diff --git a/ipet/parsing/ReaderManager.py b/ipet/parsing/ReaderManager.py index d89316b..cd2e411 100644 --- a/ipet/parsing/ReaderManager.py +++ b/ipet/parsing/ReaderManager.py @@ -24,7 +24,7 @@ from ipet.concepts.IPETNode import IpetNode from ipet.parsing.Solver import SCIPSolver, CbcSolver, XpressSolver, GurobiSolver, \ CplexSolver, FiberSCIPSolver, MatlabSolver, MosekSolver, MipclSolver, NuoptSolver, SasSolver, \ - ConoptSolver + ConoptSolver, IpoptSolver from ipet.misc import misc # CbcSolver, CouenneSolver, \ # XpressSolver, GurobiSolver, CplexSolver @@ -81,7 +81,8 @@ def addSolvers(self): MipclSolver(), NuoptSolver(), SasSolver(), - ConoptSolver() + ConoptSolver(), + IpoptSolver() ]: self.addSolver(s) diff --git a/ipet/parsing/Solver.py b/ipet/parsing/Solver.py index 4e2b132..404c876 100644 --- a/ipet/parsing/Solver.py +++ b/ipet/parsing/Solver.py @@ -208,6 +208,24 @@ def addData(self, key, datum): """ self.data[key] = datum + def addSum(self, line : str, expr, key : str, datatype : type = float) -> None: + """Add the first group of a match of 'expr' to the datum stored under 'key' + + Used to accumulate data over several solves in one log, e.g. iterations + """ + m = expr.match(line) + if m: + self.addData(key, (self.getData(key) or 0) + datatype(m.group(1))) + + def addMax(self, line : str, expr, key : str) -> None: + """Store the maximum of the first group of a match of 'expr' and the datum stored under 'key' + """ + m = expr.match(line) + if m: + value = float(m.group(1)) + previous = self.getData(key) + self.addData(key, value if previous is None else max(previous, value)) + def deleteData(self, key : str) -> bool: """Delete data from local data dictionary """ @@ -1170,20 +1188,82 @@ def extractStatus(self, line : str): status = self.solverstatuscodemap.get(solverstatus, Key.SolverStatusCodes.Crashed) self.addData(Key.SolverStatus, status) - def addSum(self, line : str, expr, key : str, datatype : type = float): - m = expr.match(line) - if m: - self.addData(key, (self.getData(key) or 0) + datatype(m.group(1))) - - def addMax(self, line : str, expr, key : str): - m = expr.match(line) - if m: - value = float(m.group(1)) - previous = self.getData(key) - self.addData(key, value if previous is None else max(previous, value)) - def extractOptionalInformation(self, line : str): self.addSum(line, self.iterations_expr, "Iterations", int) self.addSum(line, self.time_expr, Key.SolvingTime) self.addMax(line, self.memmaxused_expr, "MemoryMaxUsed") self.addMax(line, self.memallocated_expr, "MemoryAllocated") + +class IpoptSolver(Solver): + '''Solver class for Ipopt + + Each solve is read from the "This is Ipopt version" banner up to the "EXIT:" line, + output that follows (e.g. by CasADi) is ignored. If a log contains several solves, + status, objective and the final error measures are taken from the last solve, + iterations and time are summed. + ''' + + solverId = "Ipopt" + recognition_expr = re.compile(r"^This is Ipopt version") + version_expr = re.compile(r"^This is Ipopt version ([^\s,]+)") + primalbound_expr = re.compile(r"^Objective\.+:\s+\S+\s+(\S+)") + + linearsolver_expr = re.compile(r"^This is Ipopt version \S+ running with linear solver (\S+?)(?: (\S+?))?\.?$") + iterations_expr = re.compile(r"^Number of Iterations\.+: (\d+)") + time_expr = re.compile(r"^Total seconds in IPOPT\s+= (\S+)") + exit_expr = re.compile(r"^EXIT: ") + + # final (unscaled) error measures + errormeasures = [(re.compile(r"^Dual infeasibility\.+:\s+\S+\s+(\S+)"), "DualInfeasibility"), + (re.compile(r"^Constraint violation\.+:\s+\S+\s+(\S+)"), "ConstraintViolation"), + (re.compile(r"^Variable bound violation:\s+\S+\s+(\S+)"), "VariableBoundViolation"), + (re.compile(r"^Complementarity\.+:\s+\S+\s+(\S+)"), "Complementarity"), + (re.compile(r"^Overall NLP error\.+:\s+\S+\s+(\S+)"), "NLPError")] + + # Ipopt only proves local optimality and local infeasibility, all other EXIT messages are treated as crashes + exitstatusses = [(re.compile(pattern), status) for pattern, status in [ + (r"^EXIT: Optimal Solution Found\.", Key.SolverStatusCodes.LocallyOptimal), + (r"^EXIT: Solved To Acceptable Level\.", Key.SolverStatusCodes.LocallyOptimal), + (r"^EXIT: Feasible point for square problem found\.", Key.SolverStatusCodes.Optimal), + (r"^EXIT: Converged to a point of local infeasibility\.", Key.SolverStatusCodes.LocallyInfeasible), + (r"^EXIT: Iterates diverging; problem might be unbounded\.", Key.SolverStatusCodes.Unbounded), + (r"^EXIT: Maximum Number of Iterations Exceeded\.", Key.SolverStatusCodes.NodeLimit), + (r"^EXIT: Maximum (?:CPU|wallclock) time exceeded\.", Key.SolverStatusCodes.TimeLimit), + (r"^EXIT: Stopping optimization at current point as requested by user\.", Key.SolverStatusCodes.Interrupted), + (r"^EXIT: Not enough memory\.", Key.SolverStatusCodes.MemoryLimit)]] + + def __init__(self, **kw): + super(IpoptSolver, self).__init__(**kw) + + def reset(self): + Solver.reset(self) + self.inSolve = False + + def readLine(self, line : str): + if self.recognition_expr.match(line): + self.inSolve = True + if self.inSolve: + Solver.readLine(self, line) + if self.exit_expr.match(line): + self.inSolve = False + + def extractStatus(self, line : str): + if not self.exit_expr.match(line): + return + for expr, status in self.exitstatusses: + if expr.match(line): + self.addData(Key.SolverStatus, status) + return + self.addData(Key.SolverStatus, Key.SolverStatusCodes.Crashed) + + def extractOptionalInformation(self, line : str): + # the linear solver is stored under the LP solver keys, which rubberband displays + m = self.linearsolver_expr.match(line) + if m: + self.addData("LPSolver", m.group(1)) + if m.group(2) is not None: + self.addData("LPSolverVersion", m.group(2)) + self.addSum(line, self.iterations_expr, "Iterations", int) + self.addSum(line, self.time_expr, Key.SolvingTime) + for expr, key in self.errormeasures: + self.extractByExpression(line, expr, key) diff --git a/test/SolverTest.py b/test/SolverTest.py index 17d8253..fdd5867 100644 --- a/test/SolverTest.py +++ b/test/SolverTest.py @@ -6,7 +6,7 @@ import unittest import os from ipet.parsing.Solver import SCIPSolver, GurobiSolver, CplexSolver, CbcSolver, XpressSolver, MipclSolver, \ - ConoptSolver + ConoptSolver, IpoptSolver from ipet import Key DATADIR = os.path.join(os.path.dirname(__file__), "data") @@ -670,6 +670,61 @@ class SolverTest(unittest.TestCase): Key.PrimalBound: None, Key.SolvingTime: None, "MemoryMaxUsed": None} ], + "ipopt31419-rosenbrock" : [ { + Key.Solver: "Ipopt", + Key.Version: "3.14.19", + "LPSolver": "MUMPS", + "LPSolverVersion": "5.8.2", + "Iterations": 10, + Key.SolverStatus: Key.SolverStatusCodes.LocallyOptimal }, { + Key.PrimalBound: 2.026670675870003e-64, + Key.SolvingTime: 0.001} ], + "ipopt31419-sysid" : [ { + Key.Solver: "Ipopt", + Key.Version: "3.14.19", + "LPSolver": "MUMPS", + "LPSolverVersion": "5.8.2", + "Iterations": 12, + Key.SolverStatus: Key.SolverStatusCodes.LocallyOptimal }, { + Key.PrimalBound: 6.774576706719595e-29, + Key.SolvingTime: 0.75} ], + "ipopt31419-biegler_10_1" : [ { + Key.Solver: "Ipopt", + Key.Version: "3.14.19", + "LPSolver": "MUMPS", + "LPSolverVersion": "5.8.2", + "Iterations": 50, + Key.SolverStatus: Key.SolverStatusCodes.LocallyOptimal }, { + Key.PrimalBound: 9.0, + Key.SolvingTime: 0.01} ], + # rosenbrock with the EXIT line changed (no sample log reports these statusses) + "ipopt31419-rosenbrock-localinf" : [ { + Key.Solver: "Ipopt", + Key.Version: "3.14.19", + "LPSolver": "MUMPS", + "LPSolverVersion": "5.8.2", + "Iterations": 10, + Key.SolverStatus: Key.SolverStatusCodes.LocallyInfeasible }, { + Key.PrimalBound: 2.026670675870003e-64, + Key.SolvingTime: 0.001} ], + "ipopt31419-rosenbrock-iterlim" : [ { + Key.Solver: "Ipopt", + Key.Version: "3.14.19", + "LPSolver": "MUMPS", + "LPSolverVersion": "5.8.2", + "Iterations": 10, + Key.SolverStatus: Key.SolverStatusCodes.NodeLimit }, { + Key.PrimalBound: 2.026670675870003e-64, + Key.SolvingTime: 0.001} ], + "ipopt31419-rosenbrock-restofail" : [ { + Key.Solver: "Ipopt", + Key.Version: "3.14.19", + "LPSolver": "MUMPS", + "LPSolverVersion": "5.8.2", + "Iterations": 10, + Key.SolverStatus: Key.SolverStatusCodes.Crashed }, { + Key.PrimalBound: 2.026670675870003e-64, + Key.SolvingTime: 0.001} ], } solvers = [] @@ -682,6 +737,7 @@ def setUp(self): self.solvers.append([XpressSolver(), "XPRESS"]) self.solvers.append([MipclSolver(), "MIPCL"]) self.solvers.append([ConoptSolver(), "CONOPT"]) + self.solvers.append([IpoptSolver(), "Ipopt"]) self.activeSolver = self.solvers[0][SOLVER] def tearDown(self): diff --git a/test/data/ipopt31419-biegler_10_1.out b/test/data/ipopt31419-biegler_10_1.out new file mode 100644 index 0000000..4e65473 --- /dev/null +++ b/test/data/ipopt31419-biegler_10_1.out @@ -0,0 +1,628 @@ +program started +N = 1 +C = +[[-6, -3.4641, 3.4641], + [6.4641, 3, -6.4641], + [-0.464102, 0.464102, 3]] +D = [1, -1.73205, 1.73205] +g = @1=1, [(((sq(Z_1)-(2.*Z_1))+@1)-(((-3.4641*Z_0)+(3*Z_1))+(0.464102*Z_2))), (((sq(Z_2)-(2.*Z_2))+@1)-(((3.4641*Z_0)+(-6.4641*Z_1))+(3*Z_2)))] + +****************************************************************************** +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...: 4 +Number of nonzeros in inequality constraint Jacobian.: 0 +Number of nonzeros in Lagrangian Hessian.............: 2 + +Total number of variables............................: 2 + variables with only lower bounds: 0 + variables with lower and upper bounds: 2 + variables with only upper bounds: 0 +Total number of equality constraints.................: 2 +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 9.0000000e+00 1.14e+01 0.00e+00 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 + 1 9.0000000e+00 3.48e+00 2.82e-02 -1.0 1.87e+00 - 9.73e-01 1.00e+00h 1 + 2 9.0000000e+00 2.14e-01 5.06e-03 -1.0 4.63e-01 - 1.00e+00 1.00e+00h 1 + 3 9.0000000e+00 4.81e-03 1.59e-05 -1.7 6.94e-02 - 1.00e+00 1.00e+00h 1 + 4 9.0000000e+00 1.17e-06 9.32e-09 -3.8 1.08e-03 - 1.00e+00 1.00e+00h 1 + 5 9.0000000e+00 6.49e-14 0.00e+00 -5.7 2.56e-07 - 1.00e+00 1.00e+00h 1 + +Number of Iterations....: 5 + + (scaled) (unscaled) +Objective...............: 9.0000000000000000e+00 9.0000000000000000e+00 +Dual infeasibility......: 0.0000000000000000e+00 0.0000000000000000e+00 +Constraint violation....: 6.4948046940571658e-14 6.4948046940571658e-14 +Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 +Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 +Overall NLP error.......: 6.4948046940571658e-14 6.4948046940571658e-14 + + +Number of objective function evaluations = 6 +Number of objective gradient evaluations = 6 +Number of equality constraint evaluations = 6 +Number of inequality constraint evaluations = 0 +Number of equality constraint Jacobian evaluations = 6 +Number of inequality constraint Jacobian evaluations = 0 +Number of Lagrangian Hessian evaluations = 5 +Total seconds in IPOPT = 0.001 + +EXIT: Optimal Solution Found. + solver : t_proc (avg) t_wall (avg) n_eval + nlp_f | 2.00us (333.33ns) 1.68us (279.50ns) 6 + nlp_g | 4.00us (666.67ns) 3.07us (512.50ns) 6 + nlp_grad_f | 6.00us (428.57ns) 5.63us (402.43ns) 14 + nlp_hess_l | 2.00us (400.00ns) 1.65us (330.40ns) 5 + nlp_jac_g | 3.00us (428.57ns) 3.07us (438.71ns) 7 + total | 1.07ms ( 1.07ms) 1.07ms ( 1.07ms) 1 +time points: [0.0, 0.211325, 0.788675] +optimal cost: 9.0 +optimal solution: [-3.0, -1.4783778382344288, 0.39902723384159217] +N = 2 +C = +[[-6, -3.4641, 3.4641], + [6.4641, 3, -6.4641], + [-0.464102, 0.464102, 3]] +D = [1, -1.73205, 1.73205] +g = @1=0.5, @2=1, @3=-3.4641, @4=3, @5=0.464102, @6=3.4641, @7=-6.4641, @8=3, [((@1*((sq(Z_2)-(2.*Z_2))+@2))-(((@3*Z_0)+(@4*Z_2))+(@5*Z_4))), ((@1*((sq(Z_4)-(2.*Z_4))+@2))-(((@6*Z_0)+(@7*Z_2))+(@8*Z_4))), (Z_1-((Z_0+(-1.73205*Z_2))+(1.73205*Z_4))), ((@1*((sq(Z_3)-(2.*Z_3))+@2))-(((@3*Z_1)+(@4*Z_3))+(@5*Z_5))), ((@1*((sq(Z_5)-(2.*Z_5))+@2))-(((@6*Z_1)+(@7*Z_3))+(@8*Z_5)))] +This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. + +Number of nonzeros in equality constraint Jacobian...: 13 +Number of nonzeros in inequality constraint Jacobian.: 0 +Number of nonzeros in Lagrangian Hessian.............: 4 + +Total number of variables............................: 5 + variables with only lower bounds: 0 + variables with lower and upper bounds: 5 + variables with only upper bounds: 0 +Total number of equality constraints.................: 5 +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 9.0000000e+00 1.09e+01 0.00e+00 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 + 1 9.0000000e+00 2.76e+00 5.53e-02 -1.0 2.35e+00 - 9.68e-01 1.00e+00h 1 + 2 9.0000000e+00 1.86e-01 7.86e-03 -1.0 6.10e-01 - 1.00e+00 1.00e+00h 1 + 3 9.0000000e+00 2.46e-03 7.52e-05 -2.5 7.89e-02 - 1.00e+00 1.00e+00h 1 + 4 9.0000000e+00 8.83e-07 4.77e-09 -3.8 1.33e-03 - 1.00e+00 1.00e+00h 1 + 5 9.0000000e+00 5.74e-14 0.00e+00 -5.7 3.39e-07 - 1.00e+00 1.00e+00h 1 + +Number of Iterations....: 5 + + (scaled) (unscaled) +Objective...............: 9.0000000000000000e+00 9.0000000000000000e+00 +Dual infeasibility......: 0.0000000000000000e+00 0.0000000000000000e+00 +Constraint violation....: 5.7398530373120593e-14 5.7398530373120593e-14 +Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 +Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 +Overall NLP error.......: 5.7398530373120593e-14 5.7398530373120593e-14 + + +Number of objective function evaluations = 6 +Number of objective gradient evaluations = 6 +Number of equality constraint evaluations = 6 +Number of inequality constraint evaluations = 0 +Number of equality constraint Jacobian evaluations = 6 +Number of inequality constraint Jacobian evaluations = 0 +Number of Lagrangian Hessian evaluations = 5 +Total seconds in IPOPT = 0.001 + +EXIT: Optimal Solution Found. + solver : t_proc (avg) t_wall (avg) n_eval + nlp_f | 2.00us (333.33ns) 1.82us (303.33ns) 6 + nlp_g | 4.00us (666.67ns) 3.43us (572.17ns) 6 + nlp_grad_f | 6.00us (428.57ns) 5.70us (407.00ns) 14 + nlp_hess_l | 1.00us (200.00ns) 1.67us (334.80ns) 5 + nlp_jac_g | 5.00us (714.29ns) 4.06us (579.43ns) 7 + total | 784.00us (784.00us) 783.70us (783.70us) 1 +time points: [0.0, 0.1056625, 0.3943375, 0.5, 0.6056625, 0.8943375] +optimal cost: 9.0 +optimal solution: [-3.0, -1.9502964492862074, -0.4078599235077964, -0.3284203242774562, -0.1713812487039657, 0.1347328031545321] +N = 3 +C = +[[-6, -3.4641, 3.4641], + [6.4641, 3, -6.4641], + [-0.464102, 0.464102, 3]] +D = [1, -1.73205, 1.73205] +g = @1=0.333333, @2=1, @3=-3.4641, @4=3, @5=0.464102, @6=3.4641, @7=-6.4641, @8=3, @9=-1.73205, @10=1.73205, [((@1*((sq(Z_3)-(2.*Z_3))+@2))-(((@3*Z_0)+(@4*Z_3))+(@5*Z_6))), ((@1*((sq(Z_6)-(2.*Z_6))+@2))-(((@6*Z_0)+(@7*Z_3))+(@8*Z_6))), (Z_1-((Z_0+(@9*Z_3))+(@10*Z_6))), ((@1*((sq(Z_4)-(2.*Z_4))+@2))-(((@3*Z_1)+(@4*Z_4))+(@5*Z_7))), ((@1*((sq(Z_7)-(2.*Z_7))+@2))-(((@6*Z_1)+(@7*Z_4))+(@8*Z_7))), (Z_2-((Z_1+(@9*Z_4))+(@10*Z_7))), ((@1*((sq(Z_5)-(2.*Z_5))+@2))-(((@3*Z_2)+(@4*Z_5))+(@5*Z_8))), ((@1*((sq(Z_8)-(2.*Z_8))+@2))-(((@6*Z_2)+(@7*Z_5))+(@8*Z_8)))] +This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. + +Number of nonzeros in equality constraint Jacobian...: 23 +Number of nonzeros in inequality constraint Jacobian.: 0 +Number of nonzeros in Lagrangian Hessian.............: 6 + +Total number of variables............................: 8 + variables with only lower bounds: 0 + variables with lower and upper bounds: 8 + variables with only upper bounds: 0 +Total number of equality constraints.................: 8 +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 9.0000000e+00 1.07e+01 0.00e+00 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 + 1 9.0000000e+00 2.16e+00 7.10e-02 -1.0 2.55e+00 - 9.66e-01 1.00e+00h 1 + 2 9.0000000e+00 1.40e-01 1.19e-02 -1.0 6.49e-01 - 1.00e+00 1.00e+00h 1 + 3 9.0000000e+00 1.31e-03 8.80e-05 -2.5 6.26e-02 - 1.00e+00 1.00e+00h 1 + 4 9.0000000e+00 3.69e-07 3.08e-09 -3.8 1.05e-03 - 1.00e+00 1.00e+00h 1 + 5 9.0000000e+00 2.63e-14 0.00e+00 -5.7 2.81e-07 - 1.00e+00 1.00e+00h 1 + +Number of Iterations....: 5 + + (scaled) (unscaled) +Objective...............: 9.0000000000000000e+00 9.0000000000000000e+00 +Dual infeasibility......: 0.0000000000000000e+00 0.0000000000000000e+00 +Constraint violation....: 2.6256774532384952e-14 2.6256774532384952e-14 +Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 +Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 +Overall NLP error.......: 2.6256774532384952e-14 2.6256774532384952e-14 + + +Number of objective function evaluations = 6 +Number of objective gradient evaluations = 6 +Number of equality constraint evaluations = 6 +Number of inequality constraint evaluations = 0 +Number of equality constraint Jacobian evaluations = 6 +Number of inequality constraint Jacobian evaluations = 0 +Number of Lagrangian Hessian evaluations = 5 +Total seconds in IPOPT = 0.001 + +EXIT: Optimal Solution Found. + solver : t_proc (avg) t_wall (avg) n_eval + nlp_f | 2.00us (333.33ns) 1.82us (304.17ns) 6 + nlp_g | 5.00us (833.33ns) 3.71us (617.83ns) 6 + nlp_grad_f | 3.00us (214.29ns) 5.27us (376.57ns) 14 + nlp_hess_l | 2.00us (400.00ns) 1.94us (387.00ns) 5 + nlp_jac_g | 5.00us (714.29ns) 4.53us (647.57ns) 7 + total | 761.00us (761.00us) 761.27us (761.27us) 1 +time points: [0.0, 0.07044166666666667, 0.26289166666666663, 0.3333333333333333, 0.403775, 0.596225, 0.6666666666666666, 0.7371083333333333, 0.9295583333333333] +optimal cost: 9.0 +optimal solution: [-3.0, -2.1947585173229838, -0.8745214371592321, -0.7132812329371245, -0.53478848539426, -0.17522230028651725, -0.09049404127220259, -0.014035874420058136, 0.1538099969721644] +N = 4 +C = +[[-6, -3.4641, 3.4641], + [6.4641, 3, -6.4641], + [-0.464102, 0.464102, 3]] +D = [1, -1.73205, 1.73205] +g = @1=0.25, @2=1, @3=-3.4641, @4=3, @5=0.464102, @6=3.4641, @7=-6.4641, @8=3, @9=-1.73205, @10=1.73205, [((@1*((sq(Z_4)-(2.*Z_4))+@2))-(((@3*Z_0)+(@4*Z_4))+(@5*Z_8))), ((@1*((sq(Z_8)-(2.*Z_8))+@2))-(((@6*Z_0)+(@7*Z_4))+(@8*Z_8))), (Z_1-((Z_0+(@9*Z_4))+(@10*Z_8))), ((@1*((sq(Z_5)-(2.*Z_5))+@2))-(((@3*Z_1)+(@4*Z_5))+(@5*Z_9))), ((@1*((sq(Z_9)-(2.*Z_9))+@2))-(((@6*Z_1)+(@7*Z_5))+(@8*Z_9))), (Z_2-((Z_1+(@9*Z_5))+(@10*Z_9))), ((@1*((sq(Z_6)-(2.*Z_6))+@2))-(((@3*Z_2)+(@4*Z_6))+(@5*Z_10))), ((@1*((sq(Z_10)-(2.*Z_10))+@2))-(((@6*Z_2)+(@7*Z_6))+(@8*Z_10))), (Z_3-((Z_2+(@9*Z_6))+(@10*Z_10))), ((@1*((sq(Z_7)-(2.*Z_7))+@2))-(((@3*Z_3)+(@4*Z_7))+(@5*Z_11))), ((@1*((sq(Z_11)-(2.*Z_11))+@2))-(((@6*Z_3)+(@7*Z_7))+(@8*Z_11)))] +This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. + +Number of nonzeros in equality constraint Jacobian...: 33 +Number of nonzeros in inequality constraint Jacobian.: 0 +Number of nonzeros in Lagrangian Hessian.............: 8 + +Total number of variables............................: 11 + variables with only lower bounds: 0 + variables with lower and upper bounds: 11 + variables with only upper bounds: 0 +Total number of equality constraints.................: 11 +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 9.0000000e+00 1.06e+01 0.00e+00 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 + 1 9.0000000e+00 1.76e+00 8.07e-02 -1.0 2.65e+00 - 9.65e-01 1.00e+00h 1 + 2 9.0000000e+00 1.01e-01 1.39e-02 -1.0 6.37e-01 - 1.00e+00 1.00e+00h 1 + 3 9.0000000e+00 9.03e-04 7.81e-05 -2.5 6.01e-02 - 1.00e+00 1.00e+00h 1 + 4 9.0000000e+00 2.43e-07 2.82e-09 -3.8 9.85e-04 - 1.00e+00 1.00e+00h 1 + 5 9.0000000e+00 1.66e-14 0.00e+00 -5.7 2.57e-07 - 1.00e+00 1.00e+00h 1 + +Number of Iterations....: 5 + + (scaled) (unscaled) +Objective...............: 9.0000000000000000e+00 9.0000000000000000e+00 +Dual infeasibility......: 0.0000000000000000e+00 0.0000000000000000e+00 +Constraint violation....: 1.6597834218146090e-14 1.6597834218146090e-14 +Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 +Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 +Overall NLP error.......: 1.6597834218146090e-14 1.6597834218146090e-14 + + +Number of objective function evaluations = 6 +Number of objective gradient evaluations = 6 +Number of equality constraint evaluations = 6 +Number of inequality constraint evaluations = 0 +Number of equality constraint Jacobian evaluations = 6 +Number of inequality constraint Jacobian evaluations = 0 +Number of Lagrangian Hessian evaluations = 5 +Total seconds in IPOPT = 0.001 + +EXIT: Optimal Solution Found. + solver : t_proc (avg) t_wall (avg) n_eval + nlp_f | 2.00us (333.33ns) 1.82us (303.67ns) 6 + nlp_g | 4.00us (666.67ns) 4.36us (727.17ns) 6 + nlp_grad_f | 6.00us (428.57ns) 6.03us (430.43ns) 14 + nlp_hess_l | 0 ( 0) 2.01us (401.80ns) 5 + nlp_jac_g | 6.00us (857.14ns) 5.36us (765.29ns) 7 + total | 819.00us (819.00us) 818.24us (818.24us) 1 +time points: [0.0, 0.05283125, 0.19716875, 0.25, 0.30283125, 0.44716875, 0.5, 0.55283125, 0.69716875, 0.75, 0.80283125, 0.94716875] +optimal cost: 9.0 +optimal solution: [-3.0, -2.3464998233216465, -1.1916327422459414, -0.999710606952967, -0.8138311496309067, -0.4290212316381631, -0.33319996697246385, -0.2467929908818211, -0.054376486509647604, 7.535020459241314e-05, 0.04977113771314114, 0.1652255025237442] +N = 5 +C = +[[-6, -3.4641, 3.4641], + [6.4641, 3, -6.4641], + [-0.464102, 0.464102, 3]] +D = [1, -1.73205, 1.73205] +g = @1=0.2, @2=1, @3=-3.4641, @4=3, @5=0.464102, @6=3.4641, @7=-6.4641, @8=3, @9=-1.73205, @10=1.73205, [((@1*((sq(Z_5)-(2.*Z_5))+@2))-(((@3*Z_0)+(@4*Z_5))+(@5*Z_10))), ((@1*((sq(Z_10)-(2.*Z_10))+@2))-(((@6*Z_0)+(@7*Z_5))+(@8*Z_10))), (Z_1-((Z_0+(@9*Z_5))+(@10*Z_10))), ((@1*((sq(Z_6)-(2.*Z_6))+@2))-(((@3*Z_1)+(@4*Z_6))+(@5*Z_11))), ((@1*((sq(Z_11)-(2.*Z_11))+@2))-(((@6*Z_1)+(@7*Z_6))+(@8*Z_11))), (Z_2-((Z_1+(@9*Z_6))+(@10*Z_11))), ((@1*((sq(Z_7)-(2.*Z_7))+@2))-(((@3*Z_2)+(@4*Z_7))+(@5*Z_12))), ((@1*((sq(Z_12)-(2.*Z_12))+@2))-(((@6*Z_2)+(@7*Z_7))+(@8*Z_12))), (Z_3-((Z_2+(@9*Z_7))+(@10*Z_12))), ((@1*((sq(Z_8)-(2.*Z_8))+@2))-(((@3*Z_3)+(@4*Z_8))+(@5*Z_13))), ((@1*((sq(Z_13)-(2.*Z_13))+@2))-(((@6*Z_3)+(@7*Z_8))+(@8*Z_13))), (Z_4-((Z_3+(@9*Z_8))+(@10*Z_13))), ((@1*((sq(Z_9)-(2.*Z_9))+@2))-(((@3*Z_4)+(@4*Z_9))+(@5*Z_14))), ((@1*((sq(Z_14)-(2.*Z_14))+@2))-(((@6*Z_4)+(@7*Z_9))+(@8*Z_14)))] +This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. + +Number of nonzeros in equality constraint Jacobian...: 43 +Number of nonzeros in inequality constraint Jacobian.: 0 +Number of nonzeros in Lagrangian Hessian.............: 10 + +Total number of variables............................: 14 + variables with only lower bounds: 0 + variables with lower and upper bounds: 14 + variables with only upper bounds: 0 +Total number of equality constraints.................: 14 +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 9.0000000e+00 1.06e+01 0.00e+00 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 + 1 9.0000000e+00 1.48e+00 8.71e-02 -1.0 2.72e+00 - 9.65e-01 1.00e+00h 1 + 2 9.0000000e+00 7.38e-02 1.46e-02 -1.0 6.07e-01 - 1.00e+00 1.00e+00h 1 + 3 9.0000000e+00 6.90e-04 8.55e-05 -2.5 5.87e-02 - 1.00e+00 1.00e+00h 1 + 4 9.0000000e+00 1.86e-07 3.03e-09 -3.8 9.64e-04 - 1.00e+00 1.00e+00h 1 + 5 9.0000000e+00 1.27e-14 0.00e+00 -5.7 2.51e-07 - 1.00e+00 1.00e+00h 1 + +Number of Iterations....: 5 + + (scaled) (unscaled) +Objective...............: 9.0000000000000000e+00 9.0000000000000000e+00 +Dual infeasibility......: 0.0000000000000000e+00 0.0000000000000000e+00 +Constraint violation....: 1.2656542480726785e-14 1.2656542480726785e-14 +Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 +Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 +Overall NLP error.......: 1.2656542480726785e-14 1.2656542480726785e-14 + + +Number of objective function evaluations = 6 +Number of objective gradient evaluations = 6 +Number of equality constraint evaluations = 6 +Number of inequality constraint evaluations = 0 +Number of equality constraint Jacobian evaluations = 6 +Number of inequality constraint Jacobian evaluations = 0 +Number of Lagrangian Hessian evaluations = 5 +Total seconds in IPOPT = 0.001 + +EXIT: Optimal Solution Found. + solver : t_proc (avg) t_wall (avg) n_eval + nlp_f | 2.00us (333.33ns) 1.72us (286.00ns) 6 + nlp_g | 5.00us (833.33ns) 4.57us (762.33ns) 6 + nlp_grad_f | 7.00us (500.00ns) 5.81us (415.14ns) 14 + nlp_hess_l | 1.00us (200.00ns) 1.98us (395.40ns) 5 + nlp_jac_g | 5.00us (714.29ns) 5.69us (813.29ns) 7 + total | 814.00us (814.00us) 813.32us (813.32us) 1 +time points: [0.0, 0.042265000000000004, 0.15773500000000001, 0.2, 0.242265, 0.357735, 0.4, 0.442265, 0.557735, 0.6000000000000001, 0.6422650000000001, 0.757735, 0.8, 0.8422650000000002, 0.957735] +optimal cost: 9.0 +optimal solution: [-3.0, -2.4502345377806987, -1.4237752429869208, -1.222119520578891, -1.035737479209286, -0.6409975148635636, -0.5384095277743147, -0.44573333819022365, -0.23675019383831153, -0.1764399350629403, -0.12119502782150195, 0.008177044359415893, 0.04763917151178525, 0.08426756999118822, 0.17224129669480723] +N = 6 +C = +[[-6, -3.4641, 3.4641], + [6.4641, 3, -6.4641], + [-0.464102, 0.464102, 3]] +D = [1, -1.73205, 1.73205] +g = @1=0.166667, @2=1, @3=-3.4641, @4=3, @5=0.464102, @6=3.4641, @7=-6.4641, @8=3, @9=-1.73205, @10=1.73205, [((@1*((sq(Z_6)-(2.*Z_6))+@2))-(((@3*Z_0)+(@4*Z_6))+(@5*Z_12))), ((@1*((sq(Z_12)-(2.*Z_12))+@2))-(((@6*Z_0)+(@7*Z_6))+(@8*Z_12))), (Z_1-((Z_0+(@9*Z_6))+(@10*Z_12))), ((@1*((sq(Z_7)-(2.*Z_7))+@2))-(((@3*Z_1)+(@4*Z_7))+(@5*Z_13))), ((@1*((sq(Z_13)-(2.*Z_13))+@2))-(((@6*Z_1)+(@7*Z_7))+(@8*Z_13))), (Z_2-((Z_1+(@9*Z_7))+(@10*Z_13))), ((@1*((sq(Z_8)-(2.*Z_8))+@2))-(((@3*Z_2)+(@4*Z_8))+(@5*Z_14))), ((@1*((sq(Z_14)-(2.*Z_14))+@2))-(((@6*Z_2)+(@7*Z_8))+(@8*Z_14))), (Z_3-((Z_2+(@9*Z_8))+(@10*Z_14))), ((@1*((sq(Z_9)-(2.*Z_9))+@2))-(((@3*Z_3)+(@4*Z_9))+(@5*Z_15))), ((@1*((sq(Z_15)-(2.*Z_15))+@2))-(((@6*Z_3)+(@7*Z_9))+(@8*Z_15))), (Z_4-((Z_3+(@9*Z_9))+(@10*Z_15))), ((@1*((sq(Z_10)-(2.*Z_10))+@2))-(((@3*Z_4)+(@4*Z_10))+(@5*Z_16))), ((@1*((sq(Z_16)-(2.*Z_16))+@2))-(((@6*Z_4)+(@7*Z_10))+(@8*Z_16))), (Z_5-((Z_4+(@9*Z_10))+(@10*Z_16))), ((@1*((sq(Z_11)-(2.*Z_11))+@2))-(((@3*Z_5)+(@4*Z_11))+(@5*Z_17))), ((@1*((sq(Z_17)-(2.*Z_17))+@2))-(((@6*Z_5)+(@7*Z_11))+(@8*Z_17)))] +This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. + +Number of nonzeros in equality constraint Jacobian...: 53 +Number of nonzeros in inequality constraint Jacobian.: 0 +Number of nonzeros in Lagrangian Hessian.............: 12 + +Total number of variables............................: 17 + variables with only lower bounds: 0 + variables with lower and upper bounds: 17 + variables with only upper bounds: 0 +Total number of equality constraints.................: 17 +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 9.0000000e+00 1.06e+01 0.00e+00 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 + 1 9.0000000e+00 1.27e+00 9.17e-02 -1.0 2.76e+00 - 9.64e-01 1.00e+00h 1 + 2 9.0000000e+00 5.78e-02 1.46e-02 -1.0 5.89e-01 - 1.00e+00 1.00e+00h 1 + 3 9.0000000e+00 5.79e-04 8.13e-05 -2.5 5.89e-02 - 1.00e+00 1.00e+00h 1 + 4 9.0000000e+00 1.52e-07 2.89e-09 -3.8 9.55e-04 - 1.00e+00 1.00e+00h 1 + 5 9.0000000e+00 1.02e-14 0.00e+00 -5.7 2.50e-07 - 1.00e+00 1.00e+00h 1 + +Number of Iterations....: 5 + + (scaled) (unscaled) +Objective...............: 9.0000000000000000e+00 9.0000000000000000e+00 +Dual infeasibility......: 0.0000000000000000e+00 0.0000000000000000e+00 +Constraint violation....: 1.0241807402167069e-14 1.0241807402167069e-14 +Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 +Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 +Overall NLP error.......: 1.0241807402167069e-14 1.0241807402167069e-14 + + +Number of objective function evaluations = 6 +Number of objective gradient evaluations = 6 +Number of equality constraint evaluations = 6 +Number of inequality constraint evaluations = 0 +Number of equality constraint Jacobian evaluations = 6 +Number of inequality constraint Jacobian evaluations = 0 +Number of Lagrangian Hessian evaluations = 5 +Total seconds in IPOPT = 0.001 + +EXIT: Optimal Solution Found. + solver : t_proc (avg) t_wall (avg) n_eval + nlp_f | 2.00us (333.33ns) 1.80us (299.50ns) 6 + nlp_g | 5.00us (833.33ns) 4.72us (786.50ns) 6 + nlp_grad_f | 6.00us (428.57ns) 5.68us (405.36ns) 14 + nlp_hess_l | 3.00us (600.00ns) 2.07us (413.20ns) 5 + nlp_jac_g | 4.00us (571.43ns) 5.88us (840.71ns) 7 + total | 828.00us (828.00us) 827.97us (827.97us) 1 +time points: [0.0, 0.03522083333333333, 0.13144583333333332, 0.16666666666666666, 0.2018875, 0.2981125, 0.3333333333333333, 0.3685541666666666, 0.46477916666666663, 0.5, 0.5352208333333333, 0.6314458333333333, 0.6666666666666666, 0.7018875, 0.7981124999999999, 0.8333333333333333, 0.8685541666666667, 0.9647791666666665] +optimal cost: 9.0 +optimal solution: [-3.0, -2.5256982998057307, -1.6019140037541357, -1.3999579179845942, -1.216603712946226, -0.8207175007975052, -0.7142625648214858, -0.6178041387502383, -0.397866462932893, -0.33331915819232627, -0.2739822354431085, -0.13402128813184588, -0.09089957334559108, -0.050760299510067816, 0.046136045509377305, 0.07692989754632042, 0.10587410572088365, 0.1769315881008534] +N = 7 +C = +[[-6, -3.4641, 3.4641], + [6.4641, 3, -6.4641], + [-0.464102, 0.464102, 3]] +D = [1, -1.73205, 1.73205] +g = @1=0.142857, @2=1, @3=-3.4641, @4=3, @5=0.464102, @6=3.4641, @7=-6.4641, @8=3, @9=-1.73205, @10=1.73205, [((@1*((sq(Z_7)-(2.*Z_7))+@2))-(((@3*Z_0)+(@4*Z_7))+(@5*Z_14))), ((@1*((sq(Z_14)-(2.*Z_14))+@2))-(((@6*Z_0)+(@7*Z_7))+(@8*Z_14))), (Z_1-((Z_0+(@9*Z_7))+(@10*Z_14))), ((@1*((sq(Z_8)-(2.*Z_8))+@2))-(((@3*Z_1)+(@4*Z_8))+(@5*Z_15))), ((@1*((sq(Z_15)-(2.*Z_15))+@2))-(((@6*Z_1)+(@7*Z_8))+(@8*Z_15))), (Z_2-((Z_1+(@9*Z_8))+(@10*Z_15))), ((@1*((sq(Z_9)-(2.*Z_9))+@2))-(((@3*Z_2)+(@4*Z_9))+(@5*Z_16))), ((@1*((sq(Z_16)-(2.*Z_16))+@2))-(((@6*Z_2)+(@7*Z_9))+(@8*Z_16))), (Z_3-((Z_2+(@9*Z_9))+(@10*Z_16))), ((@1*((sq(Z_10)-(2.*Z_10))+@2))-(((@3*Z_3)+(@4*Z_10))+(@5*Z_17))), ((@1*((sq(Z_17)-(2.*Z_17))+@2))-(((@6*Z_3)+(@7*Z_10))+(@8*Z_17))), (Z_4-((Z_3+(@9*Z_10))+(@10*Z_17))), ((@1*((sq(Z_11)-(2.*Z_11))+@2))-(((@3*Z_4)+(@4*Z_11))+(@5*Z_18))), ((@1*((sq(Z_18)-(2.*Z_18))+@2))-(((@6*Z_4)+(@7*Z_11))+(@8*Z_18))), (Z_5-((Z_4+(@9*Z_11))+(@10*Z_18))), ((@1*((sq(Z_12)-(2.*Z_12))+@2))-(((@3*Z_5)+(@4*Z_12))+(@5*Z_19))), ((@1*((sq(Z_19)-(2.*Z_19))+@2))-(((@6*Z_5)+(@7*Z_12))+(@8*Z_19))), (Z_6-((Z_5+(@9*Z_12))+(@10*Z_19))), ((@1*((sq(Z_13)-(2.*Z_13))+@2))-(((@3*Z_6)+(@4*Z_13))+(@5*Z_20))), ((@1*((sq(Z_20)-(2.*Z_20))+@2))-(((@6*Z_6)+(@7*Z_13))+(@8*Z_20)))] +This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. + +Number of nonzeros in equality constraint Jacobian...: 63 +Number of nonzeros in inequality constraint Jacobian.: 0 +Number of nonzeros in Lagrangian Hessian.............: 14 + +Total number of variables............................: 20 + variables with only lower bounds: 0 + variables with lower and upper bounds: 20 + variables with only upper bounds: 0 +Total number of equality constraints.................: 20 +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 9.0000000e+00 1.05e+01 0.00e+00 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 + 1 9.0000000e+00 1.12e+00 9.50e-02 -1.0 2.80e+00 - 9.64e-01 1.00e+00h 1 + 2 9.0000000e+00 4.86e-02 1.44e-02 -1.0 5.83e-01 - 1.00e+00 1.00e+00h 1 + 3 9.0000000e+00 4.90e-04 8.25e-05 -2.5 5.86e-02 - 1.00e+00 1.00e+00h 1 + 4 9.0000000e+00 1.29e-07 2.79e-09 -3.8 9.51e-04 - 1.00e+00 1.00e+00h 1 + 5 9.0000000e+00 8.88e-15 0.00e+00 -5.7 2.50e-07 - 1.00e+00 1.00e+00h 1 + +Number of Iterations....: 5 + + (scaled) (unscaled) +Objective...............: 9.0000000000000000e+00 9.0000000000000000e+00 +Dual infeasibility......: 0.0000000000000000e+00 0.0000000000000000e+00 +Constraint violation....: 8.8817841970012523e-15 8.8817841970012523e-15 +Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 +Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 +Overall NLP error.......: 8.8817841970012523e-15 8.8817841970012523e-15 + + +Number of objective function evaluations = 6 +Number of objective gradient evaluations = 6 +Number of equality constraint evaluations = 6 +Number of inequality constraint evaluations = 0 +Number of equality constraint Jacobian evaluations = 6 +Number of inequality constraint Jacobian evaluations = 0 +Number of Lagrangian Hessian evaluations = 5 +Total seconds in IPOPT = 0.001 + +EXIT: Optimal Solution Found. + solver : t_proc (avg) t_wall (avg) n_eval + nlp_f | 1.00us (166.67ns) 1.72us (286.00ns) 6 + nlp_g | 5.00us (833.33ns) 4.69us (782.33ns) 6 + nlp_grad_f | 7.00us (500.00ns) 5.83us (416.43ns) 14 + nlp_hess_l | 2.00us (400.00ns) 2.24us (448.40ns) 5 + nlp_jac_g | 8.00us ( 1.14us) 6.33us (904.00ns) 7 + total | 845.00us (845.00us) 844.60us (844.60us) 1 +time points: [0.0, 0.030189285714285714, 0.11266785714285714, 0.14285714285714285, 0.17304642857142857, 0.255525, 0.2857142857142857, 0.3159035714285714, 0.39838214285714285, 0.42857142857142855, 0.45876071428571424, 0.5412392857142857, 0.5714285714285714, 0.6016178571428572, 0.6840964285714285, 0.7142857142857142, 0.744475, 0.8269535714285713, 0.8571428571428571, 0.8873321428571429, 0.9698107142857142] +optimal cost: 9.0 +optimal solution: [-3.0, -2.5830656481227385, -1.7432727573448312, -1.545435367146607, -1.3669063461372675, -0.9750126823402018, -0.8666553138045001, -0.7681269081165849, -0.5412408853760309, -0.4736770116644571, -0.4113555395383448, -0.26338613726354504, -0.21738636946336642, -0.1744536115929094, -0.07032685404446422, -0.037033450872485434, -0.0056749987479317076, 0.07158041617501402, 0.0967769153229692, 0.12067889439088256, 0.180275975299758] +N = 8 +C = +[[-6, -3.4641, 3.4641], + [6.4641, 3, -6.4641], + [-0.464102, 0.464102, 3]] +D = [1, -1.73205, 1.73205] +g = @1=0.125, @2=1, @3=-3.4641, @4=3, @5=0.464102, @6=3.4641, @7=-6.4641, @8=3, @9=-1.73205, @10=1.73205, [((@1*((sq(Z_8)-(2.*Z_8))+@2))-(((@3*Z_0)+(@4*Z_8))+(@5*Z_16))), ((@1*((sq(Z_16)-(2.*Z_16))+@2))-(((@6*Z_0)+(@7*Z_8))+(@8*Z_16))), (Z_1-((Z_0+(@9*Z_8))+(@10*Z_16))), ((@1*((sq(Z_9)-(2.*Z_9))+@2))-(((@3*Z_1)+(@4*Z_9))+(@5*Z_17))), ((@1*((sq(Z_17)-(2.*Z_17))+@2))-(((@6*Z_1)+(@7*Z_9))+(@8*Z_17))), (Z_2-((Z_1+(@9*Z_9))+(@10*Z_17))), ((@1*((sq(Z_10)-(2.*Z_10))+@2))-(((@3*Z_2)+(@4*Z_10))+(@5*Z_18))), ((@1*((sq(Z_18)-(2.*Z_18))+@2))-(((@6*Z_2)+(@7*Z_10))+(@8*Z_18))), (Z_3-((Z_2+(@9*Z_10))+(@10*Z_18))), ((@1*((sq(Z_11)-(2.*Z_11))+@2))-(((@3*Z_3)+(@4*Z_11))+(@5*Z_19))), ((@1*((sq(Z_19)-(2.*Z_19))+@2))-(((@6*Z_3)+(@7*Z_11))+(@8*Z_19))), (Z_4-((Z_3+(@9*Z_11))+(@10*Z_19))), ((@1*((sq(Z_12)-(2.*Z_12))+@2))-(((@3*Z_4)+(@4*Z_12))+(@5*Z_20))), ((@1*((sq(Z_20)-(2.*Z_20))+@2))-(((@6*Z_4)+(@7*Z_12))+(@8*Z_20))), (Z_5-((Z_4+(@9*Z_12))+(@10*Z_20))), ((@1*((sq(Z_13)-(2.*Z_13))+@2))-(((@3*Z_5)+(@4*Z_13))+(@5*Z_21))), ((@1*((sq(Z_21)-(2.*Z_21))+@2))-(((@6*Z_5)+(@7*Z_13))+(@8*Z_21))), (Z_6-((Z_5+(@9*Z_13))+(@10*Z_21))), ((@1*((sq(Z_14)-(2.*Z_14))+@2))-(((@3*Z_6)+(@4*Z_14))+(@5*Z_22))), ((@1*((sq(Z_22)-(2.*Z_22))+@2))-(((@6*Z_6)+(@7*Z_14))+(@8*Z_22))), (Z_7-((Z_6+(@9*Z_14))+(@10*Z_22))), ((@1*((sq(Z_15)-(2.*Z_15))+@2))-(((@3*Z_7)+(@4*Z_15))+(@5*Z_23))), ((@1*((sq(Z_23)-(2.*Z_23))+@2))-(((@6*Z_7)+(@7*Z_15))+(@8*Z_23)))] +This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. + +Number of nonzeros in equality constraint Jacobian...: 73 +Number of nonzeros in inequality constraint Jacobian.: 0 +Number of nonzeros in Lagrangian Hessian.............: 16 + +Total number of variables............................: 23 + variables with only lower bounds: 0 + variables with lower and upper bounds: 23 + variables with only upper bounds: 0 +Total number of equality constraints.................: 23 +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 9.0000000e+00 1.05e+01 0.00e+00 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 + 1 9.0000000e+00 9.94e-01 9.77e-02 -1.0 2.82e+00 - 9.64e-01 1.00e+00h 1 + 2 9.0000000e+00 4.39e-02 1.40e-02 -1.0 5.93e-01 - 1.00e+00 1.00e+00h 1 + 3 9.0000000e+00 4.31e-04 8.22e-05 -2.5 5.87e-02 - 1.00e+00 1.00e+00h 1 + 4 9.0000000e+00 1.13e-07 2.87e-09 -3.8 9.49e-04 - 1.00e+00 1.00e+00h 1 + 5 9.0000000e+00 7.87e-15 0.00e+00 -5.7 2.51e-07 - 1.00e+00 1.00e+00h 1 + +Number of Iterations....: 5 + + (scaled) (unscaled) +Objective...............: 9.0000000000000000e+00 9.0000000000000000e+00 +Dual infeasibility......: 0.0000000000000000e+00 0.0000000000000000e+00 +Constraint violation....: 7.8687056870307970e-15 7.8687056870307970e-15 +Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 +Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 +Overall NLP error.......: 7.8687056870307970e-15 7.8687056870307970e-15 + + +Number of objective function evaluations = 6 +Number of objective gradient evaluations = 6 +Number of equality constraint evaluations = 6 +Number of inequality constraint evaluations = 0 +Number of equality constraint Jacobian evaluations = 6 +Number of inequality constraint Jacobian evaluations = 0 +Number of Lagrangian Hessian evaluations = 5 +Total seconds in IPOPT = 0.001 + +EXIT: Optimal Solution Found. + solver : t_proc (avg) t_wall (avg) n_eval + nlp_f | 4.00us (666.67ns) 1.80us (300.00ns) 6 + nlp_g | 7.00us ( 1.17us) 5.15us (858.00ns) 6 + nlp_grad_f | 2.00us (142.86ns) 5.69us (406.50ns) 14 + nlp_hess_l | 4.00us (800.00ns) 2.28us (456.00ns) 5 + nlp_jac_g | 8.00us ( 1.14us) 6.66us (951.14ns) 7 + total | 838.00us (838.00us) 838.29us (838.29us) 1 +time points: [0.0, 0.026415625, 0.098584375, 0.125, 0.151415625, 0.223584375, 0.25, 0.276415625, 0.348584375, 0.375, 0.401415625, 0.473584375, 0.5, 0.526415625, 0.598584375, 0.625, 0.651415625, 0.723584375, 0.75, 0.776415625, 0.848584375, 0.875, 0.901415625, 0.973584375] +optimal cost: 9.0 +optimal solution: [-3.0, -2.6281407010571134, -1.8583352215661288, -1.6666571759054576, -1.4938113667917028, -1.1089133830532798, -0.9999940015079126, -0.9005885165344566, -0.6696497120098953, -0.5999960721330774, -0.5355399084345827, -0.38158059136182376, -0.3333305883316417, -0.28818472900194503, -0.17821371847462036, -0.14285512192941677, -0.10948663710675147, -0.027008338492735026, 1.5483988354269819e-06, 0.02566319179467479, 0.08981300434044831, 0.11111233482955077, 0.13145762021531843, 0.1827774860045637] +N = 9 +C = +[[-6, -3.4641, 3.4641], + [6.4641, 3, -6.4641], + [-0.464102, 0.464102, 3]] +D = [1, -1.73205, 1.73205] +g = @1=0.111111, @2=1, @3=-3.4641, @4=3, @5=0.464102, @6=3.4641, @7=-6.4641, @8=3, @9=-1.73205, @10=1.73205, [((@1*((sq(Z_9)-(2.*Z_9))+@2))-(((@3*Z_0)+(@4*Z_9))+(@5*Z_18))), ((@1*((sq(Z_18)-(2.*Z_18))+@2))-(((@6*Z_0)+(@7*Z_9))+(@8*Z_18))), (Z_1-((Z_0+(@9*Z_9))+(@10*Z_18))), ((@1*((sq(Z_10)-(2.*Z_10))+@2))-(((@3*Z_1)+(@4*Z_10))+(@5*Z_19))), ((@1*((sq(Z_19)-(2.*Z_19))+@2))-(((@6*Z_1)+(@7*Z_10))+(@8*Z_19))), (Z_2-((Z_1+(@9*Z_10))+(@10*Z_19))), ((@1*((sq(Z_11)-(2.*Z_11))+@2))-(((@3*Z_2)+(@4*Z_11))+(@5*Z_20))), ((@1*((sq(Z_20)-(2.*Z_20))+@2))-(((@6*Z_2)+(@7*Z_11))+(@8*Z_20))), (Z_3-((Z_2+(@9*Z_11))+(@10*Z_20))), ((@1*((sq(Z_12)-(2.*Z_12))+@2))-(((@3*Z_3)+(@4*Z_12))+(@5*Z_21))), ((@1*((sq(Z_21)-(2.*Z_21))+@2))-(((@6*Z_3)+(@7*Z_12))+(@8*Z_21))), (Z_4-((Z_3+(@9*Z_12))+(@10*Z_21))), ((@1*((sq(Z_13)-(2.*Z_13))+@2))-(((@3*Z_4)+(@4*Z_13))+(@5*Z_22))), ((@1*((sq(Z_22)-(2.*Z_22))+@2))-(((@6*Z_4)+(@7*Z_13))+(@8*Z_22))), (Z_5-((Z_4+(@9*Z_13))+(@10*Z_22))), ((@1*((sq(Z_14)-(2.*Z_14))+@2))-(((@3*Z_5)+(@4*Z_14))+(@5*Z_23))), ((@1*((sq(Z_23)-(2.*Z_23))+@2))-(((@6*Z_5)+(@7*Z_14))+(@8*Z_23))), (Z_6-((Z_5+(@9*Z_14))+(@10*Z_23))), ((@1*((sq(Z_15)-(2.*Z_15))+@2))-(((@3*Z_6)+(@4*Z_15))+(@5*Z_24))), ((@1*((sq(Z_24)-(2.*Z_24))+@2))-(((@6*Z_6)+(@7*Z_15))+(@8*Z_24))), (Z_7-((Z_6+(@9*Z_15))+(@10*Z_24))), ((@1*((sq(Z_16)-(2.*Z_16))+@2))-(((@3*Z_7)+(@4*Z_16))+(@5*Z_25))), ((@1*((sq(Z_25)-(2.*Z_25))+@2))-(((@6*Z_7)+(@7*Z_16))+(@8*Z_25))), (Z_8-((Z_7+(@9*Z_16))+(@10*Z_25))), ((@1*((sq(Z_17)-(2.*Z_17))+@2))-(((@3*Z_8)+(@4*Z_17))+(@5*Z_26))), ((@1*((sq(Z_26)-(2.*Z_26))+@2))-(((@6*Z_8)+(@7*Z_17))+(@8*Z_26)))] +This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. + +Number of nonzeros in equality constraint Jacobian...: 83 +Number of nonzeros in inequality constraint Jacobian.: 0 +Number of nonzeros in Lagrangian Hessian.............: 18 + +Total number of variables............................: 26 + variables with only lower bounds: 0 + variables with lower and upper bounds: 26 + variables with only upper bounds: 0 +Total number of equality constraints.................: 26 +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 9.0000000e+00 1.05e+01 0.00e+00 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 + 1 9.0000000e+00 8.96e-01 9.98e-02 -1.0 2.84e+00 - 9.64e-01 1.00e+00h 1 + 2 9.0000000e+00 3.93e-02 1.35e-02 -1.0 5.95e-01 - 1.00e+00 1.00e+00h 1 + 3 9.0000000e+00 3.81e-04 8.32e-05 -2.5 5.86e-02 - 1.00e+00 1.00e+00h 1 + 4 9.0000000e+00 1.00e-07 2.84e-09 -3.8 9.49e-04 - 1.00e+00 1.00e+00h 1 + 5 9.0000000e+00 7.11e-15 0.00e+00 -5.7 2.52e-07 - 1.00e+00 1.00e+00h 1 + +Number of Iterations....: 5 + + (scaled) (unscaled) +Objective...............: 9.0000000000000000e+00 9.0000000000000000e+00 +Dual infeasibility......: 0.0000000000000000e+00 0.0000000000000000e+00 +Constraint violation....: 7.1054273576010019e-15 7.1054273576010019e-15 +Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 +Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 +Overall NLP error.......: 7.1054273576010019e-15 7.1054273576010019e-15 + + +Number of objective function evaluations = 6 +Number of objective gradient evaluations = 6 +Number of equality constraint evaluations = 6 +Number of inequality constraint evaluations = 0 +Number of equality constraint Jacobian evaluations = 6 +Number of inequality constraint Jacobian evaluations = 0 +Number of Lagrangian Hessian evaluations = 5 +Total seconds in IPOPT = 0.001 + +EXIT: Optimal Solution Found. + solver : t_proc (avg) t_wall (avg) n_eval + nlp_f | 1.00us (166.67ns) 2.00us (332.50ns) 6 + nlp_g | 5.00us (833.33ns) 5.17us (861.67ns) 6 + nlp_grad_f | 4.00us (285.71ns) 5.82us (415.57ns) 14 + nlp_hess_l | 1.00us (200.00ns) 2.08us (417.00ns) 5 + nlp_jac_g | 8.00us ( 1.14us) 7.23us ( 1.03us) 7 + total | 854.00us (854.00us) 854.39us (854.39us) 1 +time points: [0.0, 0.023480555555555557, 0.08763055555555556, 0.1111111111111111, 0.13459166666666667, 0.19874166666666665, 0.2222222222222222, 0.24570277777777777, 0.30985277777777775, 0.3333333333333333, 0.3568138888888889, 0.42096388888888886, 0.4444444444444444, 0.46792500000000004, 0.532075, 0.5555555555555556, 0.5790361111111111, 0.643186111111111, 0.6666666666666666, 0.6901472222222222, 0.7542972222222222, 0.7777777777777777, 0.8012583333333333, 0.8654083333333332, 0.8888888888888888, 0.9123694444444445, 0.9765194444444444] +optimal cost: 9.0 +optimal solution: [-3.0, -2.6644831690761475, -1.9538956574019655, -1.7692257527077482, -1.6023983746307844, -1.2262074742555849, -1.1176436961126168, -1.018198146972952, -0.7853181065685277, -0.7142834459967011, -0.6483497809491248, -0.48999130158523785, -0.4399983860436626, -0.39311176794818603, -0.2784383501518874, -0.24137810753617403, -0.2063396388355935, -0.11946581526329947, -0.09090816110455717, -0.06373650553489318, 0.004353802490236244, 0.02702776688562108, 0.048711649526905855, 0.10351605278871256, 0.12195182207191485, 0.13965638897887706, 0.184717793274399] +N = 10 +C = +[[-6, -3.4641, 3.4641], + [6.4641, 3, -6.4641], + [-0.464102, 0.464102, 3]] +D = [1, -1.73205, 1.73205] +g = @1=0.1, @2=1, @3=-3.4641, @4=3, @5=0.464102, @6=3.4641, @7=-6.4641, @8=3, @9=-1.73205, @10=1.73205, [((@1*((sq(Z_10)-(2.*Z_10))+@2))-(((@3*Z_0)+(@4*Z_10))+(@5*Z_20))), ((@1*((sq(Z_20)-(2.*Z_20))+@2))-(((@6*Z_0)+(@7*Z_10))+(@8*Z_20))), (Z_1-((Z_0+(@9*Z_10))+(@10*Z_20))), ((@1*((sq(Z_11)-(2.*Z_11))+@2))-(((@3*Z_1)+(@4*Z_11))+(@5*Z_21))), ((@1*((sq(Z_21)-(2.*Z_21))+@2))-(((@6*Z_1)+(@7*Z_11))+(@8*Z_21))), (Z_2-((Z_1+(@9*Z_11))+(@10*Z_21))), ((@1*((sq(Z_12)-(2.*Z_12))+@2))-(((@3*Z_2)+(@4*Z_12))+(@5*Z_22))), ((@1*((sq(Z_22)-(2.*Z_22))+@2))-(((@6*Z_2)+(@7*Z_12))+(@8*Z_22))), (Z_3-((Z_2+(@9*Z_12))+(@10*Z_22))), ((@1*((sq(Z_13)-(2.*Z_13))+@2))-(((@3*Z_3)+(@4*Z_13))+(@5*Z_23))), ((@1*((sq(Z_23)-(2.*Z_23))+@2))-(((@6*Z_3)+(@7*Z_13))+(@8*Z_23))), (Z_4-((Z_3+(@9*Z_13))+(@10*Z_23))), ((@1*((sq(Z_14)-(2.*Z_14))+@2))-(((@3*Z_4)+(@4*Z_14))+(@5*Z_24))), ((@1*((sq(Z_24)-(2.*Z_24))+@2))-(((@6*Z_4)+(@7*Z_14))+(@8*Z_24))), (Z_5-((Z_4+(@9*Z_14))+(@10*Z_24))), ((@1*((sq(Z_15)-(2.*Z_15))+@2))-(((@3*Z_5)+(@4*Z_15))+(@5*Z_25))), ((@1*((sq(Z_25)-(2.*Z_25))+@2))-(((@6*Z_5)+(@7*Z_15))+(@8*Z_25))), (Z_6-((Z_5+(@9*Z_15))+(@10*Z_25))), ((@1*((sq(Z_16)-(2.*Z_16))+@2))-(((@3*Z_6)+(@4*Z_16))+(@5*Z_26))), ((@1*((sq(Z_26)-(2.*Z_26))+@2))-(((@6*Z_6)+(@7*Z_16))+(@8*Z_26))), (Z_7-((Z_6+(@9*Z_16))+(@10*Z_26))), ((@1*((sq(Z_17)-(2.*Z_17))+@2))-(((@3*Z_7)+(@4*Z_17))+(@5*Z_27))), ((@1*((sq(Z_27)-(2.*Z_27))+@2))-(((@6*Z_7)+(@7*Z_17))+(@8*Z_27))), (Z_8-((Z_7+(@9*Z_17))+(@10*Z_27))), ((@1*((sq(Z_18)-(2.*Z_18))+@2))-(((@3*Z_8)+(@4*Z_18))+(@5*Z_28))), ((@1*((sq(Z_28)-(2.*Z_28))+@2))-(((@6*Z_8)+(@7*Z_18))+(@8*Z_28))), (Z_9-((Z_8+(@9*Z_18))+(@10*Z_28))), ((@1*((sq(Z_19)-(2.*Z_19))+@2))-(((@3*Z_9)+(@4*Z_19))+(@5*Z_29))), ((@1*((sq(Z_29)-(2.*Z_29))+@2))-(((@6*Z_9)+(@7*Z_19))+(@8*Z_29)))] +This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. + +Number of nonzeros in equality constraint Jacobian...: 93 +Number of nonzeros in inequality constraint Jacobian.: 0 +Number of nonzeros in Lagrangian Hessian.............: 20 + +Total number of variables............................: 29 + variables with only lower bounds: 0 + variables with lower and upper bounds: 29 + variables with only upper bounds: 0 +Total number of equality constraints.................: 29 +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 9.0000000e+00 1.05e+01 0.00e+00 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 + 1 9.0000000e+00 8.15e-01 1.01e-01 -1.0 2.86e+00 - 9.63e-01 1.00e+00h 1 + 2 9.0000000e+00 3.49e-02 1.30e-02 -1.0 5.92e-01 - 1.00e+00 1.00e+00h 1 + 3 9.0000000e+00 3.44e-04 8.24e-05 -2.5 5.87e-02 - 1.00e+00 1.00e+00h 1 + 4 9.0000000e+00 9.00e-08 2.78e-09 -3.8 9.49e-04 - 1.00e+00 1.00e+00h 1 + 5 9.0000000e+00 6.43e-15 0.00e+00 -5.7 2.53e-07 - 1.00e+00 1.00e+00h 1 + +Number of Iterations....: 5 + + (scaled) (unscaled) +Objective...............: 9.0000000000000000e+00 9.0000000000000000e+00 +Dual infeasibility......: 0.0000000000000000e+00 0.0000000000000000e+00 +Constraint violation....: 6.4254157550180935e-15 6.4254157550180935e-15 +Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 +Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 +Overall NLP error.......: 6.4254157550180935e-15 6.4254157550180935e-15 + + +Number of objective function evaluations = 6 +Number of objective gradient evaluations = 6 +Number of equality constraint evaluations = 6 +Number of inequality constraint evaluations = 0 +Number of equality constraint Jacobian evaluations = 6 +Number of inequality constraint Jacobian evaluations = 0 +Number of Lagrangian Hessian evaluations = 5 +Total seconds in IPOPT = 0.001 + +EXIT: Optimal Solution Found. + solver : t_proc (avg) t_wall (avg) n_eval + nlp_f | 2.00us (333.33ns) 1.84us (306.17ns) 6 + nlp_g | 7.00us ( 1.17us) 5.54us (923.33ns) 6 + nlp_grad_f | 4.00us (285.71ns) 6.10us (435.93ns) 14 + nlp_hess_l | 2.00us (400.00ns) 1.98us (396.60ns) 5 + nlp_jac_g | 7.00us ( 1.00us) 7.40us ( 1.06us) 7 + total | 859.00us (859.00us) 858.89us (858.89us) 1 +time points: [0.0, 0.021132500000000002, 0.07886750000000001, 0.1, 0.1211325, 0.1788675, 0.2, 0.2211325, 0.2788675, 0.30000000000000004, 0.32113250000000004, 0.3788675, 0.4, 0.4211325000000001, 0.4788675, 0.5, 0.5211325000000001, 0.5788675, 0.6000000000000001, 0.6211325000000001, 0.6788675, 0.7000000000000001, 0.7211325000000001, 0.7788675, 0.8, 0.8211325, 0.8788675, 0.9, 0.9211325000000001, 0.9788675] +optimal cost: 9.0 +optimal solution: [-3.0, -2.6943995184555622, -2.0345693312794286, -1.8571400585846833, -1.6963721410781625, -1.3298011861691508, -1.2222202440718033, -1.1233235019818315, -0.8900511249268032, -0.8181804466265307, -0.7512806153775298, -0.5897843307622441, -0.5384605460198182, -0.49021956103360886, -0.3717889328544917, -0.3333325852003549, -0.29691136951764396, -0.20634675886762163, -0.1764700050496278, -0.1480040763245942, -0.07650569136993429, -0.05263111190914128, -0.02977343018804807, 0.028106220144517267, 0.04761942993300876, 0.06637609945299808, 0.11418972730365569, 0.13043510127735378, 0.14610270294934352, 0.18626615291917337] diff --git a/test/data/ipopt31419-rosenbrock-iterlim.out b/test/data/ipopt31419-rosenbrock-iterlim.out new file mode 100644 index 0000000..d329c55 --- /dev/null +++ b/test/data/ipopt31419-rosenbrock-iterlim.out @@ -0,0 +1,70 @@ + +****************************************************************************** +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...: 3 +Number of nonzeros in inequality constraint Jacobian.: 0 +Number of nonzeros in Lagrangian Hessian.............: 2 + +Total number of variables............................: 3 + variables with only lower bounds: 0 + variables with lower and upper bounds: 0 + variables with only upper bounds: 0 +Total number of equality constraints.................: 1 +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 6.2500000e+01 0.00e+00 9.00e+01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 + 1 1.8457621e+01 1.48e-02 4.10e+01 -1.0 4.10e-01 2.0 1.00e+00 1.00e+00f 1 + 2 7.8031530e+00 3.84e-03 8.76e+00 -1.0 2.63e-01 1.5 1.00e+00 1.00e+00f 1 + 3 7.1678278e+00 9.42e-05 1.04e+00 -1.0 9.32e-02 1.0 1.00e+00 1.00e+00f 1 + 4 6.7419924e+00 6.18e-03 9.95e-01 -1.0 2.69e-01 0.6 1.00e+00 1.00e+00f 1 + 5 5.4363330e+00 7.03e-02 1.04e+00 -1.7 8.40e-01 0.1 1.00e+00 1.00e+00f 1 + 6 1.2144815e+00 1.52e+00 1.32e+00 -1.7 3.21e+00 -0.4 1.00e+00 1.00e+00f 1 + 7 1.0214718e+00 2.51e-01 1.17e+01 -1.7 1.33e+00 0.9 1.00e+00 1.00e+00h 1 + 8 3.1864085e-01 1.04e-03 7.53e-01 -1.7 3.58e-01 - 1.00e+00 1.00e+00f 1 + 9 1.5557538e-59 3.19e-01 1.17e-28 -1.7 5.64e-01 - 1.00e+00 1.00e+00f 1 +iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls + 10 2.0266707e-64 0.00e+00 6.65e-33 -1.7 3.19e-01 - 1.00e+00 1.00e+00h 1 + +Number of Iterations....: 10 + + (scaled) (unscaled) +Objective...............: 1.3511137839133354e-64 2.0266706758700031e-64 +Dual infeasibility......: 6.6510923551934811e-33 9.9766385327902217e-33 +Constraint violation....: 0.0000000000000000e+00 0.0000000000000000e+00 +Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 +Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 +Overall NLP error.......: 6.6510923551934811e-33 9.9766385327902217e-33 + + +Number of objective function evaluations = 11 +Number of objective gradient evaluations = 11 +Number of equality constraint evaluations = 11 +Number of inequality constraint evaluations = 0 +Number of equality constraint Jacobian evaluations = 11 +Number of inequality constraint Jacobian evaluations = 0 +Number of Lagrangian Hessian evaluations = 10 +Total seconds in IPOPT = 0.001 + +EXIT: Maximum Number of Iterations Exceeded. + solver : t_proc (avg) t_wall (avg) n_eval + nlp_f | 3.00us (272.73ns) 3.14us (285.82ns) 11 + nlp_g | 5.00us (454.55ns) 4.92us (447.64ns) 11 + nlp_grad_f | 7.00us (583.33ns) 6.25us (520.83ns) 12 + nlp_hess_l | 2.00us (200.00ns) 3.25us (325.20ns) 10 + nlp_jac_g | 7.00us (583.33ns) 3.84us (319.58ns) 12 + total | 1.49ms ( 1.49ms) 1.49ms ( 1.49ms) 1 + + Optimal cost: 2.02667e-64 + Primal solution: [1.42328e-32, 1, -3.08149e-35] + Dual solution (simple bounds): [0, 0, 0] + Dual solution (nonlinear bounds): 9.24446e-33 diff --git a/test/data/ipopt31419-rosenbrock-localinf.out b/test/data/ipopt31419-rosenbrock-localinf.out new file mode 100644 index 0000000..aaf0d5a --- /dev/null +++ b/test/data/ipopt31419-rosenbrock-localinf.out @@ -0,0 +1,70 @@ + +****************************************************************************** +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...: 3 +Number of nonzeros in inequality constraint Jacobian.: 0 +Number of nonzeros in Lagrangian Hessian.............: 2 + +Total number of variables............................: 3 + variables with only lower bounds: 0 + variables with lower and upper bounds: 0 + variables with only upper bounds: 0 +Total number of equality constraints.................: 1 +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 6.2500000e+01 0.00e+00 9.00e+01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 + 1 1.8457621e+01 1.48e-02 4.10e+01 -1.0 4.10e-01 2.0 1.00e+00 1.00e+00f 1 + 2 7.8031530e+00 3.84e-03 8.76e+00 -1.0 2.63e-01 1.5 1.00e+00 1.00e+00f 1 + 3 7.1678278e+00 9.42e-05 1.04e+00 -1.0 9.32e-02 1.0 1.00e+00 1.00e+00f 1 + 4 6.7419924e+00 6.18e-03 9.95e-01 -1.0 2.69e-01 0.6 1.00e+00 1.00e+00f 1 + 5 5.4363330e+00 7.03e-02 1.04e+00 -1.7 8.40e-01 0.1 1.00e+00 1.00e+00f 1 + 6 1.2144815e+00 1.52e+00 1.32e+00 -1.7 3.21e+00 -0.4 1.00e+00 1.00e+00f 1 + 7 1.0214718e+00 2.51e-01 1.17e+01 -1.7 1.33e+00 0.9 1.00e+00 1.00e+00h 1 + 8 3.1864085e-01 1.04e-03 7.53e-01 -1.7 3.58e-01 - 1.00e+00 1.00e+00f 1 + 9 1.5557538e-59 3.19e-01 1.17e-28 -1.7 5.64e-01 - 1.00e+00 1.00e+00f 1 +iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls + 10 2.0266707e-64 0.00e+00 6.65e-33 -1.7 3.19e-01 - 1.00e+00 1.00e+00h 1 + +Number of Iterations....: 10 + + (scaled) (unscaled) +Objective...............: 1.3511137839133354e-64 2.0266706758700031e-64 +Dual infeasibility......: 6.6510923551934811e-33 9.9766385327902217e-33 +Constraint violation....: 0.0000000000000000e+00 0.0000000000000000e+00 +Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 +Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 +Overall NLP error.......: 6.6510923551934811e-33 9.9766385327902217e-33 + + +Number of objective function evaluations = 11 +Number of objective gradient evaluations = 11 +Number of equality constraint evaluations = 11 +Number of inequality constraint evaluations = 0 +Number of equality constraint Jacobian evaluations = 11 +Number of inequality constraint Jacobian evaluations = 0 +Number of Lagrangian Hessian evaluations = 10 +Total seconds in IPOPT = 0.001 + +EXIT: Converged to a point of local infeasibility. Problem may be infeasible. + solver : t_proc (avg) t_wall (avg) n_eval + nlp_f | 3.00us (272.73ns) 3.14us (285.82ns) 11 + nlp_g | 5.00us (454.55ns) 4.92us (447.64ns) 11 + nlp_grad_f | 7.00us (583.33ns) 6.25us (520.83ns) 12 + nlp_hess_l | 2.00us (200.00ns) 3.25us (325.20ns) 10 + nlp_jac_g | 7.00us (583.33ns) 3.84us (319.58ns) 12 + total | 1.49ms ( 1.49ms) 1.49ms ( 1.49ms) 1 + + Optimal cost: 2.02667e-64 + Primal solution: [1.42328e-32, 1, -3.08149e-35] + Dual solution (simple bounds): [0, 0, 0] + Dual solution (nonlinear bounds): 9.24446e-33 diff --git a/test/data/ipopt31419-rosenbrock-restofail.out b/test/data/ipopt31419-rosenbrock-restofail.out new file mode 100644 index 0000000..9402dd8 --- /dev/null +++ b/test/data/ipopt31419-rosenbrock-restofail.out @@ -0,0 +1,70 @@ + +****************************************************************************** +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...: 3 +Number of nonzeros in inequality constraint Jacobian.: 0 +Number of nonzeros in Lagrangian Hessian.............: 2 + +Total number of variables............................: 3 + variables with only lower bounds: 0 + variables with lower and upper bounds: 0 + variables with only upper bounds: 0 +Total number of equality constraints.................: 1 +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 6.2500000e+01 0.00e+00 9.00e+01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 + 1 1.8457621e+01 1.48e-02 4.10e+01 -1.0 4.10e-01 2.0 1.00e+00 1.00e+00f 1 + 2 7.8031530e+00 3.84e-03 8.76e+00 -1.0 2.63e-01 1.5 1.00e+00 1.00e+00f 1 + 3 7.1678278e+00 9.42e-05 1.04e+00 -1.0 9.32e-02 1.0 1.00e+00 1.00e+00f 1 + 4 6.7419924e+00 6.18e-03 9.95e-01 -1.0 2.69e-01 0.6 1.00e+00 1.00e+00f 1 + 5 5.4363330e+00 7.03e-02 1.04e+00 -1.7 8.40e-01 0.1 1.00e+00 1.00e+00f 1 + 6 1.2144815e+00 1.52e+00 1.32e+00 -1.7 3.21e+00 -0.4 1.00e+00 1.00e+00f 1 + 7 1.0214718e+00 2.51e-01 1.17e+01 -1.7 1.33e+00 0.9 1.00e+00 1.00e+00h 1 + 8 3.1864085e-01 1.04e-03 7.53e-01 -1.7 3.58e-01 - 1.00e+00 1.00e+00f 1 + 9 1.5557538e-59 3.19e-01 1.17e-28 -1.7 5.64e-01 - 1.00e+00 1.00e+00f 1 +iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls + 10 2.0266707e-64 0.00e+00 6.65e-33 -1.7 3.19e-01 - 1.00e+00 1.00e+00h 1 + +Number of Iterations....: 10 + + (scaled) (unscaled) +Objective...............: 1.3511137839133354e-64 2.0266706758700031e-64 +Dual infeasibility......: 6.6510923551934811e-33 9.9766385327902217e-33 +Constraint violation....: 0.0000000000000000e+00 0.0000000000000000e+00 +Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 +Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 +Overall NLP error.......: 6.6510923551934811e-33 9.9766385327902217e-33 + + +Number of objective function evaluations = 11 +Number of objective gradient evaluations = 11 +Number of equality constraint evaluations = 11 +Number of inequality constraint evaluations = 0 +Number of equality constraint Jacobian evaluations = 11 +Number of inequality constraint Jacobian evaluations = 0 +Number of Lagrangian Hessian evaluations = 10 +Total seconds in IPOPT = 0.001 + +EXIT: Restoration Failed! + solver : t_proc (avg) t_wall (avg) n_eval + nlp_f | 3.00us (272.73ns) 3.14us (285.82ns) 11 + nlp_g | 5.00us (454.55ns) 4.92us (447.64ns) 11 + nlp_grad_f | 7.00us (583.33ns) 6.25us (520.83ns) 12 + nlp_hess_l | 2.00us (200.00ns) 3.25us (325.20ns) 10 + nlp_jac_g | 7.00us (583.33ns) 3.84us (319.58ns) 12 + total | 1.49ms ( 1.49ms) 1.49ms ( 1.49ms) 1 + + Optimal cost: 2.02667e-64 + Primal solution: [1.42328e-32, 1, -3.08149e-35] + Dual solution (simple bounds): [0, 0, 0] + Dual solution (nonlinear bounds): 9.24446e-33 diff --git a/test/data/ipopt31419-rosenbrock.out b/test/data/ipopt31419-rosenbrock.out new file mode 100644 index 0000000..5fc665d --- /dev/null +++ b/test/data/ipopt31419-rosenbrock.out @@ -0,0 +1,70 @@ + +****************************************************************************** +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...: 3 +Number of nonzeros in inequality constraint Jacobian.: 0 +Number of nonzeros in Lagrangian Hessian.............: 2 + +Total number of variables............................: 3 + variables with only lower bounds: 0 + variables with lower and upper bounds: 0 + variables with only upper bounds: 0 +Total number of equality constraints.................: 1 +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 6.2500000e+01 0.00e+00 9.00e+01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 + 1 1.8457621e+01 1.48e-02 4.10e+01 -1.0 4.10e-01 2.0 1.00e+00 1.00e+00f 1 + 2 7.8031530e+00 3.84e-03 8.76e+00 -1.0 2.63e-01 1.5 1.00e+00 1.00e+00f 1 + 3 7.1678278e+00 9.42e-05 1.04e+00 -1.0 9.32e-02 1.0 1.00e+00 1.00e+00f 1 + 4 6.7419924e+00 6.18e-03 9.95e-01 -1.0 2.69e-01 0.6 1.00e+00 1.00e+00f 1 + 5 5.4363330e+00 7.03e-02 1.04e+00 -1.7 8.40e-01 0.1 1.00e+00 1.00e+00f 1 + 6 1.2144815e+00 1.52e+00 1.32e+00 -1.7 3.21e+00 -0.4 1.00e+00 1.00e+00f 1 + 7 1.0214718e+00 2.51e-01 1.17e+01 -1.7 1.33e+00 0.9 1.00e+00 1.00e+00h 1 + 8 3.1864085e-01 1.04e-03 7.53e-01 -1.7 3.58e-01 - 1.00e+00 1.00e+00f 1 + 9 1.5557538e-59 3.19e-01 1.17e-28 -1.7 5.64e-01 - 1.00e+00 1.00e+00f 1 +iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls + 10 2.0266707e-64 0.00e+00 6.65e-33 -1.7 3.19e-01 - 1.00e+00 1.00e+00h 1 + +Number of Iterations....: 10 + + (scaled) (unscaled) +Objective...............: 1.3511137839133354e-64 2.0266706758700031e-64 +Dual infeasibility......: 6.6510923551934811e-33 9.9766385327902217e-33 +Constraint violation....: 0.0000000000000000e+00 0.0000000000000000e+00 +Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 +Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 +Overall NLP error.......: 6.6510923551934811e-33 9.9766385327902217e-33 + + +Number of objective function evaluations = 11 +Number of objective gradient evaluations = 11 +Number of equality constraint evaluations = 11 +Number of inequality constraint evaluations = 0 +Number of equality constraint Jacobian evaluations = 11 +Number of inequality constraint Jacobian evaluations = 0 +Number of Lagrangian Hessian evaluations = 10 +Total seconds in IPOPT = 0.001 + +EXIT: Optimal Solution Found. + solver : t_proc (avg) t_wall (avg) n_eval + nlp_f | 3.00us (272.73ns) 3.14us (285.82ns) 11 + nlp_g | 5.00us (454.55ns) 4.92us (447.64ns) 11 + nlp_grad_f | 7.00us (583.33ns) 6.25us (520.83ns) 12 + nlp_hess_l | 2.00us (200.00ns) 3.25us (325.20ns) 10 + nlp_jac_g | 7.00us (583.33ns) 3.84us (319.58ns) 12 + total | 1.49ms ( 1.49ms) 1.49ms ( 1.49ms) 1 + + Optimal cost: 2.02667e-64 + Primal solution: [1.42328e-32, 1, -3.08149e-35] + Dual solution (simple bounds): [0, 0, 0] + Dual solution (nonlinear bounds): 9.24446e-33 diff --git a/test/data/ipopt31419-sysid.out b/test/data/ipopt31419-sysid.out new file mode 100644 index 0000000..a414a0b --- /dev/null +++ b/test/data/ipopt31419-sysid.out @@ -0,0 +1,138 @@ +WARNING: on Windows, JIT may require a special environment cfr https://github.com/casadi/casadi/wiki/FAQ:-how-to-perform-jit-for-function-evaluations-of-my-optimization-problem%3F + +****************************************************************************** +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...: 0 +Number of nonzeros in inequality constraint Jacobian.: 0 +Number of nonzeros in Lagrangian Hessian.............: 10 + +Total number of variables............................: 4 + variables with only lower bounds: 0 + variables with lower and upper bounds: 0 + variables with only upper bounds: 0 +Total number of equality constraints.................: 0 +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 2.2882450e+00 0.00e+00 1.63e+01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 + 1 8.0946263e-01 0.00e+00 7.97e+00 -1.0 2.40e+00 - 1.00e+00 1.00e+00f 1 + 2 5.1667852e-01 0.00e+00 1.04e+01 -1.0 4.12e+00 - 1.00e+00 1.00e+00f 1 + 3 1.7779746e-01 0.00e+00 6.49e+00 -1.0 9.80e-01 - 1.00e+00 1.00e+00f 1 + 4 1.2556520e-02 0.00e+00 2.37e+00 -1.0 8.03e-01 - 1.00e+00 1.00e+00f 1 + 5 5.6174650e-05 0.00e+00 1.46e-01 -1.0 3.86e-01 - 1.00e+00 1.00e+00f 1 + 6 6.6529418e-10 0.00e+00 5.74e-04 -2.5 1.44e-02 - 1.00e+00 1.00e+00f 1 + 7 9.5657909e-20 0.00e+00 1.78e-09 -5.7 2.22e-04 - 1.00e+00 1.00e+00f 1 + +Number of Iterations....: 7 + + (scaled) (unscaled) +Objective...............: 9.5657908828808305e-20 9.5657908828808305e-20 +Dual infeasibility......: 1.7755401306022535e-09 1.7755401306022535e-09 +Constraint violation....: 0.0000000000000000e+00 0.0000000000000000e+00 +Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 +Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 +Overall NLP error.......: 1.7755401306022535e-09 1.7755401306022535e-09 + + +Number of objective function evaluations = 8 +Number of objective gradient evaluations = 8 +Number of equality constraint evaluations = 0 +Number of inequality constraint evaluations = 0 +Number of equality constraint Jacobian evaluations = 0 +Number of inequality constraint Jacobian evaluations = 0 +Number of Lagrangian Hessian evaluations = 7 +Total seconds in IPOPT = 0.271 + +EXIT: Optimal Solution Found. + solver : t_proc (avg) t_wall (avg) n_eval + nlp_f | 12.04ms ( 1.51ms) 12.04ms ( 1.50ms) 8 + nlp_grad_f | 96.32ms ( 10.70ms) 96.33ms ( 10.70ms) 9 + nlp_hess_l | 160.74ms ( 22.96ms) 160.74ms ( 22.96ms) 7 + total | 271.61ms (271.61ms) 271.62ms (271.62ms) 1 +[5.625e-06, 0.00023, 1, 4.69] +CasADi - 2026-09-25 08:54:11 WARNING("CasADi was not compiled with WITH_OPENMP=ON. Falling back to serial evaluation.") [.../casadi/core/map.cpp:429] +/opt/casadi/python/casadi/casadi.py:673: FutureWarning: +casadi: a numpy function was called on a casadi value (issue #2959). +This used legacy casadi 3.7.2 behaviour, where the result type follows +the input: + - a numeric input (DM) -> a plain numpy array + - a symbolic input (SX / MX) -> a casadi value, or an error if the + function has no casadi equivalent + +For a shape-correct, type-preserving result, opt in to the +casadi-aware numpy support: + + try: + ca.GlobalOptions.setNumpyMode(1) + except AttributeError: + pass + +Or use setNumpyMode(-1) to keep legacy behaviour silently. +Shown once; run python with -W always to see every occurrence. + + _w.warn(_NUMPY_LEGACY_NOTICE, FutureWarning) +CasADi - 2026-09-25 08:54:11 WARNING("CasADi was not compiled with WITH_OPENMP=ON. Falling back to serial evaluation.") [.../casadi/core/map.cpp:429] +CasADi - 2026-09-25 08:54:11 WARNING("CasADi was not compiled with WITH_OPENMP=ON. Falling back to serial evaluation.") [.../casadi/core/map.cpp:429] +CasADi - 2026-09-25 08:54:11 WARNING("CasADi was not compiled with WITH_OPENMP=ON. Falling back to serial evaluation.") [.../casadi/core/map.cpp:429] +This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. + +Number of nonzeros in equality constraint Jacobian...: 27986 +Number of nonzeros in inequality constraint Jacobian.: 0 +Number of nonzeros in Lagrangian Hessian.............: 22010 + +Total number of variables............................: 4004 + variables with only lower bounds: 0 + variables with lower and upper bounds: 0 + variables with only upper bounds: 0 +Total number of equality constraints.................: 3998 +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 1.9235027e+00 3.45e+01 2.93e-04 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 + 1 6.2686981e-03 8.25e+00 3.44e-02 -1.0 8.96e+01 - 1.00e+00 1.00e+00h 1 + 2 8.8518280e-04 8.21e-01 1.14e-02 -1.0 4.90e+00 - 1.00e+00 1.00e+00h 1 + 3 5.3958210e-07 1.80e-02 1.59e-04 -1.7 2.15e+00 - 1.00e+00 1.00e+00h 1 + 4 9.9475241e-15 6.38e-06 3.85e-09 -3.8 6.59e-02 - 1.00e+00 1.00e+00h 1 + 5 6.7745767e-29 3.16e-13 1.59e-16 -8.6 8.02e-06 - 1.00e+00 1.00e+00h 1 + +Number of Iterations....: 5 + + (scaled) (unscaled) +Objective...............: 6.7745767067195946e-29 6.7745767067195946e-29 +Dual infeasibility......: 1.5899236788534121e-16 1.5899236788534121e-16 +Constraint violation....: 9.5020963526086988e-14 3.1619151741324458e-13 +Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 +Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 +Overall NLP error.......: 9.5020963526086988e-14 3.1619151741324458e-13 + + +Number of objective function evaluations = 6 +Number of objective gradient evaluations = 6 +Number of equality constraint evaluations = 6 +Number of inequality constraint evaluations = 0 +Number of equality constraint Jacobian evaluations = 6 +Number of inequality constraint Jacobian evaluations = 0 +Number of Lagrangian Hessian evaluations = 5 +Total seconds in IPOPT = 0.479 + +EXIT: Optimal Solution Found. + solver : t_proc (avg) t_wall (avg) n_eval + nlp_f | 8.37ms ( 1.39ms) 8.37ms ( 1.39ms) 6 + nlp_g | 8.39ms ( 1.40ms) 8.39ms ( 1.40ms) 6 + nlp_grad_f | 42.41ms ( 6.06ms) 42.41ms ( 6.06ms) 7 + nlp_hess_l | 136.20ms ( 27.24ms) 136.20ms ( 27.24ms) 5 + nlp_jac_g | 264.57ms ( 37.80ms) 264.59ms ( 37.80ms) 7 + total | 479.38ms (479.38ms) 479.39ms (479.39ms) 1 +[5.625e-06, 0.00023, 1, 4.69]