task at /source/src/task.c:1275:19 unknown function (ip: (nil)) at (unknown file) Allocations: 20768162 (Pool: 20767431; Big: 731); GC: 17 [28] signal 15: Terminated in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:765 egal_types at /source/src/builtins.c:174:17 egal_types at /source/src/builtins.c:185:18 ijl_types_equal at /source/src/subtype.c:2414:41 jl_specializations_get_linfo_ at /source/src/gf.c:236:17 #specialize_method#6 at ./runtime_internals.jl:1796:40 [inlined] specialize_method at ./runtime_internals.jl:1783:4 [inlined] typeinf_edge at ./../usr/share/julia/Compiler/src/typeinfer.jl:1147:14 abstract_call_method at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:769:296 infercalls at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:178:51 abstract_call_gf_by_type at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:340:173 abstract_call_known at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:2999:1211 abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3107:51 abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3100:4 [inlined] abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3255:21 abstract_eval_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3273:28 [inlined] abstract_eval_statement_expr at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3637:11 abstract_eval_basic_statement at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4061:142 [inlined] abstract_eval_basic_statement at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4018:4 [inlined] typeinf_local at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4602:703 jfptr_typeinf_local_1.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 typeinf at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4880:151 typeinf_ext at ./../usr/share/julia/Compiler/src/typeinfer.jl:1537:141 typeinf_ext_toplevel at ./../usr/share/julia/Compiler/src/typeinfer.jl:1723:2 [inlined] typeinf_ext_toplevel at ./../usr/share/julia/Compiler/src/typeinfer.jl:1732:19 jfptr_typeinf_ext_toplevel_2.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] jl_type_infer at /source/src/gf.c:463:35 jl_compile_method_internal at /source/src/gf.c:3638:24 _jl_invoke at /source/src/gf.c:4103:16 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:243:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:710:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:901:21 ijl_eval_thunk at /source/src/toplevel.c:768:18 jl_toplevel_eval_flex at /source/src/toplevel.c:712:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:602:15 jl_toplevel_eval_flex at /source/src/toplevel.c:684:27 ijl_toplevel_eval at /source/src/toplevel.c:782:12 ijl_toplevel_eval_in at /source/src/toplevel.c:827:13 eval at ./boot.jl:517:3 include_string at ./loading.jl:3113:145 include_string at ./loading.jl:3123:3 _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] jl_f_invokelatest at /source/src/builtins.c:910:23 #run_testitem##6 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:119:7 [inlined] withpath at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/vendored_code.jl:7:16 #run_testitem##4 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:118:16 [inlined] cd at ./file.jl:112:19 unknown function (ip: 0x77a35e9d8246) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:117:127 unknown function (ip: 0x77a35e9d7dee) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:277:2 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:5 [inlined] macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:275:21 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:24 [inlined] macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:253:26 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:29 [inlined] #run_tests#7 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:250:687 run_tests at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:134:3 unknown function (ip: 0x77a35e91df22) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:243:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:710:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:901:21 ijl_eval_thunk at /source/src/toplevel.c:768:18 jl_toplevel_eval_flex at /source/src/toplevel.c:712:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:602:15 jl_toplevel_eval_flex at /source/src/toplevel.c:684:27 ijl_toplevel_eval at /source/src/toplevel.c:782:12 ijl_toplevel_eval_in at /source/src/toplevel.c:827:13 eval at ./boot.jl:517:3 include_string at ./loading.jl:3113:145 _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 _include at ./loading.jl:3173:45 include at ./Base.jl:327:3 IncludeInto at ./Base.jl:328:4 jfptr_IncludeInto_1.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:243:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:710:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:901:21 ijl_eval_thunk at /source/src/toplevel.c:768:18 jl_toplevel_eval_flex at /source/src/toplevel.c:712:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:602:15 jl_toplevel_eval_flex at /source/src/toplevel.c:684:27 ijl_toplevel_eval at /source/src/toplevel.c:782:12 ijl_toplevel_eval_in at /source/src/toplevel.c:827:13 eval at ./boot.jl:517:3 exec_options at ./client.jl:318:410 _start at ./client.jl:593:36 jfptr__start_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] true_main at /source/src/jlapi.c:971:29 jl_repl_entrypoint at /source/src/jlapi.c:1138:15 main at /source/cli/loader_exe.c:58:15 unknown function (ip: 0x77a367d26249) at /lib/x86_64-linux-gnu/libc.so.6 __libc_start_main at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) unknown function (ip: 0x4010b8) at /workspace/srcdir/glibc-2.17/csu/../sysdeps/x86_64/start.S unknown function (ip: (nil)) at (unknown file) Allocations: 1447090136 (Pool: 1447008440; Big: 81696); GC: 678 PkgEval terminated after 2722.62s: test duration exceeded the time limit