Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1688 (ee54f91d68*) started at 2026-02-10T08:14:20.682 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 11.97s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.8.1 Updating `~/.julia/environments/v1.14/Manifest.toml` [47edcb42] + ADTypes v1.21.0 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.43 [79e6a3ab] + Adapt v4.4.0 [4fba245c] + ArrayInterface v7.22.0 [4c555306] + ArrayLayouts v1.12.2 [6e4b80f9] + BenchmarkTools v1.6.3 [62783981] + BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] + BracketingNonlinearSolve v1.6.2 [2a0fbf3d] + CPUSummary v0.2.7 [d360d2e6] + ChainRulesCore v1.26.0 [0b6fb165] + ChunkCodecCore v1.0.1 [4c0bbee4] + ChunkCodecLibZlib v1.0.0 [55437552] + ChunkCodecLibZstd v1.0.0 [fb6a15b2] + CloseOpenIntervals v0.1.13 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.8 [38540f10] + CommonSolve v0.2.6 [bbf7d656] + CommonSubexpressions v0.3.1 [f70d9fcc] + CommonWorldInvalidations v1.0.0 [34da2185] + Compat v4.18.1 [a33af91c] + CompositionsBase v0.1.2 [95dc2771] + ComputePipeline v0.1.6 [2569d6c7] + ConcreteStructs v0.2.3 [187b0558] + ConstructionBase v1.6.0 [adafc99b] + CpuId v0.3.1 [864edb3b] + DataStructures v0.19.3 [2b5f629d] + DiffEqBase v6.200.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.16 [c823fa1f] + DirectTrajOpt v0.8.1 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.6 [f151be2c] + EnzymeCore v0.8.18 [e24c0720] + ExponentialAction v0.2.10 [e2ba6199] + ExprTools v0.1.10 [55351af7] + ExproniconLite v0.10.14 [7034ab61] + FastBroadcast v0.3.5 [9aa1b823] + FastClosures v0.3.2 [a4df4552] + FastPower v1.3.1 [5789e2e9] + FileIO v1.18.0 [1a297f60] + FillArrays v1.16.0 [6a86dc24] + FiniteDiff v2.29.0 [f6369f11] + ForwardDiff v1.3.2 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v0.1.3 [46192b85] + GPUArraysCore v0.2.0 [076d061b] + HashArrayMappedTries v0.2.0 [615f187c] + IfElse v0.1.1 [3587e190] + InverseFunctions v0.1.17 [b6b21f68] + Ipopt v1.14.0 [92d709cd] + IrrationalConstants v0.2.6 [82899510] + IteratorInterfaceExtensions v1.0.0 [033835bb] + JLD2 v0.6.3 [692b3bcd] + JLLWrappers v1.7.1 [682c06a0] + JSON v1.4.0 [ae98c720] + Jieko v0.2.1 [10f19ff3] + LayoutPointers v0.1.17 [5078a376] + LazyArrays v2.9.5 [2ab3a3ac] + LogExpFunctions v0.3.29 [e6f89c97] + LoggingExtras v1.2.0 [1914dd2f] + MacroTools v0.5.16 [d125e4d3] + ManualMemory v0.1.8 [b8f27783] + MathOptInterface v1.49.0 [bb5d69b7] + MaybeInplace v0.1.4 [2e0e35c7] + Moshi v0.3.7 [46d2c3a1] + MuladdMacro v0.2.4 [d8a4904e] + MutableArithmetics v1.6.7 [77ba4419] + NaNMath v1.1.3 [538bc3a1] + NamedTrajectories v0.8.2 [be0214bd] + NonlinearSolveBase v2.11.2 [510215fc] + Observables v0.5.5 [bac558e1] + OrderedCollections v1.8.1 [bbf590c4] + OrdinaryDiffEqCore v3.4.2 [b1df2697] + OrdinaryDiffEqTsit5 v1.9.0 [69de0a69] + Parsers v2.8.3 [f517fe37] + Polyester v0.7.18 [1d0040c9] + PolyesterWeave v0.2.2 [d236fae5] + PreallocationTools v1.1.2 [aea7be01] + PrecompileTools v1.3.3 [21216c6a] + Preferences v1.5.1 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v3.47.0 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.17 [94e857df] + SIMDTypes v0.1.0 [0bca4576] + SciMLBase v2.138.0 [19f34311] + SciMLJacobianOperators v0.1.12 [a6db7da4] + SciMLLogging v1.8.0 [c0aeaf25] + SciMLOperators v1.15.1 [431bcebd] + SciMLPublic v1.0.1 [53ae85a6] + SciMLStructures v1.10.0 [7e506255] + ScopedValues v1.5.0 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.6.1 [aedffcd0] + Static v1.3.1 [0d7ed370] + StaticArrayInterface v1.9.0 [90137ffa] + StaticArrays v1.9.16 [1e83bf80] + StaticArraysCore v1.4.4 [10745b16] + Statistics v1.11.1 [7792a7ef] + StrideArraysCore v0.5.8 [ec057cc2] + StructUtils v2.6.2 [2efcf032] + SymbolicIndexingInterface v0.3.46 [f8b46487] + TestItemRunner v1.1.4 [1c621080] + TestItems v1.0.0 [8290d209] + ThreadingUtilities v0.5.5 [a759f4b9] + TimerOutputs v0.5.29 [6dad8b7f] + TrajectoryIndexingUtils v0.1.0 [3bb67fe8] + TranscodingStreams v0.11.3 [781d530d] + TruncatedStacktraces v1.4.0 [ae81ac8f] + ASL_jll v0.1.3+0 [6e34b625] + Bzip2_jll v1.0.9+0 [e33a78d0] + Hwloc_jll v2.12.2+0 [9cc047cb] + Ipopt_jll v300.1400.1901+0 [94ce4f54] + Libiconv_jll v1.18.0+0 [d00139f3] + METIS_jll v5.1.3+0 [d7ed1dd3] + MUMPS_seq_jll v500.800.200+0 [656ef2d0] + OpenBLAS32_jll v0.3.30+0 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 [319450e9] + SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] + XML2_jll v2.13.9+0 [a65dc6b1] + Xorg_libpciaccess_jll v0.18.1+0 [0dad84c5] + ArgTools v1.1.2 [56f22d72] + Artifacts v1.11.0 [2a0f44e3] + Base64 v1.11.0 [ade2ca70] + Dates v1.11.0 [8ba89e20] + Distributed v1.11.0 [f43a241f] + Downloads v1.7.0 [7b1f6079] + FileWatching v1.11.0 [9fa8497b] + Future v1.11.0 [b77e0a4c] + InteractiveUtils v1.11.0 [ac6e5ff7] + JuliaSyntaxHighlighting v1.13.0 [b27032c2] + LibCURL v1.0.0 [76f85450] + LibGit2 v1.11.0 [8f399da3] + Libdl v1.11.0 [37e2e46d] + LinearAlgebra v1.13.0 [56ddb016] + Logging v1.11.0 [d6f4376e] + Markdown v1.11.0 [a63ad114] + Mmap v1.11.0 [ca575930] + NetworkOptions v1.3.0 [44cfe95a] + Pkg v1.14.0 [de0858da] + Printf v1.11.0 [9abbd945] + Profile v1.11.0 [9a3f8284] + Random v1.11.0 [ea8e919c] + SHA v1.0.0 [9e88b42a] + Serialization v1.11.0 [6462fe0b] + Sockets v1.11.0 [2f01184e] + SparseArrays v1.13.0 [f489334b] + StyledStrings v1.13.0 [fa267f1f] + TOML v1.0.3 [a4e569a6] + Tar v1.10.0 [8dfed614] + Test v1.11.0 [cf7118a7] + UUIDs v1.11.0 [4ec0a83e] + Unicode v1.11.0 [e66e0078] + CompilerSupportLibraries_jll v1.3.0+1 [deac9b47] + LibCURL_jll v8.18.0+0 [e37daf67] + LibGit2_jll v1.9.2+0 [29816b5a] + LibSSH2_jll v1.11.3+1 [14a3606d] + MozillaCACerts_jll v2025.12.2 [4536629a] + OpenBLAS_jll v0.3.30+0 [05823500] + OpenLibm_jll v0.8.7+0 [458c3c95] + OpenSSL_jll v3.5.4+0 [efcefdf7] + PCRE2_jll v10.47.0+0 [bea87d4a] + SuiteSparse_jll v7.10.1+0 [83775a58] + Zlib_jll v1.3.1+2 [3161d3a3] + Zstd_jll v1.5.7+1 [8e850b90] + libblastrampoline_jll v5.15.0+0 [8e850ede] + nghttp2_jll v1.68.0+1 [3f19e933] + p7zip_jll v17.7.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m` Installation completed after 5.9s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 2184.7 ms ✓ ExponentialAction 9699.2 ms ✓ NamedTrajectories 24236.8 ms ✓ DirectTrajOpt 3 dependencies successfully precompiled in 39 seconds. 222 already precompiled. Precompilation completed after 58.99s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_yIZCFq/Project.toml` [c823fa1f] DirectTrajOpt v0.8.1 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.3.2 [b6b21f68] Ipopt v1.14.0 [5078a376] LazyArrays v2.9.5 [b8f27783] MathOptInterface v1.49.0 [538bc3a1] NamedTrajectories v0.8.2 [b1df2697] OrdinaryDiffEqTsit5 v1.9.0 [189a3867] Reexport v1.2.2 [f8b46487] TestItemRunner v1.1.4 [1c621080] TestItems v1.0.0 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.13.0 [2f01184e] SparseArrays v1.13.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_yIZCFq/Manifest.toml` [47edcb42] ADTypes v1.21.0 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.43 [79e6a3ab] Adapt v4.4.0 [4fba245c] ArrayInterface v7.22.0 [4c555306] ArrayLayouts v1.12.2 [6e4b80f9] BenchmarkTools v1.6.3 [62783981] BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] BracketingNonlinearSolve v1.6.2 [2a0fbf3d] CPUSummary v0.2.7 [d360d2e6] ChainRulesCore v1.26.0 [0b6fb165] ChunkCodecCore v1.0.1 [4c0bbee4] ChunkCodecLibZlib v1.0.0 [55437552] ChunkCodecLibZstd v1.0.0 [fb6a15b2] CloseOpenIntervals v0.1.13 [523fee87] CodecBzip2 v0.8.5 [944b1d66] CodecZlib v0.7.8 [38540f10] CommonSolve v0.2.6 [bbf7d656] CommonSubexpressions v0.3.1 [f70d9fcc] CommonWorldInvalidations v1.0.0 [34da2185] Compat v4.18.1 [a33af91c] CompositionsBase v0.1.2 [95dc2771] ComputePipeline v0.1.6 [2569d6c7] ConcreteStructs v0.2.3 [187b0558] ConstructionBase v1.6.0 [adafc99b] CpuId v0.3.1 [864edb3b] DataStructures v0.19.3 [2b5f629d] DiffEqBase v6.200.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a0c0ee7d] DifferentiationInterface v0.7.16 [c823fa1f] DirectTrajOpt v0.8.1 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.6 [f151be2c] EnzymeCore v0.8.18 [e24c0720] ExponentialAction v0.2.10 [e2ba6199] ExprTools v0.1.10 [55351af7] ExproniconLite v0.10.14 [7034ab61] FastBroadcast v0.3.5 [9aa1b823] FastClosures v0.3.2 [a4df4552] FastPower v1.3.1 [5789e2e9] FileIO v1.18.0 [1a297f60] FillArrays v1.16.0 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.3.2 [069b7b12] FunctionWrappers v1.1.3 [77dc65aa] FunctionWrappersWrappers v0.1.3 [46192b85] GPUArraysCore v0.2.0 [076d061b] HashArrayMappedTries v0.2.0 [615f187c] IfElse v0.1.1 [3587e190] InverseFunctions v0.1.17 [b6b21f68] Ipopt v1.14.0 [92d709cd] IrrationalConstants v0.2.6 [82899510] IteratorInterfaceExtensions v1.0.0 [033835bb] JLD2 v0.6.3 [692b3bcd] JLLWrappers v1.7.1 [682c06a0] JSON v1.4.0 [ae98c720] Jieko v0.2.1 [10f19ff3] LayoutPointers v0.1.17 [5078a376] LazyArrays v2.9.5 [2ab3a3ac] LogExpFunctions v0.3.29 [e6f89c97] LoggingExtras v1.2.0 [1914dd2f] MacroTools v0.5.16 [d125e4d3] ManualMemory v0.1.8 [b8f27783] MathOptInterface v1.49.0 [bb5d69b7] MaybeInplace v0.1.4 [2e0e35c7] Moshi v0.3.7 [46d2c3a1] MuladdMacro v0.2.4 [d8a4904e] MutableArithmetics v1.6.7 [77ba4419] NaNMath v1.1.3 [538bc3a1] NamedTrajectories v0.8.2 [be0214bd] NonlinearSolveBase v2.11.2 [510215fc] Observables v0.5.5 [bac558e1] OrderedCollections v1.8.1 [bbf590c4] OrdinaryDiffEqCore v3.4.2 [b1df2697] OrdinaryDiffEqTsit5 v1.9.0 [69de0a69] Parsers v2.8.3 [f517fe37] Polyester v0.7.18 [1d0040c9] PolyesterWeave v0.2.2 [d236fae5] PreallocationTools v1.1.2 [aea7be01] PrecompileTools v1.3.3 [21216c6a] Preferences v1.5.1 [3cdcf5f2] RecipesBase v1.3.4 [731186ca] RecursiveArrayTools v3.47.0 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.17 [94e857df] SIMDTypes v0.1.0 [0bca4576] SciMLBase v2.138.0 [19f34311] SciMLJacobianOperators v0.1.12 [a6db7da4] SciMLLogging v1.8.0 [c0aeaf25] SciMLOperators v1.15.1 [431bcebd] SciMLPublic v1.0.1 [53ae85a6] SciMLStructures v1.10.0 [7e506255] ScopedValues v1.5.0 [efcf1570] Setfield v1.1.2 [276daf66] SpecialFunctions v2.6.1 [aedffcd0] Static v1.3.1 [0d7ed370] StaticArrayInterface v1.9.0 [90137ffa] StaticArrays v1.9.16 [1e83bf80] StaticArraysCore v1.4.4 [10745b16] Statistics v1.11.1 [7792a7ef] StrideArraysCore v0.5.8 [ec057cc2] StructUtils v2.6.2 [2efcf032] SymbolicIndexingInterface v0.3.46 [f8b46487] TestItemRunner v1.1.4 [1c621080] TestItems v1.0.0 [8290d209] ThreadingUtilities v0.5.5 [a759f4b9] TimerOutputs v0.5.29 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [3bb67fe8] TranscodingStreams v0.11.3 [781d530d] TruncatedStacktraces v1.4.0 [ae81ac8f] ASL_jll v0.1.3+0 [6e34b625] Bzip2_jll v1.0.9+0 [e33a78d0] Hwloc_jll v2.12.2+0 [9cc047cb] Ipopt_jll v300.1400.1901+0 [94ce4f54] Libiconv_jll v1.18.0+0 [d00139f3] METIS_jll v5.1.3+0 [d7ed1dd3] MUMPS_seq_jll v500.800.200+0 [656ef2d0] OpenBLAS32_jll v0.3.30+0 [efe28fd5] OpenSpecFun_jll v0.5.6+0 [319450e9] SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] XML2_jll v2.13.9+0 [a65dc6b1] Xorg_libpciaccess_jll v0.18.1+0 [0dad84c5] ArgTools v1.1.2 [56f22d72] Artifacts v1.11.0 [2a0f44e3] Base64 v1.11.0 [ade2ca70] Dates v1.11.0 [8ba89e20] Distributed v1.11.0 [f43a241f] Downloads v1.7.0 [7b1f6079] FileWatching v1.11.0 [9fa8497b] Future v1.11.0 [b77e0a4c] InteractiveUtils v1.11.0 [ac6e5ff7] JuliaSyntaxHighlighting v1.13.0 [b27032c2] LibCURL v1.0.0 [76f85450] LibGit2 v1.11.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.13.0 [56ddb016] Logging v1.11.0 [d6f4376e] Markdown v1.11.0 [a63ad114] Mmap v1.11.0 [ca575930] NetworkOptions v1.3.0 [44cfe95a] Pkg v1.14.0 [de0858da] Printf v1.11.0 [9abbd945] Profile v1.11.0 [9a3f8284] Random v1.11.0 [ea8e919c] SHA v1.0.0 [9e88b42a] Serialization v1.11.0 [6462fe0b] Sockets v1.11.0 [2f01184e] SparseArrays v1.13.0 [f489334b] StyledStrings v1.13.0 [fa267f1f] TOML v1.0.3 [a4e569a6] Tar v1.10.0 [8dfed614] Test v1.11.0 [cf7118a7] UUIDs v1.11.0 [4ec0a83e] Unicode v1.11.0 [e66e0078] CompilerSupportLibraries_jll v1.3.0+1 [deac9b47] LibCURL_jll v8.18.0+0 [e37daf67] LibGit2_jll v1.9.2+0 [29816b5a] LibSSH2_jll v1.11.3+1 [14a3606d] MozillaCACerts_jll v2025.12.2 [4536629a] OpenBLAS_jll v0.3.30+0 [05823500] OpenLibm_jll v0.8.7+0 [458c3c95] OpenSSL_jll v3.5.4+0 [efcefdf7] PCRE2_jll v10.47.0+0 [bea87d4a] SuiteSparse_jll v7.10.1+0 [83775a58] Zlib_jll v1.3.1+2 [3161d3a3] Zstd_jll v1.5.7+1 [8e850b90] libblastrampoline_jll v5.15.0+0 [8e850ede] nghttp2_jll v1.68.0+1 [3f19e933] p7zip_jll v17.7.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. Testing Running tests... initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt ****************************************************************************** This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit https://github.com/coin-or/Ipopt ****************************************************************************** This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6328384e+00 2.61e+00 5.65e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8720265e+00 4.99e-02 2.82e+00 -1.0 1.86e+00 0.0 1.00e+00 1.00e+00h 1 2 2.9707713e+00 5.43e-02 1.55e+00 -0.7 6.27e-01 -0.5 1.00e+00 5.61e-01h 1 3 2.4895655e+00 8.52e-02 5.73e-01 -1.2 7.39e-01 -1.0 9.86e-01 1.00e+00f 1 4 2.2306870e+00 2.39e-02 1.24e-01 -2.1 3.76e-01 -1.4 9.50e-01 1.00e+00h 1 5 2.1104216e+00 4.02e-03 1.02e-01 -3.2 3.39e-01 -1.9 9.97e-01 8.21e-01h 1 6 2.0914968e+00 4.16e-05 1.86e-03 -4.0 1.69e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909131e+00 1.18e-06 4.08e-05 -4.0 1.51e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909081e+00 7.43e-09 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908948e+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 2.0908550e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907356e+00 5.60e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903780e+00 5.07e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893124e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861801e+00 4.35e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796323e+00 2.53e-03 8.62e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.59e-01h 1 16 2.0812684e+00 1.39e-04 1.88e-01 -4.0 6.85e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778382e+00 5.48e-03 2.58e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781507e+00 1.68e-02 3.47e-02 -3.7 1.55e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767376e+00 1.30e-02 1.73e-02 -3.8 2.92e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0759854e+00 7.37e-03 2.25e-02 -3.9 4.19e+02 -9.1 1.00e+00 9.90e-01h 1 21 2.0757546e+00 8.37e-03 9.69e-03 -4.0 1.36e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756808e+00 4.29e-04 3.89e-04 -4.0 5.66e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 6.44e-06 7.73e-06 -4.0 2.31e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.57e-08 1.49e-06 -4.0 1.51e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.54e-09 1.51e-07 -4.0 5.27e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.83e-11 3.06e-09 -4.0 9.29e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122108945e+00 2.0756712122108945e+00 Dual infeasibility......: 3.0607760343988929e-09 3.0607760343988929e-09 Constraint violation....: 7.8251960466957371e-11 7.8251960466957371e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 3.0607760343988929e-09 3.0607760343988929e-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 = 63.707 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: equality constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4280160e+00 4.07e+00 3.67e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8864250e+00 8.61e-01 1.65e+00 -1.1 2.12e+00 0.0 8.98e-01 7.88e-01h 1 2 2.5585780e+00 1.87e-01 1.86e+00 -0.9 5.12e-01 0.4 1.00e+00 7.82e-01h 1 3 2.4734065e+00 2.09e-02 6.91e-01 -1.2 3.03e-01 -0.1 9.90e-01 8.66e-01h 1 4 2.2993798e+00 6.36e-03 8.95e-02 -1.8 1.18e-01 -0.5 9.84e-01 1.00e+00h 1 5 2.1537638e+00 3.33e-03 2.20e-01 -2.9 1.30e-01 -1.0 9.95e-01 6.90e-01h 1 6 2.1042125e+00 3.54e-03 9.26e-02 -4.0 2.31e-01 -1.5 9.99e-01 9.86e-01h 1 7 2.0919932e+00 6.77e-04 7.36e-02 -4.0 6.42e-01 -2.0 1.00e+00 8.33e-01h 1 8 2.0909135e+00 4.27e-04 5.20e-01 -4.0 3.24e-01 -2.4 1.00e+00 3.70e-01h 1 9 2.0909175e+00 5.30e-06 2.89e-02 -4.0 7.80e-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 2.0909358e+00 5.44e-07 1.35e-04 -4.0 5.12e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909213e+00 3.18e-08 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908764e+00 7.84e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907421e+00 7.06e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903399e+00 6.39e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891424e+00 5.84e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856320e+00 5.51e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796356e+00 2.31e-03 1.35e-01 -4.0 9.57e+01 -6.7 1.00e+00 6.32e-01h 1 18 2.0807539e+00 1.61e-04 1.82e-01 -4.0 6.61e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775377e+00 7.41e-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 2.0769372e+00 1.14e-03 5.07e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759975e+00 1.02e-03 2.36e-02 -4.0 3.12e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754457e+00 5.00e-04 2.98e-02 -4.0 4.68e+02 -9.1 1.00e+00 7.25e-01H 1 23 2.0757745e+00 2.18e-03 1.06e-02 -4.0 1.42e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753817e+00 1.40e-03 4.88e-04 -4.1 7.87e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.00e-04 6.94e-06 -4.0 1.82e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.32e-04 7.79e-07 -4.1 2.59e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.16e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.01e-04 2.62e-07 -4.1 2.05e+01 -12.0 1.00e+00 1.00e+00h 1 29 2.0756725e+00 5.53e-04 1.18e-07 -4.0 2.26e+01 -12.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753425e+00 5.53e-04 9.06e-08 -4.1 2.26e+01 -12.9 1.00e+00 1.00e+00h 1 31 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.4 9.28e-01 1.00e+00h 1 32 2.0757517e+00 1.59e-01 1.53e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 33 2.0753574e+00 2.64e-02 8.69e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 34 2.0753474e+00 1.15e-05 2.14e-06 -4.1 1.63e+02 -14.8 1.00e+00 1.00e+00h 1 35 2.0756726e+00 7.25e-04 1.64e-07 -4.0 3.02e+01 -15.3 1.00e+00 1.00e+00h 1 36 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 37 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 38 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 39 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.2 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.7 1.00e+00 1.00e+00h 1 41 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.2 1.00e+00 1.00e+00h 1 42 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.7 1.00e+00 1.00e+00h 1 43 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.1 1.00e+00 1.00e+00h 1 44 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.6 1.00e+00 1.00e+00h 1 45 2.0756726e+00 7.23e-04 1.61e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 48 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 49 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 51 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 58 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 59 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 61 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 68 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 69 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 72 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 73 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 76 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 77 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 79 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 83 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 84 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 86 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 87 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 91 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 93 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 94 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 97 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 98 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0739527e+00 5.48e-08 5.24e-06 -6.5 3.94e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0740476e+00 1.42e-02 4.44e-02 -4.0 9.26e+04 -20.0 1.00e+00 3.50e-02f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740476226011366e+00 2.0740476226011366e+00 Dual infeasibility......: 4.4440948322914668e-02 4.4440948322914668e-02 Constraint violation....: 1.4164404722581736e-02 1.4164404722581736e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728832e-04 2.3095644031728832e-04 Overall NLP error.......: 4.4440948322914668e-02 4.4440948322914668e-02 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 23.366 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.8372158e+00 2.43e+00 4.07e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7236253e+00 6.36e-02 4.98e+00 -0.9 2.06e+00 0.0 9.34e-01 1.00e+00f 1 2 2.3813121e+00 1.41e-02 1.32e+00 -1.2 2.56e-01 0.4 9.95e-01 1.00e+00h 1 3 2.2910453e+00 2.27e-03 1.92e-01 -1.9 1.05e-01 -0.1 9.93e-01 1.00e+00h 1 4 2.1345651e+00 8.28e-04 6.25e-02 -2.9 1.07e-01 -0.5 9.98e-01 7.15e-01f 1 5 2.0933695e+00 1.23e-04 4.03e-02 -4.0 2.43e-02 -1.0 1.00e+00 1.00e+00h 1 6 2.0908489e+00 4.98e-06 7.21e-03 -4.0 7.13e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0908926e+00 1.25e-08 1.09e-04 -4.0 9.96e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908918e+00 2.52e-10 5.62e-05 -4.0 1.54e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908901e+00 1.08e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908851e+00 9.72e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908702e+00 8.75e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908254e+00 7.88e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906910e+00 7.11e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902890e+00 6.43e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890919e+00 5.89e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855828e+00 5.56e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796375e+00 2.29e-03 1.36e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.28e-01h 1 18 2.0806818e+00 1.27e-04 1.69e-01 -4.0 6.90e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775368e+00 7.15e-03 2.23e-02 -4.0 1.19e+02 -7.7 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769176e+00 1.06e-03 5.28e-02 -4.0 2.06e+02 -8.2 9.82e-01 9.67e-01h 1 21 2.0763380e+00 1.35e-03 4.54e-02 -4.0 3.55e+02 -8.6 1.00e+00 6.38e-01h 1 22 2.0755469e+00 4.14e-03 3.49e-02 -4.0 6.47e+02 -9.1 1.00e+00 7.50e-01h 1 23 2.0758150e+00 3.71e-03 2.00e-02 -4.0 1.94e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756812e+00 6.27e-04 1.01e-03 -4.0 1.04e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756712e+00 4.70e-06 1.69e-05 -4.0 2.35e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 1.02e-07 1.36e-06 -4.0 1.45e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.82e-09 1.17e-07 -4.0 4.77e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 5.03e-11 1.96e-09 -4.0 7.54e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121667360e+00 2.0756712121667360e+00 Dual infeasibility......: 1.9577452790419531e-09 1.9577452790419531e-09 Constraint violation....: 5.0261350637015312e-11 5.0261350637015312e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000045e-04 1.0000000000000045e-04 Overall NLP error.......: 1.9577452790419531e-09 1.9577452790419531e-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 = 34.675 EXIT: Optimal Solution Found. [test_integrator] Starting... [test_integrator] constraint_dim=8, datavec_len=75, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.3392243e+00 3.19e+00 6.97e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6061392e+00 2.61e-01 2.16e+00 -0.8 2.25e+00 0.0 8.47e-01 9.23e-01f 1 Hello, world! 2 2.8755961e+00 8.55e-02 2.82e+00 -1.0 5.61e-01 -0.5 4.52e-01 1.00e+00f 1 Hello, world! 3 2.6344436e+00 9.78e-02 9.43e-01 -0.9 4.54e-01 -1.0 8.24e-01 6.63e-01h 1 Hello, world! 4 2.2629634e+00 5.09e-02 6.79e-01 -2.6 7.16e-01 -1.4 7.07e-01 1.00e+00h 1 Hello, world! 5 2.1298973e+00 9.67e-03 9.96e-02 -2.4 3.81e-01 -1.9 9.94e-01 9.19e-01h 1 Hello, world! 6 2.0940019e+00 2.25e-04 1.33e-02 -3.5 3.22e-02 -2.4 1.00e+00 9.77e-01h 1 Hello, world! 7 2.0909223e+00 1.23e-05 6.61e-04 -4.0 2.04e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909327e+00 1.98e-07 2.48e-05 -4.0 5.42e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909138e+00 1.11e-08 2.82e-05 -4.0 1.54e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908729e+00 7.29e-08 1.51e-04 -4.0 3.92e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908009e+00 3.06e-07 8.00e-04 -4.0 9.10e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906212e+00 2.51e-06 1.23e-03 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900995e+00 2.19e-05 6.24e-04 -4.0 8.07e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0898387e+00 3.60e-06 1.67e-03 -4.0 3.06e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0895744e+00 5.72e-06 2.53e-02 -4.0 1.03e+01 -5.8 1.00e+00 2.77e-01h 2 Hello, world! 16 2.0878450e+00 1.50e-04 1.72e-02 -4.0 2.50e+01 -6.3 1.00e+00 8.25e-01h 1 Hello, world! 17 2.0848543e+00 9.74e-04 5.32e-02 -4.0 5.30e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0836235e+00 6.08e-04 4.33e-02 -4.0 2.43e+01 -6.3 1.00e+00 4.31e-01h 1 Hello, world! 19 2.0827863e+00 1.76e-04 1.71e-02 -4.0 2.02e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827684e+00 2.31e-04 9.78e-03 -4.0 5.24e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823030e+00 5.95e-04 7.70e-03 -4.0 1.26e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0828911e+00 5.33e-06 1.08e-01 -4.0 1.17e+02 -7.3 3.93e-01 1.00e+00H 1 Hello, world! 23 2.0826341e+00 1.75e-05 1.95e-01 -4.0 1.65e+00 -5.1 1.00e+00 3.55e-01h 2 Hello, world! 24 2.0823467e+00 9.95e-06 2.63e-02 -4.0 1.78e+00 -5.6 1.00e+00 9.37e-01H 1 Hello, world! 25 2.0822832e+00 3.57e-04 5.16e-04 -4.0 5.25e+00 -6.0 1.00e+00 1.00e+00f 1 Hello, world! 26 2.0820872e+00 1.30e-04 7.39e-04 -4.0 1.57e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0820786e+00 2.08e-04 3.62e-03 -4.0 1.13e+01 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0819876e+00 1.67e-06 2.73e-04 -4.0 6.48e-02 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0820309e+00 1.60e-05 1.54e-04 -4.0 2.54e-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 2.0819489e+00 8.89e-06 3.15e-04 -4.1 7.33e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0826143e+00 4.93e-08 1.44e-02 -4.0 2.51e+00 -5.3 7.77e-01 1.00e+00H 1 Hello, world! 32 2.0823586e+00 1.79e-07 3.99e-01 -4.0 1.27e-01 -2.1 1.00e+00 2.22e-01h 2 Hello, world! 33 2.0821209e+00 6.88e-07 1.01e-03 -4.0 3.68e-02 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0821333e+00 3.05e-08 9.86e-05 -4.0 8.59e-02 -3.1 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0821269e+00 1.45e-07 6.71e-05 -4.0 1.33e-01 -3.6 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0821242e+00 1.07e-07 1.19e-05 -4.0 7.18e-02 -4.1 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0821164e+00 6.26e-07 2.21e-05 -4.0 1.65e-01 -4.5 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0821090e+00 1.21e-06 5.45e-05 -4.0 2.99e-01 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0821109e+00 4.72e-07 6.55e-05 -4.0 4.94e-01 -5.5 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821210e+00 2.17e-06 5.46e-05 -4.0 1.02e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0819192e+00 7.39e-05 6.23e-04 -4.1 4.45e+00 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0820927e+00 1.58e-04 8.93e-04 -4.0 7.28e+00 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0817918e+00 5.27e-04 3.70e-04 -4.1 2.32e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0819316e+00 8.98e-04 3.72e-03 -4.0 3.87e+01 -7.9 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0816086e+00 1.28e-03 3.45e-03 -4.1 5.48e+01 -8.4 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0818472e+00 1.02e-03 1.21e-03 -4.0 4.33e+01 -8.8 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0815838e+00 3.79e-04 1.35e-04 -4.1 1.64e+01 -9.3 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0818444e+00 1.85e-04 2.93e-05 -4.0 8.43e+00 -9.8 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0818434e+00 2.58e-08 5.71e-08 -4.0 3.40e-01 -10.3 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 50 2.0818434e+00 2.15e-13 1.00e-09 -4.0 2.91e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0818434105342138e+00 2.0818434105342138e+00 Dual infeasibility......: 1.0000000008017918e-09 1.0000000008017918e-09 Constraint violation....: 2.1549428907974288e-13 2.1549428907974288e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000450870e-04 1.0000000000450870e-04 Overall NLP error.......: 1.0000000008017918e-09 1.0000000008017918e-09 Number of objective function evaluations = 63 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 63 Number of inequality constraint evaluations = 63 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 23.691 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.3392243e+00 3.19e+00 6.97e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6061392e+00 2.61e-01 2.16e+00 -0.8 2.25e+00 0.0 8.47e-01 9.23e-01f 1 Hello, world! 2 2.8755961e+00 8.55e-02 2.82e+00 -1.0 5.61e-01 -0.5 4.52e-01 1.00e+00f 1 Hello, world! 3 2.6344436e+00 9.78e-02 9.43e-01 -0.9 4.54e-01 -1.0 8.24e-01 6.63e-01h 1 Hello, world! 4 2.2629634e+00 5.09e-02 6.79e-01 -2.6 7.16e-01 -1.4 7.07e-01 1.00e+00h 1 Hello, world! 5 2.1298973e+00 9.67e-03 9.96e-02 -2.4 3.81e-01 -1.9 9.94e-01 9.19e-01h 1 Hello, world! 6 2.0940019e+00 2.25e-04 1.33e-02 -3.5 3.22e-02 -2.4 1.00e+00 9.77e-01h 1 Hello, world! 7 2.0909223e+00 1.23e-05 6.61e-04 -4.0 2.04e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909327e+00 1.98e-07 2.48e-05 -4.0 5.42e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909138e+00 1.11e-08 2.82e-05 -4.0 1.54e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908729e+00 7.29e-08 1.51e-04 -4.0 3.92e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908009e+00 3.06e-07 8.00e-04 -4.0 9.10e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906212e+00 2.51e-06 1.23e-03 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900995e+00 2.19e-05 6.24e-04 -4.0 8.07e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0898387e+00 3.60e-06 1.67e-03 -4.0 3.06e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0895744e+00 5.72e-06 2.53e-02 -4.0 1.03e+01 -5.8 1.00e+00 2.77e-01h 2 Hello, world! 16 2.0878450e+00 1.50e-04 1.72e-02 -4.0 2.50e+01 -6.3 1.00e+00 8.25e-01h 1 Hello, world! 17 2.0848543e+00 9.74e-04 5.32e-02 -4.0 5.30e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0836235e+00 6.08e-04 4.33e-02 -4.0 2.43e+01 -6.3 1.00e+00 4.31e-01h 1 Hello, world! 19 2.0827863e+00 1.76e-04 1.71e-02 -4.0 2.02e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827684e+00 2.31e-04 9.78e-03 -4.0 5.24e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823030e+00 5.95e-04 7.70e-03 -4.0 1.26e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0828911e+00 5.33e-06 1.08e-01 -4.0 1.17e+02 -7.3 3.93e-01 1.00e+00H 1 Hello, world! 23 2.0826341e+00 1.75e-05 1.95e-01 -4.0 1.65e+00 -5.1 1.00e+00 3.55e-01h 2 Hello, world! 24 2.0823467e+00 9.95e-06 2.63e-02 -4.0 1.78e+00 -5.6 1.00e+00 9.37e-01H 1 Hello, world! 25 2.0822832e+00 3.57e-04 5.16e-04 -4.0 5.25e+00 -6.0 1.00e+00 1.00e+00f 1 Hello, world! 26 2.0820872e+00 1.30e-04 7.39e-04 -4.0 1.57e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0820786e+00 2.08e-04 3.62e-03 -4.0 1.13e+01 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0819876e+00 1.67e-06 2.73e-04 -4.0 6.48e-02 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0820309e+00 1.60e-05 1.54e-04 -4.0 2.54e-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 2.0819489e+00 8.89e-06 3.15e-04 -4.1 7.33e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0826143e+00 4.93e-08 1.44e-02 -4.0 2.51e+00 -5.3 7.77e-01 1.00e+00H 1 Hello, world! 32 2.0823586e+00 1.79e-07 3.99e-01 -4.0 1.27e-01 -2.1 1.00e+00 2.22e-01h 2 Hello, world! 33 2.0821209e+00 6.88e-07 1.01e-03 -4.0 3.68e-02 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0821333e+00 3.05e-08 9.86e-05 -4.0 8.59e-02 -3.1 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0821269e+00 1.45e-07 6.71e-05 -4.0 1.33e-01 -3.6 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0821242e+00 1.07e-07 1.19e-05 -4.0 7.18e-02 -4.1 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0821164e+00 6.26e-07 2.21e-05 -4.0 1.65e-01 -4.5 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0821090e+00 1.21e-06 5.45e-05 -4.0 2.99e-01 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0821109e+00 4.72e-07 6.55e-05 -4.0 4.94e-01 -5.5 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821210e+00 2.17e-06 5.46e-05 -4.0 1.02e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0819192e+00 7.39e-05 6.23e-04 -4.1 4.45e+00 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0820927e+00 1.58e-04 8.93e-04 -4.0 7.28e+00 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0817918e+00 5.27e-04 3.70e-04 -4.1 2.32e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0819316e+00 8.98e-04 3.72e-03 -4.0 3.87e+01 -7.9 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0816086e+00 1.28e-03 3.45e-03 -4.1 5.48e+01 -8.4 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0818472e+00 1.02e-03 1.21e-03 -4.0 4.33e+01 -8.8 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0815838e+00 3.79e-04 1.35e-04 -4.1 1.64e+01 -9.3 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0818444e+00 1.85e-04 2.93e-05 -4.0 8.43e+00 -9.8 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0818434e+00 2.58e-08 5.71e-08 -4.0 3.40e-01 -10.3 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 50 2.0818434e+00 2.15e-13 1.00e-09 -4.0 2.91e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0818434105342138e+00 2.0818434105342138e+00 Dual infeasibility......: 1.0000000008017918e-09 1.0000000008017918e-09 Constraint violation....: 2.1549428907974288e-13 2.1549428907974288e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000450870e-04 1.0000000000450870e-04 Overall NLP error.......: 1.0000000008017918e-09 1.0000000008017918e-09 Number of objective function evaluations = 63 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 63 Number of inequality constraint evaluations = 63 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.916 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.9836135e+00 3.10e+00 2.86e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0769948e+00 1.70e+00 6.51e+00 -1.0 1.26e+01 -2.0 8.26e-02 4.60e-01f 1 2 2.1868642e+00 1.51e+00 9.22e+00 0.1 1.01e+01 -0.7 2.82e-01 1.30e-01f 1 3 1.9098463e+00 1.15e+00 1.16e+01 0.1 5.99e+00 -0.2 5.42e-01 2.53e-01f 1 4 1.8798588e+00 9.77e-01 1.01e+01 -0.2 2.07e+00 0.2 2.91e-01 1.56e-01h 1 5 1.8647486e+00 6.56e-01 6.21e+00 -0.1 5.77e+00 -0.3 3.82e-01 3.48e-01h 1 6 1.9187752e+00 3.77e-01 3.99e+00 -0.2 1.55e+00 0.1 6.27e-01 4.86e-01h 1 7 1.9247878e+00 5.44e-01 7.94e+00 -4.0 7.79e+00 -0.3 2.30e-01 3.72e-01h 1 8 1.9398070e+00 3.57e-01 1.05e+01 -4.0 2.69e+00 -0.8 2.58e-01 1.00e+00h 1 9 1.9568898e+00 3.06e+00 1.62e+01 -0.3 3.09e+01 -1.3 4.96e-01 3.14e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.9487507e+00 2.40e+00 1.34e+01 -0.5 6.03e+00 -1.8 2.31e-01 2.26e-01h 1 11 1.9362814e+00 1.98e+00 7.67e+00 -0.5 3.47e+00 -2.3 5.09e-01 1.83e-01f 1 12 1.9164697e+00 3.58e-01 6.68e+00 -0.5 4.53e+00 -2.7 7.97e-01 1.00e+00f 1 13 1.8246163e+00 1.70e-02 4.42e-01 -1.4 1.09e+00 -3.2 9.86e-01 1.00e+00h 1 14 1.4606138e+00 2.22e-02 3.38e-02 -2.1 8.05e-01 -3.7 9.79e-01 1.00e+00f 1 15 1.3025938e+00 1.44e-01 9.07e-02 -2.5 8.19e-01 -4.2 9.35e-01 6.55e-01h 1 16 1.1827978e+00 4.78e-01 6.81e-02 -3.3 4.11e+00 -4.6 9.96e-01 1.00e+00h 1 17 1.1804716e+00 2.88e-01 4.12e-02 -3.5 2.05e+01 -5.1 9.89e-01 1.00e+00h 1 18 1.1667050e+00 2.86e-01 2.38e-02 -4.0 1.09e+01 -5.6 1.00e+00 1.00e+00h 1 19 1.1666670e+00 1.30e-01 3.44e-02 -4.0 2.17e+01 -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 20 1.1635494e+00 3.74e-01 2.76e-02 -4.0 3.59e+01 -6.5 1.00e+00 1.00e+00h 1 21 1.1634004e+00 2.20e-01 1.13e-02 -4.0 5.05e+01 -7.0 1.00e+00 1.00e+00h 1 22 1.1617848e+00 4.31e-01 2.93e-02 -4.0 7.84e+01 -7.5 1.00e+00 1.00e+00h 1 23 1.1615010e+00 3.41e-01 7.32e-03 -4.0 1.10e+02 -8.0 1.00e+00 1.00e+00h 1 24 1.1606620e+00 5.04e-01 3.47e-02 -4.0 1.61e+02 -8.5 1.00e+00 1.00e+00h 1 25 1.1605709e+00 3.76e-01 1.53e-02 -4.0 2.02e+02 -8.9 1.00e+00 1.00e+00h 1 26 1.1606043e+00 1.92e-01 5.45e-03 -4.0 1.81e+02 -9.4 1.00e+00 1.00e+00h 1 27 1.1608594e+00 4.90e-03 1.70e-03 -4.0 1.80e+01 -9.9 1.00e+00 1.00e+00h 1 28 1.1608486e+00 1.08e-03 1.30e-04 -4.0 1.35e+01 -10.4 1.00e+00 1.00e+00h 1 29 1.1608491e+00 1.89e-06 4.80e-08 -4.0 6.36e-01 -10.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1608491e+00 2.97e-11 3.39e-12 -4.0 2.33e-03 -11.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 1.1608491307823567e+00 1.1608491307823567e+00 Dual infeasibility......: 3.3945301539280159e-12 3.3945301539280159e-12 Constraint violation....: 2.9702462711611588e-11 2.9702462711611588e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000510e-04 1.0000000000000510e-04 Overall NLP error.......: 2.9702462711611588e-11 2.9702462711611588e-11 Number of objective function evaluations = 31 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 31 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 = 22.782 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 186 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 19 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6696371e+00 1.95e+00 1.19e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0082498e+00 1.36e-01 2.25e+00 -0.8 7.00e-01 0.0 9.12e-01 1.00e+00h 1 2 1.9316297e+00 4.87e-02 7.34e-01 -0.8 4.33e-01 -0.5 6.62e-01 8.71e-01h 1 3 2.2585769e+01 6.46e-02 2.33e+02 -1.2 3.75e+01 - 9.52e-01 1.00e+00h 1 4 1.9328911e+00 5.24e-02 2.78e+01 -0.8 7.25e+01 -1.0 1.00e+00 1.86e-01f 1 5 1.5154659e+00 1.12e-02 2.30e-01 -1.4 7.31e-01 -1.4 1.00e+00 1.00e+00h 1 6 1.1191158e+00 1.75e-05 8.15e-01 -4.0 4.98e+01 - 5.13e-01 1.00e+00f 1 7 1.0961500e+00 5.30e-07 5.83e-02 -3.6 2.38e+00 - 9.98e-01 1.00e+00f 1 8 1.0909746e+00 5.96e-10 1.85e-02 -4.0 1.08e+00 - 1.00e+00 1.00e+00f 1 9 1.0910391e+00 9.56e-13 2.15e-03 -4.0 4.45e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908587e+00 1.78e-15 5.29e-06 -4.1 1.65e-03 - 1.00e+00 1.00e+00f 1 11 1.0910386e+00 1.78e-15 5.26e-06 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 12 1.0908587e+00 8.88e-16 5.82e-10 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 13 1.0910386e+00 8.88e-16 6.08e-10 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0910385864123266e+00 1.0910385864123266e+00 Dual infeasibility......: 6.0780293160132316e-10 6.0780293160132316e-10 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000108351328565e-04 1.0000108351328565e-04 Overall NLP error.......: 1.0835132856445951e-09 1.0835132856445951e-09 Number of objective function evaluations = 14 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 22.143 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.0668769e+00 2.04e+00 2.59e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8259238e+00 2.63e-02 7.01e-01 -1.0 2.48e+00 -2.0 9.93e-01 1.00e+00h 1 2 2.3516422e+00 2.09e-02 8.56e-02 -1.8 2.93e-01 -1.6 9.75e-01 1.00e+00h 1 3 2.1463828e+00 1.18e-02 3.18e-01 -3.3 2.13e-01 -1.1 9.61e-01 1.00e+00h 1 4 2.0965815e+00 1.89e-03 1.23e-01 -4.0 9.45e-02 -1.6 1.00e+00 8.01e-01h 1 5 2.0913986e+00 1.19e-03 8.86e-01 -4.0 1.14e+00 -2.1 1.00e+00 3.77e-01h 1 6 2.0908814e+00 1.44e-04 3.05e-01 -4.0 7.60e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0910689e+00 1.59e-06 1.98e-02 -4.0 4.73e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0910014e+00 2.29e-06 3.32e-05 -4.0 7.05e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909813e+00 9.68e-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 2.0909193e+00 1.47e-07 2.05e-05 -4.0 6.32e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907365e+00 1.29e-06 4.97e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902157e+00 1.09e-05 4.21e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888692e+00 8.21e-05 3.17e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861745e+00 4.40e-04 1.75e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830953e+00 9.16e-04 4.73e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828583e+00 9.30e-04 2.33e-02 -4.0 5.40e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823463e+00 3.95e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820403e+00 9.24e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.69e-04 8.70e-03 -4.0 9.93e+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 3.70e-05 8.50e-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 4.48e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.88e-10 3.31e-08 -4.0 2.46e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.54e-13 1.23e-11 -4.0 4.63e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191115e+00 2.0819382907191115e+00 Dual infeasibility......: 1.2347432240067749e-11 1.2347432240067749e-11 Constraint violation....: 2.5401902803423582e-13 2.5401902803423582e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000038e-04 1.0000000000000038e-04 Overall NLP error.......: 1.2347432240067749e-11 1.2347432240067749e-11 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 23.122 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.6842750e+00 1.98e+00 3.11e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8385983e+00 1.51e-02 3.89e-01 -1.0 2.28e+00 -2.0 9.85e-01 1.00e+00f 1 2 2.3075261e+00 1.90e-02 5.34e-02 -1.8 2.43e-01 -1.6 9.45e-01 1.00e+00h 1 3 2.1379437e+00 2.80e-03 1.68e-01 -3.0 1.20e-01 -1.1 9.63e-01 9.26e-01h 1 4 2.0986669e+00 6.80e-04 2.52e-01 -3.9 1.47e-01 -1.6 1.00e+00 8.53e-01h 1 5 2.0915565e+00 2.50e-04 2.91e-01 -4.0 2.74e-01 -2.1 1.00e+00 5.06e-01h 1 6 2.0908439e+00 2.14e-04 4.78e-01 -4.0 7.24e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0908582e+00 4.26e-07 4.71e-03 -4.0 2.30e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0908673e+00 2.63e-07 1.97e-05 -4.0 6.72e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908508e+00 1.99e-08 2.97e-05 -4.0 1.88e-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 2.0908118e+00 1.05e-07 1.93e-04 -4.0 4.97e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907131e+00 6.04e-07 6.06e-04 -4.0 1.31e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904295e+00 5.88e-06 4.85e-04 -4.0 4.15e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903053e+00 8.72e-07 5.85e-04 -4.0 1.55e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0901636e+00 1.49e-06 1.96e-02 -4.0 6.41e+00 -5.5 1.00e+00 2.18e-01h 2 15 2.0890117e+00 6.23e-05 2.45e-03 -4.0 1.37e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0871882e+00 1.89e-04 4.95e-02 -4.0 3.72e+01 -6.4 1.00e+00 5.89e-01h 1 17 2.0836498e+00 1.50e-03 5.43e-02 -4.0 6.44e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0826968e+00 3.03e-04 1.02e-02 -4.0 9.71e+00 -6.5 1.00e+00 7.57e-01h 1 19 2.0827990e+00 1.02e-04 7.79e-03 -4.0 2.85e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825065e+00 2.80e-04 3.03e-03 -4.0 7.39e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821279e+00 8.41e-04 8.68e-03 -4.0 1.73e+02 -7.9 6.42e-01 1.00e+00h 1 22 2.0821610e+00 8.59e-04 8.68e-03 -4.0 3.07e+06 -8.4 1.41e-06 5.80e-06f 5 23 2.0819003e+00 7.03e-04 3.82e-01 -4.1 4.81e+00 -5.3 1.00e+00 6.42e-01h 1 24 2.0819876e+00 1.45e-05 1.26e-03 -4.0 9.37e-01 -5.7 1.00e+00 1.00e+00f 1 25 2.0820446e+00 2.54e-05 2.68e-04 -4.0 2.68e+00 -6.2 1.00e+00 1.00e+00h 1 26 2.0820575e+00 2.30e-05 5.28e-04 -4.0 4.03e+00 -6.7 1.00e+00 1.00e+00h 1 27 2.0820252e+00 6.79e-06 1.69e-04 -4.0 1.21e+01 -7.2 1.00e+00 1.00e+00h 1 28 2.0819530e+00 3.43e-05 1.49e-03 -4.0 2.62e+01 -7.7 1.00e+00 1.00e+00h 1 29 2.0818796e+00 9.18e-05 3.04e-03 -4.0 4.54e+01 -8.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0818458e+00 8.22e-05 2.02e-03 -4.0 4.87e+01 -8.6 1.00e+00 1.00e+00h 1 31 2.0818390e+00 1.61e-05 3.37e-04 -4.0 2.45e+01 -9.1 1.00e+00 1.00e+00h 1 32 2.0818383e+00 4.87e-07 1.48e-05 -4.0 4.94e+00 -9.6 1.00e+00 1.00e+00h 1 33 2.0818383e+00 1.99e-09 8.49e-08 -4.0 3.66e-01 -10.0 1.00e+00 1.00e+00h 1 34 2.0818383e+00 1.09e-12 5.97e-11 -4.0 9.54e-03 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 34 (scaled) (unscaled) Objective...............: 2.0818383021818074e+00 2.0818383021818074e+00 Dual infeasibility......: 5.9725349232236935e-11 5.9725349232236935e-11 Constraint violation....: 1.0897949209720537e-12 1.0897949209720537e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000038e-04 1.0000000000000038e-04 Overall NLP error.......: 5.9725349232236935e-11 5.9725349232236935e-11 Number of objective function evaluations = 43 Number of objective gradient evaluations = 35 Number of equality constraint evaluations = 43 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 35 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 34 Total seconds in IPOPT = 23.512 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7725307e+00 9.27e-01 1.06e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4496917e+00 2.15e-01 1.77e+00 -0.8 9.27e-01 0.0 9.94e-01 1.00e+00h 1 2 2.7590778e+00 2.12e-01 5.39e+00 1.1 1.41e+02 - 5.30e-02 1.52e-02f 2 3 2.5507740e+00 1.63e-01 6.47e+00 -0.3 6.68e+00 - 6.48e-01 2.32e-01h 2 4 2.0499593e+00 7.59e-02 5.17e-01 -0.9 8.45e-01 - 9.18e-01 1.00e+00h 1 5 1.0728925e+00 1.04e-01 4.97e-01 -1.5 1.57e+00 - 8.49e-01 7.57e-01f 1 6 7.5086201e-01 1.17e-01 1.87e+00 -4.0 1.16e+01 - 2.77e-01 7.08e-01h 1 7 1.5979917e+00 9.17e-02 4.64e+00 -1.5 2.59e-01 -0.5 9.82e-01 1.00e+00h 1 8 1.5719184e+00 4.73e-02 4.40e+00 -1.1 1.79e+00 -1.0 9.54e-01 1.67e-01H 1 9 1.2647108e+00 2.59e-03 8.31e+00 -2.2 3.76e-02 -1.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.1297036e+00 5.45e-05 1.75e+00 -3.7 7.63e-02 -1.9 1.00e+00 1.00e+00f 1 11 1.1027520e+00 6.77e-06 1.09e+00 -4.0 1.15e+01 - 6.54e-01 1.00e+00f 1 12 1.0943667e+00 6.38e-06 5.87e-01 -4.0 8.86e-01 -2.4 1.00e+00 5.87e-02f 1 13 1.0909894e+00 2.17e-08 7.96e-02 -4.0 2.02e+00 - 1.00e+00 1.00e+00h 1 14 1.0908951e+00 1.26e-12 8.28e-04 -4.0 2.29e-01 - 1.00e+00 1.00e+00h 1 15 1.0908997e+00 6.19e-26 4.26e-08 -4.0 1.65e-03 - 1.00e+00 1.00e+00h 1 16 1.0908997e+00 3.71e-27 8.78e-15 -4.0 7.46e-07 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 16 (scaled) (unscaled) Objective...............: 1.0908997263265456e+00 1.0908997263265456e+00 Dual infeasibility......: 8.7807365545256033e-15 8.7807365545256033e-15 Constraint violation....: 3.7120941092871692e-27 3.7120941092871692e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 8.7807365545256033e-15 8.7807365545256033e-15 Number of objective function evaluations = 23 Number of objective gradient evaluations = 17 Number of equality constraint evaluations = 23 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 17 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 16 Total seconds in IPOPT = 21.605 EXIT: Optimal Solution Found. ┌ Warning: Trajectory has timestep variable :Δt but no bounds on it. │ Adding default lower bound of 0 to prevent negative timesteps. │ │ Recommended: Add explicit bounds when creating the trajectory: │ NamedTrajectory(...; Δt_bounds=(min, max)) │ Example: │ NamedTrajectory(qtraj, N; Δt_bounds=(1e-3, 0.5)) │ │ Or use timesteps_all_equal=true in problem options to fix timesteps. └ @ DirectTrajOpt.Problems ~/.julia/packages/DirectTrajOpt/4TeZc/src/problems.jl:65 initializing optimizer... applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8899541e-02 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6948639e-02 6.46e-12 1.67e-02 -4.0 3.38e-02 -2.0 9.83e-01 1.00e+00f 1 2 8.8846866e-03 1.30e-12 7.50e-02 -2.9 9.96e-02 -1.6 9.96e-01 1.00e+00f 1 3 1.7755906e-03 2.37e-11 5.61e-02 -3.4 2.00e-01 -1.1 9.98e-01 9.34e-01f 1 4 3.3165764e-04 9.67e-12 2.22e-02 -3.1 4.74e-01 -1.6 1.00e+00 3.90e-01f 2 5 5.6124715e-04 2.91e-12 2.34e-02 -2.9 1.42e+00 -2.1 1.00e+00 5.00e-01f 2 6 5.6124715e-04 2.91e-12 1.19e-02 -3.1 6.12e-01 -1.7 8.89e-01 1.21e-14h 46 7 6.1015372e-04 3.95e-12 1.10e-02 -3.1 1.15e+00 -2.2 5.40e-01 5.40e-01s 63 Cannot call restoration phase at point that is almost feasible (violation 3.954285e-12). Abort in line search due to no other fall back. Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 6.1015372007979104e-04 6.1015372007979104e-04 Dual infeasibility......: 1.0961595259898673e-02 1.0961595259898673e-02 Constraint violation....: 3.9542848162543720e-12 3.9542848162543720e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.1346834041022515e-03 1.1346834041022515e-03 Overall NLP error.......: 1.0961595259898673e-02 1.0961595259898673e-02 Number of objective function evaluations = 124 Number of objective gradient evaluations = 9 Number of equality constraint evaluations = 124 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 = 8 Total seconds in IPOPT = 2.564 EXIT: Error in step computation! initializing optimizer... applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8916003e+00 8.28e-01 9.74e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6296173e+00 4.62e-09 3.33e-01 -0.2 6.26e-01 -2.0 9.97e-01 1.00e+00f 1 2 3.7110814e-01 4.00e-09 4.42e-01 -4.0 1.45e+00 -1.6 7.49e-01 1.00e+00f 1 3 1.9403455e-01 3.86e-11 5.98e-02 -2.0 5.30e-01 -1.1 9.97e-01 1.00e+00f 1 4 5.1541671e-02 2.06e-11 5.24e-02 -2.9 9.27e-01 -1.6 9.96e-01 1.00e+00f 1 5 1.0357568e-02 3.07e-11 2.30e-02 -3.8 8.06e-01 -2.1 1.00e+00 1.00e+00f 1 6 2.0447637e-03 8.09e-12 7.44e-03 -4.0 5.42e-01 -2.6 1.00e+00 1.00e+00f 1 7 6.1394921e-04 1.86e-12 2.10e-03 -4.0 2.83e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.3311458e-04 2.92e-13 3.40e-04 -4.0 8.33e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.7233183e-04 2.70e-14 2.06e-04 -4.0 3.06e-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 2.9620222e-04 1.36e-14 4.66e-04 -4.1 8.60e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.5963064e-04 7.54e-15 3.75e-04 -4.0 2.03e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7340052e-04 4.33e-15 5.29e-04 -4.1 1.00e-01 -5.4 1.00e+00 1.00e+00f 1 13 4.6670766e-04 3.22e-15 4.69e-04 -4.0 2.49e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6323244e-04 2.33e-15 5.98e-04 -4.1 1.15e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6730760e-04 2.22e-15 5.09e-04 -4.0 2.70e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.5983348e-04 1.89e-15 6.26e-04 -4.1 1.21e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6722955e-04 1.89e-15 5.27e-04 -4.0 2.80e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5871119e-04 1.55e-15 6.45e-04 -4.1 1.25e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6674621e-04 1.67e-15 5.36e-04 -4.0 2.86e-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 2.5836637e-04 1.30e-15 6.60e-04 -4.1 1.28e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6617060e-04 1.33e-15 5.42e-04 -4.0 2.91e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5826959e-04 1.11e-15 6.73e-04 -4.1 1.30e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6557651e-04 1.22e-15 5.46e-04 -4.0 2.94e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5825018e-04 1.07e-15 6.85e-04 -4.1 1.33e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6499238e-04 9.99e-16 5.50e-04 -4.0 2.98e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5825303e-04 9.99e-16 6.97e-04 -4.1 1.35e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0940830e-05 9.49e-15 8.72e-04 -6.2 3.71e-01 -12.6 9.69e-01 1.00e+00f 1 28 1.7466676e-03 2.66e-15 7.55e-03 -4.0 1.96e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4399530e-05 2.45e-14 2.83e-03 -4.1 9.98e-01 -13.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.5797146e-03 3.20e-14 7.86e-03 -4.0 9.66e-01 -14.0 1.00e+00 1.00e+00f 1 31 1.0089433e-05 1.89e-14 2.24e-03 -4.2 1.07e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6772277e-04 1.67e-15 2.73e-03 -4.0 1.36e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.1936214e-04 3.11e-15 2.34e-04 -4.2 3.69e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0179834e-05 4.61e-15 7.90e-04 -6.4 4.05e-01 -15.9 9.65e-01 1.00e+00f 1 35 8.1167325e-06 3.39e-15 9.74e-05 -6.4 1.03e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.5684155e-03 1.33e-15 5.50e-03 -4.0 9.50e+00 -16.9 1.00e+00 1.25e-01f 4 37 9.6489650e-05 5.51e-14 3.46e-03 -4.0 7.93e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.5352576e-04 3.71e-14 3.54e-03 -4.0 5.34e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8061847e-04 6.88e-15 4.31e-04 -4.0 4.17e-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 3.5525612e-05 5.66e-15 1.31e-03 -6.0 4.97e-01 -18.8 9.56e-01 1.00e+00f 1 41 1.4636517e-05 5.44e-15 1.58e-04 -6.0 1.24e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0332947e-06 8.88e-16 9.97e-05 -6.0 1.41e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.0933905e-03 5.07e-16 3.28e-03 -4.0 1.54e+01 -20.0 1.00e+00 7.80e-02f 4 44 1.5738100e-04 4.91e-14 2.91e-03 -4.0 5.96e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.8243140e-04 2.40e-14 2.84e-03 -4.0 4.27e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9078559e-04 4.44e-15 4.20e-04 -4.0 3.64e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5528841e-05 6.00e-15 1.44e-03 -6.0 5.40e-01 -20.0 9.51e-01 1.00e+00f 1 48 1.4761820e-05 4.94e-15 1.68e-04 -6.0 1.32e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.9425724e-06 8.33e-16 1.09e-04 -6.0 1.55e-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 8.8277910e-04 5.27e-16 2.28e-03 -4.0 1.66e+01 -20.0 1.00e+00 7.24e-02f 4 51 1.9231993e-04 4.22e-14 2.54e-03 -4.0 5.00e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.2042347e-04 1.67e-14 2.39e-03 -4.0 3.65e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8731905e-04 2.89e-15 4.02e-04 -4.0 3.26e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4605545e-05 5.55e-15 1.52e-03 -6.1 5.75e-01 -20.0 9.46e-01 1.00e+00f 1 55 1.4478518e-05 4.44e-15 1.75e-04 -6.1 1.38e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.8009458e-06 7.22e-16 1.15e-04 -6.1 1.66e-01 -20.0 1.00e+00 1.00e+00f 1 57 7.2745251e-04 4.54e-16 1.37e-03 -4.0 1.79e+01 -20.0 1.00e+00 6.66e-02f 4 58 2.2822329e-04 3.69e-14 2.13e-03 -4.1 4.04e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.6016114e-04 1.15e-14 1.89e-03 -4.1 2.95e-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 3.8410511e-04 2.00e-15 3.66e-04 -4.1 2.76e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3582109e-05 5.33e-15 1.60e-03 -6.1 6.09e-01 -20.0 9.42e-01 1.00e+00f 1 62 1.4189335e-05 4.11e-15 1.79e-04 -6.1 1.43e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.6807953e-06 6.66e-16 1.20e-04 -6.1 1.75e-01 -20.0 1.00e+00 1.00e+00f 1 64 6.1403991e-04 4.44e-16 5.92e-04 -4.0 1.93e+01 -20.0 1.00e+00 6.19e-02f 4 65 2.6079727e-04 3.29e-14 1.72e-03 -4.1 3.17e-01 -20.0 1.00e+00 1.00e+00f 1 66 5.0698109e-04 7.55e-15 1.41e-03 -4.1 2.25e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.7993228e-04 1.11e-15 3.20e-04 -4.1 2.23e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2488163e-05 5.22e-15 1.66e-03 -6.1 6.40e-01 -20.0 9.39e-01 1.00e+00f 1 69 1.3872943e-05 3.77e-15 1.82e-04 -6.1 1.47e-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 3.5711880e-06 6.11e-16 1.24e-04 -6.1 1.84e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.2984636e-04 3.85e-16 1.07e-04 -4.0 2.06e+01 -20.0 1.00e+00 5.78e-02f 4 72 2.8931079e-04 3.00e-14 1.32e-03 -4.1 2.39e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.6227300e-04 5.11e-15 9.77e-04 -4.1 1.60e-01 -20.0 1.00e+00 1.00e+00f 1 74 3.0131755e-04 3.77e-15 9.45e-04 -4.1 1.71e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.5565679e-04 2.66e-15 8.49e-04 -4.1 1.39e-01 -20.0 1.00e+00 1.00e+00f 1 76 2.3461883e-05 4.55e-15 1.86e-03 -6.1 7.87e-01 -20.0 9.23e-01 1.00e+00f 1 77 1.2264201e-05 3.89e-15 1.22e-04 -6.1 1.08e-01 -20.0 1.00e+00 1.00e+00f 1 78 3.0614978e-06 4.01e-16 1.17e-04 -6.1 1.88e-01 -20.0 1.00e+00 1.00e+00f 1 79 4.6527914e-04 4.09e-16 8.07e-04 -4.0 2.36e+01 -20.0 1.00e+00 5.05e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.2022972e-04 2.80e-14 8.92e-04 -4.1 1.58e-01 -20.0 1.00e+00 1.00e+00f 1 81 4.2597545e-04 2.89e-15 5.54e-04 -4.1 9.23e-02 -20.0 1.00e+00 1.00e+00f 1 82 2.5277365e-05 4.44e-15 1.89e-03 -6.1 7.81e-01 -20.0 9.23e-01 1.00e+00f 1 83 1.2559019e-05 3.55e-15 1.42e-04 -6.1 1.24e-01 -20.0 1.00e+00 1.00e+00f 1 84 3.1482366e-06 4.44e-16 1.25e-04 -6.1 1.97e-01 -20.0 1.00e+00 1.00e+00f 1 85 3.9045382e-06 2.22e-16 1.87e-05 -6.1 3.28e-02 -20.0 1.00e+00 1.00e+00h 1 86 3.4360163e-06 7.11e-17 4.62e-06 -6.1 8.28e-03 -20.0 1.00e+00 1.00e+00h 1 87 2.5630323e-07 4.29e-17 5.36e-05 -9.0 2.40e-01 -20.0 9.76e-01 1.00e+00f 1 88 2.3202885e-03 5.59e-16 1.14e-02 -4.0 1.07e+02 -20.0 1.00e+00 2.28e-02f 3 89 8.9703208e-05 4.71e-14 7.03e-03 -3.9 1.52e+00 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 7.6726063e-04 2.75e-14 5.33e-03 -3.9 8.03e-01 -20.0 1.00e+00 1.00e+00f 1 91 4.3678599e-04 5.33e-15 7.88e-04 -3.9 5.45e-01 -20.0 1.00e+00 5.00e-01f 2 92 4.3256847e-05 4.22e-15 2.16e-03 -5.9 7.23e-01 -20.0 9.29e-01 1.00e+00f 1 93 1.7833246e-05 3.89e-15 2.66e-04 -5.9 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 94 5.0741441e-06 6.66e-16 1.68e-04 -5.9 2.13e-01 -20.0 1.00e+00 1.00e+00f 1 95 5.7360179e-06 3.33e-16 1.69e-05 -5.9 2.42e-02 -20.0 1.00e+00 1.00e+00h 1 96 5.3215107e-06 4.86e-17 2.39e-06 -5.9 3.46e-03 -20.0 1.00e+00 1.00e+00h 1 97 3.8148954e-07 5.55e-17 8.00e-05 -8.9 2.90e-01 -20.0 9.71e-01 1.00e+00f 1 98 1.5367211e-07 6.11e-17 8.37e-06 -8.9 6.39e-02 -20.0 1.00e+00 1.00e+00f 1 99 1.5058282e-03 6.04e-16 2.19e-03 -4.0 3.22e+02 -20.0 1.00e+00 7.56e-03f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 4.8964209e-04 6.15e-14 5.38e-03 -3.8 6.93e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 4.8964208749074022e-04 4.8964208749074022e-04 Dual infeasibility......: 5.3778816433908286e-03 5.3778816433908286e-03 Constraint violation....: 6.1506355564233672e-14 6.1506355564233672e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.0385075989917486e-04 2.0385075989917486e-04 Overall NLP error.......: 5.3778816433908286e-03 5.3778816433908286e-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 = 3.252 EXIT: Maximum Number of Iterations Exceeded. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... applying constraint: bounds constraint on trajectory variable ddu applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.5408025e+00 2.35e+00 8.07e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8132892e+00 1.77e-02 5.94e-01 -1.0 1.95e+00 - 1.00e+00 1.00e+00f 1 2 2.3726972e+00 7.76e-03 1.29e-01 -1.6 9.47e-02 - 9.65e-01 1.00e+00h 1 3 2.1261300e+00 1.92e-03 2.04e-02 -2.8 4.64e-02 - 8.87e-01 8.95e-01h 1 4 2.0914378e+00 1.01e-04 1.75e-03 -4.0 1.83e-02 - 9.86e-01 1.00e+00h 1 5 2.0909006e+00 2.69e-05 2.39e-04 -4.0 1.84e-01 - 1.00e+00 1.00e+00h 1 6 2.0908966e+00 2.69e-08 1.70e-07 -4.0 1.59e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 7.66e-11 1.50e-10 -4.0 1.66e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971970683310e+00 2.0908971970683310e+00 Dual infeasibility......: 1.5023485041188063e-10 1.5023485041188063e-10 Constraint violation....: 7.6585583469630791e-11 7.6585583469630791e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000604157050097e-04 1.0000604157050097e-04 Overall NLP error.......: 6.0415705009609581e-09 6.0415705009609581e-09 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 26.434 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.1628886e+00 1.56e+00 7.90e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3550413e+00 6.88e-01 4.40e+00 -0.8 6.97e+00 -4.0 7.55e-01 8.11e-01f 1 2 2.4395386e+00 2.64e-01 4.18e+00 -0.9 2.93e+00 -1.8 4.09e-01 6.63e-01f 1 3 2.6578636e+00 1.95e-01 3.04e+00 -0.5 3.72e+00 -1.3 6.25e-01 3.75e-01f 1 4 2.6833608e+00 2.06e-01 1.56e+00 -0.9 2.21e+00 -1.8 9.64e-01 1.00e+00f 1 5 2.4082031e+00 1.65e-02 5.32e-01 -1.5 3.25e-01 -1.4 9.98e-01 1.00e+00h 1 6 2.2367328e+00 1.23e-02 2.11e-01 -1.9 4.04e-01 -1.9 9.98e-01 8.27e-01h 1 7 2.1491628e+00 5.10e-03 2.09e-01 -2.4 4.93e-01 -2.3 9.95e-01 6.89e-01h 1 8 2.1138538e+00 1.65e-03 6.27e-02 -2.6 2.74e-01 -2.8 9.73e-01 1.00e+00h 1 9 2.0920857e+00 1.56e-04 1.40e-02 -3.7 5.51e-02 -3.3 9.97e-01 9.96e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908766e+00 1.73e-05 6.56e-04 -4.0 1.17e-01 -3.8 1.00e+00 1.00e+00h 1 11 2.0908431e+00 8.16e-08 1.97e-05 -4.0 3.42e-01 -4.3 1.00e+00 1.00e+00h 1 12 2.0907494e+00 3.24e-07 1.24e-04 -4.0 9.58e-01 -4.7 1.00e+00 1.00e+00h 1 13 2.0905201e+00 1.78e-06 7.90e-04 -4.0 2.37e+00 -5.2 1.00e+00 1.00e+00h 1 14 2.0901465e+00 3.54e-06 2.76e-03 -4.0 4.13e+00 -5.7 1.00e+00 1.00e+00h 1 15 2.0899510e+00 5.37e-06 2.84e-03 -4.0 5.77e+00 -6.2 1.00e+00 1.00e+00h 1 16 2.0898560e+00 3.88e-06 1.83e-03 -4.0 8.54e+00 -6.6 1.00e+00 1.00e+00h 1 17 2.0898286e+00 6.81e-07 1.52e-03 -4.0 1.17e+01 -7.1 1.00e+00 1.00e+00h 1 18 2.0898240e+00 1.61e-06 8.51e-04 -4.0 9.61e+00 -7.6 1.00e+00 1.00e+00h 1 19 2.0898221e+00 4.86e-07 1.19e-04 -4.0 3.34e+00 -8.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898219e+00 1.29e-08 2.23e-06 -4.0 5.74e-01 -8.5 1.00e+00 1.00e+00h 1 21 2.0898218e+00 1.82e-11 6.52e-09 -4.0 3.62e-02 -9.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 21 (scaled) (unscaled) Objective...............: 2.0898218499823380e+00 2.0898218499823380e+00 Dual infeasibility......: 6.5203182105682319e-09 6.5203182105682319e-09 Constraint violation....: 1.8201162799158510e-11 1.8201162799158510e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 6.5203182105682319e-09 6.5203182105682319e-09 Number of objective function evaluations = 22 Number of objective gradient evaluations = 22 Number of equality constraint evaluations = 22 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 22 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 21 Total seconds in IPOPT = 28.096 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable x applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.5683537e+00 3.25e+00 2.10e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.5410163e+00 2.66e+00 7.39e+00 -0.0 3.07e+01 -2.0 2.18e-02 1.82e-01h 1 2 3.2455458e+00 1.24e+00 4.59e+00 -0.5 1.61e+01 -2.5 3.08e-01 5.36e-01h 1 3 3.2403870e+00 1.20e+00 6.78e+00 -4.0 2.18e+01 -3.0 2.10e-01 3.53e-02h 1 4 3.3409693e+00 1.09e+00 1.44e+01 -1.4 2.26e+01 -2.5 1.72e-01 9.19e-02h 1 5 3.3806706e+00 1.08e+00 1.48e+01 -2.4 3.88e+01 -2.1 4.36e-02 3.53e-02h 1 6 3.5221267e+00 1.05e+00 1.60e+01 -1.6 8.17e+01 -1.7 3.35e-02 3.97e-02h 1 7 3.5910542e+00 1.01e+00 8.57e+01 -2.9 2.94e+01 -2.2 1.21e-01 3.09e-02h 1 8 3.6898025e+00 9.90e-01 1.03e+02 -1.0 4.08e+01 -1.7 3.10e-02 2.40e-02h 1 9 3.5931510e+00 9.96e-01 1.79e+02 -4.0 5.70e+02 -2.2 4.39e-04 5.39e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.7627744e+00 9.64e-01 2.12e+02 -0.6 4.68e+01 -0.9 2.04e-01 3.79e-02f 1 11 3.8837484e+00 9.48e-01 2.61e+02 -0.1 1.33e+02 -1.4 8.45e-02 2.71e-02f 1 12 4.0265756e+00 9.20e-01 2.79e+02 -0.2 1.64e+02 -1.8 4.28e-02 2.15e-02h 1 13 4.1781045e+00 1.06e+00 9.84e+02 -0.1 1.86e+02 -1.4 1.98e-01 1.86e-02h 2 14 4.3571830e+00 1.12e+00 2.40e+03 0.2 1.07e+02 -1.0 1.71e-01 2.17e-02h 1 15 4.7857846e+00 1.10e+00 2.23e+03 0.9 1.77e+02 -1.5 2.89e-02 1.45e-02f 1 16 4.7901050e+00 1.10e+00 2.35e+05 -0.2 5.40e+00 -1.0 3.92e-01 2.95e-03h 1 17 4.7928192e+00 1.10e+00 2.89e+07 -0.2 1.39e+01 -1.5 4.36e-01 3.52e-03h 1 18 4.7928541e+00 1.10e+00 2.31e+11 -0.2 7.93e+00 -1.1 3.94e-01 4.85e-05h 1 19r 4.7928541e+00 1.10e+00 1.00e+03 0.0 0.00e+00 -1.6 0.00e+00 2.54e-07R 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 4.8446094e+00 3.91e-01 9.96e+02 1.3 9.50e+02 - 5.65e-03 2.03e-03f 1 21 4.8449567e+00 3.91e-01 8.13e+02 -4.0 1.58e+01 -2.0 1.84e-01 2.24e-04h 1 22 4.8449877e+00 3.91e-01 4.16e+06 -0.9 6.20e+00 -2.5 3.43e-01 6.80e-05h 1 23r 4.8449877e+00 3.91e-01 1.00e+03 -0.4 0.00e+00 -3.0 0.00e+00 3.57e-07R 5 24r 4.7607271e+00 2.94e-01 9.97e+02 0.9 3.81e+02 - 6.17e-03 1.79e-03f 1 25 4.7607340e+00 2.94e-01 5.70e+03 -4.0 3.44e+00 -3.5 4.60e-01 7.99e-05h 1 26 4.7608034e+00 2.94e-01 2.46e+08 -0.3 5.07e+01 -3.9 1.00e+00 2.33e-05h 1 27r 4.7608034e+00 2.94e-01 1.00e+03 0.4 0.00e+00 -4.4 0.00e+00 1.51e-07R 2 28r 4.9241123e+00 2.97e-01 9.84e+02 1.8 1.03e+02 - 2.74e-02 6.78e-03f 1 29r 4.5554342e+00 2.49e-01 9.63e+02 0.3 6.00e+00 - 2.35e-02 2.91e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 4.5443391e+00 2.41e-01 3.24e+01 -1.3 1.54e+00 -4.9 8.34e-01 3.14e-02f 1 31 4.5105146e+00 2.41e-01 2.05e+04 -0.5 1.80e+02 -5.4 9.51e-01 2.05e-03h 1 32 4.9553516e+00 2.46e+00 1.28e+04 1.8 1.68e+03 -5.9 3.23e-03 8.87e-03f 1 33 4.9537824e+00 2.46e+00 7.54e+05 -0.3 1.53e+01 -6.3 2.01e-01 5.98e-04h 1 34 4.9561721e+00 2.45e+00 2.32e+08 -0.3 7.50e+00 -6.8 4.73e-01 1.55e-03h 1 35 4.9562137e+00 2.45e+00 7.79e+12 -0.3 7.41e+00 -7.3 1.00e+00 2.93e-05h 1 36 4.8568665e+00 1.95e+00 7.77e+10 -0.3 7.52e+00 -7.8 9.90e-01 2.16e-01h 1 37 4.8559309e+00 1.95e+00 5.77e+08 -0.3 7.52e+00 -8.2 9.93e-01 3.08e-03h 1 38r 4.8559309e+00 1.95e+00 1.00e+03 0.3 0.00e+00 -8.7 0.00e+00 1.84e-07R 2 39r 4.6273389e+00 5.32e-01 9.97e+02 2.0 2.68e+03 - 2.49e-02 1.22e-03f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 4.6270746e+00 5.32e-01 1.95e+03 -1.0 2.92e+00 -9.2 8.68e-01 6.55e-04h 1 41 4.6271027e+00 5.32e-01 1.21e+07 -1.0 2.63e+00 -9.7 2.57e-01 3.93e-05h 1 42r 4.6271027e+00 5.32e-01 1.00e+03 -0.3 0.00e+00 -10.1 0.00e+00 3.42e-07R 4 43r 4.3851886e+00 1.99e-01 1.03e+03 1.3 4.72e+02 - 2.46e-01 1.12e-03f 1 44 4.3851604e+00 1.99e-01 1.17e+04 -1.1 3.26e+00 -10.6 8.71e-01 1.00e-04h 1 45r 4.3851604e+00 1.99e-01 1.00e+03 1.0 0.00e+00 -11.1 0.00e+00 2.61e-07R 4 46r 4.3318978e+00 1.99e-01 1.11e+03 -0.4 2.15e+00 - 5.82e-01 7.04e-02f 1 47r 4.2114504e+00 1.99e-01 6.40e+02 -0.3 1.60e+00 - 2.65e-01 4.41e-01f 1 48r 4.2202543e+00 1.99e-01 1.45e+02 -0.6 3.83e-01 - 1.00e+00 7.20e-01f 1 49r 4.1818613e+00 1.99e-01 7.40e+00 -1.5 8.39e-01 - 1.00e+00 9.53e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50r 4.1821215e+00 1.99e-01 2.48e-01 -2.3 5.44e-01 - 9.98e-01 1.00e+00f 1 51r 4.2056270e+00 1.99e-01 6.22e-02 -2.8 2.73e-01 - 9.95e-01 1.00e+00f 1 52r 4.1960222e+00 1.99e-01 9.05e-02 -3.1 4.70e-02 - 9.65e-01 1.00e+00h 1 53r 4.2805644e+00 1.99e-01 1.74e-03 -4.0 4.13e-02 - 1.00e+00 1.00e+00f 1 54r 4.3045850e+00 1.99e-01 8.06e-05 -4.0 2.17e-02 - 1.00e+00 1.00e+00h 1 55r 4.3174792e+00 1.99e-01 2.15e-06 -4.0 1.03e-02 - 1.00e+00 1.00e+00h 1 56r 4.3179751e+00 1.99e-01 2.28e-09 -4.0 5.16e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 56 (scaled) (unscaled) Objective...............: 4.3179760371519027e+00 4.3179760371519027e+00 Dual infeasibility......: 1.9148815046345666e+00 1.9148815046345666e+00 Constraint violation....: 1.9875045032562733e-01 1.9875045032562733e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000003768907e-04 1.0000000003768907e-04 Overall NLP error.......: 1.9148815046345666e+00 1.9148815046345666e+00 Number of objective function evaluations = 80 Number of objective gradient evaluations = 46 Number of equality constraint evaluations = 80 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 64 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 57 Total seconds in IPOPT = 27.744 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... applying constraint: bounds constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 6.1445900e+00 3.12e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.4565281e+00 4.39e-01 1.33e+00 -1.0 4.34e+00 -2.0 5.17e-01 9.81e-01f 1 2 2.8136113e+00 8.76e-02 4.06e-01 -1.0 2.29e+00 -2.5 9.82e-01 1.00e+00f 1 3 2.5052071e+00 3.58e-01 5.56e-01 -1.4 5.66e+00 -3.0 9.91e-01 7.22e-01h 1 4 2.3441209e+00 2.55e-01 5.81e-01 -1.7 8.62e+00 -3.4 9.96e-01 5.36e-01h 1 5 2.1759642e+00 1.67e-01 2.86e-01 -2.1 5.02e+00 -3.9 9.94e-01 9.26e-01h 1 6 2.1302824e+00 1.15e-01 1.90e-01 -2.3 7.57e+00 -4.4 1.00e+00 9.63e-01h 1 7 2.0959543e+00 5.27e-03 1.41e-02 -3.2 1.10e+00 -4.9 9.97e-01 1.00e+00h 1 8 2.0902252e+00 3.25e-03 2.79e-03 -4.0 4.53e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889543e+00 5.38e-05 1.77e-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 2.0851171e+00 6.46e-04 2.78e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796308e+00 2.12e-03 1.75e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.41e-01h 1 12 2.0802579e+00 3.39e-04 1.84e-01 -4.0 6.80e+01 -7.2 1.00e+00 9.78e-01H 1 13 2.0774438e+00 8.39e-03 2.20e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.57e-01h 1 14 2.0769204e+00 1.62e-03 7.40e-02 -4.0 2.06e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761827e+00 2.52e-03 2.15e-02 -4.0 3.51e+02 -8.7 1.00e+00 8.26e-01h 1 16 2.0755111e+00 1.51e-03 3.68e-02 -4.0 5.64e+02 -9.2 1.00e+00 6.93e-01h 1 17 2.0757659e+00 2.92e-03 1.25e-02 -4.0 1.57e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0753697e+00 1.23e-03 5.13e-04 -4.1 8.14e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756723e+00 4.64e-04 6.25e-06 -4.0 2.04e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 5.77e-07 8.70e-07 -4.0 1.06e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.49e-09 5.55e-08 -4.0 3.50e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.05e-11 8.33e-10 -4.0 5.01e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121281824e+00 2.0756712121281824e+00 Dual infeasibility......: 8.3279226364366826e-10 8.3279226364366826e-10 Constraint violation....: 2.0457746607860372e-11 2.0457746607860372e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000011e-04 1.0000000000000011e-04 Overall NLP error.......: 8.3279226364366826e-10 8.3279226364366826e-10 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 28.710 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.6582233e+00 4.12e+00 5.31e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7496920e+00 1.02e+00 2.44e+00 -0.7 2.21e+00 0.0 1.00e+00 7.51e-01f 1 2 2.8522730e+00 1.05e-01 3.10e+00 -0.7 8.72e-01 -0.5 8.76e-01 1.00e+00f 1 3 2.9199941e+00 2.59e-02 1.35e+00 -0.5 2.79e-01 -0.1 1.00e+00 1.00e+00f 1 4 2.7797190e+00 5.54e-03 2.92e-01 -1.4 1.03e-01 0.4 9.58e-01 1.00e+00h 1 5 2.3665527e+00 4.17e-03 9.98e-02 -1.7 1.04e-01 -0.1 9.62e-01 1.00e+00f 1 6 2.1613049e+00 2.73e-03 1.13e-01 -2.3 1.25e-01 -0.6 9.68e-01 6.76e-01h 1 7 2.0958128e+00 1.06e-04 6.46e-03 -3.3 1.69e-02 -1.1 9.96e-01 1.00e+00h 1 8 2.0909077e+00 2.98e-06 1.32e-04 -4.0 4.16e-03 -1.5 1.00e+00 1.00e+00h 1 9 2.0908983e+00 9.54e-09 1.30e-04 -4.0 1.33e-02 -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 2.0908945e+00 1.56e-10 5.62e-05 -4.0 1.73e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908911e+00 3.28e-10 1.81e-05 -4.0 1.67e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908859e+00 9.61e-10 1.79e-05 -4.0 4.95e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908723e+00 6.93e-09 1.72e-05 -4.0 1.43e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908385e+00 5.11e-08 7.89e-05 -4.0 3.94e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907556e+00 3.74e-07 3.21e-04 -4.0 1.07e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0905109e+00 3.52e-06 4.02e-04 -4.0 3.14e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0904121e+00 5.84e-07 3.98e-04 -4.0 1.27e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0902560e+00 1.35e-06 1.27e-02 -4.0 4.87e+00 -5.4 1.00e+00 3.15e-01h 2 19 2.0892176e+00 4.67e-05 2.09e-03 -4.0 1.18e+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 2.0871130e+00 3.42e-04 2.49e-02 -4.0 3.15e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0861122e+00 2.10e-04 3.44e-02 -4.0 1.57e+01 -5.9 1.00e+00 4.94e-01h 1 22 2.0846139e+00 2.17e-04 1.70e-02 -4.0 2.57e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0827671e+00 1.84e-04 2.27e-02 -4.0 3.46e+01 -6.9 1.00e+00 8.70e-01h 1 24 2.0829306e+00 9.20e-04 2.91e-02 -4.0 6.02e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0820699e+00 1.77e-03 9.18e-03 -4.1 1.41e+02 -7.8 1.00e+00 1.00e+00h 1 26 2.6413778e+02 3.05e-03 1.17e+03 -4.0 3.90e+03 -8.3 7.28e-03 1.00e+00H 1 27 2.2227272e+00 6.50e-05 2.66e+01 -4.1 4.47e-01 1.5 8.89e-01 9.79e-01f 1 28 2.2218415e+00 6.48e-05 2.42e+01 -4.1 9.11e-03 1.1 1.00e+00 3.66e-03f 1 29 2.2222599e+00 3.24e-05 1.42e-01 -4.1 1.49e-03 0.6 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.2218421e+00 3.22e-08 5.56e-03 -4.1 4.45e-03 0.1 1.00e+00 1.00e+00h 1 31 2.2217059e+00 2.89e-08 5.53e-03 -4.1 1.33e-02 -0.4 1.00e+00 1.00e+00h 1 32 2.2214242e+00 6.09e-08 5.49e-03 -4.1 3.95e-02 -0.9 1.00e+00 1.00e+00h 1 33 2.2206948e+00 4.37e-07 5.46e-03 -4.1 1.18e-01 -1.3 1.00e+00 1.00e+00h 1 34 2.2187107e+00 1.58e-06 5.40e-03 -4.1 3.50e-01 -1.8 1.00e+00 1.00e+00f 1 35 2.2131966e+00 2.46e-06 1.04e-02 -4.1 1.02e+00 -2.3 1.00e+00 1.00e+00h 1 36 2.2121411e+00 2.20e-06 5.95e+00 -4.1 2.07e+00 -2.8 1.00e+00 9.49e-02h 1 37 2.2120762e+00 3.11e-06 6.85e+00 -4.1 9.63e-02 -3.2 1.00e+00 6.96e-01f 1 38 2.2120206e+00 6.46e-05 9.96e-04 -4.1 2.88e-01 -3.7 1.00e+00 1.00e+00f 1 39 2.2118054e+00 4.43e-05 5.50e-05 -4.1 8.64e-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 40 2.2106513e+00 2.32e-04 2.50e-02 -6.2 2.66e+00 -4.7 8.70e-01 1.00e+00h 1 41 2.2098535e+00 8.54e-04 2.30e-01 -6.2 7.83e+00 -5.2 1.00e+00 3.93e-01h 1 42 2.2081716e+00 2.64e-03 3.59e-01 -6.2 2.33e+01 -5.6 1.00e+00 3.08e-01h 1 43 2.2078049e+00 2.52e-03 1.23e+00 -6.2 6.09e+01 -6.1 9.17e-01 4.30e-02h 1 44 2.1908984e+00 1.25e-03 8.09e-01 -6.2 1.73e+02 -6.6 1.00e+00 8.11e-01h 1 45 2.1650033e+00 2.29e-04 2.81e-01 -6.2 4.40e+02 -7.1 5.86e-01 7.16e-01h 1 46 2.1415375e+00 1.32e-04 1.56e+00 -6.2 8.81e+02 -7.5 2.57e-01 3.97e-01f 1 47 2.0975646e+00 1.67e-04 1.27e+00 -6.2 1.52e+03 -8.0 7.48e-01 8.21e-01h 1 48 2.0920710e+00 5.18e-01 5.53e-01 -6.2 1.05e+03 -8.5 2.24e-04 2.92e-01h 1 49 2.0910052e+00 4.83e-01 4.88e-01 -6.2 3.31e+02 -7.2 9.52e-02 5.50e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0911927e+00 4.76e-01 1.83e+00 -6.2 3.26e+02 -7.6 7.84e-01 7.45e-02h 2 51 2.0887865e+00 3.92e-01 1.21e+00 -6.2 1.69e+03 -8.1 7.62e-05 1.55e-01h 1 52 2.0874897e+00 3.68e-01 1.13e+00 -6.2 1.43e+02 -6.8 5.01e-04 6.46e-02h 1 53 2.0876159e+00 3.68e-01 1.12e+00 -6.2 2.09e+04 -7.3 6.15e-03 2.40e-04h 2 54 2.0872488e+00 3.54e-01 7.18e-01 -6.2 1.50e+02 -7.7 4.73e-01 4.05e-02h 1 55 2.0847692e+00 2.37e-01 7.82e-01 -6.2 6.74e+02 -8.2 6.10e-01 3.47e-01h 1 56 2.0851865e+00 2.02e-01 6.97e-01 -6.2 1.33e+02 -6.9 7.22e-01 1.48e-01h 1 57 2.0846970e+00 1.57e-01 5.39e-01 -6.2 1.51e+02 -7.4 1.00e+00 2.22e-01h 1 58 2.0822805e+00 7.05e-03 1.78e-01 -6.2 3.30e+02 -7.8 1.00e+00 9.56e-01h 1 59 2.0815428e+00 4.02e-03 8.60e-02 -6.2 4.33e+02 -8.3 3.29e-01 4.28e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0815851e+00 3.58e-03 8.16e-02 -4.0 2.21e+02 -7.0 3.25e-02 9.49e-02f 1 61 2.0813640e+00 2.77e-04 3.73e-03 -5.3 8.92e+01 -7.5 1.00e+00 9.49e-01h 1 62 2.0810624e+00 7.01e-04 2.57e-02 -5.0 1.43e+02 -7.9 1.00e+00 1.00e+00f 1 63 2.1199692e+00 1.34e-04 1.55e+00 -4.0 7.83e+02 -8.4 5.95e-02 1.00e+00H 1 64 2.1043889e+00 1.76e-03 1.28e+00 -4.6 6.40e+01 -5.3 7.19e-02 1.43e-01f 1 65 2.0908577e+00 2.37e-03 8.31e-01 -4.6 1.24e+01 -4.9 4.43e-01 3.08e-01f 1 66 2.0840971e+00 6.91e-04 8.23e-01 -4.6 5.87e+00 -5.3 1.00e+00 5.19e-01f 1 67 2.0831716e+00 2.12e-03 1.06e+00 -4.6 6.11e+01 -5.8 1.94e-01 8.73e-02f 1 68 2.0830156e+00 1.59e-03 8.33e-01 -4.6 1.14e+01 -6.3 5.07e-01 2.06e-01f 1 69 2.0826228e+00 1.71e-03 1.08e-01 -4.6 3.24e+01 -6.8 1.00e+00 9.70e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0819849e+00 1.56e-03 1.66e-02 -4.6 7.48e+01 -7.2 1.00e+00 1.00e+00f 1 71 2.0813327e+00 5.83e-04 3.26e-02 -4.6 1.30e+02 -7.7 1.00e+00 1.00e+00h 1 72 2.0822457e+00 2.59e-02 3.09e-02 -4.0 2.72e+02 -8.2 1.89e-01 1.00e+00h 1 73 2.0817512e+00 1.13e-02 3.42e-02 -4.4 3.10e+00 -6.0 1.00e+00 5.62e-01h 1 74 2.0812322e+00 6.06e-04 4.30e-03 -4.4 9.80e+00 -6.4 1.00e+00 1.00e+00f 1 75 2.0812379e+00 3.99e-04 2.85e-03 -4.4 1.58e+01 -6.9 1.00e+00 1.00e+00h 1 76 2.0829044e+00 1.08e-05 1.06e-01 -4.0 1.08e+02 -7.4 2.93e-01 1.00e+00H 1 77 2.0817901e+00 2.51e-04 8.50e-01 -4.0 5.78e+00 -5.2 1.00e+00 5.27e-01h 1 78 2.0820538e+00 1.79e-04 6.27e-01 -4.0 3.61e+00 -5.6 1.00e+00 6.13e-01H 1 79 2.0821592e+00 1.07e-03 3.81e-03 -4.0 6.50e+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 80 2.0818344e+00 1.03e-03 2.78e-03 -4.1 1.20e+01 -6.6 1.00e+00 1.00e+00h 1 81 2.1000790e+00 3.06e-04 5.25e-01 -4.1 1.33e+02 -7.1 1.73e-01 1.00e+00H 1 82 2.0825615e+00 1.21e-04 1.21e+00 -4.1 4.81e-01 -1.2 2.36e-01 6.04e-01f 1 83 2.0828684e+00 1.20e-04 1.81e+00 -4.0 9.23e-01 -1.7 1.00e+00 1.37e-02f 6 84 2.0835260e+00 1.86e-05 4.97e-03 -3.7 2.11e-01 -2.2 1.00e+00 1.00e+00h 1 85 2.0830378e+00 2.41e-06 1.08e-03 -3.7 2.27e-01 -2.7 1.00e+00 1.00e+00h 1 86 2.0825197e+00 3.04e-06 1.42e-03 -4.0 8.42e-02 -3.1 1.00e+00 1.00e+00h 1 87 2.0823835e+00 4.88e-07 4.65e-05 -4.0 2.30e-02 -3.6 1.00e+00 1.00e+00h 1 88 2.0823830e+00 4.34e-08 5.49e-06 -4.0 6.84e-02 -4.1 1.00e+00 1.00e+00h 1 89 2.0823708e+00 3.17e-08 5.38e-06 -4.0 2.01e-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 90 2.0823370e+00 2.66e-07 2.18e-05 -4.0 5.66e-01 -5.0 1.00e+00 1.00e+00h 1 91 2.0822566e+00 1.89e-06 1.29e-04 -4.0 1.47e+00 -5.5 1.00e+00 1.00e+00h 1 92 2.0821297e+00 8.82e-06 4.55e-04 -4.0 3.30e+00 -6.0 1.00e+00 1.00e+00h 1 93 2.0820246e+00 1.65e-05 6.96e-04 -4.0 7.93e+00 -6.5 1.00e+00 1.00e+00h 1 94 2.0819045e+00 7.42e-06 1.21e-03 -4.0 2.28e+01 -7.0 1.00e+00 1.00e+00h 1 95 2.0819002e+00 3.54e-04 2.48e-02 -4.0 8.57e+01 -7.4 4.48e-01 1.00e+00h 1 96 2.0820202e+00 2.26e-03 2.28e-02 -4.0 1.06e+02 -6.1 2.16e-01 2.12e-01h 3 97 2.0819234e+00 2.30e-03 2.07e-02 -4.1 8.06e+01 -6.6 1.46e-02 8.20e-03h 2 98 2.0815340e+00 1.07e-03 6.75e-02 -4.1 1.06e+01 -7.1 1.00e+00 8.95e-01h 1 99 2.0815624e+00 2.32e-04 1.19e-03 -4.1 1.15e+01 -7.5 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0818395e+00 2.48e-04 9.75e-05 -4.0 6.91e+00 -8.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0818395067368094e+00 2.0818395067368094e+00 Dual infeasibility......: 9.7520027349329834e-05 9.7520027349329834e-05 Constraint violation....: 2.4791912614574585e-04 2.4791912614574585e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.1360893159094794e-04 1.1360893159094794e-04 Overall NLP error.......: 2.4791912614574585e-04 2.4791912614574585e-04 Number of objective function evaluations = 128 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 128 Number of inequality constraint evaluations = 128 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 29.044 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 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 7.4753201e+00 2.64e+00 2.80e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3602589e+00 1.56e-01 1.76e+00 -1.0 3.51e+00 -2.0 7.28e-01 9.61e-01f 1 2 2.6675965e+00 2.98e-01 1.40e+00 -1.0 3.37e+00 -2.5 9.72e-01 9.86e-01h 1 3 2.4356985e+00 9.99e-02 5.97e-01 -1.3 1.16e+00 -2.1 9.39e-01 8.95e-01f 1 4 2.2891668e+00 5.00e-02 2.45e-01 -2.2 1.34e+00 -2.5 9.98e-01 5.01e-01h 1 5 2.1052220e+00 2.54e-02 4.08e-02 -3.1 9.35e-01 -3.0 9.97e-01 9.42e-01h 1 6 2.0914094e+00 1.36e-04 5.58e-03 -3.9 7.60e-02 -3.5 9.97e-01 1.00e+00h 1 7 2.0909644e+00 1.35e-05 9.01e-05 -4.0 2.30e-01 -4.0 1.00e+00 1.00e+00h 1 8 2.0908986e+00 1.73e-07 3.12e-04 -4.0 5.81e-01 -4.4 1.00e+00 1.00e+00h 1 9 2.0908035e+00 5.62e-07 1.66e-03 -4.0 1.20e+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 2.0905580e+00 4.99e-06 1.37e-03 -4.0 3.83e+00 -5.4 1.00e+00 1.00e+00h 1 11 2.0898460e+00 4.17e-05 8.49e-04 -4.0 1.12e+01 -5.9 1.00e+00 1.00e+00h 1 12 2.0894928e+00 7.01e-06 2.47e-03 -4.0 4.23e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0892116e+00 9.13e-06 3.88e-02 -4.0 1.44e+01 -5.9 1.00e+00 2.11e-01h 2 14 2.0868807e+00 3.05e-04 1.72e-02 -4.0 3.21e+01 -6.4 1.00e+00 9.09e-01h 1 15 2.0838147e+00 1.12e-03 5.02e-02 -4.0 5.79e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0827753e+00 3.51e-04 1.69e-02 -4.0 1.31e+01 -6.4 1.00e+00 6.71e-01h 1 17 2.0828033e+00 1.84e-04 8.52e-03 -4.0 2.48e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0825382e+00 2.45e-04 2.16e-03 -4.0 6.63e+01 -7.4 1.00e+00 1.00e+00h 1 19 2.0821588e+00 7.22e-04 7.12e-03 -4.0 1.58e+02 -7.9 7.25e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0822851e+00 9.63e-04 4.63e-01 -4.0 1.25e+02 -6.5 4.74e-01 1.13e-01h 4 21 2.0817047e+00 3.38e-04 6.43e-02 -4.1 2.08e+01 -7.0 8.55e-01 7.80e-01H 1 22 2.0820355e+00 1.17e-04 3.58e-01 -4.0 5.41e+00 -4.8 2.25e-01 3.57e-01f 1 23 2.0821990e+00 1.46e-03 1.35e+00 -4.0 4.17e+00 -5.3 2.63e-01 1.00e+00h 1 24 2.0824381e+00 1.42e-03 1.44e+00 -4.2 1.17e+01 -2.1 1.74e-02 2.46e-02h 1 25 2.0824903e+00 1.41e-03 1.82e+00 -4.2 6.82e+00 -2.6 2.40e-04 1.04e-02f 2 26 2.0817915e+00 2.00e-06 2.71e-03 -4.2 5.08e-02 -1.3 1.00e+00 1.00e+00h 1 27 2.0818656e+00 1.71e-07 9.16e-04 -4.0 3.03e-02 -1.8 1.00e+00 1.00e+00h 1 28 2.0817705e+00 8.58e-08 2.21e-04 -4.1 3.84e-02 -2.2 1.00e+00 1.00e+00h 1 29 2.0818407e+00 1.59e-07 1.58e-04 -4.0 8.30e-02 -2.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0817557e+00 3.70e-07 1.26e-04 -4.1 3.00e-02 -3.2 1.00e+00 1.00e+00h 1 31 2.0818438e+00 1.46e-06 5.18e-05 -4.0 8.59e-02 -3.7 1.00e+00 1.00e+00h 1 32 2.0817653e+00 2.48e-06 2.04e-04 -4.1 1.36e-01 -4.1 1.00e+00 1.00e+00h 1 33 2.0813170e+00 3.71e-05 1.04e-01 -6.1 4.86e-01 -4.6 6.94e-01 1.00e+00h 1 34 2.0812763e+00 3.00e-05 1.93e-01 -4.6 2.73e+00 -5.1 2.79e-01 1.68e-01h 1 35 2.0821324e+00 3.45e-04 7.28e-03 -4.0 3.13e+00 -5.6 1.00e+00 1.00e+00f 1 36 2.0821675e+00 1.85e-04 1.73e-02 -4.1 6.08e+00 -6.1 3.75e-01 4.47e-01h 1 37 2.0819247e+00 4.71e-05 2.88e-03 -4.1 3.22e+00 -6.5 1.00e+00 1.00e+00f 1 38 2.0818798e+00 1.35e-07 3.78e-04 -4.1 3.35e-02 -2.5 1.00e+00 1.00e+00h 1 39 2.0813791e+00 1.96e-06 6.34e-02 -6.1 3.16e-02 -3.0 7.28e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821245e+00 5.18e-06 1.63e-03 -4.0 4.79e-02 -3.4 1.00e+00 1.00e+00h 1 41 2.0818678e+00 3.85e-06 1.58e-04 -4.1 6.19e-02 -3.9 1.00e+00 1.00e+00h 1 42 2.0813580e+00 2.25e-05 5.54e-02 -6.1 2.53e-01 -4.4 7.53e-01 1.00e+00h 1 43 2.0821562e+00 7.72e-05 3.92e-03 -4.0 5.14e-01 -4.9 1.00e+00 1.00e+00h 1 44 2.0818728e+00 9.92e-05 1.18e-03 -4.1 9.26e-01 -5.4 1.00e+00 1.00e+00h 1 45 2.0818581e+00 2.25e-06 2.69e-04 -4.1 7.11e-01 -5.8 1.00e+00 1.00e+00h 1 46 2.0810420e+00 6.86e-04 5.44e-03 -6.1 9.28e+00 -6.3 9.95e-01 1.00e+00h 1 47 2.0810862e+00 3.31e-05 5.79e-03 -5.0 2.61e-01 -4.1 1.00e+00 9.52e-01h 1 48 2.0812630e+00 2.42e-05 4.78e-01 -4.0 2.18e+00 -4.6 1.00e+00 2.23e-01f 1 49 2.0816526e+00 1.26e-04 3.45e-03 -4.0 2.04e+00 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817032e+00 5.17e-06 1.99e-03 -4.1 1.12e+00 -5.5 1.00e+00 1.00e+00h 1 51 2.0817750e+00 4.23e-06 1.92e-04 -4.1 2.66e+00 -6.0 1.00e+00 1.00e+00h 1 52 2.0810038e+00 6.03e-04 5.87e-03 -6.1 9.22e+00 -6.5 9.99e-01 1.00e+00h 1 53 2.0814144e+00 2.78e-04 3.44e-01 -4.0 7.62e-01 -4.2 1.00e+00 5.40e-01h 1 54 2.0814778e+00 1.06e-05 7.95e-04 -4.1 7.99e-01 -4.7 1.00e+00 1.00e+00h 1 55 2.0815659e+00 9.38e-06 9.48e-04 -4.1 1.55e+00 -5.2 1.00e+00 1.00e+00h 1 56 2.0816442e+00 1.33e-05 1.16e-03 -4.1 1.53e+00 -5.7 1.00e+00 1.00e+00h 1 57 2.0817110e+00 7.18e-06 5.14e-04 -4.1 2.46e+00 -6.1 1.00e+00 1.00e+00h 1 58 2.0809377e+00 7.51e-04 5.55e-03 -6.2 1.12e+01 -6.6 9.96e-01 1.00e+00h 1 59 2.0810552e+00 9.19e-06 1.73e-04 -4.8 4.85e-01 -5.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0817261e+00 3.34e-04 1.37e-01 -4.0 6.30e+00 -5.8 1.00e+00 7.29e-01h 1 61 2.0817260e+00 7.85e-06 1.83e-03 -4.1 2.14e+00 -6.2 1.00e+00 1.00e+00f 1 62 2.0817506e+00 6.93e-06 3.13e-04 -4.1 5.17e+00 -6.7 1.00e+00 1.00e+00h 1 63 2.0808101e+00 1.97e-03 4.51e-03 -6.2 2.40e+01 -7.2 9.88e-01 9.94e-01h 1 64 2.0809999e+00 1.62e-03 7.56e-02 -4.0 3.18e+01 -7.7 1.00e+00 1.72e-01f 1 65 2.0815356e+00 3.19e-03 8.61e-03 -4.2 5.80e+01 -8.2 1.00e+00 1.00e+00h 1 66 2.0817541e+00 6.09e-05 6.99e-01 -4.2 4.33e-01 -4.1 5.53e-01 1.00e+00h 1 67 2.0815825e+00 2.91e-05 3.50e-03 -4.2 4.57e-01 -4.6 1.00e+00 1.00e+00h 1 68 2.0815252e+00 5.22e-05 3.87e-04 -4.2 6.18e-01 -5.1 1.00e+00 1.00e+00h 1 69 2.0809833e+00 2.01e-04 4.25e-03 -6.3 2.55e+00 -5.5 9.81e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0809886e+00 1.96e-04 3.10e+00 -4.0 1.63e+01 -4.2 2.95e-01 2.03e-02h 1 71 2.0815085e+00 1.91e-04 1.02e+00 -4.0 2.96e+00 -4.7 1.00e+00 2.89e-02f 2 72 2.0817192e+00 1.59e-04 1.20e-03 -4.0 4.69e-01 -5.2 1.00e+00 1.00e+00h 1 73 2.0818172e+00 2.78e-04 2.56e-03 -4.0 1.78e+00 -5.6 1.00e+00 1.00e+00h 1 74 2.0817385e+00 1.67e-04 1.34e+00 -4.0 3.95e-01 -2.5 1.00e+00 4.01e-01h 1 75 2.0817658e+00 4.35e-07 5.61e-04 -4.0 5.68e-02 -3.0 1.00e+00 1.00e+00f 1 76 2.0813069e+00 6.99e-06 4.98e-02 -6.0 7.96e-02 -3.5 7.66e-01 9.04e-01h 1 77 2.0811217e+00 4.34e-06 3.35e-01 -6.0 7.47e-01 -3.9 2.30e-01 3.65e-01h 1 78 2.0817531e+00 1.15e-05 1.12e-01 -4.0 7.00e-01 -4.4 1.00e+00 6.93e-01f 1 79 2.0816642e+00 1.28e-06 3.91e-04 -4.1 3.91e-01 -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 80 2.0809974e+00 2.39e-04 2.79e-02 -6.1 2.33e+00 -5.4 8.59e-01 1.00e+00h 1 81 2.0809142e+00 7.58e-05 7.95e-03 -6.1 9.10e-01 -4.9 7.07e-01 6.84e-01h 1 82 2.0809606e+00 7.51e-05 6.05e-01 -4.0 3.35e+01 -5.4 1.30e-01 2.52e-02f 1 83 2.0810607e+00 5.40e-04 1.13e+00 -4.5 1.75e+01 -5.9 1.00e+00 1.51e-01h 2 84 2.0811293e+00 3.23e-04 1.35e-03 -4.5 4.50e+00 -6.4 1.00e+00 1.00e+00h 1 85 2.0809771e+00 7.76e-04 6.33e-04 -4.5 6.66e+00 -6.9 1.00e+00 1.00e+00h 1 86 2.0809612e+00 4.61e-05 6.55e-04 -4.5 8.08e+00 -7.3 1.00e+00 1.00e+00h 1 87 2.0818485e+00 1.94e-03 1.14e-03 -4.0 2.29e+01 -7.8 1.00e+00 1.00e+00h 1 88 2.0816032e+00 5.54e-04 6.11e-04 -4.1 2.50e+01 -8.3 1.00e+00 1.00e+00h 1 89 2.0806231e+00 3.95e-03 4.87e-04 -6.1 4.93e+01 -8.8 9.78e-01 9.42e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0818824e+00 4.86e-03 1.42e-03 -4.0 4.58e+01 -9.2 1.00e+00 1.00e+00f 1 91 2.0816103e+00 5.27e-04 1.41e-04 -4.1 2.20e+01 -9.7 1.00e+00 1.00e+00h 1 92 2.0806015e+00 3.46e-03 1.93e-04 -6.1 4.18e+01 -10.2 9.76e-01 9.61e-01h 1 93 2.0818839e+00 6.26e-03 3.33e-04 -4.0 5.87e+01 -10.7 1.00e+00 1.00e+00f 1 94 2.0816086e+00 4.54e-04 3.16e-05 -4.1 1.89e+01 -11.2 1.00e+00 1.00e+00h 1 95 2.0806004e+00 3.45e-03 1.83e-04 -6.1 4.17e+01 -11.6 9.76e-01 9.62e-01h 1 96 2.0818847e+00 6.34e-03 2.89e-04 -4.0 5.94e+01 -12.1 1.00e+00 1.00e+00f 1 97 2.0816089e+00 4.51e-04 3.16e-05 -4.1 1.92e+01 -12.6 1.00e+00 1.00e+00h 1 98 2.0806004e+00 3.46e-03 1.82e-04 -6.1 4.18e+01 -13.1 9.76e-01 9.62e-01h 1 99 2.0805506e+00 8.80e-05 2.17e-06 -6.1 1.68e+01 -13.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0809930e+00 1.19e-03 1.78e-02 -4.0 8.50e+01 -14.0 1.00e+00 3.32e-01f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0809930319438288e+00 2.0809930319438288e+00 Dual infeasibility......: 1.7845550855397373e-02 1.7845550855397373e-02 Constraint violation....: 1.1887791632667621e-03 1.1887791632667621e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.9998984656213812e-04 1.9998984656213812e-04 Overall NLP error.......: 1.7845550855397373e-02 1.7845550855397373e-02 Number of objective function evaluations = 117 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 117 Number of inequality constraint evaluations = 117 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 32.058 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 10 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 1 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 7.2201628e+01 3.39e+00 2.64e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.6430136e+01 2.32e+00 1.75e+01 -0.5 1.78e+00 0.0 1.00e+00 3.15e-01f 1 2 2.8111899e+00 2.48e-01 1.25e+01 -0.4 1.90e+00 -0.5 7.69e-01 8.91e-01f 1 3 3.2514906e+00 3.21e-02 2.54e+00 -0.5 5.46e-01 -1.0 8.10e-01 1.00e+00f 1 4 2.8906547e+00 1.96e-02 3.87e-01 -1.2 3.65e-01 -1.4 9.74e-01 1.00e+00h 1 5 2.2607607e+00 7.61e-02 8.83e-02 -1.9 8.25e-01 -1.9 9.69e-01 9.98e-01f 1 6 2.1157633e+00 1.00e-02 2.30e-02 -2.5 3.63e-01 -2.4 9.65e-01 1.00e+00h 1 7 2.0912479e+00 8.55e-05 2.24e-03 -3.9 2.21e-02 -2.9 9.87e-01 1.00e+00h 1 8 2.0908614e+00 2.57e-06 2.27e-04 -4.0 3.88e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908518e+00 8.05e-09 2.27e-04 -4.0 1.13e-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 2.0908277e+00 3.01e-08 2.27e-04 -4.0 3.16e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907632e+00 2.13e-07 2.86e-04 -4.0 8.63e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905779e+00 2.25e-06 4.45e-04 -4.0 2.59e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0903197e+00 2.68e-06 8.56e-03 -4.0 1.01e+01 -5.7 5.14e-01 2.39e-01H 1 14 2.0893559e+00 2.25e-04 4.17e-02 -4.0 2.61e+01 -6.2 1.00e+00 1.00e+00f 1 15 2.0878727e+00 8.83e-05 2.54e-02 -4.0 3.37e+00 -4.9 1.00e+00 6.73e-01h 1 16 2.0878612e+00 1.70e-05 5.97e-03 -4.0 3.34e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0868352e+00 3.89e-05 6.89e-03 -4.0 1.01e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0852809e+00 1.94e-04 9.47e-03 -4.0 2.37e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0830519e+00 4.07e-04 2.70e-02 -4.0 3.93e+01 -6.8 1.00e+00 9.58e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826330e+00 4.33e-04 1.28e-02 -4.0 5.48e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823232e+00 4.64e-04 9.66e-03 -4.0 1.23e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.6396091e+00 5.59e-04 1.17e+01 -4.0 1.04e+03 -8.2 3.67e-02 1.00e+00H 1 23 2.0893817e+00 7.83e-05 1.29e+00 -4.1 2.45e-01 -0.4 6.55e-01 8.60e-01f 1 24 2.0896725e+00 7.80e-05 7.33e+00 -4.0 1.03e-01 -0.8 1.00e+00 3.91e-03f 9 25 2.0896553e+00 8.92e-08 1.62e-03 -4.0 3.42e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.0892918e+00 1.05e-07 1.53e-03 -4.0 9.63e-02 -1.8 1.00e+00 1.00e+00h 1 27 2.0888683e+00 9.57e-07 1.25e-03 -4.0 2.36e-01 -2.3 1.00e+00 1.00e+00h 1 28 2.0888064e+00 1.27e-10 2.27e-04 -4.0 4.90e-02 -2.8 1.00e+00 1.00e+00H 1 29 2.0888610e+00 3.72e-07 2.27e-04 -4.0 2.43e-02 -3.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0886963e+00 1.61e-06 1.81e-04 -4.1 7.46e-02 -3.7 1.00e+00 1.00e+00h 1 31 2.0888380e+00 4.56e-06 2.27e-04 -4.0 2.16e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0886143e+00 1.50e-05 1.81e-04 -4.1 6.62e-01 -4.7 1.00e+00 1.00e+00h 1 33 2.0886279e+00 3.66e-05 4.75e-04 -4.0 1.87e+00 -5.1 1.00e+00 1.00e+00h 1 34 2.0880790e+00 1.31e-04 6.40e-04 -4.1 5.34e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0869599e+00 6.54e-04 3.22e-02 -6.1 1.48e+01 -6.1 9.80e-01 7.08e-01h 1 36 2.0858846e+00 6.41e-04 2.29e-02 -6.1 3.65e+01 -6.6 8.82e-01 8.03e-01h 1 37 2.0840433e+00 3.39e-04 1.85e-02 -6.1 8.86e+01 -7.0 9.36e-01 1.00e+00h 1 38 2.0822713e+00 9.89e-05 1.65e-01 -6.1 1.64e+02 -7.5 1.00e+00 7.67e-01h 1 39 2.0809933e+00 4.78e-04 7.02e-02 -5.4 2.50e+02 -8.0 7.87e-01 9.29e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0834574e+00 6.19e-03 2.06e-01 -4.0 3.63e+03 -8.5 9.95e-04 1.36e-01f 3 41 2.0817330e+00 4.35e-03 9.69e-01 -5.1 6.36e+01 -6.2 1.00e+00 2.78e-01h 1 42 2.0815934e+00 3.94e-03 3.32e-01 -5.1 2.64e+01 -6.7 1.00e+00 9.44e-02h 1 43 2.0812875e+00 3.99e-04 8.91e-02 -5.1 4.76e+01 -7.2 8.88e-01 1.00e+00f 1 44 2.0821435e+00 8.78e-03 1.75e-02 -4.0 8.04e+01 -7.7 6.77e-01 1.00e+00h 1 45 2.2278168e+00 1.52e-02 1.88e+00 -4.2 2.50e+02 -7.3 6.39e-02 1.00e+00h 1 46 2.0907613e+00 2.15e-08 4.51e-01 -4.2 1.18e-01 0.6 1.00e+00 1.00e+00f 1 47 2.0830219e+00 9.01e-09 1.20e-01 -4.2 3.32e-02 0.1 1.00e+00 8.11e-01f 1 48 2.0836561e+00 8.22e-09 4.42e-01 -4.0 3.34e-02 -0.4 1.00e+00 1.25e-01f 4 49 2.0836657e+00 2.65e-07 1.43e-03 -4.0 9.91e-03 -0.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0834279e+00 8.57e-08 7.42e-04 -4.0 1.51e-02 -1.3 1.00e+00 1.00e+00h 1 51 2.0826514e+00 2.10e-06 1.42e-01 -5.9 5.23e-02 -1.8 7.33e-01 1.00e+00h 1 52 2.0833863e+00 3.37e-06 1.18e-03 -4.0 4.31e-02 -2.3 1.00e+00 1.00e+00h 1 53 2.0831514e+00 3.67e-07 1.84e-04 -4.1 2.00e-02 -2.7 1.00e+00 1.00e+00h 1 54 2.0824898e+00 2.69e-06 5.43e-02 -6.1 3.90e-02 -3.2 7.24e-01 1.00e+00h 1 55 2.0833848e+00 6.12e-06 1.72e-03 -4.0 5.83e-02 -3.7 1.00e+00 1.00e+00f 1 56 2.0831182e+00 4.27e-06 1.82e-04 -4.1 1.30e-01 -4.2 1.00e+00 1.00e+00h 1 57 2.0824287e+00 6.24e-05 3.58e-02 -6.1 6.75e-01 -4.7 8.04e-01 1.00e+00h 1 58 2.0822381e+00 3.75e-05 3.32e-04 -6.1 1.82e+00 -5.1 1.00e+00 1.00e+00h 1 59 2.0829863e+00 3.03e-04 2.22e-02 -4.0 2.83e+00 -5.6 1.00e+00 8.79e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0827500e+00 5.08e-04 5.66e-03 -4.1 6.65e+00 -6.1 1.00e+00 1.00e+00f 1 61 2.0824727e+00 1.65e-04 2.01e-03 -4.1 1.60e+01 -6.6 1.00e+00 1.00e+00h 1 62 2.0820035e+00 9.99e-05 5.76e-03 -4.1 3.47e+01 -7.0 1.00e+00 1.00e+00h 1 63 2.0815697e+00 1.56e-04 6.05e-03 -4.1 5.97e+01 -7.5 7.97e-01 1.00e+00h 1 64 2.0817729e+00 5.63e-04 1.85e-02 -4.0 1.90e+01 -6.2 1.00e+00 1.00e+00h 1 65 2.0817963e+00 4.34e-04 3.40e-02 -4.0 1.38e+01 -6.7 9.24e-01 1.00e+00h 1 66 2.0819583e+00 3.03e-04 1.41e-01 -4.0 6.20e+00 -7.1 1.00e+00 2.95e-01h 1 67 2.0819198e+00 2.95e-04 2.48e-03 -4.0 1.30e+01 -7.6 1.00e+00 1.00e+00f 1 68 2.0819017e+00 1.52e-05 5.74e-04 -4.0 2.09e+01 -8.1 1.00e+00 1.00e+00h 1 69 2.0818386e+00 1.18e-04 4.25e-04 -4.0 2.20e+01 -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 70 2.0815800e+00 3.41e-04 1.81e-04 -4.1 1.44e+01 -9.1 1.00e+00 1.00e+00h 1 71 2.0805943e+00 3.25e-03 1.59e-04 -6.1 3.97e+01 -9.5 9.78e-01 9.67e-01h 1 72 2.0818888e+00 6.38e-03 5.12e-04 -4.0 5.94e+01 -10.0 1.00e+00 1.00e+00f 1 73 2.0816148e+00 5.15e-04 1.86e-04 -4.1 2.19e+01 -10.5 1.00e+00 1.00e+00h 1 74 2.0805995e+00 3.47e-03 1.56e-04 -6.1 4.15e+01 -11.0 9.76e-01 9.64e-01h 1 75 2.0805509e+00 8.61e-05 2.97e-06 -6.1 1.71e+01 -11.4 1.00e+00 1.00e+00h 1 76 2.0819789e+00 1.03e-02 3.96e-04 -4.0 8.43e+01 -11.9 1.00e+00 1.00e+00f 1 77 2.0816834e+00 9.32e-04 1.93e-04 -4.1 4.56e+01 -12.4 1.00e+00 1.00e+00h 1 78 2.0816475e+00 4.68e-07 1.93e-04 -4.1 8.51e+00 -12.9 1.00e+00 1.00e+00h 1 79 2.0818389e+00 1.15e-04 2.27e-04 -4.0 7.08e+00 -13.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0815801e+00 2.08e-04 1.81e-04 -4.1 9.50e+00 -13.8 1.00e+00 1.00e+00h 1 81 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -14.3 9.78e-01 9.71e-01h 1 82 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -14.8 1.00e+00 1.00e+00h 1 83 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -15.3 1.00e+00 1.00e+00f 1 84 2.0816887e+00 9.54e-04 1.94e-04 -4.1 4.72e+01 -15.7 1.00e+00 1.00e+00h 1 85 2.0816504e+00 5.63e-07 1.94e-04 -4.1 8.93e+00 -16.2 1.00e+00 1.00e+00h 1 86 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -16.7 9.77e-01 9.75e-01h 1 87 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -17.2 1.00e+00 1.00e+00h 1 88 2.0805469e+00 4.72e-08 1.79e-06 -6.1 2.95e+00 -17.6 1.00e+00 1.00e+00h 1 89 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -18.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0817159e+00 1.04e-03 1.96e-04 -4.1 5.46e+01 -18.6 1.00e+00 1.00e+00h 1 91 2.0816648e+00 1.22e-06 1.96e-04 -4.1 1.10e+01 -19.1 1.00e+00 1.00e+00h 1 92 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -19.6 9.76e-01 9.75e-01h 1 93 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0805471e+00 4.99e-08 1.82e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 96 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 97 2.0817306e+00 1.08e-03 1.97e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0816723e+00 1.67e-06 1.97e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805516e+00 7.07e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805515639472669e+00 2.0805515639472669e+00 Dual infeasibility......: 2.0507759461582339e-06 2.0507759461582339e-06 Constraint violation....: 7.0744229805394521e-05 7.0744229805394521e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.0788943137810646e-06 3.0788943137810646e-06 Overall NLP error.......: 9.9188692522867976e-05 9.9188692522867976e-05 Number of objective function evaluations = 123 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 123 Number of inequality constraint evaluations = 123 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 37.710 EXIT: Maximum Number of Iterations Exceeded. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... applying constraint: timesteps all equal constraint applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 81 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.1426903e+00 2.11e+00 1.30e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3267321e+00 3.61e+00 9.96e+00 -1.0 6.82e+01 -4.0 9.82e-01 1.00e+00h 1 2 2.2753050e+00 3.58e-01 2.08e+00 -1.8 2.17e+01 -4.5 9.98e-01 1.00e+00h 1 3 2.1543392e+00 2.61e-01 6.25e-01 -2.2 1.90e+01 -5.0 1.00e+00 1.00e+00h 1 4 2.1171263e+00 3.77e-02 6.98e-02 -2.7 9.82e+00 -5.4 9.96e-01 1.00e+00h 1 5 2.0945691e+00 3.04e-02 2.07e-02 -3.3 1.41e+01 -5.9 9.95e-01 1.00e+00h 1 6 2.0860016e+00 2.27e-02 1.45e-02 -3.8 4.30e+01 -6.4 9.93e-01 1.00e+00h 1 7 2.0878451e+00 2.93e-02 9.65e-02 -2.9 6.46e+01 -6.9 1.00e+00 6.50e-01h 1 8 2.0880163e+00 1.15e-02 7.32e-02 -3.1 5.41e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0793149e+00 6.73e-02 6.04e-03 -3.9 9.86e+01 -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 2.0766934e+00 1.87e-02 1.13e-02 -4.0 2.33e+02 -8.3 1.00e+00 9.99e-01h 1 11 2.0761679e+00 7.62e-03 2.78e-02 -4.0 3.52e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0768764e+00 6.20e-04 2.36e-02 -3.7 2.82e+02 -9.2 1.00e+00 9.86e-01H 1 13 2.0757994e+00 1.11e-02 3.27e-03 -4.0 9.75e+01 -9.7 1.00e+00 1.00e+00h 1 14 2.0757709e+00 4.34e-05 1.50e-05 -4.0 2.22e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757705e+00 6.14e-08 2.61e-06 -4.0 1.82e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0757704e+00 7.97e-10 5.72e-07 -4.0 9.63e+00 -11.2 1.00e+00 1.00e+00h 1 17 2.0757704e+00 6.69e-11 3.41e-08 -4.0 2.85e+00 -11.6 1.00e+00 1.00e+00h 1 18 2.0757704e+00 6.83e-13 3.64e-10 -4.0 3.41e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0757703960781821e+00 2.0757703960781821e+00 Dual infeasibility......: 3.6432401418081371e-10 3.6432401418081371e-10 Constraint violation....: 6.8348061585399300e-13 6.8348061585399300e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000036e-04 1.0000000000000036e-04 Overall NLP error.......: 3.6432401418081371e-10 3.6432401418081371e-10 Number of objective function evaluations = 20 Number of objective gradient evaluations = 19 Number of equality constraint evaluations = 20 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 = 26.366 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.5764179e+00 7.79e-01 1.06e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3270772e+00 2.75e-01 1.50e+00 -1.7 3.81e+00 - 8.99e-01 1.00e+00h 1 2 1.6954940e+00 1.46e-01 1.91e+00 -1.1 3.08e-01 0.0 7.85e-01 1.00e+00h 1 3 1.6384489e+00 8.29e-02 1.41e+00 -0.9 8.26e-01 -0.5 1.00e+00 4.32e-01h 1 4 1.7399345e+00 4.14e-02 6.48e-01 -1.7 9.98e-01 -1.0 7.13e-01 5.00e-01h 2 5 1.7002880e+00 4.08e-02 1.72e+00 -0.8 1.35e+00 -0.5 5.60e-01 2.37e-01h 1 6 1.5103614e+00 1.40e-02 4.78e-01 -1.5 2.50e-01 -1.0 9.89e-01 5.91e-01f 1 7 1.1842745e+00 2.05e-03 3.50e-01 -2.2 1.81e+00 - 1.00e+00 9.51e-01f 1 8 1.0970823e+00 1.57e-04 2.00e-01 -3.6 4.38e+00 - 9.99e-01 1.00e+00h 1 9 1.0910562e+00 4.78e-07 4.87e-02 -4.0 1.82e+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 1.0908942e+00 6.55e-09 4.56e-03 -4.0 6.63e-01 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 6.02e-14 2.78e-06 -4.0 1.66e-02 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 2.24e-23 2.21e-12 -4.0 1.48e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0908997263264879e+00 1.0908997263264879e+00 Dual infeasibility......: 2.2138813948312935e-12 2.2138813948312935e-12 Constraint violation....: 2.2422763066714536e-23 2.2422763066714536e-23 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 2.2138813948312935e-12 2.2138813948312935e-12 Number of objective function evaluations = 15 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 15 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 = 23.001 EXIT: Optimal Solution Found. Difference in Hessian Difference in Jacobian NonlinearKnotPointConstraint - single variable with vector syntax: Test Failed at /home/pkgeval/.julia/packages/DirectTrajOpt/4TeZc/src/constraints/_constraints.jl:202 Expression: all(isapprox.(triu(μ∂²g), triu(μ∂²g_finite_diff), atol = atol)) Evaluated: all(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10 … 101, 102, 103, 104, 105, 106, 107, 108, 109, 110], [1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 110, 110, 110, 110, 110, 110, 110, 110, 110, 110], Bool[1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], 110, 110)) Stacktrace: [1] macro expansion @ /opt/julia/share/julia/stdlib/v1.14/Test/src/Test.jl:782 [inlined] [2] test_constraint(constraint::NonlinearKnotPointConstraint{DirectTrajOpt.Constraints.var"#32#33"{typeof(Main.var"##182".g)}}, traj::NamedTrajectories.StructNamedTrajectory.NamedTrajectory{Float64, (:x, :u, :du, :ddu, :Δt), NTuple{5, Int64}, (:u, :Δt), Tuple{Tuple{Vector{Float64}, Vector{Float64}}, Tuple{Vector{Float64}, Vector{Float64}}}, (:x, :u), Tuple{Vector{Float64}, Vector{Float64}}, (:u,), Tuple{Vector{Float64}}, (:x,), Tuple{Vector{Float64}}, (:x, :u, :du, :ddu, :Δt), NTuple{5, UnitRange{Int64}}, NTuple{5, Symbol}, Tuple{Symbol, Symbol, Symbol}, Tuple{Symbol, Symbol}, (), Tuple{}, (), Tuple{}, Tuple{}}; show_jacobian_diff::Bool, show_hessian_diff::Bool, test_equality::Bool, atol::Float64, rtol::Float64) @ DirectTrajOpt.Constraints ~/.julia/packages/DirectTrajOpt/4TeZc/src/constraints/_constraints.jl:202 Test Summary: | Pass Fail Total Time Package | 201 1 202 20m12.1s src/constraints/linear/equality_constraint.jl | 3 3 2m55.1s src/integrators/derivative_integrator.jl | 3 3 22.3s src/objectives/_objectives.jl | 19 19 21.5s src/solvers/ipopt_solver/callbacks.jl | 2 2 33.8s src/constraints/linear/total_constraint.jl | 2 2 53.9s src/constraints/nonlinear/global_constraint.jl | 2 2 26.7s src/objectives/global_objectives.jl | 15 15 36.3s src/constraints/linear/symmetry_constraint.jl | 20 20 1m22.1s src/objectives/knot_point_objectives.jl | 6 6 9.0s src/solvers/ipopt_solver/evaluator.jl | 5 5 1m09.7s src/objectives/regularizers.jl | 3 3 6.6s src/constraints/linear/time_consistency_constraint.jl | 19 19 20.2s src/integrators/time_dependent_bilinear_integrator.jl | 3 3 2m33.4s src/constraints/linear/bounds_constraint.jl | 60 60 2m04.7s src/solvers/ipopt_solver/solver.jl | 9 9 2m19.4s src/integrators/bilinear_integrator.jl | 3 3 37.7s src/constraints/linear/all_equal_constraint.jl | 2 2 58.7s src/constraints/nonlinear/global_knot_point_constraint.jl | 2 2 20.3s src/constraints/nonlinear/knot_point_constraint.jl | 23 1 24 2m00.9s NonlinearKnotPointConstraint - single variable | 2 2 15.0s NonlinearKnotPointConstraint - single variable with vector syntax | 4 1 5 26.3s NonlinearKnotPointConstraint - multiple variables concatenated | 2 2 15.6s NonlinearKnotPointConstraint - multiple variables separate arguments | 2 2 16.0s NonlinearKnotPointConstraint - three variables separate arguments | 2 2 12.2s NonlinearKnotPointConstraint - inequality vs equality | 7 7 21.9s NonlinearKnotPointConstraint - subset of times | 4 4 13.9s ERROR: LoadError: Some tests did not pass: 201 passed, 1 failed, 0 errored, 0 broken. in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/4TeZc/test/runtests.jl:6 Testing failed after 1295.69s ERROR: LoadError: Package DirectTrajOpt errored during testing Stacktrace: [1] pkgerror(msg::String) @ Pkg.Types /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Types.jl:68 [2] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, julia_args::Cmd, test_args::Cmd, test_fn::Nothing, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool) @ Pkg.Operations /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Operations.jl:3122 [3] test @ /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Operations.jl:2987 [inlined] [4] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, test_fn::Nothing, julia_args::Cmd, test_args::Cmd, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool, kwargs::@Kwargs{io::IOContext{IO}}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:572 [5] kwcall(::@NamedTuple{julia_args::Cmd, io::IOContext{IO}}, ::typeof(Pkg.API.test), ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:548 [6] test(pkgs::Vector{PackageSpec}; io::IOContext{IO}, kwargs::@Kwargs{julia_args::Cmd}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:172 [7] kwcall(::@NamedTuple{julia_args::Cmd}, ::typeof(Pkg.API.test), pkgs::Vector{PackageSpec}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:161 [8] test(pkgs::Vector{String}; kwargs::@Kwargs{julia_args::Cmd}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:160 [9] test @ /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:160 [inlined] [10] kwcall(::@NamedTuple{julia_args::Cmd}, ::typeof(Pkg.API.test), pkg::String) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:159 [11] top-level scope @ /PkgEval.jl/scripts/evaluate.jl:223 [12] include(mod::Module, _path::String) @ Base ./Base.jl:309 [13] exec_options(opts::Base.JLOptions) @ Base ./client.jl:344 [14] _start() @ Base ./client.jl:585 in expression starting at /PkgEval.jl/scripts/evaluate.jl:214 PkgEval failed after 1393.7s: package has test failures