diff --git a/Go2Py/assets/mujoco/go2_with_arm_no_ef.xml b/Go2Py/assets/mujoco/go2_with_arm_no_ef.xml index d5e639f..33d073a 100644 --- a/Go2Py/assets/mujoco/go2_with_arm_no_ef.xml +++ b/Go2Py/assets/mujoco/go2_with_arm_no_ef.xml @@ -120,6 +120,12 @@ + + + + + + @@ -149,7 +155,12 @@ - + + + + + + @@ -179,6 +190,12 @@ + + + + + + @@ -208,7 +225,12 @@ - + + + + + + @@ -239,6 +261,12 @@ + + + + + + @@ -283,8 +311,18 @@ + + + + + + + + + + diff --git a/Go2Py/assets/urdf/go2_with_arm.urdf b/Go2Py/assets/urdf/go2_with_arm.urdf index 4d8a859..8a827ce 100644 --- a/Go2Py/assets/urdf/go2_with_arm.urdf +++ b/Go2Py/assets/urdf/go2_with_arm.urdf @@ -985,7 +985,7 @@ Stephen Brawner (brawner@gmail.com) rpy="0 0 0" /> + filename="d1_assets/stl/Link6-new.stl" /> @@ -1013,136 +1013,20 @@ Stephen Brawner (brawner@gmail.com) effort="0" velocity="0" /> - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + name="ef_tip"> + link="ef_tip" /> diff --git a/examples/09-crododdyl.ipynb b/examples/09-crododdyl.ipynb index 0d1d5ec..b1a592b 100644 --- a/examples/09-crododdyl.ipynb +++ b/examples/09-crododdyl.ipynb @@ -9,7 +9,7 @@ }, { "cell_type": "code", - "execution_count": 1, + "execution_count": 21, "metadata": {}, "outputs": [], "source": [ @@ -25,7 +25,7 @@ }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 22, "metadata": {}, "outputs": [], "source": [ @@ -38,7 +38,7 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 23, "metadata": {}, "outputs": [], "source": [ @@ -55,7 +55,7 @@ }, { "cell_type": "code", - "execution_count": 4, + "execution_count": 24, "metadata": {}, "outputs": [], "source": [ @@ -67,7 +67,7 @@ }, { "cell_type": "code", - "execution_count": 5, + "execution_count": null, "metadata": {}, "outputs": [], "source": [ @@ -484,7 +484,7 @@ "import mujoco.viewer\n", "\n", "class Go2MPC:\n", - " def __init__(self, assets_path, HORIZON=250, friction_mu = 0.8, dt = 0.02):\n", + " def __init__(self, assets_path, HORIZON=250, friction_mu = 0.2, dt = 0.02):\n", " self.assets_path = assets_path\n", " self.HORIZON = HORIZON\n", " self.max_iterations = 500\n", @@ -515,9 +515,8 @@ " 'Joint3':'Joint3',\n", " 'Joint4':'Joint4',\n", " 'Joint5':'Joint5',\n", - " 'Joint6':'Joint6',\n", - " 'Joint7_1':'Joint7_1',\n", - " 'Joint7_2':'Joint7_2' }\n", + " 'Joint6':'Joint6'\n", + " }\n", " self.unitree_to_mpc_name_map = {val:key for key, val in self.mpc_to_unitree_name_map.items()}\n", " self.unitree_joint_order = ['FR', 'FL', 'RR', 'RL']\n", "\n", @@ -531,20 +530,20 @@ " mpc_to_unitree_idx_map[mpc_joint_id-2]=unitree_id\n", " unitree_id+=1\n", "\n", - " for unitree_actuator_name in ['Joint1', 'Joint2', 'Joint3', 'Joint4', 'Joint5', 'Joint6', 'Joint7_1', 'Joint7_2']:\n", + " for unitree_actuator_name in ['Joint1', 'Joint2', 'Joint3', 'Joint4', 'Joint5', 'Joint6']:\n", " mpc_joint_name = self.unitree_to_mpc_name_map[unitree_actuator_name]\n", " mpc_joint_id = self.rmodel.getJointId(mpc_joint_name)\n", " mpc_to_unitree_idx_map[mpc_joint_id-2]=unitree_id\n", " unitree_id+=1\n", "\n", - " self.mpc_to_unitree_idx = np.zeros(20).astype(np.int32) # mpc_state[mpc_to_unitree_idx] -> state/command in unitree order \n", - " self.unitree_to_mpc_idx = np.zeros(20).astype(np.int32) # unitree_state[unitree_to_mpc] -> state/command in mpc order\n", + " self.mpc_to_unitree_idx = np.zeros(18).astype(np.int32) # mpc_state[mpc_to_unitree_idx] -> state/command in unitree order \n", + " self.unitree_to_mpc_idx = np.zeros(18).astype(np.int32) # unitree_state[unitree_to_mpc] -> state/command in mpc order\n", " for mpc_idx, unitree_idx in mpc_to_unitree_idx_map.items():\n", " self.mpc_to_unitree_idx[mpc_idx] = unitree_idx\n", " self.unitree_to_mpc_idx[unitree_idx] = mpc_idx\n", "\n", " # set contact frame_names and_indices\n", - " ee_frame_names = ['FL_FOOT', 'FR_FOOT', 'HL_FOOT', 'HR_FOOT', 'Link6']\n", + " ee_frame_names = ['FL_FOOT', 'FR_FOOT', 'HL_FOOT', 'HR_FOOT', 'ef_tip']\n", " self.lfFootId = self.rmodel.getFrameId(ee_frame_names[0])\n", " self.rfFootId = self.rmodel.getFrameId(ee_frame_names[1])\n", " self.lhFootId = self.rmodel.getFrameId(ee_frame_names[2])\n", @@ -558,7 +557,7 @@ " self.nu = self.ccdyl_actuation.nu\n", "\n", " def initialize(self, q0=np.array([0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 1.0] \n", - " +4*[0.0, 0.77832842, -1.56065452] + 8*[0.0]\n", + " +4*[0.0, 0.77832842, -1.56065452] + 6*[0.0]\n", " )):\n", " self.q0 = q0.copy()\n", " self.x0 = np.concatenate([q0, np.zeros(self.rmodel.nv)])\n", @@ -605,7 +604,7 @@ " self.contactModel.addContact(self.rmodel.frames[frame_idx].name + \"_contact\", support_contact) \n", "\n", " # Contact for the EE\n", - " support_contact = crocoddyl.ContactModel3D(self.ccdyl_state, self.armEEId, np.array([0., 0., 0.]), self.pinRef, self.nu, np.array([0., 0.]))\n", + " support_contact = crocoddyl.ContactModel3D(self.ccdyl_state, self.armEEId, np.array([0., 0., 0.]), pin.LOCAL, self.nu, np.array([0., 0.]))\n", " self.contactModel.addContact(self.rmodel.frames[self.armEEId].name + \"_contact\", support_contact) \n", " # Add state/control regularization costs\n", " state_reg_weight, control_reg_weight = 1e-1, 1e-3\n", @@ -639,7 +638,7 @@ " # costModel.addCost(\"comTrack\", com_track, 1e5)\n", " costModel.addCost(\"comTrack\", com_track, 1e5)\n", " else:\n", - " costModel.addCost(\"comTrack\", com_track, 1e2)\n", + " costModel.addCost(\"comTrack\", com_track, 1e1)\n", "\n", " # End Effecor Position Tracking Cost\n", " ef_residual = crocoddyl.ResidualModelFrameTranslation(self.ccdyl_state, self.armEEId, arm_eff_ref[t], self.nu) # Check this cost term \n", @@ -655,9 +654,9 @@ " costModel.addCost(\"efTrack\", ef_track, 1e5)\n", " costModel.addCost(\"efRotTrack\", ef_rot_track, 1e5)\n", " else:\n", - " # costModel.addCost(\"efTrack\", ef_track, 1e3)\n", - " costModel.addCost(\"efTrack\", ef_track, 0.0)\n", - " costModel.addCost(\"efRotTrack\", ef_rot_track, 1e2)\n", + " costModel.addCost(\"efTrack\", ef_track, 1e1)\n", + " # costModel.addCost(\"efTrack\", ef_track, 0.0)\n", + " costModel.addCost(\"efRotTrack\", ef_rot_track, 1e1)\n", " \n", " \n", " \n", @@ -698,9 +697,9 @@ " qy = quat[1]\n", " qz = quat[2]\n", " qw = quat[3]\n", - " q = self.xs[x_idx][7:27]\n", - " eta = self.xs[x_idx][27:27+6]\n", - " dq = self.xs[x_idx][27+6:]\n", + " q = self.xs[x_idx][7:25]\n", + " eta = self.xs[x_idx][25:25+6]\n", + " dq = self.xs[x_idx][25+6:]\n", " constraint_norm = self.solver.constraint_norm\n", " return dict(\n", " position=t,\n", @@ -763,1148 +762,563 @@ "output_type": "stream", "text": [ "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.7715e-01 3.7715e-01 5.3759e-11 0.0000e+00 8.88926e+00 0.0625 ---- 1\n", - " 2 3.6935e-01 3.3424e-01 3.5102e-03 0.0000e+00 7.20684e+00 0.0625 2.4621e+02 1\n", - " 3 3.5994e-01 2.9662e-01 6.3323e-03 0.0000e+00 6.32126e+00 0.0625 2.3083e+02 1\n", - " 4 3.5006e-01 2.6357e-01 8.6483e-03 0.0000e+00 5.81863e+00 0.0625 2.1641e+02 1\n", - " 5 3.3985e-01 2.3454e-01 1.0530e-02 0.0000e+00 5.38447e+00 0.0625 2.0289e+02 1\n", - " 6 3.2951e-01 2.0904e-01 1.2047e-02 0.0000e+00 5.01827e+00 0.0625 1.9021e+02 1\n", - " 7 3.1901e-01 1.8662e-01 1.3239e-02 0.0000e+00 4.72896e+00 0.0625 1.7833e+02 1\n", - " 8 3.0836e-01 1.6692e-01 1.4144e-02 0.0000e+00 4.46099e+00 0.0625 1.6718e+02 1\n", - " 9 2.9764e-01 1.4961e-01 1.4803e-02 0.0000e+00 4.20651e+00 0.0625 1.5674e+02 1\n", - " 10 2.8691e-01 1.3439e-01 1.5251e-02 0.0000e+00 3.96377e+00 0.0625 1.4694e+02 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 11 2.7616e-01 1.2102e-01 1.5514e-02 0.0000e+00 3.73198e+00 0.0625 1.3776e+02 1\n", - " 12 2.6545e-01 1.0927e-01 1.5618e-02 0.0000e+00 3.51138e+00 0.1250 1.2915e+02 1\n", - " 13 2.6384e-01 8.9273e-02 1.7457e-02 0.0000e+00 3.09262e+00 0.1250 1.1301e+02 1\n", - " 14 2.5596e-01 7.3966e-02 1.8199e-02 0.0000e+00 2.71883e+00 0.1250 9.8883e+01 1\n", - " 15 2.4397e-01 6.2247e-02 1.8172e-02 0.0000e+00 2.38707e+00 0.1250 8.6524e+01 1\n", - " 16 2.2953e-01 5.3274e-02 1.7626e-02 0.0000e+00 2.09386e+00 0.2500 7.5708e+01 1\n", - " 17 2.2537e-01 4.0451e-02 1.8492e-02 0.0000e+00 1.57683e+00 0.2500 5.6782e+01 1\n", - " 18 2.0154e-01 3.3238e-02 1.6830e-02 0.0000e+00 1.18490e+00 0.5000 4.2586e+01 1\n", - " 19 1.7636e-01 2.6282e-02 1.5007e-02 0.0000e+00 5.93428e-01 1.0000 2.1293e+01 1\n", - " 20 8.7927e-02 2.3963e-02 6.3965e-03 0.0000e+00 3.53431e-03 1.0000 8.9574e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 21 2.4008e-02 2.3962e-02 4.5305e-06 0.0000e+00 9.95212e-03 1.0000 2.0648e-03 1\n", - " 22 2.3968e-02 2.3962e-02 6.4475e-07 0.0000e+00 4.04938e-02 1.0000 2.0671e-03 1\n", - " 23 2.3967e-02 2.3962e-02 5.4976e-07 0.0000e+00 1.71092e-01 0.0625 2.0601e-03 1\n", - " 24 2.3967e-02 2.3961e-02 5.4868e-07 0.0000e+00 1.15807e-01 0.1250 2.0617e-03 1\n", - " 25 2.3966e-02 2.3961e-02 5.4364e-07 0.0000e+00 4.08164e-02 0.5000 2.0637e-03 1\n", - " 26 2.3965e-02 2.3961e-02 4.2690e-07 0.0000e+00 6.46398e-02 0.2500 2.0662e-03 1\n", - " 27 2.3964e-02 2.3961e-02 3.8768e-07 0.0000e+00 2.03738e-02 1.0000 2.0645e-03 1\n", - " 28 2.3961e-02 2.3960e-02 1.1919e-07 0.0000e+00 8.61185e-02 0.1250 2.0676e-03 1\n", - " 29 2.3961e-02 2.3960e-02 1.3629e-07 0.0000e+00 2.90594e-02 0.5000 2.0653e-03 1\n", - " 30 2.3961e-02 2.3960e-02 1.1839e-07 0.0000e+00 4.77248e-02 0.2500 2.0631e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 31 2.3961e-02 2.3960e-02 1.3005e-07 0.0000e+00 1.47098e-02 1.0000 2.0654e-03 1\n", - " 32 2.3960e-02 2.3959e-02 6.7979e-08 0.0000e+00 6.36387e-02 0.0625 2.0603e-03 1\n", - " 33 2.3960e-02 2.3959e-02 6.9962e-08 0.0000e+00 4.27414e-02 0.1250 2.0618e-03 1\n", - " 34 2.3960e-02 2.3959e-02 7.2103e-08 0.0000e+00 1.46604e-02 1.0000 2.0637e-03 1\n", - " 35 2.3960e-02 2.3959e-02 7.4138e-08 0.0000e+00 6.19659e-02 0.1250 2.0675e-03 1\n", - " 36 2.3960e-02 2.3959e-02 8.4704e-08 0.0000e+00 2.08225e-02 0.5000 2.0650e-03 1\n", - " 37 2.3959e-02 2.3959e-02 7.2391e-08 0.0000e+00 3.43520e-02 0.2500 2.0624e-03 1\n", - " 38 2.3959e-02 2.3959e-02 7.9807e-08 0.0000e+00 1.06887e-02 1.0000 2.0649e-03 1\n", - " 39 2.3959e-02 2.3958e-02 4.4521e-08 0.0000e+00 4.65668e-02 0.0625 2.0596e-03 1\n", - " 40 2.3959e-02 2.3958e-02 4.5897e-08 0.0000e+00 3.12269e-02 0.1250 2.0612e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 41 2.3959e-02 2.3958e-02 4.7373e-08 0.0000e+00 1.06558e-02 1.0000 2.0631e-03 1\n", - " 42 2.3958e-02 2.3958e-02 4.8119e-08 0.0000e+00 4.50745e-02 0.1250 2.0671e-03 1\n", - " 43 2.3958e-02 2.3958e-02 5.5056e-08 0.0000e+00 1.50467e-02 1.0000 2.0645e-03 1\n", - " 44 2.3958e-02 2.3957e-02 7.6541e-08 0.0000e+00 6.50514e-02 0.0625 2.0589e-03 1\n", - " 45 2.3958e-02 2.3957e-02 7.8728e-08 0.0000e+00 4.37088e-02 0.1250 2.0606e-03 1\n", - " 46 2.3958e-02 2.3957e-02 8.1062e-08 0.0000e+00 1.50113e-02 1.0000 2.0627e-03 1\n", - " 47 2.3958e-02 2.3957e-02 8.4510e-08 0.0000e+00 6.34276e-02 0.1250 2.0668e-03 1\n", - " 48 2.3958e-02 2.3957e-02 9.6077e-08 0.0000e+00 2.13198e-02 0.5000 2.0641e-03 1\n", - " 49 2.3958e-02 2.3957e-02 8.2126e-08 0.0000e+00 3.51529e-02 0.2500 2.0612e-03 1\n", - " 50 2.3957e-02 2.3957e-02 9.0150e-08 0.0000e+00 1.09145e-02 1.0000 2.0640e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 51 2.3957e-02 2.3956e-02 4.8314e-08 0.0000e+00 4.74993e-02 0.0625 2.0582e-03 1\n", - " 52 2.3957e-02 2.3956e-02 4.9827e-08 0.0000e+00 3.18691e-02 0.1250 2.0599e-03 1\n", - " 53 2.3957e-02 2.3956e-02 5.1451e-08 0.0000e+00 1.08939e-02 1.0000 2.0621e-03 1\n", - " 54 2.3956e-02 2.3956e-02 5.2920e-08 0.0000e+00 4.60547e-02 0.1250 2.0665e-03 1\n", - " 55 2.3956e-02 2.3956e-02 6.0425e-08 0.0000e+00 1.53906e-02 1.0000 2.0636e-03 1\n", - " 56 2.3956e-02 2.3955e-02 8.3877e-08 0.0000e+00 6.64839e-02 0.0625 2.0574e-03 1\n", - " 57 2.3956e-02 2.3955e-02 8.6330e-08 0.0000e+00 4.46940e-02 0.1250 2.0593e-03 1\n", - " 58 2.3956e-02 2.3955e-02 8.9044e-08 0.0000e+00 1.53740e-02 1.0000 2.0616e-03 1\n", - " 59 2.3956e-02 2.3955e-02 9.4306e-08 0.0000e+00 6.49245e-02 0.1250 2.0663e-03 1\n", - " 60 2.3956e-02 2.3955e-02 1.0689e-07 0.0000e+00 2.18362e-02 0.5000 2.0632e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 61 2.3956e-02 2.3955e-02 9.1043e-08 0.0000e+00 3.59775e-02 0.2500 2.0600e-03 1\n", - " 62 2.3956e-02 2.3955e-02 1.0006e-07 0.0000e+00 1.11378e-02 1.0000 2.0631e-03 1\n", - " 63 2.3955e-02 2.3954e-02 5.2436e-08 0.0000e+00 4.84077e-02 0.0625 2.0567e-03 1\n", - " 64 2.3955e-02 2.3954e-02 5.4073e-08 0.0000e+00 3.24996e-02 0.1250 2.0586e-03 1\n", - " 65 2.3955e-02 2.3954e-02 5.5853e-08 0.0000e+00 1.11339e-02 1.0000 2.0610e-03 1\n", - " 66 2.3954e-02 2.3954e-02 5.8426e-08 0.0000e+00 4.70282e-02 0.1250 2.0659e-03 1\n", - " 67 2.3954e-02 2.3954e-02 6.6496e-08 0.0000e+00 1.57393e-02 1.0000 2.0627e-03 1\n", - " 68 2.3954e-02 2.3953e-02 9.2382e-08 0.0000e+00 6.79197e-02 0.0625 2.0558e-03 1\n", - " 69 2.3954e-02 2.3953e-02 9.5149e-08 0.0000e+00 4.56881e-02 0.1250 2.0579e-03 1\n", - " 70 2.3954e-02 2.3953e-02 9.8229e-08 0.0000e+00 1.57480e-02 1.0000 2.0605e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 71 2.3954e-02 2.3953e-02 1.0580e-07 0.0000e+00 6.64492e-02 0.1250 2.0657e-03 1\n", - " 72 2.3954e-02 2.3953e-02 1.1949e-07 0.0000e+00 2.23705e-02 0.5000 2.0623e-03 1\n", - " 73 2.3954e-02 2.3953e-02 1.0157e-07 0.0000e+00 3.68204e-02 0.2500 2.0588e-03 1\n", - " 74 2.3954e-02 2.3952e-02 1.1174e-07 0.0000e+00 1.13539e-02 1.0000 2.0622e-03 1\n", - " 75 2.3953e-02 2.3952e-02 5.6581e-08 0.0000e+00 4.92667e-02 0.0625 2.0551e-03 1\n", - " 76 2.3953e-02 2.3952e-02 5.8360e-08 0.0000e+00 3.31024e-02 0.1250 2.0572e-03 1\n", - " 77 2.3953e-02 2.3952e-02 6.0335e-08 0.0000e+00 1.13715e-02 1.0000 2.0599e-03 1\n", - " 78 2.3952e-02 2.3952e-02 6.4160e-08 0.0000e+00 4.79727e-02 0.1250 2.0654e-03 1\n", - " 79 2.3952e-02 2.3952e-02 7.2799e-08 0.0000e+00 1.60883e-02 1.0000 2.0619e-03 1\n", - " 80 2.3952e-02 2.3951e-02 1.0124e-07 0.0000e+00 6.93328e-02 0.0625 2.0541e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 81 2.3952e-02 2.3951e-02 1.0430e-07 0.0000e+00 4.66750e-02 0.1250 2.0565e-03 1\n", - " 82 2.3952e-02 2.3951e-02 1.0779e-07 0.0000e+00 1.61300e-02 1.0000 2.0594e-03 1\n", - " 83 2.3952e-02 2.3951e-02 1.1850e-07 0.0000e+00 6.79797e-02 0.1250 2.0653e-03 1\n", - " 84 2.3952e-02 2.3951e-02 1.3321e-07 0.0000e+00 2.29198e-02 0.5000 2.0614e-03 1\n", - " 85 2.3952e-02 2.3950e-02 1.1316e-07 0.0000e+00 3.76718e-02 0.2500 2.0575e-03 1\n", - " 86 2.3951e-02 2.3950e-02 1.2449e-07 0.0000e+00 1.15553e-02 1.0000 2.0613e-03 1\n", - " 87 2.3951e-02 2.3950e-02 6.0473e-08 0.0000e+00 5.00403e-02 0.0625 2.0534e-03 1\n", - " 88 2.3950e-02 2.3950e-02 6.2358e-08 0.0000e+00 3.36539e-02 0.1250 2.0558e-03 1\n", - " 89 2.3950e-02 2.3950e-02 6.4491e-08 0.0000e+00 1.16002e-02 1.0000 2.0587e-03 1\n", - " 90 2.3950e-02 2.3949e-02 6.9960e-08 0.0000e+00 4.88546e-02 0.1250 2.0650e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 91 2.3950e-02 2.3949e-02 7.9063e-08 0.0000e+00 1.64293e-02 0.5000 2.0610e-03 1\n", - " 92 2.3950e-02 2.3949e-02 6.7101e-08 0.0000e+00 2.71431e-02 0.2500 2.0567e-03 1\n", - " 93 2.3950e-02 2.3949e-02 7.4394e-08 0.0000e+00 8.36656e-03 1.0000 2.0608e-03 1\n", - " 94 2.3949e-02 2.3949e-02 3.8197e-08 0.0000e+00 3.64552e-02 0.1250 2.0529e-03 1\n", - " 95 2.3949e-02 2.3949e-02 4.7629e-08 0.0000e+00 1.25358e-02 0.5000 2.0575e-03 1\n", - " 96 2.3949e-02 2.3949e-02 4.8731e-08 0.0000e+00 2.02289e-02 0.2500 2.0626e-03 1\n", - " 97 2.3949e-02 2.3948e-02 5.2144e-08 0.0000e+00 6.72169e-03 1.0000 2.0576e-03 1\n", - " 98 2.3949e-02 2.3948e-02 4.0659e-08 0.0000e+00 2.83292e-02 0.1250 2.0663e-03 1\n", - " 99 2.3949e-02 2.3948e-02 4.5791e-08 0.0000e+00 9.35907e-03 1.0000 2.0610e-03 1\n", - " 100 2.3948e-02 2.3948e-02 6.3324e-08 0.0000e+00 4.08534e-02 0.0625 2.0488e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 101 2.3948e-02 2.3948e-02 6.5199e-08 0.0000e+00 2.74448e-02 0.1250 2.0524e-03 1\n", - " 102 2.3948e-02 2.3948e-02 6.7311e-08 0.0000e+00 9.41237e-03 1.0000 2.0569e-03 1\n", - " 103 2.3948e-02 2.3947e-02 7.4043e-08 0.0000e+00 3.97286e-02 0.1250 2.0671e-03 1\n", - " 104 2.3948e-02 2.3947e-02 8.2894e-08 0.0000e+00 1.32023e-02 0.5000 2.0609e-03 1\n", - " 105 2.3948e-02 2.3947e-02 7.0107e-08 0.0000e+00 2.20235e-02 0.2500 2.0539e-03 1\n", - " 106 2.3948e-02 2.3947e-02 7.6907e-08 0.0000e+00 6.86416e-03 1.0000 2.0604e-03 1\n", - " 107 2.3947e-02 2.3947e-02 3.6590e-08 0.0000e+00 3.01565e-02 0.1250 2.0489e-03 1\n", - " 108 2.3947e-02 2.3947e-02 4.5925e-08 0.0000e+00 1.03292e-02 0.5000 2.0555e-03 1\n", - " 109 2.3947e-02 2.3946e-02 4.7346e-08 0.0000e+00 1.67109e-02 0.2500 2.0631e-03 1\n", - " 110 2.3947e-02 2.3946e-02 5.0648e-08 0.0000e+00 5.67054e-03 1.0000 2.0559e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 111 2.3946e-02 2.3946e-02 4.0211e-08 0.0000e+00 2.38971e-02 0.1250 2.0680e-03 1\n", - " 112 2.3946e-02 2.3946e-02 4.5111e-08 0.0000e+00 7.82058e-03 1.0000 2.0608e-03 1\n", - " 113 2.3946e-02 2.3946e-02 6.2041e-08 0.0000e+00 3.43761e-02 0.0625 2.0438e-03 1\n", - " 114 2.3946e-02 2.3946e-02 6.3877e-08 0.0000e+00 2.30816e-02 0.1250 2.0487e-03 1\n", - " 115 2.3946e-02 2.3945e-02 6.6022e-08 0.0000e+00 7.89504e-03 1.0000 2.0550e-03 1\n", - " 116 2.3946e-02 2.3945e-02 7.4181e-08 0.0000e+00 3.33450e-02 0.1250 2.0696e-03 1\n", - " 117 2.3946e-02 2.3945e-02 8.2726e-08 0.0000e+00 1.09758e-02 0.5000 2.0610e-03 1\n", - " 118 2.3946e-02 2.3945e-02 6.9818e-08 0.0000e+00 1.84613e-02 0.2500 2.0509e-03 1\n", - " 119 2.3946e-02 2.3945e-02 7.6476e-08 0.0000e+00 5.79048e-03 1.0000 2.0600e-03 1\n", - " 120 2.3945e-02 2.3944e-02 3.4844e-08 0.0000e+00 2.55851e-02 0.1250 2.0445e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 121 2.3945e-02 2.3944e-02 4.3529e-08 0.0000e+00 8.75210e-03 0.5000 2.0534e-03 1\n", - " 122 2.3945e-02 2.3944e-02 4.5312e-08 0.0000e+00 1.41658e-02 0.2500 2.0639e-03 1\n", - " 123 2.3945e-02 2.3944e-02 4.8381e-08 0.0000e+00 4.95698e-03 1.0000 2.0541e-03 1\n", - " 124 2.3944e-02 2.3944e-02 3.8016e-08 0.0000e+00 2.09834e-02 0.1250 2.0700e-03 1\n", - " 125 2.3944e-02 2.3944e-02 4.2389e-08 0.0000e+00 6.76909e-03 1.0000 2.0607e-03 1\n", - " 126 2.3944e-02 2.3943e-02 5.8602e-08 0.0000e+00 3.00614e-02 0.0625 2.0384e-03 1\n", - " 127 2.3944e-02 2.3943e-02 6.0118e-08 0.0000e+00 2.01259e-02 0.1250 2.0447e-03 1\n", - " 128 2.3944e-02 2.3943e-02 6.1918e-08 0.0000e+00 6.80855e-03 1.0000 2.0530e-03 1\n", - " 129 2.3944e-02 2.3943e-02 7.1360e-08 0.0000e+00 2.89051e-02 0.1250 2.0725e-03 1\n", - " 130 2.3944e-02 2.3943e-02 7.9178e-08 0.0000e+00 9.37144e-03 1.0000 2.0611e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 131 2.3944e-02 2.3943e-02 1.0909e-07 0.0000e+00 4.12906e-02 0.0625 2.0337e-03 1\n", - " 132 2.3944e-02 2.3942e-02 1.1229e-07 0.0000e+00 2.77269e-02 0.1250 2.0416e-03 1\n", - " 133 2.3943e-02 2.3942e-02 1.1622e-07 0.0000e+00 9.50237e-03 1.0000 2.0517e-03 1\n", - " 134 2.3943e-02 2.3942e-02 1.3948e-07 0.0000e+00 4.01199e-02 0.1250 2.0757e-03 1\n", - " 135 2.3943e-02 2.3942e-02 1.5287e-07 0.0000e+00 1.31779e-02 0.5000 2.0617e-03 1\n", - " 136 2.3943e-02 2.3942e-02 1.2821e-07 0.0000e+00 2.20777e-02 0.2500 2.0451e-03 1\n", - " 137 2.3943e-02 2.3941e-02 1.3930e-07 0.0000e+00 6.94710e-03 1.0000 2.0600e-03 1\n", - " 138 2.3942e-02 2.3941e-02 5.2222e-08 0.0000e+00 3.05971e-02 0.1250 2.0356e-03 1\n", - " 139 2.3942e-02 2.3941e-02 6.5164e-08 0.0000e+00 1.04802e-02 0.5000 2.0496e-03 1\n", - " 140 2.3942e-02 2.3941e-02 6.9831e-08 0.0000e+00 1.69970e-02 0.2500 2.0662e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 141 2.3941e-02 2.3941e-02 7.3986e-08 0.0000e+00 5.86869e-03 1.0000 2.0509e-03 1\n", - " 142 2.3941e-02 2.3940e-02 5.5294e-08 0.0000e+00 2.47863e-02 0.1250 2.0755e-03 1\n", - " 143 2.3941e-02 2.3940e-02 6.0961e-08 0.0000e+00 8.07563e-03 1.0000 2.0612e-03 1\n", - " 144 2.3941e-02 2.3940e-02 8.5388e-08 0.0000e+00 3.55744e-02 0.0625 2.0266e-03 1\n", - " 145 2.3941e-02 2.3940e-02 8.7397e-08 0.0000e+00 2.38980e-02 0.1250 2.0365e-03 1\n", - " 146 2.3941e-02 2.3940e-02 8.9925e-08 0.0000e+00 8.17832e-03 1.0000 2.0493e-03 1\n", - " 147 2.3941e-02 2.3940e-02 1.1081e-07 0.0000e+00 3.45538e-02 0.1250 2.0800e-03 1\n", - " 148 2.3941e-02 2.3939e-02 1.2113e-07 0.0000e+00 1.13048e-02 0.5000 2.0622e-03 1\n", - " 149 2.3940e-02 2.3939e-02 1.0223e-07 0.0000e+00 1.90826e-02 0.2500 2.0409e-03 1\n", - " 150 2.3940e-02 2.3939e-02 1.1074e-07 0.0000e+00 6.01247e-03 1.0000 2.0599e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 151 2.3939e-02 2.3939e-02 3.9747e-08 0.0000e+00 2.65112e-02 0.1250 2.0296e-03 1\n", - " 152 2.3939e-02 2.3939e-02 4.8555e-08 0.0000e+00 9.03717e-03 0.5000 2.0468e-03 1\n", - " 153 2.3939e-02 2.3938e-02 5.2182e-08 0.0000e+00 1.46703e-02 0.2500 2.0677e-03 1\n", - " 154 2.3939e-02 2.3938e-02 5.5014e-08 0.0000e+00 5.11183e-03 1.0000 2.0487e-03 1\n", - " 155 2.3938e-02 2.3938e-02 3.9664e-08 0.0000e+00 2.15914e-02 0.1250 2.0786e-03 1\n", - " 156 2.3938e-02 2.3938e-02 4.3269e-08 0.0000e+00 7.03367e-03 1.0000 2.0614e-03 1\n", - " 157 2.3938e-02 2.3938e-02 6.1085e-08 0.0000e+00 3.10426e-02 0.1250 2.0231e-03 1\n", - " 158 2.3938e-02 2.3937e-02 7.3143e-08 0.0000e+00 1.05733e-02 0.5000 2.0430e-03 1\n", - " 159 2.3938e-02 2.3937e-02 7.9107e-08 0.0000e+00 1.72544e-02 0.2500 2.0723e-03 1\n", - " 160 2.3938e-02 2.3937e-02 8.1724e-08 0.0000e+00 6.03115e-03 1.0000 2.0460e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 161 2.3937e-02 2.3937e-02 5.2002e-08 0.0000e+00 2.55363e-02 0.1250 2.0870e-03 1\n", - " 162 2.3937e-02 2.3937e-02 5.6597e-08 0.0000e+00 8.30772e-03 1.0000 2.0635e-03 1\n", - " 163 2.3937e-02 2.3936e-02 7.8792e-08 0.0000e+00 3.65961e-02 0.1250 2.0228e-03 1\n", - " 164 2.3937e-02 2.3936e-02 9.4677e-08 0.0000e+00 1.24985e-02 0.5000 2.0381e-03 1\n", - " 165 2.3937e-02 2.3936e-02 1.0428e-07 0.0000e+00 2.03899e-02 0.2500 2.0785e-03 1\n", - " 166 2.3937e-02 2.3936e-02 1.0723e-07 0.0000e+00 7.13670e-03 1.0000 2.0425e-03 1\n", - " 167 2.3936e-02 2.3936e-02 6.8579e-08 0.0000e+00 3.03374e-02 0.1250 2.0982e-03 1\n", - " 168 2.3936e-02 2.3935e-02 7.4178e-08 0.0000e+00 9.84564e-03 1.0000 2.0663e-03 1\n", - " 169 2.3936e-02 2.3935e-02 1.0201e-07 0.0000e+00 4.33069e-02 0.1250 2.0224e-03 1\n", - " 170 2.3936e-02 2.3935e-02 1.2262e-07 0.0000e+00 1.48278e-02 0.5000 2.0314e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 171 2.3936e-02 2.3935e-02 1.3718e-07 0.0000e+00 2.42015e-02 0.2500 2.0869e-03 1\n", - " 172 2.3936e-02 2.3934e-02 1.4002e-07 0.0000e+00 8.46532e-03 1.0000 2.0377e-03 1\n", - " 173 2.3935e-02 2.3934e-02 8.8242e-08 0.0000e+00 3.59909e-02 0.1250 2.1130e-03 1\n", - " 174 2.3935e-02 2.3934e-02 9.4961e-08 0.0000e+00 1.16960e-02 1.0000 2.0702e-03 1\n", - " 175 2.3935e-02 2.3934e-02 1.2809e-07 0.0000e+00 5.13019e-02 0.1250 2.0222e-03 1\n", - " 176 2.3935e-02 2.3933e-02 1.5424e-07 0.0000e+00 1.76562e-02 0.5000 2.0222e-03 1\n", - " 177 2.3935e-02 2.3933e-02 1.7616e-07 0.0000e+00 2.87626e-02 0.2500 2.0981e-03 1\n", - " 178 2.3935e-02 2.3933e-02 1.7847e-07 0.0000e+00 9.99727e-03 1.0000 2.0314e-03 1\n", - " 179 2.3934e-02 2.3933e-02 1.1199e-07 0.0000e+00 4.24582e-02 0.1250 2.1318e-03 1\n", - " 180 2.3933e-02 2.3932e-02 1.1954e-07 0.0000e+00 1.38321e-02 0.5000 2.0751e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 181 2.3933e-02 2.3932e-02 9.6985e-08 0.0000e+00 2.33493e-02 0.2500 2.0229e-03 1\n", - " 182 2.3933e-02 2.3932e-02 1.0505e-07 0.0000e+00 7.55376e-03 1.0000 2.0655e-03 1\n", - " 183 2.3932e-02 2.3932e-02 3.6017e-08 0.0000e+00 3.29163e-02 0.1250 2.0248e-03 1\n", - " 184 2.3932e-02 2.3931e-02 4.1302e-08 0.0000e+00 1.11754e-02 0.5000 2.0261e-03 1\n", - " 185 2.3932e-02 2.3931e-02 4.4959e-08 0.0000e+00 1.82957e-02 0.2500 2.0890e-03 1\n", - " 186 2.3932e-02 2.3931e-02 4.6485e-08 0.0000e+00 6.39791e-03 1.0000 2.0336e-03 1\n", - " 187 2.3931e-02 2.3931e-02 4.0002e-08 0.0000e+00 2.70881e-02 0.2500 2.1164e-03 1\n", - " 188 2.3931e-02 2.3931e-02 5.6682e-08 0.0000e+00 9.60089e-03 1.0000 2.0247e-03 1\n", - " 189 2.3931e-02 2.3930e-02 8.2176e-08 0.0000e+00 4.10330e-02 0.2500 2.1600e-03 1\n", - " 190 2.3931e-02 2.3930e-02 1.1718e-07 0.0000e+00 1.47709e-02 0.5000 2.0250e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 191 2.3931e-02 2.3930e-02 1.0873e-07 0.0000e+00 2.43366e-02 0.5000 2.1213e-03 1\n", - " 192 2.3931e-02 2.3929e-02 1.2850e-07 0.0000e+00 4.16355e-02 0.1250 2.0276e-03 1\n", - " 193 2.3930e-02 2.3929e-02 1.3269e-07 0.0000e+00 1.42435e-02 0.5000 2.0247e-03 1\n", - " 194 2.3930e-02 2.3929e-02 1.1600e-07 0.0000e+00 2.33262e-02 0.5000 2.1190e-03 1\n", - " 195 2.3930e-02 2.3928e-02 1.2490e-07 0.0000e+00 3.97316e-02 0.2500 2.0273e-03 1\n", - " 196 2.3930e-02 2.3928e-02 1.6875e-07 0.0000e+00 1.26795e-02 1.0000 2.0803e-03 1\n", - " 197 2.3928e-02 2.3928e-02 7.3856e-08 0.0000e+00 5.46137e-02 0.1250 2.0310e-03 1\n", - " 198 2.3928e-02 2.3927e-02 8.7766e-08 0.0000e+00 1.88865e-02 0.5000 2.0257e-03 1\n", - " 199 2.3928e-02 2.3927e-02 9.8245e-08 0.0000e+00 3.07730e-02 0.2500 2.1367e-03 1\n", - " 200 2.3928e-02 2.3927e-02 1.0288e-07 0.0000e+00 1.04931e-02 1.0000 2.0246e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 201 2.3927e-02 2.3926e-02 1.1648e-07 0.0000e+00 4.41201e-02 0.2500 2.1905e-03 1\n", - " 202 2.3927e-02 2.3926e-02 1.5098e-07 0.0000e+00 1.51627e-02 0.5000 2.0253e-03 1\n", - " 203 2.3927e-02 2.3925e-02 1.3281e-07 0.0000e+00 2.44829e-02 0.5000 2.1267e-03 1\n", - " 204 2.3926e-02 2.3925e-02 1.4610e-07 0.0000e+00 4.06663e-02 0.2500 2.0297e-03 1\n", - " 205 2.3926e-02 2.3924e-02 1.9404e-07 0.0000e+00 1.24491e-02 1.0000 2.0776e-03 1\n", - " 206 2.3925e-02 2.3924e-02 9.8230e-08 0.0000e+00 5.25906e-02 0.1250 2.0339e-03 1\n", - " 207 2.3925e-02 2.3924e-02 1.1228e-07 0.0000e+00 1.84592e-02 0.5000 2.0262e-03 1\n", - " 208 2.3925e-02 2.3923e-02 1.1043e-07 0.0000e+00 2.95310e-02 0.2500 2.1365e-03 1\n", - " 209 2.3924e-02 2.3923e-02 1.1530e-07 0.0000e+00 9.47743e-03 1.0000 2.0245e-03 1\n", - " 210 2.3924e-02 2.3923e-02 1.0528e-07 0.0000e+00 3.94743e-02 0.2500 2.1810e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 211 2.3924e-02 2.3922e-02 1.4242e-07 0.0000e+00 1.27125e-02 1.0000 2.0253e-03 1\n", - " 212 2.3924e-02 2.3922e-02 1.6843e-07 0.0000e+00 5.31162e-02 0.1250 2.2279e-03 1\n", - " 213 2.3923e-02 2.3922e-02 1.7472e-07 0.0000e+00 1.82075e-02 0.5000 2.0996e-03 1\n", - " 214 2.3923e-02 2.3921e-02 1.3964e-07 0.0000e+00 2.95066e-02 0.2500 2.0296e-03 1\n", - " 215 2.3923e-02 2.3921e-02 1.5187e-07 0.0000e+00 8.92500e-03 1.0000 2.0627e-03 1\n", - " 216 2.3921e-02 2.3921e-02 7.2121e-08 0.0000e+00 3.73630e-02 0.1250 2.0334e-03 1\n", - " 217 2.3921e-02 2.3921e-02 8.1298e-08 0.0000e+00 1.31158e-02 0.5000 2.0255e-03 1\n", - " 218 2.3921e-02 2.3920e-02 7.6872e-08 0.0000e+00 2.08543e-02 0.2500 2.1060e-03 1\n", - " 219 2.3921e-02 2.3920e-02 8.0628e-08 0.0000e+00 6.49750e-03 1.0000 2.0237e-03 1\n", - " 220 2.3920e-02 2.3920e-02 4.9756e-08 0.0000e+00 2.66894e-02 0.1250 2.1306e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 221 2.3920e-02 2.3920e-02 5.3582e-08 0.0000e+00 9.33803e-03 0.5000 2.0646e-03 1\n", - " 222 2.3920e-02 2.3920e-02 4.5322e-08 0.0000e+00 1.50137e-02 0.2500 2.0265e-03 1\n", - " 223 2.3920e-02 2.3920e-02 4.8891e-08 0.0000e+00 4.65745e-03 1.0000 2.0458e-03 1\n", - " 224 2.3919e-02 2.3919e-02 2.4610e-08 0.0000e+00 1.91919e-02 0.1250 2.0288e-03 1\n", - " 225 2.3919e-02 2.3919e-02 2.7183e-08 0.0000e+00 6.78422e-03 1.0000 2.0236e-03 1\n", - " 226 2.3919e-02 2.3919e-02 5.0556e-08 0.0000e+00 2.79303e-02 0.1250 2.1327e-03 1\n", - " 227 2.3919e-02 2.3919e-02 5.6670e-08 0.0000e+00 9.81328e-03 0.5000 2.0641e-03 1\n", - " 228 2.3919e-02 2.3919e-02 5.1997e-08 0.0000e+00 1.57444e-02 0.2500 2.0270e-03 1\n", - " 229 2.3919e-02 2.3918e-02 5.6168e-08 0.0000e+00 4.87767e-03 1.0000 2.0454e-03 1\n", - " 230 2.3918e-02 2.3918e-02 2.9442e-08 0.0000e+00 2.01188e-02 0.1250 2.0296e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 231 2.3918e-02 2.3918e-02 3.2652e-08 0.0000e+00 7.09572e-03 1.0000 2.0236e-03 1\n", - " 232 2.3918e-02 2.3918e-02 6.0030e-08 0.0000e+00 2.92497e-02 0.1250 2.1377e-03 1\n", - " 233 2.3918e-02 2.3918e-02 6.7685e-08 0.0000e+00 1.02869e-02 0.5000 2.0651e-03 1\n", - " 234 2.3918e-02 2.3918e-02 6.3216e-08 0.0000e+00 1.65134e-02 0.2500 2.0276e-03 1\n", - " 235 2.3918e-02 2.3917e-02 6.7853e-08 0.0000e+00 5.12764e-03 1.0000 2.0448e-03 1\n", - " 236 2.3917e-02 2.3917e-02 3.4260e-08 0.0000e+00 2.11679e-02 0.1250 2.0306e-03 1\n", - " 237 2.3917e-02 2.3917e-02 3.8180e-08 0.0000e+00 7.45115e-03 0.5000 2.0236e-03 1\n", - " 238 2.3917e-02 2.3917e-02 3.4831e-08 0.0000e+00 1.18078e-02 0.2500 2.0699e-03 1\n", - " 239 2.3917e-02 2.3917e-02 3.6724e-08 0.0000e+00 3.75716e-03 1.0000 2.0219e-03 1\n", - " 240 2.3917e-02 2.3916e-02 1.8333e-08 0.0000e+00 1.50828e-02 0.1250 2.0816e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 241 2.3917e-02 2.3916e-02 2.0350e-08 0.0000e+00 5.36723e-03 1.0000 2.0445e-03 1\n", - " 242 2.3917e-02 2.3916e-02 3.7904e-08 0.0000e+00 2.22070e-02 0.1250 2.0316e-03 1\n", - " 243 2.3916e-02 2.3916e-02 4.2170e-08 0.0000e+00 7.82448e-03 0.5000 2.0236e-03 1\n", - " 244 2.3916e-02 2.3916e-02 3.8678e-08 0.0000e+00 1.23714e-02 0.2500 2.0703e-03 1\n", - " 245 2.3916e-02 2.3916e-02 4.0686e-08 0.0000e+00 3.92215e-03 1.0000 2.0216e-03 1\n", - " 246 2.3916e-02 2.3916e-02 1.9522e-08 0.0000e+00 1.57639e-02 0.1250 2.0821e-03 1\n", - " 247 2.3916e-02 2.3915e-02 2.1806e-08 0.0000e+00 5.61023e-03 1.0000 2.0439e-03 1\n", - " 248 2.3916e-02 2.3915e-02 4.0944e-08 0.0000e+00 2.32278e-02 0.1250 2.0328e-03 1\n", - " 249 2.3916e-02 2.3915e-02 4.5676e-08 0.0000e+00 8.18254e-03 0.5000 2.0237e-03 1\n", - " 250 2.3915e-02 2.3915e-02 4.2126e-08 0.0000e+00 1.29327e-02 0.2500 2.0706e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 251 2.3915e-02 2.3915e-02 4.4355e-08 0.0000e+00 4.08636e-03 1.0000 2.0215e-03 1\n", - " 252 2.3915e-02 2.3915e-02 2.0745e-08 0.0000e+00 1.64379e-02 0.1250 2.0823e-03 1\n", - " 253 2.3915e-02 2.3915e-02 2.3206e-08 0.0000e+00 5.85207e-03 1.0000 2.0432e-03 1\n", - " 254 2.3915e-02 2.3914e-02 4.3743e-08 0.0000e+00 2.42391e-02 0.1250 2.0342e-03 1\n", - " 255 2.3915e-02 2.3914e-02 4.8880e-08 0.0000e+00 8.54042e-03 0.5000 2.0238e-03 1\n", - " 256 2.3914e-02 2.3914e-02 4.5237e-08 0.0000e+00 1.34874e-02 0.2500 2.0705e-03 1\n", - " 257 2.3914e-02 2.3914e-02 4.7672e-08 0.0000e+00 4.24678e-03 1.0000 2.0213e-03 1\n", - " 258 2.3914e-02 2.3914e-02 2.1825e-08 0.0000e+00 1.70972e-02 0.1250 2.0822e-03 1\n", - " 259 2.3914e-02 2.3914e-02 2.4489e-08 0.0000e+00 6.08811e-03 1.0000 2.0423e-03 1\n", - " 260 2.3914e-02 2.3913e-02 4.6246e-08 0.0000e+00 2.52229e-02 0.1250 2.0358e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 261 2.3914e-02 2.3913e-02 5.1796e-08 0.0000e+00 8.89009e-03 0.5000 2.0240e-03 1\n", - " 262 2.3913e-02 2.3913e-02 4.8050e-08 0.0000e+00 1.40295e-02 0.2500 2.0702e-03 1\n", - " 263 2.3913e-02 2.3913e-02 5.0701e-08 0.0000e+00 4.40270e-03 1.0000 2.0211e-03 1\n", - " 264 2.3913e-02 2.3913e-02 2.2742e-08 0.0000e+00 1.77366e-02 0.1250 2.0816e-03 1\n", - " 265 2.3913e-02 2.3913e-02 2.5583e-08 0.0000e+00 6.31865e-03 1.0000 2.0413e-03 1\n", - " 266 2.3913e-02 2.3912e-02 4.8413e-08 0.0000e+00 2.61730e-02 0.1250 2.0376e-03 1\n", - " 267 2.3913e-02 2.3912e-02 5.4323e-08 0.0000e+00 9.22912e-03 0.5000 2.0243e-03 1\n", - " 268 2.3913e-02 2.3912e-02 5.0449e-08 0.0000e+00 1.45600e-02 0.2500 2.0695e-03 1\n", - " 269 2.3912e-02 2.3912e-02 5.3262e-08 0.0000e+00 4.55232e-03 1.0000 2.0210e-03 1\n", - " 270 2.3912e-02 2.3912e-02 2.3485e-08 0.0000e+00 1.83517e-02 0.1250 2.0806e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 271 2.3912e-02 2.3912e-02 2.6466e-08 0.0000e+00 6.54026e-03 1.0000 2.0401e-03 1\n", - " 272 2.3912e-02 2.3911e-02 5.0183e-08 0.0000e+00 2.70804e-02 0.1250 2.0396e-03 1\n", - " 273 2.3912e-02 2.3911e-02 5.6358e-08 0.0000e+00 9.55432e-03 0.5000 2.0246e-03 1\n", - " 274 2.3912e-02 2.3911e-02 5.2409e-08 0.0000e+00 1.50719e-02 0.2500 2.0684e-03 1\n", - " 275 2.3911e-02 2.3911e-02 5.5308e-08 0.0000e+00 4.69401e-03 1.0000 2.0209e-03 1\n", - " 276 2.3911e-02 2.3911e-02 2.4051e-08 0.0000e+00 1.89551e-02 0.1250 2.0792e-03 1\n", - " 277 2.3911e-02 2.3911e-02 2.7159e-08 0.0000e+00 6.75478e-03 1.0000 2.0387e-03 1\n", - " 278 2.3911e-02 2.3910e-02 5.1585e-08 0.0000e+00 2.79723e-02 0.1250 2.0417e-03 1\n", - " 279 2.3911e-02 2.3910e-02 5.7965e-08 0.0000e+00 9.86881e-03 0.5000 2.0250e-03 1\n", - " 280 2.3911e-02 2.3910e-02 5.4066e-08 0.0000e+00 1.55696e-02 0.2500 2.0671e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 281 2.3910e-02 2.3910e-02 5.7002e-08 0.0000e+00 4.83299e-03 1.0000 2.0208e-03 1\n", - " 282 2.3910e-02 2.3910e-02 2.4500e-08 0.0000e+00 1.95441e-02 0.1250 2.0774e-03 1\n", - " 283 2.3910e-02 2.3910e-02 2.7716e-08 0.0000e+00 6.96125e-03 1.0000 2.0372e-03 1\n", - " 284 2.3910e-02 2.3909e-02 5.2619e-08 0.0000e+00 2.88409e-02 0.1250 2.0441e-03 1\n", - " 285 2.3910e-02 2.3909e-02 5.9130e-08 0.0000e+00 1.01757e-02 0.5000 2.0254e-03 1\n", - " 286 2.3910e-02 2.3909e-02 5.5432e-08 0.0000e+00 1.60597e-02 0.2500 2.0654e-03 1\n", - " 287 2.3909e-02 2.3909e-02 5.8472e-08 0.0000e+00 4.97030e-03 1.0000 2.0208e-03 1\n", - " 288 2.3909e-02 2.3909e-02 2.4913e-08 0.0000e+00 2.01217e-02 0.1250 2.0752e-03 1\n", - " 289 2.3909e-02 2.3909e-02 2.8180e-08 0.0000e+00 7.16863e-03 1.0000 2.0355e-03 1\n", - " 290 2.3909e-02 2.3908e-02 5.3359e-08 0.0000e+00 2.96763e-02 0.1250 2.0468e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 291 2.3909e-02 2.3908e-02 6.0171e-08 0.0000e+00 1.04808e-02 0.5000 2.0259e-03 1\n", - " 292 2.3909e-02 2.3908e-02 5.6503e-08 0.0000e+00 1.65409e-02 0.2500 2.0635e-03 1\n", - " 293 2.3908e-02 2.3908e-02 5.9626e-08 0.0000e+00 5.10653e-03 1.0000 2.0207e-03 1\n", - " 294 2.3908e-02 2.3908e-02 2.5268e-08 0.0000e+00 2.07170e-02 0.1250 2.0728e-03 1\n", - " 295 2.3908e-02 2.3908e-02 2.8614e-08 0.0000e+00 7.37439e-03 1.0000 2.0338e-03 1\n", - " 296 2.3908e-02 2.3907e-02 5.4120e-08 0.0000e+00 3.05612e-02 0.1250 2.0496e-03 1\n", - " 297 2.3908e-02 2.3907e-02 6.1063e-08 0.0000e+00 1.07837e-02 0.5000 2.0265e-03 1\n", - " 298 2.3908e-02 2.3907e-02 5.7424e-08 0.0000e+00 1.70343e-02 0.2500 2.0613e-03 1\n", - " 299 2.3907e-02 2.3907e-02 6.0599e-08 0.0000e+00 5.24362e-03 1.0000 2.0207e-03 1\n", - " 300 2.3907e-02 2.3907e-02 2.5628e-08 0.0000e+00 2.13038e-02 0.1250 2.0700e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 301 2.3907e-02 2.3907e-02 2.9057e-08 0.0000e+00 7.58125e-03 1.0000 2.0320e-03 1\n", - " 302 2.3907e-02 2.3906e-02 5.4846e-08 0.0000e+00 3.14284e-02 0.1250 2.0526e-03 1\n", - " 303 2.3907e-02 2.3906e-02 6.1939e-08 0.0000e+00 1.10946e-02 0.5000 2.0271e-03 1\n", - " 304 2.3907e-02 2.3906e-02 5.8454e-08 0.0000e+00 1.75235e-02 0.2500 2.0588e-03 1\n", - " 305 2.3906e-02 2.3906e-02 6.1710e-08 0.0000e+00 5.38245e-03 1.0000 2.0207e-03 1\n", - " 306 2.3906e-02 2.3906e-02 2.6066e-08 0.0000e+00 2.18864e-02 0.1250 2.0671e-03 1\n", - " 307 2.3906e-02 2.3905e-02 2.9591e-08 0.0000e+00 7.78810e-03 1.0000 2.0301e-03 1\n", - " 308 2.3906e-02 2.3905e-02 5.5811e-08 0.0000e+00 3.22797e-02 0.1250 2.0559e-03 1\n", - " 309 2.3906e-02 2.3905e-02 6.3164e-08 0.0000e+00 1.14035e-02 0.5000 2.0278e-03 1\n", - " 310 2.3906e-02 2.3905e-02 5.9696e-08 0.0000e+00 1.80099e-02 0.2500 2.0563e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 311 2.3905e-02 2.3905e-02 6.3061e-08 0.0000e+00 5.52022e-03 1.0000 2.0206e-03 1\n", - " 312 2.3905e-02 2.3905e-02 2.6588e-08 0.0000e+00 2.24742e-02 0.1250 2.0640e-03 1\n", - " 313 2.3905e-02 2.3904e-02 3.0214e-08 0.0000e+00 7.99466e-03 1.0000 2.0282e-03 1\n", - " 314 2.3905e-02 2.3904e-02 5.6978e-08 0.0000e+00 3.31269e-02 0.1250 2.0593e-03 1\n", - " 315 2.3905e-02 2.3904e-02 6.4557e-08 0.0000e+00 1.17100e-02 0.5000 2.0285e-03 1\n", - " 316 2.3905e-02 2.3904e-02 6.1109e-08 0.0000e+00 1.84947e-02 0.2500 2.0536e-03 1\n", - " 317 2.3904e-02 2.3904e-02 6.4594e-08 0.0000e+00 5.65843e-03 1.0000 2.0206e-03 1\n", - " 318 2.3904e-02 2.3904e-02 2.7222e-08 0.0000e+00 2.30553e-02 0.1250 2.0608e-03 1\n", - " 319 2.3904e-02 2.3903e-02 3.0964e-08 0.0000e+00 8.20146e-03 1.0000 2.0263e-03 1\n", - " 320 2.3904e-02 2.3903e-02 5.8345e-08 0.0000e+00 3.39662e-02 0.1250 2.0629e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 321 2.3904e-02 2.3903e-02 6.6187e-08 0.0000e+00 1.20133e-02 0.5000 2.0293e-03 1\n", - " 322 2.3904e-02 2.3903e-02 6.2781e-08 0.0000e+00 1.89826e-02 0.2500 2.0508e-03 1\n", - " 323 2.3903e-02 2.3903e-02 6.6389e-08 0.0000e+00 5.79612e-03 1.0000 2.0205e-03 1\n", - " 324 2.3903e-02 2.3902e-02 2.7993e-08 0.0000e+00 2.36329e-02 0.1250 2.0575e-03 1\n", - " 325 2.3903e-02 2.3902e-02 3.1862e-08 0.0000e+00 8.40606e-03 1.0000 2.0244e-03 1\n", - " 326 2.3903e-02 2.3902e-02 5.9965e-08 0.0000e+00 3.48086e-02 0.1250 2.0667e-03 1\n", - " 327 2.3903e-02 2.3902e-02 6.8112e-08 0.0000e+00 1.23190e-02 0.5000 2.0300e-03 1\n", - " 328 2.3902e-02 2.3902e-02 6.4763e-08 0.0000e+00 1.94633e-02 0.2500 2.0479e-03 1\n", - " 329 2.3902e-02 2.3902e-02 6.8503e-08 0.0000e+00 5.93243e-03 1.0000 2.0204e-03 1\n", - " 330 2.3902e-02 2.3901e-02 2.8907e-08 0.0000e+00 2.42120e-02 0.1250 2.0542e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 331 2.3902e-02 2.3901e-02 3.2919e-08 0.0000e+00 8.61027e-03 1.0000 2.0225e-03 1\n", - " 332 2.3902e-02 2.3901e-02 6.1927e-08 0.0000e+00 3.56362e-02 0.1250 2.0705e-03 1\n", - " 333 2.3902e-02 2.3901e-02 7.0370e-08 0.0000e+00 1.26227e-02 0.5000 2.0308e-03 1\n", - " 334 2.3901e-02 2.3901e-02 6.7085e-08 0.0000e+00 1.99469e-02 0.2500 2.0451e-03 1\n", - " 335 2.3901e-02 2.3901e-02 7.0965e-08 0.0000e+00 6.06506e-03 1.0000 2.0202e-03 1\n", - " 336 2.3901e-02 2.3900e-02 2.9996e-08 0.0000e+00 2.47771e-02 0.1250 2.0509e-03 1\n", - " 337 2.3901e-02 2.3900e-02 3.4170e-08 0.0000e+00 8.81239e-03 0.5000 2.0207e-03 1\n", - " 338 2.3900e-02 2.3900e-02 3.2665e-08 0.0000e+00 1.39752e-02 0.2500 2.0342e-03 1\n", - " 339 2.3900e-02 2.3900e-02 3.4590e-08 0.0000e+00 4.27970e-03 1.0000 2.0110e-03 1\n", - " 340 2.3900e-02 2.3900e-02 1.4929e-08 0.0000e+00 1.73977e-02 0.1250 2.0417e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 341 2.3900e-02 2.3900e-02 1.6990e-08 0.0000e+00 6.21496e-03 1.0000 2.0202e-03 1\n", - " 342 2.3900e-02 2.3899e-02 3.1828e-08 0.0000e+00 2.54716e-02 0.1250 2.0490e-03 1\n", - " 343 2.3900e-02 2.3899e-02 3.6444e-08 0.0000e+00 9.06028e-03 0.5000 2.0196e-03 1\n", - " 344 2.3900e-02 2.3899e-02 3.5213e-08 0.0000e+00 1.43601e-02 0.2500 2.0351e-03 1\n", - " 345 2.3900e-02 2.3899e-02 3.7236e-08 0.0000e+00 4.39532e-03 1.0000 2.0105e-03 1\n", - " 346 2.3899e-02 2.3899e-02 1.5924e-08 0.0000e+00 1.78740e-02 0.1250 2.0430e-03 1\n", - " 347 2.3899e-02 2.3899e-02 1.8134e-08 0.0000e+00 6.38261e-03 1.0000 2.0201e-03 1\n", - " 348 2.3899e-02 2.3899e-02 3.3884e-08 0.0000e+00 2.61833e-02 0.1250 2.0468e-03 1\n", - " 349 2.3899e-02 2.3898e-02 3.8849e-08 0.0000e+00 9.31492e-03 0.5000 2.0184e-03 1\n", - " 350 2.3899e-02 2.3898e-02 3.7640e-08 0.0000e+00 1.47549e-02 0.2500 2.0361e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 351 2.3899e-02 2.3898e-02 3.9772e-08 0.0000e+00 4.50942e-03 1.0000 2.0102e-03 1\n", - " 352 2.3898e-02 2.3898e-02 1.6976e-08 0.0000e+00 1.83384e-02 0.1250 2.0443e-03 1\n", - " 353 2.3898e-02 2.3898e-02 1.9338e-08 0.0000e+00 6.54691e-03 1.0000 2.0200e-03 1\n", - " 354 2.3898e-02 2.3898e-02 3.6056e-08 0.0000e+00 2.68774e-02 0.1250 2.0449e-03 1\n", - " 355 2.3898e-02 2.3897e-02 4.1386e-08 0.0000e+00 9.56503e-03 0.5000 2.0171e-03 1\n", - " 356 2.3898e-02 2.3897e-02 4.0223e-08 0.0000e+00 1.51417e-02 0.2500 2.0369e-03 1\n", - " 357 2.3898e-02 2.3897e-02 4.2467e-08 0.0000e+00 4.61969e-03 1.0000 2.0098e-03 1\n", - " 358 2.3897e-02 2.3897e-02 1.8044e-08 0.0000e+00 1.87846e-02 0.1250 2.0454e-03 1\n", - " 359 2.3897e-02 2.3897e-02 2.0556e-08 0.0000e+00 6.70652e-03 1.0000 2.0199e-03 1\n", - " 360 2.3897e-02 2.3897e-02 3.8260e-08 0.0000e+00 2.75448e-02 0.1250 2.0466e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 361 2.3897e-02 2.3897e-02 4.3964e-08 0.0000e+00 9.80728e-03 0.5000 2.0159e-03 1\n", - " 362 2.3897e-02 2.3896e-02 4.2829e-08 0.0000e+00 1.55141e-02 0.2500 2.0377e-03 1\n", - " 363 2.3897e-02 2.3896e-02 4.5183e-08 0.0000e+00 4.72416e-03 1.0000 2.0095e-03 1\n", - " 364 2.3896e-02 2.3896e-02 1.9107e-08 0.0000e+00 1.92043e-02 0.1250 2.0465e-03 1\n", - " 365 2.3896e-02 2.3896e-02 2.1766e-08 0.0000e+00 6.85855e-03 1.0000 2.0197e-03 1\n", - " 366 2.3896e-02 2.3896e-02 4.0469e-08 0.0000e+00 2.81719e-02 0.1250 2.0482e-03 1\n", - " 367 2.3896e-02 2.3896e-02 4.6520e-08 0.0000e+00 1.00388e-02 0.5000 2.0147e-03 1\n", - " 368 2.3896e-02 2.3895e-02 4.5422e-08 0.0000e+00 1.58654e-02 0.2500 2.0384e-03 1\n", - " 369 2.3896e-02 2.3895e-02 4.7871e-08 0.0000e+00 4.82036e-03 1.0000 2.0092e-03 1\n", - " 370 2.3895e-02 2.3895e-02 2.0135e-08 0.0000e+00 1.95879e-02 0.1250 2.0473e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 371 2.3895e-02 2.3895e-02 2.2930e-08 0.0000e+00 6.99976e-03 1.0000 2.0194e-03 1\n", - " 372 2.3895e-02 2.3895e-02 4.2586e-08 0.0000e+00 2.87466e-02 0.1250 2.0495e-03 1\n", - " 373 2.3895e-02 2.3895e-02 4.8980e-08 0.0000e+00 1.02540e-02 0.5000 2.0134e-03 1\n", - " 374 2.3895e-02 2.3894e-02 4.7936e-08 0.0000e+00 1.61884e-02 0.2500 2.0389e-03 1\n", - " 375 2.3895e-02 2.3894e-02 5.0474e-08 0.0000e+00 4.90856e-03 1.0000 2.0089e-03 1\n", - " 376 2.3894e-02 2.3894e-02 2.1093e-08 0.0000e+00 1.99263e-02 0.1250 2.0480e-03 1\n", - " 377 2.3894e-02 2.3894e-02 2.4011e-08 0.0000e+00 7.12761e-03 1.0000 2.0190e-03 1\n", - " 378 2.3894e-02 2.3894e-02 4.4553e-08 0.0000e+00 2.92583e-02 0.1250 2.0505e-03 1\n", - " 379 2.3894e-02 2.3894e-02 5.1273e-08 0.0000e+00 1.04495e-02 0.5000 2.0128e-03 1\n", - " 380 2.3894e-02 2.3893e-02 5.0283e-08 0.0000e+00 1.64772e-02 0.2500 2.0393e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 381 2.3894e-02 2.3893e-02 5.2891e-08 0.0000e+00 4.98510e-03 1.0000 2.0085e-03 1\n", - " 382 2.3893e-02 2.3893e-02 2.1944e-08 0.0000e+00 2.02168e-02 0.1250 2.0485e-03 1\n", - " 383 2.3893e-02 2.3893e-02 2.4963e-08 0.0000e+00 7.23933e-03 1.0000 2.0185e-03 1\n", - " 384 2.3893e-02 2.3893e-02 4.6307e-08 0.0000e+00 2.96922e-02 0.1250 2.0512e-03 1\n", - " 385 2.3893e-02 2.3893e-02 5.3300e-08 0.0000e+00 1.06203e-02 0.5000 2.0128e-03 1\n", - " 386 2.3893e-02 2.3892e-02 5.2372e-08 0.0000e+00 1.67276e-02 0.2500 2.0395e-03 1\n", - " 387 2.3893e-02 2.3892e-02 5.5033e-08 0.0000e+00 5.04734e-03 1.0000 2.0082e-03 1\n", - " 388 2.3892e-02 2.3892e-02 2.2656e-08 0.0000e+00 2.04751e-02 0.1250 2.0487e-03 1\n", - " 389 2.3892e-02 2.3892e-02 2.5750e-08 0.0000e+00 7.33604e-03 1.0000 2.0180e-03 1\n", - " 390 2.3892e-02 2.3892e-02 4.7765e-08 0.0000e+00 3.00854e-02 0.1250 2.0514e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 391 2.3892e-02 2.3892e-02 5.4980e-08 0.0000e+00 1.07663e-02 0.5000 2.0128e-03 1\n", - " 392 2.3892e-02 2.3891e-02 5.4121e-08 0.0000e+00 1.69435e-02 0.2500 2.0396e-03 1\n", - " 393 2.3892e-02 2.3891e-02 5.6813e-08 0.0000e+00 5.09728e-03 1.0000 2.0078e-03 1\n", - " 394 2.3891e-02 2.3891e-02 2.3197e-08 0.0000e+00 2.06869e-02 0.1250 2.0487e-03 1\n", - " 395 2.3891e-02 2.3891e-02 2.6346e-08 0.0000e+00 7.41384e-03 1.0000 2.0173e-03 1\n", - " 396 2.3891e-02 2.3891e-02 4.8859e-08 0.0000e+00 3.04086e-02 0.1250 2.0511e-03 1\n", - " 397 2.3891e-02 2.3891e-02 5.6239e-08 0.0000e+00 1.08892e-02 0.5000 2.0128e-03 1\n", - " 398 2.3891e-02 2.3890e-02 5.5454e-08 0.0000e+00 1.71279e-02 0.2500 2.0393e-03 1\n", - " 399 2.3891e-02 2.3890e-02 5.8153e-08 0.0000e+00 5.13288e-03 1.0000 2.0074e-03 1\n", - " 400 2.3890e-02 2.3890e-02 2.3547e-08 0.0000e+00 2.08361e-02 0.1250 2.0484e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 401 2.3890e-02 2.3890e-02 2.6723e-08 0.0000e+00 7.47614e-03 1.0000 2.0165e-03 1\n", - " 402 2.3890e-02 2.3890e-02 4.9541e-08 0.0000e+00 3.06352e-02 0.1250 2.0504e-03 1\n", - " 403 2.3890e-02 2.3890e-02 5.7017e-08 0.0000e+00 1.09839e-02 0.5000 2.0128e-03 1\n", - " 404 2.3890e-02 2.3889e-02 5.6309e-08 0.0000e+00 1.72593e-02 0.2500 2.0389e-03 1\n", - " 405 2.3890e-02 2.3889e-02 5.8995e-08 0.0000e+00 5.15472e-03 1.0000 2.0070e-03 1\n", - " 406 2.3889e-02 2.3889e-02 2.3690e-08 0.0000e+00 2.09181e-02 0.1250 2.0478e-03 1\n", - " 407 2.3889e-02 2.3889e-02 2.6865e-08 0.0000e+00 7.51396e-03 1.0000 2.0155e-03 1\n", - " 408 2.3889e-02 2.3889e-02 4.9784e-08 0.0000e+00 3.07657e-02 0.1250 2.0491e-03 1\n", - " 409 2.3889e-02 2.3889e-02 5.7289e-08 0.0000e+00 1.10417e-02 0.5000 2.0128e-03 1\n", - " 410 2.3889e-02 2.3888e-02 5.6657e-08 0.0000e+00 1.73375e-02 0.2500 2.0383e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 411 2.3889e-02 2.3888e-02 5.9309e-08 0.0000e+00 5.16188e-03 1.0000 2.0066e-03 1\n", - " 412 2.3888e-02 2.3888e-02 2.3623e-08 0.0000e+00 2.09255e-02 0.1250 2.0469e-03 1\n", - " 413 2.3888e-02 2.3888e-02 2.6766e-08 0.0000e+00 7.52528e-03 1.0000 2.0145e-03 1\n", - " 414 2.3888e-02 2.3888e-02 4.9582e-08 0.0000e+00 3.07873e-02 0.1250 2.0474e-03 1\n", - " 415 2.3888e-02 2.3888e-02 5.7046e-08 0.0000e+00 1.10634e-02 0.5000 2.0127e-03 1\n", - " 416 2.3888e-02 2.3887e-02 5.6487e-08 0.0000e+00 1.73539e-02 0.2500 2.0374e-03 1\n", - " 417 2.3888e-02 2.3887e-02 5.9085e-08 0.0000e+00 5.15123e-03 1.0000 2.0062e-03 1\n", - " 418 2.3887e-02 2.3887e-02 2.3357e-08 0.0000e+00 2.08604e-02 0.1250 2.0458e-03 1\n", - " 419 2.3887e-02 2.3887e-02 2.6438e-08 0.0000e+00 7.51084e-03 1.0000 2.0134e-03 1\n", - " 420 2.3887e-02 2.3887e-02 4.8958e-08 0.0000e+00 3.07056e-02 0.1250 2.0452e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 421 2.3887e-02 2.3887e-02 5.6317e-08 0.0000e+00 1.10489e-02 0.5000 2.0127e-03 1\n", - " 422 2.3887e-02 2.3886e-02 5.5825e-08 0.0000e+00 1.73073e-02 0.2500 2.0363e-03 1\n", - " 423 2.3887e-02 2.3886e-02 5.8352e-08 0.0000e+00 5.12274e-03 1.0000 2.0057e-03 1\n", - " 424 2.3886e-02 2.3886e-02 2.2910e-08 0.0000e+00 2.07360e-02 0.1250 2.0444e-03 1\n", - " 425 2.3886e-02 2.3886e-02 2.5908e-08 0.0000e+00 7.47407e-03 1.0000 2.0122e-03 1\n", - " 426 2.3886e-02 2.3886e-02 4.7956e-08 0.0000e+00 3.05226e-02 0.1250 2.0425e-03 1\n", - " 427 2.3886e-02 2.3886e-02 5.5150e-08 0.0000e+00 1.09974e-02 0.5000 2.0126e-03 1\n", - " 428 2.3886e-02 2.3885e-02 5.4724e-08 0.0000e+00 1.72109e-02 0.2500 2.0349e-03 1\n", - " 429 2.3886e-02 2.3885e-02 5.7166e-08 0.0000e+00 5.07719e-03 1.0000 2.0052e-03 1\n", - " 430 2.3885e-02 2.3885e-02 2.2311e-08 0.0000e+00 2.05449e-02 0.1250 2.0427e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 431 2.3885e-02 2.3885e-02 2.5209e-08 0.0000e+00 7.41537e-03 1.0000 2.0109e-03 1\n", - " 432 2.3885e-02 2.3885e-02 4.6648e-08 0.0000e+00 3.02483e-02 0.1250 2.0403e-03 1\n", - " 433 2.3885e-02 2.3885e-02 5.3624e-08 0.0000e+00 1.09082e-02 0.5000 2.0125e-03 1\n", - " 434 2.3885e-02 2.3884e-02 5.3256e-08 0.0000e+00 1.70624e-02 0.2500 2.0334e-03 1\n", - " 435 2.3885e-02 2.3884e-02 5.5603e-08 0.0000e+00 5.01838e-03 1.0000 2.0047e-03 1\n", - " 436 2.3884e-02 2.3884e-02 2.1597e-08 0.0000e+00 2.02932e-02 0.1250 2.0409e-03 1\n", - " 437 2.3884e-02 2.3884e-02 2.4383e-08 0.0000e+00 7.33362e-03 1.0000 2.0096e-03 1\n", - " 438 2.3884e-02 2.3884e-02 4.5100e-08 0.0000e+00 2.98842e-02 0.1250 2.0413e-03 1\n", - " 439 2.3884e-02 2.3884e-02 5.1826e-08 0.0000e+00 1.07890e-02 0.5000 2.0123e-03 1\n", - " 440 2.3884e-02 2.3883e-02 5.1505e-08 0.0000e+00 1.68612e-02 0.2500 2.0318e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 441 2.3884e-02 2.3883e-02 5.3748e-08 0.0000e+00 4.94622e-03 1.0000 2.0041e-03 1\n", - " 442 2.3883e-02 2.3883e-02 2.0804e-08 0.0000e+00 1.99867e-02 0.1250 2.0389e-03 1\n", - " 443 2.3883e-02 2.3883e-02 2.3471e-08 0.0000e+00 7.23091e-03 1.0000 2.0082e-03 1\n", - " 444 2.3883e-02 2.3883e-02 4.3394e-08 0.0000e+00 2.94360e-02 0.1250 2.0422e-03 1\n", - " 445 2.3883e-02 2.3883e-02 4.9854e-08 0.0000e+00 1.06393e-02 0.5000 2.0121e-03 1\n", - " 446 2.3883e-02 2.3882e-02 4.9560e-08 0.0000e+00 1.66146e-02 0.2500 2.0300e-03 1\n", - " 447 2.3883e-02 2.3882e-02 5.1701e-08 0.0000e+00 4.86212e-03 1.0000 2.0035e-03 1\n", - " 448 2.3882e-02 2.3882e-02 1.9967e-08 0.0000e+00 1.96312e-02 0.1250 2.0367e-03 1\n", - " 449 2.3882e-02 2.3882e-02 2.2510e-08 0.0000e+00 7.10962e-03 1.0000 2.0067e-03 1\n", - " 450 2.3882e-02 2.3882e-02 4.1604e-08 0.0000e+00 2.89172e-02 0.1250 2.0429e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 451 2.3882e-02 2.3882e-02 4.7784e-08 0.0000e+00 1.04616e-02 0.5000 2.0119e-03 1\n", - " 452 2.3882e-02 2.3881e-02 4.7503e-08 0.0000e+00 1.63263e-02 0.2500 2.0280e-03 1\n", - " 453 2.3882e-02 2.3881e-02 4.9561e-08 0.0000e+00 4.76758e-03 1.0000 2.0029e-03 1\n", - " 454 2.3881e-02 2.3881e-02 1.9115e-08 0.0000e+00 1.92341e-02 0.1250 2.0344e-03 1\n", - " 455 2.3881e-02 2.3881e-02 2.1535e-08 0.0000e+00 6.97275e-03 1.0000 2.0053e-03 1\n", - " 456 2.3881e-02 2.3881e-02 3.9810e-08 0.0000e+00 2.83364e-02 0.1250 2.0435e-03 1\n", - " 457 2.3881e-02 2.3881e-02 4.5696e-08 0.0000e+00 1.02599e-02 0.5000 2.0116e-03 1\n", - " 458 2.3881e-02 2.3881e-02 4.5426e-08 0.0000e+00 1.60018e-02 0.2500 2.0260e-03 1\n", - " 459 2.3881e-02 2.3880e-02 4.7404e-08 0.0000e+00 4.66399e-03 1.0000 2.0022e-03 1\n", - " 460 2.3880e-02 2.3880e-02 1.8272e-08 0.0000e+00 1.88028e-02 0.1250 2.0321e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 461 2.3880e-02 2.3880e-02 2.0568e-08 0.0000e+00 6.82262e-03 1.0000 2.0038e-03 1\n", - " 462 2.3880e-02 2.3880e-02 3.8051e-08 0.0000e+00 2.77041e-02 0.1250 2.0439e-03 1\n", - " 463 2.3880e-02 2.3880e-02 4.3649e-08 0.0000e+00 1.00378e-02 0.5000 2.0112e-03 1\n", - " 464 2.3880e-02 2.3880e-02 4.3390e-08 0.0000e+00 1.56478e-02 0.2500 2.0239e-03 1\n", - " 465 2.3880e-02 2.3879e-02 4.5290e-08 0.0000e+00 4.55287e-03 1.0000 2.0015e-03 1\n", - " 466 2.3879e-02 2.3879e-02 1.7450e-08 0.0000e+00 1.83421e-02 0.1250 2.0296e-03 1\n", - " 467 2.3879e-02 2.3879e-02 1.9627e-08 0.0000e+00 6.66128e-03 1.0000 2.0023e-03 1\n", - " 468 2.3879e-02 2.3879e-02 3.6361e-08 0.0000e+00 2.70280e-02 0.1250 2.0442e-03 1\n", - " 469 2.3879e-02 2.3879e-02 4.1707e-08 0.0000e+00 9.79887e-03 0.5000 2.0108e-03 1\n", - " 470 2.3879e-02 2.3879e-02 4.1430e-08 0.0000e+00 1.52702e-02 0.2500 2.0218e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 471 2.3879e-02 2.3878e-02 4.3253e-08 0.0000e+00 4.43552e-03 1.0000 2.0008e-03 1\n", - " 472 2.3878e-02 2.3878e-02 1.6658e-08 0.0000e+00 1.78571e-02 0.1250 2.0272e-03 1\n", - " 473 2.3878e-02 2.3878e-02 1.8740e-08 0.0000e+00 6.49095e-03 1.0000 2.0009e-03 1\n", - " 474 2.3878e-02 2.3878e-02 3.4759e-08 0.0000e+00 2.63156e-02 0.1250 2.0443e-03 1\n", - " 475 2.3878e-02 2.3878e-02 3.9865e-08 0.0000e+00 9.54835e-03 0.5000 2.0103e-03 1\n", - " 476 2.3878e-02 2.3878e-02 3.9565e-08 0.0000e+00 1.48720e-02 0.2500 2.0196e-03 1\n", - " 477 2.3878e-02 2.3878e-02 4.1324e-08 0.0000e+00 4.31317e-03 1.0000 2.0000e-03 1\n", - " 478 2.3877e-02 2.3877e-02 1.5907e-08 0.0000e+00 1.73523e-02 0.1250 2.0247e-03 1\n", - " 479 2.3877e-02 2.3877e-02 1.7908e-08 0.0000e+00 6.31340e-03 1.0000 1.9994e-03 1\n", - " 480 2.3877e-02 2.3877e-02 3.3270e-08 0.0000e+00 2.55752e-02 0.1250 2.0441e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 481 2.3877e-02 2.3877e-02 3.8130e-08 0.0000e+00 9.28793e-03 0.5000 2.0097e-03 1\n", - " 482 2.3877e-02 2.3877e-02 3.7811e-08 0.0000e+00 1.44569e-02 0.2500 2.0175e-03 1\n", - " 483 2.3877e-02 2.3877e-02 3.9503e-08 0.0000e+00 4.18776e-03 1.0000 1.9991e-03 1\n", - " 484 2.3876e-02 2.3876e-02 1.5206e-08 0.0000e+00 1.68314e-02 0.1250 2.0222e-03 1\n", - " 485 2.3876e-02 2.3876e-02 1.7117e-08 0.0000e+00 6.12986e-03 1.0000 1.9980e-03 1\n", - " 486 2.3876e-02 2.3876e-02 3.1866e-08 0.0000e+00 2.48107e-02 0.1250 2.0437e-03 1\n", - " 487 2.3876e-02 2.3876e-02 3.6512e-08 0.0000e+00 9.01894e-03 0.5000 2.0090e-03 1\n", - " 488 2.3876e-02 2.3876e-02 3.6168e-08 0.0000e+00 1.40279e-02 0.2500 2.0153e-03 1\n", - " 489 2.3876e-02 2.3876e-02 3.7835e-08 0.0000e+00 4.06090e-03 1.0000 1.9983e-03 1\n", - " 490 2.3876e-02 2.3875e-02 1.4531e-08 0.0000e+00 1.62974e-02 0.1250 2.0197e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 491 2.3876e-02 2.3875e-02 1.6354e-08 0.0000e+00 5.94137e-03 1.0000 1.9966e-03 1\n", - " 492 2.3875e-02 2.3875e-02 3.0540e-08 0.0000e+00 2.40266e-02 0.1250 2.0431e-03 1\n", - " 493 2.3875e-02 2.3875e-02 3.4985e-08 0.0000e+00 8.74279e-03 0.5000 2.0082e-03 1\n", - " 494 2.3875e-02 2.3875e-02 3.4653e-08 0.0000e+00 1.35874e-02 0.2500 2.0131e-03 1\n", - " 495 2.3875e-02 2.3875e-02 3.6253e-08 0.0000e+00 3.93221e-03 1.0000 1.9974e-03 1\n", - " 496 2.3875e-02 2.3874e-02 1.3875e-08 0.0000e+00 1.57532e-02 0.1250 2.0173e-03 1\n", - " 497 2.3875e-02 2.3874e-02 1.5626e-08 0.0000e+00 5.74989e-03 1.0000 1.9952e-03 1\n", - " 498 2.3874e-02 2.3874e-02 2.9268e-08 0.0000e+00 2.32266e-02 0.1250 2.0423e-03 1\n", - " 499 2.3874e-02 2.3874e-02 3.3519e-08 0.0000e+00 8.46078e-03 0.5000 2.0073e-03 1\n", - " 500 2.3874e-02 2.3874e-02 3.3192e-08 0.0000e+00 1.31382e-02 0.2500 2.0110e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.4792e+03 2.3874e-02 2.4792e+02 0.0000e+00 5.93108e+00 1.0000 ---- 1\n", - " 2 1.9889e+02 2.7134e-02 2.8803e+00 1.7006e+01 5.73865e-01 1.0000 1.7006e+01 3\n", - " 3 5.7778e-01 2.7318e-02 3.7394e-03 5.1307e-02 2.61569e-01 1.0000 5.1307e-02 3\n", - " 4 2.9813e-02 2.7307e-02 2.5066e-04 0.0000e+00 2.57436e-01 0.2500 2.6440e-02 1\n", - " 5 2.9176e-02 2.7302e-02 1.8740e-04 0.0000e+00 1.26376e-01 0.5000 2.4117e-02 1\n", - " 6 2.8194e-02 2.7300e-02 8.9431e-05 0.0000e+00 3.01048e-02 1.0000 1.4644e-02 1\n", - " 7 2.7325e-02 2.7299e-02 2.5804e-06 0.0000e+00 3.03496e-02 1.0000 6.7857e-03 1\n", - " 8 2.7313e-02 2.7299e-02 1.4150e-06 0.0000e+00 3.70427e-02 1.0000 9.3413e-04 1\n", - " 9 2.7302e-02 2.7299e-02 3.2280e-07 0.0000e+00 4.94399e-02 0.1250 1.4656e-02 1\n", - " 10 2.7302e-02 2.7299e-02 2.9659e-07 0.0000e+00 3.74869e-02 0.1250 1.2823e-02 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 11 2.7301e-02 2.7299e-02 2.7970e-07 0.0000e+00 2.85839e-02 0.1250 1.1128e-02 1\n", - " 12 2.7301e-02 2.7299e-02 2.6310e-07 0.0000e+00 2.19508e-02 0.2500 9.5965e-03 1\n", - " 13 2.7301e-02 2.7299e-02 2.5099e-07 0.0000e+00 1.22101e-02 0.5000 6.9101e-03 1\n", - " 14 2.7301e-02 2.7299e-02 2.1249e-07 0.0000e+00 3.74043e-03 1.0000 2.9072e-03 1\n", - " 15 2.7299e-02 2.7298e-02 1.9777e-08 0.0000e+00 1.53680e-03 0.5000 1.0049e-03 1\n", - " 16 2.7299e-02 2.7298e-02 1.1845e-08 0.0000e+00 8.33475e-04 1.0000 8.6821e-04 1\n", - " 17 2.7298e-02 2.7298e-02 1.4700e-09 0.0000e+00 5.63681e-04 0.2500 8.6815e-04 1\n", - " 18 2.7298e-02 2.7298e-02 1.1291e-09 0.0000e+00 5.49031e-04 1.0000 8.6815e-04 1\n", - " 19 2.7298e-02 2.7298e-02 4.9847e-10 0.0000e+00 5.26512e-04 1.0000 8.6813e-04 1\n", - " 20 2.7298e-02 2.7298e-02 5.0951e-10 0.0000e+00 4.81139e-04 0.2500 8.6807e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 21 2.7298e-02 2.7298e-02 4.0829e-10 0.0000e+00 4.65319e-04 1.0000 8.6806e-04 1\n", - " 22 2.7298e-02 2.7298e-02 3.9951e-10 0.0000e+00 4.19283e-04 1.0000 8.6803e-04 1\n", - " 23 2.7298e-02 2.7298e-02 3.2295e-10 0.0000e+00 3.89794e-04 0.5000 8.6799e-04 1\n", - " 24 2.7298e-02 2.7298e-02 2.3706e-10 0.0000e+00 3.65739e-04 1.0000 8.6797e-04 1\n", - " 25 2.7298e-02 2.7298e-02 2.5568e-10 0.0000e+00 3.34623e-04 1.0000 8.6794e-04 1\n", - " 26 2.7298e-02 2.7298e-02 2.2620e-10 0.0000e+00 3.02151e-04 1.0000 8.6789e-04 1\n", - " 27 2.7298e-02 2.7298e-02 1.8083e-10 0.0000e+00 2.78936e-04 1.0000 8.6788e-04 1\n", - " 28 2.7298e-02 2.7298e-02 1.6620e-10 0.0000e+00 2.53254e-04 1.0000 8.6781e-04 1\n", - " 29 2.7298e-02 2.7298e-02 1.2698e-10 0.0000e+00 2.39471e-04 1.0000 8.6782e-04 1\n", - " 30 2.7297e-02 2.7297e-02 1.2411e-10 0.0000e+00 2.16753e-04 1.0000 8.6770e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 31 2.7297e-02 2.7297e-02 9.0769e-11 0.0000e+00 2.15971e-04 1.0000 8.6782e-04 1\n", - " 32 2.7297e-02 2.7297e-02 1.0268e-10 0.0000e+00 2.00702e-04 1.0000 8.6751e-04 1\n", - " 33 2.7297e-02 2.7297e-02 7.6306e-11 0.0000e+00 2.26152e-04 1.0000 8.6795e-04 1\n", - " 34 2.7297e-02 2.7297e-02 1.0804e-10 0.0000e+00 2.38375e-04 1.0000 8.6709e-04 1\n", - " 35 2.7297e-02 2.7297e-02 1.1383e-10 0.0000e+00 3.14364e-04 1.0000 8.6850e-04 1\n", - " 36 2.7297e-02 2.7297e-02 2.0625e-10 0.0000e+00 4.02180e-04 1.0000 8.6593e-04 1\n", - " 37 2.7297e-02 2.7297e-02 4.2377e-10 0.0000e+00 6.08511e-04 1.0000 8.7035e-04 1\n", - " 38 2.7297e-02 2.7297e-02 9.6113e-10 0.0000e+00 9.09122e-04 1.0000 8.6247e-04 1\n", - " 39 2.7297e-02 2.7297e-02 2.8767e-09 0.0000e+00 1.49844e-03 1.0000 8.7619e-04 1\n", - " 40 2.7297e-02 2.7297e-02 7.7185e-09 0.0000e+00 2.43056e-03 0.5000 8.5179e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 41 2.7297e-02 2.7297e-02 9.8778e-09 0.0000e+00 9.20638e-04 1.0000 8.7324e-04 1\n", - " 42 2.7297e-02 2.7297e-02 3.4088e-09 0.0000e+00 1.49147e-03 0.5000 8.5690e-04 1\n", - " 43 2.7297e-02 2.7297e-02 4.4570e-09 0.0000e+00 6.22248e-04 1.0000 8.7124e-04 1\n", - " 44 2.7296e-02 2.7296e-02 1.5471e-09 0.0000e+00 9.85169e-04 1.0000 8.6029e-04 1\n", - " 45 2.7296e-02 2.7296e-02 5.3904e-09 0.0000e+00 1.72550e-03 0.5000 8.7938e-04 1\n", - " 46 2.7296e-02 2.7296e-02 6.3438e-09 0.0000e+00 6.73115e-04 1.0000 8.6253e-04 1\n", - " 47 2.7296e-02 2.7296e-02 2.5294e-09 5.8389e-09 1.17615e-03 1.0000 8.7534e-04 1\n", - " 48 2.7296e-02 2.7296e-02 6.6630e-09 0.0000e+00 1.98200e-03 0.5000 8.5252e-04 1\n", - " 49 2.7296e-02 2.7296e-02 8.9128e-09 0.0000e+00 8.09245e-04 1.0000 8.7259e-04 1\n", - " 50 2.7296e-02 2.7296e-02 2.9308e-09 0.0000e+00 1.34124e-03 1.0000 8.5729e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 51 2.7296e-02 2.7296e-02 1.0192e-08 0.0000e+00 2.35098e-03 0.5000 8.8393e-04 1\n", - " 52 2.7296e-02 2.7296e-02 1.2352e-08 0.0000e+00 9.15415e-04 0.5000 8.6045e-04 1\n", - " 53 2.7296e-02 2.7296e-02 7.3525e-09 5.3135e-09 4.00729e-04 1.0000 8.6943e-04 1\n", - " 54 2.7296e-02 2.7296e-02 5.8513e-10 0.0000e+00 6.30155e-04 1.0000 8.6254e-04 1\n", - " 55 2.7296e-02 2.7296e-02 2.1468e-09 0.0000e+00 1.08979e-03 1.0000 8.7452e-04 1\n", - " 56 2.7296e-02 2.7296e-02 5.8107e-09 0.0000e+00 1.85411e-03 0.5000 8.5321e-04 1\n", - " 57 2.7296e-02 2.7296e-02 7.7640e-09 0.0000e+00 7.48205e-04 1.0000 8.7194e-04 1\n", - " 58 2.7296e-02 2.7296e-02 2.5558e-09 0.0000e+00 1.25490e-03 0.5000 8.5768e-04 1\n", - " 59 2.7296e-02 2.7296e-02 3.4550e-09 0.0000e+00 5.20303e-04 1.0000 8.7018e-04 1\n", - " 60 2.7295e-02 2.7295e-02 1.1272e-09 0.0000e+00 8.55550e-04 1.0000 8.6065e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 61 2.7295e-02 2.7295e-02 3.9858e-09 1.6717e-09 1.47928e-03 1.0000 8.7724e-04 1\n", - " 62 2.7295e-02 2.7295e-02 1.1285e-08 0.0000e+00 2.55141e-03 0.1250 8.4772e-04 1\n", - " 63 2.7295e-02 2.7295e-02 1.0453e-08 0.0000e+00 1.68733e-03 1.0000 8.5428e-04 1\n", - " 64 2.7295e-02 2.7295e-02 1.6055e-08 0.0000e+00 2.94041e-03 0.5000 8.8788e-04 1\n", - " 65 2.7295e-02 2.7295e-02 1.9708e-08 0.0000e+00 1.14510e-03 0.2500 8.5831e-04 1\n", - " 66 2.7295e-02 2.7295e-02 1.5237e-08 5.2004e-09 3.91025e-04 1.0000 8.6398e-04 1\n", - " 67 2.7295e-02 2.7295e-02 7.7254e-10 0.0000e+00 6.55828e-04 1.0000 8.7093e-04 1\n", - " 68 2.7295e-02 2.7295e-02 1.9756e-09 0.0000e+00 1.10340e-03 0.5000 8.5851e-04 1\n", - " 69 2.7295e-02 2.7295e-02 2.6558e-09 0.0000e+00 4.56599e-04 1.0000 8.6940e-04 1\n", - " 70 2.7295e-02 2.7295e-02 8.5299e-10 0.0000e+00 7.53073e-04 1.0000 8.6110e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 71 2.7295e-02 2.7295e-02 3.0159e-09 4.2332e-09 1.29091e-03 1.0000 8.7555e-04 1\n", - " 72 2.7295e-02 2.7295e-02 8.5517e-09 0.0000e+00 2.22610e-03 0.0625 8.4988e-04 1\n", - " 73 2.7295e-02 2.7295e-02 8.1260e-09 3.2055e-10 1.85067e-03 0.5000 8.5273e-04 1\n", - " 74 2.7295e-02 2.7295e-02 8.8578e-09 0.0000e+00 7.35815e-04 1.0000 8.7137e-04 1\n", - " 75 2.7295e-02 2.7295e-02 2.5442e-09 0.0000e+00 1.24845e-03 0.5000 8.5721e-04 1\n", - " 76 2.7295e-02 2.7295e-02 3.4038e-09 1.5279e-09 5.08489e-04 1.0000 8.6960e-04 1\n", - " 77 2.7295e-02 2.7295e-02 1.1127e-09 0.0000e+00 8.48591e-04 0.5000 8.6018e-04 1\n", - " 78 2.7294e-02 2.7294e-02 1.5129e-09 0.0000e+00 3.57543e-04 1.0000 8.6841e-04 1\n", - " 79 2.7294e-02 2.7294e-02 4.8267e-10 0.0000e+00 5.82930e-04 1.0000 8.6213e-04 1\n", - " 80 2.7294e-02 2.7294e-02 1.7431e-09 4.6694e-09 9.86403e-04 1.0000 8.7304e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 81 2.7294e-02 2.7294e-02 4.8595e-09 0.0000e+00 1.69258e-03 0.0625 8.5368e-04 1\n", - " 82 2.7294e-02 2.7294e-02 4.6178e-09 3.1526e-10 1.40942e-03 1.0000 8.5582e-04 1\n", - " 83 2.7294e-02 2.7294e-02 1.0990e-08 1.2534e-09 2.43914e-03 0.5000 8.8368e-04 1\n", - " 84 2.7294e-02 2.7294e-02 1.3505e-08 0.0000e+00 9.56232e-04 0.1250 8.5918e-04 1\n", - " 85 2.7294e-02 2.7294e-02 1.1895e-08 2.4816e-09 6.44941e-04 1.0000 8.6152e-04 1\n", - " 86 2.7294e-02 2.7294e-02 2.1810e-09 0.0000e+00 1.09506e-03 1.0000 8.7368e-04 1\n", - " 87 2.7294e-02 2.7294e-02 6.1047e-09 0.0000e+00 1.88443e-03 0.2500 8.5206e-04 1\n", - " 88 2.7294e-02 2.7294e-02 5.8180e-09 0.0000e+00 6.22143e-04 1.0000 8.6159e-04 1\n", - " 89 2.7294e-02 2.7294e-02 2.0123e-09 0.0000e+00 1.05366e-03 1.0000 8.7328e-04 1\n", - " 90 2.7294e-02 2.7294e-02 5.6266e-09 0.0000e+00 1.81169e-03 0.2500 8.5252e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 91 2.7294e-02 2.7294e-02 5.3629e-09 0.0000e+00 5.99911e-04 1.0000 8.6167e-04 1\n", - " 92 2.7294e-02 2.7294e-02 1.8588e-09 0.0000e+00 1.01371e-03 1.0000 8.7290e-04 1\n", - " 93 2.7294e-02 2.7294e-02 5.1857e-09 0.0000e+00 1.74152e-03 0.2500 8.5296e-04 1\n", - " 94 2.7294e-02 2.7294e-02 4.9425e-09 0.0000e+00 5.78428e-04 1.0000 8.6174e-04 1\n", - " 95 2.7294e-02 2.7294e-02 1.7172e-09 0.0000e+00 9.75220e-04 1.0000 8.7253e-04 1\n", - " 96 2.7293e-02 2.7293e-02 4.7770e-09 0.0000e+00 1.67386e-03 0.2500 8.5339e-04 1\n", - " 97 2.7293e-02 2.7293e-02 4.5534e-09 0.0000e+00 5.57694e-04 1.0000 8.6181e-04 1\n", - " 98 2.7293e-02 2.7293e-02 1.5861e-09 0.0000e+00 9.38140e-04 1.0000 8.7216e-04 1\n", - " 99 2.7293e-02 2.7293e-02 4.3986e-09 0.0000e+00 1.60865e-03 0.2500 8.5379e-04 1\n", - " 100 2.7293e-02 2.7293e-02 4.1934e-09 0.0000e+00 5.37693e-04 1.0000 8.6188e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 101 2.7293e-02 2.7293e-02 1.4647e-09 0.0000e+00 9.02430e-04 1.0000 8.7181e-04 1\n", - " 102 2.7293e-02 2.7293e-02 4.0488e-09 0.0000e+00 1.54582e-03 0.2500 8.5418e-04 1\n", - " 103 2.7293e-02 2.7293e-02 3.8605e-09 0.0000e+00 5.18406e-04 1.0000 8.6194e-04 1\n", - " 104 2.7293e-02 2.7293e-02 1.3526e-09 0.0000e+00 8.68041e-04 1.0000 8.7148e-04 1\n", - " 105 2.7293e-02 2.7293e-02 3.7252e-09 0.0000e+00 1.48529e-03 0.2500 8.5455e-04 1\n", - " 106 2.7293e-02 2.7293e-02 3.5529e-09 0.0000e+00 4.99814e-04 1.0000 8.6199e-04 1\n", - " 107 2.7293e-02 2.7293e-02 1.2488e-09 0.0000e+00 8.34929e-04 1.0000 8.7115e-04 1\n", - " 108 2.7293e-02 2.7293e-02 3.4265e-09 0.0000e+00 1.42701e-03 0.2500 8.5491e-04 1\n", - " 109 2.7293e-02 2.7293e-02 3.2684e-09 0.0000e+00 4.81899e-04 1.0000 8.6204e-04 1\n", - " 110 2.7293e-02 2.7293e-02 1.1531e-09 0.0000e+00 8.03054e-04 1.0000 8.7083e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 111 2.7293e-02 2.7293e-02 3.1507e-09 0.0000e+00 1.37090e-03 0.2500 8.5525e-04 1\n", - " 112 2.7293e-02 2.7293e-02 3.0060e-09 0.0000e+00 4.64641e-04 1.0000 8.6209e-04 1\n", - " 113 2.7292e-02 2.7292e-02 1.0644e-09 0.0000e+00 7.72378e-04 1.0000 8.7052e-04 1\n", - " 114 2.7292e-02 2.7292e-02 2.8959e-09 0.0000e+00 1.31688e-03 0.2500 8.5558e-04 1\n", - " 115 2.7292e-02 2.7292e-02 2.7636e-09 0.0000e+00 4.48021e-04 1.0000 8.6213e-04 1\n", - " 116 2.7292e-02 2.7292e-02 9.8240e-10 0.0000e+00 7.42861e-04 1.0000 8.7022e-04 1\n", - " 117 2.7292e-02 2.7292e-02 2.6608e-09 0.0000e+00 1.26495e-03 0.2500 8.5589e-04 1\n", - " 118 2.7292e-02 2.7292e-02 2.5401e-09 0.0000e+00 4.32019e-04 1.0000 8.6217e-04 1\n", - " 119 2.7292e-02 2.7292e-02 9.0692e-10 0.0000e+00 7.14465e-04 1.0000 8.6992e-04 1\n", - " 120 2.7292e-02 2.7292e-02 2.4439e-09 0.0000e+00 1.21500e-03 0.2500 8.5618e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 121 2.7292e-02 2.7292e-02 2.3335e-09 0.0000e+00 4.16663e-04 1.0000 8.6221e-04 1\n", - " 122 2.7292e-02 2.7292e-02 8.3703e-10 0.0000e+00 6.87153e-04 1.0000 8.6964e-04 1\n", - " 123 2.7292e-02 2.7292e-02 2.2442e-09 0.0000e+00 1.16696e-03 0.2500 8.5647e-04 1\n", - " 124 2.7292e-02 2.7292e-02 2.1435e-09 0.0000e+00 4.01923e-04 1.0000 8.6224e-04 1\n", - " 125 2.7292e-02 2.7292e-02 7.7247e-10 0.0000e+00 6.60886e-04 1.0000 8.6937e-04 1\n", - " 126 2.7292e-02 2.7292e-02 2.0599e-09 0.0000e+00 1.12075e-03 0.2500 8.5673e-04 1\n", - " 127 2.7292e-02 2.7292e-02 1.9682e-09 0.0000e+00 3.87741e-04 1.0000 8.6227e-04 1\n", - " 128 2.7292e-02 2.7292e-02 7.1291e-10 0.0000e+00 6.35687e-04 1.0000 8.6910e-04 1\n", - " 129 2.7292e-02 2.7292e-02 1.8900e-09 0.0000e+00 1.07635e-03 0.2500 8.5699e-04 1\n", - " 130 2.7292e-02 2.7292e-02 1.8065e-09 0.0000e+00 3.74101e-04 1.0000 8.6229e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 131 2.7291e-02 2.7291e-02 6.5818e-10 0.0000e+00 6.11503e-04 1.0000 8.6884e-04 1\n", - " 132 2.7291e-02 2.7291e-02 1.7338e-09 0.0000e+00 1.03370e-03 0.2500 8.5723e-04 1\n", - " 133 2.7291e-02 2.7291e-02 1.6580e-09 0.0000e+00 3.60986e-04 1.0000 8.6231e-04 1\n", - " 134 2.7291e-02 2.7291e-02 6.0741e-10 0.0000e+00 5.88294e-04 1.0000 8.6859e-04 1\n", - " 135 2.7291e-02 2.7291e-02 1.5897e-09 0.0000e+00 9.92705e-04 0.2500 8.5747e-04 1\n", - " 136 2.7291e-02 2.7291e-02 1.5209e-09 0.0000e+00 3.48376e-04 1.0000 8.6233e-04 1\n", - " 137 2.7291e-02 2.7291e-02 5.6041e-10 0.0000e+00 5.65988e-04 1.0000 8.6834e-04 1\n", - " 138 2.7291e-02 2.7291e-02 1.4577e-09 0.0000e+00 9.53310e-04 0.2500 8.5769e-04 1\n", - " 139 2.7291e-02 2.7291e-02 1.3949e-09 0.0000e+00 3.36255e-04 1.0000 8.6234e-04 1\n", - " 140 2.7291e-02 2.7291e-02 5.1710e-10 0.0000e+00 5.44553e-04 1.0000 8.6811e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 141 2.7291e-02 2.7291e-02 1.3356e-09 0.0000e+00 9.15459e-04 0.2500 8.5789e-04 1\n", - " 142 2.7291e-02 2.7291e-02 1.2790e-09 0.0000e+00 3.24606e-04 1.0000 8.6236e-04 1\n", - " 143 2.7291e-02 2.7291e-02 4.7727e-10 0.0000e+00 5.23964e-04 1.0000 8.6787e-04 1\n", - " 144 2.7291e-02 2.7291e-02 1.2236e-09 0.0000e+00 8.79098e-04 0.2500 8.5809e-04 1\n", - " 145 2.7291e-02 2.7291e-02 1.1719e-09 0.0000e+00 3.13413e-04 1.0000 8.6236e-04 1\n", - " 146 2.7291e-02 2.7291e-02 4.4104e-10 0.0000e+00 5.04192e-04 1.0000 8.6765e-04 1\n", - " 147 2.7291e-02 2.7291e-02 1.1202e-09 0.0000e+00 8.44175e-04 0.2500 8.5828e-04 1\n", - " 148 2.7291e-02 2.7291e-02 1.0740e-09 0.0000e+00 3.02659e-04 1.0000 8.6237e-04 1\n", - " 149 2.7290e-02 2.7290e-02 4.0690e-10 0.0000e+00 4.85201e-04 1.0000 8.6743e-04 1\n", - " 150 2.7290e-02 2.7290e-02 1.0259e-09 0.0000e+00 8.10639e-04 0.2500 8.5845e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 151 2.7290e-02 2.7290e-02 9.8383e-10 0.0000e+00 2.87880e-04 1.0000 8.6237e-04 1\n", - " 152 2.7290e-02 2.7290e-02 3.7800e-10 0.0000e+00 4.69944e-04 0.5000 8.6722e-04 1\n", - " 153 2.7290e-02 2.7290e-02 4.2038e-10 0.0000e+00 2.10734e-04 1.0000 8.6293e-04 1\n", - " 154 2.7290e-02 2.7290e-02 1.8413e-10 0.0000e+00 3.32759e-04 0.5000 8.6610e-04 1\n", - " 155 2.7290e-02 2.7290e-02 1.8891e-10 0.0000e+00 1.59930e-04 1.0000 8.6328e-04 1\n", - " 156 2.7290e-02 2.7290e-02 9.5876e-11 0.0000e+00 2.39221e-04 0.2500 8.6535e-04 1\n", - " 157 2.7290e-02 2.7290e-02 8.2092e-11 0.0000e+00 1.20091e-04 1.0000 8.6442e-04 1\n", - " 158 2.7290e-02 2.7290e-02 2.8749e-11 9.8457e-10 1.54358e-04 1.0000 8.6324e-04 1\n", - " 159 2.7290e-02 2.7290e-02 8.8585e-11 0.0000e+00 2.30000e-04 0.2500 8.6522e-04 1\n", - " 160 2.7290e-02 2.7290e-02 7.6146e-11 0.0000e+00 1.15865e-04 1.0000 8.6433e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 161 2.7290e-02 2.7290e-02 2.6961e-11 1.1111e-09 1.48431e-04 0.2500 8.6320e-04 1\n", - " 162 2.7290e-02 2.7290e-02 2.4241e-11 5.8262e-10 9.38682e-05 1.0000 8.6367e-04 1\n", - " 163 2.7290e-02 2.7290e-02 2.2203e-11 6.1574e-09 1.09181e-04 0.5000 8.6424e-04 1\n", - " 164 2.7290e-02 2.7290e-02 1.6311e-11 6.8752e-09 8.00237e-05 1.0000 8.6370e-04 1\n", - " 165 2.7290e-02 2.7290e-02 1.8331e-11 1.9227e-09 9.26257e-05 0.2500 8.6406e-04 1\n", - " 166 2.7290e-02 2.7290e-02 1.4498e-11 1.8445e-09 7.43138e-05 1.0000 8.6388e-04 1\n", - " 167 2.7290e-02 2.7289e-02 1.3669e-11 2.0247e-09 7.98612e-05 1.0000 8.6363e-04 1\n", - " 168 2.7289e-02 2.7289e-02 1.8013e-11 5.2685e-09 9.12109e-05 0.5000 8.6398e-04 1\n", - " 169 2.7289e-02 2.7289e-02 1.2263e-11 5.2106e-09 7.40734e-05 1.0000 8.6363e-04 1\n", - " 170 2.7289e-02 2.7289e-02 1.5629e-11 2.3908e-09 8.12338e-05 1.0000 8.6385e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 171 2.7289e-02 2.7289e-02 1.3074e-11 2.6752e-09 9.67800e-05 0.1250 8.6338e-04 1\n", - " 172 2.7289e-02 2.7289e-02 1.1591e-11 2.8487e-09 8.46240e-05 1.0000 8.6347e-04 1\n", - " 173 2.7289e-02 2.7289e-02 1.9965e-11 3.3056e-10 9.98379e-05 1.0000 8.6394e-04 1\n", - " 174 2.7289e-02 2.7289e-02 1.5644e-11 1.7440e-09 1.32232e-04 0.1250 8.6304e-04 1\n", - " 175 2.7289e-02 2.7289e-02 1.4522e-11 2.0963e-09 1.07589e-04 1.0000 8.6322e-04 1\n", - " 176 2.7289e-02 2.7289e-02 3.3697e-11 1.4015e-09 1.39119e-04 1.0000 8.6419e-04 1\n", - " 177 2.7289e-02 2.7289e-02 3.8923e-11 3.2595e-09 2.04822e-04 0.0020 8.6241e-04 1\n", - " 178 2.7289e-02 2.7289e-02 3.8923e-11 3.2595e-09 2.04197e-04 1.0000 8.6239e-04 1\n", - " 179 2.7289e-02 2.7289e-02 1.7324e-10 7.3939e-10 3.08839e-04 1.0000 8.6543e-04 1\n", - " 180 2.7289e-02 2.7289e-02 3.7817e-10 4.1257e-09 5.05911e-04 0.0020 8.6006e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 181 2.7289e-02 2.7289e-02 3.7817e-10 4.1257e-09 5.05207e-04 1.0000 8.6004e-04 1\n", - " 182 2.7289e-02 2.7289e-02 1.3161e-09 4.1933e-09 8.37051e-04 0.5000 8.6933e-04 1\n", - " 183 2.7289e-02 2.7289e-02 1.5379e-09 6.6491e-09 3.51057e-04 0.5000 8.6119e-04 1\n", - " 184 2.7289e-02 2.7289e-02 9.0963e-10 3.8521e-09 1.64229e-04 1.0000 8.6422e-04 1\n", - " 185 2.7289e-02 2.7289e-02 6.4343e-11 3.1509e-09 2.49074e-04 0.5000 8.6190e-04 1\n", - " 186 2.7289e-02 2.7289e-02 9.6311e-11 2.8736e-09 1.27816e-04 1.0000 8.6388e-04 1\n", - " 187 2.7288e-02 2.7288e-02 2.9320e-11 1.3139e-09 1.82727e-04 0.5000 8.6236e-04 1\n", - " 188 2.7288e-02 2.7288e-02 4.5601e-11 4.5452e-09 1.04318e-04 1.0000 8.6364e-04 1\n", - " 189 2.7288e-02 2.7288e-02 1.7007e-11 1.4539e-09 1.39591e-04 0.5000 8.6264e-04 1\n", - " 190 2.7288e-02 2.7288e-02 2.4181e-11 4.5631e-09 8.91881e-05 1.0000 8.6347e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 191 2.7288e-02 2.7288e-02 1.2495e-11 1.7119e-09 1.11653e-04 1.0000 8.6281e-04 1\n", - " 192 2.7288e-02 2.7288e-02 3.7955e-11 8.2712e-09 1.48563e-04 1.0000 8.6388e-04 1\n", - " 193 2.7288e-02 2.7288e-02 4.6402e-11 8.3686e-09 2.19680e-04 1.0000 8.6192e-04 1\n", - " 194 2.7288e-02 2.7288e-02 1.9644e-10 1.2222e-08 3.37470e-04 1.0000 8.6525e-04 1\n", - " 195 2.7288e-02 2.7288e-02 4.3626e-10 3.7074e-09 5.52632e-04 0.1250 8.5933e-04 1\n", - " 196 2.7288e-02 2.7288e-02 4.0553e-10 4.4391e-09 3.82227e-04 1.0000 8.6061e-04 1\n", - " 197 2.7288e-02 2.7288e-02 6.9354e-10 4.3261e-09 6.22016e-04 1.0000 8.6733e-04 1\n", - " 198 2.7288e-02 2.7288e-02 1.8065e-09 6.6257e-09 1.05216e-03 0.2500 8.5548e-04 1\n", - " 199 2.7288e-02 2.7288e-02 1.7254e-09 3.9258e-09 3.67993e-04 1.0000 8.6064e-04 1\n", - " 200 2.7288e-02 2.7288e-02 6.4013e-10 1.1035e-08 5.97209e-04 1.0000 8.6706e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 201 2.7288e-02 2.7288e-02 1.6511e-09 8.2130e-09 1.00835e-03 0.2500 8.5573e-04 1\n", - " 202 2.7288e-02 2.7288e-02 1.5773e-09 3.1853e-09 3.54387e-04 0.5000 8.6067e-04 1\n", - " 203 2.7288e-02 2.7288e-02 9.3201e-10 7.4323e-09 1.66086e-04 1.0000 8.6374e-04 1\n", - " 204 2.7288e-02 2.7287e-02 6.4459e-11 1.8293e-09 2.50611e-04 0.1250 8.6140e-04 1\n", - " 205 2.7287e-02 2.7287e-02 6.0474e-11 2.4830e-09 1.84335e-04 1.0000 8.6190e-04 1\n", - " 206 2.7287e-02 2.7287e-02 1.3023e-10 3.8145e-09 2.76089e-04 1.0000 8.6451e-04 1\n", - " 207 2.7287e-02 2.7287e-02 2.6363e-10 2.4311e-09 4.44199e-04 0.2500 8.5987e-04 1\n", - " 208 2.7287e-02 2.7287e-02 2.5629e-10 3.5414e-09 1.78703e-04 1.0000 8.6187e-04 1\n", - " 209 2.7287e-02 2.7287e-02 1.2130e-10 4.5651e-09 2.66283e-04 1.0000 8.6436e-04 1\n", - " 210 2.7287e-02 2.7287e-02 2.4030e-10 2.6936e-09 4.26888e-04 0.2500 8.5992e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 211 2.7287e-02 2.7287e-02 2.3394e-10 3.1910e-09 1.73323e-04 1.0000 8.6184e-04 1\n", - " 212 2.7287e-02 2.7287e-02 1.1259e-10 4.5672e-09 2.56890e-04 1.0000 8.6422e-04 1\n", - " 213 2.7287e-02 2.7287e-02 2.1930e-10 2.5444e-09 4.10375e-04 0.2500 8.5997e-04 1\n", - " 214 2.7287e-02 2.7287e-02 2.1337e-10 3.3124e-09 1.68173e-04 1.0000 8.6181e-04 1\n", - " 215 2.7287e-02 2.7287e-02 1.0466e-10 4.3854e-09 2.47891e-04 1.0000 8.6408e-04 1\n", - " 216 2.7287e-02 2.7287e-02 1.9994e-10 2.4305e-09 3.94575e-04 0.2500 8.6002e-04 1\n", - " 217 2.7287e-02 2.7287e-02 1.9449e-10 3.3004e-09 1.63243e-04 1.0000 8.6177e-04 1\n", - " 218 2.7287e-02 2.7287e-02 9.7660e-11 4.1928e-09 2.39271e-04 1.0000 8.6394e-04 1\n", - " 219 2.7287e-02 2.7287e-02 1.8182e-10 2.2933e-09 3.79448e-04 0.2500 8.6006e-04 1\n", - " 220 2.7287e-02 2.7287e-02 1.7717e-10 3.3302e-09 1.58530e-04 1.0000 8.6173e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 221 2.7287e-02 2.7287e-02 9.0926e-11 4.0007e-09 2.31014e-04 1.0000 8.6380e-04 1\n", - " 222 2.7287e-02 2.7287e-02 1.6588e-10 2.1649e-09 3.64968e-04 0.2500 8.6010e-04 1\n", - " 223 2.7287e-02 2.7286e-02 1.6176e-10 3.3476e-09 1.54032e-04 1.0000 8.6169e-04 1\n", - " 224 2.7286e-02 2.7286e-02 8.4667e-11 3.8169e-09 2.23107e-04 1.0000 8.6367e-04 1\n", - " 225 2.7286e-02 2.7286e-02 1.5069e-10 2.0385e-09 3.51109e-04 0.2500 8.6013e-04 1\n", - " 226 2.7286e-02 2.7286e-02 1.4743e-10 3.3685e-09 1.49739e-04 1.0000 8.6165e-04 1\n", - " 227 2.7286e-02 2.7286e-02 7.9125e-11 3.6409e-09 2.15537e-04 1.0000 8.6354e-04 1\n", - " 228 2.7286e-02 2.7286e-02 1.3734e-10 1.9296e-09 3.37846e-04 0.2500 8.6016e-04 1\n", - " 229 2.7286e-02 2.7286e-02 1.3451e-10 3.3879e-09 1.45647e-04 1.0000 8.6161e-04 1\n", - " 230 2.7286e-02 2.7286e-02 7.3670e-11 3.4728e-09 2.08290e-04 1.0000 8.6341e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 231 2.7286e-02 2.7286e-02 1.2525e-10 1.9865e-09 3.25156e-04 0.2500 8.6018e-04 1\n", - " 232 2.7286e-02 2.7286e-02 1.2242e-10 3.4073e-09 1.41731e-04 1.0000 8.6157e-04 1\n", - " 233 2.7286e-02 2.7286e-02 6.9025e-11 3.3121e-09 2.01387e-04 1.0000 8.6329e-04 1\n", - " 234 2.7286e-02 2.7286e-02 1.1422e-10 2.0412e-09 3.13014e-04 0.2500 8.6020e-04 1\n", - " 235 2.7286e-02 2.7286e-02 1.1174e-10 3.4261e-09 1.37983e-04 1.0000 8.6153e-04 1\n", - " 236 2.7286e-02 2.7286e-02 6.4510e-11 3.1586e-09 1.94834e-04 1.0000 8.6317e-04 1\n", - " 237 2.7286e-02 2.7286e-02 1.0385e-10 2.0938e-09 3.01397e-04 0.2500 8.6022e-04 1\n", - " 238 2.7286e-02 2.7286e-02 1.0182e-10 3.4445e-09 1.34398e-04 1.0000 8.6148e-04 1\n", - " 239 2.7286e-02 2.7286e-02 6.0439e-11 3.0119e-09 1.88577e-04 1.0000 8.6305e-04 1\n", - " 240 2.7286e-02 2.7286e-02 9.4544e-11 2.1444e-09 2.90284e-04 0.2500 8.6023e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 241 2.7286e-02 2.7285e-02 9.2982e-11 3.4624e-09 1.30968e-04 1.0000 8.6143e-04 1\n", - " 242 2.7285e-02 2.7285e-02 5.6870e-11 2.8718e-09 1.82591e-04 1.0000 8.6293e-04 1\n", - " 243 2.7285e-02 2.7285e-02 8.5915e-11 2.1929e-09 2.79655e-04 0.2500 8.6024e-04 1\n", - " 244 2.7285e-02 2.7285e-02 8.4910e-11 3.4797e-09 1.27112e-04 1.0000 8.6139e-04 1\n", - " 245 2.7285e-02 2.7285e-02 5.4070e-11 7.3802e-09 1.80069e-04 0.5000 8.6281e-04 1\n", - " 246 2.7285e-02 2.7285e-02 4.5904e-11 8.9481e-09 1.06760e-04 1.0000 8.6153e-04 1\n", - " 247 2.7285e-02 2.7285e-02 3.5620e-11 4.3265e-09 1.41807e-04 0.5000 8.6244e-04 1\n", - " 248 2.7285e-02 2.7285e-02 2.6863e-11 6.8277e-09 9.18135e-05 1.0000 8.6160e-04 1\n", - " 249 2.7285e-02 2.7285e-02 2.6506e-11 3.6888e-09 1.14173e-04 0.5000 8.6218e-04 1\n", - " 250 2.7285e-02 2.7285e-02 1.8415e-11 6.1293e-09 8.16374e-05 1.0000 8.6163e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 251 2.7285e-02 2.7285e-02 2.1648e-11 3.4158e-09 9.58062e-05 0.5000 8.6199e-04 1\n", - " 252 2.7285e-02 2.7285e-02 1.4826e-11 5.4597e-09 7.48263e-05 1.0000 8.6163e-04 1\n", - " 253 2.7285e-02 2.7285e-02 1.9291e-11 3.1097e-09 8.36736e-05 0.2500 8.6185e-04 1\n", - " 254 2.7285e-02 2.7285e-02 1.5474e-11 3.9569e-09 7.16540e-05 1.0000 8.6174e-04 1\n", - " 255 2.7285e-02 2.7285e-02 1.6896e-11 4.1641e-10 7.28518e-05 0.5000 8.6156e-04 1\n", - " 256 2.7285e-02 2.7285e-02 1.2612e-11 2.6853e-09 6.91297e-05 1.0000 8.6167e-04 1\n", - " 257 2.7285e-02 2.7285e-02 1.6524e-11 4.9338e-09 6.93684e-05 0.0020 8.6155e-04 1\n", - " 258 2.7285e-02 2.7285e-02 1.6524e-11 4.9338e-09 6.96714e-05 1.0000 8.6153e-04 1\n", - " 259 2.7285e-02 2.7285e-02 1.8863e-11 1.0914e-10 7.40557e-05 0.5000 8.6168e-04 1\n", - " 260 2.7285e-02 2.7285e-02 1.3465e-11 5.2043e-10 6.79052e-05 1.0000 8.6152e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 261 2.7284e-02 2.7284e-02 1.7154e-11 3.0512e-09 7.09425e-05 0.0020 8.6159e-04 1\n", - " 262 2.7284e-02 2.7284e-02 1.7154e-11 3.0512e-09 7.14770e-05 1.0000 8.6157e-04 1\n", - " 263 2.7284e-02 2.7284e-02 1.8178e-11 1.8674e-10 7.33720e-05 0.5000 8.6138e-04 1\n", - " 264 2.7284e-02 2.7284e-02 1.2690e-11 0.0000e+00 6.79043e-05 1.0000 8.6152e-04 1\n", - " 265 2.7284e-02 2.7284e-02 1.6899e-11 2.9011e-09 6.87117e-05 0.5000 8.6137e-04 1\n", - " 266 2.7284e-02 2.7284e-02 1.2567e-11 6.0502e-09 8.02756e-05 0.0020 8.6145e-04 1\n", - " 267 2.7284e-02 2.7284e-02 1.2567e-11 6.0502e-09 7.99843e-05 1.0000 8.6143e-04 1\n", - " 268 2.7284e-02 2.7284e-02 2.7301e-11 5.7263e-09 8.11502e-05 0.2500 8.6136e-04 1\n", - " 269 2.7284e-02 2.7284e-02 2.2105e-11 0.0000e+00 8.10671e-05 1.0000 8.6138e-04 1\n", - " 270 2.7284e-02 2.7284e-02 2.6948e-11 1.7167e-09 7.93901e-05 0.1250 8.6138e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 271 2.7284e-02 2.7284e-02 2.4173e-11 0.0000e+00 7.91661e-05 0.2500 8.6136e-04 1\n", - " 272 2.7284e-02 2.7284e-02 1.9744e-11 1.0936e-09 7.83401e-05 0.5000 8.6134e-04 1\n", - " 273 2.7284e-02 2.7284e-02 1.6829e-11 4.2681e-09 7.75096e-05 0.0020 8.6132e-04 1\n", - " 274 2.7284e-02 2.7284e-02 1.6829e-11 4.2681e-09 7.81483e-05 1.0000 8.6130e-04 1\n", - " 275 2.7284e-02 2.7284e-02 2.8899e-11 9.4732e-10 7.55136e-05 0.2500 8.6130e-04 1\n", - " 276 2.7284e-02 2.7284e-02 2.3320e-11 9.9702e-11 7.56658e-05 1.0000 8.6129e-04 1\n", - " 277 2.7284e-02 2.7284e-02 2.7241e-11 1.4387e-09 7.53127e-05 0.2500 8.6125e-04 1\n", - " 278 2.7284e-02 2.7284e-02 2.2202e-11 1.8236e-09 7.49328e-05 1.0000 8.6124e-04 1\n", - " 279 2.7284e-02 2.7284e-02 2.8229e-11 2.9807e-09 7.34923e-05 0.2500 8.6121e-04 1\n", - " 280 2.7284e-02 2.7284e-02 2.2916e-11 2.4865e-09 7.33912e-05 1.0000 8.6120e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 281 2.7284e-02 2.7284e-02 2.8047e-11 2.9537e-09 7.26660e-05 0.2500 8.6117e-04 1\n", - " 282 2.7284e-02 2.7284e-02 2.2958e-11 2.6490e-09 7.24470e-05 1.0000 8.6116e-04 1\n", - " 283 2.7284e-02 2.7284e-02 2.8005e-11 2.9792e-09 7.15612e-05 0.2500 8.6113e-04 1\n", - " 284 2.7284e-02 2.7284e-02 2.2676e-11 2.5673e-09 7.14176e-05 1.0000 8.6112e-04 1\n", - " 285 2.7284e-02 2.7283e-02 2.8373e-11 2.7790e-09 7.07514e-05 0.2500 8.6109e-04 1\n", - " 286 2.7283e-02 2.7283e-02 2.3152e-11 2.4403e-09 7.05967e-05 1.0000 8.6108e-04 1\n", - " 287 2.7283e-02 2.7283e-02 2.8268e-11 2.5881e-09 6.99529e-05 0.2500 8.6105e-04 1\n", - " 288 2.7283e-02 2.7283e-02 2.3177e-11 2.2859e-09 6.98276e-05 1.0000 8.6104e-04 1\n", - " 289 2.7283e-02 2.7283e-02 2.8256e-11 2.3824e-09 6.92865e-05 0.2500 8.6101e-04 1\n", - " 290 2.7283e-02 2.7283e-02 2.3049e-11 2.1402e-09 6.91715e-05 1.0000 8.6100e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 291 2.7283e-02 2.7283e-02 2.8347e-11 2.1942e-09 6.86955e-05 0.2500 8.6097e-04 1\n", - " 292 2.7283e-02 2.7283e-02 2.3078e-11 2.8952e-09 6.86017e-05 1.0000 8.6096e-04 1\n", - " 293 2.7283e-02 2.7283e-02 2.8280e-11 2.0215e-09 6.81979e-05 0.2500 8.6093e-04 1\n", - " 294 2.7283e-02 2.7283e-02 2.3179e-11 3.1245e-09 6.81148e-05 1.0000 8.6092e-04 1\n", - " 295 2.7283e-02 2.7283e-02 2.8374e-11 1.8669e-09 6.77589e-05 0.2500 8.6089e-04 1\n", - " 296 2.7283e-02 2.7283e-02 2.3408e-11 3.1387e-09 6.76880e-05 1.0000 8.6088e-04 1\n", - " 297 2.7283e-02 2.7283e-02 2.8577e-11 1.7291e-09 6.73902e-05 0.2500 8.6085e-04 1\n", - " 298 2.7283e-02 2.7283e-02 2.3145e-11 3.0596e-09 6.73316e-05 1.0000 8.6084e-04 1\n", - " 299 2.7283e-02 2.7283e-02 2.8813e-11 1.6066e-09 6.70832e-05 0.2500 8.6081e-04 1\n", - " 300 2.7283e-02 2.7283e-02 2.3400e-11 2.9534e-09 6.70334e-05 1.0000 8.6080e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 301 2.7283e-02 2.7283e-02 2.9049e-11 1.4981e-09 6.68150e-05 0.2500 8.6077e-04 1\n", - " 302 2.7283e-02 2.7283e-02 2.3362e-11 2.8423e-09 6.67717e-05 1.0000 8.6076e-04 1\n", - " 303 2.7283e-02 2.7283e-02 2.8999e-11 1.4019e-09 6.65882e-05 0.2500 8.6073e-04 1\n", - " 304 2.7283e-02 2.7283e-02 2.3735e-11 2.7371e-09 6.65535e-05 1.0000 8.6072e-04 1\n", - " 305 2.7283e-02 2.7283e-02 2.8854e-11 1.3167e-09 6.64017e-05 0.2500 8.6069e-04 1\n", - " 306 2.7283e-02 2.7283e-02 2.3453e-11 2.6407e-09 6.63725e-05 1.0000 8.6068e-04 1\n", - " 307 2.7283e-02 2.7283e-02 2.9161e-11 1.2412e-09 6.62444e-05 0.2500 8.6065e-04 1\n", - " 308 2.7283e-02 2.7282e-02 2.3620e-11 2.5540e-09 6.62209e-05 1.0000 8.6064e-04 1\n", - " 309 2.7282e-02 2.7282e-02 2.8989e-11 1.1744e-09 6.61141e-05 0.2500 8.6061e-04 1\n", - " 310 2.7282e-02 2.7282e-02 2.3686e-11 2.4765e-09 6.60949e-05 1.0000 8.6060e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 311 2.7282e-02 2.7282e-02 2.9013e-11 1.1152e-09 6.60095e-05 0.2500 8.6057e-04 1\n", - " 312 2.7282e-02 2.7282e-02 2.3564e-11 2.4075e-09 6.59943e-05 1.0000 8.6056e-04 1\n", - " 313 2.7282e-02 2.7282e-02 2.9097e-11 1.0628e-09 6.59254e-05 0.2500 8.6053e-04 1\n", - " 314 2.7282e-02 2.7282e-02 2.3586e-11 2.3463e-09 6.59139e-05 1.0000 8.6052e-04 1\n", - " 315 2.7282e-02 2.7282e-02 2.9018e-11 1.0163e-09 6.58655e-05 0.2500 8.6048e-04 1\n", - " 316 2.7282e-02 2.7282e-02 2.3819e-11 2.2918e-09 6.58574e-05 1.0000 8.6048e-04 1\n", - " 317 2.7282e-02 2.7282e-02 2.9081e-11 9.7510e-10 6.58191e-05 0.2500 8.6044e-04 1\n", - " 318 2.7282e-02 2.7282e-02 2.3806e-11 2.2435e-09 6.58121e-05 1.0000 8.6044e-04 1\n", - " 319 2.7282e-02 2.7282e-02 2.8938e-11 9.3856e-10 6.57799e-05 0.2500 8.6040e-04 1\n", - " 320 2.7282e-02 2.7282e-02 2.3719e-11 2.2005e-09 6.57748e-05 1.0000 8.6040e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 321 2.7282e-02 2.7282e-02 2.8982e-11 9.0619e-10 6.57484e-05 0.2500 8.6036e-04 1\n", - " 322 2.7282e-02 2.7282e-02 2.3396e-11 2.1623e-09 6.57438e-05 1.0000 8.6036e-04 1\n", - " 323 2.7282e-02 2.7282e-02 2.9300e-11 8.7747e-10 6.57211e-05 0.2500 8.6032e-04 1\n", - " 324 2.7282e-02 2.7282e-02 2.3776e-11 2.1284e-09 6.57173e-05 1.0000 8.6032e-04 1\n", - " 325 2.7282e-02 2.7282e-02 2.9007e-11 8.5199e-10 6.56970e-05 0.2500 8.6028e-04 1\n", - " 326 2.7282e-02 2.7282e-02 2.3559e-11 2.0981e-09 6.56936e-05 1.0000 8.6028e-04 1\n", - " 327 2.7282e-02 2.7282e-02 2.9010e-11 8.2937e-10 6.56748e-05 0.2500 8.6024e-04 1\n", - " 328 2.7282e-02 2.7282e-02 2.3686e-11 2.0712e-09 6.56718e-05 1.0000 8.6024e-04 1\n", - " 329 2.7282e-02 2.7282e-02 2.9134e-11 8.0929e-10 6.56559e-05 0.2500 8.6020e-04 1\n", - " 330 2.7282e-02 2.7282e-02 2.3818e-11 2.0472e-09 6.56535e-05 1.0000 8.6020e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 331 2.7281e-02 2.7281e-02 2.8813e-11 7.9141e-10 6.56393e-05 0.2500 8.6016e-04 1\n", - " 332 2.7281e-02 2.7281e-02 2.3558e-11 2.0258e-09 6.56371e-05 1.0000 8.6016e-04 1\n", - " 333 2.7281e-02 2.7281e-02 2.9020e-11 7.7557e-10 6.56241e-05 0.2500 8.6012e-04 1\n", - " 334 2.7281e-02 2.7281e-02 2.3733e-11 2.0067e-09 6.56222e-05 1.0000 8.6012e-04 1\n", - " 335 2.7281e-02 2.7281e-02 2.8990e-11 7.6148e-10 6.56108e-05 0.2500 8.6008e-04 1\n", - " 336 2.7281e-02 2.7281e-02 2.3493e-11 1.9896e-09 6.56090e-05 1.0000 8.6008e-04 1\n", - " 337 2.7281e-02 2.7281e-02 2.9165e-11 7.4892e-10 6.55982e-05 0.2500 8.6004e-04 1\n", - " 338 2.7281e-02 2.7281e-02 2.3580e-11 1.9743e-09 6.55967e-05 1.0000 8.6003e-04 1\n", - " 339 2.7281e-02 2.7281e-02 2.9083e-11 7.3774e-10 6.55865e-05 0.2500 8.6000e-04 1\n", - " 340 2.7281e-02 2.7281e-02 2.3609e-11 1.9607e-09 6.55850e-05 1.0000 8.5999e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 341 2.7281e-02 2.7281e-02 2.8851e-11 7.2780e-10 6.55759e-05 0.2500 8.5996e-04 1\n", - " 342 2.7281e-02 2.7281e-02 2.3430e-11 1.9484e-09 6.55747e-05 1.0000 8.5995e-04 1\n", - " 343 2.7281e-02 2.7281e-02 2.9020e-11 7.1889e-10 6.55664e-05 0.2500 8.5992e-04 1\n", - " 344 2.7281e-02 2.7281e-02 2.3474e-11 1.9373e-09 6.55652e-05 1.0000 8.5991e-04 1\n", - " 345 2.7281e-02 2.7281e-02 2.9150e-11 7.1098e-10 6.55572e-05 0.2500 8.5988e-04 1\n", - " 346 2.7281e-02 2.7281e-02 2.3582e-11 1.9274e-09 6.55561e-05 1.0000 8.5987e-04 1\n", - " 347 2.7281e-02 2.7281e-02 2.8990e-11 7.0387e-10 6.55485e-05 0.2500 8.5984e-04 1\n", - " 348 2.7281e-02 2.7281e-02 2.3372e-11 1.9184e-09 6.55474e-05 1.0000 8.5983e-04 1\n", - " 349 2.7281e-02 2.7281e-02 2.8749e-11 6.9754e-10 6.55403e-05 0.2500 8.5980e-04 1\n", - " 350 2.7281e-02 2.7281e-02 2.3457e-11 1.9103e-09 6.55393e-05 1.0000 8.5979e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 351 2.7281e-02 2.7281e-02 2.8706e-11 6.9187e-10 6.55325e-05 0.2500 8.5976e-04 1\n", - " 352 2.7281e-02 2.7281e-02 2.3595e-11 1.9030e-09 6.55316e-05 1.0000 8.5975e-04 1\n", - " 353 2.7280e-02 2.7280e-02 2.8612e-11 6.8678e-10 6.55249e-05 0.2500 8.5972e-04 1\n", - " 354 2.7280e-02 2.7280e-02 2.3258e-11 1.8963e-09 6.55240e-05 1.0000 8.5971e-04 1\n", - " 355 2.7280e-02 2.7280e-02 2.8926e-11 6.8220e-10 6.55175e-05 0.2500 8.5968e-04 1\n", - " 356 2.7280e-02 2.7280e-02 2.3312e-11 1.8902e-09 6.55166e-05 1.0000 8.5967e-04 1\n", - " 357 2.7280e-02 2.7280e-02 2.8696e-11 6.7805e-10 6.55102e-05 0.2500 8.5964e-04 1\n", - " 358 2.7280e-02 2.7280e-02 2.3344e-11 1.8847e-09 6.55093e-05 1.0000 8.5963e-04 1\n", - " 359 2.7280e-02 2.7280e-02 2.8444e-11 6.7437e-10 6.55031e-05 0.2500 8.5960e-04 1\n", - " 360 2.7280e-02 2.7280e-02 2.3302e-11 1.8796e-09 6.55022e-05 1.0000 8.5959e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 361 2.7280e-02 2.7280e-02 2.8499e-11 6.7101e-10 6.54960e-05 0.2500 8.5956e-04 1\n", - " 362 2.7280e-02 2.7280e-02 2.3363e-11 1.8750e-09 6.54952e-05 1.0000 8.5955e-04 1\n", - " 363 2.7280e-02 2.7280e-02 2.8448e-11 6.6798e-10 6.54891e-05 0.2500 8.5952e-04 1\n", - " 364 2.7280e-02 2.7280e-02 2.3023e-11 1.8707e-09 6.54883e-05 1.0000 8.5951e-04 1\n", - " 365 2.7280e-02 2.7280e-02 2.8684e-11 6.6519e-10 6.54823e-05 0.2500 8.5948e-04 1\n", - " 366 2.7280e-02 2.7280e-02 2.3406e-11 1.8667e-09 6.54815e-05 1.0000 8.5947e-04 1\n", - " 367 2.7280e-02 2.7280e-02 2.8485e-11 6.6270e-10 6.54756e-05 0.2500 8.5944e-04 1\n", - " 368 2.7280e-02 2.7280e-02 2.3115e-11 1.8630e-09 6.54748e-05 1.0000 8.5943e-04 1\n", - " 369 2.7280e-02 2.7280e-02 2.8581e-11 6.6041e-10 6.54691e-05 0.2500 8.5940e-04 1\n", - " 370 2.7280e-02 2.7280e-02 2.3128e-11 1.8596e-09 6.54683e-05 1.0000 8.5939e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 371 2.7280e-02 2.7280e-02 2.8570e-11 6.5831e-10 6.54625e-05 0.2500 8.5936e-04 1\n", - " 372 2.7280e-02 2.7280e-02 2.3043e-11 1.8564e-09 6.54618e-05 1.0000 8.5935e-04 1\n", - " 373 2.7280e-02 2.7280e-02 2.8467e-11 6.5638e-10 6.54561e-05 0.2500 8.5932e-04 1\n", - " 374 2.7280e-02 2.7280e-02 2.3168e-11 1.8534e-09 6.54553e-05 1.0000 8.5931e-04 1\n", - " 375 2.7279e-02 2.7279e-02 2.8294e-11 6.5463e-10 6.54497e-05 0.2500 8.5928e-04 1\n", - " 376 2.7279e-02 2.7279e-02 2.3001e-11 1.8506e-09 6.54489e-05 1.0000 8.5927e-04 1\n", - " 377 2.7279e-02 2.7279e-02 2.8444e-11 6.5298e-10 6.54433e-05 0.2500 8.5924e-04 1\n", - " 378 2.7279e-02 2.7279e-02 2.3105e-11 1.8479e-09 6.54426e-05 1.0000 8.5923e-04 1\n", - " 379 2.7279e-02 2.7279e-02 2.8459e-11 6.5147e-10 6.54370e-05 0.2500 8.5920e-04 1\n", - " 380 2.7279e-02 2.7279e-02 2.3008e-11 1.8454e-09 6.54362e-05 1.0000 8.5919e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 381 2.7279e-02 2.7279e-02 2.8245e-11 6.5007e-10 6.54307e-05 0.2500 8.5916e-04 1\n", - " 382 2.7279e-02 2.7279e-02 2.2958e-11 1.8430e-09 6.54300e-05 1.0000 8.5915e-04 1\n", - " 383 2.7279e-02 2.7279e-02 2.8064e-11 6.4876e-10 6.54245e-05 0.2500 8.5912e-04 1\n", - " 384 2.7279e-02 2.7279e-02 2.3139e-11 1.8407e-09 6.54237e-05 1.0000 8.5911e-04 1\n", - " 385 2.7279e-02 2.7279e-02 2.7876e-11 6.4752e-10 6.54182e-05 0.2500 8.5908e-04 1\n", - " 386 2.7279e-02 2.7279e-02 2.2854e-11 1.8385e-09 6.54175e-05 1.0000 8.5907e-04 1\n", - " 387 2.7279e-02 2.7279e-02 2.8030e-11 6.4639e-10 6.54120e-05 0.2500 8.5904e-04 1\n", - " 388 2.7279e-02 2.7279e-02 2.2741e-11 1.8364e-09 6.54113e-05 1.0000 8.5903e-04 1\n", - " 389 2.7279e-02 2.7279e-02 2.8346e-11 6.4528e-10 6.54059e-05 0.2500 8.5900e-04 1\n", - " 390 2.7279e-02 2.7279e-02 2.3041e-11 1.8344e-09 6.54052e-05 1.0000 8.5899e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 391 2.7279e-02 2.7279e-02 2.8091e-11 6.4426e-10 6.53997e-05 0.2500 8.5896e-04 1\n", - " 392 2.7279e-02 2.7279e-02 2.2689e-11 1.8324e-09 6.53990e-05 1.0000 8.5895e-04 1\n", - " 393 2.7279e-02 2.7279e-02 2.7989e-11 6.4324e-10 6.53936e-05 0.2500 8.5892e-04 1\n", - " 394 2.7279e-02 2.7279e-02 2.2638e-11 1.8305e-09 6.53929e-05 1.0000 8.5891e-04 1\n", - " 395 2.7279e-02 2.7279e-02 2.8185e-11 6.4233e-10 6.53875e-05 0.2500 8.5888e-04 1\n", - " 396 2.7279e-02 2.7279e-02 2.2767e-11 1.8286e-09 6.53868e-05 1.0000 8.5887e-04 1\n", - " 397 2.7279e-02 2.7278e-02 2.8301e-11 6.4145e-10 6.53814e-05 0.2500 8.5884e-04 1\n", - " 398 2.7278e-02 2.7278e-02 2.2690e-11 1.8269e-09 6.53807e-05 1.0000 8.5883e-04 1\n", - " 399 2.7278e-02 2.7278e-02 2.8049e-11 6.4057e-10 6.53754e-05 0.2500 8.5880e-04 1\n", - " 400 2.7278e-02 2.7278e-02 2.2856e-11 1.8251e-09 6.53747e-05 1.0000 8.5879e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 401 2.7278e-02 2.7278e-02 2.7967e-11 6.3975e-10 6.53693e-05 0.2500 8.5876e-04 1\n", - " 402 2.7278e-02 2.7278e-02 2.2602e-11 1.8234e-09 6.53686e-05 1.0000 8.5875e-04 1\n", - " 403 2.7278e-02 2.7278e-02 2.7946e-11 6.3895e-10 6.53633e-05 0.2500 8.5872e-04 1\n", - " 404 2.7278e-02 2.7278e-02 2.2419e-11 1.8217e-09 6.53626e-05 1.0000 8.5871e-04 1\n", - " 405 2.7278e-02 2.7278e-02 2.8248e-11 6.3817e-10 6.53572e-05 0.2500 8.5868e-04 1\n", - " 406 2.7278e-02 2.7278e-02 2.2687e-11 1.8200e-09 6.53565e-05 1.0000 8.5867e-04 1\n", - " 407 2.7278e-02 2.7278e-02 2.7784e-11 6.3742e-10 6.53512e-05 0.2500 8.5864e-04 1\n", - " 408 2.7278e-02 2.7278e-02 2.2478e-11 1.8184e-09 6.53505e-05 1.0000 8.5863e-04 1\n", - " 409 2.7278e-02 2.7278e-02 2.8048e-11 6.3671e-10 6.53452e-05 0.2500 8.5860e-04 1\n", - " 410 2.7278e-02 2.7278e-02 2.3046e-11 1.8168e-09 6.53445e-05 1.0000 8.5859e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 411 2.7278e-02 2.7278e-02 2.7584e-11 6.3597e-10 6.53392e-05 0.2500 8.5856e-04 1\n", - " 412 2.7278e-02 2.7278e-02 2.2351e-11 1.8152e-09 6.53385e-05 1.0000 8.5855e-04 1\n", - " 413 2.7278e-02 2.7278e-02 2.7749e-11 6.3528e-10 6.53332e-05 0.2500 8.5852e-04 1\n", - " 414 2.7278e-02 2.7278e-02 2.2694e-11 1.8136e-09 6.53325e-05 1.0000 8.5851e-04 1\n", - " 415 2.7278e-02 2.7278e-02 2.7527e-11 6.3459e-10 6.53273e-05 0.2500 8.5848e-04 1\n", - " 416 2.7278e-02 2.7278e-02 2.2582e-11 1.8121e-09 6.53266e-05 1.0000 8.5847e-04 1\n", - " 417 2.7278e-02 2.7278e-02 2.7612e-11 6.3392e-10 6.53215e-05 0.2500 8.5844e-04 1\n", - " 418 2.7278e-02 2.7278e-02 2.2184e-11 1.8105e-09 6.53207e-05 1.0000 8.5843e-04 1\n", - " 419 2.7278e-02 2.7278e-02 2.7937e-11 6.3325e-10 6.53156e-05 0.2500 8.5840e-04 1\n", - " 420 2.7278e-02 2.7277e-02 2.2509e-11 1.8090e-09 6.53149e-05 1.0000 8.5839e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 421 2.7277e-02 2.7277e-02 2.7562e-11 6.3259e-10 6.53098e-05 0.2500 8.5836e-04 1\n", - " 422 2.7277e-02 2.7277e-02 2.2490e-11 1.8075e-09 6.53090e-05 1.0000 8.5835e-04 1\n", - " 423 2.7277e-02 2.7277e-02 2.7314e-11 6.3198e-10 6.53040e-05 0.2500 8.5832e-04 1\n", - " 424 2.7277e-02 2.7277e-02 2.2448e-11 1.8060e-09 6.53032e-05 1.0000 8.5831e-04 1\n", - " 425 2.7277e-02 2.7277e-02 2.7332e-11 6.3133e-10 6.52981e-05 0.2500 8.5828e-04 1\n", - " 426 2.7277e-02 2.7277e-02 2.2184e-11 1.8045e-09 6.52974e-05 1.0000 8.5827e-04 1\n", - " 427 2.7277e-02 2.7277e-02 2.7710e-11 6.3071e-10 6.52923e-05 0.2500 8.5824e-04 1\n", - " 428 2.7277e-02 2.7277e-02 2.2388e-11 1.8031e-09 6.52916e-05 1.0000 8.5823e-04 1\n", - " 429 2.7277e-02 2.7277e-02 2.7475e-11 6.3006e-10 6.52865e-05 0.2500 8.5820e-04 1\n", - " 430 2.7277e-02 2.7277e-02 2.2148e-11 1.8016e-09 6.52858e-05 1.0000 8.5819e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 431 2.7277e-02 2.7277e-02 2.7413e-11 6.2947e-10 6.52807e-05 0.2500 8.5816e-04 1\n", - " 432 2.7277e-02 2.7277e-02 2.2502e-11 1.8001e-09 6.52800e-05 1.0000 8.5815e-04 1\n", - " 433 2.7277e-02 2.7277e-02 2.7306e-11 6.2885e-10 6.52749e-05 0.2500 8.5812e-04 1\n", - " 434 2.7277e-02 2.7277e-02 2.2018e-11 1.7987e-09 6.52742e-05 1.0000 8.5811e-04 1\n", - " 435 2.7277e-02 2.7277e-02 2.7392e-11 6.2824e-10 6.52692e-05 0.2500 8.5808e-04 1\n", - " 436 2.7277e-02 2.7277e-02 2.2288e-11 1.7972e-09 6.52684e-05 1.0000 8.5807e-04 1\n", - " 437 2.7277e-02 2.7277e-02 2.7066e-11 6.2764e-10 6.52634e-05 0.2500 8.5804e-04 1\n", - " 438 2.7277e-02 2.7277e-02 2.2280e-11 1.7958e-09 6.52626e-05 1.0000 8.5803e-04 1\n", - " 439 2.7277e-02 2.7277e-02 2.7056e-11 6.2706e-10 6.52576e-05 0.2500 8.5800e-04 1\n", - " 440 2.7277e-02 2.7277e-02 2.2083e-11 1.7943e-09 6.52568e-05 1.0000 8.5799e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 441 2.7277e-02 2.7277e-02 2.7279e-11 6.2645e-10 6.52519e-05 0.2500 8.5796e-04 1\n", - " 442 2.7277e-02 2.7277e-02 2.2115e-11 1.7929e-09 6.52511e-05 1.0000 8.5795e-04 1\n", - " 443 2.7276e-02 2.7276e-02 2.7242e-11 6.2585e-10 6.52461e-05 0.2500 8.5792e-04 1\n", - " 444 2.7276e-02 2.7276e-02 2.2196e-11 1.7914e-09 7.34051e-05 0.1250 8.5791e-04 1\n", - " 445 2.7276e-02 2.7276e-02 1.9638e-11 1.5613e-09 6.96424e-05 0.2500 8.5791e-04 1\n", - " 446 2.7276e-02 2.7276e-02 1.6280e-11 3.1056e-09 7.18109e-05 0.5000 8.5790e-04 1\n", - " 447 2.7276e-02 2.7276e-02 1.3153e-11 5.2933e-09 7.15621e-05 1.0000 8.5788e-04 1\n", - " 448 2.7276e-02 2.7276e-02 2.1440e-11 9.4065e-09 7.24950e-05 0.0020 8.5785e-04 1\n", - " 449 2.7276e-02 2.7276e-02 2.1440e-11 9.4065e-09 7.54206e-05 1.0000 8.5783e-04 1\n", - " 450 2.7276e-02 2.7276e-02 2.0023e-11 2.4723e-09 7.18347e-05 0.2500 8.5783e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 451 2.7276e-02 2.7276e-02 1.6211e-11 0.0000e+00 7.18918e-05 1.0000 8.5781e-04 1\n", - " 452 2.7276e-02 2.7276e-02 1.9519e-11 2.0197e-09 7.12845e-05 0.2500 8.5778e-04 1\n", - " 453 2.7276e-02 2.7276e-02 1.5782e-11 4.6016e-10 7.13733e-05 1.0000 8.5777e-04 1\n", - " 454 2.7276e-02 2.7276e-02 1.8785e-11 2.5158e-09 6.98247e-05 0.2500 8.5774e-04 1\n", - " 455 2.7276e-02 2.7276e-02 1.5238e-11 2.2032e-09 6.97245e-05 1.0000 8.5773e-04 1\n", - " 456 2.7276e-02 2.7276e-02 1.8261e-11 3.6417e-09 6.88753e-05 0.5000 8.5770e-04 1\n", - " 457 2.7276e-02 2.7276e-02 1.3531e-11 5.7767e-09 6.84681e-05 1.0000 8.5768e-04 1\n", - " 458 2.7276e-02 2.7276e-02 1.7232e-11 5.8498e-09 6.76544e-05 0.0020 8.5765e-04 1\n", - " 459 2.7276e-02 2.7276e-02 1.7232e-11 5.8498e-09 6.83868e-05 1.0000 8.5763e-04 1\n", - " 460 2.7276e-02 2.7276e-02 1.7163e-11 2.0186e-09 6.61173e-05 0.5000 8.5763e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 461 2.7276e-02 2.7276e-02 1.2668e-11 9.4295e-10 6.65455e-05 1.0000 8.5761e-04 1\n", - " 462 2.7276e-02 2.7276e-02 1.6561e-11 3.7071e-09 6.62335e-05 0.0020 8.5758e-04 1\n", - " 463 2.7276e-02 2.7276e-02 1.6561e-11 3.7071e-09 6.70960e-05 1.0000 8.5756e-04 1\n", - " 464 2.7276e-02 2.7276e-02 1.6278e-11 8.1907e-10 6.47782e-05 0.5000 8.5754e-04 1\n", - " 465 2.7276e-02 2.7276e-02 1.2099e-11 9.5333e-12 6.51558e-05 1.0000 8.5753e-04 1\n", - " 466 2.7276e-02 2.7276e-02 1.5738e-11 3.6311e-09 6.50951e-05 0.0020 8.5749e-04 1\n", - " 467 2.7276e-02 2.7276e-02 1.5738e-11 3.6311e-09 6.59516e-05 1.0000 8.5747e-04 1\n", - " 468 2.7275e-02 2.7275e-02 1.5379e-11 0.0000e+00 6.35114e-05 0.5000 8.5747e-04 1\n", - " 469 2.7275e-02 2.7275e-02 1.1542e-11 0.0000e+00 6.42321e-05 1.0000 8.5745e-04 1\n", - " 470 2.7275e-02 2.7275e-02 1.5199e-11 2.7121e-09 6.43739e-05 0.0020 8.5742e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 471 2.7275e-02 2.7275e-02 1.5199e-11 2.7121e-09 6.52620e-05 1.0000 8.5740e-04 1\n", - " 472 2.7275e-02 2.7275e-02 1.5177e-11 0.0000e+00 6.29272e-05 0.5000 8.5738e-04 1\n", - " 473 2.7275e-02 2.7275e-02 1.1082e-11 0.0000e+00 6.35801e-05 1.0000 8.5737e-04 1\n", - " 474 2.7275e-02 2.7275e-02 1.4520e-11 1.6606e-09 6.37970e-05 1.0000 8.5733e-04 1\n", - " 475 2.7275e-02 2.7275e-02 1.4664e-11 8.1475e-09 6.33226e-05 1.0000 8.5730e-04 1\n", - " 476 2.7275e-02 2.7275e-02 1.4349e-11 8.8456e-09 6.33497e-05 1.0000 8.5727e-04 1\n", - " 477 2.7275e-02 2.7275e-02 1.4269e-11 5.6970e-09 6.31699e-05 1.0000 8.5725e-04 1\n", - " 478 2.7275e-02 2.7275e-02 1.4280e-11 3.3988e-09 6.30493e-05 1.0000 8.5720e-04 1\n", - " 479 2.7275e-02 2.7275e-02 1.3851e-11 3.1134e-09 6.31650e-05 1.0000 8.5720e-04 1\n", - " 480 2.7275e-02 2.7275e-02 1.4154e-11 3.1895e-09 6.37934e-05 1.0000 8.5711e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 481 2.7275e-02 2.7275e-02 1.4434e-11 3.0007e-09 6.60624e-05 1.0000 8.5717e-04 1\n", - " 482 2.7275e-02 2.7275e-02 1.4428e-11 1.9886e-09 6.94623e-05 1.0000 8.5698e-04 1\n", - " 483 2.7275e-02 2.7275e-02 1.5998e-11 1.9255e-09 7.86269e-05 1.0000 8.5723e-04 1\n", - " 484 2.7274e-02 2.7274e-02 1.4721e-11 6.2474e-10 9.50088e-05 1.0000 8.5671e-04 1\n", - " 485 2.7274e-02 2.7274e-02 2.7434e-11 1.9873e-09 1.22248e-04 1.0000 8.5751e-04 1\n", - " 486 2.7274e-02 2.7274e-02 3.2621e-11 4.3872e-10 1.73859e-04 1.0000 8.5604e-04 1\n", - " 487 2.7274e-02 2.7274e-02 1.1031e-10 3.5787e-09 2.57807e-04 1.0000 8.5849e-04 1\n", - " 488 2.7274e-02 2.7274e-02 2.3312e-10 4.4272e-09 4.09992e-04 1.0000 8.5418e-04 1\n", - " 489 2.7274e-02 2.7274e-02 7.9337e-10 1.0412e-08 6.65952e-04 1.0000 8.6150e-04 1\n", - " 490 2.7274e-02 2.7274e-02 2.1082e-09 1.5355e-08 1.11674e-03 0.5000 8.4876e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 491 2.7274e-02 2.7274e-02 2.7199e-09 1.0688e-08 4.32863e-04 0.5000 8.5970e-04 1\n", - " 492 2.7274e-02 2.7274e-02 1.5613e-09 1.5333e-08 1.91537e-04 1.0000 8.5574e-04 1\n", - " 493 2.7274e-02 2.7274e-02 1.4179e-10 1.6161e-08 2.88653e-04 1.0000 8.5856e-04 1\n", - " 494 2.7274e-02 2.7274e-02 3.1243e-10 1.9387e-09 4.63649e-04 0.2500 8.5360e-04 1\n", - " 495 2.7274e-02 2.7274e-02 2.9957e-10 3.5720e-09 1.84368e-04 1.0000 8.5572e-04 1\n", - " 496 2.7274e-02 2.7274e-02 1.2917e-10 8.4250e-09 2.76323e-04 1.0000 8.5839e-04 1\n", - " 497 2.7274e-02 2.7274e-02 2.8066e-10 1.3724e-08 4.42114e-04 1.0000 8.5369e-04 1\n", - " 498 2.7274e-02 2.7274e-02 9.4752e-10 1.2001e-08 7.21809e-04 1.0000 8.6170e-04 1\n", - " 499 2.7274e-02 2.7274e-02 2.5352e-09 1.4749e-08 1.21275e-03 0.5000 8.4776e-04 1\n", - " 500 2.7274e-02 2.7273e-02 3.2611e-09 1.3629e-08 4.67535e-04 0.5000 8.5973e-04 1\n" + " 1 2.2235e-01 2.2235e-01 4.5675e-11 0.0000e+00 1.10304e+01 0.0312 ---- 1\n", + " 2 2.1832e-01 2.1006e-01 8.2643e-04 0.0000e+00 1.01876e+01 0.0312 1.8639e+02 1\n", + " 3 2.1429e-01 1.9856e-01 1.5736e-03 0.0000e+00 9.43207e+00 0.0312 1.8056e+02 1\n", + " 4 2.1023e-01 1.8778e-01 2.2443e-03 0.0000e+00 8.78421e+00 0.0312 1.7492e+02 1\n", + " 5 2.0613e-01 1.7769e-01 2.8440e-03 0.0000e+00 8.22846e+00 0.0312 1.6946e+02 1\n", + " 6 2.0200e-01 1.6822e-01 3.3783e-03 0.0000e+00 7.74792e+00 0.0312 1.6417e+02 1\n", + " 7 1.9787e-01 1.5934e-01 3.8529e-03 0.0000e+00 7.44356e+00 0.0312 1.5904e+02 1\n", + " 8 1.9375e-01 1.5102e-01 4.2728e-03 0.0000e+00 7.16485e+00 0.0312 1.5407e+02 1\n", + " 9 1.8963e-01 1.4321e-01 4.6427e-03 0.0000e+00 6.90385e+00 0.0312 1.4926e+02 1\n", + " 10 1.8555e-01 1.3588e-01 4.9669e-03 0.0000e+00 6.65476e+00 0.0312 1.4460e+02 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 11 1.8150e-01 1.2900e-01 5.2494e-03 0.0000e+00 6.41684e+00 0.0312 1.4008e+02 1\n", + " 12 1.7749e-01 1.2256e-01 5.4936e-03 0.0000e+00 6.18943e+00 0.0625 1.3570e+02 1\n", + " 13 1.7739e-01 1.1064e-01 6.6744e-03 0.0000e+00 5.79625e+00 0.0625 1.2723e+02 1\n", + " 14 1.7600e-01 1.0018e-01 7.5827e-03 0.0000e+00 5.44397e+00 0.0625 1.1928e+02 1\n", + " 15 1.7361e-01 9.0982e-02 8.2626e-03 0.0000e+00 5.11617e+00 0.0625 1.1182e+02 1\n", + " 16 1.7042e-01 8.2902e-02 8.7514e-03 0.0000e+00 4.81447e+00 0.0625 1.0484e+02 1\n", + " 17 1.6661e-01 7.5801e-02 9.0808e-03 0.0000e+00 4.53324e+00 0.0625 9.8287e+01 1\n", + " 18 1.6234e-01 6.9560e-02 9.2777e-03 0.0000e+00 4.26787e+00 0.0625 9.2145e+01 1\n", + " 19 1.5772e-01 6.4076e-02 9.3649e-03 0.0000e+00 4.01602e+00 0.0625 8.6387e+01 1\n", + " 20 1.5288e-01 5.9256e-02 9.3620e-03 0.0000e+00 3.77770e+00 0.0625 8.0989e+01 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 21 1.4787e-01 5.5020e-02 9.2854e-03 0.0000e+00 3.55235e+00 0.1250 7.5928e+01 1\n", + " 22 1.4683e-01 4.7814e-02 9.9016e-03 0.0000e+00 3.12614e+00 0.1250 6.6438e+01 1\n", + " 23 1.4238e-01 4.2298e-02 1.0008e-02 0.0000e+00 2.74794e+00 0.1250 5.8135e+01 1\n", + " 24 1.3583e-01 3.8074e-02 9.7760e-03 0.0000e+00 2.41343e+00 0.1250 5.0869e+01 1\n", + " 25 1.2811e-01 3.4841e-02 9.3271e-03 0.0000e+00 2.11823e+00 0.2500 4.4511e+01 1\n", + " 26 1.2362e-01 3.0220e-02 9.3396e-03 0.0000e+00 1.59790e+00 0.2500 3.3384e+01 1\n", + " 27 1.1059e-01 2.7621e-02 8.2969e-03 0.0000e+00 1.20303e+00 0.5000 2.5038e+01 1\n", + " 28 9.5167e-02 2.5114e-02 7.0053e-03 0.0000e+00 6.05735e-01 1.0000 1.2519e+01 1\n", + " 29 5.1870e-02 2.4278e-02 2.7592e-03 0.0000e+00 2.43003e-03 1.0000 3.3998e-03 1\n", + " 30 2.4293e-02 2.4278e-02 1.5226e-06 0.0000e+00 4.66575e-03 1.0000 1.7419e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 31 2.4279e-02 2.4278e-02 1.0841e-07 0.0000e+00 1.38936e-02 1.0000 1.7427e-03 1\n", + " 32 2.4278e-02 2.4277e-02 9.5085e-08 0.0000e+00 4.38492e-02 0.1250 1.7399e-03 1\n", + " 33 2.4278e-02 2.4277e-02 9.4132e-08 0.0000e+00 2.11149e-02 0.5000 1.7412e-03 1\n", + " 34 2.4278e-02 2.4277e-02 9.3433e-08 0.0000e+00 2.24799e-02 0.5000 1.7429e-03 1\n", + " 35 2.4278e-02 2.4277e-02 8.1591e-08 0.0000e+00 2.47167e-02 0.5000 1.7399e-03 1\n", + " 36 2.4278e-02 2.4277e-02 9.2451e-08 0.0000e+00 2.68688e-02 0.2500 1.7447e-03 1\n", + " 37 2.4278e-02 2.4277e-02 8.5731e-08 0.0000e+00 1.50733e-03 1.0000 1.7406e-03 1\n", + " 38 2.4277e-02 2.4277e-02 5.9110e-09 0.0000e+00 4.72545e-03 0.2500 1.7456e-03 1\n", + " 39 2.4277e-02 2.4277e-02 8.1273e-09 0.0000e+00 6.82761e-04 1.0000 1.7406e-03 1\n", + " 40 2.4276e-02 2.4276e-02 2.4369e-09 0.0000e+00 1.84320e-03 0.5000 1.7449e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 41 2.4276e-02 2.4276e-02 7.3584e-09 0.0000e+00 2.48239e-03 0.5000 1.7364e-03 1\n", + " 42 2.4276e-02 2.4276e-02 1.6350e-08 0.0000e+00 3.17990e-03 0.2500 1.7481e-03 1\n", + " 43 2.4276e-02 2.4276e-02 1.7528e-08 0.0000e+00 7.76936e-04 1.0000 1.7399e-03 1\n", + " 44 2.4276e-02 2.4276e-02 3.6501e-09 0.0000e+00 2.21276e-03 0.5000 1.7462e-03 1\n", + " 45 2.4276e-02 2.4276e-02 1.1546e-08 0.0000e+00 2.97218e-03 0.2500 1.7340e-03 1\n", + " 46 2.4276e-02 2.4276e-02 1.3524e-08 0.0000e+00 7.18704e-04 1.0000 1.7423e-03 1\n", + " 47 2.4275e-02 2.4275e-02 1.9641e-09 0.0000e+00 2.04865e-03 0.5000 1.7363e-03 1\n", + " 48 2.4275e-02 2.4275e-02 9.2573e-09 0.0000e+00 2.68160e-03 0.5000 1.7472e-03 1\n", + " 49 2.4275e-02 2.4275e-02 1.8675e-08 0.0000e+00 3.59213e-03 0.2500 1.7320e-03 1\n", + " 50 2.4275e-02 2.4275e-02 2.1120e-08 0.0000e+00 8.24755e-04 1.0000 1.7423e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 51 2.4275e-02 2.4275e-02 2.9373e-09 0.0000e+00 2.44183e-03 0.5000 1.7349e-03 1\n", + " 52 2.4275e-02 2.4275e-02 1.3558e-08 0.0000e+00 3.21133e-03 0.2500 1.7484e-03 1\n", + " 53 2.4275e-02 2.4275e-02 1.5330e-08 0.0000e+00 7.81779e-04 1.0000 1.7391e-03 1\n", + " 54 2.4275e-02 2.4275e-02 3.6648e-09 0.0000e+00 2.24357e-03 0.5000 1.7459e-03 1\n", + " 55 2.4275e-02 2.4274e-02 1.1557e-08 0.0000e+00 2.99082e-03 0.2500 1.7330e-03 1\n", + " 56 2.4274e-02 2.4274e-02 1.3496e-08 0.0000e+00 7.18530e-04 1.0000 1.7416e-03 1\n", + " 57 2.4274e-02 2.4274e-02 1.9284e-09 0.0000e+00 2.04261e-03 0.5000 1.7355e-03 1\n", + " 58 2.4274e-02 2.4274e-02 9.0500e-09 0.0000e+00 2.66949e-03 0.5000 1.7466e-03 1\n", + " 59 2.4274e-02 2.4274e-02 1.8233e-08 0.0000e+00 3.56611e-03 0.2500 1.7312e-03 1\n", + " 60 2.4274e-02 2.4274e-02 2.0605e-08 0.0000e+00 8.15873e-04 1.0000 1.7416e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 61 2.4274e-02 2.4274e-02 2.8352e-09 0.0000e+00 2.40521e-03 0.5000 1.7342e-03 1\n", + " 62 2.4274e-02 2.4274e-02 1.3042e-08 0.0000e+00 3.15650e-03 0.2500 1.7476e-03 1\n", + " 63 2.4274e-02 2.4273e-02 1.4722e-08 0.0000e+00 7.68215e-04 1.0000 1.7384e-03 1\n", + " 64 2.4273e-02 2.4273e-02 3.4838e-09 0.0000e+00 2.18952e-03 0.5000 1.7450e-03 1\n", + " 65 2.4273e-02 2.4273e-02 1.0900e-08 0.0000e+00 2.91171e-03 0.2500 1.7325e-03 1\n", + " 66 2.4273e-02 2.4273e-02 1.2715e-08 0.0000e+00 7.01789e-04 1.0000 1.7409e-03 1\n", + " 67 2.4273e-02 2.4273e-02 1.7903e-09 0.0000e+00 1.97722e-03 0.5000 1.7350e-03 1\n", + " 68 2.4273e-02 2.4273e-02 8.3964e-09 0.0000e+00 2.57729e-03 0.5000 1.7456e-03 1\n", + " 69 2.4273e-02 2.4273e-02 1.6833e-08 0.0000e+00 3.43421e-03 0.2500 1.7309e-03 1\n", + " 70 2.4273e-02 2.4273e-02 1.9000e-08 0.0000e+00 7.89385e-04 1.0000 1.7408e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 71 2.4272e-02 2.4272e-02 2.5767e-09 0.0000e+00 2.30418e-03 0.5000 1.7338e-03 1\n", + " 72 2.4272e-02 2.4272e-02 1.1847e-08 0.0000e+00 3.01563e-03 0.2500 1.7465e-03 1\n", + " 73 2.4272e-02 2.4272e-02 1.3346e-08 0.0000e+00 7.39423e-04 1.0000 1.7378e-03 1\n", + " 74 2.4272e-02 2.4272e-02 3.1379e-09 0.0000e+00 2.07968e-03 0.5000 1.7440e-03 1\n", + " 75 2.4272e-02 2.4272e-02 9.6791e-09 0.0000e+00 2.75678e-03 0.5000 1.7322e-03 1\n", + " 76 2.4272e-02 2.4272e-02 2.0946e-08 0.0000e+00 3.62736e-03 0.2500 1.7479e-03 1\n", + " 77 2.4272e-02 2.4272e-02 2.2406e-08 0.0000e+00 8.48835e-04 1.0000 1.7372e-03 1\n", + " 78 2.4271e-02 2.4271e-02 4.4407e-09 0.0000e+00 2.48492e-03 0.5000 1.7448e-03 1\n", + " 79 2.4271e-02 2.4271e-02 1.4274e-08 0.0000e+00 3.30868e-03 0.2500 1.7304e-03 1\n", + " 80 2.4271e-02 2.4271e-02 1.6633e-08 0.0000e+00 7.64487e-04 1.0000 1.7401e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 81 2.4271e-02 2.4271e-02 2.2891e-09 0.0000e+00 2.20832e-03 0.5000 1.7334e-03 1\n", + " 82 2.4271e-02 2.4271e-02 1.0637e-08 0.0000e+00 2.88121e-03 0.5000 1.7454e-03 1\n", + " 83 2.4271e-02 2.4271e-02 2.1376e-08 0.0000e+00 3.84023e-03 0.2500 1.7288e-03 1\n", + " 84 2.4271e-02 2.4271e-02 2.4066e-08 0.0000e+00 8.52343e-04 1.0000 1.7400e-03 1\n", + " 85 2.4271e-02 2.4271e-02 3.1628e-09 0.0000e+00 2.53377e-03 0.5000 1.7322e-03 1\n", + " 86 2.4271e-02 2.4270e-02 1.4441e-08 0.0000e+00 3.31590e-03 0.2500 1.7463e-03 1\n", + " 87 2.4271e-02 2.4270e-02 1.6271e-08 0.0000e+00 7.87852e-04 1.0000 1.7367e-03 1\n", + " 88 2.4270e-02 2.4270e-02 3.7042e-09 0.0000e+00 2.25696e-03 0.5000 1.7436e-03 1\n", + " 89 2.4270e-02 2.4270e-02 1.1598e-08 0.0000e+00 2.99222e-03 0.2500 1.7306e-03 1\n", + " 90 2.4270e-02 2.4270e-02 1.3472e-08 0.0000e+00 7.07497e-04 1.0000 1.7392e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 91 2.4270e-02 2.4270e-02 1.8115e-09 0.0000e+00 1.99287e-03 0.5000 1.7333e-03 1\n", + " 92 2.4270e-02 2.4270e-02 8.4531e-09 0.0000e+00 2.58799e-03 0.5000 1.7440e-03 1\n", + " 93 2.4270e-02 2.4270e-02 1.6849e-08 0.0000e+00 3.43461e-03 0.2500 1.7292e-03 1\n", + " 94 2.4270e-02 2.4269e-02 1.8957e-08 0.0000e+00 7.79937e-04 1.0000 1.7391e-03 1\n", + " 95 2.4269e-02 2.4269e-02 2.4676e-09 0.0000e+00 2.26292e-03 0.5000 1.7322e-03 1\n", + " 96 2.4269e-02 2.4269e-02 1.1289e-08 0.0000e+00 2.94827e-03 0.5000 1.7447e-03 1\n", + " 97 2.4269e-02 2.4269e-02 2.2482e-08 0.0000e+00 3.92208e-03 0.2500 1.7276e-03 1\n", + " 98 2.4269e-02 2.4269e-02 2.5218e-08 0.0000e+00 8.59636e-04 1.0000 1.7391e-03 1\n", + " 99 2.4269e-02 2.4269e-02 3.2093e-09 0.0000e+00 2.55647e-03 0.5000 1.7312e-03 1\n", + " 100 2.4269e-02 2.4269e-02 1.4612e-08 0.0000e+00 3.33810e-03 0.2500 1.7454e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 101 2.4269e-02 2.4269e-02 1.6444e-08 0.0000e+00 7.86299e-04 1.0000 1.7357e-03 1\n", + " 102 2.4268e-02 2.4268e-02 3.6739e-09 0.0000e+00 2.24766e-03 0.5000 1.7426e-03 1\n", + " 103 2.4268e-02 2.4268e-02 1.1449e-08 0.0000e+00 2.97244e-03 0.2500 1.7297e-03 1\n", + " 104 2.4268e-02 2.4268e-02 1.3270e-08 0.0000e+00 6.99489e-04 1.0000 1.7382e-03 1\n", + " 105 2.4268e-02 2.4268e-02 1.7378e-09 0.0000e+00 1.95951e-03 0.5000 1.7324e-03 1\n", + " 106 2.4268e-02 2.4268e-02 8.0960e-09 0.0000e+00 2.53735e-03 0.5000 1.7429e-03 1\n", + " 107 2.4268e-02 2.4268e-02 1.6058e-08 0.0000e+00 3.35756e-03 0.2500 1.7284e-03 1\n", + " 108 2.4268e-02 2.4268e-02 1.8035e-08 0.0000e+00 7.61531e-04 1.0000 1.7381e-03 1\n", + " 109 2.4267e-02 2.4267e-02 2.2933e-09 0.0000e+00 2.19130e-03 0.5000 1.7315e-03 1\n", + " 110 2.4267e-02 2.4267e-02 1.0473e-08 0.0000e+00 2.84578e-03 0.5000 1.7434e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 111 2.4267e-02 2.4267e-02 2.0734e-08 0.0000e+00 3.77352e-03 0.2500 1.7270e-03 1\n", + " 112 2.4267e-02 2.4267e-02 2.3213e-08 0.0000e+00 8.28751e-04 1.0000 1.7380e-03 1\n", + " 113 2.4267e-02 2.4267e-02 2.8877e-09 0.0000e+00 2.43831e-03 0.5000 1.7305e-03 1\n", + " 114 2.4267e-02 2.4267e-02 1.3134e-08 0.0000e+00 3.17275e-03 0.2500 1.7440e-03 1\n", + " 115 2.4267e-02 2.4267e-02 1.4738e-08 0.0000e+00 7.52023e-04 1.0000 1.7349e-03 1\n", + " 116 2.4267e-02 2.4267e-02 3.2528e-09 0.0000e+00 2.11692e-03 0.5000 1.7412e-03 1\n", + " 117 2.4267e-02 2.4266e-02 9.9643e-09 0.0000e+00 2.78793e-03 0.5000 1.7292e-03 1\n", + " 118 2.4267e-02 2.4266e-02 2.1239e-08 0.0000e+00 3.64270e-03 0.2500 1.7450e-03 1\n", + " 119 2.4266e-02 2.4266e-02 2.2576e-08 0.0000e+00 8.33572e-04 1.0000 1.7344e-03 1\n", + " 120 2.4266e-02 2.4266e-02 4.1833e-09 0.0000e+00 2.41591e-03 0.5000 1.7417e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 121 2.4266e-02 2.4266e-02 1.3234e-08 0.0000e+00 3.19124e-03 0.2500 1.7278e-03 1\n", + " 122 2.4266e-02 2.4266e-02 1.5331e-08 0.0000e+00 7.29204e-04 1.0000 1.7371e-03 1\n", + " 123 2.4266e-02 2.4266e-02 1.9607e-09 0.0000e+00 2.06666e-03 0.5000 1.7309e-03 1\n", + " 124 2.4266e-02 2.4266e-02 9.0516e-09 0.0000e+00 2.67236e-03 0.5000 1.7420e-03 1\n", + " 125 2.4266e-02 2.4265e-02 1.7903e-08 0.0000e+00 3.52963e-03 0.2500 1.7267e-03 1\n", + " 126 2.4266e-02 2.4265e-02 2.0044e-08 0.0000e+00 7.82728e-04 1.0000 1.7369e-03 1\n", + " 127 2.4265e-02 2.4265e-02 2.4581e-09 0.0000e+00 2.26486e-03 0.5000 1.7300e-03 1\n", + " 128 2.4265e-02 2.4265e-02 1.1161e-08 0.0000e+00 2.93481e-03 0.5000 1.7424e-03 1\n", + " 129 2.4265e-02 2.4265e-02 2.2026e-08 0.0000e+00 3.88183e-03 0.2500 1.7255e-03 1\n", + " 130 2.4265e-02 2.4265e-02 2.4596e-08 0.0000e+00 8.38399e-04 1.0000 1.7368e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 131 2.4265e-02 2.4265e-02 2.9559e-09 0.0000e+00 2.46857e-03 0.5000 1.7292e-03 1\n", + " 132 2.4265e-02 2.4265e-02 1.3381e-08 0.0000e+00 3.20293e-03 0.2500 1.7428e-03 1\n", + " 133 2.4265e-02 2.4264e-02 1.4986e-08 0.0000e+00 7.50445e-04 1.0000 1.7336e-03 1\n", + " 134 2.4264e-02 2.4264e-02 3.2196e-09 0.0000e+00 2.10675e-03 0.5000 1.7400e-03 1\n", + " 135 2.4264e-02 2.4264e-02 9.8064e-09 0.0000e+00 2.76558e-03 0.5000 1.7280e-03 1\n", + " 136 2.4264e-02 2.4264e-02 2.0775e-08 0.0000e+00 3.60152e-03 0.2500 1.7437e-03 1\n", + " 137 2.4264e-02 2.4264e-02 2.2020e-08 0.0000e+00 8.18647e-04 1.0000 1.7332e-03 1\n", + " 138 2.4264e-02 2.4264e-02 3.9699e-09 0.0000e+00 2.35550e-03 0.5000 1.7403e-03 1\n", + " 139 2.4264e-02 2.4264e-02 1.2437e-08 0.0000e+00 3.09957e-03 0.2500 1.7269e-03 1\n", + " 140 2.4264e-02 2.4264e-02 1.4372e-08 0.0000e+00 7.07861e-04 1.0000 1.7358e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 141 2.4263e-02 2.4263e-02 1.7820e-09 0.0000e+00 1.98274e-03 0.5000 1.7298e-03 1\n", + " 142 2.4263e-02 2.4263e-02 8.2077e-09 0.0000e+00 2.55295e-03 0.5000 1.7404e-03 1\n", + " 143 2.4263e-02 2.4263e-02 1.6104e-08 0.0000e+00 3.35753e-03 0.2500 1.7260e-03 1\n", + " 144 2.4263e-02 2.4263e-02 1.7987e-08 0.0000e+00 7.47476e-04 1.0000 1.7356e-03 1\n", + " 145 2.4263e-02 2.4263e-02 2.1419e-09 0.0000e+00 2.13052e-03 0.5000 1.7291e-03 1\n", + " 146 2.4263e-02 2.4263e-02 9.7079e-09 0.0000e+00 2.74791e-03 0.5000 1.7407e-03 1\n", + " 147 2.4263e-02 2.4263e-02 1.8990e-08 0.0000e+00 3.61782e-03 0.2500 1.7250e-03 1\n", + " 148 2.4263e-02 2.4263e-02 2.1156e-08 0.0000e+00 7.87846e-04 1.0000 1.7354e-03 1\n", + " 149 2.4262e-02 2.4262e-02 2.4716e-09 0.0000e+00 2.27785e-03 0.5000 1.7285e-03 1\n", + " 150 2.4262e-02 2.4262e-02 1.1180e-08 0.0000e+00 2.94095e-03 0.5000 1.7409e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 151 2.4262e-02 2.4262e-02 2.1945e-08 0.0000e+00 3.87502e-03 0.2500 1.7240e-03 1\n", + " 152 2.4262e-02 2.4262e-02 2.4435e-08 0.0000e+00 8.27342e-04 1.0000 1.7353e-03 1\n", + " 153 2.4262e-02 2.4262e-02 2.8235e-09 0.0000e+00 2.42154e-03 0.5000 1.7278e-03 1\n", + " 154 2.4262e-02 2.4262e-02 1.2723e-08 0.0000e+00 3.12864e-03 0.2500 1.7411e-03 1\n", + " 155 2.4262e-02 2.4262e-02 1.4203e-08 0.0000e+00 7.29567e-04 1.0000 1.7322e-03 1\n", + " 156 2.4261e-02 2.4261e-02 2.9690e-09 0.0000e+00 2.02446e-03 0.5000 1.7382e-03 1\n", + " 157 2.4261e-02 2.4261e-02 8.9041e-09 0.0000e+00 2.64437e-03 0.5000 1.7268e-03 1\n", + " 158 2.4261e-02 2.4261e-02 1.8747e-08 0.0000e+00 3.42748e-03 0.2500 1.7417e-03 1\n", + " 159 2.4261e-02 2.4261e-02 1.9799e-08 0.0000e+00 7.79789e-04 1.0000 1.7318e-03 1\n", + " 160 2.4261e-02 2.4261e-02 3.4732e-09 0.0000e+00 2.20635e-03 0.5000 1.7384e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 161 2.4261e-02 2.4261e-02 1.0670e-08 0.0000e+00 2.88702e-03 0.2500 1.7259e-03 1\n", + " 162 2.4261e-02 2.4261e-02 1.2301e-08 0.0000e+00 6.66491e-04 1.0000 1.7341e-03 1\n", + " 163 2.4261e-02 2.4261e-02 1.4754e-09 0.0000e+00 1.82433e-03 0.5000 1.7287e-03 1\n", + " 164 2.4260e-02 2.4260e-02 6.7811e-09 0.0000e+00 2.33438e-03 0.5000 1.7384e-03 1\n", + " 165 2.4260e-02 2.4260e-02 1.3138e-08 0.0000e+00 3.05195e-03 0.2500 1.7253e-03 1\n", + " 166 2.4260e-02 2.4260e-02 1.4637e-08 0.0000e+00 6.90916e-04 1.0000 1.7339e-03 1\n", + " 167 2.4260e-02 2.4260e-02 1.6864e-09 0.0000e+00 1.91569e-03 0.5000 1.7282e-03 1\n", + " 168 2.4260e-02 2.4260e-02 7.6362e-09 0.0000e+00 2.45443e-03 0.5000 1.7384e-03 1\n", + " 169 2.4260e-02 2.4260e-02 1.4739e-08 0.0000e+00 3.21084e-03 0.2500 1.7246e-03 1\n", + " 170 2.4260e-02 2.4260e-02 1.6381e-08 0.0000e+00 7.14808e-04 1.0000 1.7337e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 171 2.4260e-02 2.4260e-02 1.8548e-09 0.0000e+00 2.00296e-03 0.5000 1.7277e-03 1\n", + " 172 2.4259e-02 2.4259e-02 8.3929e-09 0.0000e+00 2.56809e-03 0.5000 1.7384e-03 1\n", + " 173 2.4259e-02 2.4259e-02 1.6246e-08 0.0000e+00 3.36101e-03 0.2500 1.7239e-03 1\n", + " 174 2.4259e-02 2.4259e-02 1.8045e-08 0.0000e+00 7.37056e-04 1.0000 1.7335e-03 1\n", + " 175 2.4259e-02 2.4259e-02 2.0261e-09 0.0000e+00 2.08437e-03 0.5000 1.7272e-03 1\n", + " 176 2.4259e-02 2.4259e-02 9.1394e-09 0.0000e+00 2.67371e-03 0.5000 1.7385e-03 1\n", + " 177 2.4259e-02 2.4259e-02 1.7717e-08 0.0000e+00 3.50020e-03 0.2500 1.7232e-03 1\n", + " 178 2.4259e-02 2.4259e-02 1.9664e-08 0.0000e+00 7.57366e-04 1.0000 1.7333e-03 1\n", + " 179 2.4259e-02 2.4259e-02 2.1856e-09 0.0000e+00 2.15835e-03 0.5000 1.7268e-03 1\n", + " 180 2.4259e-02 2.4258e-02 9.8400e-09 0.0000e+00 2.76930e-03 0.5000 1.7384e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 181 2.4258e-02 2.4258e-02 1.9095e-08 0.0000e+00 3.62570e-03 0.2500 1.7226e-03 1\n", + " 182 2.4258e-02 2.4258e-02 2.1180e-08 0.0000e+00 7.75384e-04 1.0000 1.7331e-03 1\n", + " 183 2.4258e-02 2.4258e-02 2.3311e-09 0.0000e+00 2.22352e-03 0.5000 1.7263e-03 1\n", + " 184 2.4258e-02 2.4258e-02 1.0474e-08 0.0000e+00 2.85308e-03 0.5000 1.7384e-03 1\n", + " 185 2.4258e-02 2.4258e-02 2.0336e-08 0.0000e+00 3.73511e-03 0.2500 1.7221e-03 1\n", + " 186 2.4258e-02 2.4258e-02 2.2543e-08 0.0000e+00 7.90736e-04 1.0000 1.7328e-03 1\n", + " 187 2.4258e-02 2.4258e-02 2.4582e-09 0.0000e+00 2.27861e-03 0.5000 1.7259e-03 1\n", + " 188 2.4258e-02 2.4257e-02 1.1018e-08 0.0000e+00 2.92340e-03 0.5000 1.7383e-03 1\n", + " 189 2.4257e-02 2.4257e-02 2.1400e-08 0.0000e+00 3.82630e-03 0.2500 1.7215e-03 1\n", + " 190 2.4257e-02 2.4257e-02 2.3706e-08 0.0000e+00 8.03107e-04 1.0000 1.7326e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 191 2.4257e-02 2.4257e-02 2.5605e-09 0.0000e+00 2.32257e-03 0.5000 1.7255e-03 1\n", + " 192 2.4257e-02 2.4257e-02 1.1456e-08 0.0000e+00 2.97892e-03 0.5000 1.7381e-03 1\n", + " 193 2.4257e-02 2.4257e-02 2.2247e-08 0.0000e+00 3.89750e-03 0.2500 1.7211e-03 1\n", + " 194 2.4257e-02 2.4257e-02 2.4631e-08 0.0000e+00 8.12221e-04 1.0000 1.7323e-03 1\n", + " 195 2.4257e-02 2.4256e-02 2.6347e-09 0.0000e+00 2.35459e-03 0.5000 1.7251e-03 1\n", + " 196 2.4256e-02 2.4256e-02 1.1772e-08 0.0000e+00 3.01861e-03 0.5000 1.7380e-03 1\n", + " 197 2.4256e-02 2.4256e-02 2.2849e-08 0.0000e+00 3.94740e-03 0.2500 1.7207e-03 1\n", + " 198 2.4256e-02 2.4256e-02 2.5281e-08 0.0000e+00 8.17933e-04 1.0000 1.7321e-03 1\n", + " 199 2.4256e-02 2.4256e-02 2.6798e-09 0.0000e+00 2.37410e-03 0.5000 1.7248e-03 1\n", + " 200 2.4256e-02 2.4256e-02 1.1956e-08 0.0000e+00 3.04185e-03 0.5000 1.7377e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 201 2.4256e-02 2.4256e-02 2.3186e-08 0.0000e+00 3.97522e-03 0.2500 1.7203e-03 1\n", + " 202 2.4256e-02 2.4256e-02 2.5640e-08 0.0000e+00 8.20163e-04 1.0000 1.7318e-03 1\n", + " 203 2.4255e-02 2.4255e-02 2.6932e-09 0.0000e+00 2.38092e-03 0.5000 1.7245e-03 1\n", + " 204 2.4255e-02 2.4255e-02 1.2003e-08 0.0000e+00 3.04839e-03 0.5000 1.7375e-03 1\n", + " 205 2.4255e-02 2.4255e-02 2.3251e-08 0.0000e+00 3.98073e-03 0.2500 1.7200e-03 1\n", + " 206 2.4255e-02 2.4255e-02 2.5695e-08 0.0000e+00 8.18924e-04 1.0000 1.7315e-03 1\n", + " 207 2.4255e-02 2.4255e-02 2.6761e-09 0.0000e+00 2.37513e-03 0.5000 1.7243e-03 1\n", + " 208 2.4255e-02 2.4255e-02 1.1913e-08 0.0000e+00 3.03842e-03 0.5000 1.7372e-03 1\n", + " 209 2.4255e-02 2.4255e-02 2.3046e-08 0.0000e+00 3.96424e-03 0.2500 1.7198e-03 1\n", + " 210 2.4255e-02 2.4255e-02 2.5453e-08 0.0000e+00 8.14324e-04 1.0000 1.7312e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 211 2.4254e-02 2.4254e-02 2.6294e-09 0.0000e+00 2.35709e-03 0.5000 1.7240e-03 1\n", + " 212 2.4254e-02 2.4254e-02 1.1695e-08 0.0000e+00 3.01250e-03 0.5000 1.7368e-03 1\n", + " 213 2.4254e-02 2.4254e-02 2.2585e-08 0.0000e+00 3.92657e-03 0.2500 1.7196e-03 1\n", + " 214 2.4254e-02 2.4254e-02 2.4929e-08 0.0000e+00 8.06539e-04 1.0000 1.7309e-03 1\n", + " 215 2.4254e-02 2.4254e-02 2.5546e-09 0.0000e+00 2.32749e-03 0.5000 1.7238e-03 1\n", + " 216 2.4254e-02 2.4254e-02 1.1358e-08 0.0000e+00 2.97154e-03 0.5000 1.7365e-03 1\n", + " 217 2.4254e-02 2.4254e-02 2.1892e-08 0.0000e+00 3.86900e-03 0.2500 1.7195e-03 1\n", + " 218 2.4254e-02 2.4254e-02 2.4149e-08 0.0000e+00 7.95864e-04 1.0000 1.7306e-03 1\n", + " 219 2.4253e-02 2.4253e-02 2.4566e-09 0.0000e+00 2.28720e-03 0.5000 1.7237e-03 1\n", + " 220 2.4253e-02 2.4253e-02 1.0918e-08 0.0000e+00 2.91673e-03 0.5000 1.7360e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 221 2.4253e-02 2.4253e-02 2.0996e-08 0.0000e+00 3.79320e-03 0.2500 1.7194e-03 1\n", + " 222 2.4253e-02 2.4253e-02 2.3147e-08 0.0000e+00 7.82539e-04 1.0000 1.7303e-03 1\n", + " 223 2.4253e-02 2.4253e-02 2.3384e-09 0.0000e+00 2.23727e-03 0.5000 1.7235e-03 1\n", + " 224 2.4253e-02 2.4253e-02 1.0392e-08 0.0000e+00 2.84949e-03 0.5000 1.7356e-03 1\n", + " 225 2.4253e-02 2.4253e-02 1.9934e-08 0.0000e+00 3.70111e-03 0.2500 1.7194e-03 1\n", + " 226 2.4253e-02 2.4253e-02 2.1964e-08 0.0000e+00 7.66932e-04 1.0000 1.7300e-03 1\n", + " 227 2.4252e-02 2.4252e-02 2.2054e-09 0.0000e+00 2.17891e-03 0.5000 1.7234e-03 1\n", + " 228 2.4252e-02 2.4252e-02 9.7990e-09 0.0000e+00 2.77139e-03 0.5000 1.7351e-03 1\n", + " 229 2.4252e-02 2.4252e-02 1.8743e-08 0.0000e+00 3.59490e-03 0.2500 1.7194e-03 1\n", + " 230 2.4252e-02 2.4252e-02 2.0641e-08 0.0000e+00 7.49335e-04 1.0000 1.7297e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 231 2.4252e-02 2.4252e-02 2.0606e-09 0.0000e+00 2.11335e-03 0.5000 1.7233e-03 1\n", + " 232 2.4252e-02 2.4252e-02 9.1577e-09 0.0000e+00 2.68409e-03 0.5000 1.7346e-03 1\n", + " 233 2.4252e-02 2.4252e-02 1.7462e-08 0.0000e+00 3.47684e-03 0.2500 1.7194e-03 1\n", + " 234 2.4252e-02 2.4252e-02 1.9221e-08 0.0000e+00 7.30092e-04 1.0000 1.7294e-03 1\n", + " 235 2.4251e-02 2.4251e-02 1.9087e-09 0.0000e+00 2.04191e-03 0.5000 1.7232e-03 1\n", + " 236 2.4251e-02 2.4251e-02 8.4859e-09 0.0000e+00 2.58925e-03 0.5000 1.7341e-03 1\n", + " 237 2.4251e-02 2.4251e-02 1.6126e-08 0.0000e+00 3.34910e-03 0.2500 1.7195e-03 1\n", + " 238 2.4251e-02 2.4251e-02 1.7744e-08 0.0000e+00 7.09545e-04 1.0000 1.7290e-03 1\n", + " 239 2.4251e-02 2.4251e-02 1.7539e-09 0.0000e+00 1.96587e-03 0.5000 1.7231e-03 1\n", + " 240 2.4251e-02 2.4251e-02 7.8012e-09 0.0000e+00 2.48852e-03 0.5000 1.7336e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 241 2.4251e-02 2.4251e-02 1.4769e-08 0.0000e+00 3.21386e-03 0.2500 1.7196e-03 1\n", + " 242 2.4251e-02 2.4251e-02 1.6245e-08 0.0000e+00 6.88020e-04 1.0000 1.7287e-03 1\n", + " 243 2.4250e-02 2.4250e-02 1.5999e-09 0.0000e+00 1.88643e-03 0.5000 1.7231e-03 1\n", + " 244 2.4250e-02 2.4250e-02 7.1185e-09 0.0000e+00 2.38345e-03 0.5000 1.7330e-03 1\n", + " 245 2.4250e-02 2.4250e-02 1.3420e-08 0.0000e+00 3.07320e-03 0.2500 1.7197e-03 1\n", + " 246 2.4250e-02 2.4250e-02 1.4758e-08 0.0000e+00 6.65864e-04 1.0000 1.7284e-03 1\n", + " 247 2.4250e-02 2.4250e-02 1.4492e-09 0.0000e+00 1.80470e-03 1.0000 1.7230e-03 1\n", + " 248 2.4250e-02 2.4250e-02 2.3024e-08 0.0000e+00 5.90134e-03 0.1250 1.7418e-03 1\n", + " 249 2.4250e-02 2.4250e-02 2.4446e-08 0.0000e+00 2.61045e-03 0.5000 1.7332e-03 1\n", + " 250 2.4250e-02 2.4250e-02 2.3891e-08 0.0000e+00 3.36454e-03 0.5000 1.7186e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 251 2.4250e-02 2.4249e-02 3.4528e-08 0.0000e+00 4.30423e-03 0.2500 1.7375e-03 1\n", + " 252 2.4250e-02 2.4249e-02 3.4788e-08 0.0000e+00 8.80482e-04 1.0000 1.7251e-03 1\n", + " 253 2.4249e-02 2.4249e-02 4.6758e-09 0.0000e+00 2.54927e-03 0.5000 1.7330e-03 1\n", + " 254 2.4249e-02 2.4249e-02 1.4389e-08 0.0000e+00 3.29394e-03 0.2500 1.7184e-03 1\n", + " 255 2.4249e-02 2.4249e-02 1.6288e-08 0.0000e+00 6.95689e-04 1.0000 1.7278e-03 1\n", + " 256 2.4249e-02 2.4249e-02 1.5673e-09 0.0000e+00 1.90937e-03 0.5000 1.7222e-03 1\n", + " 257 2.4249e-02 2.4249e-02 7.1002e-09 0.0000e+00 2.40522e-03 0.5000 1.7321e-03 1\n", + " 258 2.4249e-02 2.4249e-02 1.3492e-08 0.0000e+00 3.09453e-03 0.2500 1.7188e-03 1\n", + " 259 2.4249e-02 2.4248e-02 1.4849e-08 0.0000e+00 6.64144e-04 1.0000 1.7275e-03 1\n", + " 260 2.4248e-02 2.4248e-02 1.4377e-09 0.0000e+00 1.79583e-03 1.0000 1.7221e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 261 2.4248e-02 2.4248e-02 2.2677e-08 0.0000e+00 5.85926e-03 0.1250 1.7408e-03 1\n", + " 262 2.4248e-02 2.4248e-02 2.4055e-08 0.0000e+00 2.59775e-03 1.0000 1.7323e-03 1\n", + " 263 2.4248e-02 2.4248e-02 4.6111e-08 0.0000e+00 8.82950e-03 0.1250 1.7030e-03 1\n", + " 264 2.4248e-02 2.4248e-02 5.0642e-08 0.0000e+00 3.90351e-03 0.5000 1.7162e-03 1\n", + " 265 2.4248e-02 2.4248e-02 5.6182e-08 0.0000e+00 4.98843e-03 0.2500 1.7383e-03 1\n", + " 266 2.4248e-02 2.4248e-02 5.4208e-08 0.0000e+00 9.79819e-04 1.0000 1.7238e-03 1\n", + " 267 2.4247e-02 2.4247e-02 6.0846e-09 0.0000e+00 2.90386e-03 0.2500 1.7330e-03 1\n", + " 268 2.4247e-02 2.4247e-02 8.5550e-09 0.0000e+00 6.53931e-04 1.0000 1.7246e-03 1\n", + " 269 2.4247e-02 2.4247e-02 1.9296e-09 0.0000e+00 1.72240e-03 1.0000 1.7295e-03 1\n", + " 270 2.4247e-02 2.4247e-02 1.8260e-08 0.0000e+00 5.65026e-03 0.1250 1.7110e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 271 2.4247e-02 2.4247e-02 2.0073e-08 0.0000e+00 2.54117e-03 0.5000 1.7193e-03 1\n", + " 272 2.4247e-02 2.4247e-02 2.2331e-08 0.0000e+00 3.22026e-03 0.5000 1.7332e-03 1\n", + " 273 2.4247e-02 2.4247e-02 3.0160e-08 0.0000e+00 4.15476e-03 0.2500 1.7148e-03 1\n", + " 274 2.4247e-02 2.4247e-02 3.1389e-08 0.0000e+00 8.09996e-04 1.0000 1.7268e-03 1\n", + " 275 2.4246e-02 2.4246e-02 2.4675e-09 0.0000e+00 2.32047e-03 0.5000 1.7197e-03 1\n", + " 276 2.4246e-02 2.4246e-02 1.0870e-08 0.0000e+00 2.92755e-03 0.5000 1.7321e-03 1\n", + " 277 2.4246e-02 2.4246e-02 2.0620e-08 0.0000e+00 3.76596e-03 0.2500 1.7156e-03 1\n", + " 278 2.4246e-02 2.4246e-02 2.2560e-08 0.0000e+00 7.52224e-04 1.0000 1.7263e-03 1\n", + " 279 2.4246e-02 2.4246e-02 2.0290e-09 0.0000e+00 2.11027e-03 0.5000 1.7199e-03 1\n", + " 280 2.4246e-02 2.4246e-02 8.8953e-09 0.0000e+00 2.65456e-03 0.5000 1.7312e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 281 2.4246e-02 2.4246e-02 1.6697e-08 0.0000e+00 3.40539e-03 0.2500 1.7163e-03 1\n", + " 282 2.4246e-02 2.4245e-02 1.8245e-08 0.0000e+00 6.99002e-04 1.0000 1.7259e-03 1\n", + " 283 2.4245e-02 2.4245e-02 1.6357e-09 0.0000e+00 1.91616e-03 0.5000 1.7202e-03 1\n", + " 284 2.4245e-02 2.4245e-02 7.1937e-09 0.0000e+00 2.40200e-03 0.5000 1.7303e-03 1\n", + " 285 2.4245e-02 2.4245e-02 1.3400e-08 0.0000e+00 3.07288e-03 0.2500 1.7169e-03 1\n", + " 286 2.4245e-02 2.4245e-02 1.4642e-08 0.0000e+00 6.50095e-04 1.0000 1.7255e-03 1\n", + " 287 2.4245e-02 2.4245e-02 1.3170e-09 0.0000e+00 1.73784e-03 1.0000 1.7204e-03 1\n", + " 288 2.4245e-02 2.4245e-02 2.0680e-08 0.0000e+00 5.62313e-03 0.1250 1.7383e-03 1\n", + " 289 2.4245e-02 2.4245e-02 2.1894e-08 0.0000e+00 2.50963e-03 1.0000 1.7301e-03 1\n", + " 290 2.4245e-02 2.4244e-02 4.1958e-08 0.0000e+00 8.47414e-03 0.1250 1.7020e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 291 2.4245e-02 2.4244e-02 4.6027e-08 0.0000e+00 3.76635e-03 0.5000 1.7146e-03 1\n", + " 292 2.4245e-02 2.4244e-02 5.1145e-08 0.0000e+00 4.78349e-03 0.2500 1.7359e-03 1\n", + " 293 2.4245e-02 2.4244e-02 4.9234e-08 0.0000e+00 9.29686e-04 1.0000 1.7220e-03 1\n", + " 294 2.4244e-02 2.4244e-02 5.2754e-09 0.0000e+00 2.71071e-03 0.5000 1.7305e-03 1\n", + " 295 2.4244e-02 2.4244e-02 1.6186e-08 0.0000e+00 3.47740e-03 0.2500 1.7150e-03 1\n", + " 296 2.4244e-02 2.4244e-02 1.8175e-08 0.0000e+00 7.03588e-04 1.0000 1.7249e-03 1\n", + " 297 2.4243e-02 2.4243e-02 1.5611e-09 0.0000e+00 1.92636e-03 0.5000 1.7192e-03 1\n", + " 298 2.4243e-02 2.4243e-02 7.0162e-09 0.0000e+00 2.40500e-03 0.5000 1.7292e-03 1\n", + " 299 2.4243e-02 2.4243e-02 1.3181e-08 0.0000e+00 3.06848e-03 0.5000 1.7160e-03 1\n", + " 300 2.4243e-02 2.4243e-02 2.4744e-08 0.0000e+00 3.87923e-03 0.2500 1.7330e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 301 2.4243e-02 2.4243e-02 2.5509e-08 0.0000e+00 7.86809e-04 1.0000 1.7219e-03 1\n", + " 302 2.4243e-02 2.4243e-02 3.4153e-09 0.0000e+00 2.19311e-03 0.5000 1.7286e-03 1\n", + " 303 2.4243e-02 2.4243e-02 1.0051e-08 0.0000e+00 2.79443e-03 0.5000 1.7163e-03 1\n", + " 304 2.4243e-02 2.4243e-02 2.0101e-08 0.0000e+00 3.52703e-03 0.2500 1.7319e-03 1\n", + " 305 2.4243e-02 2.4243e-02 2.0760e-08 0.0000e+00 7.31984e-04 1.0000 1.7218e-03 1\n", + " 306 2.4242e-02 2.4242e-02 2.7959e-09 0.0000e+00 1.99296e-03 0.5000 1.7277e-03 1\n", + " 307 2.4242e-02 2.4242e-02 8.0421e-09 0.0000e+00 2.53129e-03 0.5000 1.7168e-03 1\n", + " 308 2.4242e-02 2.4242e-02 1.6167e-08 0.0000e+00 3.18671e-03 0.5000 1.7307e-03 1\n", + " 309 2.4242e-02 2.4242e-02 2.6347e-08 0.0000e+00 4.08068e-03 0.2500 1.7125e-03 1\n", + " 310 2.4242e-02 2.4242e-02 2.8064e-08 0.0000e+00 7.80969e-04 1.0000 1.7242e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 311 2.4242e-02 2.4242e-02 2.1679e-09 0.0000e+00 2.20407e-03 0.5000 1.7175e-03 1\n", + " 312 2.4242e-02 2.4242e-02 9.5011e-09 0.0000e+00 2.75619e-03 0.5000 1.7292e-03 1\n", + " 313 2.4242e-02 2.4241e-02 1.7784e-08 0.0000e+00 3.51710e-03 0.2500 1.7138e-03 1\n", + " 314 2.4242e-02 2.4241e-02 1.9360e-08 0.0000e+00 7.00647e-04 1.0000 1.7237e-03 1\n", + " 315 2.4241e-02 2.4241e-02 1.6209e-09 0.0000e+00 1.91403e-03 0.5000 1.7180e-03 1\n", + " 316 2.4241e-02 2.4241e-02 7.0519e-09 0.0000e+00 2.38368e-03 0.5000 1.7280e-03 1\n", + " 317 2.4241e-02 2.4241e-02 1.2991e-08 0.0000e+00 3.03074e-03 0.5000 1.7148e-03 1\n", + " 318 2.4241e-02 2.4241e-02 2.4048e-08 0.0000e+00 3.81757e-03 0.2500 1.7316e-03 1\n", + " 319 2.4241e-02 2.4241e-02 2.4695e-08 0.0000e+00 7.69248e-04 1.0000 1.7207e-03 1\n", + " 320 2.4241e-02 2.4241e-02 3.1974e-09 0.0000e+00 2.12458e-03 0.5000 1.7272e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 321 2.4241e-02 2.4240e-02 9.2952e-09 0.0000e+00 2.69629e-03 0.5000 1.7153e-03 1\n", + " 322 2.4241e-02 2.4240e-02 1.8497e-08 0.0000e+00 3.38980e-03 0.5000 1.7303e-03 1\n", + " 323 2.4241e-02 2.4240e-02 2.9977e-08 0.0000e+00 4.33376e-03 0.2500 1.7108e-03 1\n", + " 324 2.4241e-02 2.4240e-02 3.1840e-08 0.0000e+00 8.08800e-04 1.0000 1.7233e-03 1\n", + " 325 2.4240e-02 2.4240e-02 2.3590e-09 0.0000e+00 2.29985e-03 0.5000 1.7163e-03 1\n", + " 326 2.4240e-02 2.4240e-02 1.0303e-08 0.0000e+00 2.87035e-03 0.5000 1.7285e-03 1\n", + " 327 2.4240e-02 2.4240e-02 1.9275e-08 0.0000e+00 3.65672e-03 0.2500 1.7125e-03 1\n", + " 328 2.4240e-02 2.4240e-02 2.0948e-08 0.0000e+00 7.13755e-04 1.0000 1.7228e-03 1\n", + " 329 2.4239e-02 2.4239e-02 1.6971e-09 0.0000e+00 1.95779e-03 0.5000 1.7169e-03 1\n", + " 330 2.4239e-02 2.4239e-02 7.3492e-09 0.0000e+00 2.43294e-03 0.5000 1.7272e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 331 2.4239e-02 2.4239e-02 1.3504e-08 0.0000e+00 3.08708e-03 0.5000 1.7137e-03 1\n", + " 332 2.4239e-02 2.4239e-02 2.4872e-08 0.0000e+00 3.87836e-03 0.2500 1.7308e-03 1\n", + " 333 2.4239e-02 2.4239e-02 2.5491e-08 0.0000e+00 7.71532e-04 1.0000 1.7198e-03 1\n", + " 334 2.4239e-02 2.4239e-02 3.2079e-09 0.0000e+00 2.12880e-03 0.5000 1.7262e-03 1\n", + " 335 2.4239e-02 2.4239e-02 9.2914e-09 0.0000e+00 2.69474e-03 0.5000 1.7144e-03 1\n", + " 336 2.4239e-02 2.4239e-02 1.8390e-08 0.0000e+00 3.37875e-03 0.5000 1.7293e-03 1\n", + " 337 2.4239e-02 2.4239e-02 2.9631e-08 0.0000e+00 4.30750e-03 0.2500 1.7100e-03 1\n", + " 338 2.4239e-02 2.4238e-02 3.1401e-08 0.0000e+00 7.97881e-04 1.0000 1.7223e-03 1\n", + " 339 2.4238e-02 2.4238e-02 2.2496e-09 0.0000e+00 2.25635e-03 0.5000 1.7155e-03 1\n", + " 340 2.4238e-02 2.4238e-02 9.8048e-09 0.0000e+00 2.80681e-03 0.5000 1.7274e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 341 2.4238e-02 2.4238e-02 1.8249e-08 0.0000e+00 3.56539e-03 0.2500 1.7118e-03 1\n", + " 342 2.4238e-02 2.4238e-02 1.9794e-08 0.0000e+00 6.95163e-04 1.0000 1.7218e-03 1\n", + " 343 2.4238e-02 2.4238e-02 1.5595e-09 0.0000e+00 1.88743e-03 0.5000 1.7161e-03 1\n", + " 344 2.4238e-02 2.4238e-02 6.7343e-09 0.0000e+00 2.33660e-03 0.5000 1.7260e-03 1\n", + " 345 2.4238e-02 2.4238e-02 1.2285e-08 0.0000e+00 2.95508e-03 0.5000 1.7131e-03 1\n", + " 346 2.4238e-02 2.4237e-02 2.2529e-08 0.0000e+00 3.69928e-03 0.2500 1.7294e-03 1\n", + " 347 2.4238e-02 2.4237e-02 2.3034e-08 0.0000e+00 7.38686e-04 1.0000 1.7189e-03 1\n", + " 348 2.4237e-02 2.4237e-02 2.8451e-09 0.0000e+00 2.00748e-03 0.5000 1.7250e-03 1\n", + " 349 2.4237e-02 2.4237e-02 8.0935e-09 0.0000e+00 2.53083e-03 0.5000 1.7139e-03 1\n", + " 350 2.4237e-02 2.4237e-02 1.5969e-08 0.0000e+00 3.16131e-03 0.5000 1.7278e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 351 2.4237e-02 2.4237e-02 2.5563e-08 0.0000e+00 4.01470e-03 0.2500 1.7098e-03 1\n", + " 352 2.4237e-02 2.4237e-02 2.7036e-08 0.0000e+00 7.51880e-04 1.0000 1.7213e-03 1\n", + " 353 2.4237e-02 2.4237e-02 1.8938e-09 0.0000e+00 2.08764e-03 0.5000 1.7150e-03 1\n", + " 354 2.4236e-02 2.4236e-02 8.2424e-09 0.0000e+00 2.58530e-03 0.5000 1.7259e-03 1\n", + " 355 2.4236e-02 2.4236e-02 1.5194e-08 0.0000e+00 3.27118e-03 0.2500 1.7116e-03 1\n", + " 356 2.4236e-02 2.4236e-02 1.6451e-08 0.0000e+00 6.50119e-04 1.0000 1.7208e-03 1\n", + " 357 2.4236e-02 2.4236e-02 1.2689e-09 0.0000e+00 1.72270e-03 1.0000 1.7156e-03 1\n", + " 358 2.4236e-02 2.4236e-02 1.9490e-08 0.0000e+00 5.50901e-03 0.1250 1.7332e-03 1\n", + " 359 2.4236e-02 2.4236e-02 2.0556e-08 0.0000e+00 2.48694e-03 1.0000 1.7253e-03 1\n", + " 360 2.4236e-02 2.4236e-02 3.9528e-08 0.0000e+00 8.30888e-03 0.1250 1.6977e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 361 2.4236e-02 2.4235e-02 4.3211e-08 0.0000e+00 3.73434e-03 0.5000 1.7099e-03 1\n", + " 362 2.4236e-02 2.4235e-02 4.8188e-08 0.0000e+00 4.67226e-03 0.2500 1.7308e-03 1\n", + " 363 2.4236e-02 2.4235e-02 4.6109e-08 0.0000e+00 8.70772e-04 1.0000 1.7174e-03 1\n", + " 364 2.4235e-02 2.4235e-02 4.3645e-09 0.0000e+00 2.47407e-03 0.5000 1.7251e-03 1\n", + " 365 2.4235e-02 2.4235e-02 1.2901e-08 0.0000e+00 3.12479e-03 0.2500 1.7111e-03 1\n", + " 366 2.4235e-02 2.4235e-02 1.4331e-08 0.0000e+00 6.27389e-04 1.0000 1.7199e-03 1\n", + " 367 2.4235e-02 2.4235e-02 1.0559e-09 0.0000e+00 1.63641e-03 1.0000 1.7152e-03 1\n", + " 368 2.4235e-02 2.4234e-02 1.6792e-08 0.0000e+00 5.18759e-03 0.1250 1.7315e-03 1\n", + " 369 2.4235e-02 2.4234e-02 1.7718e-08 0.0000e+00 2.35341e-03 1.0000 1.7241e-03 1\n", + " 370 2.4235e-02 2.4234e-02 3.3972e-08 0.0000e+00 7.82329e-03 0.1250 1.6985e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 371 2.4235e-02 2.4234e-02 3.7222e-08 0.0000e+00 3.52908e-03 0.5000 1.7099e-03 1\n", + " 372 2.4234e-02 2.4234e-02 4.1673e-08 0.0000e+00 4.39808e-03 0.2500 1.7293e-03 1\n", + " 373 2.4234e-02 2.4234e-02 3.9935e-08 0.0000e+00 8.24295e-04 1.0000 1.7168e-03 1\n", + " 374 2.4234e-02 2.4234e-02 3.7971e-09 0.0000e+00 2.30668e-03 0.5000 1.7240e-03 1\n", + " 375 2.4234e-02 2.4234e-02 1.1031e-08 0.0000e+00 2.90201e-03 0.5000 1.7110e-03 1\n", + " 376 2.4234e-02 2.4234e-02 2.1340e-08 0.0000e+00 3.61308e-03 0.2500 1.7272e-03 1\n", + " 377 2.4234e-02 2.4234e-02 2.1766e-08 0.0000e+00 7.11422e-04 1.0000 1.7169e-03 1\n", + " 378 2.4233e-02 2.4233e-02 2.5204e-09 0.0000e+00 1.89990e-03 1.0000 1.7225e-03 1\n", + " 379 2.4233e-02 2.4233e-02 2.3035e-08 0.0000e+00 6.20932e-03 0.1250 1.7018e-03 1\n", + " 380 2.4233e-02 2.4233e-02 2.4998e-08 0.0000e+00 2.82428e-03 0.5000 1.7109e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 381 2.4233e-02 2.4233e-02 2.7728e-08 0.0000e+00 3.51356e-03 0.5000 1.7265e-03 1\n", + " 382 2.4233e-02 2.4233e-02 3.5758e-08 0.0000e+00 4.43989e-03 0.2500 1.7065e-03 1\n", + " 383 2.4233e-02 2.4233e-02 3.6389e-08 0.0000e+00 7.89573e-04 1.0000 1.7192e-03 1\n", + " 384 2.4233e-02 2.4233e-02 2.0879e-09 0.0000e+00 2.21125e-03 0.5000 1.7125e-03 1\n", + " 385 2.4233e-02 2.4232e-02 9.0485e-09 0.0000e+00 2.72176e-03 0.5000 1.7241e-03 1\n", + " 386 2.4232e-02 2.4232e-02 1.6626e-08 0.0000e+00 3.42524e-03 0.2500 1.7090e-03 1\n", + " 387 2.4232e-02 2.4232e-02 1.7926e-08 0.0000e+00 6.55807e-04 1.0000 1.7186e-03 1\n", + " 388 2.4232e-02 2.4232e-02 1.2769e-09 0.0000e+00 1.73509e-03 1.0000 1.7134e-03 1\n", + " 389 2.4232e-02 2.4232e-02 1.9362e-08 0.0000e+00 5.52358e-03 0.1250 1.7310e-03 1\n", + " 390 2.4232e-02 2.4232e-02 2.0385e-08 0.0000e+00 2.50537e-03 1.0000 1.7231e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 391 2.4232e-02 2.4232e-02 3.9282e-08 0.0000e+00 8.33552e-03 0.1250 1.6954e-03 1\n", + " 392 2.4232e-02 2.4232e-02 4.2870e-08 0.0000e+00 3.76481e-03 0.5000 1.7076e-03 1\n", + " 393 2.4232e-02 2.4231e-02 4.7899e-08 0.0000e+00 4.67542e-03 0.2500 1.7286e-03 1\n", + " 394 2.4232e-02 2.4231e-02 4.5694e-08 0.0000e+00 8.50039e-04 1.0000 1.7153e-03 1\n", + " 395 2.4231e-02 2.4231e-02 4.0507e-09 0.0000e+00 2.38811e-03 0.5000 1.7227e-03 1\n", + " 396 2.4231e-02 2.4231e-02 1.1763e-08 0.0000e+00 2.99420e-03 0.5000 1.7093e-03 1\n", + " 397 2.4231e-02 2.4231e-02 2.2570e-08 0.0000e+00 3.71124e-03 0.2500 1.7259e-03 1\n", + " 398 2.4231e-02 2.4231e-02 2.2943e-08 0.0000e+00 7.14064e-04 1.0000 1.7154e-03 1\n", + " 399 2.4231e-02 2.4231e-02 2.5229e-09 0.0000e+00 1.90308e-03 1.0000 1.7211e-03 1\n", + " 400 2.4231e-02 2.4230e-02 2.2864e-08 0.0000e+00 6.19990e-03 0.1250 1.7003e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 401 2.4231e-02 2.4230e-02 2.4775e-08 0.0000e+00 2.83025e-03 0.5000 1.7094e-03 1\n", + " 402 2.4231e-02 2.4230e-02 2.7501e-08 0.0000e+00 3.50335e-03 0.5000 1.7250e-03 1\n", + " 403 2.4230e-02 2.4230e-02 3.5217e-08 0.0000e+00 4.40668e-03 0.2500 1.7051e-03 1\n", + " 404 2.4230e-02 2.4230e-02 3.5707e-08 0.0000e+00 7.72227e-04 1.0000 1.7176e-03 1\n", + " 405 2.4230e-02 2.4230e-02 1.9235e-09 0.0000e+00 2.14214e-03 0.5000 1.7112e-03 1\n", + " 406 2.4230e-02 2.4230e-02 8.3046e-09 0.0000e+00 2.62236e-03 0.5000 1.7223e-03 1\n", + " 407 2.4230e-02 2.4230e-02 1.5126e-08 0.0000e+00 3.28258e-03 0.2500 1.7079e-03 1\n", + " 408 2.4230e-02 2.4230e-02 1.6258e-08 0.0000e+00 6.27709e-04 1.0000 1.7170e-03 1\n", + " 409 2.4229e-02 2.4229e-02 1.1026e-09 0.0000e+00 1.62981e-03 1.0000 1.7122e-03 1\n", + " 410 2.4229e-02 2.4229e-02 1.6612e-08 0.0000e+00 5.13451e-03 0.1250 1.7286e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 411 2.4229e-02 2.4229e-02 1.7450e-08 0.0000e+00 2.34573e-03 1.0000 1.7213e-03 1\n", + " 412 2.4229e-02 2.4229e-02 3.3514e-08 0.0000e+00 7.74473e-03 0.1250 1.6955e-03 1\n", + " 413 2.4229e-02 2.4229e-02 3.6531e-08 0.0000e+00 3.51692e-03 0.5000 1.7068e-03 1\n", + " 414 2.4229e-02 2.4229e-02 4.0853e-08 0.0000e+00 4.34384e-03 0.2500 1.7263e-03 1\n", + " 415 2.4229e-02 2.4229e-02 3.8888e-08 0.0000e+00 7.90645e-04 1.0000 1.7139e-03 1\n", + " 416 2.4228e-02 2.4228e-02 3.3240e-09 0.0000e+00 2.17046e-03 0.5000 1.7206e-03 1\n", + " 417 2.4228e-02 2.4228e-02 9.3995e-09 0.0000e+00 2.70474e-03 0.5000 1.7086e-03 1\n", + " 418 2.4228e-02 2.4228e-02 1.7933e-08 0.0000e+00 3.33037e-03 0.5000 1.7235e-03 1\n", + " 419 2.4228e-02 2.4228e-02 2.7812e-08 0.0000e+00 4.17270e-03 0.2500 1.7046e-03 1\n", + " 420 2.4228e-02 2.4228e-02 2.9032e-08 0.0000e+00 7.33632e-04 1.0000 1.7164e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 421 2.4228e-02 2.4228e-02 1.6596e-09 0.0000e+00 2.00070e-03 0.5000 1.7104e-03 1\n", + " 422 2.4228e-02 2.4228e-02 7.1194e-09 0.0000e+00 2.43707e-03 0.5000 1.7207e-03 1\n", + " 423 2.4228e-02 2.4228e-02 1.2807e-08 0.0000e+00 3.03666e-03 0.5000 1.7074e-03 1\n", + " 424 2.4228e-02 2.4227e-02 2.2912e-08 0.0000e+00 3.73615e-03 0.2500 1.7241e-03 1\n", + " 425 2.4228e-02 2.4227e-02 2.3141e-08 0.0000e+00 7.03135e-04 1.0000 1.7135e-03 1\n", + " 426 2.4227e-02 2.4227e-02 2.4182e-09 0.0000e+00 1.85904e-03 1.0000 1.7191e-03 1\n", + " 427 2.4227e-02 2.4227e-02 2.1495e-08 0.0000e+00 6.01924e-03 0.1250 1.6988e-03 1\n", + " 428 2.4227e-02 2.4227e-02 2.3237e-08 0.0000e+00 2.76171e-03 0.5000 1.7076e-03 1\n", + " 429 2.4227e-02 2.4227e-02 2.5798e-08 0.0000e+00 3.39742e-03 0.5000 1.7229e-03 1\n", + " 430 2.4227e-02 2.4227e-02 3.2689e-08 0.0000e+00 4.24842e-03 0.2500 1.7036e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 431 2.4227e-02 2.4227e-02 3.2979e-08 0.0000e+00 7.37308e-04 1.0000 1.7157e-03 1\n", + " 432 2.4226e-02 2.4226e-02 1.6454e-09 0.0000e+00 2.01016e-03 0.5000 1.7097e-03 1\n", + " 433 2.4226e-02 2.4226e-02 7.0904e-09 0.0000e+00 2.44360e-03 0.5000 1.7200e-03 1\n", + " 434 2.4226e-02 2.4226e-02 1.2756e-08 0.0000e+00 3.03758e-03 0.5000 1.7067e-03 1\n", + " 435 2.4226e-02 2.4226e-02 2.2781e-08 0.0000e+00 3.72891e-03 0.2500 1.7233e-03 1\n", + " 436 2.4226e-02 2.4226e-02 2.2975e-08 0.0000e+00 6.96703e-04 1.0000 1.7128e-03 1\n", + " 437 2.4226e-02 2.4226e-02 2.3516e-09 0.0000e+00 1.83368e-03 1.0000 1.7183e-03 1\n", + " 438 2.4226e-02 2.4226e-02 2.0712e-08 0.0000e+00 5.92067e-03 0.1250 1.6983e-03 1\n", + " 439 2.4226e-02 2.4226e-02 2.2377e-08 0.0000e+00 2.72260e-03 0.5000 1.7069e-03 1\n", + " 440 2.4226e-02 2.4225e-02 2.4860e-08 0.0000e+00 3.34056e-03 0.5000 1.7220e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 441 2.4226e-02 2.4225e-02 3.1395e-08 0.0000e+00 4.16752e-03 0.2500 1.7030e-03 1\n", + " 442 2.4226e-02 2.4225e-02 3.1622e-08 0.0000e+00 7.21628e-04 1.0000 1.7149e-03 1\n", + " 443 2.4225e-02 2.4225e-02 1.5355e-09 0.0000e+00 1.95183e-03 0.5000 1.7091e-03 1\n", + " 444 2.4225e-02 2.4225e-02 6.6041e-09 0.0000e+00 2.36626e-03 0.5000 1.7190e-03 1\n", + " 445 2.4225e-02 2.4225e-02 1.1816e-08 0.0000e+00 2.93275e-03 0.5000 1.7062e-03 1\n", + " 446 2.4225e-02 2.4225e-02 2.1028e-08 0.0000e+00 3.59040e-03 0.5000 1.7222e-03 1\n", + " 447 2.4225e-02 2.4225e-02 3.2125e-08 0.0000e+00 4.47901e-03 0.2500 1.7019e-03 1\n", + " 448 2.4225e-02 2.4225e-02 3.3404e-08 0.0000e+00 7.55112e-04 1.0000 1.7146e-03 1\n", + " 449 2.4224e-02 2.4224e-02 1.7735e-09 0.0000e+00 2.06830e-03 0.5000 1.7083e-03 1\n", + " 450 2.4224e-02 2.4224e-02 7.5069e-09 0.0000e+00 2.50837e-03 0.5000 1.7190e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 451 2.4224e-02 2.4224e-02 1.3410e-08 0.0000e+00 3.10837e-03 0.5000 1.7053e-03 1\n", + " 452 2.4224e-02 2.4224e-02 2.3745e-08 0.0000e+00 3.80401e-03 0.2500 1.7223e-03 1\n", + " 453 2.4224e-02 2.4224e-02 2.3880e-08 0.0000e+00 6.98088e-04 1.0000 1.7116e-03 1\n", + " 454 2.4224e-02 2.4224e-02 2.3494e-09 0.0000e+00 1.83383e-03 1.0000 1.7172e-03 1\n", + " 455 2.4224e-02 2.4224e-02 2.0555e-08 0.0000e+00 5.90890e-03 0.1250 1.6971e-03 1\n", + " 456 2.4224e-02 2.4223e-02 2.2183e-08 0.0000e+00 2.72389e-03 0.5000 1.7058e-03 1\n", + " 457 2.4224e-02 2.4223e-02 2.4657e-08 0.0000e+00 3.32953e-03 0.5000 1.7209e-03 1\n", + " 458 2.4224e-02 2.4223e-02 3.0978e-08 0.0000e+00 4.14031e-03 0.2500 1.7020e-03 1\n", + " 459 2.4223e-02 2.4223e-02 3.1118e-08 0.0000e+00 7.09354e-04 1.0000 1.7137e-03 1\n", + " 460 2.4223e-02 2.4223e-02 1.4411e-09 0.0000e+00 1.90393e-03 1.0000 1.7080e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 461 2.4223e-02 2.4223e-02 2.1995e-08 0.0000e+00 6.04808e-03 0.1250 1.7272e-03 1\n", + " 462 2.4223e-02 2.4223e-02 2.3132e-08 0.0000e+00 2.76220e-03 1.0000 1.7187e-03 1\n", + " 463 2.4223e-02 2.4222e-02 4.4950e-08 0.0000e+00 9.13657e-03 0.1250 1.6885e-03 1\n", + " 464 2.4223e-02 2.4222e-02 4.9013e-08 0.0000e+00 4.16294e-03 0.5000 1.7017e-03 1\n", + " 465 2.4223e-02 2.4222e-02 5.5234e-08 0.0000e+00 5.09226e-03 0.2500 1.7246e-03 1\n", + " 466 2.4223e-02 2.4222e-02 5.2469e-08 0.0000e+00 8.55728e-04 1.0000 1.7102e-03 1\n", + " 467 2.4222e-02 2.4222e-02 4.0518e-09 0.0000e+00 2.38324e-03 0.5000 1.7178e-03 1\n", + " 468 2.4222e-02 2.4222e-02 1.1449e-08 0.0000e+00 2.94533e-03 0.5000 1.7044e-03 1\n", + " 469 2.4222e-02 2.4222e-02 2.1202e-08 0.0000e+00 3.59041e-03 0.5000 1.7206e-03 1\n", + " 470 2.4222e-02 2.4222e-02 3.2061e-08 0.0000e+00 4.45559e-03 0.2500 1.7002e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 471 2.4222e-02 2.4222e-02 3.3128e-08 0.0000e+00 7.37706e-04 1.0000 1.7129e-03 1\n", + " 472 2.4221e-02 2.4221e-02 1.5939e-09 0.0000e+00 1.99871e-03 0.5000 1.7069e-03 1\n", + " 473 2.4221e-02 2.4221e-02 6.7885e-09 0.0000e+00 2.41058e-03 0.5000 1.7171e-03 1\n", + " 474 2.4221e-02 2.4221e-02 1.2043e-08 0.0000e+00 2.96666e-03 0.5000 1.7041e-03 1\n", + " 475 2.4221e-02 2.4221e-02 2.1186e-08 0.0000e+00 3.60841e-03 0.5000 1.7202e-03 1\n", + " 476 2.4221e-02 2.4221e-02 3.1938e-08 0.0000e+00 4.47071e-03 0.2500 1.6998e-03 1\n", + " 477 2.4221e-02 2.4221e-02 3.3032e-08 0.0000e+00 7.35438e-04 1.0000 1.7125e-03 1\n", + " 478 2.4221e-02 2.4221e-02 1.5983e-09 0.0000e+00 1.98937e-03 0.5000 1.7065e-03 1\n", + " 479 2.4221e-02 2.4221e-02 6.7243e-09 0.0000e+00 2.39635e-03 0.5000 1.7167e-03 1\n", + " 480 2.4221e-02 2.4220e-02 1.1863e-08 0.0000e+00 2.94526e-03 0.5000 1.7037e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 481 2.4221e-02 2.4220e-02 2.0787e-08 0.0000e+00 3.57772e-03 0.5000 1.7197e-03 1\n", + " 482 2.4221e-02 2.4220e-02 3.1236e-08 0.0000e+00 4.42613e-03 0.2500 1.6995e-03 1\n", + " 483 2.4220e-02 2.4220e-02 3.2272e-08 0.0000e+00 7.26850e-04 1.0000 1.7121e-03 1\n", + " 484 2.4220e-02 2.4220e-02 1.5384e-09 0.0000e+00 1.95755e-03 1.0000 1.7062e-03 1\n", + " 485 2.4220e-02 2.4220e-02 2.2955e-08 0.0000e+00 6.21120e-03 0.1250 1.7260e-03 1\n", + " 486 2.4220e-02 2.4220e-02 2.4107e-08 0.0000e+00 2.84482e-03 0.5000 1.7173e-03 1\n", + " 487 2.4220e-02 2.4220e-02 2.3764e-08 0.0000e+00 3.49499e-03 0.5000 1.7018e-03 1\n", + " 488 2.4220e-02 2.4219e-02 3.2872e-08 0.0000e+00 4.24817e-03 0.2500 1.7209e-03 1\n", + " 489 2.4220e-02 2.4219e-02 3.2059e-08 0.0000e+00 7.32551e-04 1.0000 1.7090e-03 1\n", + " 490 2.4219e-02 2.4219e-02 2.6529e-09 0.0000e+00 1.94389e-03 1.0000 1.7150e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 491 2.4219e-02 2.4219e-02 2.3227e-08 0.0000e+00 6.26388e-03 0.1250 1.6935e-03 1\n", + " 492 2.4219e-02 2.4219e-02 2.4969e-08 0.0000e+00 2.89679e-03 0.5000 1.7027e-03 1\n", + " 493 2.4219e-02 2.4219e-02 2.7720e-08 0.0000e+00 3.51457e-03 0.5000 1.7189e-03 1\n", + " 494 2.4219e-02 2.4219e-02 3.4312e-08 0.0000e+00 4.33775e-03 0.2500 1.6989e-03 1\n", + " 495 2.4219e-02 2.4219e-02 3.4211e-08 0.0000e+00 7.10135e-04 1.0000 1.7111e-03 1\n", + " 496 2.4218e-02 2.4218e-02 1.3762e-09 0.0000e+00 1.89472e-03 1.0000 1.7056e-03 1\n", + " 497 2.4218e-02 2.4218e-02 2.0940e-08 0.0000e+00 5.98456e-03 0.1250 1.7245e-03 1\n", + " 498 2.4218e-02 2.4218e-02 2.1983e-08 0.0000e+00 2.75200e-03 1.0000 1.7161e-03 1\n", + " 499 2.4218e-02 2.4218e-02 4.2774e-08 0.0000e+00 9.03223e-03 0.1250 1.6863e-03 1\n", + " 500 2.4218e-02 2.4218e-02 4.6588e-08 0.0000e+00 4.14050e-03 0.5000 1.6993e-03 1\n" ] - }, - { - "data": { - "text/plain": [ - "{'position': array([-1.46884288e-05, 2.14435482e-07, 3.00083958e-01]),\n", - " 'orientation': array([1.00000000e+00, 1.29892566e-08, 1.48623055e-07, 3.02118694e-09]),\n", - " 'velocity': array([-7.34422064e-04, 1.07218309e-05, 4.19792152e-03]),\n", - " 'omega': array([1.29892566e-06, 1.48623055e-05, 3.02118694e-07]),\n", - " 'q': array([-7.38145359e-07, 7.77999890e-01, -1.56009397e+00, -7.38145359e-07,\n", - " 7.78000329e-01, -1.56009486e+00, -7.30425504e-07, 7.77999509e-01,\n", - " -1.56009321e+00, -7.30425504e-07, 7.77999944e-01, -1.56009409e+00,\n", - " -2.52350347e-07, 4.75925861e-04, -4.96494337e-04, -1.62129395e-05,\n", - " 1.80440093e-05, -1.61973488e-05, -3.09663796e-05, -3.09663790e-05]),\n", - " 'dq': array([-3.69072680e-05, -1.64265090e-02, 2.80273683e-02, -3.69072680e-05,\n", - " -1.64045465e-02, 2.79827884e-02, -3.65212752e-05, -1.64455301e-02,\n", - " 2.80654860e-02, -3.65212752e-05, -1.64238132e-02, 2.80213981e-02,\n", - " -1.26175174e-05, 2.37962930e-02, -2.48247169e-02, -8.10646976e-04,\n", - " 9.02200467e-04, -8.09867441e-04, -1.54831898e-03, -1.54831895e-03]),\n", - " 'tau': array([[ 1.62443900e+00, 3.70582106e-01, 5.79834355e+00,\n", - " -1.62491437e+00, 3.72141208e-01, 5.79375886e+00,\n", - " 1.59946212e+00, 4.04918765e-01, 5.62971519e+00,\n", - " -1.59485614e+00, 4.07392149e-01, 5.62497457e+00,\n", - " 1.04329712e-03, -5.89945636e-01, -6.20641442e-01,\n", - " 7.04522509e-05, -1.69096569e-01, 2.89709615e-06,\n", - " -1.07834415e-03, -1.07945285e-03]]),\n", - " 'constraint_norm': 1.3628757677963677e-08}" - ] - }, - "execution_count": 3, - "metadata": {}, - "output_type": "execute_result" } ], "source": [ "\n", "mpc.initialize()\n", "mpc.solve()\n", - "m = list(mpc.solver.problem.runningModels) + [mpc.solver.problem.terminalModel]\n", - "\n", - "for i in range(len(m)):\n", - " m[i].differential.contacts.changeContactStatus('Link6_contact', False)\n", - "mpc.solve()\n" + "m = list(mpc.solver.problem.runningModels) + [mpc.solver.problem.terminalModel]" ] }, { @@ -1915,13 +1329,58 @@ "source": [ "from Go2Py.sim.mujoco import Go2Sim\n", "import numpy as np\n", - "robot=Go2Sim(with_arm=True)\n" + "robot=Go2Sim(with_arm=True)" ] }, { "cell_type": "code", "execution_count": 5, "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "array([[0.45477161],\n", + " [0.15325166],\n", + " [0.03735276]])" + ] + }, + "execution_count": 5, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "import mujoco as mj\n", + "\n", + "force_site_to_sensor_idx = {'FL_force_site': 0, 'FR_force_site': 1, 'RL_force_site': 2, 'RR_force_site': 3, 'EF_force_site': 4}\n", + "force_sensor_site = 'EF_force_site'\n", + "\n", + "site_Fs = robot.data.sensordata[10:].reshape(-1,3).T\n", + "force_in_body = site_Fs[:,force_site_to_sensor_idx[force_sensor_site]].copy()\n", + "\n", + "def getForceInWorld(robot, force_in_body, force_sensor_site):\n", + " force_site_id = mj.mj_name2id(robot.model, mj.mjtObj.mjOBJ_SITE, force_sensor_site)\n", + " q = robot.data.xquat[force_site_id]\n", + " t = robot.data.xpos[force_site_id]\n", + " R = np.zeros(9)\n", + " mj.mju_quat2Mat(R, q)\n", + " R = R.reshape(3,3)\n", + " T = np.eye(4)\n", + " T[:3,:3] = R\n", + " T[:3,3] = t\n", + " force_in_body = np.hstack([force_in_body, np.array(1)]).reshape(4,1)\n", + " force_in_world = T@force_in_body\n", + " return force_in_world[:3]\n", + "\n", + "\n", + "getForceInWorld(robot, force_in_body, force_sensor_site)" + ] + }, + { + "cell_type": "code", + "execution_count": 6, + "metadata": {}, "outputs": [], "source": [ "map = np.zeros((1200, 1200))\n", @@ -1941,11020 +1400,11030 @@ " state = mpc.getSolution(i)\n", " robot.pos0 = state['position']\n", " robot.rot0 = state['orientation']\n", - " robot.q0 = state['q'][:-2]\n", + " robot.q0 = state['q']\n", " robot.reset()\n", - " # time.sleep(0.5)" + " # time.sleep(0.1)" ] }, { "cell_type": "code", "execution_count": 7, "metadata": {}, + "outputs": [], + "source": [ + "for i in range(len(m)):\n", + " m[i].differential.contacts.changeContactStatus('ef_tip_contact', False)" + ] + }, + { + "cell_type": "code", + "execution_count": 8, + "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.0286e+01 3.0905e-02 6.0255e+00 7.1301e-05 4.89994e+00 1.0000 ---- 1\n", - " 2 4.7311e+01 1.3079e-01 1.7307e+00 2.9874e+00 7.50884e-01 1.0000 2.9620e+01 3\n", - " 3 2.7992e+01 1.1136e-01 2.1224e-02 2.7669e+00 3.11129e-01 1.0000 2.7669e+00 3\n", - " 4 1.4009e+01 1.1138e-01 1.0761e-03 1.3887e+00 3.58619e-01 0.5000 1.3887e+00 3\n", - " 5 1.3147e+01 1.1135e-01 6.7017e-04 1.3029e+00 8.98662e-02 1.0000 1.3029e+00 3\n", - " 6 1.5037e+00 1.1137e-01 1.4129e-05 1.3922e-01 1.24915e-01 0.2500 1.3922e-01 3\n", - " 7 1.4455e+00 1.1137e-01 1.0361e-05 1.3340e-01 4.11210e-02 1.0000 1.3340e-01 3\n", - " 8 1.8699e-01 1.1137e-01 3.7369e-06 7.5581e-03 6.53396e-02 0.1250 7.5581e-03 3\n", - " 9 1.8033e-01 1.1137e-01 3.3338e-06 6.8928e-03 4.30942e-02 0.2500 6.8928e-03 2\n", - " 10 1.5882e-01 1.1137e-01 2.6163e-06 4.7422e-03 1.41240e-02 1.0000 4.7422e-03 2\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.4711e+03 2.4184e+03 5.1245e+00 1.4616e-01 7.35107e+00 1.0000 ---- 3\n", - " 2 1.2413e+03 8.1586e+02 3.9080e+01 3.4592e+00 3.37595e+00 1.0000 1.2867e+04 3\n", - " 3 3.6421e+02 1.7895e+02 1.7851e+01 6.7510e-01 1.74246e+00 1.0000 6.0141e+03 3\n", - " 4 6.0651e+01 6.4270e+00 3.5941e+00 1.8283e+00 5.55546e-01 1.0000 1.0209e+03 3\n", - " 5 2.2263e+01 3.1379e-01 9.0377e-02 2.1045e+00 4.66519e-01 0.5000 2.7534e+01 3\n", - " 6 1.4821e+01 3.1077e-01 4.5192e-02 1.4059e+00 1.09221e-01 1.0000 1.3762e+01 3\n", - " 7 3.4424e-01 3.0979e-01 1.0902e-04 3.3361e-03 1.16805e-01 0.0020 9.5942e-03 1\n", - " 8 3.4424e-01 3.0979e-01 1.0902e-04 3.3361e-03 1.16629e-01 0.1250 8.0836e-03 1\n", - " 9 3.4357e-01 3.0979e-01 9.5625e-05 3.2825e-03 7.49636e-02 0.2500 9.7353e-03 1\n", - " 10 3.4325e-01 3.0978e-01 7.2368e-05 3.2738e-03 2.94702e-02 1.0000 7.2564e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.0698e+01 6.3105e-01 6.9033e+00 1.0339e-01 1.58228e+00 1.0000 ---- 3\n", - " 2 2.8280e+01 3.0757e-01 7.2994e-01 2.0673e+00 2.44567e-01 1.0000 2.0673e+00 3\n", - " 3 6.3659e+00 3.0762e-01 8.5589e-04 6.0498e-01 2.34327e-01 0.5000 6.0498e-01 3\n", - " 4 5.0732e+00 3.0761e-01 4.7590e-04 4.7609e-01 4.12885e-02 1.0000 4.7609e-01 3\n", - " 5 3.1579e-01 3.0762e-01 7.6034e-06 8.0916e-04 3.62503e-02 0.0020 3.8969e-03 1\n", - " 6 3.1579e-01 3.0762e-01 7.6034e-06 8.0916e-04 3.62181e-02 0.1250 3.9182e-03 1\n", - " 7 3.1524e-01 3.0762e-01 6.6347e-06 7.5549e-04 2.65874e-02 0.0625 3.1621e-03 1\n", - " 8 3.1518e-01 3.0762e-01 6.2179e-06 7.4965e-04 2.31005e-02 0.2500 2.8729e-03 1\n", - " 9 3.1457e-01 3.0762e-01 4.6385e-06 6.9051e-04 1.12062e-02 1.0000 1.7832e-03 1\n", - " 10 3.1331e-01 3.0762e-01 3.9437e-07 5.6868e-04 1.13264e-02 0.5000 7.4342e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 8.9926e+01 6.1795e-01 8.7943e+00 1.3656e-01 1.27277e+00 1.0000 ---- 3\n", - " 2 2.0605e+01 2.9621e-01 8.1233e-01 1.2185e+00 2.38213e-01 1.0000 1.2185e+00 3\n", - " 3 2.8983e+00 2.9622e-01 3.6512e-04 2.5984e-01 2.27099e-01 0.5000 2.5984e-01 3\n", - " 4 2.3410e+00 2.9622e-01 2.0620e-04 2.0427e-01 5.86561e-02 1.0000 2.0427e-01 3\n", - " 5 4.3056e-01 2.9622e-01 1.0374e-05 1.3424e-02 6.13270e-02 0.0020 1.3424e-02 1\n", - " 6 4.3056e-01 2.9622e-01 1.0374e-05 1.3424e-02 6.12454e-02 0.5000 1.3424e-02 1\n", - " 7 4.1585e-01 2.9622e-01 5.2817e-06 1.1957e-02 1.34768e-02 1.0000 1.1957e-02 1\n", - " 8 3.8772e-01 2.9622e-01 7.2727e-07 9.1492e-03 1.84318e-02 1.0000 9.1492e-03 1\n", - " 9 3.3750e-01 2.9622e-01 5.6717e-07 4.1278e-03 2.68786e-02 0.2500 4.1278e-03 1\n", - " 10 3.3462e-01 2.9622e-01 5.0374e-07 3.8397e-03 1.03216e-02 1.0000 3.8397e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.8345e+01 6.0981e-01 7.6447e+00 1.2879e-01 1.31667e+00 1.0000 ---- 3\n", - " 2 2.6278e+01 2.9177e-01 6.5167e-01 1.9469e+00 3.01632e-01 1.0000 1.9469e+00 3\n", - " 3 6.2025e+00 2.9180e-01 5.9384e-04 5.9048e-01 2.93660e-01 0.5000 5.9048e-01 3\n", - " 4 3.8938e+00 2.9180e-01 3.0248e-04 3.5990e-01 3.57964e-02 1.0000 3.5990e-01 3\n", - " 5 2.9783e-01 2.9180e-01 1.2869e-05 5.9032e-04 3.37820e-02 0.0020 2.6333e-03 1\n", - " 6 2.9783e-01 2.9180e-01 1.2869e-05 5.9032e-04 3.38450e-02 0.5000 2.7399e-03 1\n", - " 7 2.9767e-01 2.9180e-01 5.9567e-06 5.8125e-04 1.09693e-02 0.2500 1.6197e-03 1\n", - " 8 2.9719e-01 2.9180e-01 4.4730e-06 5.3387e-04 4.22154e-03 1.0000 9.3158e-04 1\n", - " 9 2.9359e-01 2.9180e-01 1.2494e-07 1.7911e-04 5.36176e-03 0.5000 7.7258e-04 1\n", - " 10 2.9331e-01 2.9180e-01 8.1619e-08 1.5051e-04 2.06295e-03 1.0000 7.8525e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 8.5000e+01 6.0313e-01 8.3113e+00 1.2840e-01 1.28981e+00 1.0000 ---- 3\n", - " 2 2.1637e+01 2.8586e-01 8.3697e-01 1.2981e+00 3.80239e-01 1.0000 1.2981e+00 3\n", - " 3 1.1062e+01 2.8590e-01 1.3537e-03 1.0762e+00 3.63332e-01 1.0000 1.0762e+00 3\n", - " 4 9.9894e+00 2.8590e-01 3.8117e-04 9.6997e-01 3.80407e-01 0.5000 9.6997e-01 3\n", - " 5 7.2368e+00 2.8589e-01 2.5982e-04 6.9483e-01 4.12618e-02 1.0000 6.9483e-01 3\n", - " 6 2.8652e-01 2.8590e-01 1.8138e-05 4.3044e-05 3.78640e-02 0.5000 3.4160e-03 1\n", - " 7 2.8647e-01 2.8590e-01 9.2270e-06 4.7957e-05 7.80444e-03 1.0000 1.2121e-03 1\n", - " 8 2.8600e-01 2.8590e-01 4.4010e-07 9.6666e-06 7.87559e-03 0.5000 8.1175e-04 1\n", - " 9 2.8596e-01 2.8590e-01 2.6722e-07 4.9572e-06 2.01790e-03 1.0000 8.7024e-04 1\n", - " 10 2.8592e-01 2.8590e-01 4.9886e-09 1.6030e-06 2.50453e-03 0.0020 8.4292e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.6313e+01 5.9834e-01 7.4315e+00 1.4001e-01 1.25692e+00 1.0000 ---- 3\n", - " 2 2.4110e+01 2.8073e-01 6.8126e-01 1.7017e+00 2.73945e-01 1.0000 1.7017e+00 3\n", - " 3 4.8931e+00 2.8073e-01 5.5735e-04 4.6068e-01 2.62022e-01 0.5000 4.6068e-01 3\n", - " 4 3.2480e+00 2.8073e-01 2.9550e-04 2.9643e-01 2.82224e-02 1.0000 2.9643e-01 3\n", - " 5 3.2710e-01 2.8073e-01 2.6950e-06 4.6340e-03 3.14901e-02 0.0020 7.9902e-03 1\n", - " 6 3.2710e-01 2.8073e-01 2.6950e-06 4.6340e-03 3.14874e-02 0.2500 4.6340e-03 1\n", - " 7 3.2464e-01 2.8073e-01 2.0337e-06 4.3883e-03 1.32601e-02 0.5000 5.3871e-03 1\n", - " 8 3.2205e-01 2.8073e-01 1.0352e-06 4.1307e-03 2.70960e-03 1.0000 4.1307e-03 1\n", - " 9 2.8946e-01 2.8073e-01 4.1202e-08 8.7212e-04 2.99805e-03 1.0000 8.7212e-04 1\n", - " 10 2.8084e-01 2.8073e-01 2.1640e-08 1.0592e-05 4.13107e-03 0.5000 8.1509e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.7411e+01 5.9337e-01 7.5464e+00 1.3533e-01 1.07979e+00 1.0000 ---- 3\n", - " 2 2.1648e+01 2.7778e-01 7.9465e-01 1.3424e+00 2.94574e-01 1.0000 1.3424e+00 3\n", - " 3 6.0067e+00 2.7783e-01 9.1582e-04 5.7197e-01 3.10673e-01 0.5000 5.7197e-01 3\n", - " 4 4.3978e+00 2.7782e-01 5.1365e-04 4.1149e-01 3.81207e-02 1.0000 4.1149e-01 3\n", - " 5 2.7796e-01 2.7783e-01 3.1793e-06 9.9918e-06 4.52283e-02 0.0020 8.3092e-04 1\n", - " 6 2.7796e-01 2.7783e-01 3.1793e-06 9.9918e-06 4.52630e-02 0.0312 8.3087e-04 1\n", - " 7 2.7794e-01 2.7783e-01 3.0779e-06 8.5008e-06 4.22058e-02 0.0020 8.3047e-04 1\n", - " 8 2.7794e-01 2.7783e-01 3.0779e-06 8.5008e-06 4.20375e-02 0.0156 8.3003e-04 1\n", - " 9 2.7794e-01 2.7783e-01 3.0294e-06 8.2528e-06 4.06181e-02 0.0020 8.2989e-04 1\n", - " 10 2.7794e-01 2.7783e-01 3.0294e-06 8.2528e-06 3.88938e-02 0.0078 8.2591e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.3671e+01 5.9012e-01 7.1586e+00 1.4957e-01 1.02644e+00 1.0000 ---- 3\n", - " 2 2.1432e+01 2.7348e-01 7.0906e-01 1.4068e+00 1.96460e-01 1.0000 1.4068e+00 3\n", - " 3 2.1204e+00 2.7349e-01 2.8984e-04 1.8440e-01 1.76949e-01 0.5000 1.8440e-01 3\n", - " 4 1.3938e+00 2.7349e-01 1.5972e-04 1.1187e-01 3.44319e-02 1.0000 1.1187e-01 3\n", - " 5 3.2975e-01 2.7349e-01 2.2821e-06 5.6243e-03 3.03213e-02 0.5000 5.6243e-03 2\n", - " 6 2.9675e-01 2.7349e-01 1.3320e-06 2.3245e-03 8.00129e-03 0.0020 3.4575e-03 1\n", - " 7 2.9675e-01 2.7349e-01 1.3320e-06 2.3245e-03 8.04937e-03 1.0000 2.3245e-03 1\n", - " 8 2.8567e-01 2.7349e-01 3.9952e-07 1.2182e-03 8.55726e-03 0.0625 1.2182e-03 1\n", - " 9 2.8566e-01 2.7349e-01 3.7506e-07 1.2166e-03 7.19165e-03 0.2500 1.2166e-03 1\n", - " 10 2.8436e-01 2.7349e-01 2.8699e-07 1.0871e-03 3.15442e-03 1.0000 1.0871e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.0341e+01 5.8636e-01 6.8646e+00 1.1088e-01 8.31438e-01 1.0000 ---- 3\n", - " 2 1.7928e+01 2.7032e-01 7.1935e-01 1.0464e+00 2.01518e-01 1.0000 1.0464e+00 3\n", - " 3 3.3844e+00 2.7033e-01 3.4840e-04 3.1106e-01 2.03627e-01 0.5000 3.1106e-01 3\n", - " 4 3.0417e+00 2.7033e-01 2.0449e-04 2.7693e-01 3.47975e-02 1.0000 2.7693e-01 3\n", - " 5 2.9583e-01 2.7033e-01 4.6944e-06 2.5456e-03 3.05496e-02 0.0312 4.6104e-03 1\n", - " 6 2.9581e-01 2.7033e-01 4.5459e-06 2.5438e-03 2.85726e-02 0.5000 4.3406e-03 1\n", - " 7 2.8963e-01 2.7033e-01 1.9129e-06 1.9283e-03 5.52926e-03 1.0000 2.8347e-03 1\n", - " 8 2.8331e-01 2.7033e-01 1.7859e-07 1.2980e-03 5.90391e-03 1.0000 1.6051e-03 1\n", - " 9 2.7743e-01 2.7033e-01 5.2248e-08 7.0998e-04 8.33153e-03 0.5000 8.1573e-04 1\n", - " 10 2.7633e-01 2.7033e-01 5.2178e-08 5.9989e-04 1.69130e-03 1.0000 8.5198e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.7782e+01 5.8289e-01 6.5805e+00 1.3941e-01 7.46452e-01 1.0000 ---- 3\n", - " 2 1.8477e+01 2.6691e-01 6.8044e-01 1.1405e+00 1.48043e-01 1.0000 1.1405e+00 3\n", - " 3 2.0554e+00 2.6692e-01 1.4125e-04 1.7871e-01 1.34949e-01 0.5000 1.7871e-01 3\n", - " 4 1.6645e+00 2.6692e-01 8.0812e-05 1.3968e-01 3.20848e-02 1.0000 1.3968e-01 3\n", - " 5 3.0638e-01 2.6692e-01 4.3129e-06 3.9418e-03 2.72606e-02 0.0020 5.9493e-03 1\n", - " 6 3.0638e-01 2.6692e-01 4.3129e-06 3.9418e-03 2.74645e-02 0.5000 6.1185e-03 1\n", - " 7 3.0214e-01 2.6692e-01 1.9487e-06 3.5201e-03 6.79265e-03 1.0000 4.0774e-03 1\n", - " 8 2.9223e-01 2.6692e-01 2.5387e-07 2.5308e-03 8.42324e-03 1.0000 2.6511e-03 1\n", - " 9 2.8286e-01 2.6692e-01 1.6512e-07 1.5943e-03 1.31029e-02 0.2500 2.4399e-03 1\n", - " 10 2.8232e-01 2.6692e-01 1.4722e-07 1.5400e-03 4.81994e-03 1.0000 2.5017e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.7890e+01 5.7967e-01 6.6106e+00 1.2036e-01 6.92800e-01 1.0000 ---- 3\n", - " 2 1.7505e+01 2.6356e-01 6.7563e-01 1.0485e+00 1.63817e-01 1.0000 1.0485e+00 3\n", - " 3 2.4198e+00 2.6357e-01 2.1976e-04 2.1540e-01 1.47656e-01 0.5000 2.1540e-01 3\n", - " 4 1.7156e+00 2.6357e-01 1.2640e-04 1.4507e-01 3.71323e-02 1.0000 1.4507e-01 3\n", - " 5 3.3916e-01 2.6357e-01 6.1366e-06 7.5528e-03 3.38490e-02 0.0020 7.5528e-03 1\n", - " 6 3.3916e-01 2.6357e-01 6.1366e-06 7.5528e-03 3.37240e-02 0.5000 7.5528e-03 1\n", - " 7 3.2306e-01 2.6357e-01 2.9348e-06 5.9463e-03 8.20305e-03 1.0000 6.1497e-03 1\n", - " 8 3.0772e-01 2.6357e-01 3.6647e-07 4.4143e-03 1.06719e-02 1.0000 4.4143e-03 1\n", - " 9 2.7961e-01 2.6357e-01 3.4236e-07 1.6033e-03 1.72137e-02 0.2500 1.6033e-03 1\n", - " 10 2.7795e-01 2.6357e-01 3.1159e-07 1.4377e-03 6.42218e-03 1.0000 1.7084e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.7366e+01 5.7621e-01 6.5486e+00 1.3037e-01 6.58866e-01 1.0000 ---- 3\n", - " 2 1.7551e+01 2.6016e-01 6.6453e-01 1.0645e+00 1.47753e-01 1.0000 1.0645e+00 3\n", - " 3 2.0310e+00 2.6016e-01 1.8413e-04 1.7690e-01 1.32327e-01 0.5000 1.7690e-01 3\n", - " 4 1.6375e+00 2.6016e-01 1.0611e-04 1.3763e-01 2.90257e-02 1.0000 1.3763e-01 3\n", - " 5 3.0366e-01 2.6016e-01 4.0944e-06 4.3453e-03 2.44931e-02 0.0020 5.0229e-03 1\n", - " 6 3.0366e-01 2.6016e-01 4.0944e-06 4.3453e-03 2.45650e-02 0.5000 5.1550e-03 1\n", - " 7 2.8732e-01 2.6016e-01 1.8008e-06 2.7142e-03 5.16627e-03 1.0000 2.7142e-03 1\n", - " 8 2.7289e-01 2.6016e-01 2.0511e-07 1.2728e-03 5.63360e-03 1.0000 1.2728e-03 1\n", - " 9 2.6637e-01 2.6016e-01 7.2221e-08 6.2074e-04 8.17267e-03 0.1250 1.6504e-03 1\n", - " 10 2.6626e-01 2.6016e-01 6.5538e-08 6.0984e-04 5.64245e-03 1.0000 1.0528e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.6909e+01 5.7289e-01 6.5086e+00 1.2500e-01 6.56854e-01 1.0000 ---- 3\n", - " 2 1.7501e+01 2.5681e-01 6.5731e-01 1.0671e+00 1.48466e-01 1.0000 1.0671e+00 3\n", - " 3 2.0042e+00 2.5682e-01 1.7911e-04 1.7456e-01 1.35703e-01 0.5000 1.7456e-01 3\n", - " 4 1.6650e+00 2.5682e-01 1.0438e-04 1.4071e-01 2.50245e-02 1.0000 1.4071e-01 3\n", - " 5 2.8629e-01 2.5682e-01 3.3284e-06 2.9438e-03 2.05355e-02 0.0020 4.0687e-03 1\n", - " 6 2.8629e-01 2.5682e-01 3.3284e-06 2.9438e-03 2.06059e-02 1.0000 4.1686e-03 1\n", - " 7 2.7342e-01 2.5682e-01 2.3023e-06 1.6574e-03 2.29531e-02 0.2500 2.9324e-03 1\n", - " 8 2.7322e-01 2.5682e-01 1.7966e-06 1.6385e-03 1.02084e-02 0.5000 1.6932e-03 1\n", - " 9 2.7127e-01 2.5682e-01 9.6042e-07 1.4440e-03 1.52859e-03 1.0000 1.4607e-03 1\n", - " 10 2.6093e-01 2.5682e-01 3.9615e-09 4.1115e-04 1.83851e-03 1.0000 8.2896e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.6590e+01 5.6963e-01 6.4744e+00 1.2757e-01 6.54901e-01 1.0000 ---- 3\n", - " 2 1.7684e+01 2.5350e-01 6.5396e-01 1.0891e+00 1.46667e-01 1.0000 1.0891e+00 3\n", - " 3 2.1084e+00 2.5351e-01 1.6676e-04 1.8533e-01 1.37234e-01 0.5000 1.8533e-01 3\n", - " 4 1.8181e+00 2.5351e-01 9.9491e-05 1.5636e-01 1.93040e-02 1.0000 1.5636e-01 3\n", - " 5 2.7607e-01 2.5351e-01 2.2659e-06 2.2536e-03 1.67294e-02 0.5000 2.2536e-03 1\n", - " 6 2.7236e-01 2.5351e-01 9.5905e-07 1.8842e-03 3.18760e-03 1.0000 1.8842e-03 1\n", - " 7 2.5532e-01 2.5351e-01 8.5022e-08 1.8076e-04 3.03398e-03 1.0000 8.2515e-04 1\n", - " 8 2.5531e-01 2.5351e-01 1.3767e-08 1.7980e-04 4.24331e-03 0.5000 8.3326e-04 1\n", - " 9 2.5517e-01 2.5351e-01 1.4588e-08 1.6656e-04 7.74904e-04 1.0000 8.2589e-04 1\n", - " 10 2.5382e-01 2.5351e-01 1.2004e-09 3.1368e-05 1.20507e-03 0.1250 8.3027e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.5971e+01 5.6644e-01 6.4152e+00 1.2522e-01 6.58534e-01 1.0000 ---- 3\n", - " 2 1.7864e+01 2.5028e-01 6.5360e-01 1.1078e+00 1.42464e-01 1.0000 1.1078e+00 3\n", - " 3 2.2084e+00 2.5029e-01 1.3698e-04 1.9567e-01 1.33193e-01 0.5000 1.9567e-01 3\n", - " 4 1.8718e+00 2.5029e-01 8.4573e-05 1.6207e-01 1.63916e-02 1.0000 1.6207e-01 3\n", - " 5 2.6327e-01 2.5029e-01 1.3264e-06 1.2965e-03 1.54510e-02 1.0000 1.2965e-03 1\n", - " 6 2.5833e-01 2.5029e-01 1.2813e-06 8.0266e-04 1.65491e-02 0.2500 8.6885e-04 1\n", - " 7 2.5727e-01 2.5029e-01 1.0037e-06 6.9727e-04 7.63690e-03 0.5000 8.4787e-04 1\n", - " 8 2.5684e-01 2.5029e-01 5.3583e-07 6.5461e-04 9.24410e-04 1.0000 8.9577e-04 1\n", - " 9 2.5159e-01 2.5029e-01 2.0728e-09 1.3016e-04 1.03177e-03 0.5000 8.2915e-04 1\n", - " 10 2.5096e-01 2.5029e-01 1.7124e-09 6.6528e-05 1.72812e-04 1.0000 8.2761e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.5561e+01 5.6328e-01 6.3727e+00 1.2715e-01 6.61560e-01 1.0000 ---- 3\n", - " 2 1.8026e+01 2.4713e-01 6.5441e-01 1.1235e+00 1.46188e-01 1.0000 1.1235e+00 3\n", - " 3 2.2567e+00 2.4714e-01 1.3541e-04 2.0082e-01 1.36006e-01 0.5000 2.0082e-01 3\n", - " 4 1.9023e+00 2.4713e-01 8.4082e-05 1.6543e-01 2.28775e-02 1.0000 1.6543e-01 3\n", - " 5 2.7260e-01 2.4714e-01 3.0504e-06 2.5429e-03 1.94035e-02 0.5000 3.8299e-03 1\n", - " 6 2.6962e-01 2.4714e-01 1.2603e-06 2.2475e-03 4.15526e-03 1.0000 2.2475e-03 1\n", - " 7 2.4869e-01 2.4714e-01 1.4086e-07 1.5485e-04 4.16057e-03 1.0000 8.2810e-04 1\n", - " 8 2.4789e-01 2.4714e-01 2.6525e-08 7.5775e-05 6.12521e-03 0.0020 8.3260e-04 1\n", - " 9 2.4789e-01 2.4714e-01 2.6525e-08 7.5775e-05 6.12156e-03 1.0000 8.3257e-04 1\n", - " 10 2.4781e-01 2.4714e-01 8.9338e-08 6.7788e-05 7.93843e-03 0.0625 8.2296e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.5007e+01 5.6015e-01 6.3175e+00 1.2709e-01 6.64319e-01 1.0000 ---- 3\n", - " 2 1.7953e+01 2.4399e-01 6.5718e-01 1.1137e+00 1.55643e-01 1.0000 1.1137e+00 3\n", - " 3 2.2563e+00 2.4400e-01 1.8012e-04 2.0105e-01 1.45495e-01 0.5000 2.0105e-01 3\n", - " 4 1.8721e+00 2.4400e-01 1.0654e-04 1.6270e-01 3.12231e-02 1.0000 1.6270e-01 3\n", - " 5 2.7154e-01 2.4400e-01 5.1160e-06 2.7489e-03 2.61501e-02 0.0020 5.7975e-03 1\n", - " 6 2.7154e-01 2.4400e-01 5.1160e-06 2.7489e-03 2.62891e-02 0.2500 5.9257e-03 1\n", - " 7 2.6729e-01 2.4400e-01 3.7188e-06 2.3255e-03 1.19627e-02 0.5000 3.6886e-03 1\n", - " 8 2.6591e-01 2.4400e-01 1.7263e-06 2.1896e-03 2.98106e-03 1.0000 2.1896e-03 1\n", - " 9 2.4755e-01 2.4400e-01 1.0782e-07 3.5489e-04 2.80668e-03 1.0000 1.0717e-03 1\n", - " 10 2.4483e-01 2.4400e-01 1.8413e-08 8.3060e-05 4.40167e-03 0.0020 8.3098e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.4596e+01 5.5704e-01 6.2746e+00 1.2928e-01 6.65120e-01 1.0000 ---- 3\n", - " 2 1.8072e+01 2.4089e-01 6.5399e-01 1.1292e+00 1.61342e-01 1.0000 1.1292e+00 3\n", - " 3 2.6904e+00 2.4090e-01 2.1541e-04 2.4474e-01 1.49930e-01 0.5000 2.4474e-01 3\n", - " 4 2.0976e+00 2.4090e-01 1.2494e-04 1.8554e-01 3.99760e-02 1.0000 1.8554e-01 3\n", - " 5 3.3351e-01 2.4090e-01 8.3538e-06 9.2525e-03 3.46042e-02 0.5000 9.2525e-03 2\n", - " 6 2.8277e-01 2.4090e-01 4.1089e-06 4.1828e-03 1.05648e-02 1.0000 4.1828e-03 2\n", - " 7 2.4340e-01 2.4090e-01 2.8583e-07 2.4980e-04 1.72890e-02 0.0020 1.6459e-03 1\n", - " 8 2.4340e-01 2.4090e-01 2.8583e-07 2.4980e-04 1.73564e-02 0.2500 1.6870e-03 1\n", - " 9 2.4315e-01 2.4090e-01 2.6137e-07 2.2536e-04 6.56148e-03 0.5000 8.9424e-04 1\n", - " 10 2.4297e-01 2.4090e-01 1.7518e-07 2.0680e-04 2.64053e-03 1.0000 8.5355e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.4204e+01 5.5396e-01 6.2346e+00 1.3039e-01 6.67007e-01 1.0000 ---- 3\n", - " 2 1.7771e+01 2.3782e-01 6.5688e-01 1.0965e+00 1.65124e-01 1.0000 1.0965e+00 3\n", - " 3 2.7793e+00 2.3783e-01 2.3817e-04 2.5391e-01 1.45308e-01 0.5000 2.5391e-01 3\n", - " 4 1.8308e+00 2.3782e-01 1.3336e-04 1.5916e-01 4.48989e-02 1.0000 1.5916e-01 3\n", - " 5 3.3796e-01 2.3783e-01 9.8044e-06 1.0004e-02 4.62148e-02 0.0020 1.0004e-02 1\n", - " 6 3.3796e-01 2.3783e-01 9.8044e-06 1.0004e-02 4.57413e-02 0.5000 1.0004e-02 1\n", - " 7 3.3427e-01 2.3783e-01 5.1029e-06 9.6395e-03 1.32228e-02 1.0000 9.6395e-03 2\n", - " 8 2.4073e-01 2.3783e-01 5.7192e-07 2.9007e-04 2.08316e-02 0.0625 1.1534e-03 1\n", - " 9 2.4072e-01 2.3783e-01 5.4053e-07 2.8843e-04 1.75808e-02 0.5000 1.0411e-03 1\n", - " 10 2.4018e-01 2.3783e-01 4.7780e-07 2.3465e-04 6.27159e-03 0.5000 1.0096e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.3849e+01 5.5092e-01 6.1997e+00 1.3020e-01 6.67794e-01 1.0000 ---- 3\n", - " 2 1.7906e+01 2.3478e-01 6.5047e-01 1.1166e+00 1.56728e-01 1.0000 1.1166e+00 3\n", - " 3 2.4194e+00 2.3479e-01 2.0450e-04 2.1825e-01 1.45770e-01 0.5000 2.1825e-01 3\n", - " 4 1.9880e+00 2.3479e-01 1.1893e-04 1.7520e-01 3.57352e-02 1.0000 1.7520e-01 3\n", - " 5 2.9403e-01 2.3479e-01 6.8445e-06 5.9178e-03 3.07811e-02 0.0020 8.1799e-03 1\n", - " 6 2.9403e-01 2.3479e-01 6.8445e-06 5.9178e-03 3.11220e-02 0.5000 6.7161e-03 1\n", - " 7 2.9087e-01 2.3479e-01 3.0352e-06 5.6048e-03 9.55973e-03 1.0000 5.6048e-03 2\n", - " 8 2.3620e-01 2.3479e-01 2.7672e-07 1.4125e-04 1.47902e-02 0.0020 1.4621e-03 1\n", - " 9 2.3620e-01 2.3479e-01 2.7672e-07 1.4125e-04 1.48534e-02 0.5000 1.5009e-03 1\n", - " 10 2.3610e-01 2.3479e-01 3.5069e-07 1.3069e-04 5.77494e-03 0.2500 8.2240e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.3459e+01 5.4791e-01 6.1605e+00 1.3062e-01 6.69306e-01 1.0000 ---- 3\n", - " 2 1.8191e+01 2.3178e-01 6.4717e-01 1.1488e+00 1.59394e-01 1.0000 1.1488e+00 3\n", - " 3 2.4136e+00 2.3178e-01 2.2241e-04 2.1796e-01 1.53281e-01 0.5000 2.1796e-01 3\n", - " 4 2.0921e+00 2.3178e-01 1.2978e-04 1.8590e-01 2.62087e-02 1.0000 1.8590e-01 3\n", - " 5 2.4571e-01 2.3178e-01 4.5863e-06 1.3883e-03 2.24444e-02 0.0020 4.0447e-03 1\n", - " 6 2.4571e-01 2.3178e-01 4.5863e-06 1.3883e-03 2.25946e-02 0.2500 4.1877e-03 1\n", - " 7 2.4407e-01 2.3178e-01 3.3315e-06 1.2255e-03 1.03695e-02 0.5000 2.7022e-03 1\n", - " 8 2.4264e-01 2.3178e-01 1.5431e-06 1.0838e-03 2.50626e-03 1.0000 1.0838e-03 1\n", - " 9 2.3354e-01 2.3178e-01 7.6759e-08 1.7528e-04 2.44065e-03 0.5000 8.3182e-04 1\n", - " 10 2.3262e-01 2.3178e-01 4.0326e-08 8.3493e-05 9.29900e-04 1.0000 8.3243e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.3129e+01 5.4493e-01 6.1274e+00 1.3104e-01 6.70109e-01 1.0000 ---- 3\n", - " 2 1.7861e+01 2.2880e-01 6.4061e-01 1.1226e+00 1.50990e-01 1.0000 1.1226e+00 3\n", - " 3 2.3380e+00 2.2881e-01 1.8489e-04 2.1074e-01 1.46104e-01 0.5000 2.1074e-01 3\n", - " 4 2.0087e+00 2.2881e-01 1.1056e-04 1.7788e-01 1.72123e-02 1.0000 1.7788e-01 3\n", - " 5 2.3795e-01 2.2881e-01 2.1716e-06 9.1128e-04 1.71121e-02 1.0000 1.1540e-03 1\n", - " 6 2.3713e-01 2.2881e-01 1.6022e-06 8.2997e-04 2.25699e-02 0.2500 1.8914e-03 1\n", - " 7 2.3676e-01 2.2881e-01 1.3078e-06 7.9379e-04 1.00357e-02 0.5000 1.1600e-03 1\n", - " 8 2.3583e-01 2.2881e-01 7.5741e-07 7.0154e-04 1.69632e-03 1.0000 9.2107e-04 1\n", - " 9 2.3043e-01 2.2881e-01 1.0659e-08 1.6171e-04 1.75557e-03 1.0000 8.3359e-04 1\n", - " 10 2.2987e-01 2.2881e-01 5.7761e-09 1.0631e-04 2.18916e-03 0.5000 8.3004e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.2833e+01 5.4198e-01 6.0970e+00 1.3207e-01 6.71710e-01 1.0000 ---- 3\n", - " 2 1.7945e+01 2.2586e-01 6.3231e-01 1.1396e+00 1.44736e-01 1.0000 1.1396e+00 3\n", - " 3 2.3340e+00 2.2587e-01 1.2695e-04 2.1069e-01 1.35017e-01 0.5000 2.1069e-01 3\n", - " 4 1.9146e+00 2.2587e-01 8.0352e-05 1.6879e-01 1.92467e-02 1.0000 1.6879e-01 3\n", - " 5 2.3538e-01 2.2587e-01 2.1080e-06 9.4911e-04 1.70811e-02 0.1250 2.0298e-03 1\n", - " 6 2.3537e-01 2.2587e-01 1.8311e-06 9.4843e-04 1.29074e-02 1.0000 1.6722e-03 1\n", - " 7 2.3210e-01 2.2587e-01 1.0390e-06 6.2224e-04 1.27965e-02 0.2500 2.1299e-03 1\n", - " 8 2.3173e-01 2.2587e-01 8.0935e-07 5.8507e-04 6.00112e-03 1.0000 1.3253e-03 1\n", - " 9 2.2967e-01 2.2587e-01 1.1561e-07 3.7988e-04 6.64422e-03 0.5000 8.1836e-04 1\n", - " 10 2.2866e-01 2.2587e-01 9.0886e-08 2.7907e-04 9.00204e-04 1.0000 9.1120e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.2621e+01 5.3904e-01 6.0770e+00 1.3119e-01 6.71235e-01 1.0000 ---- 3\n", - " 2 1.7915e+01 2.2294e-01 6.2266e-01 1.1466e+00 1.51064e-01 1.0000 1.1466e+00 3\n", - " 3 2.3202e+00 2.2295e-01 1.6965e-04 2.0956e-01 1.41495e-01 0.5000 2.0956e-01 3\n", - " 4 1.9470e+00 2.2295e-01 1.0169e-04 1.7230e-01 2.68943e-02 1.0000 1.7230e-01 3\n", - " 5 2.4603e-01 2.2295e-01 4.4253e-06 2.3034e-03 2.21493e-02 0.2500 4.6698e-03 1\n", - " 6 2.4587e-01 2.2295e-01 3.2176e-06 2.2891e-03 1.09545e-02 1.0000 2.9929e-03 1\n", - " 7 2.2510e-01 2.2295e-01 8.7940e-07 2.1426e-04 1.09273e-02 0.5000 1.0934e-03 1\n", - " 8 2.2460e-01 2.2295e-01 5.3246e-07 1.6406e-04 1.70150e-03 0.0625 8.3352e-04 1\n", - " 9 2.2460e-01 2.2295e-01 4.9919e-07 1.6407e-04 1.47517e-03 1.0000 8.3360e-04 1\n", - " 10 2.2314e-01 2.2295e-01 4.5344e-09 1.9134e-05 2.14682e-03 0.5000 8.3444e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.2414e+01 5.3612e-01 6.0544e+00 1.3339e-01 6.68235e-01 1.0000 ---- 3\n", - " 2 1.7705e+01 2.2004e-01 6.1009e-01 1.1384e+00 1.59201e-01 1.0000 1.1384e+00 3\n", - " 3 2.4125e+00 2.2005e-01 2.2013e-04 2.1903e-01 1.50702e-01 0.5000 2.1903e-01 3\n", - " 4 2.0177e+00 2.2005e-01 1.2782e-04 1.7964e-01 3.48317e-02 1.0000 1.7964e-01 3\n", - " 5 2.6831e-01 2.2005e-01 7.1873e-06 4.8189e-03 2.99074e-02 0.0020 8.9128e-03 1\n", - " 6 2.6831e-01 2.2005e-01 7.1873e-06 4.8189e-03 3.02642e-02 0.5000 6.4300e-03 1\n", - " 7 2.6642e-01 2.2005e-01 3.1447e-06 4.6342e-03 9.53940e-03 1.0000 4.6342e-03 2\n", - " 8 2.2401e-01 2.2005e-01 2.7981e-07 3.9536e-04 1.45009e-02 0.1250 1.4111e-03 1\n", - " 9 2.2397e-01 2.2005e-01 2.5262e-07 3.9160e-04 1.02790e-02 1.0000 1.0825e-03 1\n", - " 10 2.2277e-01 2.2005e-01 6.0131e-07 2.7146e-04 1.56404e-02 0.1250 1.8948e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.2104e+01 5.3327e-01 6.0232e+00 1.3380e-01 6.65212e-01 1.0000 ---- 3\n", - " 2 1.7712e+01 2.1718e-01 6.0223e-01 1.1473e+00 1.62660e-01 1.0000 1.1473e+00 3\n", - " 3 2.8295e+00 2.1719e-01 2.4277e-04 2.6099e-01 1.55416e-01 0.5000 2.6099e-01 3\n", - " 4 2.2725e+00 2.1719e-01 1.4060e-04 2.0539e-01 4.46583e-02 1.0000 2.0539e-01 3\n", - " 5 3.2001e-01 2.1719e-01 1.1085e-05 1.0271e-02 4.05019e-02 0.2500 1.0271e-02 3\n", - " 6 3.0498e-01 2.1719e-01 8.1428e-06 8.7705e-03 1.41555e-02 1.0000 8.7705e-03 3\n", - " 7 2.3832e-01 2.1719e-01 1.0557e-06 2.1119e-03 2.07613e-02 0.5000 2.1119e-03 1\n", - " 8 2.3756e-01 2.1719e-01 1.0385e-06 2.0360e-03 6.02430e-03 1.0000 2.0360e-03 1\n", - " 9 2.2502e-01 2.1719e-01 1.9371e-07 7.8270e-04 1.04039e-02 0.5000 1.1779e-03 1\n", - " 10 2.2394e-01 2.1719e-01 1.7424e-07 6.7501e-04 3.69563e-03 0.2500 1.1095e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.1785e+01 5.3049e-01 5.9869e+00 1.3852e-01 6.61890e-01 1.0000 ---- 3\n", - " 2 1.7386e+01 2.1437e-01 5.9478e-01 1.1224e+00 1.70781e-01 1.0000 1.1224e+00 3\n", - " 3 3.0670e+00 2.1438e-01 2.8400e-04 2.8497e-01 1.52768e-01 0.5000 2.8497e-01 3\n", - " 4 2.0054e+00 2.1438e-01 1.5669e-04 1.7895e-01 4.50284e-02 1.0000 1.7895e-01 3\n", - " 5 3.1455e-01 2.1438e-01 1.1536e-05 1.0005e-02 4.56063e-02 0.5000 1.0005e-02 2\n", - " 6 2.6160e-01 2.1438e-01 6.2874e-06 4.7160e-03 1.44447e-02 0.0020 8.0201e-03 1\n", - " 7 2.6160e-01 2.1438e-01 6.2874e-06 4.7160e-03 1.40201e-02 1.0000 4.7160e-03 1\n", - " 8 2.2311e-01 2.1438e-01 9.3287e-07 8.7236e-04 1.83927e-02 0.2500 8.7236e-04 1\n", - " 9 2.2300e-01 2.1438e-01 7.5849e-07 8.6192e-04 6.67729e-03 0.2500 1.6710e-03 1\n", - " 10 2.2277e-01 2.1438e-01 5.7559e-07 8.3886e-04 2.61323e-03 1.0000 8.4492e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.1300e+01 5.2775e-01 5.9427e+00 1.3445e-01 6.57651e-01 1.0000 ---- 3\n", - " 2 1.7276e+01 2.1160e-01 5.8251e-01 1.1239e+00 1.57536e-01 1.0000 1.1239e+00 3\n", - " 3 2.4882e+00 2.1161e-01 2.2439e-04 2.2743e-01 1.49276e-01 0.5000 2.2743e-01 3\n", - " 4 2.0449e+00 2.1160e-01 1.2986e-04 1.8320e-01 3.95196e-02 1.0000 1.8320e-01 3\n", - " 5 2.7577e-01 2.1161e-01 8.9545e-06 6.4069e-03 3.57060e-02 0.0020 1.0256e-02 1\n", - " 6 2.7577e-01 2.1161e-01 8.9545e-06 6.4069e-03 3.60061e-02 0.2500 6.8510e-03 1\n", - " 7 2.6792e-01 2.1161e-01 6.5170e-06 5.6244e-03 1.36612e-02 1.0000 5.6244e-03 2\n", - " 8 2.1514e-01 2.1161e-01 1.2476e-06 3.5189e-04 1.87266e-02 0.1250 1.4119e-03 1\n", - " 9 2.1512e-01 2.1161e-01 1.1190e-06 3.5019e-04 1.33222e-02 1.0000 9.0978e-04 1\n", - " 10 2.1362e-01 2.1161e-01 1.0529e-06 2.0020e-04 1.71280e-02 0.0625 1.1530e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.0920e+01 5.2505e-01 5.9042e+00 1.3536e-01 6.54324e-01 1.0000 ---- 3\n", - " 2 1.6967e+01 2.0886e-01 5.8195e-01 1.0938e+00 1.60248e-01 1.0000 1.0938e+00 3\n", - " 3 2.1228e+00 2.0887e-01 2.6531e-04 1.9113e-01 1.49134e-01 0.5000 1.9113e-01 3\n", - " 4 1.5700e+00 2.0886e-01 1.4795e-04 1.3597e-01 2.95269e-02 1.0000 1.3597e-01 3\n", - " 5 2.3125e-01 2.0887e-01 6.3038e-06 2.2326e-03 2.57112e-02 0.0020 3.8768e-03 1\n", - " 6 2.3125e-01 2.0887e-01 6.3038e-06 2.2326e-03 2.57105e-02 0.5000 4.0461e-03 1\n", - " 7 2.2407e-01 2.0887e-01 2.8188e-06 1.5181e-03 4.64453e-03 1.0000 1.5181e-03 1\n", - " 8 2.1570e-01 2.0887e-01 1.6345e-07 6.8333e-04 5.16194e-03 1.0000 8.3459e-04 1\n", - " 9 2.1175e-01 2.0887e-01 4.6761e-08 2.8794e-04 7.32959e-03 0.5000 8.4127e-04 1\n", - " 10 2.1142e-01 2.0887e-01 4.9716e-08 2.5532e-04 1.50150e-03 1.0000 8.3481e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.0521e+01 5.2237e-01 5.8621e+00 1.3773e-01 6.50951e-01 1.0000 ---- 3\n", - " 2 1.7257e+01 2.0615e-01 5.7616e-01 1.1289e+00 1.44881e-01 1.0000 1.1289e+00 3\n", - " 3 2.2112e+00 2.0615e-01 1.7601e-04 2.0033e-01 1.39825e-01 0.5000 2.0033e-01 3\n", - " 4 1.8637e+00 2.0615e-01 1.0576e-04 1.6565e-01 1.63250e-02 1.0000 1.6565e-01 3\n", - " 5 2.1983e-01 2.0615e-01 2.1067e-06 1.3659e-03 1.65411e-02 1.0000 1.3659e-03 1\n", - " 6 2.1749e-01 2.0615e-01 1.4522e-06 1.1327e-03 2.15434e-02 0.2500 1.9106e-03 1\n", - " 7 2.1721e-01 2.0615e-01 1.1978e-06 1.1048e-03 9.67468e-03 1.0000 1.3668e-03 1\n", - " 8 2.1498e-01 2.0615e-01 4.4482e-07 8.8201e-04 1.05086e-02 0.5000 1.5742e-03 1\n", - " 9 2.1356e-01 2.0615e-01 2.7918e-07 7.4008e-04 1.51527e-03 1.0000 1.6285e-03 1\n", - " 10 2.0904e-01 2.0615e-01 7.0333e-09 2.8902e-04 1.79356e-03 1.0000 8.3580e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.0088e+01 5.1972e-01 5.8216e+00 1.3522e-01 6.47149e-01 1.0000 ---- 3\n", - " 2 1.7267e+01 2.0345e-01 5.7289e-01 1.1335e+00 1.40029e-01 1.0000 1.1335e+00 3\n", - " 3 2.0915e+00 2.0346e-01 1.3408e-04 1.8867e-01 1.31110e-01 0.5000 1.8867e-01 3\n", - " 4 1.7803e+00 2.0346e-01 8.3632e-05 1.5760e-01 2.04917e-02 1.0000 1.5760e-01 3\n", - " 5 2.1651e-01 2.0346e-01 2.6482e-06 1.3027e-03 1.77719e-02 0.5000 2.8868e-03 1\n", - " 6 2.1558e-01 2.0346e-01 1.0102e-06 1.2114e-03 3.27567e-03 1.0000 1.2114e-03 1\n", - " 7 2.0414e-01 2.0346e-01 1.3615e-07 6.7491e-05 2.82303e-03 1.0000 8.3737e-04 1\n", - " 8 2.0373e-01 2.0346e-01 1.3803e-08 2.6966e-05 3.76486e-03 0.2500 8.4029e-04 1\n", - " 9 2.0372e-01 2.0346e-01 1.1452e-08 2.5652e-05 1.61592e-03 1.0000 8.3851e-04 1\n", - " 10 2.0350e-01 2.0346e-01 6.8410e-09 4.1863e-06 1.95244e-03 0.2500 8.3622e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.9672e+01 5.1710e-01 5.7799e+00 1.3563e-01 6.45356e-01 1.0000 ---- 3\n", - " 2 1.7242e+01 2.0078e-01 5.7173e-01 1.1324e+00 1.48133e-01 1.0000 1.1324e+00 3\n", - " 3 2.0963e+00 2.0079e-01 1.7216e-04 1.8938e-01 1.39906e-01 0.5000 1.8938e-01 3\n", - " 4 1.7626e+00 2.0079e-01 1.0224e-04 1.5608e-01 3.30412e-02 1.0000 1.5608e-01 3\n", - " 5 2.4093e-01 2.0079e-01 6.8712e-06 4.0076e-03 2.83391e-02 0.0020 5.9761e-03 1\n", - " 6 2.4093e-01 2.0079e-01 6.8712e-06 4.0076e-03 2.84992e-02 0.5000 6.1680e-03 1\n", - " 7 2.3897e-01 2.0079e-01 2.9397e-06 3.8148e-03 8.56456e-03 1.0000 5.8267e-03 1\n", - " 8 2.3187e-01 2.0079e-01 3.0530e-07 3.1078e-03 1.12153e-02 1.0000 3.9536e-03 1\n", - " 9 2.2863e-01 2.0079e-01 3.5000e-07 2.7839e-03 1.96995e-02 0.1250 4.9864e-03 1\n", - " 10 2.2782e-01 2.0079e-01 3.2747e-07 2.7026e-03 1.33018e-02 0.5000 4.1006e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.9341e+01 5.1449e-01 5.7430e+00 1.3960e-01 6.44800e-01 1.0000 ---- 3\n", - " 2 1.7019e+01 1.9813e-01 5.7288e-01 1.1092e+00 1.63642e-01 1.0000 1.1092e+00 3\n", - " 3 2.2536e+00 1.9814e-01 2.4792e-04 2.0530e-01 1.53350e-01 0.5000 2.0530e-01 3\n", - " 4 1.7211e+00 1.9813e-01 1.4010e-04 1.5215e-01 4.59717e-02 1.0000 1.5215e-01 3\n", - " 5 2.8868e-01 1.9814e-01 1.2543e-05 9.0416e-03 4.29095e-02 0.5000 9.0416e-03 2\n", - " 6 2.6596e-01 1.9813e-01 6.3867e-06 6.7761e-03 1.59738e-02 1.0000 6.7761e-03 2\n", - " 7 2.0215e-01 1.9813e-01 6.2668e-07 4.0136e-04 2.60694e-02 0.0020 1.7212e-03 1\n", - " 8 2.0215e-01 1.9813e-01 6.2668e-07 4.0136e-04 2.62081e-02 0.1250 1.8112e-03 1\n", - " 9 2.0180e-01 1.9813e-01 5.7667e-07 3.6578e-04 1.77820e-02 0.1250 1.5633e-03 1\n", - " 10 2.0179e-01 1.9813e-01 5.1897e-07 3.6459e-04 1.21106e-02 0.2500 1.2077e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.8983e+01 5.1189e-01 5.7074e+00 1.3964e-01 6.40880e-01 1.0000 ---- 3\n", - " 2 1.6937e+01 1.9549e-01 5.6880e-01 1.1054e+00 1.66599e-01 1.0000 1.1054e+00 3\n", - " 3 2.5383e+00 1.9550e-01 2.7551e-04 2.3400e-01 1.47242e-01 0.5000 2.3400e-01 3\n", - " 4 1.7283e+00 1.9549e-01 1.5046e-04 1.5313e-01 4.91245e-02 1.0000 1.5313e-01 3\n", - " 5 3.1519e-01 1.9550e-01 1.4399e-05 1.1955e-02 5.18178e-02 0.0020 1.1955e-02 1\n", - " 6 3.1519e-01 1.9550e-01 1.4399e-05 1.1955e-02 5.14220e-02 0.2500 1.1955e-02 1\n", - " 7 3.0239e-01 1.9550e-01 1.0847e-05 1.0679e-02 1.86598e-02 1.0000 1.0679e-02 1\n", - " 8 2.8224e-01 1.9550e-01 1.5860e-06 8.6733e-03 2.49798e-02 1.0000 8.6733e-03 1\n", - " 9 2.5986e-01 1.9550e-01 1.6625e-06 6.4349e-03 3.64044e-02 0.1250 6.4349e-03 1\n", - " 10 2.5782e-01 1.9550e-01 1.5042e-06 6.2306e-03 2.48835e-02 0.5000 6.2306e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.8659e+01 5.0931e-01 5.6717e+00 1.4332e-01 6.39276e-01 1.0000 ---- 3\n", - " 2 1.6937e+01 1.9286e-01 5.5562e-01 1.1188e+00 1.67388e-01 1.0000 1.1188e+00 3\n", - " 3 2.5766e+00 1.9287e-01 2.6323e-04 2.3811e-01 1.57100e-01 0.5000 2.3811e-01 3\n", - " 4 1.9068e+00 1.9287e-01 1.4853e-04 1.7125e-01 5.33328e-02 1.0000 1.7125e-01 3\n", - " 5 3.2297e-01 1.9287e-01 1.6368e-05 1.2993e-02 5.18416e-02 0.2500 1.2993e-02 3\n", - " 6 3.0769e-01 1.9287e-01 1.2291e-05 1.1470e-02 1.72962e-02 1.0000 1.1470e-02 3\n", - " 7 2.1188e-01 1.9287e-01 1.3194e-06 1.8997e-03 2.52540e-02 0.0020 1.8997e-03 1\n", - " 8 2.1188e-01 1.9287e-01 1.3194e-06 1.8997e-03 2.51615e-02 0.5000 1.8997e-03 1\n", - " 9 2.0962e-01 1.9287e-01 1.2857e-06 1.6742e-03 7.24917e-03 1.0000 1.6742e-03 1\n", - " 10 2.0810e-01 1.9287e-01 2.4076e-07 1.5230e-03 1.31523e-02 0.2500 1.5230e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.8336e+01 5.0674e-01 5.6401e+00 1.4282e-01 6.34940e-01 1.0000 ---- 3\n", - " 2 1.6934e+01 1.9025e-01 5.4902e-01 1.1253e+00 1.67228e-01 1.0000 1.1253e+00 3\n", - " 3 2.5228e+00 1.9026e-01 2.8773e-04 2.3297e-01 1.54613e-01 0.5000 2.3297e-01 3\n", - " 4 1.7943e+00 1.9026e-01 1.5887e-04 1.6025e-01 3.95854e-02 1.0000 1.6025e-01 3\n", - " 5 2.5250e-01 1.9026e-01 1.1309e-05 6.2126e-03 3.84754e-02 0.0020 7.4075e-03 1\n", - " 6 2.5250e-01 1.9026e-01 1.1309e-05 6.2126e-03 3.83806e-02 0.5000 6.2126e-03 1\n", - " 7 2.5055e-01 1.9026e-01 5.4357e-06 6.0236e-03 9.69856e-03 1.0000 6.7441e-03 1\n", - " 8 2.3735e-01 1.9026e-01 3.6575e-07 4.7093e-03 1.33532e-02 1.0000 4.7093e-03 1\n", - " 9 2.1585e-01 1.9026e-01 4.4522e-07 2.5585e-03 2.20005e-02 0.2500 2.5585e-03 1\n", - " 10 2.1420e-01 1.9026e-01 4.0697e-07 2.3935e-03 8.13490e-03 1.0000 2.4189e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.7942e+01 5.0419e-01 5.6036e+00 1.4014e-01 6.30714e-01 1.0000 ---- 3\n", - " 2 1.6145e+01 1.8765e-01 5.3975e-01 1.0560e+00 1.45526e-01 1.0000 1.0560e+00 3\n", - " 3 1.6676e+00 1.8766e-01 2.0685e-04 1.4779e-01 1.35278e-01 0.5000 1.4779e-01 3\n", - " 4 1.4013e+00 1.8765e-01 1.1720e-04 1.2125e-01 2.97131e-02 1.0000 1.2125e-01 3\n", - " 5 2.2045e-01 1.8766e-01 6.5201e-06 3.2730e-03 2.55431e-02 0.0156 5.3164e-03 1\n", - " 6 2.2044e-01 1.8766e-01 6.4176e-06 3.2723e-03 2.48034e-02 0.5000 5.3736e-03 1\n", - " 7 2.1588e-01 1.8766e-01 2.7096e-06 2.8201e-03 6.25053e-03 1.0000 2.9522e-03 1\n", - " 8 2.0699e-01 1.8766e-01 2.1780e-07 1.9333e-03 7.68207e-03 1.0000 1.9333e-03 1\n", - " 9 2.0112e-01 1.8766e-01 1.3531e-07 1.3464e-03 1.25089e-02 0.2500 1.6866e-03 1\n", - " 10 2.0016e-01 1.8766e-01 1.3128e-07 1.2503e-03 4.74956e-03 1.0000 1.6501e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.7574e+01 5.0164e-01 5.5667e+00 1.4049e-01 6.27772e-01 1.0000 ---- 3\n", - " 2 1.6414e+01 1.8506e-01 5.2832e-01 1.0946e+00 1.48278e-01 1.0000 1.0946e+00 3\n", - " 3 1.6229e+00 1.8507e-01 2.1636e-04 1.4357e-01 1.45620e-01 0.5000 1.4357e-01 3\n", - " 4 1.4915e+00 1.8506e-01 1.2583e-04 1.3052e-01 1.76959e-02 1.0000 1.3052e-01 3\n", - " 5 1.8980e-01 1.8507e-01 3.3461e-06 4.6982e-04 1.70669e-02 0.2500 1.5268e-03 1\n", - " 6 1.8975e-01 1.8507e-01 2.4359e-06 4.6628e-04 8.12513e-03 1.0000 1.0476e-03 1\n", - " 7 1.8567e-01 1.8507e-01 5.7364e-07 5.9482e-05 9.39837e-03 0.5000 8.6331e-04 1\n", - " 8 1.8513e-01 1.8507e-01 3.7158e-07 6.0333e-06 1.58857e-03 0.5000 8.4211e-04 1\n", - " 9 1.8510e-01 1.8507e-01 1.8633e-07 3.2538e-06 5.42648e-04 1.0000 8.4282e-04 1\n", - " 10 1.8510e-01 1.8507e-01 1.6150e-09 3.3322e-06 4.28200e-04 0.0020 8.4172e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.7220e+01 4.9911e-01 5.5336e+00 1.3850e-01 6.26442e-01 1.0000 ---- 3\n", - " 2 1.6321e+01 1.8248e-01 5.1125e-01 1.1026e+00 1.36337e-01 1.0000 1.1026e+00 3\n", - " 3 1.8142e+00 1.8249e-01 1.4483e-04 1.6303e-01 1.30627e-01 0.5000 1.6303e-01 3\n", - " 4 1.5226e+00 1.8248e-01 8.9692e-05 1.3393e-01 2.32797e-02 1.0000 1.3393e-01 3\n", - " 5 2.0761e-01 1.8249e-01 3.5257e-06 2.5085e-03 1.98004e-02 0.1250 3.7457e-03 1\n", - " 6 2.0747e-01 1.8249e-01 3.0545e-06 2.4951e-03 1.49985e-02 1.0000 3.0985e-03 1\n", - " 7 1.9831e-01 1.8249e-01 1.7575e-06 1.5811e-03 1.45488e-02 0.2500 2.3385e-03 1\n", - " 8 1.9726e-01 1.8249e-01 1.3686e-06 1.4763e-03 6.76886e-03 1.0000 1.4763e-03 1\n", - " 9 1.9213e-01 1.8249e-01 2.0694e-07 9.6405e-04 7.71574e-03 1.0000 9.6405e-04 1\n", - " 10 1.9125e-01 1.8249e-01 1.7675e-07 8.7636e-04 9.67149e-03 0.2500 1.0635e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.6957e+01 4.9658e-01 5.5060e+00 1.4006e-01 6.24837e-01 1.0000 ---- 3\n", - " 2 1.6150e+01 1.7991e-01 4.9904e-01 1.0980e+00 1.44946e-01 1.0000 1.0980e+00 3\n", - " 3 1.8909e+00 1.7992e-01 1.8168e-04 1.7092e-01 1.34411e-01 0.5000 1.7092e-01 3\n", - " 4 1.6138e+00 1.7991e-01 1.0554e-04 1.4328e-01 3.75837e-02 1.0000 1.4328e-01 3\n", - " 5 2.4018e-01 1.7992e-01 9.3518e-06 6.0169e-03 3.20724e-02 0.0020 6.4222e-03 1\n", - " 6 2.4018e-01 1.7992e-01 9.3518e-06 6.0169e-03 3.21669e-02 0.5000 6.6681e-03 1\n", - " 7 2.3458e-01 1.7992e-01 4.1061e-06 5.4627e-03 1.04381e-02 1.0000 6.6352e-03 1\n", - " 8 2.2656e-01 1.7992e-01 3.8990e-07 4.6641e-03 1.39709e-02 1.0000 5.1665e-03 1\n", - " 9 2.2563e-01 1.7992e-01 5.1832e-07 4.5706e-03 2.49612e-02 0.5000 4.5706e-03 2\n", - " 10 2.0989e-01 1.7992e-01 9.9964e-07 2.9966e-03 7.43353e-03 0.0020 7.9260e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.6631e+01 4.9407e-01 5.4683e+00 1.4534e-01 6.24130e-01 1.0000 ---- 3\n", - " 2 1.6136e+01 1.7735e-01 4.9973e-01 1.0961e+00 1.59957e-01 1.0000 1.0961e+00 3\n", - " 3 1.8862e+00 1.7735e-01 2.5586e-04 1.7063e-01 1.42823e-01 0.5000 1.7063e-01 3\n", - " 4 1.3294e+00 1.7735e-01 1.3995e-04 1.1507e-01 4.99220e-02 1.0000 1.1507e-01 3\n", - " 5 2.9102e-01 1.7735e-01 1.4939e-05 1.1351e-02 5.07205e-02 0.0020 1.1351e-02 1\n", - " 6 2.9102e-01 1.7735e-01 1.4939e-05 1.1351e-02 5.04113e-02 0.2500 1.1351e-02 1\n", - " 7 2.7912e-01 1.7735e-01 1.1195e-05 1.0165e-02 1.80867e-02 1.0000 1.0165e-02 1\n", - " 8 2.6367e-01 1.7735e-01 1.7609e-06 8.6299e-03 2.42576e-02 1.0000 8.6299e-03 1\n", - " 9 2.4833e-01 1.7735e-01 1.7658e-06 7.0958e-03 3.60855e-02 0.1250 7.0958e-03 1\n", - " 10 2.4647e-01 1.7735e-01 1.5952e-06 6.9098e-03 2.45154e-02 0.5000 6.9098e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.6303e+01 4.9156e-01 5.4358e+00 1.4537e-01 6.22312e-01 1.0000 ---- 3\n", - " 2 1.6172e+01 1.7480e-01 4.9089e-01 1.1088e+00 1.68110e-01 1.0000 1.1088e+00 3\n", - " 3 2.3816e+00 1.7480e-01 2.8814e-04 2.2039e-01 1.55860e-01 0.5000 2.2039e-01 3\n", - " 4 1.7249e+00 1.7480e-01 1.5939e-04 1.5485e-01 5.37248e-02 1.0000 1.5485e-01 3\n", - " 5 2.9402e-01 1.7480e-01 1.7870e-05 1.1904e-02 5.42211e-02 0.5000 1.1904e-02 2\n", - " 6 2.7199e-01 1.7480e-01 9.4189e-06 9.7091e-03 2.20510e-02 1.0000 9.7091e-03 2\n", - " 7 1.7985e-01 1.7480e-01 1.3896e-06 5.0343e-04 3.74323e-02 0.0020 1.2989e-03 1\n", - " 8 1.7985e-01 1.7480e-01 1.3896e-06 5.0343e-04 3.74414e-02 0.0625 1.1583e-03 1\n", - " 9 1.7957e-01 1.7480e-01 1.3177e-06 4.7517e-04 3.10448e-02 0.0312 1.2218e-03 1\n", - " 10 1.7955e-01 1.7480e-01 1.2792e-06 4.7393e-04 2.85502e-02 0.0625 1.2541e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.5812e+01 4.8906e-01 5.3873e+00 1.4493e-01 6.19615e-01 1.0000 ---- 3\n", - " 2 1.5475e+01 1.7225e-01 4.9586e-01 1.0344e+00 1.47579e-01 1.0000 1.0344e+00 3\n", - " 3 1.4447e+00 1.7226e-01 2.5573e-04 1.2698e-01 1.19286e-01 0.5000 1.2698e-01 3\n", - " 4 9.4826e-01 1.7226e-01 1.3076e-04 7.7470e-02 4.11315e-02 1.0000 7.7470e-02 3\n", - " 5 2.4105e-01 1.7226e-01 1.0276e-05 6.8684e-03 4.10925e-02 0.0020 6.8684e-03 1\n", - " 6 2.4105e-01 1.7226e-01 1.0276e-05 6.8684e-03 4.08179e-02 0.5000 6.8684e-03 1\n", - " 7 2.2587e-01 1.7226e-01 5.0099e-06 5.3564e-03 8.69164e-03 1.0000 5.3564e-03 1\n", - " 8 2.0436e-01 1.7226e-01 3.8495e-07 3.2100e-03 1.10331e-02 1.0000 3.2100e-03 1\n", - " 9 1.8012e-01 1.7226e-01 3.3618e-07 7.8619e-04 1.57263e-02 0.5000 1.0723e-03 1\n", - " 10 1.7969e-01 1.7226e-01 2.9769e-07 7.4267e-04 3.59852e-03 1.0000 8.4479e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.5323e+01 4.8657e-01 5.3441e+00 1.3949e-01 6.15027e-01 1.0000 ---- 3\n", - " 2 1.5728e+01 1.6972e-01 4.7414e-01 1.0817e+00 1.42688e-01 1.0000 1.0817e+00 3\n", - " 3 1.7228e+00 1.6973e-01 1.7593e-04 1.5513e-01 1.32343e-01 0.5000 1.5513e-01 3\n", - " 4 1.4391e+00 1.6972e-01 1.0180e-04 1.2683e-01 3.15291e-02 1.0000 1.2683e-01 3\n", - " 5 2.1265e-01 1.6973e-01 7.3509e-06 4.2846e-03 2.59760e-02 0.0039 5.4211e-03 1\n", - " 6 2.1264e-01 1.6973e-01 7.3221e-06 4.2846e-03 2.57234e-02 1.0000 5.4769e-03 1\n", - " 7 2.0081e-01 1.6973e-01 4.3350e-06 3.1041e-03 3.15538e-02 0.1250 4.7270e-03 1\n", - " 8 2.0042e-01 1.6973e-01 3.8545e-06 3.0658e-03 2.27144e-02 0.5000 3.0658e-03 1\n", - " 9 1.9862e-01 1.6973e-01 2.4517e-06 2.8871e-03 3.78300e-03 1.0000 3.3747e-03 1\n", - " 10 1.8414e-01 1.6973e-01 3.5496e-08 1.4412e-03 4.88451e-03 1.0000 1.4412e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.5012e+01 4.8409e-01 5.3096e+00 1.4317e-01 6.11022e-01 1.0000 ---- 3\n", - " 2 1.5627e+01 1.6720e-01 4.6447e-01 1.0815e+00 1.39657e-01 1.0000 1.0815e+00 3\n", - " 3 1.3502e+00 1.6720e-01 1.9785e-04 1.1810e-01 1.33092e-01 0.5000 1.1810e-01 3\n", - " 4 1.2427e+00 1.6720e-01 1.1428e-04 1.0744e-01 1.69767e-02 1.0000 1.0744e-01 3\n", - " 5 1.7844e-01 1.6720e-01 2.8404e-06 1.1205e-03 1.58257e-02 0.5000 1.1558e-03 1\n", - " 6 1.7816e-01 1.6720e-01 1.1623e-06 1.0942e-03 2.82733e-03 1.0000 1.0942e-03 1\n", - " 7 1.6773e-01 1.6720e-01 7.1213e-08 5.3190e-05 2.38063e-03 0.5000 8.4512e-04 1\n", - " 8 1.6744e-01 1.6720e-01 3.5623e-08 2.4196e-05 5.79923e-04 0.5000 8.4796e-04 1\n", - " 9 1.6728e-01 1.6720e-01 1.7929e-08 7.7965e-06 2.62751e-04 1.0000 8.4662e-04 1\n", - " 10 1.6723e-01 1.6720e-01 2.6791e-10 3.2275e-06 2.58538e-04 0.2500 8.4700e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.4574e+01 4.8162e-01 5.2684e+00 1.4083e-01 6.09462e-01 1.0000 ---- 3\n", - " 2 1.5671e+01 1.6468e-01 4.6357e-01 1.0870e+00 1.32078e-01 1.0000 1.0870e+00 3\n", - " 3 1.5565e+00 1.6469e-01 1.4164e-04 1.3904e-01 1.25413e-01 0.5000 1.3904e-01 3\n", - " 4 1.3358e+00 1.6469e-01 8.7324e-05 1.1702e-01 1.87483e-02 1.0000 1.1702e-01 3\n", - " 5 1.8084e-01 1.6469e-01 2.4457e-06 1.6123e-03 1.69609e-02 0.0625 2.1671e-03 1\n", - " 6 1.8080e-01 1.6469e-01 2.2870e-06 1.6088e-03 1.48605e-02 0.5000 1.9973e-03 1\n", - " 7 1.7810e-01 1.6469e-01 8.6587e-07 1.3407e-03 2.70970e-03 1.0000 1.3407e-03 1\n", - " 8 1.7151e-01 1.6469e-01 1.0583e-07 6.8251e-04 2.12719e-03 1.0000 8.4654e-04 1\n", - " 9 1.6681e-01 1.6469e-01 1.2983e-08 2.1190e-04 2.66348e-03 1.0000 8.4982e-04 1\n", - " 10 1.6573e-01 1.6469e-01 1.6221e-08 1.0469e-04 3.36913e-03 0.1250 8.4253e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.4189e+01 4.7916e-01 5.2292e+00 1.4184e-01 6.07195e-01 1.0000 ---- 3\n", - " 2 1.5584e+01 1.6218e-01 4.6064e-01 1.0815e+00 1.34436e-01 1.0000 1.0815e+00 3\n", - " 3 1.5201e+00 1.6218e-01 1.4269e-04 1.3565e-01 1.25119e-01 0.5000 1.3565e-01 3\n", - " 4 1.3251e+00 1.6218e-01 8.6191e-05 1.1621e-01 2.34504e-02 1.0000 1.1621e-01 3\n", - " 5 1.8609e-01 1.6218e-01 4.4978e-06 2.3862e-03 1.97519e-02 0.5000 3.6781e-03 1\n", - " 6 1.8505e-01 1.6218e-01 1.7086e-06 2.2850e-03 4.20719e-03 1.0000 2.2850e-03 1\n", - " 7 1.6385e-01 1.6218e-01 1.6909e-07 1.6603e-04 4.08941e-03 1.0000 8.4619e-04 1\n", - " 8 1.6269e-01 1.6218e-01 2.4044e-08 5.0861e-05 5.83535e-03 1.0000 8.5232e-04 1\n", - " 9 1.6260e-01 1.6218e-01 8.5097e-08 4.1454e-05 7.55148e-03 0.5000 8.4014e-04 1\n", - " 10 1.6252e-01 1.6218e-01 6.4505e-08 3.3762e-05 1.94607e-03 1.0000 8.5020e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.3812e+01 4.7671e-01 5.1908e+00 1.4270e-01 6.05013e-01 1.0000 ---- 3\n", - " 2 1.5512e+01 1.5968e-01 4.5757e-01 1.0777e+00 1.38640e-01 1.0000 1.0777e+00 3\n", - " 3 1.4966e+00 1.5969e-01 1.7138e-04 1.3352e-01 1.28984e-01 0.5000 1.3352e-01 3\n", - " 4 1.2961e+00 1.5969e-01 9.9238e-05 1.1354e-01 2.95576e-02 1.0000 1.1354e-01 3\n", - " 5 1.9465e-01 1.5969e-01 6.9701e-06 3.4896e-03 2.42731e-02 0.0020 5.1387e-03 1\n", - " 6 1.9465e-01 1.5969e-01 6.9701e-06 3.4896e-03 2.42258e-02 1.0000 5.2614e-03 1\n", - " 7 1.8500e-01 1.5969e-01 4.4509e-06 2.5267e-03 3.05714e-02 0.1250 4.2194e-03 1\n", - " 8 1.8463e-01 1.5969e-01 3.9551e-06 2.4907e-03 2.18874e-02 0.5000 2.9227e-03 1\n", - " 9 1.8356e-01 1.5969e-01 2.4982e-06 2.3844e-03 3.84341e-03 1.0000 2.9655e-03 1\n", - " 10 1.7107e-01 1.5969e-01 3.2888e-08 1.1378e-03 5.02103e-03 1.0000 1.1378e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.3411e+01 4.7427e-01 5.1511e+00 1.4256e-01 6.03228e-01 1.0000 ---- 3\n", - " 2 1.5359e+01 1.5720e-01 4.5576e-01 1.0644e+00 1.44233e-01 1.0000 1.0644e+00 3\n", - " 3 1.4203e+00 1.5721e-01 2.0077e-04 1.2611e-01 1.31091e-01 0.5000 1.2611e-01 3\n", - " 4 1.1437e+00 1.5720e-01 1.1177e-04 9.8533e-02 3.75374e-02 1.0000 9.8533e-02 3\n", - " 5 2.1303e-01 1.5720e-01 9.8836e-06 5.5729e-03 3.22623e-02 0.0020 6.3692e-03 1\n", - " 6 2.1303e-01 1.5720e-01 9.8836e-06 5.5729e-03 3.22762e-02 0.5000 6.6553e-03 1\n", - " 7 1.9532e-01 1.5720e-01 4.2972e-06 3.8073e-03 9.19974e-03 1.0000 3.8073e-03 1\n", - " 8 1.8185e-01 1.5720e-01 4.0174e-07 2.4641e-03 1.17275e-02 1.0000 2.4641e-03 1\n", - " 9 1.8170e-01 1.5720e-01 3.5156e-07 2.4495e-03 1.95666e-02 0.1250 4.0026e-03 1\n", - " 10 1.8148e-01 1.5720e-01 3.2414e-07 2.4271e-03 1.32557e-02 0.5000 2.4271e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.3055e+01 4.7184e-01 5.1125e+00 1.4575e-01 6.00906e-01 1.0000 ---- 3\n", - " 2 1.5224e+01 1.5473e-01 4.4809e-01 1.0589e+00 1.45298e-01 1.0000 1.0589e+00 3\n", - " 3 1.4952e+00 1.5473e-01 2.1394e-04 1.3384e-01 1.29359e-01 0.5000 1.3384e-01 3\n", - " 4 1.1262e+00 1.5473e-01 1.1722e-04 9.7033e-02 4.42441e-02 1.0000 9.7033e-02 3\n", - " 5 2.3778e-01 1.5473e-01 1.3263e-05 8.2916e-03 4.06065e-02 0.0020 8.2916e-03 1\n", - " 6 2.3778e-01 1.5473e-01 1.3263e-05 8.2916e-03 4.05711e-02 0.5000 8.2916e-03 1\n", - " 7 2.3314e-01 1.5473e-01 6.1223e-06 7.8349e-03 1.35990e-02 1.0000 7.8349e-03 1\n", - " 8 2.2568e-01 1.5473e-01 6.9658e-07 7.0948e-03 1.91220e-02 0.5000 7.0948e-03 1\n", - " 9 2.1246e-01 1.5473e-01 5.8142e-07 5.7726e-03 6.76839e-03 1.0000 5.7726e-03 1\n", - " 10 1.8681e-01 1.5473e-01 1.2902e-07 3.2084e-03 1.15820e-02 1.0000 3.2084e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.2653e+01 4.6942e-01 5.0712e+00 1.4718e-01 6.06378e-01 1.0000 ---- 3\n", - " 2 1.5981e+01 1.5226e-01 4.3437e-01 1.1485e+00 1.46823e-01 1.0000 1.1485e+00 3\n", - " 3 1.9515e+00 1.5227e-01 2.2150e-04 1.7970e-01 1.42549e-01 0.5000 1.7970e-01 3\n", - " 4 1.7097e+00 1.5227e-01 1.3038e-04 1.5561e-01 4.16744e-02 1.0000 1.5561e-01 3\n", - " 5 2.0775e-01 1.5227e-01 1.2811e-05 5.5356e-03 3.63008e-02 0.0020 5.7676e-03 1\n", - " 6 2.0775e-01 1.5227e-01 1.2811e-05 5.5356e-03 3.62748e-02 0.5000 5.8617e-03 1\n", - " 7 2.0550e-01 1.5227e-01 5.7215e-06 5.3176e-03 1.42186e-02 1.0000 6.6230e-03 1\n", - " 8 2.0385e-01 1.5227e-01 6.8889e-07 5.1577e-03 2.06025e-02 1.0000 5.1577e-03 2\n", - " 9 1.8885e-01 1.5227e-01 1.2773e-06 3.6568e-03 4.07979e-02 0.0020 8.8328e-03 1\n", - " 10 1.8885e-01 1.5227e-01 1.2773e-06 3.6568e-03 4.03009e-02 0.2500 6.1295e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.2251e+01 4.6701e-01 5.0285e+00 1.4998e-01 6.00735e-01 1.0000 ---- 3\n", - " 2 1.5700e+01 1.4981e-01 4.2364e-01 1.1313e+00 1.41270e-01 1.0000 1.1313e+00 3\n", - " 3 1.6477e+00 1.4982e-01 2.0252e-04 1.4959e-01 1.33604e-01 0.5000 1.4959e-01 3\n", - " 4 1.4385e+00 1.4981e-01 1.1723e-04 1.2875e-01 3.39922e-02 1.0000 1.2875e-01 3\n", - " 5 1.9600e-01 1.4982e-01 1.0087e-05 4.6082e-03 2.79407e-02 0.0020 5.3691e-03 1\n", - " 6 1.9600e-01 1.4982e-01 1.0087e-05 4.6082e-03 2.78744e-02 0.5000 5.5727e-03 1\n", - " 7 1.8286e-01 1.4982e-01 4.2864e-06 3.3006e-03 8.30442e-03 1.0000 3.4748e-03 1\n", - " 8 1.7395e-01 1.4982e-01 2.4637e-07 2.4134e-03 1.02603e-02 1.0000 2.4134e-03 1\n", - " 9 1.6696e-01 1.4982e-01 1.9325e-07 1.7144e-03 1.81327e-02 0.2500 2.7092e-03 1\n", - " 10 1.6669e-01 1.4982e-01 2.1466e-07 1.6872e-03 6.66753e-03 1.0000 2.3084e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1779e+01 4.6462e-01 4.9899e+00 1.4151e-01 5.93129e-01 1.0000 ---- 3\n", - " 2 1.4962e+01 1.4737e-01 4.2398e-01 1.0575e+00 1.37800e-01 1.0000 1.0757e+00 3\n", - " 3 1.1150e+00 1.4738e-01 1.9928e-04 9.6567e-02 1.25285e-01 0.5000 9.6567e-02 3\n", - " 4 1.0046e+00 1.4738e-01 1.1065e-04 8.5613e-02 2.68976e-02 1.0000 8.5613e-02 3\n", - " 5 1.7227e-01 1.4738e-01 5.7655e-06 2.4839e-03 2.24022e-02 0.0020 4.0573e-03 1\n", - " 6 1.7227e-01 1.4738e-01 5.7655e-06 2.4839e-03 2.23613e-02 1.0000 4.1154e-03 1\n", - " 7 1.5861e-01 1.4738e-01 3.7614e-06 1.1195e-03 2.41231e-02 0.5000 2.0899e-03 1\n", - " 8 1.5770e-01 1.4738e-01 2.4268e-06 1.0295e-03 3.48718e-03 1.0000 1.0295e-03 1\n", - " 9 1.5240e-01 1.4738e-01 3.2071e-08 5.0241e-04 4.48608e-03 1.0000 8.5445e-04 1\n", - " 10 1.4957e-01 1.4738e-01 4.2762e-08 2.1943e-04 5.80964e-03 0.5000 8.4614e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1480e+01 4.6223e-01 4.9547e+00 1.4711e-01 5.92996e-01 1.0000 ---- 3\n", - " 2 1.4979e+01 1.4495e-01 4.0803e-01 1.0754e+00 1.29922e-01 1.0000 1.1030e+00 3\n", - " 3 1.2970e+00 1.4495e-01 1.5419e-04 1.1505e-01 1.21693e-01 0.5000 1.1505e-01 3\n", - " 4 1.1699e+00 1.4495e-01 9.1677e-05 1.0240e-01 1.54911e-02 1.0000 1.0240e-01 3\n", - " 5 1.5437e-01 1.4495e-01 2.1811e-06 9.3943e-04 1.53389e-02 0.5000 9.3943e-04 1\n", - " 6 1.5270e-01 1.4495e-01 8.9875e-07 7.7377e-04 2.57395e-03 1.0000 8.3874e-04 1\n", - " 7 1.4688e-01 1.4495e-01 5.8420e-08 1.9265e-04 2.04953e-03 0.5000 8.5196e-04 1\n", - " 8 1.4630e-01 1.4495e-01 2.9256e-08 1.3520e-04 4.06729e-04 1.0000 8.5347e-04 1\n", - " 9 1.4551e-01 1.4495e-01 1.6279e-09 5.6543e-05 4.29591e-04 0.5000 8.5148e-04 1\n", - " 10 1.4544e-01 1.4495e-01 7.3420e-10 4.9421e-05 1.99636e-04 1.0000 8.5268e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0974e+01 4.5987e-01 4.9083e+00 1.4312e-01 5.90718e-01 1.0000 ---- 3\n", - " 2 1.4795e+01 1.4253e-01 3.9735e-01 1.0679e+00 1.27622e-01 1.0000 1.1312e+00 3\n", - " 3 1.2445e+00 1.4254e-01 1.2683e-04 1.1007e-01 1.18751e-01 0.5000 1.1007e-01 3\n", - " 4 1.1331e+00 1.4253e-01 7.8353e-05 9.8983e-02 1.72615e-02 1.0000 9.8983e-02 3\n", - " 5 1.5355e-01 1.4254e-01 2.8655e-06 1.0985e-03 1.62692e-02 0.2500 1.6019e-03 1\n", - " 6 1.5333e-01 1.4254e-01 2.0642e-06 1.0775e-03 8.10061e-03 1.0000 1.0775e-03 1\n", - " 7 1.4672e-01 1.4254e-01 6.5563e-07 4.1806e-04 7.82913e-03 0.5000 1.2710e-03 1\n", - " 8 1.4614e-01 1.4254e-01 4.0573e-07 3.6042e-04 1.26680e-03 1.0000 1.1514e-03 1\n", - " 9 1.4433e-01 1.4253e-01 6.9530e-09 1.7949e-04 1.55953e-03 1.0000 8.5404e-04 1\n", - " 10 1.4397e-01 1.4253e-01 5.2581e-09 1.4389e-04 1.97622e-03 1.0000 8.5078e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0596e+01 4.5751e-01 4.8681e+00 1.4575e-01 5.88511e-01 1.0000 ---- 3\n", - " 2 1.4669e+01 1.4013e-01 3.8813e-01 1.0647e+00 1.30150e-01 1.0000 1.1607e+00 3\n", - " 3 1.2432e+00 1.4014e-01 1.5453e-04 1.1015e-01 1.20956e-01 0.5000 1.1015e-01 3\n", - " 4 1.1477e+00 1.4013e-01 9.0833e-05 1.0067e-01 2.43378e-02 1.0000 1.0067e-01 3\n", - " 5 1.6297e-01 1.4013e-01 5.7785e-06 2.2782e-03 2.04180e-02 0.2500 3.6549e-03 1\n", - " 6 1.6268e-01 1.4013e-01 4.1695e-06 2.2503e-03 1.00920e-02 1.0000 2.3571e-03 1\n", - " 7 1.4297e-01 1.4013e-01 1.1371e-06 2.8239e-04 9.86305e-03 1.0000 1.2137e-03 1\n", - " 8 1.4074e-01 1.4013e-01 6.1826e-07 5.9602e-05 1.15749e-02 0.2500 8.3548e-04 1\n", - " 9 1.4073e-01 1.4013e-01 4.8843e-07 5.8838e-05 4.97415e-03 1.0000 8.4475e-04 1\n", - " 10 1.4047e-01 1.4013e-01 7.4662e-08 3.3442e-05 6.48971e-03 0.0020 8.6248e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0167e+01 4.5517e-01 4.8269e+00 1.4425e-01 5.87222e-01 1.0000 ---- 3\n", - " 2 1.4534e+01 1.3775e-01 3.8398e-01 1.0557e+00 1.34555e-01 1.0000 1.1914e+00 3\n", - " 3 1.3129e+00 1.3775e-01 1.7623e-04 1.1734e-01 1.23198e-01 0.5000 1.1734e-01 3\n", - " 4 1.1929e+00 1.3775e-01 1.0061e-04 1.0541e-01 3.23783e-02 1.0000 1.0541e-01 3\n", - " 5 1.7428e-01 1.3775e-01 9.1045e-06 3.6439e-03 2.64895e-02 0.0020 5.3918e-03 1\n", - " 6 1.7428e-01 1.3775e-01 9.1045e-06 3.6439e-03 2.64407e-02 0.5000 5.4911e-03 1\n", - " 7 1.6044e-01 1.3775e-01 3.7605e-06 2.2656e-03 7.25952e-03 1.0000 2.2656e-03 1\n", - " 8 1.5205e-01 1.3775e-01 2.4293e-07 1.4301e-03 8.30073e-03 1.0000 1.4301e-03 1\n", - " 9 1.4839e-01 1.3775e-01 1.1597e-07 1.0645e-03 1.33757e-02 0.2500 2.1463e-03 1\n", - " 10 1.4823e-01 1.3775e-01 1.2128e-07 1.0481e-03 5.15587e-03 1.0000 1.5383e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9807e+01 4.5284e-01 4.7888e+00 1.4665e-01 5.83527e-01 1.0000 ---- 3\n", - " 2 1.4507e+01 1.3537e-01 3.8395e-01 1.0532e+00 1.36836e-01 1.0000 1.2234e+00 3\n", - " 3 1.0774e+00 1.3538e-01 1.9220e-04 9.4009e-02 1.19267e-01 0.5000 9.4009e-02 3\n", - " 4 8.8255e-01 1.3537e-01 1.0435e-04 7.4614e-02 3.79590e-02 1.0000 7.4614e-02 3\n", - " 5 1.9537e-01 1.3537e-01 1.0423e-05 5.9891e-03 3.35733e-02 0.0020 6.3436e-03 1\n", - " 6 1.9537e-01 1.3537e-01 1.0423e-05 5.9891e-03 3.34548e-02 1.0000 6.5493e-03 1\n", - " 7 1.9522e-01 1.3537e-01 6.5533e-06 5.9780e-03 4.46019e-02 0.1250 6.1087e-03 1\n", - " 8 1.9468e-01 1.3537e-01 5.8594e-06 5.9249e-03 3.18788e-02 0.5000 5.9249e-03 1\n", - " 9 1.8691e-01 1.3537e-01 3.9852e-06 5.1501e-03 5.91849e-03 1.0000 5.1501e-03 1\n", - " 10 1.6146e-01 1.3537e-01 9.4282e-08 2.6086e-03 7.77404e-03 1.0000 2.6086e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9500e+01 4.5047e-01 4.7586e+00 1.4633e-01 6.11743e-01 1.0000 ---- 3\n", - " 2 1.3401e+01 1.3316e-01 3.9684e-01 9.3000e-01 1.15654e-01 1.0000 1.2560e+00 3\n", - " 3 6.7164e-01 1.3316e-01 1.4166e-04 5.3706e-02 1.00971e-01 0.5000 5.3706e-02 3\n", - " 4 5.5952e-01 1.3316e-01 7.7555e-05 4.2559e-02 2.83162e-02 1.0000 4.2559e-02 3\n", - " 5 1.5848e-01 1.3316e-01 4.8746e-06 2.5272e-03 2.50652e-02 0.0020 6.3993e-03 1\n", - " 6 1.5848e-01 1.3316e-01 4.8746e-06 2.5272e-03 2.50765e-02 1.0000 6.4115e-03 1\n", - " 7 1.5588e-01 1.3316e-01 4.4706e-06 2.2676e-03 3.63964e-02 0.0312 5.4263e-03 1\n", - " 8 1.5579e-01 1.3316e-01 4.3355e-06 2.2593e-03 3.37502e-02 0.1250 5.0452e-03 1\n", - " 9 1.5502e-01 1.3316e-01 3.8572e-06 2.1824e-03 2.41359e-02 0.1250 3.8548e-03 1\n", - " 10 1.5446e-01 1.3316e-01 3.4095e-06 2.1264e-03 1.72245e-02 0.5000 2.9421e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.8773e+01 4.4862e-01 4.6870e+00 1.4547e-01 6.41137e-01 1.0000 ---- 3\n", - " 2 1.3353e+01 1.3142e-01 3.8197e-01 9.4022e-01 1.14905e-01 1.0000 1.2621e+00 3\n", - " 3 4.5325e-01 1.3142e-01 1.4021e-04 3.2042e-02 9.74858e-02 0.2500 3.2042e-02 3\n", - " 4 3.7904e-01 1.3142e-01 1.0759e-04 2.4654e-02 5.03042e-02 1.0000 2.4654e-02 3\n", - " 5 3.5348e-01 1.3142e-01 1.2883e-05 2.2193e-02 5.36327e-02 0.5000 2.2193e-02 3\n", - " 6 3.3284e-01 1.3142e-01 8.2717e-06 2.0134e-02 7.00067e-03 1.0000 2.0134e-02 3\n", - " 7 1.3910e-01 1.3142e-01 1.9188e-07 7.6713e-04 9.93169e-03 0.5000 9.4162e-04 1\n", - " 8 1.3904e-01 1.3142e-01 2.7489e-07 7.6156e-04 2.15604e-03 1.0000 8.3892e-04 1\n", - " 9 1.3232e-01 1.3142e-01 4.8719e-08 8.9359e-05 2.07750e-03 1.0000 8.5011e-04 1\n", - " 10 1.3193e-01 1.3142e-01 1.7313e-08 5.0380e-05 2.73033e-03 0.5000 8.4725e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.8686e+01 4.4692e-01 4.6747e+00 1.4925e-01 5.93601e-01 1.0000 ---- 3\n", - " 2 1.2951e+01 1.3003e-01 3.7128e-01 9.1083e-01 1.07184e-01 1.0000 1.3316e+00 3\n", - " 3 4.7828e-01 1.3003e-01 1.1577e-04 3.4709e-02 9.41530e-02 0.2500 3.4709e-02 3\n", - " 4 3.9796e-01 1.3003e-01 8.9679e-05 2.6703e-02 4.79714e-02 1.0000 2.6703e-02 3\n", - " 5 3.4101e-01 1.3003e-01 1.3056e-05 2.1085e-02 5.01693e-02 0.2500 2.1085e-02 3\n", - " 6 2.9992e-01 1.3003e-01 1.0368e-05 1.6979e-02 2.28688e-02 1.0000 1.6979e-02 3\n", - " 7 1.9625e-01 1.3003e-01 2.2885e-06 6.6198e-03 2.47074e-02 0.0020 6.6198e-03 1\n", - " 8 1.9625e-01 1.3003e-01 2.2885e-06 6.6198e-03 2.47661e-02 0.2500 6.6198e-03 1\n", - " 9 1.9118e-01 1.3003e-01 1.9566e-06 6.1137e-03 1.15230e-02 0.5000 6.1137e-03 1\n", - " 10 1.8851e-01 1.3003e-01 1.2223e-06 5.8467e-03 1.86927e-03 1.0000 5.8467e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9591e+01 4.4526e-01 4.7680e+00 1.4653e-01 6.01607e-01 1.0000 ---- 3\n", - " 2 1.3350e+01 1.2855e-01 3.7554e-01 9.4656e-01 1.14817e-01 1.0000 1.3660e+00 3\n", - " 3 5.5218e-01 1.2855e-01 1.0281e-04 4.2260e-02 9.97556e-02 0.5000 4.2260e-02 3\n", - " 4 5.1517e-01 1.2855e-01 6.0911e-05 3.8601e-02 1.13475e-02 1.0000 3.8601e-02 3\n", - " 5 1.3514e-01 1.2855e-01 1.3077e-06 6.5763e-04 1.24627e-02 0.2500 9.6161e-04 1\n", - " 6 1.3497e-01 1.2855e-01 9.3683e-07 6.4078e-04 6.20498e-03 1.0000 8.1033e-04 1\n", - " 7 1.3217e-01 1.2855e-01 3.9759e-07 3.6134e-04 6.13824e-03 0.5000 1.2953e-03 1\n", - " 8 1.3210e-01 1.2855e-01 2.2793e-07 3.5443e-04 9.26061e-04 1.0000 1.1584e-03 1\n", - " 9 1.3011e-01 1.2855e-01 2.0017e-09 1.5577e-04 1.17839e-03 1.0000 8.5487e-04 1\n", - " 10 1.2964e-01 1.2855e-01 3.7541e-09 1.0946e-04 1.42168e-03 0.2500 8.5177e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0117e+01 4.4388e-01 4.8287e+00 1.3861e-01 6.07200e-01 1.0000 ---- 3\n", - " 2 1.3187e+01 1.2713e-01 3.7417e-01 9.3184e-01 1.11617e-01 1.0000 1.3979e+00 3\n", - " 3 5.8281e-01 1.2713e-01 9.3718e-05 4.5474e-02 9.77402e-02 0.5000 4.5474e-02 3\n", - " 4 4.8819e-01 1.2713e-01 5.5325e-05 3.6051e-02 1.11002e-02 1.0000 3.6051e-02 3\n", - " 5 1.3982e-01 1.2713e-01 1.2523e-06 1.2681e-03 1.14151e-02 0.2500 1.2681e-03 1\n", - " 6 1.3938e-01 1.2713e-01 8.9398e-07 1.2249e-03 5.78799e-03 1.0000 1.2249e-03 1\n", - " 7 1.3202e-01 1.2713e-01 3.1431e-07 4.8897e-04 5.47457e-03 0.5000 1.0771e-03 1\n", - " 8 1.3048e-01 1.2713e-01 1.8464e-07 3.3468e-04 8.40894e-04 1.0000 8.5023e-04 1\n", - " 9 1.3005e-01 1.2713e-01 1.4275e-09 2.9205e-04 9.96078e-04 1.0000 8.5365e-04 1\n", - " 10 1.2907e-01 1.2713e-01 3.1965e-09 1.9452e-04 1.35750e-03 1.0000 8.4678e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9593e+01 4.4243e-01 4.7754e+00 1.3965e-01 6.11024e-01 1.0000 ---- 3\n", - " 2 1.2893e+01 1.2575e-01 3.6518e-01 9.1154e-01 1.16378e-01 1.0000 1.4425e+00 3\n", - " 3 5.0747e-01 1.2575e-01 1.1868e-04 3.8053e-02 1.05864e-01 0.2500 3.8053e-02 3\n", - " 4 4.1675e-01 1.2574e-01 9.1838e-05 2.9009e-02 5.20567e-02 1.0000 2.9009e-02 3\n", - " 5 4.0221e-01 1.2574e-01 1.3717e-05 2.7633e-02 5.41548e-02 0.5000 2.7633e-02 3\n", - " 6 3.6166e-01 1.2574e-01 9.1268e-06 2.3583e-02 5.91668e-03 1.0000 2.3583e-02 3\n", - " 7 1.3493e-01 1.2574e-01 1.5165e-07 9.1892e-04 8.09126e-03 1.0000 9.1892e-04 1\n", - " 8 1.3305e-01 1.2574e-01 8.8664e-07 7.2958e-04 8.37692e-03 1.0000 8.4529e-04 1\n", - " 9 1.3140e-01 1.2574e-01 1.4102e-07 5.6589e-04 1.08911e-02 0.0312 1.3696e-03 1\n", - " 10 1.3139e-01 1.2574e-01 1.3657e-07 5.6500e-04 1.00035e-02 0.5000 8.6134e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0928e+01 4.4094e-01 4.8954e+00 1.5334e-01 6.07490e-01 1.0000 ---- 3\n", - " 2 1.3529e+01 1.2437e-01 3.6758e-01 9.7288e-01 1.17263e-01 1.0000 1.4920e+00 3\n", - " 3 5.7942e-01 1.2437e-01 1.0312e-04 4.5402e-02 1.02517e-01 0.5000 4.5402e-02 3\n", - " 4 5.6330e-01 1.2437e-01 6.0954e-05 4.3832e-02 1.15424e-02 1.0000 4.3832e-02 3\n", - " 5 1.2991e-01 1.2437e-01 1.3206e-06 5.5213e-04 1.29311e-02 0.0625 1.0561e-03 1\n", - " 6 1.2990e-01 1.2437e-01 1.2351e-06 5.5147e-04 1.13023e-02 0.2500 9.8741e-04 1\n", - " 7 1.2930e-01 1.2437e-01 8.9684e-07 4.9228e-04 5.60998e-03 1.0000 8.1723e-04 1\n", - " 8 1.2856e-01 1.2437e-01 3.1701e-07 4.1887e-04 5.51917e-03 0.5000 1.1467e-03 1\n", - " 9 1.2783e-01 1.2437e-01 1.7801e-07 3.4531e-04 8.57975e-04 1.0000 1.0098e-03 1\n", - " 10 1.2564e-01 1.2437e-01 1.3855e-09 1.2637e-04 1.05370e-03 1.0000 8.5844e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1329e+01 4.3983e-01 4.9562e+00 1.3267e-01 6.23782e-01 1.0000 ---- 3\n", - " 2 1.3610e+01 1.2326e-01 3.6500e-01 9.8363e-01 1.18994e-01 1.0000 1.5308e+00 3\n", - " 3 6.3823e-01 1.2326e-01 9.7072e-05 5.1400e-02 1.06011e-01 0.5000 5.1400e-02 3\n", - " 4 5.7924e-01 1.2326e-01 5.7308e-05 4.5540e-02 1.21014e-02 1.0000 4.5540e-02 3\n", - " 5 1.3336e-01 1.2326e-01 1.2870e-06 1.0091e-03 1.32740e-02 1.0000 1.0091e-03 1\n", - " 6 1.2974e-01 1.2326e-01 1.1300e-06 6.4670e-04 1.53758e-02 0.5000 9.0945e-04 1\n", - " 7 1.2648e-01 1.2326e-01 6.9370e-07 3.2158e-04 2.38510e-03 1.0000 8.4751e-04 1\n", - " 8 1.2632e-01 1.2326e-01 9.6717e-09 3.0614e-04 3.18270e-03 1.0000 9.8876e-04 1\n", - " 9 1.2589e-01 1.2326e-01 1.7008e-08 2.6347e-04 4.39414e-03 0.5000 9.2675e-04 1\n", - " 10 1.2552e-01 1.2326e-01 1.5753e-08 2.2634e-04 9.28349e-04 1.0000 8.6120e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1918e+01 4.3876e-01 5.0067e+00 1.4121e-01 6.05497e-01 1.0000 ---- 3\n", - " 2 1.3436e+01 1.2226e-01 3.5578e-01 9.7559e-01 1.23087e-01 1.0000 1.5831e+00 3\n", - " 3 6.5878e-01 1.2226e-01 1.0457e-04 5.3548e-02 1.09112e-01 0.5000 5.3548e-02 3\n", - " 4 6.0327e-01 1.2226e-01 6.1654e-05 4.8039e-02 1.20019e-02 1.0000 4.8039e-02 3\n", - " 5 1.2893e-01 1.2226e-01 1.3479e-06 6.6632e-04 1.37172e-02 0.2500 9.0999e-04 1\n", - " 6 1.2832e-01 1.2226e-01 9.6297e-07 6.0571e-04 6.76645e-03 1.0000 8.0843e-04 1\n", - " 7 1.2583e-01 1.2226e-01 3.7686e-07 3.5666e-04 6.82249e-03 0.2500 1.3561e-03 1\n", - " 8 1.2544e-01 1.2226e-01 2.8939e-07 3.1801e-04 3.06451e-03 1.0000 8.6649e-04 1\n", - " 9 1.2426e-01 1.2226e-01 2.7515e-08 2.0005e-04 3.69262e-03 0.5000 8.4304e-04 1\n", - " 10 1.2362e-01 1.2226e-01 2.0901e-08 1.3638e-04 5.65126e-04 1.0000 8.5553e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.2823e+01 4.3770e-01 5.1045e+00 1.3408e-01 6.13779e-01 1.0000 ---- 3\n", - " 2 1.3749e+01 1.2130e-01 3.5569e-01 1.0071e+00 1.26515e-01 1.0000 1.6380e+00 3\n", - " 3 7.3859e-01 1.2130e-01 1.0433e-04 6.1624e-02 1.13167e-01 0.5000 6.1624e-02 3\n", - " 4 6.9584e-01 1.2130e-01 6.1609e-05 5.7393e-02 1.26406e-02 1.0000 5.7393e-02 3\n", - " 5 1.2928e-01 1.2130e-01 1.3593e-06 7.9662e-04 1.48125e-02 0.0625 1.0984e-03 1\n", - " 6 1.2924e-01 1.2130e-01 1.2711e-06 7.9302e-04 1.29136e-02 0.5000 9.0403e-04 1\n", - " 7 1.2838e-01 1.2130e-01 5.1952e-07 7.0775e-04 2.48542e-03 1.0000 1.3984e-03 1\n", - " 8 1.2507e-01 1.2130e-01 5.8229e-08 3.7703e-04 2.23119e-03 1.0000 9.0276e-04 1\n", - " 9 1.2316e-01 1.2130e-01 7.8281e-09 1.8657e-04 2.97480e-03 0.5000 8.5974e-04 1\n", - " 10 1.2260e-01 1.2130e-01 7.1258e-09 1.3040e-04 5.58668e-04 1.0000 8.5360e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.2946e+01 4.3681e-01 5.1135e+00 1.3737e-01 6.09287e-01 1.0000 ---- 3\n", - " 2 1.3488e+01 1.2033e-01 3.5056e-01 9.8618e-01 1.24760e-01 1.0000 1.6875e+00 3\n", - " 3 7.3035e-01 1.2033e-01 1.0639e-04 6.0896e-02 1.11091e-01 0.5000 6.0896e-02 3\n", - " 4 6.8727e-01 1.2032e-01 6.2639e-05 5.6632e-02 1.19705e-02 1.0000 5.6632e-02 3\n", - " 5 1.2788e-01 1.2032e-01 1.3757e-06 7.5447e-04 1.41133e-02 0.5000 1.0833e-03 1\n", - " 6 1.2738e-01 1.2032e-01 5.4173e-07 7.0525e-04 2.71651e-03 1.0000 9.5715e-04 1\n", - " 7 1.2335e-01 1.2032e-01 6.8581e-08 3.0299e-04 2.37683e-03 1.0000 9.7964e-04 1\n", - " 8 1.2240e-01 1.2032e-01 1.0730e-08 2.0794e-04 3.03557e-03 1.0000 8.5948e-04 1\n", - " 9 1.2239e-01 1.2032e-01 2.0257e-08 2.0640e-04 4.01108e-03 0.2500 8.5135e-04 1\n", - " 10 1.2224e-01 1.2032e-01 1.7255e-08 1.9164e-04 1.65634e-03 1.0000 8.5479e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.3202e+01 4.3592e-01 5.1396e+00 1.3695e-01 6.15184e-01 1.0000 ---- 3\n", - " 2 1.3655e+01 1.1953e-01 3.4765e-01 1.0059e+00 1.26557e-01 1.0000 1.7475e+00 3\n", - " 3 7.4810e-01 1.1953e-01 1.0300e-04 6.2754e-02 1.12421e-01 0.5000 6.2754e-02 3\n", - " 4 7.3618e-01 1.1952e-01 6.0737e-05 6.1605e-02 1.17515e-02 1.0000 6.1605e-02 3\n", - " 5 1.2610e-01 1.1953e-01 1.3487e-06 6.5589e-04 1.34173e-02 0.5000 7.8557e-04 1\n", - " 6 1.2501e-01 1.1952e-01 5.4116e-07 5.4778e-04 2.50776e-03 1.0000 8.4220e-04 1\n", - " 7 1.1987e-01 1.1952e-01 6.5018e-08 3.4418e-05 2.09023e-03 0.5000 8.5801e-04 1\n", - " 8 1.1960e-01 1.1952e-01 3.0821e-08 7.7254e-06 4.03280e-04 0.5000 8.5941e-04 1\n", - " 9 1.1955e-01 1.1952e-01 1.5396e-08 2.5301e-06 1.39730e-04 1.0000 8.5834e-04 1\n", - " 10 1.1954e-01 1.1952e-01 8.8129e-11 1.0399e-06 1.46714e-04 0.2500 8.5855e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.3696e+01 4.3523e-01 5.1906e+00 1.3555e-01 6.18912e-01 1.0000 ---- 3\n", - " 2 1.4022e+01 1.1885e-01 3.4573e-01 1.0446e+00 1.28415e-01 1.0000 1.8096e+00 3\n", - " 3 8.3355e-01 1.1885e-01 1.0079e-04 7.1370e-02 1.13916e-01 0.5000 7.1370e-02 3\n", - " 4 7.6441e-01 1.1884e-01 5.9440e-05 6.4498e-02 1.23055e-02 1.0000 6.4498e-02 3\n", - " 5 1.2433e-01 1.1884e-01 1.3366e-06 5.4700e-04 1.33170e-02 0.1250 7.7999e-04 1\n", - " 6 1.2405e-01 1.1884e-01 1.1567e-06 5.1903e-04 9.98008e-03 0.5000 7.9579e-04 1\n", - " 7 1.2353e-01 1.1884e-01 4.9198e-07 4.6793e-04 1.85422e-03 1.0000 8.4474e-04 1\n", - " 8 1.2269e-01 1.1884e-01 4.4102e-08 3.8443e-04 1.48772e-03 1.0000 8.5632e-04 1\n", - " 9 1.2136e-01 1.1884e-01 4.8882e-09 2.5190e-04 1.87381e-03 1.0000 8.6192e-04 1\n", - " 10 1.2097e-01 1.1884e-01 8.9112e-09 2.1275e-04 2.48265e-03 0.2500 8.5104e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.4822e+01 4.3469e-01 5.3041e+00 1.3467e-01 6.28702e-01 1.0000 ---- 3\n", - " 2 1.4867e+01 1.1836e-01 3.4409e-01 1.1308e+00 1.35840e-01 1.0000 1.8739e+00 3\n", - " 3 1.0664e+00 1.1835e-01 1.0331e-04 9.4698e-02 1.22689e-01 0.5000 9.4698e-02 3\n", - " 4 9.4302e-01 1.1835e-01 6.1643e-05 8.2405e-02 1.34127e-02 1.0000 8.2405e-02 3\n", - " 5 1.2570e-01 1.1835e-01 1.3760e-06 7.3323e-04 1.40435e-02 0.5000 7.7498e-04 1\n", - " 6 1.2417e-01 1.1835e-01 5.4252e-07 5.8114e-04 2.45597e-03 1.0000 8.4266e-04 1\n", - " 7 1.2006e-01 1.1835e-01 6.6388e-08 1.7112e-04 2.21142e-03 0.5000 8.5210e-04 1\n", - " 8 1.1983e-01 1.1835e-01 3.1680e-08 1.4740e-04 4.71981e-04 1.0000 8.5853e-04 1\n", - " 9 1.1886e-01 1.1835e-01 7.3400e-10 5.0675e-05 5.69865e-04 0.5000 8.5362e-04 1\n", - " 10 1.1882e-01 1.1835e-01 4.2523e-10 4.7146e-05 1.71083e-04 1.0000 8.5704e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.4764e+01 4.3432e-01 5.2995e+00 1.3343e-01 6.20774e-01 1.0000 ---- 3\n", - " 2 1.4155e+01 1.1798e-01 3.3548e-01 1.0682e+00 1.34902e-01 1.0000 1.9415e+00 3\n", - " 3 9.7652e-01 1.1797e-01 1.0306e-04 8.5753e-02 1.22690e-01 0.5000 8.5753e-02 3\n", - " 4 9.1529e-01 1.1797e-01 6.1192e-05 7.9671e-02 1.27630e-02 1.0000 7.9671e-02 3\n", - " 5 1.2374e-01 1.1797e-01 1.3990e-06 5.7614e-04 1.34417e-02 0.5000 7.8096e-04 1\n", - " 6 1.2279e-01 1.1797e-01 5.3876e-07 4.8199e-04 2.34517e-03 1.0000 8.4231e-04 1\n", - " 7 1.1821e-01 1.1797e-01 5.9408e-08 2.3891e-05 1.90879e-03 0.2500 8.5611e-04 1\n", - " 8 1.1797e-01 1.1797e-01 4.4107e-08 0.0000e+00 8.71062e-04 0.1250 8.5770e-04 1\n", - " 9 1.1797e-01 1.1797e-01 3.8581e-08 0.0000e+00 6.46237e-04 0.2500 8.5790e-04 1\n", - " 10 1.1797e-01 1.1797e-01 2.8917e-08 0.0000e+00 3.24944e-04 0.2500 8.5812e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.5542e+01 4.3393e-01 5.3774e+00 1.3345e-01 6.29413e-01 1.0000 ---- 3\n", - " 2 1.4498e+01 1.1766e-01 3.3290e-01 1.1052e+00 1.38912e-01 1.0000 2.0193e+00 3\n", - " 3 1.0633e+00 1.1765e-01 1.0519e-04 9.4457e-02 1.27396e-01 0.5000 9.4457e-02 3\n", - " 4 1.0329e+00 1.1764e-01 6.2606e-05 9.1460e-02 1.30561e-02 1.0000 9.1460e-02 3\n", - " 5 1.2228e-01 1.1765e-01 1.4152e-06 4.6203e-04 1.37629e-02 1.0000 7.8403e-04 1\n", - " 6 1.2113e-01 1.1765e-01 1.0196e-06 3.4766e-04 1.44319e-02 0.0156 9.0376e-04 1\n", - " 7 1.2113e-01 1.1765e-01 1.0038e-06 3.4713e-04 1.39441e-02 0.0312 9.0235e-04 1\n", - " 8 1.2109e-01 1.1765e-01 9.7295e-07 3.4346e-04 1.29963e-02 0.0312 8.9964e-04 1\n", - " 9 1.2108e-01 1.1765e-01 9.4299e-07 3.4205e-04 1.21155e-02 0.0625 8.9709e-04 1\n", - " 10 1.2107e-01 1.1765e-01 8.8560e-07 3.4202e-04 1.04742e-02 0.0625 8.9235e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.6023e+01 4.3375e-01 5.4261e+00 1.3282e-01 6.31085e-01 1.0000 ---- 3\n", - " 2 1.4481e+01 1.1747e-01 3.3195e-01 1.1044e+00 1.35899e-01 1.0000 2.0971e+00 3\n", - " 3 1.1617e+00 1.1745e-01 9.1523e-05 1.0433e-01 1.19560e-01 0.5000 1.0433e-01 3\n", - " 4 1.0790e+00 1.1745e-01 5.4997e-05 9.6105e-02 1.36692e-02 1.0000 9.6105e-02 3\n", - " 5 1.2483e-01 1.1745e-01 1.3507e-06 7.3602e-04 1.39188e-02 0.5000 7.8561e-04 1\n", - " 6 1.2360e-01 1.1745e-01 5.3543e-07 6.1395e-04 2.47234e-03 1.0000 8.4294e-04 1\n", - " 7 1.1778e-01 1.1745e-01 5.8283e-08 3.2568e-05 2.10213e-03 1.0000 8.5779e-04 1\n", - " 8 1.1745e-01 1.1745e-01 9.4828e-09 0.0000e+00 2.64724e-03 0.5000 8.6317e-04 1\n", - " 9 1.1745e-01 1.1745e-01 9.2975e-09 0.0000e+00 4.99397e-04 0.2500 8.5747e-04 1\n", - " 10 1.1745e-01 1.1745e-01 6.9951e-09 0.0000e+00 2.25355e-04 1.0000 8.5845e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.6203e+01 4.3377e-01 5.4418e+00 1.3511e-01 6.30911e-01 1.0000 ---- 3\n", - " 2 1.4984e+01 1.1749e-01 3.2591e-01 1.1607e+00 1.42216e-01 1.0000 2.1796e+00 3\n", - " 3 1.2578e+00 1.1748e-01 1.0511e-04 1.1393e-01 1.30081e-01 0.5000 1.1393e-01 3\n", - " 4 1.1674e+00 1.1747e-01 6.3481e-05 1.0493e-01 1.38548e-02 1.0000 1.0493e-01 3\n", - " 5 1.2317e-01 1.1747e-01 1.4444e-06 5.6782e-04 1.46199e-02 0.5000 7.8292e-04 1\n", - " 6 1.2200e-01 1.1747e-01 5.5911e-07 4.5248e-04 2.54115e-03 1.0000 8.4407e-04 1\n", - " 7 1.1772e-01 1.1747e-01 5.9859e-08 2.4725e-05 2.20640e-03 0.2500 8.5859e-04 1\n", - " 8 1.1747e-01 1.1747e-01 4.4531e-08 0.0000e+00 9.91058e-04 0.1250 8.6013e-04 1\n", - " 9 1.1747e-01 1.1747e-01 3.8955e-08 0.0000e+00 7.28916e-04 0.2500 8.6031e-04 1\n", - " 10 1.1747e-01 1.1747e-01 2.9205e-08 0.0000e+00 3.56978e-04 0.5000 8.6051e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.6597e+01 4.3386e-01 5.4859e+00 1.3042e-01 6.34001e-01 1.0000 ---- 3\n", - " 2 1.4883e+01 1.1760e-01 3.2119e-01 1.1554e+00 1.43658e-01 1.0000 2.2750e+00 3\n", - " 3 1.1805e+00 1.1758e-01 1.0610e-04 1.0618e-01 1.32613e-01 0.5000 1.0618e-01 3\n", - " 4 1.1555e+00 1.1758e-01 6.4108e-05 1.0373e-01 1.38974e-02 1.0000 1.0373e-01 3\n", - " 5 1.2399e-01 1.1758e-01 1.4738e-06 6.3962e-04 1.47226e-02 0.5000 7.8450e-04 1\n", - " 6 1.2308e-01 1.1758e-01 5.7003e-07 5.4878e-04 2.55023e-03 1.0000 8.4539e-04 1\n", - " 7 1.1785e-01 1.1758e-01 5.9180e-08 2.6984e-05 2.19446e-03 1.0000 8.6045e-04 1\n", - " 8 1.1758e-01 1.1758e-01 1.0545e-08 0.0000e+00 2.75631e-03 0.5000 8.6602e-04 1\n", - " 9 1.1758e-01 1.1758e-01 1.0381e-08 0.0000e+00 5.03043e-04 0.5000 8.6027e-04 1\n", - " 10 1.1758e-01 1.1758e-01 5.2770e-09 0.0000e+00 1.22799e-04 1.0000 8.6218e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.7659e+01 4.3413e-01 5.5887e+00 1.3372e-01 6.43166e-01 1.0000 ---- 3\n", - " 2 1.6109e+01 1.1793e-01 3.2121e-01 1.2779e+00 1.49288e-01 1.0000 2.3733e+00 3\n", - " 3 1.6555e+00 1.1791e-01 1.0760e-04 1.5365e-01 1.37618e-01 0.5000 1.5365e-01 3\n", - " 4 1.4318e+00 1.1791e-01 6.5412e-05 1.3133e-01 1.55828e-02 1.0000 1.3133e-01 3\n", - " 5 1.2302e-01 1.1791e-01 1.4947e-06 5.0912e-04 1.61156e-02 0.1250 7.8047e-04 1\n", - " 6 1.2282e-01 1.1791e-01 1.2961e-06 4.9011e-04 1.20255e-02 0.2500 7.9680e-04 1\n", - " 7 1.2188e-01 1.1791e-01 9.4349e-07 3.9616e-04 6.06220e-03 0.5000 8.2211e-04 1\n", - " 8 1.2124e-01 1.1791e-01 4.3879e-07 3.3242e-04 1.26210e-03 1.0000 8.5042e-04 1\n", - " 9 1.1872e-01 1.1791e-01 2.0801e-08 8.0574e-05 8.71149e-04 1.0000 8.6105e-04 1\n", - " 10 1.1851e-01 1.1791e-01 1.2687e-09 6.0066e-05 1.06905e-03 1.0000 8.6285e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.8689e+01 4.3467e-01 5.6949e+00 1.3055e-01 6.51684e-01 1.0000 ---- 3\n", - " 2 1.6888e+01 1.1847e-01 3.1867e-01 1.3583e+00 1.55612e-01 1.0000 2.4785e+00 3\n", - " 3 2.0839e+00 1.1846e-01 1.1239e-04 1.9643e-01 1.46451e-01 0.5000 1.9643e-01 3\n", - " 4 1.8743e+00 1.1845e-01 6.8964e-05 1.7552e-01 1.75606e-02 1.0000 1.7552e-01 3\n", - " 5 1.2420e-01 1.1845e-01 1.5769e-06 5.7327e-04 1.83727e-02 1.0000 7.7526e-04 1\n", - " 6 1.2237e-01 1.1845e-01 1.1223e-06 3.9090e-04 2.17186e-02 0.2500 9.1408e-04 1\n", - " 7 1.2135e-01 1.1845e-01 8.7859e-07 2.8838e-04 9.20988e-03 0.2500 8.8423e-04 1\n", - " 8 1.2099e-01 1.1845e-01 6.6636e-07 2.5262e-04 4.00968e-03 1.0000 8.7108e-04 1\n", - " 9 1.2019e-01 1.1845e-01 2.8778e-08 1.7330e-04 5.02855e-03 0.1250 8.4700e-04 1\n", - " 10 1.2017e-01 1.1845e-01 2.5742e-08 1.7120e-04 3.58706e-03 0.5000 8.5028e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.9288e+01 4.3539e-01 5.7546e+00 1.3067e-01 6.46217e-01 1.0000 ---- 3\n", - " 2 1.6517e+01 1.1924e-01 3.1124e-01 1.3286e+00 1.58803e-01 1.0000 2.5928e+00 3\n", - " 3 2.2485e+00 1.1922e-01 1.1624e-04 2.1281e-01 1.51240e-01 0.5000 2.1281e-01 3\n", - " 4 2.0170e+00 1.1922e-01 7.1633e-05 1.8970e-01 1.74411e-02 1.0000 1.8970e-01 3\n", - " 5 1.2328e-01 1.1922e-01 1.6270e-06 4.0415e-04 1.86603e-02 0.5000 7.8390e-04 1\n", - " 6 1.2296e-01 1.1922e-01 6.5057e-07 3.7307e-04 3.47946e-03 1.0000 8.4312e-04 1\n", - " 7 1.1937e-01 1.1922e-01 7.8228e-08 1.5310e-05 3.53285e-03 0.5000 8.5962e-04 1\n", - " 8 1.1922e-01 1.1922e-01 4.2709e-08 0.0000e+00 7.17276e-04 0.5000 8.6181e-04 1\n", - " 9 1.1922e-01 1.1922e-01 2.1417e-08 0.0000e+00 1.74125e-04 1.0000 8.6039e-04 1\n", - " 10 1.1922e-01 1.1922e-01 9.4947e-11 0.0000e+00 2.02155e-04 0.2500 8.6078e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.0123e+01 4.3617e-01 5.8387e+00 1.3002e-01 6.51764e-01 1.0000 ---- 3\n", - " 2 1.6641e+01 1.2003e-01 3.0804e-01 1.3440e+00 1.60962e-01 1.0000 2.7253e+00 3\n", - " 3 2.1887e+00 1.2000e-01 1.1707e-04 2.0675e-01 1.53815e-01 0.5000 2.0675e-01 3\n", - " 4 2.0635e+00 1.2000e-01 7.2123e-05 1.9428e-01 1.75806e-02 1.0000 1.9428e-01 3\n", - " 5 1.2320e-01 1.2000e-01 1.6733e-06 3.1811e-04 1.87769e-02 0.5000 7.8473e-04 1\n", - " 6 1.2265e-01 1.2000e-01 6.7141e-07 2.6435e-04 3.48402e-03 1.0000 8.4485e-04 1\n", - " 7 1.2013e-01 1.2000e-01 8.0491e-08 1.2341e-05 3.55726e-03 1.0000 8.6116e-04 1\n", - " 8 1.2002e-01 1.2000e-01 2.9298e-08 1.8206e-06 4.71714e-03 0.2500 8.6609e-04 1\n", - " 9 1.2002e-01 1.2000e-01 2.5410e-08 1.6976e-06 1.93731e-03 1.0000 8.6337e-04 1\n", - " 10 1.2000e-01 1.2000e-01 9.4579e-09 1.9958e-07 2.63172e-03 0.2500 8.5984e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.9671e+01 4.3722e-01 5.7936e+00 1.2980e-01 6.51717e-01 1.0000 ---- 3\n", - " 2 1.6401e+01 1.2109e-01 3.0390e-01 1.3241e+00 1.59657e-01 1.0000 2.8557e+00 3\n", - " 3 2.1495e+00 1.2107e-01 1.1805e-04 2.0272e-01 1.52377e-01 0.5000 2.0272e-01 3\n", - " 4 1.9548e+00 1.2106e-01 7.2649e-05 1.8331e-01 1.73560e-02 1.0000 1.8331e-01 3\n", - " 5 1.2632e-01 1.2106e-01 1.6722e-06 5.2412e-04 1.86547e-02 0.5000 7.8496e-04 1\n", - " 6 1.2566e-01 1.2106e-01 6.7095e-07 4.5914e-04 3.44919e-03 1.0000 8.4670e-04 1\n", - " 7 1.2247e-01 1.2106e-01 7.8880e-08 1.4092e-04 3.55193e-03 0.5000 8.6258e-04 1\n", - " 8 1.2244e-01 1.2106e-01 4.2857e-08 1.3759e-04 7.27828e-04 1.0000 8.6552e-04 1\n", - " 9 1.2163e-01 1.2106e-01 1.2412e-09 5.6160e-05 9.27693e-04 1.0000 8.6230e-04 1\n", - " 10 1.2153e-01 1.2106e-01 1.9411e-09 4.7011e-05 1.27006e-03 1.0000 8.6652e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.0936e+01 4.3847e-01 5.9198e+00 1.2999e-01 6.64691e-01 1.0000 ---- 3\n", - " 2 1.8100e+01 1.2239e-01 3.0351e-01 1.4942e+00 1.66825e-01 1.0000 3.0138e+00 3\n", - " 3 2.7437e+00 1.2236e-01 1.2493e-04 2.6201e-01 1.58953e-01 0.5000 2.6201e-01 3\n", - " 4 2.5395e+00 1.2235e-01 7.6143e-05 2.4164e-01 2.02817e-02 1.0000 2.4164e-01 3\n", - " 5 1.2708e-01 1.2236e-01 1.7923e-06 4.7052e-04 2.15087e-02 0.5000 7.7968e-04 1\n", - " 6 1.2648e-01 1.2236e-01 7.6567e-07 4.1160e-04 4.24427e-03 1.0000 8.4746e-04 1\n", - " 7 1.2256e-01 1.2236e-01 9.9524e-08 1.9923e-05 4.82245e-03 0.5000 8.5982e-04 1\n", - " 8 1.2244e-01 1.2236e-01 6.1538e-08 8.4932e-06 1.07247e-03 0.5000 8.6581e-04 1\n", - " 9 1.2237e-01 1.2236e-01 3.1194e-08 9.7123e-07 2.63079e-04 0.5000 8.6329e-04 1\n", - " 10 1.2237e-01 1.2236e-01 1.5639e-08 9.2435e-07 9.39122e-05 1.0000 8.6379e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.1914e+01 4.4010e-01 6.0204e+00 1.2697e-01 6.77901e-01 1.0000 ---- 3\n", - " 2 1.9134e+01 1.2405e-01 3.0091e-01 1.6001e+00 1.74064e-01 1.0000 3.1776e+00 3\n", - " 3 3.7772e+00 1.2402e-01 1.3403e-04 3.6518e-01 1.70440e-01 0.5000 3.6518e-01 3\n", - " 4 3.4709e+00 1.2401e-01 8.2588e-05 3.3460e-01 2.37906e-02 1.0000 3.3460e-01 3\n", - " 5 1.3037e-01 1.2402e-01 2.1212e-06 6.3325e-04 2.55118e-02 1.0000 7.7953e-04 1\n", - " 6 1.2749e-01 1.2402e-01 1.5015e-06 3.4633e-04 3.25579e-02 0.5000 9.0826e-04 1\n", - " 7 1.2581e-01 1.2401e-01 1.1961e-06 1.7835e-04 6.82735e-03 0.0020 8.7554e-04 1\n", - " 8 1.2581e-01 1.2401e-01 1.1961e-06 1.7835e-04 6.82519e-03 1.0000 8.5855e-04 1\n", - " 9 1.2463e-01 1.2401e-01 1.7151e-07 6.1033e-05 9.79060e-03 0.2500 8.6712e-04 1\n", - " 10 1.2457e-01 1.2401e-01 1.4928e-07 5.5720e-05 3.77347e-03 1.0000 8.6288e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.2130e+01 4.4195e-01 6.0418e+00 1.2698e-01 6.69637e-01 1.0000 ---- 3\n", - " 2 1.7466e+01 1.2581e-01 2.9202e-01 1.4420e+00 1.74419e-01 1.0000 3.3598e+00 3\n", - " 3 3.3554e+00 1.2577e-01 1.3837e-04 3.2282e-01 1.72765e-01 0.5000 3.2282e-01 3\n", - " 4 2.9802e+00 1.2576e-01 8.4658e-05 2.8536e-01 2.20311e-02 1.0000 2.8536e-01 3\n", - " 5 1.2958e-01 1.2577e-01 2.0850e-06 3.7983e-04 2.40627e-02 0.5000 7.8267e-04 1\n", - " 6 1.2907e-01 1.2577e-01 9.5555e-07 3.2945e-04 5.03566e-03 1.0000 8.4568e-04 1\n", - " 7 1.2658e-01 1.2577e-01 1.4002e-07 8.1263e-05 6.02916e-03 0.2500 8.6234e-04 1\n", - " 8 1.2642e-01 1.2577e-01 1.1137e-07 6.5149e-05 2.40582e-03 0.5000 8.6383e-04 1\n", - " 9 1.2636e-01 1.2577e-01 5.9837e-08 5.9131e-05 5.87775e-04 1.0000 8.6447e-04 1\n", - " 10 1.2588e-01 1.2577e-01 1.1618e-09 1.1274e-05 7.80144e-04 0.1250 8.6305e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.1206e+01 4.4385e-01 5.9481e+00 1.2810e-01 6.77948e-01 1.0000 ---- 3\n", - " 2 1.6627e+01 1.2774e-01 2.8713e-01 1.3628e+00 1.70989e-01 1.0000 3.5719e+00 3\n", - " 3 2.5473e+00 1.2769e-01 1.4122e-04 2.4182e-01 1.68973e-01 0.5000 2.4182e-01 3\n", - " 4 2.4213e+00 1.2769e-01 8.5250e-05 2.2928e-01 1.90073e-02 1.0000 2.2928e-01 3\n", - " 5 1.3310e-01 1.2769e-01 1.8638e-06 5.3841e-04 2.13007e-02 1.0000 7.9284e-04 1\n", - " 6 1.3161e-01 1.2769e-01 1.3153e-06 3.9054e-04 2.52954e-02 0.2500 9.0433e-04 1\n", - " 7 1.3064e-01 1.2769e-01 1.0455e-06 2.9377e-04 1.07608e-02 0.5000 8.8703e-04 1\n", - " 8 1.3005e-01 1.2769e-01 5.6777e-07 2.3517e-04 1.87455e-03 1.0000 8.6953e-04 1\n", - " 9 1.2914e-01 1.2769e-01 9.2894e-09 1.4461e-04 2.45765e-03 0.5000 8.6846e-04 1\n", - " 10 1.2884e-01 1.2769e-01 8.6616e-09 1.1475e-04 5.10204e-04 1.0000 8.6829e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.3634e+01 4.4609e-01 6.1890e+00 1.2972e-01 7.05547e-01 1.0000 ---- 3\n", - " 2 2.1250e+01 1.3010e-01 2.9208e-01 1.8199e+00 1.84025e-01 1.0000 3.8118e+00 3\n", - " 3 4.4635e+00 1.3004e-01 1.6481e-04 4.3318e-01 1.83429e-01 0.5000 4.3318e-01 3\n", - " 4 4.3372e+00 1.3003e-01 1.0114e-04 4.2061e-01 2.70153e-02 1.0000 4.2061e-01 3\n", - " 5 1.3988e-01 1.3004e-01 2.4501e-06 9.8143e-04 2.92166e-02 1.0000 9.8143e-04 1\n", - " 6 1.3553e-01 1.3004e-01 1.8213e-06 5.4733e-04 3.86726e-02 0.5000 9.1270e-04 1\n", - " 7 1.3202e-01 1.3004e-01 1.6036e-06 1.9676e-04 8.89901e-03 1.0000 8.6301e-04 1\n", - " 8 1.3083e-01 1.3004e-01 3.3364e-07 7.8492e-05 1.32152e-02 1.0000 8.7129e-04 1\n", - " 9 1.3043e-01 1.3004e-01 6.9845e-07 3.8129e-05 1.98089e-02 0.5000 8.5419e-04 1\n", - " 10 1.3037e-01 1.3004e-01 7.6441e-07 3.2689e-05 4.93257e-03 1.0000 8.6878e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.2750e+01 4.4906e-01 6.1052e+00 1.2490e-01 6.79931e-01 1.0000 ---- 3\n", - " 2 1.7818e+01 1.3287e-01 2.8017e-01 1.4883e+00 1.76843e-01 1.0000 4.0497e+00 3\n", - " 3 4.0532e+00 1.3280e-01 1.5132e-04 3.9189e-01 1.72976e-01 0.5000 3.9189e-01 3\n", - " 4 3.5715e+00 1.3280e-01 9.1105e-05 3.4378e-01 2.52356e-02 1.0000 3.4378e-01 3\n", - " 5 1.3700e-01 1.3280e-01 2.4321e-06 4.1707e-04 2.82779e-02 1.0000 7.7805e-04 1\n", - " 6 1.3653e-01 1.3280e-01 1.8816e-06 3.7134e-04 3.75245e-02 0.5000 9.1671e-04 1\n", - " 7 1.3631e-01 1.3280e-01 1.5582e-06 3.4903e-04 8.56176e-03 0.2500 8.6146e-04 1\n", - " 8 1.3630e-01 1.3280e-01 1.1795e-06 3.4869e-04 3.31295e-03 1.0000 8.6414e-04 1\n", - " 9 1.3400e-01 1.3280e-01 4.2259e-08 1.1948e-04 4.78975e-03 0.5000 8.6694e-04 1\n", - " 10 1.3346e-01 1.3280e-01 4.1307e-08 6.6216e-05 1.23388e-03 0.5000 8.6352e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.5145e+01 4.5196e-01 6.3418e+00 1.2752e-01 7.09630e-01 1.0000 ---- 3\n", - " 2 2.1844e+01 1.3609e-01 2.7809e-01 1.8927e+00 1.97114e-01 1.0000 4.3822e+00 3\n", - " 3 5.7886e+00 1.3601e-01 1.8590e-04 5.6508e-01 2.00056e-01 0.5000 5.6508e-01 3\n", - " 4 5.5311e+00 1.3600e-01 1.1364e-04 5.3939e-01 3.09918e-02 1.0000 5.3939e-01 3\n", - " 5 1.4181e-01 1.3601e-01 3.1185e-06 5.7645e-04 3.45763e-02 0.0625 8.8381e-04 1\n", - " 6 1.4180e-01 1.3601e-01 2.9251e-06 5.7647e-04 2.95879e-02 0.2500 7.9776e-04 1\n", - " 7 1.4125e-01 1.3601e-01 2.2143e-06 5.2221e-04 1.27393e-02 0.5000 8.2130e-04 1\n", - " 8 1.4111e-01 1.3601e-01 1.0819e-06 5.0850e-04 3.37698e-03 1.0000 8.5105e-04 1\n", - " 9 1.3725e-01 1.3601e-01 6.8620e-08 1.2416e-04 3.91848e-03 1.0000 8.6813e-04 1\n", - " 10 1.3623e-01 1.3601e-01 6.7236e-08 2.1981e-05 6.06750e-03 1.0000 8.6476e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.4979e+01 4.5562e-01 6.3304e+00 1.2188e-01 6.93721e-01 1.0000 ---- 3\n", - " 2 1.9213e+01 1.3964e-01 2.7382e-01 1.6335e+00 1.88870e-01 1.0000 4.7066e+00 3\n", - " 3 5.5958e+00 1.3955e-01 1.7832e-04 5.4545e-01 1.89333e-01 0.5000 5.4545e-01 3\n", - " 4 4.8864e+00 1.3954e-01 1.0693e-04 4.7458e-01 2.98845e-02 1.0000 4.7458e-01 3\n", - " 5 1.4505e-01 1.3955e-01 3.1388e-06 5.4713e-04 3.38048e-02 0.2500 8.0533e-04 1\n", - " 6 1.4447e-01 1.3955e-01 2.3785e-06 4.9005e-04 1.43706e-02 1.0000 8.1446e-04 1\n", - " 7 1.4237e-01 1.3955e-01 5.1449e-07 2.8180e-04 1.77282e-02 0.2500 1.3011e-03 1\n", - " 8 1.4226e-01 1.3955e-01 4.1048e-07 2.7057e-04 6.80272e-03 1.0000 8.7604e-04 1\n", - " 9 1.4116e-01 1.3955e-01 7.6235e-08 1.6119e-04 9.79030e-03 0.5000 8.5638e-04 1\n", - " 10 1.4090e-01 1.3955e-01 8.7409e-08 1.3512e-04 2.44837e-03 1.0000 8.6540e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.6548e+01 4.5952e-01 6.4828e+00 1.2597e-01 7.14619e-01 1.0000 ---- 3\n", - " 2 2.2527e+01 1.4365e-01 2.7047e-01 1.9679e+00 2.04883e-01 1.0000 5.1155e+00 3\n", - " 3 6.9995e+00 1.4354e-01 2.1351e-04 6.8538e-01 2.10489e-01 0.5000 6.8538e-01 3\n", - " 4 6.6299e+00 1.4353e-01 1.2922e-04 6.4851e-01 3.53824e-02 1.0000 6.4851e-01 3\n", - " 5 1.4729e-01 1.4354e-01 3.9245e-06 3.7032e-04 4.02613e-02 0.5000 1.0026e-03 1\n", - " 6 1.4656e-01 1.4354e-01 2.4148e-06 2.9884e-04 1.16579e-02 1.0000 8.4181e-04 1\n", - " 7 1.4372e-01 1.4354e-01 6.5600e-07 1.6746e-05 1.74769e-02 0.5000 8.7203e-04 1\n", - " 8 1.4362e-01 1.4354e-01 6.9022e-07 7.2447e-06 5.67951e-03 0.5000 8.6568e-04 1\n", - " 9 1.4357e-01 1.4354e-01 3.8588e-07 2.4763e-06 1.94002e-03 1.0000 8.6710e-04 1\n", - " 10 1.4355e-01 1.4354e-01 2.2576e-08 9.7634e-07 3.16852e-03 0.5000 8.6513e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.6124e+01 4.6412e-01 6.4450e+00 1.2097e-01 7.02841e-01 1.0000 ---- 3\n", - " 2 2.0150e+01 1.4819e-01 2.6457e-01 1.7356e+00 1.97859e-01 1.0000 5.5826e+00 3\n", - " 3 6.6448e+00 1.4805e-01 2.1559e-04 6.4946e-01 2.01766e-01 0.5000 6.4946e-01 3\n", - " 4 5.9222e+00 1.4805e-01 1.2789e-04 5.7728e-01 3.32547e-02 1.0000 5.7728e-01 3\n", - " 5 1.5689e-01 1.4805e-01 3.6584e-06 8.7945e-04 3.79782e-02 0.0312 9.3370e-04 1\n", - " 6 1.5687e-01 1.4805e-01 3.5450e-06 8.7821e-04 3.51702e-02 0.2500 8.8279e-04 1\n", - " 7 1.5645e-01 1.4805e-01 2.7153e-06 8.3654e-04 1.46388e-02 0.5000 8.3654e-04 1\n", - " 8 1.5547e-01 1.4805e-01 1.3341e-06 7.4030e-04 4.09188e-03 1.0000 8.4990e-04 1\n", - " 9 1.4966e-01 1.4805e-01 9.0873e-08 1.6056e-04 5.12782e-03 1.0000 8.6843e-04 1\n", - " 10 1.4829e-01 1.4805e-01 1.1647e-07 2.3756e-05 8.20553e-03 0.0020 8.6419e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.7609e+01 4.6913e-01 6.5913e+00 1.2269e-01 7.27480e-01 1.0000 ---- 3\n", - " 2 2.3678e+01 1.5329e-01 2.6116e-01 2.0913e+00 2.14024e-01 1.0000 6.1555e+00 3\n", - " 3 8.3021e+00 1.5313e-01 2.6467e-04 8.1463e-01 2.22567e-01 0.5000 8.1463e-01 3\n", - " 4 7.8621e+00 1.5312e-01 1.5701e-04 7.7074e-01 3.89086e-02 1.0000 7.7074e-01 3\n", - " 5 1.6154e-01 1.5314e-01 4.5477e-06 8.3578e-04 4.43254e-02 0.0156 1.1248e-03 1\n", - " 6 1.6153e-01 1.5314e-01 4.4773e-06 8.3538e-04 4.26431e-02 0.2500 1.0918e-03 1\n", - " 7 1.6131e-01 1.5313e-01 3.5072e-06 8.1388e-04 1.69265e-02 0.5000 8.1834e-04 1\n", - " 8 1.6064e-01 1.5313e-01 1.7453e-06 7.4869e-04 5.24608e-03 1.0000 8.4879e-04 1\n", - " 9 1.5484e-01 1.5313e-01 1.4274e-07 1.7075e-04 7.03003e-03 1.0000 8.7151e-04 1\n", - " 10 1.5323e-01 1.5313e-01 2.3419e-07 9.3199e-06 1.18279e-02 1.0000 8.6194e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.8595e+01 4.7503e-01 6.6919e+00 1.2006e-01 7.37398e-01 1.0000 ---- 3\n", - " 2 2.2850e+01 1.5923e-01 2.5974e-01 2.0094e+00 2.13792e-01 1.0000 6.8325e+00 3\n", - " 3 9.2123e+00 1.5903e-01 2.9685e-04 9.0503e-01 2.24937e-01 0.5000 9.0503e-01 3\n", - " 4 8.4953e+00 1.5902e-01 1.7245e-04 8.3346e-01 4.30427e-02 1.0000 8.3346e-01 3\n", - " 5 1.6676e-01 1.5903e-01 5.9441e-06 7.6685e-04 5.11968e-02 1.0000 1.2975e-03 1\n", - " 6 1.6344e-01 1.5903e-01 5.7018e-06 4.3522e-04 7.76289e-02 0.2500 1.2889e-03 1\n", - " 7 1.6204e-01 1.5903e-01 5.2513e-06 2.9588e-04 2.58719e-02 0.5000 8.8347e-04 1\n", - " 8 1.6154e-01 1.5903e-01 3.0064e-06 2.4795e-04 8.32554e-03 0.5000 8.6888e-04 1\n", - " 9 1.6034e-01 1.5903e-01 1.5684e-06 1.2944e-04 2.96205e-03 0.2500 8.6489e-04 1\n", - " 10 1.6013e-01 1.5903e-01 1.1779e-06 1.0879e-04 1.06260e-03 1.0000 8.6514e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.9620e+01 4.8179e-01 6.7927e+00 1.2114e-01 7.40678e-01 1.0000 ---- 3\n", - " 2 2.4637e+01 1.6610e-01 2.5300e-01 2.1941e+00 2.26051e-01 1.0000 7.6836e+00 3\n", - " 3 1.1180e+01 1.6584e-01 3.5204e-04 1.1011e+00 2.40298e-01 0.5000 1.1011e+00 3\n", - " 4 1.0347e+01 1.6583e-01 2.0262e-04 1.0179e+00 4.81522e-02 1.0000 1.0179e+00 3\n", - " 5 1.7003e-01 1.6585e-01 6.9824e-06 4.1155e-04 5.56880e-02 1.0000 1.4527e-03 1\n", - " 6 1.6853e-01 1.6584e-01 7.0013e-06 2.6116e-04 8.56573e-02 0.2500 1.5347e-03 1\n", - " 7 1.6776e-01 1.6584e-01 6.5513e-06 1.8499e-04 2.76786e-02 0.2500 8.7933e-04 1\n", - " 8 1.6755e-01 1.6584e-01 5.0310e-06 1.6580e-04 9.74065e-03 1.0000 8.7465e-04 1\n", - " 9 1.6612e-01 1.6584e-01 1.8942e-07 2.7768e-05 1.48957e-02 0.2500 8.5876e-04 1\n", - " 10 1.6592e-01 1.6584e-01 1.7600e-07 7.3553e-06 5.09840e-03 0.0020 8.6026e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.0468e+01 4.8948e-01 6.8803e+00 1.1752e-01 7.53849e-01 1.0000 ---- 3\n", - " 2 2.5391e+01 1.7393e-01 2.4765e-01 2.2741e+00 2.34775e-01 1.0000 8.7772e+00 3\n", - " 3 1.2272e+01 1.7359e-01 4.3106e-04 1.2094e+00 2.52506e-01 0.5000 1.2094e+00 3\n", - " 4 1.1322e+01 1.7357e-01 2.4520e-04 1.1146e+00 5.13447e-02 1.0000 1.1146e+00 3\n", - " 5 1.7839e-01 1.7359e-01 7.9837e-06 4.7191e-04 5.94883e-02 0.0156 1.5632e-03 1\n", - " 6 1.7839e-01 1.7359e-01 7.8604e-06 4.7177e-04 5.70661e-02 0.2500 1.5108e-03 1\n", - " 7 1.7807e-01 1.7359e-01 6.2381e-06 4.4171e-04 2.03216e-02 0.5000 9.1096e-04 1\n", - " 8 1.7758e-01 1.7359e-01 3.0883e-06 3.9617e-04 7.64661e-03 1.0000 8.4295e-04 1\n", - " 9 1.7444e-01 1.7359e-01 2.7608e-07 8.4663e-05 1.18482e-02 0.5000 8.7191e-04 1\n", - " 10 1.7394e-01 1.7359e-01 2.9287e-07 3.5113e-05 5.33815e-03 1.0000 8.6199e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.0900e+01 4.9844e-01 6.9227e+00 1.1744e-01 7.59787e-01 1.0000 ---- 3\n", - " 2 2.4905e+01 1.8299e-01 2.4435e-01 2.2278e+00 2.36792e-01 1.0000 1.0190e+01 3\n", - " 3 1.2818e+01 1.8253e-01 5.3318e-04 1.2631e+00 2.55494e-01 0.5000 1.2631e+00 3\n", - " 4 1.1727e+01 1.8252e-01 2.9795e-04 1.1542e+00 5.34933e-02 1.0000 1.1542e+00 3\n", - " 5 1.8652e-01 1.8254e-01 8.8277e-06 3.8918e-04 6.39573e-02 1.0000 1.6763e-03 1\n", - " 6 1.8502e-01 1.8253e-01 9.7179e-06 2.3859e-04 9.94801e-02 0.0625 1.8938e-03 1\n", - " 7 1.8483e-01 1.8253e-01 9.2231e-06 2.2014e-04 8.31647e-02 0.0625 1.4891e-03 1\n", - " 8 1.8478e-01 1.8253e-01 8.7260e-06 2.1634e-04 6.92158e-02 0.0312 1.1482e-03 1\n", - " 9 1.8472e-01 1.8253e-01 8.4670e-06 2.1061e-04 6.33982e-02 0.0312 1.0290e-03 1\n", - " 10 1.8469e-01 1.8253e-01 8.2140e-06 2.0729e-04 5.80466e-02 0.0312 9.3432e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.1588e+01 5.0912e-01 6.9922e+00 1.1573e-01 7.64551e-01 1.0000 ---- 3\n", - " 2 2.6456e+01 1.9400e-01 2.4103e-01 2.3852e+00 2.43652e-01 1.0000 1.2153e+01 3\n", - " 3 1.4275e+01 1.9335e-01 6.9117e-04 1.4074e+00 2.57315e-01 0.5000 1.4074e+00 3\n", - " 4 1.2968e+01 1.9333e-01 3.7927e-04 1.2771e+00 5.54621e-02 1.0000 1.2771e+00 3\n", - " 5 1.9789e-01 1.9335e-01 9.1409e-06 4.4444e-04 6.18822e-02 0.2500 1.6218e-03 1\n", - " 6 1.9745e-01 1.9335e-01 7.2870e-06 4.0232e-04 2.15611e-02 1.0000 8.1089e-04 1\n", - " 7 1.9696e-01 1.9335e-01 9.9604e-07 3.5983e-04 2.96820e-02 0.2500 1.4885e-03 1\n", - " 8 1.9683e-01 1.9335e-01 7.7016e-07 3.4665e-04 8.72778e-03 1.0000 9.4086e-04 1\n", - " 9 1.9516e-01 1.9335e-01 1.2476e-07 1.8035e-04 1.46712e-02 0.5000 8.5999e-04 1\n", - " 10 1.9459e-01 1.9335e-01 2.2177e-07 1.2386e-04 6.18574e-03 1.0000 8.5642e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.3457e+01 5.2197e-01 7.1735e+00 1.1999e-01 8.08412e-01 1.0000 ---- 3\n", - " 2 3.0175e+01 2.0759e-01 2.3953e-01 2.7573e+00 2.66760e-01 1.0000 1.5032e+01 3\n", - " 3 1.8420e+01 2.0661e-01 9.9192e-04 1.8203e+00 2.92074e-01 0.5000 1.8203e+00 3\n", - " 4 1.7007e+01 2.0659e-01 5.3801e-04 1.6795e+00 6.98441e-02 1.0000 1.6795e+00 3\n", - " 5 2.1072e-01 2.0662e-01 1.4848e-05 3.9561e-04 8.07109e-02 0.5000 2.1787e-03 1\n", - " 6 2.0990e-01 2.0661e-01 1.0998e-05 3.1795e-04 4.07134e-02 1.0000 1.3326e-03 1\n", - " 7 2.0702e-01 2.0661e-01 7.5200e-06 3.3504e-05 8.59276e-02 0.2500 2.7316e-03 1\n", - " 8 2.0685e-01 2.0661e-01 7.8769e-06 1.6473e-05 2.43115e-02 0.2500 1.0327e-03 1\n", - " 9 2.0683e-01 2.0661e-01 6.0726e-06 1.6366e-05 7.09130e-03 1.0000 8.6672e-04 1\n", - " 10 2.0669e-01 2.0661e-01 2.5053e-07 7.4784e-06 1.16884e-02 1.0000 8.5044e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.4600e+01 5.3836e-01 7.2961e+00 1.1005e-01 8.08685e-01 1.0000 ---- 3\n", - " 2 2.6865e+01 2.2483e-01 2.4082e-01 2.4232e+00 2.60906e-01 1.0000 1.9557e+01 3\n", - " 3 1.8095e+01 2.2318e-01 1.4308e-03 1.7858e+00 2.82521e-01 0.5000 1.7858e+00 3\n", - " 4 1.6102e+01 2.2316e-01 7.5612e-04 1.5871e+00 6.84481e-02 1.0000 1.5871e+00 3\n", - " 5 2.2959e-01 2.2319e-01 1.5959e-05 6.2446e-04 8.19524e-02 0.1250 2.1740e-03 1\n", - " 6 2.2923e-01 2.2319e-01 1.4184e-05 5.8991e-04 5.27293e-02 0.0625 1.2519e-03 1\n", - " 7 2.2921e-01 2.2319e-01 1.3312e-05 5.8917e-04 4.36268e-02 0.0625 1.1540e-03 1\n", - " 8 2.2909e-01 2.2319e-01 1.2488e-05 5.7809e-04 3.62546e-02 0.1250 9.1577e-04 1\n", - " 9 2.2889e-01 2.2319e-01 1.0940e-05 5.6002e-04 2.44750e-02 0.5000 8.2606e-04 1\n", - " 10 2.2811e-01 2.2318e-01 5.4452e-06 4.8658e-04 1.18290e-02 0.5000 8.3822e-04 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.2518e+02 1.2510e+02 1.9922e+01 8.6458e-02 1.52921e+01 0.0156 ---- 25\n", - " 2 3.2106e+02 1.2123e+02 1.9514e+01 4.6909e-01 1.32946e+01 0.0312 4.7160e+03 25\n", - " 3 3.1602e+02 1.1379e+02 1.9002e+01 1.2207e+00 1.09134e+01 0.0312 4.5678e+03 25\n", - " 4 3.1019e+02 1.0681e+02 1.9029e+01 1.3098e+00 1.04800e+01 0.0312 4.4241e+03 25\n", - " 5 3.0338e+02 1.0026e+02 1.9041e+01 1.2713e+00 1.00757e+01 0.0312 4.2850e+03 25\n", - " 6 2.9773e+02 9.4106e+01 1.9074e+01 1.2886e+00 9.71225e+00 0.0312 4.1504e+03 25\n", - " 7 2.9244e+02 8.8335e+01 1.9070e+01 1.3410e+00 9.36919e+00 0.0312 4.0200e+03 25\n", - " 8 2.8702e+02 8.2920e+01 1.9031e+01 1.3798e+00 9.03908e+00 0.0312 3.8938e+03 25\n", - " 9 2.8151e+02 7.7837e+01 1.8960e+01 1.4076e+00 8.74960e+00 0.0625 3.7717e+03 25\n", - " 10 2.8144e+02 6.8453e+01 1.9728e+01 1.5706e+00 8.16519e+00 0.0625 3.5341e+03 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1725e+02 6.0284e+01 3.4948e+01 7.4871e-01 8.21030e+00 0.0625 ---- 23\n", - " 2 4.0326e+02 5.3024e+01 3.4129e+01 8.9443e-01 7.56734e+00 0.1250 3.0313e+03 4\n", - " 3 4.0020e+02 4.0694e+01 3.4251e+01 1.6992e+00 6.47603e+00 0.1250 2.6476e+03 15\n", - " 4 3.8847e+02 3.1247e+01 3.2997e+01 2.7253e+00 5.64311e+00 0.1250 2.3134e+03 25\n", - " 5 3.7102e+02 2.4006e+01 3.1119e+01 3.5825e+00 4.78687e+00 0.1250 2.0220e+03 25\n", - " 6 3.4626e+02 1.8455e+01 2.9004e+01 3.7766e+00 4.19676e+00 0.2500 1.7676e+03 16\n", - " 7 3.4623e+02 1.0537e+01 2.7152e+01 6.4172e+00 3.41052e+00 0.2500 1.3210e+03 20\n", - " 8 3.3251e+02 6.0611e+00 2.3464e+01 9.1810e+00 2.87502e+00 0.2500 9.8837e+02 25\n", - " 9 3.2352e+02 3.5324e+00 1.9364e+01 1.2635e+01 2.30500e+00 0.2500 7.3996e+02 25\n", - " 10 2.8799e+02 2.1057e+00 1.5575e+01 1.3013e+01 2.01772e+00 0.2500 5.5428e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.4071e+02 1.6047e+00 4.7350e+01 6.5604e+00 2.08336e+00 1.0000 ---- 25\n", - " 2 3.3195e+02 2.5555e-01 1.1307e+01 2.1862e+01 1.66382e+00 0.5000 2.1862e+01 25\n", - " 3 2.6976e+02 2.5285e-01 5.6474e+00 2.1303e+01 8.51150e-01 1.0000 2.1303e+01 12\n", - " 4 1.8554e+02 2.5267e-01 4.9286e-02 1.8480e+01 1.29316e+00 0.2500 1.8480e+01 18\n", - " 5 1.7059e+02 2.5240e-01 3.7553e-02 1.6996e+01 7.20260e-01 0.5000 1.6996e+01 10\n", - " 6 1.4514e+02 2.5247e-01 1.9510e-02 1.4470e+01 6.78221e-01 0.2500 1.4470e+01 9\n", - " 7 1.3280e+02 2.5237e-01 1.4962e-02 1.3240e+01 4.26213e-01 1.0000 1.3240e+01 9\n", - " 8 6.3740e+01 2.5291e-01 2.6531e-03 6.3461e+00 9.69775e-01 0.1250 6.3461e+00 19\n", - " 9 6.2579e+01 2.5278e-01 2.4192e-03 6.2302e+00 4.63235e-01 0.2500 6.2302e+00 7\n", - " 10 5.9979e+01 2.5277e-01 1.9247e-03 5.9707e+00 5.98530e-01 0.0625 5.9707e+00 7\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0156e+02 5.6199e-01 3.7695e+01 2.4053e+00 1.83750e+00 1.0000 ---- 3\n", - " 2 1.9241e+02 2.5223e-01 1.1399e+01 7.8169e+00 1.21582e+00 0.2500 3.3377e+01 3\n", - " 3 1.7234e+02 2.4956e-01 8.5478e+00 8.6610e+00 5.23430e-01 1.0000 2.5036e+01 3\n", - " 4 4.0421e+01 2.4674e-01 3.5627e-02 3.9818e+00 9.22575e-01 0.1250 3.9818e+00 3\n", - " 5 3.6903e+01 2.4662e-01 3.1148e-02 3.6345e+00 3.99489e-01 1.0000 3.6345e+00 3\n", - " 6 1.8257e+01 2.4676e-01 5.6648e-03 1.7954e+00 8.21989e-01 0.0625 1.7954e+00 3\n", - " 7 1.7827e+01 2.4672e-01 5.3278e-03 1.7527e+00 5.36139e-01 0.1250 1.7527e+00 3\n", - " 8 1.6389e+01 2.4669e-01 4.7006e-03 1.6095e+00 3.46146e-01 0.5000 1.6095e+00 3\n", - " 9 7.1134e+00 2.4670e-01 2.8428e-03 6.8383e-01 3.82588e-01 0.1250 6.8383e-01 3\n", - " 10 7.1069e+00 2.4668e-01 2.4898e-03 6.8353e-01 1.85150e-01 0.2500 6.8353e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9768e+02 5.5003e-01 3.8843e+01 8.7008e-01 1.78001e+00 1.0000 ---- 3\n", - " 2 1.8426e+02 2.3846e-01 1.0714e+01 7.6878e+00 1.18141e+00 0.2500 2.8043e+01 3\n", - " 3 1.6502e+02 2.3649e-01 8.0342e+00 8.4444e+00 5.35594e-01 1.0000 2.1035e+01 3\n", - " 4 5.8094e+01 2.3453e-01 4.1412e-02 5.7445e+00 1.20232e+00 0.1250 5.7445e+00 3\n", - " 5 5.7321e+01 2.3437e-01 3.6279e-02 5.6724e+00 6.77424e-01 0.1250 5.6724e+00 3\n", - " 6 5.2699e+01 2.3430e-01 3.1770e-02 5.2147e+00 4.10502e-01 0.5000 5.2147e+00 3\n", - " 7 4.3923e+01 2.3436e-01 1.5987e-02 4.3529e+00 5.69846e-01 0.1250 4.3529e+00 3\n", - " 8 4.0820e+01 2.3430e-01 1.4003e-02 4.0446e+00 3.17532e-01 0.2500 4.0446e+00 3\n", - " 9 3.2727e+01 2.3432e-01 1.0562e-02 3.2387e+00 2.11908e-01 0.5000 3.2387e+00 3\n", - " 10 2.4661e+01 2.3439e-01 5.3097e-03 2.4374e+00 4.70120e-01 0.0625 2.4374e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0902e+02 5.3704e-01 3.9588e+01 1.2606e+00 1.69617e+00 1.0000 ---- 3\n", - " 2 1.9207e+02 2.2442e-01 1.0395e+01 8.7897e+00 1.06607e+00 0.5000 2.4268e+01 3\n", - " 3 1.7962e+02 2.2189e-01 5.1911e+00 1.2748e+01 6.43151e-01 1.0000 1.2748e+01 3\n", - " 4 1.1431e+02 2.2150e-01 1.2270e-02 1.1397e+01 1.38423e+00 0.1250 1.1397e+01 3\n", - " 5 1.0270e+02 2.2134e-01 1.0801e-02 1.0237e+01 9.37441e-01 0.2500 1.0237e+01 3\n", - " 6 9.7991e+01 2.2117e-01 8.1193e-03 9.7688e+00 5.07224e-01 1.0000 9.7688e+00 3\n", - " 7 6.9147e+01 2.2152e-01 3.3502e-03 6.8892e+00 9.27270e-01 0.1250 6.8892e+00 3\n", - " 8 6.1602e+01 2.2139e-01 3.0159e-03 6.1351e+00 6.47582e-01 0.2500 6.1351e+00 3\n", - " 9 5.4004e+01 2.2128e-01 2.4134e-03 5.3758e+00 2.72118e-01 1.0000 5.3758e+00 3\n", - " 10 4.9939e+01 2.2151e-01 8.2988e-04 4.9709e+00 8.21651e-01 0.1250 4.9709e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1633e+02 5.3109e-01 4.0473e+01 1.1070e+00 1.75810e+00 1.0000 ---- 3\n", - " 2 1.9013e+02 2.1990e-01 1.0364e+01 8.6277e+00 8.51327e-01 0.5000 2.1345e+01 3\n", - " 3 1.4518e+02 2.1797e-01 5.1752e+00 9.3209e+00 4.87955e-01 1.0000 1.0677e+01 3\n", - " 4 1.0227e+02 2.1765e-01 1.0468e-02 1.0194e+01 1.00608e+00 0.2500 1.0194e+01 3\n", - " 5 9.2938e+01 2.1743e-01 8.0299e-03 9.2640e+00 4.40781e-01 0.5000 9.2640e+00 3\n", - " 6 8.4502e+01 2.1738e-01 4.2171e-03 8.4242e+00 3.51561e-01 0.5000 8.4242e+00 3\n", - " 7 5.3406e+01 2.1746e-01 2.1007e-03 5.3168e+00 3.51566e-01 0.2500 5.3168e+00 3\n", - " 8 4.5148e+01 2.1744e-01 1.6254e-03 4.4915e+00 2.22331e-01 1.0000 4.4915e+00 3\n", - " 9 1.4788e+01 2.1765e-01 9.5006e-04 1.4561e+00 6.31133e-01 0.0625 1.4561e+00 3\n", - " 10 1.4590e+01 2.1761e-01 9.0382e-04 1.4363e+00 4.48916e-01 0.0312 1.4363e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1884e+02 5.3090e-01 4.0648e+01 1.1831e+00 1.76784e+00 1.0000 ---- 3\n", - " 2 1.7099e+02 2.2495e-01 9.9142e+00 7.1626e+00 1.06494e+00 0.5000 1.8890e+01 3\n", - " 3 1.6901e+02 2.2331e-01 4.9508e+00 1.1928e+01 5.83601e-01 1.0000 1.1928e+01 3\n", - " 4 1.2143e+02 2.2313e-01 7.4242e-03 1.2114e+01 1.00639e+00 0.2500 1.2114e+01 3\n", - " 5 1.0760e+02 2.2291e-01 5.5249e-03 1.0733e+01 5.48377e-01 0.5000 1.0733e+01 3\n", - " 6 8.9319e+01 2.2287e-01 3.1065e-03 8.9065e+00 4.18676e-01 0.5000 8.9065e+00 3\n", - " 7 5.9819e+01 2.2294e-01 1.7664e-03 5.9579e+00 4.56252e-01 0.2500 5.9579e+00 3\n", - " 8 4.8515e+01 2.2293e-01 1.3403e-03 4.8278e+00 2.59324e-01 1.0000 4.8278e+00 3\n", - " 9 1.3893e+01 2.2317e-01 1.0447e-03 1.3659e+00 7.12360e-01 0.0625 1.3659e+00 3\n", - " 10 1.3586e+01 2.2311e-01 9.9294e-04 1.3352e+00 4.80633e-01 0.0625 1.3352e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1775e+02 5.2841e-01 4.0925e+01 7.9669e-01 1.70899e+00 1.0000 ---- 3\n", - " 2 1.7098e+02 2.2399e-01 9.8830e+00 7.1927e+00 9.57179e-01 0.5000 1.7006e+01 3\n", - " 3 1.2759e+02 2.2276e-01 4.9321e+00 7.8043e+00 7.50642e-01 0.5000 8.5046e+00 3\n", - " 4 1.0894e+02 2.2239e-01 2.4652e+00 8.4068e+00 5.99440e-01 0.5000 8.4068e+00 3\n", - " 5 8.8417e+01 2.2233e-01 1.2320e+00 7.5875e+00 5.22520e-01 0.5000 7.5875e+00 3\n", - " 6 7.6383e+01 2.2233e-01 6.1612e-01 6.9999e+00 5.29599e-01 0.5000 6.9999e+00 3\n", - " 7 7.5809e+01 2.2232e-01 3.0812e-01 7.2505e+00 5.45151e-01 0.2500 7.2505e+00 3\n", - " 8 6.0344e+01 2.2230e-01 2.3113e-01 5.7810e+00 2.94384e-01 1.0000 5.7810e+00 3\n", - " 9 2.4360e+01 2.2260e-01 8.9481e-04 2.4128e+00 6.40022e-01 0.1250 2.4128e+00 3\n", - " 10 2.2939e+01 2.2253e-01 8.1030e-04 2.2709e+00 4.06112e-01 0.2500 2.2709e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1789e+02 5.2218e-01 4.0889e+01 8.4820e-01 1.71835e+00 1.0000 ---- 3\n", - " 2 1.8719e+02 2.1588e-01 9.8637e+00 8.8337e+00 1.12613e+00 0.5000 1.5278e+01 3\n", - " 3 1.8386e+02 2.1470e-01 4.9224e+00 1.3442e+01 6.48623e-01 1.0000 1.3442e+01 3\n", - " 4 1.2637e+02 2.1471e-01 8.5227e-03 1.2607e+01 1.05653e+00 0.2500 1.2607e+01 3\n", - " 5 1.1293e+02 2.1447e-01 6.3979e-03 1.1265e+01 5.96672e-01 0.5000 1.1265e+01 3\n", - " 6 1.0153e+02 2.1440e-01 3.8934e-03 1.0128e+01 4.33877e-01 0.5000 1.0128e+01 3\n", - " 7 6.4050e+01 2.1449e-01 1.8900e-03 6.3816e+00 4.87627e-01 0.2500 6.3816e+00 3\n", - " 8 5.1209e+01 2.1448e-01 1.5681e-03 5.0979e+00 2.56286e-01 1.0000 5.0979e+00 3\n", - " 9 1.5387e+01 2.1473e-01 1.2352e-03 1.5160e+00 7.41721e-01 0.0312 1.5160e+00 3\n", - " 10 1.5147e+01 2.1471e-01 1.2016e-03 1.4920e+00 6.58862e-01 0.0312 1.4920e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1776e+02 5.1619e-01 4.0860e+01 8.6496e-01 1.67870e+00 1.0000 ---- 3\n", - " 2 1.7342e+02 2.0969e-01 9.7290e+00 7.5925e+00 9.79292e-01 0.5000 1.3938e+01 3\n", - " 3 1.2441e+02 2.0882e-01 4.8551e+00 7.5646e+00 6.35752e-01 1.0000 7.5646e+00 3\n", - " 4 1.0730e+02 2.0864e-01 1.4997e-02 1.0694e+01 9.44760e-01 0.2500 1.0694e+01 3\n", - " 5 9.2229e+01 2.0849e-01 1.1262e-02 9.1908e+00 5.02722e-01 0.5000 9.1908e+00 3\n", - " 6 7.9104e+01 2.0846e-01 5.8061e-03 7.8838e+00 5.37422e-01 0.2500 7.8838e+00 3\n", - " 7 6.6519e+01 2.0842e-01 4.4222e-03 6.6266e+00 2.73024e-01 1.0000 6.6266e+00 3\n", - " 8 3.1650e+01 2.0870e-01 5.0457e-04 3.1436e+00 7.00775e-01 0.1250 3.1436e+00 3\n", - " 9 3.1194e+01 2.0860e-01 4.5141e-04 3.0980e+00 3.04490e-01 0.2500 3.0980e+00 3\n", - " 10 2.5770e+01 2.0859e-01 2.7703e-04 2.5559e+00 2.95218e-01 0.2500 2.5559e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1456e+02 5.1371e-01 4.0552e+01 8.5285e-01 1.64414e+00 1.0000 ---- 3\n", - " 2 1.6247e+02 2.0797e-01 9.3351e+00 6.8915e+00 1.10834e+00 0.5000 1.2598e+01 3\n", - " 3 1.5702e+02 2.0707e-01 4.6620e+00 1.1019e+01 6.18794e-01 1.0000 1.1019e+01 3\n", - " 4 8.4077e+01 2.0713e-01 8.2055e-03 8.3788e+00 1.14846e+00 0.1250 8.3788e+00 3\n", - " 5 7.5996e+01 2.0701e-01 7.1954e-03 7.5717e+00 7.70428e-01 0.2500 7.5717e+00 3\n", - " 6 7.2571e+01 2.0688e-01 5.4964e-03 7.2309e+00 4.30459e-01 1.0000 7.2309e+00 3\n", - " 7 4.2109e+01 2.0713e-01 3.7523e-03 4.1864e+00 8.24971e-01 0.1250 4.1864e+00 3\n", - " 8 4.0461e+01 2.0703e-01 3.3211e-03 4.0220e+00 5.03071e-01 0.2500 4.0220e+00 3\n", - " 9 3.8739e+01 2.0697e-01 2.5342e-03 3.8506e+00 2.31463e-01 1.0000 3.8506e+00 3\n", - " 10 5.5789e+00 2.0717e-01 1.0287e-03 5.3614e-01 6.98212e-01 0.0312 5.3614e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1295e+02 5.1335e-01 4.0625e+01 6.1827e-01 1.73068e+00 1.0000 ---- 3\n", - " 2 1.5148e+02 2.0957e-01 9.3878e+00 5.7396e+00 7.86713e-01 1.0000 1.1589e+01 3\n", - " 3 9.1248e+01 2.0887e-01 5.0898e-02 9.0530e+00 1.05739e+00 0.2500 9.0530e+00 3\n", - " 4 7.6591e+01 2.0870e-01 3.8497e-02 7.5997e+00 6.40395e-01 0.5000 7.5997e+00 3\n", - " 5 4.8954e+01 2.0871e-01 1.9400e-02 4.8551e+00 4.57851e-01 0.2500 4.8551e+00 3\n", - " 6 4.1704e+01 2.0869e-01 1.4425e-02 4.1351e+00 2.82673e-01 0.5000 4.1351e+00 3\n", - " 7 2.5387e+01 2.0875e-01 7.6575e-03 2.5102e+00 3.74011e-01 0.1250 2.5102e+00 3\n", - " 8 2.4304e+01 2.0872e-01 6.6491e-03 2.4029e+00 2.21396e-01 0.5000 2.4029e+00 3\n", - " 9 1.4023e+01 2.0876e-01 3.0581e-03 1.3783e+00 4.06904e-01 0.0625 1.3783e+00 3\n", - " 10 1.3473e+01 2.0875e-01 2.8571e-03 1.3236e+00 2.58120e-01 0.1250 1.3236e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0297e+02 5.1298e-01 3.9670e+01 5.7641e-01 1.60714e+00 1.0000 ---- 3\n", - " 2 1.3703e+02 2.1003e-01 9.0616e+00 4.6203e+00 8.20685e-01 1.0000 1.0430e+01 3\n", - " 3 1.3016e+02 2.0936e-01 4.4493e-02 1.2950e+01 1.22798e+00 0.5000 1.2950e+01 3\n", - " 4 1.0376e+02 2.0919e-01 2.5420e-02 1.0329e+01 6.17344e-01 1.0000 1.0329e+01 3\n", - " 5 6.6804e+01 2.0945e-01 3.3345e-03 6.6562e+00 1.29944e+00 0.1250 6.6562e+00 3\n", - " 6 5.9308e+01 2.0934e-01 2.9746e-03 5.9069e+00 7.90171e-01 0.2500 5.9069e+00 3\n", - " 7 4.8434e+01 2.0929e-01 2.2400e-03 4.8202e+00 3.13191e-01 1.0000 4.8202e+00 3\n", - " 8 4.5750e+01 2.0942e-01 1.5651e-03 4.5525e+00 6.95647e-01 0.1250 4.5525e+00 3\n", - " 9 4.1167e+01 2.0935e-01 1.3812e-03 4.0944e+00 4.54711e-01 0.2500 4.0944e+00 3\n", - " 10 3.6234e+01 2.0930e-01 1.0133e-03 3.6015e+00 2.82881e-01 1.0000 3.6015e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.3197e+02 5.1097e-01 4.0169e+01 2.9763e+00 1.85929e+00 1.0000 ---- 3\n", - " 2 2.4991e+02 2.0813e-01 9.1853e+00 1.5785e+01 9.38681e-01 1.0000 1.5785e+01 3\n", - " 3 1.8674e+02 2.0759e-01 2.1889e-02 1.8632e+01 1.24238e+00 0.5000 1.8632e+01 3\n", - " 4 1.2938e+02 2.0743e-01 1.1399e-02 1.2906e+01 8.14747e-01 1.0000 1.2906e+01 3\n", - " 5 1.0240e+02 2.0781e-01 6.0144e-03 1.0213e+01 1.75157e+00 0.1250 1.0213e+01 3\n", - " 6 9.2280e+01 2.0765e-01 5.4560e-03 9.2018e+00 9.07665e-01 0.5000 9.2018e+00 3\n", - " 7 8.0532e+01 2.0758e-01 2.2290e-03 8.0302e+00 8.82677e-01 0.2500 8.0302e+00 3\n", - " 8 7.2977e+01 2.0750e-01 1.6588e-03 7.2753e+00 3.44597e-01 1.0000 7.2753e+00 3\n", - " 9 1.4043e+01 2.0778e-01 5.5089e-04 1.3829e+00 5.05101e-01 0.2500 1.3829e+00 3\n", - " 10 1.2319e+01 2.0771e-01 5.1464e-04 1.2107e+00 2.60661e-01 0.2500 1.2107e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8083e+02 5.0837e-01 3.7251e+01 7.8082e-01 1.57452e+00 1.0000 ---- 3\n", - " 2 1.1796e+02 2.0514e-01 8.5697e+00 3.2063e+00 7.38414e-01 1.0000 8.6484e+00 3\n", - " 3 8.2718e+01 2.0465e-01 3.4580e-02 8.2168e+00 1.14871e+00 0.2500 8.2168e+00 3\n", - " 4 6.6313e+01 2.0454e-01 2.6399e-02 6.5844e+00 4.71299e-01 1.0000 6.5844e+00 3\n", - " 5 4.2061e+01 2.0469e-01 3.4709e-03 4.1821e+00 6.13406e-01 0.2500 4.1821e+00 3\n", - " 6 4.0826e+01 2.0460e-01 2.6723e-03 4.0595e+00 3.50090e-01 0.5000 4.0595e+00 3\n", - " 7 2.4749e+01 2.0460e-01 1.4701e-03 2.4530e+00 2.53605e-01 0.5000 2.4530e+00 3\n", - " 8 2.4726e+01 2.0460e-01 8.2960e-04 2.4513e+00 2.64002e-01 0.2500 2.4513e+00 3\n", - " 9 2.1656e+01 2.0458e-01 6.3027e-04 2.1445e+00 1.18021e-01 1.0000 2.1445e+00 3\n", - " 10 3.9095e+00 2.0467e-01 9.3682e-05 3.7039e-01 1.33284e-01 0.5000 3.7039e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.6836e+02 5.0621e-01 3.6295e+01 4.9015e-01 1.63783e+00 1.0000 ---- 3\n", - " 2 1.2884e+02 2.0256e-01 8.4618e+00 4.4018e+00 7.31175e-01 1.0000 7.7708e+00 3\n", - " 3 7.2427e+01 2.0220e-01 2.7157e-02 7.1953e+00 1.01472e+00 0.2500 7.1953e+00 3\n", - " 4 6.5430e+01 2.0208e-01 2.0460e-02 6.5024e+00 4.97617e-01 1.0000 6.5024e+00 3\n", - " 5 6.2360e+01 2.0220e-01 4.9807e-03 6.2107e+00 7.31287e-01 0.2500 6.2107e+00 3\n", - " 6 5.6752e+01 2.0210e-01 3.7805e-03 5.6512e+00 3.99366e-01 0.5000 5.6512e+00 3\n", - " 7 4.3398e+01 2.0211e-01 1.8312e-03 4.3178e+00 2.86547e-01 0.5000 4.3178e+00 3\n", - " 8 3.1693e+01 2.0213e-01 1.1695e-03 3.1479e+00 2.69513e-01 0.2500 3.1479e+00 3\n", - " 9 2.5313e+01 2.0212e-01 8.7328e-04 2.5102e+00 1.34229e-01 1.0000 2.5102e+00 3\n", - " 10 3.0801e+00 2.0221e-01 1.3127e-04 2.8766e-01 2.18846e-01 0.2500 2.8766e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.5295e+02 5.0381e-01 3.4779e+01 4.6519e-01 1.53623e+00 1.0000 ---- 3\n", - " 2 1.1675e+02 1.9959e-01 8.1952e+00 3.4597e+00 7.67039e-01 1.0000 6.9454e+00 3\n", - " 3 7.2237e+01 1.9924e-01 4.4021e-02 7.1598e+00 1.11276e+00 0.2500 7.1598e+00 3\n", - " 4 5.7348e+01 1.9917e-01 3.3492e-02 5.6814e+00 4.88090e-01 1.0000 5.6814e+00 3\n", - " 5 2.9116e+01 1.9928e-01 2.6279e-03 2.8890e+00 5.95125e-01 0.1250 2.8890e+00 3\n", - " 6 2.6836e+01 1.9924e-01 2.2919e-03 2.6614e+00 4.62828e-01 0.2500 2.6614e+00 3\n", - " 7 2.3974e+01 1.9921e-01 1.6529e-03 2.3758e+00 2.24962e-01 1.0000 2.3758e+00 3\n", - " 8 2.4016e+00 1.9926e-01 5.9542e-04 2.1963e-01 3.00461e-01 0.2500 2.1963e-01 3\n", - " 9 2.2861e+00 1.9924e-01 4.4433e-04 2.0824e-01 1.42706e-01 0.5000 2.0824e-01 3\n", - " 10 1.2298e+00 1.9924e-01 2.9946e-04 1.0276e-01 1.73359e-01 0.0625 1.0276e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.3923e+02 5.0130e-01 3.3549e+01 3.2376e-01 1.58051e+00 1.0000 ---- 3\n", - " 2 1.1340e+02 1.9662e-01 8.0561e+00 3.2640e+00 7.33054e-01 1.0000 6.1894e+00 3\n", - " 3 4.0469e+01 1.9636e-01 3.5152e-02 3.9921e+00 1.02906e+00 0.2500 3.9921e+00 3\n", - " 4 3.8071e+01 1.9628e-01 2.6405e-02 3.7610e+00 4.26618e-01 1.0000 3.7610e+00 3\n", - " 5 7.6233e+00 1.9638e-01 1.8750e-03 7.4082e-01 5.83598e-01 0.0625 7.4082e-01 3\n", - " 6 7.3688e+00 1.9637e-01 1.7616e-03 7.1548e-01 4.56645e-01 0.1250 7.1548e-01 3\n", - " 7 7.0348e+00 1.9636e-01 1.5486e-03 6.8229e-01 2.80617e-01 0.5000 6.8229e-01 3\n", - " 8 5.5741e+00 1.9635e-01 8.1106e-04 5.3696e-01 1.89717e-01 0.5000 5.3696e-01 3\n", - " 9 5.1350e+00 1.9634e-01 4.3065e-04 4.9343e-01 1.93688e-01 0.2500 4.9343e-01 3\n", - " 10 4.7584e+00 1.9633e-01 3.2818e-04 4.5588e-01 1.01795e-01 1.0000 4.5588e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.2951e+02 4.9853e-01 3.2336e+01 5.6507e-01 1.57451e+00 1.0000 ---- 3\n", - " 2 1.1854e+02 1.9260e-01 7.7980e+00 4.0363e+00 8.00066e-01 1.0000 5.3412e+00 3\n", - " 3 8.1450e+01 1.9235e-01 3.1017e-02 8.0947e+00 1.16891e+00 0.2500 8.0947e+00 3\n", - " 4 7.0132e+01 1.9225e-01 2.3477e-02 6.9705e+00 5.29282e-01 1.0000 6.9705e+00 3\n", - " 5 3.4317e+01 1.9242e-01 1.8007e-03 3.4107e+00 8.83600e-01 0.1250 3.4107e+00 3\n", - " 6 3.2293e+01 1.9237e-01 1.6565e-03 3.2084e+00 5.07898e-01 0.2500 3.2084e+00 3\n", - " 7 2.7036e+01 1.9234e-01 1.3015e-03 2.6830e+00 2.09293e-01 1.0000 2.6830e+00 3\n", - " 8 1.4110e+00 1.9239e-01 3.8139e-04 1.2148e-01 3.40787e-01 0.0156 1.2148e-01 3\n", - " 9 1.3968e+00 1.9239e-01 3.7563e-04 1.2006e-01 3.18976e-01 0.0312 1.2006e-01 3\n", - " 10 1.3931e+00 1.9239e-01 3.6457e-04 1.1971e-01 2.78295e-01 0.0312 1.1971e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.1953e+02 4.9521e-01 3.1611e+01 2.9248e-01 1.62562e+00 1.0000 ---- 3\n", - " 2 1.1920e+02 1.8774e-01 7.4208e+00 4.4802e+00 8.48864e-01 1.0000 4.5988e+00 3\n", - " 3 1.1309e+02 1.8751e-01 2.4014e-02 1.1266e+01 1.23008e+00 0.5000 1.1266e+01 3\n", - " 4 1.0890e+02 1.8735e-01 1.2927e-02 1.0858e+01 7.09790e-01 1.0000 1.0858e+01 3\n", - " 5 6.3948e+01 1.8759e-01 3.9274e-03 6.3721e+00 1.35521e+00 0.1250 6.3721e+00 3\n", - " 6 5.8427e+01 1.8750e-01 3.5366e-03 5.8205e+00 8.86416e-01 0.2500 5.8205e+00 3\n", - " 7 5.2998e+01 1.8743e-01 2.8077e-03 5.2782e+00 4.09804e-01 1.0000 5.2782e+00 3\n", - " 8 1.7920e+01 1.8760e-01 1.3390e-03 1.7719e+00 8.02162e-01 0.1250 1.7719e+00 3\n", - " 9 1.7397e+01 1.8755e-01 1.2765e-03 1.7196e+00 4.44139e-01 0.2500 1.7196e+00 3\n", - " 10 1.7009e+01 1.8751e-01 1.0676e-03 1.6811e+00 1.44843e-01 1.0000 1.6811e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.1575e+02 4.9184e-01 3.1255e+01 2.7083e-01 1.50592e+00 1.0000 ---- 3\n", - " 2 1.2307e+02 1.8271e-01 6.9301e+00 5.3590e+00 7.46873e-01 1.0000 5.3590e+00 3\n", - " 3 5.1830e+01 1.8258e-01 2.2334e-02 5.1424e+00 1.00376e+00 0.2500 5.1424e+00 3\n", - " 4 4.4724e+01 1.8250e-01 1.6727e-02 4.4374e+00 4.09650e-01 1.0000 4.4374e+00 3\n", - " 5 1.6475e+01 1.8259e-01 1.8484e-03 1.6274e+00 5.32524e-01 0.1250 1.6274e+00 3\n", - " 6 1.5065e+01 1.8257e-01 1.6551e-03 1.4866e+00 3.68201e-01 0.2500 1.4866e+00 3\n", - " 7 1.2619e+01 1.8255e-01 1.3074e-03 1.2423e+00 1.41766e-01 1.0000 1.2423e+00 3\n", - " 8 1.0888e+00 1.8258e-01 1.2399e-04 9.0503e-02 2.11005e-01 0.1250 9.0503e-02 3\n", - " 9 1.0106e+00 1.8257e-01 1.1087e-04 8.2692e-02 1.33464e-01 0.5000 8.2692e-02 3\n", - " 10 8.4813e-01 1.8257e-01 6.5124e-05 6.6490e-02 9.14519e-02 0.5000 6.6490e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0634e+02 4.8866e-01 3.0387e+01 1.9803e-01 1.48151e+00 1.0000 ---- 3\n", - " 2 1.0800e+02 1.7793e-01 6.6167e+00 4.1659e+00 6.21734e-01 1.0000 4.1659e+00 3\n", - " 3 4.6102e+01 1.7782e-01 1.3415e-02 4.5790e+00 9.30072e-01 0.2500 4.5790e+00 3\n", - " 4 3.9214e+01 1.7777e-01 1.0154e-02 3.8935e+00 3.57885e-01 1.0000 3.8935e+00 3\n", - " 5 1.2614e+01 1.7785e-01 1.4257e-03 1.2421e+00 3.75026e-01 0.5000 1.2421e+00 3\n", - " 6 1.0742e+01 1.7782e-01 1.0267e-03 1.0554e+00 2.12429e-01 0.5000 1.0554e+00 3\n", - " 7 5.9147e+00 1.7782e-01 5.0063e-04 5.7318e-01 1.89710e-01 0.5000 5.7318e-01 3\n", - " 8 3.9263e+00 1.7782e-01 2.6829e-04 3.7458e-01 1.74128e-01 0.5000 3.7458e-01 3\n", - " 9 3.0966e+00 1.7781e-01 1.4384e-04 2.9173e-01 1.68544e-01 0.5000 2.9173e-01 3\n", - " 10 2.8574e+00 1.7781e-01 8.6803e-05 2.6787e-01 1.75919e-01 0.2500 2.6787e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9014e+02 4.8616e-01 2.8606e+01 3.5982e-01 1.47780e+00 1.0000 ---- 3\n", - " 2 9.6690e+01 1.7419e-01 6.2482e+00 3.4034e+00 5.53923e-01 1.0000 3.4648e+00 3\n", - " 3 3.8417e+01 1.7410e-01 1.0603e-02 3.8137e+00 8.63532e-01 0.2500 3.8137e+00 3\n", - " 4 3.1034e+01 1.7406e-01 8.0664e-03 3.0780e+00 3.14805e-01 1.0000 3.0780e+00 3\n", - " 5 8.2250e+00 1.7411e-01 9.8657e-04 8.0410e-01 4.05440e-01 0.2500 8.0410e-01 3\n", - " 6 7.6454e+00 1.7409e-01 8.0569e-04 7.4633e-01 1.28097e-01 1.0000 7.4633e-01 3\n", - " 7 1.5660e+00 1.7410e-01 1.9389e-04 1.3900e-01 1.95527e-01 0.1250 1.3900e-01 3\n", - " 8 1.4925e+00 1.7409e-01 1.7544e-04 1.3166e-01 1.25341e-01 0.2500 1.3166e-01 3\n", - " 9 1.3093e+00 1.7409e-01 1.4213e-04 1.1338e-01 4.64308e-02 1.0000 1.1338e-01 3\n", - " 10 1.8266e-01 1.7409e-01 2.3777e-05 8.3308e-04 7.15270e-02 0.0625 1.9679e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8010e+02 4.8480e-01 2.7843e+01 1.1850e-01 1.49795e+00 1.0000 ---- 3\n", - " 2 1.0207e+02 1.7190e-01 5.6145e+00 4.5752e+00 5.25333e-01 1.0000 4.5752e+00 3\n", - " 3 4.1391e+01 1.7183e-01 9.4506e-03 4.1125e+00 8.36504e-01 0.5000 4.1125e+00 3\n", - " 4 3.1995e+01 1.7176e-01 5.5219e-03 3.1768e+00 4.87083e-01 0.5000 3.1768e+00 3\n", - " 5 1.9584e+01 1.7176e-01 2.9068e-03 1.9383e+00 3.19070e-01 1.0000 1.9383e+00 3\n", - " 6 8.8685e+00 1.7179e-01 4.7760e-04 8.6919e-01 6.53229e-01 0.2500 8.6919e-01 3\n", - " 7 8.5937e+00 1.7176e-01 4.9882e-04 8.4170e-01 2.18377e-01 1.0000 8.4170e-01 3\n", - " 8 5.1454e+00 1.7177e-01 1.8135e-04 4.9719e-01 3.98867e-01 0.1250 4.9719e-01 3\n", - " 9 4.5885e+00 1.7176e-01 1.5467e-04 4.4152e-01 2.58051e-01 0.5000 4.4152e-01 3\n", - " 10 4.5522e+00 1.7176e-01 1.4681e-04 4.3789e-01 1.44930e-01 0.5000 4.3789e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8205e+02 4.8479e-01 2.7784e+01 3.7183e-01 1.49464e+00 1.0000 ---- 3\n", - " 2 1.1179e+02 1.7163e-01 5.5259e+00 5.6358e+00 5.80948e-01 1.0000 5.6358e+00 3\n", - " 3 4.0458e+01 1.7157e-01 8.0403e-03 4.0206e+00 9.43635e-01 0.5000 4.0206e+00 3\n", - " 4 3.4974e+01 1.7149e-01 5.3472e-03 3.4749e+00 3.81130e-01 0.5000 3.4749e+00 3\n", - " 5 1.5585e+01 1.7151e-01 2.7828e-03 1.5386e+00 1.63206e-01 1.0000 1.5386e+00 3\n", - " 6 4.7670e+00 1.7154e-01 2.7446e-04 4.5927e-01 3.21802e-01 0.1250 4.5927e-01 3\n", - " 7 4.3074e+00 1.7153e-01 2.4941e-04 4.1334e-01 1.91055e-01 0.2500 4.1334e-01 3\n", - " 8 3.4369e+00 1.7153e-01 1.9763e-04 3.2634e-01 5.11476e-02 1.0000 3.2634e-01 3\n", - " 9 3.6938e-01 1.7154e-01 1.6940e-05 1.9767e-02 9.22197e-02 0.0625 1.9767e-02 3\n", - " 10 3.6036e-01 1.7154e-01 1.5952e-05 1.8867e-02 7.54664e-02 0.1250 1.8867e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7258e+02 4.8668e-01 2.7112e+01 9.6520e-02 1.48761e+00 1.0000 ---- 3\n", - " 2 1.0993e+02 1.7413e-01 5.4467e+00 5.5292e+00 5.19226e-01 1.0000 5.5292e+00 3\n", - " 3 3.6915e+01 1.7407e-01 6.9165e-03 3.6672e+00 7.42268e-01 0.5000 3.6672e+00 3\n", - " 4 3.1378e+01 1.7400e-01 4.4034e-03 3.1160e+00 3.24210e-01 1.0000 3.1160e+00 3\n", - " 5 3.1043e+01 1.7408e-01 8.8673e-04 3.0861e+00 5.39014e-01 0.5000 3.0861e+00 3\n", - " 6 2.2828e+01 1.7402e-01 8.3131e-04 2.2645e+00 2.60168e-01 0.5000 2.2645e+00 3\n", - " 7 2.0378e+01 1.7400e-01 5.0299e-04 2.0199e+00 1.75913e-01 0.5000 2.0199e+00 3\n", - " 8 1.1987e+01 1.7401e-01 2.9154e-04 1.1810e+00 1.28205e-01 0.5000 1.1810e+00 3\n", - " 9 7.9165e+00 1.7402e-01 1.6972e-04 7.7408e-01 1.07296e-01 0.5000 7.7408e-01 3\n", - " 10 6.3171e+00 1.7403e-01 1.0171e-04 6.1421e-01 9.95082e-02 0.5000 6.1421e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8069e+02 4.8911e-01 2.7880e+01 1.4071e-01 1.47160e+00 1.0000 ---- 3\n", - " 2 1.0595e+02 1.7720e-01 4.7378e+00 5.8395e+00 5.63035e-01 1.0000 5.8395e+00 3\n", - " 3 1.6501e+01 1.7713e-01 7.7719e-03 1.6246e+00 6.97798e-01 0.5000 1.6246e+00 3\n", - " 4 1.4151e+01 1.7709e-01 5.0081e-03 1.3924e+00 2.83144e-01 1.0000 1.3924e+00 3\n", - " 5 1.3247e+01 1.7711e-01 9.2187e-04 1.3061e+00 5.85836e-01 0.1250 1.3061e+00 3\n", - " 6 1.2277e+01 1.7708e-01 8.2105e-04 1.2092e+00 3.76579e-01 0.2500 1.2092e+00 3\n", - " 7 1.0172e+01 1.7707e-01 6.4475e-04 9.9889e-01 1.11717e-01 1.0000 9.9889e-01 3\n", - " 8 2.0622e-01 1.7711e-01 2.3816e-05 2.8873e-03 1.83699e-01 0.0020 7.7247e-03 1\n", - " 9 2.0622e-01 1.7711e-01 2.3816e-05 2.8873e-03 1.83571e-01 0.0312 3.1395e-03 1\n", - " 10 2.0603e-01 1.7711e-01 2.3114e-05 2.8691e-03 1.65526e-01 0.0156 5.6470e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7165e+02 4.9059e-01 2.7025e+01 9.0923e-02 1.48463e+00 1.0000 ---- 3\n", - " 2 9.6388e+01 1.7833e-01 4.4764e+00 5.1446e+00 6.85412e-01 1.0000 5.1446e+00 3\n", - " 3 2.6171e+01 1.7824e-01 7.3033e-03 2.5920e+00 7.98684e-01 0.2500 2.5920e+00 3\n", - " 4 2.0713e+01 1.7821e-01 5.8486e-03 2.0477e+00 3.66129e-01 1.0000 2.0477e+00 3\n", - " 5 1.0535e+01 1.7823e-01 1.8418e-03 1.0338e+00 5.89886e-01 0.2500 1.0338e+00 3\n", - " 6 9.1725e+00 1.7821e-01 1.4470e-03 8.9798e-01 2.43895e-01 0.5000 8.9798e-01 3\n", - " 7 5.5696e+00 1.7821e-01 7.4352e-04 5.3839e-01 1.26772e-01 1.0000 5.3839e-01 3\n", - " 8 1.8626e+00 1.7822e-01 1.3687e-04 1.6830e-01 2.57226e-01 0.1250 1.6830e-01 3\n", - " 9 1.8187e+00 1.7822e-01 1.2439e-04 1.6392e-01 1.58317e-01 0.2500 1.6392e-01 3\n", - " 10 1.7380e+00 1.7822e-01 9.8195e-05 1.5588e-01 4.29458e-02 1.0000 1.5588e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7120e+02 4.9165e-01 2.6864e+01 2.0621e-01 1.44939e+00 1.0000 ---- 3\n", - " 2 9.1178e+01 1.7886e-01 3.8464e+00 5.2535e+00 6.38833e-01 1.0000 5.2535e+00 3\n", - " 3 3.9718e+01 1.7877e-01 5.1649e-03 3.9488e+00 9.08163e-01 0.2500 3.9488e+00 3\n", - " 4 3.3783e+01 1.7872e-01 3.9512e-03 3.3565e+00 4.23448e-01 1.0000 3.3565e+00 3\n", - " 5 1.2956e+01 1.7880e-01 1.4494e-03 1.2762e+00 7.30872e-01 0.1250 1.2762e+00 3\n", - " 6 1.1664e+01 1.7878e-01 1.2878e-03 1.1473e+00 4.99373e-01 0.2500 1.1473e+00 3\n", - " 7 1.0264e+01 1.7877e-01 9.8732e-04 1.0075e+00 2.11111e-01 1.0000 1.0075e+00 3\n", - " 8 2.9184e+00 1.7879e-01 4.8371e-04 2.7348e-01 3.75757e-01 0.0625 2.7348e-01 3\n", - " 9 2.7807e+00 1.7879e-01 4.5954e-04 2.5973e-01 3.00970e-01 0.1250 2.5973e-01 3\n", - " 10 2.6859e+00 1.7878e-01 4.1579e-04 2.5029e-01 1.79903e-01 0.2500 2.5029e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7572e+02 4.9359e-01 2.7047e+01 4.7579e-01 1.39401e+00 1.0000 ---- 3\n", - " 2 7.7151e+01 1.8078e-01 3.5312e+00 4.1658e+00 4.80788e-01 1.0000 4.1658e+00 3\n", - " 3 1.7898e+01 1.8066e-01 6.7426e-03 1.7650e+00 6.46065e-01 0.2500 1.7650e+00 3\n", - " 4 1.6666e+01 1.8063e-01 5.2225e-03 1.6433e+00 2.19079e-01 1.0000 1.6433e+00 3\n", - " 5 1.1252e+00 1.8068e-01 1.0953e-03 9.3356e-02 2.90998e-01 0.1250 9.3356e-02 3\n", - " 6 1.0376e+00 1.8068e-01 9.6167e-04 8.4735e-02 1.95663e-01 0.2500 8.4735e-02 3\n", - " 7 8.9224e-01 1.8068e-01 7.2844e-04 7.0428e-02 8.16235e-02 1.0000 7.0428e-02 3\n", - " 8 3.6085e-01 1.8068e-01 5.3507e-05 1.7964e-02 9.98047e-02 0.2500 1.7964e-02 2\n", - " 9 3.0728e-01 1.8067e-01 4.0571e-05 1.2620e-02 4.56824e-02 0.0020 1.2620e-02 1\n", - " 10 3.0728e-01 1.8067e-01 4.0571e-05 1.2620e-02 4.56338e-02 0.5000 1.2620e-02 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7450e+02 4.9608e-01 2.7102e+01 2.9878e-01 1.35313e+00 1.0000 ---- 3\n", - " 2 6.7913e+01 1.8351e-01 3.2785e+00 3.4944e+00 4.21220e-01 1.0000 3.6260e+00 3\n", - " 3 1.5230e+01 1.8337e-01 6.9749e-03 1.4977e+00 5.20744e-01 0.2500 1.4977e+00 3\n", - " 4 1.3523e+01 1.8335e-01 5.3594e-03 1.3286e+00 1.91212e-01 1.0000 1.3286e+00 3\n", - " 5 1.1293e+00 1.8339e-01 1.0794e-03 9.3514e-02 2.45709e-01 0.2500 9.3514e-02 3\n", - " 6 9.6914e-01 1.8338e-01 8.1794e-04 7.7758e-02 9.85404e-02 1.0000 7.7758e-02 3\n", - " 7 5.2985e-01 1.8338e-01 1.0256e-04 3.4544e-02 1.30287e-01 0.2500 3.4544e-02 3\n", - " 8 4.7357e-01 1.8338e-01 7.8989e-05 2.8941e-02 5.66006e-02 1.0000 2.8941e-02 3\n", - " 9 4.0658e-01 1.8338e-01 2.8022e-05 2.2292e-02 7.44394e-02 0.5000 2.2292e-02 3\n", - " 10 3.7701e-01 1.8338e-01 1.9313e-05 1.9344e-02 4.98070e-02 1.0000 1.9344e-02 2\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8089e+02 4.9851e-01 2.7634e+01 4.0515e-01 1.36977e+00 1.0000 ---- 3\n", - " 2 7.7017e+01 1.8611e-01 3.4656e+00 4.2175e+00 4.72257e-01 1.0000 4.3456e+00 3\n", - " 3 2.0368e+01 1.8595e-01 6.7763e-03 2.0114e+00 5.66331e-01 0.2500 2.0114e+00 3\n", - " 4 1.7124e+01 1.8593e-01 5.1895e-03 1.6886e+00 2.23067e-01 1.0000 1.6886e+00 3\n", - " 5 1.0302e+00 1.8596e-01 1.4229e-03 8.2996e-02 2.79969e-01 0.2500 8.2996e-02 3\n", - " 6 9.0369e-01 1.8596e-01 1.0798e-03 7.0694e-02 1.10858e-01 1.0000 7.0694e-02 3\n", - " 7 7.5128e-01 1.8596e-01 2.1890e-04 5.6313e-02 1.54534e-01 0.2500 5.6313e-02 3\n", - " 8 6.4363e-01 1.8595e-01 1.6445e-04 4.5604e-02 6.41091e-02 1.0000 4.5604e-02 3\n", - " 9 4.8433e-01 1.8595e-01 4.5795e-05 2.9792e-02 9.23096e-02 0.5000 2.9792e-02 3\n", - " 10 3.8797e-01 1.8595e-01 3.0024e-05 2.0172e-02 7.70481e-02 0.2500 2.0172e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8017e+02 5.0077e-01 2.7528e+01 4.3923e-01 1.35638e+00 1.0000 ---- 3\n", - " 2 7.6564e+01 1.8823e-01 3.7865e+00 3.8511e+00 4.81437e-01 1.0000 5.1111e+00 3\n", - " 3 2.1460e+01 1.8803e-01 7.3345e-03 2.1199e+00 6.32674e-01 0.2500 2.1199e+00 3\n", - " 4 1.7746e+01 1.8800e-01 5.5726e-03 1.7502e+00 2.49446e-01 1.0000 1.7502e+00 3\n", - " 5 1.3018e+00 1.8803e-01 1.8707e-03 1.0951e-01 3.43839e-01 0.2500 1.0951e-01 3\n", - " 6 1.2559e+00 1.8802e-01 1.4025e-03 1.0539e-01 1.21052e-01 1.0000 1.0539e-01 3\n", - " 7 1.2526e+00 1.8802e-01 4.0252e-04 1.0606e-01 1.54262e-01 0.5000 1.0606e-01 3\n", - " 8 9.7715e-01 1.8802e-01 2.0976e-04 7.8703e-02 9.72309e-02 0.5000 7.8703e-02 3\n", - " 9 9.0105e-01 1.8802e-01 1.3810e-04 7.1165e-02 8.94565e-02 0.2500 7.1165e-02 3\n", - " 10 7.9398e-01 1.8802e-01 1.0611e-04 6.0490e-02 4.16183e-02 1.0000 6.0490e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8096e+02 5.0293e-01 2.7570e+01 4.7594e-01 1.36693e+00 1.0000 ---- 3\n", - " 2 7.9521e+01 1.9024e-01 4.0268e+00 3.9063e+00 4.62840e-01 1.0000 5.8405e+00 3\n", - " 3 1.8206e+01 1.9000e-01 8.4952e-03 1.7931e+00 6.20672e-01 0.2500 1.7931e+00 3\n", - " 4 1.4967e+01 1.8997e-01 6.3906e-03 1.4713e+00 2.42646e-01 1.0000 1.4713e+00 3\n", - " 5 1.6411e+00 1.8999e-01 2.3720e-03 1.4274e-01 2.95839e-01 0.2500 1.4274e-01 3\n", - " 6 1.3763e+00 1.8999e-01 1.7863e-03 1.1684e-01 1.21182e-01 0.5000 1.1684e-01 3\n", - " 7 9.1741e-01 1.8999e-01 9.4110e-04 7.1801e-02 7.22311e-02 0.5000 7.1801e-02 3\n", - " 8 6.9140e-01 1.8998e-01 5.1742e-04 4.9624e-02 6.04165e-02 0.5000 4.9624e-02 3\n", - " 9 5.8018e-01 1.8998e-01 2.9647e-04 3.8724e-02 5.45526e-02 0.5000 3.8724e-02 3\n", - " 10 5.0985e-01 1.8998e-01 1.7501e-04 3.1811e-02 4.96201e-02 0.5000 3.1811e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9051e+02 5.0592e-01 2.8536e+01 4.6441e-01 1.37547e+00 1.0000 ---- 3\n", - " 2 8.3423e+01 1.9324e-01 4.3760e+00 3.9470e+00 5.30360e-01 1.0000 6.6383e+00 3\n", - " 3 2.4076e+01 1.9294e-01 8.3927e-03 2.3799e+00 7.95709e-01 0.2500 2.3799e+00 3\n", - " 4 2.0908e+01 1.9290e-01 6.3795e-03 2.0651e+00 2.89905e-01 1.0000 2.0651e+00 3\n", - " 5 5.0184e+00 1.9295e-01 2.5720e-03 4.7998e-01 4.08179e-01 0.2500 4.7998e-01 3\n", - " 6 3.3741e+00 1.9293e-01 1.9409e-03 3.1617e-01 1.68279e-01 1.0000 3.1617e-01 3\n", - " 7 1.9126e+00 1.9292e-01 6.5395e-04 1.7131e-01 1.59337e-01 1.0000 1.7131e-01 3\n", - " 8 1.4708e+00 1.9292e-01 3.3143e-04 1.2746e-01 2.13459e-01 0.2500 1.2746e-01 3\n", - " 9 1.3093e+00 1.9292e-01 2.5345e-04 1.1138e-01 9.60072e-02 0.5000 1.1138e-01 3\n", - " 10 8.6871e-01 1.9291e-01 1.5369e-04 6.7426e-02 7.08622e-02 0.5000 6.7426e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0194e+02 5.0943e-01 2.9618e+01 5.2422e-01 1.39311e+00 1.0000 ---- 3\n", - " 2 8.8821e+01 1.9723e-01 4.8986e+00 3.9638e+00 5.05376e-01 1.0000 7.3905e+00 3\n", - " 3 1.8426e+01 1.9687e-01 1.0833e-02 1.8121e+00 7.34283e-01 0.2500 1.8121e+00 3\n", - " 4 1.7070e+01 1.9684e-01 8.1087e-03 1.6792e+00 2.69100e-01 1.0000 1.6792e+00 3\n", - " 5 7.1473e+00 1.9688e-01 2.5395e-03 6.9251e-01 3.60268e-01 0.5000 6.9251e-01 3\n", - " 6 3.1314e+00 1.9686e-01 1.4666e-03 2.9199e-01 2.42697e-01 0.5000 2.9199e-01 3\n", - " 7 2.5929e+00 1.9685e-01 8.3916e-04 2.3877e-01 1.98088e-01 0.2500 2.3877e-01 3\n", - " 8 2.0633e+00 1.9684e-01 6.4325e-04 1.8600e-01 9.37773e-02 1.0000 1.8600e-01 3\n", - " 9 8.7999e-01 1.9685e-01 2.8472e-04 6.8030e-02 8.78570e-02 1.0000 6.8030e-02 3\n", - " 10 7.3743e-01 1.9685e-01 1.8835e-04 5.3870e-02 1.16104e-01 0.2500 5.3870e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.1518e+02 5.1305e-01 3.0948e+01 5.1793e-01 1.44417e+00 1.0000 ---- 3\n", - " 2 9.8442e+01 2.0113e-01 5.4399e+00 4.3842e+00 5.82689e-01 1.0000 8.1726e+00 3\n", - " 3 2.7022e+01 2.0071e-01 1.1763e-02 2.6704e+00 9.45742e-01 0.2500 2.6704e+00 3\n", - " 4 2.6806e+01 2.0066e-01 8.7717e-03 2.6518e+00 3.64608e-01 1.0000 2.6518e+00 3\n", - " 5 6.4832e+00 2.0074e-01 3.1790e-03 6.2506e-01 4.59264e-01 0.2500 6.2506e-01 3\n", - " 6 5.0313e+00 2.0072e-01 2.4811e-03 4.8058e-01 2.74892e-01 0.5000 4.8058e-01 3\n", - " 7 4.1403e+00 2.0071e-01 1.4860e-03 3.9247e-01 2.30886e-01 0.2500 3.9247e-01 3\n", - " 8 3.4641e+00 2.0070e-01 1.1572e-03 3.2519e-01 1.99413e-01 0.5000 3.2519e-01 3\n", - " 9 2.7168e+00 2.0069e-01 7.7862e-04 2.5083e-01 1.59142e-01 0.5000 2.5083e-01 3\n", - " 10 1.7847e+00 2.0069e-01 5.6541e-04 1.5783e-01 1.25904e-01 0.5000 1.5783e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.2793e+02 5.1704e-01 3.2190e+01 5.5094e-01 1.43099e+00 1.0000 ---- 3\n", - " 2 1.0570e+02 2.0540e-01 6.2650e+00 4.2842e+00 5.59726e-01 1.0000 9.0160e+00 3\n", - " 3 2.6792e+01 2.0491e-01 1.0361e-02 2.6483e+00 9.30311e-01 0.1250 2.6483e+00 3\n", - " 4 2.4499e+01 2.0487e-01 9.0545e-03 2.4204e+00 5.56748e-01 0.5000 2.4204e+00 3\n", - " 5 2.3512e+01 2.0486e-01 4.5499e-03 2.3262e+00 4.63127e-01 0.2500 2.3262e+00 3\n", - " 6 2.0049e+01 2.0485e-01 3.4147e-03 1.9810e+00 1.88485e-01 1.0000 1.9810e+00 3\n", - " 7 3.8601e+00 2.0494e-01 4.1430e-04 3.6511e-01 3.00297e-01 0.2500 3.6511e-01 3\n", - " 8 3.3862e+00 2.0492e-01 3.3013e-04 3.1779e-01 1.37539e-01 0.5000 3.1779e-01 3\n", - " 9 2.0825e+00 2.0491e-01 1.5176e-04 1.8761e-01 1.72032e-01 0.1250 1.8761e-01 3\n", - " 10 1.8552e+00 2.0491e-01 1.3455e-04 1.6490e-01 9.80820e-02 0.5000 1.6490e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.4124e+02 5.2142e-01 3.3494e+01 5.7771e-01 1.51763e+00 1.0000 ---- 3\n", - " 2 1.1568e+02 2.1030e-01 6.7169e+00 4.8300e+00 7.59063e-01 0.5000 9.8540e+00 3\n", - " 3 8.5386e+01 2.0978e-01 3.3591e+00 5.1585e+00 4.53495e-01 1.0000 5.1585e+00 3\n", - " 4 6.5904e+01 2.0970e-01 3.6350e-03 6.5658e+00 9.46032e-01 0.2500 6.5658e+00 3\n", - " 5 5.9694e+01 2.0958e-01 2.8555e-03 5.9456e+00 3.51992e-01 0.5000 5.9456e+00 3\n", - " 6 3.9623e+01 2.0962e-01 1.5668e-03 3.9398e+00 2.81974e-01 0.5000 3.9398e+00 3\n", - " 7 2.9495e+01 2.0964e-01 8.8463e-04 2.9277e+00 2.46271e-01 0.5000 2.9277e+00 3\n", - " 8 2.6876e+01 2.0965e-01 5.8494e-04 2.6661e+00 2.84090e-01 0.2500 2.6661e+00 3\n", - " 9 2.2056e+01 2.0964e-01 4.6789e-04 2.1841e+00 1.53389e-01 1.0000 2.1841e+00 3\n", - " 10 8.1629e+00 2.0975e-01 1.0314e-04 7.9522e-01 3.67591e-01 0.1250 7.9522e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.5782e+02 5.2655e-01 3.4774e+01 9.5529e-01 1.48644e+00 1.0000 ---- 3\n", - " 2 1.2193e+02 2.1601e-01 7.4400e+00 4.7312e+00 8.33475e-01 1.0000 1.0777e+01 3\n", - " 3 8.2440e+01 2.1527e-01 2.7054e-02 8.1954e+00 1.09224e+00 0.5000 8.1954e+00 3\n", - " 4 6.6770e+01 2.1515e-01 1.5864e-02 6.6396e+00 6.77358e-01 0.5000 6.6396e+00 3\n", - " 5 5.3265e+01 2.1515e-01 8.1301e-03 5.2968e+00 6.54729e-01 0.2500 5.2968e+00 3\n", - " 6 4.2454e+01 2.1513e-01 6.3024e-03 4.2176e+00 2.78281e-01 1.0000 4.2176e+00 3\n", - " 7 1.2360e+01 2.1530e-01 1.0589e-03 1.2134e+00 3.40601e-01 0.2500 1.2134e+00 3\n", - " 8 1.1289e+01 2.1527e-01 7.9040e-04 1.1066e+00 2.05961e-01 0.5000 1.1066e+00 3\n", - " 9 9.7759e+00 2.1526e-01 4.1478e-04 9.5565e-01 2.14046e-01 0.5000 9.5565e-01 3\n", - " 10 7.1516e+00 2.1524e-01 3.5628e-04 6.9328e-01 1.80788e-01 1.0000 6.9328e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.6596e+02 5.3197e-01 3.5898e+01 6.4500e-01 1.62750e+00 1.0000 ---- 3\n", - " 2 1.8819e+02 2.2225e-01 7.6804e+00 1.1116e+01 1.18167e+00 0.5000 1.1740e+01 3\n", - " 3 1.6996e+02 2.2145e-01 3.8407e+00 1.3134e+01 8.36257e-01 1.0000 1.3134e+01 3\n", - " 4 1.3720e+02 2.2171e-01 3.9405e-03 1.3693e+01 1.53252e+00 0.2500 1.3693e+01 3\n", - " 5 1.2451e+02 2.2143e-01 3.4716e-03 1.2426e+01 7.34879e-01 0.5000 1.2426e+01 3\n", - " 6 1.0314e+02 2.2132e-01 2.3230e-03 1.0290e+01 5.50707e-01 0.5000 1.0290e+01 3\n", - " 7 7.2773e+01 2.2138e-01 1.5019e-03 7.2536e+00 4.76290e-01 0.5000 7.2536e+00 3\n", - " 8 6.9836e+01 2.2137e-01 1.3502e-03 6.9601e+00 5.01941e-01 0.5000 6.9601e+00 3\n", - " 9 6.7308e+01 2.2137e-01 1.1086e-03 6.7076e+00 4.87339e-01 0.5000 6.7076e+00 3\n", - " 10 6.6149e+01 2.2138e-01 1.2540e-03 6.5916e+00 5.14264e-01 0.5000 6.5916e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1974e+02 5.3766e-01 3.6785e+01 5.1354e+00 1.73105e+00 1.0000 ---- 3\n", - " 2 2.7098e+02 2.2834e-01 8.5580e+00 1.8517e+01 1.50936e+00 0.5000 1.8517e+01 3\n", - " 3 2.2716e+02 2.2730e-01 4.2809e+00 1.8412e+01 9.93722e-01 1.0000 1.8412e+01 3\n", - " 4 1.5579e+02 2.2771e-01 6.9404e-03 1.5549e+01 1.72168e+00 0.2500 1.5549e+01 3\n", - " 5 1.2694e+02 2.2738e-01 5.7006e-03 1.2665e+01 7.12272e-01 0.5000 1.2665e+01 3\n", - " 6 7.4182e+01 2.2736e-01 3.9921e-03 7.3915e+00 6.92439e-01 0.2500 7.3915e+00 3\n", - " 7 6.2991e+01 2.2730e-01 2.9767e-03 6.2734e+00 4.20357e-01 1.0000 6.2734e+00 3\n", - " 8 4.4288e+01 2.2754e-01 3.1593e-03 4.4029e+00 6.21357e-01 0.5000 4.4029e+00 3\n", - " 9 3.5955e+01 2.2740e-01 2.5816e-03 3.5701e+00 4.28682e-01 0.5000 3.5701e+00 3\n", - " 10 2.7362e+01 2.2736e-01 1.3245e-03 2.7121e+00 4.03611e-01 0.5000 2.7121e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9946e+02 5.4401e-01 3.7283e+01 2.6089e+00 1.72454e+00 1.0000 ---- 3\n", - " 2 2.0075e+02 2.3548e-01 8.8418e+00 1.1210e+01 1.32255e+00 0.5000 1.3955e+01 3\n", - " 3 1.8957e+02 2.3444e-01 4.4206e+00 1.4513e+01 8.20723e-01 1.0000 1.4513e+01 3\n", - " 4 1.3837e+02 2.3460e-01 4.8689e-03 1.3809e+01 1.56012e+00 0.2500 1.3809e+01 3\n", - " 5 1.2752e+02 2.3432e-01 4.2623e-03 1.2725e+01 7.15075e-01 0.5000 1.2725e+01 3\n", - " 6 1.0463e+02 2.3425e-01 2.7566e-03 1.0437e+01 6.04101e-01 0.5000 1.0437e+01 3\n", - " 7 7.6589e+01 2.3431e-01 1.8012e-03 7.6336e+00 4.94582e-01 0.5000 7.6336e+00 3\n", - " 8 6.9004e+01 2.3432e-01 1.5795e-03 6.8754e+00 5.01241e-01 0.5000 6.8754e+00 3\n", - " 9 6.5209e+01 2.3433e-01 1.3603e-03 6.4961e+00 4.74076e-01 0.5000 6.4961e+00 3\n", - " 10 6.2627e+01 2.3433e-01 1.3199e-03 6.2379e+00 4.86335e-01 0.5000 6.2379e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2994e+02 5.5023e-01 3.7756e+01 5.1831e+00 1.76368e+00 1.0000 ---- 3\n", - " 2 2.8084e+02 2.4247e-01 9.3676e+00 1.8692e+01 1.45682e+00 0.5000 1.8692e+01 3\n", - " 3 2.2313e+02 2.4118e-01 4.6857e+00 1.7604e+01 1.04442e+00 1.0000 1.7604e+01 3\n", - " 4 2.0904e+02 2.4152e-01 9.6534e-03 2.0870e+01 1.74550e+00 0.5000 2.0870e+01 3\n", - " 5 1.9615e+02 2.4096e-01 5.9120e-03 1.9585e+01 1.00565e+00 1.0000 1.9585e+01 3\n", - " 6 1.3492e+02 2.4135e-01 3.9253e-03 1.3464e+01 1.78799e+00 0.2500 1.3464e+01 3\n", - " 7 1.2276e+02 2.4106e-01 2.8688e-03 1.2250e+01 7.80198e-01 0.5000 1.2250e+01 3\n", - " 8 9.1537e+01 2.4105e-01 1.8718e-03 9.1277e+00 7.21315e-01 0.5000 9.1277e+00 3\n", - " 9 7.3959e+01 2.4104e-01 1.8711e-03 7.3699e+00 6.49019e-01 0.2500 7.3699e+00 3\n", - " 10 6.0698e+01 2.4101e-01 1.5282e-03 6.0442e+00 3.58718e-01 1.0000 6.0442e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0636e+02 5.5755e-01 3.7974e+01 2.6057e+00 1.69107e+00 1.0000 ---- 3\n", - " 2 1.7346e+02 2.5042e-01 9.2077e+00 8.1128e+00 1.16328e+00 0.5000 1.6876e+01 3\n", - " 3 1.2319e+02 2.4913e-01 4.6044e+00 7.6901e+00 7.03800e-01 0.5000 8.4397e+00 3\n", - " 4 8.5126e+01 2.4881e-01 2.3029e+00 6.1848e+00 5.56188e-01 0.5000 6.1848e+00 3\n", - " 5 6.0705e+01 2.4874e-01 1.1516e+00 4.8940e+00 4.82213e-01 0.5000 4.8940e+00 3\n", - " 6 4.8903e+01 2.4872e-01 5.7594e-01 4.2895e+00 5.00954e-01 0.5000 4.2895e+00 3\n", - " 7 4.7463e+01 2.4871e-01 2.8800e-01 4.4334e+00 4.70837e-01 0.2500 4.4334e+00 3\n", - " 8 3.8030e+01 2.4870e-01 2.1601e-01 3.5621e+00 2.19110e-01 1.0000 3.5621e+00 3\n", - " 9 8.2381e+00 2.4886e-01 4.2275e-04 7.9850e-01 1.82037e-01 1.0000 7.9850e-01 3\n", - " 10 7.7377e+00 2.4883e-01 2.4428e-04 7.4864e-01 4.42802e-01 0.2500 7.4864e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8611e+02 5.6618e-01 3.7509e+01 1.0457e+00 1.68584e+00 1.0000 ---- 3\n", - " 2 1.7774e+02 2.6045e-01 9.4009e+00 8.3470e+00 9.94695e-01 1.0000 1.8802e+01 3\n", - " 3 1.3909e+02 2.5841e-01 5.0332e-02 1.3833e+01 1.22094e+00 0.5000 1.3833e+01 3\n", - " 4 1.0233e+02 2.5830e-01 2.3916e-02 1.0184e+01 8.60860e-01 0.5000 1.0184e+01 3\n", - " 5 6.1121e+01 2.5840e-01 1.1782e-02 6.0745e+00 5.99609e-01 0.5000 6.0745e+00 3\n", - " 6 4.9734e+01 2.5842e-01 5.9114e-03 4.9416e+00 5.25687e-01 0.5000 4.9416e+00 3\n", - " 7 4.6487e+01 2.5842e-01 3.1156e-03 4.6198e+00 4.96150e-01 0.2500 4.6198e+00 3\n", - " 8 3.7142e+01 2.5841e-01 2.3831e-03 3.6860e+00 2.09288e-01 1.0000 3.6860e+00 3\n", - " 9 7.0407e+00 2.5858e-01 5.8493e-04 6.7763e-01 1.55636e-01 1.0000 6.7763e-01 3\n", - " 10 2.5499e+00 2.5856e-01 2.1607e-04 2.2891e-01 3.25121e-01 0.2500 2.2891e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8736e+02 5.7557e-01 3.8005e+01 6.7337e-01 1.68669e+00 1.0000 ---- 3\n", - " 2 2.0155e+02 2.7110e-01 9.8398e+00 1.0288e+01 1.08720e+00 1.0000 2.0974e+01 3\n", - " 3 1.0636e+02 2.6876e-01 5.8517e-02 1.0550e+01 1.30910e+00 0.5000 1.0550e+01 3\n", - " 4 9.4277e+01 2.6854e-01 2.4991e-02 9.3759e+00 7.76990e-01 0.5000 9.3759e+00 3\n", - " 5 5.4395e+01 2.6862e-01 1.2551e-02 5.4001e+00 5.86556e-01 0.5000 5.4001e+00 3\n", - " 6 4.0932e+01 2.6863e-01 6.6384e-03 4.0597e+00 5.53721e-01 0.5000 4.0597e+00 3\n", - " 7 3.9627e+01 2.6862e-01 3.3085e-03 3.9325e+00 5.25533e-01 0.2500 3.9325e+00 3\n", - " 8 3.1947e+01 2.6861e-01 2.5598e-03 3.1653e+00 2.18052e-01 1.0000 3.1653e+00 3\n", - " 9 9.7487e+00 2.6874e-01 6.4980e-04 9.4735e-01 1.55455e-01 1.0000 9.4735e-01 3\n", - " 10 4.1541e-01 2.6873e-01 6.2934e-05 1.4605e-02 3.91147e-01 0.0625 1.4605e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9078e+02 5.8487e-01 3.8490e+01 5.2948e-01 1.80402e+00 1.0000 ---- 3\n", - " 2 1.9688e+02 2.8091e-01 1.0384e+01 9.2754e+00 1.18701e+00 1.0000 2.3735e+01 3\n", - " 3 1.8518e+02 2.7791e-01 5.9940e-02 1.8430e+01 1.74991e+00 0.5000 1.8430e+01 3\n", - " 4 1.5096e+02 2.7766e-01 2.8299e-02 1.5040e+01 1.25201e+00 0.5000 1.5040e+01 3\n", - " 5 8.8438e+01 2.7780e-01 1.4693e-02 8.8013e+00 8.24569e-01 0.5000 8.8013e+00 3\n", - " 6 7.1971e+01 2.7782e-01 7.9097e-03 7.1614e+00 7.68794e-01 0.2500 7.1614e+00 3\n", - " 7 5.8169e+01 2.7780e-01 6.0652e-03 5.7831e+00 3.49582e-01 1.0000 5.7831e+00 3\n", - " 8 2.4215e+01 2.7807e-01 1.2146e-03 2.3925e+00 4.11751e-01 0.5000 2.3925e+00 3\n", - " 9 1.3127e+01 2.7802e-01 6.3298e-04 1.2842e+00 3.99253e-01 0.2500 1.2842e+00 3\n", - " 10 1.2348e+01 2.7799e-01 5.4392e-04 1.2065e+00 1.20309e-01 1.0000 1.2065e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9049e+02 5.9323e-01 3.8344e+01 6.4493e-01 1.82325e+00 1.0000 ---- 3\n", - " 2 2.1506e+02 2.8859e-01 1.0854e+01 1.0623e+01 1.29481e+00 0.5000 2.7026e+01 3\n", - " 3 1.6301e+02 2.8558e-01 5.4346e+00 1.0838e+01 8.53217e-01 1.0000 1.3521e+01 3\n", - " 4 1.1426e+02 2.8489e-01 2.8658e-02 1.1368e+01 1.42791e+00 0.5000 1.1368e+01 3\n", - " 5 1.1027e+02 2.8458e-01 1.5290e-02 1.0983e+01 9.55726e-01 1.0000 1.0983e+01 3\n", - " 6 8.5212e+01 2.8497e-01 1.3533e-02 8.4792e+00 1.70108e+00 0.2500 8.4792e+00 3\n", - " 7 8.1924e+01 2.8475e-01 1.1590e-02 8.1524e+00 6.14794e-01 0.5000 8.1524e+00 3\n", - " 8 5.5421e+01 2.8471e-01 6.3750e-03 5.5072e+00 5.05065e-01 0.5000 5.5072e+00 3\n", - " 9 4.9924e+01 2.8469e-01 3.3773e-03 4.9606e+00 4.81142e-01 0.5000 4.9606e+00 3\n", - " 10 4.9464e+01 2.8467e-01 2.0518e-03 4.9158e+00 4.29558e-01 0.5000 4.9158e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2144e+02 6.0604e-01 3.9279e+01 2.8048e+00 1.89657e+00 1.0000 ---- 3\n", - " 2 2.5657e+02 3.0389e-01 1.1163e+01 1.4464e+01 1.36481e+00 0.5000 3.1852e+01 3\n", - " 3 1.9196e+02 2.9978e-01 5.5868e+00 1.3579e+01 8.82952e-01 1.0000 1.5937e+01 3\n", - " 4 1.3697e+02 2.9881e-01 3.9227e-02 1.3628e+01 1.59173e+00 0.2500 1.3628e+01 3\n", - " 5 1.1551e+02 2.9858e-01 2.9037e-02 1.1493e+01 6.30876e-01 0.5000 1.1493e+01 3\n", - " 6 7.6707e+01 2.9852e-01 1.4626e-02 7.6262e+00 5.14853e-01 0.5000 7.6262e+00 3\n", - " 7 4.2898e+01 2.9860e-01 7.3301e-03 4.2526e+00 3.92152e-01 0.5000 4.2526e+00 3\n", - " 8 3.8550e+01 2.9861e-01 3.7357e-03 3.8214e+00 3.77534e-01 0.5000 3.8214e+00 3\n", - " 9 3.8224e+01 2.9860e-01 1.9856e-03 3.7905e+00 3.74926e-01 0.2500 3.7905e+00 3\n", - " 10 3.0791e+01 2.9860e-01 1.5491e-03 3.0477e+00 1.87759e-01 1.0000 3.0477e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0305e+02 6.2179e-01 3.9195e+01 1.0480e+00 1.85889e+00 1.0000 ---- 3\n", - " 2 1.9892e+02 3.2518e-01 1.1427e+01 8.4325e+00 1.15364e+00 1.0000 3.8000e+01 3\n", - " 3 1.6669e+02 3.1784e-01 8.5638e-02 1.6551e+01 1.76509e+00 0.5000 1.6551e+01 3\n", - " 4 1.3082e+02 3.1755e-01 6.0408e-02 1.2989e+01 9.01414e-01 1.0000 1.2989e+01 3\n", - " 5 9.7443e+01 3.1787e-01 1.0532e-02 9.7020e+00 1.96956e+00 0.2500 9.7020e+00 3\n", - " 6 9.2473e+01 3.1764e-01 9.8305e-03 9.2057e+00 6.54357e-01 1.0000 9.2057e+00 3\n", - " 7 3.5812e+01 3.1789e-01 5.7651e-03 3.5437e+00 1.25650e+00 0.1250 3.5437e+00 3\n", - " 8 3.2886e+01 3.1781e-01 5.2646e-03 3.2516e+00 7.77827e-01 0.2500 3.2516e+00 3\n", - " 9 2.9621e+01 3.1775e-01 4.3071e-03 2.9260e+00 2.41706e-01 1.0000 2.9260e+00 3\n", - " 10 7.7758e+00 3.1782e-01 6.8763e-04 7.4511e-01 5.66031e-01 0.0625 7.4511e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2221e+02 6.3273e-01 4.1081e+01 1.0759e+00 1.98991e+00 1.0000 ---- 3\n", - " 2 2.8564e+02 3.3886e-01 1.1599e+01 1.6931e+01 1.74438e+00 0.5000 4.6606e+01 3\n", - " 3 2.2979e+02 3.3050e-01 5.8073e+00 1.7139e+01 1.24420e+00 0.5000 2.3328e+01 3\n", - " 4 1.5998e+02 3.2850e-01 2.8991e+00 1.3067e+01 7.41413e-01 1.0000 1.3067e+01 3\n", - " 5 1.3726e+02 3.2800e-01 1.6198e-02 1.3677e+01 1.29332e+00 0.5000 1.3677e+01 3\n", - " 6 1.2131e+02 3.2769e-01 8.0033e-03 1.2090e+01 9.95259e-01 0.5000 1.2090e+01 3\n", - " 7 6.9901e+01 3.2783e-01 4.3284e-03 6.9530e+00 7.52447e-01 0.5000 6.9530e+00 3\n", - " 8 5.2620e+01 3.2786e-01 2.2730e-03 5.2269e+00 6.85546e-01 0.2500 5.2269e+00 3\n", - " 9 4.2334e+01 3.2784e-01 1.7595e-03 4.1988e+00 2.73617e-01 1.0000 4.1988e+00 3\n", - " 10 1.3001e+01 3.2800e-01 9.3105e-04 1.2664e+00 4.91106e-01 0.1250 1.2664e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1733e+02 6.4654e-01 4.0357e+01 1.3119e+00 1.92220e+00 1.0000 ---- 3\n", - " 2 2.2868e+02 3.5634e-01 1.1898e+01 1.0934e+01 1.34526e+00 0.5000 5.9167e+01 3\n", - " 3 1.6309e+02 3.4310e-01 5.9607e+00 1.0314e+01 8.59049e-01 1.0000 2.9622e+01 3\n", - " 4 1.4237e+02 3.3889e-01 7.5645e-02 1.4128e+01 1.50356e+00 0.2500 1.4128e+01 3\n", - " 5 1.1669e+02 3.3867e-01 5.6485e-02 1.1578e+01 6.48208e-01 0.5000 1.1578e+01 3\n", - " 6 7.9434e+01 3.3863e-01 2.7844e-02 7.8817e+00 4.93109e-01 0.5000 7.8817e+00 3\n", - " 7 4.6765e+01 3.3871e-01 1.3939e-02 4.6287e+00 3.85588e-01 0.5000 4.6287e+00 3\n", - " 8 3.8866e+01 3.3871e-01 7.0828e-03 3.8456e+00 3.88456e-01 0.2500 3.8456e+00 3\n", - " 9 3.2068e+01 3.3870e-01 5.3629e-03 3.1676e+00 1.90730e-01 1.0000 3.1676e+00 3\n", - " 10 1.3249e+01 3.3884e-01 6.8155e-04 1.2904e+00 2.14925e-01 1.0000 1.2904e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1532e+02 6.6614e-01 4.0542e+01 9.2319e-01 2.05552e+00 1.0000 ---- 3\n", - " 2 3.0631e+02 3.8913e-01 1.2541e+01 1.8050e+01 1.39009e+00 0.5000 7.8043e+01 3\n", - " 3 2.1022e+02 3.6621e-01 6.2927e+00 1.4693e+01 1.02285e+00 1.0000 3.9079e+01 3\n", - " 4 1.5543e+02 3.5901e-01 9.7696e-02 1.5409e+01 1.54083e+00 0.2500 1.5409e+01 3\n", - " 5 1.2822e+02 3.5875e-01 7.3475e-02 1.2713e+01 6.95776e-01 0.5000 1.2713e+01 3\n", - " 6 8.2116e+01 3.5865e-01 3.6810e-02 8.1389e+00 5.52112e-01 1.0000 8.1389e+00 3\n", - " 7 6.3663e+01 3.5895e-01 4.3058e-03 6.3261e+00 9.68822e-01 0.2500 6.3261e+00 3\n", - " 8 5.2228e+01 3.5879e-01 4.0056e-03 5.1829e+00 4.13559e-01 0.5000 5.1829e+00 3\n", - " 9 3.6160e+01 3.5876e-01 2.0628e-03 3.5780e+00 4.78430e-01 0.2500 3.5780e+00 3\n", - " 10 3.5379e+01 3.5871e-01 1.6662e-03 3.5004e+00 2.25740e-01 1.0000 3.5004e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2207e+02 6.9744e-01 4.1206e+01 9.3209e-01 2.06151e+00 1.0000 ---- 3\n", - " 2 2.4722e+02 4.5414e-01 1.2723e+01 1.1954e+01 1.56348e+00 0.5000 1.1034e+02 3\n", - " 3 2.1492e+02 4.0850e-01 6.3934e+00 1.5058e+01 1.09616e+00 1.0000 5.5242e+01 3\n", - " 4 1.6750e+02 3.9368e-01 8.6013e-02 1.6624e+01 1.71560e+00 0.2500 1.6624e+01 3\n", - " 5 1.3890e+02 3.9343e-01 6.3777e-02 1.3787e+01 7.46509e-01 1.0000 1.3787e+01 3\n", - " 6 1.0838e+02 3.9347e-01 1.0050e-02 1.0788e+01 1.09644e+00 0.5000 1.0788e+01 3\n", - " 7 1.0784e+02 3.9335e-01 7.4526e-03 1.0738e+01 8.34678e-01 0.5000 1.0738e+01 3\n", - " 8 7.2425e+01 3.9341e-01 4.4219e-03 7.1988e+00 5.92665e-01 0.5000 7.1988e+00 3\n", - " 9 5.6976e+01 3.9341e-01 2.7633e-03 5.6555e+00 5.59174e-01 0.2500 5.6555e+00 3\n", - " 10 4.6629e+01 3.9339e-01 2.1103e-03 4.6214e+00 3.12204e-01 1.0000 4.6214e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.4066e+02 7.3123e-01 4.2513e+01 1.4801e+00 2.33449e+00 1.0000 ---- 3\n", - " 2 3.5847e+02 5.7198e-01 1.4671e+01 2.1119e+01 1.65002e+00 0.5000 1.6639e+02 3\n", - " 3 2.4126e+02 4.6785e-01 7.3805e+00 1.6699e+01 1.11794e+00 1.0000 8.3185e+01 3\n", - " 4 1.9915e+02 4.3367e-01 9.6845e-02 1.9775e+01 1.81641e+00 0.2500 1.9775e+01 3\n", - " 5 1.6448e+02 4.3333e-01 7.3497e-02 1.6331e+01 8.42821e-01 1.0000 1.6331e+01 3\n", - " 6 1.3311e+02 4.3354e-01 2.4057e-02 1.3244e+01 1.05764e+00 0.5000 1.3244e+01 3\n", - " 7 9.8872e+01 4.3331e-01 1.1047e-02 9.8328e+00 1.03377e+00 0.5000 9.8328e+00 3\n", - " 8 9.1982e+01 4.3333e-01 8.4794e-03 9.1464e+00 6.82384e-01 0.5000 9.1464e+00 3\n", - " 9 5.4942e+01 4.3336e-01 4.3323e-03 5.4465e+00 6.12797e-01 0.5000 5.4465e+00 3\n", - " 10 5.4666e+01 4.3333e-01 2.2845e-03 5.4210e+00 6.39541e-01 0.2500 5.4210e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.6542e+02 7.8017e-01 4.3161e+01 3.3028e+00 2.32026e+00 1.0000 ---- 3\n", - " 2 3.1743e+02 8.5233e-01 1.8711e+01 1.2946e+01 1.57237e+00 0.5000 2.7051e+02 3\n", - " 3 2.6291e+02 5.7271e-01 9.3132e+00 1.6921e+01 1.12446e+00 1.0000 1.3514e+02 3\n", - " 4 1.8719e+02 4.8016e-01 1.0883e-01 1.8562e+01 1.74084e+00 0.2500 1.8562e+01 3\n", - " 5 1.6342e+02 4.7983e-01 7.9703e-02 1.6215e+01 9.20525e-01 0.5000 1.6215e+01 3\n", - " 6 1.1259e+02 4.7984e-01 4.0982e-02 1.1170e+01 6.13800e-01 0.5000 1.1170e+01 3\n", - " 7 7.0781e+01 4.7991e-01 2.0933e-02 7.0092e+00 5.91859e-01 0.5000 7.0092e+00 3\n", - " 8 6.1562e+01 4.7991e-01 1.0463e-02 6.0978e+00 6.15546e-01 0.2500 6.0978e+00 3\n", - " 9 5.1508e+01 4.7988e-01 7.8797e-03 5.0949e+00 3.06479e-01 1.0000 5.0949e+00 3\n", - " 10 2.1190e+01 4.8008e-01 2.4750e-03 2.0685e+00 3.96311e-01 0.5000 2.0685e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.4768e+02 8.7113e-01 4.3345e+01 1.3357e+00 2.61187e+00 1.0000 ---- 3\n", - " 2 4.2216e+02 1.7944e+00 2.6199e+01 1.5838e+01 2.05418e+00 0.5000 4.8048e+02 3\n", - " 3 3.3795e+02 9.6376e-01 1.3684e+01 2.0015e+01 1.33734e+00 1.0000 2.6982e+02 3\n", - " 4 2.1604e+02 5.7946e-01 4.5494e-01 2.1091e+01 2.20228e+00 0.2500 2.1091e+01 3\n", - " 5 1.9306e+02 5.7904e-01 3.2808e-01 1.8920e+01 1.09986e+00 0.5000 1.8920e+01 3\n", - " 6 1.4160e+02 5.7900e-01 1.2671e-01 1.3976e+01 7.44266e-01 1.0000 1.3976e+01 3\n", - " 7 1.1791e+02 5.7937e-01 1.7635e-02 1.1715e+01 1.27181e+00 0.2500 1.1715e+01 3\n", - " 8 9.8129e+01 5.7917e-01 1.4916e-02 9.7400e+00 7.86137e-01 0.5000 9.7400e+00 3\n", - " 9 8.8836e+01 5.7908e-01 8.9914e-03 8.8167e+00 6.13299e-01 0.5000 8.8167e+00 3\n", - " 10 8.4252e+01 5.7907e-01 4.9459e-03 8.3624e+00 5.98883e-01 0.5000 8.3624e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0568e+02 1.0339e+00 4.5880e+01 4.5849e+00 3.06043e+00 0.5000 ---- 3\n", - " 2 4.0890e+02 1.0110e+00 3.2342e+01 8.4465e+00 1.93261e+00 1.0000 1.9645e+02 3\n", - " 3 3.7156e+02 7.4301e-01 9.0349e+00 2.8047e+01 2.34889e+00 0.5000 2.8047e+01 3\n", - " 4 3.1983e+02 7.4230e-01 4.6462e+00 2.7262e+01 1.36376e+00 1.0000 2.7262e+01 3\n", - " 5 1.7809e+02 7.4308e-01 1.6480e-01 1.7570e+01 2.48209e+00 0.2500 1.7570e+01 3\n", - " 6 1.7743e+02 7.4260e-01 1.3908e-01 1.7530e+01 1.02998e+00 1.0000 1.7530e+01 3\n", - " 7 1.7740e+02 7.4289e-01 3.6809e-02 1.7629e+01 1.96772e+00 0.2500 1.7629e+01 3\n", - " 8 1.5751e+02 7.4252e-01 3.6878e-02 1.5640e+01 8.44550e-01 0.5000 1.5640e+01 3\n", - " 9 9.4164e+01 7.4261e-01 2.2741e-02 9.3194e+00 7.79612e-01 0.5000 9.3194e+00 3\n", - " 10 6.4195e+01 7.4268e-01 1.2949e-02 6.3323e+00 8.02462e-01 0.2500 6.3323e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9217e+02 1.3327e+00 4.4816e+01 4.2679e+00 3.27080e+00 0.5000 ---- 3\n", - " 2 4.2539e+02 1.3732e+00 3.6336e+01 6.0659e+00 2.52046e+00 0.5000 2.2786e+02 3\n", - " 3 3.4352e+02 1.2834e+00 2.5338e+01 8.8851e+00 1.76627e+00 0.5000 2.1841e+02 3\n", - " 4 2.6905e+02 1.1538e+00 1.6113e+01 1.0677e+01 1.61619e+00 0.5000 1.6716e+02 3\n", - " 5 2.1033e+02 1.0645e+00 9.7596e+00 1.1167e+01 1.47920e+00 0.2500 1.1023e+02 3\n", - " 6 1.7774e+02 1.0378e+00 7.5941e+00 1.0076e+01 6.36317e-01 1.0000 8.6756e+01 3\n", - " 7 4.8290e+01 9.9519e-01 1.6937e-01 4.5601e+00 1.33948e+00 0.0625 4.5601e+00 3\n", - " 8 4.8023e+01 9.9508e-01 1.5912e-01 4.5437e+00 8.65301e-01 0.1250 4.5437e+00 3\n", - " 9 4.5330e+01 9.9499e-01 1.4130e-01 4.2922e+00 4.09674e-01 1.0000 4.2922e+00 3\n", - " 10 2.2631e+01 9.9512e-01 1.8211e-01 1.9815e+00 9.86599e-01 0.0625 1.9815e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.7062e+02 1.7996e+00 4.4567e+01 2.3146e+00 3.73745e+00 0.2500 ---- 3\n", - " 2 4.1405e+02 1.6427e+00 3.7445e+01 3.7953e+00 2.14199e+00 1.0000 1.7894e+02 3\n", - " 3 3.2311e+02 1.3613e+00 2.3158e+01 9.0163e+00 1.43877e+00 0.5000 9.0163e+00 3\n", - " 4 2.9511e+02 1.3609e+00 1.1758e+01 1.7617e+01 1.29180e+00 0.5000 1.7617e+01 3\n", - " 5 2.1449e+02 1.3610e+00 6.1574e+00 1.5155e+01 1.36068e+00 0.5000 1.5155e+01 3\n", - " 6 2.1096e+02 1.3609e+00 2.9656e+00 1.7995e+01 1.39729e+00 0.5000 1.7995e+01 3\n", - " 7 1.8503e+02 1.3610e+00 1.5447e+00 1.6823e+01 1.52220e+00 0.2500 1.6823e+01 3\n", - " 8 1.5512e+02 1.3608e+00 1.2374e+00 1.4139e+01 8.60136e-01 1.0000 1.4139e+01 3\n", - " 9 1.3504e+02 1.3614e+00 5.4225e-02 1.3314e+01 1.60796e+00 0.1250 1.3314e+01 3\n", - " 10 1.2395e+02 1.3612e+00 5.0583e-02 1.2208e+01 1.40202e+00 0.1250 1.2208e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.2738e+02 2.4256e+00 5.0954e+01 1.1541e+01 3.64597e+00 0.5000 ---- 3\n", - " 2 4.8848e+02 2.1710e+00 3.8083e+01 1.0548e+01 3.75818e+00 0.2500 1.5094e+02 3\n", - " 3 4.3494e+02 2.1842e+00 3.2920e+01 1.0356e+01 1.66005e+00 1.0000 1.9997e+02 3\n", - " 4 2.9721e+02 1.8460e+00 7.0326e+00 2.2504e+01 3.02446e+00 0.1250 4.9886e+01 3\n", - " 5 2.6600e+02 1.8443e+00 6.8881e+00 1.9527e+01 1.61878e+00 0.5000 5.3861e+01 3\n", - " 6 2.5200e+02 1.8452e+00 6.1757e+00 1.8840e+01 1.64285e+00 0.5000 5.3888e+01 3\n", - " 7 2.2427e+02 1.8694e+00 9.1362e+00 1.3104e+01 1.98247e+00 0.2500 8.4311e+01 3\n", - " 8 2.1674e+02 1.8752e+00 9.5344e+00 1.1953e+01 7.56558e-01 1.0000 9.3694e+01 3\n", - " 9 1.0254e+02 1.8341e+00 1.9971e+00 8.0732e+00 2.09626e+00 0.1250 2.3341e+01 3\n", - " 10 9.9847e+01 1.8327e+00 2.0528e+00 7.7486e+00 1.04840e+00 0.2500 2.5339e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.6755e+02 3.2134e+00 6.2754e+01 1.3679e+01 4.18916e+00 0.5000 ---- 3\n", - " 2 5.6133e+02 2.8302e+00 4.2828e+01 1.3021e+01 4.28842e+00 0.2500 1.4367e+02 3\n", - " 3 5.2805e+02 2.8668e+00 3.6946e+01 1.5571e+01 2.00414e+00 1.0000 2.1679e+02 3\n", - " 4 3.9999e+02 2.5669e+00 1.9129e+01 2.0613e+01 4.26846e+00 0.1250 1.5616e+02 3\n", - " 5 3.9112e+02 2.5905e+00 2.0141e+01 1.8712e+01 2.22806e+00 0.2500 1.7832e+02 3\n", - " 6 3.5545e+02 2.5556e+00 1.7269e+01 1.8020e+01 1.29977e+00 0.5000 1.5951e+02 3\n", - " 7 2.8633e+02 2.4689e+00 9.9053e+00 1.8481e+01 1.57130e+00 0.2500 9.4689e+01 3\n", - " 8 2.3830e+02 2.4555e+00 8.1114e+00 1.5473e+01 9.58208e-01 1.0000 8.0794e+01 3\n", - " 9 2.2636e+02 2.4272e+00 3.0357e+00 1.9358e+01 2.50703e+00 0.1250 2.3634e+01 3\n", - " 10 2.0681e+02 2.4256e+00 3.3580e+00 1.7080e+01 1.37107e+00 0.2500 2.7264e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 9.5885e+02 4.1800e+00 6.9739e+01 2.5728e+01 4.51243e+00 0.5000 ---- 3\n", - " 2 7.8057e+02 3.5963e+00 4.5568e+01 3.2130e+01 4.64572e+00 0.2500 1.2178e+02 25\n", - " 3 6.1440e+02 3.6045e+00 3.5995e+01 2.5085e+01 2.66279e+00 0.5000 2.0522e+02 25\n", - " 4 4.8114e+02 3.3982e+00 2.6615e+01 2.1159e+01 3.23672e+00 0.2500 1.7983e+02 25\n", - " 5 4.4915e+02 3.4111e+00 2.3516e+01 2.1058e+01 1.85405e+00 0.5000 2.0529e+02 25\n", - " 6 3.4845e+02 3.2786e+00 1.8383e+01 1.6135e+01 2.28507e+00 0.2500 1.5945e+02 20\n", - " 7 3.4426e+02 3.2833e+00 1.9083e+01 1.5015e+01 1.31419e+00 0.5000 1.7007e+02 16\n", - " 8 3.1345e+02 3.2042e+00 1.3161e+01 1.7864e+01 1.92069e+00 0.2500 1.2842e+02 14\n", - " 9 2.8592e+02 3.2072e+00 1.2006e+01 1.6265e+01 1.02416e+00 0.5000 1.3492e+02 12\n", - " 10 2.1373e+02 3.1626e+00 8.4807e+00 1.2576e+01 1.79235e+00 0.1250 1.0189e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.0558e+03 5.3087e+00 8.3440e+01 2.1604e+01 4.24203e+00 0.5000 ---- 25\n", - " 2 6.8892e+02 4.4280e+00 4.8876e+01 1.9573e+01 3.86866e+00 0.5000 1.1215e+02 25\n", - " 3 6.8250e+02 4.2191e+00 3.1685e+01 3.6143e+01 3.59285e+00 0.2500 1.4908e+02 25\n", - " 4 6.3947e+02 4.3630e+00 3.4247e+01 2.9264e+01 2.43012e+00 0.5000 2.4903e+02 25\n", - " 5 5.2609e+02 4.6459e+00 3.5223e+01 1.6921e+01 4.20345e+00 0.0625 3.6059e+02 25\n", - " 6 5.1188e+02 4.6147e+00 3.4570e+01 1.6157e+01 2.62291e+00 0.2500 3.5739e+02 24\n", - " 7 4.9121e+02 4.6108e+00 3.3157e+01 1.5503e+01 1.81202e+00 0.5000 3.6204e+02 21\n", - " 8 4.8241e+02 4.4824e+00 2.8169e+01 1.9625e+01 3.55389e+00 0.1250 3.2767e+02 16\n", - " 9 4.7691e+02 4.5009e+00 2.8861e+01 1.8380e+01 1.05186e+00 1.0000 3.3792e+02 13\n", - " 10 4.5166e+02 3.8933e+00 6.5781e+00 3.8198e+01 2.60758e+00 0.2500 5.9315e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.5311e+03 6.5485e+00 8.9301e+01 6.3150e+01 6.08399e+00 0.5000 ---- 3\n", - " 2 1.1120e+03 6.0633e+00 6.4014e+01 4.6580e+01 6.65900e+00 0.2500 3.3469e+02 3\n", - " 3 9.8651e+02 7.0282e+00 6.0488e+01 3.7460e+01 3.69246e+00 0.5000 5.9054e+02 25\n", - " 4 8.1562e+02 6.9698e+00 5.6000e+01 2.4866e+01 5.33207e+00 0.1250 6.1633e+02 25\n", - " 5 8.0376e+02 6.9371e+00 5.5532e+01 2.4151e+01 2.42884e+00 0.5000 6.1983e+02 24\n", - " 6 6.7043e+02 6.0175e+00 3.6843e+01 2.9598e+01 4.22054e+00 0.1250 4.6717e+02 17\n", - " 7 6.5251e+02 6.0530e+00 3.7746e+01 2.6900e+01 1.14908e+00 1.0000 4.8062e+02 15\n", - " 8 3.3528e+02 4.7395e+00 2.7815e+00 3.0272e+01 2.15385e+00 0.2500 3.0272e+01 25\n", - " 9 3.2447e+02 4.7396e+00 3.1153e+00 2.8858e+01 1.41861e+00 0.2500 2.8858e+01 25\n", - " 10 2.8385e+02 4.7389e+00 3.0189e+00 2.4892e+01 9.67813e-01 0.5000 2.7825e+01 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.2631e+03 7.8321e+00 9.1971e+01 3.3557e+01 5.70631e+00 0.5000 ---- 25\n", - " 2 1.0736e+03 6.9081e+00 6.8040e+01 3.8627e+01 6.95782e+00 0.2500 2.5229e+02 25\n", - " 3 1.0115e+03 7.7074e+00 5.9001e+01 4.1377e+01 3.82919e+00 0.5000 5.2596e+02 22\n", - " 4 9.7594e+02 8.4553e+00 6.7196e+01 2.9553e+01 5.97956e+00 0.1250 6.7965e+02 23\n", - " 5 9.4945e+02 8.5601e+00 6.7029e+01 2.7060e+01 2.69402e+00 0.5000 7.0553e+02 18\n", - " 6 7.6628e+02 7.8550e+00 5.3405e+01 2.2437e+01 5.61664e+00 0.0625 6.1271e+02 21\n", - " 7 7.5365e+02 7.7977e+00 5.2883e+01 2.1702e+01 3.19854e+00 0.2500 6.0936e+02 20\n", - " 8 7.3186e+02 7.5396e+00 4.9210e+01 2.3222e+01 2.33546e+00 0.5000 5.7675e+02 18\n", - " 9 6.9679e+02 7.4656e+00 4.5563e+01 2.3369e+01 5.38290e+00 0.0625 5.6370e+02 25\n", - " 10 6.8922e+02 7.4400e+00 4.5535e+01 2.2642e+01 2.83015e+00 0.2500 5.6437e+02 14\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.6701e+03 1.0827e+01 1.2416e+02 4.1768e+01 6.33594e+00 0.5000 ---- 25\n", - " 2 1.2300e+03 8.6398e+00 7.1499e+01 5.0640e+01 6.77800e+00 0.1250 4.2075e+02 25\n", - " 3 1.1520e+03 8.5902e+00 6.8423e+01 4.5920e+01 2.86506e+00 1.0000 4.4818e+02 24\n", - " 4 7.2747e+02 6.6769e+00 1.2198e+01 5.9882e+01 3.78760e+00 0.2500 5.9882e+01 22\n", - " 5 6.2639e+02 6.6804e+00 1.1597e+01 5.0374e+01 2.48585e+00 0.5000 5.0374e+01 19\n", - " 6 6.0807e+02 6.7286e+00 1.3323e+01 4.6811e+01 3.57629e+00 0.1250 9.2012e+01 14\n", - " 7 5.7772e+02 6.7493e+00 1.5409e+01 4.1688e+01 1.16039e+00 1.0000 1.1833e+02 14\n", - " 8 3.7814e+02 6.6767e+00 7.7668e-01 3.6370e+01 2.20163e+00 0.2500 3.6370e+01 25\n", - " 9 3.3134e+02 6.6758e+00 7.7520e-01 3.1692e+01 1.10940e+00 0.2500 3.1692e+01 25\n", - " 10 3.1221e+02 6.6756e+00 4.9388e-01 3.0060e+01 7.56996e-01 0.5000 3.0060e+01 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.4448e+03 1.0780e+01 9.8607e+01 4.4794e+01 6.04064e+00 0.5000 ---- 25\n", - " 2 1.2502e+03 8.9148e+00 6.6499e+01 5.7626e+01 4.54952e+00 0.5000 1.0238e+02 25\n", - " 3 1.0374e+03 8.2753e+00 4.1506e+01 6.1407e+01 4.81025e+00 0.2500 7.3098e+01 25\n", - " 4 8.7689e+02 8.2939e+00 3.4380e+01 5.2480e+01 3.77701e+00 0.2500 1.8771e+02 25\n", - " 5 7.4572e+02 8.3356e+00 3.3240e+01 4.0499e+01 2.82084e+00 0.5000 2.5131e+02 19\n", - " 6 6.8092e+02 8.7420e+00 3.6986e+01 3.0232e+01 5.20629e+00 0.0625 3.9456e+02 25\n", - " 7 6.5931e+02 8.6982e+00 3.6800e+01 2.8262e+01 3.77087e+00 0.1250 3.9190e+02 19\n", - " 8 6.4805e+02 8.6372e+00 3.5726e+01 2.8215e+01 1.47022e+00 1.0000 3.8464e+02 18\n", - " 9 5.9894e+02 7.8281e+00 1.1649e+01 4.7462e+01 5.46162e+00 0.0625 1.0765e+02 25\n", - " 10 5.9644e+02 7.8377e+00 1.3984e+01 4.4875e+01 2.98164e+00 0.2500 1.2989e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.8969e+03 1.2527e+01 1.1090e+02 7.7537e+01 7.46200e+00 0.5000 ---- 25\n", - " 2 1.4259e+03 1.0498e+01 6.6795e+01 7.4748e+01 7.01570e+00 0.2500 2.3178e+02 25\n", - " 3 1.3542e+03 1.1116e+01 7.2951e+01 6.1357e+01 5.74373e+00 0.2500 4.8842e+02 20\n", - " 4 1.3500e+03 1.1682e+01 8.4528e+01 4.9299e+01 4.16035e+00 0.5000 6.3660e+02 20\n", - " 5 1.2511e+03 1.3497e+01 8.9297e+01 3.4465e+01 7.15996e+00 0.0625 8.8447e+02 13\n", - " 6 1.2119e+03 1.3253e+01 8.6944e+01 3.2917e+01 5.39996e+00 0.1250 8.6604e+02 11\n", - " 7 1.1594e+03 1.2990e+01 8.3791e+01 3.0848e+01 2.24662e+00 1.0000 8.4543e+02 11\n", - " 8 8.2879e+02 1.0631e+01 4.6297e+01 3.5520e+01 1.14758e+01 0.0312 5.3433e+02 25\n", - " 9 8.1943e+02 1.0737e+01 4.6526e+01 3.4343e+01 8.01391e+00 0.0625 5.6385e+02 25\n", - " 10 8.0528e+02 1.0946e+01 4.7092e+01 3.2341e+01 3.73704e+00 0.2500 6.0477e+02 22\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.0486e+03 1.5910e+01 1.4692e+02 5.6347e+01 8.03404e+00 0.5000 ---- 25\n", - " 2 2.0228e+03 1.3345e+01 1.2843e+02 7.2518e+01 9.68116e+00 0.1250 5.7518e+02 25\n", - " 3 1.9715e+03 1.3896e+01 1.3085e+02 6.4913e+01 4.12967e+00 1.0000 6.9551e+02 17\n", - " 4 1.5375e+03 1.0674e+01 7.6354e+01 7.6325e+01 1.12013e+01 0.1250 3.3119e+02 25\n", - " 5 1.4588e+03 1.3083e+01 7.7265e+01 6.7303e+01 4.75605e+00 0.2500 7.3901e+02 17\n", - " 6 1.1198e+03 1.2402e+01 5.1361e+01 5.9382e+01 3.56996e+00 0.5000 6.5358e+02 11\n", - " 7 1.0844e+03 1.2834e+01 5.8061e+01 4.9095e+01 6.09099e+00 0.1250 7.1818e+02 11\n", - " 8 1.0146e+03 1.2939e+01 5.5493e+01 4.4674e+01 2.65650e+00 0.5000 7.3830e+02 11\n", - " 9 7.3810e+02 1.2099e+01 4.2666e+01 2.9934e+01 6.81476e+00 0.0312 6.1456e+02 9\n", - " 10 7.2993e+02 1.2037e+01 4.2527e+01 2.9262e+01 4.76598e+00 0.0625 6.0865e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.0171e+03 1.7600e+01 1.4958e+02 5.0376e+01 8.09398e+00 0.5000 ---- 25\n", - " 2 1.9204e+03 1.5714e+01 1.1419e+02 7.6275e+01 9.41269e+00 0.2500 7.0045e+02 25\n", - " 3 1.6758e+03 1.7913e+01 9.7423e+01 6.8369e+01 5.15658e+00 0.2500 1.0189e+03 21\n", - " 4 1.4601e+03 1.6316e+01 8.9006e+01 5.5374e+01 4.26963e+00 0.5000 9.0208e+02 16\n", - " 5 1.4574e+03 1.5849e+01 9.6078e+01 4.8075e+01 9.62118e+00 0.0312 8.8950e+02 25\n", - " 6 1.4386e+03 1.5775e+01 9.5844e+01 4.6441e+01 6.78057e+00 0.0625 8.8734e+02 20\n", - " 7 1.3947e+03 1.5551e+01 9.3901e+01 4.4018e+01 3.64867e+00 0.5000 8.6959e+02 12\n", - " 8 1.3690e+03 1.3965e+01 7.8283e+01 5.7215e+01 5.53851e+00 0.1250 7.1130e+02 12\n", - " 9 1.3071e+03 1.3843e+01 7.6924e+01 5.2402e+01 2.56970e+00 1.0000 7.0048e+02 12\n", - " 10 1.2003e+03 1.2519e+01 5.7134e+01 6.1641e+01 1.20116e+01 0.0156 4.7290e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6924e+03 1.8808e+01 1.5892e+02 1.0844e+02 1.62987e+01 0.1250 ---- 3\n", - " 2 2.6485e+03 2.1724e+01 1.7368e+02 8.9004e+01 9.53294e+00 0.2500 9.5231e+02 25\n", - " 3 2.2845e+03 1.9704e+01 1.5753e+02 6.8945e+01 6.91867e+00 0.5000 8.9797e+02 25\n", - " 4 2.2230e+03 2.0571e+01 1.4267e+02 7.7575e+01 8.56822e+00 0.1250 1.1160e+03 18\n", - " 5 2.1260e+03 2.0487e+01 1.4094e+02 6.9613e+01 5.14001e+00 0.2500 1.1326e+03 18\n", - " 6 1.8261e+03 1.9072e+01 1.2630e+02 5.4402e+01 4.61126e+00 0.2500 1.0396e+03 15\n", - " 7 1.6331e+03 1.8081e+01 1.1767e+02 4.3831e+01 4.05371e+00 0.2500 9.7783e+02 11\n", - " 8 1.4515e+03 1.7111e+01 1.0361e+02 3.9822e+01 4.11332e+00 0.2500 8.9619e+02 11\n", - " 9 1.3995e+03 1.6389e+01 9.7098e+01 4.1209e+01 3.96353e+00 0.2500 8.3730e+02 14\n", - " 10 1.3102e+03 1.5679e+01 8.7952e+01 4.1497e+01 3.87397e+00 0.2500 7.6274e+02 13\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.4881e+03 2.1872e+01 1.7505e+02 7.1573e+01 9.17842e+00 0.5000 ---- 25\n", - " 2 2.4841e+03 1.8024e+01 1.4467e+02 1.0194e+02 1.16682e+01 0.1250 6.6137e+02 25\n", - " 3 2.4100e+03 1.9021e+01 1.4965e+02 8.9447e+01 5.62263e+00 0.5000 8.3187e+02 16\n", - " 4 2.1756e+03 1.6615e+01 1.2296e+02 9.2938e+01 8.81648e+00 0.1250 6.5365e+02 11\n", - " 5 2.1596e+03 1.7621e+01 1.3134e+02 8.2853e+01 3.93854e+00 1.0000 7.9960e+02 11\n", - " 6 2.1246e+03 1.7790e+01 1.0886e+02 1.0182e+02 1.82126e+01 0.0156 8.7666e+02 25\n", - " 7 2.1189e+03 1.7841e+01 1.0996e+02 1.0015e+02 1.46700e+01 0.0312 8.9073e+02 25\n", - " 8 2.1171e+03 1.8102e+01 1.1301e+02 9.6890e+01 9.31879e+00 0.0625 9.2641e+02 25\n", - " 9 2.0545e+03 1.8162e+01 1.1299e+02 9.0642e+01 4.68886e+00 0.5000 9.3700e+02 25\n", - " 10 1.6719e+03 1.6319e+01 8.7074e+01 7.8480e+01 6.02128e+00 0.2500 7.4150e+02 17\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9646e+03 2.4518e+01 1.8554e+02 1.0847e+02 9.97001e+00 0.5000 ---- 25\n", - " 2 2.4992e+03 2.6147e+01 1.3806e+02 1.0925e+02 1.18107e+01 0.1250 1.2639e+03 25\n", - " 3 2.3598e+03 2.5641e+01 1.3596e+02 9.7457e+01 7.57784e+00 0.2500 1.2643e+03 12\n", - " 4 2.1447e+03 2.5236e+01 1.3579e+02 7.6156e+01 5.56809e+00 0.2500 1.2854e+03 12\n", - " 5 1.8859e+03 2.3222e+01 1.2684e+02 5.9428e+01 4.87144e+00 0.2500 1.1788e+03 11\n", - " 6 1.6862e+03 2.1569e+01 1.1952e+02 4.6943e+01 4.76908e+00 0.2500 1.0657e+03 13\n", - " 7 1.6655e+03 2.0668e+01 1.1428e+02 5.0208e+01 4.38065e+00 0.2500 1.0112e+03 13\n", - " 8 1.5463e+03 1.9773e+01 1.0668e+02 4.5976e+01 4.35858e+00 0.2500 9.3840e+02 10\n", - " 9 1.5185e+03 1.9119e+01 1.0621e+02 4.3727e+01 4.16230e+00 0.2500 8.8813e+02 11\n", - " 10 1.4409e+03 1.8447e+01 1.0295e+02 3.9288e+01 4.04058e+00 0.2500 8.2137e+02 15\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9002e+03 2.5671e+01 2.2073e+02 6.6719e+01 9.71990e+00 0.2500 ---- 25\n", - " 2 2.6758e+03 2.2621e+01 1.9255e+02 7.2768e+01 7.17329e+00 1.0000 6.6954e+02 25\n", - " 3 2.6266e+03 2.3541e+01 1.4350e+02 1.1680e+02 1.28886e+01 0.1250 1.1258e+03 25\n", - " 4 2.4402e+03 2.3539e+01 1.3769e+02 1.0398e+02 9.21593e+00 0.1250 1.1425e+03 25\n", - " 5 2.2960e+03 2.3219e+01 1.3362e+02 9.3652e+01 5.94077e+00 0.2500 1.1282e+03 25\n", - " 6 2.0295e+03 2.2065e+01 1.2248e+02 7.8263e+01 6.07708e+00 0.2500 1.0445e+03 24\n", - " 7 1.8213e+03 2.2045e+01 1.1553e+02 6.4397e+01 5.28979e+00 0.2500 1.0592e+03 25\n", - " 8 1.6402e+03 2.1717e+01 1.1152e+02 5.0320e+01 4.76958e+00 0.2500 1.0354e+03 23\n", - " 9 1.5577e+03 2.1354e+01 1.1049e+02 4.3146e+01 4.71334e+00 0.2500 1.0137e+03 21\n", - " 10 1.5505e+03 2.0832e+01 1.0471e+02 4.8263e+01 4.63196e+00 0.2500 9.6575e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0778e+03 2.8648e+01 2.2651e+02 7.8406e+01 1.02029e+01 0.2500 ---- 25\n", - " 2 2.6707e+03 2.5306e+01 1.9491e+02 6.9629e+01 7.91465e+00 0.5000 8.3414e+02 25\n", - " 3 2.1857e+03 2.2622e+01 1.3200e+02 8.4309e+01 8.60394e+00 0.1250 8.4383e+02 14\n", - " 4 2.0854e+03 2.2234e+01 1.2863e+02 7.7689e+01 5.37250e+00 0.5000 8.3883e+02 11\n", - " 5 1.9507e+03 2.2043e+01 1.2897e+02 6.3897e+01 1.20418e+01 0.0312 9.1395e+02 14\n", - " 6 1.9426e+03 2.2091e+01 1.2994e+02 6.2111e+01 7.34022e+00 0.1250 9.2715e+02 11\n", - " 7 1.9226e+03 2.2304e+01 1.3143e+02 5.8600e+01 3.41861e+00 0.5000 9.6163e+02 10\n", - " 8 1.6183e+03 1.9476e+01 8.8400e+01 7.1485e+01 8.49644e+00 0.0625 6.6488e+02 25\n", - " 9 1.6164e+03 1.9647e+01 9.2129e+01 6.7547e+01 3.47618e+00 0.5000 6.9680e+02 16\n", - " 10 1.4701e+03 1.8278e+01 6.6561e+01 7.8617e+01 5.38755e+00 0.1250 5.1634e+02 19\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0462e+03 2.6857e+01 1.8110e+02 1.2084e+02 9.03770e+00 0.5000 ---- 25\n", - " 2 2.2899e+03 2.1108e+01 9.7066e+01 1.2981e+02 7.33350e+00 0.5000 2.5811e+02 25\n", - " 3 1.7799e+03 1.9377e+01 5.9452e+01 1.1660e+02 6.31865e+00 0.2500 2.4926e+02 10\n", - " 4 1.6359e+03 1.9351e+01 6.6995e+01 9.4659e+01 4.34636e+00 0.2500 3.5755e+02 10\n", - " 5 1.4558e+03 1.9043e+01 6.0785e+01 8.2892e+01 3.94409e+00 0.2500 3.4268e+02 10\n", - " 6 1.3491e+03 1.8797e+01 5.6877e+01 7.6151e+01 3.67611e+00 0.2500 3.2412e+02 11\n", - " 7 1.2052e+03 1.8597e+01 5.2575e+01 6.6088e+01 3.52879e+00 0.2500 3.0332e+02 14\n", - " 8 1.1241e+03 1.8433e+01 4.6469e+01 6.4096e+01 3.39471e+00 0.2500 2.8081e+02 15\n", - " 9 1.0376e+03 1.8307e+01 4.1455e+01 6.0475e+01 3.21563e+00 0.2500 2.6146e+02 14\n", - " 10 9.6951e+02 1.8200e+01 3.6567e+01 5.8564e+01 3.05187e+00 0.2500 2.4068e+02 13\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.5157e+03 2.7272e+01 1.5339e+02 9.5452e+01 9.11341e+00 0.5000 ---- 25\n", - " 2 2.4114e+03 2.2057e+01 1.0641e+02 1.3253e+02 8.44921e+00 0.5000 1.7685e+02 25\n", - " 3 2.3761e+03 2.2477e+01 1.0266e+02 1.3270e+02 8.98064e+00 0.1250 6.3269e+02 9\n", - " 4 2.2517e+03 2.2416e+01 1.0371e+02 1.1922e+02 6.43916e+00 0.2500 6.6406e+02 8\n", - " 5 2.1144e+03 2.2618e+01 1.1134e+02 9.7837e+01 5.02129e+00 0.2500 7.4211e+02 8\n", - " 6 1.8732e+03 2.2006e+01 1.0296e+02 8.2167e+01 4.58138e+00 0.2500 6.9959e+02 9\n", - " 7 1.7543e+03 2.1550e+01 9.6377e+01 7.6902e+01 4.76124e+00 0.2500 6.6202e+02 9\n", - " 8 1.6739e+03 2.1408e+01 9.5002e+01 7.0251e+01 4.47087e+00 0.2500 6.6179e+02 9\n", - " 9 1.5654e+03 2.1257e+01 9.0464e+01 6.3948e+01 4.46227e+00 0.2500 6.5390e+02 9\n", - " 10 1.5333e+03 2.1154e+01 8.9562e+01 6.1653e+01 4.47269e+00 0.2500 6.5024e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.3449e+03 3.0550e+01 2.2964e+02 1.0180e+02 1.16521e+01 0.5000 ---- 25\n", - " 2 3.1991e+03 3.1218e+01 1.9531e+02 1.2148e+02 1.24265e+01 0.1250 1.1872e+03 25\n", - " 3 2.9949e+03 3.0171e+01 1.8882e+02 1.0765e+02 9.50168e+00 0.1250 1.1569e+03 18\n", - " 4 2.8273e+03 2.9150e+01 1.8252e+02 9.7296e+01 6.26930e+00 0.5000 1.1192e+03 16\n", - " 5 2.6046e+03 2.8328e+01 1.7293e+02 8.4694e+01 1.94652e+01 0.0078 1.1859e+03 9\n", - " 6 2.5949e+03 2.8265e+01 1.7262e+02 8.4042e+01 1.58087e+01 0.0156 1.1848e+03 9\n", - " 7 2.5810e+03 2.8214e+01 1.7250e+02 8.2771e+01 1.07024e+01 0.0625 1.1863e+03 9\n", - " 8 2.5808e+03 2.8608e+01 1.7674e+02 7.8473e+01 3.27958e+00 1.0000 1.2290e+03 9\n", - " 9 1.5446e+03 1.9657e+01 2.5395e+01 1.2710e+02 1.04581e+01 0.0625 1.2710e+02 25\n", - " 10 1.4286e+03 1.9595e+01 2.1657e+01 1.1924e+02 5.23269e+00 0.5000 1.1924e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.3966e+03 2.9545e+01 1.7090e+02 1.6580e+02 1.13261e+01 0.2500 ---- 25\n", - " 2 2.9777e+03 2.6652e+01 1.5971e+02 1.3539e+02 7.12466e+00 1.0000 2.1097e+02 22\n", - " 3 1.7922e+03 2.1431e+01 7.5716e+01 1.0136e+02 1.09357e+01 0.2500 4.0622e+02 25\n", - " 4 1.7718e+03 2.3026e+01 8.9921e+01 8.4959e+01 4.62365e+00 0.5000 6.9438e+02 25\n", - " 5 1.4489e+03 2.1721e+01 4.8386e+01 9.4335e+01 9.32226e+00 0.0312 4.8957e+02 11\n", - " 6 1.4300e+03 2.1757e+01 4.9376e+01 9.1448e+01 5.26868e+00 0.1250 5.0203e+02 12\n", - " 7 1.3349e+03 2.1821e+01 5.0546e+01 8.0761e+01 3.34398e+00 0.5000 5.1687e+02 12\n", - " 8 9.1664e+02 2.1320e+01 4.5391e+01 4.4141e+01 8.17319e+00 0.0156 4.1035e+02 17\n", - " 9 9.1378e+02 2.1302e+01 4.5524e+01 4.3724e+01 6.33671e+00 0.0156 4.0900e+02 13\n", - " 10 9.0699e+02 2.1279e+01 4.5241e+01 4.3330e+01 5.00732e+00 0.0312 4.0517e+02 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7770e+03 3.1399e+01 1.9958e+02 7.4978e+01 1.03855e+01 0.2500 ---- 25\n", - " 2 2.4746e+03 2.8697e+01 1.7480e+02 6.9796e+01 9.59287e+00 0.1250 4.8888e+02 25\n", - " 3 2.3889e+03 2.7574e+01 1.6387e+02 7.2262e+01 6.72552e+00 0.5000 4.7790e+02 25\n", - " 4 2.0502e+03 2.4103e+01 1.2419e+02 7.8413e+01 8.83171e+00 0.0625 3.9107e+02 25\n", - " 5 2.0169e+03 2.4056e+01 1.2577e+02 7.3516e+01 4.05518e+00 1.0000 4.2404e+02 14\n", - " 6 1.6670e+03 2.1150e+01 2.2341e+01 1.4224e+02 6.44006e+00 0.2500 1.4224e+02 25\n", - " 7 1.5230e+03 2.1228e+01 3.4050e+01 1.1613e+02 4.59907e+00 0.2500 1.4503e+02 25\n", - " 8 1.3346e+03 2.1330e+01 3.6218e+01 9.5108e+01 4.37365e+00 0.2500 1.9806e+02 6\n", - " 9 1.2417e+03 2.1479e+01 4.4560e+01 7.7458e+01 3.72787e+00 0.2500 2.6263e+02 6\n", - " 10 1.2243e+03 2.1707e+01 5.5709e+01 6.4553e+01 4.55356e+00 0.1250 3.3175e+02 6\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.2339e+03 3.2110e+01 2.2575e+02 9.4435e+01 9.21274e+00 0.5000 ---- 25\n", - " 2 2.2975e+03 2.5647e+01 1.1162e+02 1.1557e+02 7.04049e+00 0.5000 1.6208e+02 25\n", - " 3 1.8893e+03 2.3399e+01 6.4312e+01 1.2228e+02 4.86235e+00 0.5000 1.2228e+02 12\n", - " 4 1.5306e+03 2.2642e+01 4.8355e+01 1.0244e+02 6.35404e+00 0.1250 1.5882e+02 11\n", - " 5 1.4574e+03 2.2581e+01 4.9989e+01 9.3490e+01 3.93494e+00 0.5000 1.9142e+02 11\n", - " 6 1.3170e+03 2.2333e+01 3.9692e+01 8.9779e+01 8.19990e+00 0.0312 2.2179e+02 25\n", - " 7 1.2994e+03 2.2329e+01 4.1041e+01 8.6670e+01 5.03587e+00 0.1250 2.3152e+02 25\n", - " 8 1.2609e+03 2.2323e+01 4.3432e+01 8.0426e+01 3.29349e+00 0.2500 2.4635e+02 11\n", - " 9 1.1579e+03 2.2194e+01 3.8508e+01 7.5066e+01 3.70390e+00 0.2500 2.1922e+02 11\n", - " 10 1.1152e+03 2.2311e+01 5.0292e+01 5.8997e+01 4.29229e+00 0.1250 2.7892e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.2663e+03 3.2924e+01 2.2686e+02 9.6481e+01 9.45386e+00 1.0000 ---- 25\n", - " 2 3.0293e+03 2.2152e+01 1.0216e+02 1.9855e+02 1.12778e+01 0.5000 1.9855e+02 25\n", - " 3 2.8790e+03 2.3617e+01 1.3293e+02 1.5260e+02 1.90378e+01 0.0156 5.2519e+02 19\n", - " 4 2.8529e+03 2.3706e+01 1.3283e+02 1.5010e+02 9.73464e+00 0.0625 5.5069e+02 15\n", - " 5 2.7613e+03 2.3971e+01 1.3211e+02 1.4163e+02 5.51025e+00 0.5000 5.9880e+02 14\n", - " 6 2.3695e+03 2.4573e+01 1.1825e+02 1.1623e+02 2.69040e+01 0.0039 6.7325e+02 11\n", - " 7 2.3652e+03 2.4556e+01 1.1831e+02 1.1575e+02 2.22713e+01 0.0078 6.7521e+02 12\n", - " 8 2.3608e+03 2.4567e+01 1.1885e+02 1.1478e+02 1.48784e+01 0.0156 6.8246e+02 12\n", - " 9 2.3475e+03 2.4608e+01 1.1950e+02 1.1279e+02 7.55980e+00 0.0625 6.9253e+02 14\n", - " 10 2.2962e+03 2.4691e+01 1.1926e+02 1.0789e+02 4.26735e+00 0.5000 7.0526e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.5927e+03 3.5165e+01 3.1241e+02 1.4335e+02 3.34679e+01 0.0156 ---- 25\n", - " 2 4.5897e+03 3.5091e+01 3.1538e+02 1.4007e+02 1.81136e+01 0.0625 6.8168e+02 25\n", - " 3 4.5568e+03 3.4940e+01 3.2159e+02 1.3059e+02 1.16510e+01 0.2500 7.8931e+02 21\n", - " 4 3.9230e+03 3.2149e+01 2.6378e+02 1.2530e+02 1.65653e+01 0.0312 8.1939e+02 9\n", - " 5 3.8870e+03 3.2123e+01 2.6406e+02 1.2143e+02 6.71907e+00 1.0000 8.5221e+02 10\n", - " 6 2.3908e+03 2.2731e+01 1.2722e+02 1.0959e+02 1.99638e+01 0.0625 1.0959e+02 23\n", - " 7 1.9207e+03 2.3384e+01 8.9244e+01 1.0048e+02 1.02110e+01 0.1250 3.6413e+02 17\n", - " 8 1.6962e+03 2.3694e+01 7.8099e+01 8.9156e+01 4.77879e+00 0.5000 4.5007e+02 15\n", - " 9 1.3949e+03 2.2970e+01 4.0799e+01 9.6393e+01 8.45170e+00 0.0312 2.2452e+02 8\n", - " 10 1.3775e+03 2.2986e+01 4.1853e+01 9.3603e+01 4.00661e+00 0.2500 2.3590e+02 8\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.4175e+03 3.3755e+01 2.0572e+02 1.3266e+02 1.05444e+01 0.5000 ---- 25\n", - " 2 3.2489e+03 2.7614e+01 1.6378e+02 1.5835e+02 1.90874e+01 0.0312 3.2690e+02 25\n", - " 3 3.2402e+03 2.7654e+01 1.6870e+02 1.5255e+02 8.16307e+00 0.2500 3.9365e+02 10\n", - " 4 2.8555e+03 2.6557e+01 1.4771e+02 1.3519e+02 1.82721e+01 0.0156 4.0623e+02 8\n", - " 5 2.8448e+03 2.6553e+01 1.4869e+02 1.3313e+02 6.41239e+00 0.2500 4.2473e+02 9\n", - " 6 2.6020e+03 2.6630e+01 1.4900e+02 1.0854e+02 9.69673e+00 0.0625 5.8025e+02 8\n", - " 7 2.5473e+03 2.6576e+01 1.4978e+02 1.0230e+02 9.51082e+00 0.0625 6.0473e+02 8\n", - " 8 2.5250e+03 2.6678e+01 1.5365e+02 9.6184e+01 3.95663e+00 1.0000 6.4793e+02 8\n", - " 9 2.0058e+03 2.4085e+01 1.2213e+02 7.6045e+01 4.14335e+01 0.0078 3.6802e+02 25\n", - " 10 1.9915e+03 2.3969e+01 1.2250e+02 7.4246e+01 4.18922e+01 0.0039 3.9106e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.5622e+03 3.4718e+01 3.1196e+02 1.4079e+02 4.33500e+01 0.0156 ---- 25\n", - " 2 4.5281e+03 3.4537e+01 3.1181e+02 1.3754e+02 1.90525e+01 0.1250 4.4050e+02 25\n", - " 3 4.4698e+03 3.5233e+01 3.2818e+02 1.1527e+02 1.46922e+01 0.2500 8.2278e+02 25\n", - " 4 4.0970e+03 3.8648e+01 3.3916e+02 6.6673e+01 6.89136e+00 1.0000 1.4235e+03 25\n", - " 5 2.9178e+03 2.3507e+01 1.3984e+02 1.4959e+02 3.19875e+01 0.0625 2.1632e+02 25\n", - " 6 2.4153e+03 2.4645e+01 1.0186e+02 1.3720e+02 1.06699e+01 0.2500 4.7851e+02 25\n", - " 7 2.2945e+03 2.6128e+01 1.0172e+02 1.2511e+02 8.36386e+00 0.1250 7.7410e+02 11\n", - " 8 2.1934e+03 2.6592e+01 1.0416e+02 1.1252e+02 4.07990e+01 0.0078 8.2605e+02 20\n", - " 9 2.1847e+03 2.6680e+01 1.0466e+02 1.1114e+02 1.21661e+01 0.0625 8.4652e+02 9\n", - " 10 2.1681e+03 2.7672e+01 1.0931e+02 1.0474e+02 1.72858e+01 0.0156 9.4968e+02 15\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.3708e+03 3.8291e+01 2.7089e+02 1.6235e+02 2.61547e+01 0.0312 ---- 25\n", - " 2 4.3192e+03 3.8404e+01 2.7265e+02 1.5543e+02 9.19255e+00 1.0000 1.0238e+03 25\n", - " 3 4.2969e+03 2.6421e+01 2.6351e+02 1.6353e+02 4.00748e+01 0.0625 5.7432e+02 25\n", - " 4 4.1531e+03 2.4380e+01 2.6056e+02 1.5232e+02 1.31027e+01 0.2500 4.2523e+02 25\n", - " 5 3.0737e+03 3.0361e+01 1.8160e+02 1.2273e+02 3.73128e+01 0.0312 1.2070e+03 25\n", - " 6 2.3644e+03 2.5729e+01 1.1534e+02 1.1852e+02 1.15095e+01 0.1250 6.5300e+02 19\n", - " 7 2.1862e+03 2.4038e+01 1.0902e+02 1.0719e+02 2.22659e+01 0.0312 3.2634e+02 22\n", - " 8 2.0745e+03 2.3627e+01 1.0336e+02 1.0172e+02 3.66235e+01 0.0625 2.2541e+02 15\n", - " 9 1.9643e+03 2.8674e+01 9.3912e+01 9.9650e+01 2.02928e+01 0.0625 5.5156e+02 13\n", - " 10 1.6385e+03 2.5988e+01 6.7420e+01 9.3828e+01 3.16254e+01 0.0078 6.1087e+02 15\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.5607e+03 3.3947e+01 1.3510e+02 1.1758e+02 3.48952e+01 0.0156 ---- 25\n", - " 2 2.5343e+03 3.3430e+01 1.3491e+02 1.1518e+02 1.63097e+01 0.1250 6.5238e+02 25\n", - " 3 2.2010e+03 3.1639e+01 1.0914e+02 1.0779e+02 8.03543e+00 0.5000 6.0801e+02 20\n", - " 4 2.1886e+03 2.7799e+01 1.0865e+02 1.0743e+02 1.06583e+01 0.2500 4.4690e+02 25\n", - " 5 1.9646e+03 2.5891e+01 1.0024e+02 9.3635e+01 1.87148e+01 0.0625 3.1250e+02 25\n", - " 6 1.5476e+03 2.6402e+01 6.4058e+01 8.8064e+01 7.51140e+00 0.1250 3.9767e+02 9\n", - " 7 1.5433e+03 2.6299e+01 7.2427e+01 7.9277e+01 7.80887e+00 0.0312 4.7457e+02 9\n", - " 8 1.5198e+03 2.6214e+01 7.2530e+01 7.6827e+01 6.64348e+00 0.0625 4.7538e+02 9\n", - " 9 1.4815e+03 2.6093e+01 7.3445e+01 7.2095e+01 5.56309e+00 0.1250 4.8143e+02 9\n", - " 10 1.3975e+03 2.6042e+01 7.3884e+01 6.3261e+01 9.56992e+00 0.0156 5.1405e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.2787e+03 3.5828e+01 2.3265e+02 9.1637e+01 1.67302e+01 0.0312 ---- 25\n", - " 2 3.2445e+03 3.5353e+01 2.3073e+02 9.0189e+01 1.30360e+01 0.1250 5.3291e+02 25\n", - " 3 3.2417e+03 3.3894e+01 2.2604e+02 9.4742e+01 4.21907e+01 0.0156 6.0588e+02 25\n", - " 4 3.2348e+03 3.3951e+01 2.2827e+02 9.1816e+01 1.29965e+01 0.0625 6.6114e+02 11\n", - " 5 3.1657e+03 3.3381e+01 2.2345e+02 8.9781e+01 3.63496e+01 0.0156 6.8486e+02 25\n", - " 6 3.1472e+03 3.3439e+01 2.2492e+02 8.6456e+01 1.62463e+01 0.0312 7.2623e+02 12\n", - " 7 3.1165e+03 3.3257e+01 2.2432e+02 8.4005e+01 2.60326e+01 0.0156 7.4621e+02 12\n", - " 8 3.0961e+03 3.3182e+01 2.2377e+02 8.2516e+01 1.58503e+01 0.0312 7.6133e+02 11\n", - " 9 3.0634e+03 3.3006e+01 2.2296e+02 8.0080e+01 3.05285e+01 0.0156 7.7612e+02 13\n", - " 10 3.0499e+03 3.3025e+01 2.2351e+02 7.8178e+01 2.00107e+01 0.0156 8.0228e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9372e+03 4.3128e+01 3.8103e+02 1.0838e+02 1.99906e+01 0.1250 ---- 25\n", - " 2 4.6855e+03 4.0398e+01 3.5902e+02 1.0549e+02 2.74132e+01 0.0156 8.7947e+02 25\n", - " 3 4.6527e+03 4.0067e+01 3.5702e+02 1.0424e+02 2.81409e+01 0.0156 8.8885e+02 25\n", - " 4 4.6220e+03 3.9786e+01 3.5515e+02 1.0307e+02 1.74803e+01 0.1250 8.9813e+02 25\n", - " 5 4.4820e+03 3.7735e+01 3.4169e+02 1.0274e+02 5.26553e+01 0.0312 9.0951e+02 25\n", - " 6 4.3737e+03 3.8561e+01 3.4013e+02 9.3384e+01 3.16803e+01 0.0156 1.0768e+03 25\n", - " 7 4.3734e+03 3.8564e+01 3.4171e+02 9.1772e+01 1.68950e+01 0.1250 1.1065e+03 9\n", - " 8 4.2320e+03 3.7830e+01 3.2234e+02 9.7070e+01 4.24639e+01 0.1250 1.1288e+03 21\n", - " 9 3.9142e+03 5.6929e+01 2.8899e+02 9.6737e+01 2.89747e+01 0.1250 2.0400e+03 11\n", - " 10 3.0098e+03 3.9877e+01 2.0615e+02 9.0841e+01 2.37838e+01 0.0625 1.1946e+03 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.5911e+03 4.9964e+01 2.4003e+02 1.1409e+02 2.32302e+01 0.0625 ---- 25\n", - " 2 3.5348e+03 4.9950e+01 2.4319e+02 1.0530e+02 3.93638e+01 0.0312 1.6114e+03 25\n", - " 3 3.2036e+03 4.6922e+01 2.1324e+02 1.0243e+02 3.28367e+01 0.0156 1.4477e+03 25\n", - " 4 3.1873e+03 4.7272e+01 2.1352e+02 1.0048e+02 2.86781e+01 0.0078 1.4948e+03 24\n", - " 5 3.1833e+03 4.7124e+01 2.1397e+02 9.9651e+01 2.01460e+01 0.0156 1.4990e+03 24\n", - " 6 3.1583e+03 4.6658e+01 2.1310e+02 9.8060e+01 2.69641e+01 0.0078 1.4892e+03 22\n", - " 7 3.1493e+03 4.6469e+01 2.1302e+02 9.7262e+01 1.49990e+01 0.1250 1.4890e+03 22\n", - " 8 3.0219e+03 4.3384e+01 2.0937e+02 8.8487e+01 4.22143e+01 0.0156 1.4058e+03 25\n", - " 9 3.0101e+03 4.3285e+01 2.1132e+02 8.5362e+01 3.90582e+01 0.0039 1.4390e+03 14\n", - " 10 3.0035e+03 4.3194e+01 2.1126e+02 8.4777e+01 2.57601e+01 0.0078 1.4397e+03 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9784e+03 5.0324e+01 2.8434e+02 1.0847e+02 1.97348e+01 0.2500 ---- 25\n", - " 2 3.7186e+03 3.7408e+01 2.2605e+02 1.4207e+02 4.84488e+01 0.0312 8.8890e+02 25\n", - " 3 3.5714e+03 3.9723e+01 2.1676e+02 1.3641e+02 1.76122e+01 0.0625 1.1912e+03 25\n", - " 4 3.4730e+03 3.8670e+01 2.1649e+02 1.2694e+02 1.69037e+01 0.0625 1.1951e+03 25\n", - " 5 3.4163e+03 3.7985e+01 2.1860e+02 1.1924e+02 1.50144e+01 0.0625 1.2191e+03 25\n", - " 6 3.3424e+03 3.7074e+01 2.1767e+02 1.1286e+02 1.41396e+01 0.0625 1.2154e+03 25\n", - " 7 3.2587e+03 3.6160e+01 2.1509e+02 1.0716e+02 1.23405e+01 0.1250 1.2027e+03 25\n", - " 8 3.2554e+03 3.5006e+01 2.1675e+02 1.0528e+02 2.99729e+01 0.0078 1.2125e+03 25\n", - " 9 3.2484e+03 3.4946e+01 2.1718e+02 1.0416e+02 1.82294e+01 0.0156 1.2166e+03 25\n", - " 10 3.2240e+03 3.4753e+01 2.1637e+02 1.0256e+02 1.01001e+01 0.2500 1.2133e+03 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.3314e+03 4.0650e+01 3.9143e+02 1.3765e+02 1.85860e+01 0.1250 ---- 25\n", - " 2 5.0359e+03 3.8561e+01 3.7026e+02 1.2947e+02 1.44647e+01 0.2500 1.1657e+03 25\n", - " 3 4.7827e+03 3.6537e+01 3.6029e+02 1.1433e+02 1.36127e+01 0.1250 1.3021e+03 25\n", - " 4 4.4854e+03 3.5234e+01 3.3947e+02 1.0555e+02 8.90668e+00 0.5000 1.2961e+03 25\n", - " 5 4.1024e+03 3.0267e+01 3.0329e+02 1.0393e+02 4.27990e+01 0.0078 1.1206e+03 25\n", - " 6 4.0973e+03 3.0285e+01 3.0439e+02 1.0231e+02 3.60091e+01 0.0078 1.1364e+03 25\n", - " 7 4.0875e+03 3.0295e+01 3.0483e+02 1.0089e+02 2.71029e+01 0.0078 1.1467e+03 25\n", - " 8 4.0701e+03 3.0253e+01 3.0414e+02 9.9849e+01 2.01566e+01 0.0156 1.1486e+03 18\n", - " 9 4.0417e+03 3.0211e+01 3.0299e+02 9.8160e+01 1.25060e+01 0.0625 1.1521e+03 19\n", - " 10 3.9449e+03 3.0080e+01 2.9920e+02 9.2286e+01 7.44980e+00 1.0000 1.1560e+03 13\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.7102e+03 3.4378e+01 3.7317e+02 2.9441e+02 3.73015e+01 0.1250 ---- 25\n", - " 2 6.1405e+03 5.6476e+01 3.5898e+02 2.4942e+02 1.57369e+01 0.5000 2.3284e+03 25\n", - " 3 5.7939e+03 6.2710e+01 3.8563e+02 1.8749e+02 3.79246e+01 0.0312 2.7795e+03 16\n", - " 4 5.5878e+03 7.2175e+01 3.7084e+02 1.8072e+02 1.44837e+01 0.1250 3.1182e+03 9\n", - " 5 5.2437e+03 8.5757e+01 3.5601e+02 1.5978e+02 3.97124e+01 0.0312 3.5687e+03 10\n", - " 6 5.0045e+03 9.6868e+01 3.3595e+02 1.5481e+02 1.83985e+01 0.5000 3.8790e+03 10\n", - " 7 4.6634e+03 4.8633e+02 3.0987e+02 1.0783e+02 1.69182e+01 0.2500 9.4377e+03 25\n", - " 8 3.2039e+03 2.9244e+02 1.9988e+02 9.1263e+01 1.28553e+01 0.2500 7.2283e+03 15\n", - " 9 2.4489e+03 1.8144e+02 1.5596e+02 7.0784e+01 3.53384e+01 0.0625 5.4544e+03 25\n", - " 10 1.9771e+03 1.4366e+02 1.2768e+02 5.5662e+01 3.80581e+01 0.0312 4.6066e+03 13\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7882e+03 1.5216e+02 1.9449e+02 6.9115e+01 1.40488e+01 0.1250 ---- 25\n", - " 2 2.4562e+03 1.2319e+02 1.6983e+02 6.3472e+01 1.14135e+01 0.2500 4.2201e+03 17\n", - " 3 2.2386e+03 7.7503e+01 1.4709e+02 6.9017e+01 2.30674e+01 0.0156 3.0852e+03 25\n", - " 4 2.2236e+03 7.4980e+01 1.4689e+02 6.7971e+01 3.51826e+01 0.0078 3.0079e+03 25\n", - " 5 2.2217e+03 7.3434e+01 1.4773e+02 6.7102e+01 3.74020e+01 0.0078 2.9600e+03 25\n", - " 6 2.2184e+03 7.1933e+01 1.4856e+02 6.6088e+01 8.34779e+00 0.2500 2.9130e+03 20\n", - " 7 1.7598e+03 5.1650e+01 1.0691e+02 6.3903e+01 8.64720e+00 0.1250 2.2847e+03 24\n", - " 8 1.5438e+03 4.8422e+01 8.8555e+01 6.0985e+01 3.54187e+01 0.0078 2.1839e+03 25\n", - " 9 1.5308e+03 4.8585e+01 8.7738e+01 6.0484e+01 2.35269e+01 0.0078 2.1999e+03 16\n", - " 10 1.5203e+03 4.8433e+01 8.7165e+01 6.0018e+01 1.26707e+01 0.0156 2.1980e+03 15\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7398e+03 5.3621e+01 1.8026e+02 8.8351e+01 1.27797e+01 0.2500 ---- 25\n", - " 2 2.4692e+03 4.1373e+01 1.6120e+02 8.1584e+01 9.37416e+00 0.2500 1.7590e+03 25\n", - " 3 2.1599e+03 3.4133e+01 1.2516e+02 8.7413e+01 1.93136e+01 0.0078 1.4448e+03 12\n", - " 4 2.1540e+03 3.3982e+01 1.2526e+02 8.6747e+01 1.55535e+01 0.0156 1.4395e+03 12\n", - " 5 2.1465e+03 3.3730e+01 1.2584e+02 8.5438e+01 1.08275e+01 0.0312 1.4308e+03 12\n", - " 6 2.1185e+03 3.3160e+01 1.2565e+02 8.2877e+01 7.10329e+00 0.2500 1.4052e+03 11\n", - " 7 2.0487e+03 2.9450e+01 1.3602e+02 6.5904e+01 6.42379e+00 0.2500 1.2254e+03 11\n", - " 8 1.9121e+03 2.7044e+01 1.2357e+02 6.4931e+01 8.46302e+00 0.0625 1.0861e+03 25\n", - " 9 1.8862e+03 2.6583e+01 1.2347e+02 6.2495e+01 4.61492e+00 0.5000 1.0577e+03 13\n", - " 10 1.7267e+03 2.1639e+01 8.3670e+01 8.6832e+01 4.38387e+00 0.5000 5.4900e+02 14\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.6298e+03 2.8230e+01 1.8358e+02 1.7658e+02 1.24567e+01 0.2500 ---- 25\n", - " 2 3.1332e+03 2.5508e+01 1.7462e+02 1.3614e+02 8.78596e+00 0.2500 4.2591e+02 25\n", - " 3 2.7809e+03 2.3767e+01 1.6387e+02 1.1185e+02 6.64815e+00 0.5000 4.7329e+02 25\n", - " 4 2.1756e+03 2.2022e+01 1.3852e+02 7.6839e+01 7.29502e+00 0.1250 5.8112e+02 25\n", - " 5 2.0859e+03 2.1782e+01 1.3519e+02 7.1216e+01 4.94731e+00 0.2500 5.8616e+02 20\n", - " 6 1.8931e+03 2.1078e+01 1.1950e+02 6.7701e+01 4.68683e+00 0.2500 5.3058e+02 13\n", - " 7 1.7340e+03 2.0653e+01 1.0787e+02 6.3471e+01 4.36926e+00 0.2500 5.0379e+02 12\n", - " 8 1.5523e+03 2.0296e+01 9.3577e+01 5.9623e+01 4.33166e+00 0.2500 4.7047e+02 12\n", - " 9 1.4820e+03 2.0049e+01 8.5604e+01 6.0588e+01 4.28424e+00 0.2500 4.4895e+02 11\n", - " 10 1.3552e+03 1.9827e+01 7.4382e+01 5.9159e+01 3.99741e+00 0.2500 4.2164e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.2336e+03 2.7287e+01 2.2152e+02 9.9116e+01 1.00783e+01 0.2500 ---- 25\n", - " 2 2.8694e+03 2.4182e+01 1.8725e+02 9.7273e+01 8.12008e+00 1.0000 3.8308e+02 25\n", - " 3 2.6720e+03 2.6196e+01 1.6466e+02 9.9926e+01 1.37489e+01 0.2500 1.2346e+03 25\n", - " 4 2.5191e+03 2.8165e+01 1.6214e+02 8.6955e+01 7.93707e+00 0.2500 1.3808e+03 20\n", - " 5 2.4962e+03 2.8127e+01 1.6501e+02 8.1798e+01 6.67750e+00 0.2500 1.3838e+03 9\n", - " 6 2.4246e+03 2.8021e+01 1.6813e+02 7.1532e+01 6.16198e+00 0.2500 1.3881e+03 9\n", - " 7 2.3460e+03 2.7629e+01 1.6375e+02 6.8082e+01 5.76230e+00 0.2500 1.3617e+03 9\n", - " 8 2.3289e+03 2.7270e+01 1.6716e+02 6.3007e+01 5.55450e+00 0.2500 1.3453e+03 9\n", - " 9 2.2439e+03 2.6702e+01 1.6236e+02 5.9362e+01 5.49397e+00 0.1250 1.3029e+03 8\n", - " 10 2.1201e+03 2.5495e+01 1.5438e+02 5.5077e+01 2.21925e+00 1.0000 1.2173e+03 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8654e+03 2.5236e+01 1.4965e+02 1.3436e+02 2.27495e+01 0.0156 ---- 3\n", - " 2 2.8405e+03 2.5029e+01 1.5050e+02 1.3104e+02 1.90239e+01 0.0312 2.6589e+02 25\n", - " 3 2.7970e+03 2.4697e+01 1.5258e+02 1.2465e+02 1.43236e+01 0.1250 2.9643e+02 25\n", - " 4 2.6595e+03 2.3804e+01 1.6101e+02 1.0256e+02 9.09398e+00 0.5000 4.2208e+02 25\n", - " 5 2.1215e+03 1.9764e+01 1.1478e+02 9.5391e+01 9.25311e+00 0.1250 3.6103e+02 10\n", - " 6 2.1121e+03 1.9928e+01 1.2396e+02 8.5255e+01 4.81707e+00 0.5000 4.8489e+02 10\n", - " 7 1.4901e+03 1.8492e+01 9.0481e+01 5.6675e+01 7.93796e+00 0.0625 4.2103e+02 11\n", - " 8 1.4799e+03 1.8504e+01 9.1612e+01 5.4524e+01 3.63212e+00 0.5000 4.4432e+02 11\n", - " 9 1.3852e+03 1.7898e+01 7.1048e+01 6.5687e+01 5.72915e+00 0.1250 4.1377e+02 19\n", - " 10 1.3140e+03 1.7843e+01 6.9934e+01 5.9677e+01 2.82940e+00 0.5000 4.1802e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7096e+03 2.3882e+01 1.5053e+02 1.1805e+02 1.17291e+01 0.2500 ---- 25\n", - " 2 2.4310e+03 2.2322e+01 1.5239e+02 8.8473e+01 8.74124e+00 0.2500 5.5604e+02 25\n", - " 3 2.4005e+03 2.1401e+01 1.6106e+02 7.6847e+01 6.29294e+00 0.5000 6.7287e+02 12\n", - " 4 2.0865e+03 2.0289e+01 1.3644e+02 7.0182e+01 8.12160e+00 0.1250 7.9468e+02 17\n", - " 5 2.0058e+03 2.0076e+01 1.3375e+02 6.4825e+01 4.67748e+00 0.5000 7.9838e+02 14\n", - " 6 1.8779e+03 1.9969e+01 1.2492e+02 6.0875e+01 1.09007e+01 0.0312 8.4765e+02 14\n", - " 7 1.8694e+03 1.9977e+01 1.2546e+02 5.9478e+01 6.83875e+00 0.1250 8.5598e+02 11\n", - " 8 1.8477e+03 2.0260e+01 1.2829e+02 5.4454e+01 3.30973e+00 0.5000 8.9801e+02 16\n", - " 9 1.3801e+03 1.7610e+01 8.6632e+01 4.9621e+01 7.29563e+00 0.0625 5.8661e+02 20\n", - " 10 1.3730e+03 1.7636e+01 8.8193e+01 4.7347e+01 3.44436e+00 0.2500 5.9820e+02 18\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6976e+03 2.3015e+01 1.9741e+02 7.0052e+01 9.01154e+00 0.5000 ---- 25\n", - " 2 2.6609e+03 1.8186e+01 1.6714e+02 9.7131e+01 1.10902e+01 0.1250 4.3696e+02 25\n", - " 3 2.5581e+03 1.8379e+01 1.7031e+02 8.3654e+01 5.69929e+00 1.0000 5.6082e+02 25\n", - " 4 2.1634e+03 1.6273e+01 9.3193e+01 1.2152e+02 1.68279e+01 0.0625 5.6225e+02 12\n", - " 5 2.0938e+03 1.8003e+01 9.2936e+01 1.1464e+02 5.57900e+00 0.5000 8.0993e+02 12\n", - " 6 1.7692e+03 1.6460e+01 7.2302e+01 1.0297e+02 6.14997e+00 0.2500 6.2620e+02 12\n", - " 7 1.7041e+03 1.7128e+01 8.1917e+01 8.6781e+01 4.33678e+00 0.5000 7.2079e+02 12\n", - " 8 1.6622e+03 1.9009e+01 1.0297e+02 6.1346e+01 7.41308e+00 0.1250 9.1954e+02 12\n", - " 9 1.6405e+03 1.9098e+01 1.0489e+02 5.7251e+01 4.35229e+00 0.2500 9.3460e+02 10\n", - " 10 1.4782e+03 1.8382e+01 9.3060e+01 5.2925e+01 4.09505e+00 0.2500 8.5856e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7975e+03 2.3330e+01 1.9885e+02 7.8562e+01 9.70340e+00 0.2500 ---- 25\n", - " 2 2.5997e+03 2.0649e+01 1.8162e+02 7.6287e+01 8.19334e+00 0.5000 7.5398e+02 25\n", - " 3 2.3253e+03 1.9133e+01 1.5272e+02 7.7895e+01 8.45643e+00 0.1250 8.8782e+02 13\n", - " 4 2.2262e+03 1.8900e+01 1.4919e+02 7.1540e+01 4.85292e+00 0.5000 8.9402e+02 13\n", - " 5 2.0161e+03 1.8508e+01 1.4768e+02 5.2077e+01 1.04758e+01 0.0312 9.1723e+02 20\n", - " 6 1.9972e+03 1.8474e+01 1.4734e+02 5.0536e+01 6.91695e+00 0.1250 9.2119e+02 19\n", - " 7 1.9820e+03 1.8803e+01 1.5086e+02 4.5460e+01 2.97501e+00 1.0000 9.6668e+02 16\n", - " 8 1.3440e+03 1.4907e+01 5.7403e+01 7.5507e+01 1.51569e+01 0.0625 5.0547e+02 25\n", - " 9 1.3296e+03 1.6578e+01 6.1339e+01 6.9964e+01 4.45033e+00 0.5000 7.6126e+02 25\n", - " 10 1.3146e+03 1.5755e+01 5.7666e+01 7.2220e+01 5.89701e+00 0.1250 6.7656e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.5468e+03 2.0613e+01 1.5799e+02 9.4630e+01 8.48825e+00 0.5000 ---- 25\n", - " 2 1.9100e+03 1.5819e+01 1.0666e+02 8.2759e+01 9.92611e+00 0.1250 5.0601e+02 25\n", - " 3 1.8497e+03 1.6047e+01 1.1074e+02 7.2624e+01 4.97348e+00 0.5000 6.1095e+02 17\n", - " 4 1.6137e+03 1.3852e+01 8.4111e+01 7.5874e+01 6.41251e+00 0.1250 4.1150e+02 11\n", - " 5 1.5436e+03 1.3973e+01 8.5625e+01 6.7336e+01 2.87162e+00 1.0000 4.6723e+02 12\n", - " 6 7.3691e+02 1.2293e+01 2.6000e+01 4.6461e+01 9.33487e+00 0.0312 1.8204e+02 25\n", - " 7 7.3005e+02 1.2292e+01 2.7266e+01 4.4510e+01 6.93642e+00 0.0625 1.9473e+02 25\n", - " 8 7.1262e+02 1.2308e+01 2.8708e+01 4.1324e+01 4.05810e+00 0.2500 2.1091e+02 22\n", - " 9 6.7879e+02 1.2309e+01 2.6813e+01 3.9836e+01 2.76591e+00 0.2500 2.1504e+02 13\n", - " 10 6.7388e+02 1.2296e+01 2.5912e+01 4.0247e+01 2.48243e+00 0.2500 2.1234e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.7902e+03 1.6674e+01 1.1860e+02 5.8755e+01 8.61145e+00 0.2500 ---- 25\n", - " 2 1.5443e+03 1.4780e+01 9.2204e+01 6.0749e+01 6.77633e+00 0.5000 2.1344e+02 25\n", - " 3 1.3865e+03 1.2774e+01 6.4467e+01 7.2901e+01 7.00986e+00 0.1250 2.9148e+02 15\n", - " 4 1.3252e+03 1.2615e+01 6.4111e+01 6.7146e+01 3.90829e+00 0.5000 3.1674e+02 15\n", - " 5 1.1444e+03 1.1704e+01 4.2445e+01 7.0826e+01 5.47615e+00 0.1250 2.2657e+02 18\n", - " 6 1.0833e+03 1.1675e+01 4.2636e+01 6.4523e+01 2.56478e+00 1.0000 2.4942e+02 16\n", - " 7 1.0730e+03 1.0899e+01 7.2677e+00 9.8937e+01 5.64494e+00 0.2500 9.8937e+01 23\n", - " 8 1.0254e+03 1.1117e+01 1.7485e+01 8.3939e+01 4.58897e+00 0.1250 1.9598e+02 15\n", - " 9 9.4567e+02 1.1136e+01 1.8015e+01 7.5437e+01 2.37965e+00 0.5000 2.1226e+02 11\n", - " 10 8.4085e+02 1.0978e+01 1.2183e+01 7.0804e+01 3.36742e+00 0.2500 1.2790e+02 13\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.1377e+03 1.4900e+01 1.1238e+02 9.9898e+01 8.69505e+00 0.5000 ---- 25\n", - " 2 2.0701e+03 1.2467e+01 1.2236e+02 8.3406e+01 1.05153e+01 0.1250 3.8594e+02 25\n", - " 3 2.0061e+03 1.2879e+01 1.2669e+02 7.2631e+01 4.77160e+00 1.0000 5.3765e+02 25\n", - " 4 1.6621e+03 1.0555e+01 5.2280e+01 1.1288e+02 1.14027e+01 0.0312 3.5177e+02 16\n", - " 5 1.6394e+03 1.0588e+01 5.3565e+01 1.0932e+02 8.46073e+00 0.1250 3.7184e+02 14\n", - " 6 1.6322e+03 1.1295e+01 6.4811e+01 9.7275e+01 3.84766e+00 0.5000 5.2067e+02 12\n", - " 7 1.2074e+03 1.0482e+01 4.1248e+01 7.8443e+01 5.40046e+00 0.1250 3.5652e+02 14\n", - " 8 1.1498e+03 1.0608e+01 4.4184e+01 6.9733e+01 2.20680e+00 1.0000 3.9241e+02 13\n", - " 9 7.0100e+02 9.7782e+00 1.0546e+01 5.8576e+01 6.60425e+00 0.1250 6.6917e+01 25\n", - " 10 6.7066e+02 9.8626e+00 1.4467e+01 5.1613e+01 2.89854e+00 0.2500 1.5046e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.9400e+03 1.3186e+01 1.1564e+02 7.7039e+01 6.98561e+00 0.5000 ---- 25\n", - " 2 1.4324e+03 1.0290e+01 6.8990e+01 7.3222e+01 5.09969e+00 0.5000 9.8756e+01 25\n", - " 3 1.2724e+03 9.3031e+00 3.8766e+01 8.7545e+01 3.70633e+00 0.5000 8.7545e+01 13\n", - " 4 1.0364e+03 9.0074e+00 3.1540e+01 7.1201e+01 4.72045e+00 0.2500 1.2493e+02 13\n", - " 5 8.8980e+02 9.1941e+00 3.1480e+01 5.6580e+01 3.40417e+00 0.2500 2.6323e+02 14\n", - " 6 7.2052e+02 9.2586e+00 2.6401e+01 4.4725e+01 3.25815e+00 0.2500 3.0379e+02 16\n", - " 7 6.9292e+02 9.2592e+00 2.8904e+01 3.9462e+01 2.89832e+00 0.2500 3.1693e+02 18\n", - " 8 6.4867e+02 9.1907e+00 2.7357e+01 3.6591e+01 2.63774e+00 0.2500 3.0633e+02 16\n", - " 9 5.9133e+02 9.1016e+00 2.5173e+01 3.3050e+01 2.45278e+00 0.2500 2.8461e+02 13\n", - " 10 5.5704e+02 9.0116e+00 2.3932e+01 3.0871e+01 2.66766e+00 0.1250 2.6018e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.6880e+03 1.1831e+01 1.1841e+02 4.9209e+01 6.49288e+00 0.5000 ---- 25\n", - " 2 1.0681e+03 9.1008e+00 5.5268e+01 5.0630e+01 5.98621e+00 0.2500 1.3691e+02 25\n", - " 3 9.4749e+02 8.6528e+00 4.6011e+01 4.7872e+01 3.85589e+00 0.5000 1.5465e+02 25\n", - " 4 8.3965e+02 8.2474e+00 3.6266e+01 4.6874e+01 5.82274e+00 0.1250 2.2957e+02 22\n", - " 5 8.3745e+02 8.3265e+00 3.9397e+01 4.3516e+01 1.87112e+00 1.0000 2.8804e+02 17\n", - " 6 4.7787e+02 7.5174e+00 5.0457e+00 4.1990e+01 4.73263e+00 0.1250 4.1990e+01 25\n", - " 7 4.4168e+02 7.5204e+00 6.6764e+00 3.6740e+01 2.00182e+00 0.2500 4.8568e+01 25\n", - " 8 4.1511e+02 7.5134e+00 4.9783e+00 3.5782e+01 1.44417e+00 0.2500 3.6478e+01 16\n", - " 9 3.7107e+02 7.5097e+00 3.8087e+00 3.2547e+01 1.21944e+00 0.5000 3.2547e+01 18\n", - " 10 3.1437e+02 7.5067e+00 2.0113e+00 2.8675e+01 1.72302e+00 0.1250 2.8675e+01 20\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.4196e+03 9.9220e+00 1.0431e+02 3.6655e+01 5.91889e+00 0.5000 ---- 25\n", - " 2 1.3076e+03 7.7342e+00 6.5214e+01 6.4776e+01 5.42074e+00 0.5000 1.0356e+02 25\n", - " 3 1.1270e+03 7.0930e+00 4.2959e+01 6.9036e+01 5.13862e+00 0.2500 1.3962e+02 13\n", - " 4 9.7310e+02 7.2646e+00 3.8119e+01 5.8465e+01 3.44823e+00 0.5000 2.8948e+02 11\n", - " 5 8.3929e+02 7.9636e+00 4.5596e+01 3.7537e+01 5.86358e+00 0.0625 4.9189e+02 25\n", - " 6 8.1257e+02 7.8979e+00 4.4756e+01 3.5711e+01 4.13956e+00 0.1250 4.8681e+02 18\n", - " 7 7.6535e+02 7.8112e+00 4.3108e+01 3.2646e+01 1.80618e+00 1.0000 4.7730e+02 19\n", - " 8 4.3814e+02 6.6991e+00 2.0913e+01 2.2230e+01 6.66150e+00 0.0312 1.8283e+02 25\n", - " 9 4.2968e+02 6.6920e+00 2.1256e+01 2.1043e+01 5.06595e+00 0.0625 1.8860e+02 25\n", - " 10 4.1587e+02 6.6986e+00 2.1873e+01 1.9045e+01 2.91897e+00 0.1250 1.9986e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.4508e+03 8.6527e+00 1.1333e+02 3.0886e+01 6.14052e+00 0.5000 ---- 25\n", - " 2 1.0972e+03 6.6279e+00 5.6830e+01 5.2227e+01 5.18948e+00 0.5000 1.1449e+02 25\n", - " 3 1.0593e+03 6.1991e+00 3.8117e+01 6.7191e+01 5.34397e+00 0.2500 2.2639e+02 13\n", - " 4 9.8895e+02 6.5546e+00 4.2389e+01 5.5851e+01 3.51731e+00 0.5000 3.8352e+02 13\n", - " 5 9.2776e+02 7.0564e+00 5.2429e+01 3.9642e+01 5.66876e+00 0.1250 5.1663e+02 17\n", - " 6 9.1870e+02 7.1469e+00 5.4331e+01 3.6824e+01 2.42574e+00 0.5000 5.4260e+02 13\n", - " 7 7.8599e+02 6.5878e+00 4.2872e+01 3.5068e+01 4.82537e+00 0.1250 4.3825e+02 25\n", - " 8 7.7556e+02 6.7168e+00 4.5336e+01 3.1549e+01 1.24522e+00 1.0000 4.7112e+02 25\n", - " 9 4.6383e+02 5.4649e+00 6.2459e-01 4.5212e+01 3.17124e+00 0.2500 4.5212e+01 25\n", - " 10 4.5960e+02 5.4634e+00 7.8396e-01 4.4630e+01 1.70437e+00 0.5000 4.4630e+01 8\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.5193e+03 7.0505e+00 9.6104e+01 5.5116e+01 5.53870e+00 0.5000 ---- 25\n", - " 2 1.2250e+03 5.4435e+00 5.7999e+01 6.3958e+01 4.41075e+00 0.5000 1.0981e+02 25\n", - " 3 1.0321e+03 4.9021e+00 3.1753e+01 7.0970e+01 3.14192e+00 0.5000 7.0970e+01 11\n", - " 4 7.5028e+02 4.7083e+00 1.7401e+01 5.7156e+01 3.31176e+00 0.2500 5.7156e+01 12\n", - " 5 6.3995e+02 4.6887e+00 1.4744e+01 4.8781e+01 2.16428e+00 1.0000 8.5012e+01 11\n", - " 6 4.3893e+02 5.1683e+00 2.6813e+01 1.6564e+01 6.22267e+00 0.0625 3.2582e+02 25\n", - " 7 4.3623e+02 5.1648e+00 2.7567e+01 1.5540e+01 4.37679e+00 0.0625 3.3389e+02 25\n", - " 8 4.2649e+02 5.1283e+00 2.7121e+01 1.5015e+01 3.11702e+00 0.1250 3.2792e+02 25\n", - " 9 4.1458e+02 5.0701e+00 2.6151e+01 1.4800e+01 1.18463e+00 1.0000 3.1402e+02 11\n", - " 10 3.7984e+02 4.6033e+00 8.3902e+00 2.9133e+01 4.68814e+00 0.0625 9.3228e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.5576e+03 5.8470e+00 1.0135e+02 5.3829e+01 6.26126e+00 0.5000 ---- 25\n", - " 2 1.2495e+03 4.5467e+00 7.2326e+01 5.2170e+01 5.12499e+00 0.5000 1.4212e+02 25\n", - " 3 1.1266e+03 4.9227e+00 4.9680e+01 6.2492e+01 6.20977e+00 0.2500 4.1669e+02 25\n", - " 4 1.1229e+03 6.7178e+00 5.6617e+01 5.5000e+01 3.93656e+00 0.2500 7.2374e+02 13\n", - " 5 9.8707e+02 6.6067e+00 5.4920e+01 4.3126e+01 2.69056e+00 1.0000 7.1645e+02 10\n", - " 6 7.4164e+02 6.5986e+00 4.9449e+01 2.4056e+01 7.36047e+00 0.0625 7.4423e+02 25\n", - " 7 7.2998e+02 6.5105e+00 4.9236e+01 2.3111e+01 5.51913e+00 0.1250 7.3810e+02 25\n", - " 8 7.2806e+02 6.5642e+00 5.0692e+01 2.1458e+01 2.68442e+00 0.2500 7.4858e+02 12\n", - " 9 6.4733e+02 5.7916e+00 4.3350e+01 2.0803e+01 2.21366e+00 0.5000 6.3606e+02 20\n", - " 10 6.1944e+02 4.6301e+00 3.2021e+01 2.9461e+01 2.97323e+00 0.2500 4.2698e+02 17\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.3973e+03 5.4956e+00 1.0922e+02 2.9957e+01 4.84712e+00 1.0000 ---- 25\n", - " 2 1.1929e+03 2.9291e+00 4.2083e+01 7.6916e+01 4.46373e+00 0.5000 7.6916e+01 25\n", - " 3 8.9005e+02 2.9432e+00 2.0067e+01 6.8643e+01 3.37813e+00 0.5000 6.8643e+01 25\n", - " 4 7.9521e+02 3.1900e+00 2.1405e+01 5.7797e+01 3.97991e+00 0.2500 2.1843e+02 13\n", - " 5 7.4221e+02 3.5039e+00 2.8273e+01 4.5597e+01 2.06278e+00 1.0000 3.3382e+02 14\n", - " 6 5.9469e+02 3.7556e+00 3.5320e+01 2.3773e+01 6.14804e+00 0.0625 3.8854e+02 25\n", - " 7 5.7999e+02 3.7334e+00 3.4992e+01 2.2634e+01 4.66020e+00 0.1250 3.8907e+02 25\n", - " 8 5.6557e+02 3.7434e+00 3.4869e+01 2.1314e+01 2.31856e+00 0.2500 3.9606e+02 13\n", - " 9 5.1767e+02 3.4889e+00 2.8400e+01 2.3018e+01 1.30579e+00 1.0000 3.2806e+02 11\n", - " 10 5.1373e+02 3.0214e+00 1.0260e+01 4.0811e+01 3.91450e+00 0.1250 1.3141e+02 16\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.3370e+03 3.6843e+00 8.9385e+01 4.3950e+01 5.80063e+00 0.5000 ---- 3\n", - " 2 1.2133e+03 3.2446e+00 7.4869e+01 4.6139e+01 5.65944e+00 0.5000 3.1704e+02 3\n", - " 3 1.1555e+03 6.1478e+00 7.4436e+01 4.0503e+01 5.95008e+00 0.2500 8.2151e+02 3\n", - " 4 1.0391e+03 7.8530e+00 7.0339e+01 3.2786e+01 2.36042e+00 1.0000 1.0124e+03 3\n", - " 5 4.1214e+02 2.4122e+00 1.2391e+01 2.8581e+01 4.45858e+00 0.1250 1.7171e+02 3\n", - " 6 3.7294e+02 2.4036e+00 1.2192e+01 2.4862e+01 2.72113e+00 0.2500 1.7625e+02 3\n", - " 7 3.4758e+02 2.3548e+00 1.0204e+01 2.4319e+01 1.42057e+00 0.5000 1.4779e+02 3\n", - " 8 3.0678e+02 2.2826e+00 5.4463e+00 2.5003e+01 1.80124e+00 0.2500 8.0864e+01 3\n", - " 9 2.6004e+02 2.2713e+00 4.5931e+00 2.1184e+01 1.11475e+00 0.5000 6.5557e+01 3\n", - " 10 1.6138e+02 2.2576e+00 2.4904e+00 1.3422e+01 1.69040e+00 0.1250 3.5294e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 8.9419e+02 2.7106e+00 7.6052e+01 1.3096e+01 4.71544e+00 0.5000 ---- 3\n", - " 2 6.4230e+02 2.1119e+00 4.6250e+01 1.7769e+01 4.35258e+00 0.2500 1.2255e+02 3\n", - " 3 5.7284e+02 2.0174e+00 3.6141e+01 2.0941e+01 2.36229e+00 0.5000 1.4059e+02 3\n", - " 4 4.5310e+02 1.8158e+00 1.9165e+01 2.5963e+01 2.17664e+00 0.5000 7.8648e+01 3\n", - " 5 3.7771e+02 1.7547e+00 1.0845e+01 2.6751e+01 2.34283e+00 0.2500 6.2128e+01 3\n", - " 6 3.2680e+02 1.7406e+00 8.7851e+00 2.3721e+01 1.36661e+00 1.0000 5.7306e+01 3\n", - " 7 2.4728e+02 1.6997e+00 1.0233e+00 2.3535e+01 2.86898e+00 0.1250 2.3535e+01 3\n", - " 8 2.2812e+02 1.6987e+00 1.0424e+00 2.1600e+01 2.30425e+00 0.1250 2.1600e+01 3\n", - " 9 2.1559e+02 1.6981e+00 9.4736e-01 2.0441e+01 1.70655e+00 0.1250 2.0441e+01 3\n", - " 10 2.0108e+02 1.6978e+00 8.3349e-01 1.9105e+01 1.05598e+00 0.5000 1.9105e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.8924e+02 2.0025e+00 6.9520e+01 9.2037e+00 4.60405e+00 0.5000 ---- 3\n", - " 2 7.1063e+02 1.5617e+00 4.7903e+01 2.3004e+01 3.78906e+00 0.5000 1.2451e+02 3\n", - " 3 6.9272e+02 1.5193e+00 2.9512e+01 3.9608e+01 3.10326e+00 0.5000 1.8932e+02 3\n", - " 4 5.7487e+02 1.5920e+00 2.4501e+01 3.2827e+01 3.04554e+00 0.5000 2.4173e+02 3\n", - " 5 5.5994e+02 1.6991e+00 2.1910e+01 3.3914e+01 2.93462e+00 0.2500 2.8814e+02 3\n", - " 6 4.6124e+02 1.6191e+00 1.9188e+01 2.6774e+01 1.41662e+00 1.0000 2.6296e+02 3\n", - " 7 2.3268e+02 1.2461e+00 4.6460e-01 2.2679e+01 2.57418e+00 0.1250 2.2679e+01 3\n", - " 8 2.2054e+02 1.2455e+00 4.2635e-01 2.1503e+01 2.29722e+00 0.1250 2.1503e+01 3\n", - " 9 2.0963e+02 1.2450e+00 3.7330e-01 2.0465e+01 1.63854e+00 0.2500 2.0465e+01 3\n", - " 10 1.9794e+02 1.2445e+00 2.8340e-01 1.9386e+01 1.10099e+00 0.5000 1.9386e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.5332e+02 1.4437e+00 6.1484e+01 1.3704e+01 4.44311e+00 0.5000 ---- 3\n", - " 2 6.9919e+02 1.2084e+00 4.4805e+01 2.4993e+01 3.66245e+00 0.5000 1.6837e+02 3\n", - " 3 5.6891e+02 1.0797e+00 2.6850e+01 2.9934e+01 2.34693e+00 0.5000 1.6046e+02 3\n", - " 4 4.7360e+02 9.7585e-01 1.4719e+01 3.2543e+01 2.13317e+00 0.5000 1.0773e+02 3\n", - " 5 3.8908e+02 9.2812e-01 8.4021e+00 3.0413e+01 1.85438e+00 0.5000 6.9046e+01 3\n", - " 6 3.7522e+02 9.0759e-01 4.5654e+00 3.2866e+01 1.91106e+00 0.5000 4.0041e+01 3\n", - " 7 3.5855e+02 9.0003e-01 2.5278e+00 3.3237e+01 1.96128e+00 0.2500 3.3237e+01 3\n", - " 8 2.8873e+02 8.9833e-01 1.9258e+00 2.6857e+01 1.37233e+00 1.0000 2.6857e+01 3\n", - " 9 2.8033e+02 8.9760e-01 5.9617e-02 2.7884e+01 2.89670e+00 0.1250 2.7884e+01 3\n", - " 10 2.5585e+02 8.9699e-01 5.4403e-02 2.5441e+01 2.17434e+00 0.2500 2.5441e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.4145e+02 1.0552e+00 5.2307e+01 1.1732e+01 4.07453e+00 0.5000 ---- 3\n", - " 2 6.1643e+02 1.0077e+00 4.4247e+01 1.7295e+01 2.79826e+00 0.5000 2.2037e+02 3\n", - " 3 5.2168e+02 7.6538e-01 2.3940e+01 2.8151e+01 1.86261e+00 0.5000 1.3295e+02 3\n", - " 4 3.7453e+02 6.7657e-01 1.2247e+01 2.5138e+01 1.71299e+00 0.5000 6.6592e+01 3\n", - " 5 3.5215e+02 6.5288e-01 6.2044e+00 2.8946e+01 1.56534e+00 0.5000 3.3361e+01 3\n", - " 6 3.0908e+02 6.4644e-01 3.1159e+00 2.7728e+01 1.60646e+00 0.5000 2.7728e+01 3\n", - " 7 3.0278e+02 6.4449e-01 1.5654e+00 2.8648e+01 1.67452e+00 0.2500 2.8648e+01 3\n", - " 8 2.4315e+02 6.4405e-01 1.1745e+00 2.3076e+01 1.20185e+00 0.5000 2.3076e+01 3\n", - " 9 1.3091e+02 6.4437e-01 5.9488e-01 1.2432e+01 1.52463e+00 0.1250 1.2432e+01 3\n", - " 10 1.3087e+02 6.4420e-01 5.2047e-01 1.2502e+01 1.09735e+00 0.1250 1.2502e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.3204e+02 8.3390e-01 4.8472e+01 4.6493e+00 3.95905e+00 0.2500 ---- 3\n", - " 2 4.5940e+02 7.0639e-01 4.0552e+01 5.3183e+00 2.82711e+00 0.5000 1.8990e+02 25\n", - " 3 3.5501e+02 5.8259e-01 2.5700e+01 9.7429e+00 2.08112e+00 0.2500 9.7437e+01 25\n", - " 4 3.4033e+02 5.5041e-01 1.9453e+01 1.4524e+01 1.42957e+00 1.0000 7.3019e+01 25\n", - " 5 1.3827e+02 5.1209e-01 2.3155e+00 1.1460e+01 1.34017e+00 0.1250 1.1460e+01 25\n", - " 6 1.3547e+02 5.1193e-01 2.0266e+00 1.1470e+01 1.09064e+00 0.0625 1.1470e+01 25\n", - " 7 1.3299e+02 5.1184e-01 1.8999e+00 1.1348e+01 7.10573e-01 1.0000 1.1348e+01 19\n", - " 8 1.1025e+02 5.1234e-01 3.0308e-02 1.0943e+01 1.76561e+00 0.0625 1.0943e+01 25\n", - " 9 1.0604e+02 5.1215e-01 2.8451e-02 1.0524e+01 1.33672e+00 0.0625 1.0524e+01 18\n", - " 10 1.0377e+02 5.1205e-01 2.6697e-02 1.0299e+01 8.57029e-01 0.1250 1.0299e+01 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.5821e+02 7.3027e-01 4.7650e+01 8.0981e+00 3.76655e+00 0.5000 ---- 3\n", - " 2 4.7581e+02 7.1337e-01 3.5707e+01 1.1803e+01 2.39245e+00 0.5000 2.0321e+02 25\n", - " 3 4.1957e+02 5.1556e-01 1.8909e+01 2.2997e+01 2.23892e+00 0.2500 1.0617e+02 25\n", - " 4 3.7672e+02 4.8414e-01 1.4198e+01 2.3426e+01 1.34603e+00 0.5000 7.9707e+01 25\n", - " 5 3.0233e+02 4.5581e-01 7.1973e+00 2.2990e+01 1.22434e+00 0.2500 3.9990e+01 18\n", - " 6 2.6999e+02 4.5179e-01 5.4031e+00 2.1550e+01 8.56478e-01 1.0000 2.9993e+01 11\n", - " 7 1.7414e+02 4.4952e-01 1.1180e-01 1.7258e+01 1.79719e+00 0.1250 1.7258e+01 25\n", - " 8 1.6241e+02 4.4910e-01 9.7964e-02 1.6098e+01 1.20640e+00 0.5000 1.6098e+01 20\n", - " 9 1.3709e+02 4.4943e-01 5.4714e-02 1.3609e+01 1.52315e+00 0.0625 1.3609e+01 23\n", - " 10 1.3506e+02 4.4932e-01 5.1353e-02 1.3409e+01 8.41718e-01 0.1250 1.3409e+01 13\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.4014e+02 6.8110e-01 4.7512e+01 6.4342e+00 3.14940e+00 0.5000 ---- 25\n", - " 2 4.5572e+02 5.3015e-01 3.0144e+01 1.5375e+01 2.42482e+00 0.2500 1.3446e+02 25\n", - " 3 4.0399e+02 4.7054e-01 2.2823e+01 1.7529e+01 1.44999e+00 1.0000 1.0103e+02 20\n", - " 4 3.1224e+02 4.0040e-01 2.8082e+00 2.8375e+01 2.20602e+00 0.2500 2.8375e+01 22\n", - " 5 2.9920e+02 3.9882e-01 2.1077e+00 2.7772e+01 1.00817e+00 0.5000 2.7772e+01 10\n", - " 6 2.9798e+02 3.9789e-01 1.0552e+00 2.8703e+01 8.52217e-01 0.5000 2.8703e+01 12\n", - " 7 2.4993e+02 3.9791e-01 5.2750e-01 2.4426e+01 9.33993e-01 0.2500 2.4426e+01 10\n", - " 8 2.3054e+02 3.9778e-01 3.9600e-01 2.2618e+01 7.87573e-01 0.5000 2.2618e+01 12\n", - " 9 1.7335e+02 3.9828e-01 1.9784e-01 1.7097e+01 1.14251e+00 0.1250 1.7097e+01 11\n", - " 10 1.6869e+02 3.9819e-01 1.7325e-01 1.6656e+01 8.95037e-01 0.5000 1.6656e+01 21\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.3585e+02 6.5207e-01 4.7024e+01 6.4961e+00 2.79567e+00 0.5000 ---- 3\n", - " 2 5.2508e+02 4.4757e-01 2.7962e+01 2.4502e+01 1.72279e+00 0.5000 1.3120e+02 3\n", - " 3 3.9884e+02 3.8295e-01 1.5128e+01 2.4718e+01 1.56368e+00 0.5000 6.6614e+01 3\n", - " 4 3.2548e+02 3.6660e-01 7.7868e+00 2.4724e+01 1.63250e+00 0.2500 3.3512e+01 3\n", - " 5 2.7845e+02 3.6417e-01 5.8533e+00 2.1955e+01 1.36644e+00 0.5000 2.5083e+01 25\n", - " 6 1.8065e+02 3.6352e-01 2.9674e+00 1.5062e+01 1.71678e+00 0.1250 1.5062e+01 25\n", - " 7 1.7763e+02 3.6316e-01 2.5968e+00 1.5130e+01 1.11250e+00 0.5000 1.5130e+01 18\n", - " 8 1.5935e+02 3.6361e-01 1.3016e+00 1.4597e+01 1.73957e+00 0.0625 1.4597e+01 21\n", - " 9 1.5610e+02 3.6346e-01 1.2203e+00 1.4354e+01 1.03929e+00 0.1250 1.4354e+01 13\n", - " 10 1.5069e+02 3.6342e-01 1.0677e+00 1.3965e+01 7.99163e-01 0.1250 1.3965e+01 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.5432e+02 6.4673e-01 4.7578e+01 7.7898e+00 2.93417e+00 1.0000 ---- 25\n", - " 2 4.5397e+02 4.7862e-01 2.1087e+01 2.4262e+01 2.61439e+00 0.2500 1.6170e+02 25\n", - " 3 4.1657e+02 4.2124e-01 1.5821e+01 2.5793e+01 1.30779e+00 1.0000 1.2145e+02 18\n", - " 4 3.4367e+02 3.4895e-01 4.3903e-01 3.3893e+01 2.40731e+00 0.2500 3.3893e+01 24\n", - " 5 2.9739e+02 3.4812e-01 3.3450e-01 2.9370e+01 1.19139e+00 0.5000 2.9370e+01 15\n", - " 6 2.8694e+02 3.4774e-01 1.7398e-01 2.8485e+01 8.53179e-01 1.0000 2.8485e+01 11\n", - " 7 2.7295e+02 3.4857e-01 1.5418e-02 2.7245e+01 1.91249e+00 0.2500 2.7245e+01 17\n", - " 8 2.7166e+02 3.4791e-01 1.2199e-02 2.7119e+01 8.46936e-01 0.5000 2.7119e+01 9\n", - " 9 2.7084e+02 3.4785e-01 7.7003e-03 2.7042e+01 8.00758e-01 0.5000 2.7042e+01 10\n", - " 10 2.6591e+02 3.4781e-01 4.6192e-03 2.6551e+01 7.72630e-01 0.5000 2.6551e+01 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.6542e+02 6.1426e-01 4.7832e+01 8.6488e+00 2.62315e+00 1.0000 ---- 3\n", - " 2 4.2819e+02 3.8646e-01 1.4414e+01 2.8366e+01 1.64643e+00 0.5000 1.0930e+02 3\n", - " 3 3.1525e+02 3.4146e-01 7.2135e+00 2.4277e+01 1.10664e+00 1.0000 5.4960e+01 3\n", - " 4 2.4043e+02 3.2733e-01 9.2365e-02 2.3918e+01 2.02942e+00 0.1250 2.3918e+01 3\n", - " 5 2.1820e+02 3.2701e-01 8.0968e-02 2.1707e+01 1.63821e+00 0.2500 2.1707e+01 3\n", - " 6 2.0664e+02 3.2655e-01 6.1510e-02 2.0570e+01 8.53024e-01 0.5000 2.0570e+01 3\n", - " 7 1.7856e+02 3.2654e-01 3.3032e-02 1.7790e+01 7.81910e-01 0.2500 1.7790e+01 3\n", - " 8 1.4200e+02 3.2651e-01 2.4574e-02 1.4143e+01 7.14723e-01 1.0000 1.4143e+01 3\n", - " 9 1.3885e+02 3.2745e-01 4.7461e-03 1.3847e+01 1.59201e+00 0.1250 1.3847e+01 3\n", - " 10 1.2978e+02 3.2712e-01 4.4068e-03 1.2941e+01 1.27446e+00 0.1250 1.2941e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0491e+02 6.0217e-01 4.8377e+01 2.0545e+00 2.47672e+00 1.0000 ---- 3\n", - " 2 3.6750e+02 3.3637e-01 1.4307e+01 2.2409e+01 1.88223e+00 0.5000 7.5745e+01 3\n", - " 3 3.5548e+02 3.1433e-01 7.1362e+00 2.8380e+01 1.24151e+00 1.0000 3.7990e+01 3\n", - " 4 2.5689e+02 3.0837e-01 8.4961e-02 2.5573e+01 2.43461e+00 0.2500 2.5573e+01 3\n", - " 5 2.5435e+02 3.0764e-01 6.6230e-02 2.5338e+01 1.33333e+00 0.2500 2.5338e+01 3\n", - " 6 2.1180e+02 3.0734e-01 5.0340e-02 2.1099e+01 8.95267e-01 1.0000 2.1099e+01 3\n", - " 7 2.0991e+02 3.0828e-01 2.1721e-02 2.0939e+01 1.71043e+00 0.2500 2.0939e+01 3\n", - " 8 1.9064e+02 3.0766e-01 1.7816e-02 1.9015e+01 9.28862e-01 0.5000 1.9015e+01 3\n", - " 9 1.5940e+02 3.0739e-01 1.1744e-02 1.5898e+01 7.53493e-01 0.5000 1.5898e+01 3\n", - " 10 1.0173e+02 3.0771e-01 6.3977e-03 1.0135e+01 8.49326e-01 0.1250 1.0135e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1634e+02 5.9881e-01 4.8712e+01 2.8625e+00 2.40719e+00 1.0000 ---- 3\n", - " 2 3.3286e+02 3.2890e-01 1.3946e+01 1.9307e+01 1.62321e+00 0.2500 5.7669e+01 3\n", - " 3 2.9659e+02 3.2128e-01 1.0457e+01 1.9170e+01 9.95204e-01 1.0000 4.3269e+01 3\n", - " 4 2.9348e+02 3.1231e-01 1.7811e-01 2.9138e+01 1.74610e+00 0.5000 2.9138e+01 3\n", - " 5 2.7266e+02 3.1157e-01 9.8134e-02 2.7137e+01 1.21314e+00 1.0000 2.7137e+01 3\n", - " 6 2.3845e+02 3.1276e-01 9.8625e-03 2.3804e+01 2.31066e+00 0.2500 2.3804e+01 25\n", - " 7 2.3081e+02 3.1226e-01 1.0283e-02 2.3040e+01 1.18351e+00 0.5000 2.3040e+01 25\n", - " 8 2.2232e+02 3.1181e-01 6.3943e-03 2.2194e+01 1.07833e+00 0.5000 2.2194e+01 25\n", - " 9 2.1775e+02 3.1156e-01 4.2387e-03 2.1739e+01 7.36535e-01 1.0000 2.1739e+01 16\n", - " 10 1.7265e+02 3.1201e-01 7.8777e-03 1.7226e+01 1.37449e+00 0.1250 1.7226e+01 23\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.8794e+02 5.9633e-01 4.8995e+01 9.7393e+00 2.53298e+00 1.0000 ---- 3\n", - " 2 4.2341e+02 3.2551e-01 1.2575e+01 2.9733e+01 1.90445e+00 0.5000 4.5993e+01 3\n", - " 3 3.4095e+02 3.1690e-01 6.2843e+00 2.7779e+01 1.19540e+00 1.0000 2.7779e+01 3\n", - " 4 2.9223e+02 3.1542e-01 6.6545e-02 2.9125e+01 2.16538e+00 0.2500 2.9125e+01 3\n", - " 5 2.5713e+02 3.1479e-01 5.3057e-02 2.5629e+01 1.30184e+00 0.5000 2.5629e+01 3\n", - " 6 2.5074e+02 3.1429e-01 2.7496e-02 2.5015e+01 9.95106e-01 0.5000 2.5015e+01 3\n", - " 7 1.5798e+02 3.1460e-01 1.4642e-02 1.5752e+01 1.03505e+00 0.2500 1.5752e+01 3\n", - " 8 1.3031e+02 3.1462e-01 1.0758e-02 1.2988e+01 7.64348e-01 0.2500 1.2988e+01 3\n", - " 9 1.1525e+02 3.1461e-01 7.9905e-03 1.1486e+01 5.65982e-01 0.2500 1.1486e+01 3\n", - " 10 9.5455e+01 3.1464e-01 5.9079e-03 9.5082e+00 5.57814e-01 0.2500 9.5082e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1457e+02 5.8917e-01 4.9164e+01 2.2341e+00 2.13728e+00 1.0000 ---- 3\n", - " 2 3.4259e+02 3.0989e-01 1.2484e+01 2.1744e+01 1.51113e+00 0.5000 3.7354e+01 3\n", - " 3 2.9968e+02 3.0408e-01 6.2258e+00 2.3711e+01 1.09089e+00 1.0000 2.3711e+01 3\n", - " 4 2.6713e+02 3.0332e-01 5.1553e-02 2.6631e+01 2.05589e+00 0.2500 2.6631e+01 3\n", - " 5 2.5197e+02 3.0277e-01 3.8084e-02 2.5128e+01 1.30968e+00 0.5000 2.5128e+01 3\n", - " 6 2.4109e+02 3.0229e-01 2.2792e-02 2.4056e+01 9.24281e-01 0.5000 2.4056e+01 3\n", - " 7 1.3729e+02 3.0267e-01 1.3279e-02 1.3686e+01 9.37134e-01 0.2500 1.3686e+01 3\n", - " 8 1.3192e+02 3.0259e-01 9.4602e-03 1.3153e+01 6.71097e-01 0.2500 1.3153e+01 3\n", - " 9 1.1000e+02 3.0260e-01 7.2536e-03 1.0962e+01 5.44309e-01 0.5000 1.0962e+01 3\n", - " 10 1.0306e+02 3.0280e-01 3.1455e-03 1.0273e+01 9.35491e-01 0.1250 1.0273e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1326e+02 5.7990e-01 4.9373e+01 1.8952e+00 2.02733e+00 1.0000 ---- 3\n", - " 2 3.1240e+02 2.9882e-01 1.2220e+01 1.8990e+01 1.55372e+00 0.5000 3.1243e+01 3\n", - " 3 3.0791e+02 2.9457e-01 6.0978e+00 2.4664e+01 1.04559e+00 1.0000 2.4664e+01 3\n", - " 4 2.4118e+02 2.9432e-01 4.4589e-02 2.4044e+01 1.86931e+00 0.2500 2.4044e+01 3\n", - " 5 2.1451e+02 2.9374e-01 3.5638e-02 2.1386e+01 1.11286e+00 0.2500 2.1386e+01 3\n", - " 6 1.8059e+02 2.9348e-01 2.6986e-02 1.8002e+01 8.31548e-01 0.5000 1.8002e+01 3\n", - " 7 1.0829e+02 2.9380e-01 1.5684e-02 1.0784e+01 8.90986e-01 0.2500 1.0784e+01 3\n", - " 8 1.0707e+02 2.9358e-01 1.2173e-02 1.0665e+01 5.83396e-01 0.5000 1.0665e+01 3\n", - " 9 7.2049e+01 2.9389e-01 6.4207e-03 7.1691e+00 8.96691e-01 0.1250 7.1691e+00 3\n", - " 10 6.5880e+01 2.9387e-01 5.7058e-03 6.5529e+00 6.74522e-01 0.2500 6.5529e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1583e+02 5.7278e-01 4.8826e+01 2.7002e+00 2.05664e+00 1.0000 ---- 3\n", - " 2 3.4232e+02 2.8829e-01 1.1994e+01 2.2209e+01 1.57924e+00 0.5000 2.6672e+01 3\n", - " 3 3.1739e+02 2.8492e-01 5.9879e+00 2.5722e+01 1.11877e+00 1.0000 2.5722e+01 3\n", - " 4 2.6270e+02 2.8508e-01 4.9941e-02 2.6191e+01 1.87841e+00 0.2500 2.6191e+01 3\n", - " 5 2.3448e+02 2.8454e-01 4.0402e-02 2.3379e+01 1.30819e+00 0.2500 2.3379e+01 3\n", - " 6 2.0503e+02 2.8418e-01 3.0735e-02 2.0443e+01 8.31196e-01 0.5000 2.0443e+01 3\n", - " 7 1.5920e+02 2.8423e-01 1.5724e-02 1.5876e+01 7.77465e-01 0.2500 1.5876e+01 3\n", - " 8 1.2661e+02 2.8418e-01 1.1195e-02 1.2622e+01 6.69322e-01 1.0000 1.2622e+01 3\n", - " 9 1.2322e+02 2.8499e-01 8.1279e-03 1.2285e+01 1.44522e+00 0.1250 1.2285e+01 3\n", - " 10 1.1348e+02 2.8470e-01 7.0464e-03 1.1313e+01 1.23742e+00 0.1250 1.1313e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1968e+02 5.6528e-01 4.9592e+01 2.3193e+00 1.96087e+00 1.0000 ---- 3\n", - " 2 2.8656e+02 2.7980e-01 1.1678e+01 1.6951e+01 1.54036e+00 0.2500 2.3498e+01 3\n", - " 3 2.4333e+02 2.7822e-01 8.7554e+00 1.5550e+01 8.45791e-01 1.0000 1.7625e+01 3\n", - " 4 2.0467e+02 2.7706e-01 9.9841e-02 2.0340e+01 1.59522e+00 0.2500 2.0340e+01 3\n", - " 5 1.7090e+02 2.7662e-01 7.7035e-02 1.6985e+01 7.77292e-01 0.5000 1.6985e+01 3\n", - " 6 1.5643e+02 2.7652e-01 4.0566e-02 1.5574e+01 6.87419e-01 0.5000 1.5574e+01 3\n", - " 7 1.2652e+02 2.7666e-01 2.0954e-02 1.2603e+01 7.16404e-01 0.2500 1.2603e+01 3\n", - " 8 1.1064e+02 2.7659e-01 1.5898e-02 1.1020e+01 5.76889e-01 1.0000 1.1020e+01 3\n", - " 9 9.2123e+01 2.7728e-01 4.6843e-03 9.1799e+00 1.58654e+00 0.1250 9.1799e+00 3\n", - " 10 9.0679e+01 2.7699e-01 4.5404e-03 9.0357e+00 1.20275e+00 0.1250 9.0357e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.2902e+02 5.6200e-01 4.8779e+01 4.0671e+00 2.17105e+00 1.0000 ---- 3\n", - " 2 2.4446e+02 2.7315e-01 1.1800e+01 1.2619e+01 1.58672e+00 0.2500 2.0389e+01 3\n", - " 3 2.2613e+02 2.7195e-01 8.8466e+00 1.3740e+01 9.59709e-01 0.5000 1.5292e+01 3\n", - " 4 1.8386e+02 2.7096e-01 4.4199e+00 1.3939e+01 8.03186e-01 0.5000 1.3939e+01 3\n", - " 5 1.7771e+02 2.7060e-01 2.2090e+00 1.5535e+01 7.33935e-01 0.5000 1.5535e+01 3\n", - " 6 1.5574e+02 2.7061e-01 1.1046e+00 1.4442e+01 6.94964e-01 0.2500 1.4442e+01 3\n", - " 7 1.2577e+02 2.7054e-01 8.2852e-01 1.1722e+01 6.03037e-01 1.0000 1.1722e+01 3\n", - " 8 9.0998e+01 2.7119e-01 6.2360e-03 9.0665e+00 1.47661e+00 0.1250 9.0665e+00 3\n", - " 9 8.9404e+01 2.7093e-01 5.6510e-03 8.9077e+00 1.13246e+00 0.1250 8.9077e+00 3\n", - " 10 8.6380e+01 2.7075e-01 5.0357e-03 8.6059e+00 6.02714e-01 0.2500 8.6059e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1892e+02 5.5431e-01 4.9086e+01 2.7502e+00 1.92027e+00 1.0000 ---- 3\n", - " 2 2.5850e+02 2.6663e-01 1.1458e+01 1.4366e+01 1.60784e+00 0.2500 1.8208e+01 3\n", - " 3 2.3618e+02 2.6556e-01 8.5902e+00 1.5001e+01 9.20534e-01 0.5000 1.5001e+01 3\n", - " 4 1.9257e+02 2.6470e-01 4.2901e+00 1.4940e+01 7.53040e-01 0.5000 1.4940e+01 3\n", - " 5 1.5895e+02 2.6449e-01 2.1445e+00 1.3724e+01 6.22361e-01 0.5000 1.3724e+01 3\n", - " 6 1.4427e+02 2.6448e-01 1.0726e+00 1.3328e+01 6.66707e-01 0.5000 1.3328e+01 3\n", - " 7 1.4307e+02 2.6442e-01 5.3684e-01 1.3743e+01 7.01208e-01 0.2500 1.3743e+01 3\n", - " 8 1.1355e+02 2.6440e-01 4.0273e-01 1.0925e+01 5.88455e-01 1.0000 1.0925e+01 3\n", - " 9 6.9541e+01 2.6501e-01 8.8032e-03 6.9188e+00 1.47688e+00 0.0625 6.9188e+00 3\n", - " 10 6.6474e+01 2.6487e-01 8.2490e-03 6.6127e+00 1.34798e+00 0.0625 6.6127e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0900e+02 5.4917e-01 4.7426e+01 3.4192e+00 1.95434e+00 1.0000 ---- 3\n", - " 2 2.8298e+02 2.5753e-01 1.1509e+01 1.6763e+01 1.45336e+00 0.5000 1.6763e+01 3\n", - " 3 2.5931e+02 2.5595e-01 5.7505e+00 2.0154e+01 9.32518e-01 1.0000 2.0154e+01 3\n", - " 4 2.3056e+02 2.5610e-01 4.4640e-02 2.2986e+01 1.67668e+00 0.2500 2.2986e+01 3\n", - " 5 2.0025e+02 2.5566e-01 3.4364e-02 1.9965e+01 8.28073e-01 0.5000 1.9965e+01 3\n", - " 6 1.4822e+02 2.5566e-01 1.6971e-02 1.4780e+01 7.27658e-01 0.5000 1.4780e+01 3\n", - " 7 1.3080e+02 2.5568e-01 9.0965e-03 1.3045e+01 7.03301e-01 0.2500 1.3045e+01 3\n", - " 8 1.0458e+02 2.5565e-01 7.0214e-03 1.0425e+01 5.04253e-01 1.0000 1.0425e+01 3\n", - " 9 4.8398e+01 2.5622e-01 2.9100e-03 4.8113e+00 1.24909e+00 0.0625 4.8113e+00 3\n", - " 10 4.5798e+01 2.5611e-01 2.7490e-03 4.5515e+00 9.09339e-01 0.1250 4.5515e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.8813e+02 5.4062e-01 4.6795e+01 1.9632e+00 1.80710e+00 1.0000 ---- 3\n", - " 2 2.4864e+02 2.4651e-01 1.1061e+01 1.3778e+01 1.39543e+00 0.5000 1.4879e+01 3\n", - " 3 2.3642e+02 2.4521e-01 5.5199e+00 1.8097e+01 8.58045e-01 1.0000 1.8097e+01 3\n", - " 4 1.7201e+02 2.4541e-01 1.8317e-02 1.7158e+01 1.47537e+00 0.2500 1.7158e+01 3\n", - " 5 1.5584e+02 2.4503e-01 1.4129e-02 1.5545e+01 7.69557e-01 0.5000 1.5545e+01 3\n", - " 6 1.3001e+02 2.4497e-01 8.0016e-03 1.2969e+01 6.12744e-01 0.5000 1.2969e+01 3\n", - " 7 9.9642e+01 2.4503e-01 3.7045e-03 9.9360e+00 5.99886e-01 0.2500 9.9360e+00 3\n", - " 8 8.1938e+01 2.4500e-01 2.6557e-03 8.1667e+00 4.97114e-01 1.0000 8.1667e+00 3\n", - " 9 6.6343e+01 2.4546e-01 3.8897e-03 6.6059e+00 1.35226e+00 0.1250 6.6059e+00 3\n", - " 10 6.4511e+01 2.4525e-01 3.5380e-03 6.4231e+00 6.43444e-01 0.2500 6.4231e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0262e+02 5.3097e-01 4.6649e+01 3.5600e+00 1.78900e+00 1.0000 ---- 3\n", - " 2 2.3391e+02 2.3386e-01 1.1165e+01 1.2202e+01 1.34531e+00 0.2500 1.3449e+01 3\n", - " 3 2.0368e+02 2.3323e-01 8.3719e+00 1.1973e+01 8.79209e-01 0.5000 1.1973e+01 3\n", - " 4 1.6254e+02 2.3272e-01 4.1792e+00 1.2051e+01 7.94537e-01 0.5000 1.2051e+01 3\n", - " 5 1.3993e+02 2.3257e-01 2.0901e+00 1.1879e+01 6.48243e-01 0.5000 1.1879e+01 3\n", - " 6 1.2097e+02 2.3255e-01 1.0450e+00 1.1028e+01 6.59969e-01 0.2500 1.1028e+01 3\n", - " 7 9.7369e+01 2.3251e-01 7.8387e-01 8.9298e+00 4.62277e-01 1.0000 8.9298e+00 3\n", - " 8 5.1030e+01 2.3293e-01 4.3002e-03 5.0754e+00 1.10996e+00 0.1250 5.0754e+00 3\n", - " 9 4.7510e+01 2.3275e-01 3.6430e-03 4.7241e+00 5.15507e-01 0.2500 4.7241e+00 3\n", - " 10 3.5284e+01 2.3273e-01 2.8824e-03 3.5022e+00 6.51739e-01 0.0625 3.5022e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.6835e+02 5.2250e-01 4.4805e+01 1.9780e+00 1.65220e+00 1.0000 ---- 3\n", - " 2 1.9611e+02 2.2120e-01 1.0540e+01 9.0488e+00 1.03335e+00 0.5000 1.2267e+01 3\n", - " 3 1.5156e+02 2.2049e-01 5.2576e+00 9.8766e+00 8.96175e-01 0.2500 9.8766e+00 3\n", - " 4 1.2876e+02 2.2027e-01 3.9432e+00 8.9106e+00 4.39671e-01 1.0000 8.9106e+00 3\n", - " 5 5.8022e+01 2.2051e-01 1.0985e-02 5.7692e+00 1.20700e+00 0.0625 5.7692e+00 3\n", - " 6 5.5538e+01 2.2041e-01 1.0286e-02 5.5214e+00 9.80170e-01 0.0625 5.5214e+00 3\n", - " 7 5.3110e+01 2.2034e-01 9.6297e-03 5.2793e+00 7.62169e-01 0.1250 5.2793e+00 3\n", - " 8 5.2775e+01 2.2026e-01 8.3699e-03 5.2471e+00 3.92798e-01 0.5000 5.2471e+00 3\n", - " 9 3.3583e+01 2.2034e-01 4.0284e-03 3.3323e+00 6.79381e-01 0.0625 3.3323e+00 3\n", - " 10 3.2365e+01 2.2030e-01 3.7800e-03 3.2106e+00 4.62899e-01 0.1250 3.2106e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.4991e+02 5.1543e-01 4.3593e+01 1.3462e+00 1.61718e+00 1.0000 ---- 3\n", - " 2 1.7875e+02 2.1164e-01 1.0480e+01 7.3744e+00 1.03981e+00 0.5000 1.1201e+01 3\n", - " 3 1.7272e+02 2.1090e-01 5.2279e+00 1.2023e+01 5.80503e-01 1.0000 1.2023e+01 3\n", - " 4 1.4399e+02 2.1099e-01 5.9900e-03 1.4372e+01 9.36853e-01 0.2500 1.4372e+01 3\n", - " 5 1.1633e+02 2.1077e-01 4.3579e-03 1.1607e+01 6.32136e-01 0.5000 1.1607e+01 3\n", - " 6 9.5885e+01 2.1074e-01 2.4748e-03 9.5649e+00 4.48548e-01 0.5000 9.5649e+00 3\n", - " 7 7.4015e+01 2.1080e-01 1.4706e-03 7.3790e+00 4.88878e-01 0.2500 7.3790e+00 3\n", - " 8 6.2081e+01 2.1078e-01 1.1470e-03 6.1859e+00 3.20384e-01 1.0000 6.1859e+00 3\n", - " 9 1.6331e+01 2.1108e-01 1.0982e-03 1.6109e+00 6.36589e-01 0.0625 1.6109e+00 3\n", - " 10 1.5625e+01 2.1104e-01 1.0334e-03 1.5403e+00 3.93219e-01 0.2500 1.5403e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2732e+02 5.0891e-01 4.1590e+01 1.0908e+00 1.63472e+00 1.0000 ---- 3\n", - " 2 1.9622e+02 2.0316e-01 1.0231e+01 9.3703e+00 1.00583e+00 0.5000 1.0220e+01 3\n", - " 3 1.5520e+02 2.0250e-01 5.1068e+00 1.0393e+01 7.34246e-01 0.5000 1.0393e+01 3\n", - " 4 1.0244e+02 2.0243e-01 2.5527e+00 7.6716e+00 6.25757e-01 0.5000 7.6716e+00 3\n", - " 5 9.5862e+01 2.0236e-01 1.2756e+00 8.2904e+00 7.12657e-01 0.2500 8.2904e+00 3\n", - " 6 8.2036e+01 2.0229e-01 9.5666e-01 7.2267e+00 4.40895e-01 1.0000 7.2267e+00 3\n", - " 7 3.9571e+01 2.0251e-01 5.5489e-03 3.9313e+00 7.12829e-01 0.1250 3.9313e+00 3\n", - " 8 3.8169e+01 2.0242e-01 4.8784e-03 3.7918e+00 3.13771e-01 0.5000 3.7918e+00 3\n", - " 9 1.7848e+01 2.0242e-01 2.4318e-03 1.7622e+00 4.24175e-01 0.0625 1.7622e+00 3\n", - " 10 1.7443e+01 2.0240e-01 2.2829e-03 1.7217e+00 3.40312e-01 0.1250 1.7217e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1686e+02 5.0247e-01 4.0332e+01 1.3043e+00 1.59506e+00 1.0000 ---- 3\n", - " 2 1.6009e+02 1.9462e-01 1.0010e+01 5.9800e+00 9.38709e-01 0.5000 9.1310e+00 3\n", - " 3 1.1916e+02 1.9419e-01 4.9964e+00 6.8997e+00 6.95316e-01 0.5000 6.8997e+00 3\n", - " 4 1.1848e+02 1.9398e-01 2.4958e+00 9.3326e+00 5.00957e-01 0.5000 9.3326e+00 3\n", - " 5 7.9111e+01 1.9401e-01 1.2481e+00 6.6437e+00 4.75456e-01 0.5000 6.6437e+00 3\n", - " 6 7.6916e+01 1.9400e-01 6.2387e-01 7.0484e+00 5.16736e-01 0.2500 7.0484e+00 3\n", - " 7 6.2973e+01 1.9398e-01 4.6794e-01 5.8100e+00 3.15538e-01 1.0000 5.8100e+00 3\n", - " 8 2.0053e+01 1.9421e-01 1.3556e-03 1.9846e+00 5.67021e-01 0.1250 1.9846e+00 3\n", - " 9 1.7452e+01 1.9417e-01 1.1466e-03 1.7246e+00 4.70794e-01 0.1250 1.7246e+00 3\n", - " 10 1.4508e+01 1.9414e-01 1.0391e-03 1.4304e+00 2.72549e-01 0.5000 1.4304e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8820e+02 4.9771e-01 3.8094e+01 6.7684e-01 1.58294e+00 1.0000 ---- 3\n", - " 2 1.8912e+02 1.8728e-01 9.7143e+00 9.1792e+00 1.01671e+00 1.0000 9.1792e+00 3\n", - " 3 1.4922e+02 1.8688e-01 7.8301e-02 1.4825e+01 1.40751e+00 0.2500 1.4825e+01 3\n", - " 4 1.2034e+02 1.8670e-01 5.9309e-02 1.1956e+01 7.40595e-01 0.5000 1.1956e+01 3\n", - " 5 7.5700e+01 1.8674e-01 3.0535e-02 7.5208e+00 4.87351e-01 0.5000 7.5208e+00 3\n", - " 6 5.5152e+01 1.8677e-01 1.5098e-02 5.4814e+00 4.76947e-01 0.2500 5.4814e+00 3\n", - " 7 4.5135e+01 1.8675e-01 1.1697e-02 4.4831e+00 2.61857e-01 1.0000 4.4831e+00 3\n", - " 8 1.2871e+01 1.8691e-01 2.0241e-03 1.2664e+00 3.65431e-01 0.2500 1.2664e+00 3\n", - " 9 1.1271e+01 1.8687e-01 1.2335e-03 1.1072e+00 2.54723e-01 0.1250 1.1072e+00 3\n", - " 10 1.0657e+01 1.8685e-01 1.1158e-03 1.0459e+00 1.20887e-01 1.0000 1.0459e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8259e+02 4.9254e-01 3.7933e+01 2.7658e-01 1.58418e+00 1.0000 ---- 3\n", - " 2 1.3522e+02 1.8129e-01 9.2683e+00 4.2354e+00 8.73947e-01 0.5000 7.5299e+00 3\n", - " 3 1.1228e+02 1.8089e-01 4.6239e+00 6.5864e+00 5.81417e-01 0.5000 6.5864e+00 3\n", - " 4 8.0060e+01 1.8084e-01 2.3111e+00 5.6768e+00 5.77362e-01 0.5000 5.6768e+00 3\n", - " 5 7.4982e+01 1.8080e-01 1.1557e+00 6.3245e+00 5.72829e-01 0.2500 6.3245e+00 3\n", - " 6 6.2121e+01 1.8076e-01 8.6685e-01 5.3272e+00 3.69684e-01 1.0000 5.3272e+00 3\n", - " 7 2.0724e+01 1.8094e-01 3.4721e-03 2.0508e+00 5.68177e-01 0.1250 2.0508e+00 3\n", - " 8 1.8083e+01 1.8088e-01 3.0661e-03 1.7872e+00 4.58863e-01 0.2500 1.7872e+00 3\n", - " 9 1.8035e+01 1.8081e-01 2.2427e-03 1.7832e+00 5.51088e-01 0.1250 1.7832e+00 3\n", - " 10 1.6558e+01 1.8076e-01 1.9661e-03 1.6358e+00 4.68049e-01 0.2500 1.6358e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.6698e+02 4.8984e-01 3.5828e+01 8.2146e-01 1.67780e+00 1.0000 ---- 3\n", - " 2 1.5836e+02 1.7767e-01 9.2565e+00 6.5619e+00 1.10342e+00 1.0000 6.6725e+00 3\n", - " 3 1.4116e+02 1.7735e-01 6.5207e-02 1.4033e+01 1.70095e+00 0.2500 1.4033e+01 3\n", - " 4 1.1518e+02 1.7719e-01 5.0009e-02 1.1451e+01 7.25384e-01 1.0000 1.1451e+01 3\n", - " 5 7.1584e+01 1.7744e-01 3.8781e-03 7.1367e+00 9.32997e-01 0.2500 7.1367e+00 3\n", - " 6 6.6940e+01 1.7728e-01 2.9044e-03 6.6733e+00 5.52944e-01 0.5000 6.6733e+00 3\n", - " 7 3.8965e+01 1.7728e-01 1.8586e-03 3.8769e+00 4.11086e-01 0.5000 3.8769e+00 3\n", - " 8 3.4908e+01 1.7727e-01 1.3679e-03 3.4717e+00 3.64079e-01 0.2500 3.4717e+00 3\n", - " 9 2.9683e+01 1.7725e-01 8.4828e-04 2.9498e+00 1.88150e-01 1.0000 2.9498e+00 3\n", - " 10 4.9404e+00 1.7736e-01 7.7347e-04 4.7553e-01 2.31786e-01 0.1250 4.7553e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.4610e+02 4.8767e-01 3.4204e+01 3.5723e-01 1.58734e+00 1.0000 ---- 3\n", - " 2 1.2737e+02 1.7412e-01 8.6600e+00 4.0600e+00 8.02067e-01 1.0000 5.8567e+00 3\n", - " 3 7.7821e+01 1.7386e-01 4.1642e-02 7.7231e+00 1.25519e+00 0.2500 7.7231e+00 3\n", - " 4 7.0750e+01 1.7374e-01 3.1506e-02 7.0261e+00 4.98730e-01 1.0000 7.0261e+00 3\n", - " 5 2.5666e+01 1.7392e-01 1.3452e-03 2.5478e+00 6.94856e-01 0.1250 2.5478e+00 3\n", - " 6 2.4893e+01 1.7387e-01 1.1884e-03 2.4707e+00 4.66460e-01 0.2500 2.4707e+00 3\n", - " 7 2.1814e+01 1.7384e-01 8.8302e-04 2.1632e+00 2.05064e-01 1.0000 2.1632e+00 3\n", - " 8 5.2536e-01 1.7390e-01 4.7907e-04 3.4668e-02 3.13049e-01 0.1250 3.4668e-02 3\n", - " 9 4.7726e-01 1.7388e-01 4.1583e-04 2.9922e-02 1.66030e-01 0.2500 2.9922e-02 3\n", - " 10 4.2091e-01 1.7388e-01 3.1258e-04 2.4390e-02 9.57381e-02 0.5000 2.4390e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.4003e+02 4.8605e-01 3.3750e+01 2.0447e-01 1.57588e+00 1.0000 ---- 3\n", - " 2 1.2101e+02 1.7217e-01 8.6375e+00 3.4461e+00 7.01683e-01 1.0000 5.0842e+00 3\n", - " 3 5.0005e+01 1.7196e-01 3.4226e-02 4.9491e+00 1.06609e+00 0.2500 4.9491e+00 3\n", - " 4 4.2518e+01 1.7190e-01 2.5749e-02 4.2089e+00 3.84020e-01 1.0000 4.2089e+00 3\n", - " 5 8.4536e+00 1.7200e-01 1.9525e-03 8.2621e-01 5.15219e-01 0.1250 8.2621e-01 3\n", - " 6 8.0747e+00 1.7197e-01 1.7229e-03 7.8854e-01 3.23500e-01 0.2500 7.8854e-01 3\n", - " 7 6.8957e+00 1.7196e-01 1.3183e-03 6.7105e-01 1.36381e-01 1.0000 6.7105e-01 3\n", - " 8 1.3594e+00 1.7197e-01 2.7684e-04 1.1847e-01 2.04420e-01 0.1250 1.1847e-01 3\n", - " 9 1.2936e+00 1.7197e-01 2.4516e-04 1.1192e-01 1.26217e-01 0.2500 1.1192e-01 3\n", - " 10 1.1333e+00 1.7197e-01 1.8659e-04 9.5949e-02 5.48854e-02 1.0000 9.5949e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.3353e+02 4.8582e-01 3.3061e+01 2.4341e-01 1.52407e+00 1.0000 ---- 3\n", - " 2 1.2041e+02 1.7259e-01 8.1306e+00 3.8933e+00 6.07986e-01 1.0000 4.3962e+00 3\n", - " 3 3.7571e+01 1.7245e-01 2.1097e-02 3.7188e+00 8.34029e-01 0.2500 3.7188e+00 3\n", - " 4 3.2569e+01 1.7241e-01 1.5842e-02 3.2238e+00 3.19450e-01 1.0000 3.2238e+00 3\n", - " 5 1.1287e+01 1.7247e-01 1.9397e-03 1.1095e+00 3.26298e-01 0.5000 1.1095e+00 3\n", - " 6 8.5215e+00 1.7245e-01 1.2678e-03 8.3364e-01 1.66155e-01 1.0000 8.3364e-01 3\n", - " 7 6.0316e+00 1.7246e-01 1.6189e-04 5.8576e-01 4.10227e-01 0.1250 5.8576e-01 3\n", - " 8 5.9856e+00 1.7244e-01 1.3955e-04 5.8117e-01 2.23188e-01 0.2500 5.8117e-01 3\n", - " 9 5.3595e+00 1.7244e-01 1.0175e-04 5.1861e-01 6.39843e-02 1.0000 5.1861e-01 3\n", - " 10 2.6928e-01 1.7245e-01 5.5700e-05 9.6270e-03 9.24642e-02 0.2500 9.6270e-03 2\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.2242e+02 4.8619e-01 3.2014e+01 1.7909e-01 1.49405e+00 1.0000 ---- 3\n", - " 2 1.1658e+02 1.7331e-01 7.7530e+00 3.8877e+00 5.66727e-01 1.0000 3.8877e+00 3\n", - " 3 3.4193e+01 1.7319e-01 1.7554e-02 3.3844e+00 7.11239e-01 0.5000 3.3844e+00 3\n", - " 4 2.7171e+01 1.7315e-01 9.4602e-03 2.6904e+00 4.02046e-01 1.0000 2.6904e+00 3\n", - " 5 2.1982e+01 1.7319e-01 5.1933e-04 2.1804e+00 8.22511e-01 0.2500 2.1804e+00 3\n", - " 6 2.0644e+01 1.7314e-01 5.3308e-04 2.0466e+00 2.69773e-01 1.0000 2.0466e+00 3\n", - " 7 3.7214e+00 1.7319e-01 8.6935e-04 3.5396e-01 5.10013e-01 0.0625 3.5396e-01 3\n", - " 8 3.6012e+00 1.7318e-01 8.2372e-04 3.4198e-01 4.03321e-01 0.1250 3.4198e-01 3\n", - " 9 3.5608e+00 1.7317e-01 7.3910e-04 3.3802e-01 2.32927e-01 0.2500 3.3802e-01 3\n", - " 10 3.1818e+00 1.7317e-01 5.6891e-04 3.0030e-01 5.50238e-02 1.0000 3.0030e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.1357e+02 4.8639e-01 3.1194e+01 1.1480e-01 1.49481e+00 1.0000 ---- 3\n", - " 2 1.1363e+02 1.7324e-01 7.2314e+00 4.1146e+00 5.99814e-01 1.0000 4.1146e+00 3\n", - " 3 2.8043e+01 1.7314e-01 1.1872e-02 2.7751e+00 8.66012e-01 0.2500 2.7751e+00 3\n", - " 4 2.3489e+01 1.7310e-01 9.0809e-03 2.3226e+00 3.87126e-01 1.0000 2.3226e+00 3\n", - " 5 4.2626e+00 1.7314e-01 1.2756e-03 4.0767e-01 4.51875e-01 0.2500 4.0767e-01 3\n", - " 6 4.2099e+00 1.7312e-01 1.0871e-03 4.0259e-01 1.71527e-01 1.0000 4.0259e-01 3\n", - " 7 4.8015e-01 1.7312e-01 1.6487e-04 3.0538e-02 2.27985e-01 0.0625 3.0538e-02 3\n", - " 8 4.7257e-01 1.7312e-01 1.5444e-04 2.9791e-02 1.91858e-01 0.0625 2.9791e-02 3\n", - " 9 4.6425e-01 1.7312e-01 1.4476e-04 2.8969e-02 1.62074e-01 0.0625 2.8969e-02 3\n", - " 10 4.5060e-01 1.7312e-01 1.3574e-04 2.7613e-02 1.36885e-01 0.1250 2.7613e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0886e+02 4.8651e-01 3.0650e+01 1.8690e-01 1.45722e+00 1.0000 ---- 3\n", - " 2 1.0607e+02 1.7316e-01 6.7436e+00 3.8461e+00 5.78059e-01 1.0000 3.8461e+00 3\n", - " 3 1.6286e+01 1.7308e-01 1.0504e-02 1.6008e+00 7.12673e-01 0.2500 1.6008e+00 3\n", - " 4 1.3815e+01 1.7305e-01 7.8859e-03 1.3563e+00 3.19018e-01 1.0000 1.3563e+00 3\n", - " 5 1.9284e+00 1.7308e-01 9.0014e-04 1.7463e-01 3.20117e-01 0.1250 1.7463e-01 3\n", - " 6 1.7639e+00 1.7307e-01 8.1171e-04 1.5827e-01 2.24958e-01 0.5000 1.5827e-01 3\n", - " 7 1.7228e+00 1.7306e-01 5.7489e-04 1.5440e-01 7.51548e-02 1.0000 1.5440e-01 3\n", - " 8 5.6285e-01 1.7307e-01 4.8993e-05 3.8929e-02 1.51956e-01 0.0312 3.8929e-02 3\n", - " 9 5.5508e-01 1.7306e-01 4.7564e-05 3.8154e-02 1.35339e-01 0.0625 3.8154e-02 3\n", - " 10 5.5329e-01 1.7306e-01 4.4919e-05 3.7978e-02 1.05710e-01 0.0625 3.7978e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0191e+02 4.8693e-01 3.0028e+01 1.1384e-01 1.45256e+00 1.0000 ---- 3\n", - " 2 1.0159e+02 1.7354e-01 6.4420e+00 3.7000e+00 5.27438e-01 1.0000 3.7000e+00 3\n", - " 3 3.8157e+01 1.7346e-01 8.3742e-03 3.7899e+00 7.52707e-01 0.2500 3.7899e+00 3\n", - " 4 3.0584e+01 1.7342e-01 6.4029e-03 3.0347e+00 3.15950e-01 1.0000 3.0347e+00 3\n", - " 5 1.2617e+01 1.7347e-01 9.6804e-04 1.2434e+00 4.62324e-01 0.1250 1.2434e+00 3\n", - " 6 1.1822e+01 1.7345e-01 8.7490e-04 1.1640e+00 2.92317e-01 0.2500 1.1640e+00 3\n", - " 7 9.9578e+00 1.7344e-01 7.0863e-04 9.7773e-01 9.81062e-02 1.0000 9.7773e-01 3\n", - " 8 2.8970e-01 1.7347e-01 7.5278e-05 1.1548e-02 1.35098e-01 0.2500 1.1548e-02 3\n", - " 9 2.5106e-01 1.7346e-01 6.4085e-05 7.6956e-03 4.62231e-02 1.0000 7.6956e-03 3\n", - " 10 2.0141e-01 1.7346e-01 1.7782e-05 2.7771e-03 6.32020e-02 0.0312 3.9534e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9621e+02 4.8779e-01 2.9469e+01 1.0225e-01 1.42778e+00 1.0000 ---- 3\n", - " 2 1.0278e+02 1.7432e-01 6.0994e+00 4.1609e+00 4.56358e-01 1.0000 4.1609e+00 3\n", - " 3 3.3303e+01 1.7427e-01 6.9584e-03 3.3059e+00 6.39513e-01 0.5000 3.3059e+00 3\n", - " 4 3.1330e+01 1.7421e-01 4.0148e-03 3.1115e+00 3.70884e-01 0.5000 3.1115e+00 3\n", - " 5 1.5621e+01 1.7422e-01 2.1483e-03 1.5425e+00 2.25764e-01 1.0000 1.5425e+00 3\n", - " 6 5.8595e+00 1.7425e-01 3.3817e-04 5.6819e-01 4.84553e-01 0.1250 5.6819e-01 3\n", - " 7 5.7682e+00 1.7424e-01 3.1925e-04 5.5907e-01 2.85536e-01 0.2500 5.5907e-01 3\n", - " 8 4.9192e+00 1.7423e-01 2.6143e-04 4.7424e-01 5.76839e-02 1.0000 4.7424e-01 3\n", - " 9 2.5630e-01 1.7425e-01 2.1990e-05 8.1831e-03 1.08121e-01 0.2500 8.1831e-03 2\n", - " 10 2.3109e-01 1.7424e-01 1.7243e-05 5.6672e-03 3.39872e-02 0.0020 9.8297e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8723e+02 4.8876e-01 2.8641e+01 3.3605e-02 1.42896e+00 1.0000 ---- 3\n", - " 2 1.0317e+02 1.7531e-01 5.3459e+00 4.9539e+00 4.47498e-01 1.0000 4.9539e+00 3\n", - " 3 1.7276e+01 1.7526e-01 6.0375e-03 1.7041e+00 7.33768e-01 0.2500 1.7041e+00 3\n", - " 4 1.4458e+01 1.7522e-01 4.7258e-03 1.4236e+00 2.62989e-01 1.0000 1.4236e+00 3\n", - " 5 6.0712e-01 1.7525e-01 9.9847e-04 4.2188e-02 3.99453e-01 0.1250 4.2188e-02 3\n", - " 6 5.5362e-01 1.7524e-01 8.8391e-04 3.6953e-02 2.39279e-01 0.2500 3.6953e-02 3\n", - " 7 4.9022e-01 1.7524e-01 6.8507e-04 3.0813e-02 8.63628e-02 1.0000 3.0813e-02 3\n", - " 8 1.7875e-01 1.7524e-01 1.1870e-04 2.3245e-04 1.23238e-01 0.1250 2.1214e-03 1\n", - " 9 1.7868e-01 1.7524e-01 1.0428e-04 2.3964e-04 8.12650e-02 0.2500 1.6269e-03 1\n", - " 10 1.7805e-01 1.7524e-01 7.8672e-05 2.0239e-04 3.40816e-02 0.5000 1.4936e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8102e+02 4.8997e-01 2.7970e+01 8.3474e-02 1.41092e+00 1.0000 ---- 3\n", - " 2 9.4710e+01 1.7642e-01 4.9199e+00 4.5335e+00 4.56022e-01 1.0000 4.5335e+00 3\n", - " 3 1.6552e+01 1.7636e-01 6.6924e-03 1.6309e+00 6.19288e-01 0.2500 1.6309e+00 3\n", - " 4 1.4375e+01 1.7633e-01 5.1733e-03 1.4147e+00 2.14414e-01 1.0000 1.4147e+00 3\n", - " 5 8.1555e-01 1.7637e-01 1.0421e-03 6.2876e-02 2.97016e-01 0.2500 6.2876e-02 3\n", - " 6 7.3024e-01 1.7636e-01 8.2383e-04 5.4565e-02 1.18093e-01 1.0000 5.4565e-02 3\n", - " 7 2.5128e-01 1.7636e-01 1.7098e-04 7.3217e-03 1.88221e-01 0.2500 7.3217e-03 2\n", - " 8 2.3106e-01 1.7635e-01 1.3482e-04 5.3365e-03 6.79486e-02 0.5000 5.3365e-03 2\n", - " 9 1.8810e-01 1.7635e-01 7.0244e-05 1.1049e-03 3.65893e-02 0.0020 2.8944e-03 1\n", - " 10 1.8810e-01 1.7635e-01 7.0244e-05 1.1049e-03 3.65540e-02 0.5000 1.7504e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7957e+02 4.9137e-01 2.7750e+01 1.5737e-01 1.37952e+00 1.0000 ---- 3\n", - " 2 8.8205e+01 1.7787e-01 4.2073e+00 4.5954e+00 4.20941e-01 1.0000 4.5954e+00 3\n", - " 3 1.1546e+01 1.7781e-01 6.2728e-03 1.1306e+00 4.99945e-01 0.2500 1.1306e+00 3\n", - " 4 9.9921e+00 1.7779e-01 4.7989e-03 9.7663e-01 1.86631e-01 1.0000 9.7663e-01 3\n", - " 5 5.0890e-01 1.7781e-01 9.1528e-04 3.2194e-02 2.44084e-01 0.2500 3.2194e-02 3\n", - " 6 4.3229e-01 1.7781e-01 7.0556e-04 2.4743e-02 1.00879e-01 0.5000 2.4743e-02 3\n", - " 7 3.3112e-01 1.7781e-01 3.7462e-04 1.4957e-02 3.75328e-02 1.0000 1.4957e-02 3\n", - " 8 2.7733e-01 1.7780e-01 1.6956e-05 9.9356e-03 8.08306e-02 0.1250 9.9356e-03 3\n", - " 9 2.7363e-01 1.7780e-01 1.5520e-05 9.5675e-03 4.31647e-02 0.5000 9.5675e-03 3\n", - " 10 2.7194e-01 1.7780e-01 1.1045e-05 9.4032e-03 4.72422e-02 0.2500 9.4032e-03 2\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7982e+02 4.9326e-01 2.7639e+01 2.9416e-01 1.35364e+00 1.0000 ---- 3\n", - " 2 7.4868e+01 1.7980e-01 3.5061e+00 3.9626e+00 4.20478e-01 1.0000 3.9626e+00 3\n", - " 3 1.1908e+01 1.7971e-01 6.6404e-03 1.1662e+00 5.08006e-01 0.2500 1.1662e+00 3\n", - " 4 1.1121e+01 1.7969e-01 5.0661e-03 1.0891e+00 1.89839e-01 1.0000 1.0891e+00 3\n", - " 5 8.4229e-01 1.7972e-01 1.1565e-03 6.5101e-02 2.48558e-01 0.2500 6.5101e-02 3\n", - " 6 7.5291e-01 1.7971e-01 8.7783e-04 5.6441e-02 1.08944e-01 1.0000 5.6441e-02 3\n", - " 7 5.2477e-01 1.7971e-01 1.3835e-04 3.4367e-02 1.53874e-01 0.2500 3.4367e-02 3\n", - " 8 4.7018e-01 1.7971e-01 1.0786e-04 2.8939e-02 7.07580e-02 1.0000 2.8939e-02 3\n", - " 9 3.5935e-01 1.7971e-01 3.7822e-05 1.7926e-02 1.09375e-01 0.2500 1.7926e-02 3\n", - " 10 3.5616e-01 1.7971e-01 3.1263e-05 1.7614e-02 4.40950e-02 1.0000 1.7614e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8096e+02 4.9542e-01 2.7707e+01 3.4003e-01 1.34010e+00 1.0000 ---- 3\n", - " 2 7.2866e+01 1.8221e-01 3.1977e+00 4.0707e+00 4.67210e-01 1.0000 4.0707e+00 3\n", - " 3 1.3770e+01 1.8209e-01 7.0506e-03 1.3518e+00 4.91432e-01 0.5000 1.3518e+00 3\n", - " 4 1.2946e+01 1.8207e-01 4.0911e-03 1.2723e+00 2.17898e-01 1.0000 1.2723e+00 3\n", - " 5 1.2597e+01 1.8209e-01 6.2212e-04 1.2409e+00 5.18340e-01 0.1250 1.2409e+00 3\n", - " 6 1.1992e+01 1.8206e-01 5.5368e-04 1.1804e+00 2.94680e-01 0.2500 1.1804e+00 3\n", - " 7 9.7478e+00 1.8206e-01 4.3896e-04 9.5614e-01 9.52768e-02 1.0000 9.5614e-01 3\n", - " 8 5.8777e-01 1.8210e-01 6.6959e-05 4.0500e-02 1.56063e-01 0.5000 4.0500e-02 3\n", - " 9 4.5205e-01 1.8209e-01 3.7235e-05 2.6959e-02 1.30109e-01 0.2500 2.6959e-02 3\n", - " 10 4.4954e-01 1.8209e-01 3.6500e-05 2.6709e-02 4.21739e-02 0.5000 2.6709e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7994e+02 4.9768e-01 2.7613e+01 3.3132e-01 1.34401e+00 1.0000 ---- 3\n", - " 2 6.9116e+01 1.8460e-01 3.3301e+00 3.5630e+00 4.70747e-01 1.0000 3.8629e+00 3\n", - " 3 1.7897e+01 1.8445e-01 6.9481e-03 1.7643e+00 5.80260e-01 0.2500 1.7643e+00 3\n", - " 4 1.5587e+01 1.8442e-01 5.2784e-03 1.5350e+00 2.27560e-01 1.0000 1.5350e+00 3\n", - " 5 8.5716e-01 1.8445e-01 1.2882e-03 6.5983e-02 3.15956e-01 0.2500 6.5983e-02 3\n", - " 6 7.6569e-01 1.8444e-01 9.8113e-04 5.7144e-02 1.23475e-01 1.0000 5.7144e-02 3\n", - " 7 6.8570e-01 1.8444e-01 2.4613e-04 4.9879e-02 1.95640e-01 0.1250 4.9879e-02 3\n", - " 8 6.1056e-01 1.8444e-01 2.1684e-04 4.2395e-02 1.22156e-01 0.2500 4.2395e-02 3\n", - " 9 5.0554e-01 1.8444e-01 1.6212e-04 3.1948e-02 5.79322e-02 1.0000 3.1948e-02 3\n", - " 10 4.8999e-01 1.8444e-01 3.2465e-05 3.0523e-02 7.63098e-02 0.2500 3.0523e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7997e+02 5.0001e-01 2.7540e+01 4.0690e-01 1.33875e+00 1.0000 ---- 3\n", - " 2 7.0307e+01 1.8699e-01 3.5806e+00 3.4314e+00 4.79859e-01 1.0000 4.6243e+00 3\n", - " 3 1.9824e+01 1.8680e-01 6.6771e-03 1.9570e+00 5.89792e-01 0.5000 1.9570e+00 3\n", - " 4 1.9146e+01 1.8676e-01 3.7888e-03 1.8921e+00 2.95347e-01 0.5000 1.8921e+00 3\n", - " 5 1.5279e+01 1.8676e-01 1.9818e-03 1.5072e+00 2.64326e-01 0.5000 1.5072e+00 3\n", - " 6 1.5044e+01 1.8676e-01 1.0763e-03 1.4846e+00 2.36533e-01 0.2500 1.4846e+00 3\n", - " 7 1.2062e+01 1.8675e-01 8.4007e-04 1.1866e+00 9.28035e-02 1.0000 1.1866e+00 3\n", - " 8 1.0507e+00 1.8680e-01 2.1351e-04 8.6172e-02 9.02217e-02 1.0000 8.6172e-02 3\n", - " 9 6.2183e-01 1.8680e-01 9.5139e-05 4.3408e-02 1.59268e-01 0.2500 4.3408e-02 3\n", - " 10 5.0813e-01 1.8679e-01 7.0206e-05 3.2063e-02 6.11076e-02 0.5000 3.2063e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7708e+02 5.0223e-01 2.7263e+01 3.9476e-01 1.35142e+00 1.0000 ---- 3\n", - " 2 7.4927e+01 1.8929e-01 3.8722e+00 3.6016e+00 5.10372e-01 1.0000 5.3501e+00 3\n", - " 3 2.7034e+01 1.8906e-01 7.2483e-03 2.6772e+00 7.27417e-01 0.2500 2.6772e+00 3\n", - " 4 2.3850e+01 1.8902e-01 5.5978e-03 2.3605e+00 2.78566e-01 1.0000 2.3605e+00 3\n", - " 5 1.3198e+00 1.8908e-01 2.1547e-03 1.1092e-01 4.02823e-01 0.2500 1.1092e-01 3\n", - " 6 1.1796e+00 1.8906e-01 1.6320e-03 9.7425e-02 1.44497e-01 0.5000 9.7425e-02 3\n", - " 7 7.4209e-01 1.8906e-01 8.2523e-04 5.4478e-02 9.51453e-02 0.5000 5.4478e-02 3\n", - " 8 5.9535e-01 1.8906e-01 4.2813e-04 4.0201e-02 9.82579e-02 0.2500 4.0201e-02 3\n", - " 9 5.0591e-01 1.8906e-01 3.2721e-04 3.1358e-02 5.29621e-02 0.5000 3.1358e-02 3\n", - " 10 4.9513e-01 1.8905e-01 1.7537e-04 3.0432e-02 5.28330e-02 0.5000 3.0432e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7861e+02 5.0444e-01 2.7424e+01 3.8614e-01 1.34693e+00 1.0000 ---- 3\n", - " 2 7.7431e+01 1.9140e-01 4.2002e+00 3.5237e+00 4.93633e-01 1.0000 6.1132e+00 3\n", - " 3 2.1889e+01 1.9113e-01 7.7456e-03 2.1620e+00 6.48755e-01 0.5000 2.1620e+00 3\n", - " 4 2.1795e+01 1.9109e-01 4.3904e-03 2.1560e+00 3.70920e-01 0.5000 2.1560e+00 3\n", - " 5 1.3065e+01 1.9110e-01 2.1698e-03 1.2852e+00 2.97826e-01 0.5000 1.2852e+00 3\n", - " 6 8.0729e+00 1.9110e-01 1.0936e-03 7.8709e-01 2.44296e-01 0.5000 7.8709e-01 3\n", - " 7 5.5025e+00 1.9111e-01 5.6181e-04 5.3057e-01 2.13391e-01 0.5000 5.3057e-01 3\n", - " 8 3.8675e+00 1.9111e-01 3.1505e-04 3.6733e-01 1.81340e-01 0.5000 3.6733e-01 3\n", - " 9 2.8887e+00 1.9111e-01 1.8195e-04 2.6957e-01 1.61366e-01 0.5000 2.6957e-01 3\n", - " 10 2.2029e+00 1.9111e-01 1.5703e-04 2.0102e-01 1.39883e-01 0.5000 2.0102e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9184e+02 5.0721e-01 2.8516e+01 6.1755e-01 1.37886e+00 1.0000 ---- 3\n", - " 2 8.8600e+01 1.9430e-01 4.5683e+00 4.2723e+00 6.88086e-01 1.0000 6.8876e+00 3\n", - " 3 6.3737e+01 1.9396e-01 9.4120e-03 6.3448e+00 1.22185e+00 0.2500 6.3448e+00 3\n", - " 4 5.5733e+01 1.9387e-01 7.2244e-03 5.5467e+00 4.56695e-01 1.0000 5.5467e+00 3\n", - " 5 1.3480e+01 1.9402e-01 3.4309e-03 1.3251e+00 8.33251e-01 0.1250 1.3251e+00 3\n", - " 6 1.2845e+01 1.9398e-01 3.0193e-03 1.2620e+00 5.01677e-01 0.2500 1.2620e+00 3\n", - " 7 1.1651e+01 1.9396e-01 2.2944e-03 1.1434e+00 1.88259e-01 1.0000 1.1434e+00 3\n", - " 8 3.2114e+00 1.9399e-01 4.7377e-04 3.0127e-01 2.54597e-01 0.5000 3.0127e-01 3\n", - " 9 2.5836e+00 1.9397e-01 2.8780e-04 2.3867e-01 1.95929e-01 0.1250 2.3867e-01 3\n", - " 10 2.4071e+00 1.9397e-01 2.6053e-04 2.2106e-01 1.28449e-01 0.5000 2.2106e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0531e+02 5.1040e-01 2.9853e+01 6.2663e-01 1.42029e+00 1.0000 ---- 3\n", - " 2 1.0270e+02 1.9796e-01 5.3830e+00 4.8670e+00 6.84944e-01 1.0000 7.6276e+00 3\n", - " 3 7.0068e+01 1.9756e-01 1.1732e-02 6.9753e+00 1.16532e+00 0.2500 6.9753e+00 3\n", - " 4 5.9419e+01 1.9747e-01 8.8312e-03 5.9133e+00 4.84321e-01 1.0000 5.9133e+00 3\n", - " 5 2.4399e+01 1.9763e-01 2.8489e-03 2.4173e+00 8.63933e-01 0.1250 2.4173e+00 3\n", - " 6 2.2314e+01 1.9758e-01 2.4979e-03 2.2092e+00 5.56601e-01 0.2500 2.2092e+00 3\n", - " 7 1.9381e+01 1.9754e-01 1.8908e-03 1.9164e+00 2.09020e-01 1.0000 1.9164e+00 3\n", - " 8 3.6900e+00 1.9759e-01 3.4466e-04 3.4889e-01 2.99728e-01 0.2500 3.4889e-01 3\n", - " 9 3.4983e+00 1.9757e-01 2.6629e-04 3.2980e-01 1.24648e-01 1.0000 3.2980e-01 3\n", - " 10 1.7809e+00 1.9757e-01 2.5309e-04 1.5808e-01 1.53104e-01 0.5000 1.5808e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.1726e+02 5.1436e-01 3.1178e+01 4.9679e-01 1.44184e+00 1.0000 ---- 3\n", - " 2 1.0522e+02 2.0215e-01 5.8862e+00 4.6153e+00 6.68235e-01 1.0000 8.4745e+00 3\n", - " 3 4.9857e+01 2.0170e-01 1.4729e-02 4.9508e+00 1.17995e+00 0.2500 4.9508e+00 3\n", - " 4 4.7410e+01 2.0160e-01 1.0984e-02 4.7098e+00 4.86602e-01 1.0000 4.7098e+00 3\n", - " 5 1.7009e+01 2.0176e-01 4.7584e-03 1.6760e+00 8.77468e-01 0.0625 1.6760e+00 3\n", - " 6 1.6208e+01 2.0173e-01 4.4647e-03 1.5962e+00 7.18578e-01 0.1250 1.5962e+00 3\n", - " 7 1.5245e+01 2.0170e-01 3.9158e-03 1.5004e+00 4.39482e-01 0.5000 1.5004e+00 3\n", - " 8 1.3560e+01 2.0167e-01 2.1154e-03 1.3337e+00 3.60518e-01 0.5000 1.3337e+00 3\n", - " 9 1.2916e+01 2.0166e-01 1.3456e-03 1.2701e+00 3.21755e-01 0.2500 1.2701e+00 3\n", - " 10 1.0737e+01 2.0165e-01 9.9418e-04 1.0525e+00 1.34212e-01 1.0000 1.0525e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.3202e+02 5.1816e-01 3.2407e+01 7.4344e-01 1.47572e+00 1.0000 ---- 3\n", - " 2 1.1056e+02 2.0652e-01 6.2586e+00 4.7769e+00 7.09866e-01 1.0000 9.2656e+00 3\n", - " 3 7.3955e+01 2.0598e-01 1.3469e-02 7.3615e+00 1.25861e+00 0.2500 7.3615e+00 3\n", - " 4 6.5594e+01 2.0586e-01 1.0211e-02 6.5286e+00 5.15225e-01 1.0000 6.5286e+00 3\n", - " 5 4.1772e+01 2.0607e-01 3.2700e-03 4.1533e+00 8.91216e-01 0.2500 4.1533e+00 3\n", - " 6 4.1303e+01 2.0595e-01 2.5605e-03 4.1072e+00 3.96211e-01 0.5000 4.1072e+00 3\n", - " 7 3.1487e+01 2.0594e-01 1.4353e-03 3.1267e+00 2.93311e-01 0.5000 3.1267e+00 3\n", - " 8 2.4750e+01 2.0595e-01 8.1828e-04 2.4536e+00 2.91450e-01 0.5000 2.4536e+00 3\n", - " 9 2.4661e+01 2.0595e-01 4.6882e-04 2.4450e+00 2.96763e-01 0.2500 2.4450e+00 3\n", - " 10 2.0091e+01 2.0594e-01 3.7297e-04 1.9881e+00 1.87459e-01 1.0000 1.9881e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.4588e+02 5.2260e-01 3.3657e+01 8.7822e-01 1.61218e+00 1.0000 ---- 3\n", - " 2 1.6115e+02 2.1136e-01 6.8440e+00 9.2504e+00 1.08960e+00 0.5000 1.0153e+01 3\n", - " 3 1.3429e+02 2.1070e-01 3.4236e+00 9.9842e+00 7.03362e-01 1.0000 9.9842e+00 3\n", - " 4 1.0903e+02 2.1082e-01 4.1404e-03 1.0878e+01 1.32987e+00 0.2500 1.0878e+01 3\n", - " 5 9.4862e+01 2.1060e-01 3.3666e-03 9.4617e+00 5.54357e-01 0.5000 9.4617e+00 3\n", - " 6 6.0789e+01 2.1058e-01 1.8631e-03 6.0559e+00 3.76610e-01 0.5000 6.0559e+00 3\n", - " 7 4.1132e+01 2.1060e-01 9.6501e-04 4.0911e+00 3.32177e-01 0.5000 4.0911e+00 3\n", - " 8 3.3636e+01 2.1062e-01 6.0663e-04 3.3419e+00 3.15851e-01 0.5000 3.3419e+00 3\n", - " 9 3.2334e+01 2.1061e-01 4.4122e-04 3.2119e+00 3.30804e-01 0.2500 3.2119e+00 3\n", - " 10 2.6221e+01 2.1061e-01 3.5865e-04 2.6007e+00 1.64380e-01 1.0000 2.6007e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.5831e+02 5.2799e-01 3.4870e+01 9.0826e-01 1.56424e+00 1.0000 ---- 3\n", - " 2 1.2978e+02 2.1771e-01 7.2480e+00 5.7083e+00 8.04443e-01 1.0000 1.1081e+01 3\n", - " 3 1.1371e+02 2.1693e-01 1.5411e-02 1.1334e+01 1.20701e+00 0.5000 1.1334e+01 3\n", - " 4 1.0015e+02 2.1678e-01 7.9292e-03 9.9855e+00 7.62352e-01 1.0000 9.9855e+00 3\n", - " 5 9.9030e+01 2.1708e-01 3.2263e-03 9.8780e+00 1.70430e+00 0.2500 9.8780e+00 3\n", - " 6 9.3282e+01 2.1685e-01 2.4803e-03 9.3040e+00 5.85878e-01 0.5000 9.3040e+00 3\n", - " 7 5.6053e+01 2.1688e-01 1.3220e-03 5.5823e+00 5.37347e-01 0.5000 5.5823e+00 3\n", - " 8 4.8535e+01 2.1688e-01 1.3668e-03 4.8305e+00 6.26439e-01 0.2500 4.8305e+00 3\n", - " 9 3.8866e+01 2.1685e-01 1.0194e-03 3.8639e+00 3.97489e-01 1.0000 3.8639e+00 3\n", - " 10 2.5886e+01 2.1698e-01 2.1887e-03 2.5647e+00 4.44667e-01 0.5000 2.5647e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.7653e+02 5.3379e-01 3.5881e+01 1.7192e+00 1.59328e+00 1.0000 ---- 3\n", - " 2 1.9865e+02 2.2404e-01 7.9417e+00 1.1901e+01 1.25288e+00 0.5000 1.2111e+01 3\n", - " 3 1.7281e+02 2.2319e-01 3.9711e+00 1.3287e+01 8.52068e-01 1.0000 1.3287e+01 3\n", - " 4 1.3007e+02 2.2347e-01 7.4169e-03 1.2977e+01 1.62224e+00 0.2500 1.2977e+01 3\n", - " 5 1.2108e+02 2.2317e-01 6.0835e-03 1.2080e+01 7.66496e-01 0.5000 1.2080e+01 3\n", - " 6 9.7092e+01 2.2306e-01 4.1399e-03 9.6827e+00 6.13186e-01 0.5000 9.6827e+00 3\n", - " 7 6.3435e+01 2.2312e-01 2.8508e-03 6.3183e+00 5.26266e-01 0.5000 6.3183e+00 3\n", - " 8 6.2269e+01 2.2309e-01 2.0916e-03 6.2025e+00 4.75068e-01 0.5000 6.2025e+00 3\n", - " 9 5.5117e+01 2.2310e-01 1.4611e-03 5.4880e+00 4.28969e-01 0.5000 5.4880e+00 3\n", - " 10 4.9398e+01 2.2310e-01 1.1653e-03 4.9163e+00 4.10788e-01 0.5000 4.9163e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0344e+02 5.3883e-01 3.7006e+01 3.2841e+00 1.75399e+00 1.0000 ---- 3\n", - " 2 1.9997e+02 2.2936e-01 8.5155e+00 1.1459e+01 1.39555e+00 0.5000 1.3164e+01 3\n", - " 3 1.8691e+02 2.2836e-01 4.2591e+00 1.4409e+01 7.75432e-01 1.0000 1.4409e+01 3\n", - " 4 1.0104e+02 2.2848e-01 8.3745e-03 1.0073e+01 1.56381e+00 0.2500 1.0073e+01 3\n", - " 5 9.6587e+01 2.2823e-01 7.0312e-03 9.6288e+00 6.35632e-01 0.5000 9.6288e+00 3\n", - " 6 7.0091e+01 2.2823e-01 4.2623e-03 6.9821e+00 5.85602e-01 0.5000 6.9821e+00 3\n", - " 7 6.1332e+01 2.2823e-01 2.4710e-03 6.1079e+00 5.37927e-01 0.5000 6.1079e+00 3\n", - " 8 5.9900e+01 2.2822e-01 1.5532e-03 5.9656e+00 5.44591e-01 0.2500 5.9656e+00 3\n", - " 9 4.8350e+01 2.2820e-01 1.2788e-03 4.8110e+00 3.49636e-01 1.0000 4.8110e+00 3\n", - " 10 2.3545e+01 2.2844e-01 4.8999e-04 2.3312e+00 3.66287e-01 0.5000 2.3312e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8717e+02 5.4477e-01 3.7396e+01 1.2667e+00 1.69015e+00 1.0000 ---- 3\n", - " 2 2.1617e+02 2.3587e-01 8.8418e+00 1.2751e+01 1.46679e+00 0.5000 1.4440e+01 3\n", - " 3 2.0845e+02 2.3473e-01 4.4235e+00 1.6398e+01 9.80914e-01 1.0000 1.6398e+01 3\n", - " 4 1.9378e+02 2.3499e-01 1.0222e-02 1.9345e+01 1.89577e+00 0.2500 1.9345e+01 3\n", - " 5 1.6917e+02 2.3461e-01 8.4197e-03 1.6885e+01 9.44576e-01 0.5000 1.6885e+01 3\n", - " 6 1.3886e+02 2.3447e-01 5.2980e-03 1.3857e+01 7.88508e-01 0.5000 1.3857e+01 3\n", - " 7 9.3986e+01 2.3459e-01 3.1768e-03 9.3720e+00 6.15082e-01 0.5000 9.3720e+00 3\n", - " 8 8.9648e+01 2.3458e-01 2.2046e-03 8.9391e+00 6.11514e-01 0.2500 8.9391e+00 3\n", - " 9 7.1913e+01 2.3455e-01 1.7830e-03 7.1661e+00 4.13505e-01 1.0000 7.1661e+00 3\n", - " 10 3.4397e+01 2.3491e-01 8.2951e-04 3.4154e+00 4.77044e-01 0.5000 3.4154e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8900e+02 5.5120e-01 3.7282e+01 1.5628e+00 1.62238e+00 1.0000 ---- 3\n", - " 2 2.0024e+02 2.4303e-01 9.3270e+00 1.0672e+01 1.20831e+00 0.5000 1.5850e+01 3\n", - " 3 1.4645e+02 2.4184e-01 4.6617e+00 9.9590e+00 7.89673e-01 1.0000 9.9590e+00 3\n", - " 4 1.3114e+02 2.4171e-01 1.2891e-02 1.3077e+01 1.47084e+00 0.2500 1.3077e+01 3\n", - " 5 1.1529e+02 2.4148e-01 1.0023e-02 1.1494e+01 7.05815e-01 0.5000 1.1494e+01 3\n", - " 6 9.1915e+01 2.4145e-01 6.3055e-03 9.1611e+00 6.34283e-01 0.5000 9.1611e+00 3\n", - " 7 6.6173e+01 2.4152e-01 3.7373e-03 6.5894e+00 4.97062e-01 0.5000 6.5894e+00 3\n", - " 8 6.1585e+01 2.4152e-01 2.4060e-03 6.1320e+00 5.36333e-01 0.2500 6.1320e+00 3\n", - " 9 4.9182e+01 2.4151e-01 1.9344e-03 4.8921e+00 3.17481e-01 1.0000 4.8921e+00 3\n", - " 10 2.6583e+01 2.4174e-01 5.1865e-04 2.6337e+00 3.58317e-01 1.0000 2.6337e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9358e+02 5.5928e-01 3.7887e+01 1.4147e+00 1.87543e+00 1.0000 ---- 3\n", - " 2 2.8277e+02 2.5244e-01 9.5292e+00 1.8723e+01 1.51402e+00 0.5000 1.8723e+01 3\n", - " 3 2.3167e+02 2.5092e-01 4.7721e+00 1.8370e+01 1.21041e+00 1.0000 1.8370e+01 3\n", - " 4 2.0592e+02 2.5125e-01 1.7905e-02 2.0549e+01 1.84175e+00 0.2500 2.0549e+01 3\n", - " 5 1.6591e+02 2.5086e-01 1.4387e-02 1.6551e+01 8.99673e-01 0.5000 1.6551e+01 3\n", - " 6 1.0792e+02 2.5070e-01 6.9273e-03 1.0760e+01 6.51102e-01 0.5000 1.0760e+01 3\n", - " 7 7.6857e+01 2.5074e-01 4.3714e-03 7.6562e+00 5.37445e-01 0.5000 7.6562e+00 3\n", - " 8 6.8163e+01 2.5074e-01 2.4900e-03 6.7887e+00 5.15309e-01 0.5000 6.7887e+00 3\n", - " 9 6.3857e+01 2.5075e-01 1.7945e-03 6.3588e+00 4.94190e-01 0.5000 6.3588e+00 3\n", - " 10 5.9371e+01 2.5075e-01 1.3183e-03 5.9107e+00 4.82789e-01 0.5000 5.9107e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1606e+02 5.6805e-01 3.7286e+01 4.2632e+00 1.95800e+00 1.0000 ---- 3\n", - " 2 3.2113e+02 2.6260e-01 9.3751e+00 2.2712e+01 1.66591e+00 0.5000 2.2712e+01 3\n", - " 3 2.3677e+02 2.6071e-01 4.6964e+00 1.8954e+01 1.16372e+00 1.0000 1.8954e+01 3\n", - " 4 1.9483e+02 2.6079e-01 1.5278e-02 1.9441e+01 1.65954e+00 0.5000 1.9441e+01 3\n", - " 5 1.5531e+02 2.6024e-01 9.7864e-03 1.5495e+01 1.02673e+00 1.0000 1.5495e+01 25\n", - " 6 1.5508e+02 2.6077e-01 9.1502e-03 1.5473e+01 2.15074e+00 0.5000 1.5473e+01 25\n", - " 7 1.4818e+02 2.6009e-01 1.2081e-02 1.4780e+01 1.53128e+00 1.0000 1.4780e+01 25\n", - " 8 8.8371e+01 2.6000e-01 2.2800e-02 8.7883e+00 1.22861e+00 0.2500 8.7883e+00 15\n", - " 9 8.3203e+01 2.5990e-01 1.7022e-02 8.2773e+00 3.59092e-01 1.0000 8.2773e+00 8\n", - " 10 2.6500e+01 2.6004e-01 1.1197e-03 2.6229e+00 6.67209e-01 0.1250 2.6229e+00 7\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2149e+02 5.7598e-01 4.0602e+01 1.4893e+00 1.75234e+00 1.0000 ---- 3\n", - " 2 1.7720e+02 2.7099e-01 1.0795e+01 6.8978e+00 9.31687e-01 1.0000 2.1742e+01 3\n", - " 3 1.3543e+02 2.6847e-01 3.4401e-02 1.3482e+01 1.55431e+00 0.2500 1.3482e+01 3\n", - " 4 1.0802e+02 2.6833e-01 2.5910e-02 1.0749e+01 8.82520e-01 1.0000 1.0749e+01 3\n", - " 5 8.9406e+01 2.6868e-01 8.1043e-03 8.9056e+00 1.53003e+00 0.2500 8.9056e+00 3\n", - " 6 7.6432e+01 2.6848e-01 7.0757e-03 7.6093e+00 6.53439e-01 0.5000 7.6093e+00 3\n", - " 7 6.0610e+01 2.6844e-01 4.3714e-03 6.0298e+00 5.83831e-01 0.5000 6.0298e+00 3\n", - " 8 3.7029e+01 2.6851e-01 2.6298e-03 3.6734e+00 3.89298e-01 0.5000 3.6734e+00 3\n", - " 9 3.6415e+01 2.6851e-01 1.3708e-03 3.6132e+00 4.07186e-01 0.2500 3.6132e+00 3\n", - " 10 2.9872e+01 2.6850e-01 1.0645e-03 2.9592e+00 2.23631e-01 1.0000 2.9592e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2539e+02 5.8836e-01 4.1691e+01 7.8969e-01 1.82446e+00 1.0000 ---- 3\n", - " 2 1.8024e+02 2.8654e-01 1.0763e+01 7.2327e+00 9.02737e-01 1.0000 2.4771e+01 3\n", - " 3 1.7895e+02 2.8336e-01 5.2850e-02 1.7814e+01 1.46305e+00 0.5000 1.7814e+01 3\n", - " 4 1.4401e+02 2.8305e-01 2.8867e-02 1.4344e+01 9.45773e-01 0.5000 1.4344e+01 3\n", - " 5 7.4417e+01 2.8320e-01 1.4814e-02 7.3986e+00 7.51015e-01 0.5000 7.3986e+00 3\n", - " 6 6.2467e+01 2.8323e-01 7.2966e-03 6.2111e+00 7.13492e-01 0.2500 6.2111e+00 3\n", - " 7 5.0386e+01 2.8321e-01 5.5341e-03 5.0048e+00 3.12494e-01 1.0000 5.0048e+00 3\n", - " 8 2.5403e+01 2.8340e-01 1.5517e-03 2.5104e+00 3.67321e-01 0.5000 2.5104e+00 3\n", - " 9 1.5206e+01 2.8335e-01 1.2733e-03 1.4910e+00 4.22175e-01 0.2500 1.4910e+00 3\n", - " 10 1.3621e+01 2.8332e-01 8.7413e-04 1.3328e+00 1.44191e-01 1.0000 1.3328e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2690e+02 5.9771e-01 4.2093e+01 5.3666e-01 1.84920e+00 1.0000 ---- 3\n", - " 2 2.2553e+02 2.9658e-01 1.0998e+01 1.1525e+01 1.53982e+00 0.5000 2.8713e+01 3\n", - " 3 1.9788e+02 2.9328e-01 5.4955e+00 1.4263e+01 9.26624e-01 1.0000 1.4364e+01 3\n", - " 4 1.9267e+02 2.9254e-01 1.1769e-02 1.9226e+01 1.85397e+00 0.2500 1.9226e+01 3\n", - " 5 1.6569e+02 2.9220e-01 9.6671e-03 1.6531e+01 9.00939e-01 0.5000 1.6531e+01 3\n", - " 6 1.1986e+02 2.9220e-01 7.0638e-03 1.1949e+01 7.56807e-01 0.5000 1.1949e+01 3\n", - " 7 9.2401e+01 2.9226e-01 3.9771e-03 9.2069e+00 7.01768e-01 0.5000 9.2069e+00 3\n", - " 8 8.9089e+01 2.9223e-01 3.2664e-03 8.8764e+00 6.68737e-01 0.2500 8.8764e+00 3\n", - " 9 7.1592e+01 2.9219e-01 2.4102e-03 7.1276e+00 4.28215e-01 1.0000 7.1276e+00 3\n", - " 10 2.8187e+01 2.9253e-01 1.9185e-03 2.7875e+00 6.27187e-01 0.2500 2.7875e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.3025e+02 6.0433e-01 4.0459e+01 2.5047e+00 1.91282e+00 1.0000 ---- 3\n", - " 2 2.4554e+02 3.0086e-01 1.1674e+01 1.2850e+01 1.36063e+00 0.5000 3.3343e+01 3\n", - " 3 1.7124e+02 2.9639e-01 5.8388e+00 1.1256e+01 8.12717e-01 1.0000 1.6684e+01 3\n", - " 4 1.1119e+02 2.9538e-01 1.8504e-02 1.1071e+01 1.55292e+00 0.1250 1.1071e+01 3\n", - " 5 9.9244e+01 2.9521e-01 1.6160e-02 9.8787e+00 1.17696e+00 0.2500 9.8787e+00 3\n", - " 6 9.1270e+01 2.9501e-01 1.2609e-02 9.0849e+00 6.72972e-01 0.5000 9.0849e+00 3\n", - " 7 5.0775e+01 2.9507e-01 6.4588e-03 5.0415e+00 3.97739e-01 0.5000 5.0415e+00 3\n", - " 8 4.6160e+01 2.9503e-01 3.2964e-03 4.5832e+00 3.49354e-01 0.5000 4.5832e+00 3\n", - " 9 3.5352e+01 2.9501e-01 1.5181e-03 3.5041e+00 3.55986e-01 0.2500 3.5041e+00 3\n", - " 10 2.9303e+01 2.9500e-01 1.1433e-03 2.8996e+00 2.16418e-01 1.0000 2.8996e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.4815e+02 6.2120e-01 4.2015e+01 2.7379e+00 1.95195e+00 1.0000 ---- 3\n", - " 2 2.3882e+02 3.2354e-01 1.1541e+01 1.2308e+01 1.46680e+00 0.5000 4.0665e+01 3\n", - " 3 2.0362e+02 3.1712e-01 5.7668e+00 1.4564e+01 1.01377e+00 0.5000 2.0352e+01 3\n", - " 4 1.6125e+02 3.1555e-01 2.8821e+00 1.3211e+01 7.85368e-01 0.5000 1.3211e+01 3\n", - " 5 1.0500e+02 3.1517e-01 1.4416e+00 9.0272e+00 6.91140e-01 0.5000 9.0272e+00 3\n", - " 6 7.3925e+01 3.1512e-01 7.2065e-01 6.6403e+00 6.92934e-01 0.2500 6.6403e+00 3\n", - " 7 6.2272e+01 3.1506e-01 5.4050e-01 5.6552e+00 3.42016e-01 1.0000 5.6552e+00 3\n", - " 8 1.3344e+01 3.1533e-01 3.7083e-03 1.2992e+00 7.06752e-01 0.1250 1.2992e+00 3\n", - " 9 1.1667e+01 3.1527e-01 3.3811e-03 1.1317e+00 3.21994e-01 0.1250 1.1317e+00 3\n", - " 10 1.0635e+01 3.1525e-01 2.9711e-03 1.0290e+00 1.88439e-01 0.5000 1.0290e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2347e+02 6.3870e-01 4.1172e+01 1.1112e+00 2.02450e+00 1.0000 ---- 3\n", - " 2 2.8636e+02 3.4874e-01 1.2539e+01 1.6062e+01 1.38941e+00 1.0000 5.0093e+01 3\n", - " 3 2.8091e+02 3.3586e-01 1.7380e-01 2.7884e+01 1.79937e+00 0.5000 2.7884e+01 3\n", - " 4 1.7836e+02 3.3576e-01 8.6857e-02 1.7716e+01 1.11844e+00 0.5000 1.7716e+01 3\n", - " 5 1.1476e+02 3.3586e-01 4.4642e-02 1.1398e+01 8.29242e-01 0.5000 1.1398e+01 3\n", - " 6 8.7605e+01 3.3586e-01 2.2104e-02 8.7048e+00 7.46130e-01 0.5000 8.7048e+00 3\n", - " 7 8.5245e+01 3.3586e-01 1.2048e-02 8.4788e+00 7.26919e-01 0.5000 8.4788e+00 3\n", - " 8 8.0275e+01 3.3586e-01 6.3104e-03 7.9876e+00 7.50029e-01 0.5000 7.9876e+00 3\n", - " 9 8.0073e+01 3.3587e-01 3.7649e-03 7.9700e+00 7.48759e-01 0.2500 7.9700e+00 3\n", - " 10 6.4168e+01 3.3585e-01 2.9277e-03 6.3802e+00 4.28610e-01 1.0000 6.3802e+00 19\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.4581e+02 6.5455e-01 4.2078e+01 2.4381e+00 1.96879e+00 1.0000 ---- 3\n", - " 2 2.5601e+02 3.7012e-01 1.2053e+01 1.3511e+01 1.28289e+00 1.0000 6.4612e+01 3\n", - " 3 2.3706e+02 3.4927e-01 1.7384e-01 2.3497e+01 1.72429e+00 0.5000 2.3497e+01 3\n", - " 4 1.8532e+02 3.4898e-01 8.8864e-02 1.8408e+01 1.00631e+00 1.0000 1.8408e+01 3\n", - " 5 1.2419e+02 3.4963e-01 1.0055e-02 1.2374e+01 1.78430e+00 0.2500 1.2374e+01 3\n", - " 6 1.2200e+02 3.4936e-01 8.4387e-03 1.2156e+01 7.60950e-01 1.0000 1.2156e+01 3\n", - " 7 1.0033e+02 3.4959e-01 5.6294e-03 9.9922e+00 1.53531e+00 0.2500 9.9922e+00 3\n", - " 8 9.6284e+01 3.4929e-01 5.4878e-03 9.5879e+00 6.75186e-01 0.5000 9.5879e+00 3\n", - " 9 7.5573e+01 3.4923e-01 4.4345e-03 7.5179e+00 5.99363e-01 0.5000 7.5179e+00 3\n", - " 10 5.9817e+01 3.4926e-01 2.5109e-03 5.9443e+00 5.10400e-01 0.5000 5.9443e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.5969e+02 6.7223e-01 4.2443e+01 3.4589e+00 2.12493e+00 1.0000 ---- 3\n", - " 2 3.0869e+02 4.0283e-01 1.2795e+01 1.8034e+01 1.75602e+00 0.5000 8.6453e+01 3\n", - " 3 2.4651e+02 3.7473e-01 6.4218e+00 1.8192e+01 9.56229e-01 1.0000 4.3290e+01 3\n", - " 4 1.8224e+02 3.6565e-01 4.6691e-02 1.8141e+01 1.53473e+00 0.2500 1.8141e+01 3\n", - " 5 1.4718e+02 3.6541e-01 3.5578e-02 1.4646e+01 7.14041e-01 1.0000 1.4646e+01 3\n", - " 6 1.3772e+02 3.6575e-01 7.9206e-03 1.3727e+01 1.34662e+00 0.2500 1.3727e+01 3\n", - " 7 1.1686e+02 3.6551e-01 6.3518e-03 1.1643e+01 6.29594e-01 0.5000 1.1643e+01 3\n", - " 8 8.8732e+01 3.6544e-01 3.8392e-03 8.8328e+00 6.17456e-01 0.5000 8.8328e+00 3\n", - " 9 5.0385e+01 3.6556e-01 2.9628e-03 4.9990e+00 4.86392e-01 0.5000 4.9990e+00 3\n", - " 10 4.6935e+01 3.6556e-01 1.9259e-03 4.6550e+00 5.04650e-01 0.2500 4.6550e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.6339e+02 7.0363e-01 4.3913e+01 2.3555e+00 2.15546e+00 1.0000 ---- 3\n", - " 2 2.6237e+02 4.7799e-01 1.3260e+01 1.2930e+01 1.37235e+00 0.5000 1.2557e+02 3\n", - " 3 2.1085e+02 4.1892e-01 6.6581e+00 1.4385e+01 1.11185e+00 0.5000 6.2852e+01 3\n", - " 4 1.6177e+02 4.0415e-01 3.3336e+00 1.2802e+01 7.68468e-01 0.5000 3.1442e+01 3\n", - " 5 1.0174e+02 4.0045e-01 1.6688e+00 8.4654e+00 6.20389e-01 0.5000 1.5724e+01 3\n", - " 6 6.2177e+01 3.9956e-01 8.3465e-01 5.3431e+00 5.96466e-01 0.2500 7.8624e+00 3\n", - " 7 5.1626e+01 3.9940e-01 6.2608e-01 4.4966e+00 2.72654e-01 1.0000 5.8969e+00 3\n", - " 8 1.7940e+01 3.9940e-01 1.8211e-03 1.7522e+00 5.37984e-01 0.1250 1.7522e+00 3\n", - " 9 1.5800e+01 3.9936e-01 1.6573e-03 1.5384e+00 1.76503e-01 1.0000 1.5384e+00 3\n", - " 10 8.9718e+00 3.9934e-01 2.7801e-04 8.5697e-01 5.00596e-01 0.0625 8.5697e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.5285e+02 7.4672e-01 4.4196e+01 1.0147e+00 2.30507e+00 1.0000 ---- 3\n", - " 2 2.9520e+02 6.3698e-01 1.5112e+01 1.4344e+01 1.51415e+00 0.5000 1.9325e+02 3\n", - " 3 2.4249e+02 4.9594e-01 7.5965e+00 1.6603e+01 1.08861e+00 0.5000 9.6520e+01 3\n", - " 4 1.6687e+02 4.6089e-01 3.8067e+00 1.2834e+01 9.16637e-01 0.5000 4.8236e+01 3\n", - " 5 1.1823e+02 4.5210e-01 1.9042e+00 9.8734e+00 7.91023e-01 0.5000 2.4112e+01 3\n", - " 6 8.8472e+01 4.4993e-01 9.5319e-01 7.8490e+00 7.76587e-01 0.2500 1.2054e+01 3\n", - " 7 7.4816e+01 4.4956e-01 7.1498e-01 6.7217e+00 3.85007e-01 1.0000 9.0406e+00 3\n", - " 8 3.2439e+01 4.4942e-01 3.9400e-03 3.1950e+00 7.16109e-01 0.1250 3.1950e+00 3\n", - " 9 2.9325e+01 4.4936e-01 3.5999e-03 2.8839e+00 3.04196e-01 0.5000 2.8839e+00 3\n", - " 10 1.3872e+01 4.4934e-01 1.7901e-03 1.3405e+00 3.76241e-01 0.2500 1.3405e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.6387e+02 8.0548e-01 4.5015e+01 1.2916e+00 2.41635e+00 1.0000 ---- 3\n", - " 2 3.7304e+02 1.0554e+00 2.1122e+01 1.6077e+01 1.68045e+00 0.5000 3.2592e+02 3\n", - " 3 2.9013e+02 6.4822e-01 1.0431e+01 1.8517e+01 1.26954e+00 1.0000 1.6403e+02 3\n", - " 4 2.7694e+02 5.1073e-01 1.7857e-01 2.7464e+01 2.08839e+00 0.5000 2.7464e+01 3\n", - " 5 2.6891e+02 5.0993e-01 8.2197e-02 2.6758e+01 1.34610e+00 1.0000 2.6758e+01 3\n", - " 6 1.9847e+02 5.1065e-01 2.4535e-02 1.9771e+01 2.55319e+00 0.2500 1.9771e+01 3\n", - " 7 1.9014e+02 5.1007e-01 1.7656e-02 1.8946e+01 1.15253e+00 0.5000 1.8946e+01 3\n", - " 8 1.4597e+02 5.0999e-01 9.9310e-03 1.4536e+01 8.24712e-01 0.5000 1.4536e+01 3\n", - " 9 8.4438e+01 5.1013e-01 5.3514e-03 8.3874e+00 6.70850e-01 0.5000 8.3874e+00 3\n", - " 10 6.5312e+01 5.1015e-01 8.8479e-03 6.4714e+00 5.77460e-01 0.5000 6.4714e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9630e+02 9.0902e-01 4.7050e+01 2.4891e+00 2.86862e+00 0.5000 ---- 3\n", - " 2 3.8321e+02 7.8765e-01 2.9590e+01 8.6525e+00 1.79296e+00 1.0000 1.4476e+02 3\n", - " 3 2.8015e+02 6.3898e-01 7.9046e+00 2.0046e+01 2.13329e+00 0.2500 6.2415e+01 3\n", - " 4 2.3191e+02 6.3066e-01 6.0418e+00 1.7086e+01 1.15866e+00 0.5000 5.0206e+01 3\n", - " 5 1.4836e+02 6.2150e-01 3.1201e+00 1.1653e+01 7.34030e-01 0.5000 2.7959e+01 3\n", - " 6 1.0437e+02 6.1854e-01 1.5534e+00 8.8216e+00 6.09183e-01 0.5000 1.3978e+01 3\n", - " 7 7.8271e+01 6.1780e-01 7.7692e-01 6.9884e+00 6.05961e-01 0.2500 6.9887e+00 3\n", - " 8 6.4303e+01 6.1767e-01 5.8258e-01 5.7860e+00 3.41508e-01 1.0000 5.7860e+00 3\n", - " 9 2.4343e+01 6.1780e-01 3.2820e-03 2.3692e+00 8.84951e-01 0.0625 2.3692e+00 3\n", - " 10 2.3509e+01 6.1775e-01 3.1446e-03 2.2859e+00 5.35963e-01 0.1250 2.2859e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.6817e+02 1.1169e+00 4.4695e+01 2.0105e+00 3.06956e+00 0.5000 ---- 3\n", - " 2 3.8719e+02 1.1318e+00 3.2994e+01 5.6120e+00 2.05878e+00 1.0000 2.1426e+02 3\n", - " 3 3.7955e+02 8.2770e-01 1.1516e+01 2.6355e+01 2.36342e+00 0.5000 4.4132e+01 3\n", - " 4 3.2425e+02 8.3374e-01 7.2529e+00 2.5088e+01 1.55832e+00 1.0000 6.0546e+01 3\n", - " 5 2.1767e+02 8.1810e-01 1.8246e+00 1.9861e+01 2.56517e+00 0.2500 2.0721e+01 3\n", - " 6 2.0984e+02 8.1652e-01 1.7653e+00 1.9137e+01 1.00948e+00 1.0000 1.9931e+01 3\n", - " 7 7.7916e+01 8.1527e-01 8.3165e-01 6.8784e+00 2.06853e+00 0.1250 7.6509e+00 3\n", - " 8 7.4064e+01 8.1482e-01 7.6593e-01 6.5590e+00 1.11043e+00 0.2500 7.0821e+00 3\n", - " 9 6.6980e+01 8.1452e-01 6.6210e-01 5.9544e+00 5.21870e-01 1.0000 5.9544e+00 3\n", - " 10 4.1958e+01 8.1459e-01 1.8450e-01 3.9299e+00 1.12774e+00 0.2500 3.9299e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.6836e+02 1.4680e+00 4.2917e+01 3.7719e+00 3.39816e+00 0.5000 ---- 3\n", - " 2 4.2590e+02 1.5137e+00 3.6751e+01 5.6876e+00 2.93448e+00 0.2500 2.3260e+02 3\n", - " 3 3.7055e+02 1.4311e+00 3.0064e+01 6.8478e+00 1.33940e+00 1.0000 2.1711e+02 3\n", - " 4 2.0954e+02 1.1112e+00 4.4355e+00 1.6407e+01 1.79696e+00 0.2500 1.6407e+01 3\n", - " 5 1.9080e+02 1.1107e+00 3.3259e+00 1.5643e+01 7.79490e-01 1.0000 1.5643e+01 3\n", - " 6 1.7414e+02 1.1108e+00 6.3333e-02 1.7240e+01 1.68796e+00 0.1250 1.7240e+01 3\n", - " 7 1.6295e+02 1.1106e+00 5.5129e-02 1.6129e+01 9.84747e-01 0.5000 1.6129e+01 3\n", - " 8 1.2296e+02 1.1106e+00 4.1721e-02 1.2143e+01 1.02214e+00 0.5000 1.2143e+01 3\n", - " 9 1.1492e+02 1.1106e+00 3.8926e-02 1.1342e+01 9.74759e-01 0.2500 1.1342e+01 3\n", - " 10 9.6175e+01 1.1106e+00 3.3516e-02 9.4729e+00 5.09934e-01 1.0000 9.4729e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1305e+02 1.9886e+00 4.8245e+01 2.8608e+00 4.24751e+00 0.1250 ---- 3\n", - " 2 4.8664e+02 1.8885e+00 4.3297e+01 5.1778e+00 2.77972e+00 0.5000 2.1185e+02 3\n", - " 3 3.4227e+02 1.6477e+00 2.6227e+01 7.8360e+00 2.44364e+00 0.5000 1.0314e+02 3\n", - " 4 3.0106e+02 1.6001e+00 1.8853e+01 1.1093e+01 2.22024e+00 0.2500 8.7808e+01 3\n", - " 5 2.5416e+02 1.5828e+00 1.5653e+01 9.6047e+00 9.65013e-01 1.0000 8.9057e+01 3\n", - " 6 1.5493e+02 1.5079e+00 1.6952e+00 1.3647e+01 1.72698e+00 0.1250 1.3647e+01 3\n", - " 7 1.4010e+02 1.5073e+00 1.5535e+00 1.2306e+01 1.07533e+00 0.2500 1.2306e+01 3\n", - " 8 1.2538e+02 1.5071e+00 1.3566e+00 1.1031e+01 8.00187e-01 0.5000 1.1031e+01 3\n", - " 9 1.0045e+02 1.5071e+00 6.5218e-01 9.2423e+00 9.43575e-01 0.1250 9.2423e+00 3\n", - " 10 9.5269e+01 1.5070e+00 5.7167e-01 8.8046e+00 5.82925e-01 0.5000 8.8046e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.9944e+02 2.6646e+00 5.6609e+01 3.0686e+00 3.71509e+00 0.5000 ---- 3\n", - " 2 5.2277e+02 2.3453e+00 4.1897e+01 1.0145e+01 3.82471e+00 0.2500 1.3154e+02 3\n", - " 3 4.9310e+02 2.3506e+00 3.6213e+01 1.2863e+01 1.71060e+00 1.0000 1.8486e+02 3\n", - " 4 3.1322e+02 2.0435e+00 1.1287e+01 1.9832e+01 3.20085e+00 0.1250 7.0865e+01 3\n", - " 5 2.9072e+02 2.0435e+00 1.1213e+01 1.7655e+01 1.78844e+00 0.2500 7.8512e+01 3\n", - " 6 2.5803e+02 2.0353e+00 9.2431e+00 1.6357e+01 1.08538e+00 0.5000 6.9128e+01 3\n", - " 7 1.7536e+02 2.0182e+00 4.7279e+00 1.2607e+01 1.20780e+00 0.2500 3.7929e+01 3\n", - " 8 1.5395e+02 2.0152e+00 3.7298e+00 1.1463e+01 7.19309e-01 1.0000 3.0217e+01 3\n", - " 9 1.0174e+02 2.0112e+00 6.4063e-01 9.3321e+00 1.54570e+00 0.1250 9.3321e+00 3\n", - " 10 9.7158e+01 2.0109e+00 6.4615e-01 8.8686e+00 1.01925e+00 0.1250 8.8686e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.8484e+02 3.5082e+00 6.4845e+01 1.3288e+01 4.29011e+00 0.5000 ---- 3\n", - " 2 7.0731e+02 3.0033e+00 4.3823e+01 2.6608e+01 4.23816e+00 0.2500 1.1266e+02 3\n", - " 3 5.6665e+02 2.9699e+00 3.4645e+01 2.1723e+01 2.24578e+00 1.0000 1.5100e+02 3\n", - " 4 5.0289e+02 2.7728e+00 1.8389e+01 3.1623e+01 4.78507e+00 0.1250 1.5433e+02 3\n", - " 5 4.8201e+02 2.8002e+00 2.0051e+01 2.7870e+01 2.51052e+00 0.2500 1.7945e+02 3\n", - " 6 4.1023e+02 2.7643e+00 1.7769e+01 2.2978e+01 1.44857e+00 0.5000 1.6084e+02 3\n", - " 7 2.9971e+02 2.6781e+00 1.0116e+01 1.9587e+01 1.79615e+00 0.2500 9.8644e+01 3\n", - " 8 2.5915e+02 2.6657e+00 8.4699e+00 1.7179e+01 1.11517e+00 0.5000 8.6908e+01 3\n", - " 9 1.6320e+02 2.6410e+00 5.1817e+00 1.0874e+01 1.55026e+00 0.1250 5.2531e+01 3\n", - " 10 1.5498e+02 2.6378e+00 4.6009e+00 1.0633e+01 9.14276e-01 0.2500 4.7650e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 9.2292e+02 4.5039e+00 7.3064e+01 1.8777e+01 4.28937e+00 0.5000 ---- 25\n", - " 2 7.1581e+02 3.8437e+00 4.7848e+01 2.3349e+01 4.75272e+00 0.2500 1.1017e+02 25\n", - " 3 6.5237e+02 3.8087e+00 3.9197e+01 2.5659e+01 2.89253e+00 0.5000 1.7960e+02 25\n", - " 4 4.6544e+02 3.6210e+00 2.7064e+01 1.9118e+01 2.94078e+00 0.2500 1.6823e+02 22\n", - " 5 4.3193e+02 3.6460e+00 2.5632e+01 1.7196e+01 1.61461e+00 0.5000 2.0268e+02 19\n", - " 6 3.5376e+02 3.5328e+00 1.8532e+01 1.6491e+01 2.40369e+00 0.1250 1.6922e+02 14\n", - " 7 3.3220e+02 3.5128e+00 1.7530e+01 1.5339e+01 9.94313e-01 1.0000 1.6391e+02 14\n", - " 8 3.0518e+02 3.3822e+00 6.9255e+00 2.3255e+01 3.18555e+00 0.1250 8.2324e+01 18\n", - " 9 3.0441e+02 3.4010e+00 8.9812e+00 2.1120e+01 1.03140e+00 0.5000 1.1113e+02 13\n", - " 10 2.7894e+02 3.3659e+00 6.3060e+00 2.1251e+01 1.52051e+00 0.2500 7.6920e+01 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.1749e+03 5.6646e+00 8.3689e+01 3.3240e+01 5.03951e+00 0.5000 ---- 25\n", - " 2 7.4930e+02 4.9474e+00 5.3520e+01 2.0915e+01 5.32689e+00 0.2500 1.9810e+02 25\n", - " 3 7.2987e+02 5.1590e+00 4.6684e+01 2.5787e+01 2.75532e+00 0.5000 3.4261e+02 18\n", - " 4 5.8005e+02 5.0303e+00 3.8366e+01 1.9136e+01 4.01673e+00 0.1250 3.6289e+02 18\n", - " 5 5.5550e+02 5.0043e+00 3.6797e+01 1.8252e+01 1.79614e+00 0.5000 3.6689e+02 17\n", - " 6 4.4217e+02 4.5820e+00 2.5202e+01 1.8556e+01 2.83214e+00 0.1250 2.5931e+02 25\n", - " 7 4.1928e+02 4.5550e+00 2.4554e+01 1.6919e+01 9.49223e-01 1.0000 2.5626e+02 25\n", - " 8 2.7455e+02 4.1493e+00 6.0034e+00 2.1037e+01 2.41816e+00 0.1250 3.3185e+01 25\n", - " 9 2.5477e+02 4.1479e+00 6.6725e+00 1.8390e+01 1.10079e+00 0.2500 3.9650e+01 16\n", - " 10 2.3606e+02 4.1450e+00 5.5050e+00 1.7687e+01 7.02212e-01 0.5000 3.2091e+01 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.1752e+03 6.8914e+00 8.6668e+01 3.0161e+01 4.68188e+00 0.5000 ---- 25\n", - " 2 8.9931e+02 5.7495e+00 5.3504e+01 3.5852e+01 3.72135e+00 0.5000 1.1033e+02 25\n", - " 3 8.4641e+02 5.3533e+00 3.4155e+01 4.9951e+01 3.41212e+00 0.5000 5.4801e+01 25\n", - " 4 7.0645e+02 5.5191e+00 2.8038e+01 4.2055e+01 4.84395e+00 0.1250 2.4002e+02 24\n", - " 5 6.8647e+02 5.5752e+00 2.9989e+01 3.8100e+01 2.38272e+00 0.5000 2.7717e+02 21\n", - " 6 5.2315e+02 5.4218e+00 2.3976e+01 2.7797e+01 3.69001e+00 0.1250 2.4155e+02 17\n", - " 7 5.0998e+02 5.4416e+00 2.4872e+01 2.5583e+01 1.07150e+00 1.0000 2.5652e+02 17\n", - " 8 3.8300e+02 5.0356e+00 2.0190e+00 3.5777e+01 2.52554e+00 0.1250 3.5777e+01 25\n", - " 9 3.6313e+02 5.0343e+00 2.2087e+00 3.3601e+01 1.22962e+00 0.5000 3.3601e+01 23\n", - " 10 3.6126e+02 5.0333e+00 1.4865e+00 3.4136e+01 1.39536e+00 0.5000 3.4136e+01 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.4061e+03 8.2694e+00 8.9386e+01 5.0401e+01 5.73823e+00 0.5000 ---- 25\n", - " 2 1.1176e+03 6.8730e+00 5.2679e+01 5.8393e+01 3.96182e+00 0.5000 1.0823e+02 25\n", - " 3 1.0127e+03 6.3694e+00 3.2932e+01 6.7706e+01 3.54102e+00 0.5000 6.7706e+01 19\n", - " 4 7.7354e+02 6.2612e+00 2.3248e+01 5.3481e+01 4.50072e+00 0.1250 1.3064e+02 25\n", - " 5 7.3648e+02 6.2810e+00 2.4944e+01 4.8076e+01 1.58087e+00 1.0000 1.6668e+02 15\n", - " 6 5.7671e+02 5.9885e+00 1.0064e+00 5.6066e+01 2.48500e+00 0.2500 5.6066e+01 24\n", - " 7 5.0761e+02 5.9874e+00 6.5109e-01 4.9511e+01 1.24666e+00 0.5000 4.9511e+01 19\n", - " 8 4.2590e+02 5.9872e+00 4.2899e-01 4.1562e+01 1.22885e+00 0.5000 4.1562e+01 11\n", - " 9 3.3810e+02 5.9879e+00 1.0782e+00 3.2133e+01 1.82952e+00 0.1250 3.2133e+01 11\n", - " 10 3.2192e+02 5.9875e+00 1.1933e+00 3.0400e+01 9.60078e-01 0.5000 3.0400e+01 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.4733e+03 9.7366e+00 9.8964e+01 4.7393e+01 5.84004e+00 0.5000 ---- 25\n", - " 2 1.3319e+03 8.0712e+00 6.9551e+01 6.2830e+01 4.93158e+00 0.5000 1.0378e+02 25\n", - " 3 1.0554e+03 7.6553e+00 3.9758e+01 6.5019e+01 5.89540e+00 0.1250 1.8461e+02 25\n", - " 4 1.0150e+03 7.7061e+00 4.2779e+01 5.7952e+01 2.35048e+00 1.0000 2.4485e+02 25\n", - " 5 8.0872e+02 7.0135e+00 7.8925e+00 7.2278e+01 3.86782e+00 0.2500 7.2278e+01 25\n", - " 6 7.3786e+02 7.0231e+00 9.9499e+00 6.3134e+01 2.64089e+00 0.5000 6.3134e+01 8\n", - " 7 7.0966e+02 7.1261e+00 1.5433e+01 5.4821e+01 4.08468e+00 0.1250 1.4033e+02 6\n", - " 8 6.9026e+02 7.1857e+00 1.9381e+01 4.8927e+01 1.33293e+00 1.0000 1.8251e+02 7\n", - " 9 3.8181e+02 7.0125e+00 1.6596e+00 3.5821e+01 3.02576e+00 0.2500 3.5821e+01 12\n", - " 10 3.7512e+02 7.0127e+00 3.0419e+00 3.3768e+01 1.87828e+00 0.2500 3.3768e+01 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.5679e+03 1.1293e+01 1.0220e+02 5.3459e+01 6.38292e+00 0.5000 ---- 25\n", - " 2 1.2395e+03 9.4590e+00 7.2660e+01 5.0340e+01 7.00580e+00 0.2500 1.3651e+02 25\n", - " 3 1.0741e+03 9.5106e+00 5.6412e+01 5.0050e+01 4.44859e+00 0.2500 3.2333e+02 25\n", - " 4 8.9307e+02 9.3853e+00 4.7231e+01 4.1138e+01 3.76691e+00 0.2500 3.5793e+02 25\n", - " 5 8.1353e+02 9.2202e+00 4.4575e+01 3.5856e+01 3.10821e+00 0.2500 3.6061e+02 25\n", - " 6 7.3896e+02 8.9976e+00 4.0836e+01 3.2161e+01 2.78243e+00 0.2500 3.3422e+02 11\n", - " 7 6.5856e+02 8.7918e+00 3.5808e+01 2.9168e+01 2.56435e+00 0.2500 2.9807e+02 17\n", - " 8 6.2500e+02 8.6162e+00 3.1128e+01 3.0510e+01 2.34206e+00 0.2500 2.6096e+02 21\n", - " 9 5.7082e+02 8.4736e+00 2.6621e+01 2.9613e+01 2.08034e+00 0.2500 2.2255e+02 19\n", - " 10 5.2687e+02 8.3663e+00 2.3037e+01 2.8813e+01 1.92520e+00 0.2500 1.8933e+02 17\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.6416e+03 1.3093e+01 1.1343e+02 4.9420e+01 7.15930e+00 0.2500 ---- 25\n", - " 2 1.3902e+03 1.1835e+01 8.3598e+01 5.4237e+01 5.64297e+00 0.5000 1.5673e+02 25\n", - " 3 1.1605e+03 1.0504e+01 5.7525e+01 5.7474e+01 6.48596e+00 0.1250 2.3010e+02 25\n", - " 4 1.1065e+03 1.0489e+01 5.8217e+01 5.1386e+01 2.87868e+00 1.0000 2.8749e+02 19\n", - " 5 9.2131e+02 9.2225e+00 1.3984e+01 7.7225e+01 5.34582e+00 0.2500 7.7225e+01 21\n", - " 6 9.1445e+02 9.5908e+00 2.4259e+01 6.6226e+01 4.34801e+00 0.1250 2.5905e+02 15\n", - " 7 8.3200e+02 9.6134e+00 2.3197e+01 5.9041e+01 2.09828e+00 0.5000 2.7384e+02 11\n", - " 8 6.6550e+02 9.3619e+00 1.4730e+01 5.0883e+01 3.05614e+00 0.2500 1.7022e+02 10\n", - " 9 6.6350e+02 9.4684e+00 2.0705e+01 4.4698e+01 2.98446e+00 0.2500 2.2014e+02 11\n", - " 10 6.0030e+02 9.5230e+00 2.4014e+01 3.5063e+01 2.49151e+00 0.2500 2.4386e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.7642e+03 1.4842e+01 1.1883e+02 5.6105e+01 7.49766e+00 0.5000 ---- 25\n", - " 2 1.5229e+03 1.2230e+01 7.3812e+01 7.7254e+01 6.91807e+00 0.2500 2.2103e+02 25\n", - " 3 1.3762e+03 1.2338e+01 7.3402e+01 6.2988e+01 5.67447e+00 0.2500 3.9592e+02 19\n", - " 4 1.3415e+03 1.2505e+01 7.9364e+01 5.3535e+01 4.30437e+00 0.5000 5.0496e+02 18\n", - " 5 1.2622e+03 1.3858e+01 8.7883e+01 3.6948e+01 7.41543e+00 0.0625 7.4836e+02 10\n", - " 6 1.2283e+03 1.3684e+01 8.5977e+01 3.5486e+01 5.53774e+00 0.1250 7.3562e+02 10\n", - " 7 1.1863e+03 1.3508e+01 8.3916e+01 3.3359e+01 2.39302e+00 1.0000 7.2369e+02 10\n", - " 8 1.1078e+03 1.1637e+01 5.4992e+01 5.4624e+01 1.13531e+01 0.0156 4.5373e+02 25\n", - " 9 1.1001e+03 1.1621e+01 5.5306e+01 5.3547e+01 9.52134e+00 0.0312 4.5754e+02 25\n", - " 10 1.0943e+03 1.1648e+01 5.6597e+01 5.1672e+01 6.64117e+00 0.0625 4.7137e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.3651e+03 1.7550e+01 1.3956e+02 9.5203e+01 9.25932e+00 0.5000 ---- 25\n", - " 2 1.8123e+03 1.6912e+01 1.0216e+02 7.7385e+01 9.60831e+00 0.1250 7.7271e+02 25\n", - " 3 1.7478e+03 1.6968e+01 1.0324e+02 6.9842e+01 5.66718e+00 0.5000 8.2619e+02 25\n", - " 4 1.6394e+03 1.7596e+01 1.1335e+02 4.8838e+01 1.09554e+01 0.0312 9.8879e+02 14\n", - " 5 1.6219e+03 1.7558e+01 1.1298e+02 4.7452e+01 7.37267e+00 0.1250 9.9271e+02 13\n", - " 6 1.6070e+03 1.8116e+01 1.1463e+02 4.4262e+01 2.98454e+00 0.5000 1.0557e+03 12\n", - " 7 1.2362e+03 1.4172e+01 7.7162e+01 4.5044e+01 6.17876e+00 0.0625 6.5386e+02 18\n", - " 8 1.2092e+03 1.4097e+01 7.6871e+01 4.2643e+01 3.24728e+00 0.5000 6.5020e+02 15\n", - " 9 1.2085e+03 1.3552e+01 7.5282e+01 4.4216e+01 5.20218e+00 0.1250 5.9576e+02 12\n", - " 10 1.1698e+03 1.3543e+01 7.5746e+01 3.9882e+01 2.21827e+00 0.5000 6.0146e+02 13\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.9344e+03 1.9003e+01 1.4885e+02 4.2690e+01 1.14526e+01 0.1250 ---- 25\n", - " 2 1.7876e+03 1.8506e+01 1.3587e+02 4.1035e+01 6.65494e+00 0.5000 5.1355e+02 25\n", - " 3 1.4027e+03 1.5036e+01 8.3501e+01 5.5261e+01 6.86118e+00 0.1250 3.4012e+02 25\n", - " 4 1.3101e+03 1.4830e+01 8.0040e+01 4.9484e+01 3.43324e+00 1.0000 3.6087e+02 17\n", - " 5 1.1604e+03 1.2671e+01 2.0775e+01 9.3993e+01 6.84379e+00 0.1250 9.3993e+01 25\n", - " 6 1.0813e+03 1.2743e+01 2.3051e+01 8.3809e+01 3.31633e+00 0.5000 1.4221e+02 17\n", - " 7 9.5375e+02 1.2689e+01 1.4193e+01 7.9913e+01 3.68448e+00 0.2500 1.0051e+02 17\n", - " 8 8.6990e+02 1.2768e+01 1.9706e+01 6.6007e+01 3.57339e+00 0.2500 1.5478e+02 18\n", - " 9 7.5253e+02 1.2829e+01 2.2644e+01 5.1326e+01 2.59962e+00 0.2500 1.8931e+02 16\n", - " 10 6.9059e+02 1.2853e+01 2.4365e+01 4.3408e+01 2.75513e+00 0.2500 2.0033e+02 16\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.0274e+03 1.9819e+01 1.2343e+02 7.7329e+01 8.84884e+00 0.5000 ---- 25\n", - " 2 1.9212e+03 1.7122e+01 9.8598e+01 9.1807e+01 9.45383e+00 0.2500 4.1632e+02 25\n", - " 3 1.7182e+03 1.8306e+01 8.8259e+01 8.1732e+01 5.33274e+00 0.2500 7.3987e+02 14\n", - " 4 1.5175e+03 1.7261e+01 8.1578e+01 6.8442e+01 4.48758e+00 0.2500 6.6415e+02 12\n", - " 5 1.3198e+03 1.6449e+01 7.2794e+01 5.7545e+01 3.87890e+00 0.2500 5.8828e+02 11\n", - " 6 1.1874e+03 1.5866e+01 6.6402e+01 5.0754e+01 3.79562e+00 0.2500 5.2975e+02 10\n", - " 7 1.0995e+03 1.5398e+01 5.9530e+01 4.8884e+01 3.65303e+00 0.2500 4.7033e+02 11\n", - " 8 1.0658e+03 1.5060e+01 5.4677e+01 5.0401e+01 3.37907e+00 0.2500 4.2474e+02 12\n", - " 9 9.7155e+02 1.4781e+01 4.9765e+01 4.5912e+01 3.13639e+00 0.2500 3.7805e+02 12\n", - " 10 9.1429e+02 1.4578e+01 4.6623e+01 4.3348e+01 3.06955e+00 0.2500 3.4196e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.1056e+03 2.1878e+01 1.2926e+02 7.9112e+01 9.20816e+00 0.5000 ---- 25\n", - " 2 1.9604e+03 1.8760e+01 8.1435e+01 1.1273e+02 9.90700e+00 0.1250 4.7293e+02 25\n", - " 3 1.7810e+03 1.8517e+01 7.4192e+01 1.0205e+02 6.10936e+00 0.5000 5.1232e+02 13\n", - " 4 1.6933e+03 1.7822e+01 8.6030e+01 8.1516e+01 9.58001e+00 0.0625 5.9831e+02 12\n", - " 5 1.6890e+03 1.7989e+01 9.0071e+01 7.7028e+01 4.67610e+00 0.5000 6.4021e+02 12\n", - " 6 1.6365e+03 1.7102e+01 7.6189e+01 8.5751e+01 6.37671e+00 0.1250 5.7511e+02 12\n", - " 7 1.5606e+03 1.7024e+01 7.6149e+01 7.8214e+01 3.63375e+00 0.5000 5.7543e+02 10\n", - " 8 1.3795e+03 1.6139e+01 6.3133e+01 7.3203e+01 6.96860e+00 0.0625 4.3667e+02 18\n", - " 9 1.3516e+03 1.6151e+01 6.4326e+01 6.9224e+01 3.79149e+00 0.2500 4.4646e+02 19\n", - " 10 1.2274e+03 1.5839e+01 5.7929e+01 6.3222e+01 2.82415e+00 0.5000 3.8881e+02 19\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.5520e+03 2.3718e+01 1.4545e+02 1.0737e+02 1.29383e+01 0.1250 ---- 25\n", - " 2 2.4310e+03 2.3154e+01 1.4966e+02 9.1119e+01 7.80013e+00 0.5000 5.0789e+02 25\n", - " 3 2.2083e+03 1.9306e+01 1.1501e+02 1.0389e+02 8.47356e+00 0.1250 4.3508e+02 14\n", - " 4 2.0989e+03 1.9418e+01 1.1509e+02 9.2861e+01 4.45591e+00 0.5000 5.2789e+02 13\n", - " 5 1.6087e+03 1.7678e+01 8.8274e+01 7.0831e+01 6.61774e+00 0.0625 3.8648e+02 11\n", - " 6 1.5606e+03 1.7616e+01 8.7393e+01 6.6902e+01 3.63810e+00 0.5000 3.9036e+02 12\n", - " 7 1.3855e+03 1.7143e+01 8.5149e+01 5.1685e+01 5.74209e+00 0.1250 3.7358e+02 25\n", - " 8 1.3653e+03 1.7104e+01 8.5550e+01 4.9271e+01 2.90526e+00 0.5000 3.8175e+02 12\n", - " 9 1.2092e+03 1.6620e+01 6.6567e+01 5.2691e+01 5.90851e+00 0.0625 2.8760e+02 21\n", - " 10 1.1778e+03 1.6606e+01 6.5816e+01 5.0301e+01 3.28146e+00 0.2500 2.9120e+02 22\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6279e+03 2.4883e+01 1.7623e+02 8.4071e+01 8.78818e+00 0.5000 ---- 25\n", - " 2 2.2751e+03 2.0119e+01 1.1510e+02 1.1040e+02 8.09904e+00 0.5000 1.8472e+02 25\n", - " 3 2.1764e+03 2.0324e+01 1.0604e+02 1.0957e+02 8.54841e+00 0.1250 5.7925e+02 11\n", - " 4 2.0814e+03 2.0345e+01 1.0791e+02 9.8188e+01 5.74227e+00 0.2500 6.2218e+02 10\n", - " 5 1.8631e+03 2.0208e+01 1.0658e+02 7.7712e+01 4.56811e+00 0.2500 6.5101e+02 10\n", - " 6 1.6293e+03 1.9786e+01 1.0054e+02 6.0416e+01 4.13468e+00 0.2500 6.2550e+02 10\n", - " 7 1.5129e+03 1.9391e+01 9.2675e+01 5.6673e+01 4.18680e+00 0.2500 5.8993e+02 25\n", - " 8 1.4813e+03 1.9084e+01 8.7114e+01 5.9109e+01 3.64930e+00 0.2500 5.6163e+02 16\n", - " 9 1.3059e+03 1.8785e+01 7.9859e+01 4.8857e+01 3.52348e+00 0.2500 5.2457e+02 15\n", - " 10 1.2424e+03 1.8558e+01 7.8916e+01 4.3465e+01 3.54636e+00 0.1250 4.9623e+02 22\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6822e+03 2.7173e+01 1.9678e+02 6.8729e+01 8.19736e+00 1.0000 ---- 25\n", - " 2 2.3562e+03 1.7944e+01 9.8726e+01 1.3510e+02 8.38097e+00 0.5000 1.3510e+02 25\n", - " 3 1.8881e+03 1.8043e+01 5.8069e+01 1.2893e+02 6.88621e+00 0.2500 1.2893e+02 18\n", - " 4 1.8334e+03 1.8469e+01 7.1604e+01 1.0989e+02 5.77722e+00 0.2500 2.8482e+02 10\n", - " 5 1.5493e+03 1.8894e+01 6.5850e+01 8.7193e+01 3.89677e+00 0.5000 4.0309e+02 14\n", - " 6 1.4243e+03 1.9629e+01 7.7925e+01 6.2541e+01 6.40025e+00 0.1250 5.3451e+02 19\n", - " 7 1.4135e+03 1.9683e+01 8.0130e+01 5.9257e+01 3.71986e+00 0.2500 5.5052e+02 12\n", - " 8 1.2916e+03 1.9424e+01 6.9275e+01 5.7940e+01 3.41384e+00 0.2500 5.0466e+02 10\n", - " 9 1.2055e+03 1.9297e+01 6.7479e+01 5.1144e+01 3.56856e+00 0.2500 4.8202e+02 10\n", - " 10 1.1360e+03 1.9154e+01 6.0801e+01 5.0880e+01 3.57793e+00 0.1250 4.5338e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7333e+03 2.8246e+01 1.9015e+02 8.0359e+01 8.70835e+00 1.0000 ---- 25\n", - " 2 2.7093e+03 1.8873e+01 1.1001e+02 1.5903e+02 9.27928e+00 0.5000 1.5903e+02 25\n", - " 3 2.0134e+03 1.9226e+01 6.5264e+01 1.3415e+02 8.39508e+00 0.1250 2.3486e+02 14\n", - " 4 1.9862e+03 1.9660e+01 7.5998e+01 1.2065e+02 4.87518e+00 0.5000 3.7243e+02 10\n", - " 5 1.7337e+03 1.9936e+01 6.4343e+01 1.0703e+02 8.60416e+00 0.0625 4.2441e+02 22\n", - " 6 1.7127e+03 2.0118e+01 6.8376e+01 1.0089e+02 3.71595e+00 0.5000 4.6975e+02 13\n", - " 7 1.5306e+03 1.9547e+01 5.5173e+01 9.5927e+01 4.73997e+00 0.2500 3.3293e+02 10\n", - " 8 1.4394e+03 1.9684e+01 5.9224e+01 8.2744e+01 3.64846e+00 0.2500 3.7010e+02 10\n", - " 9 1.2525e+03 1.9673e+01 5.9646e+01 6.3634e+01 3.46355e+00 0.2500 3.6545e+02 10\n", - " 10 1.1597e+03 1.9640e+01 5.8510e+01 5.5492e+01 3.17651e+00 0.1250 3.5588e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9566e+03 2.9177e+01 2.0455e+02 8.8200e+01 8.90420e+00 0.5000 ---- 25\n", - " 2 2.2613e+03 2.3357e+01 1.0340e+02 1.2040e+02 6.63030e+00 0.5000 1.6848e+02 25\n", - " 3 1.9209e+03 2.1392e+01 7.2724e+01 1.1723e+02 6.02380e+00 0.2500 1.4455e+02 12\n", - " 4 1.8052e+03 2.1252e+01 7.9609e+01 9.8788e+01 5.23224e+00 0.2500 2.6214e+02 10\n", - " 5 1.6585e+03 2.1221e+01 8.4189e+01 7.9534e+01 4.19721e+00 0.2500 3.4531e+02 10\n", - " 6 1.4864e+03 2.0990e+01 7.5444e+01 7.1099e+01 4.31010e+00 0.2500 3.3701e+02 11\n", - " 7 1.4375e+03 2.0823e+01 6.9222e+01 7.2446e+01 4.07241e+00 0.2500 3.3176e+02 11\n", - " 8 1.3743e+03 2.0720e+01 6.7397e+01 6.7960e+01 4.10258e+00 0.2500 3.3195e+02 10\n", - " 9 1.3228e+03 2.0645e+01 6.5360e+01 6.4852e+01 3.86985e+00 0.2500 3.3333e+02 12\n", - " 10 1.2989e+03 2.0607e+01 6.5160e+01 6.2665e+01 3.96866e+00 0.2500 3.3800e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.2302e+03 3.0551e+01 2.1771e+02 1.0225e+02 1.07336e+01 0.5000 ---- 25\n", - " 2 2.9618e+03 2.7538e+01 1.6784e+02 1.2558e+02 1.12398e+01 0.1250 7.5199e+02 25\n", - " 3 2.8303e+03 2.6939e+01 1.6533e+02 1.1500e+02 8.80029e+00 0.1250 7.5870e+02 10\n", - " 4 2.6499e+03 2.6286e+01 1.5951e+02 1.0285e+02 5.79776e+00 0.5000 7.4342e+02 10\n", - " 5 2.2393e+03 2.4366e+01 1.5456e+02 6.6932e+01 1.26685e+01 0.0156 6.8958e+02 14\n", - " 6 2.2287e+03 2.4335e+01 1.5438e+02 6.6048e+01 8.81618e+00 0.0312 6.9250e+02 18\n", - " 7 2.1995e+03 2.4267e+01 1.5337e+02 6.4147e+01 5.36345e+00 0.1250 6.9228e+02 15\n", - " 8 2.0943e+03 2.3916e+01 1.4629e+02 6.0748e+01 3.43416e+00 1.0000 6.6732e+02 22\n", - " 9 2.0942e+03 2.2110e+01 8.2235e+01 1.2497e+02 2.22375e+01 0.0078 5.0793e+02 17\n", - " 10 2.0924e+03 2.2101e+01 8.3077e+01 1.2396e+02 1.78570e+01 0.0078 5.1592e+02 18\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.7913e+03 3.2353e+01 2.5652e+02 2.1937e+02 2.23381e+01 0.0312 ---- 3\n", - " 2 4.7025e+03 3.2116e+01 2.5830e+02 2.0873e+02 1.38028e+01 0.2500 5.6615e+02 25\n", - " 3 4.1370e+03 3.2375e+01 2.6772e+02 1.4275e+02 1.12833e+01 0.2500 9.6055e+02 25\n", - " 4 3.8210e+03 3.1843e+01 2.6628e+02 1.1263e+02 5.39060e+00 1.0000 1.1020e+03 11\n", - " 5 2.3683e+03 2.1493e+01 1.1305e+02 1.2163e+02 2.07005e+01 0.0312 1.2712e+02 25\n", - " 6 2.3567e+03 2.1608e+01 1.1638e+02 1.1713e+02 8.72258e+00 0.1250 2.3566e+02 25\n", - " 7 2.2254e+03 2.1811e+01 1.1608e+02 1.0428e+02 5.83544e+00 0.5000 3.0933e+02 15\n", - " 8 1.8410e+03 2.2317e+01 7.3524e+01 1.0834e+02 1.12188e+01 0.0312 4.3320e+02 9\n", - " 9 1.8405e+03 2.2415e+01 7.6729e+01 1.0508e+02 5.50904e+00 0.2500 4.6246e+02 9\n", - " 10 1.8164e+03 2.3232e+01 9.3242e+01 8.6074e+01 5.82392e+00 0.1250 6.0482e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1590e+03 3.3641e+01 2.9167e+02 1.2087e+02 9.71189e+00 1.0000 ---- 25\n", - " 2 3.8770e+03 2.2310e+01 1.9735e+02 1.8812e+02 2.04185e+01 0.0312 3.0297e+02 25\n", - " 3 3.8409e+03 2.2479e+01 2.0137e+02 1.8047e+02 1.12556e+01 0.5000 3.6948e+02 10\n", - " 4 3.7139e+03 2.6469e+01 2.1441e+02 1.5433e+02 9.08102e+00 0.2500 9.2827e+02 13\n", - " 5 3.3677e+03 2.8345e+01 2.1336e+02 1.2057e+02 6.54424e+00 0.2500 1.1155e+03 9\n", - " 6 3.2275e+03 3.0158e+01 2.2023e+02 9.9504e+01 2.12818e+01 0.0078 1.2734e+03 7\n", - " 7 3.2160e+03 3.0147e+01 2.1982e+02 9.8764e+01 1.38145e+01 0.0312 1.2757e+03 6\n", - " 8 3.2084e+03 3.0534e+01 2.2172e+02 9.6064e+01 3.08648e+00 1.0000 1.3096e+03 7\n", - " 9 1.1494e+03 2.2278e+01 2.8883e+01 8.3833e+01 3.22436e+01 0.0156 8.3833e+01 8\n", - " 10 1.1005e+03 2.2177e+01 2.5256e+01 8.2573e+01 1.88712e+01 0.0078 1.6628e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.5870e+03 3.2708e+01 2.0759e+02 1.4784e+02 2.44375e+01 0.0312 ---- 25\n", - " 2 3.5393e+03 3.2305e+01 2.0982e+02 1.4088e+02 1.52921e+01 0.2500 2.3235e+02 25\n", - " 3 3.1760e+03 3.0337e+01 2.0651e+02 1.0806e+02 1.15676e+01 0.2500 5.3085e+02 25\n", - " 4 3.1741e+03 2.9682e+01 2.2520e+02 8.9242e+01 5.53417e+00 1.0000 7.5632e+02 25\n", - " 5 2.3376e+03 2.2417e+01 7.8797e+01 1.5272e+02 1.18208e+01 0.0625 1.5272e+02 18\n", - " 6 2.2669e+03 2.2424e+01 8.0635e+01 1.4381e+02 5.89580e+00 0.5000 1.4381e+02 15\n", - " 7 1.6882e+03 2.2474e+01 3.7452e+01 1.2912e+02 8.00395e+00 0.0625 1.2912e+02 10\n", - " 8 1.6458e+03 2.2520e+01 4.0585e+01 1.2175e+02 4.12835e+00 0.5000 1.4800e+02 10\n", - " 9 1.2288e+03 2.2514e+01 2.3854e+01 9.6770e+01 6.92231e+00 0.0625 1.2664e+02 10\n", - " 10 1.2236e+03 2.2566e+01 2.8824e+01 9.1277e+01 3.32355e+00 0.5000 1.6930e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.4394e+03 3.3348e+01 1.8842e+02 1.5219e+02 1.59571e+01 0.1250 ---- 25\n", - " 2 3.4233e+03 3.2301e+01 2.0942e+02 1.2968e+02 1.16165e+01 0.1250 4.1576e+02 25\n", - " 3 3.2266e+03 3.0960e+01 1.9874e+02 1.2083e+02 9.08515e+00 0.5000 4.5320e+02 17\n", - " 4 3.1567e+03 2.8481e+01 2.2638e+02 8.6442e+01 3.33411e+01 0.0078 7.4980e+02 23\n", - " 5 3.1538e+03 2.8506e+01 2.2710e+02 8.5433e+01 1.89631e+01 0.0156 7.6596e+02 25\n", - " 6 3.1401e+03 2.8534e+01 2.2701e+02 8.4145e+01 6.77483e+00 0.2500 7.8126e+02 18\n", - " 7 2.9261e+03 2.8546e+01 2.0811e+02 8.1645e+01 8.68829e+00 0.0625 8.7338e+02 13\n", - " 8 2.8365e+03 2.8390e+01 2.0390e+02 7.6907e+01 8.35479e+00 0.0625 8.7896e+02 13\n", - " 9 2.7634e+03 2.8349e+01 2.0114e+02 7.2360e+01 3.22542e+00 1.0000 8.9313e+02 13\n", - " 10 1.2996e+03 2.3362e+01 5.3608e+01 7.4012e+01 4.45327e+01 0.0156 2.0181e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.6945e+03 3.4071e+01 2.3276e+02 1.3328e+02 3.06512e+01 0.0312 ---- 25\n", - " 2 3.6492e+03 3.3761e+01 2.3442e+02 1.2713e+02 1.19529e+01 0.5000 3.8426e+02 25\n", - " 3 2.5190e+03 2.9139e+01 1.6019e+02 8.8805e+01 1.13240e+01 0.1250 6.4032e+02 11\n", - " 4 2.4770e+03 2.8697e+01 1.5626e+02 8.8567e+01 1.19067e+01 0.0625 6.8056e+02 10\n", - " 5 2.4601e+03 2.8673e+01 1.5795e+02 8.5189e+01 1.10995e+01 0.0625 7.2344e+02 10\n", - " 6 2.4247e+03 2.8767e+01 1.5900e+02 8.0589e+01 1.16631e+01 0.0312 7.7044e+02 10\n", - " 7 2.3991e+03 2.8793e+01 1.5890e+02 7.8136e+01 1.04985e+01 0.0625 7.8836e+02 10\n", - " 8 2.3571e+03 2.8922e+01 1.5900e+02 7.3817e+01 2.07964e+01 0.0078 8.3022e+02 13\n", - " 9 2.3482e+03 2.8904e+01 1.5875e+02 7.3182e+01 6.70249e+00 0.1250 8.3324e+02 10\n", - " 10 2.2938e+03 2.9185e+01 1.6008e+02 6.6380e+01 1.32433e+01 0.0156 9.0077e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9695e+03 3.9931e+01 3.0526e+02 8.7697e+01 1.94919e+01 0.0312 ---- 25\n", - " 2 3.9121e+03 3.9455e+01 3.0203e+02 8.5238e+01 1.53136e+01 0.0625 9.1543e+02 25\n", - " 3 3.8464e+03 3.8561e+01 2.9282e+02 8.7955e+01 3.04377e+01 0.0312 9.3814e+02 25\n", - " 4 3.7981e+03 3.8801e+01 2.9243e+02 8.3498e+01 2.60566e+01 0.0156 1.0177e+03 25\n", - " 5 3.7819e+03 3.8655e+01 2.9208e+02 8.2247e+01 2.17465e+01 0.0312 1.0328e+03 25\n", - " 6 3.7449e+03 3.8507e+01 2.9068e+02 7.9958e+01 3.20474e+01 0.0312 1.0623e+03 25\n", - " 7 3.6723e+03 3.8915e+01 2.8858e+02 7.4751e+01 3.31747e+01 0.0078 1.1380e+03 10\n", - " 8 3.6603e+03 3.8808e+01 2.8823e+02 7.3918e+01 3.65288e+01 0.0078 1.1450e+03 10\n", - " 9 3.6484e+03 3.8744e+01 2.8794e+02 7.3032e+01 2.31097e+01 0.0312 1.1529e+03 8\n", - " 10 3.5768e+03 3.8695e+01 2.8292e+02 7.0892e+01 4.48471e+01 0.1250 1.1757e+03 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1068e+03 9.8368e+01 2.9624e+02 1.0460e+02 2.85712e+01 0.2500 ---- 25\n", - " 2 3.8045e+03 5.0742e+01 2.7182e+02 1.0356e+02 4.15628e+01 0.0312 1.4179e+03 25\n", - " 3 3.7289e+03 4.5713e+01 2.6958e+02 9.8738e+01 1.69221e+01 0.2500 1.4283e+03 25\n", - " 4 3.4697e+03 3.6611e+01 2.1637e+02 1.2693e+02 1.45650e+01 0.2500 1.0901e+03 15\n", - " 5 2.9250e+03 4.2287e+01 1.7625e+02 1.1202e+02 4.71688e+01 0.0625 1.5778e+03 25\n", - " 6 2.9164e+03 3.5630e+01 1.7518e+02 1.1290e+02 3.05216e+01 0.0625 1.1049e+03 22\n", - " 7 2.3600e+03 3.6976e+01 1.2561e+02 1.0669e+02 1.41594e+01 0.0625 1.1865e+03 11\n", - " 8 2.3459e+03 3.5855e+01 1.3045e+02 1.0056e+02 1.13736e+01 0.2500 1.1167e+03 11\n", - " 9 1.5960e+03 2.9201e+01 7.4519e+01 8.2160e+01 1.63135e+01 0.0312 8.4235e+02 25\n", - " 10 1.5559e+03 2.8579e+01 7.2395e+01 8.0336e+01 1.01357e+01 0.0312 8.2279e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.4624e+03 3.6043e+01 1.3358e+02 1.0906e+02 2.83432e+01 0.0156 ---- 25\n", - " 2 2.4408e+03 3.5683e+01 1.3403e+02 1.0649e+02 2.20298e+01 0.0156 7.9392e+02 25\n", - " 3 2.4232e+03 3.5343e+01 1.3453e+02 1.0425e+02 1.63789e+01 0.0625 7.8444e+02 25\n", - " 4 2.4164e+03 3.4212e+01 1.3965e+02 9.8570e+01 2.89011e+01 0.0039 7.3871e+02 25\n", - " 5 2.4116e+03 3.4115e+01 1.3967e+02 9.8082e+01 3.05170e+01 0.0039 7.3595e+02 25\n", - " 6 2.4097e+03 3.4020e+01 1.3979e+02 9.7780e+01 3.16550e+01 0.0039 7.3455e+02 25\n", - " 7 2.4084e+03 3.3930e+01 1.3995e+02 9.7489e+01 2.99056e+01 0.0039 7.3483e+02 25\n", - " 8 2.4039e+03 3.3849e+01 1.3997e+02 9.7034e+01 2.30064e+01 0.0078 7.3584e+02 15\n", - " 9 2.3977e+03 3.3713e+01 1.3995e+02 9.6443e+01 7.92110e+00 0.5000 7.3330e+02 7\n", - " 10 2.0988e+03 2.7105e+01 1.1194e+02 9.5228e+01 3.03520e+01 0.0156 3.5616e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.5913e+03 3.6385e+01 2.1398e+02 1.4151e+02 1.50339e+01 0.2500 ---- 25\n", - " 2 2.9798e+03 3.1723e+01 1.6802e+02 1.2678e+02 3.65669e+01 0.0156 3.0184e+02 25\n", - " 3 2.9660e+03 3.1462e+01 1.6929e+02 1.2416e+02 1.25438e+01 0.2500 3.0185e+02 15\n", - " 4 2.8436e+03 2.9038e+01 1.7024e+02 1.1122e+02 1.51696e+01 0.0312 2.5536e+02 11\n", - " 5 2.8039e+03 2.8799e+01 1.6944e+02 1.0807e+02 1.64686e+01 0.0312 2.7907e+02 11\n", - " 6 2.7941e+03 2.8645e+01 1.7149e+02 1.0506e+02 1.23917e+01 0.0625 3.2061e+02 11\n", - " 7 2.7496e+03 2.8466e+01 1.7273e+02 9.9388e+01 3.42865e+01 0.0078 3.8362e+02 24\n", - " 8 2.7394e+03 2.8418e+01 1.7277e+02 9.8327e+01 1.36204e+01 0.0625 3.9270e+02 10\n", - " 9 2.7006e+03 2.8367e+01 1.7450e+02 9.2715e+01 1.85829e+01 0.0156 4.6315e+02 16\n", - " 10 2.6875e+03 2.8304e+01 1.7479e+02 9.1132e+01 1.64951e+01 0.0312 4.7687e+02 16\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2924e+03 3.8407e+01 3.1467e+02 1.1073e+02 2.38666e+01 0.0625 ---- 25\n", - " 2 4.2144e+03 3.7592e+01 3.1348e+02 1.0420e+02 2.70969e+01 0.0312 6.2127e+02 25\n", - " 3 4.2012e+03 3.7252e+01 3.1234e+02 1.0405e+02 1.39914e+01 0.2500 6.7776e+02 25\n", - " 4 3.6282e+03 3.2024e+01 2.4383e+02 1.1579e+02 5.21845e+01 0.0078 4.5360e+02 25\n", - " 5 3.6134e+03 3.1853e+01 2.4436e+02 1.1379e+02 4.45064e+01 0.0078 4.7041e+02 25\n", - " 6 3.6013e+03 3.1756e+01 2.4499e+02 1.1196e+02 2.83839e+01 0.0156 4.8593e+02 25\n", - " 7 3.5885e+03 3.1653e+01 2.4565e+02 1.1004e+02 1.03028e+01 0.5000 5.0893e+02 24\n", - " 8 2.9294e+03 2.6095e+01 1.6343e+02 1.2690e+02 7.44093e+00 0.5000 2.6429e+02 17\n", - " 9 2.3746e+03 2.4233e+01 9.0839e+01 1.4419e+02 1.13346e+01 0.0625 1.4419e+02 25\n", - " 10 2.3504e+03 2.4264e+01 9.7153e+01 1.3546e+02 7.41445e+00 0.2500 2.0705e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1408e+03 3.4736e+01 2.4093e+02 1.6967e+02 2.43229e+01 0.0312 ---- 25\n", - " 2 4.0844e+03 3.4393e+01 2.4335e+02 1.6165e+02 9.69333e+00 1.0000 4.5329e+02 25\n", - " 3 4.0444e+03 2.2660e+01 1.9500e+02 2.0718e+02 1.81291e+01 0.1250 2.2340e+02 25\n", - " 4 4.0312e+03 2.2882e+01 2.1455e+02 1.8628e+02 1.12924e+01 0.5000 3.1201e+02 25\n", - " 5 3.0693e+03 2.7852e+01 1.7738e+02 1.2676e+02 1.73939e+01 0.0156 1.0489e+03 25\n", - " 6 3.0493e+03 2.7935e+01 1.7740e+02 1.2474e+02 7.20344e+00 0.2500 1.0602e+03 25\n", - " 7 2.9192e+03 3.0199e+01 1.8565e+02 1.0325e+02 9.23351e+00 0.1250 1.2476e+03 25\n", - " 8 2.8446e+03 3.0485e+01 1.8919e+02 9.2227e+01 7.83857e+00 0.1250 1.2778e+03 25\n", - " 9 2.8152e+03 3.1305e+01 1.9712e+02 8.1269e+01 1.87028e+01 0.0078 1.3422e+03 23\n", - " 10 2.8048e+03 3.1270e+01 1.9667e+02 8.0678e+01 9.71953e+00 0.0312 1.3414e+03 24\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.6012e+03 4.0952e+01 4.3579e+02 1.2023e+02 8.87756e+00 0.5000 ---- 25\n", - " 2 3.6226e+03 2.8215e+01 2.5173e+02 1.0771e+02 4.09786e+01 0.0078 6.4016e+02 25\n", - " 3 3.6218e+03 2.8178e+01 2.5309e+02 1.0627e+02 3.25499e+01 0.0078 6.5942e+02 14\n", - " 4 3.6132e+03 2.8146e+01 2.5347e+02 1.0504e+02 2.40792e+01 0.0156 6.7064e+02 12\n", - " 5 3.6047e+03 2.8165e+01 2.5452e+02 1.0314e+02 1.30751e+01 0.0625 6.9374e+02 10\n", - " 6 3.5447e+03 2.8271e+01 2.5482e+02 9.6823e+01 6.33201e+00 0.5000 7.5375e+02 21\n", - " 7 2.8246e+03 2.6403e+01 1.9314e+02 8.6681e+01 2.99699e+01 0.0078 7.4670e+02 19\n", - " 8 2.8246e+03 2.6409e+01 1.9404e+02 8.5782e+01 2.10326e+01 0.0078 7.5742e+02 13\n", - " 9 2.8148e+03 2.6383e+01 1.9374e+02 8.5098e+01 1.46866e+01 0.0156 7.5967e+02 10\n", - " 10 2.7955e+03 2.6359e+01 1.9313e+02 8.3791e+01 8.55824e+00 0.0625 7.6355e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.2954e+03 3.5972e+01 4.1226e+02 1.1369e+02 1.11583e+01 0.5000 ---- 25\n", - " 2 3.8776e+03 2.6740e+01 2.3528e+02 1.4981e+02 2.09137e+01 0.0312 4.4108e+02 25\n", - " 3 3.8609e+03 2.6764e+01 2.3916e+02 1.4426e+02 1.05012e+01 0.2500 4.9887e+02 22\n", - " 4 3.6219e+03 2.6843e+01 2.3734e+02 1.2216e+02 8.73928e+00 0.2500 7.1397e+02 9\n", - " 5 3.3322e+03 2.7222e+01 2.3357e+02 9.6925e+01 5.57753e+00 0.5000 8.6903e+02 9\n", - " 6 2.8023e+03 2.6437e+01 1.9772e+02 7.9867e+01 7.86627e+00 0.1250 8.9797e+02 18\n", - " 7 2.6588e+03 2.6173e+01 1.8870e+02 7.4570e+01 5.50486e+00 0.2500 8.8653e+02 10\n", - " 8 2.4641e+03 2.6131e+01 1.7256e+02 7.1231e+01 8.48422e+00 0.0625 9.0328e+02 9\n", - " 9 2.4152e+03 2.6249e+01 1.7184e+02 6.7059e+01 3.08341e+00 1.0000 9.2298e+02 9\n", - " 10 1.4903e+03 2.1728e+01 6.8165e+01 7.8697e+01 2.09450e+01 0.0039 1.5906e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9103e+03 3.0985e+01 2.4630e+02 1.4163e+02 2.78131e+01 0.0156 ---- 25\n", - " 2 3.8975e+03 3.0729e+01 2.4851e+02 1.3816e+02 2.03697e+01 0.0312 2.4683e+02 25\n", - " 3 3.8550e+03 3.0311e+01 2.5048e+02 1.3199e+02 1.42115e+01 0.2500 2.4326e+02 22\n", - " 4 3.7696e+03 2.8650e+01 2.8206e+02 9.2038e+01 1.07123e+01 0.2500 5.7559e+02 18\n", - " 5 3.5965e+03 2.7963e+01 2.6974e+02 8.7115e+01 6.33086e+00 1.0000 7.6621e+02 8\n", - " 6 3.1348e+03 2.2572e+01 1.7523e+02 1.3600e+02 9.18758e+00 0.2500 6.0259e+02 13\n", - " 7 3.0261e+03 2.3826e+01 1.8545e+02 1.1478e+02 4.29486e+00 1.0000 7.8695e+02 9\n", - " 8 2.2396e+03 2.1692e+01 8.4814e+01 1.3697e+02 2.00978e+01 0.0078 3.8116e+02 25\n", - " 9 2.2348e+03 2.1677e+01 8.5589e+01 1.3572e+02 1.65503e+01 0.0156 3.8823e+02 24\n", - " 10 2.2333e+03 2.1701e+01 8.7854e+01 1.3330e+02 1.14776e+01 0.0312 4.0635e+02 23\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.2285e+03 3.0572e+01 3.0480e+02 2.1499e+02 1.44707e+01 0.2500 ---- 25\n", - " 2 4.4949e+03 2.8591e+01 2.9423e+02 1.5240e+02 1.03585e+01 0.2500 6.5709e+02 25\n", - " 3 3.9490e+03 2.7466e+01 2.6777e+02 1.2439e+02 6.80114e+00 1.0000 7.8077e+02 13\n", - " 4 3.5903e+03 3.6785e+01 2.6732e+02 8.8038e+01 1.15443e+01 0.2500 1.7378e+03 25\n", - " 5 3.3539e+03 3.5813e+01 2.4659e+02 8.5213e+01 8.27941e+00 0.1250 1.6722e+03 15\n", - " 6 3.1869e+03 3.4454e+01 2.3718e+02 7.8062e+01 5.99294e+00 0.2500 1.6054e+03 13\n", - " 7 2.9966e+03 3.3115e+01 2.2396e+02 7.2386e+01 1.11130e+01 0.0312 1.5438e+03 10\n", - " 8 2.9557e+03 3.2933e+01 2.2207e+02 7.0204e+01 5.09541e+00 0.5000 1.5376e+03 10\n", - " 9 2.6222e+03 3.2649e+01 2.0713e+02 5.1830e+01 7.98985e+00 0.1250 1.5474e+03 25\n", - " 10 2.5144e+03 3.1486e+01 1.9687e+02 5.1429e+01 5.56628e+00 0.2500 1.4759e+03 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0991e+03 3.9661e+01 4.0961e+02 9.6337e+01 1.54017e+01 0.1250 ---- 25\n", - " 2 4.8659e+03 3.9034e+01 4.0104e+02 8.1648e+01 9.79626e+00 0.2500 1.5452e+03 25\n", - " 3 4.2317e+03 3.4142e+01 3.3165e+02 8.8104e+01 1.17650e+01 0.1250 1.3829e+03 25\n", - " 4 4.1953e+03 3.5174e+01 3.3684e+02 7.9168e+01 7.27636e+00 0.5000 1.5133e+03 18\n", - " 5 4.1262e+03 3.7857e+01 3.5629e+02 5.2539e+01 2.68869e+01 0.0078 1.8063e+03 25\n", - " 6 4.1118e+03 3.7778e+01 3.5540e+02 5.1997e+01 2.17353e+01 0.0156 1.8073e+03 25\n", - " 7 4.0979e+03 3.7825e+01 3.5487e+02 5.1146e+01 1.31884e+01 0.0312 1.8171e+03 16\n", - " 8 4.0472e+03 3.7515e+01 3.5075e+02 5.0216e+01 6.19930e+00 0.2500 1.8075e+03 15\n", - " 9 3.6978e+03 3.4062e+01 3.1113e+02 5.5243e+01 5.79297e+00 0.5000 1.6459e+03 25\n", - " 10 3.6709e+03 4.1205e+01 2.9522e+02 6.7750e+01 2.93457e+01 0.0078 2.0504e+03 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.5503e+03 4.9065e+01 5.4023e+02 1.0990e+02 2.92425e+01 0.0312 ---- 25\n", - " 2 6.5167e+03 4.9808e+01 5.4186e+02 1.0482e+02 1.33138e+01 0.2500 2.1216e+03 25\n", - " 3 5.9517e+03 4.6241e+01 5.0191e+02 8.8640e+01 1.06075e+01 0.2500 2.1046e+03 11\n", - " 4 5.4013e+03 4.3357e+01 4.4619e+02 8.9606e+01 9.56490e+00 0.2500 2.0439e+03 12\n", - " 5 5.0365e+03 4.3016e+01 4.2097e+02 7.8380e+01 8.36416e+00 0.2500 2.0905e+03 11\n", - " 6 4.6078e+03 4.1501e+01 3.8780e+02 6.8825e+01 7.38260e+00 0.2500 2.0443e+03 12\n", - " 7 4.1702e+03 3.7498e+01 3.4651e+02 6.6756e+01 6.48026e+00 0.2500 1.8804e+03 12\n", - " 8 3.7279e+03 3.4606e+01 3.0733e+02 6.2008e+01 7.65318e+00 0.1250 1.7333e+03 12\n", - " 9 3.5741e+03 3.3437e+01 2.9691e+02 5.7159e+01 3.73470e+00 1.0000 1.6778e+03 10\n", - " 10 1.9968e+03 2.8425e+01 1.2522e+02 7.1620e+01 3.33218e+01 0.0039 1.3516e+03 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0386e+03 3.5819e+01 2.6469e+02 1.3559e+02 3.97335e+01 0.0156 ---- 25\n", - " 2 4.0281e+03 3.5859e+01 2.6686e+02 1.3236e+02 3.22645e+01 0.0156 1.3895e+03 25\n", - " 3 4.0133e+03 3.5767e+01 2.6858e+02 1.2918e+02 2.47655e+01 0.0312 1.4055e+03 22\n", - " 4 4.0034e+03 3.5779e+01 2.7286e+02 1.2390e+02 1.54219e+01 0.1250 1.4397e+03 20\n", - " 5 3.8570e+03 3.5097e+01 2.7812e+02 1.0407e+02 9.57617e+00 0.5000 1.4898e+03 25\n", - " 6 2.7990e+03 2.5504e+01 1.8056e+02 9.6787e+01 1.45980e+01 0.0312 1.0331e+03 8\n", - " 7 2.7740e+03 2.5548e+01 1.8111e+02 9.3741e+01 8.64011e+00 0.1250 1.0525e+03 8\n", - " 8 2.6303e+03 2.5384e+01 1.7686e+02 8.3630e+01 4.85120e+00 0.5000 1.0755e+03 8\n", - " 9 1.8649e+03 2.1212e+01 1.2836e+02 5.6010e+01 1.04073e+01 0.0312 7.4778e+02 7\n", - " 10 1.8495e+03 2.1165e+01 1.2826e+02 5.4569e+01 6.72673e+00 0.1250 7.5075e+02 7\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.3646e+03 2.8111e+01 2.5437e+02 7.9281e+01 9.16395e+00 0.5000 ---- 25\n", - " 2 3.0714e+03 2.0852e+01 1.8954e+02 1.1551e+02 1.18855e+01 0.1250 5.0196e+02 25\n", - " 3 3.0336e+03 2.1182e+01 2.0058e+02 1.0066e+02 6.48717e+00 0.5000 6.4650e+02 11\n", - " 4 2.2420e+03 1.9062e+01 1.2460e+02 9.7693e+01 9.54040e+00 0.0625 5.5001e+02 9\n", - " 5 2.1806e+03 1.9136e+01 1.2430e+02 9.1845e+01 4.69659e+00 1.0000 5.8335e+02 10\n", - " 6 1.8206e+03 1.9973e+01 9.5694e+01 8.4373e+01 1.03677e+01 0.1250 8.2429e+02 25\n", - " 7 1.6192e+03 2.0205e+01 8.5809e+01 7.4085e+01 6.91433e+00 0.1250 8.6043e+02 18\n", - " 8 1.5148e+03 1.9940e+01 8.2240e+01 6.7241e+01 3.98053e+00 0.5000 8.3428e+02 14\n", - " 9 1.2973e+03 1.8679e+01 5.2680e+01 7.5184e+01 8.69248e+00 0.0312 6.6808e+02 9\n", - " 10 1.2806e+03 1.8648e+01 5.3285e+01 7.2912e+01 5.77563e+00 0.1250 6.6803e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.5461e+03 2.5099e+01 1.5397e+02 9.8132e+01 9.02764e+00 0.5000 ---- 25\n", - " 2 1.8437e+03 1.8887e+01 1.0685e+02 7.5625e+01 9.59240e+00 0.1250 4.2009e+02 25\n", - " 3 1.7700e+03 1.8666e+01 1.0881e+02 6.6324e+01 5.37295e+00 0.5000 4.7398e+02 25\n", - " 4 1.5001e+03 1.6579e+01 6.7666e+01 8.0683e+01 5.71994e+00 0.2500 2.9643e+02 10\n", - " 5 1.4969e+03 1.7064e+01 8.4094e+01 6.3886e+01 5.23680e+00 0.2500 4.7474e+02 10\n", - " 6 1.4514e+03 1.7424e+01 9.4693e+01 4.8700e+01 3.85328e+00 0.2500 5.7719e+02 11\n", - " 7 1.2609e+03 1.7158e+01 8.6389e+01 3.7986e+01 3.84796e+00 0.2500 5.6040e+02 10\n", - " 8 1.1755e+03 1.6866e+01 7.5579e+01 4.0281e+01 3.91652e+00 0.2500 5.2742e+02 25\n", - " 9 1.1504e+03 1.6604e+01 6.8894e+01 4.4489e+01 3.27064e+00 0.2500 4.9619e+02 11\n", - " 10 1.0012e+03 1.6349e+01 6.0818e+01 3.7665e+01 3.11976e+00 0.2500 4.5622e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.3345e+03 2.1989e+01 1.6417e+02 6.7081e+01 9.60418e+00 0.2500 ---- 25\n", - " 2 2.0793e+03 1.9455e+01 1.4229e+02 6.3691e+01 7.64161e+00 0.5000 3.9620e+02 25\n", - " 3 1.8280e+03 1.6965e+01 9.8488e+01 8.2620e+01 8.05634e+00 0.1250 4.6832e+02 25\n", - " 4 1.7231e+03 1.6745e+01 9.5608e+01 7.5029e+01 4.57618e+00 0.5000 4.8465e+02 10\n", - " 5 1.4079e+03 1.5591e+01 6.7953e+01 7.1278e+01 7.43767e+00 0.0625 4.0775e+02 15\n", - " 6 1.3756e+03 1.5572e+01 6.8459e+01 6.7545e+01 4.27184e+00 0.2500 4.1986e+02 14\n", - " 7 1.2331e+03 1.5190e+01 5.8947e+01 6.2848e+01 3.54903e+00 0.5000 3.7295e+02 12\n", - " 8 1.1209e+03 1.5018e+01 6.2954e+01 4.7629e+01 7.34387e+00 0.0312 3.7978e+02 18\n", - " 9 1.1041e+03 1.4989e+01 6.2458e+01 4.6448e+01 5.45779e+00 0.0625 3.7858e+02 14\n", - " 10 1.0785e+03 1.4935e+01 6.1083e+01 4.5275e+01 3.16456e+00 0.2500 3.7175e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.2272e+03 2.0000e+01 1.4675e+02 7.3963e+01 8.65786e+00 0.2500 ---- 25\n", - " 2 1.9290e+03 1.7590e+01 1.2396e+02 6.7184e+01 6.67195e+00 0.5000 2.7654e+02 25\n", - " 3 1.4676e+03 1.4998e+01 8.4744e+01 6.0517e+01 6.67855e+00 0.1250 3.0096e+02 12\n", - " 4 1.4135e+03 1.4761e+01 8.2974e+01 5.6899e+01 3.97708e+00 0.5000 3.1418e+02 13\n", - " 5 1.2073e+03 1.3687e+01 5.8249e+01 6.1110e+01 5.48617e+00 0.1250 2.1195e+02 25\n", - " 6 1.1492e+03 1.3626e+01 5.7677e+01 5.5885e+01 2.55940e+00 1.0000 2.2900e+02 25\n", - " 7 9.6637e+02 1.2807e+01 1.2673e+01 8.2683e+01 5.61316e+00 0.2500 8.2683e+01 25\n", - " 8 8.8674e+02 1.2992e+01 1.6317e+01 7.1057e+01 4.42785e+00 0.1250 1.8005e+02 15\n", - " 9 8.2790e+02 1.3007e+01 1.6742e+01 6.4747e+01 2.16336e+00 1.0000 1.9514e+02 13\n", - " 10 8.2247e+02 1.2867e+01 1.3544e+01 6.7416e+01 6.74671e+00 0.0625 9.4102e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.2622e+03 1.7631e+01 1.2313e+02 1.0133e+02 9.51772e+00 0.5000 ---- 25\n", - " 2 1.5726e+03 1.4063e+01 8.1880e+01 7.3971e+01 7.29785e+00 0.2500 2.0349e+02 25\n", - " 3 1.3502e+03 1.3772e+01 6.0242e+01 7.3403e+01 4.86622e+00 0.5000 3.4347e+02 15\n", - " 4 1.3401e+03 1.4141e+01 7.7922e+01 5.4679e+01 7.19281e+00 0.1250 5.7750e+02 18\n", - " 5 1.3369e+03 1.4285e+01 8.0474e+01 5.1783e+01 3.61428e+00 0.5000 6.2319e+02 17\n", - " 6 1.2036e+03 1.4275e+01 7.3750e+01 4.5180e+01 8.34355e+00 0.0312 6.5351e+02 19\n", - " 7 1.1882e+03 1.4230e+01 7.3480e+01 4.3918e+01 5.79654e+00 0.1250 6.5251e+02 18\n", - " 8 1.1862e+03 1.4419e+01 7.6142e+01 4.1033e+01 2.06426e+00 1.0000 6.8736e+02 14\n", - " 9 8.0374e+02 1.1967e+01 2.1487e+01 5.7689e+01 9.02294e+00 0.0312 2.0425e+02 25\n", - " 10 7.9887e+02 1.1972e+01 2.3358e+01 5.5332e+01 6.33826e+00 0.0625 2.2054e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.1997e+03 1.6225e+01 1.2416e+02 9.4193e+01 9.13600e+00 0.5000 ---- 25\n", - " 2 1.5414e+03 1.2918e+01 7.6833e+01 7.6010e+01 7.30710e+00 0.2500 2.8389e+02 25\n", - " 3 1.3350e+03 1.2773e+01 6.0385e+01 7.1836e+01 4.83249e+00 0.5000 4.1508e+02 22\n", - " 4 1.1732e+03 1.3433e+01 7.3863e+01 4.2109e+01 7.30103e+00 0.0625 6.5370e+02 25\n", - " 5 1.1412e+03 1.3285e+01 7.2086e+01 4.0702e+01 5.41638e+00 0.1250 6.4392e+02 25\n", - " 6 1.0739e+03 1.3119e+01 6.9963e+01 3.6114e+01 2.42462e+00 1.0000 6.3427e+02 25\n", - " 7 8.1644e+02 1.1283e+01 4.6371e+01 3.4145e+01 1.07570e+01 0.0156 3.4580e+02 25\n", - " 8 8.0954e+02 1.1266e+01 4.6557e+01 3.3271e+01 9.16357e+00 0.0312 3.4866e+02 25\n", - " 9 7.9909e+02 1.1274e+01 4.7455e+01 3.1327e+01 6.55871e+00 0.0625 3.5911e+02 25\n", - " 10 7.7172e+02 1.1293e+01 4.8332e+01 2.7710e+01 3.51158e+00 0.2500 3.7064e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.7861e+03 1.4849e+01 1.3146e+02 4.5667e+01 7.73349e+00 0.2500 ---- 25\n", - " 2 1.5299e+03 1.3143e+01 1.0175e+02 4.9930e+01 6.65619e+00 0.5000 3.3664e+02 25\n", - " 3 1.2752e+03 1.1493e+01 6.6645e+01 5.9726e+01 6.76960e+00 0.1250 4.1150e+02 25\n", - " 4 1.2137e+03 1.1384e+01 6.6086e+01 5.4151e+01 3.65790e+00 0.5000 4.3522e+02 18\n", - " 5 1.0438e+03 1.0360e+01 4.6867e+01 5.6473e+01 5.44240e+00 0.1250 3.1606e+02 25\n", - " 6 1.0187e+03 1.0398e+01 4.9963e+01 5.0871e+01 2.22707e+00 1.0000 3.4985e+02 13\n", - " 7 8.4538e+02 9.3619e+00 1.1726e+01 7.1876e+01 5.77776e+00 0.2500 7.1876e+01 25\n", - " 8 8.2812e+02 9.7445e+00 2.1324e+01 6.0513e+01 4.67235e+00 0.1250 2.5915e+02 16\n", - " 9 7.8827e+02 9.7770e+00 2.2013e+01 5.5836e+01 1.99640e+00 0.5000 2.7826e+02 17\n", - " 10 6.5916e+02 9.5145e+00 1.6248e+01 4.8716e+01 3.65235e+00 0.1250 1.7378e+02 21\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.8339e+03 1.2696e+01 1.1533e+02 6.6790e+01 6.81598e+00 0.5000 ---- 25\n", - " 2 1.2720e+03 9.8756e+00 5.4092e+01 7.2117e+01 6.22499e+00 0.2500 1.0632e+02 25\n", - " 3 1.0676e+03 9.3962e+00 4.2198e+01 6.3619e+01 3.80425e+00 0.5000 1.2974e+02 13\n", - " 4 9.6999e+02 8.9596e+00 4.1569e+01 5.4534e+01 5.73145e+00 0.1250 2.1938e+02 15\n", - " 5 9.4276e+02 9.0470e+00 4.4788e+01 4.8584e+01 2.08295e+00 1.0000 2.8427e+02 14\n", - " 6 5.7099e+02 8.2289e+00 8.1430e+00 4.8133e+01 5.29360e+00 0.1250 4.8133e+01 25\n", - " 7 5.2703e+02 8.2506e+00 1.0172e+01 4.1706e+01 2.39960e+00 0.2500 8.8653e+01 25\n", - " 8 4.9701e+02 8.2298e+00 7.3248e+00 4.1554e+01 1.77058e+00 0.2500 6.7305e+01 14\n", - " 9 4.4990e+02 8.2183e+00 5.7313e+00 3.8437e+01 1.33740e+00 0.5000 5.1501e+01 10\n", - " 10 3.5136e+02 8.2082e+00 3.2554e+00 3.1060e+01 1.94250e+00 0.1250 3.1060e+01 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.5115e+03 1.0928e+01 1.0661e+02 4.3447e+01 6.47572e+00 0.5000 ---- 25\n", - " 2 1.2010e+03 8.5340e+00 5.6589e+01 6.2660e+01 5.68897e+00 0.5000 1.0148e+02 25\n", - " 3 1.1212e+03 7.8026e+00 4.0785e+01 7.0557e+01 4.91877e+00 0.2500 1.2808e+02 17\n", - " 4 1.0619e+03 7.9128e+00 4.8880e+01 5.6514e+01 3.42086e+00 0.5000 2.6684e+02 13\n", - " 5 1.0106e+03 8.6255e+00 5.6439e+01 4.3754e+01 5.83164e+00 0.1250 4.8422e+02 21\n", - " 6 9.7412e+02 8.8067e+00 5.6974e+01 3.9558e+01 2.57249e+00 0.5000 5.3170e+02 20\n", - " 7 7.1956e+02 8.4706e+00 4.2575e+01 2.8534e+01 5.45956e+00 0.0625 4.7575e+02 25\n", - " 8 7.0520e+02 8.4607e+00 4.2717e+01 2.6957e+01 2.99912e+00 0.2500 4.7967e+02 21\n", - " 9 6.7642e+02 8.3020e+00 3.9175e+01 2.7637e+01 2.53488e+00 0.2500 4.5487e+02 12\n", - " 10 6.1976e+02 8.0689e+00 3.5898e+01 2.5271e+01 2.53430e+00 0.2500 4.0688e+02 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.6796e+03 1.0097e+01 1.2191e+02 4.5040e+01 7.16524e+00 0.5000 ---- 25\n", - " 2 1.5896e+03 8.2524e+00 9.1156e+01 6.6983e+01 8.69860e+00 0.1250 4.0326e+02 25\n", - " 3 1.4928e+03 8.3319e+00 8.8916e+01 5.9535e+01 3.87206e+00 1.0000 4.7059e+02 25\n", - " 4 1.2683e+03 6.1081e+00 1.6238e+01 1.0998e+02 5.10310e+00 0.2500 1.0998e+02 19\n", - " 5 1.1183e+03 6.1173e+00 1.7617e+01 9.3601e+01 3.42156e+00 0.5000 9.3601e+01 12\n", - " 6 8.8339e+02 6.2401e+00 1.7134e+01 7.0581e+01 4.55217e+00 0.1250 1.5233e+02 16\n", - " 7 8.4231e+02 6.3037e+00 2.0197e+01 6.3403e+01 1.59690e+00 1.0000 1.9436e+02 12\n", - " 8 5.1719e+02 6.1093e+00 7.5954e-01 5.0348e+01 3.23662e+00 0.2500 5.0348e+01 20\n", - " 9 4.8287e+02 6.1078e+00 8.5681e-01 4.6819e+01 1.91281e+00 0.2500 4.6819e+01 25\n", - " 10 4.4083e+02 6.1073e+00 6.2737e-01 4.2845e+01 1.36616e+00 0.5000 4.2845e+01 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.5538e+03 7.9337e+00 9.8440e+01 5.6150e+01 6.51083e+00 0.5000 ---- 25\n", - " 2 1.2571e+03 6.2157e+00 5.8021e+01 6.7070e+01 6.07946e+00 0.2500 1.0992e+02 25\n", - " 3 1.0936e+03 6.0998e+00 4.9086e+01 5.9663e+01 4.19424e+00 0.5000 2.2306e+02 13\n", - " 4 9.1590e+02 6.5953e+00 5.1244e+01 3.9687e+01 6.39266e+00 0.0625 4.6401e+02 10\n", - " 5 8.9067e+02 6.5922e+00 5.0822e+01 3.7586e+01 3.72219e+00 0.2500 4.7345e+02 9\n", - " 6 8.0538e+02 6.6226e+00 4.7162e+01 3.2714e+01 2.83905e+00 0.2500 4.9561e+02 11\n", - " 7 7.2014e+02 6.3456e+00 4.2268e+01 2.9112e+01 2.40390e+00 0.5000 4.4894e+02 12\n", - " 8 6.6681e+02 5.9914e+00 3.3492e+01 3.2590e+01 4.14329e+00 0.1250 3.8662e+02 16\n", - " 9 6.4193e+02 5.9584e+00 3.3141e+01 3.0457e+01 1.51341e+00 1.0000 3.8385e+02 11\n", - " 10 5.3406e+02 5.3974e+00 1.6159e+01 3.6707e+01 6.24104e+00 0.0312 1.9751e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.7587e+03 6.8605e+00 1.0862e+02 6.6564e+01 7.95595e+00 0.5000 ---- 3\n", - " 2 1.4915e+03 8.8829e+00 8.7693e+01 6.0566e+01 8.74904e+00 0.2500 8.1737e+02 25\n", - " 3 1.4709e+03 1.2621e+01 9.7889e+01 4.7941e+01 3.76867e+00 1.0000 1.2139e+03 25\n", - " 4 1.0716e+03 6.1900e+00 5.0769e+01 5.5772e+01 7.49227e+00 0.1250 6.3871e+02 25\n", - " 5 1.0515e+03 6.4441e+00 5.3672e+01 5.0835e+01 3.91646e+00 0.2500 6.8617e+02 21\n", - " 6 9.5108e+02 6.1100e+00 4.9123e+01 4.5374e+01 2.41603e+00 1.0000 6.2858e+02 14\n", - " 7 9.0080e+02 5.7166e+00 4.2797e+01 4.6711e+01 7.23586e+00 0.0625 5.3378e+02 25\n", - " 8 8.7292e+02 5.6925e+00 4.2721e+01 4.4003e+01 5.44714e+00 0.1250 5.3600e+02 25\n", - " 9 8.3976e+02 5.7618e+00 4.3584e+01 3.9815e+01 2.57224e+00 0.5000 5.5269e+02 13\n", - " 10 7.3943e+02 5.3582e+00 3.4106e+01 3.9301e+01 4.92557e+00 0.1250 4.6220e+02 18\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.7214e+03 6.5249e+00 1.1374e+02 5.7752e+01 5.26815e+00 1.0000 ---- 25\n", - " 2 1.1633e+03 3.4273e+00 4.5804e+01 7.0185e+01 6.75687e+00 0.2500 7.0185e+01 25\n", - " 3 9.8847e+02 3.6099e+00 4.5503e+01 5.2983e+01 4.20196e+00 0.2500 1.8739e+02 25\n", - " 4 8.2066e+02 3.6225e+00 3.7805e+01 4.3899e+01 2.62439e+00 0.5000 1.9791e+02 10\n", - " 5 6.7229e+02 3.5514e+00 2.4970e+01 4.1903e+01 2.73838e+00 0.5000 1.6405e+02 10\n", - " 6 6.3991e+02 4.0124e+00 3.3688e+01 2.9902e+01 4.63153e+00 0.1250 3.3701e+02 14\n", - " 7 6.3765e+02 4.1119e+00 3.5316e+01 2.8038e+01 1.54499e+00 1.0000 3.6884e+02 10\n", - " 8 6.1765e+02 3.4764e+00 9.8226e+00 5.1595e+01 4.40639e+00 0.1250 1.1400e+02 13\n", - " 9 5.8122e+02 3.4883e+00 1.1330e+01 4.6443e+01 2.37864e+00 0.5000 1.3323e+02 18\n", - " 10 5.7677e+02 3.4775e+00 1.0653e+01 4.6676e+01 2.58868e+00 0.2500 1.1983e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.3684e+03 4.3345e+00 9.0098e+01 4.6311e+01 5.73809e+00 0.5000 ---- 25\n", - " 2 8.9703e+02 3.7838e+00 6.2499e+01 2.6826e+01 5.84676e+00 0.2500 3.2272e+02 25\n", - " 3 8.6887e+02 4.1498e+00 5.7251e+01 2.9221e+01 3.00640e+00 0.5000 4.5832e+02 11\n", - " 4 7.4593e+02 3.8390e+00 5.0515e+01 2.3694e+01 3.95044e+00 0.1250 4.2949e+02 12\n", - " 5 7.0096e+02 3.7799e+00 4.7978e+01 2.1740e+01 1.69022e+00 1.0000 4.2611e+02 11\n", - " 6 3.4173e+02 2.8659e+00 2.2895e+01 1.0991e+01 4.43696e+00 0.0625 1.8925e+02 19\n", - " 7 3.3806e+02 2.8554e+00 2.2430e+01 1.1090e+01 3.06739e+00 0.1250 1.8873e+02 15\n", - " 8 3.3785e+02 2.8470e+00 2.1392e+01 1.2109e+01 1.42814e+00 0.5000 1.8758e+02 11\n", - " 9 3.3387e+02 2.7699e+00 1.7139e+01 1.5971e+01 2.60059e+00 0.1250 1.3467e+02 22\n", - " 10 3.2111e+02 2.7579e+00 1.5892e+01 1.5943e+01 1.18647e+00 0.5000 1.2777e+02 15\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 9.6142e+02 3.2894e+00 8.3283e+01 1.2529e+01 5.13784e+00 0.5000 ---- 3\n", - " 2 9.1539e+02 2.7413e+00 5.7511e+01 3.3754e+01 5.10321e+00 0.2500 2.2526e+02 3\n", - " 3 7.9559e+02 2.7549e+00 5.1253e+01 2.8030e+01 2.66631e+00 1.0000 2.8770e+02 3\n", - " 4 5.1759e+02 2.2701e+00 2.1634e+01 2.9898e+01 5.29792e+00 0.1250 1.8572e+02 3\n", - " 5 4.8248e+02 2.3229e+00 2.1809e+01 2.6207e+01 3.12168e+00 0.2500 2.1957e+02 3\n", - " 6 4.4605e+02 2.2547e+00 1.8212e+01 2.6167e+01 1.82387e+00 0.5000 1.9271e+02 3\n", - " 7 4.1591e+02 2.1123e+00 9.0857e+00 3.2294e+01 2.19284e+00 0.5000 1.0588e+02 3\n", - " 8 3.9807e+02 2.0906e+00 6.6762e+00 3.2922e+01 2.29508e+00 0.2500 8.6133e+01 3\n", - " 9 3.1879e+02 2.0875e+00 6.5714e+00 2.5099e+01 1.32163e+00 1.0000 8.4753e+01 3\n", - " 10 2.6454e+02 2.0573e+00 2.8668e+00 2.3381e+01 3.42133e+00 0.1250 2.9625e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 9.7806e+02 2.4393e+00 7.4739e+01 2.2823e+01 5.47793e+00 0.5000 ---- 3\n", - " 2 8.9677e+02 2.0314e+00 5.2413e+01 3.7060e+01 4.59599e+00 0.2500 1.9492e+02 3\n", - " 3 7.6603e+02 1.9619e+00 4.1866e+01 3.4541e+01 2.39646e+00 1.0000 2.1639e+02 3\n", - " 4 3.2367e+02 1.5344e+00 6.1081e+00 2.6106e+01 3.85821e+00 0.1250 2.6106e+01 3\n", - " 5 3.0605e+02 1.5325e+00 5.8032e+00 2.4648e+01 2.68915e+00 0.1250 2.4648e+01 3\n", - " 6 2.8102e+02 1.5313e+00 5.1432e+00 2.2806e+01 1.81383e+00 0.2500 2.2806e+01 3\n", - " 7 2.7894e+02 1.5299e+00 3.9436e+00 2.3797e+01 1.31327e+00 0.5000 2.3797e+01 3\n", - " 8 2.5388e+02 1.5290e+00 1.9999e+00 2.3235e+01 1.55315e+00 0.2500 2.3235e+01 3\n", - " 9 2.1682e+02 1.5285e+00 1.5096e+00 2.0020e+01 1.04465e+00 0.5000 2.0020e+01 3\n", - " 10 1.7836e+02 1.5288e+00 7.5248e-01 1.6931e+01 1.63618e+00 0.1250 1.6931e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.7923e+02 1.7812e+00 6.6180e+01 1.1565e+01 4.53558e+00 0.5000 ---- 3\n", - " 2 5.9189e+02 1.4150e+00 4.5169e+01 1.3879e+01 3.70362e+00 0.2500 1.3825e+02 3\n", - " 3 5.5555e+02 1.3231e+00 3.5026e+01 2.0396e+01 2.04748e+00 1.0000 1.3414e+02 3\n", - " 4 5.1600e+02 1.0924e+00 5.1014e+00 4.6390e+01 2.53889e+00 0.5000 4.6390e+01 3\n", - " 5 4.5087e+02 1.0912e+00 2.6702e+00 4.2308e+01 2.09778e+00 1.0000 4.2308e+01 3\n", - " 6 4.3597e+02 1.0940e+00 1.8470e+00 4.1640e+01 3.66469e+00 0.1250 4.1640e+01 3\n", - " 7 3.8869e+02 1.0930e+00 1.6938e+00 3.7066e+01 2.98406e+00 0.2500 3.7066e+01 3\n", - " 8 3.5054e+02 1.0919e+00 1.4166e+00 3.3528e+01 1.65785e+00 0.5000 3.3528e+01 3\n", - " 9 3.1500e+02 1.0914e+00 7.1323e-01 3.0678e+01 1.42951e+00 0.5000 3.0678e+01 3\n", - " 10 2.9327e+02 1.0915e+00 3.6468e-01 2.8854e+01 1.38800e+00 0.2500 2.8854e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.3696e+02 1.2873e+00 5.8641e+01 1.4926e+01 4.15088e+00 0.5000 ---- 3\n", - " 2 6.0639e+02 1.1252e+00 4.6232e+01 1.4295e+01 2.93588e+00 0.5000 1.8985e+02 3\n", - " 3 5.1958e+02 9.5298e-01 2.6085e+01 2.5778e+01 2.03975e+00 0.5000 1.5131e+02 3\n", - " 4 3.9379e+02 8.4528e-01 1.3906e+01 2.5389e+01 1.83194e+00 0.5000 8.5175e+01 3\n", - " 5 3.2730e+02 8.0915e-01 7.1669e+00 2.5483e+01 1.59463e+00 0.5000 4.6299e+01 3\n", - " 6 3.0530e+02 7.9754e-01 3.6209e+00 2.6829e+01 1.49054e+00 0.5000 2.6829e+01 3\n", - " 7 2.7282e+02 7.9399e-01 1.8227e+00 2.5379e+01 1.45135e+00 0.2500 2.5379e+01 3\n", - " 8 2.1972e+02 7.9326e-01 1.3663e+00 2.0527e+01 9.94390e-01 1.0000 2.0527e+01 3\n", - " 9 1.7500e+02 7.9334e-01 3.4280e-02 1.7386e+01 2.21507e+00 0.1250 1.7386e+01 3\n", - " 10 1.6303e+02 7.9293e-01 3.0936e-02 1.6193e+01 1.77969e+00 0.1250 1.6193e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.6584e+02 9.6740e-01 5.0339e+01 6.1483e+00 4.19454e+00 0.5000 ---- 3\n", - " 2 5.4735e+02 9.5186e-01 4.3962e+01 1.0678e+01 2.72040e+00 0.5000 2.2225e+02 25\n", - " 3 4.3817e+02 7.0508e-01 2.3307e+01 2.0440e+01 2.33528e+00 0.2500 1.2053e+02 25\n", - " 4 3.9423e+02 6.6276e-01 1.7536e+01 2.1821e+01 1.52295e+00 1.0000 9.0380e+01 25\n", - " 5 2.6805e+02 6.0973e-01 1.0924e+00 2.5652e+01 1.86969e+00 0.2500 2.5652e+01 23\n", - " 6 2.5753e+02 6.0921e-01 8.1644e-01 2.4876e+01 8.33585e-01 0.5000 2.4876e+01 15\n", - " 7 2.2610e+02 6.0920e-01 4.0745e-01 2.2141e+01 7.72708e-01 0.5000 2.2141e+01 12\n", - " 8 1.9470e+02 6.0929e-01 2.0548e-01 1.9204e+01 8.97063e-01 0.2500 1.9204e+01 11\n", - " 9 1.7491e+02 6.0925e-01 1.5425e-01 1.7276e+01 5.89369e-01 1.0000 1.7276e+01 13\n", - " 10 1.4980e+02 6.1000e-01 4.1042e-03 1.4915e+01 1.75641e+00 0.1250 1.4915e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.5988e+02 7.8427e-01 4.8011e+01 7.8986e+00 3.93777e+00 0.2500 ---- 3\n", - " 2 4.8390e+02 6.6302e-01 3.9827e+01 8.4966e+00 2.71512e+00 0.5000 1.8961e+02 3\n", - " 3 3.3768e+02 5.5443e-01 2.4751e+01 8.9610e+00 1.80874e+00 0.2500 9.8077e+01 3\n", - " 4 3.1024e+02 5.2089e-01 1.8683e+01 1.2289e+01 1.37020e+00 0.5000 7.3536e+01 3\n", - " 5 2.5610e+02 4.8996e-01 9.6001e+00 1.5960e+01 1.58499e+00 0.2500 3.6798e+01 3\n", - " 6 2.3572e+02 4.8520e-01 7.2129e+00 1.6310e+01 1.15662e+00 0.5000 2.7538e+01 3\n", - " 7 1.7582e+02 4.8186e-01 3.6591e+00 1.3875e+01 1.51045e+00 0.1250 1.3875e+01 3\n", - " 8 1.6216e+02 4.8137e-01 3.2022e+00 1.2966e+01 8.57634e-01 0.2500 1.2966e+01 25\n", - " 9 1.4985e+02 4.8110e-01 2.4032e+00 1.2533e+01 9.55188e-01 0.1250 1.2533e+01 21\n", - " 10 1.4337e+02 4.8091e-01 2.1032e+00 1.2186e+01 5.76976e-01 1.0000 1.2186e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1957e+02 6.9818e-01 4.8721e+01 3.1662e+00 3.53900e+00 0.2500 ---- 25\n", - " 2 4.6949e+02 5.7286e-01 3.8881e+01 8.0105e+00 2.34625e+00 0.5000 1.8993e+02 21\n", - " 3 4.5170e+02 4.7246e-01 2.3239e+01 2.1883e+01 1.56347e+00 0.5000 9.9174e+01 25\n", - " 4 3.9583e+02 4.2464e-01 1.2185e+01 2.7356e+01 1.21437e+00 0.5000 4.9973e+01 23\n", - " 5 3.1001e+02 4.1255e-01 6.2011e+00 2.4759e+01 1.08198e+00 0.5000 2.5008e+01 14\n", - " 6 2.8047e+02 4.1008e-01 3.1270e+00 2.4879e+01 1.13142e+00 0.2500 2.4879e+01 12\n", - " 7 2.5135e+02 4.0972e-01 2.3462e+00 2.2748e+01 8.24937e-01 1.0000 2.2748e+01 12\n", - " 8 1.5210e+02 4.1112e-01 2.9380e-02 1.5139e+01 2.09131e+00 0.1250 1.5139e+01 25\n", - " 9 1.5114e+02 4.1063e-01 2.6198e-02 1.5047e+01 1.25806e+00 0.2500 1.5047e+01 12\n", - " 10 1.4727e+02 4.1068e-01 1.9458e-02 1.4667e+01 1.40013e+00 0.0625 1.4667e+01 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.3131e+02 6.6684e-01 4.7552e+01 5.5118e+00 3.16536e+00 0.5000 ---- 25\n", - " 2 3.8981e+02 4.8614e-01 2.9862e+01 9.0699e+00 2.08994e+00 0.2500 1.3303e+02 17\n", - " 3 3.8463e+02 4.3760e-01 2.2653e+01 1.5767e+01 1.36920e+00 1.0000 9.9993e+01 25\n", - " 4 3.7329e+02 3.8185e-01 2.9723e+00 3.4319e+01 1.54399e+00 0.5000 3.4319e+01 25\n", - " 5 3.2557e+02 3.7986e-01 1.4893e+00 3.1030e+01 1.05878e+00 1.0000 3.1030e+01 9\n", - " 6 2.8964e+02 3.8031e-01 2.2356e-02 2.8903e+01 1.85018e+00 0.1250 2.8903e+01 10\n", - " 7 2.7435e+02 3.7999e-01 1.9862e-02 2.7377e+01 1.31851e+00 0.5000 2.7377e+01 9\n", - " 8 2.6922e+02 3.8011e-01 1.0100e-02 2.6874e+01 1.56668e+00 0.2500 2.6874e+01 8\n", - " 9 2.6861e+02 3.7967e-01 8.9179e-03 2.6814e+01 6.73351e-01 1.0000 2.6814e+01 7\n", - " 10 2.5473e+02 3.8053e-01 4.4156e-03 2.5431e+01 1.86440e+00 0.2500 2.5431e+01 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.4970e+02 6.4043e-01 4.7883e+01 7.0234e+00 2.75656e+00 1.0000 ---- 3\n", - " 2 4.1568e+02 5.9935e-01 2.0754e+01 2.0754e+01 2.24436e+00 0.2500 2.2205e+02 3\n", - " 3 3.7372e+02 4.9255e-01 1.5583e+01 2.1739e+01 1.20341e+00 1.0000 1.6691e+02 3\n", - " 4 1.6312e+02 3.5608e-01 6.4427e-01 1.5632e+01 2.09639e+00 0.1250 1.5632e+01 3\n", - " 5 1.4890e+02 3.5568e-01 5.6510e-01 1.4289e+01 1.80182e+00 0.1250 1.4289e+01 3\n", - " 6 1.3812e+02 3.5534e-01 4.9550e-01 1.3281e+01 1.46648e+00 0.1250 1.3281e+01 3\n", - " 7 1.3041e+02 3.5509e-01 4.3404e-01 1.2571e+01 9.75788e-01 0.5000 1.2571e+01 3\n", - " 8 1.2763e+02 3.5534e-01 2.2062e-01 1.2507e+01 1.51556e+00 0.1250 1.2507e+01 3\n", - " 9 1.1916e+02 3.5511e-01 1.9336e-01 1.1687e+01 1.01306e+00 0.1250 1.1687e+01 3\n", - " 10 1.0884e+02 3.5499e-01 1.6920e-01 1.0680e+01 6.62122e-01 0.5000 1.0680e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0471e+02 6.2603e-01 4.7470e+01 2.9380e+00 2.63226e+00 0.5000 ---- 3\n", - " 2 4.1735e+02 4.0510e-01 2.7441e+01 1.4253e+01 1.61054e+00 0.5000 1.2794e+02 3\n", - " 3 3.3079e+02 3.5007e-01 1.4743e+01 1.8300e+01 1.37141e+00 0.5000 6.4781e+01 3\n", - " 4 2.8531e+02 3.3790e-01 7.5633e+00 2.0934e+01 1.34686e+00 0.2500 3.2563e+01 3\n", - " 5 2.3903e+02 3.3632e-01 5.6906e+00 1.8178e+01 1.13338e+00 0.5000 2.4396e+01 25\n", - " 6 1.4522e+02 3.3622e-01 2.8902e+00 1.1598e+01 1.45566e+00 0.0625 1.2246e+01 25\n", - " 7 1.4142e+02 3.3613e-01 2.7097e+00 1.1398e+01 1.12323e+00 0.2500 1.1429e+01 25\n", - " 8 1.2976e+02 3.3621e-01 2.0358e+00 1.0907e+01 1.05641e+00 0.1250 1.0907e+01 25\n", - " 9 1.2680e+02 3.3619e-01 1.7814e+00 1.0865e+01 8.04256e-01 0.1250 1.0865e+01 25\n", - " 10 1.2077e+02 3.3622e-01 1.5588e+00 1.0485e+01 6.02700e-01 0.2500 1.0485e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.2536e+02 6.2556e-01 4.8507e+01 3.9663e+00 2.60683e+00 1.0000 ---- 3\n", - " 2 4.4288e+02 3.7680e-01 1.5672e+01 2.8579e+01 2.35122e+00 0.2500 9.9522e+01 3\n", - " 3 3.7965e+02 3.5451e-01 1.1751e+01 2.6179e+01 1.21108e+00 1.0000 7.4703e+01 3\n", - " 4 3.6805e+02 3.2753e-01 2.7911e-01 3.6493e+01 2.26641e+00 0.2500 3.6493e+01 3\n", - " 5 2.8431e+02 3.2668e-01 2.1422e-01 2.8184e+01 1.22130e+00 0.5000 2.8184e+01 3\n", - " 6 2.2425e+02 3.2654e-01 1.1675e-01 2.2276e+01 1.09469e+00 0.5000 2.2276e+01 3\n", - " 7 1.9543e+02 3.2683e-01 5.3267e-02 1.9457e+01 1.29736e+00 0.2500 1.9457e+01 3\n", - " 8 1.8216e+02 3.2658e-01 4.1307e-02 1.8142e+01 1.00748e+00 0.5000 1.8142e+01 3\n", - " 9 1.1334e+02 3.2726e-01 2.1831e-02 1.1279e+01 1.44486e+00 0.1250 1.1279e+01 25\n", - " 10 1.0540e+02 3.2723e-01 1.8739e-02 1.0488e+01 1.21828e+00 0.0625 1.0488e+01 20\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.2566e+02 6.0454e-01 4.8317e+01 4.1888e+00 2.38932e+00 1.0000 ---- 3\n", - " 2 3.5718e+02 3.4128e-01 1.3148e+01 2.2536e+01 2.14261e+00 0.2500 6.9385e+01 3\n", - " 3 3.1320e+02 3.3013e-01 9.8574e+00 2.1430e+01 1.16065e+00 0.5000 5.2064e+01 3\n", - " 4 2.4354e+02 3.2018e-01 4.9209e+00 1.9401e+01 1.52226e+00 0.2500 2.6088e+01 3\n", - " 5 2.2303e+02 3.1833e-01 3.6913e+00 1.8580e+01 9.18188e-01 0.5000 1.9570e+01 3\n", - " 6 1.4600e+02 3.1744e-01 1.8471e+00 1.2721e+01 1.21350e+00 0.1250 1.2721e+01 3\n", - " 7 1.3778e+02 3.1713e-01 1.6162e+00 1.2130e+01 8.31369e-01 0.5000 1.2130e+01 25\n", - " 8 1.1570e+02 3.1736e-01 8.1204e-01 1.0726e+01 1.62837e+00 0.1250 1.0726e+01 25\n", - " 9 1.1240e+02 3.1701e-01 7.1084e-01 1.0498e+01 1.47919e+00 0.1250 1.0498e+01 25\n", - " 10 1.0828e+02 3.1679e-01 6.2243e-01 1.0174e+01 9.19074e-01 0.2500 1.0174e+01 23\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1324e+02 5.9640e-01 4.8932e+01 2.3327e+00 2.31502e+00 1.0000 ---- 3\n", - " 2 3.1422e+02 3.2194e-01 1.3532e+01 1.7857e+01 1.94113e+00 0.2500 5.2562e+01 25\n", - " 3 2.9680e+02 3.1561e-01 1.0143e+01 1.9505e+01 1.36901e+00 0.2500 3.9434e+01 25\n", - " 4 2.6938e+02 3.1184e-01 7.6067e+00 1.9300e+01 8.70916e-01 1.0000 2.9583e+01 25\n", - " 5 1.2776e+02 3.0801e-01 8.1170e-02 1.2664e+01 1.39109e+00 0.1250 1.2664e+01 25\n", - " 6 1.2673e+02 3.0781e-01 7.1066e-02 1.2571e+01 9.77636e-01 0.1250 1.2571e+01 12\n", - " 7 1.2585e+02 3.0771e-01 6.2174e-02 1.2492e+01 7.06473e-01 0.1250 1.2492e+01 10\n", - " 8 1.2069e+02 3.0764e-01 5.4369e-02 1.1983e+01 5.69024e-01 0.5000 1.1983e+01 11\n", - " 9 1.0449e+02 3.0784e-01 2.6695e-02 1.0392e+01 1.15402e+00 0.1250 1.0392e+01 25\n", - " 10 1.0225e+02 3.0764e-01 2.3409e-02 1.0170e+01 5.63938e-01 0.2500 1.0170e+01 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0810e+02 5.8752e-01 4.8154e+01 2.5979e+00 2.17901e+00 1.0000 ---- 3\n", - " 2 2.8355e+02 3.0972e-01 1.2558e+01 1.5766e+01 1.79711e+00 0.2500 4.2474e+01 3\n", - " 3 2.7864e+02 3.0529e-01 9.4164e+00 1.8417e+01 1.02324e+00 0.5000 3.1862e+01 3\n", - " 4 2.0880e+02 3.0155e-01 4.6962e+00 1.6154e+01 9.37666e-01 0.5000 1.6154e+01 3\n", - " 5 1.9889e+02 3.0039e-01 2.3486e+00 1.7510e+01 8.10485e-01 0.5000 1.7510e+01 3\n", - " 6 1.7447e+02 3.0028e-01 1.1744e+00 1.6243e+01 8.88632e-01 0.2500 1.6243e+01 3\n", - " 7 1.4858e+02 3.0014e-01 8.8120e-01 1.3946e+01 7.82546e-01 0.5000 1.3946e+01 3\n", - " 8 8.3181e+01 3.0056e-01 4.4003e-01 7.8480e+00 1.04465e+00 0.0625 7.8480e+00 3\n", - " 9 7.9674e+01 3.0051e-01 4.1258e-01 7.5248e+00 8.19132e-01 1.0000 7.5248e+00 25\n", - " 10 6.1043e+01 3.0132e-01 2.4251e-02 6.0499e+00 1.80370e+00 0.1250 6.0499e+00 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0802e+02 5.8031e-01 4.7506e+01 3.2385e+00 2.33402e+00 0.5000 ---- 3\n", - " 2 4.2127e+02 3.5371e-01 2.6672e+01 1.5420e+01 1.77725e+00 0.5000 1.1709e+02 3\n", - " 3 3.8388e+02 3.0058e-01 1.4111e+01 2.4248e+01 1.30090e+00 1.0000 5.8931e+01 3\n", - " 4 3.7671e+02 2.8974e-01 7.9116e-01 3.6851e+01 1.87066e+00 0.5000 3.6851e+01 3\n", - " 5 3.3681e+02 2.8854e-01 3.9775e-01 3.3254e+01 1.45630e+00 0.5000 3.3254e+01 3\n", - " 6 2.4114e+02 2.8892e-01 2.0248e-01 2.3882e+01 1.50180e+00 0.2500 2.3882e+01 3\n", - " 7 2.0426e+02 2.8868e-01 1.5166e-01 2.0245e+01 1.05992e+00 0.5000 2.0245e+01 25\n", - " 8 1.4000e+02 2.8934e-01 8.0501e-02 1.3891e+01 1.55153e+00 0.1250 1.3891e+01 25\n", - " 9 1.3808e+02 2.8910e-01 7.0531e-02 1.3709e+01 1.01196e+00 0.5000 1.3709e+01 22\n", - " 10 1.2154e+02 2.8932e-01 3.8965e-02 1.2086e+01 9.31506e-01 0.1250 1.2086e+01 15\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.6042e+02 5.6671e-01 4.7779e+01 8.2071e+00 2.26830e+00 1.0000 ---- 3\n", - " 2 3.9639e+02 2.7853e-01 1.2435e+01 2.7176e+01 1.91595e+00 0.5000 2.9629e+01 3\n", - " 3 3.4436e+02 2.7430e-01 6.2149e+00 2.8194e+01 1.29428e+00 1.0000 2.8194e+01 3\n", - " 4 2.7792e+02 2.7457e-01 5.8403e-02 2.7706e+01 2.35397e+00 0.2500 2.7706e+01 25\n", - " 5 2.5865e+02 2.7405e-01 4.0581e-02 2.5797e+01 1.74564e+00 0.2500 2.5797e+01 25\n", - " 6 2.5739e+02 2.7343e-01 3.1495e-02 2.5680e+01 1.08340e+00 0.2500 2.5680e+01 15\n", - " 7 2.3393e+02 2.7320e-01 2.4243e-02 2.3341e+01 7.39564e-01 1.0000 2.3341e+01 12\n", - " 8 1.2494e+02 2.7400e-01 6.8895e-03 1.2460e+01 1.30264e+00 0.1250 1.2460e+01 19\n", - " 9 1.1279e+02 2.7384e-01 6.5036e-03 1.1245e+01 8.49970e-01 0.5000 1.1245e+01 15\n", - " 10 1.0413e+02 2.7396e-01 8.1791e-03 1.0377e+01 1.42872e+00 0.0625 1.0377e+01 14\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0797e+02 5.5933e-01 4.6261e+01 4.4797e+00 2.16884e+00 1.0000 ---- 3\n", - " 2 3.8360e+02 2.6532e-01 1.2118e+01 2.6215e+01 1.77359e+00 0.5000 2.6215e+01 3\n", - " 3 3.1343e+02 2.6209e-01 6.0567e+00 2.5260e+01 1.01525e+00 1.0000 2.5260e+01 3\n", - " 4 2.3099e+02 2.6229e-01 2.2988e-02 2.3050e+01 2.05161e+00 0.2500 2.3050e+01 3\n", - " 5 2.2206e+02 2.6161e-01 1.9957e-02 2.2160e+01 1.09278e+00 0.2500 2.2160e+01 3\n", - " 6 1.8771e+02 2.6136e-01 1.4874e-02 1.8730e+01 9.00729e-01 0.5000 1.8730e+01 3\n", - " 7 1.0520e+02 2.6192e-01 7.5037e-03 1.0486e+01 1.08171e+00 0.1250 1.0486e+01 3\n", - " 8 1.0471e+02 2.6176e-01 6.7143e-03 1.0438e+01 8.52789e-01 0.2500 1.0438e+01 25\n", - " 9 9.4033e+01 2.6183e-01 5.3792e-03 9.3717e+00 9.68408e-01 0.0625 9.3717e+00 14\n", - " 10 9.1276e+01 2.6176e-01 5.0679e-03 9.0963e+00 6.48816e-01 0.1250 9.0963e+00 14\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0818e+02 5.5067e-01 4.7292e+01 3.4710e+00 1.92708e+00 1.0000 ---- 3\n", - " 2 2.5474e+02 2.5623e-01 1.1869e+01 1.3579e+01 1.66858e+00 0.2500 2.2474e+01 3\n", - " 3 2.3344e+02 2.5469e-01 8.8997e+00 1.4419e+01 8.18855e-01 1.0000 1.6856e+01 3\n", - " 4 1.4370e+02 2.5394e-01 8.1860e-02 1.4262e+01 1.56557e+00 0.2500 1.4262e+01 3\n", - " 5 1.3427e+02 2.5344e-01 6.2902e-02 1.3339e+01 1.01098e+00 0.2500 1.3339e+01 3\n", - " 6 1.1697e+02 2.5323e-01 4.7809e-02 1.1624e+01 5.65543e-01 0.5000 1.1624e+01 3\n", - " 7 8.2092e+01 2.5352e-01 2.3969e-02 8.1599e+00 9.44813e-01 0.1250 8.1599e+00 3\n", - " 8 7.9745e+01 2.5339e-01 2.0995e-02 7.9281e+00 5.30683e-01 0.2500 7.9281e+00 3\n", - " 9 6.4931e+01 2.5346e-01 1.5874e-02 6.4519e+00 6.27673e-01 0.1250 6.4519e+00 3\n", - " 10 6.0974e+01 2.5343e-01 1.3835e-02 6.0582e+00 4.13383e-01 1.0000 6.0582e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9369e+02 5.4625e-01 4.6974e+01 2.3408e+00 2.20921e+00 1.0000 ---- 3\n", - " 2 4.7878e+02 2.5004e-01 1.1966e+01 3.5887e+01 1.66037e+00 0.5000 3.5887e+01 3\n", - " 3 3.0717e+02 2.4813e-01 5.9787e+00 2.4714e+01 1.12050e+00 1.0000 2.4714e+01 3\n", - " 4 2.6542e+02 2.4880e-01 5.8796e-02 2.6458e+01 2.01929e+00 0.2500 2.6458e+01 3\n", - " 5 2.3379e+02 2.4806e-01 4.8279e-02 2.3306e+01 1.33645e+00 0.2500 2.3306e+01 3\n", - " 6 1.9983e+02 2.4774e-01 3.7462e-02 1.9921e+01 8.45158e-01 0.5000 1.9921e+01 3\n", - " 7 1.2517e+02 2.4817e-01 1.8236e-02 1.2474e+01 9.27757e-01 0.1250 1.2474e+01 3\n", - " 8 1.1291e+02 2.4802e-01 1.5951e-02 1.1250e+01 6.46031e-01 0.2500 1.1250e+01 3\n", - " 9 9.7651e+01 2.4804e-01 1.1833e-02 9.7285e+00 6.58138e-01 0.2500 9.7285e+00 3\n", - " 10 8.9291e+01 2.4807e-01 8.8324e-03 8.8955e+00 6.05508e-01 0.2500 8.8955e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9899e+02 5.4119e-01 4.7236e+01 2.6089e+00 1.98742e+00 1.0000 ---- 3\n", - " 2 2.6957e+02 2.4515e-01 1.1708e+01 1.5225e+01 1.43771e+00 0.5000 1.7265e+01 3\n", - " 3 2.6726e+02 2.4345e-01 5.8475e+00 2.0855e+01 8.91705e-01 1.0000 2.0855e+01 3\n", - " 4 1.9812e+02 2.4383e-01 2.2811e-02 1.9765e+01 1.77538e+00 0.2500 1.9765e+01 3\n", - " 5 1.9529e+02 2.4328e-01 1.8404e-02 1.9486e+01 8.67242e-01 0.2500 1.9486e+01 3\n", - " 6 1.6346e+02 2.4311e-01 1.3995e-02 1.6308e+01 6.99497e-01 1.0000 1.6308e+01 3\n", - " 7 1.1056e+02 2.4396e-01 5.5178e-03 1.1026e+01 1.48401e+00 0.1250 1.1026e+01 3\n", - " 8 1.0166e+02 2.4367e-01 5.0971e-03 1.0137e+01 1.08268e+00 0.1250 1.0137e+01 3\n", - " 9 9.5282e+01 2.4348e-01 4.5616e-03 9.4993e+00 6.62462e-01 0.2500 9.4993e+00 3\n", - " 10 9.4114e+01 2.4337e-01 3.3799e-03 9.3837e+00 6.44828e-01 0.2500 9.3837e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.8807e+02 5.3798e-01 4.6861e+01 1.8926e+00 1.81274e+00 1.0000 ---- 3\n", - " 2 2.7885e+02 2.3911e-01 1.1336e+01 1.6525e+01 1.02431e+00 1.0000 1.6525e+01 3\n", - " 3 2.6278e+02 2.3766e-01 7.9088e-02 2.6175e+01 1.27653e+00 0.5000 2.6175e+01 3\n", - " 4 1.4136e+02 2.3750e-01 4.0261e-02 1.4072e+01 9.28164e-01 1.0000 1.4072e+01 3\n", - " 5 1.3662e+02 2.3811e-01 8.9121e-03 1.3629e+01 2.13229e+00 0.1250 1.3629e+01 3\n", - " 6 1.2929e+02 2.3784e-01 8.1480e-03 1.2897e+01 1.41907e+00 0.2500 1.2897e+01 3\n", - " 7 1.2743e+02 2.3756e-01 6.7340e-03 1.2712e+01 6.07383e-01 0.5000 1.2712e+01 3\n", - " 8 8.8945e+01 2.3769e-01 3.6613e-03 8.8671e+00 4.98026e-01 0.2500 8.8671e+00 3\n", - " 9 7.5600e+01 2.3763e-01 2.8438e-03 7.5334e+00 4.12039e-01 1.0000 7.5334e+00 3\n", - " 10 4.1849e+01 2.3807e-01 1.6491e-03 4.1595e+00 1.17977e+00 0.0625 4.1595e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.8027e+02 5.3163e-01 4.6699e+01 1.2749e+00 1.84877e+00 1.0000 ---- 3\n", - " 2 2.1335e+02 2.3395e-01 1.1043e+01 1.0268e+01 1.24146e+00 0.2500 1.4671e+01 3\n", - " 3 1.8839e+02 2.3325e-01 8.2794e+00 1.0537e+01 5.72422e-01 1.0000 1.1004e+01 3\n", - " 4 9.1806e+01 2.3307e-01 4.3837e-02 9.1134e+00 1.33368e+00 0.1250 9.1134e+00 3\n", - " 5 8.4798e+01 2.3285e-01 3.8408e-02 8.4181e+00 8.58046e-01 0.1250 8.4181e+00 3\n", - " 6 7.7535e+01 2.3272e-01 3.3627e-02 7.6966e+00 5.36541e-01 0.2500 7.6966e+00 3\n", - " 7 7.0380e+01 2.3265e-01 2.5268e-02 6.9894e+00 4.21684e-01 1.0000 6.9894e+00 3\n", - " 8 6.9215e+01 2.3308e-01 2.1229e-03 6.8961e+00 1.24755e+00 0.1250 6.8961e+00 3\n", - " 9 6.7148e+01 2.3287e-01 2.0496e-03 6.6894e+00 8.98661e-01 0.1250 6.6894e+00 3\n", - " 10 6.3493e+01 2.3274e-01 1.8908e-03 6.3241e+00 5.28626e-01 0.2500 6.3241e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.7253e+02 5.2695e-01 4.6107e+01 1.0933e+00 1.85571e+00 1.0000 ---- 3\n", - " 2 1.8897e+02 2.2782e-01 1.0787e+01 8.0872e+00 1.21324e+00 0.5000 1.2542e+01 3\n", - " 3 1.7758e+02 2.2699e-01 5.3843e+00 1.2351e+01 9.88018e-01 0.5000 1.2351e+01 3\n", - " 4 1.5619e+02 2.2664e-01 2.6925e+00 1.2904e+01 6.78801e-01 1.0000 1.2904e+01 3\n", - " 5 1.5194e+02 2.2693e-01 4.9717e-03 1.5166e+01 1.36641e+00 0.2500 1.5166e+01 3\n", - " 6 1.3514e+02 2.2663e-01 4.0550e-03 1.3487e+01 6.17488e-01 0.5000 1.3487e+01 3\n", - " 7 1.1295e+02 2.2657e-01 2.3204e-03 1.1270e+01 5.42162e-01 0.5000 1.1270e+01 3\n", - " 8 7.0343e+01 2.2669e-01 1.3436e-03 7.0103e+00 5.50960e-01 0.2500 7.0103e+00 3\n", - " 9 6.2868e+01 2.2665e-01 1.0687e-03 6.2631e+00 3.75886e-01 1.0000 6.2631e+00 3\n", - " 10 4.3657e+01 2.2690e-01 1.9808e-03 4.3410e+00 9.32936e-01 0.0625 4.3410e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.7243e+02 5.2223e-01 4.4325e+01 2.8660e+00 1.84378e+00 1.0000 ---- 3\n", - " 2 2.3286e+02 2.1920e-01 1.0204e+01 1.3060e+01 1.11816e+00 0.5000 1.3060e+01 3\n", - " 3 1.9567e+02 2.1837e-01 5.0916e+00 1.4453e+01 6.42778e-01 1.0000 1.4453e+01 3\n", - " 4 1.6269e+02 2.1853e-01 8.4172e-03 1.6239e+01 1.39633e+00 0.2500 1.6239e+01 3\n", - " 5 1.4272e+02 2.1822e-01 6.6872e-03 1.4243e+01 6.50411e-01 0.5000 1.4243e+01 3\n", - " 6 1.2054e+02 2.1817e-01 4.1583e-03 1.2028e+01 4.89101e-01 0.5000 1.2028e+01 3\n", - " 7 8.2995e+01 2.1826e-01 2.0075e-03 8.2756e+00 5.28381e-01 0.2500 8.2756e+00 3\n", - " 8 6.8430e+01 2.1824e-01 1.7893e-03 6.8194e+00 3.18799e-01 1.0000 6.8194e+00 3\n", - " 9 1.6533e+01 2.1857e-01 1.3497e-03 1.6301e+00 8.73756e-01 0.0625 1.6301e+00 3\n", - " 10 1.6293e+01 2.1850e-01 1.2793e-03 1.6062e+00 5.49665e-01 0.0625 1.6062e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.5192e+02 5.1360e-01 4.4607e+01 5.3381e-01 1.60200e+00 1.0000 ---- 3\n", - " 2 1.6720e+02 2.1038e-01 1.0154e+01 6.5443e+00 1.07372e+00 0.5000 1.0773e+01 3\n", - " 3 1.5497e+02 2.0972e-01 5.0656e+00 1.0410e+01 8.28296e-01 0.5000 1.0410e+01 3\n", - " 4 1.2371e+02 2.0954e-01 2.5327e+00 9.8172e+00 6.48890e-01 0.5000 9.8172e+00 3\n", - " 5 9.3954e+01 2.0955e-01 1.2654e+00 8.1090e+00 6.22098e-01 0.2500 8.1090e+00 3\n", - " 6 7.6971e+01 2.0952e-01 9.4914e-01 6.7270e+00 3.35412e-01 1.0000 6.7270e+00 3\n", - " 7 2.0153e+01 2.0984e-01 2.1606e-03 1.9922e+00 9.38767e-01 0.0625 1.9922e+00 3\n", - " 8 1.9751e+01 2.0977e-01 2.0308e-03 1.9521e+00 5.12239e-01 0.1250 1.9521e+00 3\n", - " 9 1.7553e+01 2.0974e-01 1.7218e-03 1.7326e+00 4.24191e-01 0.1250 1.7326e+00 3\n", - " 10 1.4416e+01 2.0972e-01 1.5150e-03 1.4191e+00 2.89425e-01 0.2500 1.4191e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.3617e+02 5.0765e-01 4.2624e+01 9.4235e-01 1.66640e+00 1.0000 ---- 3\n", - " 2 1.9271e+02 2.0114e-01 1.0191e+01 9.0592e+00 1.06437e+00 0.5000 9.7137e+00 3\n", - " 3 1.6845e+02 2.0052e-01 5.0879e+00 1.1737e+01 7.04876e-01 1.0000 1.1737e+01 3\n", - " 4 1.1605e+02 2.0058e-01 5.3002e-03 1.1580e+01 1.10286e+00 0.2500 1.1580e+01 3\n", - " 5 1.0464e+02 2.0034e-01 3.8115e-03 1.0440e+01 7.25623e-01 0.5000 1.0440e+01 3\n", - " 6 8.6934e+01 2.0030e-01 5.0882e-03 8.6683e+00 5.40777e-01 0.5000 8.6683e+00 3\n", - " 7 7.4474e+01 2.0029e-01 1.8503e-03 7.4255e+00 4.88962e-01 0.2500 7.4255e+00 3\n", - " 8 5.9641e+01 2.0028e-01 1.5628e-03 5.9426e+00 2.83279e-01 1.0000 5.9426e+00 3\n", - " 9 1.4441e+01 2.0053e-01 1.0152e-03 1.4230e+00 4.08304e-01 0.2500 1.4230e+00 3\n", - " 10 1.1351e+01 2.0049e-01 7.9675e-04 1.1142e+00 5.67556e-01 0.0625 1.1142e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2132e+02 5.0122e-01 4.1550e+01 5.3162e-01 1.57000e+00 1.0000 ---- 3\n", - " 2 1.7168e+02 1.9213e-01 9.8563e+00 7.2921e+00 9.25991e-01 0.5000 9.0220e+00 3\n", - " 3 1.4188e+02 1.9164e-01 4.9191e+00 9.2494e+00 5.69301e-01 1.0000 9.2494e+00 3\n", - " 4 1.2646e+02 1.9170e-01 4.0907e-03 1.2623e+01 8.74780e-01 0.2500 1.2623e+01 3\n", - " 5 1.0343e+02 1.9152e-01 3.0380e-03 1.0321e+01 6.34830e-01 0.5000 1.0321e+01 3\n", - " 6 8.0325e+01 1.9152e-01 2.4114e-03 8.0109e+00 4.81659e-01 0.5000 8.0109e+00 3\n", - " 7 6.3960e+01 1.9154e-01 1.3703e-03 6.3755e+00 4.61935e-01 0.5000 6.3755e+00 3\n", - " 8 6.1526e+01 1.9154e-01 1.8673e-03 6.1315e+00 4.79739e-01 0.2500 6.1315e+00 3\n", - " 9 4.8872e+01 1.9153e-01 1.2015e-03 4.8668e+00 2.45983e-01 1.0000 4.8668e+00 3\n", - " 10 8.1312e+00 1.9174e-01 1.4196e-03 7.9252e-01 3.41008e-01 0.2500 7.9252e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0311e+02 4.9600e-01 3.9725e+01 5.3660e-01 1.58640e+00 1.0000 ---- 3\n", - " 2 1.5919e+02 1.8558e-01 9.7275e+00 6.1729e+00 9.87724e-01 0.5000 8.0435e+00 3\n", - " 3 1.2186e+02 1.8518e-01 4.8541e+00 7.3130e+00 6.73686e-01 0.5000 7.3130e+00 3\n", - " 4 8.4363e+01 1.8511e-01 2.4265e+00 5.9914e+00 5.28923e-01 0.5000 5.9914e+00 3\n", - " 5 6.0748e+01 1.8510e-01 1.2126e+00 4.8436e+00 5.79184e-01 0.2500 4.8436e+00 3\n", - " 6 5.0115e+01 1.8506e-01 9.0956e-01 4.0834e+00 2.72817e-01 1.0000 4.0834e+00 3\n", - " 7 1.4656e+01 1.8520e-01 4.4681e-03 1.4426e+00 6.19537e-01 0.0625 1.4426e+00 3\n", - " 8 1.4123e+01 1.8516e-01 4.1729e-03 1.3896e+00 4.15475e-01 0.1250 1.3896e+00 3\n", - " 9 1.2775e+01 1.8515e-01 3.6123e-03 1.2554e+00 2.18009e-01 1.0000 1.2554e+00 3\n", - " 10 9.4544e+00 1.8516e-01 8.8452e-04 9.2604e-01 5.43078e-01 0.0625 9.2604e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9753e+02 4.9179e-01 3.8609e+01 1.0950e+00 1.56726e+00 1.0000 ---- 3\n", - " 2 1.8579e+02 1.7994e-01 9.3457e+00 9.2155e+00 1.14342e+00 0.5000 9.2155e+00 3\n", - " 3 1.3514e+02 1.7957e-01 4.6607e+00 8.8356e+00 6.77932e-01 1.0000 8.8356e+00 3\n", - " 4 9.8614e+01 1.7974e-01 1.1662e-02 9.8318e+00 1.19977e+00 0.2500 9.8318e+00 3\n", - " 5 7.7450e+01 1.7952e-01 8.7975e-03 7.7183e+00 6.49255e-01 0.2500 7.7183e+00 3\n", - " 6 6.4959e+01 1.7939e-01 6.6304e-03 6.4713e+00 6.33669e-01 0.5000 6.4713e+00 3\n", - " 7 5.2788e+01 1.7930e-01 3.9088e-03 5.2570e+00 3.69754e-01 0.2500 5.2570e+00 3\n", - " 8 4.6427e+01 1.7926e-01 2.8760e-03 4.6219e+00 1.88020e-01 1.0000 4.6219e+00 3\n", - " 9 1.6460e+00 1.7941e-01 6.2600e-04 1.4603e-01 2.80401e-01 0.2500 1.4603e-01 3\n", - " 10 1.5862e+00 1.7938e-01 4.8924e-04 1.4020e-01 2.32731e-01 0.1250 1.4020e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.6303e+02 4.8839e-01 3.5957e+01 2.9673e-01 1.53472e+00 1.0000 ---- 3\n", - " 2 1.3370e+02 1.7543e-01 9.1296e+00 4.2230e+00 9.15535e-01 1.0000 6.3834e+00 3\n", - " 3 9.0590e+01 1.7513e-01 6.2802e-02 8.9787e+00 1.45140e+00 0.2500 8.9787e+00 3\n", - " 4 7.7462e+01 1.7501e-01 4.8215e-02 7.6804e+00 5.88848e-01 1.0000 7.6804e+00 3\n", - " 5 4.2190e+01 1.7517e-01 2.5658e-03 4.1989e+00 8.47207e-01 0.1250 4.1989e+00 3\n", - " 6 3.8865e+01 1.7511e-01 2.2319e-03 3.8668e+00 5.62168e-01 0.2500 3.8668e+00 3\n", - " 7 3.4283e+01 1.7506e-01 1.5827e-03 3.4092e+00 2.79638e-01 1.0000 3.4092e+00 3\n", - " 8 1.4487e+00 1.7514e-01 1.0042e-03 1.2635e-01 3.74319e-01 0.2500 1.2635e-01 3\n", - " 9 1.3180e+00 1.7512e-01 6.9605e-04 1.1359e-01 2.04628e-01 0.2500 1.1359e-01 3\n", - " 10 9.0231e-01 1.7510e-01 5.5262e-04 7.2168e-02 1.83144e-01 0.1250 7.2168e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.4691e+02 4.8661e-01 3.4383e+01 2.5924e-01 1.56277e+00 1.0000 ---- 3\n", - " 2 1.2778e+02 1.7288e-01 8.7937e+00 3.9670e+00 7.65598e-01 1.0000 5.6717e+00 3\n", - " 3 5.5967e+01 1.7265e-01 4.3861e-02 5.5355e+00 1.14929e+00 0.2500 5.5355e+00 3\n", - " 4 4.8179e+01 1.7258e-01 3.3199e-02 4.7674e+00 4.35677e-01 1.0000 4.7674e+00 3\n", - " 5 1.1595e+01 1.7269e-01 2.5645e-03 1.1397e+00 5.20271e-01 0.2500 1.1397e+00 3\n", - " 6 8.3871e+00 1.7266e-01 1.9805e-03 8.1947e-01 2.33394e-01 1.0000 8.1947e-01 3\n", - " 7 6.8682e+00 1.7265e-01 7.3831e-04 6.6882e-01 3.66082e-01 0.1250 6.6882e-01 3\n", - " 8 6.7047e+00 1.7264e-01 6.3996e-04 6.5257e-01 2.43585e-01 0.5000 6.5257e-01 3\n", - " 9 5.5786e+00 1.7264e-01 2.9518e-04 5.4030e-01 2.03090e-01 0.2500 5.4030e-01 3\n", - " 10 4.9652e+00 1.7263e-01 2.3332e-04 4.7902e-01 1.14829e-01 1.0000 4.7902e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.3841e+02 4.8550e-01 3.3274e+01 5.1815e-01 1.56426e+00 1.0000 ---- 3\n", - " 2 1.3186e+02 1.7209e-01 8.4994e+00 4.6691e+00 7.37585e-01 1.0000 4.8496e+00 3\n", - " 3 7.0167e+01 1.7189e-01 2.7557e-02 6.9719e+00 1.04783e+00 0.2500 6.9719e+00 3\n", - " 4 6.3189e+01 1.7180e-01 2.0900e-02 6.2808e+00 4.41355e-01 1.0000 6.2808e+00 3\n", - " 5 2.1951e+01 1.7196e-01 3.4783e-03 2.1744e+00 7.60917e-01 0.1250 2.1744e+00 3\n", - " 6 2.0310e+01 1.7191e-01 3.1240e-03 2.0107e+00 4.21381e-01 0.2500 2.0107e+00 3\n", - " 7 1.6942e+01 1.7189e-01 2.4374e-03 1.6746e+00 1.73341e-01 1.0000 1.6746e+00 3\n", - " 8 1.5590e+00 1.7193e-01 5.6230e-04 1.3814e-01 3.07100e-01 0.0625 1.3814e-01 3\n", - " 9 1.5521e+00 1.7192e-01 5.2942e-04 1.3749e-01 2.34060e-01 0.1250 1.3749e-01 3\n", - " 10 1.5215e+00 1.7192e-01 4.6764e-04 1.3449e-01 1.29048e-01 0.5000 1.3449e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.2520e+02 4.8552e-01 3.2294e+01 1.7797e-01 1.51438e+00 1.0000 ---- 3\n", - " 2 1.1196e+02 1.7218e-01 7.9650e+00 3.2138e+00 6.79703e-01 1.0000 4.0541e+00 3\n", - " 3 5.9290e+01 1.7201e-01 2.4571e-02 5.8872e+00 1.03165e+00 0.2500 5.8872e+00 3\n", - " 4 4.8077e+01 1.7195e-01 1.8560e-02 4.7720e+00 4.28487e-01 1.0000 4.7720e+00 3\n", - " 5 1.1813e+01 1.7204e-01 2.4036e-03 1.1617e+00 5.74118e-01 0.1250 1.1617e+00 3\n", - " 6 1.0990e+01 1.7202e-01 2.1456e-03 1.0796e+00 3.25312e-01 0.5000 1.0796e+00 3\n", - " 7 9.9717e+00 1.7200e-01 1.2924e-03 9.7867e-01 2.02318e-01 0.5000 9.7867e-01 3\n", - " 8 6.6430e+00 1.7200e-01 7.1150e-04 6.4639e-01 2.03906e-01 0.2500 6.4639e-01 3\n", - " 9 5.5389e+00 1.7199e-01 5.3830e-04 5.3616e-01 6.70661e-02 1.0000 5.3616e-01 3\n", - " 10 3.5931e-01 1.7201e-01 7.0256e-05 1.8660e-02 1.34533e-01 0.2500 1.8660e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.1562e+02 4.8595e-01 3.1335e+01 1.7851e-01 1.50161e+00 1.0000 ---- 3\n", - " 2 1.1388e+02 1.7271e-01 7.5467e+00 3.8244e+00 6.39698e-01 1.0000 3.8244e+00 3\n", - " 3 3.8648e+01 1.7260e-01 1.8128e-02 3.8294e+00 9.62667e-01 0.2500 3.8294e+00 3\n", - " 4 3.0927e+01 1.7255e-01 1.3724e-02 3.0618e+00 4.41368e-01 1.0000 3.0618e+00 3\n", - " 5 9.9360e+00 1.7259e-01 1.2065e-03 9.7513e-01 5.09245e-01 0.2500 9.7513e-01 3\n", - " 6 8.5787e+00 1.7257e-01 1.0577e-03 8.3955e-01 1.99594e-01 1.0000 8.3955e-01 3\n", - " 7 2.9473e+00 1.7257e-01 5.9276e-04 2.7688e-01 2.65178e-01 0.2500 2.7688e-01 3\n", - " 8 2.8524e+00 1.7256e-01 4.4305e-04 2.6754e-01 1.04431e-01 1.0000 2.6754e-01 3\n", - " 9 1.4852e+00 1.7256e-01 6.0132e-05 1.3120e-01 1.51746e-01 0.2500 1.3120e-01 3\n", - " 10 1.4453e+00 1.7256e-01 5.4656e-05 1.2722e-01 5.30562e-02 1.0000 1.2722e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0901e+02 4.8613e-01 3.0674e+01 1.7805e-01 1.49269e+00 1.0000 ---- 3\n", - " 2 1.0956e+02 1.7290e-01 7.3111e+00 3.6279e+00 5.94421e-01 1.0000 3.6279e+00 3\n", - " 3 1.9306e+01 1.7280e-01 1.3979e-02 1.8994e+00 7.80415e-01 0.2500 1.8994e+00 3\n", - " 4 1.7552e+01 1.7277e-01 1.0493e-02 1.7274e+00 3.30873e-01 1.0000 1.7274e+00 3\n", - " 5 3.8450e+00 1.7280e-01 8.7264e-04 3.6634e-01 3.49597e-01 0.2500 3.6634e-01 3\n", - " 6 3.1341e+00 1.7279e-01 7.1622e-04 2.9542e-01 1.33488e-01 1.0000 2.9542e-01 3\n", - " 7 5.5348e-01 1.7279e-01 8.9061e-05 3.7980e-02 1.78074e-01 0.1250 3.7980e-02 3\n", - " 8 5.4115e-01 1.7279e-01 7.8050e-05 3.6758e-02 1.20244e-01 0.2500 3.6758e-02 3\n", - " 9 5.0933e-01 1.7279e-01 5.9422e-05 3.3595e-02 4.87065e-02 1.0000 3.3595e-02 3\n", - " 10 2.6235e-01 1.7279e-01 1.1410e-05 8.9447e-03 6.46140e-02 0.2500 8.9447e-03 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0647e+02 4.8628e-01 3.0432e+01 1.6719e-01 1.45702e+00 1.0000 ---- 3\n", - " 2 1.0174e+02 1.7274e-01 6.6298e+00 3.5273e+00 5.02615e-01 1.0000 3.5273e+00 3\n", - " 3 2.9952e+01 1.7267e-01 9.7952e-03 2.9681e+00 6.69645e-01 0.2500 2.9681e+00 3\n", - " 4 2.4304e+01 1.7264e-01 7.4359e-03 2.4057e+00 2.70035e-01 1.0000 2.4057e+00 3\n", - " 5 5.1004e+00 1.7268e-01 8.3771e-04 4.9194e-01 3.44886e-01 0.1250 4.9194e-01 3\n", - " 6 4.6072e+00 1.7267e-01 7.5140e-04 4.4270e-01 2.14642e-01 0.2500 4.4270e-01 3\n", - " 7 4.1599e+00 1.7266e-01 5.9617e-04 3.9812e-01 8.20259e-02 1.0000 3.9812e-01 3\n", - " 8 2.6087e-01 1.7267e-01 8.0813e-05 8.7397e-03 1.08961e-01 0.2500 8.7397e-03 3\n", - " 9 2.5150e-01 1.7266e-01 6.4438e-05 7.8196e-03 4.04521e-02 0.5000 7.8196e-03 3\n", - " 10 2.0852e-01 1.7266e-01 3.4027e-05 3.5513e-03 2.52948e-02 0.0020 3.5513e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9819e+02 4.8671e-01 2.9618e+01 1.5244e-01 1.43112e+00 1.0000 ---- 3\n", - " 2 9.9256e+01 1.7308e-01 6.1582e+00 3.7501e+00 4.66262e-01 1.0000 3.7501e+00 3\n", - " 3 2.9016e+01 1.7302e-01 8.8865e-03 2.8754e+00 7.37204e-01 0.2500 2.8754e+00 3\n", - " 4 2.3311e+01 1.7298e-01 6.8171e-03 2.3070e+00 2.86879e-01 1.0000 2.3070e+00 3\n", - " 5 4.9999e+00 1.7303e-01 9.2705e-04 4.8176e-01 4.22394e-01 0.0625 4.8176e-01 3\n", - " 6 4.8466e+00 1.7302e-01 8.7299e-04 4.6648e-01 3.36491e-01 0.1250 4.6648e-01 3\n", - " 7 4.7930e+00 1.7301e-01 7.7541e-04 4.6123e-01 2.07152e-01 0.2500 4.6123e-01 3\n", - " 8 4.1701e+00 1.7300e-01 6.0296e-04 3.9910e-01 7.40376e-02 1.0000 3.9910e-01 3\n", - " 9 1.7917e-01 1.7301e-01 8.0912e-05 5.3487e-04 9.06416e-02 0.0020 1.8557e-03 1\n", - " 10 1.7917e-01 1.7301e-01 8.0912e-05 5.3487e-04 9.06028e-02 0.5000 1.7564e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9078e+02 4.8785e-01 2.8901e+01 1.2813e-01 1.45204e+00 1.0000 ---- 3\n", - " 2 1.0256e+02 1.7437e-01 5.7916e+00 4.4469e+00 4.39760e-01 1.0000 4.4469e+00 3\n", - " 3 2.3665e+01 1.7432e-01 7.3478e-03 2.3417e+00 6.56781e-01 0.2500 2.3417e+00 3\n", - " 4 1.9178e+01 1.7429e-01 5.6532e-03 1.8947e+00 2.45616e-01 1.0000 1.8947e+00 3\n", - " 5 2.0506e+00 1.7433e-01 8.5342e-04 1.8677e-01 3.73916e-01 0.0625 1.8677e-01 3\n", - " 6 1.9601e+00 1.7432e-01 8.0423e-04 1.7777e-01 2.99600e-01 0.1250 1.7777e-01 3\n", - " 7 1.8456e+00 1.7431e-01 7.1582e-04 1.6641e-01 1.85515e-01 0.2500 1.6641e-01 3\n", - " 8 1.6378e+00 1.7431e-01 5.5944e-04 1.4579e-01 7.28650e-02 1.0000 1.4579e-01 3\n", - " 9 1.8356e-01 1.7431e-01 9.3187e-05 8.3123e-04 9.51639e-02 0.0312 1.9340e-03 1\n", - " 10 1.8355e-01 1.7431e-01 9.0277e-05 8.3368e-04 8.82053e-02 0.5000 1.6823e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9171e+02 4.8907e-01 2.9014e+01 1.0828e-01 1.41674e+00 1.0000 ---- 3\n", - " 2 9.8479e+01 1.7559e-01 4.9064e+00 4.9239e+00 4.25019e-01 1.0000 4.9239e+00 3\n", - " 3 2.0685e+01 1.7554e-01 6.3995e-03 2.0445e+00 6.30112e-01 0.2500 2.0445e+00 3\n", - " 4 1.7431e+01 1.7550e-01 4.9519e-03 1.7206e+00 2.24288e-01 1.0000 1.7206e+00 3\n", - " 5 1.1471e+00 1.7555e-01 9.1254e-04 9.6246e-02 3.72008e-01 0.0625 9.6246e-02 3\n", - " 6 1.0922e+00 1.7554e-01 8.5940e-04 9.0803e-02 2.98683e-01 0.1250 9.0803e-02 3\n", - " 7 1.0186e+00 1.7553e-01 7.6258e-04 8.3540e-02 1.83858e-01 0.5000 8.3540e-02 3\n", - " 8 9.3410e-01 1.7553e-01 4.6133e-04 7.5396e-02 1.07642e-01 0.2500 7.5396e-02 3\n", - " 9 7.6946e-01 1.7552e-01 3.4759e-04 5.9046e-02 2.69847e-02 1.0000 5.9046e-02 3\n", - " 10 2.2383e-01 1.7552e-01 1.2718e-05 4.8177e-03 4.52505e-02 0.5000 4.8177e-03 2\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9316e+02 4.8996e-01 2.9199e+01 6.8182e-02 1.38446e+00 1.0000 ---- 3\n", - " 2 8.3676e+01 1.7627e-01 4.0633e+00 4.2866e+00 4.53246e-01 1.0000 4.2866e+00 3\n", - " 3 1.8858e+01 1.7620e-01 8.3768e-03 1.8598e+00 6.12176e-01 0.2500 1.8598e+00 3\n", - " 4 1.6485e+01 1.7617e-01 6.4315e-03 1.6245e+00 2.27355e-01 1.0000 1.6245e+00 3\n", - " 5 1.0124e+00 1.7622e-01 1.1559e-03 8.2460e-02 3.33100e-01 0.1250 8.2460e-02 3\n", - " 6 9.6269e-01 1.7621e-01 1.0210e-03 7.7628e-02 2.08289e-01 0.5000 7.7628e-02 3\n", - " 7 8.7921e-01 1.7620e-01 5.8733e-04 6.9713e-02 1.17819e-01 0.5000 6.9713e-02 3\n", - " 8 7.7427e-01 1.7619e-01 2.9667e-04 5.9511e-02 1.31182e-01 0.1250 5.9511e-02 3\n", - " 9 7.2315e-01 1.7619e-01 2.6162e-04 5.4435e-02 6.85859e-02 0.5000 5.4435e-02 3\n", - " 10 5.2811e-01 1.7619e-01 1.4540e-04 3.5047e-02 7.77238e-02 0.2500 3.5047e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8610e+02 4.9135e-01 2.8285e+01 2.7609e-01 1.36052e+00 1.0000 ---- 3\n", - " 2 7.9389e+01 1.7758e-01 3.6955e+00 4.2257e+00 4.50414e-01 1.0000 4.2257e+00 3\n", - " 3 1.7228e+01 1.7750e-01 7.6866e-03 1.6974e+00 5.43374e-01 0.2500 1.6974e+00 3\n", - " 4 1.5024e+01 1.7747e-01 5.9043e-03 1.4788e+00 2.09151e-01 1.0000 1.4788e+00 3\n", - " 5 4.0561e-01 1.7751e-01 1.0852e-03 2.1725e-02 2.59418e-01 0.2500 2.1725e-02 3\n", - " 6 3.5908e-01 1.7750e-01 8.3186e-04 1.7326e-02 1.19464e-01 0.5000 1.7326e-02 3\n", - " 7 3.4219e-01 1.7750e-01 4.3028e-04 1.6038e-02 4.56690e-02 0.5000 1.6038e-02 3\n", - " 8 3.0686e-01 1.7750e-01 2.1461e-04 1.2722e-02 4.35503e-02 0.5000 1.2722e-02 3\n", - " 9 3.0489e-01 1.7750e-01 1.0673e-04 1.2632e-02 5.36713e-02 0.2500 1.2632e-02 3\n", - " 10 2.9874e-01 1.7750e-01 8.1102e-05 1.2043e-02 2.90221e-02 0.2500 1.2043e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8149e+02 4.9353e-01 2.7795e+01 3.0477e-01 1.34924e+00 1.0000 ---- 3\n", - " 2 7.4697e+01 1.8010e-01 3.4475e+00 4.0042e+00 4.59408e-01 1.0000 4.0042e+00 3\n", - " 3 1.4951e+01 1.8000e-01 7.6901e-03 1.4694e+00 5.28589e-01 0.2500 1.4694e+00 3\n", - " 4 1.2586e+01 1.7998e-01 5.8335e-03 1.2347e+00 2.08085e-01 1.0000 1.2347e+00 3\n", - " 5 7.4487e-01 1.8001e-01 1.1997e-03 5.5287e-02 2.86446e-01 0.2500 5.5287e-02 3\n", - " 6 6.1232e-01 1.8000e-01 9.1295e-04 4.2320e-02 1.14263e-01 0.5000 4.2320e-02 3\n", - " 7 4.2962e-01 1.8000e-01 4.8019e-04 2.4482e-02 5.84588e-02 0.5000 2.4482e-02 3\n", - " 8 3.8129e-01 1.8000e-01 2.4314e-04 1.9887e-02 5.81443e-02 0.2500 1.9887e-02 3\n", - " 9 3.5482e-01 1.7999e-01 1.8433e-04 1.7298e-02 3.00381e-02 0.5000 1.7298e-02 3\n", - " 10 3.4298e-01 1.7999e-01 9.3254e-05 1.6205e-02 3.30974e-02 0.2500 1.6205e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7910e+02 4.9587e-01 2.7525e+01 3.3524e-01 1.33752e+00 1.0000 ---- 3\n", - " 2 6.8139e+01 1.8277e-01 3.2650e+00 3.5307e+00 4.83213e-01 1.0000 3.5307e+00 3\n", - " 3 1.9325e+01 1.8263e-01 7.4461e-03 1.9068e+00 5.76632e-01 0.5000 1.9068e+00 3\n", - " 4 1.7925e+01 1.8259e-01 4.1858e-03 1.7701e+00 2.89070e-01 0.5000 1.7701e+00 3\n", - " 5 1.4609e+01 1.8259e-01 2.1767e-03 1.4404e+00 2.50108e-01 0.5000 1.4404e+00 3\n", - " 6 1.3897e+01 1.8258e-01 1.1550e-03 1.3703e+00 2.26959e-01 0.5000 1.3703e+00 3\n", - " 7 1.3564e+01 1.8258e-01 6.6347e-04 1.3374e+00 2.21305e-01 0.5000 1.3374e+00 3\n", - " 8 1.3522e+01 1.8258e-01 3.7982e-04 1.3336e+00 2.16033e-01 0.5000 1.3336e+00 3\n", - " 9 1.3296e+01 1.8258e-01 2.7639e-04 1.3111e+00 2.18102e-01 0.2500 1.3111e+00 3\n", - " 10 1.0675e+01 1.8258e-01 2.1890e-04 1.0490e+00 6.93575e-02 1.0000 1.0490e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7815e+02 4.9801e-01 2.7366e+01 3.9871e-01 1.33926e+00 1.0000 ---- 3\n", - " 2 6.8271e+01 1.8489e-01 3.2026e+00 3.6060e+00 5.18653e-01 1.0000 4.1086e+00 3\n", - " 3 2.1606e+01 1.8472e-01 7.0606e-03 2.1351e+00 7.03253e-01 0.5000 2.1351e+00 3\n", - " 4 2.0424e+01 1.8467e-01 4.0560e-03 2.0199e+00 3.88294e-01 0.5000 2.0199e+00 3\n", - " 5 1.5998e+01 1.8466e-01 2.2512e-03 1.5791e+00 3.41198e-01 0.5000 1.5791e+00 3\n", - " 6 1.5980e+01 1.8465e-01 1.2020e-03 1.5783e+00 2.90992e-01 0.5000 1.5783e+00 3\n", - " 7 1.5747e+01 1.8465e-01 7.5639e-04 1.5554e+00 2.76085e-01 0.5000 1.5554e+00 3\n", - " 8 1.5375e+01 1.8464e-01 4.5704e-04 1.5185e+00 2.54264e-01 0.5000 1.5185e+00 3\n", - " 9 1.5014e+01 1.8464e-01 3.4175e-04 1.4826e+00 2.49764e-01 0.5000 1.4826e+00 3\n", - " 10 1.4828e+01 1.8464e-01 2.3436e-04 1.4641e+00 2.37242e-01 0.5000 1.4641e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7815e+02 5.0005e-01 2.7015e+01 7.4962e-01 1.37025e+00 1.0000 ---- 3\n", - " 2 7.4525e+01 1.8694e-01 3.3232e+00 4.1106e+00 7.51849e-01 0.5000 4.8784e+00 3\n", - " 3 4.9093e+01 1.8674e-01 1.6616e+00 3.2290e+00 4.63642e-01 1.0000 3.2290e+00 3\n", - " 4 4.2854e+01 1.8672e-01 2.2262e-03 4.2645e+00 9.57194e-01 0.2500 4.2645e+00 3\n", - " 5 4.0144e+01 1.8663e-01 1.7699e-03 3.9940e+00 3.44875e-01 1.0000 3.9940e+00 3\n", - " 6 2.2840e+01 1.8675e-01 9.5903e-04 2.2643e+00 7.14323e-01 0.1250 2.2643e+00 3\n", - " 7 2.1870e+01 1.8670e-01 8.4771e-04 2.1675e+00 4.20153e-01 0.2500 2.1675e+00 3\n", - " 8 1.9701e+01 1.8667e-01 6.5841e-04 1.9508e+00 1.42445e-01 1.0000 1.9508e+00 3\n", - " 9 8.8946e-01 1.8674e-01 2.0156e-04 7.0071e-02 2.51992e-01 0.1250 7.0071e-02 3\n", - " 10 8.4926e-01 1.8673e-01 1.7558e-04 6.6078e-02 1.34167e-01 0.2500 6.6078e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7544e+02 5.0245e-01 2.7024e+01 4.6986e-01 1.36380e+00 1.0000 ---- 3\n", - " 2 8.4359e+01 1.8953e-01 3.8760e+00 4.5409e+00 5.16485e-01 1.0000 5.5921e+00 3\n", - " 3 2.3704e+01 1.8929e-01 8.4812e-03 2.3430e+00 7.07009e-01 0.2500 2.3430e+00 3\n", - " 4 2.0432e+01 1.8925e-01 6.4959e-03 2.0177e+00 2.70826e-01 1.0000 2.0177e+00 3\n", - " 5 1.4947e+00 1.8929e-01 2.5496e-03 1.2799e-01 3.80086e-01 0.2500 1.2799e-01 3\n", - " 6 1.4218e+00 1.8928e-01 1.9215e-03 1.2133e-01 1.36412e-01 0.5000 1.2133e-01 3\n", - " 7 9.8077e-01 1.8928e-01 9.6325e-04 7.8186e-02 8.72894e-02 0.5000 7.8186e-02 3\n", - " 8 7.2894e-01 1.8928e-01 4.9268e-04 5.3474e-02 8.66804e-02 0.1250 5.3474e-02 3\n", - " 9 6.5674e-01 1.8927e-01 4.3132e-04 4.6315e-02 6.24443e-02 0.2500 4.6315e-02 3\n", - " 10 5.8304e-01 1.8927e-01 3.2401e-04 3.9053e-02 4.66430e-02 0.5000 3.9053e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7942e+02 5.0486e-01 2.7421e+01 4.7080e-01 1.36143e+00 1.0000 ---- 3\n", - " 2 8.0942e+01 1.9190e-01 4.1538e+00 3.9212e+00 5.14677e-01 1.0000 6.3769e+00 3\n", - " 3 2.2497e+01 1.9162e-01 8.2245e-03 2.2223e+00 6.88711e-01 0.2500 2.2223e+00 3\n", - " 4 1.8199e+01 1.9159e-01 6.2831e-03 1.7945e+00 2.61455e-01 1.0000 1.7945e+00 3\n", - " 5 1.5049e+00 1.9162e-01 2.3819e-03 1.2895e-01 3.42435e-01 0.2500 1.2895e-01 3\n", - " 6 1.1175e+00 1.9161e-01 1.7872e-03 9.0798e-02 1.25702e-01 0.5000 9.0798e-02 3\n", - " 7 8.4675e-01 1.9161e-01 9.0680e-04 6.4607e-02 7.61439e-02 0.5000 6.4607e-02 3\n", - " 8 8.3126e-01 1.9161e-01 4.7897e-04 6.3486e-02 7.20849e-02 0.2500 6.3486e-02 3\n", - " 9 7.0934e-01 1.9161e-01 3.6613e-04 5.1408e-02 6.00766e-02 0.2500 5.1408e-02 3\n", - " 10 6.2261e-01 1.9161e-01 2.8083e-04 4.2820e-02 5.84730e-02 0.2500 4.2820e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9162e+02 5.0774e-01 2.8675e+01 4.3675e-01 1.38944e+00 1.0000 ---- 3\n", - " 2 8.8263e+01 1.9497e-01 4.6682e+00 4.1385e+00 5.64948e-01 1.0000 7.1169e+00 3\n", - " 3 2.8137e+01 1.9463e-01 9.1424e-03 2.7851e+00 8.24791e-01 0.2500 2.7851e+00 3\n", - " 4 2.3962e+01 1.9459e-01 7.0019e-03 2.3697e+00 3.02061e-01 1.0000 2.3697e+00 3\n", - " 5 2.4315e+00 1.9464e-01 2.6548e-03 2.2103e-01 3.92119e-01 0.2500 2.2103e-01 3\n", - " 6 1.7554e+00 1.9462e-01 1.9850e-03 1.5410e-01 1.50410e-01 1.0000 1.5410e-01 3\n", - " 7 1.5696e+00 1.9462e-01 2.4007e-04 1.3726e-01 1.67397e-01 0.5000 1.3726e-01 3\n", - " 8 1.0492e+00 1.9461e-01 1.5089e-04 8.5311e-02 1.25507e-01 0.2500 8.5311e-02 3\n", - " 9 8.7558e-01 1.9461e-01 1.1986e-04 6.7977e-02 8.48625e-02 0.5000 6.7977e-02 3\n", - " 10 8.2715e-01 1.9461e-01 1.0957e-04 6.3144e-02 8.49614e-02 0.5000 6.3144e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0523e+02 5.1136e-01 2.9937e+01 5.3509e-01 1.40625e+00 1.0000 ---- 3\n", - " 2 9.6949e+01 1.9890e-01 5.4940e+00 4.1811e+00 5.40914e-01 1.0000 7.9216e+00 3\n", - " 3 2.7132e+01 1.9851e-01 1.0158e-02 2.6832e+00 8.30576e-01 0.2500 2.6832e+00 3\n", - " 4 2.3455e+01 1.9846e-01 7.6583e-03 2.3180e+00 3.01612e-01 1.0000 2.3180e+00 3\n", - " 5 6.9042e+00 1.9851e-01 2.5084e-03 6.6806e-01 3.60803e-01 0.5000 6.6806e-01 3\n", - " 6 3.2417e+00 1.9849e-01 1.3192e-03 3.0300e-01 2.51525e-01 0.2500 3.0300e-01 3\n", - " 7 2.7654e+00 1.9848e-01 1.0009e-03 2.5570e-01 1.05320e-01 1.0000 2.5570e-01 3\n", - " 8 1.8620e+00 1.9848e-01 2.0206e-04 1.6615e-01 1.19749e-01 1.0000 1.6615e-01 3\n", - " 9 1.5274e+00 1.9847e-01 1.8335e-04 1.3271e-01 2.05746e-01 0.1250 1.3271e-01 3\n", - " 10 1.4448e+00 1.9847e-01 1.6885e-04 1.2446e-01 1.34468e-01 0.5000 1.2446e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.1820e+02 5.1510e-01 3.1232e+01 5.3561e-01 1.45687e+00 1.0000 ---- 3\n", - " 2 1.0507e+02 2.0314e-01 5.9931e+00 4.4936e+00 6.10622e-01 1.0000 8.7145e+00 3\n", - " 3 4.1213e+01 2.0268e-01 1.2513e-02 4.0885e+00 1.07002e+00 0.1250 4.0885e+00 3\n", - " 4 3.7075e+01 2.0262e-01 1.0999e-02 3.6763e+00 6.74655e-01 0.2500 3.6763e+00 3\n", - " 5 3.0554e+01 2.0259e-01 8.3284e-03 3.0268e+00 3.57553e-01 1.0000 3.0268e+00 3\n", - " 6 1.4890e+01 2.0272e-01 2.3757e-03 1.4664e+00 4.64545e-01 0.5000 1.4664e+00 3\n", - " 7 9.5071e+00 2.0268e-01 1.4220e-03 9.2902e-01 3.60548e-01 0.5000 9.2902e-01 3\n", - " 8 7.6498e+00 2.0265e-01 8.5821e-04 7.4385e-01 3.28776e-01 0.2500 7.4385e-01 3\n", - " 9 5.7485e+00 2.0264e-01 6.9587e-04 5.5389e-01 1.68100e-01 1.0000 5.5389e-01 3\n", - " 10 3.8754e+00 2.0264e-01 5.4391e-04 3.6674e-01 1.93630e-01 0.2500 3.6674e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.3189e+02 5.1931e-01 3.2387e+01 7.5076e-01 1.46413e+00 1.0000 ---- 3\n", - " 2 1.1118e+02 2.0765e-01 6.7249e+00 4.3725e+00 6.14940e-01 1.0000 9.5818e+00 3\n", - " 3 3.5263e+01 2.0711e-01 1.2899e-02 3.4927e+00 1.07807e+00 0.1250 3.4927e+00 3\n", - " 4 3.2099e+01 2.0706e-01 1.1327e-02 3.1779e+00 6.56524e-01 0.5000 3.1779e+00 3\n", - " 5 3.1040e+01 2.0705e-01 5.9193e-03 3.0774e+00 5.63497e-01 0.2500 3.0774e+00 3\n", - " 6 2.6169e+01 2.0703e-01 4.4611e-03 2.5917e+00 2.03331e-01 1.0000 2.5917e+00 3\n", - " 7 5.7371e+00 2.0716e-01 5.7436e-04 5.5242e-01 3.48139e-01 0.2500 5.5242e-01 3\n", - " 8 4.9003e+00 2.0713e-01 4.3306e-04 4.6889e-01 1.62276e-01 0.5000 4.6889e-01 3\n", - " 9 4.3578e+00 2.0712e-01 2.3356e-04 4.1484e-01 2.24221e-01 0.1250 4.1484e-01 3\n", - " 10 4.1242e+00 2.0711e-01 2.0448e-04 3.9151e-01 1.14549e-01 1.0000 3.9151e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.4457e+02 5.2377e-01 3.3746e+01 6.5786e-01 1.53456e+00 1.0000 ---- 3\n", - " 2 1.3805e+02 2.1263e-01 7.0299e+00 6.7536e+00 9.56580e-01 0.5000 1.0444e+01 3\n", - " 3 1.2238e+02 2.1198e-01 3.5162e+00 8.7003e+00 6.03135e-01 1.0000 8.7003e+00 3\n", - " 4 1.0795e+02 2.1203e-01 7.2070e-03 1.0767e+01 1.26298e+00 0.2500 1.0767e+01 3\n", - " 5 9.7567e+01 2.1180e-01 5.8019e-03 9.7297e+00 5.17235e-01 0.5000 9.7297e+00 3\n", - " 6 7.7422e+01 2.1179e-01 3.1769e-03 7.7178e+00 4.80793e-01 0.5000 7.7178e+00 3\n", - " 7 5.4836e+01 2.1187e-01 1.8935e-03 5.4605e+00 3.69414e-01 0.2500 5.4605e+00 3\n", - " 8 4.4497e+01 2.1185e-01 1.4570e-03 4.4270e+00 3.03660e-01 1.0000 4.4270e+00 3\n", - " 9 2.2505e+01 2.1212e-01 1.1261e-03 2.2282e+00 5.03858e-01 0.2500 2.2282e+00 3\n", - " 10 1.9244e+01 2.1204e-01 7.9558e-04 1.9024e+00 2.32613e-01 0.5000 1.9024e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.6481e+02 5.2910e-01 3.5015e+01 1.4136e+00 1.53381e+00 1.0000 ---- 3\n", - " 2 1.6058e+02 2.1865e-01 7.8378e+00 8.1981e+00 1.14946e+00 0.5000 1.1429e+01 3\n", - " 3 1.5229e+02 2.1785e-01 3.9169e+00 1.1290e+01 8.23568e-01 0.5000 1.1290e+01 3\n", - " 4 1.0128e+02 2.1779e-01 1.9575e+00 8.1488e+00 6.28988e-01 0.5000 8.1488e+00 3\n", - " 5 8.2246e+01 2.1772e-01 9.7929e-01 7.2236e+00 6.09157e-01 0.5000 7.2236e+00 3\n", - " 6 7.6084e+01 2.1770e-01 4.9010e-01 7.0966e+00 6.14280e-01 0.5000 7.0966e+00 3\n", - " 7 7.4102e+01 2.1769e-01 2.4547e-01 7.1430e+00 6.24515e-01 0.5000 7.1430e+00 3\n", - " 8 7.2717e+01 2.1769e-01 1.2325e-01 7.1267e+00 6.12687e-01 0.5000 7.1267e+00 3\n", - " 9 7.1654e+01 2.1769e-01 6.2075e-02 7.0815e+00 6.28214e-01 0.5000 7.0815e+00 3\n", - " 10 6.9474e+01 2.1769e-01 3.1592e-02 6.8940e+00 5.99838e-01 0.5000 6.8940e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0288e+02 5.3393e-01 3.5126e+01 5.1079e+00 1.85278e+00 1.0000 ---- 3\n", - " 2 2.9900e+02 2.2410e-01 7.6119e+00 2.2266e+01 1.77526e+00 0.5000 2.2266e+01 3\n", - " 3 2.4814e+02 2.2306e-01 3.8061e+00 2.0985e+01 1.27362e+00 0.5000 2.0985e+01 25\n", - " 4 1.5364e+02 2.2317e-01 1.9035e+00 1.3439e+01 1.13658e+00 0.5000 1.3439e+01 25\n", - " 5 1.1848e+02 2.2294e-01 9.5273e-01 1.0873e+01 1.16470e+00 1.0000 1.0873e+01 24\n", - " 6 7.7997e+01 2.2294e-01 9.4763e-03 7.7680e+00 1.04689e+00 0.1250 7.7680e+00 15\n", - " 7 7.2995e+01 2.2288e-01 8.2888e-03 7.2689e+00 6.45010e-01 0.5000 7.2689e+00 9\n", - " 8 7.2910e+01 2.2285e-01 4.1539e-03 7.2646e+00 4.04773e-01 1.0000 7.2646e+00 9\n", - " 9 6.2545e+01 2.2295e-01 4.3685e-04 6.2318e+00 9.49525e-01 0.1250 6.2318e+00 15\n", - " 10 5.9095e+01 2.2289e-01 4.1249e-04 5.8868e+00 5.43967e-01 0.2500 5.8868e+00 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9466e+02 5.3982e-01 3.5584e+01 3.8284e+00 1.70781e+00 1.0000 ---- 3\n", - " 2 1.5003e+02 2.3064e-01 8.9267e+00 6.0533e+00 8.24040e-01 1.0000 1.3537e+01 3\n", - " 3 5.6602e+01 2.2964e-01 2.5032e-02 5.6122e+00 1.26448e+00 0.2500 5.6122e+00 3\n", - " 4 5.0432e+01 2.2952e-01 1.8760e-02 5.0015e+00 4.98113e-01 1.0000 5.0015e+00 3\n", - " 5 8.9702e+00 2.2966e-01 2.2119e-03 8.7184e-01 6.25126e-01 0.2500 8.7184e-01 3\n", - " 6 7.6309e+00 2.2962e-01 1.8153e-03 7.3831e-01 1.97003e-01 1.0000 7.3831e-01 3\n", - " 7 1.7835e+00 2.2962e-01 4.4356e-04 1.5494e-01 3.33512e-01 0.1250 1.5494e-01 3\n", - " 8 1.7330e+00 2.2961e-01 3.9275e-04 1.4994e-01 1.74964e-01 0.2500 1.4994e-01 3\n", - " 9 1.4224e+00 2.2961e-01 3.0238e-04 1.1898e-01 8.33292e-02 1.0000 1.1898e-01 3\n", - " 10 2.9161e-01 2.2961e-01 5.1131e-05 6.1491e-03 1.50045e-01 0.0625 6.1491e-03 2\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.7118e+02 5.4905e-01 3.6632e+01 4.3056e-01 1.63048e+00 1.0000 ---- 3\n", - " 2 1.4613e+02 2.4189e-01 8.6487e+00 5.9404e+00 8.00744e-01 1.0000 1.4883e+01 3\n", - " 3 1.2248e+02 2.4066e-01 3.0798e-02 1.2193e+01 1.22511e+00 0.5000 1.2193e+01 3\n", - " 4 9.2431e+01 2.4046e-01 1.7433e-02 9.2016e+00 6.97465e-01 0.5000 9.2016e+00 3\n", - " 5 5.2123e+01 2.4058e-01 8.5620e-03 5.1797e+00 5.61268e-01 0.5000 5.1797e+00 3\n", - " 6 3.3929e+01 2.4058e-01 4.3649e-03 3.3645e+00 5.34566e-01 0.5000 3.3645e+00 3\n", - " 7 3.2726e+01 2.4057e-01 2.2361e-03 3.2463e+00 5.08818e-01 0.2500 3.2463e+00 3\n", - " 8 2.6353e+01 2.4056e-01 1.7035e-03 2.6096e+00 1.63489e-01 1.0000 2.6096e+00 3\n", - " 9 4.7159e+00 2.4068e-01 2.0433e-04 4.4732e-01 1.38588e-01 1.0000 4.4732e-01 3\n", - " 10 1.9752e+00 2.4067e-01 2.2713e-04 1.7322e-01 4.48575e-01 0.1250 1.7322e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.7887e+02 5.5526e-01 3.7217e+01 6.1440e-01 1.65041e+00 1.0000 ---- 3\n", - " 2 1.5259e+02 2.4905e-01 9.0555e+00 6.1788e+00 1.08028e+00 0.5000 1.6375e+01 3\n", - " 3 1.2861e+02 2.4785e-01 4.5291e+00 8.3069e+00 8.09370e-01 0.5000 8.3069e+00 3\n", - " 4 9.8211e+01 2.4756e-01 2.2644e+00 7.5319e+00 7.36500e-01 0.5000 7.5319e+00 3\n", - " 5 8.7417e+01 2.4748e-01 1.1321e+00 7.5849e+00 7.62552e-01 0.5000 7.5849e+00 3\n", - " 6 8.1557e+01 2.4745e-01 5.6613e-01 7.5649e+00 6.80050e-01 0.5000 7.5649e+00 3\n", - " 7 7.9610e+01 2.4744e-01 2.8324e-01 7.6530e+00 7.13164e-01 0.5000 7.6530e+00 3\n", - " 8 7.4626e+01 2.4744e-01 1.4184e-01 7.2960e+00 6.78380e-01 0.2500 7.2960e+00 3\n", - " 9 5.9809e+01 2.4742e-01 1.0641e-01 5.8497e+00 3.86548e-01 1.0000 5.8497e+00 3\n", - " 10 2.4648e+01 2.4772e-01 2.2516e-03 2.4378e+00 4.00774e-01 0.5000 2.4378e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9277e+02 5.6122e-01 3.8030e+01 1.1906e+00 1.68058e+00 1.0000 ---- 3\n", - " 2 1.9214e+02 2.5355e-01 9.3280e+00 9.8604e+00 1.35912e+00 0.5000 1.8090e+01 3\n", - " 3 1.8337e+02 2.5203e-01 4.6655e+00 1.3647e+01 7.64919e-01 1.0000 1.3647e+01 3\n", - " 4 1.2828e+02 2.5194e-01 9.4248e-03 1.2793e+01 1.41783e+00 0.2500 1.2793e+01 3\n", - " 5 1.1468e+02 2.5169e-01 7.0488e-03 1.1436e+01 7.03551e-01 0.5000 1.1436e+01 3\n", - " 6 9.1906e+01 2.5165e-01 4.0618e-03 9.1614e+00 6.19109e-01 0.5000 9.1614e+00 3\n", - " 7 6.6263e+01 2.5169e-01 2.5780e-03 6.5986e+00 5.40034e-01 0.5000 6.5986e+00 3\n", - " 8 5.6797e+01 2.5169e-01 2.4503e-03 5.6520e+00 5.49204e-01 0.2500 5.6520e+00 3\n", - " 9 4.6054e+01 2.5167e-01 1.9330e-03 4.5783e+00 2.84083e-01 1.0000 4.5783e+00 3\n", - " 10 1.8713e+01 2.5188e-01 8.0160e-04 1.8454e+00 4.77278e-01 0.1250 1.8454e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0253e+02 5.6999e-01 3.8606e+01 1.5898e+00 1.69122e+00 1.0000 ---- 3\n", - " 2 1.5924e+02 2.6425e-01 9.5188e+00 6.3790e+00 8.55548e-01 1.0000 2.0111e+01 3\n", - " 3 1.2002e+02 2.6211e-01 4.1645e-02 1.1934e+01 1.38496e+00 0.2500 1.1934e+01 3\n", - " 4 9.8013e+01 2.6195e-01 3.1374e-02 9.7437e+00 7.51771e-01 0.5000 9.7437e+00 3\n", - " 5 8.1623e+01 2.6191e-01 1.6868e-02 8.1192e+00 5.30075e-01 0.5000 8.1192e+00 3\n", - " 6 5.1105e+01 2.6196e-01 8.5589e-03 5.0757e+00 3.73571e-01 0.5000 5.0757e+00 3\n", - " 7 3.3890e+01 2.6197e-01 4.5574e-03 3.3583e+00 3.70012e-01 0.5000 3.3583e+00 3\n", - " 8 3.3520e+01 2.6195e-01 2.0482e-03 3.3237e+00 3.53014e-01 0.5000 3.3237e+00 3\n", - " 9 3.2249e+01 2.6193e-01 1.6319e-03 3.1970e+00 3.59870e-01 0.2500 3.1970e+00 3\n", - " 10 2.6276e+01 2.6192e-01 1.2039e-03 2.6002e+00 2.15380e-01 1.0000 2.6002e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9738e+02 5.8148e-01 3.8766e+01 9.1332e-01 1.70437e+00 1.0000 ---- 3\n", - " 2 1.7403e+02 2.7818e-01 9.8486e+00 7.5265e+00 9.43281e-01 1.0000 2.2756e+01 3\n", - " 3 1.4360e+02 2.7544e-01 4.6756e-02 1.4285e+01 1.45127e+00 0.5000 1.4285e+01 3\n", - " 4 1.3466e+02 2.7520e-01 2.1623e-02 1.3417e+01 9.89666e-01 1.0000 1.3417e+01 3\n", - " 5 1.2050e+02 2.7565e-01 9.2082e-03 1.2013e+01 1.72452e+00 0.2500 1.2013e+01 3\n", - " 6 1.1126e+02 2.7543e-01 6.8887e-03 1.1091e+01 6.48008e-01 1.0000 1.1091e+01 3\n", - " 7 8.9292e+01 2.7564e-01 1.4951e-03 8.9002e+00 1.51163e+00 0.2500 8.9002e+00 3\n", - " 8 8.0752e+01 2.7539e-01 1.5451e-03 8.0461e+00 5.72500e-01 0.5000 8.0461e+00 3\n", - " 9 4.9571e+01 2.7540e-01 1.5773e-03 4.9280e+00 4.57114e-01 0.5000 4.9280e+00 3\n", - " 10 3.4480e+01 2.7541e-01 8.9941e-04 3.4196e+00 4.27085e-01 0.5000 3.4196e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1726e+02 5.8870e-01 3.8476e+01 3.1903e+00 1.83750e+00 1.0000 ---- 3\n", - " 2 2.4883e+02 2.8406e-01 1.0411e+01 1.4444e+01 1.53968e+00 0.5000 2.5695e+01 3\n", - " 3 2.1040e+02 2.8127e-01 5.2094e+00 1.5803e+01 9.13907e-01 1.0000 1.5803e+01 3\n", - " 4 1.2584e+02 2.8084e-01 1.7897e-02 1.2538e+01 1.61807e+00 0.2500 1.2538e+01 3\n", - " 5 1.1585e+02 2.8057e-01 1.3917e-02 1.1543e+01 7.31270e-01 0.5000 1.1543e+01 3\n", - " 6 8.8001e+01 2.8052e-01 7.5688e-03 8.7645e+00 6.20517e-01 0.5000 8.7645e+00 3\n", - " 7 7.1349e+01 2.8054e-01 4.5284e-03 7.1023e+00 5.46461e-01 0.5000 7.1023e+00 3\n", - " 8 6.6362e+01 2.8054e-01 2.9379e-03 6.6052e+00 5.45939e-01 0.5000 6.6052e+00 3\n", - " 9 6.4751e+01 2.8054e-01 1.9542e-03 6.4451e+00 5.31293e-01 0.5000 6.4451e+00 3\n", - " 10 6.3731e+01 2.8054e-01 1.7795e-03 6.3432e+00 5.38478e-01 0.5000 6.3432e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.4306e+02 6.0072e-01 3.9899e+01 4.3473e+00 2.03772e+00 1.0000 ---- 3\n", - " 2 2.9744e+02 2.9770e-01 1.0963e+01 1.8752e+01 1.77639e+00 0.5000 3.0107e+01 3\n", - " 3 2.4544e+02 2.9390e-01 5.4848e+00 1.9030e+01 1.10653e+00 1.0000 1.9030e+01 3\n", - " 4 1.7319e+02 2.9324e-01 2.0529e-02 1.7269e+01 2.00611e+00 0.2500 1.7269e+01 3\n", - " 5 1.5199e+02 2.9289e-01 1.5619e-02 1.5154e+01 8.63557e-01 0.5000 1.5154e+01 3\n", - " 6 1.0093e+02 2.9288e-01 7.9774e-03 1.0056e+01 7.37583e-01 0.5000 1.0056e+01 3\n", - " 7 7.8739e+01 2.9292e-01 4.6739e-03 7.8399e+00 6.54311e-01 0.5000 7.8399e+00 3\n", - " 8 7.1934e+01 2.9292e-01 2.3639e-03 7.1618e+00 6.55768e-01 0.5000 7.1618e+00 3\n", - " 9 7.0020e+01 2.9293e-01 1.5749e-03 6.9711e+00 6.47996e-01 0.5000 6.9711e+00 3\n", - " 10 6.8484e+01 2.9293e-01 1.0669e-03 6.8180e+00 6.44657e-01 0.5000 6.8180e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.6225e+02 6.1306e-01 4.0450e+01 5.7137e+00 2.12917e+00 1.0000 ---- 3\n", - " 2 3.5612e+02 3.1426e-01 1.1305e+01 2.4276e+01 1.99461e+00 0.5000 3.5489e+01 3\n", - " 3 2.8265e+02 3.0912e-01 5.6528e+00 2.2581e+01 1.26955e+00 1.0000 2.2581e+01 3\n", - " 4 2.1439e+02 3.0829e-01 1.6486e-02 2.1392e+01 1.84661e+00 0.5000 2.1392e+01 3\n", - " 5 2.0596e+02 3.0772e-01 1.1496e-02 2.0554e+01 1.06396e+00 1.0000 2.0554e+01 3\n", - " 6 1.1248e+02 3.0822e-01 5.4425e-03 1.1212e+01 1.94934e+00 0.2500 1.1212e+01 3\n", - " 7 1.0800e+02 3.0789e-01 5.0467e-03 1.0764e+01 7.50172e-01 0.5000 1.0764e+01 3\n", - " 8 6.9003e+01 3.0785e-01 2.7194e-03 6.8668e+00 6.94897e-01 0.5000 6.8668e+00 3\n", - " 9 6.5660e+01 3.0781e-01 1.4694e-03 6.5337e+00 6.80034e-01 0.2500 6.5337e+00 3\n", - " 10 5.3470e+01 3.0778e-01 1.1979e-03 5.3150e+00 3.51663e-01 1.0000 5.3150e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.4340e+02 6.2491e-01 4.1954e+01 2.3240e+00 1.93805e+00 1.0000 ---- 3\n", - " 2 2.3965e+02 3.2783e-01 1.1464e+01 1.2468e+01 1.41271e+00 0.5000 4.3376e+01 3\n", - " 3 1.7820e+02 3.2056e-01 5.7386e+00 1.2049e+01 8.55802e-01 1.0000 2.1709e+01 3\n", - " 4 1.6246e+02 3.1849e-01 1.5770e-02 1.6198e+01 1.65655e+00 0.2500 1.6198e+01 3\n", - " 5 1.3654e+02 3.1821e-01 1.2062e-02 1.3610e+01 7.68812e-01 0.5000 1.3610e+01 3\n", - " 6 1.0607e+02 3.1814e-01 7.3203e-03 1.0568e+01 6.52443e-01 0.5000 1.0568e+01 3\n", - " 7 7.7444e+01 3.1821e-01 3.5499e-03 7.7090e+00 5.79296e-01 0.5000 7.7090e+00 3\n", - " 8 7.5935e+01 3.1821e-01 2.9014e-03 7.5588e+00 6.51844e-01 0.2500 7.5588e+00 3\n", - " 9 6.2457e+01 3.1818e-01 2.3653e-03 6.2115e+00 3.81428e-01 1.0000 6.2115e+00 3\n", - " 10 2.9548e+01 3.1850e-01 2.3103e-03 2.9206e+00 5.08968e-01 0.5000 2.9206e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2130e+02 6.3746e-01 4.0129e+01 1.9371e+00 2.07281e+00 1.0000 ---- 3\n", - " 2 3.0361e+02 3.4381e-01 1.3124e+01 1.7203e+01 1.71595e+00 0.5000 5.3875e+01 3\n", - " 3 2.1051e+02 3.3261e-01 6.5705e+00 1.4447e+01 1.03103e+00 1.0000 2.6970e+01 3\n", - " 4 2.0717e+02 3.2917e-01 3.6200e-02 2.0648e+01 1.78460e+00 0.2500 2.0648e+01 3\n", - " 5 1.6834e+02 3.2890e-01 2.7127e-02 1.6774e+01 8.18967e-01 0.5000 1.6774e+01 3\n", - " 6 9.7868e+01 3.2894e-01 1.3295e-02 9.7406e+00 6.11566e-01 0.5000 9.7406e+00 3\n", - " 7 6.0433e+01 3.2902e-01 6.8599e-03 6.0036e+00 5.13978e-01 0.5000 6.0036e+00 3\n", - " 8 5.4035e+01 3.2903e-01 3.7489e-03 5.3669e+00 5.10801e-01 0.5000 5.3669e+00 3\n", - " 9 5.1083e+01 3.2903e-01 2.1800e-03 5.0732e+00 5.08760e-01 0.2500 5.0732e+00 3\n", - " 10 4.0942e+01 3.2902e-01 1.7810e-03 4.0595e+00 2.45681e-01 1.0000 4.0595e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2427e+02 6.6187e-01 4.1247e+01 1.1136e+00 2.03956e+00 1.0000 ---- 3\n", - " 2 2.3619e+02 3.8171e-01 1.2185e+01 1.1396e+01 1.35469e+00 0.5000 7.1107e+01 3\n", - " 3 1.7467e+02 3.6269e-01 6.1004e+00 1.1331e+01 8.08190e-01 1.0000 3.5605e+01 3\n", - " 4 1.3267e+02 3.5650e-01 5.4781e-02 1.3177e+01 1.40677e+00 0.2500 1.3177e+01 3\n", - " 5 1.1014e+02 3.5632e-01 4.0662e-02 1.0938e+01 6.08647e-01 0.5000 1.0938e+01 3\n", - " 6 6.6613e+01 3.5635e-01 2.0153e-02 6.6055e+00 4.63899e-01 0.5000 6.6055e+00 3\n", - " 7 4.1598e+01 3.5641e-01 9.9880e-03 4.1142e+00 3.66921e-01 0.5000 4.1142e+00 3\n", - " 8 3.9423e+01 3.5642e-01 5.0390e-03 3.9016e+00 3.75522e-01 0.2500 3.9016e+00 3\n", - " 9 3.1484e+01 3.5640e-01 3.7974e-03 3.1090e+00 2.50432e-01 1.0000 3.1090e+00 3\n", - " 10 1.0248e+01 3.5658e-01 1.3398e-03 9.8777e-01 3.74698e-01 0.2500 9.8777e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1926e+02 6.8561e-01 4.0957e+01 9.0082e-01 2.06567e+00 1.0000 ---- 3\n", - " 2 2.4483e+02 4.3160e-01 1.2591e+01 1.1848e+01 1.38296e+00 0.5000 9.6787e+01 3\n", - " 3 1.9889e+02 3.9652e-01 6.3217e+00 1.3527e+01 9.81972e-01 0.5000 4.8465e+01 3\n", - " 4 1.3793e+02 3.8769e-01 3.1565e+00 1.0598e+01 6.77893e-01 1.0000 2.4250e+01 3\n", - " 5 1.1396e+02 3.8507e-01 1.3036e-02 1.1345e+01 1.15579e+00 0.5000 1.1345e+01 3\n", - " 6 1.0136e+02 3.8475e-01 7.8591e-03 1.0089e+01 9.65938e-01 0.5000 1.0089e+01 3\n", - " 7 6.9477e+01 3.8486e-01 5.1781e-03 6.9040e+00 8.12922e-01 0.5000 6.9040e+00 3\n", - " 8 6.4391e+01 3.8485e-01 2.8564e-03 6.3977e+00 7.80560e-01 0.2500 6.3977e+00 3\n", - " 9 5.2384e+01 3.8481e-01 2.1502e-03 5.1978e+00 3.09891e-01 1.0000 5.1978e+00 3\n", - " 10 1.2674e+01 3.8507e-01 2.8988e-03 1.2260e+00 2.89741e-01 0.5000 1.2260e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1588e+02 7.1496e-01 4.0890e+01 6.2625e-01 2.13225e+00 1.0000 ---- 3\n", - " 2 2.6492e+02 5.1375e-01 1.3437e+01 1.3003e+01 1.52472e+00 0.5000 1.4284e+02 3\n", - " 3 2.2290e+02 4.3717e-01 6.7581e+00 1.5489e+01 1.10786e+00 1.0000 7.1460e+01 3\n", - " 4 2.1584e+02 4.1222e-01 8.6934e-02 2.1455e+01 2.03355e+00 0.2500 2.1455e+01 3\n", - " 5 1.8088e+02 4.1182e-01 6.5707e-02 1.7981e+01 9.52405e-01 1.0000 1.7981e+01 3\n", - " 6 1.7998e+02 4.1187e-01 2.0176e-02 1.7936e+01 1.36705e+00 0.5000 1.7936e+01 3\n", - " 7 1.5446e+02 4.1160e-01 1.7022e-02 1.5387e+01 1.11883e+00 0.5000 1.5387e+01 3\n", - " 8 9.6503e+01 4.1176e-01 7.2488e-03 9.6019e+00 7.44684e-01 0.5000 9.6019e+00 3\n", - " 9 6.9938e+01 4.1177e-01 4.3378e-03 6.9483e+00 6.71796e-01 0.2500 6.9483e+00 3\n", - " 10 5.9838e+01 4.1172e-01 3.2309e-03 5.9394e+00 3.56181e-01 1.0000 5.9394e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.3895e+02 7.5561e-01 4.1924e+01 1.8948e+00 2.36159e+00 1.0000 ---- 3\n", - " 2 3.8827e+02 7.0940e-01 1.6308e+01 2.2448e+01 1.84533e+00 0.5000 2.2511e+02 3\n", - " 3 2.8986e+02 5.1687e-01 8.1696e+00 2.0765e+01 1.20996e+00 1.0000 1.1235e+02 3\n", - " 4 1.7061e+02 4.5370e-01 1.0006e-01 1.6915e+01 1.91744e+00 0.2500 1.6915e+01 3\n", - " 5 1.5312e+02 4.5333e-01 7.6560e-02 1.5190e+01 8.69760e-01 1.0000 1.5190e+01 3\n", - " 6 1.3417e+02 4.5342e-01 4.7189e-02 1.3325e+01 1.27985e+00 0.5000 1.3325e+01 3\n", - " 7 1.0652e+02 4.5331e-01 2.9219e-02 1.0578e+01 9.75744e-01 0.5000 1.0578e+01 3\n", - " 8 7.7910e+01 4.5332e-01 1.6887e-02 7.7288e+00 7.81685e-01 0.2500 7.7288e+00 3\n", - " 9 6.3770e+01 4.5328e-01 1.2643e-02 6.3190e+00 3.93060e-01 1.0000 6.3190e+00 3\n", - " 10 1.0149e+01 4.5360e-01 4.2085e-03 9.6534e-01 7.02769e-01 0.1250 9.6534e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.4303e+02 8.3005e-01 4.3081e+01 1.1391e+00 2.57169e+00 1.0000 ---- 3\n", - " 2 3.9488e+02 1.3448e+00 2.3090e+01 1.6264e+01 1.99070e+00 0.5000 3.9497e+02 3\n", - " 3 3.2312e+02 7.5137e-01 1.1493e+01 2.0743e+01 1.38393e+00 0.5000 2.0398e+02 3\n", - " 4 2.1801e+02 5.8885e-01 5.7724e+00 1.5970e+01 1.02348e+00 1.0000 1.0187e+02 3\n", - " 5 1.2576e+02 5.3549e-01 8.7904e-02 1.2434e+01 1.90990e+00 0.2500 1.2434e+01 3\n", - " 6 1.0902e+02 5.3518e-01 6.9138e-02 1.0780e+01 6.89283e-01 0.5000 1.0780e+01 3\n", - " 7 7.7873e+01 5.3509e-01 3.4525e-02 7.6993e+00 7.25416e-01 0.5000 7.6993e+00 3\n", - " 8 5.1681e+01 5.3519e-01 1.9105e-02 5.0955e+00 6.24569e-01 0.2500 5.0955e+00 3\n", - " 9 4.3900e+01 5.3516e-01 1.4788e-02 4.3217e+00 3.10804e-01 1.0000 4.3217e+00 3\n", - " 10 8.5980e+00 5.3538e-01 2.5529e-03 8.0371e-01 8.16084e-01 0.0625 8.0371e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.4950e+02 9.6287e-01 4.3802e+01 1.0513e+00 2.94557e+00 0.5000 ---- 3\n", - " 2 3.7750e+02 8.8720e-01 2.9323e+01 8.3384e+00 1.87030e+00 1.0000 1.7047e+02 3\n", - " 3 3.2034e+02 6.7841e-01 7.7429e+00 2.4223e+01 2.36241e+00 0.5000 2.4223e+01 3\n", - " 4 3.1459e+02 6.7631e-01 4.2961e+00 2.7095e+01 1.63572e+00 1.0000 2.7095e+01 25\n", - " 5 2.4165e+02 6.7518e-01 2.5191e-01 2.3845e+01 2.99855e+00 0.2500 2.3845e+01 25\n", - " 6 2.1072e+02 6.7449e-01 1.9461e-01 2.0810e+01 1.71535e+00 1.0000 2.0810e+01 22\n", - " 7 1.5384e+02 6.7407e-01 1.2876e-01 1.5188e+01 1.68781e+00 0.1250 1.5188e+01 13\n", - " 8 1.4440e+02 6.7396e-01 1.1276e-01 1.4260e+01 1.03562e+00 0.5000 1.4260e+01 12\n", - " 9 1.2082e+02 6.7396e-01 6.2072e-02 1.1952e+01 7.09927e-01 0.5000 1.1952e+01 8\n", - " 10 9.3777e+01 6.7401e-01 3.1097e-02 9.2792e+00 6.83646e-01 0.5000 9.2792e+00 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.2081e+02 1.2089e+00 4.5875e+01 6.0854e+00 3.22520e+00 0.5000 ---- 3\n", - " 2 4.4144e+02 1.2403e+00 3.6028e+01 7.9913e+00 2.27225e+00 1.0000 2.2240e+02 3\n", - " 3 3.9563e+02 1.0689e+00 2.0777e+01 1.8679e+01 3.24659e+00 0.2500 1.7902e+02 3\n", - " 4 3.6010e+02 1.0544e+00 1.8136e+01 1.7769e+01 1.37162e+00 1.0000 1.7695e+02 3\n", - " 5 2.8320e+02 9.2268e-01 6.0266e+00 2.2201e+01 2.65584e+00 0.2500 7.6747e+01 3\n", - " 6 2.6718e+02 9.2094e-01 5.9329e+00 2.0693e+01 1.07414e+00 1.0000 7.8802e+01 3\n", - " 7 1.0641e+02 8.9126e-01 1.1991e+00 9.3530e+00 2.13952e+00 0.1250 1.0073e+01 3\n", - " 8 1.0475e+02 8.9062e-01 1.1002e+00 9.2855e+00 1.43158e+00 0.2500 9.5918e+00 3\n", - " 9 9.0943e+01 8.9013e-01 9.3875e-01 8.0665e+00 5.83835e-01 1.0000 8.4181e+00 3\n", - " 10 6.3602e+01 8.9002e-01 1.4798e-01 6.1232e+00 1.42644e+00 0.0625 6.1232e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1095e+02 1.6098e+00 4.5577e+01 5.3563e+00 3.69394e+00 0.2500 ---- 3\n", - " 2 4.4227e+02 1.4618e+00 3.7506e+01 6.5746e+00 2.15066e+00 1.0000 1.8020e+02 3\n", - " 3 3.3751e+02 1.2205e+00 2.1130e+01 1.2499e+01 1.80846e+00 0.2500 1.2499e+01 3\n", - " 4 2.9890e+02 1.2201e+00 1.5851e+01 1.3917e+01 8.02724e-01 1.0000 1.3917e+01 3\n", - " 5 1.6752e+02 1.2204e+00 6.6560e-02 1.6564e+01 1.67063e+00 0.2500 1.6564e+01 3\n", - " 6 1.5492e+02 1.2201e+00 4.8666e-02 1.5322e+01 1.22606e+00 0.2500 1.5322e+01 3\n", - " 7 1.4490e+02 1.2199e+00 3.6151e-02 1.4332e+01 9.25314e-01 0.5000 1.4332e+01 3\n", - " 8 1.0033e+02 1.2200e+00 2.4511e-02 9.8867e+00 8.44848e-01 0.2500 9.8867e+00 3\n", - " 9 8.3083e+01 1.2199e+00 1.8174e-02 8.1682e+00 7.33738e-01 0.5000 8.1682e+00 3\n", - " 10 5.8381e+01 1.2200e+00 9.5420e-03 5.7065e+00 7.68536e-01 0.1250 5.7065e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.6926e+02 2.1812e+00 5.2519e+01 4.1896e+00 3.52316e+00 0.5000 ---- 3\n", - " 2 4.6497e+02 1.9979e+00 3.9058e+01 7.2397e+00 3.51864e+00 0.2500 1.6789e+02 3\n", - " 3 4.1785e+02 2.0116e+00 3.4062e+01 7.5213e+00 1.40279e+00 1.0000 2.0945e+02 3\n", - " 4 1.8977e+02 1.6632e+00 6.2731e+00 1.2537e+01 2.37452e+00 0.1250 2.6933e+01 3\n", - " 5 1.7613e+02 1.6617e+00 5.7525e+00 1.1694e+01 1.31572e+00 0.5000 2.8328e+01 3\n", - " 6 1.6370e+02 1.6618e+00 3.5564e+00 1.2648e+01 1.72950e+00 0.1250 2.7730e+01 3\n", - " 7 1.5411e+02 1.6607e+00 3.2258e+00 1.2019e+01 1.10884e+00 0.5000 2.5815e+01 3\n", - " 8 9.4525e+01 1.6591e+00 1.9561e+00 7.3305e+00 1.17140e+00 0.2500 1.7204e+01 3\n", - " 9 9.2519e+01 1.6584e+00 1.5997e+00 7.4864e+00 5.80223e-01 0.5000 1.4771e+01 3\n", - " 10 7.7336e+01 1.6576e+00 8.2901e-01 6.7389e+00 8.07338e-01 0.1250 7.6257e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.2881e+02 2.9226e+00 6.1564e+01 1.1025e+01 3.80318e+00 0.5000 ---- 3\n", - " 2 5.4149e+02 2.5462e+00 4.1394e+01 1.2500e+01 3.89303e+00 0.2500 1.1990e+02 3\n", - " 3 4.9275e+02 2.5417e+00 3.5128e+01 1.3892e+01 2.02395e+00 0.5000 1.7567e+02 3\n", - " 4 4.0554e+02 2.3417e+00 2.0177e+01 2.0143e+01 2.10201e+00 0.5000 1.1235e+02 3\n", - " 5 3.6427e+02 2.3107e+00 1.4074e+01 2.2122e+01 2.54994e+00 0.2500 1.1812e+02 3\n", - " 6 3.1985e+02 2.3148e+00 1.4100e+01 1.7654e+01 1.25888e+00 1.0000 1.3093e+02 3\n", - " 7 2.2786e+02 2.2425e+00 6.9753e+00 1.5587e+01 2.86331e+00 0.1250 7.8358e+01 3\n", - " 8 2.1374e+02 2.2474e+00 8.0905e+00 1.3059e+01 1.43081e+00 0.2500 9.2662e+01 3\n", - " 9 1.8687e+02 2.2341e+00 6.8973e+00 1.1566e+01 8.25615e-01 0.5000 7.9793e+01 3\n", - " 10 1.5679e+02 2.2104e+00 3.7469e+00 1.1711e+01 1.07192e+00 0.5000 4.3888e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 9.1591e+02 3.8156e+00 7.1617e+01 1.9592e+01 3.96547e+00 0.5000 ---- 25\n", - " 2 7.3489e+02 3.2104e+00 4.2416e+01 3.0752e+01 3.19086e+00 0.5000 1.1576e+02 25\n", - " 3 5.9638e+02 3.0181e+00 2.5790e+01 3.3546e+01 2.90930e+00 0.5000 5.9054e+01 25\n", - " 4 5.4485e+02 3.1101e+00 2.5608e+01 2.8566e+01 3.40053e+00 0.2500 1.8354e+02 25\n", - " 5 5.4023e+02 3.2891e+00 2.9554e+01 2.4140e+01 1.57745e+00 1.0000 2.7193e+02 23\n", - " 6 2.8221e+02 3.3050e+00 2.2408e+01 5.4823e+00 4.29357e+00 0.0312 2.8515e+02 25\n", - " 7 2.7709e+02 3.2828e+00 2.2096e+01 5.2849e+00 3.69895e+00 0.0625 2.8089e+02 25\n", - " 8 2.7437e+02 3.2602e+00 2.1890e+01 5.2206e+00 2.59004e+00 0.0625 2.7744e+02 20\n", - " 9 2.6776e+02 3.2252e+00 2.1089e+01 5.3646e+00 1.83604e+00 0.2500 2.6722e+02 16\n", - " 10 2.6573e+02 3.1869e+00 2.0235e+01 6.0192e+00 9.05000e-01 0.5000 2.5369e+02 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.0362e+03 4.9836e+00 8.5991e+01 1.7133e+01 4.56620e+00 0.5000 ---- 3\n", - " 2 8.8856e+02 4.1161e+00 4.9125e+01 3.9320e+01 3.61908e+00 0.5000 1.1185e+02 3\n", - " 3 5.9902e+02 3.8607e+00 2.6955e+01 3.2561e+01 3.66740e+00 0.2500 1.1251e+02 3\n", - " 4 5.4704e+02 3.8559e+00 2.5627e+01 2.8691e+01 2.31313e+00 0.5000 1.5358e+02 25\n", - " 5 3.5325e+02 3.7706e+00 2.0295e+01 1.4653e+01 2.99549e+00 0.1250 1.4517e+02 25\n", - " 6 3.4379e+02 3.7548e+00 1.9292e+01 1.4712e+01 1.46166e+00 0.5000 1.4435e+02 25\n", - " 7 3.1178e+02 3.6630e+00 1.1320e+01 1.9492e+01 1.68534e+00 0.2500 9.3114e+01 15\n", - " 8 2.7393e+02 3.6577e+00 1.0350e+01 1.6677e+01 1.06828e+00 0.5000 9.6533e+01 12\n", - " 9 2.0853e+02 3.6379e+00 7.8049e+00 1.2684e+01 2.03791e+00 0.1250 8.3881e+01 11\n", - " 10 2.0637e+02 3.6336e+00 7.7456e+00 1.2528e+01 5.92901e-01 1.0000 8.4279e+01 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.0805e+03 6.0222e+00 8.3853e+01 2.3598e+01 5.34131e+00 0.5000 ---- 25\n", - " 2 9.4283e+02 5.0473e+00 5.4363e+01 3.9416e+01 3.83276e+00 0.5000 1.1202e+02 25\n", - " 3 6.9404e+02 4.8662e+00 3.7199e+01 3.1718e+01 4.39266e+00 0.1250 1.7573e+02 25\n", - " 4 6.5720e+02 4.8601e+00 3.6240e+01 2.8994e+01 2.11078e+00 1.0000 1.9992e+02 25\n", - " 5 5.5021e+02 4.8292e+00 3.0002e+01 2.4536e+01 6.45477e+00 0.0625 2.6556e+02 25\n", - " 6 5.4818e+02 4.8669e+00 3.1569e+01 2.2763e+01 4.19894e+00 0.1250 2.8800e+02 25\n", - " 7 5.1171e+02 4.8761e+00 3.1518e+01 1.9166e+01 1.50994e+00 0.5000 2.9456e+02 25\n", - " 8 4.3497e+02 4.5442e+00 1.7245e+01 2.5797e+01 1.61119e+00 0.5000 1.5482e+02 23\n", - " 9 4.1574e+02 4.4765e+00 1.1044e+01 3.0082e+01 2.35687e+00 0.2500 1.0180e+02 16\n", - " 10 3.9213e+02 4.4894e+00 1.2215e+01 2.6549e+01 1.44691e+00 0.5000 1.1419e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.2195e+03 7.4363e+00 9.8804e+01 2.2407e+01 6.36543e+00 0.2500 ---- 25\n", - " 2 1.0894e+03 7.1462e+00 8.3688e+01 2.4534e+01 5.23664e+00 0.2500 2.9345e+02 25\n", - " 3 9.3295e+02 6.8931e+00 7.1036e+01 2.1570e+01 3.52360e+00 0.5000 3.4914e+02 25\n", - " 4 7.9115e+02 6.5300e+00 5.1427e+01 2.7035e+01 4.90705e+00 0.2500 3.8390e+02 25\n", - " 5 7.8454e+02 7.1471e+00 5.3052e+01 2.4688e+01 2.84646e+00 0.5000 5.4063e+02 25\n", - " 6 7.3244e+02 7.3809e+00 5.1592e+01 2.0914e+01 5.12918e+00 0.1250 5.9769e+02 25\n", - " 7 7.2862e+02 7.4031e+00 5.2085e+01 2.0037e+01 2.01571e+00 1.0000 6.0878e+02 25\n", - " 8 6.8998e+02 8.0060e+00 4.2513e+01 2.5685e+01 9.67361e+00 0.0312 6.8621e+02 25\n", - " 9 6.8150e+02 8.0256e+00 4.2773e+01 2.4574e+01 7.67598e+00 0.0312 6.9630e+02 25\n", - " 10 6.6751e+02 7.9659e+00 4.2527e+01 2.3428e+01 5.97803e+00 0.0625 6.9241e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.6969e+03 1.1264e+01 1.3366e+02 3.4902e+01 7.69645e+00 0.2500 ---- 25\n", - " 2 1.4661e+03 1.1025e+01 1.1279e+02 3.2710e+01 5.93316e+00 0.2500 7.5703e+02 25\n", - " 3 1.2231e+03 1.0274e+01 8.6737e+01 3.4548e+01 4.07594e+00 0.5000 7.2840e+02 19\n", - " 4 8.9978e+02 9.3527e+00 6.1772e+01 2.7271e+01 5.81337e+00 0.1250 6.9030e+02 25\n", - " 5 8.3538e+02 9.2664e+00 5.7052e+01 2.5559e+01 2.54106e+00 0.5000 6.9218e+02 21\n", - " 6 6.2982e+02 7.9094e+00 3.7963e+01 2.4227e+01 4.63810e+00 0.0625 5.0440e+02 18\n", - " 7 6.1503e+02 7.8343e+00 3.7620e+01 2.3099e+01 2.61160e+00 0.2500 4.9642e+02 17\n", - " 8 5.6927e+02 7.5468e+00 3.5445e+01 2.0727e+01 2.20280e+00 0.2500 4.5237e+02 17\n", - " 9 5.3188e+02 7.2202e+00 3.1118e+01 2.1349e+01 1.86879e+00 0.5000 3.8692e+02 16\n", - " 10 3.9511e+02 6.9308e+00 2.3406e+01 1.5412e+01 3.55156e+00 0.0625 3.2487e+02 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.4222e+03 1.0761e+01 1.1526e+02 2.5880e+01 6.30497e+00 0.5000 ---- 25\n", - " 2 1.1205e+03 8.9459e+00 7.4984e+01 3.6170e+01 6.88332e+00 0.2500 2.9564e+02 25\n", - " 3 1.0106e+03 9.5017e+00 6.5436e+01 3.4670e+01 5.15650e+00 0.1250 5.0028e+02 25\n", - " 4 9.0548e+02 9.3129e+00 5.6588e+01 3.3028e+01 2.49235e+00 1.0000 4.9040e+02 25\n", - " 5 5.8377e+02 7.6068e+00 3.1177e+01 2.6439e+01 7.23432e+00 0.0312 1.9155e+02 25\n", - " 6 5.7261e+02 7.6003e+00 3.1410e+01 2.5091e+01 5.63743e+00 0.0625 1.9777e+02 25\n", - " 7 5.5629e+02 7.6081e+00 3.1827e+01 2.3041e+01 3.38748e+00 0.1250 2.0914e+02 17\n", - " 8 5.2935e+02 7.5825e+00 2.9780e+01 2.2396e+01 1.40538e+00 1.0000 2.0144e+02 25\n", - " 9 5.2359e+02 7.3486e+00 1.6392e+00 4.9985e+01 1.93820e+00 0.5000 4.9985e+01 14\n", - " 10 4.7361e+02 7.3480e+00 1.1916e+00 4.5434e+01 1.48630e+00 0.5000 4.5434e+01 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.5533e+03 1.1798e+01 1.0150e+02 5.2652e+01 6.54750e+00 0.5000 ---- 25\n", - " 2 1.2332e+03 9.7582e+00 6.4252e+01 5.8095e+01 5.70907e+00 0.2500 9.8044e+01 25\n", - " 3 9.8683e+02 9.4366e+00 4.4905e+01 5.2835e+01 3.75461e+00 0.5000 1.2888e+02 25\n", - " 4 7.7865e+02 9.3495e+00 4.1884e+01 3.5046e+01 5.95845e+00 0.1250 2.9211e+02 13\n", - " 5 7.7671e+02 9.4099e+00 4.2384e+01 3.4347e+01 2.51892e+00 0.5000 3.3768e+02 13\n", - " 6 5.6189e+02 9.0532e+00 2.9155e+01 2.6129e+01 4.75489e+00 0.0625 2.8242e+02 17\n", - " 7 5.5168e+02 9.0300e+00 2.9087e+01 2.5178e+01 2.76516e+00 0.1250 2.8294e+02 17\n", - " 8 5.2913e+02 8.9394e+00 2.6699e+01 2.5319e+01 1.13664e+00 1.0000 2.6109e+02 15\n", - " 9 4.2518e+02 8.4326e+00 6.7724e-01 4.0997e+01 2.09139e+00 0.2500 4.0997e+01 25\n", - " 10 3.8786e+02 8.4313e+00 5.8956e-01 3.7353e+01 1.08387e+00 0.5000 3.7353e+01 18\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.7374e+03 1.3422e+01 1.0190e+02 7.0501e+01 7.61073e+00 0.5000 ---- 25\n", - " 2 1.3521e+03 1.1108e+01 6.4752e+01 6.9344e+01 7.05873e+00 0.2500 9.2846e+01 25\n", - " 3 1.1787e+03 1.0858e+01 5.2761e+01 6.4025e+01 4.39756e+00 0.5000 2.1721e+02 21\n", - " 4 1.1309e+03 1.1364e+01 5.8303e+01 5.3648e+01 6.89287e+00 0.0625 4.7753e+02 14\n", - " 5 1.0959e+03 1.1289e+01 5.7507e+01 5.0957e+01 5.20842e+00 0.1250 4.7703e+02 11\n", - " 6 1.0370e+03 1.1214e+01 5.6132e+01 4.6444e+01 2.30895e+00 1.0000 4.7996e+02 10\n", - " 7 6.6719e+02 9.9757e+00 2.1391e+01 4.4330e+01 8.55984e+00 0.0312 2.5008e+02 25\n", - " 8 6.6202e+02 9.9792e+00 2.2579e+01 4.2625e+01 6.20964e+00 0.0625 2.6220e+02 25\n", - " 9 6.5144e+02 1.0007e+01 2.4330e+01 3.9813e+01 3.31278e+00 0.1250 2.7952e+02 16\n", - " 10 6.1483e+02 9.9514e+00 2.3122e+01 3.7366e+01 1.18297e+00 0.5000 2.6430e+02 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.8621e+03 1.5171e+01 1.1279e+02 7.1898e+01 7.56812e+00 0.5000 ---- 25\n", - " 2 1.6145e+03 1.2497e+01 7.3315e+01 8.6882e+01 6.73569e+00 0.2500 1.2406e+02 25\n", - " 3 1.2538e+03 1.2124e+01 5.0818e+01 7.3351e+01 4.44634e+00 0.5000 2.0845e+02 24\n", - " 4 1.1419e+03 1.2183e+01 5.5455e+01 5.7517e+01 6.65990e+00 0.1250 4.0228e+02 11\n", - " 5 1.1390e+03 1.2291e+01 6.0133e+01 5.2542e+01 3.09441e+00 0.5000 4.5297e+02 12\n", - " 6 9.9683e+02 1.1956e+01 5.3777e+01 4.4710e+01 6.01775e+00 0.0625 4.2889e+02 13\n", - " 7 9.8122e+02 1.1973e+01 5.4687e+01 4.2237e+01 3.04134e+00 0.2500 4.4115e+02 13\n", - " 8 8.8375e+02 1.1759e+01 4.9671e+01 3.7528e+01 2.79794e+00 0.5000 4.0882e+02 12\n", - " 9 8.4902e+02 1.1948e+01 5.4891e+01 2.8817e+01 6.60077e+00 0.0312 4.5907e+02 12\n", - " 10 8.4233e+02 1.1916e+01 5.4613e+01 2.8428e+01 4.60064e+00 0.0625 4.5697e+02 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.8590e+03 1.7903e+01 1.4083e+02 4.3284e+01 8.22473e+00 0.5000 ---- 25\n", - " 2 1.4720e+03 1.5784e+01 8.1286e+01 6.4332e+01 9.10651e+00 0.1250 5.8588e+02 25\n", - " 3 1.4262e+03 1.5676e+01 8.2671e+01 5.8385e+01 5.32932e+00 0.5000 6.2584e+02 25\n", - " 4 1.3891e+03 1.4748e+01 8.8184e+01 4.9254e+01 8.33209e+00 0.0625 6.2384e+02 18\n", - " 5 1.3855e+03 1.4840e+01 9.0455e+01 4.6609e+01 4.00003e+00 0.5000 6.5088e+02 16\n", - " 6 1.3647e+03 1.4736e+01 9.6105e+01 3.8888e+01 6.55948e+00 0.1250 6.8335e+02 25\n", - " 7 1.3627e+03 1.4765e+01 9.6613e+01 3.8181e+01 2.95653e+00 0.5000 6.9875e+02 14\n", - " 8 1.1511e+03 1.3939e+01 7.9621e+01 3.4097e+01 7.09008e+00 0.0312 5.8971e+02 25\n", - " 9 1.1325e+03 1.3883e+01 7.8843e+01 3.3016e+01 5.08586e+00 0.0625 5.8515e+02 25\n", - " 10 1.0990e+03 1.3766e+01 7.6638e+01 3.1886e+01 2.79339e+00 0.5000 5.7086e+02 15\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.3018e+03 1.9727e+01 1.4263e+02 8.5576e+01 1.09393e+01 0.2500 ---- 25\n", - " 2 2.1848e+03 1.8356e+01 1.4258e+02 7.4057e+01 7.21216e+00 0.5000 5.6836e+02 25\n", - " 3 1.8844e+03 1.7429e+01 1.1836e+02 6.8340e+01 8.17732e+00 0.1250 7.2151e+02 12\n", - " 4 1.8468e+03 1.7389e+01 1.2031e+02 6.2632e+01 4.87971e+00 0.2500 7.5334e+02 15\n", - " 5 1.6441e+03 1.6399e+01 1.0744e+02 5.5323e+01 4.08846e+00 0.5000 6.7213e+02 13\n", - " 6 1.5726e+03 1.6511e+01 1.0464e+02 5.0970e+01 6.74819e+00 0.1250 7.4549e+02 18\n", - " 7 1.5370e+03 1.6531e+01 1.0408e+02 4.7964e+01 3.45668e+00 0.5000 7.6122e+02 13\n", - " 8 1.3880e+03 1.6090e+01 8.2839e+01 5.4356e+01 8.37404e+00 0.0312 7.2085e+02 14\n", - " 9 1.3679e+03 1.6044e+01 8.2451e+01 5.2730e+01 5.72254e+00 0.1250 7.1997e+02 17\n", - " 10 1.3422e+03 1.6234e+01 8.4505e+01 4.8088e+01 2.25292e+00 1.0000 7.5069e+02 20\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8608e+03 2.0681e+01 1.4586e+02 1.3815e+02 1.72138e+01 0.1250 ---- 25\n", - " 2 2.7882e+03 2.2706e+01 1.6376e+02 1.1279e+02 9.69512e+00 0.2500 7.7808e+02 25\n", - " 3 2.5010e+03 2.1072e+01 1.6173e+02 8.6260e+01 7.14858e+00 0.5000 7.8954e+02 25\n", - " 4 2.1773e+03 2.1287e+01 1.4933e+02 6.6267e+01 8.37712e+00 0.1250 9.9800e+02 10\n", - " 5 2.0917e+03 2.1130e+01 1.4716e+02 5.9893e+01 5.06727e+00 0.2500 1.0115e+03 11\n", - " 6 1.8345e+03 1.9988e+01 1.3505e+02 4.6407e+01 4.48589e+00 0.2500 9.3981e+02 10\n", - " 7 1.6211e+03 1.9138e+01 1.2379e+02 3.6399e+01 4.38051e+00 0.2500 8.8746e+02 10\n", - " 8 1.5687e+03 1.8312e+01 1.1210e+02 4.2938e+01 4.45549e+00 0.2500 8.1714e+02 10\n", - " 9 1.4883e+03 1.7684e+01 1.0411e+02 4.2959e+01 3.89546e+00 0.2500 7.6431e+02 10\n", - " 10 1.3525e+03 1.7072e+01 9.3355e+01 4.0188e+01 3.78989e+00 0.2500 6.9744e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6470e+03 2.4180e+01 1.9954e+02 6.2747e+01 9.53934e+00 0.2500 ---- 25\n", - " 2 2.4630e+03 2.1350e+01 1.7521e+02 6.8959e+01 6.93781e+00 1.0000 5.5224e+02 25\n", - " 3 2.4594e+03 1.9643e+01 1.3799e+02 1.0599e+02 1.14101e+01 0.2500 8.3909e+02 25\n", - " 4 2.3897e+03 2.4064e+01 1.4531e+02 9.1256e+01 4.56106e+00 1.0000 1.2604e+03 25\n", - " 5 2.3341e+03 1.8777e+01 1.0818e+02 1.2335e+02 2.07919e+01 0.0156 7.5155e+02 25\n", - " 6 2.3281e+03 1.8888e+01 1.0952e+02 1.2140e+02 1.61219e+01 0.0156 7.7822e+02 14\n", - " 7 2.3102e+03 1.8900e+01 1.0959e+02 1.1954e+02 1.26688e+01 0.0312 7.8668e+02 10\n", - " 8 2.2797e+03 1.8996e+01 1.1007e+02 1.1600e+02 8.26724e+00 0.1250 8.0508e+02 8\n", - " 9 2.2118e+03 1.9626e+01 1.1415e+02 1.0507e+02 3.84754e+00 1.0000 8.7951e+02 8\n", - " 10 1.9865e+03 1.8857e+01 6.8879e+01 1.2789e+02 1.83774e+01 0.0078 7.8245e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1866e+03 2.6992e+01 2.0938e+02 2.0658e+02 2.38916e+01 0.0625 ---- 25\n", - " 2 3.9583e+03 2.9820e+01 2.0600e+02 1.8685e+02 9.91267e+00 1.0000 1.1346e+03 25\n", - " 3 3.4973e+03 1.6309e+01 1.1581e+02 2.3229e+02 8.33651e+00 0.5000 2.3229e+02 17\n", - " 4 2.4377e+03 1.6847e+01 6.2455e+01 1.7963e+02 8.63900e+00 0.2500 3.2929e+02 13\n", - " 5 2.3730e+03 2.0295e+01 9.8893e+01 1.3637e+02 8.23010e+00 0.2500 8.4575e+02 8\n", - " 6 2.2080e+03 2.2534e+01 1.1493e+02 1.0361e+02 4.31261e+00 1.0000 1.0711e+03 11\n", - " 7 1.7017e+03 1.8709e+01 9.2751e+01 7.5553e+01 8.13442e+00 0.1250 6.8427e+02 22\n", - " 8 1.6721e+03 1.8846e+01 9.7109e+01 6.8220e+01 4.82030e+00 0.2500 7.1063e+02 21\n", - " 9 1.6559e+03 1.9061e+01 1.0255e+02 6.1138e+01 3.60066e+00 0.5000 7.3449e+02 10\n", - " 10 1.5714e+03 1.9133e+01 1.0241e+02 5.2820e+01 5.93473e+00 0.1250 7.3216e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.3986e+03 2.7589e+01 2.5000e+02 8.7107e+01 9.98407e+00 0.5000 ---- 25\n", - " 2 2.7321e+03 2.2053e+01 1.9990e+02 7.1099e+01 1.08119e+01 0.1250 5.7929e+02 25\n", - " 3 2.6592e+03 2.2289e+01 2.0058e+02 6.3112e+01 5.96846e+00 0.5000 6.8525e+02 25\n", - " 4 2.1896e+03 1.9984e+01 1.3064e+02 8.6323e+01 8.27529e+00 0.0625 5.3381e+02 25\n", - " 5 2.1260e+03 1.9988e+01 1.2933e+02 8.1271e+01 3.92109e+00 1.0000 5.5300e+02 25\n", - " 6 1.7848e+03 2.0193e+01 1.0297e+02 7.3488e+01 9.60706e+00 0.1250 7.0060e+02 25\n", - " 7 1.7051e+03 2.0409e+01 1.0622e+02 6.2252e+01 6.78446e+00 0.1250 7.3962e+02 25\n", - " 8 1.5532e+03 2.0227e+01 1.0234e+02 5.0950e+01 3.95977e+00 0.5000 7.2116e+02 25\n", - " 9 1.5053e+03 1.9220e+01 7.0478e+01 7.8130e+01 8.14921e+00 0.0312 5.7324e+02 11\n", - " 10 1.4833e+03 1.9200e+01 7.0663e+01 7.5744e+01 5.44356e+00 0.1250 5.7437e+02 13\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0761e+03 2.8244e+01 2.0283e+02 1.0196e+02 8.80288e+00 1.0000 ---- 25\n", - " 2 2.6408e+03 1.8271e+01 1.0365e+02 1.5861e+02 1.13100e+01 0.2500 1.5861e+02 25\n", - " 3 2.3854e+03 1.9069e+01 1.1839e+02 1.1824e+02 8.49552e+00 0.2500 3.7326e+02 25\n", - " 4 2.1462e+03 1.9877e+01 1.2549e+02 8.7143e+01 4.99298e+00 0.5000 5.4315e+02 16\n", - " 5 2.0770e+03 1.9746e+01 1.1557e+02 9.0153e+01 6.19722e+00 0.2500 5.1668e+02 11\n", - " 6 2.0739e+03 2.0514e+01 1.3073e+02 7.4611e+01 3.95625e+00 0.5000 6.4437e+02 10\n", - " 7 1.8861e+03 2.0463e+01 1.1401e+02 7.2546e+01 6.28148e+00 0.1250 6.3251e+02 12\n", - " 8 1.7845e+03 2.0402e+01 1.0992e+02 6.6483e+01 3.38943e+00 0.5000 6.2737e+02 11\n", - " 9 1.4757e+03 2.0315e+01 8.2820e+01 6.2714e+01 9.67606e+00 0.0312 6.0412e+02 25\n", - " 10 1.4665e+03 2.0327e+01 8.3794e+01 6.0821e+01 5.93872e+00 0.1250 6.1080e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.4729e+03 2.9812e+01 2.4831e+02 9.5997e+01 9.60172e+00 1.0000 ---- 25\n", - " 2 3.4571e+03 1.9252e+01 1.8266e+02 1.6113e+02 1.30932e+01 0.1250 1.6113e+02 25\n", - " 3 3.3151e+03 1.9553e+01 1.9252e+02 1.3704e+02 8.29637e+00 0.5000 2.7403e+02 22\n", - " 4 1.9610e+03 1.9657e+01 8.3137e+01 1.1100e+02 8.56266e+00 0.0625 2.8953e+02 8\n", - " 5 1.9245e+03 1.9714e+01 8.5523e+01 1.0496e+02 4.71852e+00 0.5000 3.1324e+02 8\n", - " 6 1.7258e+03 1.9641e+01 7.3337e+01 9.7278e+01 5.43030e+00 0.2500 2.7892e+02 9\n", - " 7 1.7003e+03 1.9922e+01 8.0845e+01 8.7191e+01 3.80141e+00 0.2500 3.6409e+02 8\n", - " 8 1.5076e+03 1.9892e+01 7.8321e+01 7.0453e+01 3.55966e+00 0.2500 3.5430e+02 8\n", - " 9 1.3617e+03 1.9848e+01 6.8332e+01 6.5849e+01 3.57841e+00 0.2500 3.4102e+02 8\n", - " 10 1.3027e+03 1.9819e+01 6.3406e+01 6.4886e+01 3.45544e+00 0.2500 3.3183e+02 8\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0562e+03 2.9521e+01 2.0409e+02 9.8577e+01 1.09532e+01 0.5000 ---- 25\n", - " 2 2.6715e+03 2.5842e+01 1.4124e+02 1.2333e+02 1.07898e+01 0.1250 6.2564e+02 25\n", - " 3 2.5076e+03 2.5340e+01 1.3873e+02 1.0950e+02 7.75311e+00 0.2500 6.4191e+02 25\n", - " 4 2.4313e+03 2.4941e+01 1.4653e+02 9.4109e+01 4.97412e+00 0.5000 7.1575e+02 10\n", - " 5 2.2482e+03 2.5219e+01 1.4563e+02 7.6671e+01 7.83033e+00 0.1250 8.7426e+02 11\n", - " 6 2.1807e+03 2.4967e+01 1.4387e+02 7.1699e+01 5.62103e+00 0.2500 8.6721e+02 10\n", - " 7 2.1609e+03 2.4852e+01 1.4712e+02 6.6482e+01 5.38088e+00 0.1250 8.8247e+02 9\n", - " 8 2.0510e+03 2.4519e+01 1.4165e+02 6.1001e+01 3.06582e+00 1.0000 8.5861e+02 10\n", - " 9 2.0459e+03 2.3418e+01 1.3214e+02 7.0110e+01 2.54115e+01 0.0039 7.7286e+02 25\n", - " 10 2.0426e+03 2.3388e+01 1.3227e+02 6.9649e+01 2.32702e+01 0.0039 7.7434e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.5115e+03 3.3437e+01 3.1117e+02 1.3664e+02 3.07816e+01 0.0156 ---- 25\n", - " 2 4.5067e+03 3.3362e+01 3.1401e+02 1.3333e+02 2.14758e+01 0.0312 8.0394e+02 25\n", - " 3 4.4658e+03 3.3203e+01 3.1604e+02 1.2722e+02 1.36840e+01 0.2500 8.4270e+02 25\n", - " 4 4.0972e+03 3.3088e+01 3.1086e+02 9.5559e+01 1.07249e+01 0.2500 1.1041e+03 19\n", - " 5 3.9783e+03 3.2622e+01 3.0853e+02 8.6036e+01 5.70918e+00 1.0000 1.2252e+03 10\n", - " 6 2.0618e+03 2.1019e+01 7.4178e+01 1.2990e+02 6.75252e+00 0.2500 1.9823e+02 14\n", - " 7 1.7568e+03 2.1190e+01 6.3034e+01 1.1053e+02 4.78520e+00 0.5000 2.7784e+02 12\n", - " 8 1.7287e+03 2.1671e+01 8.0739e+01 8.9960e+01 7.08013e+00 0.1250 3.9860e+02 9\n", - " 9 1.6466e+03 2.1728e+01 8.0620e+01 8.1868e+01 4.08328e+00 0.5000 4.1949e+02 9\n", - " 10 1.6156e+03 2.2735e+01 9.8318e+01 6.0972e+01 1.21682e+01 0.0156 6.0280e+02 21\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8229e+03 3.3052e+01 2.7342e+02 1.0556e+02 1.65943e+01 0.0625 ---- 25\n", - " 2 3.7139e+03 3.2517e+01 2.7174e+02 9.6397e+01 9.20239e+00 1.0000 6.6202e+02 25\n", - " 3 3.5107e+03 2.1377e+01 1.1717e+02 2.3175e+02 7.55880e+00 1.0000 2.3175e+02 25\n", - " 4 3.2799e+03 2.1505e+01 7.1163e+01 2.5467e+02 7.04300e+00 1.0000 2.5467e+02 20\n", - " 5 2.9518e+03 2.2441e+01 4.6467e+01 2.4647e+02 1.05364e+01 0.2500 3.9096e+02 24\n", - " 6 2.9225e+03 2.3828e+01 9.2975e+01 1.9690e+02 5.03026e+00 1.0000 6.6169e+02 12\n", - " 7 2.9152e+03 2.3734e+01 8.3072e+01 2.0607e+02 3.31110e+01 0.0078 6.3528e+02 25\n", - " 8 2.9080e+03 2.3756e+01 8.4004e+01 2.0442e+02 2.56810e+01 0.0078 6.5288e+02 25\n", - " 9 2.8954e+03 2.3761e+01 8.4375e+01 2.0279e+02 1.94754e+01 0.0156 6.6100e+02 25\n", - " 10 2.8750e+03 2.3832e+01 8.5616e+01 1.9950e+02 1.18404e+01 0.0625 6.7863e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.0400e+03 3.4762e+01 3.0445e+02 2.9608e+02 1.37051e+01 1.0000 ---- 25\n", - " 2 5.4758e+03 2.1967e+01 1.4988e+02 3.9550e+02 1.50543e+01 0.2500 3.9550e+02 25\n", - " 3 4.4210e+03 2.7178e+01 1.5449e+02 2.8489e+02 1.17810e+01 0.2500 9.7208e+02 20\n", - " 4 3.8253e+03 2.8716e+01 1.6132e+02 2.1834e+02 9.53661e+00 0.1250 1.1244e+03 13\n", - " 5 3.5718e+03 2.8940e+01 1.6196e+02 1.9232e+02 7.24646e+00 0.5000 1.1526e+03 6\n", - " 6 3.3415e+03 3.4074e+01 2.0320e+02 1.2754e+02 8.73348e+00 0.1250 1.5263e+03 11\n", - " 7 3.1285e+03 3.2859e+01 1.9402e+02 1.1554e+02 8.59379e+00 0.1250 1.4524e+03 7\n", - " 8 3.0814e+03 3.3234e+01 2.0060e+02 1.0422e+02 6.52431e+00 0.1250 1.4870e+03 6\n", - " 9 2.9523e+03 3.2285e+01 1.9426e+02 9.7746e+01 1.50640e+01 0.0156 1.4239e+03 7\n", - " 10 2.9356e+03 3.2268e+01 1.9402e+02 9.6307e+01 5.46197e+00 0.2500 1.4252e+03 7\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.0242e+03 4.2930e+01 4.6890e+02 1.2923e+02 1.38481e+01 0.1250 ---- 25\n", - " 2 5.5994e+03 4.0998e+01 4.3746e+02 1.1838e+02 9.65373e+00 0.5000 1.4253e+03 25\n", - " 3 5.4664e+03 3.5597e+01 4.2909e+02 1.1399e+02 4.63909e+01 0.0312 1.3941e+03 25\n", - " 4 5.4038e+03 3.9299e+01 4.2899e+02 1.0745e+02 1.26236e+01 0.1250 1.6769e+03 25\n", - " 5 5.2202e+03 4.3446e+01 4.1954e+02 9.8136e+01 4.25906e+01 0.0312 1.9384e+03 25\n", - " 6 5.0897e+03 4.7019e+01 4.1300e+02 9.1261e+01 2.38787e+01 0.0312 2.1352e+03 25\n", - " 7 5.0769e+03 4.8562e+01 4.1503e+02 8.7802e+01 5.14950e+00 0.5000 2.2206e+03 12\n", - " 8 1.9165e+03 2.5183e+01 1.0316e+02 8.5972e+01 4.17991e+01 0.0039 5.0764e+02 25\n", - " 9 1.9141e+03 2.5129e+01 1.0373e+02 8.5170e+01 3.85724e+01 0.0039 5.1336e+02 11\n", - " 10 1.9124e+03 2.5090e+01 1.0422e+02 8.4510e+01 3.37150e+01 0.0039 5.1842e+02 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0343e+03 3.5490e+01 2.6923e+02 1.3065e+02 3.32701e+01 0.0156 ---- 25\n", - " 2 4.0086e+03 3.5280e+01 2.6969e+02 1.2764e+02 2.11289e+01 0.0625 5.4663e+02 25\n", - " 3 3.9788e+03 3.5017e+01 2.7541e+02 1.1897e+02 1.15426e+01 0.2500 6.7648e+02 9\n", - " 4 3.5577e+03 3.1888e+01 2.3449e+02 1.1809e+02 1.60287e+01 0.0625 7.0689e+02 8\n", - " 5 3.5487e+03 3.2094e+01 2.4039e+02 1.1127e+02 1.07968e+01 0.1250 8.1224e+02 9\n", - " 6 3.4019e+03 3.1480e+01 2.3594e+02 1.0110e+02 1.01264e+01 0.1250 8.6079e+02 8\n", - " 7 3.3023e+03 3.1774e+01 2.3785e+02 8.9203e+01 1.12080e+01 0.0625 9.7895e+02 8\n", - " 8 3.2114e+03 3.1479e+01 2.3411e+02 8.3873e+01 9.83925e+00 0.1250 9.8941e+02 8\n", - " 9 3.1732e+03 3.2009e+01 2.4007e+02 7.4048e+01 2.98797e+01 0.0078 1.0995e+03 9\n", - " 10 3.1657e+03 3.1996e+01 2.3996e+02 7.3403e+01 1.30769e+01 0.0312 1.1055e+03 8\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.3570e+03 4.2665e+01 4.3118e+02 1.0025e+02 1.44585e+01 0.2500 ---- 25\n", - " 2 5.1542e+03 3.9601e+01 3.9916e+02 1.1230e+02 4.92877e+01 0.0312 1.2506e+03 25\n", - " 3 5.0411e+03 4.0701e+01 3.9215e+02 1.0789e+02 2.90110e+01 0.0156 1.3838e+03 25\n", - " 4 5.0039e+03 4.0675e+01 3.9141e+02 1.0491e+02 1.98272e+01 0.0625 1.4015e+03 25\n", - " 5 4.8901e+03 4.0954e+01 3.8446e+02 1.0046e+02 4.64615e+01 0.1250 1.4573e+03 25\n", - " 6 3.9153e+03 6.9594e+01 2.7880e+02 1.0577e+02 2.58440e+01 0.1250 2.4358e+03 25\n", - " 7 2.9923e+03 5.1983e+01 1.9742e+02 9.6615e+01 3.12536e+01 0.0625 1.9094e+03 21\n", - " 8 2.5896e+03 3.8202e+01 1.6394e+02 9.1199e+01 1.74704e+01 0.0625 1.1174e+03 25\n", - " 9 2.3560e+03 3.9209e+01 1.4494e+02 8.6740e+01 1.86205e+01 0.0312 1.2659e+03 17\n", - " 10 2.2695e+03 3.9594e+01 1.3811e+02 8.4873e+01 4.02124e+01 0.0312 1.3186e+03 23\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.1617e+03 5.1425e+01 2.0829e+02 1.0274e+02 3.90603e+01 0.0312 ---- 25\n", - " 2 2.7060e+03 4.4401e+01 1.6553e+02 1.0063e+02 2.12493e+01 0.0312 1.1278e+03 25\n", - " 3 2.5755e+03 4.4094e+01 1.5494e+02 9.8197e+01 1.39371e+01 0.1250 1.1735e+03 25\n", - " 4 2.5022e+03 4.0988e+01 1.5150e+02 9.4625e+01 4.44527e+01 0.0039 1.1350e+03 25\n", - " 5 2.4976e+03 4.0887e+01 1.5164e+02 9.4031e+01 3.35211e+01 0.0078 1.1369e+03 25\n", - " 6 2.4964e+03 4.0820e+01 1.5247e+02 9.3090e+01 1.37358e+01 0.0312 1.1447e+03 25\n", - " 7 2.4593e+03 4.0039e+01 1.5062e+02 9.1307e+01 2.66843e+01 0.0078 1.1226e+03 19\n", - " 8 2.4519e+03 3.9914e+01 1.5066e+02 9.0538e+01 1.32547e+01 0.0625 1.1238e+03 20\n", - " 9 2.4320e+03 3.8958e+01 1.5199e+02 8.7319e+01 4.37604e+01 0.0078 1.1196e+03 25\n", - " 10 2.4246e+03 3.8906e+01 1.5242e+02 8.6149e+01 9.26306e+00 0.5000 1.1301e+03 14\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.6483e+03 4.1914e+01 2.0647e+02 1.5417e+02 4.41126e+01 0.0312 ---- 25\n", - " 2 2.9418e+03 3.7214e+01 1.4142e+02 1.4903e+02 1.89241e+01 0.1250 5.5458e+02 25\n", - " 3 2.8539e+03 3.6360e+01 1.4816e+02 1.3360e+02 2.88449e+01 0.0078 7.9757e+02 25\n", - " 4 2.8498e+03 3.6263e+01 1.4897e+02 1.3238e+02 1.25191e+01 0.1250 8.0149e+02 25\n", - " 5 2.7462e+03 3.4534e+01 1.5153e+02 1.1964e+02 4.82863e+01 0.0625 7.9272e+02 25\n", - " 6 2.4225e+03 3.9489e+01 1.4002e+02 9.8281e+01 2.85733e+01 0.0625 9.4351e+02 17\n", - " 7 1.9052e+03 3.5221e+01 9.7830e+01 8.9169e+01 3.63145e+01 0.0156 7.6246e+02 18\n", - " 8 1.7976e+03 3.3904e+01 8.8594e+01 8.7770e+01 2.84871e+01 0.0156 8.0208e+02 12\n", - " 9 1.7930e+03 3.4054e+01 8.9402e+01 8.6497e+01 3.05705e+01 0.0039 8.0240e+02 11\n", - " 10 1.7916e+03 3.4003e+01 8.9599e+01 8.6164e+01 1.31505e+01 0.0312 8.0824e+02 14\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.5931e+03 4.1785e+01 1.4410e+02 1.1103e+02 4.34032e+01 0.0625 ---- 25\n", - " 2 2.4229e+03 4.4950e+01 1.3420e+02 1.0359e+02 3.07808e+01 0.0312 9.2837e+02 25\n", - " 3 2.2089e+03 4.2125e+01 1.1757e+02 9.9111e+01 3.90462e+01 0.0078 9.4049e+02 22\n", - " 4 2.1732e+03 4.1416e+01 1.1489e+02 9.8281e+01 3.45347e+01 0.0078 9.6381e+02 20\n", - " 5 2.1565e+03 4.0914e+01 1.1404e+02 9.7516e+01 2.17193e+01 0.0625 9.7574e+02 19\n", - " 6 2.0927e+03 3.8935e+01 1.1169e+02 9.3692e+01 1.62200e+01 0.0625 9.5611e+02 24\n", - " 7 1.9844e+03 3.8078e+01 1.0572e+02 8.8913e+01 3.98263e+01 0.0078 8.7981e+02 25\n", - " 8 1.9725e+03 3.7987e+01 1.0569e+02 8.7757e+01 1.65717e+01 0.0312 9.0221e+02 21\n", - " 9 1.9711e+03 3.7514e+01 1.0822e+02 8.5132e+01 3.64867e+01 0.0156 8.5980e+02 25\n", - " 10 1.9632e+03 3.7608e+01 1.0951e+02 8.3045e+01 4.04723e+01 0.0020 8.6005e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7667e+03 4.5673e+01 1.6758e+02 1.0452e+02 5.06901e+01 0.0039 ---- 25\n", - " 2 2.7659e+03 4.5537e+01 1.6809e+02 1.0395e+02 4.00012e+01 0.0078 8.9462e+02 25\n", - " 3 2.7607e+03 4.5325e+01 1.6836e+02 1.0317e+02 2.76952e+01 0.1250 8.9592e+02 25\n", - " 4 2.7456e+03 4.3703e+01 1.6361e+02 1.0658e+02 3.02869e+01 0.0625 9.7253e+02 25\n", - " 5 2.4127e+03 4.0126e+01 1.3656e+02 1.0070e+02 4.17405e+01 0.0312 1.0210e+03 25\n", - " 6 2.3755e+03 4.0056e+01 1.3726e+02 9.6283e+01 3.85753e+01 0.0156 1.1071e+03 22\n", - " 7 2.3646e+03 3.9492e+01 1.3847e+02 9.4047e+01 1.55923e+01 0.2500 1.1672e+03 13\n", - " 8 2.2376e+03 3.3518e+01 1.2070e+02 9.9704e+01 4.18847e+01 0.0156 8.6021e+02 22\n", - " 9 2.0954e+03 3.2967e+01 1.0878e+02 9.7457e+01 2.08357e+01 0.0312 8.7783e+02 15\n", - " 10 2.0388e+03 3.2311e+01 1.0581e+02 9.4832e+01 2.68153e+01 0.0078 8.5127e+02 18\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7634e+03 4.0116e+01 1.5906e+02 1.1327e+02 1.81463e+01 0.1250 ---- 25\n", - " 2 2.4894e+03 3.6584e+01 1.3355e+02 1.1173e+02 2.12663e+01 0.0312 7.7140e+02 25\n", - " 3 2.4605e+03 3.5799e+01 1.3434e+02 1.0813e+02 1.92233e+01 0.0312 7.5170e+02 25\n", - " 4 2.4257e+03 3.5091e+01 1.3355e+02 1.0551e+02 1.51216e+01 0.0625 7.3012e+02 25\n", - " 5 2.3496e+03 3.3812e+01 1.3175e+02 9.9822e+01 1.72313e+01 0.0312 6.8607e+02 22\n", - " 6 2.3127e+03 3.3233e+01 1.3097e+02 9.6969e+01 1.23879e+01 0.2500 6.6620e+02 22\n", - " 7 2.1730e+03 2.9451e+01 1.2759e+02 8.6768e+01 1.47356e+01 0.0312 5.0277e+02 25\n", - " 8 2.1501e+03 2.9129e+01 1.2722e+02 8.4870e+01 1.22863e+01 0.0625 4.8826e+02 25\n", - " 9 2.1411e+03 2.8595e+01 1.2640e+02 8.4847e+01 1.13484e+01 0.0625 4.5925e+02 22\n", - " 10 2.1184e+03 2.8168e+01 1.2889e+02 8.0131e+01 1.12485e+01 0.0625 4.3367e+02 22\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.6034e+03 3.6996e+01 2.5369e+02 1.0295e+02 1.68543e+01 0.1250 ---- 25\n", - " 2 3.3770e+03 3.4358e+01 2.3837e+02 9.5898e+01 1.56691e+01 0.0625 4.6965e+02 25\n", - " 3 3.2943e+03 3.3261e+01 2.2771e+02 9.8397e+01 1.27407e+01 0.5000 4.4020e+02 14\n", - " 4 3.1151e+03 2.6558e+01 1.7483e+02 1.3402e+02 1.15224e+01 0.2500 3.2446e+02 25\n", - " 5 2.9645e+03 2.6091e+01 1.6782e+02 1.2602e+02 1.50337e+01 0.0312 4.9806e+02 14\n", - " 6 2.9475e+03 2.6099e+01 1.6996e+02 1.2217e+02 7.26301e+00 0.5000 5.2515e+02 13\n", - " 7 2.3688e+03 2.4095e+01 1.2908e+02 1.0540e+02 8.26643e+00 0.2500 3.5940e+02 15\n", - " 8 2.1197e+03 2.4286e+01 1.1360e+02 9.5937e+01 1.07837e+01 0.0312 4.7322e+02 13\n", - " 9 2.0893e+03 2.4281e+01 1.1352e+02 9.2978e+01 6.14617e+00 0.5000 4.8066e+02 11\n", - " 10 1.9801e+03 2.4217e+01 1.2474e+02 7.0852e+01 8.61170e+00 0.1250 5.2491e+02 22\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.6316e+03 3.4128e+01 3.5270e+02 1.0705e+02 1.03953e+01 0.5000 ---- 25\n", - " 2 4.0279e+03 2.9053e+01 2.6988e+02 1.3000e+02 3.37042e+01 0.0078 7.7670e+02 25\n", - " 3 4.0158e+03 2.9025e+01 2.7010e+02 1.2858e+02 2.48478e+01 0.0156 7.8796e+02 25\n", - " 4 4.0003e+03 2.9067e+01 2.7096e+02 1.2616e+02 1.34441e+01 0.0625 8.1205e+02 25\n", - " 5 3.9138e+03 2.9230e+01 2.7047e+02 1.1799e+02 6.95057e+00 0.5000 8.7275e+02 22\n", - " 6 3.0493e+03 2.7042e+01 2.0487e+02 9.7356e+01 3.12852e+01 0.0078 8.3604e+02 21\n", - " 7 3.0469e+03 2.7056e+01 2.0578e+02 9.6203e+01 2.24913e+01 0.0078 8.4785e+02 19\n", - " 8 3.0358e+03 2.7031e+01 2.0552e+02 9.5360e+01 1.64347e+01 0.0156 8.5059e+02 16\n", - " 9 3.0164e+03 2.7014e+01 2.0506e+02 9.3876e+01 9.83397e+00 0.0625 8.5567e+02 17\n", - " 10 2.9502e+03 2.7031e+01 2.0372e+02 8.8597e+01 4.70085e+00 1.0000 8.7225e+02 18\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9703e+03 3.3203e+01 2.2862e+02 2.6509e+02 4.16624e+01 0.0312 ---- 25\n", - " 2 4.8249e+03 3.3521e+01 2.2663e+02 2.5251e+02 2.02929e+01 0.1250 7.2028e+02 25\n", - " 3 4.7047e+03 3.5053e+01 2.5574e+02 2.1122e+02 1.33414e+01 0.2500 1.0815e+03 18\n", - " 4 4.0431e+03 3.3624e+01 2.2820e+02 1.7275e+02 1.15346e+01 0.1250 1.1881e+03 11\n", - " 5 3.8458e+03 3.3581e+01 2.2815e+02 1.5306e+02 9.28221e+00 0.2500 1.2579e+03 10\n", - " 6 3.6639e+03 3.3337e+01 2.3241e+02 1.3065e+02 1.65391e+01 0.0312 1.3435e+03 9\n", - " 7 3.6488e+03 3.3658e+01 2.3483e+02 1.2669e+02 5.81678e+00 1.0000 1.3810e+03 8\n", - " 8 2.3637e+03 2.1401e+01 1.2956e+02 1.0467e+02 5.63994e+00 0.5000 1.9336e+02 23\n", - " 9 1.6315e+03 2.1360e+01 5.6161e+01 1.0485e+02 6.77022e+00 0.1250 1.6022e+02 10\n", - " 10 1.4624e+03 2.1454e+01 4.9605e+01 9.4494e+01 3.90008e+00 0.5000 2.2187e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.3373e+03 3.0678e+01 1.8948e+02 1.4118e+02 1.49732e+01 0.1250 ---- 25\n", - " 2 3.1800e+03 2.9403e+01 1.9674e+02 1.1832e+02 9.54007e+00 0.2500 4.0978e+02 25\n", - " 3 2.7733e+03 2.6700e+01 1.6344e+02 1.1122e+02 7.93305e+00 0.5000 4.0189e+02 11\n", - " 4 2.6869e+03 2.6324e+01 1.7587e+02 9.0195e+01 8.45875e+00 0.1250 8.2510e+02 16\n", - " 5 2.5570e+03 2.5905e+01 1.6916e+02 8.3951e+01 6.86768e+00 0.1250 8.2013e+02 12\n", - " 6 2.3975e+03 2.5370e+01 1.5982e+02 7.7393e+01 4.04443e+00 1.0000 7.9212e+02 10\n", - " 7 1.9646e+03 2.4009e+01 1.0501e+02 8.9047e+01 2.88274e+01 0.0039 7.9590e+02 21\n", - " 8 1.9640e+03 2.3978e+01 1.0531e+02 8.8688e+01 2.62191e+01 0.0039 7.9795e+02 23\n", - " 9 1.9623e+03 2.3950e+01 1.0550e+02 8.8331e+01 2.35799e+01 0.0039 7.9908e+02 21\n", - " 10 1.9594e+03 2.3923e+01 1.0558e+02 8.7971e+01 2.10243e+01 0.0078 7.9935e+02 22\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.4250e+03 3.2561e+01 2.7394e+02 1.6530e+02 2.49236e+01 0.0312 ---- 25\n", - " 2 4.4044e+03 3.2524e+01 2.7993e+02 1.5725e+02 1.44654e+01 0.2500 8.6563e+02 25\n", - " 3 4.0631e+03 3.2480e+01 2.9039e+02 1.1267e+02 1.08190e+01 0.2500 1.1518e+03 22\n", - " 4 3.9966e+03 3.1975e+01 2.9718e+02 9.9288e+01 6.59498e+00 1.0000 1.2622e+03 11\n", - " 5 3.2024e+03 2.4982e+01 1.8747e+02 1.3027e+02 1.07134e+01 0.2500 1.0325e+03 18\n", - " 6 2.8128e+03 2.5418e+01 1.6210e+02 1.1664e+02 6.02680e+00 0.5000 1.0696e+03 11\n", - " 7 2.5672e+03 2.8037e+01 1.4945e+02 1.0447e+02 1.92345e+01 0.0156 1.2737e+03 10\n", - " 8 2.5583e+03 2.8094e+01 1.5011e+02 1.0291e+02 1.26259e+01 0.0312 1.2825e+03 9\n", - " 9 2.5212e+03 2.8028e+01 1.4941e+02 9.9908e+01 6.96475e+00 0.2500 1.2800e+03 10\n", - " 10 2.3215e+03 2.7922e+01 1.4409e+02 8.5264e+01 6.08367e+00 0.2500 1.2701e+03 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.4686e+03 3.5928e+01 3.3052e+02 1.1275e+02 1.22210e+01 0.2500 ---- 25\n", - " 2 3.9918e+03 3.2674e+01 3.0175e+02 9.4165e+01 9.05891e+00 0.2500 1.2473e+03 25\n", - " 3 3.6944e+03 3.0380e+01 2.7897e+02 8.7427e+01 8.07792e+00 0.2500 1.2107e+03 17\n", - " 4 3.4026e+03 2.9479e+01 2.6551e+02 7.1794e+01 6.94912e+00 0.2500 1.2409e+03 17\n", - " 5 3.1988e+03 2.8572e+01 2.5669e+02 6.0324e+01 6.03114e+00 0.2500 1.2280e+03 20\n", - " 6 2.9656e+03 2.7336e+01 2.3629e+02 5.7535e+01 5.55969e+00 0.2500 1.1772e+03 21\n", - " 7 2.7645e+03 2.6303e+01 2.1268e+02 6.1136e+01 5.70070e+00 0.2500 1.1170e+03 18\n", - " 8 2.6012e+03 2.6189e+01 2.0532e+02 5.2183e+01 5.33702e+00 0.2500 1.1316e+03 12\n", - " 9 2.4220e+03 2.5830e+01 1.9395e+02 4.5664e+01 4.93756e+00 0.2500 1.1130e+03 17\n", - " 10 2.3544e+03 2.5227e+01 1.8257e+02 5.0345e+01 5.11319e+00 0.2500 1.0748e+03 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.5096e+03 3.2399e+01 3.6167e+02 8.6051e+01 1.16221e+01 0.5000 ---- 25\n", - " 2 4.2824e+03 3.1594e+01 3.0926e+02 1.1582e+02 1.13066e+01 0.2500 1.4054e+03 25\n", - " 3 4.1278e+03 3.2859e+01 3.0836e+02 1.0113e+02 5.40498e+00 1.0000 1.5454e+03 10\n", - " 4 2.0561e+03 1.9988e+01 7.8480e+01 1.2514e+02 2.69356e+01 0.0078 5.5973e+02 25\n", - " 5 2.0495e+03 1.9968e+01 7.9197e+01 1.2376e+02 2.35984e+01 0.0078 5.6950e+02 25\n", - " 6 2.0413e+03 1.9948e+01 7.9605e+01 1.2253e+02 2.04040e+01 0.0156 5.7558e+02 25\n", - " 7 2.0360e+03 2.0004e+01 8.1354e+01 1.2024e+02 1.51216e+01 0.0312 5.9648e+02 20\n", - " 8 2.0262e+03 2.0177e+01 8.4566e+01 1.1604e+02 9.19094e+00 0.1250 6.3255e+02 25\n", - " 9 2.0202e+03 2.0825e+01 9.7827e+01 1.0211e+02 5.35352e+00 0.5000 7.2567e+02 21\n", - " 10 1.7048e+03 1.9876e+01 7.2571e+01 9.5917e+01 8.69938e+00 0.0625 5.9361e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.5140e+03 2.7321e+01 2.0503e+02 1.4364e+02 1.00337e+01 1.0000 ---- 25\n", - " 2 2.9921e+03 1.7362e+01 8.5688e+01 2.1179e+02 1.24264e+01 0.2500 3.4912e+02 25\n", - " 3 2.2999e+03 1.7933e+01 7.3514e+01 1.5469e+02 6.84246e+00 0.5000 4.9599e+02 17\n", - " 4 1.8365e+03 1.7209e+01 5.5077e+01 1.2685e+02 4.76311e+00 0.5000 2.9239e+02 7\n", - " 5 1.3955e+03 1.7605e+01 5.1386e+01 8.6401e+01 7.11172e+00 0.0625 3.8670e+02 8\n", - " 6 1.3746e+03 1.7681e+01 5.4227e+01 8.1466e+01 3.52807e+00 0.5000 4.1058e+02 7\n", - " 7 1.2047e+03 1.7701e+01 4.9770e+01 6.8930e+01 5.14539e+00 0.1250 4.0223e+02 7\n", - " 8 1.1576e+03 1.7711e+01 5.0744e+01 6.3245e+01 2.69917e+00 0.5000 4.0946e+02 7\n", - " 9 8.7297e+02 1.7453e+01 3.2719e+01 5.2833e+01 5.88312e+00 0.0625 3.3259e+02 7\n", - " 10 8.6774e+02 1.7468e+01 3.4248e+01 5.0779e+01 2.85286e+00 0.2500 3.4177e+02 8\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.2430e+03 2.4025e+01 1.4208e+02 7.9813e+01 9.54555e+00 0.2500 ---- 25\n", - " 2 1.9492e+03 2.1272e+01 1.1701e+02 7.5782e+01 7.53209e+00 0.5000 2.6424e+02 25\n", - " 3 1.7194e+03 1.8219e+01 8.0858e+01 8.9257e+01 7.21322e+00 0.2500 2.8123e+02 13\n", - " 4 1.7111e+03 1.7984e+01 8.5729e+01 8.3583e+01 4.79828e+00 0.5000 3.8691e+02 11\n", - " 5 1.4204e+03 1.7872e+01 8.3537e+01 5.6716e+01 6.91547e+00 0.0625 5.1482e+02 11\n", - " 6 1.3773e+03 1.7743e+01 8.1037e+01 5.4915e+01 5.41384e+00 0.1250 5.0377e+02 10\n", - " 7 1.2930e+03 1.7580e+01 7.7651e+01 4.9891e+01 2.58493e+00 1.0000 4.9109e+02 11\n", - " 8 1.2347e+03 1.6327e+01 4.4150e+01 7.7686e+01 1.13123e+01 0.0156 2.8373e+02 25\n", - " 9 1.2260e+03 1.6314e+01 4.4726e+01 7.6242e+01 9.32138e+00 0.0312 2.8795e+02 25\n", - " 10 1.2152e+03 1.6321e+01 4.6328e+01 7.3563e+01 6.54347e+00 0.0625 2.9880e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7682e+03 2.2510e+01 1.5082e+02 1.2375e+02 1.01466e+01 0.5000 ---- 25\n", - " 2 1.9500e+03 1.7820e+01 9.4827e+01 9.8390e+01 7.27099e+00 0.2500 2.7889e+02 25\n", - " 3 1.8089e+03 1.7194e+01 9.5266e+01 8.3902e+01 4.97053e+00 0.5000 3.4511e+02 12\n", - " 4 1.5623e+03 1.6766e+01 9.0686e+01 6.3871e+01 6.96374e+00 0.1250 4.8091e+02 20\n", - " 5 1.5182e+03 1.6751e+01 9.0578e+01 5.9567e+01 3.54360e+00 0.5000 5.0693e+02 19\n", - " 6 1.3111e+03 1.6406e+01 7.4863e+01 5.4609e+01 7.89311e+00 0.0625 5.0134e+02 15\n", - " 7 1.3098e+03 1.6501e+01 7.7314e+01 5.2017e+01 3.54148e+00 0.2500 5.2883e+02 13\n", - " 8 1.1819e+03 1.6046e+01 6.6216e+01 5.0366e+01 3.29768e+00 0.2500 4.6169e+02 11\n", - " 9 1.0693e+03 1.5692e+01 5.6646e+01 4.8713e+01 3.24570e+00 0.2500 3.9650e+02 11\n", - " 10 1.0028e+03 1.5461e+01 4.8946e+01 4.9790e+01 3.12157e+00 0.2500 3.5169e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.2501e+03 2.0946e+01 1.3669e+02 8.6228e+01 9.38384e+00 0.5000 ---- 25\n", - " 2 1.7855e+03 1.6500e+01 7.7958e+01 9.8939e+01 8.40824e+00 0.2500 2.7396e+02 25\n", - " 3 1.6533e+03 1.5942e+01 7.8380e+01 8.5352e+01 5.39821e+00 0.2500 3.4760e+02 16\n", - " 4 1.4605e+03 1.5405e+01 7.1538e+01 7.2969e+01 4.39918e+00 0.5000 3.4625e+02 10\n", - " 5 1.4496e+03 1.5275e+01 8.8122e+01 5.5316e+01 8.29212e+00 0.0625 4.6168e+02 25\n", - " 6 1.4420e+03 1.5353e+01 9.0311e+01 5.2351e+01 4.06837e+00 0.2500 4.9181e+02 13\n", - " 7 1.3491e+03 1.4967e+01 7.9894e+01 5.3521e+01 3.62461e+00 0.2500 4.4410e+02 11\n", - " 8 1.1962e+03 1.4648e+01 6.7635e+01 5.0517e+01 3.56365e+00 0.2500 3.9299e+02 9\n", - " 9 1.0951e+03 1.4419e+01 6.0063e+01 4.8004e+01 3.15012e+00 0.2500 3.5484e+02 9\n", - " 10 9.8601e+02 1.4229e+01 5.1509e+01 4.5669e+01 3.24897e+00 0.2500 3.1523e+02 8\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.1969e+03 1.9213e+01 1.3697e+02 8.0800e+01 8.96259e+00 0.2500 ---- 25\n", - " 2 1.8838e+03 1.6967e+01 1.1549e+02 7.1192e+01 7.01674e+00 0.5000 2.6565e+02 25\n", - " 3 1.6057e+03 1.4550e+01 7.5483e+01 8.3631e+01 7.08602e+00 0.1250 3.1100e+02 13\n", - " 4 1.5145e+03 1.4337e+01 7.3261e+01 7.6756e+01 4.00234e+00 0.5000 3.2798e+02 12\n", - " 5 1.1478e+03 1.3302e+01 4.7059e+01 6.6387e+01 5.64843e+00 0.1250 2.3121e+02 20\n", - " 6 1.1015e+03 1.3264e+01 4.7725e+01 6.1103e+01 2.55923e+00 1.0000 2.5442e+02 18\n", - " 7 1.0207e+03 1.2413e+01 1.0136e+01 9.0695e+01 6.11878e+00 0.2500 9.0695e+01 16\n", - " 8 9.9803e+02 1.2776e+01 2.1753e+01 7.6772e+01 5.06962e+00 0.1250 2.5187e+02 11\n", - " 9 9.5016e+02 1.2809e+01 2.3860e+01 6.9876e+01 2.57020e+00 0.5000 2.7174e+02 12\n", - " 10 9.3804e+02 1.2581e+01 1.8669e+01 7.3877e+01 4.06427e+00 0.1250 1.8020e+02 14\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.3081e+03 1.7157e+01 1.1769e+02 1.1141e+02 7.81284e+00 0.5000 ---- 25\n", - " 2 1.7714e+03 1.3442e+01 6.1089e+01 1.1471e+02 6.94764e+00 0.5000 1.1531e+02 25\n", - " 3 1.5945e+03 1.2676e+01 5.3112e+01 1.0507e+02 6.97223e+00 0.2500 3.1157e+02 11\n", - " 4 1.5719e+03 1.3639e+01 6.7672e+01 8.8155e+01 4.86286e+00 0.5000 5.8105e+02 9\n", - " 5 1.3783e+03 1.5670e+01 8.6298e+01 4.9961e+01 7.32462e+00 0.0625 8.6703e+02 12\n", - " 6 1.3483e+03 1.5434e+01 8.4258e+01 4.9026e+01 5.62070e+00 0.1250 8.4870e+02 12\n", - " 7 1.2977e+03 1.5226e+01 8.2352e+01 4.5893e+01 2.73941e+00 0.5000 8.3300e+02 11\n", - " 8 1.1194e+03 1.3248e+01 5.7518e+01 5.3095e+01 6.42318e+00 0.0625 5.8008e+02 10\n", - " 9 1.1073e+03 1.3239e+01 5.8792e+01 5.0611e+01 3.06579e+00 0.2500 5.8491e+02 10\n", - " 10 9.9098e+02 1.2748e+01 5.3011e+01 4.4812e+01 2.85595e+00 0.5000 5.1289e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.1917e+03 1.6693e+01 1.4840e+02 6.9098e+01 1.20943e+01 0.2500 ---- 3\n", - " 2 2.1800e+03 1.8828e+01 1.5599e+02 6.0129e+01 9.79721e+00 0.1250 9.7754e+02 25\n", - " 3 2.0640e+03 1.8078e+01 1.5166e+02 5.2934e+01 5.41711e+00 0.5000 9.6558e+02 25\n", - " 4 1.7901e+03 1.4603e+01 1.2511e+02 5.2446e+01 9.18141e+00 0.0625 7.6374e+02 25\n", - " 5 1.7583e+03 1.4646e+01 1.2520e+02 4.9170e+01 4.66806e+00 0.5000 7.8694e+02 17\n", - " 6 1.6545e+03 1.4239e+01 1.1396e+02 5.0073e+01 6.85198e+00 0.1250 8.2338e+02 25\n", - " 7 1.5896e+03 1.4223e+01 1.1181e+02 4.5723e+01 3.18378e+00 0.5000 8.3375e+02 11\n", - " 8 1.1618e+03 1.2916e+01 8.7462e+01 2.7425e+01 7.67052e+00 0.0312 6.8609e+02 17\n", - " 9 1.1463e+03 1.2839e+01 8.6487e+01 2.6854e+01 5.29913e+00 0.0625 6.8007e+02 18\n", - " 10 1.1143e+03 1.2678e+01 8.4076e+01 2.6084e+01 2.53803e+00 0.5000 6.6321e+02 18\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.0588e+03 1.5412e+01 1.5831e+02 4.6031e+01 1.00497e+01 0.1250 ---- 25\n", - " 2 1.9427e+03 1.4560e+01 1.5055e+02 4.2264e+01 6.74322e+00 0.5000 5.7435e+02 25\n", - " 3 1.7315e+03 1.1340e+01 1.0849e+02 6.3520e+01 7.30465e+00 0.2500 4.0376e+02 15\n", - " 4 1.7101e+03 1.2379e+01 1.1336e+02 5.6411e+01 5.83330e+00 0.2500 6.5876e+02 13\n", - " 5 1.6131e+03 1.2953e+01 1.1466e+02 4.5354e+01 4.59311e+00 0.5000 7.7585e+02 11\n", - " 6 1.5309e+03 1.4602e+01 1.1064e+02 4.0989e+01 7.79952e+00 0.1250 9.8822e+02 25\n", - " 7 1.5139e+03 1.4755e+01 1.1031e+02 3.9600e+01 3.82861e+00 0.5000 1.0132e+03 18\n", - " 8 1.4654e+03 1.4937e+01 9.7355e+01 4.7694e+01 9.76661e+00 0.0312 1.0292e+03 25\n", - " 9 1.4438e+03 1.4839e+01 9.6740e+01 4.6161e+01 6.94179e+00 0.0625 1.0250e+03 25\n", - " 10 1.3979e+03 1.4577e+01 9.4638e+01 4.3694e+01 3.58399e+00 0.5000 1.0059e+03 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.5317e+03 1.5985e+01 1.5957e+02 9.2003e+01 1.07748e+01 0.2500 ---- 25\n", - " 2 2.4848e+03 1.6534e+01 1.7292e+02 7.3904e+01 6.72962e+00 0.5000 1.0636e+03 25\n", - " 3 1.9607e+03 1.4243e+01 1.2560e+02 6.9045e+01 7.41788e+00 0.1250 1.0194e+03 25\n", - " 4 1.8329e+03 1.3914e+01 1.2022e+02 6.1677e+01 4.03972e+00 0.5000 1.0039e+03 17\n", - " 5 1.4751e+03 1.1644e+01 9.1485e+01 5.4861e+01 7.40636e+00 0.0625 7.9033e+02 16\n", - " 6 1.4377e+03 1.1624e+01 9.0722e+01 5.1890e+01 4.07937e+00 0.5000 7.9627e+02 14\n", - " 7 1.4320e+03 1.2199e+01 9.1554e+01 5.0430e+01 6.59340e+00 0.1250 8.8338e+02 13\n", - " 8 1.3972e+03 1.2275e+01 9.1213e+01 4.7275e+01 3.21648e+00 0.5000 8.9875e+02 11\n", - " 9 1.2343e+03 1.1234e+01 7.5031e+01 4.7272e+01 7.78639e+00 0.0625 7.7447e+02 25\n", - " 10 1.2237e+03 1.1291e+01 7.6092e+01 4.5150e+01 3.92685e+00 0.2500 7.8735e+02 22\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.1499e+03 1.3240e+01 1.4655e+02 6.7115e+01 7.77891e+00 0.2500 ---- 25\n", - " 2 1.8430e+03 1.1533e+01 1.3082e+02 5.2335e+01 5.84365e+00 0.5000 6.6232e+02 25\n", - " 3 1.3081e+03 9.8285e+00 9.1206e+01 3.8621e+01 6.44430e+00 0.1250 6.4016e+02 18\n", - " 4 1.2810e+03 9.6687e+00 8.8569e+01 3.8566e+01 3.23535e+00 0.5000 6.4031e+02 21\n", - " 5 1.0175e+03 8.1995e+00 6.3457e+01 3.7478e+01 5.09298e+00 0.1250 4.4680e+02 25\n", - " 6 9.8090e+02 8.2563e+00 6.2816e+01 3.4448e+01 1.74485e+00 1.0000 4.7287e+02 23\n", - " 7 6.1157e+02 6.7611e+00 5.7098e+00 5.4771e+01 3.76108e+00 0.2500 5.4771e+01 25\n", - " 8 5.9872e+02 6.7775e+00 7.2876e+00 5.1907e+01 2.67928e+00 0.2500 5.5972e+01 14\n", - " 9 5.1508e+02 6.7961e+00 7.7749e+00 4.3053e+01 2.07486e+00 0.5000 8.3558e+01 19\n", - " 10 4.2708e+02 6.8898e+00 1.2080e+01 2.9939e+01 3.98269e+00 0.1250 1.4780e+02 19\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.5418e+03 9.0105e+00 1.1003e+02 4.3254e+01 6.21192e+00 0.5000 ---- 25\n", - " 2 1.1964e+03 7.0617e+00 6.0164e+01 5.8772e+01 6.72497e+00 0.2500 1.6904e+02 25\n", - " 3 1.0025e+03 6.9867e+00 4.9641e+01 4.9910e+01 4.25429e+00 0.2500 2.8868e+02 16\n", - " 4 8.9931e+02 6.8424e+00 4.6544e+01 4.2703e+01 3.35949e+00 0.5000 3.1777e+02 25\n", - " 5 7.7659e+02 6.7094e+00 3.8106e+01 3.8882e+01 4.46038e+00 0.1250 3.6375e+02 16\n", - " 6 7.4772e+02 6.7162e+00 3.8861e+01 3.5239e+01 2.08100e+00 1.0000 3.7929e+02 15\n", - " 7 6.8870e+02 6.3404e+00 3.8994e+01 2.9242e+01 7.69805e+00 0.0312 3.0702e+02 25\n", - " 8 6.7758e+02 6.3355e+00 3.9295e+01 2.7830e+01 5.99147e+00 0.0625 3.1342e+02 25\n", - " 9 6.6009e+02 6.3581e+00 4.0096e+01 2.5278e+01 3.45952e+00 0.1250 3.2704e+02 23\n", - " 10 6.2425e+02 6.3024e+00 3.8074e+01 2.3720e+01 9.50669e-01 1.0000 3.1464e+02 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.7215e+03 7.4620e+00 9.5371e+01 7.6032e+01 6.47247e+00 0.5000 ---- 25\n", - " 2 1.2542e+03 5.7972e+00 5.8252e+01 6.6586e+01 5.74246e+00 0.5000 1.0974e+02 25\n", - " 3 1.1393e+03 6.0383e+00 4.4271e+01 6.9051e+01 6.31548e+00 0.1250 3.8229e+02 11\n", - " 4 1.0771e+03 6.1427e+00 4.5329e+01 6.1767e+01 3.29433e+00 0.5000 4.2984e+02 10\n", - " 5 8.0772e+02 5.9457e+00 3.7973e+01 4.2205e+01 5.15277e+00 0.1250 4.2049e+02 9\n", - " 6 7.8733e+02 6.0835e+00 3.9684e+01 3.8441e+01 1.63791e+00 1.0000 4.5974e+02 9\n", - " 7 4.7561e+02 4.8077e+00 2.2669e+00 4.4814e+01 3.36133e+00 0.2500 4.4814e+01 25\n", - " 8 4.6453e+02 4.8060e+00 2.0500e+00 4.3923e+01 1.54975e+00 0.5000 4.3923e+01 11\n", - " 9 4.3877e+02 4.8071e+00 2.5894e+00 4.0807e+01 2.40318e+00 0.2500 4.0807e+01 15\n", - " 10 4.2758e+02 4.8087e+00 3.8944e+00 3.8382e+01 1.55215e+00 0.5000 3.8382e+01 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.4140e+03 6.1356e+00 9.3078e+01 4.7711e+01 6.47390e+00 0.5000 ---- 25\n", - " 2 1.2321e+03 5.2773e+00 7.4190e+01 4.8496e+01 7.25153e+00 0.2500 3.1829e+02 25\n", - " 3 1.1211e+03 6.4621e+00 6.7042e+01 4.4422e+01 4.53730e+00 0.2500 6.0853e+02 20\n", - " 4 9.9921e+02 6.3735e+00 5.9958e+01 3.9325e+01 2.96118e+00 1.0000 6.2014e+02 17\n", - " 5 7.5148e+02 6.9008e+00 5.4597e+01 1.9861e+01 7.74842e+00 0.1250 7.4936e+02 25\n", - " 6 7.1071e+02 7.4113e+00 5.1831e+01 1.8499e+01 4.01800e+00 0.2500 8.2295e+02 25\n", - " 7 7.0034e+02 7.3584e+00 4.7977e+01 2.1321e+01 2.61933e+00 0.5000 8.1274e+02 19\n", - " 8 6.6154e+02 5.7959e+00 4.1590e+01 2.3985e+01 3.85261e+00 0.1250 6.0424e+02 12\n", - " 9 6.3589e+02 5.5924e+00 3.9456e+01 2.3574e+01 1.60144e+00 1.0000 5.7114e+02 12\n", - " 10 5.9884e+02 4.3462e+00 1.8122e+01 4.1327e+01 6.12157e+00 0.0625 2.4831e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.4930e+03 5.3962e+00 1.0651e+02 4.2254e+01 6.40959e+00 0.5000 ---- 3\n", - " 2 1.3318e+03 4.8333e+00 8.6261e+01 4.6433e+01 6.11872e+00 0.2500 4.4053e+02 3\n", - " 3 1.0488e+03 5.2856e+00 6.9126e+01 3.5226e+01 3.25633e+00 1.0000 5.6895e+02 25\n", - " 4 6.1942e+02 4.4521e+00 3.5571e+01 2.5926e+01 7.23666e+00 0.1250 5.0539e+02 25\n", - " 5 6.1170e+02 4.6854e+00 3.7294e+01 2.3408e+01 4.30496e+00 0.2500 5.5684e+02 25\n", - " 6 6.0031e+02 4.5047e+00 3.4367e+01 2.5213e+01 1.98400e+00 0.5000 5.2062e+02 25\n", - " 7 5.3693e+02 3.7402e+00 2.5782e+01 2.7538e+01 2.75391e+00 0.2500 3.4703e+02 11\n", - " 8 5.0713e+02 3.6857e+00 2.4154e+01 2.6191e+01 1.41207e+00 1.0000 3.2999e+02 11\n", - " 9 4.3660e+02 3.4806e+00 1.9164e+01 2.4148e+01 5.33780e+00 0.0625 2.5080e+02 25\n", - " 10 4.2731e+02 3.4695e+00 1.9404e+01 2.2981e+01 3.87138e+00 0.1250 2.5273e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.2605e+03 4.1934e+00 9.5593e+01 3.0035e+01 5.95995e+00 0.5000 ---- 3\n", - " 2 1.0944e+03 3.5953e+00 6.4984e+01 4.4093e+01 5.78301e+00 0.5000 3.4875e+02 3\n", - " 3 1.0887e+03 6.7494e+00 7.1389e+01 3.6806e+01 6.25674e+00 0.2500 8.6181e+02 3\n", - " 4 1.0694e+03 8.7918e+00 7.3848e+01 3.2218e+01 2.45696e+00 1.0000 1.0777e+03 3\n", - " 5 5.2254e+02 2.6731e+00 1.6104e+01 3.5883e+01 4.77022e+00 0.1250 2.0588e+02 3\n", - " 6 4.7431e+02 2.6665e+00 1.6542e+01 3.0622e+01 2.77849e+00 0.2500 2.1282e+02 3\n", - " 7 4.2704e+02 2.5981e+00 1.4012e+01 2.8432e+01 1.55826e+00 0.5000 1.7903e+02 3\n", - " 8 3.7438e+02 2.4948e+00 7.6653e+00 2.9524e+01 1.96939e+00 0.2500 1.0001e+02 3\n", - " 9 3.0643e+02 2.4793e+00 6.2340e+00 2.4162e+01 1.42090e+00 0.5000 8.3031e+01 3\n", - " 10 1.8741e+02 2.4580e+00 3.8006e+00 1.4694e+01 2.11733e+00 0.1250 4.6438e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 9.4233e+02 2.9662e+00 7.7281e+01 1.6656e+01 4.73943e+00 0.5000 ---- 3\n", - " 2 7.0148e+02 2.3061e+00 4.6381e+01 2.3536e+01 4.58660e+00 0.2500 1.2201e+02 3\n", - " 3 5.9730e+02 2.2090e+00 3.6684e+01 2.2825e+01 2.31034e+00 1.0000 1.5034e+02 3\n", - " 4 3.5507e+02 1.8734e+00 1.1575e+01 2.3744e+01 4.40424e+00 0.1250 5.9111e+01 3\n", - " 5 3.3536e+02 1.8737e+00 1.1255e+01 2.2093e+01 2.75664e+00 0.1250 6.9223e+01 3\n", - " 6 3.1387e+02 1.8677e+00 1.0032e+01 2.1168e+01 1.83037e+00 0.2500 6.2986e+01 3\n", - " 7 2.8894e+02 1.8583e+00 7.5906e+00 2.1117e+01 1.22379e+00 0.5000 4.8613e+01 3\n", - " 8 2.7436e+02 1.8480e+00 3.7918e+00 2.3459e+01 1.38929e+00 0.2500 2.4525e+01 3\n", - " 9 2.4610e+02 1.8464e+00 2.8257e+00 2.1599e+01 1.00319e+00 0.5000 2.1599e+01 3\n", - " 10 1.5435e+02 1.8455e+00 1.4145e+00 1.3835e+01 1.43430e+00 0.1250 1.3835e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 8.3632e+02 2.1937e+00 7.0306e+01 1.3106e+01 4.44000e+00 0.5000 ---- 3\n", - " 2 6.7035e+02 1.7046e+00 4.5025e+01 2.1840e+01 4.13249e+00 0.2500 1.2384e+02 3\n", - " 3 5.8078e+02 1.6128e+00 3.5362e+01 2.2555e+01 2.07884e+00 1.0000 1.2305e+02 3\n", - " 4 2.9277e+02 1.3620e+00 6.2869e+00 2.2853e+01 3.19029e+00 0.1250 2.2853e+01 3\n", - " 5 2.7383e+02 1.3612e+00 5.5220e+00 2.1725e+01 2.25279e+00 0.1250 2.1725e+01 3\n", - " 6 2.5632e+02 1.3607e+00 4.8498e+00 2.0646e+01 1.51602e+00 0.2500 2.0646e+01 3\n", - " 7 2.4193e+02 1.3605e+00 3.6775e+00 2.0380e+01 9.56711e-01 0.5000 2.0380e+01 3\n", - " 8 2.2379e+02 1.3606e+00 1.8351e+00 2.0408e+01 1.39934e+00 0.2500 2.0408e+01 3\n", - " 9 2.1737e+02 1.3603e+00 1.3769e+00 2.0225e+01 1.02822e+00 0.5000 2.0225e+01 3\n", - " 10 1.5010e+02 1.3608e+00 6.8947e-01 1.4184e+01 1.53413e+00 0.1250 1.4184e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.3591e+02 1.5932e+00 6.2902e+01 1.0530e+01 4.24022e+00 0.5000 ---- 3\n", - " 2 6.3133e+02 1.2941e+00 4.5466e+01 1.7537e+01 3.64153e+00 0.5000 1.4914e+02 3\n", - " 3 6.2120e+02 1.1961e+00 2.7665e+01 3.4336e+01 2.49903e+00 0.5000 1.6708e+02 3\n", - " 4 4.6105e+02 1.1121e+00 1.7114e+01 2.8879e+01 2.41374e+00 0.5000 1.3539e+02 3\n", - " 5 4.3647e+02 1.0580e+00 1.0775e+01 3.2766e+01 2.12724e+00 0.5000 1.0460e+02 3\n", - " 6 3.9753e+02 1.0240e+00 7.1507e+00 3.2500e+01 2.09310e+00 0.5000 7.3006e+01 3\n", - " 7 3.7295e+02 1.0071e+00 4.7965e+00 3.2398e+01 2.07401e+00 0.2500 5.1219e+01 3\n", - " 8 3.0270e+02 1.0011e+00 3.7762e+00 2.6393e+01 1.23523e+00 1.0000 4.0511e+01 3\n", - " 9 2.0822e+02 9.9284e-01 6.8062e-02 2.0654e+01 2.69004e+00 0.1250 2.0654e+01 3\n", - " 10 2.0101e+02 9.9229e-01 6.6643e-02 1.9935e+01 2.09394e+00 0.1250 1.9935e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.5835e+02 1.1608e+00 5.4953e+01 1.0765e+01 4.30256e+00 0.5000 ---- 3\n", - " 2 5.7433e+02 1.0488e+00 4.2005e+01 1.5323e+01 3.27237e+00 0.2500 1.9931e+02 3\n", - " 3 5.1511e+02 9.2029e-01 3.1960e+01 1.9459e+01 2.13354e+00 1.0000 1.5841e+02 3\n", - " 4 4.5586e+02 7.2175e-01 4.7829e+00 4.0731e+01 2.75557e+00 0.5000 4.0731e+01 3\n", - " 5 4.1621e+02 7.2034e-01 3.1461e+00 3.8403e+01 2.00504e+00 0.5000 3.8403e+01 3\n", - " 6 2.5703e+02 7.1897e-01 1.6078e+00 2.4024e+01 1.75313e+00 0.2500 2.4024e+01 3\n", - " 7 2.3366e+02 7.1845e-01 1.2024e+00 2.2092e+01 1.17796e+00 0.2500 2.2092e+01 3\n", - " 8 1.9850e+02 7.1816e-01 9.0233e-01 1.8876e+01 9.28245e-01 0.5000 1.8876e+01 3\n", - " 9 1.8080e+02 7.1832e-01 4.4602e-01 1.7562e+01 1.27016e+00 0.2500 1.7562e+01 3\n", - " 10 1.6849e+02 7.1794e-01 3.3543e-01 1.6442e+01 8.91381e-01 0.5000 1.6442e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0633e+02 8.8381e-01 4.6558e+01 3.9869e+00 4.02695e+00 0.2500 ---- 3\n", - " 2 4.6409e+02 7.5046e-01 3.9626e+01 6.7079e+00 2.69335e+00 0.5000 1.8851e+02 3\n", - " 3 4.3589e+02 6.1326e-01 2.5582e+01 1.7946e+01 1.65474e+00 0.5000 9.6072e+01 3\n", - " 4 3.6608e+02 5.6017e-01 1.3516e+01 2.3036e+01 1.44025e+00 0.5000 4.8005e+01 3\n", - " 5 2.8786e+02 5.4710e-01 6.9662e+00 2.1765e+01 1.32099e+00 0.2500 2.4016e+01 3\n", - " 6 2.4474e+02 5.4499e-01 5.2346e+00 1.9185e+01 1.18111e+00 1.0000 1.9185e+01 3\n", - " 7 2.4092e+02 5.4413e-01 1.8922e-01 2.3848e+01 2.34397e+00 0.1250 2.3848e+01 3\n", - " 8 2.1844e+02 5.4361e-01 1.6675e-01 2.1623e+01 2.04786e+00 0.1250 2.1623e+01 3\n", - " 9 2.0115e+02 5.4316e-01 1.4661e-01 1.9914e+01 1.55856e+00 0.1250 1.9914e+01 3\n", - " 10 1.8487e+02 5.4284e-01 1.2843e-01 1.8304e+01 9.87085e-01 0.2500 1.8304e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.3634e+02 7.4341e-01 4.8103e+01 5.4564e+00 3.46466e+00 0.5000 ---- 3\n", - " 2 5.1478e+02 7.7577e-01 3.7195e+01 1.4205e+01 1.99088e+00 0.5000 2.2791e+02 3\n", - " 3 4.1627e+02 5.3124e-01 1.9498e+01 2.2076e+01 1.51126e+00 0.5000 1.1601e+02 3\n", - " 4 2.8518e+02 4.6951e-01 9.8968e+00 1.8574e+01 1.52266e+00 0.2500 5.8039e+01 3\n", - " 5 2.4645e+02 4.6060e-01 7.4359e+00 1.7163e+01 1.13679e+00 0.5000 4.3525e+01 3\n", - " 6 1.5458e+02 4.5317e-01 3.7471e+00 1.1666e+01 1.37325e+00 0.1250 2.1752e+01 3\n", - " 7 1.4996e+02 4.5245e-01 3.2793e+00 1.1671e+01 1.08328e+00 0.1250 1.9033e+01 3\n", - " 8 1.4231e+02 4.5197e-01 2.8699e+00 1.1316e+01 8.48772e-01 0.2500 1.6653e+01 3\n", - " 9 1.3610e+02 4.5141e-01 2.1537e+00 1.1411e+01 9.71267e-01 0.1250 1.2490e+01 3\n", - " 10 1.2507e+02 4.5114e-01 1.8845e+00 1.0578e+01 7.01464e-01 0.5000 1.0928e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1106e+02 6.9039e-01 4.8764e+01 2.2731e+00 3.39765e+00 0.5000 ---- 3\n", - " 2 4.5838e+02 5.5610e-01 3.2136e+01 1.3646e+01 2.05782e+00 0.5000 1.3867e+02 3\n", - " 3 4.3123e+02 4.3950e-01 1.7123e+01 2.5955e+01 1.76325e+00 0.5000 7.7927e+01 3\n", - " 4 3.4173e+02 4.0688e-01 8.7545e+00 2.5378e+01 1.51719e+00 0.2500 4.0093e+01 3\n", - " 5 2.8137e+02 4.0211e-01 6.5784e+00 2.1518e+01 1.24128e+00 0.5000 3.0113e+01 3\n", - " 6 1.6899e+02 3.9891e-01 3.3196e+00 1.3539e+01 1.52185e+00 0.1250 1.5144e+01 3\n", - " 7 1.6679e+02 3.9848e-01 2.9053e+00 1.3734e+01 1.04273e+00 0.1250 1.3734e+01 25\n", - " 8 1.5485e+02 3.9827e-01 2.5425e+00 1.2903e+01 9.33744e-01 0.2500 1.2903e+01 25\n", - " 9 1.4906e+02 3.9807e-01 1.9080e+00 1.2958e+01 1.08981e+00 0.1250 1.2958e+01 25\n", - " 10 1.4249e+02 3.9791e-01 1.6693e+00 1.2540e+01 7.63156e-01 1.0000 1.2540e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0157e+02 6.4849e-01 4.6906e+01 3.1857e+00 3.06187e+00 0.5000 ---- 25\n", - " 2 4.3052e+02 4.5362e-01 2.8447e+01 1.4559e+01 2.01832e+00 0.2500 1.3231e+02 25\n", - " 3 3.9122e+02 4.0970e-01 2.1612e+01 1.7470e+01 1.33796e+00 1.0000 9.9453e+01 21\n", - " 4 2.1350e+02 3.5903e-01 2.6357e+00 1.8678e+01 1.75592e+00 0.1250 1.8678e+01 25\n", - " 5 1.9610e+02 3.5832e-01 2.3065e+00 1.7268e+01 1.26790e+00 0.1250 1.7268e+01 10\n", - " 6 1.8588e+02 3.5783e-01 2.0183e+00 1.6534e+01 7.22853e-01 0.2500 1.6534e+01 8\n", - " 7 1.7834e+02 3.5738e-01 1.5138e+00 1.6285e+01 6.77163e-01 0.2500 1.6285e+01 8\n", - " 8 1.6578e+02 3.5715e-01 1.1353e+00 1.5407e+01 6.14119e-01 0.2500 1.5407e+01 8\n", - " 9 1.5108e+02 3.5707e-01 8.5153e-01 1.4220e+01 6.12124e-01 0.2500 1.4220e+01 7\n", - " 10 1.4084e+02 3.5704e-01 6.3852e-01 1.3409e+01 6.36306e-01 0.2500 1.3409e+01 8\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0850e+02 6.3011e-01 4.7126e+01 3.6607e+00 2.65906e+00 1.0000 ---- 3\n", - " 2 5.0709e+02 5.0594e-01 2.0524e+01 3.0135e+01 1.89177e+00 0.5000 1.8430e+02 3\n", - " 3 3.9576e+02 3.7978e-01 1.0283e+01 2.9255e+01 1.46829e+00 1.0000 9.3161e+01 3\n", - " 4 3.4590e+02 3.3842e-01 1.8414e-01 3.4372e+01 2.63390e+00 0.2500 3.4372e+01 3\n", - " 5 3.1900e+02 3.3761e-01 1.4153e-01 3.1725e+01 1.40796e+00 0.5000 3.1725e+01 3\n", - " 6 2.8803e+02 3.3702e-01 7.2132e-02 2.8698e+01 1.13279e+00 0.5000 2.8698e+01 3\n", - " 7 2.0899e+02 3.3708e-01 3.6619e-02 2.0829e+01 1.03800e+00 0.5000 2.0829e+01 3\n", - " 8 1.9452e+02 3.3725e-01 1.8322e-02 1.9400e+01 1.22862e+00 0.2500 1.9400e+01 3\n", - " 9 1.7376e+02 3.3705e-01 1.4961e-02 1.7327e+01 9.19427e-01 0.5000 1.7327e+01 3\n", - " 10 9.7698e+01 3.3765e-01 9.1779e-03 9.7268e+00 1.24848e+00 0.0625 9.7268e+00 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1412e+02 6.2165e-01 4.7521e+01 3.8287e+00 2.68438e+00 1.0000 ---- 3\n", - " 2 4.0675e+02 4.0658e-01 1.6129e+01 2.4505e+01 2.39753e+00 0.2500 1.1957e+02 3\n", - " 3 3.6211e+02 3.7495e-01 1.2095e+01 2.4078e+01 1.14534e+00 1.0000 8.9763e+01 3\n", - " 4 3.3972e+02 3.3609e-01 2.8420e-01 3.3654e+01 2.14428e+00 0.2500 3.3654e+01 3\n", - " 5 2.6073e+02 3.3522e-01 2.1377e-01 2.5826e+01 1.13583e+00 0.5000 2.5826e+01 3\n", - " 6 2.3214e+02 3.3486e-01 1.0630e-01 2.3074e+01 1.17204e+00 0.5000 2.3074e+01 3\n", - " 7 2.0064e+02 3.3519e-01 5.4434e-02 1.9976e+01 1.26130e+00 0.2500 1.9976e+01 3\n", - " 8 1.8260e+02 3.3494e-01 4.1155e-02 1.8185e+01 9.40417e-01 0.5000 1.8185e+01 3\n", - " 9 1.0473e+02 3.3558e-01 2.2798e-02 1.0417e+01 1.34313e+00 0.1250 1.0417e+01 25\n", - " 10 1.0239e+02 3.3551e-01 2.0200e-02 1.0186e+01 1.03070e+00 0.0625 1.0186e+01 18\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1614e+02 6.1391e-01 4.7214e+01 4.3386e+00 2.45141e+00 1.0000 ---- 3\n", - " 2 3.9398e+02 3.6376e-01 1.4255e+01 2.5106e+01 2.27634e+00 0.2500 8.3995e+01 3\n", - " 3 3.5112e+02 3.4769e-01 1.0694e+01 2.4383e+01 1.16146e+00 0.5000 6.3036e+01 3\n", - " 4 2.4100e+02 3.3321e-01 5.3459e+00 1.8721e+01 1.39053e+00 0.2500 3.1606e+01 3\n", - " 5 2.1027e+02 3.3068e-01 4.0099e+00 1.6984e+01 8.22092e-01 0.5000 2.3710e+01 3\n", - " 6 1.5197e+02 3.2908e-01 2.0054e+00 1.3159e+01 1.35693e+00 0.1250 1.3159e+01 3\n", - " 7 1.4556e+02 3.2868e-01 1.7547e+00 1.2768e+01 9.72486e-01 0.5000 1.2768e+01 25\n", - " 8 1.2209e+02 3.2880e-01 8.7868e-01 1.1297e+01 1.74238e+00 0.1250 1.1297e+01 25\n", - " 9 1.2003e+02 3.2844e-01 7.6903e-01 1.1202e+01 1.57441e+00 0.1250 1.1202e+01 25\n", - " 10 1.1728e+02 3.2820e-01 6.7336e-01 1.1022e+01 9.17685e-01 0.2500 1.1022e+01 22\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1511e+02 6.0167e-01 4.8448e+01 3.0035e+00 2.30211e+00 1.0000 ---- 3\n", - " 2 3.1814e+02 3.3427e-01 1.3537e+01 1.8243e+01 2.04143e+00 0.1250 6.2398e+01 3\n", - " 3 2.9900e+02 3.2940e-01 1.1845e+01 1.8022e+01 1.45276e+00 0.2500 5.4603e+01 3\n", - " 4 2.6978e+02 3.2271e-01 8.8818e+00 1.8063e+01 1.09112e+00 0.5000 4.0968e+01 3\n", - " 5 2.4031e+02 3.1622e-01 4.4398e+00 1.9559e+01 8.96188e-01 0.5000 2.0519e+01 3\n", - " 6 2.1000e+02 3.1461e-01 2.2202e+00 1.8748e+01 8.90868e-01 0.2500 1.8748e+01 3\n", - " 7 1.7133e+02 3.1433e-01 1.6653e+00 1.5437e+01 8.64144e-01 0.5000 1.5437e+01 3\n", - " 8 1.1892e+02 3.1464e-01 8.3170e-01 1.1029e+01 1.17520e+00 0.1250 1.1029e+01 3\n", - " 9 1.1737e+02 3.1448e-01 7.2789e-01 1.0978e+01 9.19229e-01 0.1250 1.0978e+01 3\n", - " 10 1.0947e+02 3.1444e-01 6.3689e-01 1.0279e+01 7.76042e-01 0.2500 1.0279e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1353e+02 5.9259e-01 4.8234e+01 3.0588e+00 2.19483e+00 1.0000 ---- 3\n", - " 2 3.7920e+02 3.1580e-01 1.2480e+01 2.5409e+01 1.90250e+00 0.5000 4.8606e+01 3\n", - " 3 3.7906e+02 3.0601e-01 6.2312e+00 3.1645e+01 1.32521e+00 1.0000 3.1645e+01 3\n", - " 4 3.4878e+02 3.0447e-01 7.3288e-02 3.4774e+01 2.26605e+00 0.2500 3.4774e+01 3\n", - " 5 2.9392e+02 3.0370e-01 5.6208e-02 2.9306e+01 1.53866e+00 0.2500 2.9306e+01 3\n", - " 6 2.5349e+02 3.0322e-01 4.2490e-02 2.5276e+01 1.09174e+00 0.5000 2.5276e+01 3\n", - " 7 1.8871e+02 3.0359e-01 2.1071e-02 1.8819e+01 1.20612e+00 0.2500 1.8819e+01 3\n", - " 8 1.6868e+02 3.0331e-01 1.6212e-02 1.6821e+01 8.36629e-01 0.5000 1.6821e+01 3\n", - " 9 1.1336e+02 3.0374e-01 1.1154e-02 1.1295e+01 1.20683e+00 0.1250 1.1295e+01 3\n", - " 10 1.0755e+02 3.0356e-01 9.6119e-03 1.0715e+01 7.72144e-01 0.2500 1.0715e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0570e+02 5.8376e-01 4.8158e+01 2.3538e+00 2.09176e+00 1.0000 ---- 3\n", - " 2 2.9348e+02 3.0352e-01 1.2342e+01 1.6976e+01 1.77572e+00 0.2500 3.9618e+01 3\n", - " 3 2.6592e+02 2.9979e-01 9.2510e+00 1.7311e+01 1.24937e+00 0.5000 2.9719e+01 3\n", - " 4 2.4285e+02 2.9609e-01 4.6136e+00 1.9642e+01 8.83620e-01 0.5000 1.9642e+01 3\n", - " 5 1.7703e+02 2.9537e-01 2.3052e+00 1.5369e+01 7.73230e-01 0.5000 1.5369e+01 3\n", - " 6 1.6992e+02 2.9510e-01 1.1485e+00 1.5814e+01 8.03092e-01 0.5000 1.5814e+01 3\n", - " 7 1.6618e+02 2.9506e-01 5.7713e-01 1.6011e+01 8.32644e-01 0.2500 1.6011e+01 3\n", - " 8 1.3410e+02 2.9499e-01 4.3241e-01 1.2948e+01 7.15466e-01 0.5000 1.2948e+01 3\n", - " 9 7.7581e+01 2.9538e-01 2.1527e-01 7.5132e+00 9.34568e-01 0.1250 7.5132e+00 3\n", - " 10 7.4508e+01 2.9534e-01 1.8851e-01 7.2328e+00 6.66888e-01 0.1250 7.2328e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1031e+02 5.7738e-01 4.8202e+01 2.7715e+00 2.11449e+00 1.0000 ---- 3\n", - " 2 3.0508e+02 2.9394e-01 1.2053e+01 1.8426e+01 1.77874e+00 0.2500 3.2865e+01 3\n", - " 3 2.8088e+02 2.9109e-01 9.0376e+00 1.9022e+01 9.73672e-01 1.0000 2.4653e+01 3\n", - " 4 1.8005e+02 2.8912e-01 1.2134e-01 1.7855e+01 1.90250e+00 0.2500 1.7855e+01 3\n", - " 5 1.6712e+02 2.8845e-01 9.3282e-02 1.6590e+01 1.30132e+00 0.2500 1.6590e+01 3\n", - " 6 1.6207e+02 2.8804e-01 7.0984e-02 1.6107e+01 7.89256e-01 0.5000 1.6107e+01 3\n", - " 7 1.2062e+02 2.8836e-01 3.5432e-02 1.1998e+01 1.09183e+00 0.1250 1.1998e+01 3\n", - " 8 1.0936e+02 2.8819e-01 3.1080e-02 1.0876e+01 6.76523e-01 0.2500 1.0876e+01 3\n", - " 9 1.0113e+02 2.8815e-01 2.3112e-02 1.0061e+01 6.07863e-01 0.2500 1.0061e+01 3\n", - " 10 8.6294e+01 2.8822e-01 1.7589e-02 8.5830e+00 6.27344e-01 0.2500 8.5830e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0277e+02 5.7063e-01 4.8212e+01 2.0084e+00 1.99675e+00 1.0000 ---- 3\n", - " 2 3.4896e+02 2.8451e-01 1.1706e+01 2.3162e+01 1.42893e+00 0.5000 2.7832e+01 3\n", - " 3 2.8547e+02 2.8103e-01 5.8418e+00 2.2677e+01 1.03083e+00 1.0000 2.2677e+01 3\n", - " 4 2.2875e+02 2.8101e-01 3.5340e-02 2.2811e+01 1.85288e+00 0.2500 2.2811e+01 3\n", - " 5 2.2502e+02 2.8048e-01 2.7025e-02 2.2447e+01 1.19491e+00 0.2500 2.2447e+01 3\n", - " 6 1.8461e+02 2.8016e-01 2.0497e-02 1.8413e+01 8.04407e-01 0.5000 1.8413e+01 3\n", - " 7 1.4191e+02 2.8028e-01 1.0007e-02 1.4153e+01 8.02591e-01 0.2500 1.4153e+01 3\n", - " 8 1.1772e+02 2.8018e-01 7.5220e-03 1.1736e+01 6.55810e-01 0.5000 1.1736e+01 3\n", - " 9 6.8869e+01 2.8053e-01 5.3941e-03 6.8534e+00 8.91168e-01 0.2500 6.8534e+00 25\n", - " 10 6.6944e+01 2.8054e-01 4.7529e-03 6.6616e+00 7.77839e-01 0.1250 6.6616e+00 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1649e+02 5.6375e-01 4.7714e+01 3.8784e+00 2.06369e+00 1.0000 ---- 3\n", - " 2 3.2230e+02 2.7534e-01 1.1529e+01 2.0673e+01 1.81371e+00 0.2500 2.4503e+01 3\n", - " 3 2.8112e+02 2.7351e-01 8.6456e+00 1.9439e+01 9.98061e-01 1.0000 1.9439e+01 3\n", - " 4 2.5240e+02 2.7249e-01 1.1727e-01 2.5095e+01 1.97672e+00 0.2500 2.5095e+01 3\n", - " 5 2.1635e+02 2.7186e-01 9.1747e-02 2.1516e+01 1.11460e+00 0.5000 2.1516e+01 3\n", - " 6 1.9706e+02 2.7160e-01 5.1672e-02 1.9627e+01 9.44204e-01 0.5000 1.9627e+01 3\n", - " 7 1.3848e+02 2.7186e-01 2.4130e-02 1.3797e+01 9.16400e-01 0.2500 1.3797e+01 3\n", - " 8 1.2550e+02 2.7174e-01 1.8714e-02 1.2504e+01 7.14978e-01 0.5000 1.2504e+01 3\n", - " 9 7.6871e+01 2.7210e-01 1.1460e-02 7.6484e+00 1.08931e+00 0.1250 7.6484e+00 3\n", - " 10 7.5942e+01 2.7194e-01 1.0023e-02 7.5570e+00 5.83987e-01 0.2500 7.5570e+00 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9769e+02 5.5633e-01 4.7523e+01 2.1903e+00 2.00347e+00 1.0000 ---- 3\n", - " 2 2.5863e+02 2.6605e-01 1.1609e+01 1.4227e+01 1.74353e+00 0.2500 2.1153e+01 3\n", - " 3 2.4539e+02 2.6462e-01 8.7050e+00 1.5808e+01 8.24955e-01 1.0000 1.5865e+01 3\n", - " 4 1.2923e+02 2.6386e-01 8.1765e-02 1.2815e+01 1.63615e+00 0.1250 1.2815e+01 3\n", - " 5 1.1788e+02 2.6358e-01 7.1509e-02 1.1690e+01 1.24886e+00 0.1250 1.1690e+01 3\n", - " 6 1.0638e+02 2.6339e-01 6.2368e-02 1.0549e+01 8.08612e-01 0.2500 1.0549e+01 3\n", - " 7 9.4025e+01 2.6329e-01 4.5978e-02 9.3302e+00 5.44781e-01 0.5000 9.3302e+00 3\n", - " 8 6.3337e+01 2.6351e-01 2.4833e-02 6.2825e+00 9.68969e-01 0.0625 6.2825e+00 3\n", - " 9 6.0393e+01 2.6343e-01 2.3247e-02 5.9897e+00 7.02399e-01 0.1250 5.9897e+00 3\n", - " 10 5.8035e+01 2.6337e-01 2.0194e-02 5.7570e+00 3.95120e-01 1.0000 5.7570e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.8883e+02 5.5032e-01 4.6611e+01 2.2165e+00 2.03396e+00 1.0000 ---- 3\n", - " 2 4.2793e+02 2.5748e-01 1.1641e+01 3.1126e+01 1.60935e+00 0.5000 3.1126e+01 3\n", - " 3 2.8824e+02 2.5564e-01 5.8168e+00 2.2982e+01 1.08579e+00 1.0000 2.2982e+01 3\n", - " 4 2.8457e+02 2.5611e-01 4.8369e-02 2.8383e+01 1.98676e+00 0.2500 2.8383e+01 3\n", - " 5 2.4971e+02 2.5544e-01 3.7793e-02 2.4907e+01 1.07189e+00 0.5000 2.4907e+01 3\n", - " 6 2.2801e+02 2.5513e-01 1.9138e-02 2.2756e+01 8.90730e-01 0.5000 2.2756e+01 3\n", - " 7 1.4698e+02 2.5541e-01 1.0040e-02 1.4662e+01 1.04851e+00 0.5000 1.4662e+01 25\n", - " 8 9.4223e+01 2.5572e-01 9.2492e-03 9.3875e+00 1.39265e+00 0.1250 9.3875e+00 25\n", - " 9 8.8703e+01 2.5561e-01 8.1064e-03 8.8366e+00 8.76530e-01 0.5000 8.8366e+00 25\n", - " 10 7.1435e+01 2.5562e-01 5.3773e-03 7.1125e+00 9.42403e-01 0.1250 7.1125e+00 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1377e+02 5.4304e-01 4.5558e+01 5.7646e+00 1.99475e+00 1.0000 ---- 3\n", - " 2 2.5542e+02 2.4868e-01 1.1082e+01 1.4435e+01 1.87649e+00 0.2500 1.6864e+01 3\n", - " 3 2.5202e+02 2.4752e-01 8.3109e+00 1.6866e+01 9.07222e-01 1.0000 1.6866e+01 3\n", - " 4 1.9902e+02 2.4719e-01 3.9649e-02 1.9837e+01 1.64448e+00 0.2500 1.9837e+01 3\n", - " 5 1.8290e+02 2.4662e-01 2.9962e-02 1.8236e+01 8.89212e-01 0.5000 1.8236e+01 3\n", - " 6 1.4778e+02 2.4672e-01 1.6463e-02 1.4737e+01 9.74350e-01 0.2500 1.4737e+01 3\n", - " 7 1.3972e+02 2.4654e-01 1.2444e-02 1.3935e+01 6.89147e-01 1.0000 1.3935e+01 3\n", - " 8 1.2322e+02 2.4747e-01 4.3064e-03 1.2293e+01 1.74534e+00 0.1250 1.2293e+01 3\n", - " 9 1.1633e+02 2.4713e-01 4.2200e-03 1.1604e+01 1.47136e+00 0.1250 1.1604e+01 3\n", - " 10 1.0953e+02 2.4685e-01 3.9782e-03 1.0924e+01 8.87013e-01 0.2500 1.0924e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9412e+02 5.3579e-01 4.5089e+01 4.2692e+00 1.74802e+00 1.0000 ---- 3\n", - " 2 2.5849e+02 2.3783e-01 1.0847e+01 1.4978e+01 1.24681e+00 0.5000 1.5222e+01 3\n", - " 3 2.2380e+02 2.3650e-01 5.4139e+00 1.6942e+01 8.29767e-01 1.0000 1.6942e+01 3\n", - " 4 1.7405e+02 2.3681e-01 2.3541e-02 1.7358e+01 1.48549e+00 0.2500 1.7358e+01 3\n", - " 5 1.5988e+02 2.3648e-01 1.7753e-02 1.5947e+01 9.84474e-01 0.2500 1.5947e+01 3\n", - " 6 1.3610e+02 2.3626e-01 1.3472e-02 1.3573e+01 6.45871e-01 0.5000 1.3573e+01 3\n", - " 7 9.3179e+01 2.3640e-01 6.6563e-03 9.2876e+00 7.10607e-01 0.2500 9.2876e+00 3\n", - " 8 8.4704e+01 2.3631e-01 5.0629e-03 8.4417e+00 4.69508e-01 1.0000 8.4417e+00 3\n", - " 9 8.3965e+01 2.3681e-01 4.1513e-03 8.3687e+00 1.32939e+00 0.1250 8.3687e+00 3\n", - " 10 7.9756e+01 2.3658e-01 3.6990e-03 7.9482e+00 8.49921e-01 0.1250 7.9482e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9379e+02 5.2857e-01 4.5138e+01 4.1880e+00 1.91016e+00 1.0000 ---- 3\n", - " 2 2.5686e+02 2.2867e-01 1.0877e+01 1.4786e+01 1.23963e+00 0.5000 1.4786e+01 3\n", - " 3 2.1088e+02 2.2757e-01 5.4315e+00 1.5634e+01 7.77454e-01 1.0000 1.5634e+01 3\n", - " 4 1.3270e+02 2.2782e-01 1.8056e-02 1.3229e+01 1.52388e+00 0.1250 1.3229e+01 3\n", - " 5 1.1862e+02 2.2761e-01 1.5891e-02 1.1823e+01 1.10819e+00 0.1250 1.1823e+01 3\n", - " 6 1.0897e+02 2.2748e-01 1.3962e-02 1.0860e+01 7.35735e-01 0.5000 1.0860e+01 3\n", - " 7 1.0164e+02 2.2750e-01 7.5322e-03 1.0134e+01 7.19224e-01 0.2500 1.0134e+01 3\n", - " 8 8.6421e+01 2.2742e-01 5.8368e-03 8.6135e+00 4.14704e-01 1.0000 8.6135e+00 3\n", - " 9 5.8174e+01 2.2782e-01 3.0118e-03 5.7916e+00 1.24163e+00 0.0625 5.7916e+00 3\n", - " 10 5.5734e+01 2.2772e-01 2.8391e-03 5.5478e+00 1.02062e+00 0.0625 5.5478e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.5592e+02 5.2349e-01 4.3377e+01 2.1630e+00 1.90389e+00 1.0000 ---- 3\n", - " 2 2.6528e+02 2.2329e-01 1.0619e+01 1.5886e+01 1.32930e+00 0.5000 1.5886e+01 3\n", - " 3 2.2186e+02 2.2231e-01 5.3063e+00 1.6857e+01 7.88618e-01 1.0000 1.6857e+01 3\n", - " 4 1.3638e+02 2.2251e-01 2.2106e-02 1.3594e+01 1.45186e+00 0.1250 1.3594e+01 3\n", - " 5 1.2367e+02 2.2231e-01 1.9397e-02 1.2325e+01 1.00515e+00 0.2500 1.2325e+01 3\n", - " 6 1.1713e+02 2.2211e-01 1.4731e-02 1.1676e+01 5.64842e-01 1.0000 1.1676e+01 3\n", - " 7 9.1918e+01 2.2249e-01 4.2436e-03 9.1653e+00 1.18993e+00 0.1250 9.1653e+00 3\n", - " 8 8.4038e+01 2.2231e-01 3.8615e-03 8.3777e+00 8.05991e-01 0.1250 8.3777e+00 3\n", - " 9 7.5766e+01 2.2222e-01 3.4469e-03 7.5510e+00 4.92542e-01 0.2500 7.5510e+00 3\n", - " 10 6.5692e+01 2.2219e-01 2.6432e-03 6.5443e+00 2.82163e-01 1.0000 6.5443e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.3550e+02 5.1922e-01 4.2103e+01 1.3944e+00 1.74358e+00 1.0000 ---- 3\n", - " 2 2.2611e+02 2.1673e-01 1.0076e+01 1.2513e+01 1.16903e+00 0.5000 1.2513e+01 3\n", - " 3 1.9585e+02 2.1585e-01 5.0333e+00 1.4530e+01 7.12443e-01 1.0000 1.4530e+01 3\n", - " 4 1.2118e+02 2.1602e-01 1.2965e-02 1.2084e+01 1.30533e+00 0.2500 1.2084e+01 3\n", - " 5 1.1100e+02 2.1572e-01 9.7372e-03 1.1069e+01 5.57156e-01 0.5000 1.1069e+01 3\n", - " 6 6.6865e+01 2.1581e-01 4.9466e-03 6.6599e+00 5.19882e-01 0.2500 6.6599e+00 3\n", - " 7 6.3841e+01 2.1575e-01 3.8098e-03 6.3588e+00 2.96068e-01 1.0000 6.3588e+00 3\n", - " 8 1.5171e+01 2.1603e-01 8.8424e-04 1.4946e+00 6.84594e-01 0.0625 1.4946e+00 3\n", - " 9 1.4867e+01 2.1598e-01 8.3405e-04 1.4643e+00 4.07149e-01 0.1250 1.4643e+00 3\n", - " 10 1.3540e+01 2.1594e-01 7.4739e-04 1.3316e+00 2.51010e-01 0.2500 1.3316e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1818e+02 5.1255e-01 4.1090e+01 6.7654e-01 1.62403e+00 1.0000 ---- 3\n", - " 2 1.8250e+02 2.0839e-01 9.7645e+00 8.4642e+00 1.11371e+00 0.5000 1.0574e+01 3\n", - " 3 1.7518e+02 2.0768e-01 4.8731e+00 1.2624e+01 6.72527e-01 1.0000 1.2624e+01 3\n", - " 4 1.2534e+02 2.0784e-01 8.1597e-03 1.2505e+01 1.20372e+00 0.2500 1.2505e+01 3\n", - " 5 1.1737e+02 2.0756e-01 6.1953e-03 1.1710e+01 6.15651e-01 0.5000 1.1710e+01 3\n", - " 6 9.6676e+01 2.0753e-01 4.6678e-03 9.6422e+00 4.88171e-01 0.5000 9.6422e+00 3\n", - " 7 7.3387e+01 2.0759e-01 1.7585e-03 7.3162e+00 4.73671e-01 0.2500 7.3162e+00 3\n", - " 8 5.8829e+01 2.0757e-01 1.3887e-03 5.8608e+00 3.06666e-01 1.0000 5.8608e+00 3\n", - " 9 1.8817e+01 2.0786e-01 1.3146e-03 1.8596e+00 5.18497e-01 0.1250 1.8596e+00 3\n", - " 10 1.7528e+01 2.0783e-01 1.1644e-03 1.7308e+00 3.72993e-01 0.2500 1.7308e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0082e+02 5.0605e-01 3.9341e+01 6.9030e-01 1.58659e+00 1.0000 ---- 3\n", - " 2 1.5500e+02 1.9975e-01 9.6320e+00 5.8481e+00 1.01076e+00 0.5000 9.4020e+00 3\n", - " 3 1.4183e+02 1.9923e-01 4.8045e+00 9.3589e+00 8.64963e-01 0.5000 9.3589e+00 3\n", - " 4 1.3082e+02 1.9904e-01 2.4019e+00 1.0660e+01 6.56502e-01 0.5000 1.0660e+01 3\n", - " 5 1.0234e+02 1.9904e-01 1.2005e+00 9.0141e+00 6.49921e-01 0.2500 9.0141e+00 3\n", - " 6 8.3284e+01 1.9902e-01 9.0043e-01 7.4080e+00 3.80491e-01 1.0000 7.4080e+00 3\n", - " 7 2.3177e+01 1.9937e-01 3.5359e-03 2.2943e+00 9.96559e-01 0.0625 2.2943e+00 3\n", - " 8 2.2617e+01 1.9929e-01 3.2979e-03 2.2384e+00 5.13068e-01 0.2500 2.2384e+00 25\n", - " 9 1.9352e+01 1.9925e-01 2.1544e-03 1.9131e+00 8.81345e-01 0.1250 1.9131e+00 25\n", - " 10 1.8149e+01 1.9917e-01 1.9167e-03 1.7931e+00 1.05425e+00 1.0000 1.7931e+00 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1237e+02 5.0045e-01 3.9194e+01 1.9925e+00 1.70169e+00 1.0000 ---- 3\n", - " 2 1.5275e+02 1.9128e-01 9.2594e+00 5.9969e+00 1.12260e+00 0.5000 8.6537e+00 3\n", - " 3 1.3436e+02 1.9083e-01 4.6223e+00 8.7949e+00 8.68612e-01 0.5000 8.7949e+00 3\n", - " 4 1.1379e+02 1.9071e-01 2.3109e+00 9.0491e+00 7.56579e-01 0.5000 9.0491e+00 3\n", - " 5 9.9570e+01 1.9069e-01 1.1551e+00 8.7829e+00 7.18700e-01 0.5000 8.7829e+00 3\n", - " 6 9.2696e+01 1.9070e-01 5.7776e-01 8.6728e+00 7.12337e-01 0.5000 8.6728e+00 3\n", - " 7 9.2470e+01 1.9068e-01 2.8894e-01 8.9390e+00 7.12088e-01 0.5000 8.9390e+00 3\n", - " 8 9.2432e+01 1.9069e-01 1.4471e-01 9.0794e+00 7.04716e-01 0.2500 9.0794e+00 3\n", - " 9 7.3489e+01 1.9067e-01 1.0858e-01 7.2213e+00 3.36445e-01 1.0000 7.2213e+00 3\n", - " 10 1.7198e+01 1.9097e-01 7.3503e-04 1.7000e+00 5.25031e-01 0.2500 1.7000e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1012e+02 4.9515e-01 4.0026e+01 9.3724e-01 1.50828e+00 1.0000 ---- 3\n", - " 2 1.5602e+02 1.8447e-01 8.8957e+00 6.6882e+00 8.09160e-01 1.0000 7.8121e+00 3\n", - " 3 1.4916e+02 1.8403e-01 3.5040e-02 1.4862e+01 1.41635e+00 0.5000 1.4862e+01 3\n", - " 4 1.4264e+02 1.8384e-01 1.9933e-02 1.4226e+01 8.40021e-01 1.0000 1.4226e+01 3\n", - " 5 1.0622e+02 1.8418e-01 5.2049e-03 1.0598e+01 1.69688e+00 0.1250 1.0598e+01 3\n", - " 6 9.5165e+01 1.8401e-01 4.7008e-03 9.4934e+00 1.09477e+00 0.2500 9.4934e+00 3\n", - " 7 8.1163e+01 1.8394e-01 3.5000e-03 8.0944e+00 4.94560e-01 1.0000 8.0944e+00 3\n", - " 8 5.1507e+01 1.8420e-01 4.4280e-03 5.1279e+00 1.15225e+00 0.1250 5.1279e+00 3\n", - " 9 4.6886e+01 1.8410e-01 4.1353e-03 4.6660e+00 6.45566e-01 0.2500 4.6660e+00 3\n", - " 10 4.1771e+01 1.8405e-01 3.5497e-03 4.1552e+00 2.67233e-01 1.0000 4.1552e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0821e+02 4.9059e-01 3.9605e+01 1.1667e+00 1.71014e+00 1.0000 ---- 3\n", - " 2 1.9081e+02 1.7870e-01 8.7034e+00 1.0360e+01 1.15208e+00 0.5000 1.0360e+01 3\n", - " 3 1.6018e+02 1.7830e-01 4.3496e+00 1.1651e+01 6.58213e-01 1.0000 1.1651e+01 3\n", - " 4 9.8446e+01 1.7849e-01 9.6910e-03 9.8171e+00 1.40617e+00 0.1250 9.8171e+00 3\n", - " 5 9.1386e+01 1.7835e-01 8.5191e-03 9.1123e+00 9.26753e-01 0.2500 9.1123e+00 3\n", - " 6 8.5718e+01 1.7825e-01 6.5143e-03 8.5474e+00 4.37587e-01 1.0000 8.5474e+00 3\n", - " 7 2.7606e+01 1.7852e-01 3.6950e-03 2.7391e+00 9.19133e-01 0.1250 2.7391e+00 3\n", - " 8 2.6301e+01 1.7844e-01 3.4164e-03 2.6088e+00 4.88512e-01 0.2500 2.6088e+00 3\n", - " 9 2.5207e+01 1.7840e-01 2.6902e-03 2.5002e+00 2.05877e-01 1.0000 2.5002e+00 3\n", - " 10 5.7716e+00 1.7848e-01 3.2067e-04 5.5899e-01 3.99839e-01 0.2500 5.5899e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8563e+02 4.8782e-01 3.7917e+01 5.9779e-01 1.57920e+00 1.0000 ---- 3\n", - " 2 1.2896e+02 1.7466e-01 8.6492e+00 4.2296e+00 8.05978e-01 1.0000 6.1317e+00 3\n", - " 3 1.0677e+02 1.7436e-01 2.5159e-02 1.0634e+01 1.13271e+00 0.5000 1.0634e+01 3\n", - " 4 9.8847e+01 1.7423e-01 1.3600e-02 9.8537e+00 6.99581e-01 1.0000 9.8537e+00 3\n", - " 5 7.6201e+01 1.7443e-01 2.2026e-03 7.6005e+00 1.51560e+00 0.1250 7.6005e+00 3\n", - " 6 6.8556e+01 1.7432e-01 2.0140e-03 6.8362e+00 9.29002e-01 0.2500 6.8362e+00 3\n", - " 7 5.8871e+01 1.7425e-01 1.5685e-03 5.8681e+00 4.15695e-01 1.0000 5.8681e+00 3\n", - " 8 1.9940e+01 1.7446e-01 3.5346e-03 1.9730e+00 8.42626e-01 0.1250 1.9730e+00 3\n", - " 9 1.9751e+01 1.7441e-01 3.2830e-03 1.9544e+00 4.55948e-01 0.2500 1.9544e+00 3\n", - " 10 1.8030e+01 1.7437e-01 2.6770e-03 1.7829e+00 1.43705e-01 1.0000 1.7829e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.6798e+02 4.8582e-01 3.6545e+01 2.0375e-01 1.56169e+00 1.0000 ---- 3\n", - " 2 1.3738e+02 1.7238e-01 8.1122e+00 5.6088e+00 8.89572e-01 0.5000 5.6088e+00 3\n", - " 3 9.4136e+01 1.7215e-01 4.0520e+00 5.3444e+00 5.23235e-01 1.0000 5.3444e+00 3\n", - " 4 7.0358e+01 1.7217e-01 5.3816e-03 7.0132e+00 9.93590e-01 0.2500 7.0132e+00 3\n", - " 5 6.8673e+01 1.7205e-01 4.3139e-03 6.8457e+00 4.25525e-01 1.0000 6.8457e+00 3\n", - " 6 6.5739e+01 1.7218e-01 2.0483e-03 6.5546e+00 6.95030e-01 0.5000 6.5546e+00 3\n", - " 7 6.4778e+01 1.7206e-01 1.8749e-03 6.4587e+00 5.48276e-01 1.0000 6.4587e+00 3\n", - " 8 4.1141e+01 1.7225e-01 3.7295e-03 4.0931e+00 9.96210e-01 0.2500 4.0931e+00 3\n", - " 9 3.9870e+01 1.7213e-01 3.0683e-03 3.9667e+00 3.11939e-01 1.0000 3.9667e+00 3\n", - " 10 1.8673e+01 1.7222e-01 1.4395e-03 1.8487e+00 7.56477e-01 0.1250 1.8487e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.7064e+02 4.8479e-01 3.5055e+01 1.9605e+00 1.70104e+00 1.0000 ---- 3\n", - " 2 1.9499e+02 1.7126e-01 8.0341e+00 1.1447e+01 9.45676e-01 1.0000 1.1447e+01 3\n", - " 3 1.4674e+02 1.7105e-01 2.4512e-02 1.4633e+01 1.04594e+00 0.5000 1.4633e+01 3\n", - " 4 9.5500e+01 1.7095e-01 1.2471e-02 9.5204e+00 7.28826e-01 1.0000 9.5204e+00 3\n", - " 5 5.9906e+01 1.7123e-01 7.5192e-03 5.9660e+00 1.22478e+00 0.1250 5.9660e+00 3\n", - " 6 5.3351e+01 1.7114e-01 6.7847e-03 5.3112e+00 7.47718e-01 0.2500 5.3112e+00 3\n", - " 7 4.5738e+01 1.7108e-01 5.3193e-03 4.5514e+00 3.02320e-01 1.0000 4.5514e+00 3\n", - " 8 1.4158e+01 1.7119e-01 7.5648e-04 1.3980e+00 6.53342e-01 0.0625 1.3980e+00 3\n", - " 9 1.3506e+01 1.7117e-01 7.0991e-04 1.3328e+00 5.13166e-01 0.1250 1.3328e+00 3\n", - " 10 1.2952e+01 1.7115e-01 6.2863e-04 1.2775e+00 2.72012e-01 0.2500 1.2775e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.5493e+02 4.8506e-01 3.4157e+01 1.2880e+00 1.49746e+00 1.0000 ---- 3\n", - " 2 1.0749e+02 1.7175e-01 7.7869e+00 2.9452e+00 6.37880e-01 1.0000 3.8640e+00 3\n", - " 3 5.0724e+01 1.7160e-01 1.7629e-02 5.0376e+00 9.29095e-01 0.2500 5.0376e+00 3\n", - " 4 4.1203e+01 1.7154e-01 1.3287e-02 4.0899e+00 3.95758e-01 1.0000 4.0899e+00 3\n", - " 5 1.1579e+01 1.7162e-01 1.6617e-03 1.1391e+00 6.04935e-01 0.1250 1.1391e+00 3\n", - " 6 1.1256e+01 1.7159e-01 1.4956e-03 1.1070e+00 3.82956e-01 0.2500 1.1070e+00 3\n", - " 7 1.0321e+01 1.7158e-01 1.1959e-03 1.0138e+00 1.61240e-01 1.0000 1.0138e+00 3\n", - " 8 1.1870e+00 1.7159e-01 2.9369e-04 1.0125e-01 2.14711e-01 0.1250 1.0125e-01 3\n", - " 9 1.1540e+00 1.7159e-01 2.5790e-04 9.7983e-02 1.57038e-01 0.2500 9.7983e-02 3\n", - " 10 1.1132e+00 1.7159e-01 1.9623e-04 9.3969e-02 8.85618e-02 0.5000 9.3969e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.3173e+02 4.8546e-01 3.2924e+01 2.0033e-01 1.48964e+00 1.0000 ---- 3\n", - " 2 1.1084e+02 1.7238e-01 7.2011e+00 3.8655e+00 6.09661e-01 1.0000 3.8655e+00 3\n", - " 3 3.6008e+01 1.7228e-01 1.4339e-02 3.5692e+00 8.35334e-01 0.2500 3.5692e+00 3\n", - " 4 2.8913e+01 1.7224e-01 1.0978e-02 2.8631e+00 3.41658e-01 1.0000 2.8631e+00 3\n", - " 5 1.0225e+01 1.7228e-01 1.4621e-03 1.0038e+00 4.11478e-01 0.2500 1.0038e+00 3\n", - " 6 8.7923e+00 1.7227e-01 1.2392e-03 8.6077e-01 1.72047e-01 1.0000 8.6077e-01 3\n", - " 7 3.5564e+00 1.7227e-01 3.7166e-04 3.3804e-01 2.40316e-01 0.1250 3.3804e-01 3\n", - " 8 3.2634e+00 1.7227e-01 3.2714e-04 3.0879e-01 1.58082e-01 0.2500 3.0879e-01 3\n", - " 9 2.6554e+00 1.7226e-01 2.5192e-04 2.4806e-01 6.77536e-02 1.0000 2.4806e-01 3\n", - " 10 3.1472e-01 1.7227e-01 4.3590e-05 1.4201e-02 8.89157e-02 0.2500 1.4201e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.1786e+02 4.8555e-01 3.1543e+01 1.9499e-01 1.44402e+00 1.0000 ---- 3\n", - " 2 1.0220e+02 1.7201e-01 6.5921e+00 3.6110e+00 5.14808e-01 1.0000 3.6110e+00 3\n", - " 3 3.0351e+01 1.7194e-01 1.0267e-02 3.0077e+00 7.50296e-01 0.5000 3.0077e+00 3\n", - " 4 2.9557e+01 1.7189e-01 6.0387e-03 2.9325e+00 5.03291e-01 0.5000 2.9325e+00 3\n", - " 5 1.6534e+01 1.7189e-01 3.0426e-03 1.6332e+00 4.57747e-01 0.5000 1.6332e+00 3\n", - " 6 1.3156e+01 1.7188e-01 1.6746e-03 1.2967e+00 3.59734e-01 0.5000 1.2967e+00 3\n", - " 7 1.1049e+01 1.7188e-01 1.0068e-03 1.0867e+00 3.42935e-01 0.5000 1.0867e+00 3\n", - " 8 1.0456e+01 1.7188e-01 6.7061e-04 1.0277e+00 3.00224e-01 0.2500 1.0277e+00 3\n", - " 9 8.4541e+00 1.7187e-01 5.4195e-04 8.2768e-01 6.25418e-02 1.0000 8.2768e-01 3\n", - " 10 2.7357e-01 1.7190e-01 6.6844e-05 1.0100e-02 6.68710e-02 0.2500 1.0100e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.1027e+02 4.8577e-01 3.0806e+01 1.7222e-01 1.43069e+00 1.0000 ---- 3\n", - " 2 1.0127e+02 1.7210e-01 6.1885e+00 3.9210e+00 4.83916e-01 1.0000 3.9210e+00 3\n", - " 3 2.6643e+01 1.7204e-01 8.7537e-03 2.6384e+00 7.27606e-01 0.2500 2.6384e+00 3\n", - " 4 2.1738e+01 1.7201e-01 6.7807e-03 2.1498e+00 2.54696e-01 1.0000 2.1498e+00 3\n", - " 5 3.8083e+00 1.7205e-01 8.6341e-04 3.6276e-01 3.83055e-01 0.1250 3.6276e-01 3\n", - " 6 3.4413e+00 1.7204e-01 7.7437e-04 3.2616e-01 2.30204e-01 0.2500 3.2616e-01 3\n", - " 7 2.7534e+00 1.7203e-01 6.1395e-04 2.5752e-01 7.85746e-02 1.0000 2.5752e-01 3\n", - " 8 3.0683e-01 1.7204e-01 8.3520e-05 1.3396e-02 1.10977e-01 0.2500 1.3396e-02 3\n", - " 9 2.8027e-01 1.7203e-01 6.6856e-05 1.0757e-02 3.81616e-02 1.0000 1.0757e-02 3\n", - " 10 1.7882e-01 1.7203e-01 1.3519e-05 6.6481e-04 5.65319e-02 0.0020 1.8265e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0333e+02 4.8650e-01 3.0146e+01 1.3837e-01 1.43981e+00 1.0000 ---- 3\n", - " 2 9.7695e+01 1.7283e-01 5.5488e+00 4.2034e+00 4.39739e-01 1.0000 4.2034e+00 3\n", - " 3 3.0578e+01 1.7278e-01 8.1044e-03 3.0324e+00 6.71849e-01 0.5000 3.0324e+00 3\n", - " 4 3.0478e+01 1.7272e-01 4.7443e-03 3.0258e+00 3.98531e-01 0.5000 3.0258e+00 3\n", - " 5 1.6092e+01 1.7273e-01 2.3746e-03 1.5895e+00 3.06092e-01 1.0000 1.5895e+00 3\n", - " 6 5.1324e+00 1.7276e-01 4.8993e-04 4.9547e-01 6.60241e-01 0.0625 4.9547e-01 3\n", - " 7 4.9088e+00 1.7275e-01 4.5982e-04 4.7314e-01 5.43993e-01 0.1250 4.7314e-01 3\n", - " 8 4.6243e+00 1.7273e-01 4.0466e-04 4.4475e-01 3.33136e-01 0.5000 4.4475e-01 3\n", - " 9 4.1223e+00 1.7272e-01 3.6286e-04 3.9460e-01 2.04424e-01 0.5000 3.9460e-01 3\n", - " 10 3.7120e+00 1.7272e-01 2.3169e-04 3.5369e-01 1.42694e-01 0.5000 3.5369e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9258e+02 4.8742e-01 2.9031e+01 1.7844e-01 1.42328e+00 1.0000 ---- 3\n", - " 2 9.8918e+01 1.7366e-01 5.3041e+00 4.5704e+00 5.27567e-01 1.0000 4.5704e+00 3\n", - " 3 9.1679e+00 1.7361e-01 8.5305e-03 8.9090e-01 7.15076e-01 0.2500 8.9090e-01 3\n", - " 4 7.4284e+00 1.7359e-01 6.5742e-03 7.1891e-01 3.10691e-01 1.0000 7.1891e-01 3\n", - " 5 3.4618e+00 1.7360e-01 1.9101e-03 3.2691e-01 3.65086e-01 0.5000 3.2691e-01 3\n", - " 6 2.8099e+00 1.7358e-01 1.1184e-03 2.6252e-01 1.08925e-01 1.0000 2.6252e-01 3\n", - " 7 5.3586e-01 1.7358e-01 2.6337e-04 3.5965e-02 1.68395e-01 0.1250 3.5965e-02 3\n", - " 8 5.0925e-01 1.7358e-01 2.3137e-04 3.3336e-02 1.09403e-01 0.2500 3.3336e-02 3\n", - " 9 4.4266e-01 1.7358e-01 1.7426e-04 2.6734e-02 3.42400e-02 1.0000 2.6734e-02 3\n", - " 10 1.9549e-01 1.7358e-01 5.2182e-06 2.1855e-03 5.91615e-02 0.0020 2.3103e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7995e+02 4.8863e-01 2.7798e+01 1.4737e-01 1.41694e+00 1.0000 ---- 3\n", - " 2 9.7640e+01 1.7499e-01 5.0662e+00 4.6803e+00 5.13541e-01 1.0000 4.6803e+00 3\n", - " 3 1.6871e+01 1.7494e-01 6.8359e-03 1.6628e+00 6.47867e-01 0.2500 1.6628e+00 3\n", - " 4 1.4129e+01 1.7491e-01 5.2241e-03 1.3902e+00 2.73845e-01 1.0000 1.3902e+00 3\n", - " 5 3.3469e+00 1.7494e-01 1.1675e-03 3.1603e-01 3.71253e-01 0.2500 3.1603e-01 3\n", - " 6 2.8503e+00 1.7493e-01 8.7642e-04 2.6666e-01 1.50304e-01 1.0000 2.6666e-01 3\n", - " 7 8.1107e-01 1.7493e-01 2.2073e-04 6.3393e-02 2.26254e-01 0.2500 6.3393e-02 3\n", - " 8 7.8773e-01 1.7493e-01 1.6790e-04 6.1112e-02 8.55943e-02 1.0000 6.1112e-02 3\n", - " 9 5.2280e-01 1.7492e-01 2.1235e-05 3.4767e-02 1.30627e-01 0.1250 3.4767e-02 3\n", - " 10 4.9281e-01 1.7492e-01 1.8805e-05 3.1770e-02 8.69908e-02 0.2500 3.1770e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7441e+02 4.8990e-01 2.7217e+01 1.7459e-01 1.39208e+00 1.0000 ---- 3\n", - " 2 9.0338e+01 1.7620e-01 4.5789e+00 4.4373e+00 4.27430e-01 1.0000 4.4373e+00 3\n", - " 3 1.1057e+01 1.7615e-01 6.7978e-03 1.0813e+00 5.44932e-01 0.2500 1.0813e+00 3\n", - " 4 1.0124e+01 1.7612e-01 5.2372e-03 9.8957e-01 1.98353e-01 1.0000 9.8957e-01 3\n", - " 5 6.5737e-01 1.7615e-01 1.1461e-03 4.6976e-02 2.64451e-01 0.2500 4.6976e-02 3\n", - " 6 5.2419e-01 1.7615e-01 8.8118e-04 3.3923e-02 1.02612e-01 1.0000 3.3923e-02 3\n", - " 7 3.1902e-01 1.7614e-01 1.2237e-04 1.4165e-02 1.42725e-01 0.2500 1.4165e-02 3\n", - " 8 3.1067e-01 1.7614e-01 9.7939e-05 1.3355e-02 5.84269e-02 1.0000 1.3355e-02 3\n", - " 9 2.5099e-01 1.7614e-01 2.2590e-05 7.4619e-03 9.48031e-02 0.1250 7.4619e-03 3\n", - " 10 2.4865e-01 1.7614e-01 2.0565e-05 7.2302e-03 5.55354e-02 1.0000 7.2302e-03 2\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7053e+02 4.9153e-01 2.6755e+01 2.4843e-01 1.37715e+00 1.0000 ---- 3\n", - " 2 8.4934e+01 1.7772e-01 4.1415e+00 4.3341e+00 4.91475e-01 1.0000 4.3341e+00 3\n", - " 3 2.2053e+01 1.7763e-01 7.8239e-03 2.1797e+00 7.45017e-01 0.2500 2.1797e+00 3\n", - " 4 2.1551e+01 1.7758e-01 6.1161e-03 2.1313e+00 2.52241e-01 1.0000 2.1313e+00 3\n", - " 5 3.4061e+00 1.7765e-01 1.5999e-03 3.2124e-01 3.59892e-01 0.2500 3.2124e-01 3\n", - " 6 2.8354e+00 1.7764e-01 1.2578e-03 2.6452e-01 1.42473e-01 1.0000 2.6452e-01 3\n", - " 7 4.2751e-01 1.7764e-01 2.9224e-04 2.4694e-02 2.58471e-01 0.0625 2.4694e-02 3\n", - " 8 4.1152e-01 1.7764e-01 2.7623e-04 2.3112e-02 2.04181e-01 0.1250 2.3112e-02 3\n", - " 9 3.9328e-01 1.7763e-01 2.4768e-04 2.1317e-02 1.19902e-01 0.2500 2.1317e-02 3\n", - " 10 3.9295e-01 1.7763e-01 1.9512e-04 2.1337e-02 4.68948e-02 1.0000 2.1337e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7030e+02 4.9353e-01 2.6733e+01 2.4716e-01 1.35407e+00 1.0000 ---- 3\n", - " 2 7.1150e+01 1.8000e-01 3.3921e+00 3.7048e+00 4.12195e-01 1.0000 3.7048e+00 3\n", - " 3 1.3522e+01 1.7989e-01 6.2552e-03 1.3279e+00 5.52507e-01 0.2500 1.3279e+00 3\n", - " 4 1.3399e+01 1.7986e-01 4.8230e-03 1.3171e+00 1.95462e-01 1.0000 1.3171e+00 3\n", - " 5 1.9055e+00 1.7990e-01 9.2358e-04 1.7164e-01 2.24180e-01 0.5000 1.7164e-01 3\n", - " 6 1.3573e+00 1.7990e-01 5.0523e-04 1.1724e-01 8.82839e-02 1.0000 1.1724e-01 3\n", - " 7 6.1295e-01 1.7990e-01 6.2889e-05 4.3242e-02 2.09604e-01 0.1250 4.3242e-02 3\n", - " 8 5.8307e-01 1.7989e-01 6.0615e-05 4.0257e-02 1.11013e-01 0.5000 4.0257e-02 3\n", - " 9 5.3767e-01 1.7989e-01 5.6481e-05 3.5722e-02 1.05982e-01 0.2500 3.5722e-02 3\n", - " 10 4.6559e-01 1.7989e-01 4.5488e-05 2.8525e-02 3.01748e-02 1.0000 2.8525e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7154e+02 4.9589e-01 2.6763e+01 3.4133e-01 1.33423e+00 1.0000 ---- 3\n", - " 2 7.0762e+01 1.8262e-01 3.1290e+00 3.9290e+00 4.48290e-01 1.0000 3.9290e+00 3\n", - " 3 1.1334e+01 1.8249e-01 7.4848e-03 1.1077e+00 4.81869e-01 0.5000 1.1077e+00 3\n", - " 4 8.9587e+00 1.8246e-01 4.1998e-03 8.7343e-01 2.21638e-01 0.5000 8.7343e-01 3\n", - " 5 5.7607e+00 1.8246e-01 2.1176e-03 5.5570e-01 1.86176e-01 0.2500 5.5570e-01 3\n", - " 6 4.7731e+00 1.8246e-01 1.5869e-03 4.5748e-01 5.52370e-02 1.0000 4.5748e-01 3\n", - " 7 4.3370e-01 1.8248e-01 1.0833e-04 2.5014e-02 7.22511e-02 0.2500 2.5014e-02 3\n", - " 8 3.7860e-01 1.8248e-01 8.2242e-05 1.9530e-02 3.35674e-02 1.0000 1.9530e-02 3\n", - " 9 3.2328e-01 1.8248e-01 1.3845e-05 1.4066e-02 4.83777e-02 0.5000 1.4066e-02 3\n", - " 10 2.9153e-01 1.8247e-01 1.6413e-05 1.0889e-02 5.07017e-02 0.2500 1.0889e-02 2\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7307e+02 4.9809e-01 2.6871e+01 3.8587e-01 1.33746e+00 1.0000 ---- 3\n", - " 2 7.4084e+01 1.8499e-01 3.4036e+00 3.9863e+00 4.77740e-01 1.0000 4.3679e+00 3\n", - " 3 1.8807e+01 1.8483e-01 7.2419e-03 1.8549e+00 5.67610e-01 0.2500 1.8549e+00 3\n", - " 4 1.5202e+01 1.8480e-01 5.5114e-03 1.4962e+00 2.23453e-01 1.0000 1.4962e+00 3\n", - " 5 8.5621e-01 1.8483e-01 1.2943e-03 6.5843e-02 3.19679e-01 0.1250 6.5843e-02 3\n", - " 6 8.1427e-01 1.8483e-01 1.1356e-03 6.1809e-02 2.03444e-01 0.2500 6.1809e-02 3\n", - " 7 7.2485e-01 1.8482e-01 8.5793e-04 5.3145e-02 8.36024e-02 1.0000 5.3145e-02 3\n", - " 8 6.7127e-01 1.8482e-01 9.3822e-05 4.8551e-02 1.11385e-01 0.2500 4.8551e-02 3\n", - " 9 5.8166e-01 1.8482e-01 7.1808e-05 3.9612e-02 5.31395e-02 1.0000 3.9612e-02 3\n", - " 10 5.0818e-01 1.8482e-01 2.4526e-05 3.2312e-02 6.87482e-02 0.2500 3.2312e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7318e+02 5.0035e-01 2.6867e+01 4.0101e-01 1.33231e+00 1.0000 ---- 3\n", - " 2 7.4311e+01 1.8710e-01 3.6817e+00 3.7307e+00 4.84946e-01 1.0000 5.1176e+00 3\n", - " 3 1.8628e+01 1.8690e-01 6.8688e-03 1.8373e+00 5.94904e-01 0.2500 1.8373e+00 3\n", - " 4 1.5175e+01 1.8687e-01 5.2316e-03 1.4936e+00 2.35794e-01 1.0000 1.4936e+00 3\n", - " 5 1.0251e+00 1.8690e-01 1.6176e-03 8.2199e-02 3.13947e-01 0.1250 8.2199e-02 3\n", - " 6 1.0053e+00 1.8689e-01 1.4177e-03 8.0422e-02 2.02302e-01 0.2500 8.0422e-02 3\n", - " 7 8.5819e-01 1.8689e-01 1.0664e-03 6.6064e-02 8.62746e-02 1.0000 6.6064e-02 3\n", - " 8 7.3090e-01 1.8689e-01 1.7847e-04 5.4223e-02 1.08557e-01 0.5000 5.4223e-02 3\n", - " 9 5.5878e-01 1.8689e-01 8.9066e-05 3.7100e-02 6.86506e-02 0.2500 3.7100e-02 3\n", - " 10 5.1533e-01 1.8689e-01 7.1750e-05 3.2772e-02 3.74556e-02 0.5000 3.2772e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7308e+02 5.0271e-01 2.6846e+01 4.1163e-01 1.35441e+00 1.0000 ---- 3\n", - " 2 7.8066e+01 1.8971e-01 3.9568e+00 3.8308e+00 5.15261e-01 1.0000 5.8317e+00 3\n", - " 3 2.2917e+01 1.8947e-01 7.4459e-03 2.2653e+00 6.63957e-01 0.2500 2.2653e+00 3\n", - " 4 1.8824e+01 1.8944e-01 5.6986e-03 1.8578e+00 2.54784e-01 1.0000 1.8578e+00 3\n", - " 5 1.3465e+00 1.8947e-01 2.1015e-03 1.1360e-01 3.36539e-01 0.2500 1.1360e-01 3\n", - " 6 1.1400e+00 1.8946e-01 1.5748e-03 9.3481e-02 1.18619e-01 0.5000 9.3481e-02 3\n", - " 7 8.4409e-01 1.8946e-01 7.7933e-04 6.4683e-02 6.59808e-02 0.5000 6.4683e-02 3\n", - " 8 6.6533e-01 1.8946e-01 3.9716e-04 4.7190e-02 5.65255e-02 0.5000 4.7190e-02 3\n", - " 9 5.8174e-01 1.8946e-01 2.0907e-04 3.9019e-02 5.31990e-02 0.5000 3.9019e-02 3\n", - " 10 5.3270e-01 1.8946e-01 1.1509e-04 3.4209e-02 4.77625e-02 0.5000 3.4209e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8042e+02 5.0558e-01 2.7594e+01 3.9749e-01 1.35403e+00 1.0000 ---- 3\n", - " 2 8.0206e+01 1.9259e-01 4.2282e+00 3.7732e+00 5.19424e-01 1.0000 6.6318e+00 3\n", - " 3 2.5260e+01 1.9229e-01 8.6139e-03 2.4981e+00 7.28190e-01 0.2500 2.4981e+00 3\n", - " 4 2.0939e+01 1.9226e-01 6.5877e-03 2.0680e+00 2.62520e-01 1.0000 2.0680e+00 3\n", - " 5 1.5556e+00 1.9230e-01 2.2782e-03 1.3406e-01 3.55312e-01 0.2500 1.3406e-01 3\n", - " 6 1.1876e+00 1.9228e-01 1.7102e-03 9.7824e-02 1.22133e-01 0.5000 9.7824e-02 3\n", - " 7 7.2790e-01 1.9228e-01 8.5173e-04 5.2710e-02 6.98523e-02 0.5000 5.2710e-02 3\n", - " 8 7.1291e-01 1.9228e-01 4.4570e-04 5.1617e-02 6.47218e-02 0.2500 5.1617e-02 3\n", - " 9 6.3005e-01 1.9228e-01 3.3855e-04 4.3438e-02 5.78567e-02 0.2500 4.3438e-02 3\n", - " 10 5.7772e-01 1.9228e-01 2.5836e-04 3.8286e-02 5.71044e-02 0.2500 3.8286e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9134e+02 5.0855e-01 2.8679e+01 4.0364e-01 1.37351e+00 1.0000 ---- 3\n", - " 2 8.5875e+01 1.9584e-01 4.6975e+00 3.8704e+00 5.37249e-01 1.0000 7.3875e+00 3\n", - " 3 2.6313e+01 1.9548e-01 9.9322e-03 2.6018e+00 7.93222e-01 0.2500 2.6018e+00 3\n", - " 4 2.2170e+01 1.9544e-01 7.5794e-03 2.1898e+00 2.84164e-01 1.0000 2.1898e+00 3\n", - " 5 3.1560e+00 1.9549e-01 2.7431e-03 2.9331e-01 3.60884e-01 0.5000 2.9331e-01 3\n", - " 6 2.6738e+00 1.9547e-01 1.3726e-03 2.4646e-01 2.45751e-01 0.2500 2.4646e-01 3\n", - " 7 2.4112e+00 1.9546e-01 1.0380e-03 2.2054e-01 9.53177e-02 1.0000 2.2054e-01 3\n", - " 8 1.3602e+00 1.9546e-01 1.5015e-04 1.1633e-01 1.19810e-01 0.5000 1.1633e-01 3\n", - " 9 9.3349e-01 1.9546e-01 1.0579e-04 7.3698e-02 1.18757e-01 0.2500 7.3698e-02 3\n", - " 10 7.9496e-01 1.9546e-01 9.1437e-05 5.9859e-02 7.75803e-02 0.5000 5.9859e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0687e+02 5.1202e-01 3.0104e+01 5.3214e-01 1.42496e+00 1.0000 ---- 3\n", - " 2 9.9489e+01 1.9956e-01 5.6079e+00 4.3211e+00 5.89368e-01 1.0000 8.1728e+00 3\n", - " 3 3.2715e+01 1.9915e-01 1.0687e-02 3.2409e+00 9.83892e-01 0.2500 3.2409e+00 3\n", - " 4 3.1189e+01 1.9908e-01 8.1260e-03 3.0909e+00 3.34573e-01 1.0000 3.0909e+00 3\n", - " 5 1.1286e+01 1.9917e-01 2.8746e-03 1.1058e+00 4.60371e-01 0.5000 1.1058e+00 3\n", - " 6 7.1153e+00 1.9914e-01 1.5267e-03 6.9009e-01 3.06271e-01 0.5000 6.9009e-01 3\n", - " 7 7.0142e+00 1.9912e-01 8.1927e-04 6.8069e-01 2.70733e-01 0.5000 6.8069e-01 3\n", - " 8 6.6440e+00 1.9912e-01 4.0377e-04 6.4408e-01 2.65331e-01 0.5000 6.4408e-01 3\n", - " 9 5.5041e+00 1.9911e-01 2.5761e-04 5.3024e-01 2.57988e-01 0.5000 5.3024e-01 3\n", - " 10 5.2851e+00 1.9911e-01 1.3591e-04 5.0846e-01 2.62997e-01 0.2500 5.0846e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.2229e+02 5.1603e-01 3.1343e+01 8.3398e-01 1.45948e+00 1.0000 ---- 3\n", - " 2 1.0891e+02 2.0412e-01 6.0580e+00 4.8123e+00 6.68300e-01 1.0000 8.9930e+00 3\n", - " 3 4.4252e+01 2.0363e-01 1.2987e-02 4.3919e+00 1.20678e+00 0.1250 4.3919e+00 3\n", - " 4 3.9928e+01 2.0357e-01 1.1456e-02 3.9610e+00 7.83255e-01 0.2500 3.9610e+00 3\n", - " 5 3.2190e+01 2.0355e-01 8.7916e-03 3.1899e+00 3.52074e-01 1.0000 3.1899e+00 3\n", - " 6 1.2596e+01 2.0369e-01 2.1266e-03 1.2371e+00 4.37403e-01 0.5000 1.2371e+00 3\n", - " 7 1.0239e+01 2.0365e-01 1.3996e-03 1.0022e+00 3.72900e-01 0.5000 1.0022e+00 3\n", - " 8 6.7249e+00 2.0363e-01 1.0528e-03 6.5107e-01 3.70689e-01 0.2500 6.5107e-01 3\n", - " 9 5.5327e+00 2.0361e-01 8.1524e-04 5.3209e-01 2.08749e-01 1.0000 5.3209e-01 3\n", - " 10 5.2196e+00 2.0360e-01 1.3223e-03 5.0028e-01 2.50798e-01 0.1250 5.0028e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.3295e+02 5.2074e-01 3.2467e+01 7.7640e-01 1.46774e+00 1.0000 ---- 3\n", - " 2 1.0749e+02 2.0940e-01 6.8086e+00 3.9191e+00 6.13011e-01 1.0000 9.8652e+00 3\n", - " 3 3.4485e+01 2.0882e-01 1.4445e-02 3.4132e+00 1.07263e+00 0.1250 3.4132e+00 3\n", - " 4 3.1317e+01 2.0878e-01 1.2665e-02 3.0982e+00 6.57681e-01 0.5000 3.0982e+00 3\n", - " 5 2.9331e+01 2.0876e-01 6.5868e-03 2.9057e+00 5.57985e-01 0.2500 2.9057e+00 3\n", - " 6 2.4603e+01 2.0875e-01 4.9634e-03 2.4345e+00 2.15657e-01 1.0000 2.4345e+00 3\n", - " 7 5.2377e+00 2.0886e-01 8.5449e-04 5.0202e-01 3.57783e-01 0.1250 5.0202e-01 3\n", - " 8 4.4433e+00 2.0884e-01 7.4076e-04 4.2271e-01 1.69303e-01 1.0000 4.2271e-01 3\n", - " 9 3.8428e+00 2.0883e-01 3.5897e-04 3.6304e-01 3.78938e-01 0.1250 3.6304e-01 3\n", - " 10 3.7536e+00 2.0882e-01 3.0773e-04 3.5417e-01 2.01244e-01 0.2500 3.5417e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.4440e+02 5.2539e-01 3.3854e+01 5.3296e-01 1.49989e+00 1.0000 ---- 3\n", - " 2 1.1483e+02 2.1455e-01 7.0704e+00 4.3909e+00 7.04843e-01 1.0000 1.0757e+01 3\n", - " 3 8.9059e+01 2.1382e-01 1.4139e-02 8.8703e+00 1.13852e+00 0.5000 8.8703e+00 3\n", - " 4 8.8630e+01 2.1365e-01 7.6993e-03 8.8340e+00 8.02146e-01 0.5000 8.8340e+00 3\n", - " 5 6.1172e+01 2.1371e-01 4.0319e-03 6.0918e+00 6.66800e-01 0.5000 6.0918e+00 3\n", - " 6 5.4347e+01 2.1372e-01 2.0287e-03 5.4113e+00 7.01012e-01 0.2500 5.4113e+00 3\n", - " 7 4.5317e+01 2.1370e-01 1.5115e-03 4.5088e+00 2.97293e-01 1.0000 4.5088e+00 3\n", - " 8 1.2871e+01 2.1391e-01 7.8991e-04 1.2649e+00 4.56220e-01 0.2500 1.2649e+00 3\n", - " 9 1.1576e+01 2.1386e-01 6.6825e-04 1.1356e+00 3.05081e-01 0.5000 1.1356e+00 3\n", - " 10 9.2821e+00 2.1383e-01 6.0032e-04 9.0622e-01 2.10824e-01 0.5000 9.0622e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.5912e+02 5.3032e-01 3.4930e+01 9.2913e-01 1.57290e+00 1.0000 ---- 3\n", - " 2 1.5049e+02 2.1988e-01 7.3873e+00 7.6399e+00 1.02947e+00 0.5000 1.1725e+01 3\n", - " 3 1.2906e+02 2.1911e-01 3.6940e+00 9.1906e+00 6.09394e-01 1.0000 9.1906e+00 3\n", - " 4 1.1160e+02 2.1912e-01 7.2311e-03 1.1131e+01 1.38418e+00 0.2500 1.1131e+01 3\n", - " 5 1.0407e+02 2.1887e-01 5.9575e-03 1.0379e+01 6.00826e-01 0.5000 1.0379e+01 3\n", - " 6 8.6541e+01 2.1886e-01 3.7407e-03 8.6285e+00 5.37034e-01 0.5000 8.6285e+00 3\n", - " 7 7.2488e+01 2.1891e-01 2.4048e-03 7.2245e+00 4.94354e-01 0.2500 7.2245e+00 3\n", - " 8 5.8937e+01 2.1888e-01 1.9706e-03 5.8698e+00 3.71267e-01 1.0000 5.8698e+00 3\n", - " 9 3.1323e+01 2.1922e-01 1.3559e-03 3.1090e+00 5.91220e-01 0.2500 3.1090e+00 3\n", - " 10 2.6756e+01 2.1913e-01 1.0768e-03 2.6526e+00 3.53325e-01 0.5000 2.6526e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.7065e+02 5.3621e-01 3.5587e+01 1.4245e+00 1.54327e+00 1.0000 ---- 3\n", - " 2 2.0106e+02 2.2644e-01 7.7696e+00 1.2313e+01 1.00927e+00 1.0000 1.2829e+01 3\n", - " 3 1.8140e+02 2.2549e-01 2.4875e-02 1.8092e+01 1.51081e+00 0.5000 1.8092e+01 3\n", - " 4 1.6737e+02 2.2517e-01 1.2105e-02 1.6703e+01 1.00101e+00 0.5000 1.6703e+01 3\n", - " 5 1.0251e+02 2.2539e-01 7.3509e-03 1.0221e+01 7.42796e-01 0.5000 1.0221e+01 3\n", - " 6 6.6001e+01 2.2543e-01 4.5273e-03 6.5731e+00 6.94173e-01 0.5000 6.5731e+00 3\n", - " 7 6.0471e+01 2.2541e-01 2.8214e-03 6.0217e+00 6.61082e-01 0.2500 6.0217e+00 3\n", - " 8 4.9352e+01 2.2539e-01 2.3072e-03 4.9104e+00 2.88778e-01 1.0000 4.9104e+00 3\n", - " 9 1.7195e+01 2.2560e-01 1.0218e-03 1.6959e+00 4.58788e-01 0.1250 1.6959e+00 3\n", - " 10 1.5532e+01 2.2557e-01 9.0130e-04 1.5298e+00 2.73683e-01 0.5000 1.5298e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8024e+02 5.4226e-01 3.6319e+01 1.6502e+00 1.65783e+00 1.0000 ---- 3\n", - " 2 1.4751e+02 2.3353e-01 7.9484e+00 6.7793e+00 1.12784e+00 0.5000 1.3975e+01 3\n", - " 3 1.3583e+02 2.3252e-01 3.9776e+00 9.5826e+00 6.49505e-01 1.0000 9.5826e+00 3\n", - " 4 1.0996e+02 2.3238e-01 6.1271e-03 1.0966e+01 1.40304e+00 0.2500 1.0966e+01 3\n", - " 5 9.7319e+01 2.3217e-01 4.6064e-03 9.7041e+00 6.90039e-01 0.5000 9.7041e+00 3\n", - " 6 8.1918e+01 2.3218e-01 2.7337e-03 8.1658e+00 6.21062e-01 0.5000 8.1658e+00 3\n", - " 7 7.1223e+01 2.3220e-01 1.8014e-03 7.0973e+00 5.81349e-01 0.5000 7.0973e+00 3\n", - " 8 6.6361e+01 2.3221e-01 1.4497e-03 6.6115e+00 5.88156e-01 0.5000 6.6115e+00 3\n", - " 9 6.6224e+01 2.3221e-01 1.1671e-03 6.5980e+00 5.46156e-01 0.2500 6.5980e+00 3\n", - " 10 5.2878e+01 2.3219e-01 9.5349e-04 5.2636e+00 4.01538e-01 1.0000 5.2636e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0943e+02 5.5015e-01 3.7203e+01 3.6849e+00 1.68952e+00 1.0000 ---- 3\n", - " 2 1.5618e+02 2.4217e-01 8.7594e+00 6.8344e+00 1.28144e+00 0.2500 1.5287e+01 3\n", - " 3 1.3276e+02 2.4146e-01 6.5700e+00 6.6820e+00 5.68388e-01 1.0000 1.1466e+01 3\n", - " 4 2.7471e+01 2.4092e-01 1.4089e-02 2.7089e+00 7.82052e-01 0.2500 2.7089e+00 3\n", - " 5 2.6490e+01 2.4085e-01 1.0534e-02 2.6143e+00 3.13576e-01 1.0000 2.6143e+00 3\n", - " 6 1.5540e+01 2.4085e-01 2.3779e-03 1.5275e+00 5.59252e-01 0.2500 1.5275e+00 3\n", - " 7 1.4909e+01 2.4079e-01 1.8878e-03 1.4649e+00 2.68991e-01 1.0000 1.4649e+00 3\n", - " 8 4.5784e+00 2.4079e-01 1.8186e-03 4.3194e-01 3.72815e-01 0.0625 4.3194e-01 3\n", - " 9 4.3955e+00 2.4078e-01 1.7014e-03 4.1377e-01 2.71568e-01 0.1250 4.1377e-01 3\n", - " 10 4.1886e+00 2.4078e-01 1.4818e-03 3.9330e-01 1.56202e-01 0.5000 3.9330e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8181e+02 5.5829e-01 3.7385e+01 7.3999e-01 1.64060e+00 1.0000 ---- 3\n", - " 2 1.5577e+02 2.5176e-01 9.1817e+00 6.3698e+00 9.04291e-01 1.0000 1.6873e+01 3\n", - " 3 1.4609e+02 2.5016e-01 3.3732e-02 1.4550e+01 1.22949e+00 0.5000 1.4550e+01 3\n", - " 4 1.0950e+02 2.4997e-01 1.5615e-02 1.0909e+01 8.47353e-01 1.0000 1.0909e+01 3\n", - " 5 8.0928e+01 2.5035e-01 2.6078e-03 8.0651e+00 1.61405e+00 0.2500 8.0651e+00 3\n", - " 6 7.8749e+01 2.5012e-01 2.4129e-03 7.8475e+00 5.42382e-01 0.5000 7.8475e+00 3\n", - " 7 4.6180e+01 2.5012e-01 1.4368e-03 4.5916e+00 4.35799e-01 0.5000 4.5916e+00 3\n", - " 8 3.7105e+01 2.5011e-01 9.7789e-04 3.6845e+00 4.46517e-01 0.2500 3.6845e+00 3\n", - " 9 3.0523e+01 2.5009e-01 7.0487e-04 3.0266e+00 2.35487e-01 1.0000 3.0266e+00 3\n", - " 10 1.1263e+01 2.5024e-01 9.8306e-04 1.1003e+00 2.43273e-01 0.5000 1.1003e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8613e+02 5.6536e-01 3.7774e+01 7.8295e-01 1.67926e+00 1.0000 ---- 3\n", - " 2 1.6768e+02 2.5948e-01 9.4395e+00 7.3030e+00 9.07723e-01 1.0000 1.8763e+01 3\n", - " 3 1.5984e+02 2.5757e-01 3.8999e-02 1.5919e+01 1.46274e+00 0.5000 1.5919e+01 3\n", - " 4 1.3705e+02 2.5728e-01 1.8826e-02 1.3661e+01 9.31579e-01 1.0000 1.3661e+01 3\n", - " 5 1.0343e+02 2.5776e-01 8.2952e-03 1.0309e+01 1.67245e+00 0.2500 1.0309e+01 3\n", - " 6 9.4784e+01 2.5757e-01 6.2751e-03 9.4464e+00 5.95296e-01 1.0000 9.4464e+00 3\n", - " 7 4.9615e+01 2.5779e-01 1.8778e-03 4.9338e+00 1.14614e+00 0.1250 4.9338e+00 3\n", - " 8 4.4723e+01 2.5771e-01 1.7554e-03 4.4448e+00 6.91660e-01 0.2500 4.4448e+00 3\n", - " 9 3.7613e+01 2.5765e-01 1.5911e-03 3.7340e+00 3.18398e-01 1.0000 3.7340e+00 3\n", - " 10 8.9750e+00 2.5774e-01 8.5532e-04 8.7087e-01 7.07290e-01 0.2500 8.7087e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9145e+02 5.7437e-01 3.8035e+01 1.0516e+00 1.71608e+00 1.0000 ---- 3\n", - " 2 1.6746e+02 2.6925e-01 9.8575e+00 6.8616e+00 9.70449e-01 1.0000 2.0876e+01 3\n", - " 3 1.4284e+02 2.6692e-01 4.5331e-02 1.4212e+01 1.37226e+00 0.5000 1.4212e+01 3\n", - " 4 1.0945e+02 2.6671e-01 2.0418e-02 1.0898e+01 9.05145e-01 1.0000 1.0898e+01 3\n", - " 5 9.4625e+01 2.6708e-01 8.4485e-03 9.4273e+00 1.69063e+00 0.2500 9.4273e+00 3\n", - " 6 8.6727e+01 2.6684e-01 7.4925e-03 8.6385e+00 5.11627e-01 1.0000 8.6385e+00 3\n", - " 7 5.3495e+01 2.6699e-01 1.3779e-03 5.3215e+00 1.19116e+00 0.1250 5.3215e+00 3\n", - " 8 4.8154e+01 2.6690e-01 1.2506e-03 4.7875e+00 7.51918e-01 0.2500 4.7875e+00 3\n", - " 9 4.4008e+01 2.6683e-01 1.0126e-03 4.3731e+00 3.39882e-01 1.0000 4.3731e+00 3\n", - " 10 1.3793e+01 2.6702e-01 6.6297e-04 1.3519e+00 6.86594e-01 0.1250 1.3519e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8983e+02 5.8236e-01 3.7218e+01 1.7069e+00 1.75760e+00 1.0000 ---- 3\n", - " 2 2.1417e+02 2.7699e-01 1.0040e+01 1.1349e+01 1.30124e+00 0.5000 2.3551e+01 3\n", - " 3 1.5526e+02 2.7461e-01 5.0304e+00 1.0468e+01 8.01529e-01 1.0000 1.1780e+01 3\n", - " 4 7.1130e+01 2.7427e-01 3.0959e-02 7.0546e+00 1.23534e+00 0.2500 7.0546e+00 3\n", - " 5 5.5839e+01 2.7409e-01 2.3125e-02 5.5333e+00 4.81791e-01 1.0000 5.5333e+00 3\n", - " 6 5.2892e+01 2.7414e-01 3.7011e-03 5.2581e+00 9.43826e-01 0.2500 5.2581e+00 3\n", - " 7 5.0191e+01 2.7402e-01 3.5938e-03 4.9881e+00 3.86634e-01 0.5000 4.9881e+00 3\n", - " 8 3.8387e+01 2.7402e-01 2.0107e-03 3.8092e+00 2.80334e-01 0.5000 3.8092e+00 3\n", - " 9 2.7106e+01 2.7402e-01 1.1428e-03 2.6820e+00 2.48560e-01 0.5000 2.6820e+00 3\n", - " 10 2.1029e+01 2.7403e-01 6.3150e-04 2.0748e+00 2.33183e-01 0.5000 2.0748e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0034e+02 5.9613e-01 3.7926e+01 2.0483e+00 1.88759e+00 1.0000 ---- 3\n", - " 2 2.1403e+02 2.9382e-01 1.0356e+01 1.1017e+01 1.34981e+00 0.5000 2.7239e+01 3\n", - " 3 1.7188e+02 2.9080e-01 5.1799e+00 1.1979e+01 9.65156e-01 0.5000 1.3627e+01 3\n", - " 4 1.3108e+02 2.9010e-01 2.5825e+00 1.0496e+01 7.02765e-01 0.5000 1.0496e+01 3\n", - " 5 8.7114e+01 2.8991e-01 1.2923e+00 7.3902e+00 6.12368e-01 0.5000 7.3902e+00 3\n", - " 6 5.9034e+01 2.8991e-01 6.4618e-01 5.2282e+00 5.22822e-01 0.5000 5.2282e+00 3\n", - " 7 5.7184e+01 2.8987e-01 3.2318e-01 5.3662e+00 4.73919e-01 0.5000 5.3662e+00 3\n", - " 8 4.8112e+01 2.8986e-01 1.6164e-01 4.6206e+00 4.96394e-01 0.5000 4.6206e+00 3\n", - " 9 4.8017e+01 2.8986e-01 8.0911e-02 4.6918e+00 4.93477e-01 0.2500 4.6918e+00 3\n", - " 10 3.8831e+01 2.8984e-01 6.0699e-02 3.7934e+00 2.50146e-01 1.0000 3.7934e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9003e+02 6.0674e-01 3.7351e+01 1.5912e+00 1.87314e+00 1.0000 ---- 3\n", - " 2 2.0985e+02 3.0820e-01 1.0308e+01 1.0646e+01 1.29714e+00 0.5000 3.1624e+01 3\n", - " 3 1.5585e+02 3.0427e-01 5.1587e+00 1.0396e+01 8.76424e-01 0.5000 1.5823e+01 3\n", - " 4 1.0942e+02 3.0329e-01 2.5678e+00 8.3436e+00 6.69675e-01 0.5000 8.3436e+00 3\n", - " 5 8.0464e+01 3.0309e-01 1.2842e+00 6.7318e+00 6.03157e-01 0.5000 6.7318e+00 3\n", - " 6 6.8136e+01 3.0302e-01 6.4188e-01 6.1415e+00 6.02711e-01 0.5000 6.1415e+00 3\n", - " 7 6.2424e+01 3.0298e-01 3.2121e-01 5.8909e+00 5.94973e-01 0.5000 5.8909e+00 3\n", - " 8 5.8897e+01 3.0296e-01 1.6074e-01 5.6986e+00 5.88980e-01 0.2500 5.6986e+00 3\n", - " 9 4.7752e+01 3.0294e-01 1.2063e-01 4.6243e+00 3.10418e-01 1.0000 4.6243e+00 3\n", - " 10 2.3755e+01 3.0314e-01 2.4846e-03 2.3427e+00 3.35293e-01 0.5000 2.3427e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8217e+02 6.1466e-01 3.7105e+01 1.0499e+00 1.80049e+00 1.0000 ---- 3\n", - " 2 1.8934e+02 3.1286e-01 1.1060e+01 7.8423e+00 1.06472e+00 1.0000 3.7589e+01 3\n", - " 3 9.2360e+01 3.0583e-01 9.5091e-02 9.1103e+00 1.75819e+00 0.2500 9.1103e+00 3\n", - " 4 7.6278e+01 3.0565e-01 6.7994e-02 7.5293e+00 8.27705e-01 0.5000 7.5293e+00 3\n", - " 5 5.0053e+01 3.0560e-01 4.4117e-02 4.9306e+00 4.83391e-01 0.5000 4.9306e+00 3\n", - " 6 3.8155e+01 3.0559e-01 2.2075e-02 3.7629e+00 4.00652e-01 0.5000 3.7629e+00 3\n", - " 7 3.6661e+01 3.0556e-01 1.0920e-02 3.6246e+00 3.99626e-01 0.2500 3.6246e+00 3\n", - " 8 2.9484e+01 3.0554e-01 8.2100e-03 2.9097e+00 2.52547e-01 1.0000 2.9097e+00 3\n", - " 9 1.1044e+01 3.0566e-01 1.2352e-03 1.0726e+00 3.74501e-01 0.2500 1.0726e+00 3\n", - " 10 1.0378e+01 3.0561e-01 1.0017e-03 1.0062e+00 2.06591e-01 0.5000 1.0062e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9849e+02 6.2951e-01 3.9017e+01 7.6856e-01 1.83801e+00 1.0000 ---- 3\n", - " 2 2.0606e+02 3.3210e-01 1.1917e+01 8.6556e+00 1.08660e+00 1.0000 4.6278e+01 3\n", - " 3 1.4399e+02 3.2130e-01 1.0382e-01 1.4264e+01 1.64842e+00 0.5000 1.4264e+01 3\n", - " 4 1.2065e+02 3.2107e-01 7.8482e-02 1.1955e+01 9.35555e-01 1.0000 1.1955e+01 3\n", - " 5 8.0203e+01 3.2143e-01 1.5865e-02 7.9722e+00 2.10562e+00 0.1250 7.9722e+00 3\n", - " 6 7.2960e+01 3.2130e-01 1.4674e-02 7.2492e+00 1.18277e+00 0.5000 7.2492e+00 3\n", - " 7 7.1519e+01 3.2123e-01 1.2759e-02 7.1070e+00 1.09776e+00 0.2500 7.1070e+00 3\n", - " 8 5.8339e+01 3.2117e-01 9.9126e-03 5.7918e+00 3.33073e-01 1.0000 5.7918e+00 3\n", - " 9 1.1599e+01 3.2138e-01 8.2517e-04 1.1269e+00 4.81464e-01 0.2500 1.1269e+00 3\n", - " 10 9.2226e+00 3.2135e-01 6.2602e-04 8.8950e-01 1.47307e-01 1.0000 8.8950e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0818e+02 6.4897e-01 4.0349e+01 4.0450e-01 1.96728e+00 1.0000 ---- 3\n", - " 2 2.2685e+02 3.6378e-01 1.1708e+01 1.0941e+01 1.55681e+00 0.5000 5.9025e+01 3\n", - " 3 1.9776e+02 3.5055e-01 5.8594e+00 1.3881e+01 1.12242e+00 0.5000 2.9552e+01 3\n", - " 4 1.3815e+02 3.4719e-01 2.9201e+00 1.0861e+01 8.43720e-01 0.5000 1.4786e+01 3\n", - " 5 9.2917e+01 3.4643e-01 1.4611e+00 7.7959e+00 7.26529e-01 0.5000 7.7959e+00 3\n", - " 6 7.9051e+01 3.4621e-01 7.3014e-01 7.1404e+00 7.25572e-01 0.5000 7.1404e+00 3\n", - " 7 7.5486e+01 3.4616e-01 3.6528e-01 7.1487e+00 7.03038e-01 0.5000 7.1487e+00 3\n", - " 8 7.0939e+01 3.4614e-01 1.8252e-01 6.8768e+00 6.89257e-01 0.5000 6.8768e+00 3\n", - " 9 6.9608e+01 3.4614e-01 9.1437e-02 6.8347e+00 6.71085e-01 0.5000 6.8347e+00 3\n", - " 10 6.6103e+01 3.4614e-01 4.5747e-02 6.5299e+00 6.50478e-01 0.5000 6.5299e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.3626e+02 6.6517e-01 3.9358e+01 4.2013e+00 2.12497e+00 1.0000 ---- 3\n", - " 2 3.0869e+02 3.8979e-01 1.1786e+01 1.9043e+01 2.08344e+00 0.5000 7.7678e+01 3\n", - " 3 2.7516e+02 3.6691e-01 5.9181e+00 2.1561e+01 1.41656e+00 1.0000 3.8895e+01 3\n", - " 4 2.1483e+02 3.5988e-01 1.1470e-01 2.1332e+01 2.34056e+00 0.2500 2.1332e+01 3\n", - " 5 1.8411e+02 3.5953e-01 8.6329e-02 1.8289e+01 1.01266e+00 0.5000 1.8289e+01 3\n", - " 6 1.0424e+02 3.5951e-01 4.3077e-02 1.0345e+01 7.62364e-01 0.5000 1.0345e+01 3\n", - " 7 6.1444e+01 3.5959e-01 2.1993e-02 6.0865e+00 6.74041e-01 0.5000 6.0865e+00 3\n", - " 8 6.0169e+01 3.5957e-01 1.1023e-02 5.9699e+00 6.22481e-01 0.5000 5.9699e+00 3\n", - " 9 5.6055e+01 3.5957e-01 5.6520e-03 5.5639e+00 6.15583e-01 0.2500 5.5639e+00 3\n", - " 10 4.4936e+01 3.5956e-01 4.2906e-03 4.4533e+00 2.64342e-01 1.0000 4.4533e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.4086e+02 6.8978e-01 4.2050e+01 1.9665e+00 2.18495e+00 1.0000 ---- 3\n", - " 2 2.7893e+02 4.4432e-01 1.2737e+01 1.5112e+01 1.49227e+00 0.5000 1.0955e+02 3\n", - " 3 1.8795e+02 3.9942e-01 6.3993e+00 1.2356e+01 1.00326e+00 1.0000 5.4848e+01 3\n", - " 4 1.6096e+02 3.8467e-01 9.5469e-02 1.5963e+01 1.61338e+00 0.2500 1.5963e+01 3\n", - " 5 1.3478e+02 3.8443e-01 7.1261e-02 1.3368e+01 7.28734e-01 0.5000 1.3368e+01 3\n", - " 6 8.0463e+01 3.8442e-01 3.5250e-02 7.9726e+00 4.88017e-01 1.0000 7.9726e+00 3\n", - " 7 6.8392e+01 3.8467e-01 5.0754e-03 6.7957e+00 8.50578e-01 0.2500 6.7957e+00 3\n", - " 8 6.0473e+01 3.8452e-01 4.8904e-03 6.0040e+00 5.04875e-01 0.2500 6.0040e+00 3\n", - " 9 4.9822e+01 3.8446e-01 3.7255e-03 4.9400e+00 2.99424e-01 1.0000 4.9400e+00 3\n", - " 10 1.4128e+01 3.8467e-01 1.3411e-03 1.3730e+00 4.38998e-01 0.2500 1.3730e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1760e+02 7.2273e-01 4.1026e+01 6.6185e-01 2.17276e+00 1.0000 ---- 3\n", - " 2 2.7319e+02 5.5338e-01 1.4374e+01 1.2889e+01 1.53190e+00 0.5000 1.6311e+02 3\n", - " 3 2.2224e+02 4.5324e-01 7.2327e+00 1.4946e+01 9.94713e-01 1.0000 8.1548e+01 3\n", - " 4 1.5542e+02 4.2022e-01 1.1244e-01 1.5387e+01 1.61358e+00 0.2500 1.5387e+01 3\n", - " 5 1.3234e+02 4.1998e-01 8.4643e-02 1.3108e+01 7.80019e-01 0.5000 1.3108e+01 3\n", - " 6 7.9609e+01 4.1999e-01 4.4217e-02 7.8747e+00 5.49799e-01 0.5000 7.8747e+00 3\n", - " 7 5.4924e+01 4.2006e-01 2.2578e-02 5.4278e+00 5.01579e-01 0.2500 5.4278e+00 3\n", - " 8 4.5696e+01 4.2004e-01 1.6938e-02 4.5106e+00 3.10485e-01 1.0000 4.5106e+00 3\n", - " 9 1.4137e+01 4.2025e-01 2.3526e-03 1.3694e+00 7.57508e-01 0.1250 1.3694e+00 3\n", - " 10 1.3939e+01 4.2019e-01 2.1964e-03 1.3497e+00 2.67140e-01 0.2500 1.3497e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.3114e+02 7.7542e-01 4.2184e+01 8.5324e-01 2.35981e+00 1.0000 ---- 3\n", - " 2 3.2421e+02 8.4973e-01 1.7252e+01 1.5084e+01 1.65129e+00 0.5000 2.7103e+02 3\n", - " 3 2.7275e+02 5.6902e-01 8.5884e+00 1.8630e+01 1.13824e+00 1.0000 1.3535e+02 3\n", - " 4 2.0068e+02 4.7615e-01 1.1387e-01 1.9907e+01 1.80445e+00 0.2500 1.9907e+01 3\n", - " 5 1.6797e+02 4.7585e-01 8.5037e-02 1.6664e+01 9.22678e-01 0.5000 1.6664e+01 3\n", - " 6 1.0552e+02 4.7590e-01 4.6857e-02 1.0458e+01 6.50208e-01 0.5000 1.0458e+01 3\n", - " 7 7.0709e+01 4.7598e-01 2.3893e-02 6.9994e+00 5.65684e-01 0.2500 6.9994e+00 3\n", - " 8 5.6570e+01 4.7596e-01 1.7898e-02 5.5915e+00 3.70768e-01 1.0000 5.5915e+00 3\n", - " 9 1.6504e+01 4.7625e-01 5.1648e-03 1.5976e+00 7.77123e-01 0.1250 1.5976e+00 3\n", - " 10 1.4320e+01 4.7618e-01 4.6758e-03 1.3797e+00 2.36648e-01 0.5000 1.3797e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2820e+02 8.6331e-01 4.2253e+01 4.8165e-01 2.63053e+00 0.5000 ---- 3\n", - " 2 3.1018e+02 7.0643e-01 2.5558e+01 5.3891e+00 1.71780e+00 1.0000 1.1934e+02 3\n", - " 3 2.3893e+02 6.1403e-01 7.6349e+00 1.6196e+01 2.09939e+00 0.5000 8.8437e+01 3\n", - " 4 2.2927e+02 5.8720e-01 4.2804e+00 1.8588e+01 1.01402e+00 1.0000 5.3737e+01 3\n", - " 5 1.5470e+02 5.7296e-01 1.0007e-01 1.5312e+01 2.12780e+00 0.2500 1.5312e+01 3\n", - " 6 1.4260e+02 5.7256e-01 8.2445e-02 1.4120e+01 7.32171e-01 1.0000 1.4120e+01 3\n", - " 7 1.3993e+02 5.7279e-01 9.8458e-03 1.3925e+01 1.54732e+00 0.2500 1.3925e+01 3\n", - " 8 1.2564e+02 5.7249e-01 9.0643e-03 1.2498e+01 6.51476e-01 0.5000 1.2498e+01 3\n", - " 9 9.3795e+01 5.7253e-01 5.8499e-03 9.3164e+00 6.45910e-01 0.5000 9.3164e+00 3\n", - " 10 7.5398e+01 5.7260e-01 6.5936e-03 7.4759e+00 5.89988e-01 0.2500 7.4759e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.6645e+02 1.0242e+00 4.4007e+01 2.5354e+00 2.89479e+00 0.5000 ---- 3\n", - " 2 3.6556e+02 9.9092e-01 3.1143e+01 5.3141e+00 1.70326e+00 1.0000 1.9262e+02 3\n", - " 3 3.0559e+02 7.2795e-01 8.5038e+00 2.1982e+01 2.01794e+00 0.5000 2.1982e+01 3\n", - " 4 2.5032e+02 7.2737e-01 4.3581e+00 2.0601e+01 1.14604e+00 1.0000 2.0601e+01 3\n", - " 5 8.8004e+01 7.2808e-01 1.2337e-01 8.6043e+00 2.17745e+00 0.1250 8.6043e+00 3\n", - " 6 8.3975e+01 7.2788e-01 1.1043e-01 8.2143e+00 1.23367e+00 0.2500 8.2143e+00 3\n", - " 7 7.2524e+01 7.2779e-01 8.7163e-02 7.0925e+00 5.08866e-01 1.0000 7.0925e+00 3\n", - " 8 6.1289e+01 7.2794e-01 2.7428e-02 6.0287e+00 1.04599e+00 0.2500 6.0287e+00 3\n", - " 9 5.7716e+01 7.2776e-01 2.2163e-02 5.6766e+00 5.62961e-01 0.5000 5.6766e+00 3\n", - " 10 4.5690e+01 7.2775e-01 1.1182e-02 4.4851e+00 5.86757e-01 0.2500 4.4851e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.3141e+02 1.3174e+00 4.1545e+01 1.4634e+00 3.21550e+00 0.5000 ---- 3\n", - " 2 3.9491e+02 1.3637e+00 3.4359e+01 4.9956e+00 2.54778e+00 0.5000 2.2956e+02 3\n", - " 3 3.4047e+02 1.2597e+00 2.3868e+01 1.0053e+01 1.80194e+00 0.5000 2.1369e+02 3\n", - " 4 2.7051e+02 1.1283e+00 1.4823e+01 1.2115e+01 1.56978e+00 0.5000 1.5966e+02 3\n", - " 5 1.9980e+02 1.0440e+00 8.9468e+00 1.0928e+01 1.33370e+00 0.5000 1.0299e+02 3\n", - " 6 1.8769e+02 1.0070e+00 5.4564e+00 1.3212e+01 1.22930e+00 0.5000 6.5126e+01 3\n", - " 7 1.5993e+02 9.9148e-01 3.2687e+00 1.2625e+01 1.15620e+00 0.5000 3.8553e+01 3\n", - " 8 1.4152e+02 9.8579e-01 1.9953e+00 1.2058e+01 1.11764e+00 0.5000 2.2742e+01 3\n", - " 9 1.3886e+02 9.8370e-01 1.1806e+00 1.2607e+01 1.15638e+00 0.2500 1.2946e+01 3\n", - " 10 1.1212e+02 9.8320e-01 9.1249e-01 1.0201e+01 4.62824e-01 1.0000 1.0201e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.7927e+02 1.7811e+00 4.5593e+01 2.1560e+00 4.14972e+00 0.1250 ---- 3\n", - " 2 4.5315e+02 1.6889e+00 4.0928e+01 4.2182e+00 2.71406e+00 1.0000 2.1259e+02 3\n", - " 3 4.5146e+02 1.5682e+00 3.2027e+01 1.2963e+01 3.86531e+00 0.1250 1.8686e+02 3\n", - " 4 4.2138e+02 1.5743e+00 2.9631e+01 1.2349e+01 2.05424e+00 0.5000 1.9692e+02 3\n", - " 5 2.9956e+02 1.6412e+00 2.1431e+01 8.3605e+00 2.15251e+00 0.2500 2.2919e+02 3\n", - " 6 2.7291e+02 1.5921e+00 1.8427e+01 8.7047e+00 6.61428e-01 1.0000 2.1191e+02 3\n", - " 7 1.5156e+02 1.3508e+00 1.9156e-01 1.4830e+01 1.51279e+00 0.2500 1.4830e+01 3\n", - " 8 1.4664e+02 1.3503e+00 2.3100e-01 1.4298e+01 8.49913e-01 0.5000 1.4298e+01 3\n", - " 9 7.9347e+01 1.3504e+00 9.3210e-02 7.7065e+00 8.44568e-01 0.2500 7.7065e+00 3\n", - " 10 6.9074e+01 1.3503e+00 6.8246e-02 6.7041e+00 5.14445e-01 1.0000 6.7041e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.9290e+02 2.4071e+00 5.3347e+01 5.7026e+00 4.34060e+00 0.2500 ---- 3\n", - " 2 5.2284e+02 2.1966e+00 4.3376e+01 8.6878e+00 2.54097e+00 1.0000 1.7813e+02 3\n", - " 3 4.4092e+02 1.8350e+00 2.8866e+01 1.5042e+01 3.00922e+00 0.2500 3.8456e+01 3\n", - " 4 4.1527e+02 1.8426e+00 2.4656e+01 1.6687e+01 1.41058e+00 0.5000 6.0111e+01 3\n", - " 5 3.0732e+02 1.8313e+00 1.2250e+01 1.8298e+01 1.47759e+00 0.5000 3.6465e+01 3\n", - " 6 2.6020e+02 1.8303e+00 7.8903e+00 1.7946e+01 1.64540e+00 0.5000 3.2864e+01 3\n", - " 7 2.2360e+02 1.8368e+00 5.8331e+00 1.6344e+01 1.98122e+00 0.2500 4.6558e+01 3\n", - " 8 2.0235e+02 1.8373e+00 5.1114e+00 1.4940e+01 9.14310e-01 1.0000 5.0567e+01 3\n", - " 9 1.2263e+02 1.8267e+00 2.5133e+00 9.5670e+00 2.52365e+00 0.0625 1.2458e+01 3\n", - " 10 1.1793e+02 1.8259e+00 2.4643e+00 9.1460e+00 1.95520e+00 0.1250 1.2475e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.5324e+02 3.2011e+00 6.2984e+01 1.2020e+01 4.14370e+00 0.5000 ---- 3\n", - " 2 5.4515e+02 2.8565e+00 3.9533e+01 1.4696e+01 4.43595e+00 0.2500 1.6612e+02 3\n", - " 3 5.0658e+02 2.9325e+00 3.5639e+01 1.4726e+01 2.00342e+00 1.0000 2.4956e+02 3\n", - " 4 4.3192e+02 2.5576e+00 1.9827e+01 2.3110e+01 4.66747e+00 0.1250 1.6467e+02 3\n", - " 5 4.1314e+02 2.5807e+00 2.0343e+01 2.0712e+01 2.39341e+00 0.2500 1.8562e+02 3\n", - " 6 3.5370e+02 2.5430e+00 1.7247e+01 1.7869e+01 1.36405e+00 0.5000 1.6580e+02 3\n", - " 7 3.1703e+02 2.4484e+00 1.0958e+01 2.0499e+01 1.62218e+00 0.5000 9.7098e+01 3\n", - " 8 2.9806e+02 2.4388e+00 9.4431e+00 2.0119e+01 2.15023e+00 0.2500 8.4447e+01 3\n", - " 9 2.8117e+02 2.4430e+00 1.0386e+01 1.7486e+01 1.32775e+00 0.5000 9.1339e+01 3\n", - " 10 1.7919e+02 2.4203e+00 7.4055e+00 1.0271e+01 1.56128e+00 0.2500 6.1548e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 8.5446e+02 4.1461e+00 7.1370e+01 1.3661e+01 3.98382e+00 0.5000 ---- 3\n", - " 2 6.1566e+02 3.4963e+00 4.1916e+01 1.9300e+01 3.77902e+00 0.2500 1.1301e+02 3\n", - " 3 5.3540e+02 3.3913e+00 3.2760e+01 2.0441e+01 2.17489e+00 1.0000 9.1115e+01 25\n", - " 4 4.1113e+02 3.1711e+00 1.9545e+01 2.1252e+01 4.89358e+00 0.1250 1.2013e+02 25\n", - " 5 4.0363e+02 3.1913e+00 2.0481e+01 1.9563e+01 3.28241e+00 0.2500 1.4535e+02 25\n", - " 6 3.6845e+02 3.1647e+00 1.7298e+01 1.9230e+01 1.78843e+00 1.0000 1.2882e+02 25\n", - " 7 3.6649e+02 3.1123e+00 8.0312e+00 2.8307e+01 3.12001e+00 0.1250 7.5973e+01 13\n", - " 8 3.4913e+02 3.1165e+00 8.9465e+00 2.5655e+01 1.45376e+00 0.5000 9.0342e+01 11\n", - " 9 2.9197e+02 3.1152e+00 7.1662e+00 2.1719e+01 1.87091e+00 0.2500 8.5437e+01 11\n", - " 10 2.6413e+02 3.1331e+00 8.2999e+00 1.7800e+01 1.03626e+00 1.0000 1.0528e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.1441e+03 5.4463e+00 9.4181e+01 1.9686e+01 7.71315e+00 0.1250 ---- 3\n", - " 2 1.0761e+03 5.4137e+00 8.9030e+01 1.8040e+01 4.09970e+00 0.5000 2.8195e+02 3\n", - " 3 8.4940e+02 4.4496e+00 5.2497e+01 3.1998e+01 3.61644e+00 0.5000 1.7123e+02 25\n", - " 4 6.2107e+02 4.2950e+00 3.0073e+01 3.1605e+01 4.04764e+00 0.1250 2.1600e+02 25\n", - " 5 5.8242e+02 4.2872e+00 2.9310e+01 2.8503e+01 1.81566e+00 1.0000 2.2938e+02 25\n", - " 6 5.2817e+02 3.8689e+00 8.5790e+00 4.3851e+01 3.81391e+00 0.1250 5.4859e+01 25\n", - " 7 5.0184e+02 3.8697e+00 9.2734e+00 4.0523e+01 2.07680e+00 0.5000 6.6610e+01 15\n", - " 8 4.8700e+02 3.8646e+00 7.6878e+00 4.0625e+01 2.13398e+00 0.5000 5.5444e+01 11\n", - " 9 4.5666e+02 3.9599e+00 1.3690e+01 3.1580e+01 3.08584e+00 0.1250 1.3791e+02 10\n", - " 10 4.3128e+02 3.9683e+00 1.4500e+01 2.8231e+01 1.27183e+00 1.0000 1.5025e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.3834e+03 6.6409e+00 9.7084e+01 4.0591e+01 8.47905e+00 0.2500 ---- 3\n", - " 2 1.3482e+03 8.3623e+00 1.0163e+02 3.2347e+01 6.80427e+00 0.2500 6.5879e+02 25\n", - " 3 1.2094e+03 8.9154e+00 8.7939e+01 3.2106e+01 3.93018e+00 0.5000 7.9100e+02 25\n", - " 4 9.2814e+02 7.7184e+00 6.5312e+01 2.6730e+01 4.91537e+00 0.1250 7.0561e+02 25\n", - " 5 8.8570e+02 7.5334e+00 6.2691e+01 2.5126e+01 2.22099e+00 1.0000 6.9036e+02 25\n", - " 6 6.4690e+02 6.5352e+00 4.7205e+01 1.6832e+01 8.23825e+00 0.0625 5.5648e+02 25\n", - " 7 6.4041e+02 6.8346e+00 4.7836e+01 1.5521e+01 4.88084e+00 0.1250 6.1525e+02 25\n", - " 8 6.3405e+02 6.9402e+00 4.7679e+01 1.5032e+01 1.25543e+00 1.0000 6.3652e+02 16\n", - " 9 4.3928e+02 4.7148e+00 5.5989e+00 3.7858e+01 1.96697e+00 0.2500 3.7858e+01 18\n", - " 10 3.9880e+02 4.7126e+00 5.7160e+00 3.3693e+01 1.26239e+00 1.0000 3.3693e+01 13\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.4333e+03 7.7712e+00 9.1853e+01 5.0697e+01 7.03903e+00 0.2500 ---- 25\n", - " 2 1.1790e+03 7.0944e+00 7.3679e+01 4.3514e+01 4.25172e+00 0.5000 1.6059e+02 25\n", - " 3 8.5928e+02 6.3236e+00 4.5459e+01 3.9837e+01 4.21271e+00 0.2500 1.3638e+02 25\n", - " 4 7.3331e+02 6.3403e+00 4.0886e+01 3.1810e+01 2.73837e+00 0.5000 2.3561e+02 25\n", - " 5 5.8595e+02 6.4542e+00 3.4020e+01 2.3930e+01 4.51793e+00 0.1250 3.3461e+02 24\n", - " 6 5.7797e+02 6.4931e+00 3.4361e+01 2.2786e+01 1.85484e+00 0.5000 3.5914e+02 17\n", - " 7 4.8133e+02 6.1399e+00 2.4346e+01 2.3173e+01 3.34682e+00 0.1250 2.7448e+02 16\n", - " 8 4.6939e+02 6.1536e+00 2.5292e+01 2.1032e+01 8.34039e-01 1.0000 2.8661e+02 14\n", - " 9 3.6751e+02 5.6426e+00 8.3122e-01 3.5355e+01 1.50676e+00 0.2500 3.5355e+01 25\n", - " 10 3.4961e+02 5.6421e+00 9.7982e-01 3.3417e+01 1.08266e+00 0.5000 3.3417e+01 16\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.4761e+03 9.1993e+00 9.1289e+01 5.5399e+01 5.84222e+00 0.5000 ---- 25\n", - " 2 1.0380e+03 7.6332e+00 5.3397e+01 4.9643e+01 3.82830e+00 0.5000 1.0622e+02 25\n", - " 3 9.6759e+02 7.0638e+00 3.2788e+01 6.3265e+01 2.96385e+00 0.5000 6.3265e+01 23\n", - " 4 7.1814e+02 6.8369e+00 1.7712e+01 5.3418e+01 2.84250e+00 0.5000 5.3418e+01 20\n", - " 5 6.3391e+02 6.8084e+00 1.5647e+01 4.7064e+01 4.02654e+00 0.1250 1.0765e+02 17\n", - " 6 6.1231e+02 6.8135e+00 1.7581e+01 4.2969e+01 1.77078e+00 0.5000 1.3150e+02 17\n", - " 7 4.7375e+02 6.7314e+00 1.1041e+01 3.5661e+01 2.88826e+00 0.1250 9.4961e+01 13\n", - " 8 4.5026e+02 6.7251e+00 1.0884e+01 3.3470e+01 1.21279e+00 0.5000 9.7826e+01 13\n", - " 9 4.0694e+02 6.6689e+00 5.3088e+00 3.4718e+01 1.47954e+00 0.5000 4.9265e+01 25\n", - " 10 3.9467e+02 6.6506e+00 3.0100e+00 3.5792e+01 1.70698e+00 0.2500 3.5792e+01 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.5829e+03 1.0727e+01 9.7550e+01 5.9666e+01 5.76807e+00 0.5000 ---- 25\n", - " 2 1.2292e+03 8.8721e+00 6.1430e+01 6.0607e+01 4.90971e+00 0.5000 1.0243e+02 25\n", - " 3 1.0543e+03 8.2391e+00 3.5335e+01 6.9268e+01 4.79607e+00 0.2500 8.1346e+01 24\n", - " 4 9.3326e+02 8.2737e+00 3.2360e+01 6.0139e+01 3.86303e+00 0.2500 1.9807e+02 25\n", - " 5 8.1594e+02 8.3154e+00 3.3861e+01 4.6901e+01 2.92285e+00 0.5000 2.5898e+02 23\n", - " 6 7.8370e+02 8.6672e+00 4.0111e+01 3.7392e+01 5.13950e+00 0.0625 3.8743e+02 21\n", - " 7 7.6063e+02 8.6220e+00 3.9676e+01 3.5525e+01 3.66689e+00 0.1250 3.8400e+02 17\n", - " 8 7.2121e+02 8.5566e+00 3.8577e+01 3.2688e+01 1.47335e+00 1.0000 3.7521e+02 17\n", - " 9 4.5047e+02 7.7824e+00 1.3143e+01 3.1126e+01 5.30139e+00 0.0625 1.0332e+02 25\n", - " 10 4.3313e+02 7.7898e+00 1.3912e+01 2.8622e+01 2.89561e+00 0.1250 1.2402e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.6757e+03 1.2392e+01 1.1620e+02 5.0133e+01 6.64296e+00 0.5000 ---- 25\n", - " 2 1.4909e+03 1.0202e+01 8.1460e+01 6.6604e+01 5.32893e+00 0.5000 9.5069e+01 25\n", - " 3 1.1363e+03 9.7413e+00 5.0737e+01 6.1919e+01 6.79250e+00 0.1250 2.5729e+02 24\n", - " 4 1.0475e+03 9.9111e+00 4.7557e+01 5.6200e+01 2.62924e+00 1.0000 3.4419e+02 24\n", - " 5 9.1081e+02 8.8571e+00 1.8597e+01 7.1598e+01 6.50096e+00 0.1250 9.0123e+01 25\n", - " 6 8.9676e+02 8.9571e+00 2.4904e+01 6.3876e+01 2.66785e+00 0.5000 1.7212e+02 25\n", - " 7 8.1229e+02 8.8445e+00 1.4813e+01 6.5531e+01 2.89978e+00 0.5000 9.9769e+01 13\n", - " 8 6.6270e+02 9.0136e+00 2.1025e+01 4.4343e+01 4.43643e+00 0.1250 1.9292e+02 25\n", - " 9 6.5654e+02 9.0573e+00 2.3233e+01 4.1515e+01 1.71365e+00 0.5000 2.2207e+02 11\n", - " 10 5.1865e+02 8.9326e+00 1.5613e+01 3.5359e+01 3.15106e+00 0.1250 1.5827e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.7328e+03 1.4084e+01 1.1578e+02 5.6099e+01 6.52054e+00 0.5000 ---- 25\n", - " 2 1.2646e+03 1.1533e+01 6.3245e+01 6.2057e+01 5.54066e+00 0.2500 9.8422e+01 25\n", - " 3 1.0515e+03 1.1069e+01 4.6132e+01 5.7916e+01 3.55235e+00 0.5000 1.0732e+02 23\n", - " 4 8.0578e+02 1.0538e+01 3.4093e+01 4.5431e+01 4.93370e+00 0.1250 1.5074e+02 15\n", - " 5 7.7447e+02 1.0493e+01 3.3283e+01 4.3115e+01 2.21810e+00 0.5000 1.7206e+02 15\n", - " 6 5.9775e+02 1.0184e+01 2.1060e+01 3.7696e+01 3.06700e+00 0.1250 1.1274e+02 13\n", - " 7 5.6482e+02 1.0157e+01 2.1125e+01 3.4341e+01 1.36110e+00 1.0000 1.1524e+02 13\n", - " 8 5.2215e+02 9.9134e+00 2.2814e+00 4.8943e+01 2.52252e+00 0.2500 4.8943e+01 25\n", - " 9 4.7745e+02 9.9123e+00 2.9734e+00 4.3781e+01 1.69695e+00 0.2500 4.3781e+01 20\n", - " 10 4.1354e+02 9.9122e+00 1.2622e+00 3.9100e+01 1.31364e+00 0.5000 3.9100e+01 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.5354e+03 1.5608e+01 1.0499e+02 4.6996e+01 8.06383e+00 0.5000 ---- 25\n", - " 2 1.4169e+03 1.2844e+01 6.2929e+01 7.7481e+01 6.35886e+00 0.2500 9.1001e+01 25\n", - " 3 1.2429e+03 1.2354e+01 5.5411e+01 6.7640e+01 4.54179e+00 0.5000 1.0687e+02 20\n", - " 4 1.0029e+03 1.2169e+01 4.9992e+01 4.9082e+01 7.05695e+00 0.1250 3.2270e+02 15\n", - " 5 9.9821e+02 1.2612e+01 5.3511e+01 4.5048e+01 2.75581e+00 0.5000 4.5495e+02 10\n", - " 6 8.2870e+02 1.1824e+01 4.3410e+01 3.8277e+01 4.66059e+00 0.1250 3.1354e+02 21\n", - " 7 8.2354e+02 1.1867e+01 4.5623e+01 3.5545e+01 1.79674e+00 1.0000 3.3802e+02 15\n", - " 8 8.1391e+02 1.1085e+01 9.2649e+00 7.1018e+01 5.13140e+00 0.1250 7.1018e+01 25\n", - " 9 7.6400e+02 1.1114e+01 1.1730e+01 6.3559e+01 2.16863e+00 0.5000 9.6412e+01 18\n", - " 10 7.5112e+02 1.1079e+01 5.2672e+00 6.8737e+01 2.73702e+00 0.2500 6.8737e+01 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.0733e+03 1.7317e+01 1.0507e+02 1.0052e+02 8.65491e+00 0.5000 ---- 25\n", - " 2 1.1685e+03 1.4216e+01 6.0419e+01 5.5005e+01 6.08835e+00 0.2500 8.5775e+01 25\n", - " 3 1.0405e+03 1.3655e+01 4.8774e+01 5.3909e+01 4.44459e+00 0.2500 1.0926e+02 20\n", - " 4 9.9074e+02 1.3290e+01 4.4063e+01 5.3682e+01 3.48793e+00 0.2500 1.3883e+02 18\n", - " 5 8.7134e+02 1.3024e+01 3.7492e+01 4.8339e+01 3.54314e+00 0.2500 1.4596e+02 15\n", - " 6 7.8052e+02 1.2833e+01 3.1891e+01 4.4877e+01 2.89580e+00 0.2500 1.4733e+02 10\n", - " 7 7.2606e+02 1.2687e+01 2.7299e+01 4.4039e+01 3.01353e+00 0.2500 1.4134e+02 11\n", - " 8 7.1475e+02 1.2576e+01 2.4161e+01 4.6055e+01 2.53895e+00 0.2500 1.3291e+02 11\n", - " 9 6.4631e+02 1.2491e+01 2.0801e+01 4.2581e+01 2.46533e+00 0.2500 1.2293e+02 12\n", - " 10 5.9410e+02 1.2425e+01 1.7436e+01 4.0732e+01 2.30943e+00 0.2500 1.1203e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.8144e+03 1.9135e+01 1.0813e+02 7.1396e+01 7.90852e+00 0.5000 ---- 25\n", - " 2 1.7270e+03 1.5593e+01 6.5843e+01 1.0530e+02 6.22438e+00 0.5000 1.0530e+02 25\n", - " 3 1.5824e+03 1.4401e+01 4.5870e+01 1.1093e+02 6.21409e+00 0.2500 1.2097e+02 12\n", - " 4 1.4109e+03 1.4369e+01 4.5075e+01 9.4577e+01 4.35801e+00 0.5000 2.4690e+02 10\n", - " 5 1.1912e+03 1.4966e+01 6.4731e+01 5.2891e+01 6.37742e+00 0.0625 4.6890e+02 10\n", - " 6 1.1634e+03 1.4890e+01 6.3360e+01 5.1494e+01 4.97568e+00 0.1250 4.6502e+02 10\n", - " 7 1.1353e+03 1.4825e+01 6.3285e+01 4.8766e+01 2.50993e+00 1.0000 4.6527e+02 10\n", - " 8 1.1179e+03 1.3977e+01 3.1920e+01 7.8471e+01 1.01761e+01 0.0625 3.0824e+02 25\n", - " 9 1.0924e+03 1.4324e+01 3.4991e+01 7.2820e+01 3.97327e+00 0.2500 4.1248e+02 25\n", - " 10 9.7440e+02 1.4277e+01 3.4382e+01 6.1630e+01 3.25945e+00 0.2500 4.0526e+02 16\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.2632e+03 2.1455e+01 1.3561e+02 8.8568e+01 9.46286e+00 0.5000 ---- 25\n", - " 2 1.4967e+03 1.9447e+01 9.3316e+01 5.4413e+01 1.02687e+01 0.1250 6.5038e+02 25\n", - " 3 1.3470e+03 1.9281e+01 8.0127e+01 5.2649e+01 6.27779e+00 0.2500 6.9184e+02 16\n", - " 4 1.3320e+03 1.8407e+01 7.4565e+01 5.6792e+01 4.65980e+00 0.2500 6.6133e+02 15\n", - " 5 1.2331e+03 1.7626e+01 6.8422e+01 5.3122e+01 4.32775e+00 0.2500 6.1486e+02 13\n", - " 6 1.0887e+03 1.6976e+01 6.1524e+01 4.5651e+01 3.75362e+00 0.2500 5.5974e+02 12\n", - " 7 1.0239e+03 1.6479e+01 5.6816e+01 4.3923e+01 3.61839e+00 0.2500 5.1343e+02 12\n", - " 8 1.0036e+03 1.6058e+01 5.3042e+01 4.5711e+01 3.52689e+00 0.2500 4.6166e+02 12\n", - " 9 9.5534e+02 1.5743e+01 5.1016e+01 4.2943e+01 3.35141e+00 0.2500 4.2026e+02 11\n", - " 10 9.1572e+02 1.5473e+01 4.6197e+01 4.3828e+01 3.47633e+00 0.2500 3.7521e+02 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.1258e+03 2.3023e+01 1.3121e+02 7.9069e+01 9.24574e+00 0.2500 ---- 25\n", - " 2 1.8479e+03 2.0547e+01 1.0682e+02 7.5915e+01 6.43975e+00 0.5000 2.7691e+02 25\n", - " 3 1.4560e+03 1.7675e+01 5.5211e+01 8.8626e+01 6.27524e+00 0.2500 2.0671e+02 13\n", - " 4 1.3987e+03 1.7277e+01 5.6979e+01 8.1162e+01 4.20841e+00 0.5000 2.6496e+02 11\n", - " 5 1.1334e+03 1.7050e+01 5.8159e+01 5.3477e+01 6.30295e+00 0.0625 3.8407e+02 12\n", - " 6 1.0997e+03 1.6963e+01 5.6817e+01 5.1460e+01 4.88457e+00 0.2500 3.7886e+02 12\n", - " 7 1.0898e+03 1.7144e+01 6.2026e+01 4.5238e+01 3.77965e+00 0.2500 4.5568e+02 21\n", - " 8 1.0408e+03 1.6963e+01 5.6353e+01 4.6035e+01 3.64346e+00 0.1250 4.4151e+02 19\n", - " 9 9.8647e+02 1.6759e+01 5.2506e+01 4.4465e+01 1.88167e+00 1.0000 4.0694e+02 19\n", - " 10 8.6366e+02 1.5617e+01 7.0889e+00 7.7716e+01 5.07149e+00 0.1250 7.7716e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.3828e+03 2.3898e+01 1.0461e+02 1.3128e+02 9.17323e+00 0.5000 ---- 25\n", - " 2 1.8528e+03 1.9442e+01 7.5743e+01 1.0760e+02 5.69566e+00 0.5000 1.0760e+02 25\n", - " 3 1.5364e+03 1.7846e+01 4.5389e+01 1.0647e+02 4.77956e+00 0.5000 1.0647e+02 21\n", - " 4 1.3030e+03 1.7218e+01 2.7367e+01 1.0122e+02 4.84585e+00 0.2500 1.0122e+02 25\n", - " 5 1.1560e+03 1.7124e+01 2.5659e+01 8.8229e+01 3.55150e+00 0.5000 1.1634e+02 10\n", - " 6 8.8988e+02 1.7181e+01 3.7905e+01 4.9365e+01 5.29667e+00 0.0625 2.3583e+02 17\n", - " 7 8.8768e+02 1.7150e+01 3.7611e+01 4.9442e+01 3.92469e+00 0.1250 2.3524e+02 18\n", - " 8 8.6692e+02 1.7115e+01 3.7700e+01 4.7281e+01 2.08459e+00 0.5000 2.3578e+02 18\n", - " 9 8.0338e+02 1.6851e+01 1.9620e+01 5.9032e+01 3.82741e+00 0.1250 1.4616e+02 15\n", - " 10 7.8687e+02 1.6843e+01 2.0119e+01 5.6885e+01 1.83588e+00 0.5000 1.5090e+02 15\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.0772e+03 2.5433e+01 1.0803e+02 9.7151e+01 9.55427e+00 0.5000 ---- 25\n", - " 2 1.9214e+03 2.0801e+01 7.8342e+01 1.1172e+02 8.65531e+00 0.2500 1.4820e+02 25\n", - " 3 1.8266e+03 2.0206e+01 7.5450e+01 1.0519e+02 4.84306e+00 0.5000 2.8914e+02 10\n", - " 4 1.4611e+03 1.9318e+01 5.7819e+01 8.6358e+01 6.47810e+00 0.1250 3.5397e+02 10\n", - " 5 1.3796e+03 1.9229e+01 5.7321e+01 7.8716e+01 3.88983e+00 0.5000 3.7196e+02 9\n", - " 6 1.0531e+03 1.8818e+01 4.0752e+01 6.2678e+01 7.28638e+00 0.0625 3.6970e+02 25\n", - " 7 1.0394e+03 1.8854e+01 4.3360e+01 5.8690e+01 3.61960e+00 0.2500 3.9090e+02 16\n", - " 8 9.4148e+02 1.8541e+01 3.5761e+01 5.6533e+01 2.93680e+00 0.2500 3.3563e+02 10\n", - " 9 8.3026e+02 1.8307e+01 3.1079e+01 5.0116e+01 3.03904e+00 0.1250 2.8523e+02 11\n", - " 10 7.9118e+02 1.8201e+01 2.8309e+01 4.8989e+01 1.71877e+00 1.0000 2.5871e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.2203e+03 2.6818e+01 1.0366e+02 1.1568e+02 1.05771e+01 0.5000 ---- 25\n", - " 2 1.6063e+03 2.1919e+01 8.2540e+01 7.5899e+01 8.28470e+00 0.2500 1.3709e+02 25\n", - " 3 1.5545e+03 2.1348e+01 7.1918e+01 8.1402e+01 4.53883e+00 0.5000 3.1038e+02 25\n", - " 4 1.2645e+03 2.0115e+01 4.9716e+01 7.4725e+01 6.23835e+00 0.1250 3.0298e+02 12\n", - " 5 1.2316e+03 1.9987e+01 5.0966e+01 7.0191e+01 3.59827e+00 0.5000 3.1167e+02 9\n", - " 6 1.1628e+03 1.9400e+01 4.3471e+01 7.0870e+01 6.45542e+00 0.0625 2.6080e+02 16\n", - " 7 1.1397e+03 1.9381e+01 4.4844e+01 6.7190e+01 3.78379e+00 0.2500 2.6893e+02 19\n", - " 8 1.0643e+03 1.9187e+01 4.1268e+01 6.3248e+01 2.80691e+00 0.2500 2.3394e+02 10\n", - " 9 9.4991e+02 1.9042e+01 3.5791e+01 5.7295e+01 2.73210e+00 0.2500 2.0222e+02 10\n", - " 10 8.7062e+02 1.8944e+01 3.2805e+01 5.2362e+01 2.75667e+00 0.2500 1.8001e+02 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.3432e+03 2.8373e+01 1.4909e+02 8.2401e+01 9.67198e+00 0.5000 ---- 25\n", - " 2 2.0160e+03 2.3360e+01 1.0689e+02 9.2382e+01 9.39864e+00 0.1250 2.7954e+02 25\n", - " 3 1.8842e+03 2.2887e+01 1.0444e+02 8.1693e+01 6.45405e+00 0.2500 3.0751e+02 19\n", - " 4 1.7889e+03 2.2011e+01 9.6945e+01 7.9747e+01 4.49157e+00 0.5000 3.0254e+02 12\n", - " 5 1.5034e+03 2.1168e+01 7.1150e+01 7.7072e+01 6.75026e+00 0.1250 3.6395e+02 15\n", - " 6 1.4435e+03 2.1074e+01 7.0766e+01 7.1475e+01 3.79270e+00 0.5000 3.7921e+02 12\n", - " 7 1.3964e+03 2.0826e+01 6.3872e+01 7.3684e+01 8.49459e+00 0.0312 4.1323e+02 25\n", - " 8 1.3809e+03 2.0813e+01 6.4439e+01 7.1568e+01 5.61024e+00 0.1250 4.1790e+02 17\n", - " 9 1.3606e+03 2.0850e+01 6.7168e+01 6.6803e+01 2.91927e+00 0.5000 4.3907e+02 12\n", - " 10 1.0602e+03 2.0159e+01 4.7037e+01 5.6964e+01 5.55135e+00 0.0625 2.9805e+02 13\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8356e+03 2.9994e+01 1.9110e+02 8.9465e+01 9.98368e+00 0.5000 ---- 25\n", - " 2 2.2956e+03 2.4688e+01 1.1096e+02 1.1613e+02 9.55149e+00 0.1250 3.7941e+02 25\n", - " 3 2.1739e+03 2.4173e+01 1.0694e+02 1.0803e+02 6.38055e+00 0.2500 3.9725e+02 10\n", - " 4 1.8618e+03 2.3231e+01 9.7240e+01 8.6622e+01 4.70754e+00 0.5000 3.8779e+02 10\n", - " 5 1.6311e+03 2.2733e+01 9.4512e+01 6.6324e+01 6.84459e+00 0.1250 5.1105e+02 11\n", - " 6 1.6061e+03 2.2643e+01 9.5935e+01 6.2409e+01 4.35605e+00 0.2500 5.2629e+02 10\n", - " 7 1.4565e+03 2.2357e+01 8.7162e+01 5.6252e+01 4.48987e+00 0.2500 5.1663e+02 10\n", - " 8 1.4099e+03 2.2441e+01 8.6475e+01 5.2273e+01 4.82290e+00 0.1250 5.5872e+02 9\n", - " 9 1.3484e+03 2.2224e+01 8.2161e+01 5.0451e+01 2.39748e+00 1.0000 5.3439e+02 10\n", - " 10 1.2240e+03 2.0597e+01 4.8600e+01 7.1742e+01 1.27431e+01 0.0156 1.9161e+02 20\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.4323e+03 3.0746e+01 2.0105e+02 1.3911e+02 1.78345e+01 0.0625 ---- 3\n", - " 2 3.3703e+03 3.0068e+01 2.0777e+02 1.2625e+02 1.11528e+01 0.5000 2.8372e+02 25\n", - " 3 2.1548e+03 2.4584e+01 9.9059e+01 1.1396e+02 7.34400e+00 0.2500 1.9225e+02 25\n", - " 4 1.9308e+03 2.3697e+01 8.7867e+01 1.0284e+02 4.94634e+00 1.0000 2.4620e+02 11\n", - " 5 1.9184e+03 2.6158e+01 1.1755e+02 7.1674e+01 1.01096e+01 0.1250 9.1914e+02 25\n", - " 6 1.8061e+03 2.5820e+01 1.1510e+02 6.2925e+01 8.21882e+00 0.1250 8.9688e+02 25\n", - " 7 1.7502e+03 2.5701e+01 1.1694e+02 5.5514e+01 6.41980e+00 0.1250 8.9711e+02 25\n", - " 8 1.7007e+03 2.5413e+01 1.1439e+02 5.3137e+01 3.21664e+00 0.5000 8.7730e+02 12\n", - " 9 1.3845e+03 2.2767e+01 6.4335e+01 7.1834e+01 1.13857e+01 0.0156 5.4664e+02 25\n", - " 10 1.3777e+03 2.2759e+01 6.4868e+01 7.0622e+01 7.89445e+00 0.0312 5.4972e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.4910e+03 3.3089e+01 2.3141e+02 1.1438e+02 1.20676e+01 0.2500 ---- 25\n", - " 2 3.0948e+03 3.0894e+01 2.0984e+02 9.6556e+01 1.02504e+01 0.1250 7.0445e+02 25\n", - " 3 2.8938e+03 2.9674e+01 1.9748e+02 8.8927e+01 7.24173e+00 0.5000 6.9216e+02 15\n", - " 4 2.6461e+03 2.7194e+01 1.9990e+02 6.1989e+01 1.83957e+01 0.0156 7.9199e+02 25\n", - " 5 2.6458e+03 2.7217e+01 2.0093e+02 6.0925e+01 1.08435e+01 0.0312 8.0635e+02 17\n", - " 6 2.6052e+03 2.7113e+01 1.9872e+02 5.9093e+01 6.08093e+00 0.2500 8.0668e+02 25\n", - " 7 2.3543e+03 2.6004e+01 1.6992e+02 6.2902e+01 5.92214e+00 0.2500 7.4322e+02 16\n", - " 8 2.2792e+03 2.6084e+01 1.6778e+02 5.7529e+01 8.21220e+00 0.0625 8.0822e+02 12\n", - " 9 2.2604e+03 2.6142e+01 1.6830e+02 5.5119e+01 3.06935e+00 1.0000 8.2697e+02 11\n", - " 10 1.6005e+03 2.2286e+01 6.4867e+01 9.2951e+01 2.50220e+01 0.0039 2.9174e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1430e+03 3.2872e+01 2.5019e+02 1.6083e+02 3.11955e+01 0.0156 ---- 25\n", - " 2 4.1319e+03 3.2648e+01 2.5298e+02 1.5695e+02 2.18889e+01 0.0312 3.2548e+02 25\n", - " 3 4.0850e+03 3.2292e+01 2.5485e+02 1.5042e+02 1.40700e+01 0.2500 3.6727e+02 18\n", - " 4 3.6581e+03 3.0524e+01 2.5008e+02 1.1268e+02 1.12036e+01 0.2500 6.2158e+02 21\n", - " 5 3.3943e+03 2.9844e+01 2.5050e+02 8.5952e+01 5.63826e+00 1.0000 8.1304e+02 15\n", - " 6 2.2279e+03 2.2194e+01 4.5415e+01 1.7516e+02 5.74682e+00 0.5000 1.7516e+02 15\n", - " 7 1.5970e+03 2.2209e+01 2.3425e+01 1.3406e+02 5.47244e+00 0.2500 1.3406e+02 6\n", - " 8 1.4445e+03 2.2345e+01 3.4429e+01 1.0779e+02 5.83203e+00 0.1250 1.5313e+02 6\n", - " 9 1.3394e+03 2.2395e+01 3.6677e+01 9.5025e+01 3.55687e+00 1.0000 1.9149e+02 6\n", - " 10 1.2742e+03 2.2794e+01 6.1499e+01 6.3644e+01 1.84625e+01 0.0039 3.1228e+02 14\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.5920e+03 3.3530e+01 2.2881e+02 1.2705e+02 2.66377e+01 0.0156 ---- 25\n", - " 2 3.5738e+03 3.3305e+01 2.3005e+02 1.2400e+02 1.85059e+01 0.0625 3.3235e+02 25\n", - " 3 3.5197e+03 3.2693e+01 2.3534e+02 1.1336e+02 1.18413e+01 0.5000 4.1895e+02 25\n", - " 4 2.7023e+03 2.7024e+01 1.6453e+02 1.0300e+02 1.51095e+01 0.0312 4.0259e+02 8\n", - " 5 2.6869e+03 2.7002e+01 1.6602e+02 9.9963e+01 5.85047e+00 1.0000 4.3895e+02 7\n", - " 6 2.0233e+03 2.3852e+01 6.3019e+01 1.3693e+02 1.08518e+01 0.1250 4.6298e+02 14\n", - " 7 1.9907e+03 2.4047e+01 7.5782e+01 1.2088e+02 9.43485e+00 0.0625 5.1912e+02 12\n", - " 8 1.9238e+03 2.4054e+01 7.7409e+01 1.1257e+02 7.69011e+00 0.1250 5.2702e+02 13\n", - " 9 1.8459e+03 2.4247e+01 8.2194e+01 9.9967e+01 7.62218e+00 0.0625 5.6563e+02 8\n", - " 10 1.8283e+03 2.4339e+01 8.5368e+01 9.5028e+01 5.41323e+00 0.1250 5.8262e+02 7\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.7552e+03 3.5043e+01 2.5342e+02 1.1859e+02 1.47770e+01 0.1250 ---- 25\n", - " 2 3.7482e+03 3.4930e+01 2.6752e+02 1.0381e+02 1.24920e+01 0.1250 8.1189e+02 25\n", - " 3 3.6285e+03 3.4060e+01 2.6266e+02 9.6782e+01 9.52108e+00 0.1250 8.9379e+02 25\n", - " 4 3.4963e+03 3.3013e+01 2.4884e+02 9.7497e+01 2.22702e+01 0.0156 9.1029e+02 25\n", - " 5 3.4782e+03 3.2982e+01 2.4878e+02 9.5739e+01 6.09281e+00 1.0000 9.2500e+02 13\n", - " 6 1.9579e+03 2.4023e+01 7.1832e+01 1.2156e+02 1.07228e+01 0.0625 4.5082e+02 25\n", - " 7 1.9114e+03 2.4049e+01 7.5188e+01 1.1355e+02 1.08323e+01 0.0312 4.7066e+02 25\n", - " 8 1.8797e+03 2.4041e+01 7.5952e+01 1.0961e+02 1.03861e+01 0.0312 4.7573e+02 25\n", - " 9 1.8512e+03 2.4048e+01 7.6803e+01 1.0591e+02 8.37366e+00 0.0625 4.8188e+02 25\n", - " 10 1.8106e+03 2.4123e+01 7.9259e+01 9.9393e+01 8.57307e+00 0.0625 4.9773e+02 17\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1067e+03 3.5130e+01 2.4059e+02 1.6658e+02 1.40170e+01 0.1250 ---- 25\n", - " 2 3.9000e+03 3.4115e+01 2.4461e+02 1.4197e+02 2.66814e+01 0.0312 6.7781e+02 25\n", - " 3 3.8890e+03 3.4362e+01 2.4969e+02 1.3578e+02 1.70472e+01 0.0312 7.7093e+02 11\n", - " 4 3.8455e+03 3.4153e+01 2.4902e+02 1.3211e+02 9.14811e+00 0.2500 7.9614e+02 10\n", - " 5 3.6658e+03 3.2230e+01 2.4369e+02 1.1967e+02 4.93830e+01 0.0312 8.5524e+02 25\n", - " 6 3.5059e+03 3.3442e+01 2.3571e+02 1.1153e+02 2.96897e+01 0.0078 1.0282e+03 20\n", - " 7 3.4893e+03 3.3364e+01 2.3544e+02 1.1015e+02 3.54693e+01 0.0078 1.0348e+03 23\n", - " 8 3.4816e+03 3.3379e+01 2.3609e+02 1.0873e+02 2.44208e+01 0.0312 1.0477e+03 19\n", - " 9 3.4694e+03 3.4061e+01 2.3834e+02 1.0519e+02 4.14910e+01 0.0625 1.1142e+03 20\n", - " 10 2.9689e+03 3.9199e+01 1.9393e+02 9.9039e+01 2.62431e+01 0.0625 1.3206e+03 19\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.5918e+03 4.3303e+01 2.2078e+02 1.3407e+02 3.99861e+01 0.0625 ---- 25\n", - " 2 3.5304e+03 4.0483e+01 2.2317e+02 1.2581e+02 4.31435e+01 0.0312 8.6974e+02 25\n", - " 3 3.1732e+03 4.0683e+01 1.9011e+02 1.2315e+02 1.16598e+01 0.2500 9.9534e+02 25\n", - " 4 2.5565e+03 3.4569e+01 1.3832e+02 1.1387e+02 4.10977e+01 0.0156 8.0911e+02 25\n", - " 5 2.5383e+03 3.4951e+01 1.3981e+02 1.1052e+02 3.01249e+01 0.0078 8.7281e+02 25\n", - " 6 2.5369e+03 3.4920e+01 1.4054e+02 1.0965e+02 2.28581e+01 0.0156 8.8500e+02 14\n", - " 7 2.5253e+03 3.4944e+01 1.4104e+02 1.0799e+02 3.28116e+01 0.0156 9.0518e+02 25\n", - " 8 2.5054e+03 3.5078e+01 1.4135e+02 1.0569e+02 3.74942e+01 0.0020 9.3273e+02 25\n", - " 9 2.5036e+03 3.5033e+01 1.4139e+02 1.0547e+02 3.56343e+01 0.0020 9.3260e+02 25\n", - " 10 2.5012e+03 3.4991e+01 1.4137e+02 1.0525e+02 3.06789e+01 0.0039 9.3208e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9020e+03 4.3968e+01 2.4302e+02 1.4278e+02 2.31224e+01 0.0625 ---- 25\n", - " 2 3.8596e+03 4.2698e+01 2.4623e+02 1.3546e+02 5.45379e+01 0.1250 9.5192e+02 25\n", - " 3 3.7328e+03 6.3124e+01 2.4909e+02 1.1788e+02 2.68154e+01 0.2500 1.7577e+03 25\n", - " 4 2.9312e+03 4.6101e+01 1.8624e+02 1.0226e+02 3.37503e+01 0.0625 1.7921e+03 25\n", - " 5 2.3521e+03 4.3591e+01 1.3459e+02 9.6259e+01 3.61125e+01 0.0156 1.8415e+03 23\n", - " 6 2.2906e+03 4.3689e+01 1.3044e+02 9.4244e+01 3.78506e+01 0.0625 1.8114e+03 24\n", - " 7 2.1608e+03 5.2682e+01 1.2250e+02 8.8304e+01 2.19406e+01 0.0625 2.1725e+03 11\n", - " 8 2.0010e+03 4.8347e+01 1.1180e+02 8.3462e+01 2.43768e+01 0.0312 2.1143e+03 19\n", - " 9 1.9342e+03 4.6946e+01 1.0781e+02 8.0914e+01 4.12331e+01 0.0078 2.1324e+03 10\n", - " 10 1.9243e+03 4.6613e+01 1.0741e+02 8.0361e+01 1.05130e+01 0.2500 2.1637e+03 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.4999e+03 4.3814e+01 1.4609e+02 9.9516e+01 3.67896e+01 0.0312 ---- 25\n", - " 2 2.3737e+03 4.2922e+01 1.3520e+02 9.7875e+01 3.12032e+01 0.0156 1.7057e+03 25\n", - " 3 2.2826e+03 4.2308e+01 1.2720e+02 9.6831e+01 2.98300e+01 0.0312 1.6858e+03 25\n", - " 4 2.2540e+03 4.1796e+01 1.2832e+02 9.2903e+01 2.97541e+01 0.0039 1.6563e+03 25\n", - " 5 2.2500e+03 4.1609e+01 1.2828e+02 9.2555e+01 3.35739e+01 0.0039 1.6479e+03 21\n", - " 6 2.2494e+03 4.1421e+01 1.2858e+02 9.2219e+01 3.78610e+01 0.0020 1.6399e+03 21\n", - " 7 2.2481e+03 4.1325e+01 1.2863e+02 9.2047e+01 3.96411e+01 0.0020 1.6372e+03 21\n", - " 8 2.2470e+03 4.1231e+01 1.2871e+02 9.1866e+01 3.93335e+01 0.0020 1.6370e+03 20\n", - " 9 2.2457e+03 4.1142e+01 1.2879e+02 9.1667e+01 3.19974e+01 0.0039 1.6415e+03 8\n", - " 10 2.2440e+03 4.0995e+01 1.2914e+02 9.1166e+01 1.13217e+01 0.0625 1.6494e+03 23\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9862e+03 4.5278e+01 1.8772e+02 1.0637e+02 4.95275e+01 0.0078 ---- 25\n", - " 2 2.9776e+03 4.4910e+01 1.8814e+02 1.0512e+02 3.79628e+01 0.0078 1.5791e+03 25\n", - " 3 2.9664e+03 4.4622e+01 1.8815e+02 1.0403e+02 2.50450e+01 0.0312 1.5768e+03 25\n", - " 4 2.9266e+03 4.3691e+01 1.8596e+02 1.0233e+02 4.91059e+01 0.0078 1.5071e+03 25\n", - " 5 2.9158e+03 4.3381e+01 1.8699e+02 1.0025e+02 2.69252e+01 0.0156 1.5351e+03 25\n", - " 6 2.8948e+03 4.2860e+01 1.8649e+02 9.8703e+01 3.19181e+01 0.0078 1.5107e+03 25\n", - " 7 2.8917e+03 4.2606e+01 1.8689e+02 9.8014e+01 2.15530e+01 0.0312 1.5058e+03 25\n", - " 8 2.8567e+03 4.1644e+01 1.8678e+02 9.4718e+01 3.59501e+01 0.0039 1.4530e+03 21\n", - " 9 2.8555e+03 4.1500e+01 1.8699e+02 9.4402e+01 2.31657e+01 0.0156 1.4566e+03 13\n", - " 10 2.8493e+03 4.1083e+01 1.8804e+02 9.2790e+01 2.79661e+01 0.0078 1.4339e+03 14\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.6822e+03 4.7348e+01 2.5069e+02 1.1279e+02 2.65165e+01 0.1250 ---- 25\n", - " 2 3.3540e+03 4.2275e+01 1.9801e+02 1.3316e+02 5.47681e+01 0.0039 1.2714e+03 25\n", - " 3 3.3472e+03 4.2055e+01 1.9814e+02 1.3238e+02 5.40539e+01 0.0039 1.2755e+03 25\n", - " 4 3.3392e+03 4.1859e+01 1.9838e+02 1.3136e+02 5.00601e+01 0.0039 1.2809e+03 25\n", - " 5 3.3321e+03 4.1687e+01 1.9856e+02 1.3048e+02 4.18638e+01 0.0078 1.2852e+03 25\n", - " 6 3.3290e+03 4.1403e+01 1.9970e+02 1.2905e+02 2.32084e+01 0.0312 1.2857e+03 25\n", - " 7 3.2825e+03 4.0395e+01 1.9928e+02 1.2493e+02 2.21748e+01 0.0312 1.2478e+03 25\n", - " 8 3.2442e+03 3.9449e+01 1.9917e+02 1.2131e+02 2.30260e+01 0.0312 1.2108e+03 25\n", - " 9 3.2218e+03 3.8602e+01 2.0104e+02 1.1729e+02 2.10628e+01 0.0312 1.1764e+03 25\n", - " 10 3.1958e+03 3.7780e+01 2.0135e+02 1.1445e+02 1.99882e+01 0.0312 1.1421e+03 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0214e+03 4.4483e+01 2.7447e+02 1.2322e+02 2.69317e+01 0.0312 ---- 25\n", - " 2 3.9760e+03 4.3240e+01 2.6787e+02 1.2541e+02 2.65717e+01 0.0625 1.1176e+03 25\n", - " 3 3.8563e+03 4.0975e+01 2.5616e+02 1.2538e+02 2.30237e+01 0.0625 1.0494e+03 25\n", - " 4 3.7315e+03 3.8991e+01 2.4370e+02 1.2555e+02 2.76530e+01 0.0312 9.8584e+02 25\n", - " 5 3.7153e+03 3.8197e+01 2.4564e+02 1.2208e+02 1.93469e+01 0.1250 9.5962e+02 25\n", - " 6 3.5736e+03 3.4993e+01 2.3323e+02 1.2063e+02 3.32592e+01 0.0078 8.4016e+02 25\n", - " 7 3.5614e+03 3.4820e+01 2.3325e+02 1.1941e+02 2.46189e+01 0.0156 8.3800e+02 25\n", - " 8 3.5334e+03 3.4503e+01 2.3235e+02 1.1754e+02 1.73264e+01 0.1250 8.2763e+02 25\n", - " 9 3.4123e+03 3.2248e+01 2.2319e+02 1.1481e+02 1.53085e+01 0.1250 7.2711e+02 25\n", - " 10 3.3707e+03 3.0646e+01 2.2155e+02 1.1245e+02 1.93076e+01 0.0312 6.3953e+02 16\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0822e+03 3.8928e+01 3.7344e+02 1.3088e+02 1.92466e+01 0.5000 ---- 25\n", - " 2 4.8393e+03 2.6781e+01 2.5105e+02 2.3020e+02 2.52417e+01 0.0625 3.4294e+02 25\n", - " 3 4.7284e+03 2.6472e+01 2.5679e+02 2.1341e+02 1.30996e+01 0.5000 3.3297e+02 16\n", - " 4 3.4846e+03 2.3474e+01 1.6285e+02 1.8327e+02 9.54281e+00 0.5000 1.8327e+02 8\n", - " 5 2.9490e+03 2.2587e+01 1.2756e+02 1.6508e+02 8.84684e+00 0.5000 1.6508e+02 12\n", - " 6 2.4621e+03 2.3186e+01 1.0765e+02 1.3624e+02 1.36212e+01 0.0312 4.4827e+02 10\n", - " 7 2.4282e+03 2.3214e+01 1.0829e+02 1.3220e+02 8.58525e+00 0.2500 4.6299e+02 15\n", - " 8 2.4104e+03 2.3781e+01 1.2603e+02 1.1264e+02 8.25314e+00 0.2500 5.8023e+02 9\n", - " 9 2.3171e+03 2.4413e+01 1.2922e+02 1.0005e+02 6.89609e+00 0.2500 6.9048e+02 9\n", - " 10 2.3082e+03 2.4545e+01 1.3658e+02 9.1790e+01 7.05451e+00 0.2500 7.1253e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9291e+03 3.4469e+01 3.6550e+02 1.2395e+02 1.40257e+01 0.2500 ---- 25\n", - " 2 4.8484e+03 3.4514e+01 3.7421e+02 1.0718e+02 1.16396e+01 0.2500 1.1540e+03 25\n", - " 3 4.4501e+03 3.4495e+01 3.4178e+02 9.9779e+01 6.82858e+00 1.0000 1.3262e+03 16\n", - " 4 2.9365e+03 2.1628e+01 1.5423e+02 1.3726e+02 8.15447e+00 0.5000 3.1297e+02 25\n", - " 5 2.2342e+03 2.3725e+01 1.0278e+02 1.1826e+02 1.12335e+01 0.0312 7.3584e+02 14\n", - " 6 2.2223e+03 2.3798e+01 1.0512e+02 1.1473e+02 6.29290e+00 0.1250 7.4981e+02 15\n", - " 7 2.0933e+03 2.3621e+01 1.0436e+02 1.0261e+02 4.10528e+00 1.0000 7.2378e+02 11\n", - " 8 1.8624e+03 2.3420e+01 8.0154e+01 1.0374e+02 2.60441e+01 0.0039 6.4193e+02 25\n", - " 9 1.8609e+03 2.3395e+01 8.0442e+01 1.0331e+02 2.33359e+01 0.0039 6.4371e+02 25\n", - " 10 1.8581e+03 2.3373e+01 8.0605e+01 1.0287e+02 2.08402e+01 0.0078 6.4456e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.6595e+03 3.2302e+01 2.8053e+02 1.8219e+02 2.49329e+01 0.0312 ---- 3\n", - " 2 4.6050e+03 3.2119e+01 2.8390e+02 1.7338e+02 1.54337e+01 0.2500 7.0522e+02 25\n", - " 3 4.3601e+03 3.1924e+01 3.0970e+02 1.2312e+02 1.13561e+01 0.2500 1.0318e+03 25\n", - " 4 3.9556e+03 3.1426e+01 2.9224e+02 1.0018e+02 6.50959e+00 1.0000 1.1628e+03 10\n", - " 5 2.5916e+03 2.1967e+01 1.3577e+02 1.2119e+02 9.24108e+00 0.2500 5.9179e+02 23\n", - " 6 2.5031e+03 2.2729e+01 1.4107e+02 1.0697e+02 3.73131e+00 1.0000 7.1775e+02 15\n", - " 7 1.6010e+03 2.0328e+01 2.6047e+01 1.3202e+02 9.98472e+00 0.0312 1.3202e+02 11\n", - " 8 1.5823e+03 2.0318e+01 2.8137e+01 1.2806e+02 6.75204e+00 0.1250 1.2806e+02 10\n", - " 9 1.5479e+03 2.0403e+01 3.8111e+01 1.1464e+02 3.79598e+00 0.5000 1.5641e+02 11\n", - " 10 1.1149e+03 2.0455e+01 3.0109e+01 7.9338e+01 5.65279e+00 0.0625 1.8005e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0307e+03 2.8996e+01 1.8773e+02 1.1244e+02 1.02596e+01 0.5000 ---- 25\n", - " 2 2.4709e+03 2.3101e+01 1.1043e+02 1.3435e+02 8.04694e+00 0.2500 1.8613e+02 25\n", - " 3 2.1138e+03 2.2087e+01 9.3645e+01 1.1553e+02 5.45895e+00 0.5000 2.2553e+02 10\n", - " 4 1.6549e+03 2.0915e+01 7.3559e+01 8.9835e+01 6.05430e+00 0.1250 2.9684e+02 8\n", - " 5 1.5493e+03 2.0784e+01 7.1731e+01 8.1120e+01 3.80079e+00 0.5000 3.0982e+02 10\n", - " 6 1.3867e+03 2.0328e+01 6.3653e+01 7.2980e+01 7.14804e+00 0.0625 3.1157e+02 24\n", - " 7 1.3535e+03 2.0351e+01 6.5814e+01 6.7499e+01 3.47815e+00 0.2500 3.3362e+02 18\n", - " 8 1.2331e+03 2.0069e+01 5.4023e+01 6.7284e+01 2.87000e+00 0.5000 2.8037e+02 10\n", - " 9 1.0058e+03 1.9813e+01 4.3990e+01 5.4608e+01 5.78313e+00 0.0625 2.3550e+02 25\n", - " 10 9.9122e+02 1.9813e+01 4.5198e+01 5.1943e+01 3.27529e+00 0.2500 2.4475e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8239e+03 2.7761e+01 1.8233e+02 9.7279e+01 9.64508e+00 0.5000 ---- 25\n", - " 2 2.2643e+03 2.2126e+01 1.1694e+02 1.0728e+02 9.95894e+00 0.1250 2.0542e+02 25\n", - " 3 2.1550e+03 2.1773e+01 1.1872e+02 9.4601e+01 5.60129e+00 0.5000 2.8660e+02 25\n", - " 4 1.8542e+03 2.0008e+01 8.2567e+01 1.0085e+02 6.65069e+00 0.1250 2.3297e+02 11\n", - " 5 1.7585e+03 1.9984e+01 8.3903e+01 8.9945e+01 3.51124e+00 1.0000 2.9238e+02 11\n", - " 6 1.6447e+03 1.8943e+01 6.9463e+01 9.3107e+01 1.19309e+01 0.0156 2.7170e+02 25\n", - " 7 1.6311e+03 1.8933e+01 6.9866e+01 9.1350e+01 9.70609e+00 0.0312 2.7614e+02 25\n", - " 8 1.6085e+03 1.8937e+01 7.0926e+01 8.8031e+01 6.81465e+00 0.1250 2.8595e+02 25\n", - " 9 1.5748e+03 1.9092e+01 7.7952e+01 7.7623e+01 3.44489e+00 0.5000 3.3681e+02 25\n", - " 10 1.2345e+03 1.8786e+01 4.2828e+01 7.8743e+01 5.06995e+00 0.1250 2.3505e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0447e+03 2.6442e+01 1.8859e+02 1.1324e+02 9.64547e+00 0.5000 ---- 25\n", - " 2 2.1449e+03 2.0926e+01 1.1569e+02 9.6707e+01 8.79558e+00 0.2500 1.8190e+02 25\n", - " 3 2.0285e+03 2.0371e+01 1.2299e+02 7.7825e+01 6.16370e+00 0.2500 3.3779e+02 11\n", - " 4 1.9989e+03 2.0037e+01 1.2041e+02 7.7474e+01 4.49944e+00 0.5000 4.2055e+02 10\n", - " 5 1.7808e+03 1.9837e+01 1.0858e+02 6.7514e+01 6.65090e+00 0.1250 5.4206e+02 14\n", - " 6 1.7271e+03 1.9779e+01 1.0827e+02 6.2466e+01 3.86800e+00 0.5000 5.5486e+02 14\n", - " 7 1.7035e+03 1.9876e+01 1.0559e+02 6.2768e+01 9.43596e+00 0.0312 6.1326e+02 13\n", - " 8 1.6921e+03 1.9873e+01 1.0625e+02 6.0968e+01 5.99628e+00 0.0625 6.1930e+02 12\n", - " 9 1.6415e+03 1.9761e+01 1.0439e+02 5.7787e+01 3.12456e+00 0.5000 6.0792e+02 11\n", - " 10 1.4340e+03 1.8693e+01 8.6467e+01 5.5060e+01 4.86680e+00 0.1250 4.4563e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.2118e+03 2.5648e+01 2.3273e+02 8.5876e+01 9.20386e+00 0.5000 ---- 25\n", - " 2 2.4497e+03 1.9982e+01 1.7017e+02 7.2805e+01 8.94262e+00 0.2500 2.7025e+02 25\n", - " 3 2.3933e+03 1.9808e+01 1.7416e+02 6.3187e+01 6.50818e+00 0.2500 4.6526e+02 13\n", - " 4 2.3162e+03 1.9685e+01 1.6301e+02 6.6642e+01 5.08204e+00 0.5000 5.5958e+02 12\n", - " 5 2.2766e+03 1.9524e+01 1.5712e+02 6.8584e+01 7.38773e+00 0.1250 6.5824e+02 18\n", - " 6 2.1725e+03 1.9445e+01 1.5159e+02 6.3715e+01 4.11527e+00 0.5000 6.6520e+02 17\n", - " 7 2.0947e+03 1.9465e+01 1.4390e+02 6.3619e+01 9.94455e+00 0.0312 6.9910e+02 14\n", - " 8 2.0709e+03 1.9456e+01 1.4332e+02 6.1829e+01 6.39854e+00 0.1250 7.0409e+02 13\n", - " 9 2.0366e+03 1.9645e+01 1.4461e+02 5.7087e+01 2.67270e+00 1.0000 7.3676e+02 12\n", - " 10 1.3752e+03 1.7500e+01 6.4768e+01 7.1004e+01 1.40074e+01 0.0625 3.9263e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.1670e+03 2.5164e+01 1.8757e+02 1.2661e+02 1.03819e+01 0.5000 ---- 25\n", - " 2 2.1738e+03 1.8978e+01 1.2474e+02 9.0750e+01 6.44856e+00 0.5000 3.7758e+02 25\n", - " 3 1.7717e+03 1.7417e+01 6.7047e+01 1.0838e+02 8.05617e+00 0.1250 3.8410e+02 25\n", - " 4 1.7096e+03 1.7696e+01 7.2219e+01 9.6972e+01 4.12826e+00 0.5000 4.8626e+02 21\n", - " 5 1.5164e+03 1.6611e+01 6.9879e+01 8.0100e+01 6.30809e+00 0.1250 3.6198e+02 25\n", - " 6 1.5147e+03 1.6816e+01 7.8834e+01 7.0951e+01 2.98496e+00 1.0000 4.2948e+02 15\n", - " 7 1.4057e+03 1.5965e+01 5.2711e+01 8.6263e+01 1.12645e+01 0.0625 2.9551e+02 22\n", - " 8 1.3448e+03 1.6348e+01 5.2053e+01 8.0788e+01 4.34167e+00 0.5000 4.1187e+02 22\n", - " 9 1.2988e+03 1.6591e+01 5.2725e+01 7.5493e+01 6.00486e+00 0.1250 4.6077e+02 9\n", - " 10 1.1524e+03 1.6637e+01 4.5850e+01 6.7727e+01 2.96695e+00 0.5000 4.7672e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.3614e+03 2.2375e+01 1.5527e+02 7.8630e+01 1.24983e+01 0.1250 ---- 25\n", - " 2 2.1391e+03 2.1511e+01 1.4267e+02 6.9095e+01 7.41175e+00 0.5000 5.0844e+02 25\n", - " 3 1.8293e+03 1.7177e+01 9.3783e+01 8.7425e+01 7.53892e+00 0.1250 3.3636e+02 25\n", - " 4 1.7395e+03 1.6983e+01 9.4209e+01 7.8042e+01 3.78744e+00 1.0000 3.8335e+02 13\n", - " 5 1.1321e+03 1.4441e+01 2.5298e+01 8.6464e+01 9.27397e+00 0.0312 1.4640e+02 25\n", - " 6 1.1109e+03 1.4436e+01 2.6084e+01 8.3560e+01 6.87850e+00 0.1250 1.5729e+02 24\n", - " 7 1.1055e+03 1.4575e+01 3.4175e+01 7.4918e+01 3.17622e+00 0.5000 2.2910e+02 19\n", - " 8 9.6034e+02 1.4418e+01 2.3468e+01 7.1125e+01 4.10615e+00 0.2500 1.5796e+02 14\n", - " 9 8.8414e+02 1.4640e+01 3.1140e+01 5.5810e+01 3.82416e+00 0.2500 2.5233e+02 12\n", - " 10 8.3888e+02 1.4811e+01 3.8858e+01 4.3549e+01 3.03391e+00 0.2500 3.1190e+02 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.9741e+03 2.0284e+01 1.3526e+02 6.0129e+01 8.81630e+00 0.2500 ---- 25\n", - " 2 1.8559e+03 1.8063e+01 1.2190e+02 6.1887e+01 7.40401e+00 0.5000 3.3030e+02 25\n", - " 3 1.5816e+03 1.5847e+01 8.0528e+01 7.6047e+01 7.51979e+00 0.1250 4.3190e+02 13\n", - " 4 1.4892e+03 1.5658e+01 7.7863e+01 6.9491e+01 4.16626e+00 0.5000 4.5312e+02 14\n", - " 5 1.0220e+03 1.4596e+01 4.8798e+01 5.1943e+01 6.81987e+00 0.0625 3.8331e+02 21\n", - " 6 1.0046e+03 1.4568e+01 4.9286e+01 4.9716e+01 3.70444e+00 0.2500 3.9282e+02 20\n", - " 7 9.1869e+02 1.4241e+01 4.2568e+01 4.7877e+01 3.46030e+00 0.2500 3.5448e+02 25\n", - " 8 8.9745e+02 1.3981e+01 3.8737e+01 4.9610e+01 3.01476e+00 0.5000 3.1386e+02 20\n", - " 9 8.9579e+02 1.3945e+01 3.8684e+01 4.9501e+01 5.50820e+00 0.0625 3.4475e+02 25\n", - " 10 8.7081e+02 1.3895e+01 3.8097e+01 4.7594e+01 4.04906e+00 0.1250 3.3859e+02 17\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.9985e+03 1.8753e+01 1.2233e+02 7.5642e+01 8.01243e+00 0.5000 ---- 25\n", - " 2 1.6629e+03 1.4499e+01 7.2792e+01 9.2045e+01 7.35792e+00 0.2500 1.9178e+02 25\n", - " 3 1.4827e+03 1.3914e+01 6.6764e+01 8.0110e+01 5.16272e+00 0.2500 2.5196e+02 9\n", - " 4 1.3249e+03 1.3520e+01 6.3100e+01 6.8041e+01 4.21241e+00 0.5000 2.8037e+02 10\n", - " 5 1.0899e+03 1.3441e+01 6.2529e+01 4.5120e+01 6.50655e+00 0.0625 4.1491e+02 14\n", - " 6 1.0583e+03 1.3362e+01 6.1389e+01 4.3106e+01 4.82215e+00 0.1250 4.1049e+02 14\n", - " 7 1.0122e+03 1.3251e+01 5.9797e+01 4.0096e+01 2.16813e+00 1.0000 4.0289e+02 13\n", - " 8 6.0935e+02 1.2108e+01 1.5375e+01 4.4349e+01 7.40770e+00 0.0312 1.2403e+02 25\n", - " 9 5.9665e+02 1.2101e+01 1.6233e+01 4.2222e+01 5.59422e+00 0.0625 1.3130e+02 25\n", - " 10 5.7536e+02 1.2103e+01 1.7417e+01 3.8908e+01 3.37520e+00 0.1250 1.4173e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.8436e+03 1.6460e+01 1.1334e+02 6.9371e+01 7.74618e+00 0.5000 ---- 25\n", - " 2 1.3894e+03 1.2923e+01 5.5778e+01 8.1874e+01 5.65343e+00 0.5000 9.2472e+01 25\n", - " 3 1.3127e+03 1.1812e+01 4.2310e+01 8.7777e+01 6.08937e+00 0.2500 1.4672e+02 25\n", - " 4 1.2585e+03 1.1855e+01 4.7732e+01 7.6937e+01 4.20859e+00 0.5000 2.7964e+02 19\n", - " 5 1.1522e+03 1.2842e+01 5.6410e+01 5.7529e+01 6.94551e+00 0.0625 5.5176e+02 25\n", - " 6 1.1143e+03 1.2760e+01 5.5683e+01 5.4476e+01 5.28270e+00 0.1250 5.4771e+02 18\n", - " 7 1.0646e+03 1.2696e+01 5.4424e+01 5.0763e+01 2.44998e+00 1.0000 5.4761e+02 18\n", - " 8 8.5406e+02 1.1505e+01 2.4874e+01 5.9381e+01 1.00342e+01 0.0312 3.1852e+02 25\n", - " 9 8.3329e+02 1.1533e+01 2.4822e+01 5.7353e+01 7.05589e+00 0.0625 3.3828e+02 25\n", - " 10 8.2068e+02 1.1593e+01 2.7321e+01 5.3587e+01 3.60475e+00 0.2500 3.6190e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.1412e+03 1.5367e+01 1.2418e+02 8.8403e+01 8.67557e+00 0.2500 ---- 25\n", - " 2 1.6961e+03 1.3637e+01 9.4960e+01 7.3282e+01 6.41798e+00 0.5000 3.5007e+02 25\n", - " 3 1.2232e+03 1.2009e+01 6.5036e+01 5.6087e+01 6.96592e+00 0.1250 4.4106e+02 25\n", - " 4 1.1954e+03 1.1903e+01 6.6555e+01 5.1793e+01 3.48184e+00 0.5000 4.6599e+02 25\n", - " 5 9.4082e+02 1.0859e+01 4.7229e+01 4.5768e+01 5.90653e+00 0.1250 3.5558e+02 25\n", - " 6 9.3018e+02 1.0963e+01 4.9875e+01 4.2047e+01 2.37258e+00 0.5000 4.0273e+02 12\n", - " 7 7.7979e+02 1.0131e+01 3.0162e+01 4.6804e+01 3.39180e+00 0.2500 2.1977e+02 15\n", - " 8 7.4661e+02 1.0106e+01 3.1159e+01 4.2491e+01 2.95789e+00 0.2500 2.3156e+02 19\n", - " 9 6.9058e+02 1.0062e+01 2.9874e+01 3.8178e+01 2.96208e+00 0.2500 2.2972e+02 16\n", - " 10 6.5595e+02 1.0008e+01 2.8240e+01 3.6355e+01 2.67719e+00 0.2500 2.1995e+02 19\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.7794e+03 1.3316e+01 1.1748e+02 5.9130e+01 7.31079e+00 0.5000 ---- 25\n", - " 2 1.5221e+03 1.0360e+01 7.0093e+01 8.1076e+01 6.56036e+00 0.2500 1.6597e+02 25\n", - " 3 1.2328e+03 9.9046e+00 4.9431e+01 7.2858e+01 4.22396e+00 0.5000 2.0300e+02 13\n", - " 4 9.5024e+02 9.5478e+00 4.6509e+01 4.7560e+01 5.61138e+00 0.1250 3.0632e+02 13\n", - " 5 9.2559e+02 9.5595e+00 4.8039e+01 4.3565e+01 2.52437e+00 0.5000 3.3821e+02 12\n", - " 6 6.9948e+02 9.0913e+00 3.4092e+01 3.4947e+01 4.44105e+00 0.1250 2.5285e+02 20\n", - " 7 6.9174e+02 9.1179e+00 3.5468e+01 3.2794e+01 1.46954e+00 1.0000 2.7630e+02 16\n", - " 8 5.9817e+02 8.5400e+00 3.6245e+00 5.5338e+01 3.73881e+00 0.1250 5.5338e+01 15\n", - " 9 5.7136e+02 8.5393e+00 5.0291e+00 5.1253e+01 1.33817e+00 0.5000 5.1253e+01 13\n", - " 10 4.4848e+02 8.5350e+00 2.2108e+00 4.1783e+01 2.06965e+00 0.2500 4.1783e+01 15\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.6277e+03 1.1397e+01 1.0180e+02 5.9830e+01 6.74044e+00 0.5000 ---- 25\n", - " 2 1.1701e+03 8.9149e+00 5.5599e+01 6.0523e+01 5.95960e+00 0.5000 1.0027e+02 25\n", - " 3 1.1401e+03 8.3170e+00 4.1884e+01 7.1299e+01 6.18243e+00 0.1250 2.1443e+02 12\n", - " 4 1.0634e+03 8.3071e+00 4.0766e+01 6.4746e+01 3.06286e+00 1.0000 2.5664e+02 10\n", - " 5 1.0073e+03 8.1283e+00 3.8547e+01 6.1367e+01 9.86859e+00 0.0312 3.3753e+02 25\n", - " 6 9.9120e+02 8.1325e+00 3.8983e+01 5.9324e+01 7.69766e+00 0.0625 3.4740e+02 25\n", - " 7 9.6460e+02 8.1686e+00 3.9560e+01 5.6083e+01 4.68969e+00 0.2500 3.6372e+02 25\n", - " 8 8.9931e+02 8.2089e+00 3.7484e+01 5.1626e+01 3.23839e+00 0.2500 3.7578e+02 15\n", - " 9 8.1024e+02 8.1335e+00 3.4796e+01 4.5415e+01 2.49833e+00 0.5000 3.5706e+02 14\n", - " 10 7.3842e+02 8.3084e+00 3.9389e+01 3.3622e+01 4.78072e+00 0.0625 3.9646e+02 13\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.7352e+03 1.0624e+01 1.2300e+02 4.9449e+01 7.64204e+00 0.2500 ---- 25\n", - " 2 1.5219e+03 9.6885e+00 1.0359e+02 4.7626e+01 5.74397e+00 0.5000 4.4428e+02 25\n", - " 3 1.0686e+03 8.6176e+00 5.9921e+01 4.6081e+01 6.42253e+00 0.1250 5.0611e+02 25\n", - " 4 9.9044e+02 8.5386e+00 5.6493e+01 4.1697e+01 3.20771e+00 0.5000 5.2047e+02 21\n", - " 5 7.9786e+02 7.5319e+00 3.7586e+01 4.1447e+01 4.98118e+00 0.1250 3.8304e+02 16\n", - " 6 7.7822e+02 7.5695e+00 3.8633e+01 3.8432e+01 1.58255e+00 1.0000 4.0735e+02 13\n", - " 7 4.2398e+02 6.4053e+00 2.9517e+00 3.8806e+01 3.33963e+00 0.1250 3.8806e+01 25\n", - " 8 3.9719e+02 6.4035e+00 2.8165e+00 3.6262e+01 1.83673e+00 0.2500 3.6262e+01 25\n", - " 9 3.7371e+02 6.4029e+00 2.2123e+00 3.4519e+01 1.05569e+00 0.5000 3.4519e+01 10\n", - " 10 3.4973e+02 6.4032e+00 9.4926e-01 3.3383e+01 1.55841e+00 0.1250 3.3383e+01 22\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.4771e+03 8.3674e+00 9.5592e+01 5.1277e+01 5.74682e+00 0.5000 ---- 25\n", - " 2 9.8528e+02 6.4996e+00 5.5135e+01 4.2743e+01 5.30891e+00 0.2500 1.0680e+02 25\n", - " 3 8.8709e+02 6.1638e+00 4.4899e+01 4.3193e+01 3.27830e+00 0.5000 8.2328e+01 15\n", - " 4 6.9639e+02 5.8031e+00 2.6297e+01 4.2761e+01 4.16345e+00 0.2500 1.1268e+02 12\n", - " 5 6.8846e+02 5.9300e+00 3.0155e+01 3.8098e+01 3.29087e+00 0.2500 2.3057e+02 10\n", - " 6 6.3422e+02 5.9506e+00 3.0629e+01 3.2197e+01 2.45051e+00 0.5000 2.6365e+02 10\n", - " 7 5.5921e+02 6.0049e+00 2.9020e+01 2.6300e+01 4.40819e+00 0.1250 3.0613e+02 10\n", - " 8 5.5706e+02 6.0231e+00 2.9897e+01 2.5207e+01 1.66776e+00 0.5000 3.2039e+02 9\n", - " 9 4.4138e+02 5.7160e+00 1.7662e+01 2.5905e+01 3.39748e+00 0.1250 2.2071e+02 10\n", - " 10 4.2887e+02 5.7094e+00 1.7760e+01 2.4556e+01 1.14566e+00 0.5000 2.2343e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.4347e+03 7.0649e+00 1.0158e+02 4.1190e+01 6.21587e+00 0.5000 ---- 25\n", - " 2 1.2566e+03 5.4643e+00 6.8190e+01 5.6925e+01 5.14678e+00 0.5000 1.1398e+02 25\n", - " 3 1.0830e+03 5.6722e+00 5.6315e+01 5.1421e+01 6.10886e+00 0.2500 3.7980e+02 12\n", - " 4 1.0099e+03 6.8391e+00 5.4135e+01 4.6171e+01 3.10440e+00 0.5000 6.3174e+02 16\n", - " 5 8.0027e+02 6.5446e+00 4.8880e+01 3.0492e+01 4.52824e+00 0.1250 6.0905e+02 13\n", - " 6 7.7361e+02 6.4697e+00 4.8169e+01 2.8545e+01 1.97183e+00 1.0000 6.0240e+02 10\n", - " 7 6.7217e+02 6.0844e+00 3.6271e+01 3.0338e+01 8.37122e+00 0.0312 5.1855e+02 25\n", - " 8 6.6437e+02 6.0748e+00 3.6773e+01 2.9057e+01 6.79175e+00 0.0625 5.2386e+02 25\n", - " 9 6.5697e+02 6.1349e+00 3.8329e+01 2.6754e+01 4.14595e+00 0.1250 5.4146e+02 25\n", - " 10 6.1301e+02 6.0142e+00 3.7432e+01 2.3268e+01 1.37849e+00 1.0000 5.2538e+02 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.6449e+03 5.7044e+00 9.1448e+01 7.2473e+01 6.33696e+00 0.5000 ---- 25\n", - " 2 1.3374e+03 4.6269e+00 7.6271e+01 5.7005e+01 6.16991e+00 0.5000 2.1281e+02 25\n", - " 3 1.2670e+03 9.6766e+00 8.0042e+01 4.5686e+01 7.36263e+00 0.1250 9.9892e+02 20\n", - " 4 1.1648e+03 9.9171e+00 7.4415e+01 4.1075e+01 4.03465e+00 0.2500 1.0369e+03 21\n", - " 5 1.0113e+03 9.1283e+00 6.8114e+01 3.2106e+01 2.62859e+00 1.0000 9.7420e+02 15\n", - " 6 6.4692e+02 7.2403e+00 5.1612e+01 1.2356e+01 7.02046e+00 0.0625 8.4346e+02 25\n", - " 7 6.3553e+02 7.0981e+00 5.1211e+01 1.1633e+01 5.36102e+00 0.0625 8.3083e+02 25\n", - " 8 6.1579e+02 6.8664e+00 4.9842e+01 1.1051e+01 4.03318e+00 0.1250 8.0448e+02 25\n", - " 9 6.1108e+02 6.5322e+00 4.7889e+01 1.2565e+01 1.55147e+00 1.0000 7.6168e+02 16\n", - " 10 5.8462e+02 5.0580e+00 3.6489e+01 2.1467e+01 7.37544e+00 0.0625 4.7918e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.6638e+03 6.1083e+00 1.2764e+02 3.8126e+01 7.37922e+00 0.5000 ---- 3\n", - " 2 1.4829e+03 8.0788e+00 1.1451e+02 3.2973e+01 7.15207e+00 0.2500 9.1414e+02 25\n", - " 3 1.1092e+03 9.8791e+00 8.4973e+01 2.4955e+01 3.07821e+00 1.0000 1.1083e+03 25\n", - " 4 7.4617e+02 3.2491e+00 2.3506e+01 5.0786e+01 4.72487e+00 0.2500 2.5829e+02 25\n", - " 5 7.3708e+02 3.5569e+00 2.6819e+01 4.6534e+01 2.04760e+00 1.0000 3.7454e+02 19\n", - " 6 6.9872e+02 3.3736e+00 3.3513e+01 3.6022e+01 5.34713e+00 0.1250 2.9411e+02 25\n", - " 7 6.9714e+02 3.4879e+00 3.5766e+01 3.3600e+01 2.67355e+00 0.2500 3.3890e+02 14\n", - " 8 6.2565e+02 3.4015e+00 3.1356e+01 3.0868e+01 1.49734e+00 1.0000 3.1203e+02 13\n", - " 9 5.1771e+02 3.1049e+00 1.8040e+01 3.3421e+01 4.67898e+00 0.1250 1.9011e+02 25\n", - " 10 4.9657e+02 3.1466e+00 1.8782e+01 3.0560e+01 2.31074e+00 0.2500 2.1908e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.3381e+03 3.7338e+00 9.5091e+01 3.8342e+01 4.68936e+00 0.5000 ---- 3\n", - " 2 9.5879e+02 2.7443e+00 5.4004e+01 4.1601e+01 4.13674e+00 0.5000 1.2081e+02 3\n", - " 3 7.6175e+02 2.4632e+00 3.1422e+01 4.4507e+01 3.47825e+00 0.5000 1.0768e+02 3\n", - " 4 6.5976e+02 2.4989e+00 2.4717e+01 4.1009e+01 4.02505e+00 0.2500 1.8991e+02 3\n", - " 5 5.6655e+02 2.5817e+00 2.4443e+01 3.1954e+01 2.08444e+00 1.0000 2.3933e+02 3\n", - " 6 4.9151e+02 2.5150e+00 1.9313e+01 2.9586e+01 5.46383e+00 0.1250 2.1848e+02 3\n", - " 7 4.8389e+02 2.5983e+00 2.1552e+01 2.6577e+01 2.99841e+00 0.2500 2.6029e+02 3\n", - " 8 4.4297e+02 2.4954e+00 1.8431e+01 2.5617e+01 1.46709e+00 0.5000 2.2304e+02 25\n", - " 9 3.8288e+02 2.3120e+00 9.8407e+00 2.8216e+01 1.92794e+00 0.5000 1.2384e+02 25\n", - " 10 3.6747e+02 2.2932e+00 8.0812e+00 2.8437e+01 2.15802e+00 0.2500 1.0896e+02 20\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.0186e+03 2.7387e+00 7.9162e+01 2.2421e+01 4.33411e+00 1.0000 ---- 3\n", - " 2 9.2280e+02 1.8122e+00 5.0562e+01 4.1537e+01 5.55353e+00 0.2500 1.5831e+02 3\n", - " 3 8.4760e+02 2.0360e+00 4.5190e+01 3.9366e+01 2.43974e+00 1.0000 2.6379e+02 3\n", - " 4 7.2308e+02 1.6931e+00 5.7772e+00 6.6361e+01 4.92514e+00 0.2500 7.2288e+01 3\n", - " 5 5.8626e+02 1.7478e+00 9.1920e+00 4.9259e+01 2.30236e+00 0.5000 1.3021e+02 3\n", - " 6 3.8377e+02 1.6870e+00 5.2999e+00 3.2908e+01 2.04230e+00 0.5000 7.7093e+01 3\n", - " 7 3.4705e+02 1.6785e+00 4.7159e+00 2.9822e+01 2.17798e+00 0.2500 6.6414e+01 3\n", - " 8 2.9112e+02 1.6745e+00 4.5186e+00 2.4426e+01 1.17416e+00 1.0000 6.2819e+01 3\n", - " 9 2.3480e+02 1.6557e+00 7.2571e-01 2.2588e+01 3.02584e+00 0.1250 2.2588e+01 3\n", - " 10 2.1716e+02 1.6547e+00 7.7583e-01 2.0775e+01 2.04534e+00 0.1250 2.0775e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 8.4721e+02 1.9638e+00 6.6371e+01 1.8154e+01 5.21845e+00 0.5000 ---- 3\n", - " 2 8.4661e+02 1.5683e+00 4.8725e+01 3.5779e+01 3.98833e+00 0.5000 1.4071e+02 3\n", - " 3 6.7155e+02 1.5475e+00 3.1140e+01 3.5860e+01 2.94802e+00 0.5000 2.1278e+02 3\n", - " 4 5.2091e+02 1.6242e+00 2.3599e+01 2.8329e+01 2.81511e+00 0.5000 2.6081e+02 3\n", - " 5 5.0228e+02 1.7140e+00 2.1771e+01 2.8286e+01 2.66831e+00 0.2500 2.9885e+02 3\n", - " 6 4.1890e+02 1.6199e+00 1.9145e+01 2.2583e+01 1.25455e+00 1.0000 2.6944e+02 3\n", - " 7 2.1585e+02 1.2296e+00 3.4322e-01 2.1119e+01 2.70193e+00 0.1250 2.1119e+01 3\n", - " 8 2.0823e+02 1.2291e+00 3.1262e-01 2.0388e+01 2.29568e+00 0.1250 2.0388e+01 3\n", - " 9 2.0192e+02 1.2286e+00 2.7435e-01 1.9795e+01 1.44241e+00 0.2500 1.9795e+01 3\n", - " 10 1.9547e+02 1.2282e+00 2.0927e-01 1.9215e+01 8.46296e-01 0.5000 1.9215e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.6274e+02 1.4305e+00 5.9920e+01 6.2112e+00 4.47511e+00 0.2500 ---- 3\n", - " 2 5.9270e+02 1.2187e+00 4.8357e+01 1.0792e+01 2.84853e+00 0.5000 1.8446e+02 3\n", - " 3 4.5533e+02 9.8758e-01 2.8713e+01 1.6721e+01 2.23286e+00 0.5000 9.2108e+01 3\n", - " 4 4.4991e+02 9.1963e-01 1.5484e+01 2.9415e+01 1.95514e+00 0.5000 4.6217e+01 3\n", - " 5 3.6565e+02 8.9853e-01 8.1096e+00 2.8365e+01 1.86032e+00 0.2500 2.8365e+01 3\n", - " 6 3.0108e+02 8.9429e-01 6.0950e+00 2.3923e+01 1.30573e+00 1.0000 2.3923e+01 3\n", - " 7 2.3731e+02 8.8700e-01 1.7856e-01 2.3464e+01 2.72461e+00 0.1250 2.3464e+01 3\n", - " 8 2.1957e+02 8.8645e-01 1.5764e-01 2.1711e+01 1.90566e+00 0.2500 2.1711e+01 3\n", - " 9 2.1342e+02 8.8572e-01 1.2108e-01 2.1132e+01 1.09150e+00 0.2500 2.1132e+01 3\n", - " 10 1.9503e+02 8.8559e-01 9.0813e-02 1.9324e+01 9.80129e-01 0.2500 1.9324e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.8180e+02 1.0449e+00 5.2071e+01 6.0051e+00 4.14947e+00 0.5000 ---- 3\n", - " 2 5.7498e+02 1.0136e+00 4.4585e+01 1.2812e+01 2.76695e+00 0.5000 2.2561e+02 3\n", - " 3 5.1698e+02 7.6227e-01 2.3794e+01 2.7828e+01 1.87504e+00 0.5000 1.3351e+02 3\n", - " 4 3.9085e+02 6.7341e-01 1.2167e+01 2.6851e+01 1.69698e+00 0.5000 6.6758e+01 3\n", - " 5 3.1798e+02 6.5046e-01 6.1591e+00 2.5574e+01 1.62235e+00 0.2500 3.3422e+01 3\n", - " 6 2.5938e+02 6.4670e-01 4.6259e+00 2.1247e+01 1.15049e+00 1.0000 2.5066e+01 3\n", - " 7 2.1655e+02 6.4287e-01 9.7482e-02 2.1494e+01 2.31537e+00 0.1250 2.1494e+01 3\n", - " 8 1.9572e+02 6.4242e-01 8.5927e-02 1.9422e+01 1.91017e+00 0.1250 1.9422e+01 3\n", - " 9 1.8297e+02 6.4201e-01 7.5512e-02 1.8157e+01 1.55811e+00 0.1250 1.8157e+01 3\n", - " 10 1.6852e+02 6.4172e-01 6.6079e-02 1.6722e+01 9.92496e-01 0.2500 1.6722e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.2086e+02 8.2281e-01 4.6987e+01 5.0166e+00 3.74792e+00 0.2500 ---- 3\n", - " 2 4.5760e+02 6.9644e-01 3.9225e+01 6.4657e+00 2.72944e+00 0.5000 1.8904e+02 3\n", - " 3 3.9953e+02 5.7694e-01 2.5019e+01 1.4876e+01 1.66154e+00 0.5000 9.7032e+01 3\n", - " 4 3.3897e+02 5.2391e-01 1.3215e+01 2.0630e+01 1.50127e+00 0.5000 4.8480e+01 3\n", - " 5 2.8697e+02 5.1146e-01 6.7949e+00 2.1851e+01 1.41472e+00 0.2500 2.4260e+01 3\n", - " 6 2.3836e+02 5.0963e-01 5.1047e+00 1.8681e+01 1.13579e+00 0.5000 1.8681e+01 3\n", - " 7 1.3985e+02 5.0877e-01 2.5839e+00 1.1350e+01 1.42922e+00 0.1250 1.1350e+01 3\n", - " 8 1.3911e+02 5.0853e-01 2.2614e+00 1.1599e+01 9.27389e-01 0.1250 1.1599e+01 3\n", - " 9 1.2865e+02 5.0845e-01 1.9793e+00 1.0835e+01 8.55660e-01 0.2500 1.0835e+01 3\n", - " 10 1.1903e+02 5.0847e-01 1.4854e+00 1.0367e+01 1.15543e+00 0.1250 1.0367e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1313e+02 7.2866e-01 4.8621e+01 2.6199e+00 3.37629e+00 0.5000 ---- 3\n", - " 2 4.5623e+02 6.9304e-01 3.5442e+01 1.0112e+01 2.21701e+00 0.5000 1.9819e+02 3\n", - " 3 4.4207e+02 4.9904e-01 1.8826e+01 2.5332e+01 1.54863e+00 0.5000 1.0396e+02 3\n", - " 4 3.0412e+02 4.4763e-01 9.5842e+00 2.0783e+01 1.43004e+00 0.5000 5.2359e+01 3\n", - " 5 2.6005e+02 4.3572e-01 4.8598e+00 2.1101e+01 1.49216e+00 0.2500 2.6210e+01 3\n", - " 6 2.2475e+02 4.3393e-01 3.6460e+00 1.8786e+01 1.06374e+00 1.0000 1.9657e+01 3\n", - " 7 1.9627e+02 4.3424e-01 7.8373e-02 1.9506e+01 2.13729e+00 0.1250 1.9506e+01 3\n", - " 8 1.7763e+02 4.3379e-01 6.9070e-02 1.7651e+01 1.85857e+00 0.1250 1.7651e+01 3\n", - " 9 1.6531e+02 4.3340e-01 6.0878e-02 1.6427e+01 1.42349e+00 0.1250 1.6427e+01 3\n", - " 10 1.5528e+02 4.3313e-01 5.3415e-02 1.5431e+01 1.05310e+00 0.5000 1.5431e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1563e+02 6.7639e-01 4.6745e+01 4.7500e+00 3.27024e+00 0.5000 ---- 3\n", - " 2 4.9200e+02 5.1874e-01 3.0500e+01 1.8648e+01 1.87374e+00 0.5000 1.3422e+02 3\n", - " 3 3.9744e+02 4.2361e-01 1.6359e+01 2.3342e+01 1.57995e+00 0.5000 6.8103e+01 3\n", - " 4 3.2077e+02 3.9703e-01 8.4481e+00 2.3589e+01 1.42981e+00 0.2500 3.5172e+01 3\n", - " 5 2.6668e+02 3.9315e-01 6.3485e+00 2.0280e+01 1.29279e+00 0.5000 2.6436e+01 3\n", - " 6 1.6158e+02 3.9089e-01 3.2091e+00 1.2910e+01 1.46832e+00 0.1250 1.3336e+01 25\n", - " 7 1.5720e+02 3.9061e-01 2.8083e+00 1.2872e+01 1.36665e+00 0.1250 1.2872e+01 25\n", - " 8 1.5440e+02 3.9032e-01 2.4577e+00 1.2944e+01 1.02147e+00 0.5000 1.2944e+01 25\n", - " 9 1.3443e+02 3.9045e-01 1.2357e+00 1.2168e+01 1.60570e+00 0.1250 1.2168e+01 25\n", - " 10 1.3006e+02 3.9017e-01 1.0812e+00 1.1886e+01 8.78236e-01 0.1250 1.1886e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0741e+02 6.5405e-01 4.8005e+01 2.6702e+00 2.84621e+00 1.0000 ---- 3\n", - " 2 4.3950e+02 7.0700e-01 2.2501e+01 2.1379e+01 2.43658e+00 0.2500 2.6437e+02 3\n", - " 3 4.0573e+02 5.5611e-01 1.6899e+01 2.3618e+01 1.26375e+00 1.0000 1.9884e+02 3\n", - " 4 4.0256e+02 3.6125e-01 7.5868e-01 3.9462e+01 2.13454e+00 0.5000 3.9462e+01 3\n", - " 5 3.0410e+02 3.6036e-01 3.8592e-01 2.9988e+01 1.49005e+00 0.5000 2.9988e+01 3\n", - " 6 2.3829e+02 3.6056e-01 1.9563e-01 2.3598e+01 1.47168e+00 0.2500 2.3598e+01 3\n", - " 7 1.9889e+02 3.6038e-01 1.4637e-01 1.9707e+01 1.04456e+00 0.5000 1.9707e+01 3\n", - " 8 1.2639e+02 3.6102e-01 7.5643e-02 1.2528e+01 1.26414e+00 0.1250 1.2528e+01 3\n", - " 9 1.2165e+02 3.6092e-01 6.6288e-02 1.2063e+01 1.07193e+00 0.1250 1.2063e+01 3\n", - " 10 1.1661e+02 3.6084e-01 5.7648e-02 1.1567e+01 8.32666e-01 0.1250 1.1567e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0475e+02 6.2930e-01 4.6275e+01 4.1375e+00 2.74791e+00 1.0000 ---- 3\n", - " 2 4.4250e+02 4.5763e-01 1.9391e+01 2.4813e+01 2.34748e+00 0.2500 1.5637e+02 3\n", - " 3 3.9237e+02 4.0413e-01 1.4548e+01 2.4648e+01 1.38650e+00 1.0000 1.1744e+02 25\n", - " 4 2.1482e+02 3.3735e-01 3.9383e-01 2.1054e+01 2.40138e+00 0.2500 2.1054e+01 25\n", - " 5 1.7807e+02 3.3644e-01 3.0297e-01 1.7470e+01 1.73127e+00 0.2500 1.7470e+01 25\n", - " 6 1.6637e+02 3.3601e-01 2.3161e-01 1.6372e+01 1.20545e+00 0.2500 1.6372e+01 23\n", - " 7 1.6128e+02 3.3584e-01 1.7275e-01 1.5921e+01 8.81549e-01 0.2500 1.5921e+01 19\n", - " 8 1.4988e+02 3.3579e-01 1.3135e-01 1.4823e+01 7.43911e-01 0.2500 1.4823e+01 15\n", - " 9 1.3280e+02 3.3581e-01 9.7661e-02 1.3149e+01 6.17398e-01 0.2500 1.3149e+01 12\n", - " 10 1.1831e+02 3.3586e-01 7.3742e-02 1.1724e+01 5.83492e-01 0.2500 1.1724e+01 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0144e+02 6.1330e-01 4.6871e+01 3.2122e+00 2.47743e+00 1.0000 ---- 3\n", - " 2 3.7492e+02 3.8170e-01 1.5220e+01 2.2234e+01 2.12647e+00 0.2500 1.0693e+02 3\n", - " 3 3.2854e+02 3.5628e-01 1.1414e+01 2.1405e+01 1.08807e+00 0.5000 8.0267e+01 3\n", - " 4 2.3289e+02 3.3260e-01 5.7018e+00 1.7554e+01 1.35865e+00 0.2500 4.0293e+01 3\n", - " 5 2.0577e+02 3.2874e-01 4.2772e+00 1.6267e+01 8.64246e-01 0.5000 3.0230e+01 3\n", - " 6 1.3644e+02 3.2579e-01 2.1343e+00 1.1477e+01 1.24934e+00 0.1250 1.5137e+01 3\n", - " 7 1.3029e+02 3.2533e-01 1.8675e+00 1.1129e+01 7.91985e-01 0.5000 1.3245e+01 25\n", - " 8 1.0228e+02 3.2512e-01 9.2956e-01 9.2660e+00 1.48130e+00 0.0625 9.2660e+00 25\n", - " 9 9.7904e+01 3.2494e-01 8.7148e-01 8.8865e+00 1.34896e+00 0.0625 8.8865e+00 21\n", - " 10 9.4792e+01 3.2480e-01 8.1704e-01 8.6297e+00 1.13371e+00 0.0625 8.6297e+00 20\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0289e+02 6.0778e-01 4.7807e+01 2.4210e+00 2.31700e+00 1.0000 ---- 3\n", - " 2 3.6509e+02 3.4752e-01 1.3940e+01 2.2534e+01 2.13473e+00 0.2500 7.4487e+01 3\n", - " 3 3.2461e+02 3.3485e-01 1.0449e+01 2.1978e+01 1.22335e+00 1.0000 5.5895e+01 25\n", - " 4 2.4323e+02 3.2061e-01 2.4784e-01 2.4043e+01 2.14964e+00 0.2500 2.4043e+01 25\n", - " 5 1.9806e+02 3.1974e-01 1.9060e-01 1.9583e+01 1.78792e+00 0.1250 1.9583e+01 25\n", - " 6 1.7653e+02 3.1944e-01 1.6733e-01 1.7454e+01 1.27902e+00 0.2500 1.7454e+01 23\n", - " 7 1.7562e+02 3.1927e-01 1.2598e-01 1.7404e+01 8.85303e-01 0.2500 1.7404e+01 19\n", - " 8 1.6949e+02 3.1921e-01 9.4150e-02 1.6823e+01 6.33224e-01 0.5000 1.6823e+01 15\n", - " 9 1.5665e+02 3.1934e-01 4.7839e-02 1.5585e+01 8.20478e-01 0.2500 1.5585e+01 13\n", - " 10 1.5148e+02 3.1916e-01 3.5781e-02 1.5081e+01 5.15391e-01 1.0000 1.5081e+01 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0325e+02 5.9683e-01 4.7352e+01 2.9132e+00 2.35114e+00 0.5000 ---- 3\n", - " 2 4.4312e+02 3.7222e-01 2.6500e+01 1.7775e+01 1.42205e+00 0.5000 1.2265e+02 3\n", - " 3 3.3826e+02 3.1996e-01 1.4056e+01 1.9738e+01 1.25118e+00 0.5000 6.1861e+01 3\n", - " 4 2.3823e+02 3.0939e-01 7.1849e+00 1.6607e+01 1.18239e+00 0.2500 3.1059e+01 3\n", - " 5 2.0765e+02 3.0811e-01 5.4021e+00 1.5332e+01 1.02407e+00 1.0000 2.3265e+01 3\n", - " 6 1.7224e+02 3.1012e-01 1.6020e-01 1.7032e+01 1.92671e+00 0.1250 1.7032e+01 3\n", - " 7 1.5663e+02 3.0977e-01 1.4038e-01 1.5491e+01 1.69163e+00 0.1250 1.5491e+01 3\n", - " 8 1.4236e+02 3.0942e-01 1.2320e-01 1.4082e+01 1.47426e+00 0.1250 1.4082e+01 3\n", - " 9 1.3550e+02 3.0912e-01 1.0807e-01 1.3411e+01 8.80576e-01 0.1250 1.3411e+01 3\n", - " 10 1.2574e+02 3.0907e-01 9.4502e-02 1.2448e+01 8.05561e-01 0.2500 1.2448e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0424e+02 5.8817e-01 4.7940e+01 2.4246e+00 2.27882e+00 1.0000 ---- 3\n", - " 2 3.7528e+02 3.0924e-01 1.2696e+01 2.4801e+01 1.98649e+00 0.5000 4.5029e+01 3\n", - " 3 3.4930e+02 3.0070e-01 6.3467e+00 2.8553e+01 1.23401e+00 1.0000 2.8553e+01 3\n", - " 4 2.6896e+02 2.9943e-01 5.7040e-02 2.6809e+01 2.37569e+00 0.2500 2.6809e+01 3\n", - " 5 2.5398e+02 2.9862e-01 4.5844e-02 2.5323e+01 1.14166e+00 0.5000 2.5323e+01 3\n", - " 6 2.3280e+02 2.9824e-01 2.4096e-02 2.3226e+01 9.18278e-01 0.5000 2.3226e+01 3\n", - " 7 1.7544e+02 2.9851e-01 1.2343e-02 1.7502e+01 1.07577e+00 0.5000 1.7502e+01 25\n", - " 8 1.1450e+02 2.9889e-01 1.1445e-02 1.1409e+01 1.25847e+00 0.0625 1.1409e+01 25\n", - " 9 1.1149e+02 2.9879e-01 1.0825e-02 1.1109e+01 1.11264e+00 0.1250 1.1109e+01 25\n", - " 10 1.0451e+02 2.9876e-01 9.5684e-03 1.0411e+01 9.01778e-01 0.1250 1.0411e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.3473e+02 5.8258e-01 4.7113e+01 6.3017e+00 2.24501e+00 1.0000 ---- 3\n", - " 2 3.1760e+02 3.0102e-01 1.2281e+01 1.9448e+01 2.01896e+00 0.2500 3.7104e+01 3\n", - " 3 3.0413e+02 2.9741e-01 9.2055e+00 2.1178e+01 1.10572e+00 0.5000 2.7833e+01 3\n", - " 4 2.2955e+02 2.9465e-01 4.5910e+00 1.8335e+01 1.27970e+00 0.2500 1.8335e+01 3\n", - " 5 1.9476e+02 2.9392e-01 3.4431e+00 1.6004e+01 8.07928e-01 0.5000 1.6004e+01 3\n", - " 6 1.3918e+02 2.9382e-01 1.7132e+00 1.2176e+01 1.09953e+00 0.2500 1.2176e+01 3\n", - " 7 1.3868e+02 2.9350e-01 1.2861e+00 1.2552e+01 7.07554e-01 0.5000 1.2552e+01 3\n", - " 8 9.4393e+01 2.9390e-01 6.4075e-01 8.7692e+00 1.21850e+00 0.0625 8.7692e+00 3\n", - " 9 9.0999e+01 2.9381e-01 6.0077e-01 8.4698e+00 1.02143e+00 0.2500 8.4698e+00 25\n", - " 10 7.7967e+01 2.9389e-01 4.5039e-01 7.3169e+00 9.23826e-01 0.0625 7.3169e+00 19\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.2032e+02 5.7475e-01 4.7981e+01 3.9929e+00 2.08031e+00 1.0000 ---- 3\n", - " 2 3.9308e+02 2.9087e-01 1.1849e+01 2.7430e+01 1.84685e+00 0.5000 3.0921e+01 3\n", - " 3 3.7223e+02 2.8638e-01 5.9137e+00 3.1281e+01 1.29891e+00 1.0000 3.1281e+01 3\n", - " 4 3.4281e+02 2.8663e-01 6.6924e-02 3.4186e+01 2.23093e+00 0.2500 3.4186e+01 3\n", - " 5 2.9828e+02 2.8586e-01 5.1908e-02 2.9748e+01 1.48942e+00 0.2500 2.9748e+01 3\n", - " 6 2.5634e+02 2.8538e-01 3.9588e-02 2.5566e+01 9.79113e-01 0.5000 2.5566e+01 3\n", - " 7 1.9885e+02 2.8557e-01 1.9088e-02 1.9838e+01 9.17634e-01 0.2500 1.9838e+01 3\n", - " 8 1.6488e+02 2.8545e-01 1.4013e-02 1.6446e+01 8.94875e-01 0.5000 1.6446e+01 3\n", - " 9 9.8078e+01 2.8596e-01 9.3720e-03 9.7698e+00 1.25028e+00 0.1250 9.7698e+00 25\n", - " 10 9.2058e+01 2.8593e-01 7.8107e-03 9.1694e+00 9.56116e-01 0.0625 9.1694e+00 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0736e+02 5.6864e-01 4.7849e+01 2.8305e+00 1.97801e+00 1.0000 ---- 3\n", - " 2 2.6328e+02 2.8230e-01 1.1457e+01 1.4842e+01 1.73368e+00 0.2500 2.6509e+01 3\n", - " 3 2.5618e+02 2.8026e-01 8.5912e+00 1.6998e+01 9.98634e-01 0.5000 1.9884e+01 3\n", - " 4 1.8993e+02 2.7887e-01 4.2867e+00 1.4679e+01 1.15752e+00 0.2500 1.4679e+01 3\n", - " 5 1.7291e+02 2.7836e-01 3.2154e+00 1.4048e+01 7.63509e-01 0.5000 1.4048e+01 3\n", - " 6 1.1761e+02 2.7845e-01 1.6059e+00 1.0127e+01 1.13375e+00 0.1250 1.0127e+01 3\n", - " 7 1.0946e+02 2.7829e-01 1.4053e+00 9.5125e+00 6.42791e-01 0.5000 9.5125e+00 3\n", - " 8 1.0824e+02 2.7849e-01 7.0314e-01 1.0093e+01 1.30567e+00 0.1250 1.0093e+01 3\n", - " 9 1.0338e+02 2.7828e-01 6.1540e-01 9.6948e+00 6.96434e-01 0.2500 9.6948e+00 3\n", - " 10 9.9825e+01 2.7819e-01 4.6179e-01 9.4929e+00 5.50981e-01 0.5000 9.4929e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9297e+02 5.6302e-01 4.7872e+01 1.3688e+00 2.04923e+00 1.0000 ---- 3\n", - " 2 2.9870e+02 2.7343e-01 1.1625e+01 1.8218e+01 1.48718e+00 0.5000 2.3202e+01 3\n", - " 3 2.8446e+02 2.7081e-01 5.8058e+00 2.2613e+01 9.97729e-01 1.0000 2.2613e+01 3\n", - " 4 2.2838e+02 2.7078e-01 5.0324e-02 2.2760e+01 1.87181e+00 0.2500 2.2760e+01 3\n", - " 5 2.1099e+02 2.7023e-01 3.6750e-02 2.1035e+01 1.02228e+00 0.5000 2.1035e+01 3\n", - " 6 1.9553e+02 2.7011e-01 1.7014e-02 1.9509e+01 8.67989e-01 0.5000 1.9509e+01 3\n", - " 7 1.4984e+02 2.7024e-01 1.0862e-02 1.4946e+01 8.28763e-01 0.2500 1.4946e+01 3\n", - " 8 1.2482e+02 2.7018e-01 7.8552e-03 1.2447e+01 6.28126e-01 1.0000 1.2447e+01 3\n", - " 9 9.7369e+01 2.7096e-01 5.5732e-03 9.7042e+00 1.52835e+00 0.1250 9.7042e+00 3\n", - " 10 9.3735e+01 2.7067e-01 5.1024e-03 9.3414e+00 1.25849e+00 0.1250 9.3414e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1733e+02 5.5488e-01 4.7525e+01 4.1521e+00 2.09653e+00 1.0000 ---- 3\n", - " 2 3.1588e+02 2.6623e-01 1.1342e+01 2.0219e+01 1.43563e+00 0.5000 2.0569e+01 3\n", - " 3 2.6454e+02 2.6416e-01 5.6622e+00 2.0765e+01 9.06990e-01 1.0000 2.0765e+01 3\n", - " 4 2.0861e+02 2.6435e-01 2.6286e-02 2.0808e+01 1.61727e+00 0.2500 2.0808e+01 3\n", - " 5 2.0009e+02 2.6383e-01 2.0129e-02 1.9962e+01 9.21298e-01 0.2500 1.9962e+01 3\n", - " 6 1.6769e+02 2.6366e-01 1.5300e-02 1.6727e+01 7.76849e-01 1.0000 1.6727e+01 3\n", - " 7 1.0320e+02 2.6458e-01 1.0517e-02 1.0283e+01 1.51016e+00 0.1250 1.0283e+01 3\n", - " 8 9.4224e+01 2.6429e-01 9.4718e-03 9.3865e+00 1.06825e+00 0.1250 9.3865e+00 3\n", - " 9 8.5488e+01 2.6411e-01 8.3827e-03 8.5140e+00 6.42315e-01 0.5000 8.5140e+00 17\n", - " 10 5.4532e+01 2.6427e-01 5.8359e-03 5.4209e+00 1.24060e+00 0.0625 5.4209e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.8616e+02 5.4981e-01 4.6731e+01 1.8304e+00 2.04240e+00 1.0000 ---- 3\n", - " 2 2.1970e+02 2.5712e-01 1.1239e+01 1.0705e+01 1.39575e+00 0.5000 1.7982e+01 3\n", - " 3 2.1804e+02 2.5555e-01 5.6127e+00 1.6166e+01 1.24605e+00 0.2500 1.6166e+01 3\n", - " 4 1.8074e+02 2.5512e-01 4.2083e+00 1.3840e+01 7.50677e-01 0.5000 1.3840e+01 3\n", - " 5 1.2894e+02 2.5503e-01 2.1010e+00 1.0768e+01 8.25874e-01 0.2500 1.0768e+01 3\n", - " 6 1.1401e+02 2.5491e-01 1.5764e+00 9.7986e+00 5.35017e-01 1.0000 9.7986e+00 3\n", - " 7 8.6830e+01 2.5542e-01 1.3020e-02 8.6444e+00 1.39233e+00 0.1250 8.6444e+00 3\n", - " 8 8.5658e+01 2.5517e-01 1.1230e-02 8.5290e+00 9.62968e-01 0.1250 8.5290e+00 3\n", - " 9 8.0711e+01 2.5502e-01 9.6815e-03 8.0359e+00 5.32104e-01 0.2500 8.0359e+00 3\n", - " 10 7.0264e+01 2.5501e-01 6.7278e-03 6.9942e+00 5.27943e-01 0.2500 6.9942e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.8681e+02 5.4182e-01 4.6671e+01 1.9556e+00 1.91348e+00 1.0000 ---- 3\n", - " 2 2.7565e+02 2.4770e-01 1.0916e+01 1.6624e+01 1.41067e+00 0.5000 1.6624e+01 3\n", - " 3 2.4514e+02 2.4620e-01 5.4506e+00 1.9038e+01 9.29104e-01 1.0000 1.9038e+01 3\n", - " 4 1.7194e+02 2.4642e-01 1.7042e-02 1.7153e+01 1.62221e+00 0.2500 1.7153e+01 3\n", - " 5 1.6968e+02 2.4597e-01 1.3083e-02 1.6930e+01 8.23504e-01 0.5000 1.6930e+01 3\n", - " 6 1.6341e+02 2.4587e-01 7.3797e-03 1.6309e+01 7.10668e-01 0.5000 1.6309e+01 3\n", - " 7 1.1396e+02 2.4599e-01 4.8616e-03 1.1367e+01 6.76028e-01 0.2500 1.1367e+01 3\n", - " 8 9.7722e+01 2.4595e-01 3.9529e-03 9.7436e+00 4.93578e-01 1.0000 9.7436e+00 3\n", - " 9 6.8857e+01 2.4648e-01 4.4155e-03 6.8567e+00 1.39282e+00 0.0625 6.8567e+00 3\n", - " 10 6.4972e+01 2.4636e-01 4.1531e-03 6.4684e+00 1.16305e+00 0.0625 6.4684e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.8437e+02 5.3653e-01 4.5688e+01 2.6956e+00 1.96601e+00 1.0000 ---- 3\n", - " 2 2.6767e+02 2.4043e-01 1.0851e+01 1.5892e+01 1.40305e+00 0.5000 1.5892e+01 3\n", - " 3 2.5150e+02 2.3910e-01 5.4221e+00 1.9704e+01 8.03423e-01 1.0000 1.9704e+01 3\n", - " 4 1.7637e+02 2.3943e-01 2.1856e-02 1.7591e+01 1.49878e+00 0.2500 1.7591e+01 3\n", - " 5 1.7388e+02 2.3897e-01 1.6973e-02 1.7347e+01 8.11323e-01 0.5000 1.7347e+01 3\n", - " 6 1.6938e+02 2.3885e-01 9.0956e-03 1.6905e+01 7.01647e-01 0.5000 1.6905e+01 3\n", - " 7 1.0643e+02 2.3901e-01 6.1173e-03 1.0613e+01 7.36887e-01 0.2500 1.0613e+01 3\n", - " 8 9.6549e+01 2.3897e-01 4.7050e-03 9.6263e+00 5.16611e-01 0.5000 9.6263e+00 3\n", - " 9 5.8013e+01 2.3916e-01 2.5424e-03 5.7749e+00 8.53164e-01 0.1250 5.7749e+00 3\n", - " 10 5.7449e+01 2.3906e-01 2.3652e-03 5.7186e+00 4.15119e-01 0.5000 5.7186e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.6089e+02 5.3015e-01 4.4341e+01 1.6948e+00 1.66806e+00 1.0000 ---- 3\n", - " 2 2.0242e+02 2.3247e-01 1.0189e+01 1.0030e+01 1.12978e+00 0.5000 1.3382e+01 3\n", - " 3 1.9821e+02 2.3143e-01 5.0847e+00 1.4713e+01 7.18762e-01 1.0000 1.4713e+01 3\n", - " 4 1.6362e+02 2.3164e-01 1.1268e-02 1.6328e+01 1.37454e+00 0.2500 1.6328e+01 3\n", - " 5 1.5041e+02 2.3127e-01 8.6130e-03 1.5009e+01 6.86932e-01 0.5000 1.5009e+01 3\n", - " 6 1.3470e+02 2.3116e-01 3.9093e-03 1.3443e+01 5.58642e-01 0.5000 1.3443e+01 3\n", - " 7 8.2637e+01 2.3131e-01 2.3701e-03 8.2382e+00 5.98130e-01 0.2500 8.2382e+00 3\n", - " 8 7.0937e+01 2.3128e-01 1.6428e-03 7.0689e+00 3.48407e-01 1.0000 7.0689e+00 3\n", - " 9 5.8975e+01 2.3164e-01 2.3720e-03 5.8720e+00 9.85416e-01 0.1250 5.8720e+00 3\n", - " 10 5.6048e+01 2.3148e-01 2.1635e-03 5.5794e+00 6.29066e-01 0.1250 5.5794e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.4847e+02 5.2330e-01 4.3941e+01 8.5396e-01 1.60621e+00 1.0000 ---- 3\n", - " 2 1.8308e+02 2.2311e-01 1.0110e+01 8.1754e+00 1.15267e+00 0.2500 1.2284e+01 3\n", - " 3 1.6137e+02 2.2259e-01 7.5800e+00 8.5348e+00 4.98628e-01 1.0000 9.2129e+00 3\n", - " 4 3.5962e+01 2.2243e-01 3.1173e-02 3.5427e+00 8.14368e-01 0.1250 3.5427e+00 3\n", - " 5 3.2612e+01 2.2231e-01 2.7269e-02 3.2117e+00 4.14179e-01 0.5000 3.2117e+00 3\n", - " 6 1.4455e+01 2.2233e-01 1.3628e-02 1.4096e+00 5.48340e-01 0.0625 1.4096e+00 3\n", - " 7 1.4297e+01 2.2231e-01 1.2762e-02 1.3947e+00 2.71729e-01 0.2500 1.3947e+00 3\n", - " 8 1.3096e+01 2.2230e-01 9.5084e-03 1.2779e+00 2.96962e-01 0.1250 1.2779e+00 3\n", - " 9 1.2853e+01 2.2229e-01 8.3324e-03 1.2548e+00 1.44305e-01 1.0000 1.2548e+00 3\n", - " 10 4.0325e+00 2.2236e-01 2.4343e-04 3.8077e-01 5.66700e-01 0.0625 3.8077e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2672e+02 5.1606e-01 4.1844e+01 7.7680e-01 1.64838e+00 1.0000 ---- 3\n", - " 2 2.1241e+02 2.1346e-01 9.9872e+00 1.1232e+01 1.10197e+00 0.5000 1.1232e+01 3\n", - " 3 1.7344e+02 2.1268e-01 4.9845e+00 1.2338e+01 7.24031e-01 1.0000 1.2338e+01 3\n", - " 4 1.4701e+02 2.1277e-01 1.3666e-02 1.4667e+01 1.29482e+00 0.2500 1.4667e+01 3\n", - " 5 1.3002e+02 2.1247e-01 1.0321e-02 1.2970e+01 6.34227e-01 0.5000 1.2970e+01 3\n", - " 6 8.2847e+01 2.1254e-01 6.4051e-03 8.2571e+00 5.97108e-01 0.2500 8.2571e+00 3\n", - " 7 6.9391e+01 2.1249e-01 4.6838e-03 6.9132e+00 3.31221e-01 1.0000 6.9132e+00 3\n", - " 8 2.3719e+01 2.1283e-01 1.6183e-03 2.3490e+00 9.99518e-01 0.0625 2.3490e+00 3\n", - " 9 2.3557e+01 2.1275e-01 1.5415e-03 2.3329e+00 5.80460e-01 0.1250 2.3329e+00 3\n", - " 10 2.1579e+01 2.1271e-01 1.3595e-03 2.1353e+00 4.07822e-01 0.1250 2.1353e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1741e+02 5.0873e-01 4.0647e+01 1.0435e+00 1.58233e+00 1.0000 ---- 3\n", - " 2 1.5642e+02 2.0329e-01 9.6979e+00 5.9239e+00 1.07663e+00 0.5000 1.0100e+01 3\n", - " 3 1.4501e+02 2.0270e-01 4.8385e+00 9.6421e+00 7.57568e-01 0.5000 9.6421e+00 3\n", - " 4 1.2053e+02 2.0254e-01 2.4191e+00 9.6139e+00 6.30511e-01 0.5000 9.6139e+00 3\n", - " 5 9.9423e+01 2.0253e-01 1.2086e+00 8.7134e+00 6.43684e-01 0.2500 8.7134e+00 3\n", - " 6 8.1281e+01 2.0250e-01 9.0654e-01 7.2013e+00 3.61723e-01 1.0000 7.2013e+00 3\n", - " 7 2.0984e+01 2.0284e-01 2.6930e-03 2.0754e+00 9.61593e-01 0.0625 2.0754e+00 3\n", - " 8 2.0197e+01 2.0277e-01 2.5173e-03 1.9969e+00 4.63050e-01 0.2500 1.9969e+00 3\n", - " 9 1.5090e+01 2.0274e-01 1.8448e-03 1.4869e+00 5.23277e-01 0.1250 1.4869e+00 3\n", - " 10 1.3153e+01 2.0269e-01 1.6229e-03 1.2934e+00 1.89054e-01 1.0000 1.2934e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8964e+02 5.0276e-01 3.8078e+01 8.3565e-01 1.62110e+00 1.0000 ---- 3\n", - " 2 1.6518e+02 1.9455e-01 9.7410e+00 6.7580e+00 1.06053e+00 0.5000 9.2828e+00 3\n", - " 3 1.4080e+02 1.9401e-01 4.8616e+00 9.1989e+00 8.24153e-01 0.5000 9.1989e+00 3\n", - " 4 1.1173e+02 1.9389e-01 2.4293e+00 8.7244e+00 7.37158e-01 0.5000 8.7244e+00 3\n", - " 5 9.3310e+01 1.9383e-01 1.2142e+00 8.0974e+00 6.74952e-01 0.2500 8.0974e+00 3\n", - " 6 7.6586e+01 1.9379e-01 9.1064e-01 6.7285e+00 3.65878e-01 1.0000 6.7285e+00 3\n", - " 7 1.8940e+01 1.9401e-01 4.4343e-03 1.8701e+00 7.77381e-01 0.0625 1.8701e+00 3\n", - " 8 1.7757e+01 1.9396e-01 4.1678e-03 1.7521e+00 4.81716e-01 0.1250 1.7521e+00 3\n", - " 9 1.7089e+01 1.9392e-01 3.6625e-03 1.6859e+00 2.21992e-01 1.0000 1.6859e+00 3\n", - " 10 1.4059e+01 1.9395e-01 8.7271e-04 1.3857e+00 5.60283e-01 0.0625 1.3857e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8672e+02 4.9648e-01 3.7138e+01 1.4851e+00 1.70528e+00 1.0000 ---- 3\n", - " 2 2.3315e+02 1.8671e-01 9.4038e+00 1.3892e+01 1.13060e+00 1.0000 1.3892e+01 3\n", - " 3 2.1885e+02 1.8619e-01 4.1588e-02 2.1824e+01 1.34390e+00 0.5000 2.1824e+01 3\n", - " 4 1.5354e+02 1.8604e-01 2.2089e-02 1.5313e+01 8.64469e-01 1.0000 1.5313e+01 3\n", - " 5 1.2340e+02 1.8644e-01 4.3073e-03 1.2317e+01 1.88039e+00 0.1250 1.2317e+01 3\n", - " 6 1.1237e+02 1.8625e-01 3.9417e-03 1.1214e+01 1.09071e+00 0.2500 1.1214e+01 3\n", - " 7 1.0122e+02 1.8611e-01 3.2397e-03 1.0100e+01 5.43442e-01 1.0000 1.0100e+01 3\n", - " 8 5.3181e+01 1.8645e-01 4.0606e-03 5.2954e+00 9.92110e-01 0.1250 5.2954e+00 3\n", - " 9 5.1221e+01 1.8635e-01 3.5850e-03 5.0999e+00 7.56344e-01 0.1250 5.0999e+00 3\n", - " 10 4.6282e+01 1.8629e-01 3.1809e-03 4.6064e+00 4.26723e-01 0.5000 4.6064e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.7371e+02 4.9194e-01 3.5940e+01 1.3827e+00 1.55592e+00 1.0000 ---- 3\n", - " 2 1.5576e+02 1.8050e-01 8.8950e+00 6.6626e+00 9.08204e-01 1.0000 7.3536e+00 3\n", - " 3 1.5165e+02 1.8013e-01 3.4304e-02 1.5113e+01 1.29265e+00 0.2500 1.5113e+01 3\n", - " 4 1.2372e+02 1.7997e-01 2.5955e-02 1.2328e+01 6.97000e-01 1.0000 1.2328e+01 3\n", - " 5 1.1018e+02 1.8023e-01 5.4784e-03 1.0995e+01 1.06365e+00 0.2500 1.0995e+01 3\n", - " 6 9.3563e+01 1.8005e-01 4.6095e-03 9.3337e+00 5.58560e-01 0.5000 9.3337e+00 3\n", - " 7 7.3276e+01 1.8003e-01 2.9745e-03 7.3066e+00 4.02792e-01 0.5000 7.3066e+00 3\n", - " 8 4.4955e+01 1.8007e-01 1.6884e-03 4.4758e+00 3.75552e-01 0.2500 4.4758e+00 3\n", - " 9 3.6137e+01 1.8006e-01 1.2180e-03 3.5944e+00 2.11617e-01 1.0000 3.5944e+00 3\n", - " 10 6.5121e+00 1.8019e-01 7.1909e-04 6.3248e-01 4.88673e-01 0.1250 6.3248e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.5676e+02 4.8884e-01 3.4852e+01 7.7464e-01 1.59158e+00 1.0000 ---- 3\n", - " 2 1.3336e+02 1.7602e-01 8.8027e+00 4.5156e+00 7.39883e-01 1.0000 6.8264e+00 3\n", - " 3 4.8084e+01 1.7572e-01 4.7546e-02 4.7433e+00 9.97809e-01 0.2500 4.7433e+00 3\n", - " 4 4.2870e+01 1.7566e-01 3.5768e-02 4.2337e+00 3.75707e-01 1.0000 4.2337e+00 3\n", - " 5 1.5348e+01 1.7576e-01 2.2882e-03 1.5149e+00 5.90840e-01 0.0625 1.5149e+00 3\n", - " 6 1.4876e+01 1.7574e-01 2.1478e-03 1.4678e+00 4.66811e-01 0.1250 1.4678e+00 3\n", - " 7 1.4438e+01 1.7573e-01 1.8839e-03 1.4243e+00 2.84510e-01 0.5000 1.4243e+00 3\n", - " 8 9.6519e+00 1.7573e-01 9.5415e-04 9.4666e-01 2.22892e-01 0.2500 9.4666e-01 3\n", - " 9 8.9918e+00 1.7572e-01 7.3162e-04 8.8087e-01 1.36299e-01 1.0000 8.8087e-01 3\n", - " 10 7.3864e+00 1.7574e-01 2.1842e-04 7.2085e-01 3.38816e-01 0.0312 7.2085e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.4868e+02 4.8600e-01 3.4422e+01 3.9695e-01 1.53192e+00 1.0000 ---- 3\n", - " 2 1.4390e+02 1.7313e-01 8.5965e+00 5.7766e+00 7.89130e-01 1.0000 5.8001e+00 3\n", - " 3 5.2424e+01 1.7290e-01 4.3710e-02 5.1814e+00 1.03830e+00 0.2500 5.1814e+00 3\n", - " 4 4.7104e+01 1.7281e-01 3.2680e-02 4.6605e+00 4.91216e-01 1.0000 4.6605e+00 3\n", - " 5 3.8362e+01 1.7290e-01 3.1318e-03 3.8158e+00 6.02658e-01 0.2500 3.8158e+00 3\n", - " 6 3.7330e+01 1.7282e-01 2.4656e-03 3.7133e+00 3.49718e-01 1.0000 3.7133e+00 3\n", - " 7 3.1017e+01 1.7289e-01 1.5025e-03 3.0829e+00 5.85145e-01 0.1250 3.0829e+00 3\n", - " 8 2.8308e+01 1.7285e-01 1.3386e-03 2.8122e+00 4.43802e-01 0.2500 2.8122e+00 3\n", - " 9 2.7227e+01 1.7281e-01 1.0824e-03 2.7043e+00 1.86090e-01 1.0000 2.7043e+00 3\n", - " 10 1.0886e+01 1.7290e-01 2.5370e-04 1.0710e+00 3.06535e-01 0.2500 1.0710e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.3715e+02 4.8448e-01 3.3223e+01 4.4412e-01 1.49948e+00 1.0000 ---- 3\n", - " 2 1.1523e+02 1.7082e-01 8.1775e+00 3.3288e+00 6.75776e-01 1.0000 5.0509e+00 3\n", - " 3 4.0263e+01 1.7063e-01 2.7674e-02 3.9815e+00 1.01912e+00 0.2500 3.9815e+00 3\n", - " 4 3.5055e+01 1.7057e-01 2.0780e-02 3.4677e+00 3.88938e-01 1.0000 3.4677e+00 3\n", - " 5 9.2608e+00 1.7064e-01 2.9690e-03 9.0605e-01 4.17791e-01 0.5000 9.0605e-01 3\n", - " 6 7.2221e+00 1.7062e-01 1.8639e-03 7.0328e-01 2.37374e-01 0.5000 7.0328e-01 3\n", - " 7 6.4482e+00 1.7061e-01 9.0231e-04 6.2686e-01 2.37086e-01 0.2500 6.2686e-01 3\n", - " 8 6.0587e+00 1.7060e-01 7.1699e-04 5.8809e-01 8.11515e-02 1.0000 5.8809e-01 3\n", - " 9 3.5347e-01 1.7062e-01 9.8880e-05 1.8186e-02 1.50701e-01 0.0625 1.8186e-02 3\n", - " 10 3.4871e-01 1.7062e-01 9.2730e-05 1.7716e-02 1.13385e-01 0.1250 1.7716e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.2576e+02 4.8394e-01 3.2293e+01 2.3458e-01 1.56371e+00 1.0000 ---- 3\n", - " 2 1.2391e+02 1.7035e-01 7.9825e+00 4.3916e+00 7.05913e-01 1.0000 4.3916e+00 3\n", - " 3 3.9841e+01 1.7021e-01 2.4645e-02 3.9425e+00 1.07621e+00 0.2500 3.9425e+00 3\n", - " 4 3.4427e+01 1.7015e-01 1.8624e-02 3.4070e+00 3.99331e-01 1.0000 3.4070e+00 3\n", - " 5 1.5331e+01 1.7022e-01 2.4557e-03 1.5136e+00 4.27357e-01 0.5000 1.5136e+00 3\n", - " 6 1.2596e+01 1.7019e-01 1.8338e-03 1.2407e+00 2.38515e-01 0.5000 1.2407e+00 3\n", - " 7 5.3938e+00 1.7019e-01 9.3886e-04 5.2142e-01 2.45582e-01 0.2500 5.2142e-01 3\n", - " 8 4.8769e+00 1.7019e-01 7.0997e-04 4.6996e-01 5.99692e-02 1.0000 4.6996e-01 3\n", - " 9 1.7518e-01 1.7020e-01 5.5960e-05 4.4251e-04 1.20875e-01 0.1250 2.6045e-03 1\n", - " 10 1.7506e-01 1.7020e-01 4.8719e-05 4.3733e-04 6.41491e-02 0.1250 2.0527e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.1213e+02 4.8411e-01 3.1008e+01 1.5667e-01 1.49459e+00 1.0000 ---- 3\n", - " 2 1.1381e+02 1.7065e-01 7.4908e+00 3.8735e+00 6.00326e-01 1.0000 3.8735e+00 3\n", - " 3 2.8969e+01 1.7054e-01 1.7588e-02 2.8622e+00 8.84997e-01 0.2500 2.8622e+00 3\n", - " 4 2.3374e+01 1.7050e-01 1.3341e-02 2.3070e+00 3.56932e-01 1.0000 2.3070e+00 3\n", - " 5 1.1800e+01 1.7053e-01 1.3311e-03 1.1616e+00 4.28747e-01 0.1250 1.1616e+00 3\n", - " 6 1.0706e+01 1.7052e-01 1.1893e-03 1.0524e+00 2.91692e-01 0.5000 1.0524e+00 3\n", - " 7 1.0338e+01 1.7051e-01 7.8106e-04 1.0159e+00 1.56159e-01 1.0000 1.0159e+00 3\n", - " 8 8.9883e+00 1.7052e-01 1.0479e-04 8.8168e-01 4.35145e-01 0.1250 8.8168e-01 3\n", - " 9 7.9855e+00 1.7051e-01 1.0251e-04 7.8140e-01 2.42134e-01 0.2500 7.8140e-01 3\n", - " 10 6.4508e+00 1.7050e-01 9.5303e-05 6.2794e-01 5.60445e-02 1.0000 6.2794e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0283e+02 4.8431e-01 3.0061e+01 1.7410e-01 1.48993e+00 1.0000 ---- 3\n", - " 2 1.1245e+02 1.7085e-01 6.9672e+00 4.2604e+00 7.00970e-01 1.0000 4.2604e+00 3\n", - " 3 2.1250e+01 1.7074e-01 1.5932e-02 2.0920e+00 9.62868e-01 0.2500 2.0920e+00 3\n", - " 4 1.7231e+01 1.7069e-01 1.1843e-02 1.6942e+00 4.80183e-01 1.0000 1.6942e+00 3\n", - " 5 1.4448e+01 1.7069e-01 5.0393e-03 1.4227e+00 4.37787e-01 0.2500 1.4227e+00 3\n", - " 6 1.4169e+01 1.7067e-01 3.8098e-03 1.3960e+00 2.02365e-01 1.0000 1.3960e+00 3\n", - " 7 1.7213e+00 1.7069e-01 2.5490e-04 1.5481e-01 2.58195e-01 0.1250 1.5481e-01 3\n", - " 8 1.5471e+00 1.7069e-01 2.2586e-04 1.3741e-01 1.64009e-01 0.2500 1.3741e-01 3\n", - " 9 1.3991e+00 1.7068e-01 1.7415e-04 1.2267e-01 6.26930e-02 1.0000 1.2267e-01 3\n", - " 10 3.7844e-01 1.7068e-01 3.9445e-05 2.0736e-02 8.78826e-02 0.1250 2.0736e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0364e+02 4.8459e-01 3.0144e+01 1.7202e-01 1.43058e+00 1.0000 ---- 3\n", - " 2 1.0289e+02 1.7085e-01 6.5744e+00 3.6979e+00 5.03768e-01 1.0000 3.6979e+00 3\n", - " 3 3.2512e+01 1.7078e-01 9.0623e-03 3.2251e+00 6.40031e-01 0.5000 3.2251e+00 3\n", - " 4 3.1019e+01 1.7074e-01 4.8024e-03 3.0800e+00 3.59875e-01 0.5000 3.0800e+00 3\n", - " 5 1.7953e+01 1.7075e-01 2.4919e-03 1.7757e+00 2.55046e-01 1.0000 1.7757e+00 3\n", - " 6 1.6938e+01 1.7078e-01 6.0265e-04 1.6761e+00 6.27547e-01 0.1250 1.6761e+00 3\n", - " 7 1.5573e+01 1.7076e-01 5.7752e-04 1.5396e+00 3.74875e-01 0.2500 1.5396e+00 3\n", - " 8 1.3022e+01 1.7075e-01 4.9356e-04 1.2847e+00 1.08681e-01 1.0000 1.2847e+00 3\n", - " 9 5.0743e-01 1.7079e-01 9.8686e-05 3.3566e-02 1.80639e-01 0.0625 3.3566e-02 3\n", - " 10 4.9964e-01 1.7079e-01 9.2836e-05 3.2792e-02 1.42673e-01 0.1250 3.2792e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9613e+02 4.8503e-01 2.9424e+01 1.4028e-01 1.43196e+00 1.0000 ---- 3\n", - " 2 1.0596e+02 1.7127e-01 6.1570e+00 4.4216e+00 5.46972e-01 1.0000 4.4216e+00 3\n", - " 3 2.9166e+01 1.7121e-01 7.6946e-03 2.8918e+00 7.59477e-01 0.2500 2.8918e+00 3\n", - " 4 2.4853e+01 1.7117e-01 5.9754e-03 2.4622e+00 3.17102e-01 1.0000 2.4622e+00 3\n", - " 5 3.4603e+00 1.7123e-01 1.1895e-03 3.2771e-01 3.84310e-01 0.2500 3.2771e-01 3\n", - " 6 3.2263e+00 1.7121e-01 9.5089e-04 3.0456e-01 1.14206e-01 1.0000 3.0456e-01 3\n", - " 7 3.8602e-01 1.7121e-01 1.4318e-04 2.1338e-02 1.62184e-01 0.1250 2.1338e-02 3\n", - " 8 3.4698e-01 1.7121e-01 1.2710e-04 1.7450e-02 1.07841e-01 0.1250 1.7450e-02 3\n", - " 9 3.1519e-01 1.7121e-01 1.1218e-04 1.4286e-02 7.33805e-02 0.2500 1.4286e-02 3\n", - " 10 3.0261e-01 1.7121e-01 8.6138e-05 1.3054e-02 2.86743e-02 1.0000 1.3054e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9078e+02 4.8581e-01 2.8925e+01 1.0379e-01 1.40911e+00 1.0000 ---- 3\n", - " 2 9.6427e+01 1.7196e-01 5.9269e+00 3.6987e+00 4.22912e-01 1.0000 3.6987e+00 3\n", - " 3 2.5087e+01 1.7190e-01 7.2433e-03 2.4842e+00 5.88959e-01 0.2500 2.4842e+00 3\n", - " 4 2.0927e+01 1.7187e-01 5.5231e-03 2.0700e+00 2.44704e-01 1.0000 2.0700e+00 3\n", - " 5 1.5999e+00 1.7192e-01 7.9109e-04 1.4201e-01 3.68721e-01 0.0625 1.4201e-01 3\n", - " 6 1.5160e+00 1.7191e-01 7.4484e-04 1.3366e-01 2.93524e-01 0.0625 1.3366e-01 3\n", - " 7 1.4242e+00 1.7190e-01 7.0061e-04 1.2453e-01 2.36848e-01 0.1250 1.2453e-01 3\n", - " 8 1.4080e+00 1.7190e-01 6.1986e-04 1.2299e-01 1.45485e-01 0.1250 1.2299e-01 3\n", - " 9 1.2891e+00 1.7189e-01 5.4545e-04 1.1118e-01 9.38892e-02 0.5000 1.1118e-01 3\n", - " 10 9.9070e-01 1.7189e-01 2.9542e-04 8.1586e-02 5.07378e-02 0.5000 8.1586e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8225e+02 4.8679e-01 2.8066e+01 1.0990e-01 1.40020e+00 1.0000 ---- 3\n", - " 2 9.8092e+01 1.7293e-01 5.3335e+00 4.4584e+00 4.06214e-01 1.0000 4.4584e+00 3\n", - " 3 2.0475e+01 1.7288e-01 6.1540e-03 2.0241e+00 6.39803e-01 0.2500 2.0241e+00 3\n", - " 4 1.7080e+01 1.7284e-01 4.8101e-03 1.6859e+00 2.37703e-01 1.0000 1.6859e+00 3\n", - " 5 3.0133e-01 1.7288e-01 1.0060e-03 1.1838e-02 3.69170e-01 0.0312 1.1838e-02 3\n", - " 6 2.9684e-01 1.7288e-01 9.7558e-04 1.1421e-02 3.31146e-01 0.0312 1.1421e-02 3\n", - " 7 2.9579e-01 1.7288e-01 9.4601e-04 1.1346e-02 2.99720e-01 0.0156 1.1346e-02 3\n", - " 8 2.9492e-01 1.7288e-01 9.3142e-04 1.1273e-02 2.85489e-01 0.0156 1.1273e-02 3\n", - " 9 2.9387e-01 1.7287e-01 9.1705e-04 1.1182e-02 2.71965e-01 0.0156 1.1182e-02 3\n", - " 10 2.9266e-01 1.7287e-01 9.0289e-04 1.1075e-02 2.59135e-01 0.0156 1.1075e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7349e+02 4.8797e-01 2.7208e+01 9.2747e-02 1.39978e+00 1.0000 ---- 3\n", - " 2 9.0384e+01 1.7400e-01 4.5691e+00 4.4519e+00 4.36875e-01 1.0000 4.4519e+00 3\n", - " 3 2.4671e+01 1.7394e-01 4.5432e-03 2.4452e+00 6.73454e-01 0.5000 2.4452e+00 3\n", - " 4 2.4032e+01 1.7387e-01 2.7833e-03 2.3831e+00 3.89379e-01 0.5000 2.3831e+00 3\n", - " 5 1.2068e+01 1.7388e-01 1.4925e-03 1.1879e+00 2.43799e-01 1.0000 1.1879e+00 3\n", - " 6 6.8347e+00 1.7390e-01 2.9350e-04 6.6578e-01 6.57689e-01 0.1250 6.6578e-01 3\n", - " 7 6.7693e+00 1.7388e-01 2.7834e-04 6.5926e-01 3.81076e-01 0.2500 6.5926e-01 3\n", - " 8 5.8339e+00 1.7387e-01 2.4017e-04 5.6577e-01 7.15567e-02 1.0000 5.6577e-01 3\n", - " 9 1.9922e-01 1.7389e-01 1.0334e-04 2.4297e-03 1.19713e-01 0.0312 3.6668e-03 1\n", - " 10 1.9920e-01 1.7389e-01 1.0009e-04 2.4315e-03 1.08307e-01 0.2500 2.4315e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7024e+02 4.8945e-01 2.6774e+01 2.0091e-01 1.37763e+00 1.0000 ---- 3\n", - " 2 9.6993e+01 1.7556e-01 4.1751e+00 5.5066e+00 4.81032e-01 1.0000 5.5066e+00 3\n", - " 3 1.6728e+01 1.7549e-01 7.7633e-03 1.6475e+00 6.30531e-01 0.2500 1.6475e+00 3\n", - " 4 1.4047e+01 1.7546e-01 6.0119e-03 1.3812e+00 2.37174e-01 1.0000 1.3812e+00 3\n", - " 5 9.9725e-01 1.7550e-01 1.4017e-03 8.0773e-02 3.19530e-01 0.2500 8.0773e-02 3\n", - " 6 8.4729e-01 1.7549e-01 1.1102e-03 6.6070e-02 1.37365e-01 1.0000 6.6070e-02 3\n", - " 7 5.4703e-01 1.7549e-01 2.0961e-04 3.6945e-02 1.92108e-01 0.1250 3.6945e-02 3\n", - " 8 5.1221e-01 1.7549e-01 1.8464e-04 3.3488e-02 1.25091e-01 0.5000 3.3488e-02 3\n", - " 9 4.2433e-01 1.7548e-01 1.0536e-04 2.4779e-02 5.98934e-02 0.5000 2.4779e-02 3\n", - " 10 3.5618e-01 1.7548e-01 5.2505e-05 1.8018e-02 6.62605e-02 0.1250 1.8018e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7221e+02 4.9115e-01 2.6816e+01 3.5603e-01 1.35578e+00 1.0000 ---- 3\n", - " 2 8.2796e+01 1.7754e-01 3.4636e+00 4.7983e+00 4.63205e-01 1.0000 4.7983e+00 3\n", - " 3 1.5687e+01 1.7745e-01 8.1831e-03 1.5428e+00 5.91432e-01 0.2500 1.5428e+00 3\n", - " 4 1.4346e+01 1.7742e-01 6.3034e-03 1.4106e+00 2.15377e-01 1.0000 1.4106e+00 3\n", - " 5 9.1438e-01 1.7746e-01 1.4013e-03 7.2290e-02 2.66073e-01 0.2500 7.2290e-02 3\n", - " 6 8.6859e-01 1.7745e-01 1.0789e-03 6.8035e-02 1.18106e-01 1.0000 6.8035e-02 3\n", - " 7 5.0885e-01 1.7745e-01 1.3395e-04 3.3005e-02 1.49420e-01 0.2500 3.3005e-02 3\n", - " 8 4.4845e-01 1.7745e-01 1.0232e-04 2.6998e-02 6.95415e-02 1.0000 2.6998e-02 3\n", - " 9 4.2530e-01 1.7745e-01 3.6335e-05 2.4748e-02 8.27985e-02 0.5000 2.4748e-02 3\n", - " 10 3.9692e-01 1.7745e-01 2.1627e-05 2.1925e-02 3.95944e-02 1.0000 2.1925e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7248e+02 4.9320e-01 2.6840e+01 3.5866e-01 1.33697e+00 1.0000 ---- 3\n", - " 2 7.3106e+01 1.7953e-01 3.1633e+00 4.1293e+00 4.38906e-01 1.0000 4.1293e+00 3\n", - " 3 1.6312e+01 1.7941e-01 7.9255e-03 1.6054e+00 5.98850e-01 0.2500 1.6054e+00 3\n", - " 4 1.5442e+01 1.7938e-01 6.1101e-03 1.5202e+00 2.12279e-01 1.0000 1.5202e+00 3\n", - " 5 6.3751e-01 1.7943e-01 1.2692e-03 4.4539e-02 2.54762e-01 0.1250 4.4539e-02 3\n", - " 6 5.9488e-01 1.7943e-01 1.1129e-03 4.0433e-02 1.80665e-01 0.2500 4.0433e-02 3\n", - " 7 5.2641e-01 1.7943e-01 8.4027e-04 3.3858e-02 8.59562e-02 1.0000 3.3858e-02 3\n", - " 8 4.8669e-01 1.7942e-01 9.2656e-05 3.0634e-02 9.70460e-02 0.5000 3.0634e-02 3\n", - " 9 4.0199e-01 1.7942e-01 4.7558e-05 2.2209e-02 3.54688e-02 1.0000 2.2209e-02 3\n", - " 10 3.9077e-01 1.7942e-01 8.0182e-06 2.1126e-02 7.55513e-02 0.2500 2.1126e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7190e+02 4.9544e-01 2.6727e+01 4.1373e-01 1.31435e+00 1.0000 ---- 3\n", - " 2 6.6609e+01 1.8194e-01 3.0545e+00 3.5883e+00 4.91151e-01 1.0000 3.8730e+00 3\n", - " 3 1.9254e+01 1.8179e-01 7.4646e-03 1.8997e+00 5.71837e-01 0.5000 1.8997e+00 3\n", - " 4 1.5746e+01 1.8175e-01 4.2408e-03 1.5522e+00 2.64073e-01 0.5000 1.5522e+00 3\n", - " 5 9.1627e+00 1.8176e-01 2.1821e-03 8.9591e-01 2.21843e-01 0.5000 8.9591e-01 3\n", - " 6 8.4859e+00 1.8176e-01 1.1492e-03 8.2927e-01 2.04297e-01 0.2500 8.2927e-01 3\n", - " 7 7.2324e+00 1.8175e-01 8.7887e-04 7.0419e-01 6.60058e-02 1.0000 7.0419e-01 3\n", - " 8 5.0161e-01 1.8178e-01 7.9115e-05 3.1903e-02 7.78368e-02 0.5000 3.1903e-02 3\n", - " 9 3.9507e-01 1.8178e-01 5.1390e-05 2.1277e-02 8.42109e-02 0.2500 2.1277e-02 3\n", - " 10 3.8231e-01 1.8178e-01 3.8047e-05 2.0015e-02 3.44615e-02 0.5000 2.0015e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7161e+02 4.9782e-01 2.6749e+01 3.6201e-01 1.32944e+00 1.0000 ---- 3\n", - " 2 6.9333e+01 1.8454e-01 3.2753e+00 3.6395e+00 5.21779e-01 1.0000 4.5945e+00 3\n", - " 3 2.3144e+01 1.8435e-01 7.4935e-03 2.2885e+00 6.82989e-01 0.2500 2.2885e+00 3\n", - " 4 1.8672e+01 1.8433e-01 5.7876e-03 1.8430e+00 2.55180e-01 1.0000 1.8430e+00 3\n", - " 5 8.7186e-01 1.8436e-01 1.6583e-03 6.7092e-02 3.25167e-01 0.2500 6.7092e-02 3\n", - " 6 8.4335e-01 1.8435e-01 1.2585e-03 6.4642e-02 1.17048e-01 1.0000 6.4642e-02 3\n", - " 7 6.2093e-01 1.8435e-01 1.9563e-04 4.3462e-02 1.67381e-01 0.2500 4.3462e-02 3\n", - " 8 5.4042e-01 1.8434e-01 1.5330e-04 3.5455e-02 6.70707e-02 1.0000 3.5455e-02 3\n", - " 9 4.2805e-01 1.8434e-01 4.5033e-05 2.4326e-02 9.38095e-02 0.5000 2.4326e-02 3\n", - " 10 4.1638e-01 1.8434e-01 3.5098e-05 2.3169e-02 7.14117e-02 0.1250 2.3169e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6932e+02 5.0022e-01 2.6470e+01 4.1252e-01 1.31484e+00 1.0000 ---- 3\n", - " 2 6.6878e+01 1.8686e-01 3.3861e+00 3.2831e+00 5.18921e-01 1.0000 5.3676e+00 3\n", - " 3 2.4742e+01 1.8663e-01 8.0956e-03 2.4475e+00 6.94587e-01 0.2500 2.4475e+00 3\n", - " 4 2.0028e+01 1.8660e-01 6.2183e-03 1.9780e+00 2.64874e-01 1.0000 1.9780e+00 3\n", - " 5 1.4094e+00 1.8663e-01 2.1928e-03 1.2008e-01 3.56289e-01 0.2500 1.2008e-01 3\n", - " 6 1.3879e+00 1.8662e-01 1.6595e-03 1.1847e-01 1.21334e-01 1.0000 1.1847e-01 3\n", - " 7 1.1501e+00 1.8662e-01 2.6354e-04 9.6081e-02 1.60009e-01 0.5000 9.6081e-02 3\n", - " 8 8.0599e-01 1.8662e-01 1.4548e-04 6.1791e-02 8.99613e-02 0.5000 6.1791e-02 3\n", - " 9 6.5055e-01 1.8662e-01 8.2676e-05 4.6310e-02 7.79992e-02 0.2500 4.6310e-02 3\n", - " 10 5.7191e-01 1.8662e-01 6.6380e-05 3.8463e-02 3.63548e-02 0.5000 3.8463e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7018e+02 5.0253e-01 2.6553e+01 4.1479e-01 1.33481e+00 1.0000 ---- 3\n", - " 2 7.4878e+01 1.8921e-01 3.9589e+00 3.5100e+00 4.78383e-01 1.0000 6.1066e+00 3\n", - " 3 2.1450e+01 1.8894e-01 8.6392e-03 2.1175e+00 6.49671e-01 0.2500 2.1175e+00 3\n", - " 4 1.7629e+01 1.8892e-01 6.6702e-03 1.7373e+00 2.44203e-01 1.0000 1.7373e+00 3\n", - " 5 1.1964e+00 1.8895e-01 2.3648e-03 9.8385e-02 3.30177e-01 0.1250 9.8385e-02 3\n", - " 6 1.0766e+00 1.8894e-01 2.0685e-03 8.6694e-02 2.13488e-01 0.2500 8.6694e-02 3\n", - " 7 8.7475e-01 1.8894e-01 1.5480e-03 6.7033e-02 9.69412e-02 0.5000 6.7033e-02 3\n", - " 8 6.9931e-01 1.8894e-01 7.7381e-04 5.0263e-02 5.84047e-02 0.5000 5.0263e-02 3\n", - " 9 6.5440e-01 1.8894e-01 3.9065e-04 4.6155e-02 5.40273e-02 0.5000 4.6155e-02 3\n", - " 10 6.0741e-01 1.8894e-01 1.9793e-04 4.1649e-02 5.43845e-02 0.5000 4.1649e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7932e+02 5.0527e-01 2.7457e+01 4.2409e-01 1.36265e+00 1.0000 ---- 3\n", - " 2 8.0446e+01 1.9212e-01 4.0541e+00 3.9713e+00 5.21539e-01 1.0000 6.8571e+00 3\n", - " 3 2.3216e+01 1.9181e-01 8.7802e-03 2.2937e+00 7.43242e-01 0.2500 2.2937e+00 3\n", - " 4 1.9236e+01 1.9177e-01 6.7357e-03 1.8977e+00 2.59323e-01 1.0000 1.8977e+00 3\n", - " 5 1.7593e+00 1.9181e-01 2.3950e-03 1.5436e-01 3.27092e-01 0.2500 1.5436e-01 3\n", - " 6 1.3095e+00 1.9180e-01 1.8026e-03 1.0997e-01 1.24690e-01 0.5000 1.0997e-01 3\n", - " 7 7.6964e-01 1.9180e-01 9.1854e-04 5.6866e-02 6.77158e-02 0.5000 5.6866e-02 3\n", - " 8 6.2088e-01 1.9180e-01 4.7553e-04 4.2433e-02 6.06878e-02 0.2500 4.2433e-02 3\n", - " 9 5.5629e-01 1.9180e-01 3.5758e-04 3.6092e-02 5.45948e-02 0.2500 3.6092e-02 3\n", - " 10 5.2017e-01 1.9179e-01 2.6862e-04 3.2569e-02 5.32326e-02 0.2500 3.2569e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9188e+02 5.0880e-01 2.8674e+01 4.6361e-01 1.37477e+00 1.0000 ---- 3\n", - " 2 8.7444e+01 1.9593e-01 4.5809e+00 4.1439e+00 5.62898e-01 1.0000 7.6624e+00 3\n", - " 3 2.7857e+01 1.9555e-01 1.0216e-02 2.7559e+00 8.63471e-01 0.2500 2.7559e+00 3\n", - " 4 2.4073e+01 1.9551e-01 7.8421e-03 2.3799e+00 3.05100e-01 1.0000 2.3799e+00 3\n", - " 5 4.6781e+00 1.9556e-01 3.1755e-03 4.4507e-01 3.78516e-01 0.5000 4.4507e-01 3\n", - " 6 2.9550e+00 1.9554e-01 1.6493e-03 2.7430e-01 2.63763e-01 0.2500 2.7430e-01 3\n", - " 7 2.6083e+00 1.9553e-01 1.2499e-03 2.4003e-01 1.00137e-01 1.0000 2.4003e-01 3\n", - " 8 1.2465e+00 1.9553e-01 1.5087e-04 1.0494e-01 1.27284e-01 0.2500 1.0494e-01 3\n", - " 9 1.0474e+00 1.9553e-01 1.1395e-04 8.5074e-02 7.93731e-02 0.5000 8.5074e-02 3\n", - " 10 7.7419e-01 1.9553e-01 7.6951e-05 5.7789e-02 7.93929e-02 0.5000 5.7789e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0584e+02 5.1253e-01 2.9992e+01 5.4060e-01 1.41973e+00 1.0000 ---- 3\n", - " 2 9.7632e+01 2.0016e-01 5.4322e+00 4.3110e+00 5.89799e-01 1.0000 8.4337e+00 3\n", - " 3 3.0310e+01 1.9973e-01 1.0781e-02 3.0003e+00 9.94679e-01 0.2500 3.0003e+00 3\n", - " 4 3.0007e+01 1.9966e-01 8.3688e-03 2.9723e+00 3.32751e-01 1.0000 2.9723e+00 3\n", - " 5 1.2012e+01 1.9975e-01 3.0709e-03 1.1781e+00 4.51747e-01 0.5000 1.1781e+00 3\n", - " 6 6.4143e+00 1.9971e-01 1.6835e-03 6.1977e-01 2.96026e-01 0.5000 6.1977e-01 3\n", - " 7 5.4147e+00 1.9970e-01 9.1920e-04 5.2058e-01 2.50870e-01 0.2500 5.2058e-01 3\n", - " 8 4.4100e+00 1.9969e-01 7.0894e-04 4.2032e-01 1.02965e-01 1.0000 4.2032e-01 3\n", - " 9 1.9931e+00 1.9970e-01 1.4284e-04 1.7919e-01 1.22415e-01 1.0000 1.7919e-01 3\n", - " 10 1.7402e+00 1.9970e-01 1.8397e-04 1.5387e-01 2.59008e-01 0.0625 1.5387e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.1799e+02 5.1663e-01 3.1160e+01 5.8710e-01 1.45210e+00 1.0000 ---- 3\n", - " 2 1.0592e+02 2.0466e-01 5.8155e+00 4.7558e+00 7.01584e-01 1.0000 9.2750e+00 3\n", - " 3 7.5325e+01 2.0413e-01 1.3052e-02 7.4991e+00 1.32746e+00 0.2500 7.4991e+00 3\n", - " 4 6.8627e+01 2.0398e-01 1.0213e-02 6.8321e+00 5.84852e-01 1.0000 6.8321e+00 3\n", - " 5 5.9940e+01 2.0421e-01 4.7768e-03 5.9688e+00 1.03742e+00 0.2500 5.9688e+00 3\n", - " 6 5.6188e+01 2.0407e-01 3.6834e-03 5.5947e+00 5.45982e-01 0.5000 5.5947e+00 3\n", - " 7 4.9424e+01 2.0404e-01 1.9537e-03 4.9200e+00 4.69765e-01 0.5000 4.9200e+00 3\n", - " 8 3.8512e+01 2.0405e-01 1.2309e-03 3.8295e+00 4.45439e-01 0.2500 3.8295e+00 3\n", - " 9 3.1003e+01 2.0404e-01 9.1993e-04 3.0790e+00 2.59165e-01 1.0000 3.0790e+00 3\n", - " 10 1.6680e+01 2.0417e-01 9.4797e-04 1.6466e+00 3.03333e-01 1.0000 1.6466e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.3319e+02 5.2149e-01 3.2334e+01 9.3325e-01 1.60350e+00 1.0000 ---- 3\n", - " 2 1.3556e+02 2.1013e-01 6.4973e+00 7.0381e+00 1.01051e+00 0.5000 1.0139e+01 3\n", - " 3 1.1372e+02 2.0954e-01 3.2497e+00 8.1015e+00 7.09086e-01 0.5000 8.1015e+00 3\n", - " 4 7.6277e+01 2.0946e-01 1.6251e+00 5.9817e+00 6.29649e-01 0.5000 5.9817e+00 3\n", - " 5 6.5260e+01 2.0942e-01 8.1277e-01 5.6923e+00 6.32096e-01 0.5000 5.6923e+00 3\n", - " 6 6.2235e+01 2.0942e-01 4.0646e-01 5.7961e+00 6.38198e-01 0.5000 5.7961e+00 3\n", - " 7 6.1154e+01 2.0940e-01 2.0352e-01 5.8909e+00 6.34221e-01 0.2500 5.8909e+00 3\n", - " 8 4.9336e+01 2.0939e-01 1.5269e-01 4.7600e+00 3.79669e-01 1.0000 4.7600e+00 3\n", - " 9 2.5912e+01 2.0964e-01 7.5274e-04 2.5695e+00 4.75180e-01 0.2500 2.5695e+00 3\n", - " 10 1.9215e+01 2.0959e-01 5.6054e-04 1.9000e+00 3.53609e-01 0.5000 1.9000e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.4872e+02 5.2702e-01 3.3614e+01 1.2053e+00 1.45756e+00 1.0000 ---- 3\n", - " 2 1.4010e+02 2.1618e-01 6.6300e+00 7.3585e+00 8.49411e-01 0.5000 1.1106e+01 3\n", - " 3 9.7825e+01 2.1554e-01 3.3152e+00 6.4457e+00 5.96956e-01 0.5000 6.4457e+00 3\n", - " 4 6.4527e+01 2.1541e-01 1.6579e+00 4.7732e+00 5.31878e-01 0.5000 4.7732e+00 3\n", - " 5 5.5554e+01 2.1538e-01 8.2894e-01 4.7049e+00 5.48343e-01 0.5000 4.7049e+00 3\n", - " 6 5.5405e+01 2.1536e-01 4.1451e-01 5.1044e+00 5.58876e-01 0.2500 5.1044e+00 3\n", - " 7 4.4989e+01 2.1534e-01 3.1088e-01 4.1665e+00 2.80034e-01 1.0000 4.1665e+00 3\n", - " 8 1.7660e+01 2.1555e-01 5.5773e-04 1.7439e+00 3.13088e-01 0.5000 1.7439e+00 3\n", - " 9 7.1172e+00 2.1552e-01 3.4065e-04 6.8982e-01 4.16046e-01 0.1250 6.8982e-01 3\n", - " 10 6.2317e+00 2.1549e-01 3.0596e-04 6.0131e-01 1.94886e-01 0.5000 6.0131e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.5433e+02 5.3172e-01 3.4750e+01 6.3032e-01 1.54472e+00 1.0000 ---- 3\n", - " 2 1.2647e+02 2.2143e-01 7.3376e+00 5.2877e+00 8.19380e-01 1.0000 1.2041e+01 3\n", - " 3 1.1359e+02 2.2054e-01 1.5715e-02 1.1321e+01 1.25629e+00 0.2500 1.1321e+01 3\n", - " 4 9.0467e+01 2.2042e-01 1.1725e-02 9.0129e+00 5.97404e-01 1.0000 9.0129e+00 3\n", - " 5 6.6070e+01 2.2065e-01 2.4704e-03 6.5824e+00 1.10521e+00 0.2500 6.5824e+00 3\n", - " 6 6.5044e+01 2.2047e-01 1.9646e-03 6.4804e+00 4.77221e-01 0.5000 6.4804e+00 3\n", - " 7 4.1931e+01 2.2049e-01 1.0944e-03 4.1699e+00 3.73885e-01 0.5000 4.1699e+00 3\n", - " 8 3.1320e+01 2.2051e-01 7.2350e-04 3.1092e+00 4.28323e-01 0.2500 3.1092e+00 3\n", - " 9 2.5190e+01 2.2050e-01 5.7970e-04 2.4964e+00 2.50532e-01 1.0000 2.4964e+00 3\n", - " 10 2.2559e+01 2.2057e-01 1.1400e-03 2.2327e+00 2.45394e-01 1.0000 2.2327e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.7141e+02 5.3675e-01 3.5930e+01 1.1570e+00 1.67043e+00 1.0000 ---- 3\n", - " 2 2.2476e+02 2.2648e-01 7.6660e+00 1.4788e+01 1.45896e+00 0.5000 1.4788e+01 3\n", - " 3 2.1644e+02 2.2543e-01 3.8365e+00 1.7785e+01 9.57607e-01 1.0000 1.7785e+01 3\n", - " 4 1.7122e+02 2.2585e-01 5.3036e-03 1.7094e+01 1.78674e+00 0.2500 1.7094e+01 3\n", - " 5 1.5410e+02 2.2547e-01 4.3332e-03 1.5384e+01 8.76020e-01 0.5000 1.5384e+01 3\n", - " 6 1.1860e+02 2.2537e-01 2.1640e-03 1.1835e+01 6.67495e-01 0.5000 1.1835e+01 3\n", - " 7 9.5661e+01 2.2537e-01 1.2094e-03 9.5423e+00 6.07519e-01 0.5000 9.5423e+00 3\n", - " 8 8.7571e+01 2.2539e-01 9.8511e-04 8.7336e+00 6.02661e-01 0.5000 8.7336e+00 3\n", - " 9 8.5105e+01 2.2538e-01 8.4103e-04 8.4871e+00 5.94621e-01 0.5000 8.4871e+00 3\n", - " 10 8.4406e+01 2.2539e-01 8.5550e-04 8.4172e+00 5.87795e-01 0.5000 8.4172e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2688e+02 5.4248e-01 3.6091e+01 6.5428e+00 1.85091e+00 1.0000 ---- 3\n", - " 2 2.9881e+02 2.3302e-01 8.4700e+00 2.1388e+01 1.74069e+00 0.5000 2.1388e+01 3\n", - " 3 2.5649e+02 2.3175e-01 4.2339e+00 2.1392e+01 1.50993e+00 0.5000 2.1392e+01 25\n", - " 4 1.8538e+02 2.3195e-01 2.1173e+00 1.6397e+01 1.26073e+00 0.5000 1.6397e+01 25\n", - " 5 1.1895e+02 2.3163e-01 1.0604e+00 1.0812e+01 1.23213e+00 1.0000 1.0812e+01 25\n", - " 6 8.4155e+01 2.3156e-01 1.1051e-02 8.3813e+00 9.54841e-01 0.2500 8.3813e+00 13\n", - " 7 8.1354e+01 2.3145e-01 8.3005e-03 8.1039e+00 3.84979e-01 1.0000 8.1039e+00 13\n", - " 8 3.2167e+01 2.3160e-01 1.0961e-03 3.1925e+00 6.11704e-01 0.1250 3.1925e+00 12\n", - " 9 3.0990e+01 2.3157e-01 9.8396e-04 3.0748e+00 3.26711e-01 0.5000 3.0748e+00 8\n", - " 10 3.0937e+01 2.3156e-01 6.2643e-04 3.0699e+00 2.37984e-01 0.5000 3.0699e+00 8\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9257e+02 5.5072e-01 3.6584e+01 2.6184e+00 1.72777e+00 1.0000 ---- 3\n", - " 2 1.6118e+02 2.4284e-01 8.9722e+00 7.1210e+00 1.16835e+00 0.5000 1.5756e+01 3\n", - " 3 1.2792e+02 2.4167e-01 4.4885e+00 8.2792e+00 7.08613e-01 1.0000 8.2792e+00 3\n", - " 4 1.1266e+02 2.4154e-01 7.1756e-03 1.1234e+01 1.54267e+00 0.2500 1.1234e+01 3\n", - " 5 9.4328e+01 2.4135e-01 5.8755e-03 9.4028e+00 5.78645e-01 0.5000 9.4028e+00 3\n", - " 6 7.1913e+01 2.4135e-01 3.2812e-03 7.1638e+00 5.60401e-01 0.5000 7.1638e+00 3\n", - " 7 5.0917e+01 2.4141e-01 1.9835e-03 5.0656e+00 4.46255e-01 0.5000 5.0656e+00 3\n", - " 8 4.4963e+01 2.4141e-01 1.2797e-03 4.4709e+00 4.28339e-01 0.5000 4.4709e+00 3\n", - " 9 4.2347e+01 2.4142e-01 9.1750e-04 4.2097e+00 4.16754e-01 0.5000 4.2097e+00 3\n", - " 10 4.0700e+01 2.4142e-01 7.5099e-04 4.0451e+00 4.16621e-01 0.5000 4.0451e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0721e+02 5.6017e-01 3.7265e+01 3.3999e+00 1.83061e+00 1.0000 ---- 3\n", - " 2 2.3244e+02 2.5441e-01 8.9601e+00 1.4258e+01 1.47962e+00 0.5000 1.7430e+01 3\n", - " 3 1.8016e+02 2.5292e-01 4.4821e+00 1.3509e+01 1.06662e+00 0.5000 1.3509e+01 3\n", - " 4 1.2168e+02 2.5283e-01 2.2413e+00 9.9016e+00 7.95390e-01 0.5000 9.9016e+00 3\n", - " 5 9.0901e+01 2.5270e-01 1.1211e+00 7.9437e+00 6.52775e-01 0.5000 7.9437e+00 3\n", - " 6 6.9974e+01 2.5269e-01 5.6092e-01 6.4112e+00 6.23420e-01 0.5000 6.4112e+00 3\n", - " 7 6.3155e+01 2.5269e-01 2.8076e-01 6.0094e+00 5.94686e-01 0.5000 6.0094e+00 3\n", - " 8 6.0490e+01 2.5269e-01 1.4066e-01 5.8831e+00 5.88968e-01 0.5000 5.8831e+00 3\n", - " 9 5.9820e+01 2.5269e-01 7.0692e-02 5.8861e+00 5.83890e-01 0.2500 5.8861e+00 3\n", - " 10 4.7862e+01 2.5267e-01 5.3097e-02 4.7078e+00 2.81692e-01 1.0000 4.7078e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9276e+02 5.6848e-01 3.8133e+01 1.0857e+00 1.69207e+00 1.0000 ---- 3\n", - " 2 1.5396e+02 2.6347e-01 9.1115e+00 6.2579e+00 9.53438e-01 1.0000 1.9408e+01 3\n", - " 3 1.4655e+02 2.6142e-01 3.5119e-02 1.4594e+01 1.64353e+00 0.2500 1.4594e+01 3\n", - " 4 1.1955e+02 2.6122e-01 2.6240e-02 1.1903e+01 6.65944e-01 1.0000 1.1903e+01 3\n", - " 5 5.2814e+01 2.6152e-01 2.5925e-03 5.2527e+00 1.08231e+00 0.1250 5.2527e+00 3\n", - " 6 4.8059e+01 2.6144e-01 2.1965e-03 4.7775e+00 7.31834e-01 0.2500 4.7775e+00 3\n", - " 7 4.5218e+01 2.6135e-01 1.7494e-03 4.4939e+00 3.71261e-01 1.0000 4.4939e+00 3\n", - " 8 1.5659e+01 2.6155e-01 2.0836e-03 1.5376e+00 6.26888e-01 0.1250 1.5376e+00 3\n", - " 9 1.4535e+01 2.6151e-01 1.8544e-03 1.4255e+00 3.48166e-01 0.2500 1.4255e+00 3\n", - " 10 1.2629e+01 2.6149e-01 1.3951e-03 1.2353e+00 2.13285e-01 0.5000 1.2353e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9316e+02 5.7551e-01 3.7638e+01 1.6200e+00 1.72436e+00 1.0000 ---- 3\n", - " 2 1.8485e+02 2.7038e-01 9.1359e+00 9.3222e+00 1.04046e+00 0.5000 2.1807e+01 3\n", - " 3 1.3700e+02 2.6834e-01 4.5727e+00 9.1008e+00 7.11257e-01 1.0000 1.0907e+01 3\n", - " 4 1.2852e+02 2.6793e-01 7.5310e-03 1.2818e+01 1.18669e+00 0.5000 1.2818e+01 3\n", - " 5 1.0092e+02 2.6764e-01 6.4617e-03 1.0059e+01 8.66665e-01 0.5000 1.0059e+01 3\n", - " 6 7.3360e+01 2.6766e-01 3.7014e-03 7.3055e+00 7.67553e-01 0.5000 7.3055e+00 3\n", - " 7 6.8564e+01 2.6766e-01 2.5972e-03 6.8270e+00 7.41549e-01 0.2500 6.8270e+00 3\n", - " 8 5.6451e+01 2.6763e-01 1.9561e-03 5.6164e+00 3.62336e-01 1.0000 5.6164e+00 3\n", - " 9 1.6095e+01 2.6791e-01 2.8734e-03 1.5799e+00 3.79951e-01 0.2500 1.5799e+00 3\n", - " 10 1.0465e+01 2.6786e-01 2.2249e-03 1.0175e+00 1.75161e-01 0.5000 1.0175e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0242e+02 5.8419e-01 3.9382e+01 8.0072e-01 1.72496e+00 1.0000 ---- 3\n", - " 2 1.7396e+02 2.7976e-01 9.7612e+00 7.6065e+00 9.94516e-01 1.0000 2.4703e+01 3\n", - " 3 1.6281e+02 2.7657e-01 5.6271e-02 1.6197e+01 1.61197e+00 0.5000 1.6197e+01 3\n", - " 4 1.5701e+02 2.7628e-01 3.0050e-02 1.5644e+01 1.10357e+00 0.5000 1.5644e+01 3\n", - " 5 8.3060e+01 2.7646e-01 1.5758e-02 8.2626e+00 8.55738e-01 0.5000 8.2626e+00 3\n", - " 6 7.6327e+01 2.7645e-01 7.7468e-03 7.5973e+00 8.22573e-01 0.2500 7.5973e+00 3\n", - " 7 6.2401e+01 2.7642e-01 5.6568e-03 6.2068e+00 3.29931e-01 1.0000 6.2068e+00 3\n", - " 8 2.3256e+01 2.7668e-01 9.2660e-04 2.2971e+00 4.30299e-01 1.0000 2.2971e+00 3\n", - " 9 2.0955e+01 2.7661e-01 3.8047e-03 2.0640e+00 7.57731e-01 0.1250 2.0640e+00 3\n", - " 10 1.9132e+01 2.7657e-01 3.3354e-03 1.8822e+00 4.09358e-01 0.5000 1.8822e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1295e+02 5.9444e-01 3.9227e+01 2.0090e+00 1.81068e+00 1.0000 ---- 3\n", - " 2 2.3816e+02 2.9078e-01 1.0265e+01 1.3522e+01 1.56743e+00 0.5000 2.8303e+01 3\n", - " 3 2.1404e+02 2.8741e-01 5.1380e+00 1.6237e+01 1.04991e+00 1.0000 1.6237e+01 3\n", - " 4 1.7029e+02 2.8692e-01 1.7020e-02 1.6983e+01 1.84219e+00 0.2500 1.6983e+01 3\n", - " 5 1.4330e+02 2.8660e-01 1.3525e-02 1.4288e+01 8.87200e-01 0.5000 1.4288e+01 3\n", - " 6 1.0459e+02 2.8647e-01 7.4955e-03 1.0423e+01 7.18208e-01 1.0000 1.0423e+01 3\n", - " 7 9.2932e+01 2.8688e-01 5.8891e-03 9.2587e+00 1.30388e+00 0.2500 9.2587e+00 3\n", - " 8 8.3634e+01 2.8664e-01 5.9613e-03 8.3287e+00 6.89907e-01 0.2500 8.3287e+00 3\n", - " 9 6.6937e+01 2.8657e-01 4.5593e-03 6.6604e+00 3.73188e-01 1.0000 6.6604e+00 3\n", - " 10 2.4263e+01 2.8681e-01 2.8431e-03 2.3948e+00 7.85754e-01 0.1250 2.3948e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0799e+02 6.1220e-01 3.8175e+01 2.5625e+00 1.94909e+00 1.0000 ---- 3\n", - " 2 2.5290e+02 3.1265e-01 1.0276e+01 1.4983e+01 1.44697e+00 0.5000 3.3659e+01 3\n", - " 3 1.9840e+02 3.0810e-01 5.1410e+00 1.4668e+01 9.97558e-01 1.0000 1.6843e+01 3\n", - " 4 1.8239e+02 3.0721e-01 1.6158e-02 1.8192e+01 1.38245e+00 0.5000 1.8192e+01 3\n", - " 5 1.4182e+02 3.0672e-01 1.0372e-02 1.4141e+01 8.99189e-01 0.5000 1.4141e+01 3\n", - " 6 8.8569e+01 3.0670e-01 5.5067e-03 8.8208e+00 6.99201e-01 0.5000 8.8208e+00 3\n", - " 7 5.5389e+01 3.0675e-01 2.8456e-03 5.5054e+00 6.11222e-01 0.5000 5.5054e+00 3\n", - " 8 5.2754e+01 3.0675e-01 1.6375e-03 5.2431e+00 6.19384e-01 0.2500 5.2431e+00 3\n", - " 9 4.2326e+01 3.0673e-01 1.3231e-03 4.2006e+00 2.52680e-01 1.0000 4.2006e+00 3\n", - " 10 1.1482e+01 3.0695e-01 1.3887e-03 1.1162e+00 2.83719e-01 0.5000 1.1162e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1036e+02 6.2438e-01 4.0137e+01 8.3694e-01 1.78848e+00 1.0000 ---- 3\n", - " 2 2.0315e+02 3.2962e-01 1.0579e+01 9.7029e+00 1.34515e+00 0.5000 4.0113e+01 3\n", - " 3 1.3789e+02 3.2352e-01 5.2869e+00 8.4700e+00 8.71042e-01 0.5000 2.0075e+01 3\n", - " 4 1.1847e+02 3.2187e-01 2.6432e+00 9.1718e+00 6.90382e-01 0.5000 1.0042e+01 3\n", - " 5 8.4158e+01 3.2147e-01 1.3222e+00 7.0614e+00 6.34339e-01 0.5000 7.0614e+00 3\n", - " 6 6.7209e+01 3.2138e-01 6.6122e-01 6.0276e+00 6.44316e-01 0.5000 6.0276e+00 3\n", - " 7 6.6636e+01 3.2135e-01 3.3067e-01 6.3008e+00 6.53711e-01 0.5000 6.3008e+00 3\n", - " 8 6.5970e+01 3.2134e-01 1.6530e-01 6.3995e+00 6.54908e-01 0.2500 6.3995e+00 3\n", - " 9 5.3199e+01 3.2132e-01 1.2399e-01 5.1638e+00 3.22145e-01 1.0000 5.1638e+00 3\n", - " 10 1.8298e+01 3.2158e-01 2.9676e-03 1.7947e+00 2.46761e-01 1.0000 1.7947e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0822e+02 6.3485e-01 4.0309e+01 4.4973e-01 1.95938e+00 1.0000 ---- 3\n", - " 2 2.2295e+02 3.3957e-01 1.0908e+01 1.1353e+01 1.47466e+00 0.5000 4.9876e+01 3\n", - " 3 1.8682e+02 3.3005e-01 5.4592e+00 1.3190e+01 9.29774e-01 0.5000 2.4966e+01 3\n", - " 4 1.2177e+02 3.2775e-01 2.7283e+00 9.4156e+00 7.82502e-01 0.5000 1.2490e+01 3\n", - " 5 9.3963e+01 3.2717e-01 1.3642e+00 7.9994e+00 7.34359e-01 0.5000 7.9994e+00 3\n", - " 6 8.0356e+01 3.2701e-01 6.8213e-01 7.3208e+00 7.10426e-01 0.5000 7.3208e+00 3\n", - " 7 7.5452e+01 3.2696e-01 3.4097e-01 7.1715e+00 7.11384e-01 0.5000 7.1715e+00 3\n", - " 8 7.1772e+01 3.2695e-01 1.7053e-01 6.9740e+00 6.73133e-01 0.5000 6.9740e+00 3\n", - " 9 6.8978e+01 3.2695e-01 8.5356e-02 6.7797e+00 6.90574e-01 0.5000 6.7797e+00 3\n", - " 10 6.7651e+01 3.2694e-01 4.2858e-02 6.6895e+00 6.68889e-01 0.5000 6.6895e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.5787e+02 6.4900e-01 4.1071e+01 4.6508e+00 2.11612e+00 1.0000 ---- 3\n", - " 2 3.1390e+02 3.5992e-01 1.1486e+01 1.9867e+01 1.90726e+00 0.5000 6.3752e+01 3\n", - " 3 2.3056e+02 3.4458e-01 5.7455e+00 1.7276e+01 1.13555e+00 1.0000 3.1918e+01 3\n", - " 4 1.9767e+02 3.3977e-01 4.5534e-02 1.9687e+01 2.13964e+00 0.2500 1.9687e+01 3\n", - " 5 1.7172e+02 3.3947e-01 3.5308e-02 1.7102e+01 9.64551e-01 0.5000 1.7102e+01 3\n", - " 6 1.0338e+02 3.3954e-01 1.8095e-02 1.0286e+01 8.72139e-01 0.5000 1.0286e+01 3\n", - " 7 8.2106e+01 3.3957e-01 1.0055e-02 8.1666e+00 8.31231e-01 0.2500 8.1666e+00 3\n", - " 8 6.7570e+01 3.3953e-01 7.8233e-03 6.7152e+00 4.11997e-01 1.0000 6.7152e+00 3\n", - " 9 2.5135e+01 3.3979e-01 3.4822e-03 2.4760e+00 3.42966e-01 1.0000 2.4760e+00 3\n", - " 10 1.8891e+01 3.3975e-01 1.1446e-03 1.8540e+00 9.00317e-01 0.1250 1.8540e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1899e+02 6.7580e-01 4.0289e+01 1.5424e+00 2.08797e+00 1.0000 ---- 3\n", - " 2 2.1490e+02 4.0710e-01 1.2008e+01 9.4407e+00 1.40609e+00 0.5000 8.6417e+01 3\n", - " 3 1.6748e+02 3.7910e-01 6.0095e+00 1.0701e+01 8.09721e-01 1.0000 4.3273e+01 3\n", - " 4 1.2503e+02 3.6993e-01 4.3701e-02 1.2422e+01 1.70164e+00 0.2500 1.2422e+01 3\n", - " 5 1.2152e+02 3.6968e-01 3.2053e-02 1.2083e+01 7.37920e-01 1.0000 1.2083e+01 3\n", - " 6 1.1486e+02 3.6998e-01 6.4627e-03 1.1443e+01 1.62437e+00 0.2500 1.1443e+01 3\n", - " 7 1.1184e+02 3.6971e-01 5.5408e-03 1.1142e+01 6.17920e-01 0.5000 1.1142e+01 3\n", - " 8 7.2616e+01 3.6976e-01 3.5885e-03 7.2210e+00 6.18401e-01 0.5000 7.2210e+00 3\n", - " 9 6.6624e+01 3.6977e-01 2.5145e-03 6.6229e+00 5.60605e-01 0.2500 6.6229e+00 3\n", - " 10 5.4337e+01 3.6975e-01 1.9647e-03 5.3948e+00 3.56880e-01 1.0000 5.3948e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2443e+02 7.0804e-01 4.0754e+01 1.6182e+00 2.15767e+00 1.0000 ---- 3\n", - " 2 2.5657e+02 4.8338e-01 1.2370e+01 1.3238e+01 1.67936e+00 0.5000 1.2345e+02 3\n", - " 3 2.2539e+02 4.2624e-01 6.2162e+00 1.6280e+01 1.14828e+00 0.5000 6.1785e+01 3\n", - " 4 1.4886e+02 4.1193e-01 3.1083e+00 1.1736e+01 8.29657e-01 0.5000 3.0907e+01 3\n", - " 5 9.6081e+01 4.0842e-01 1.5542e+00 8.0130e+00 6.91147e-01 0.5000 1.5456e+01 3\n", - " 6 7.8932e+01 4.0753e-01 7.7738e-01 7.0750e+00 6.62424e-01 0.5000 7.7286e+00 3\n", - " 7 7.3559e+01 4.0731e-01 3.8865e-01 6.9266e+00 6.84662e-01 0.5000 6.9266e+00 3\n", - " 8 7.1355e+01 4.0724e-01 1.9448e-01 6.9003e+00 6.98925e-01 0.2500 6.9003e+00 3\n", - " 9 5.8222e+01 4.0722e-01 1.4588e-01 5.6356e+00 3.44850e-01 1.0000 5.6356e+00 3\n", - " 10 2.2909e+01 4.0750e-01 3.5571e-03 2.2466e+00 5.02709e-01 0.2500 2.2466e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.3076e+02 7.4328e-01 4.1068e+01 1.9338e+00 2.21091e+00 1.0000 ---- 3\n", - " 2 2.6696e+02 6.2686e-01 1.4353e+01 1.2281e+01 1.54661e+00 0.5000 1.9090e+02 3\n", - " 3 2.2407e+02 4.8923e-01 7.2143e+00 1.5144e+01 1.05055e+00 1.0000 9.5354e+01 3\n", - " 4 2.2282e+02 4.4391e-01 6.3932e-02 2.2173e+01 1.76083e+00 0.5000 2.2173e+01 3\n", - " 5 2.1942e+02 4.4339e-01 3.3281e-02 2.1865e+01 1.11001e+00 1.0000 2.1865e+01 3\n", - " 6 1.7094e+02 4.4406e-01 1.1114e-02 1.7039e+01 2.25820e+00 0.2500 1.7039e+01 3\n", - " 7 1.5269e+02 4.4363e-01 9.9554e-03 1.5215e+01 1.05397e+00 0.5000 1.5215e+01 3\n", - " 8 1.4621e+02 4.4348e-01 5.4287e-03 1.4571e+01 7.92187e-01 0.5000 1.4571e+01 3\n", - " 9 8.5598e+01 4.4357e-01 3.8416e-03 8.5116e+00 7.20760e-01 0.5000 8.5116e+00 3\n", - " 10 7.3277e+01 4.4358e-01 2.8166e-03 7.2806e+00 6.31090e-01 0.2500 7.2806e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.4738e+02 7.9743e-01 4.2027e+01 2.6313e+00 2.31638e+00 1.0000 ---- 3\n", - " 2 3.3281e+02 1.0218e+00 1.9193e+01 1.3986e+01 1.58211e+00 0.5000 3.1967e+02 3\n", - " 3 2.6389e+02 6.2986e-01 9.5254e+00 1.6801e+01 1.01417e+00 1.0000 1.6071e+02 3\n", - " 4 1.5344e+02 4.9765e-01 1.1759e-01 1.5177e+01 1.71178e+00 0.2500 1.5177e+01 3\n", - " 5 1.4097e+02 4.9735e-01 8.5689e-02 1.3962e+01 8.23962e-01 0.5000 1.3962e+01 3\n", - " 6 8.9813e+01 4.9742e-01 4.3633e-02 8.8879e+00 5.32748e-01 0.5000 8.8879e+00 3\n", - " 7 6.2975e+01 4.9747e-01 2.2456e-02 6.2253e+00 5.05228e-01 0.5000 6.2253e+00 3\n", - " 8 6.1307e+01 4.9748e-01 1.1238e-02 6.0697e+00 5.59435e-01 0.2500 6.0697e+00 3\n", - " 9 5.0642e+01 4.9746e-01 8.4603e-03 5.0060e+00 2.59289e-01 1.0000 5.0060e+00 3\n", - " 10 1.4652e+01 4.9768e-01 2.4677e-03 1.4129e+00 4.89328e-01 0.2500 1.4129e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.4690e+02 9.0752e-01 4.3537e+01 1.0622e+00 2.77000e+00 0.5000 ---- 3\n", - " 2 3.1769e+02 7.8344e-01 2.7193e+01 4.4979e+00 1.70765e+00 1.0000 1.4308e+02 3\n", - " 3 2.2145e+02 6.4056e-01 7.5865e+00 1.4494e+01 1.89979e+00 0.5000 6.5699e+01 3\n", - " 4 2.0017e+02 6.2795e-01 4.2839e+00 1.5670e+01 1.11047e+00 0.5000 4.6300e+01 3\n", - " 5 1.4298e+02 6.1982e-01 2.1392e+00 1.2097e+01 1.07241e+00 0.5000 2.3161e+01 3\n", - " 6 1.3119e+02 6.1765e-01 1.0661e+00 1.1991e+01 9.34840e-01 0.5000 1.1991e+01 3\n", - " 7 1.1654e+02 6.1708e-01 5.3204e-01 1.1061e+01 8.73144e-01 0.5000 1.1061e+01 3\n", - " 8 8.9584e+01 6.1698e-01 2.6532e-01 8.6313e+00 8.80913e-01 0.2500 8.6313e+00 3\n", - " 9 7.2819e+01 6.1693e-01 1.9899e-01 7.0212e+00 3.49125e-01 1.0000 7.0212e+00 3\n", - " 10 1.9519e+01 6.1721e-01 3.5066e-03 1.8867e+00 5.83629e-01 0.2500 1.8867e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.3853e+02 1.1090e+00 4.2185e+01 1.5571e+00 3.04626e+00 0.5000 ---- 3\n", - " 2 3.5968e+02 1.1245e+00 3.1939e+01 3.9161e+00 1.92345e+00 1.0000 2.1325e+02 3\n", - " 3 3.0526e+02 8.2253e-01 1.1023e+01 1.9421e+01 2.35123e+00 0.5000 3.6798e+01 3\n", - " 4 2.6197e+02 8.2604e-01 6.6608e+00 1.9454e+01 1.42909e+00 1.0000 4.9971e+01 3\n", - " 5 1.6310e+02 8.1534e-01 1.8680e+00 1.4361e+01 2.72733e+00 0.1250 1.6258e+01 3\n", - " 6 1.5105e+02 8.1441e-01 1.6729e+00 1.3351e+01 1.55657e+00 0.2500 1.5072e+01 3\n", - " 7 1.2584e+02 8.1363e-01 1.3432e+00 1.1160e+01 7.10376e-01 1.0000 1.2816e+01 3\n", - " 8 7.2678e+01 8.1313e-01 2.2734e-01 6.9592e+00 1.36593e+00 0.2500 6.9592e+00 3\n", - " 9 7.1026e+01 8.1282e-01 2.0364e-01 6.8177e+00 6.80129e-01 0.5000 6.8177e+00 3\n", - " 10 4.0261e+01 8.1280e-01 1.1297e-01 3.8319e+00 7.26181e-01 0.2500 3.8319e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.3389e+02 1.4574e+00 4.1476e+01 1.7672e+00 3.28002e+00 0.5000 ---- 3\n", - " 2 4.0993e+02 1.4759e+00 3.5357e+01 5.4882e+00 2.79521e+00 0.5000 2.2271e+02 3\n", - " 3 3.8069e+02 1.5138e+00 2.7580e+01 1.0338e+01 2.26062e+00 0.2500 2.6669e+02 3\n", - " 4 3.2155e+02 1.3917e+00 2.2216e+01 9.7993e+00 1.09988e+00 1.0000 2.2711e+02 3\n", - " 5 1.2454e+02 1.0967e+00 8.0382e-01 1.1540e+01 1.98140e+00 0.1250 1.1540e+01 3\n", - " 6 1.1849e+02 1.0962e+00 7.4266e-01 1.0996e+01 9.55775e-01 0.5000 1.0996e+01 3\n", - " 7 8.8670e+01 1.0961e+00 6.8266e-01 8.0747e+00 1.03511e+00 0.2500 8.0747e+00 3\n", - " 8 7.7184e+01 1.0958e+00 5.7249e-01 7.0363e+00 4.15342e-01 1.0000 7.0363e+00 3\n", - " 9 5.0855e+01 1.0959e+00 1.2956e-02 4.9630e+00 1.39111e+00 0.0625 4.9630e+00 3\n", - " 10 4.9903e+01 1.0958e+00 1.2691e-02 4.8680e+00 1.07671e+00 0.0625 4.8680e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9890e+02 1.9663e+00 4.5845e+01 3.8484e+00 3.76185e+00 0.2500 ---- 3\n", - " 2 4.3949e+02 1.7925e+00 3.7550e+01 6.2201e+00 2.23475e+00 1.0000 1.7916e+02 3\n", - " 3 3.5347e+02 1.4949e+00 2.4247e+01 1.0951e+01 1.95627e+00 0.2500 1.0951e+01 3\n", - " 4 3.1000e+02 1.4943e+00 1.8541e+01 1.2309e+01 8.67903e-01 1.0000 1.2309e+01 3\n", - " 5 1.3160e+02 1.4940e+00 3.8602e-01 1.2625e+01 1.78224e+00 0.1250 1.2625e+01 3\n", - " 6 1.2331e+02 1.4937e+00 3.9489e-01 1.1786e+01 1.15041e+00 0.2500 1.1786e+01 3\n", - " 7 1.0768e+02 1.4935e+00 3.3529e-01 1.0283e+01 5.52206e-01 1.0000 1.0283e+01 3\n", - " 8 9.3613e+01 1.4938e+00 2.9726e-02 9.1822e+00 1.05702e+00 0.1250 9.1822e+00 3\n", - " 9 8.3307e+01 1.4937e+00 2.7101e-02 8.1542e+00 6.89173e-01 0.1250 8.1542e+00 3\n", - " 10 7.5815e+01 1.4936e+00 2.4248e-02 7.4079e+00 4.56829e-01 0.5000 7.4079e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.3852e+02 2.6470e+00 5.2359e+01 1.1228e+01 3.95922e+00 0.5000 ---- 3\n", - " 2 5.6176e+02 2.3373e+00 4.0469e+01 1.5474e+01 4.04450e+00 0.2500 1.3441e+02 3\n", - " 3 4.9998e+02 2.3450e+00 3.5793e+01 1.3971e+01 1.72360e+00 1.0000 1.8758e+02 3\n", - " 4 2.8653e+02 2.0318e+00 9.2011e+00 1.9249e+01 3.27940e+00 0.1250 6.5852e+01 3\n", - " 5 2.6687e+02 2.0314e+00 9.2283e+00 1.7256e+01 1.85427e+00 0.2500 7.2766e+01 3\n", - " 6 2.4217e+02 2.0242e+00 7.5675e+00 1.6447e+01 1.03244e+00 0.5000 6.4071e+01 3\n", - " 7 1.5337e+02 2.0096e+00 3.9501e+00 1.1186e+01 1.10958e+00 0.2500 3.4983e+01 3\n", - " 8 1.3513e+02 2.0071e+00 3.1166e+00 1.0195e+01 6.91981e-01 1.0000 2.7760e+01 3\n", - " 9 9.6370e+01 2.0038e+00 5.6329e-01 8.8733e+00 1.73818e+00 0.0625 8.8733e+00 3\n", - " 10 9.3181e+01 2.0035e+00 5.4554e-01 8.5722e+00 1.42096e+00 0.1250 8.5722e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.2767e+02 3.4888e+00 6.2479e+01 9.9387e+00 4.05838e+00 0.5000 ---- 3\n", - " 2 6.3970e+02 2.9768e+00 4.4047e+01 1.9625e+01 4.17481e+00 0.2500 1.1306e+02 3\n", - " 3 5.5820e+02 2.9306e+00 3.5822e+01 1.9705e+01 2.10868e+00 1.0000 1.3784e+02 3\n", - " 4 3.7261e+02 2.7200e+00 1.7564e+01 1.9424e+01 4.51307e+00 0.1250 1.3496e+02 3\n", - " 5 3.6126e+02 2.7390e+00 1.8164e+01 1.7688e+01 2.49636e+00 0.2500 1.5675e+02 3\n", - " 6 3.4606e+02 2.7105e+00 1.4753e+01 1.9582e+01 1.51974e+00 0.5000 1.3996e+02 3\n", - " 7 2.4707e+02 2.6439e+00 9.5451e+00 1.4897e+01 1.69975e+00 0.2500 8.4722e+01 3\n", - " 8 2.2260e+02 2.6341e+00 8.2249e+00 1.3771e+01 1.04441e+00 0.5000 7.3835e+01 3\n", - " 9 1.9514e+02 2.6156e+00 5.1967e+00 1.4055e+01 1.44915e+00 0.2500 4.3797e+01 3\n", - " 10 1.8064e+02 2.6126e+00 4.1525e+00 1.3650e+01 8.34114e-01 1.0000 3.7824e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.0037e+03 4.4622e+00 7.4557e+01 2.5367e+01 4.77524e+00 0.5000 ---- 3\n", - " 2 9.1986e+02 3.7462e+00 5.0227e+01 4.1384e+01 3.25049e+00 0.5000 1.1578e+02 3\n", - " 3 7.5586e+02 3.4950e+00 3.0262e+01 4.4975e+01 2.57185e+00 0.5000 5.7992e+01 3\n", - " 4 5.8227e+02 3.3954e+00 1.5277e+01 4.2610e+01 2.19017e+00 0.5000 4.2610e+01 3\n", - " 5 4.7393e+02 3.3524e+00 8.1519e+00 3.8906e+01 1.97280e+00 0.5000 3.8906e+01 3\n", - " 6 3.9732e+02 3.3325e+00 4.3051e+00 3.5094e+01 2.03996e+00 0.2500 3.5094e+01 3\n", - " 7 3.2127e+02 3.3275e+00 3.4403e+00 2.8354e+01 1.32849e+00 1.0000 2.8354e+01 25\n", - " 8 2.8311e+02 3.3161e+00 1.0238e+00 2.6955e+01 2.83634e+00 0.2500 2.6955e+01 25\n", - " 9 2.4007e+02 3.3154e+00 1.8927e+00 2.1782e+01 1.85643e+00 0.2500 2.1782e+01 25\n", - " 10 2.1183e+02 3.3147e+00 1.5999e+00 1.9252e+01 1.17605e+00 0.5000 1.9252e+01 22\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.1350e+03 5.6004e+00 7.7283e+01 3.5655e+01 4.96827e+00 0.5000 ---- 25\n", - " 2 8.4249e+02 4.7995e+00 5.4848e+01 2.8921e+01 5.17253e+00 0.2500 1.3274e+02 25\n", - " 3 7.7089e+02 4.8744e+00 4.6042e+01 3.0560e+01 2.75002e+00 0.5000 2.6051e+02 25\n", - " 4 5.6655e+02 4.7532e+00 3.5826e+01 2.0354e+01 3.86406e+00 0.1250 2.8890e+02 25\n", - " 5 5.3221e+02 4.7319e+00 3.4072e+01 1.8677e+01 1.74116e+00 1.0000 2.9456e+02 25\n", - " 6 4.0363e+02 4.4963e+00 2.0881e+01 1.9032e+01 5.74573e+00 0.0625 2.4850e+02 25\n", - " 7 3.9746e+02 4.5249e+00 2.2288e+01 1.7006e+01 3.55528e+00 0.1250 2.6842e+02 25\n", - " 8 3.8587e+02 4.5351e+00 2.2634e+01 1.5500e+01 1.15046e+00 0.5000 2.7623e+02 25\n", - " 9 3.5078e+02 4.2404e+00 1.2830e+01 2.1824e+01 1.53451e+00 0.2500 1.4908e+02 12\n", - " 10 3.2048e+02 4.1996e+00 1.0595e+01 2.1032e+01 1.02348e+00 1.0000 1.2084e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.1887e+03 6.8663e+00 9.0532e+01 2.7648e+01 6.26140e+00 0.5000 ---- 25\n", - " 2 1.1805e+03 6.0180e+00 6.7048e+01 5.0404e+01 6.24753e+00 0.2500 2.4006e+02 25\n", - " 3 1.0540e+03 6.6672e+00 6.3454e+01 4.1274e+01 4.23750e+00 0.2500 4.6932e+02 18\n", - " 4 9.2533e+02 6.7463e+00 5.9502e+01 3.2356e+01 2.70473e+00 0.5000 5.1421e+02 23\n", - " 5 7.1533e+02 6.4126e+00 4.6807e+01 2.4085e+01 4.39191e+00 0.1250 4.8421e+02 17\n", - " 6 6.9554e+02 6.3682e+00 4.5787e+01 2.3131e+01 1.80321e+00 1.0000 4.8341e+02 20\n", - " 7 6.2691e+02 5.8326e+00 2.7940e+01 3.4168e+01 7.21840e+00 0.0312 3.6948e+02 25\n", - " 8 6.2047e+02 5.8243e+00 2.8338e+01 3.3127e+01 5.65200e+00 0.0625 3.7447e+02 25\n", - " 9 6.1508e+02 5.8513e+00 2.9510e+01 3.1413e+01 3.22804e+00 0.1250 3.8787e+02 22\n", - " 10 5.7854e+02 5.7842e+00 2.8863e+01 2.8413e+01 9.92528e-01 1.0000 3.7545e+02 15\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.6983e+03 8.2232e+00 8.7057e+01 8.1954e+01 5.79795e+00 0.5000 ---- 25\n", - " 2 9.6735e+02 6.8367e+00 4.9149e+01 4.6902e+01 3.46284e+00 0.5000 1.0833e+02 25\n", - " 3 7.5391e+02 6.3381e+00 2.8127e+01 4.6630e+01 3.29861e+00 0.2500 5.2947e+01 20\n", - " 4 6.5689e+02 6.2421e+00 2.4714e+01 4.0351e+01 2.18113e+00 1.0000 5.0938e+01 20\n", - " 5 4.8156e+02 6.3790e+00 2.2051e+01 2.5468e+01 6.00667e+00 0.0625 2.5579e+02 25\n", - " 6 4.6904e+02 6.3767e+00 2.3136e+01 2.3131e+01 4.44384e+00 0.0625 2.6552e+02 25\n", - " 7 4.4950e+02 6.3520e+00 2.2920e+01 2.1394e+01 3.20686e+00 0.1250 2.6179e+02 20\n", - " 8 4.4474e+02 6.3124e+00 2.2166e+01 2.1676e+01 1.21955e+00 1.0000 2.5117e+02 12\n", - " 9 4.3628e+02 5.9857e+00 4.6032e+00 3.8427e+01 3.89310e+00 0.1250 5.0801e+01 25\n", - " 10 4.1578e+02 6.0033e+00 6.6279e+00 3.4350e+01 1.21131e+00 0.5000 8.7840e+01 19\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.5669e+03 9.6936e+00 9.6598e+01 5.9127e+01 5.83623e+00 0.5000 ---- 25\n", - " 2 1.0554e+03 8.0373e+00 5.4445e+01 5.0292e+01 5.08789e+00 0.2500 1.0289e+02 25\n", - " 3 9.2958e+02 7.7346e+00 4.3299e+01 4.8885e+01 3.17139e+00 0.5000 7.6603e+01 13\n", - " 4 7.4727e+02 7.3984e+00 2.9871e+01 4.4117e+01 4.30943e+00 0.1250 1.2664e+02 17\n", - " 5 7.0558e+02 7.3691e+00 2.8894e+01 4.0928e+01 1.96365e+00 1.0000 1.4608e+02 16\n", - " 6 6.1694e+02 7.0496e+00 1.2919e+01 4.8070e+01 5.37892e+00 0.0625 1.0323e+02 25\n", - " 7 5.9941e+02 7.0518e+00 1.3902e+01 4.5333e+01 3.34270e+00 0.2500 1.1748e+02 25\n", - " 8 5.7547e+02 7.1069e+00 1.6667e+01 4.0169e+01 2.32123e+00 0.2500 1.5573e+02 17\n", - " 9 5.1780e+02 7.1204e+00 1.7147e+01 3.3920e+01 1.82698e+00 0.5000 1.6492e+02 10\n", - " 10 4.6519e+02 7.2112e+00 1.9685e+01 2.6113e+01 3.68179e+00 0.0625 2.0413e+02 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.5632e+03 1.1415e+01 1.0939e+02 4.5781e+01 6.81053e+00 0.5000 ---- 25\n", - " 2 1.2660e+03 9.6204e+00 7.0557e+01 5.5076e+01 7.48402e+00 0.2500 2.5403e+02 25\n", - " 3 1.2293e+03 1.0268e+01 7.2491e+01 4.9412e+01 5.24923e+00 0.1250 4.9915e+02 18\n", - " 4 1.1505e+03 1.0105e+01 6.9461e+01 4.4575e+01 2.70233e+00 1.0000 4.9707e+02 18\n", - " 5 7.0699e+02 8.4579e+00 3.5231e+01 3.4622e+01 8.15027e+00 0.0312 2.5169e+02 25\n", - " 6 7.0369e+02 8.4564e+00 3.5858e+01 3.3665e+01 6.12809e+00 0.0625 2.6076e+02 25\n", - " 7 6.9724e+02 8.4777e+00 3.6824e+01 3.2052e+01 3.46079e+00 0.2500 2.7571e+02 20\n", - " 8 6.7065e+02 8.5212e+00 3.6290e+01 2.9923e+01 2.77582e+00 0.2500 2.9243e+02 15\n", - " 9 6.4272e+02 8.4848e+00 3.3689e+01 2.9735e+01 2.33630e+00 0.2500 2.8242e+02 13\n", - " 10 5.6402e+02 8.4085e+00 3.0380e+01 2.5181e+01 2.02852e+00 0.5000 2.5857e+02 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.7085e+03 1.3234e+01 1.2580e+02 4.3725e+01 9.98643e+00 0.2500 ---- 3\n", - " 2 1.5342e+03 1.3900e+01 1.1010e+02 4.1930e+01 8.32123e+00 0.1250 6.2858e+02 25\n", - " 3 1.3934e+03 1.3513e+01 9.9159e+01 3.8827e+01 4.48306e+00 0.5000 6.3989e+02 25\n", - " 4 1.0989e+03 1.1209e+01 6.7854e+01 4.0916e+01 6.14303e+00 0.1250 4.5851e+02 25\n", - " 5 1.0748e+03 1.1287e+01 6.8796e+01 3.7553e+01 2.50128e+00 1.0000 5.0266e+02 25\n", - " 6 7.9201e+02 9.1990e+00 1.2996e+01 6.5285e+01 5.99269e+00 0.1250 6.9122e+01 25\n", - " 7 7.5610e+02 9.2845e+00 1.6665e+01 5.8016e+01 2.29984e+00 0.5000 1.5229e+02 13\n", - " 8 6.5007e+02 9.1974e+00 9.1085e+00 5.4978e+01 2.64966e+00 0.2500 9.1228e+01 8\n", - " 9 5.6743e+02 9.2144e+00 1.1906e+01 4.3916e+01 2.28581e+00 0.5000 1.0761e+02 7\n", - " 10 4.7609e+02 9.3436e+00 2.0946e+01 2.5728e+01 4.37833e+00 0.0312 1.8284e+02 6\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.6379e+03 1.4675e+01 1.2131e+02 4.1010e+01 8.70034e+00 0.2500 ---- 25\n", - " 2 1.5435e+03 1.3843e+01 1.0587e+02 4.7095e+01 7.70048e+00 0.2500 3.6341e+02 25\n", - " 3 1.3829e+03 1.3454e+01 8.9141e+01 4.7807e+01 5.22764e+00 0.5000 4.8325e+02 25\n", - " 4 1.3293e+03 1.3977e+01 8.8935e+01 4.2597e+01 7.53898e+00 0.0625 7.1007e+02 23\n", - " 5 1.2903e+03 1.3782e+01 8.6638e+01 4.1012e+01 5.84521e+00 0.1250 6.9857e+02 22\n", - " 6 1.2389e+03 1.3552e+01 8.4022e+01 3.8512e+01 2.79707e+00 0.5000 6.8756e+02 21\n", - " 7 9.9297e+02 1.1731e+01 5.5083e+01 4.3041e+01 5.30379e+00 0.0625 4.4730e+02 14\n", - " 8 9.6612e+02 1.1664e+01 5.4535e+01 4.0911e+01 2.98386e+00 0.2500 4.4192e+02 15\n", - " 9 8.7346e+02 1.1324e+01 5.0286e+01 3.5928e+01 2.69291e+00 0.5000 3.8783e+02 17\n", - " 10 8.3222e+02 1.1141e+01 4.8036e+01 3.4072e+01 5.62894e+00 0.0625 3.6453e+02 15\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.8858e+03 1.7001e+01 1.3352e+02 5.3357e+01 8.57372e+00 0.5000 ---- 25\n", - " 2 1.7330e+03 1.5824e+01 9.1666e+01 8.0053e+01 9.87234e+00 0.1250 6.4725e+02 25\n", - " 3 1.6833e+03 1.5836e+01 9.3237e+01 7.3508e+01 5.52376e+00 0.2500 7.0275e+02 18\n", - " 4 1.4327e+03 1.4894e+01 8.2162e+01 5.9617e+01 4.29522e+00 0.5000 6.4302e+02 16\n", - " 5 1.3036e+03 1.4891e+01 8.0939e+01 4.7927e+01 6.72035e+00 0.1250 7.2360e+02 13\n", - " 6 1.2839e+03 1.4925e+01 8.1503e+01 4.5391e+01 3.42132e+00 0.5000 7.4413e+02 10\n", - " 7 1.1020e+03 1.4206e+01 6.0772e+01 4.8012e+01 7.68044e+00 0.0312 6.7367e+02 11\n", - " 8 1.0860e+03 1.4143e+01 6.0507e+01 4.6678e+01 5.46802e+00 0.1250 6.6990e+02 9\n", - " 9 1.0650e+03 1.4259e+01 6.2086e+01 4.2988e+01 2.05483e+00 1.0000 6.9347e+02 11\n", - " 10 9.2064e+02 1.1622e+01 3.6203e+01 5.4699e+01 7.75743e+00 0.0312 1.4403e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.3127e+03 1.8049e+01 1.3562e+02 9.3846e+01 1.18628e+01 0.2500 ---- 25\n", - " 2 2.0309e+03 1.8505e+01 1.3311e+02 6.8131e+01 9.88798e+00 0.1250 6.2091e+02 25\n", - " 3 1.9231e+03 1.8040e+01 1.3007e+02 6.0437e+01 6.08596e+00 0.5000 6.5107e+02 25\n", - " 4 1.5511e+03 1.5810e+01 9.1617e+01 6.1910e+01 8.29128e+00 0.0625 5.8884e+02 16\n", - " 5 1.5234e+03 1.5829e+01 9.2388e+01 5.8373e+01 4.11968e+00 0.5000 6.1246e+02 14\n", - " 6 1.3286e+03 1.5340e+01 7.8079e+01 5.3243e+01 6.38558e+00 0.1250 6.3264e+02 13\n", - " 7 1.3031e+03 1.5317e+01 7.9286e+01 4.9496e+01 3.11560e+00 0.5000 6.4597e+02 13\n", - " 8 1.1058e+03 1.4435e+01 6.2567e+01 4.6571e+01 6.72935e+00 0.0625 5.3774e+02 12\n", - " 9 1.0988e+03 1.4479e+01 6.4416e+01 4.4017e+01 3.08675e+00 0.2500 5.5329e+02 12\n", - " 10 9.6902e+02 1.4050e+01 5.7390e+01 3.8107e+01 2.94443e+00 0.2500 4.9072e+02 18\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.9589e+03 2.0603e+01 1.3388e+02 5.9948e+01 9.12712e+00 0.5000 ---- 25\n", - " 2 1.8615e+03 1.8119e+01 9.5812e+01 8.8530e+01 1.01282e+01 0.1250 5.9473e+02 25\n", - " 3 1.7626e+03 1.7934e+01 9.6371e+01 7.8091e+01 6.17105e+00 0.2500 6.3185e+02 23\n", - " 4 1.6122e+03 1.6933e+01 8.6359e+01 7.3172e+01 4.35047e+00 0.5000 5.7091e+02 10\n", - " 5 1.3385e+03 1.6605e+01 7.7228e+01 5.4967e+01 6.56569e+00 0.1250 6.3164e+02 10\n", - " 6 1.2944e+03 1.6585e+01 7.7378e+01 5.0398e+01 3.58365e+00 0.5000 6.4800e+02 10\n", - " 7 1.1571e+03 1.6011e+01 6.3607e+01 5.0501e+01 7.90026e+00 0.0312 5.9837e+02 15\n", - " 8 1.1420e+03 1.5963e+01 6.3479e+01 4.9128e+01 5.54800e+00 0.1250 5.9640e+02 15\n", - " 9 1.1370e+03 1.6051e+01 6.6202e+01 4.5891e+01 2.17174e+00 0.5000 6.1853e+02 17\n", - " 10 9.2510e+02 1.4538e+01 4.1609e+01 4.9448e+01 4.10219e+00 0.1250 3.5135e+02 16\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.1341e+03 2.1944e+01 1.2896e+02 8.2252e+01 8.06475e+00 0.5000 ---- 25\n", - " 2 1.5472e+03 1.7500e+01 6.5191e+01 8.7784e+01 5.98479e+00 0.5000 1.7623e+02 25\n", - " 3 1.3462e+03 1.5960e+01 3.9067e+01 9.3953e+01 4.29100e+00 0.5000 9.5504e+01 12\n", - " 4 1.0509e+03 1.5425e+01 2.7370e+01 7.6177e+01 4.96991e+00 0.1250 1.1968e+02 9\n", - " 5 9.8664e+02 1.5367e+01 2.7995e+01 6.9132e+01 2.92064e+00 0.5000 1.3350e+02 10\n", - " 6 8.2091e+02 1.5099e+01 1.6676e+01 6.3905e+01 3.96391e+00 0.2500 9.0089e+01 21\n", - " 7 8.0844e+02 1.5092e+01 1.9884e+01 5.9451e+01 3.31696e+00 0.2500 1.2745e+02 20\n", - " 8 7.3143e+02 1.5083e+01 2.2668e+01 4.8967e+01 2.59669e+00 0.2500 1.4871e+02 18\n", - " 9 7.1382e+02 1.5060e+01 2.3123e+01 4.6753e+01 2.48352e+00 0.1250 1.5169e+02 17\n", - " 10 6.8784e+02 1.5030e+01 2.1354e+01 4.5927e+01 1.43117e+00 1.0000 1.4120e+02 16\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.2395e+03 2.2807e+01 1.0592e+02 1.1574e+02 1.09744e+01 0.5000 ---- 25\n", - " 2 2.0899e+03 1.8966e+01 1.1744e+02 8.9658e+01 8.65854e+00 0.2500 2.2913e+02 24\n", - " 3 1.5625e+03 1.9073e+01 7.4330e+01 8.0010e+01 4.53112e+00 0.5000 4.8435e+02 22\n", - " 4 1.1696e+03 1.8049e+01 6.1147e+01 5.4009e+01 6.66637e+00 0.0625 4.7981e+02 25\n", - " 5 1.1404e+03 1.7904e+01 5.9890e+01 5.2360e+01 5.07739e+00 0.1250 4.6670e+02 24\n", - " 6 1.1094e+03 1.7678e+01 5.8829e+01 5.0341e+01 2.68626e+00 1.0000 4.4524e+02 23\n", - " 7 1.0119e+03 1.6100e+01 1.8608e+01 8.0971e+01 8.63667e+00 0.0312 1.4253e+02 25\n", - " 8 9.9226e+02 1.6095e+01 2.0067e+01 7.7550e+01 6.25419e+00 0.1250 1.5324e+02 17\n", - " 9 9.8541e+02 1.6216e+01 2.8742e+01 6.8177e+01 2.68626e+00 0.5000 2.1947e+02 15\n", - " 10 9.2475e+02 1.6078e+01 2.1805e+01 6.9061e+01 4.09797e+00 0.1250 1.5309e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.2854e+03 2.4491e+01 1.2075e+02 1.0534e+02 8.19329e+00 0.5000 ---- 25\n", - " 2 1.6405e+03 1.9867e+01 6.7240e+01 9.4825e+01 5.96597e+00 0.5000 9.7500e+01 25\n", - " 3 1.4716e+03 1.8233e+01 4.7070e+01 9.8264e+01 4.70801e+00 0.5000 9.8264e+01 12\n", - " 4 1.2541e+03 1.8126e+01 5.4161e+01 6.9434e+01 7.05649e+00 0.0625 3.0602e+02 11\n", - " 5 1.2159e+03 1.8060e+01 5.3503e+01 6.6281e+01 5.59249e+00 0.1250 3.0609e+02 11\n", - " 6 1.1583e+03 1.7996e+01 5.2857e+01 6.1173e+01 2.94901e+00 0.5000 3.1475e+02 10\n", - " 7 1.0178e+03 1.7535e+01 3.8161e+01 6.1869e+01 5.54966e+00 0.0625 2.3962e+02 14\n", - " 8 9.9322e+02 1.7516e+01 3.8285e+01 5.9285e+01 3.30294e+00 0.2500 2.4252e+02 14\n", - " 9 9.3394e+02 1.7391e+01 3.2619e+01 5.9036e+01 2.87022e+00 0.2500 2.1596e+02 13\n", - " 10 8.4250e+02 1.7290e+01 2.9252e+01 5.3269e+01 2.62904e+00 0.2500 1.8877e+02 15\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.2631e+03 2.6044e+01 1.3823e+02 8.5477e+01 8.94983e+00 0.5000 ---- 25\n", - " 2 2.1267e+03 2.1082e+01 8.9244e+01 1.2132e+02 6.91564e+00 0.5000 1.2132e+02 25\n", - " 3 1.8384e+03 1.9550e+01 6.2124e+01 1.1977e+02 7.06405e+00 0.2500 2.0981e+02 11\n", - " 4 1.8269e+03 1.9650e+01 7.5427e+01 1.0529e+02 4.37831e+00 1.0000 3.7003e+02 10\n", - " 5 1.6993e+03 2.2245e+01 1.0648e+02 6.1224e+01 9.97153e+00 0.1250 8.3850e+02 25\n", - " 6 1.6605e+03 2.2346e+01 1.0982e+02 5.3994e+01 7.07465e+00 0.1250 8.6247e+02 25\n", - " 7 1.5836e+03 2.2169e+01 1.0956e+02 4.6575e+01 4.30251e+00 0.2500 8.5210e+02 22\n", - " 8 1.5049e+03 2.1348e+01 9.5743e+01 5.2609e+01 4.19212e+00 0.2500 7.6690e+02 11\n", - " 9 1.4967e+03 2.1297e+01 1.0044e+02 4.7101e+01 4.32380e+00 0.2500 7.6977e+02 10\n", - " 10 1.4835e+03 2.1108e+01 9.6575e+01 4.9669e+01 4.20840e+00 0.1250 7.5031e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.1595e+03 2.9866e+01 2.3864e+02 7.4314e+01 8.28954e+00 1.0000 ---- 25\n", - " 2 2.8386e+03 1.8802e+01 1.0169e+02 1.8029e+02 8.29083e+00 0.5000 1.8029e+02 25\n", - " 3 2.0007e+03 1.8848e+01 6.5127e+01 1.3305e+02 5.08685e+00 0.5000 1.3305e+02 9\n", - " 4 1.6453e+03 1.8942e+01 5.2421e+01 1.1021e+02 5.97006e+00 0.2500 1.1021e+02 10\n", - " 5 1.6122e+03 1.9488e+01 6.5682e+01 9.3593e+01 5.34442e+00 0.2500 3.2551e+02 10\n", - " 6 1.5353e+03 2.0008e+01 7.6656e+01 7.4870e+01 3.43624e+00 0.2500 4.5556e+02 10\n", - " 7 1.3775e+03 1.9806e+01 7.1244e+01 6.4529e+01 3.37123e+00 0.2500 4.1230e+02 10\n", - " 8 1.2714e+03 1.9636e+01 6.5804e+01 5.9377e+01 3.22411e+00 0.2500 3.7069e+02 9\n", - " 9 1.2370e+03 1.9544e+01 6.4129e+01 5.7613e+01 3.23714e+00 0.2500 3.4654e+02 10\n", - " 10 1.1361e+03 1.9452e+01 6.2355e+01 4.9308e+01 2.92500e+00 0.2500 3.2002e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9882e+03 2.8971e+01 2.1587e+02 8.0048e+01 9.52600e+00 0.5000 ---- 25\n", - " 2 2.4296e+03 2.3475e+01 1.4726e+02 9.3357e+01 9.00568e+00 0.2500 2.5438e+02 25\n", - " 3 2.2800e+03 2.3182e+01 1.3801e+02 8.7670e+01 6.88219e+00 0.1250 4.4304e+02 10\n", - " 4 2.1390e+03 2.2796e+01 1.3192e+02 7.9709e+01 4.22136e+00 0.5000 4.4064e+02 11\n", - " 5 1.7632e+03 2.1501e+01 1.0915e+02 6.5024e+01 7.91083e+00 0.0625 3.9145e+02 23\n", - " 6 1.7393e+03 2.1522e+01 1.1077e+02 6.1004e+01 3.65428e+00 0.5000 4.1704e+02 17\n", - " 7 1.5381e+03 2.0647e+01 7.6524e+01 7.5221e+01 5.15961e+00 0.2500 3.0198e+02 10\n", - " 8 1.5035e+03 2.0684e+01 7.9140e+01 6.9142e+01 3.63658e+00 0.2500 3.4505e+02 10\n", - " 9 1.3328e+03 2.0597e+01 7.2752e+01 5.8472e+01 3.76009e+00 0.2500 3.4066e+02 10\n", - " 10 1.2510e+03 2.0517e+01 6.4937e+01 5.8114e+01 3.75738e+00 0.2500 3.3408e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.3271e+03 3.0372e+01 2.2457e+02 1.0510e+02 9.61238e+00 0.5000 ---- 25\n", - " 2 3.1524e+03 2.4675e+01 1.6569e+02 1.4708e+02 1.02846e+01 0.2500 3.3020e+02 25\n", - " 3 3.0223e+03 2.5750e+01 1.7801e+02 1.2165e+02 8.28729e+00 0.2500 7.0791e+02 8\n", - " 4 2.9755e+03 2.6328e+01 1.9759e+02 9.7328e+01 3.61625e+00 1.0000 8.7358e+02 7\n", - " 5 1.2952e+03 2.0569e+01 2.4388e+01 1.0308e+02 5.16677e+00 0.5000 1.0308e+02 18\n", - " 6 1.1189e+03 2.0628e+01 1.6622e+01 9.3206e+01 5.69828e+00 0.0625 1.2215e+02 8\n", - " 7 1.0822e+03 2.0634e+01 1.8299e+01 8.7857e+01 3.27992e+00 0.2500 1.3510e+02 7\n", - " 8 9.4116e+02 2.0619e+01 1.9135e+01 7.2920e+01 3.05258e+00 0.2500 1.2097e+02 7\n", - " 9 8.6391e+02 2.0609e+01 2.0392e+01 6.3938e+01 2.56995e+00 0.2500 1.1110e+02 7\n", - " 10 8.4795e+02 2.0608e+01 2.1321e+01 6.1414e+01 2.71273e+00 0.1250 1.0758e+02 8\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7339e+03 3.0812e+01 1.7408e+02 9.6232e+01 9.84845e+00 0.5000 ---- 25\n", - " 2 2.2031e+03 2.4922e+01 9.5072e+01 1.2275e+02 8.26813e+00 0.2500 1.2275e+02 25\n", - " 3 1.8551e+03 2.3858e+01 7.9733e+01 1.0339e+02 5.20343e+00 0.5000 1.1740e+02 14\n", - " 4 1.5163e+03 2.2624e+01 5.9739e+01 8.9625e+01 6.85892e+00 0.1250 2.0671e+02 10\n", - " 5 1.4402e+03 2.2508e+01 6.0351e+01 8.1414e+01 4.05882e+00 0.2500 2.3495e+02 10\n", - " 6 1.2579e+03 2.2226e+01 5.4328e+01 6.9242e+01 3.88739e+00 0.2500 2.2702e+02 25\n", - " 7 1.1424e+03 2.2108e+01 5.0772e+01 6.1257e+01 4.10289e+00 0.2500 2.5273e+02 10\n", - " 8 1.1018e+03 2.2099e+01 5.4672e+01 5.3300e+01 3.98010e+00 0.1250 2.9865e+02 10\n", - " 9 1.0829e+03 2.2042e+01 5.4392e+01 5.1698e+01 2.50734e+00 0.5000 2.9791e+02 10\n", - " 10 9.3875e+02 2.1669e+01 3.9779e+01 5.1929e+01 6.39884e+00 0.0625 2.1563e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0454e+03 3.2122e+01 2.1174e+02 8.9584e+01 1.05601e+01 0.5000 ---- 25\n", - " 2 2.3246e+03 2.6066e+01 1.1124e+02 1.1861e+02 9.31478e+00 0.2500 2.5974e+02 25\n", - " 3 2.3057e+03 2.5486e+01 1.1962e+02 1.0841e+02 4.79506e+00 1.0000 4.3357e+02 10\n", - " 4 1.8631e+03 2.3639e+01 8.5497e+01 9.8451e+01 9.73130e+00 0.1250 5.6011e+02 13\n", - " 5 1.8359e+03 2.3709e+01 9.2495e+01 8.8720e+01 7.67365e+00 0.1250 5.8416e+02 13\n", - " 6 1.8030e+03 2.3811e+01 9.8499e+01 7.9424e+01 4.91836e+00 0.2500 6.0921e+02 16\n", - " 7 1.6822e+03 2.3599e+01 9.3638e+01 7.2223e+01 7.38246e+00 0.0312 5.7673e+02 11\n", - " 8 1.6584e+03 2.3582e+01 9.3285e+01 7.0200e+01 3.80106e+00 0.2500 5.7656e+02 9\n", - " 9 1.5635e+03 2.3388e+01 8.7378e+01 6.6632e+01 4.89083e+00 0.1250 5.4367e+02 10\n", - " 10 1.4968e+03 2.3302e+01 8.5569e+01 6.1782e+01 2.20552e+00 1.0000 5.3102e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.4545e+03 3.2505e+01 1.8810e+02 1.5410e+02 1.37293e+01 0.5000 ---- 25\n", - " 2 2.4716e+03 2.6792e+01 1.3062e+02 1.1386e+02 1.04860e+01 0.1250 3.0105e+02 25\n", - " 3 2.3629e+03 2.6276e+01 1.2809e+02 1.0558e+02 7.96836e+00 0.1250 3.4450e+02 11\n", - " 4 2.2471e+03 2.5851e+01 1.2387e+02 9.8264e+01 5.42202e+00 0.5000 3.7371e+02 11\n", - " 5 1.7118e+03 2.4364e+01 9.1291e+01 7.7458e+01 1.41944e+01 0.0156 3.8733e+02 25\n", - " 6 1.7084e+03 2.4358e+01 9.2360e+01 7.6040e+01 8.28766e+00 0.0312 3.9830e+02 15\n", - " 7 1.6845e+03 2.4314e+01 9.1707e+01 7.4315e+01 4.52060e+00 0.2500 4.0107e+02 10\n", - " 8 1.5912e+03 2.3900e+01 8.2165e+01 7.4569e+01 5.40718e+00 0.1250 3.7454e+02 9\n", - " 9 1.5300e+03 2.3802e+01 8.3078e+01 6.7540e+01 2.98779e+00 1.0000 3.8180e+02 10\n", - " 10 1.0919e+03 2.2481e+01 2.3554e+01 8.3389e+01 6.18908e+00 0.1250 1.4788e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.3637e+03 3.3281e+01 1.9304e+02 1.4001e+02 1.09270e+01 0.5000 ---- 25\n", - " 2 2.4742e+03 2.6744e+01 1.2149e+02 1.2326e+02 6.48451e+00 0.5000 1.2326e+02 25\n", - " 3 1.8984e+03 2.4500e+01 7.3697e+01 1.1369e+02 8.72481e+00 0.1250 1.1369e+02 10\n", - " 4 1.8175e+03 2.4491e+01 7.7076e+01 1.0222e+02 7.36202e+00 0.1250 2.3698e+02 11\n", - " 5 1.7430e+03 2.4437e+01 8.0214e+01 9.1644e+01 3.32221e+00 1.0000 3.0229e+02 10\n", - " 6 1.2195e+03 2.2753e+01 2.6929e+01 9.2749e+01 4.91640e+00 0.5000 9.2749e+01 25\n", - " 7 1.1733e+03 2.2754e+01 9.9244e+00 1.0513e+02 6.02545e+00 0.1250 1.0513e+02 13\n", - " 8 1.1206e+03 2.2828e+01 1.4414e+01 9.5366e+01 5.30658e+00 0.0625 1.1725e+02 9\n", - " 9 1.0934e+03 2.2831e+01 1.6988e+01 9.0069e+01 3.61399e+00 0.2500 1.2913e+02 10\n", - " 10 1.0694e+03 2.2932e+01 2.9212e+01 7.5435e+01 8.35132e+00 0.0156 1.8659e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.2222e+03 3.3756e+01 1.9895e+02 1.1989e+02 1.35103e+01 0.1250 ---- 25\n", - " 2 3.0381e+03 3.2185e+01 1.9444e+02 1.0614e+02 1.16585e+01 0.1250 3.0167e+02 25\n", - " 3 2.8738e+03 3.0878e+01 1.8931e+02 9.4983e+01 7.32722e+00 1.0000 3.6420e+02 25\n", - " 4 2.3161e+03 2.3051e+01 1.3629e+02 9.3021e+01 2.24204e+01 0.0312 1.3206e+02 25\n", - " 5 2.2528e+03 2.3224e+01 1.3421e+02 8.8751e+01 1.10259e+01 0.1250 2.3858e+02 25\n", - " 6 2.0424e+03 2.3716e+01 1.2756e+02 7.4308e+01 2.60461e+01 0.0156 3.9411e+02 25\n", - " 7 2.0297e+03 2.3831e+01 1.2884e+02 7.1749e+01 5.60859e+00 0.5000 4.3028e+02 25\n", - " 8 1.6846e+03 2.3986e+01 7.7953e+01 8.8107e+01 4.50817e+01 0.0078 4.1654e+02 25\n", - " 9 1.6779e+03 2.3958e+01 7.9366e+01 8.6028e+01 3.24451e+01 0.0039 4.4177e+02 17\n", - " 10 1.6740e+03 2.3945e+01 7.9505e+01 8.5496e+01 2.27538e+01 0.0078 4.4498e+02 18\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.5897e+03 3.4652e+01 2.3832e+02 1.1719e+02 1.50061e+01 0.2500 ---- 3\n", - " 2 3.5425e+03 3.9478e+01 2.6004e+02 9.0266e+01 1.92241e+01 0.1250 1.3375e+03 25\n", - " 3 2.0299e+03 3.0276e+01 1.0659e+02 9.3374e+01 9.25807e+00 0.1250 4.8076e+02 25\n", - " 4 1.9247e+03 2.9204e+01 1.0387e+02 8.5680e+01 8.56010e+00 0.1250 4.6841e+02 20\n", - " 5 1.8873e+03 2.8518e+01 1.0834e+02 7.7539e+01 8.93821e+00 0.0625 5.0411e+02 17\n", - " 6 1.8619e+03 2.8265e+01 1.1049e+02 7.2870e+01 8.06701e+00 0.0625 5.2637e+02 16\n", - " 7 1.8324e+03 2.8048e+01 1.1200e+02 6.8436e+01 5.10646e+00 0.5000 5.4420e+02 14\n", - " 8 1.6590e+03 2.7046e+01 1.0699e+02 5.6204e+01 8.17256e+00 0.1250 6.6165e+02 25\n", - " 9 1.6219e+03 2.6810e+01 1.0878e+02 5.0730e+01 1.17379e+01 0.0156 6.8516e+02 9\n", - " 10 1.6130e+03 2.6750e+01 1.0848e+02 5.0149e+01 1.28716e+01 0.0156 6.8438e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.5107e+03 3.7468e+01 2.6886e+02 7.8461e+01 1.79398e+01 0.0312 ---- 25\n", - " 2 3.4511e+03 3.6988e+01 2.6560e+02 7.5807e+01 1.19205e+01 0.1250 6.9919e+02 25\n", - " 3 3.2868e+03 3.4963e+01 2.4343e+02 8.1757e+01 3.40451e+01 0.0625 6.9565e+02 25\n", - " 4 3.2538e+03 3.7731e+01 2.5066e+02 7.0956e+01 3.40759e+01 0.0625 1.0597e+03 9\n", - " 5 2.8468e+03 3.1999e+01 2.1048e+02 7.1000e+01 9.99459e+00 0.5000 3.8976e+02 9\n", - " 6 2.6662e+03 3.2561e+01 1.8059e+02 8.2771e+01 9.87855e+00 0.5000 1.0182e+03 12\n", - " 7 2.4966e+03 2.5623e+01 1.3290e+02 1.1419e+02 8.77737e+00 0.2500 3.1000e+02 6\n", - " 8 1.9243e+03 2.4841e+01 8.6189e+01 1.0376e+02 7.18077e+00 0.2500 2.4936e+02 5\n", - " 9 1.5643e+03 2.4264e+01 6.2667e+01 9.1338e+01 6.70199e+00 0.1250 1.7744e+02 6\n", - " 10 1.4298e+03 2.4101e+01 5.5866e+01 8.4702e+01 6.87828e+00 0.0625 1.6532e+02 6\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.1040e+03 3.4804e+01 1.8911e+02 1.1781e+02 1.04841e+01 0.5000 ---- 25\n", - " 2 2.4906e+03 2.7568e+01 1.1483e+02 1.3147e+02 2.03700e+01 0.0625 1.3627e+02 25\n", - " 3 2.4225e+03 2.7778e+01 1.1773e+02 1.2174e+02 4.46405e+01 0.0312 2.1517e+02 25\n", - " 4 2.2325e+03 2.7233e+01 1.0377e+02 1.1675e+02 4.34175e+01 0.0312 1.3005e+02 25\n", - " 5 2.2006e+03 2.8196e+01 1.0715e+02 1.1010e+02 3.85252e+01 0.0625 3.7884e+02 25\n", - " 6 2.1529e+03 2.8379e+01 1.1571e+02 9.6741e+01 4.14583e+01 0.0312 4.4824e+02 20\n", - " 7 1.8573e+03 2.7838e+01 9.0854e+01 9.2097e+01 1.58541e+01 0.0625 5.2356e+02 18\n", - " 8 1.6450e+03 2.7045e+01 7.4635e+01 8.7164e+01 2.03972e+01 0.0078 4.9600e+02 13\n", - " 9 1.6376e+03 2.6992e+01 7.4602e+01 8.6459e+01 7.32471e+00 0.2500 4.9641e+02 22\n", - " 10 1.5036e+03 2.6877e+01 6.7042e+01 8.0631e+01 3.48286e+01 0.0078 3.9730e+02 15\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.5222e+03 3.5681e+01 1.3845e+02 1.1020e+02 4.27661e+01 0.0156 ---- 25\n", - " 2 2.5093e+03 3.5108e+01 1.3892e+02 1.0850e+02 2.01617e+01 0.0625 4.7044e+02 25\n", - " 3 2.2203e+03 3.3902e+01 1.1638e+02 1.0226e+02 3.39875e+01 0.0078 4.4576e+02 17\n", - " 4 2.2093e+03 3.3768e+01 1.1608e+02 1.0147e+02 1.59020e+01 0.0312 4.5257e+02 19\n", - " 5 2.1704e+03 3.3325e+01 1.1524e+02 9.8465e+01 3.36989e+01 0.1250 4.2914e+02 25\n", - " 6 2.1563e+03 5.0858e+01 1.2921e+02 8.1336e+01 2.24761e+01 0.1250 1.2839e+03 13\n", - " 7 1.7061e+03 4.0682e+01 9.5075e+01 7.1472e+01 2.12227e+01 0.0312 1.2599e+03 13\n", - " 8 1.6797e+03 3.8291e+01 9.4839e+01 6.9302e+01 2.54075e+01 0.0078 1.2426e+03 10\n", - " 9 1.6739e+03 3.7706e+01 9.4862e+01 6.8757e+01 2.79644e+01 0.0078 1.2380e+03 10\n", - " 10 1.6738e+03 3.7133e+01 9.5448e+01 6.8222e+01 3.08858e+01 0.0039 1.2372e+03 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.3683e+03 4.3485e+01 1.5030e+02 8.2184e+01 3.51876e+01 0.0039 ---- 25\n", - " 2 2.3643e+03 4.3189e+01 1.5043e+02 8.1682e+01 3.48966e+01 0.0039 1.2729e+03 25\n", - " 3 2.3619e+03 4.2918e+01 1.5056e+02 8.1339e+01 3.39458e+01 0.0039 1.2782e+03 16\n", - " 4 2.3587e+03 4.2677e+01 1.5059e+02 8.1011e+01 3.19756e+01 0.0039 1.2827e+03 17\n", - " 5 2.3541e+03 4.2466e+01 1.5048e+02 8.0683e+01 2.89077e+01 0.0078 1.2850e+03 15\n", - " 6 2.3499e+03 4.2076e+01 1.5074e+02 8.0041e+01 2.18800e+01 0.0156 1.2848e+03 8\n", - " 7 2.3347e+03 4.1424e+01 1.5100e+02 7.8325e+01 1.69686e+01 0.0625 1.2718e+03 7\n", - " 8 2.3160e+03 3.9255e+01 1.5386e+02 7.3818e+01 1.07124e+01 0.5000 1.1969e+03 7\n", - " 9 2.0678e+03 2.8402e+01 1.2600e+02 7.7942e+01 6.54833e+00 0.5000 5.9422e+02 9\n", - " 10 1.2283e+03 2.5179e+01 5.8833e+01 6.1479e+01 7.13587e+00 0.2500 2.9221e+02 6\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.5293e+03 3.4924e+01 1.7582e+02 7.3625e+01 1.78984e+01 0.1250 ---- 25\n", - " 2 1.9503e+03 3.2507e+01 1.2304e+02 6.8740e+01 4.86919e+01 0.0156 2.6295e+02 25\n", - " 3 1.9440e+03 3.2352e+01 1.2382e+02 6.7350e+01 1.34074e+01 0.2500 2.7747e+02 25\n", - " 4 1.7559e+03 2.8867e+01 9.0630e+01 8.2072e+01 1.08491e+01 0.2500 2.0847e+02 25\n", - " 5 1.5837e+03 2.6992e+01 7.6894e+01 7.8780e+01 4.78008e+01 0.0078 1.6117e+02 25\n", - " 6 1.5603e+03 2.6782e+01 7.6338e+01 7.7015e+01 4.38175e+01 0.0078 1.6651e+02 25\n", - " 7 1.5477e+03 2.6665e+01 7.6270e+01 7.5830e+01 2.62384e+01 0.0078 1.8616e+02 25\n", - " 8 1.5462e+03 2.6605e+01 7.6877e+01 7.5083e+01 1.39810e+01 0.0156 1.9166e+02 21\n", - " 9 1.5354e+03 2.6521e+01 7.6947e+01 7.3937e+01 7.15664e+00 0.2500 1.9124e+02 13\n", - " 10 1.4565e+03 2.5365e+01 7.8100e+01 6.5013e+01 8.45378e+00 0.1250 1.7941e+02 13\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9613e+03 3.4986e+01 2.0804e+02 8.4592e+01 1.81693e+01 0.0312 ---- 25\n", - " 2 2.9165e+03 3.4430e+01 2.0700e+02 8.1207e+01 1.15895e+01 0.5000 3.5784e+02 25\n", - " 3 2.5893e+03 2.6335e+01 1.2988e+02 1.2642e+02 1.22289e+01 0.0625 1.6732e+02 25\n", - " 4 2.5050e+03 2.5975e+01 1.2874e+02 1.1916e+02 7.50827e+00 0.5000 1.6117e+02 10\n", - " 5 2.0314e+03 2.3622e+01 7.1105e+01 1.2967e+02 5.59744e+00 0.5000 1.2967e+02 10\n", - " 6 1.4860e+03 2.2714e+01 3.7214e+01 1.0912e+02 4.40699e+00 0.5000 1.0912e+02 7\n", - " 7 1.2667e+03 2.2328e+01 2.1824e+01 1.0262e+02 4.20325e+00 0.2500 1.0262e+02 10\n", - " 8 1.1337e+03 2.2237e+01 1.7987e+01 9.3161e+01 3.38983e+00 0.5000 9.3161e+01 7\n", - " 9 1.0749e+03 2.2140e+01 1.6765e+01 8.8510e+01 5.03641e+00 0.1250 8.8510e+01 8\n", - " 10 1.0251e+03 2.2131e+01 1.9320e+01 8.0979e+01 2.93800e+00 0.2500 8.9458e+01 8\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9691e+03 3.1691e+01 1.7154e+02 1.2221e+02 1.05194e+01 0.5000 ---- 25\n", - " 2 2.3848e+03 2.5336e+01 1.0922e+02 1.2672e+02 8.78643e+00 0.2500 1.3186e+02 25\n", - " 3 2.1431e+03 2.4252e+01 1.0017e+02 1.1171e+02 6.07622e+00 0.5000 1.9051e+02 11\n", - " 4 1.8539e+03 2.4002e+01 9.9754e+01 8.3238e+01 7.25072e+00 0.1250 5.1234e+02 11\n", - " 5 1.7931e+03 2.3906e+01 1.0001e+02 7.6915e+01 5.29081e+00 0.1250 5.3390e+02 10\n", - " 6 1.6938e+03 2.3687e+01 9.6697e+01 7.0317e+01 3.07808e+00 1.0000 5.2296e+02 10\n", - " 7 1.2375e+03 2.1804e+01 4.4358e+01 7.7210e+01 1.71124e+01 0.0078 2.4046e+02 25\n", - " 8 1.2371e+03 2.1788e+01 4.5122e+01 7.6410e+01 1.39954e+01 0.0078 2.4530e+02 25\n", - " 9 1.2323e+03 2.1776e+01 4.5447e+01 7.5606e+01 1.17784e+01 0.0156 2.4738e+02 25\n", - " 10 1.2268e+03 2.1770e+01 4.6473e+01 7.4027e+01 8.77643e+00 0.0312 2.5351e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.6452e+03 3.0962e+01 2.2202e+02 1.3940e+02 1.33744e+01 0.5000 ---- 25\n", - " 2 3.4523e+03 2.9230e+01 2.4538e+02 9.6925e+01 1.01529e+01 0.1250 9.3931e+02 24\n", - " 3 3.2435e+03 2.8388e+01 2.3189e+02 8.9624e+01 8.21308e+00 0.2500 9.1950e+02 17\n", - " 4 3.2188e+03 2.9100e+01 2.4142e+02 7.7551e+01 5.62412e+00 0.5000 1.0850e+03 19\n", - " 5 2.7270e+03 2.6119e+01 1.7310e+02 9.6989e+01 6.71938e+00 0.2500 9.2997e+02 25\n", - " 6 2.6501e+03 2.7079e+01 1.8200e+02 8.0302e+01 4.53783e+00 0.5000 1.0520e+03 10\n", - " 7 2.5709e+03 2.6321e+01 1.7870e+02 7.5758e+01 7.09427e+00 0.1250 1.0144e+03 11\n", - " 8 2.4347e+03 2.5934e+01 1.7055e+02 7.0326e+01 4.96013e+00 0.2500 9.8372e+02 11\n", - " 9 2.2705e+03 2.5433e+01 1.5566e+02 6.8843e+01 6.36746e+00 0.1250 9.3849e+02 11\n", - " 10 2.2318e+03 2.5720e+01 1.5785e+02 6.2758e+01 3.60714e+00 0.5000 9.7232e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.5674e+03 3.4997e+01 3.5992e+02 9.3320e+01 2.71503e+01 0.0156 ---- 25\n", - " 2 4.5410e+03 3.4849e+01 3.5953e+02 9.1091e+01 1.89845e+01 0.0312 1.0387e+03 25\n", - " 3 4.4685e+03 3.4466e+01 3.5592e+02 8.7488e+01 1.24679e+01 0.2500 1.0483e+03 25\n", - " 4 4.1154e+03 3.1965e+01 3.2586e+02 8.2482e+01 9.79505e+00 0.2500 1.1004e+03 11\n", - " 5 3.8335e+03 3.0449e+01 2.9481e+02 8.5494e+01 8.10338e+00 0.2500 1.1308e+03 14\n", - " 6 3.5546e+03 3.0059e+01 2.7924e+02 7.3220e+01 7.31534e+00 0.2500 1.2037e+03 11\n", - " 7 3.3140e+03 2.9838e+01 2.6478e+02 6.3636e+01 6.69695e+00 0.2500 1.2482e+03 10\n", - " 8 3.2063e+03 2.9249e+01 2.5064e+02 6.7061e+01 6.45325e+00 0.2500 1.2484e+03 11\n", - " 9 3.1486e+03 2.8998e+01 2.4505e+02 6.6910e+01 6.31248e+00 0.1250 1.2554e+03 10\n", - " 10 2.9641e+03 2.8182e+01 2.3327e+02 6.0319e+01 3.41806e+00 1.0000 1.2045e+03 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.7292e+03 3.4285e+01 3.2399e+02 1.4550e+02 4.08065e+01 0.0078 ---- 25\n", - " 2 4.7185e+03 3.4157e+01 3.2470e+02 1.4373e+02 3.59473e+01 0.0078 1.0549e+03 25\n", - " 3 4.7010e+03 3.4035e+01 3.2494e+02 1.4176e+02 3.07708e+01 0.0156 1.0623e+03 25\n", - " 4 4.6935e+03 3.4014e+01 3.2805e+02 1.3789e+02 2.20174e+01 0.0312 1.0905e+03 25\n", - " 5 4.6677e+03 3.3922e+01 3.3123e+02 1.3215e+02 1.39264e+01 0.2500 1.1253e+03 25\n", - " 6 4.4189e+03 3.3759e+01 3.4722e+02 9.1297e+01 1.05744e+01 0.2500 1.3350e+03 25\n", - " 7 4.1301e+03 3.2948e+01 3.3203e+02 7.7689e+01 6.96491e+00 0.5000 1.3977e+03 24\n", - " 8 3.4335e+03 2.7951e+01 2.5614e+02 8.4415e+01 7.70581e+00 0.2500 1.2012e+03 10\n", - " 9 3.3952e+03 2.8523e+01 2.5545e+02 8.1222e+01 4.83073e+00 1.0000 1.2748e+03 10\n", - " 10 2.3944e+03 2.1383e+01 1.1250e+02 1.2480e+02 8.78095e+00 0.2500 6.8433e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.7779e+03 3.0553e+01 2.9486e+02 1.7988e+02 1.02132e+01 1.0000 ---- 25\n", - " 2 4.7487e+03 1.8109e+01 1.8794e+02 2.8511e+02 1.74666e+01 0.1250 2.8511e+02 25\n", - " 3 4.3027e+03 2.0202e+01 1.8490e+02 2.4335e+02 9.63337e+00 0.5000 6.1670e+02 15\n", - " 4 3.1276e+03 2.3892e+01 1.4284e+02 1.6753e+02 1.30148e+01 0.0312 1.0434e+03 7\n", - " 5 3.0839e+03 2.3968e+01 1.4368e+02 1.6231e+02 7.73986e+00 0.2500 1.0554e+03 7\n", - " 6 3.0180e+03 2.7321e+01 1.7209e+02 1.2697e+02 7.83587e+00 0.2500 1.3152e+03 7\n", - " 7 2.8841e+03 2.8174e+01 1.8209e+02 1.0351e+02 4.67291e+00 0.5000 1.3740e+03 7\n", - " 8 2.3429e+03 2.3447e+01 1.4779e+02 8.4153e+01 5.85724e+00 0.2500 1.0162e+03 7\n", - " 9 2.2470e+03 2.3724e+01 1.4797e+02 7.4349e+01 4.20482e+00 0.5000 1.0375e+03 7\n", - " 10 2.0560e+03 2.3177e+01 1.3989e+02 6.3399e+01 6.57259e+00 0.1250 9.8334e+02 6\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2094e+03 3.0157e+01 3.2596e+02 9.1966e+01 1.01156e+01 0.5000 ---- 25\n", - " 2 3.9556e+03 2.5642e+01 2.7127e+02 1.2172e+02 1.65274e+01 0.0312 9.9102e+02 25\n", - " 3 3.9026e+03 2.5644e+01 2.7041e+02 1.1728e+02 1.06184e+01 0.1250 1.0106e+03 20\n", - " 4 3.6864e+03 2.5520e+01 2.6125e+02 1.0484e+02 5.76767e+00 1.0000 1.0487e+03 23\n", - " 5 2.9548e+03 2.0561e+01 1.3810e+02 1.5533e+02 2.36365e+01 0.0078 7.5101e+02 25\n", - " 6 2.9432e+03 2.0540e+01 1.3821e+02 1.5405e+02 2.05739e+01 0.0156 7.5588e+02 13\n", - " 7 2.9329e+03 2.0615e+01 1.3960e+02 1.5163e+02 1.52747e+01 0.0312 7.7518e+02 14\n", - " 8 2.9136e+03 2.0833e+01 1.4225e+02 1.4702e+02 9.20991e+00 0.1250 8.0963e+02 12\n", - " 9 2.8221e+03 2.1584e+01 1.4897e+02 1.3108e+02 5.10071e+00 1.0000 8.9617e+02 10\n", - " 10 2.8005e+03 2.3242e+01 1.1300e+02 1.6473e+02 2.29649e+01 0.0078 1.0482e+03 13\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.8625e+03 3.0135e+01 2.1875e+02 2.6448e+02 2.67658e+01 0.0312 ---- 9\n", - " 2 4.8270e+03 3.0697e+01 2.2806e+02 2.5157e+02 1.69424e+01 0.2500 1.1525e+03 3\n", - " 3 4.6232e+03 4.3316e+01 2.8966e+02 1.6833e+02 1.31827e+01 0.2500 2.0232e+03 25\n", - " 4 4.3243e+03 4.4576e+01 3.0268e+02 1.2529e+02 5.58108e+00 1.0000 2.1428e+03 25\n", - " 5 2.1848e+03 1.6331e+01 9.1199e+01 1.2565e+02 2.34461e+01 0.0312 1.2565e+02 25\n", - " 6 2.1536e+03 1.6295e+01 9.3206e+01 1.2053e+02 1.36397e+01 0.0625 1.6413e+02 19\n", - " 7 2.1486e+03 1.6545e+01 1.0144e+02 1.1176e+02 6.41326e+00 0.5000 2.9207e+02 19\n", - " 8 1.9508e+03 1.7207e+01 9.1079e+01 1.0228e+02 7.13135e+00 0.2500 4.4551e+02 8\n", - " 9 1.8807e+03 1.8327e+01 9.8389e+01 8.7845e+01 3.79527e+00 0.5000 6.4704e+02 7\n", - " 10 1.3925e+03 1.7568e+01 7.4634e+01 6.2859e+01 5.53268e+00 0.1250 5.2906e+02 8\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8166e+03 2.3776e+01 1.8714e+02 9.2150e+01 8.49134e+00 0.5000 ---- 25\n", - " 2 2.4988e+03 1.8573e+01 1.2923e+02 1.1879e+02 1.00701e+01 0.1250 3.7693e+02 25\n", - " 3 2.3522e+03 1.8430e+01 1.2722e+02 1.0615e+02 5.27528e+00 1.0000 4.5081e+02 10\n", - " 4 2.0352e+03 1.5461e+01 5.5728e+01 1.4624e+02 1.24070e+01 0.0312 2.5764e+02 25\n", - " 5 2.0051e+03 1.5480e+01 5.7341e+01 1.4162e+02 9.09324e+00 0.1250 2.7770e+02 25\n", - " 6 1.9558e+03 1.5854e+01 6.7839e+01 1.2616e+02 5.07129e+00 0.5000 3.8542e+02 25\n", - " 7 1.5456e+03 1.5502e+01 4.5047e+01 1.0796e+02 5.99574e+00 0.1250 2.9316e+02 13\n", - " 8 1.4716e+03 1.5680e+01 4.9619e+01 9.5970e+01 2.94932e+00 1.0000 3.4848e+02 14\n", - " 9 1.1795e+03 1.5243e+01 3.1044e+01 8.5384e+01 9.69490e+00 0.0312 1.8511e+02 12\n", - " 10 1.1665e+03 1.5242e+01 3.2696e+01 8.2431e+01 7.11032e+00 0.0625 1.9778e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6885e+03 2.1063e+01 1.3506e+02 1.3168e+02 1.07312e+01 0.5000 ---- 25\n", - " 2 1.9852e+03 1.6760e+01 8.4749e+01 1.1210e+02 7.51220e+00 0.2500 2.3680e+02 25\n", - " 3 1.8507e+03 1.6230e+01 8.2626e+01 1.0082e+02 4.98056e+00 0.5000 3.2920e+02 25\n", - " 4 1.5103e+03 1.5920e+01 7.9584e+01 6.9849e+01 6.95229e+00 0.1250 4.8056e+02 19\n", - " 5 1.4727e+03 1.5929e+01 8.0409e+01 6.5267e+01 3.77998e+00 0.5000 5.1035e+02 13\n", - " 6 1.1701e+03 1.5618e+01 6.0162e+01 5.5284e+01 7.82410e+00 0.0625 5.0664e+02 19\n", - " 7 1.1682e+03 1.5705e+01 6.2605e+01 5.2640e+01 3.68967e+00 0.5000 5.3242e+02 18\n", - " 8 1.1212e+03 1.5620e+01 5.5413e+01 5.5144e+01 5.81719e+00 0.1250 5.4213e+02 14\n", - " 9 1.0894e+03 1.5635e+01 5.6042e+01 5.1331e+01 2.90682e+00 0.5000 5.5320e+02 12\n", - " 10 8.5453e+02 1.5052e+01 4.1404e+01 4.2545e+01 6.75867e+00 0.0625 4.4642e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.2006e+03 2.0345e+01 1.4567e+02 7.2361e+01 8.98520e+00 0.5000 ---- 25\n", - " 2 2.0941e+03 1.5971e+01 1.0257e+02 1.0524e+02 8.53844e+00 0.2500 4.0121e+02 25\n", - " 3 1.6198e+03 1.5609e+01 6.7457e+01 9.2963e+01 5.51974e+00 0.5000 4.8361e+02 10\n", - " 4 1.5851e+03 1.5355e+01 8.7818e+01 6.9154e+01 6.81714e+00 0.1250 5.9582e+02 9\n", - " 5 1.5356e+03 1.5364e+01 8.9100e+01 6.2928e+01 3.82469e+00 0.5000 6.1883e+02 12\n", - " 6 1.4587e+03 1.4871e+01 9.5898e+01 4.8484e+01 7.53825e+00 0.0625 5.7823e+02 25\n", - " 7 1.4410e+03 1.4966e+01 9.7508e+01 4.5096e+01 3.59870e+00 0.2500 6.0230e+02 20\n", - " 8 1.3065e+03 1.4446e+01 8.5149e+01 4.4059e+01 3.09200e+00 0.5000 5.3222e+02 11\n", - " 9 1.0583e+03 1.4317e+01 6.4901e+01 3.9503e+01 7.48035e+00 0.0312 5.1709e+02 12\n", - " 10 1.0455e+03 1.4280e+01 6.4614e+01 3.8512e+01 5.36413e+00 0.0625 5.1500e+02 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.1388e+03 1.8929e+01 1.4978e+02 6.2198e+01 8.55414e+00 0.5000 ---- 25\n", - " 2 1.7438e+03 1.4486e+01 8.8077e+01 8.4858e+01 7.60352e+00 0.2500 3.7118e+02 25\n", - " 3 1.6648e+03 1.3946e+01 8.4378e+01 8.0710e+01 5.04545e+00 0.5000 4.0566e+02 12\n", - " 4 1.4408e+03 1.3701e+01 7.4268e+01 6.8438e+01 6.73563e+00 0.1250 5.2340e+02 13\n", - " 5 1.4036e+03 1.3736e+01 7.5821e+01 6.3162e+01 3.65910e+00 0.5000 5.5254e+02 12\n", - " 6 1.0660e+03 1.3166e+01 5.7237e+01 4.8044e+01 7.16680e+00 0.0625 4.9063e+02 17\n", - " 7 1.0541e+03 1.3194e+01 5.8135e+01 4.5951e+01 3.73257e+00 0.2500 5.0481e+02 16\n", - " 8 9.4740e+02 1.2865e+01 5.0021e+01 4.3432e+01 2.94256e+00 0.5000 4.5645e+02 13\n", - " 9 8.8783e+02 1.2934e+01 4.8377e+01 3.9113e+01 7.10482e+00 0.0312 4.7955e+02 14\n", - " 10 8.7596e+02 1.2901e+01 4.8273e+01 3.8033e+01 5.18419e+00 0.0625 4.7753e+02 13\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.0766e+03 1.7035e+01 1.4110e+02 6.4857e+01 8.30431e+00 0.5000 ---- 25\n", - " 2 1.6823e+03 1.3054e+01 8.4103e+01 8.2826e+01 7.34872e+00 0.2500 3.5198e+02 25\n", - " 3 1.3999e+03 1.2598e+01 6.2043e+01 7.6691e+01 4.77048e+00 0.5000 3.9372e+02 15\n", - " 4 1.2432e+03 1.2429e+01 6.6331e+01 5.6743e+01 6.70168e+00 0.1250 5.1393e+02 14\n", - " 5 1.2300e+03 1.2484e+01 6.9895e+01 5.1859e+01 3.47319e+00 0.5000 5.4561e+02 15\n", - " 6 1.1310e+03 1.1871e+01 7.3887e+01 3.8031e+01 6.47567e+00 0.0625 4.6906e+02 25\n", - " 7 1.1186e+03 1.1874e+01 7.4172e+01 3.6500e+01 3.45447e+00 0.2500 4.7817e+02 19\n", - " 8 1.0516e+03 1.1602e+01 6.6580e+01 3.7421e+01 3.11029e+00 0.2500 4.3731e+02 25\n", - " 9 9.5386e+02 1.1351e+01 5.5836e+01 3.8415e+01 2.88893e+00 0.2500 3.8927e+02 15\n", - " 10 8.6237e+02 1.1155e+01 5.0215e+01 3.4906e+01 2.66717e+00 0.2500 3.4981e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.8377e+03 1.4680e+01 1.2900e+02 5.3300e+01 7.38465e+00 0.5000 ---- 25\n", - " 2 1.3128e+03 1.1382e+01 6.7401e+01 6.2737e+01 7.01565e+00 0.2500 2.4250e+02 25\n", - " 3 1.2832e+03 1.0945e+01 6.7682e+01 5.9541e+01 4.61598e+00 0.5000 2.8878e+02 17\n", - " 4 1.0718e+03 1.0754e+01 5.1979e+01 5.4124e+01 6.35946e+00 0.1250 4.1839e+02 16\n", - " 5 1.0475e+03 1.0807e+01 5.3445e+01 5.0227e+01 3.03566e+00 0.5000 4.5382e+02 17\n", - " 6 8.0802e+02 1.0246e+01 4.1889e+01 3.7888e+01 5.37233e+00 0.0625 3.7075e+02 22\n", - " 7 7.9391e+02 1.0224e+01 4.2510e+01 3.5858e+01 2.97456e+00 0.2500 3.7350e+02 21\n", - " 8 7.1272e+02 1.0056e+01 4.1418e+01 2.8848e+01 2.60883e+00 0.5000 3.4576e+02 17\n", - " 9 6.6931e+02 1.0138e+01 3.5879e+01 3.0039e+01 6.54768e+00 0.0312 3.7863e+02 23\n", - " 10 6.6027e+02 1.0110e+01 3.5695e+01 2.9321e+01 4.93191e+00 0.0625 3.7581e+02 16\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.7940e+03 1.3252e+01 1.2696e+02 5.1109e+01 7.59110e+00 0.5000 ---- 25\n", - " 2 1.5878e+03 1.0150e+01 7.9034e+01 7.8736e+01 6.72296e+00 0.2500 2.7670e+02 25\n", - " 3 1.3008e+03 9.7602e+00 5.6192e+01 7.2914e+01 4.41701e+00 0.5000 3.1222e+02 14\n", - " 4 1.0062e+03 9.5105e+00 4.8640e+01 5.1033e+01 5.91239e+00 0.1250 4.0520e+02 16\n", - " 5 9.9121e+02 9.5414e+00 5.1376e+01 4.6790e+01 2.91920e+00 0.5000 4.3403e+02 17\n", - " 6 8.5761e+02 8.9530e+00 4.4684e+01 4.0182e+01 5.06022e+00 0.1250 3.3171e+02 25\n", - " 7 8.5194e+02 9.0360e+00 4.7711e+01 3.6579e+01 1.76655e+00 1.0000 3.6537e+02 21\n", - " 8 6.8680e+02 8.1640e+00 9.5885e+00 5.8275e+01 5.02731e+00 0.1250 5.8275e+01 25\n", - " 9 6.6838e+02 8.1674e+00 1.0712e+01 5.5310e+01 1.88379e+00 0.5000 5.5310e+01 20\n", - " 10 6.1501e+02 8.1551e+00 4.9603e+00 5.5725e+01 2.77923e+00 0.2500 5.5725e+01 21\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.8325e+03 1.0844e+01 1.0339e+02 7.8772e+01 6.96184e+00 0.5000 ---- 25\n", - " 2 1.0738e+03 8.4854e+00 5.1650e+01 5.4881e+01 6.03157e+00 0.2500 1.0201e+02 25\n", - " 3 9.4116e+02 8.0878e+00 4.0519e+01 5.2788e+01 3.97034e+00 0.2500 1.0489e+02 20\n", - " 4 8.1758e+02 7.8295e+00 3.3586e+01 4.7388e+01 3.02622e+00 1.0000 1.2927e+02 17\n", - " 5 8.1057e+02 8.5624e+00 4.6499e+01 3.3702e+01 8.54641e+00 0.0625 5.0386e+02 25\n", - " 6 7.8694e+02 8.5602e+00 4.7245e+01 3.0594e+01 6.44704e+00 0.1250 5.1413e+02 25\n", - " 7 7.8502e+02 8.7087e+00 5.0124e+01 2.7507e+01 2.93568e+00 0.2500 5.4885e+02 23\n", - " 8 7.2702e+02 8.2084e+00 4.1528e+01 3.0353e+01 2.41894e+00 0.5000 4.5603e+02 12\n", - " 9 6.7147e+02 7.8442e+00 3.7099e+01 2.9264e+01 4.61101e+00 0.1250 3.7810e+02 25\n", - " 10 6.6061e+02 7.8275e+00 3.6588e+01 2.8690e+01 1.68476e+00 0.5000 3.7787e+02 14\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.7186e+03 9.5946e+00 1.1306e+02 5.7843e+01 7.51793e+00 0.5000 ---- 25\n", - " 2 1.4216e+03 7.7243e+00 7.4964e+01 6.6423e+01 6.89660e+00 0.2500 3.0328e+02 25\n", - " 3 1.1495e+03 7.8892e+00 5.5706e+01 5.8455e+01 4.32978e+00 0.5000 4.4509e+02 12\n", - " 4 9.7037e+02 8.0048e+00 4.5593e+01 5.0644e+01 5.76867e+00 0.1250 5.5050e+02 14\n", - " 5 9.4158e+02 8.0486e+00 4.7110e+01 4.6243e+01 2.72630e+00 0.5000 5.7164e+02 11\n", - " 6 6.8694e+02 7.3273e+00 3.3919e+01 3.4042e+01 5.04674e+00 0.1250 4.5586e+02 11\n", - " 7 6.7859e+02 7.4754e+00 3.5365e+01 3.1747e+01 1.27977e+00 1.0000 4.9348e+02 11\n", - " 8 3.7058e+02 6.0460e+00 2.3865e+00 3.4066e+01 3.22307e+00 0.1250 3.4066e+01 25\n", - " 9 3.3787e+02 6.0438e+00 2.4271e+00 3.0755e+01 1.71430e+00 0.1250 3.0755e+01 18\n", - " 10 3.1503e+02 6.0435e+00 2.1338e+00 2.8765e+01 1.28118e+00 0.2500 2.8765e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.3736e+03 7.8678e+00 9.7649e+01 3.8924e+01 5.53875e+00 0.5000 ---- 25\n", - " 2 9.5539e+02 6.1063e+00 5.3902e+01 4.1026e+01 5.04663e+00 0.5000 1.0806e+02 25\n", - " 3 8.9470e+02 5.6698e+00 3.6199e+01 5.2703e+01 4.74897e+00 0.2500 1.7221e+02 14\n", - " 4 8.5758e+02 5.9348e+00 4.1049e+01 4.4116e+01 3.09801e+00 0.5000 3.2653e+02 12\n", - " 5 7.5106e+02 6.2138e+00 4.0851e+01 3.3633e+01 5.04455e+00 0.1250 4.2924e+02 13\n", - " 6 7.2582e+02 6.2583e+00 4.1003e+01 3.0953e+01 2.17316e+00 0.5000 4.4859e+02 13\n", - " 7 5.6969e+02 5.8006e+00 2.7475e+01 2.8915e+01 3.99656e+00 0.1250 3.4618e+02 20\n", - " 8 5.5723e+02 5.8329e+00 2.8666e+01 2.6474e+01 1.10720e+00 1.0000 3.6100e+02 15\n", - " 9 3.6636e+02 5.0841e+00 1.9552e+00 3.4172e+01 2.46552e+00 0.2500 3.4172e+01 25\n", - " 10 3.6114e+02 5.0832e+00 2.2961e+00 3.3310e+01 1.99410e+00 0.2500 3.3310e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.4232e+03 6.5249e+00 9.0712e+01 5.0957e+01 5.85186e+00 0.5000 ---- 25\n", - " 2 1.0083e+03 5.0687e+00 4.9980e+01 5.0343e+01 5.84339e+00 0.2500 1.1222e+02 25\n", - " 3 8.9942e+02 4.8764e+00 4.0825e+01 4.8630e+01 3.39066e+00 0.5000 1.4823e+02 11\n", - " 4 7.2775e+02 4.7450e+00 3.6273e+01 3.6028e+01 4.60092e+00 0.1250 2.3725e+02 12\n", - " 5 6.9263e+02 4.7686e+00 3.5409e+01 3.3377e+01 1.65711e+00 1.0000 2.6563e+02 10\n", - " 6 3.2170e+02 4.2020e+00 3.9390e+00 2.7811e+01 3.70941e+00 0.1250 4.2597e+01 21\n", - " 7 3.1421e+02 4.2007e+00 4.6234e+00 2.6377e+01 1.82579e+00 0.2500 5.0711e+01 15\n", - " 8 2.9686e+02 4.1961e+00 3.8225e+00 2.5444e+01 9.63591e-01 0.5000 4.1071e+01 11\n", - " 9 2.6357e+02 4.1919e+00 2.4622e+00 2.3476e+01 1.84445e+00 0.1250 2.5625e+01 11\n", - " 10 2.5160e+02 4.1909e+00 2.2428e+00 2.2498e+01 8.20763e-01 0.5000 2.3978e+01 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.1656e+03 5.2839e+00 8.8703e+01 2.7328e+01 5.29328e+00 0.5000 ---- 3\n", - " 2 9.2063e+02 4.0618e+00 5.2836e+01 3.8820e+01 4.48405e+00 0.2500 1.1368e+02 16\n", - " 3 7.9732e+02 3.8439e+00 4.0072e+01 3.9275e+01 2.96760e+00 1.0000 8.6808e+01 15\n", - " 4 7.2053e+02 3.4654e+00 1.9450e+01 5.2257e+01 5.88905e+00 0.2500 1.1160e+02 3\n", - " 5 7.1442e+02 3.8348e+00 2.8493e+01 4.2566e+01 3.57283e+00 0.2500 2.8550e+02 3\n", - " 6 6.2832e+02 3.8329e+00 2.7357e+01 3.5092e+01 2.40932e+00 0.5000 2.8766e+02 3\n", - " 7 5.8112e+02 3.6493e+00 2.1497e+01 3.6250e+01 3.22249e+00 0.2500 2.2261e+02 25\n", - " 8 5.0997e+02 3.6844e+00 2.1260e+01 2.9368e+01 1.79742e+00 0.5000 2.3905e+02 25\n", - " 9 4.2238e+02 3.5811e+00 1.5977e+01 2.5903e+01 2.81857e+00 0.1250 1.9294e+02 14\n", - " 10 3.9758e+02 3.5619e+00 1.5239e+01 2.4163e+01 1.30421e+00 1.0000 1.8591e+02 14\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.4141e+03 4.2582e+00 9.5190e+01 4.5793e+01 6.58465e+00 0.2500 ---- 3\n", - " 2 1.2301e+03 3.7224e+00 7.9979e+01 4.2663e+01 4.55707e+00 0.5000 1.7931e+02 3\n", - " 3 1.0043e+03 3.0781e+00 4.2024e+01 5.8102e+01 4.03384e+00 0.5000 1.0907e+02 3\n", - " 4 7.5623e+02 3.1010e+00 2.8953e+01 4.6360e+01 4.47706e+00 0.2500 2.3549e+02 3\n", - " 5 6.8342e+02 3.2838e+00 2.9842e+01 3.8172e+01 2.60652e+00 1.0000 3.1785e+02 3\n", - " 6 6.4331e+02 3.0432e+00 2.3642e+01 4.0385e+01 6.18268e+00 0.1250 2.7096e+02 3\n", - " 7 6.0846e+02 3.1177e+00 2.5406e+01 3.5128e+01 3.78760e+00 0.2500 3.0472e+02 3\n", - " 8 5.4984e+02 3.0320e+00 2.2138e+01 3.2542e+01 2.27946e+00 0.2500 2.7563e+02 3\n", - " 9 4.9420e+02 2.8783e+00 1.7235e+01 3.1897e+01 1.56789e+00 0.5000 2.1504e+02 25\n", - " 10 4.1103e+02 2.7075e+00 8.8626e+00 3.1970e+01 2.32500e+00 0.2500 1.1189e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.1018e+03 3.2479e+00 8.0639e+01 2.9212e+01 4.84027e+00 0.5000 ---- 3\n", - " 2 7.8018e+02 2.5465e+00 4.8883e+01 2.8880e+01 4.74932e+00 0.5000 1.5022e+02 3\n", - " 3 7.7056e+02 2.8220e+00 3.6974e+01 3.9799e+01 4.59387e+00 0.2500 3.4681e+02 3\n", - " 4 6.9204e+02 3.0480e+00 3.7119e+01 3.1781e+01 2.05029e+00 1.0000 4.1877e+02 3\n", - " 5 4.6436e+02 2.1027e+00 9.5373e+00 3.6688e+01 4.37518e+00 0.1250 1.3358e+02 3\n", - " 6 4.2557e+02 2.1062e+00 1.0417e+01 3.1930e+01 2.59446e+00 0.2500 1.4290e+02 3\n", - " 7 3.7655e+02 2.0811e+00 9.3454e+00 2.8101e+01 1.40005e+00 0.5000 1.2416e+02 3\n", - " 8 2.7299e+02 2.0297e+00 5.4014e+00 2.1694e+01 1.63452e+00 0.2500 6.8016e+01 3\n", - " 9 2.3587e+02 2.0212e+00 4.4336e+00 1.8952e+01 1.34829e+00 0.5000 5.4271e+01 3\n", - " 10 1.7747e+02 2.0113e+00 2.1781e+00 1.5368e+01 1.72963e+00 0.1250 2.8429e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 8.6720e+02 2.4119e+00 7.3667e+01 1.2812e+01 4.80636e+00 0.5000 ---- 3\n", - " 2 8.0386e+02 1.8852e+00 5.6149e+01 2.4048e+01 4.10965e+00 0.5000 1.2355e+02 3\n", - " 3 7.5245e+02 1.9166e+00 4.3238e+01 3.1815e+01 3.35055e+00 0.5000 2.3798e+02 3\n", - " 4 7.0699e+02 2.4200e+00 3.8470e+01 3.1987e+01 3.75793e+00 0.2500 4.0539e+02 3\n", - " 5 5.9942e+02 2.4199e+00 3.3674e+01 2.6027e+01 1.64240e+00 1.0000 4.1195e+02 3\n", - " 6 3.5018e+02 1.5134e+00 3.1867e+00 3.1680e+01 3.74338e+00 0.1250 3.1680e+01 3\n", - " 7 3.1937e+02 1.5113e+00 3.3413e+00 2.8445e+01 2.80077e+00 0.1250 2.8445e+01 3\n", - " 8 2.9268e+02 1.5096e+00 3.0361e+00 2.6081e+01 2.01500e+00 0.2500 2.6081e+01 3\n", - " 9 2.8140e+02 1.5075e+00 2.3703e+00 2.5619e+01 1.10469e+00 1.0000 2.5619e+01 3\n", - " 10 2.5592e+02 1.5069e+00 1.1920e-01 2.5322e+01 2.51293e+00 0.1250 2.5322e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 8.2663e+02 1.7668e+00 6.5861e+01 1.6626e+01 4.86959e+00 0.2500 ---- 3\n", - " 2 7.4186e+02 1.5096e+00 5.4269e+01 1.9766e+01 3.43617e+00 0.5000 1.8262e+02 25\n", - " 3 6.6346e+02 1.2322e+00 3.2229e+01 3.3994e+01 2.87019e+00 0.5000 9.1230e+01 25\n", - " 4 6.3673e+02 1.1479e+00 1.7009e+01 4.6549e+01 1.99165e+00 1.0000 4.6549e+01 25\n", - " 5 5.1616e+02 1.1023e+00 1.4781e+00 5.0028e+01 2.72801e+00 0.2500 5.0028e+01 23\n", - " 6 4.7611e+02 1.1016e+00 1.1264e+00 4.6375e+01 1.27910e+00 0.5000 4.6375e+01 14\n", - " 7 3.7539e+02 1.1016e+00 5.6584e-01 3.6863e+01 1.13475e+00 0.5000 3.6863e+01 16\n", - " 8 2.8949e+02 1.1019e+00 2.8549e-01 2.8554e+01 1.15239e+00 0.2500 2.8554e+01 11\n", - " 9 2.5813e+02 1.1019e+00 2.1416e-01 2.5489e+01 7.94114e-01 1.0000 2.5489e+01 11\n", - " 10 1.4697e+02 1.1030e+00 1.1518e-02 1.4576e+01 2.25287e+00 0.1250 1.4576e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.2037e+02 1.2750e+00 5.6725e+01 5.1839e+00 4.16988e+00 0.5000 ---- 3\n", - " 2 6.1664e+02 1.1184e+00 4.3950e+01 1.7602e+01 3.16725e+00 0.5000 1.9100e+02 3\n", - " 3 5.6142e+02 9.4031e-01 2.4824e+01 3.1224e+01 2.07200e+00 0.5000 1.4870e+02 3\n", - " 4 3.8186e+02 8.3443e-01 1.3054e+01 2.5049e+01 1.87134e+00 0.2500 8.2127e+01 3\n", - " 5 3.1948e+02 8.1413e-01 9.8245e+00 2.2042e+01 1.33390e+00 1.0000 6.2320e+01 3\n", - " 6 2.5304e+02 7.8553e-01 3.1582e-01 2.4910e+01 2.55715e+00 0.2500 2.4910e+01 3\n", - " 7 2.3130e+02 7.8451e-01 2.5171e-01 2.2800e+01 1.70126e+00 0.2500 2.2800e+01 3\n", - " 8 2.2250e+02 7.8388e-01 1.9104e-01 2.1981e+01 1.10567e+00 0.5000 2.1981e+01 3\n", - " 9 1.7360e+02 7.8442e-01 1.0063e-01 1.7181e+01 1.56220e+00 0.1250 1.7181e+01 3\n", - " 10 1.5647e+02 7.8416e-01 8.8372e-02 1.5480e+01 9.93013e-01 0.2500 1.5480e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.2203e+02 9.4679e-01 4.8905e+01 3.2035e+00 3.84660e+00 0.2500 ---- 3\n", - " 2 4.5998e+02 8.0355e-01 4.1346e+01 4.5721e+00 2.70240e+00 0.5000 1.8777e+02 3\n", - " 3 3.9771e+02 6.5259e-01 2.6151e+01 1.3554e+01 1.79519e+00 0.5000 9.5136e+01 3\n", - " 4 3.4709e+02 6.0070e-01 1.3833e+01 2.0816e+01 1.53444e+00 0.5000 4.7592e+01 3\n", - " 5 2.7888e+02 5.8738e-01 7.1373e+00 2.0692e+01 1.44498e+00 0.2500 2.3822e+01 3\n", - " 6 2.3920e+02 5.8509e-01 5.3623e+00 1.8499e+01 1.10167e+00 1.0000 1.8499e+01 3\n", - " 7 2.3468e+02 5.8336e-01 1.9594e-01 2.3214e+01 2.18625e+00 0.2500 2.3214e+01 3\n", - " 8 2.3053e+02 5.8249e-01 1.5130e-01 2.2843e+01 1.63275e+00 0.2500 2.2843e+01 3\n", - " 9 2.2591e+02 5.8194e-01 1.1461e-01 2.2419e+01 9.70105e-01 0.5000 2.2419e+01 3\n", - " 10 1.8268e+02 5.8236e-01 5.6713e-02 1.8153e+01 1.38102e+00 0.2500 1.8153e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.2457e+02 7.7858e-01 4.7537e+01 4.8424e+00 3.55608e+00 0.5000 ---- 3\n", - " 2 4.8671e+02 8.3048e-01 3.9033e+01 9.5549e+00 2.07970e+00 1.0000 2.3733e+02 3\n", - " 3 4.7423e+02 4.8114e-01 5.9831e+00 4.1392e+01 2.46110e+00 0.5000 4.1392e+01 3\n", - " 4 3.6957e+02 4.8012e-01 3.0392e+00 3.3870e+01 1.48529e+00 0.5000 3.3870e+01 3\n", - " 5 2.4289e+02 4.8037e-01 1.5124e+00 2.2729e+01 1.23980e+00 0.5000 2.2729e+01 3\n", - " 6 2.2628e+02 4.8048e-01 7.5251e-01 2.1828e+01 1.52203e+00 0.2500 2.1828e+01 3\n", - " 7 1.9147e+02 4.8032e-01 5.6331e-01 1.8535e+01 9.72656e-01 1.0000 1.8535e+01 3\n", - " 8 1.7093e+02 4.8166e-01 1.5573e-02 1.7029e+01 2.12008e+00 0.1250 1.7029e+01 3\n", - " 9 1.6659e+02 4.8125e-01 1.4896e-02 1.6596e+01 1.64462e+00 0.1250 1.6596e+01 3\n", - " 10 1.5714e+02 4.8095e-01 1.3445e-02 1.5653e+01 1.27917e+00 0.1250 1.5653e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.2592e+02 7.0595e-01 4.8131e+01 4.3904e+00 3.20180e+00 0.5000 ---- 3\n", - " 2 4.4695e+02 6.2003e-01 3.3586e+01 1.1047e+01 2.11314e+00 0.2500 1.6574e+02 3\n", - " 3 4.0126e+02 5.3313e-01 2.5452e+01 1.4621e+01 1.53737e+00 1.0000 1.2612e+02 3\n", - " 4 2.3729e+02 4.2702e-01 3.0052e+00 2.0681e+01 2.12932e+00 0.1250 2.0681e+01 3\n", - " 5 2.1087e+02 4.2635e-01 2.6305e+00 1.8414e+01 1.71684e+00 0.1250 1.8414e+01 3\n", - " 6 1.9496e+02 4.2586e-01 2.3022e+00 1.7151e+01 1.28757e+00 0.5000 1.7151e+01 25\n", - " 7 1.7653e+02 4.2571e-01 1.1606e+00 1.6449e+01 1.79962e+00 0.1250 1.6449e+01 25\n", - " 8 1.6620e+02 4.2537e-01 1.0158e+00 1.5561e+01 1.44646e+00 0.1250 1.5561e+01 25\n", - " 9 1.5425e+02 4.2520e-01 8.8890e-01 1.4493e+01 8.45518e-01 0.5000 1.4493e+01 25\n", - " 10 1.2302e+02 4.2524e-01 4.4440e-01 1.1815e+01 1.03729e+00 0.1250 1.1815e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.4640e+02 6.6976e-01 4.7273e+01 7.2992e+00 3.14415e+00 0.5000 ---- 3\n", - " 2 4.1276e+02 4.8984e-01 2.9443e+01 1.1784e+01 2.07525e+00 0.5000 1.3302e+02 3\n", - " 3 4.0528e+02 4.1179e-01 1.6024e+01 2.4463e+01 1.87741e+00 0.5000 6.7601e+01 3\n", - " 4 3.7371e+02 3.8985e-01 8.2507e+00 2.9081e+01 1.73749e+00 0.5000 3.3934e+01 3\n", - " 5 2.4986e+02 3.8588e-01 4.1956e+00 2.0751e+01 1.66898e+00 0.2500 2.0751e+01 3\n", - " 6 2.4384e+02 3.8514e-01 3.1474e+00 2.1198e+01 1.14492e+00 0.5000 2.1198e+01 3\n", - " 7 2.1840e+02 3.8555e-01 1.5813e+00 2.0220e+01 1.62463e+00 0.2500 2.0220e+01 3\n", - " 8 2.0829e+02 3.8511e-01 1.1861e+00 1.9604e+01 9.59870e-01 0.5000 1.9604e+01 3\n", - " 9 1.7362e+02 3.8580e-01 6.0084e-01 1.6722e+01 1.48054e+00 0.1250 1.6722e+01 3\n", - " 10 1.5838e+02 3.8558e-01 5.2583e-01 1.5274e+01 8.92644e-01 0.2500 1.5274e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1063e+02 6.4460e-01 4.7708e+01 3.2899e+00 2.62401e+00 1.0000 ---- 3\n", - " 2 4.7857e+02 5.9926e-01 2.0473e+01 2.7324e+01 2.27779e+00 0.5000 2.2214e+02 3\n", - " 3 4.7389e+02 4.1650e-01 1.0282e+01 3.7066e+01 1.60836e+00 1.0000 1.1258e+02 3\n", - " 4 3.6638e+02 3.5550e-01 2.3613e-01 3.6367e+01 2.75185e+00 0.2500 3.6367e+01 3\n", - " 5 3.1563e+02 3.5453e-01 1.7894e-01 3.1349e+01 1.58683e+00 0.5000 3.1349e+01 3\n", - " 6 3.0819e+02 3.5387e-01 9.4017e-02 3.0689e+01 1.42940e+00 0.5000 3.0689e+01 3\n", - " 7 2.0406e+02 3.5443e-01 5.1560e-02 2.0319e+01 1.36567e+00 0.2500 2.0319e+01 3\n", - " 8 1.9518e+02 3.5425e-01 3.8587e-02 1.9444e+01 8.77990e-01 0.5000 1.9444e+01 3\n", - " 9 1.8587e+02 3.5437e-01 1.9472e-02 1.8533e+01 9.53903e-01 0.2500 1.8533e+01 3\n", - " 10 1.5529e+02 3.5419e-01 1.5109e-02 1.5479e+01 7.94230e-01 0.5000 1.5479e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9650e+02 6.2387e-01 4.7349e+01 2.2390e+00 2.67584e+00 1.0000 ---- 3\n", - " 2 4.8304e+02 4.2166e-01 1.6618e+01 3.1644e+01 2.04837e+00 0.5000 1.3385e+02 3\n", - " 3 4.2704e+02 3.5457e-01 8.3137e+00 3.4354e+01 1.51358e+00 1.0000 6.7379e+01 3\n", - " 4 3.2856e+02 3.3368e-01 1.7611e-01 3.2646e+01 2.65352e+00 0.2500 3.2646e+01 3\n", - " 5 3.0619e+02 3.3282e-01 1.3644e-01 3.0449e+01 1.56838e+00 0.5000 3.0449e+01 3\n", - " 6 2.9503e+02 3.3216e-01 7.2172e-02 2.9398e+01 1.19174e+00 0.5000 2.9398e+01 3\n", - " 7 1.9144e+02 3.3270e-01 3.9552e-02 1.9072e+01 1.17134e+00 0.2500 1.9072e+01 3\n", - " 8 1.6999e+02 3.3265e-01 2.8064e-02 1.6937e+01 8.95591e-01 0.2500 1.6937e+01 3\n", - " 9 1.5042e+02 3.3257e-01 2.1579e-02 1.4987e+01 6.88904e-01 0.5000 1.4987e+01 3\n", - " 10 1.2948e+02 3.3295e-01 9.7055e-03 1.2905e+01 1.15230e+00 0.1250 1.2905e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9652e+02 6.1664e-01 4.7683e+01 1.9071e+00 2.48842e+00 1.0000 ---- 3\n", - " 2 3.8621e+02 3.7479e-01 1.5117e+01 2.3466e+01 1.99977e+00 0.2500 9.3867e+01 3\n", - " 3 3.3125e+02 3.5511e-01 1.1338e+01 2.1751e+01 1.14407e+00 1.0000 7.0455e+01 3\n", - " 4 2.1895e+02 3.3143e-01 2.3116e-01 2.1631e+01 2.13433e+00 0.2500 2.1631e+01 3\n", - " 5 2.0091e+02 3.3068e-01 1.7971e-01 1.9878e+01 1.26526e+00 0.2500 1.9878e+01 3\n", - " 6 1.6633e+02 3.3037e-01 1.3803e-01 1.6462e+01 7.35519e-01 0.5000 1.6462e+01 3\n", - " 7 1.2665e+02 3.3071e-01 7.0670e-02 1.2561e+01 1.11365e+00 0.1250 1.2561e+01 3\n", - " 8 1.1571e+02 3.3053e-01 6.1894e-02 1.1476e+01 6.30280e-01 0.2500 1.1476e+01 3\n", - " 9 1.0515e+02 3.3050e-01 4.6040e-02 1.0436e+01 6.63749e-01 0.2500 1.0436e+01 3\n", - " 10 9.4454e+01 3.3056e-01 3.4699e-02 9.3777e+00 6.15985e-01 0.2500 9.3777e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0939e+02 6.0710e-01 4.8376e+01 2.5024e+00 2.38697e+00 1.0000 ---- 3\n", - " 2 3.6450e+02 3.4684e-01 1.2808e+01 2.3608e+01 1.93302e+00 0.2500 6.8750e+01 3\n", - " 3 3.1519e+02 3.3604e-01 9.6052e+00 2.1880e+01 1.08851e+00 1.0000 5.1588e+01 3\n", - " 4 2.0386e+02 3.2380e-01 1.9691e-01 2.0157e+01 1.88807e+00 0.2500 2.0157e+01 3\n", - " 5 1.8065e+02 3.2313e-01 1.4908e-01 1.7884e+01 1.21965e+00 0.2500 1.7884e+01 3\n", - " 6 1.5970e+02 3.2278e-01 1.1215e-01 1.5826e+01 8.68812e-01 0.5000 1.5826e+01 3\n", - " 7 1.1853e+02 3.2311e-01 5.4616e-02 1.1766e+01 1.16481e+00 0.1250 1.1766e+01 3\n", - " 8 1.0965e+02 3.2293e-01 4.7891e-02 1.0885e+01 6.92314e-01 0.2500 1.0885e+01 3\n", - " 9 1.0160e+02 3.2292e-01 3.5851e-02 1.0092e+01 6.77061e-01 0.2500 1.0092e+01 3\n", - " 10 9.6580e+01 3.2293e-01 2.6735e-02 9.5990e+00 7.00893e-01 0.2500 9.5990e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0729e+02 5.9966e-01 4.8026e+01 2.6432e+00 2.37165e+00 1.0000 ---- 3\n", - " 2 4.2048e+02 3.2687e-01 1.2616e+01 2.9399e+01 1.74455e+00 0.5000 5.2586e+01 3\n", - " 3 3.6072e+02 3.1581e-01 6.3055e+00 2.9735e+01 1.27195e+00 1.0000 2.9735e+01 3\n", - " 4 2.8055e+02 3.1358e-01 6.2824e-02 2.7960e+01 2.39288e+00 0.2500 2.7960e+01 3\n", - " 5 2.6796e+02 3.1298e-01 5.0173e-02 2.6714e+01 1.49096e+00 0.2500 2.6714e+01 3\n", - " 6 2.2562e+02 3.1256e-01 3.8417e-02 2.2492e+01 9.34199e-01 0.5000 2.2492e+01 3\n", - " 7 1.7211e+02 3.1264e-01 1.6798e-02 1.7163e+01 8.45665e-01 0.2500 1.7163e+01 3\n", - " 8 1.4279e+02 3.1257e-01 1.2305e-02 1.4236e+01 7.75260e-01 0.5000 1.4236e+01 3\n", - " 9 8.2010e+01 3.1300e-01 7.2342e-03 8.1625e+00 1.00005e+00 0.1250 8.1625e+00 25\n", - " 10 7.7854e+01 3.1297e-01 6.5115e-03 7.7476e+00 8.64836e-01 0.1250 7.7476e+00 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1598e+02 5.9072e-01 4.8355e+01 3.1844e+00 2.20950e+00 1.0000 ---- 3\n", - " 2 3.2917e+02 3.1545e-01 1.1756e+01 2.1130e+01 1.98958e+00 0.2500 4.2339e+01 3\n", - " 3 3.0187e+02 3.1095e-01 8.8155e+00 2.1340e+01 1.07156e+00 1.0000 3.1762e+01 3\n", - " 4 1.3890e+02 3.0707e-01 1.7228e-01 1.3687e+01 1.86510e+00 0.2500 1.3687e+01 3\n", - " 5 1.3884e+02 3.0642e-01 1.3317e-01 1.3720e+01 1.35320e+00 0.2500 1.3720e+01 25\n", - " 6 1.1548e+02 3.0639e-01 1.0119e-01 1.1416e+01 1.58917e+00 0.1250 1.1416e+01 25\n", - " 7 1.1512e+02 3.0614e-01 8.9104e-02 1.1393e+01 1.42917e+00 0.1250 1.1393e+01 25\n", - " 8 1.0773e+02 3.0605e-01 7.7845e-02 1.0665e+01 1.13543e+00 0.2500 1.0665e+01 25\n", - " 9 1.0148e+02 3.0599e-01 5.8875e-02 1.0058e+01 1.27121e+00 0.1250 1.0058e+01 25\n", - " 10 9.7336e+01 3.0587e-01 5.1520e-02 9.6515e+00 7.18903e-01 1.0000 9.6515e+00 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9811e+02 5.8483e-01 4.7991e+01 1.7619e+00 2.29243e+00 1.0000 ---- 3\n", - " 2 3.1561e+02 3.0450e-01 1.2504e+01 1.9026e+01 1.98435e+00 0.2500 3.4951e+01 3\n", - " 3 2.8873e+02 3.0126e-01 9.3776e+00 1.9465e+01 1.00876e+00 1.0000 2.6217e+01 3\n", - " 4 2.2098e+02 2.9890e-01 1.1088e-01 2.1957e+01 1.89662e+00 0.2500 2.1957e+01 3\n", - " 5 1.9452e+02 2.9820e-01 8.4447e-02 1.9337e+01 1.39653e+00 0.2500 1.9337e+01 3\n", - " 6 1.8462e+02 2.9779e-01 6.3274e-02 1.8369e+01 9.49523e-01 1.0000 1.8369e+01 25\n", - " 7 1.5902e+02 2.9906e-01 1.6957e-02 1.5855e+01 1.93388e+00 0.2500 1.5855e+01 25\n", - " 8 1.4287e+02 2.9827e-01 1.6543e-02 1.4241e+01 1.27507e+00 0.1250 1.4241e+01 16\n", - " 9 1.3467e+02 2.9812e-01 1.4410e-02 1.3422e+01 1.13676e+00 0.0625 1.3422e+01 17\n", - " 10 1.3071e+02 2.9804e-01 1.3514e-02 1.3027e+01 7.14869e-01 0.5000 1.3027e+01 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.2484e+02 5.7830e-01 4.7425e+01 5.0011e+00 2.24851e+00 1.0000 ---- 3\n", - " 2 3.6500e+02 2.9559e-01 1.2209e+01 2.4261e+01 1.92291e+00 0.5000 2.9238e+01 3\n", - " 3 3.6263e+02 2.9141e-01 6.1034e+00 3.0130e+01 1.22682e+00 1.0000 3.0130e+01 3\n", - " 4 3.1534e+02 2.9173e-01 5.1641e-02 3.1453e+01 2.17236e+00 0.2500 3.1453e+01 3\n", - " 5 2.7160e+02 2.9092e-01 4.1159e-02 2.7090e+01 1.39788e+00 0.2500 2.7090e+01 3\n", - " 6 2.3552e+02 2.9051e-01 3.1115e-02 2.3492e+01 9.85823e-01 0.5000 2.3492e+01 3\n", - " 7 1.7636e+02 2.9096e-01 1.5849e-02 1.7591e+01 1.15427e+00 0.2500 1.7591e+01 3\n", - " 8 1.6935e+02 2.9061e-01 1.1866e-02 1.6894e+01 8.95329e-01 0.5000 1.6894e+01 3\n", - " 9 9.9347e+01 2.9116e-01 9.2249e-03 9.8964e+00 1.28787e+00 0.0625 9.8964e+00 3\n", - " 10 9.5392e+01 2.9103e-01 8.6583e-03 9.5014e+00 1.02767e+00 0.1250 9.5014e+00 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0973e+02 5.7086e-01 4.7636e+01 3.2795e+00 2.00045e+00 1.0000 ---- 3\n", - " 2 2.8036e+02 2.8481e-01 1.1467e+01 1.6541e+01 1.60989e+00 0.2500 2.5285e+01 3\n", - " 3 2.4219e+02 2.8295e-01 8.5985e+00 1.5592e+01 8.42572e-01 0.5000 1.8965e+01 3\n", - " 4 1.7803e+02 2.8170e-01 4.2873e+00 1.3488e+01 1.07732e+00 0.2500 1.3488e+01 3\n", - " 5 1.6083e+02 2.8128e-01 3.2155e+00 1.2840e+01 6.73733e-01 1.0000 1.2840e+01 3\n", - " 6 1.3665e+02 2.8188e-01 1.6410e-02 1.3620e+01 1.59928e+00 0.1250 1.3620e+01 3\n", - " 7 1.2688e+02 2.8156e-01 1.4592e-02 1.2646e+01 1.35163e+00 0.1250 1.2646e+01 3\n", - " 8 1.1916e+02 2.8131e-01 1.2988e-02 1.1875e+01 7.88853e-01 0.1250 1.1875e+01 3\n", - " 9 1.0913e+02 2.8121e-01 1.1357e-02 1.0874e+01 6.61138e-01 1.0000 1.0874e+01 25\n", - " 10 6.2686e+01 2.8207e-01 1.0931e-02 6.2295e+00 1.77268e+00 0.1250 6.2295e+00 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1908e+02 5.6261e-01 4.8134e+01 3.7177e+00 2.08174e+00 1.0000 ---- 3\n", - " 2 4.1359e+02 2.7403e-01 1.1809e+01 2.9523e+01 1.45257e+00 0.5000 2.9523e+01 3\n", - " 3 2.6619e+02 2.7159e-01 5.8888e+00 2.0703e+01 1.05584e+00 1.0000 2.0703e+01 3\n", - " 4 2.5650e+02 2.7207e-01 5.5552e-02 2.5568e+01 1.95684e+00 0.2500 2.5568e+01 3\n", - " 5 2.3388e+02 2.7149e-01 4.2395e-02 2.3318e+01 1.27606e+00 0.2500 2.3318e+01 3\n", - " 6 2.0384e+02 2.7111e-01 3.2075e-02 2.0325e+01 7.37547e-01 0.5000 2.0325e+01 3\n", - " 7 1.6171e+02 2.7109e-01 1.5957e-02 1.6128e+01 7.26407e-01 0.5000 1.6128e+01 3\n", - " 8 1.4772e+02 2.7122e-01 8.9858e-03 1.4735e+01 8.75626e-01 0.2500 1.4735e+01 3\n", - " 9 1.3576e+02 2.7109e-01 7.1352e-03 1.3542e+01 7.50552e-01 0.5000 1.3542e+01 3\n", - " 10 7.8811e+01 2.7152e-01 4.9874e-03 7.8490e+00 1.04756e+00 0.0625 7.8490e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0637e+02 5.5498e-01 4.7185e+01 3.3968e+00 2.09036e+00 1.0000 ---- 3\n", - " 2 2.4210e+02 2.6475e-01 1.0869e+01 1.3315e+01 1.78254e+00 0.2500 1.9260e+01 3\n", - " 3 2.3957e+02 2.6346e-01 8.1506e+00 1.5780e+01 7.78299e-01 1.0000 1.5780e+01 3\n", - " 4 1.3989e+02 2.6306e-01 6.4422e-02 1.3898e+01 1.71524e+00 0.1250 1.3898e+01 3\n", - " 5 1.2581e+02 2.6274e-01 5.6396e-02 1.2498e+01 1.26955e+00 0.1250 1.2498e+01 3\n", - " 6 1.1483e+02 2.6253e-01 4.9346e-02 1.1407e+01 7.63359e-01 0.2500 1.1407e+01 3\n", - " 7 1.0926e+02 2.6240e-01 3.7103e-02 1.0863e+01 5.93437e-01 0.5000 1.0863e+01 3\n", - " 8 7.7024e+01 2.6265e-01 1.8100e-02 7.6580e+00 9.14648e-01 0.1250 7.6580e+00 3\n", - " 9 7.2696e+01 2.6251e-01 1.5820e-02 7.2276e+00 4.94410e-01 0.2500 7.2276e+00 3\n", - " 10 6.5639e+01 2.6251e-01 1.1841e-02 6.5258e+00 4.76380e-01 0.2500 6.5258e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.8526e+02 5.4961e-01 4.7104e+01 1.3664e+00 1.84020e+00 1.0000 ---- 3\n", - " 2 2.6276e+02 2.5643e-01 1.1006e+01 1.5244e+01 1.28856e+00 0.5000 1.7613e+01 3\n", - " 3 2.3933e+02 2.5482e-01 5.4936e+00 1.8414e+01 8.63018e-01 1.0000 1.8414e+01 3\n", - " 4 1.9762e+02 2.5512e-01 2.3412e-02 1.9713e+01 1.57949e+00 0.2500 1.9713e+01 3\n", - " 5 1.8461e+02 2.5464e-01 1.8327e-02 1.8417e+01 8.90472e-01 0.2500 1.8417e+01 3\n", - " 6 1.5209e+02 2.5446e-01 1.3796e-02 1.5169e+01 7.07918e-01 1.0000 1.5169e+01 3\n", - " 7 1.2077e+02 2.5520e-01 7.9136e-03 1.2043e+01 1.23023e+00 0.2500 1.2043e+01 3\n", - " 8 1.1641e+02 2.5482e-01 7.2306e-03 1.1608e+01 9.68600e-01 0.2500 1.1608e+01 3\n", - " 9 9.8969e+01 2.5462e-01 6.2285e-03 9.8652e+00 6.65685e-01 0.5000 9.8652e+00 3\n", - " 10 8.8023e+01 2.5479e-01 4.0970e-03 8.7727e+00 7.79975e-01 0.2500 8.7727e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.2917e+02 5.4181e-01 4.6971e+01 5.8916e+00 1.89607e+00 1.0000 ---- 3\n", - " 2 2.9227e+02 2.4794e-01 1.0927e+01 1.8275e+01 1.53421e+00 0.2500 1.8275e+01 3\n", - " 3 2.4744e+02 2.4700e-01 8.1930e+00 1.6527e+01 9.43241e-01 1.0000 1.6527e+01 3\n", - " 4 2.1321e+02 2.4679e-01 9.0164e-02 2.1207e+01 1.80454e+00 0.2500 2.1207e+01 3\n", - " 5 1.8942e+02 2.4628e-01 7.0003e-02 1.8847e+01 9.81068e-01 0.5000 1.8847e+01 3\n", - " 6 1.6780e+02 2.4614e-01 3.7005e-02 1.6718e+01 8.18971e-01 0.5000 1.6718e+01 3\n", - " 7 1.1557e+02 2.4629e-01 1.8651e-02 1.1514e+01 8.97323e-01 0.2500 1.1514e+01 3\n", - " 8 1.1210e+02 2.4617e-01 1.4071e-02 1.1172e+01 5.90349e-01 0.5000 1.1172e+01 3\n", - " 9 6.1918e+01 2.4644e-01 8.5439e-03 6.1586e+00 9.15648e-01 0.1250 6.1586e+00 3\n", - " 10 6.1831e+01 2.4635e-01 7.5634e-03 6.1509e+00 4.49171e-01 1.0000 6.1509e+00 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0532e+02 5.3458e-01 4.5329e+01 5.1490e+00 2.01841e+00 1.0000 ---- 3\n", - " 2 4.7553e+02 2.3720e-01 1.0288e+01 3.7241e+01 1.34094e+00 1.0000 3.7241e+01 3\n", - " 3 3.4628e+02 2.3677e-01 1.0711e-01 3.4497e+01 1.72619e+00 0.5000 3.4497e+01 3\n", - " 4 2.1938e+02 2.3610e-01 6.0855e-02 2.1854e+01 1.18329e+00 0.5000 2.1854e+01 3\n", - " 5 1.5937e+02 2.3613e-01 3.0660e-02 1.5883e+01 9.35385e-01 0.5000 1.5883e+01 3\n", - " 6 1.4323e+02 2.3621e-01 1.2646e-02 1.4286e+01 1.01068e+00 0.2500 1.4286e+01 3\n", - " 7 1.2652e+02 2.3612e-01 9.6450e-03 1.2618e+01 6.06449e-01 1.0000 1.2618e+01 3\n", - " 8 7.7083e+01 2.3687e-01 4.1650e-03 7.6804e+00 1.61117e+00 0.0625 7.6804e+00 3\n", - " 9 7.3801e+01 2.3671e-01 3.9585e-03 7.3525e+00 1.42833e+00 0.0625 7.3525e+00 3\n", - " 10 7.1020e+01 2.3658e-01 3.7451e-03 7.0746e+00 1.17312e+00 0.0625 7.0746e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9019e+02 5.2702e-01 4.5055e+01 3.9114e+00 1.82163e+00 1.0000 ---- 3\n", - " 2 2.5674e+02 2.2678e-01 1.0424e+01 1.5227e+01 1.37519e+00 0.5000 1.5227e+01 3\n", - " 3 2.2980e+02 2.2567e-01 5.2097e+00 1.7747e+01 7.68030e-01 1.0000 1.7747e+01 3\n", - " 4 1.5557e+02 2.2604e-01 1.8714e-02 1.5515e+01 1.48743e+00 0.2500 1.5515e+01 3\n", - " 5 1.5382e+02 2.2560e-01 1.4935e-02 1.5345e+01 7.45633e-01 0.2500 1.5345e+01 3\n", - " 6 1.3148e+02 2.2550e-01 1.1457e-02 1.3114e+01 6.42339e-01 1.0000 1.3114e+01 3\n", - " 7 1.0758e+02 2.2609e-01 6.2615e-03 1.0729e+01 1.13558e+00 0.2500 1.0729e+01 3\n", - " 8 9.4479e+01 2.2574e-01 5.2195e-03 9.4201e+00 9.96630e-01 0.2500 9.4201e+00 3\n", - " 9 8.7549e+01 2.2558e-01 4.1897e-03 8.7281e+00 5.52375e-01 0.5000 8.7281e+00 3\n", - " 10 5.0906e+01 2.2574e-01 2.3733e-03 5.0656e+00 7.19849e-01 0.1250 5.0656e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.6882e+02 5.2043e-01 4.4043e+01 2.7861e+00 1.70886e+00 1.0000 ---- 3\n", - " 2 1.9553e+02 2.1784e-01 9.8570e+00 9.6746e+00 1.07374e+00 0.5000 1.1925e+01 3\n", - " 3 1.8595e+02 2.1696e-01 4.9203e+00 1.3653e+01 6.89367e-01 1.0000 1.3653e+01 3\n", - " 4 1.5635e+02 2.1715e-01 9.1523e-03 1.5604e+01 1.35940e+00 0.2500 1.5604e+01 3\n", - " 5 1.3989e+02 2.1681e-01 7.0952e-03 1.3961e+01 6.06088e-01 0.5000 1.3961e+01 3\n", - " 6 1.1155e+02 2.1674e-01 4.0682e-03 1.1129e+01 4.46533e-01 0.5000 1.1129e+01 3\n", - " 7 6.4581e+01 2.1688e-01 1.9715e-03 6.4344e+00 4.93565e-01 0.2500 6.4344e+00 3\n", - " 8 5.7544e+01 2.1685e-01 1.5317e-03 5.7312e+00 3.11934e-01 1.0000 5.7312e+00 3\n", - " 9 4.0860e+01 2.1716e-01 1.8638e-03 4.0624e+00 1.03580e+00 0.0625 4.0624e+00 3\n", - " 10 3.9618e+01 2.1708e-01 1.7801e-03 3.9383e+00 8.17220e-01 0.0625 3.9383e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.4529e+02 5.1378e-01 4.3513e+01 9.6452e-01 1.62379e+00 1.0000 ---- 3\n", - " 2 1.9231e+02 2.1016e-01 9.9907e+00 9.2188e+00 1.00439e+00 0.5000 1.0847e+01 3\n", - " 3 1.4494e+02 2.0958e-01 4.9874e+00 9.4854e+00 7.50810e-01 0.5000 9.4854e+00 3\n", - " 4 1.3238e+02 2.0935e-01 2.4927e+00 1.0725e+01 5.85954e-01 0.5000 1.0725e+01 3\n", - " 5 9.4695e+01 2.0938e-01 1.2464e+00 8.2021e+00 5.61331e-01 0.2500 8.2021e+00 3\n", - " 6 7.7171e+01 2.0935e-01 9.3490e-01 6.7613e+00 3.54202e-01 1.0000 6.7613e+00 3\n", - " 7 2.3969e+01 2.0966e-01 2.0196e-03 2.3739e+00 7.60549e-01 0.0625 2.3739e+00 3\n", - " 8 2.2975e+01 2.0960e-01 1.8976e-03 2.2747e+00 4.48632e-01 0.2500 2.2747e+00 3\n", - " 9 1.8519e+01 2.0956e-01 1.5094e-03 1.8294e+00 5.62365e-01 0.0625 1.8294e+00 3\n", - " 10 1.8298e+01 2.0953e-01 1.3951e-03 1.8074e+00 3.35066e-01 0.1250 1.8074e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2808e+02 5.0735e-01 4.1710e+01 1.0473e+00 1.60600e+00 1.0000 ---- 3\n", - " 2 1.7254e+02 2.0159e-01 9.5951e+00 7.6389e+00 1.08171e+00 0.5000 9.7315e+00 3\n", - " 3 1.6792e+02 2.0095e-01 4.7915e+00 1.1980e+01 6.32166e-01 1.0000 1.1980e+01 3\n", - " 4 1.0795e+02 2.0105e-01 5.6766e-03 1.0769e+01 1.05282e+00 0.2500 1.0769e+01 3\n", - " 5 9.8528e+01 2.0082e-01 4.0233e-03 9.8287e+00 6.89675e-01 0.5000 9.8287e+00 3\n", - " 6 8.5333e+01 2.0077e-01 3.7971e-03 8.5095e+00 6.02384e-01 0.5000 8.5095e+00 3\n", - " 7 7.9577e+01 2.0074e-01 2.1302e-03 7.9355e+00 5.24400e-01 0.2500 7.9355e+00 3\n", - " 8 6.3559e+01 2.0072e-01 1.4453e-03 6.3344e+00 3.00013e-01 1.0000 6.3344e+00 3\n", - " 9 1.6227e+01 2.0098e-01 1.3712e-03 1.6012e+00 4.57744e-01 0.2500 1.6012e+00 3\n", - " 10 1.3268e+01 2.0093e-01 1.1087e-03 1.3056e+00 5.94768e-01 0.0625 1.3056e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0924e+02 5.0135e-01 4.0382e+01 4.9163e-01 1.62005e+00 1.0000 ---- 3\n", - " 2 1.6719e+02 1.9273e-01 9.5176e+00 7.1823e+00 9.14107e-01 0.5000 8.9102e+00 3\n", - " 3 1.3277e+02 1.9226e-01 4.7499e+00 8.5084e+00 5.68209e-01 1.0000 8.5084e+00 3\n", - " 4 1.2725e+02 1.9233e-01 4.3130e-03 1.2701e+01 8.99576e-01 0.2500 1.2701e+01 3\n", - " 5 1.0582e+02 1.9214e-01 3.1412e-03 1.0560e+01 6.12645e-01 0.5000 1.0560e+01 3\n", - " 6 8.0982e+01 1.9213e-01 2.7789e-03 8.0762e+00 4.65951e-01 0.5000 8.0762e+00 3\n", - " 7 6.1989e+01 1.9217e-01 1.2756e-03 6.1784e+00 4.75952e-01 0.2500 6.1784e+00 3\n", - " 8 4.9611e+01 1.9216e-01 1.0266e-03 4.9408e+00 3.02723e-01 1.0000 4.9408e+00 3\n", - " 9 1.4954e+01 1.9238e-01 1.5236e-03 1.4747e+00 4.68109e-01 0.2500 1.4747e+00 3\n", - " 10 1.4368e+01 1.9233e-01 1.1962e-03 1.4164e+00 5.35651e-01 0.1250 1.4164e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9548e+02 4.9605e-01 3.8591e+01 9.0769e-01 1.60649e+00 1.0000 ---- 3\n", - " 2 1.5347e+02 1.8584e-01 9.5131e+00 5.8150e+00 1.01729e+00 0.5000 8.0810e+00 3\n", - " 3 1.1584e+02 1.8544e-01 4.7471e+00 6.8184e+00 6.36995e-01 1.0000 6.8184e+00 3\n", - " 4 1.1453e+02 1.8542e-01 7.9473e-03 1.1427e+01 9.54040e-01 0.2500 1.1427e+01 3\n", - " 5 9.2139e+01 1.8528e-01 5.8988e-03 9.1894e+00 5.21218e-01 0.5000 9.1894e+00 3\n", - " 6 6.1116e+01 1.8531e-01 3.0715e-03 6.0900e+00 3.46074e-01 0.5000 6.0900e+00 3\n", - " 7 5.0806e+01 1.8533e-01 1.7412e-03 5.0603e+00 3.63752e-01 0.2500 5.0603e+00 3\n", - " 8 4.2243e+01 1.8532e-01 1.3485e-03 4.2045e+00 2.23364e-01 1.0000 4.2045e+00 3\n", - " 9 9.6061e+00 1.8550e-01 4.9125e-04 9.4157e-01 3.42745e-01 0.2500 9.4157e-01 3\n", - " 10 9.2886e+00 1.8547e-01 3.0700e-04 9.1001e-01 2.75246e-01 0.1250 9.1001e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.7559e+02 4.9170e-01 3.6971e+01 5.3849e-01 1.58200e+00 1.0000 ---- 3\n", - " 2 1.3595e+02 1.8042e-01 9.0524e+00 4.5244e+00 9.70295e-01 1.0000 7.1659e+00 3\n", - " 3 8.0291e+01 1.8009e-01 6.0100e-02 7.9510e+00 1.39263e+00 0.2500 7.9510e+00 3\n", - " 4 7.0895e+01 1.7995e-01 4.5830e-02 7.0257e+00 6.66973e-01 1.0000 7.0257e+00 3\n", - " 5 5.2741e+01 1.8008e-01 5.7891e-03 5.2503e+00 9.16928e-01 0.1250 5.2503e+00 3\n", - " 6 4.7603e+01 1.8001e-01 5.0862e-03 4.7372e+00 7.15397e-01 0.2500 4.7372e+00 3\n", - " 7 4.2351e+01 1.7993e-01 3.7962e-03 4.2133e+00 5.11198e-01 0.5000 4.2133e+00 3\n", - " 8 4.0968e+01 1.7983e-01 2.0254e-03 4.0768e+00 5.99276e-01 0.5000 4.0768e+00 3\n", - " 9 2.5712e+01 1.7971e-01 1.3858e-03 2.5518e+00 2.94025e-01 0.5000 2.5518e+00 3\n", - " 10 1.7904e+01 1.7971e-01 8.0576e-04 1.7717e+00 2.99536e-01 0.1250 1.7717e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.6315e+02 4.8823e-01 3.5054e+01 1.2116e+00 1.56051e+00 1.0000 ---- 3\n", - " 2 1.2601e+02 1.7580e-01 8.6861e+00 3.8972e+00 7.28203e-01 1.0000 6.3863e+00 3\n", - " 3 5.3297e+01 1.7552e-01 4.2519e-02 5.2697e+00 1.13190e+00 0.2500 5.2697e+00 3\n", - " 4 4.8991e+01 1.7545e-01 3.2004e-02 4.8495e+00 4.04886e-01 1.0000 4.8495e+00 3\n", - " 5 1.0672e+01 1.7558e-01 3.4849e-03 1.0462e+00 4.74814e-01 0.5000 1.0462e+00 3\n", - " 6 7.0942e+00 1.7554e-01 1.9676e-03 6.8990e-01 4.15025e-01 0.1250 6.8990e-01 3\n", - " 7 6.5036e+00 1.7552e-01 1.7257e-03 6.3108e-01 2.02890e-01 0.5000 6.3108e-01 3\n", - " 8 4.3804e+00 1.7552e-01 9.0607e-04 4.1958e-01 2.55167e-01 0.1250 4.1958e-01 3\n", - " 9 4.0412e+00 1.7551e-01 7.9230e-04 3.8578e-01 1.04804e-01 1.0000 3.8578e-01 3\n", - " 10 3.3052e+00 1.7552e-01 7.5170e-05 3.1289e-01 2.96245e-01 0.0625 3.1289e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.4193e+02 4.8616e-01 3.3599e+01 5.4601e-01 1.61210e+00 1.0000 ---- 3\n", - " 2 1.3779e+02 1.7303e-01 8.3519e+00 5.4096e+00 8.18714e-01 1.0000 5.6461e+00 3\n", - " 3 8.2502e+01 1.7279e-01 4.2815e-02 8.1901e+00 1.25055e+00 0.2500 8.1901e+00 3\n", - " 4 7.1150e+01 1.7268e-01 3.2265e-02 7.0654e+00 5.66130e-01 1.0000 7.0654e+00 3\n", - " 5 4.4039e+01 1.7284e-01 1.9494e-03 4.3847e+00 9.02979e-01 0.1250 4.3847e+00 3\n", - " 6 3.9265e+01 1.7278e-01 1.6959e-03 3.9075e+00 5.80195e-01 0.2500 3.9075e+00 3\n", - " 7 3.3488e+01 1.7273e-01 1.2542e-03 3.3302e+00 3.00422e-01 1.0000 3.3302e+00 3\n", - " 8 1.3863e+01 1.7282e-01 1.0531e-03 1.3680e+00 5.53981e-01 0.1250 1.3680e+00 3\n", - " 9 1.3788e+01 1.7278e-01 9.6313e-04 1.3605e+00 3.46150e-01 0.2500 1.3605e+00 3\n", - " 10 1.3699e+01 1.7276e-01 7.6098e-04 1.3519e+00 1.64435e-01 1.0000 1.3519e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.3315e+02 4.8472e-01 3.2575e+01 6.9181e-01 1.56970e+00 1.0000 ---- 3\n", - " 2 1.6074e+02 1.7129e-01 7.9415e+00 8.1150e+00 9.43926e-01 1.0000 8.1150e+00 3\n", - " 3 1.2056e+02 1.7111e-01 3.3422e-02 1.2006e+01 1.36462e+00 0.5000 1.2006e+01 3\n", - " 4 1.1095e+02 1.7096e-01 1.7340e-02 1.1061e+01 8.45612e-01 1.0000 1.1061e+01 3\n", - " 5 1.0795e+02 1.7114e-01 3.2875e-03 1.0775e+01 1.75949e+00 0.2500 1.0775e+01 3\n", - " 6 1.0162e+02 1.7094e-01 2.9747e-03 1.0142e+01 6.73093e-01 1.0000 1.0142e+01 3\n", - " 7 7.8931e+01 1.7118e-01 3.3330e-03 7.8727e+00 1.28877e+00 0.2500 7.8727e+00 3\n", - " 8 6.7797e+01 1.7104e-01 3.1436e-03 6.7594e+00 5.42508e-01 0.5000 6.7594e+00 3\n", - " 9 4.7616e+01 1.7104e-01 1.6312e-03 4.7429e+00 4.91290e-01 0.5000 4.7429e+00 3\n", - " 10 3.4300e+01 1.7106e-01 1.2976e-03 3.4116e+00 4.36156e-01 0.2500 3.4116e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.4349e+02 4.8437e-01 3.1781e+01 2.5201e+00 1.53019e+00 1.0000 ---- 3\n", - " 2 1.0561e+02 1.7124e-01 7.7638e+00 2.7801e+00 5.93320e-01 1.0000 4.0598e+00 3\n", - " 3 3.1874e+01 1.7107e-01 2.0353e-02 3.1499e+00 9.40493e-01 0.2500 3.1499e+00 3\n", - " 4 2.8555e+01 1.7101e-01 1.5413e-02 2.8230e+00 3.33744e-01 1.0000 2.8230e+00 3\n", - " 5 5.2185e+00 1.7107e-01 1.5852e-03 5.0316e-01 4.48139e-01 0.1250 5.0316e-01 3\n", - " 6 4.7071e+00 1.7105e-01 1.4166e-03 4.5219e-01 2.74122e-01 0.2500 4.5219e-01 3\n", - " 7 3.8235e+00 1.7105e-01 1.1039e-03 3.6414e-01 1.17148e-01 1.0000 3.6414e-01 3\n", - " 8 6.0332e-01 1.7105e-01 5.7881e-05 4.3169e-02 1.57072e-01 0.1250 4.3169e-02 3\n", - " 9 5.9228e-01 1.7105e-01 5.2054e-05 4.2071e-02 1.06055e-01 0.2500 4.2071e-02 3\n", - " 10 5.5343e-01 1.7105e-01 4.2107e-05 3.8196e-02 5.28944e-02 1.0000 3.8196e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.1264e+02 4.8472e-01 3.1024e+01 1.9088e-01 1.53556e+00 1.0000 ---- 3\n", - " 2 1.1560e+02 1.7168e-01 7.2061e+00 4.3370e+00 5.88201e-01 1.0000 4.3370e+00 3\n", - " 3 3.8971e+01 1.7157e-01 1.3734e-02 3.8662e+00 8.22529e-01 0.5000 3.8662e+00 3\n", - " 4 3.5294e+01 1.7151e-01 7.6492e-03 3.5046e+00 5.07293e-01 0.5000 3.5046e+00 3\n", - " 5 1.8981e+01 1.7152e-01 3.7916e-03 1.8772e+00 4.13633e-01 0.5000 1.8772e+00 3\n", - " 6 1.4456e+01 1.7152e-01 2.0436e-03 1.4264e+00 3.30588e-01 0.5000 1.4264e+00 3\n", - " 7 1.2890e+01 1.7152e-01 1.1092e-03 1.2707e+00 3.10555e-01 0.5000 1.2707e+00 3\n", - " 8 1.2411e+01 1.7152e-01 6.7686e-04 1.2233e+00 2.83157e-01 0.2500 1.2233e+00 3\n", - " 9 1.0084e+01 1.7151e-01 5.3702e-04 9.9074e-01 7.95971e-02 1.0000 9.9074e-01 3\n", - " 10 4.5824e-01 1.7155e-01 1.0669e-04 2.8562e-02 8.13120e-02 0.2500 2.8562e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9999e+02 4.8487e-01 2.9717e+01 2.3361e-01 1.48452e+00 1.0000 ---- 3\n", - " 2 1.0673e+02 1.7149e-01 6.7140e+00 3.9422e+00 5.45471e-01 1.0000 3.9422e+00 3\n", - " 3 3.0673e+01 1.7141e-01 1.1765e-02 3.0384e+00 8.18214e-01 0.2500 3.0384e+00 3\n", - " 4 2.4497e+01 1.7137e-01 9.0138e-03 2.4235e+00 3.29617e-01 1.0000 2.4235e+00 3\n", - " 5 6.2773e+00 1.7141e-01 1.1735e-03 6.0942e-01 3.97724e-01 0.1250 6.0942e-01 3\n", - " 6 5.7636e+00 1.7140e-01 1.0421e-03 5.5818e-01 2.52937e-01 0.2500 5.5818e-01 3\n", - " 7 4.7031e+00 1.7139e-01 8.1267e-04 4.5236e-01 9.09726e-02 1.0000 4.5236e-01 3\n", - " 8 3.3784e-01 1.7140e-01 1.1881e-04 1.6525e-02 1.21066e-01 0.2500 1.6525e-02 3\n", - " 9 2.8963e-01 1.7139e-01 9.3670e-05 1.1730e-02 4.44145e-02 0.5000 1.1730e-02 3\n", - " 10 2.1806e-01 1.7139e-01 4.9300e-05 4.6175e-03 2.66900e-02 0.0020 8.6064e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9582e+02 4.8501e-01 2.9382e+01 1.5126e-01 1.47510e+00 1.0000 ---- 3\n", - " 2 1.0190e+02 1.7159e-01 6.2579e+00 3.9149e+00 4.74879e-01 1.0000 3.9149e+00 3\n", - " 3 2.9064e+01 1.7152e-01 1.0455e-02 2.8788e+00 7.77966e-01 0.5000 2.8788e+00 3\n", - " 4 2.7321e+01 1.7147e-01 6.0900e-03 2.7089e+00 4.10100e-01 0.5000 2.7089e+00 3\n", - " 5 1.4810e+01 1.7147e-01 3.1788e-03 1.4607e+00 2.81869e-01 1.0000 1.4607e+00 3\n", - " 6 8.5785e+00 1.7149e-01 4.5509e-04 8.4024e-01 5.96693e-01 0.1250 8.4024e-01 3\n", - " 7 8.0974e+00 1.7147e-01 4.5946e-04 7.9214e-01 3.69177e-01 0.2500 7.9214e-01 3\n", - " 8 6.7493e+00 1.7146e-01 4.0725e-04 6.5738e-01 8.55061e-02 1.0000 6.5738e-01 3\n", - " 9 4.7853e-01 1.7148e-01 3.1425e-05 3.0673e-02 1.66680e-01 0.2500 3.0673e-02 3\n", - " 10 4.2261e-01 1.7148e-01 2.4550e-05 2.5089e-02 3.96255e-02 1.0000 2.5089e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8914e+02 4.8576e-01 2.8769e+01 9.6601e-02 1.45170e+00 1.0000 ---- 3\n", - " 2 9.7825e+01 1.7220e-01 5.8805e+00 3.8848e+00 5.06089e-01 1.0000 3.8848e+00 3\n", - " 3 1.4301e+01 1.7214e-01 1.0795e-02 1.4021e+00 7.41935e-01 0.2500 1.4021e+00 3\n", - " 4 1.2254e+01 1.7210e-01 8.3188e-03 1.1999e+00 3.11402e-01 1.0000 1.1999e+00 3\n", - " 5 2.6008e+00 1.7213e-01 1.6489e-03 2.4122e-01 4.27706e-01 0.2500 2.4122e-01 3\n", - " 6 2.3768e+00 1.7211e-01 1.2376e-03 2.1923e-01 1.63035e-01 1.0000 2.1923e-01 3\n", - " 7 1.1805e+00 1.7211e-01 1.7506e-04 1.0066e-01 2.26508e-01 0.2500 1.0066e-01 3\n", - " 8 9.5907e-01 1.7210e-01 1.2734e-04 7.8569e-02 8.60225e-02 1.0000 7.8569e-02 3\n", - " 9 6.5180e-01 1.7210e-01 2.7234e-05 4.7943e-02 1.22969e-01 0.5000 4.7943e-02 3\n", - " 10 5.5447e-01 1.7210e-01 4.4948e-05 3.8192e-02 3.17592e-02 1.0000 3.8192e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8528e+02 4.8666e-01 2.8309e+01 1.7052e-01 1.44340e+00 1.0000 ---- 3\n", - " 2 9.7214e+01 1.7313e-01 5.3850e+00 4.3191e+00 4.97831e-01 1.0000 4.3191e+00 3\n", - " 3 2.7923e+01 1.7308e-01 8.4791e-03 2.7665e+00 7.08239e-01 0.5000 2.7665e+00 3\n", - " 4 2.7436e+01 1.7302e-01 5.1349e-03 2.7212e+00 2.82686e-01 1.0000 2.7212e+00 3\n", - " 5 2.3486e+01 1.7308e-01 1.0206e-03 2.3303e+00 4.49917e-01 0.2500 2.3303e+00 3\n", - " 6 1.8206e+01 1.7303e-01 8.0672e-04 1.8024e+00 1.35406e-01 1.0000 1.8024e+00 3\n", - " 7 1.6532e+00 1.7306e-01 1.6582e-04 1.4785e-01 1.79629e-01 0.5000 1.4785e-01 3\n", - " 8 1.0230e+00 1.7306e-01 1.5950e-04 8.4835e-02 6.83364e-02 0.5000 8.4835e-02 3\n", - " 9 4.5732e-01 1.7306e-01 7.3208e-05 2.8353e-02 4.52145e-02 0.2500 2.8353e-02 3\n", - " 10 4.1916e-01 1.7305e-01 5.4719e-05 2.4556e-02 8.90813e-03 1.0000 2.4556e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7754e+02 4.8757e-01 2.7624e+01 8.0459e-02 1.41733e+00 1.0000 ---- 3\n", - " 2 9.5955e+01 1.7381e-01 4.9247e+00 4.6534e+00 5.13388e-01 1.0000 4.6534e+00 3\n", - " 3 1.4125e+01 1.7376e-01 9.6901e-03 1.3854e+00 6.33300e-01 0.2500 1.3854e+00 3\n", - " 4 1.1587e+01 1.7373e-01 7.4760e-03 1.1338e+00 2.63872e-01 1.0000 1.1338e+00 3\n", - " 5 5.5062e-01 1.7376e-01 1.6811e-03 3.6005e-02 3.35439e-01 0.2500 3.6005e-02 3\n", - " 6 4.8861e-01 1.7375e-01 1.2931e-03 3.0193e-02 1.22473e-01 1.0000 3.0193e-02 3\n", - " 7 4.8374e-01 1.7374e-01 1.9113e-04 3.0809e-02 1.75835e-01 0.1250 3.0809e-02 3\n", - " 8 4.6259e-01 1.7374e-01 1.6879e-04 2.8716e-02 1.16687e-01 0.2500 2.8716e-02 3\n", - " 9 4.3441e-01 1.7374e-01 1.3029e-04 2.5937e-02 4.58963e-02 1.0000 2.5937e-02 3\n", - " 10 3.2929e-01 1.7374e-01 1.6361e-05 1.5539e-02 6.11250e-02 0.5000 1.5539e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7059e+02 4.8866e-01 2.6772e+01 2.3830e-01 1.41475e+00 1.0000 ---- 3\n", - " 2 9.4238e+01 1.7490e-01 4.6649e+00 4.7415e+00 5.24491e-01 1.0000 4.7415e+00 3\n", - " 3 1.6484e+01 1.7484e-01 8.5899e-03 1.6223e+00 6.93354e-01 0.2500 1.6223e+00 3\n", - " 4 1.4168e+01 1.7481e-01 6.6469e-03 1.3927e+00 2.78236e-01 1.0000 1.3927e+00 3\n", - " 5 1.1867e+00 1.7484e-01 1.6882e-03 9.9498e-02 3.70506e-01 0.1250 9.9498e-02 3\n", - " 6 1.1425e+00 1.7484e-01 1.4850e-03 9.5282e-02 2.45184e-01 0.2500 9.5282e-02 3\n", - " 7 1.0194e+00 1.7483e-01 1.1396e-03 8.3320e-02 9.12600e-02 1.0000 8.3320e-02 3\n", - " 8 2.5775e-01 1.7483e-01 1.6945e-04 8.1225e-03 1.14216e-01 0.2500 8.1225e-03 2\n", - " 9 2.3265e-01 1.7483e-01 1.3201e-04 5.6499e-03 4.71655e-02 0.0020 9.3433e-03 1\n", - " 10 2.3265e-01 1.7483e-01 1.3201e-04 5.6499e-03 4.71667e-02 0.5000 5.6499e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6773e+02 4.9041e-01 2.6422e+01 3.0192e-01 1.40110e+00 1.0000 ---- 3\n", - " 2 9.3703e+01 1.7675e-01 4.2266e+00 5.1260e+00 4.94571e-01 1.0000 5.1260e+00 3\n", - " 3 1.7239e+01 1.7668e-01 8.6347e-03 1.6976e+00 6.57413e-01 0.2500 1.6976e+00 3\n", - " 4 1.4534e+01 1.7665e-01 6.7432e-03 1.4290e+00 2.43570e-01 1.0000 1.4290e+00 3\n", - " 5 5.1786e-01 1.7669e-01 1.9409e-03 3.2176e-02 3.23582e-01 0.1250 3.2176e-02 3\n", - " 6 4.8399e-01 1.7668e-01 1.7147e-03 2.9017e-02 2.16588e-01 0.2500 2.9017e-02 3\n", - " 7 4.2577e-01 1.7668e-01 1.3218e-03 2.3587e-02 9.20894e-02 1.0000 2.3587e-02 3\n", - " 8 3.1351e-01 1.7668e-01 1.3598e-04 1.3548e-02 1.13612e-01 0.5000 1.3548e-02 2\n", - " 9 2.9148e-01 1.7667e-01 9.3494e-05 1.1387e-02 3.64622e-02 1.0000 1.1387e-02 2\n", - " 10 2.3931e-01 1.7667e-01 1.5841e-05 6.2481e-03 1.12359e-01 0.0625 6.2481e-03 2\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6580e+02 4.9252e-01 2.6178e+01 3.5332e-01 1.36352e+00 1.0000 ---- 3\n", - " 2 8.0920e+01 1.7904e-01 3.6022e+00 4.4719e+00 5.03356e-01 1.0000 4.4719e+00 3\n", - " 3 1.6255e+01 1.7894e-01 8.4517e-03 1.5991e+00 6.18596e-01 0.2500 1.5991e+00 3\n", - " 4 1.3391e+01 1.7892e-01 6.4648e-03 1.3147e+00 2.25844e-01 1.0000 1.3147e+00 3\n", - " 5 7.7387e-01 1.7895e-01 1.4145e-03 5.8078e-02 3.34117e-01 0.2500 5.8078e-02 3\n", - " 6 7.2955e-01 1.7894e-01 1.1006e-03 5.3961e-02 1.12698e-01 1.0000 5.3961e-02 3\n", - " 7 6.1637e-01 1.7894e-01 1.1207e-04 4.3631e-02 1.51787e-01 0.2500 4.3631e-02 3\n", - " 8 5.7675e-01 1.7893e-01 9.3471e-05 3.9688e-02 6.35082e-02 1.0000 3.9688e-02 3\n", - " 9 2.9156e-01 1.7893e-01 3.5120e-05 1.1227e-02 8.52977e-02 0.2500 1.1227e-02 2\n", - " 10 2.7271e-01 1.7893e-01 2.7653e-05 9.3498e-03 3.33942e-02 1.0000 9.3498e-03 2\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6530e+02 4.9466e-01 2.6165e+01 3.1556e-01 1.34203e+00 1.0000 ---- 3\n", - " 2 7.0549e+01 1.8129e-01 3.0852e+00 3.9516e+00 4.98551e-01 1.0000 3.9516e+00 3\n", - " 3 1.7650e+01 1.8116e-01 9.1518e-03 1.7378e+00 5.76304e-01 0.2500 1.7378e+00 3\n", - " 4 1.4835e+01 1.8114e-01 7.0177e-03 1.4584e+00 2.37453e-01 1.0000 1.4584e+00 3\n", - " 5 1.1760e+00 1.8117e-01 1.6744e-03 9.7810e-02 3.41492e-01 0.1250 9.7810e-02 3\n", - " 6 1.0829e+00 1.8116e-01 1.4719e-03 8.8699e-02 2.22497e-01 0.2500 8.8699e-02 3\n", - " 7 9.5237e-01 1.8116e-01 1.1168e-03 7.6004e-02 8.53798e-02 1.0000 7.6004e-02 3\n", - " 8 4.7522e-01 1.8116e-01 7.0029e-05 2.9336e-02 1.16570e-01 0.2500 2.9336e-02 3\n", - " 9 4.2038e-01 1.8116e-01 5.5099e-05 2.3867e-02 5.05695e-02 1.0000 2.3867e-02 3\n", - " 10 3.6378e-01 1.8116e-01 2.0093e-05 1.8242e-02 6.82186e-02 0.2500 1.8242e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6617e+02 4.9687e-01 2.6225e+01 3.4220e-01 1.33079e+00 1.0000 ---- 3\n", - " 2 6.7195e+01 1.8357e-01 3.1029e+00 3.5982e+00 4.48825e-01 1.0000 4.1206e+00 3\n", - " 3 1.5155e+01 1.8342e-01 7.5466e-03 1.4896e+00 5.10988e-01 0.2500 1.4896e+00 3\n", - " 4 1.2359e+01 1.8340e-01 5.7569e-03 1.2118e+00 2.00842e-01 1.0000 1.2118e+00 3\n", - " 5 7.7530e-01 1.8342e-01 1.2149e-03 5.7973e-02 2.73103e-01 0.2500 5.7973e-02 3\n", - " 6 7.7242e-01 1.8341e-01 9.2902e-04 5.7971e-02 1.01819e-01 0.5000 5.7971e-02 3\n", - " 7 5.6912e-01 1.8341e-01 4.7606e-04 3.8095e-02 4.79345e-02 0.5000 3.8095e-02 3\n", - " 8 5.1967e-01 1.8341e-01 2.3808e-04 3.3388e-02 4.70290e-02 0.2500 3.3388e-02 3\n", - " 9 4.9225e-01 1.8341e-01 1.7987e-04 3.0704e-02 2.25217e-02 1.0000 3.0704e-02 3\n", - " 10 4.0480e-01 1.8341e-01 8.8674e-06 2.2130e-02 3.57207e-02 0.5000 2.2130e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6628e+02 4.9922e-01 2.6177e+01 4.0041e-01 1.32235e+00 1.0000 ---- 3\n", - " 2 6.9941e+01 1.8604e-01 3.2565e+00 3.7189e+00 4.82647e-01 1.0000 4.8651e+00 3\n", - " 3 1.9063e+01 1.8584e-01 7.6689e-03 1.8800e+00 5.68607e-01 0.5000 1.8800e+00 3\n", - " 4 1.6304e+01 1.8581e-01 4.4288e-03 1.6074e+00 2.72899e-01 1.0000 1.6074e+00 3\n", - " 5 1.2404e+01 1.8584e-01 8.5400e-04 1.2210e+00 5.90011e-01 0.1250 1.2210e+00 3\n", - " 6 1.1527e+01 1.8582e-01 7.6174e-04 1.1333e+00 3.53292e-01 0.2500 1.1333e+00 3\n", - " 7 9.3970e+00 1.8581e-01 5.9657e-04 9.2052e-01 1.07335e-01 1.0000 9.2052e-01 3\n", - " 8 6.7905e-01 1.8584e-01 9.3343e-05 4.9227e-02 1.81957e-01 0.2500 4.9227e-02 3\n", - " 9 5.5667e-01 1.8584e-01 7.0664e-05 3.7013e-02 4.58349e-02 1.0000 3.7013e-02 3\n", - " 10 4.6196e-01 1.8584e-01 2.3204e-05 2.7589e-02 7.24190e-02 0.5000 2.7589e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6468e+02 5.0144e-01 2.6039e+01 3.7842e-01 1.34070e+00 1.0000 ---- 3\n", - " 2 7.0148e+01 1.8825e-01 3.4969e+00 3.4990e+00 4.62759e-01 1.0000 5.6016e+00 3\n", - " 3 1.9297e+01 1.8801e-01 8.1097e-03 1.9028e+00 6.32650e-01 0.2500 1.9028e+00 3\n", - " 4 1.7006e+01 1.8798e-01 6.3115e-03 1.6755e+00 2.43162e-01 1.0000 1.6755e+00 3\n", - " 5 1.3239e+00 1.8802e-01 2.3171e-03 1.1127e-01 2.88487e-01 0.2500 1.1127e-01 3\n", - " 6 1.0915e+00 1.8801e-01 1.7571e-03 8.8594e-02 1.27869e-01 0.5000 8.8594e-02 3\n", - " 7 7.5335e-01 1.8801e-01 8.9068e-04 5.5643e-02 7.32448e-02 0.5000 5.5643e-02 3\n", - " 8 5.4093e-01 1.8801e-01 4.5588e-04 3.4836e-02 7.56391e-02 0.5000 3.4836e-02 3\n", - " 9 4.4303e-01 1.8801e-01 2.4158e-04 2.5261e-02 8.73999e-02 0.2500 2.5261e-02 3\n", - " 10 3.8570e-01 1.8800e-01 1.8276e-04 1.9586e-02 4.12852e-02 0.5000 1.9586e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6804e+02 5.0383e-01 2.6301e+01 4.5211e-01 1.33715e+00 1.0000 ---- 3\n", - " 2 7.3249e+01 1.9056e-01 3.6941e+00 3.6117e+00 4.99191e-01 1.0000 6.3701e+00 3\n", - " 3 2.2275e+01 1.9028e-01 8.9344e-03 2.1995e+00 6.82825e-01 0.2500 2.1995e+00 3\n", - " 4 1.8113e+01 1.9025e-01 6.8740e-03 1.7854e+00 2.48878e-01 1.0000 1.7854e+00 3\n", - " 5 1.6600e+00 1.9028e-01 2.4384e-03 1.4453e-01 3.17581e-01 0.5000 1.4453e-01 3\n", - " 6 1.3321e+00 1.9027e-01 1.2735e-03 1.1291e-01 1.91189e-01 0.2500 1.1291e-01 3\n", - " 7 1.1835e+00 1.9027e-01 9.6609e-04 9.8357e-02 6.81798e-02 0.5000 9.8357e-02 3\n", - " 8 8.1456e-01 1.9027e-01 5.1333e-04 6.1916e-02 5.64011e-02 0.5000 6.1916e-02 3\n", - " 9 6.9387e-01 1.9026e-01 2.7603e-04 5.0085e-02 5.25509e-02 0.5000 5.0085e-02 3\n", - " 10 6.1789e-01 1.9026e-01 1.4995e-04 4.2612e-02 4.55254e-02 0.5000 4.2612e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8082e+02 5.0672e-01 2.7557e+01 4.7452e-01 1.37482e+00 1.0000 ---- 3\n", - " 2 8.1312e+01 1.9381e-01 4.0256e+00 4.0862e+00 5.65516e-01 1.0000 7.1031e+00 3\n", - " 3 2.9756e+01 1.9347e-01 9.6714e-03 2.9466e+00 8.78371e-01 0.2500 2.9466e+00 3\n", - " 4 2.6337e+01 1.9343e-01 7.4430e-03 2.6069e+00 2.96825e-01 1.0000 2.6069e+00 3\n", - " 5 4.4099e+00 1.9349e-01 2.5191e-03 4.1912e-01 4.11087e-01 0.5000 4.1912e-01 3\n", - " 6 4.0446e+00 1.9347e-01 1.3610e-03 3.8376e-01 2.73828e-01 0.2500 3.8376e-01 3\n", - " 7 3.6321e+00 1.9346e-01 1.0379e-03 3.4282e-01 8.30717e-02 1.0000 3.4282e-01 3\n", - " 8 1.0062e+00 1.9347e-01 1.5040e-04 8.1125e-02 1.14413e-01 0.5000 8.1125e-02 3\n", - " 9 6.7196e-01 1.9346e-01 8.4401e-05 4.7765e-02 1.17287e-01 0.2500 4.7765e-02 3\n", - " 10 5.7535e-01 1.9346e-01 6.8740e-05 3.8120e-02 5.33492e-02 0.2500 3.8120e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9420e+02 5.1045e-01 2.8827e+01 5.4177e-01 1.38663e+00 1.0000 ---- 3\n", - " 2 8.9126e+01 1.9786e-01 4.6464e+00 4.2463e+00 5.70728e-01 1.0000 7.9216e+00 3\n", - " 3 2.7140e+01 1.9746e-01 1.0383e-02 2.6839e+00 8.93894e-01 0.2500 2.6839e+00 3\n", - " 4 2.4465e+01 1.9741e-01 7.9750e-03 2.4188e+00 3.09579e-01 1.0000 2.4188e+00 3\n", - " 5 7.6254e+00 1.9747e-01 3.2222e-03 7.3957e-01 3.88430e-01 0.5000 7.3957e-01 3\n", - " 6 2.9364e+00 1.9745e-01 1.7053e-03 2.7219e-01 2.63806e-01 0.2500 2.7219e-01 3\n", - " 7 2.3950e+00 1.9744e-01 1.2909e-03 2.1847e-01 1.04963e-01 1.0000 2.1847e-01 3\n", - " 8 9.8648e-01 1.9744e-01 2.1672e-04 7.8687e-02 1.17357e-01 0.2500 7.8687e-02 3\n", - " 9 8.6280e-01 1.9744e-01 1.6359e-04 6.6372e-02 7.48222e-02 0.5000 6.6372e-02 3\n", - " 10 5.9314e-01 1.9744e-01 9.8895e-05 3.9472e-02 7.22519e-02 0.2500 3.9472e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0617e+02 5.1429e-01 3.0044e+01 5.2101e-01 1.42923e+00 1.0000 ---- 3\n", - " 2 9.6384e+01 2.0219e-01 5.2300e+00 4.3882e+00 6.15542e-01 1.0000 8.7026e+00 3\n", - " 3 3.3280e+01 2.0173e-01 1.2634e-02 3.2952e+00 1.06893e+00 0.1250 3.2952e+00 3\n", - " 4 3.0146e+01 2.0169e-01 1.1140e-02 2.9832e+00 6.80398e-01 0.5000 2.9832e+00 3\n", - " 5 2.8553e+01 2.0167e-01 6.3895e-03 2.8287e+00 5.45367e-01 0.2500 2.8287e+00 3\n", - " 6 2.4126e+01 2.0166e-01 4.7968e-03 2.3877e+00 1.99814e-01 1.0000 2.3877e+00 3\n", - " 7 1.2512e+01 2.0175e-01 1.3845e-03 1.2296e+00 3.14058e-01 0.5000 1.2296e+00 3\n", - " 8 7.5943e+00 2.0172e-01 7.7210e-04 7.3848e-01 2.88289e-01 0.2500 7.3848e-01 3\n", - " 9 6.5497e+00 2.0170e-01 5.9811e-04 6.3420e-01 1.39009e-01 1.0000 6.3420e-01 3\n", - " 10 2.3985e+00 2.0172e-01 2.6359e-04 2.1941e-01 1.39574e-01 0.5000 2.1941e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.1776e+02 5.1854e-01 3.1189e+01 5.3487e-01 1.46107e+00 1.0000 ---- 3\n", - " 2 1.0518e+02 2.0684e-01 5.8514e+00 4.6456e+00 7.17883e-01 1.0000 9.5562e+00 3\n", - " 3 8.2413e+01 2.0626e-01 1.4520e-02 8.2061e+00 1.26939e+00 0.2500 8.2061e+00 3\n", - " 4 7.0815e+01 2.0613e-01 1.1124e-02 7.0498e+00 5.46444e-01 1.0000 7.0498e+00 3\n", - " 5 5.2187e+01 2.0636e-01 5.1180e-03 5.1930e+00 8.80906e-01 0.2500 5.1930e+00 3\n", - " 6 4.5555e+01 2.0623e-01 3.9166e-03 4.5309e+00 4.55977e-01 0.5000 4.5309e+00 3\n", - " 7 3.9203e+01 2.0621e-01 2.0551e-03 3.8977e+00 3.47908e-01 0.5000 3.8977e+00 3\n", - " 8 2.8300e+01 2.0623e-01 1.2661e-03 2.8081e+00 3.42353e-01 0.5000 2.8081e+00 3\n", - " 9 2.7039e+01 2.0623e-01 6.2701e-04 2.6826e+00 3.85644e-01 0.2500 2.6826e+00 3\n", - " 10 2.2501e+01 2.0621e-01 5.3807e-04 2.2289e+00 2.57578e-01 1.0000 2.2289e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.3510e+02 5.2353e-01 3.2455e+01 1.0024e+00 1.61421e+00 1.0000 ---- 3\n", - " 2 1.7316e+02 2.1249e-01 6.1465e+00 1.1149e+01 1.12679e+00 0.5000 1.1149e+01 3\n", - " 3 1.2504e+02 2.1182e-01 3.0756e+00 9.4071e+00 6.73685e-01 1.0000 9.4071e+00 3\n", - " 4 1.0019e+02 2.1190e-01 8.3664e-03 9.9899e+00 1.28865e+00 0.2500 9.9899e+00 3\n", - " 5 8.2982e+01 2.1172e-01 6.6656e-03 8.2703e+00 5.11536e-01 1.0000 8.2703e+00 3\n", - " 6 3.4821e+01 2.1193e-01 2.7955e-03 3.4581e+00 9.25313e-01 0.1250 3.4581e+00 3\n", - " 7 3.1981e+01 2.1185e-01 2.4111e-03 3.1745e+00 5.80712e-01 0.2500 3.1745e+00 3\n", - " 8 2.7898e+01 2.1178e-01 1.8200e-03 2.7668e+00 2.23498e-01 1.0000 2.7668e+00 3\n", - " 9 4.7177e+00 2.1189e-01 8.6955e-04 4.4971e-01 2.92447e-01 0.5000 4.4971e-01 3\n", - " 10 3.8156e+00 2.1186e-01 4.7549e-04 3.5990e-01 3.87772e-01 0.1250 3.5990e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.4322e+02 5.2938e-01 3.3781e+01 4.8763e-01 1.52337e+00 1.0000 ---- 3\n", - " 2 1.1200e+02 2.1920e-01 6.8350e+00 4.3434e+00 8.72525e-01 0.5000 1.1421e+01 3\n", - " 3 8.3604e+01 2.1855e-01 3.4172e+00 4.9214e+00 6.58582e-01 0.5000 5.7108e+00 3\n", - " 4 7.1047e+01 2.1837e-01 1.7091e+00 5.3738e+00 6.18702e-01 0.2500 5.3738e+00 3\n", - " 5 5.8462e+01 2.1832e-01 1.2819e+00 4.5424e+00 2.87940e-01 1.0000 4.5424e+00 3\n", - " 6 1.8042e+01 2.1849e-01 1.2882e-03 1.7810e+00 5.44836e-01 0.2500 1.7810e+00 3\n", - " 7 1.7609e+01 2.1842e-01 9.9625e-04 1.7380e+00 3.20005e-01 1.0000 1.7380e+00 3\n", - " 8 1.6546e+01 2.1842e-01 1.9839e-03 1.6308e+00 5.73233e-01 0.1250 1.6308e+00 3\n", - " 9 1.6100e+01 2.1838e-01 1.7467e-03 1.5864e+00 2.82493e-01 0.5000 1.5864e+00 3\n", - " 10 1.2496e+01 2.1837e-01 8.9181e-04 1.2269e+00 3.27119e-01 0.2500 1.2269e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.6059e+02 5.3400e-01 3.5122e+01 8.8310e-01 1.53368e+00 1.0000 ---- 3\n", - " 2 1.2904e+02 2.2390e-01 7.5524e+00 5.3293e+00 7.83382e-01 1.0000 1.2412e+01 3\n", - " 3 1.1940e+02 2.2293e-01 2.1077e-02 1.1897e+01 1.19639e+00 0.5000 1.1897e+01 3\n", - " 4 1.0515e+02 2.2275e-01 1.0452e-02 1.0482e+01 8.29970e-01 0.5000 1.0482e+01 3\n", - " 5 7.1809e+01 2.2284e-01 5.0908e-03 7.1535e+00 6.86369e-01 0.5000 7.1535e+00 3\n", - " 6 6.3875e+01 2.2286e-01 2.7847e-03 6.3624e+00 7.60165e-01 0.2500 6.3624e+00 3\n", - " 7 5.4440e+01 2.2283e-01 2.0917e-03 5.4197e+00 3.10915e-01 1.0000 5.4197e+00 3\n", - " 8 1.2275e+01 2.2310e-01 6.0893e-04 1.2045e+00 5.51126e-01 0.1250 1.2045e+00 3\n", - " 9 1.1848e+01 2.2306e-01 5.3176e-04 1.1620e+00 3.22298e-01 0.2500 1.1620e+00 3\n", - " 10 1.1310e+01 2.2303e-01 4.2358e-04 1.1083e+00 2.42543e-01 0.2500 1.1083e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.6685e+02 5.3940e-01 3.5360e+01 1.2709e+00 1.60247e+00 1.0000 ---- 3\n", - " 2 1.3758e+02 2.2951e-01 7.2907e+00 6.4442e+00 8.12466e-01 1.0000 1.3551e+01 3\n", - " 3 1.1564e+02 2.2833e-01 2.6039e-02 1.1515e+01 1.05459e+00 0.5000 1.1515e+01 3\n", - " 4 6.7814e+01 2.2823e-01 1.3063e-02 6.7455e+00 6.95514e-01 0.5000 6.7455e+00 3\n", - " 5 4.7629e+01 2.2826e-01 6.2128e-03 4.7338e+00 6.20661e-01 0.5000 4.7338e+00 3\n", - " 6 4.0744e+01 2.2826e-01 3.1625e-03 4.0484e+00 6.01342e-01 0.2500 4.0484e+00 3\n", - " 7 3.3577e+01 2.2824e-01 2.4014e-03 3.3324e+00 2.80059e-01 1.0000 3.3324e+00 3\n", - " 8 1.2310e+01 2.2839e-01 1.0847e-03 1.2071e+00 2.81879e-01 0.5000 1.2071e+00 3\n", - " 9 8.4101e+00 2.2836e-01 5.6656e-04 8.1761e-01 3.01730e-01 0.2500 8.1761e-01 3\n", - " 10 8.0714e+00 2.2834e-01 4.3280e-04 7.8387e-01 1.07436e-01 1.0000 7.8387e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.7327e+02 5.4659e-01 3.6546e+01 7.2549e-01 1.58480e+00 1.0000 ---- 3\n", - " 2 1.3214e+02 2.3819e-01 8.2752e+00 4.9155e+00 8.82199e-01 1.0000 1.4865e+01 3\n", - " 3 1.2241e+02 2.3691e-01 2.3925e-02 1.2193e+01 1.33870e+00 0.2500 1.2193e+01 3\n", - " 4 9.8481e+01 2.3676e-01 1.7745e-02 9.8066e+00 6.51823e-01 1.0000 9.8066e+00 3\n", - " 5 5.3959e+01 2.3706e-01 2.5053e-03 5.3697e+00 1.21869e+00 0.1250 5.3697e+00 3\n", - " 6 5.1043e+01 2.3696e-01 2.2061e-03 5.0784e+00 7.79073e-01 0.2500 5.0784e+00 3\n", - " 7 4.6325e+01 2.3688e-01 1.7781e-03 4.6070e+00 3.16822e-01 1.0000 4.6070e+00 3\n", - " 8 1.4382e+01 2.3701e-01 6.8943e-04 1.4138e+00 5.33620e-01 0.1250 1.4138e+00 3\n", - " 9 1.2708e+01 2.3698e-01 6.3770e-04 1.2465e+00 3.36713e-01 0.5000 1.2465e+00 3\n", - " 10 1.2074e+01 2.3694e-01 6.6535e-04 1.1830e+00 2.47407e-01 0.5000 1.1830e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8563e+02 5.5479e-01 3.7006e+01 1.5017e+00 1.72194e+00 1.0000 ---- 3\n", - " 2 1.8402e+02 2.4753e-01 8.5358e+00 9.8417e+00 1.13952e+00 0.5000 1.6285e+01 3\n", - " 3 1.4413e+02 2.4626e-01 4.2737e+00 1.0114e+01 6.80827e-01 1.0000 1.0114e+01 3\n", - " 4 1.1096e+02 2.4611e-01 1.1199e-02 1.1060e+01 1.45520e+00 0.2500 1.1060e+01 3\n", - " 5 1.0168e+02 2.4587e-01 8.5792e-03 1.0134e+01 5.66256e-01 1.0000 1.0134e+01 3\n", - " 6 9.8156e+01 2.4610e-01 1.8540e-03 9.7891e+00 1.21643e+00 0.2500 9.7891e+00 3\n", - " 7 8.7558e+01 2.4590e-01 1.5211e-03 8.7297e+00 5.00323e-01 0.5000 8.7297e+00 3\n", - " 8 6.1075e+01 2.4593e-01 1.0452e-03 6.0819e+00 4.14254e-01 0.5000 6.0819e+00 3\n", - " 9 4.1564e+01 2.4597e-01 6.3215e-04 4.1312e+00 3.52561e-01 0.5000 4.1312e+00 3\n", - " 10 3.7118e+01 2.4598e-01 7.4981e-04 3.6865e+00 3.53362e-01 0.5000 3.6865e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8760e+02 5.6117e-01 3.6646e+01 2.0574e+00 1.67626e+00 1.0000 ---- 3\n", - " 2 2.0879e+02 2.5387e-01 8.8735e+00 1.1980e+01 1.17510e+00 0.5000 1.8082e+01 3\n", - " 3 1.5319e+02 2.5238e-01 4.4402e+00 1.0854e+01 7.87169e-01 1.0000 1.0854e+01 3\n", - " 4 1.4640e+02 2.5221e-01 1.1697e-02 1.4603e+01 1.42361e+00 0.2500 1.4603e+01 3\n", - " 5 1.1874e+02 2.5199e-01 8.8296e-03 1.1840e+01 6.43393e-01 0.5000 1.1840e+01 3\n", - " 6 8.8981e+01 2.5194e-01 5.0284e-03 8.8679e+00 5.76911e-01 0.5000 8.8679e+00 3\n", - " 7 5.6432e+01 2.5203e-01 2.8686e-03 5.6152e+00 4.14569e-01 0.5000 5.6152e+00 3\n", - " 8 4.7261e+01 2.5204e-01 1.5806e-03 4.6994e+00 4.03242e-01 0.5000 4.6994e+00 3\n", - " 9 4.5667e+01 2.5204e-01 9.3093e-04 4.5406e+00 3.98394e-01 0.5000 4.5406e+00 3\n", - " 10 4.5104e+01 2.5204e-01 6.9228e-04 4.4845e+00 4.11869e-01 0.2500 4.4845e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9967e+02 5.6918e-01 3.7190e+01 2.7197e+00 1.74843e+00 1.0000 ---- 3\n", - " 2 1.7694e+02 2.6258e-01 9.6065e+00 8.0608e+00 9.62454e-01 1.0000 2.0023e+01 3\n", - " 3 1.3308e+02 2.6040e-01 3.9586e-02 1.3242e+01 1.40219e+00 0.5000 1.3242e+01 3\n", - " 4 1.1622e+02 2.6015e-01 1.7185e-02 1.1579e+01 7.80919e-01 1.0000 1.1579e+01 3\n", - " 5 9.6393e+01 2.6049e-01 3.2258e-03 9.6100e+00 1.68632e+00 0.2500 9.6100e+00 3\n", - " 6 8.9673e+01 2.6025e-01 2.9484e-03 8.9383e+00 5.75139e-01 1.0000 8.9383e+00 3\n", - " 7 7.6372e+01 2.6047e-01 2.7159e-03 7.6084e+00 1.25723e+00 0.2500 7.6084e+00 3\n", - " 8 7.1453e+01 2.6028e-01 2.3564e-03 7.1169e+00 4.64034e-01 0.5000 7.1169e+00 3\n", - " 9 4.9932e+01 2.6030e-01 1.4387e-03 4.9658e+00 3.96517e-01 0.5000 4.9658e+00 3\n", - " 10 3.4042e+01 2.6033e-01 8.5498e-04 3.3773e+00 3.24811e-01 0.5000 3.3773e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0428e+02 5.8014e-01 3.6893e+01 3.4773e+00 1.76683e+00 1.0000 ---- 3\n", - " 2 2.3382e+02 2.7592e-01 9.6424e+00 1.3712e+01 1.39022e+00 0.5000 2.2696e+01 3\n", - " 3 1.8705e+02 2.7366e-01 4.8242e+00 1.3854e+01 9.75711e-01 1.0000 1.3854e+01 3\n", - " 4 1.6392e+02 2.7344e-01 1.8804e-02 1.6346e+01 1.48743e+00 0.5000 1.6346e+01 3\n", - " 5 1.3333e+02 2.7302e-01 1.1392e-02 1.3295e+01 1.01615e+00 0.5000 1.3295e+01 3\n", - " 6 7.8663e+01 2.7313e-01 7.1157e-03 7.8318e+00 7.42685e-01 0.5000 7.8318e+00 3\n", - " 7 7.1857e+01 2.7309e-01 3.5422e-03 7.1549e+00 7.30994e-01 0.2500 7.1549e+00 3\n", - " 8 5.7782e+01 2.7307e-01 2.6707e-03 5.7482e+00 5.64450e-01 1.0000 5.7482e+00 25\n", - " 9 4.2371e+01 2.7341e-01 7.3305e-03 4.2025e+00 9.74248e-01 0.5000 4.2025e+00 25\n", - " 10 1.5296e+01 2.7315e-01 5.7590e-03 1.4965e+00 1.47002e+00 0.2500 1.4965e+00 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0225e+02 5.8940e-01 3.8353e+01 1.8137e+00 1.87665e+00 1.0000 ---- 3\n", - " 2 1.8846e+02 2.8613e-01 9.9254e+00 8.8920e+00 1.15656e+00 1.0000 2.5783e+01 3\n", - " 3 1.4326e+02 2.8266e-01 8.1265e-02 1.4217e+01 1.75596e+00 0.2500 1.4217e+01 3\n", - " 4 1.1555e+02 2.8249e-01 6.1168e-02 1.1465e+01 9.21870e-01 0.5000 1.1465e+01 3\n", - " 5 6.3881e+01 2.8256e-01 3.1295e-02 6.3286e+00 4.87472e-01 0.5000 6.3286e+00 3\n", - " 6 3.8209e+01 2.8261e-01 1.5894e-02 3.7767e+00 4.21729e-01 0.5000 3.7767e+00 3\n", - " 7 3.3089e+01 2.8260e-01 7.9697e-03 3.2727e+00 3.88666e-01 0.5000 3.2727e+00 3\n", - " 8 3.1404e+01 2.8260e-01 4.2772e-03 3.1079e+00 3.87652e-01 0.5000 3.1079e+00 3\n", - " 9 3.0947e+01 2.8259e-01 2.4676e-03 3.0640e+00 4.03863e-01 0.2500 3.0640e+00 3\n", - " 10 2.5529e+01 2.8258e-01 1.9388e-03 2.5227e+00 1.69918e-01 1.0000 2.5227e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9436e+02 5.9852e-01 3.8457e+01 9.1873e-01 1.73780e+00 1.0000 ---- 3\n", - " 2 2.1074e+02 2.9463e-01 1.0328e+01 1.0717e+01 1.35677e+00 0.5000 2.9822e+01 3\n", - " 3 1.5216e+02 2.9109e-01 5.1641e+00 1.0023e+01 8.19975e-01 0.5000 1.4920e+01 3\n", - " 4 1.0659e+02 2.9020e-01 2.5810e+00 8.0488e+00 6.71925e-01 0.5000 8.0488e+00 3\n", - " 5 8.0235e+01 2.9000e-01 1.2904e+00 6.7040e+00 6.39245e-01 0.5000 6.7040e+00 3\n", - " 6 7.0686e+01 2.8994e-01 6.4529e-01 6.3943e+00 6.34796e-01 0.5000 6.3943e+00 3\n", - " 7 6.7951e+01 2.8993e-01 3.2263e-01 6.4435e+00 6.36119e-01 0.5000 6.4435e+00 3\n", - " 8 6.7347e+01 2.8992e-01 1.6134e-01 6.5444e+00 6.34072e-01 0.2500 6.5444e+00 3\n", - " 9 5.3915e+01 2.8991e-01 1.2101e-01 5.2415e+00 3.60378e-01 1.0000 5.2415e+00 3\n", - " 10 1.9361e+01 2.9017e-01 2.4094e-03 1.9047e+00 3.00154e-01 1.0000 1.9047e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9736e+02 6.1394e-01 3.8907e+01 7.6764e-01 2.02564e+00 1.0000 ---- 3\n", - " 2 2.7391e+02 3.1428e-01 1.0464e+01 1.6896e+01 1.82432e+00 0.5000 3.5552e+01 3\n", - " 3 2.5090e+02 3.0922e-01 5.2269e+00 1.9832e+01 1.30178e+00 0.5000 1.9832e+01 3\n", - " 4 1.8859e+02 3.0803e-01 2.6126e+00 1.6216e+01 9.15999e-01 0.5000 1.6216e+01 3\n", - " 5 1.2251e+02 3.0780e-01 1.3066e+00 1.0913e+01 7.65851e-01 0.5000 1.0913e+01 3\n", - " 6 9.2894e+01 3.0776e-01 6.5338e-01 8.6052e+00 7.72649e-01 0.2500 8.6052e+00 3\n", - " 7 7.5716e+01 3.0771e-01 4.8998e-01 7.0508e+00 4.05518e-01 1.0000 7.0508e+00 3\n", - " 8 2.5461e+01 3.0806e-01 3.8023e-03 2.5115e+00 6.30005e-01 0.2500 2.5115e+00 3\n", - " 9 2.2771e+01 3.0797e-01 3.0959e-03 2.2432e+00 2.47119e-01 0.5000 2.2432e+00 3\n", - " 10 1.2505e+01 3.0795e-01 1.4836e-03 1.2182e+00 3.28522e-01 0.1250 1.2182e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8670e+02 6.2939e-01 3.7680e+01 9.2683e-01 1.92168e+00 1.0000 ---- 3\n", - " 2 2.2305e+02 3.3438e-01 1.0751e+01 1.1521e+01 1.39805e+00 0.5000 4.3066e+01 3\n", - " 3 1.6250e+02 3.2719e-01 5.3781e+00 1.0839e+01 8.56767e-01 0.5000 2.1554e+01 3\n", - " 4 1.1416e+02 3.2541e-01 2.6842e+00 8.6989e+00 6.29547e-01 0.5000 1.0782e+01 3\n", - " 5 8.7006e+01 3.2498e-01 1.3415e+00 7.3266e+00 5.93164e-01 0.5000 7.3266e+00 3\n", - " 6 7.2395e+01 3.2487e-01 6.7078e-01 6.5362e+00 5.96165e-01 0.5000 6.5362e+00 3\n", - " 7 6.8142e+01 3.2484e-01 3.3538e-01 6.4464e+00 6.20889e-01 0.2500 6.4464e+00 3\n", - " 8 5.4520e+01 3.2481e-01 2.5157e-01 5.1679e+00 3.38378e-01 1.0000 5.1679e+00 3\n", - " 9 1.9419e+01 3.2510e-01 3.8525e-03 1.9055e+00 4.26314e-01 0.5000 1.9055e+00 3\n", - " 10 1.8109e+01 3.2502e-01 2.3330e-03 1.7761e+00 5.09067e-01 0.1250 1.7761e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0088e+02 6.4186e-01 3.9014e+01 1.0091e+00 1.94630e+00 1.0000 ---- 3\n", - " 2 2.0699e+02 3.5067e-01 1.0899e+01 9.7649e+00 1.25369e+00 0.5000 5.3807e+01 3\n", - " 3 1.5027e+02 3.3970e-01 5.4591e+00 9.5341e+00 8.16829e-01 0.5000 2.6936e+01 3\n", - " 4 1.0010e+02 3.3696e-01 2.7219e+00 7.2540e+00 6.35050e-01 0.5000 1.3477e+01 3\n", - " 5 7.8833e+01 3.3629e-01 1.3611e+00 6.4886e+00 6.31258e-01 0.5000 6.7404e+00 3\n", - " 6 7.1829e+01 3.3609e-01 6.8069e-01 6.4686e+00 6.71992e-01 0.2500 6.4686e+00 3\n", - " 7 6.0493e+01 3.3603e-01 5.1056e-01 5.5051e+00 3.18130e-01 1.0000 5.5051e+00 3\n", - " 8 2.1284e+01 3.3626e-01 2.9326e-03 2.0919e+00 5.35335e-01 0.1250 2.0919e+00 3\n", - " 9 1.8306e+01 3.3621e-01 2.6121e-03 1.7944e+00 2.32291e-01 1.0000 1.7944e+00 3\n", - " 10 8.6686e+00 3.3619e-01 9.4656e-04 8.3229e-01 5.05900e-01 0.1250 8.3229e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8878e+02 6.5855e-01 3.8019e+01 7.9391e-01 1.90246e+00 1.0000 ---- 3\n", - " 2 2.2266e+02 3.7461e-01 1.1400e+01 1.0829e+01 1.39291e+00 0.5000 7.0025e+01 3\n", - " 3 1.6266e+02 3.5617e-01 5.7096e+00 1.0521e+01 8.79031e-01 0.5000 3.5061e+01 3\n", - " 4 1.0628e+02 3.5153e-01 2.8464e+00 7.7462e+00 6.42411e-01 0.5000 1.7544e+01 3\n", - " 5 7.1934e+01 3.5043e-01 1.4233e+00 5.7351e+00 6.21178e-01 0.5000 8.7743e+00 3\n", - " 6 6.7653e+01 3.5012e-01 7.1178e-01 6.0186e+00 6.09251e-01 0.2500 6.0186e+00 3\n", - " 7 5.5230e+01 3.5006e-01 5.3387e-01 4.9542e+00 3.18446e-01 1.0000 4.9542e+00 3\n", - " 8 1.4905e+01 3.5027e-01 2.8749e-03 1.4526e+00 4.68726e-01 0.2500 1.4526e+00 3\n", - " 9 1.2867e+01 3.5021e-01 2.3072e-03 1.2494e+00 2.13608e-01 0.5000 1.2494e+00 3\n", - " 10 1.0870e+01 3.5018e-01 1.0984e-03 1.0509e+00 3.21562e-01 0.1250 1.0509e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0181e+02 6.8457e-01 3.9530e+01 5.8291e-01 2.03752e+00 1.0000 ---- 3\n", - " 2 2.3793e+02 4.2586e-01 1.1780e+01 1.1971e+01 1.41747e+00 0.5000 9.6639e+01 3\n", - " 3 1.9691e+02 3.9082e-01 5.9139e+00 1.3738e+01 9.93200e-01 1.0000 4.8389e+01 3\n", - " 4 1.8691e+02 3.7934e-01 6.9947e-02 1.8583e+01 1.53975e+00 0.5000 1.8583e+01 3\n", - " 5 1.6304e+02 3.7900e-01 3.3927e-02 1.6233e+01 1.06668e+00 1.0000 1.6233e+01 3\n", - " 6 1.2933e+02 3.7946e-01 1.5590e-02 1.2879e+01 2.23215e+00 0.1250 1.2879e+01 3\n", - " 7 1.1611e+02 3.7926e-01 1.4257e-02 1.1558e+01 1.48874e+00 0.2500 1.1558e+01 3\n", - " 8 1.0652e+02 3.7908e-01 1.2455e-02 1.0602e+01 5.85400e-01 1.0000 1.0602e+01 3\n", - " 9 7.9726e+01 3.7933e-01 6.5453e-03 7.9281e+00 1.10832e+00 0.2500 7.9281e+00 3\n", - " 10 6.6237e+01 3.7917e-01 4.8566e-03 6.5809e+00 4.76944e-01 0.5000 6.5809e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1662e+02 7.1521e-01 4.0592e+01 9.9930e-01 2.20485e+00 1.0000 ---- 3\n", - " 2 3.0092e+02 5.1168e-01 1.3290e+01 1.6751e+01 1.63414e+00 0.5000 1.4065e+02 3\n", - " 3 2.3499e+02 4.3738e-01 6.6866e+00 1.6769e+01 1.06569e+00 1.0000 7.0365e+01 3\n", - " 4 2.0776e+02 4.1286e-01 8.1827e-02 2.0653e+01 1.74203e+00 0.2500 2.0653e+01 3\n", - " 5 1.7000e+02 4.1259e-01 6.1840e-02 1.6897e+01 7.76254e-01 1.0000 1.6897e+01 3\n", - " 6 1.4454e+02 4.1292e-01 9.7899e-03 1.4403e+01 1.28940e+00 0.2500 1.4403e+01 3\n", - " 7 1.1171e+02 4.1271e-01 7.3351e-03 1.1123e+01 6.53824e-01 0.5000 1.1123e+01 3\n", - " 8 7.3157e+01 4.1272e-01 3.6117e-03 7.2708e+00 6.62076e-01 0.5000 7.2708e+00 3\n", - " 9 5.5268e+01 4.1276e-01 4.0394e-03 5.4815e+00 4.87190e-01 0.5000 5.4815e+00 3\n", - " 10 5.3346e+01 4.1274e-01 2.1755e-03 5.2912e+00 5.01440e-01 0.2500 5.2912e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.5485e+02 7.6014e-01 4.2346e+01 3.0630e+00 2.28585e+00 1.0000 ---- 3\n", - " 2 2.7117e+02 7.1569e-01 1.5066e+01 1.1979e+01 1.46312e+00 0.5000 2.2507e+02 3\n", - " 3 2.1758e+02 5.2334e-01 7.5480e+00 1.4157e+01 9.92495e-01 1.0000 1.1233e+02 3\n", - " 4 1.7860e+02 4.5987e-01 7.1889e-02 1.7743e+01 1.53264e+00 0.2500 1.7743e+01 3\n", - " 5 1.5223e+02 4.5958e-01 5.3747e-02 1.5123e+01 8.04654e-01 0.5000 1.5123e+01 3\n", - " 6 8.9228e+01 4.5961e-01 2.7426e-02 8.8494e+00 5.77896e-01 0.5000 8.8494e+00 3\n", - " 7 6.2880e+01 4.5967e-01 1.3942e-02 6.2281e+00 5.27608e-01 0.5000 6.2281e+00 3\n", - " 8 5.7841e+01 4.5967e-01 6.8917e-03 5.7312e+00 5.35646e-01 0.2500 5.7312e+00 3\n", - " 9 4.6986e+01 4.5965e-01 5.2167e-03 4.6475e+00 2.63144e-01 1.0000 4.6475e+00 3\n", - " 10 1.2109e+01 4.5984e-01 1.7228e-03 1.1632e+00 3.60523e-01 0.2500 1.1632e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.3574e+02 8.3206e-01 4.2584e+01 9.0733e-01 2.51016e+00 1.0000 ---- 3\n", - " 2 3.6477e+02 1.3177e+00 2.1723e+01 1.4622e+01 1.80687e+00 0.5000 3.8729e+02 3\n", - " 3 2.9048e+02 7.4669e-01 1.0814e+01 1.8159e+01 1.22653e+00 1.0000 1.9964e+02 3\n", - " 4 2.3369e+02 5.4009e-01 2.5275e-01 2.3062e+01 2.05560e+00 0.2500 2.3062e+01 3\n", - " 5 1.9850e+02 5.3969e-01 1.8213e-01 1.9614e+01 1.02428e+00 0.5000 1.9614e+01 3\n", - " 6 1.1992e+02 5.3974e-01 7.6608e-02 1.1861e+01 7.19495e-01 0.5000 1.1861e+01 3\n", - " 7 8.3441e+01 5.3983e-01 3.9340e-02 8.2508e+00 7.02007e-01 0.5000 8.2508e+00 3\n", - " 8 8.3290e+01 5.3980e-01 2.0093e-02 8.2549e+00 7.67665e-01 0.2500 8.2549e+00 3\n", - " 9 7.1299e+01 5.3974e-01 1.5114e-02 7.0608e+00 4.54642e-01 1.0000 7.0608e+00 3\n", - " 10 3.4973e+01 5.4000e-01 6.8745e-03 3.4364e+00 5.87504e-01 0.2500 3.4364e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.5235e+02 9.6142e-01 4.2833e+01 2.3062e+00 2.83286e+00 0.5000 ---- 3\n", - " 2 3.3429e+02 8.7457e-01 2.8758e+01 4.5826e+00 1.73804e+00 1.0000 1.6547e+02 3\n", - " 3 2.5916e+02 6.7232e-01 7.7920e+00 1.8056e+01 2.04244e+00 0.5000 2.6331e+01 3\n", - " 4 2.0841e+02 6.7020e-01 4.3054e+00 1.6468e+01 1.25447e+00 1.0000 2.1699e+01 3\n", - " 5 1.4506e+02 6.6850e-01 2.0053e-01 1.4238e+01 2.39095e+00 0.1250 1.4238e+01 3\n", - " 6 1.3192e+02 6.6825e-01 1.7887e-01 1.2946e+01 1.54740e+00 0.2500 1.2946e+01 3\n", - " 7 1.1830e+02 6.6807e-01 1.4108e-01 1.1622e+01 7.19255e-01 0.5000 1.1622e+01 3\n", - " 8 8.5694e+01 6.6805e-01 7.6982e-02 8.4257e+00 7.96374e-01 0.2500 8.4257e+00 3\n", - " 9 7.9644e+01 6.6791e-01 5.7699e-02 7.8399e+00 4.82759e-01 1.0000 7.8399e+00 3\n", - " 10 6.7070e+01 6.6811e-01 6.2177e-03 6.6340e+00 1.10738e+00 0.1250 6.6340e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.6148e+02 1.2029e+00 4.2529e+01 3.4987e+00 3.14550e+00 0.5000 ---- 3\n", - " 2 4.0237e+02 1.2388e+00 3.3098e+01 7.0152e+00 2.28621e+00 0.5000 2.2397e+02 3\n", - " 3 3.0794e+02 1.0361e+00 1.9756e+01 1.0934e+01 1.48025e+00 0.5000 1.5191e+02 3\n", - " 4 2.2111e+02 9.3805e-01 1.0546e+01 1.1471e+01 1.20757e+00 0.5000 9.0640e+01 3\n", - " 5 1.6318e+02 9.0184e-01 5.5351e+00 1.0693e+01 1.05707e+00 0.5000 4.8820e+01 3\n", - " 6 1.3748e+02 8.9065e-01 2.8244e+00 1.0835e+01 9.92211e-01 0.5000 2.5778e+01 3\n", - " 7 1.1914e+02 8.8729e-01 1.4155e+00 1.0410e+01 9.78625e-01 0.5000 1.3225e+01 3\n", - " 8 1.1836e+02 8.8623e-01 7.1200e-01 1.1035e+01 1.01667e+00 0.2500 1.1035e+01 3\n", - " 9 9.7132e+01 8.8600e-01 5.3281e-01 9.0918e+00 4.77887e-01 1.0000 9.0918e+00 3\n", - " 10 3.6307e+01 8.8608e-01 1.0781e-02 3.5313e+00 1.25228e+00 0.1250 3.5313e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.3883e+02 1.6027e+00 4.1650e+01 2.0725e+00 3.39277e+00 0.5000 ---- 3\n", - " 2 4.2043e+02 1.5897e+00 3.5415e+01 6.4689e+00 3.08119e+00 0.2500 2.1478e+02 3\n", - " 3 3.5506e+02 1.5363e+00 2.9688e+01 5.6642e+00 1.29357e+00 1.0000 2.1363e+02 3\n", - " 4 1.9322e+02 1.2127e+00 4.1742e+00 1.5027e+01 1.71145e+00 0.2500 1.5027e+01 3\n", - " 5 1.6932e+02 1.2124e+00 3.1332e+00 1.3678e+01 7.94463e-01 0.5000 1.3678e+01 3\n", - " 6 1.1201e+02 1.2124e+00 1.5700e+00 9.5100e+00 7.39342e-01 0.5000 9.5100e+00 3\n", - " 7 8.4102e+01 1.2125e+00 7.7947e-01 7.5095e+00 8.50383e-01 0.2500 7.5095e+00 3\n", - " 8 7.2008e+01 1.2124e+00 5.8456e-01 6.4951e+00 4.57742e-01 1.0000 6.4951e+00 3\n", - " 9 5.4016e+01 1.2127e+00 5.2405e-03 5.2751e+00 1.44008e+00 0.0625 5.2751e+00 3\n", - " 10 5.1457e+01 1.2126e+00 4.9660e-03 5.0194e+00 1.00150e+00 0.1250 5.0194e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.5852e+02 2.1682e+00 4.8644e+01 6.9908e+00 3.62649e+00 0.5000 ---- 3\n", - " 2 4.6597e+02 1.9885e+00 3.7377e+01 9.0217e+00 3.69396e+00 0.2500 1.6842e+02 3\n", - " 3 4.2283e+02 1.9984e+00 3.2537e+01 9.5456e+00 1.65132e+00 1.0000 2.0779e+02 3\n", - " 4 3.3340e+02 1.6543e+00 4.7120e+00 2.8463e+01 2.83498e+00 0.2500 2.8463e+01 3\n", - " 5 2.9451e+02 1.6550e+00 4.5862e+00 2.4699e+01 1.21118e+00 0.5000 3.3915e+01 3\n", - " 6 1.9104e+02 1.6511e+00 2.3270e+00 1.6612e+01 1.33529e+00 0.5000 1.8527e+01 3\n", - " 7 1.6900e+02 1.6502e+00 1.4028e+00 1.5332e+01 1.37099e+00 0.2500 1.5332e+01 3\n", - " 8 1.4342e+02 1.6497e+00 1.1922e+00 1.2985e+01 6.29676e-01 1.0000 1.2985e+01 3\n", - " 9 9.6458e+01 1.6498e+00 9.6954e-02 9.3839e+00 1.42719e+00 0.1250 9.3839e+00 3\n", - " 10 8.9256e+01 1.6496e+00 9.5987e-02 8.6647e+00 1.10159e+00 0.1250 8.6647e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.8962e+02 2.9059e+00 5.6411e+01 1.2260e+01 4.01769e+00 0.5000 ---- 3\n", - " 2 6.5189e+02 2.5453e+00 4.1548e+01 2.3387e+01 3.91835e+00 0.2500 1.2854e+02 3\n", - " 3 5.3714e+02 2.5525e+00 3.5222e+01 1.8236e+01 1.83856e+00 1.0000 1.8790e+02 3\n", - " 4 3.4255e+02 2.2443e+00 1.3988e+01 2.0043e+01 3.88587e+00 0.1250 9.4563e+01 3\n", - " 5 3.3582e+02 2.2477e+00 1.4364e+01 1.8994e+01 2.14775e+00 0.2500 1.0593e+02 3\n", - " 6 3.0796e+02 2.2337e+00 1.2037e+01 1.8535e+01 1.10447e+00 0.5000 9.3656e+01 3\n", - " 7 2.5021e+02 2.2025e+00 6.4495e+00 1.8351e+01 1.26506e+00 0.5000 5.2642e+01 3\n", - " 8 2.2352e+02 2.1969e+00 4.5380e+00 1.7594e+01 1.72369e+00 0.2500 3.9626e+01 3\n", - " 9 1.9448e+02 2.1957e+00 4.2595e+00 1.4969e+01 9.84359e-01 0.5000 3.8972e+01 3\n", - " 10 1.1806e+02 2.1910e+00 2.3240e+00 9.2625e+00 1.33270e+00 0.1250 2.3201e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 8.1156e+02 3.7943e+00 6.5743e+01 1.5033e+01 4.33623e+00 0.5000 ---- 3\n", - " 2 7.1984e+02 3.2846e+00 4.6164e+01 2.5492e+01 4.65629e+00 0.2500 1.2664e+02 3\n", - " 3 6.1281e+02 3.2950e+00 3.7854e+01 2.3098e+01 2.24374e+00 1.0000 2.0311e+02 3\n", - " 4 4.9295e+02 3.1135e+00 2.9035e+01 1.9948e+01 5.33557e+00 0.0625 2.1916e+02 3\n", - " 5 4.7509e+02 3.1024e+00 2.8426e+01 1.8773e+01 4.04988e+00 0.1250 2.2076e+02 3\n", - " 6 4.6069e+02 3.1003e+00 2.7478e+01 1.8281e+01 2.15223e+00 0.2500 2.2485e+02 3\n", - " 7 4.0801e+02 3.0109e+00 2.2758e+01 1.7742e+01 1.31989e+00 1.0000 1.8426e+02 25\n", - " 8 2.4399e+02 2.8504e+00 7.5167e+00 1.6597e+01 3.59338e+00 0.1250 5.6464e+01 25\n", - " 9 2.2168e+02 2.8502e+00 7.8512e+00 1.4032e+01 2.37158e+00 0.2500 6.5205e+01 25\n", - " 10 2.0292e+02 2.8438e+00 6.4829e+00 1.3525e+01 1.39920e+00 0.5000 5.5726e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.0096e+03 4.8251e+00 7.6503e+01 2.3971e+01 4.37806e+00 0.5000 ---- 3\n", - " 2 7.5138e+02 4.0476e+00 4.6484e+01 2.8249e+01 3.77195e+00 0.5000 1.1360e+02 3\n", - " 3 6.2810e+02 3.8148e+00 2.7149e+01 3.5280e+01 3.67701e+00 0.2500 9.0075e+01 3\n", - " 4 5.5468e+02 3.8248e+00 2.5804e+01 2.9282e+01 2.42424e+00 0.5000 1.4708e+02 25\n", - " 5 4.0918e+02 3.8257e+00 2.2247e+01 1.8289e+01 3.48438e+00 0.1250 1.8664e+02 25\n", - " 6 3.9406e+02 3.8264e+00 2.1969e+01 1.7054e+01 1.55438e+00 0.5000 1.9608e+02 24\n", - " 7 3.4243e+02 3.6633e+00 1.2557e+01 2.1320e+01 1.51390e+00 0.5000 1.1422e+02 17\n", - " 8 3.0305e+02 3.6562e+00 1.1763e+01 1.8177e+01 2.38360e+00 0.1250 1.1585e+02 11\n", - " 9 2.8765e+02 3.6531e+00 1.1739e+01 1.6661e+01 8.55706e-01 1.0000 1.1872e+02 10\n", - " 10 1.7967e+02 3.5795e+00 4.4887e+00 1.3120e+01 2.78440e+00 0.0625 3.8740e+01 16\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.0444e+03 5.9902e+00 8.4223e+01 1.9621e+01 4.98746e+00 0.5000 ---- 3\n", - " 2 9.3575e+02 5.0093e+00 5.3794e+01 3.9280e+01 3.38444e+00 0.5000 1.1224e+02 22\n", - " 3 5.2985e+02 4.6704e+00 2.7626e+01 2.4892e+01 3.28658e+00 0.2500 5.3927e+01 3\n", - " 4 5.0247e+02 4.6190e+00 2.4169e+01 2.5615e+01 2.20707e+00 0.5000 8.3872e+01 25\n", - " 5 3.5227e+02 4.5476e+00 1.8726e+01 1.6047e+01 3.05126e+00 0.1250 1.0525e+02 25\n", - " 6 3.3694e+02 4.5363e+00 1.7472e+01 1.5769e+01 1.66107e+00 0.2500 1.1101e+02 25\n", - " 7 3.0625e+02 4.4920e+00 1.3748e+01 1.6428e+01 1.10288e+00 0.5000 8.7867e+01 25\n", - " 8 2.3225e+02 4.4377e+00 7.1580e+00 1.5623e+01 1.52116e+00 0.1250 5.2445e+01 25\n", - " 9 2.1993e+02 4.4312e+00 6.4120e+00 1.5138e+01 7.26388e-01 0.2500 4.8340e+01 15\n", - " 10 2.0651e+02 4.4199e+00 4.8306e+00 1.5379e+01 6.40465e-01 0.5000 3.6608e+01 14\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.2080e+03 7.2964e+00 8.7421e+01 3.2654e+01 5.31314e+00 0.5000 ---- 3\n", - " 2 1.1689e+03 6.0783e+00 6.2793e+01 5.3485e+01 4.57057e+00 0.5000 1.0954e+02 3\n", - " 3 8.6246e+02 5.7857e+00 3.5474e+01 5.0193e+01 5.25111e+00 0.2500 1.6468e+02 3\n", - " 4 8.5655e+02 6.1949e+00 4.2287e+01 4.2749e+01 4.18085e+00 0.2500 3.4691e+02 25\n", - " 5 7.1602e+02 6.3059e+00 4.2950e+01 2.8021e+01 2.57648e+00 0.5000 3.9407e+02 25\n", - " 6 6.3340e+02 6.3013e+00 3.8335e+01 2.4375e+01 4.26499e+00 0.1250 4.1032e+02 25\n", - " 7 6.2322e+02 6.3038e+00 3.8698e+01 2.2994e+01 1.84032e+00 0.5000 4.1818e+02 25\n", - " 8 5.1076e+02 5.8180e+00 2.3742e+01 2.6752e+01 3.37933e+00 0.1250 2.9333e+02 15\n", - " 9 4.9369e+02 5.8136e+00 2.3992e+01 2.4796e+01 9.68826e-01 1.0000 2.9707e+02 12\n", - " 10 4.3292e+02 5.3086e+00 1.8044e+00 4.0957e+01 2.11852e+00 0.2500 4.0957e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.6292e+03 8.6983e+00 9.2927e+01 6.9119e+01 6.00932e+00 0.5000 ---- 25\n", - " 2 1.2212e+03 7.3206e+00 6.1789e+01 5.9601e+01 5.99157e+00 0.2500 1.2471e+02 25\n", - " 3 1.0056e+03 7.3435e+00 4.6680e+01 5.3142e+01 3.66284e+00 0.5000 2.7793e+02 20\n", - " 4 8.2539e+02 7.6565e+00 4.6818e+01 3.4956e+01 5.52747e+00 0.1250 4.3838e+02 22\n", - " 5 7.9250e+02 7.7458e+00 4.6577e+01 3.1898e+01 2.52949e+00 0.5000 4.7358e+02 18\n", - " 6 5.9419e+02 7.3006e+00 3.2200e+01 2.6489e+01 4.73578e+00 0.1250 4.0121e+02 19\n", - " 7 5.9054e+02 7.4333e+00 3.3463e+01 2.4848e+01 1.11735e+00 1.0000 4.3892e+02 17\n", - " 8 2.5884e+02 6.2836e+00 2.2146e+00 2.3041e+01 2.43732e+00 0.1250 2.3041e+01 25\n", - " 9 2.4242e+02 6.2821e+00 2.3494e+00 2.1265e+01 1.31783e+00 0.2500 2.1265e+01 13\n", - " 10 2.4135e+02 6.2817e+00 1.8483e+00 2.1659e+01 7.95602e-01 0.5000 2.1659e+01 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.2844e+03 1.0178e+01 9.6916e+01 3.0508e+01 5.89884e+00 0.5000 ---- 25\n", - " 2 1.2278e+03 8.4425e+00 6.7888e+01 5.4048e+01 5.40197e+00 0.5000 1.0143e+02 25\n", - " 3 1.2073e+03 8.5217e+00 5.3843e+01 6.6034e+01 7.09891e+00 0.0625 3.7273e+02 25\n", - " 4 1.1659e+03 8.5411e+00 5.3635e+01 6.2097e+01 4.09090e+00 0.5000 3.9385e+02 25\n", - " 5 1.1496e+03 1.0072e+01 6.5116e+01 4.8841e+01 6.56145e+00 0.1250 6.7832e+02 18\n", - " 6 1.1250e+03 1.0335e+01 6.7636e+01 4.3829e+01 3.16191e+00 0.5000 7.2669e+02 18\n", - " 7 8.8181e+02 1.0439e+01 5.9029e+01 2.8107e+01 7.00838e+00 0.0625 7.4268e+02 20\n", - " 8 8.7927e+02 1.0501e+01 5.9967e+01 2.6910e+01 3.33386e+00 0.2500 7.5645e+02 19\n", - " 9 8.0963e+02 1.0134e+01 5.5095e+01 2.4855e+01 2.80025e+00 0.2500 7.1660e+02 17\n", - " 10 7.5909e+02 9.5303e+00 4.8965e+01 2.5991e+01 2.37197e+00 0.5000 6.3312e+02 15\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.6387e+03 1.3526e+01 1.3210e+02 3.0418e+01 9.01937e+00 0.2500 ---- 25\n", - " 2 1.5866e+03 1.3147e+01 1.1578e+02 4.1567e+01 5.94180e+00 0.5000 6.9769e+02 25\n", - " 3 1.2200e+03 1.2855e+01 7.5965e+01 4.4751e+01 7.49633e+00 0.1250 8.0617e+02 25\n", - " 4 1.1561e+03 1.2871e+01 7.2992e+01 4.1335e+01 3.81905e+00 0.5000 8.3059e+02 25\n", - " 5 9.3606e+02 1.1987e+01 6.0499e+01 3.1909e+01 7.53213e+00 0.0625 7.6611e+02 19\n", - " 6 9.3138e+02 1.2038e+01 6.1687e+01 3.0247e+01 3.73896e+00 0.2500 7.8065e+02 16\n", - " 7 8.6918e+02 1.1407e+01 5.5591e+01 3.0186e+01 3.13650e+00 0.2500 7.1746e+02 19\n", - " 8 7.9273e+02 1.0715e+01 5.1049e+01 2.7152e+01 3.00915e+00 0.2500 6.2843e+02 21\n", - " 9 7.5151e+02 1.0120e+01 4.6049e+01 2.8090e+01 2.59270e+00 0.2500 5.4473e+02 20\n", - " 10 7.0087e+02 9.6202e+00 3.9980e+01 2.9144e+01 2.48230e+00 0.2500 4.5643e+02 16\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.7613e+03 1.4182e+01 1.2095e+02 5.3763e+01 7.20641e+00 0.5000 ---- 25\n", - " 2 1.3677e+03 1.1311e+01 6.2676e+01 7.2965e+01 6.41529e+00 0.2500 2.2965e+02 25\n", - " 3 1.1530e+03 1.0934e+01 5.2704e+01 6.1499e+01 4.36752e+00 0.2500 2.6013e+02 16\n", - " 4 1.0106e+03 1.0651e+01 4.7505e+01 5.2485e+01 3.34472e+00 0.5000 2.6931e+02 15\n", - " 5 7.5458e+02 1.0526e+01 4.2192e+01 3.2214e+01 5.47890e+00 0.0625 3.4329e+02 9\n", - " 6 7.3741e+02 1.0470e+01 4.1236e+01 3.1458e+01 3.81841e+00 0.1250 3.3959e+02 10\n", - " 7 7.1515e+02 1.0380e+01 3.9685e+01 3.0792e+01 1.78097e+00 1.0000 3.2969e+02 9\n", - " 8 6.2830e+02 9.5620e+00 1.0583e+01 5.1290e+01 5.54462e+00 0.0625 6.7413e+01 25\n", - " 9 6.1074e+02 9.5607e+00 1.1562e+01 4.8555e+01 3.10969e+00 0.2500 8.2380e+01 14\n", - " 10 5.6647e+02 9.5941e+00 1.4064e+01 4.1623e+01 2.53337e+00 0.1250 1.1451e+02 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.8421e+03 1.5080e+01 1.0864e+02 7.4063e+01 7.27641e+00 0.5000 ---- 25\n", - " 2 1.2575e+03 1.2373e+01 5.6396e+01 6.8115e+01 5.23217e+00 0.5000 9.0118e+01 25\n", - " 3 1.1483e+03 1.1468e+01 3.8965e+01 7.4719e+01 5.58553e+00 0.2500 1.1970e+02 18\n", - " 4 1.0998e+03 1.1636e+01 4.5335e+01 6.3479e+01 4.87563e+00 0.2500 2.8419e+02 13\n", - " 5 1.0854e+03 1.1836e+01 5.3633e+01 5.3719e+01 3.80011e+00 0.2500 3.8485e+02 11\n", - " 6 9.9777e+02 1.1766e+01 5.2390e+01 4.6211e+01 3.49766e+00 0.2500 3.9269e+02 10\n", - " 7 9.4707e+02 1.1637e+01 4.8575e+01 4.4968e+01 3.12381e+00 0.2500 3.7910e+02 11\n", - " 8 8.7369e+02 1.1468e+01 4.4084e+01 4.2138e+01 2.74469e+00 0.2500 3.5076e+02 10\n", - " 9 7.7782e+02 1.1302e+01 3.7787e+01 3.8865e+01 2.59800e+00 0.2500 3.1471e+02 11\n", - " 10 7.2268e+02 1.1161e+01 3.3201e+01 3.7951e+01 2.51364e+00 0.2500 2.8064e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.8995e+03 1.7074e+01 1.2016e+02 6.8087e+01 8.55539e+00 0.5000 ---- 25\n", - " 2 1.6225e+03 1.4531e+01 7.3270e+01 8.7526e+01 9.02225e+00 0.1250 3.6432e+02 25\n", - " 3 1.4373e+03 1.4357e+01 6.4526e+01 7.7767e+01 5.19124e+00 0.5000 4.0560e+02 22\n", - " 4 1.2617e+03 1.3291e+01 4.6311e+01 7.8528e+01 6.92120e+00 0.1250 3.6942e+02 12\n", - " 5 1.2311e+03 1.3500e+01 5.1109e+01 7.0655e+01 3.25394e+00 0.5000 4.4430e+02 11\n", - " 6 9.0705e+02 1.2503e+01 3.6201e+01 5.3253e+01 4.62575e+00 0.1250 2.6887e+02 12\n", - " 7 8.7141e+02 1.2465e+01 3.6126e+01 4.9768e+01 2.03114e+00 0.5000 2.7270e+02 9\n", - " 8 7.0493e+02 1.2034e+01 1.7184e+01 5.2106e+01 2.67582e+00 0.2500 1.3931e+02 13\n", - " 9 6.3967e+02 1.1971e+01 1.3358e+01 4.9412e+01 1.91250e+00 0.5000 1.1823e+02 15\n", - " 10 5.5172e+02 1.1913e+01 1.0821e+01 4.3160e+01 3.26065e+00 0.1250 1.0184e+02 14\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.8170e+03 1.8488e+01 1.0797e+02 7.1887e+01 7.58857e+00 0.5000 ---- 25\n", - " 2 1.5926e+03 1.5092e+01 6.5054e+01 9.2695e+01 5.67304e+00 0.5000 9.2695e+01 25\n", - " 3 1.2890e+03 1.3936e+01 4.1600e+01 8.5910e+01 5.43876e+00 0.2500 1.1080e+02 14\n", - " 4 1.2193e+03 1.3980e+01 4.8870e+01 7.1664e+01 4.77216e+00 0.2500 2.5595e+02 12\n", - " 5 1.1575e+03 1.4080e+01 5.6301e+01 5.8042e+01 3.82049e+00 0.2500 3.4667e+02 10\n", - " 6 1.0225e+03 1.3976e+01 5.0488e+01 5.0369e+01 3.68080e+00 0.2500 3.5280e+02 11\n", - " 7 9.4175e+02 1.3845e+01 4.6014e+01 4.6776e+01 3.14748e+00 0.2500 3.4220e+02 9\n", - " 8 8.8586e+02 1.3693e+01 4.1242e+01 4.5975e+01 3.06507e+00 0.2500 3.1910e+02 12\n", - " 9 8.3161e+02 1.3549e+01 3.6102e+01 4.5705e+01 2.89963e+00 0.2500 2.8969e+02 17\n", - " 10 7.8516e+02 1.3427e+01 3.1887e+01 4.5286e+01 2.63352e+00 0.2500 2.6169e+02 19\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.9410e+03 2.0414e+01 1.1916e+02 7.2899e+01 9.12808e+00 0.5000 ---- 25\n", - " 2 1.8783e+03 1.7214e+01 8.1579e+01 1.0453e+02 9.53458e+00 0.2500 3.5712e+02 25\n", - " 3 1.7521e+03 1.7699e+01 8.6738e+01 8.6698e+01 5.02767e+00 0.5000 6.0466e+02 13\n", - " 4 1.6133e+03 1.7519e+01 8.8725e+01 7.0856e+01 7.27809e+00 0.1250 6.9611e+02 12\n", - " 5 1.5709e+03 1.7488e+01 8.9334e+01 6.6010e+01 4.12989e+00 0.5000 7.1193e+02 11\n", - " 6 1.3566e+03 1.7287e+01 8.9834e+01 4.4093e+01 8.79859e+00 0.0312 7.2133e+02 18\n", - " 7 1.3397e+03 1.7246e+01 8.9591e+01 4.2653e+01 5.96828e+00 0.1250 7.2182e+02 16\n", - " 8 1.3317e+03 1.7429e+01 9.0804e+01 4.0621e+01 2.43151e+00 0.5000 7.5327e+02 14\n", - " 9 1.1947e+03 1.5338e+01 5.9566e+01 5.8366e+01 5.22180e+00 0.1250 4.4611e+02 19\n", - " 10 1.1917e+03 1.5425e+01 6.4162e+01 5.3463e+01 2.12717e+00 0.5000 4.7089e+02 19\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.1735e+03 2.2146e+01 1.1884e+02 9.6296e+01 1.05618e+01 0.2500 ---- 25\n", - " 2 1.7958e+03 2.0347e+01 9.5284e+01 8.2260e+01 8.13176e+00 0.2500 3.6818e+02 25\n", - " 3 1.6546e+03 1.9191e+01 8.9508e+01 7.4032e+01 5.71114e+00 0.5000 4.3027e+02 21\n", - " 4 1.3835e+03 1.8063e+01 7.0423e+01 6.6116e+01 7.31389e+00 0.1250 5.2755e+02 25\n", - " 5 1.3587e+03 1.7960e+01 7.3195e+01 6.0879e+01 4.32205e+00 0.2500 5.4950e+02 10\n", - " 6 1.2203e+03 1.7275e+01 6.4324e+01 5.5974e+01 3.76741e+00 0.2500 4.8267e+02 14\n", - " 7 1.0831e+03 1.6786e+01 5.7715e+01 4.8914e+01 3.28938e+00 0.5000 4.3027e+02 10\n", - " 8 1.0065e+03 1.6533e+01 5.0910e+01 4.8083e+01 7.39584e+00 0.0312 4.3399e+02 14\n", - " 9 9.9212e+02 1.6499e+01 5.0825e+01 4.6738e+01 5.34458e+00 0.1250 4.3265e+02 13\n", - " 10 9.8857e+02 1.6537e+01 5.3043e+01 4.4160e+01 2.09935e+00 0.5000 4.5128e+02 15\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.3370e+03 2.3758e+01 1.2380e+02 1.0752e+02 1.05658e+01 0.5000 ---- 25\n", - " 2 2.1252e+03 2.2524e+01 1.1050e+02 9.9762e+01 1.07392e+01 0.1250 7.4255e+02 23\n", - " 3 2.0687e+03 2.2291e+01 1.1476e+02 8.9885e+01 7.25393e+00 0.2500 7.8250e+02 21\n", - " 4 2.0150e+03 2.2011e+01 1.2878e+02 7.0521e+01 4.82112e+00 0.5000 8.4199e+02 20\n", - " 5 1.7645e+03 2.2203e+01 1.2452e+02 4.9707e+01 7.86527e+00 0.1250 9.5713e+02 25\n", - " 6 1.7394e+03 2.1956e+01 1.2215e+02 4.9594e+01 4.49281e+00 0.2500 9.4948e+02 11\n", - " 7 1.6170e+03 2.0974e+01 1.1032e+02 4.9285e+01 4.26262e+00 0.2500 8.6984e+02 10\n", - " 8 1.4917e+03 2.0326e+01 1.0295e+02 4.4188e+01 4.00578e+00 0.2500 8.2010e+02 18\n", - " 9 1.3694e+03 1.9658e+01 9.3251e+01 4.1725e+01 4.25713e+00 0.1250 7.5247e+02 19\n", - " 10 1.2930e+03 1.9133e+01 8.7314e+01 4.0068e+01 1.52696e+00 1.0000 6.9291e+02 19\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.3922e+03 2.4867e+01 1.1303e+02 1.2371e+02 1.30477e+01 0.2500 ---- 25\n", - " 2 2.0218e+03 2.3171e+01 1.1382e+02 8.6049e+01 1.00438e+01 0.1250 3.6774e+02 25\n", - " 3 1.8779e+03 2.2396e+01 1.1247e+02 7.3085e+01 6.93600e+00 0.2500 3.9286e+02 25\n", - " 4 1.7163e+03 2.0911e+01 9.8426e+01 7.1110e+01 4.73539e+00 1.0000 3.5756e+02 10\n", - " 5 1.6289e+03 2.0549e+01 8.8803e+01 7.2033e+01 9.33362e+00 0.1250 7.2011e+02 25\n", - " 6 1.5808e+03 2.0756e+01 9.4081e+01 6.1921e+01 6.66610e+00 0.1250 7.6071e+02 21\n", - " 7 1.5095e+03 2.0604e+01 9.3618e+01 5.5275e+01 3.96414e+00 0.2500 7.5126e+02 16\n", - " 8 1.3382e+03 1.9720e+01 7.9449e+01 5.2399e+01 4.03223e+00 0.2500 6.4440e+02 15\n", - " 9 1.2272e+03 1.9409e+01 7.6279e+01 4.4501e+01 3.68174e+00 0.2500 6.0877e+02 15\n", - " 10 1.1231e+03 1.9079e+01 6.9375e+01 4.1022e+01 3.80513e+00 0.1250 5.6061e+02 13\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.5394e+03 2.7733e+01 1.8439e+02 6.6773e+01 8.04409e+00 0.5000 ---- 25\n", - " 2 1.7943e+03 2.1748e+01 9.1327e+01 8.5931e+01 6.74369e+00 0.5000 2.6365e+02 25\n", - " 3 1.6607e+03 1.9754e+01 5.2768e+01 1.1133e+02 5.62677e+00 0.5000 1.6601e+02 25\n", - " 4 1.6255e+03 1.9993e+01 6.6785e+01 9.3770e+01 7.29773e+00 0.1250 4.2899e+02 11\n", - " 5 1.5678e+03 2.0012e+01 6.9472e+01 8.5307e+01 4.81105e+00 0.2500 4.6073e+02 11\n", - " 6 1.3979e+03 1.9862e+01 6.6319e+01 7.1490e+01 3.83238e+00 0.2500 4.6213e+02 17\n", - " 7 1.3314e+03 1.9644e+01 6.6548e+01 6.4626e+01 3.63821e+00 0.2500 4.4129e+02 15\n", - " 8 1.2783e+03 1.9432e+01 6.5326e+01 6.0561e+01 3.27188e+00 0.2500 4.1267e+02 14\n", - " 9 1.2295e+03 1.9260e+01 6.2827e+01 5.8196e+01 3.34844e+00 0.2500 3.8731e+02 13\n", - " 10 1.0832e+03 1.9093e+01 5.3601e+01 5.2805e+01 3.01807e+00 0.2500 3.5626e+02 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.5637e+03 2.8300e+01 1.7653e+02 7.7007e+01 9.42976e+00 0.5000 ---- 25\n", - " 2 2.2609e+03 2.2866e+01 1.2021e+02 1.0360e+02 8.66051e+00 0.2500 2.7279e+02 25\n", - " 3 2.0984e+03 2.2669e+01 1.1871e+02 8.8866e+01 6.94910e+00 0.1250 4.6669e+02 11\n", - " 4 1.9627e+03 2.2278e+01 1.1398e+02 8.0066e+01 4.39308e+00 0.5000 4.6191e+02 10\n", - " 5 1.5522e+03 2.0919e+01 9.7218e+01 5.5914e+01 7.80032e+00 0.0625 3.9534e+02 25\n", - " 6 1.5381e+03 2.0918e+01 9.8158e+01 5.3556e+01 3.73086e+00 0.2500 4.1507e+02 11\n", - " 7 1.4197e+03 2.0399e+01 7.9200e+01 6.0729e+01 3.43182e+00 0.5000 3.4229e+02 9\n", - " 8 1.3403e+03 1.9868e+01 5.3958e+01 7.8081e+01 6.21764e+00 0.0625 2.6825e+02 16\n", - " 9 1.3043e+03 1.9859e+01 5.4440e+01 7.4007e+01 3.40453e+00 0.2500 2.7683e+02 13\n", - " 10 1.1760e+03 1.9680e+01 4.6751e+01 6.8879e+01 3.12807e+00 0.5000 2.3765e+02 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6746e+03 2.9276e+01 1.7024e+02 9.4289e+01 1.26187e+01 0.2500 ---- 25\n", - " 2 2.6724e+03 2.8199e+01 1.8449e+02 7.9927e+01 9.94367e+00 0.1250 6.1843e+02 25\n", - " 3 2.6107e+03 2.7155e+01 1.7899e+02 7.9363e+01 7.15758e+00 0.2500 6.1963e+02 11\n", - " 4 2.3665e+03 2.5418e+01 1.6402e+02 7.0091e+01 5.55825e+00 0.5000 6.0002e+02 13\n", - " 5 2.2783e+03 2.4394e+01 1.3623e+02 8.9162e+01 7.83274e+00 0.1250 7.2091e+02 15\n", - " 6 2.1663e+03 2.4130e+01 1.3318e+02 8.1041e+01 5.02042e+00 0.2500 7.2092e+02 12\n", - " 7 1.9552e+03 2.3695e+01 1.2554e+02 6.7613e+01 4.68056e+00 0.2500 7.1365e+02 11\n", - " 8 1.8102e+03 2.3747e+01 1.2626e+02 5.2379e+01 4.94057e+00 0.1250 7.5372e+02 10\n", - " 9 1.6958e+03 2.3332e+01 1.1932e+02 4.7926e+01 2.69405e+00 1.0000 7.1477e+02 10\n", - " 10 1.5935e+03 2.0660e+01 6.0133e+01 9.7149e+01 1.63321e+01 0.0078 3.0886e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9848e+03 3.0698e+01 2.0583e+02 1.8959e+02 2.16652e+01 0.0312 ---- 25\n", - " 2 3.9543e+03 3.0389e+01 2.1203e+02 1.8036e+02 1.45834e+01 0.2500 3.6432e+02 25\n", - " 3 3.8102e+03 3.0906e+01 2.4842e+02 1.2951e+02 1.15053e+01 0.1250 8.6440e+02 17\n", - " 4 3.5708e+03 2.9719e+01 2.3811e+02 1.1600e+02 8.56123e+00 0.2500 8.5020e+02 12\n", - " 5 3.2851e+03 2.8389e+01 2.2515e+02 1.0052e+02 6.73155e+00 0.2500 8.8378e+02 8\n", - " 6 2.9068e+03 2.7612e+01 2.0501e+02 8.2907e+01 6.76680e+00 0.2500 9.1314e+02 6\n", - " 7 2.6751e+03 2.7500e+01 1.9858e+02 6.6172e+01 5.61767e+00 0.2500 9.7766e+02 6\n", - " 8 2.5310e+03 2.7995e+01 1.9513e+02 5.5173e+01 6.39536e+00 0.1250 1.0693e+03 6\n", - " 9 2.4469e+03 2.7345e+01 1.8591e+02 5.6051e+01 3.63006e+00 0.5000 1.0289e+03 6\n", - " 10 1.8381e+03 2.4871e+01 1.3965e+02 4.1672e+01 1.61095e+01 0.0078 8.2280e+02 15\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0832e+03 3.5106e+01 3.2346e+02 8.1354e+01 2.11547e+01 0.0312 ---- 25\n", - " 2 4.0509e+03 3.4870e+01 3.2386e+02 7.7744e+01 1.21809e+01 0.2500 8.5466e+02 25\n", - " 3 3.6664e+03 3.3126e+01 2.9698e+02 6.6343e+01 1.02723e+01 0.1250 1.0034e+03 11\n", - " 4 3.5274e+03 3.1648e+01 2.7961e+02 6.9966e+01 7.66453e+00 0.5000 9.6747e+02 11\n", - " 5 3.2078e+03 2.9599e+01 2.4167e+02 7.6150e+01 2.33970e+01 0.0078 1.0761e+03 25\n", - " 6 3.1971e+03 2.9565e+01 2.4141e+02 7.5341e+01 1.75453e+01 0.0156 1.0792e+03 25\n", - " 7 3.1792e+03 2.9546e+01 2.4106e+02 7.3899e+01 1.04797e+01 0.0625 1.0854e+03 25\n", - " 8 3.1249e+03 2.9595e+01 2.4000e+02 6.9532e+01 4.85492e+00 0.5000 1.1072e+03 22\n", - " 9 2.4381e+03 2.4798e+01 1.4977e+02 9.1560e+01 1.64078e+01 0.0156 6.8788e+02 10\n", - " 10 2.4302e+03 2.4820e+01 1.5037e+02 9.0172e+01 1.00370e+01 0.0625 6.9907e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1014e+03 3.5586e+01 3.7113e+02 1.3544e+02 1.10089e+01 1.0000 ---- 25\n", - " 2 4.2691e+03 2.1847e+01 1.1650e+02 3.0823e+02 1.22902e+01 0.5000 3.0823e+02 25\n", - " 3 2.5224e+03 2.2874e+01 8.6089e+01 1.6387e+02 8.74645e+00 0.1250 4.0541e+02 9\n", - " 4 2.3426e+03 2.3006e+01 8.5156e+01 1.4681e+02 7.49755e+00 0.1250 4.4637e+02 6\n", - " 5 2.2071e+03 2.3078e+01 8.7223e+01 1.3118e+02 4.33701e+00 1.0000 4.6651e+02 6\n", - " 6 1.6199e+03 2.2633e+01 4.9418e+01 1.1031e+02 2.32304e+01 0.0039 3.1225e+02 9\n", - " 7 1.6186e+03 2.2614e+01 4.9742e+01 1.0986e+02 2.02214e+01 0.0039 3.1477e+02 8\n", - " 8 1.6159e+03 2.2599e+01 4.9927e+01 1.0941e+02 1.76883e+01 0.0078 3.1626e+02 8\n", - " 9 1.6142e+03 2.2588e+01 5.0652e+01 1.0851e+02 1.35172e+01 0.0156 3.2161e+02 8\n", - " 10 1.6128e+03 2.2597e+01 5.2263e+01 1.0676e+02 8.69494e+00 0.0312 3.3262e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2514e+03 3.3232e+01 2.5779e+02 1.6403e+02 1.42324e+01 0.5000 ---- 25\n", - " 2 3.4387e+03 3.2670e+01 2.1486e+02 1.2574e+02 1.08997e+01 0.2500 1.0627e+03 25\n", - " 3 3.2994e+03 3.1620e+01 2.0736e+02 1.1942e+02 9.61993e+00 0.1250 1.0871e+03 11\n", - " 4 3.1851e+03 3.1742e+01 2.0923e+02 1.0611e+02 6.53388e+00 0.2500 1.1486e+03 11\n", - " 5 2.9022e+03 3.1673e+01 2.0323e+02 8.3821e+01 3.54411e+01 0.0039 1.2089e+03 14\n", - " 6 2.8997e+03 3.1646e+01 2.0331e+02 8.3497e+01 2.83794e+01 0.0039 1.2117e+03 11\n", - " 7 2.8945e+03 3.1610e+01 2.0311e+02 8.3177e+01 2.14823e+01 0.0078 1.2121e+03 11\n", - " 8 2.8863e+03 3.1586e+01 2.0292e+02 8.2549e+01 1.15409e+01 0.0312 1.2142e+03 10\n", - " 9 2.8547e+03 3.1587e+01 2.0209e+02 8.0224e+01 5.21770e+00 0.2500 1.2217e+03 10\n", - " 10 2.7422e+03 3.0145e+01 1.9869e+02 7.2507e+01 3.35665e+01 0.0039 1.1336e+03 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0071e+03 4.0817e+01 3.9001e+02 1.0662e+02 3.50488e+01 0.0156 ---- 25\n", - " 2 4.9849e+03 4.0773e+01 3.9011e+02 1.0430e+02 1.51624e+01 0.1250 1.1624e+03 25\n", - " 3 4.8114e+03 4.0180e+01 3.8244e+02 9.4691e+01 1.45003e+01 0.1250 1.2771e+03 25\n", - " 4 4.7410e+03 4.0203e+01 3.7540e+02 9.4682e+01 7.60441e+00 1.0000 1.4111e+03 15\n", - " 5 2.3847e+03 2.2738e+01 1.3907e+02 9.7134e+01 7.70986e+00 0.5000 9.7134e+01 25\n", - " 6 1.7377e+03 2.3463e+01 7.7022e+01 9.4404e+01 8.99975e+00 0.1250 3.4695e+02 17\n", - " 7 1.6844e+03 2.3730e+01 8.0276e+01 8.5791e+01 7.93518e+00 0.0625 4.3550e+02 21\n", - " 8 1.6433e+03 2.3799e+01 8.1488e+01 8.0460e+01 4.95273e+00 0.2500 4.5703e+02 21\n", - " 9 1.4503e+03 2.4135e+01 8.0481e+01 6.2137e+01 2.45991e+01 0.0039 5.1641e+02 11\n", - " 10 1.4502e+03 2.4125e+01 8.0711e+01 6.1900e+01 1.80516e+01 0.0039 5.1912e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.3890e+03 3.4887e+01 2.3981e+02 9.5600e+01 2.16057e+01 0.0312 ---- 25\n", - " 2 3.3579e+03 3.4627e+01 2.4103e+02 9.1299e+01 9.47575e+00 0.5000 5.6533e+02 25\n", - " 3 3.1894e+03 2.9428e+01 2.0399e+02 1.1200e+02 4.59352e+01 0.0156 7.0787e+02 25\n", - " 4 3.1879e+03 2.9745e+01 2.0718e+02 1.0864e+02 8.93305e+00 0.1250 7.8290e+02 25\n", - " 5 3.0047e+03 2.9256e+01 1.9475e+02 1.0279e+02 4.41704e+01 0.0078 7.8367e+02 25\n", - " 6 2.9897e+03 2.9253e+01 1.9484e+02 1.0121e+02 1.92909e+01 0.0312 7.9860e+02 24\n", - " 7 2.9721e+03 2.9564e+01 1.9634e+02 9.7913e+01 1.97921e+01 0.0156 8.5075e+02 25\n", - " 8 2.9615e+03 2.9599e+01 1.9735e+02 9.5844e+01 1.26397e+01 0.0625 8.6696e+02 25\n", - " 9 2.9577e+03 3.0143e+01 2.0296e+02 8.9798e+01 4.57891e+01 0.0156 9.4314e+02 25\n", - " 10 2.9144e+03 3.0472e+01 2.0127e+02 8.7116e+01 2.55983e+01 0.0078 9.9703e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9786e+03 4.1057e+01 3.6866e+02 1.2509e+02 1.23934e+01 0.5000 ---- 25\n", - " 2 3.7903e+03 2.9348e+01 2.5727e+02 1.1883e+02 4.37700e+01 0.0625 5.1847e+02 25\n", - " 3 3.6035e+03 3.2537e+01 2.4254e+02 1.1456e+02 3.96162e+01 0.0625 9.1567e+02 25\n", - " 4 3.5607e+03 3.1602e+01 2.5395e+02 9.8963e+01 2.69557e+01 0.0625 9.0258e+02 25\n", - " 5 2.0901e+03 2.7402e+01 1.1466e+02 9.1615e+01 1.07582e+01 0.2500 3.5987e+02 25\n", - " 6 1.9012e+03 2.6539e+01 9.9712e+01 8.7757e+01 1.12257e+01 0.0312 3.2523e+02 11\n", - " 7 1.8953e+03 2.6478e+01 1.0166e+02 8.5226e+01 7.54810e+00 0.0625 3.4760e+02 10\n", - " 8 1.8577e+03 2.6373e+01 1.0257e+02 8.0565e+01 1.70228e+01 0.0078 3.7462e+02 11\n", - " 9 1.8521e+03 2.6350e+01 1.0263e+02 7.9947e+01 6.32128e+00 0.2500 3.7837e+02 11\n", - " 10 1.8226e+03 2.6704e+01 1.1337e+02 6.6216e+01 1.04075e+01 0.0312 5.6127e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.5739e+03 3.6675e+01 2.6257e+02 9.1149e+01 1.92672e+01 0.0625 ---- 25\n", - " 2 3.5715e+03 3.6108e+01 2.6766e+02 8.5873e+01 2.54407e+01 0.0156 6.6579e+02 25\n", - " 3 3.5491e+03 3.5915e+01 2.6606e+02 8.5251e+01 1.07159e+01 0.2500 6.7677e+02 13\n", - " 4 3.3836e+03 3.2255e+01 2.2662e+02 1.0851e+02 4.72118e+01 0.1250 6.4451e+02 25\n", - " 5 3.0427e+03 4.2370e+01 1.9186e+02 1.0817e+02 2.47431e+01 0.1250 1.0324e+03 25\n", - " 6 2.3794e+03 3.5439e+01 1.3846e+02 9.5938e+01 2.81767e+01 0.0625 1.0478e+03 25\n", - " 7 2.1911e+03 3.3272e+01 1.2736e+02 8.8422e+01 3.28170e+01 0.0078 1.0960e+03 25\n", - " 8 2.1878e+03 3.3025e+01 1.2778e+02 8.7698e+01 2.09022e+01 0.0625 1.1094e+03 24\n", - " 9 1.9706e+03 3.1896e+01 1.1123e+02 8.2644e+01 2.81787e+01 0.0156 1.0988e+03 18\n", - " 10 1.9500e+03 3.1735e+01 1.1067e+02 8.1160e+01 2.83397e+01 0.0078 1.1032e+03 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8243e+03 3.8285e+01 1.7921e+02 9.9395e+01 2.86563e+01 0.0156 ---- 25\n", - " 2 2.8136e+03 3.7924e+01 1.8035e+02 9.7213e+01 3.12103e+01 0.0156 1.0924e+03 25\n", - " 3 2.8015e+03 3.7715e+01 1.8103e+02 9.5346e+01 3.75057e+01 0.0039 1.0856e+03 25\n", - " 4 2.7971e+03 3.7585e+01 1.8101e+02 9.4947e+01 3.41097e+01 0.0078 1.0894e+03 16\n", - " 5 2.7948e+03 3.7412e+01 1.8154e+02 9.4202e+01 1.63306e+01 0.0625 1.0943e+03 25\n", - " 6 2.7178e+03 3.6514e+01 1.7893e+02 8.9204e+01 3.14252e+01 0.0078 1.0266e+03 16\n", - " 7 2.7115e+03 3.6256e+01 1.7900e+02 8.8528e+01 3.86360e+01 0.0039 1.0190e+03 13\n", - " 8 2.7098e+03 3.6130e+01 1.7917e+02 8.8188e+01 3.68358e+01 0.0039 1.0242e+03 11\n", - " 9 2.7061e+03 3.6032e+01 1.7917e+02 8.7836e+01 1.95576e+01 0.0312 1.0385e+03 9\n", - " 10 2.6620e+03 3.5979e+01 1.7808e+02 8.4520e+01 3.12084e+01 0.1250 9.8902e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0777e+03 8.3716e+01 2.1138e+02 8.8023e+01 2.29005e+01 0.1250 ---- 25\n", - " 2 2.6705e+03 6.7201e+01 1.8396e+02 7.6373e+01 2.00914e+01 0.1250 2.2698e+03 25\n", - " 3 2.5035e+03 5.5132e+01 1.7806e+02 6.6776e+01 3.10835e+01 0.0156 2.1746e+03 25\n", - " 4 2.4787e+03 5.3365e+01 1.7754e+02 6.4989e+01 3.62515e+01 0.0078 2.1706e+03 25\n", - " 5 2.4683e+03 5.2558e+01 1.7735e+02 6.4222e+01 2.86168e+01 0.0156 2.1792e+03 25\n", - " 6 2.4475e+03 5.1271e+01 1.7636e+02 6.3257e+01 2.24123e+01 0.1250 2.1620e+03 25\n", - " 7 2.2943e+03 5.1678e+01 1.6309e+02 6.1179e+01 4.00408e+01 0.0312 1.9372e+03 25\n", - " 8 2.2926e+03 5.5136e+01 1.6285e+02 6.0897e+01 3.16803e+01 0.0312 1.9694e+03 25\n", - " 9 1.8555e+03 4.9499e+01 1.2126e+02 5.9332e+01 1.90147e+01 0.0312 2.0183e+03 21\n", - " 10 1.7873e+03 4.9074e+01 1.1510e+02 5.8729e+01 3.40187e+01 0.0078 1.9473e+03 23\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.5838e+03 5.3495e+01 1.7909e+02 7.3937e+01 2.01893e+01 0.0625 ---- 25\n", - " 2 2.5141e+03 5.0418e+01 1.6959e+02 7.6781e+01 4.53865e+01 0.0078 1.8423e+03 25\n", - " 3 2.5069e+03 5.0316e+01 1.6978e+02 7.5878e+01 1.91231e+01 0.0625 1.8587e+03 25\n", - " 4 2.4517e+03 4.7835e+01 1.6561e+02 7.4782e+01 2.40303e+01 0.0078 1.7411e+03 25\n", - " 5 2.4481e+03 4.7539e+01 1.6565e+02 7.4401e+01 2.06163e+01 0.0156 1.7305e+03 25\n", - " 6 2.4443e+03 4.6998e+01 1.6567e+02 7.4062e+01 1.75604e+01 0.0625 1.7052e+03 25\n", - " 7 2.4269e+03 4.5341e+01 1.6669e+02 7.1472e+01 2.30489e+01 0.0078 1.6001e+03 25\n", - " 8 2.4215e+03 4.5074e+01 1.6666e+02 7.0976e+01 2.19360e+01 0.0078 1.5895e+03 25\n", - " 9 2.4142e+03 4.4811e+01 1.6644e+02 7.0501e+01 1.75728e+01 0.0156 1.5797e+03 25\n", - " 10 2.3953e+03 4.4305e+01 1.6561e+02 6.9485e+01 1.42442e+01 0.0625 1.5561e+03 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.2932e+03 4.8595e+01 2.3731e+02 8.7153e+01 2.82401e+01 0.0156 ---- 25\n", - " 2 3.2782e+03 4.8040e+01 2.3688e+02 8.6135e+01 2.20784e+01 0.0625 1.4831e+03 25\n", - " 3 3.2337e+03 4.5576e+01 2.2610e+02 9.2712e+01 4.20623e+01 0.0078 1.3830e+03 25\n", - " 4 3.2312e+03 4.5411e+01 2.2742e+02 9.1159e+01 2.27854e+01 0.0312 1.3860e+03 25\n", - " 5 3.1915e+03 4.4500e+01 2.2627e+02 8.8432e+01 2.03608e+01 0.0312 1.3454e+03 25\n", - " 6 3.1517e+03 4.3507e+01 2.2388e+02 8.6932e+01 2.06428e+01 0.0312 1.3045e+03 25\n", - " 7 3.1094e+03 4.2657e+01 2.2222e+02 8.4448e+01 1.82225e+01 0.0625 1.2662e+03 25\n", - " 8 3.0471e+03 4.1069e+01 2.2037e+02 8.0235e+01 3.22433e+01 0.0078 1.1844e+03 25\n", - " 9 3.0421e+03 4.0912e+01 2.2062e+02 7.9493e+01 1.84603e+01 0.0312 1.1828e+03 25\n", - " 10 3.0026e+03 4.0181e+01 2.1846e+02 7.7781e+01 1.52739e+01 0.0625 1.1484e+03 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1467e+03 4.5831e+01 3.0705e+02 1.0304e+02 2.99629e+01 0.0312 ---- 25\n", - " 2 4.1008e+03 4.5007e+01 3.0614e+02 9.9440e+01 2.13253e+01 0.1250 1.1008e+03 25\n", - " 3 3.9615e+03 4.0601e+01 2.7679e+02 1.1530e+02 3.70465e+01 0.0156 1.0047e+03 25\n", - " 4 3.9598e+03 4.0474e+01 2.7954e+02 1.1239e+02 1.86097e+01 0.1250 1.0369e+03 25\n", - " 5 3.8289e+03 3.8107e+01 2.7254e+02 1.0654e+02 1.69195e+01 0.0625 1.0784e+03 25\n", - " 6 3.7122e+03 3.6816e+01 2.6598e+02 1.0156e+02 1.23198e+01 0.5000 1.0626e+03 25\n", - " 7 2.8534e+03 2.5952e+01 1.8033e+02 1.0242e+02 3.01171e+01 0.0156 4.0964e+02 25\n", - " 8 2.8116e+03 2.5949e+01 1.7834e+02 1.0023e+02 1.82057e+01 0.0312 4.4713e+02 25\n", - " 9 2.7474e+03 2.5912e+01 1.7544e+02 9.6715e+01 1.10208e+01 0.1250 4.7914e+02 25\n", - " 10 2.5778e+03 2.5369e+01 1.6829e+02 8.6957e+01 8.40466e+00 0.5000 4.7429e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1791e+03 3.2714e+01 2.7100e+02 1.4365e+02 1.98116e+01 0.0625 ---- 25\n", - " 2 4.1258e+03 3.2099e+01 2.7887e+02 1.3050e+02 1.11731e+01 0.5000 4.8884e+02 25\n", - " 3 2.7978e+03 2.5111e+01 1.3444e+02 1.4283e+02 1.00438e+01 0.2500 2.1620e+02 25\n", - " 4 2.4872e+03 2.4132e+01 1.2887e+02 1.1743e+02 7.94731e+00 0.2500 2.7461e+02 8\n", - " 5 2.1491e+03 2.3524e+01 1.0808e+02 1.0448e+02 6.67448e+00 0.2500 3.1945e+02 7\n", - " 6 1.9231e+03 2.3103e+01 9.8895e+01 9.1108e+01 6.41129e+00 0.2500 3.4095e+02 8\n", - " 7 1.7441e+03 2.2869e+01 8.7788e+01 8.4340e+01 6.11353e+00 0.1250 3.7098e+02 8\n", - " 8 1.6341e+03 2.2703e+01 8.3409e+01 7.7733e+01 4.12852e+00 1.0000 3.6060e+02 7\n", - " 9 1.3558e+03 2.1550e+01 5.6428e+01 7.6997e+01 1.30647e+01 0.0156 1.8931e+02 18\n", - " 10 1.3443e+03 2.1542e+01 5.7263e+01 7.5016e+01 9.64254e+00 0.0312 1.9826e+02 18\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.7857e+03 3.0566e+01 2.4154e+02 1.3397e+02 1.36064e+01 0.2500 ---- 25\n", - " 2 3.3190e+03 2.7853e+01 2.3365e+02 9.5469e+01 1.03708e+01 0.2500 4.1336e+02 25\n", - " 3 3.0750e+03 2.6324e+01 2.2059e+02 8.4269e+01 7.44013e+00 0.5000 5.3367e+02 18\n", - " 4 2.8201e+03 2.4792e+01 1.8397e+02 9.5559e+01 7.83691e+00 0.1250 6.9005e+02 12\n", - " 5 2.6486e+03 2.4487e+01 1.7551e+02 8.6892e+01 5.38764e+00 0.2500 6.8936e+02 10\n", - " 6 2.3553e+03 2.3982e+01 1.5881e+02 7.4323e+01 5.54360e+00 0.2500 6.7850e+02 10\n", - " 7 2.2850e+03 2.4421e+01 1.6719e+02 5.8869e+01 5.62489e+00 0.2500 7.7534e+02 11\n", - " 8 2.2696e+03 2.4818e+01 1.7316e+02 5.1316e+01 5.06457e+00 0.2500 8.4948e+02 14\n", - " 9 2.2660e+03 2.4566e+01 1.6589e+02 5.8255e+01 5.35831e+00 0.2500 8.3974e+02 16\n", - " 10 2.2317e+03 2.4557e+01 1.6098e+02 5.9731e+01 5.52616e+00 0.1250 8.5128e+02 16\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.6271e+03 3.2906e+01 3.7216e+02 8.7264e+01 9.50369e+00 0.5000 ---- 25\n", - " 2 3.2099e+03 2.4909e+01 2.1847e+02 1.0003e+02 1.44703e+01 0.0625 5.3832e+02 25\n", - " 3 3.2019e+03 2.5079e+01 2.2551e+02 9.2169e+01 6.72422e+00 1.0000 6.2560e+02 25\n", - " 4 2.4128e+03 1.9645e+01 7.4381e+01 1.6494e+02 5.98387e+00 0.5000 1.6494e+02 10\n", - " 5 1.7655e+03 1.9644e+01 3.1730e+01 1.4285e+02 4.74646e+00 0.5000 1.4285e+02 11\n", - " 6 1.6814e+03 2.0110e+01 5.5035e+01 1.1109e+02 6.81414e+00 0.1250 2.8594e+02 11\n", - " 7 1.5958e+03 2.0168e+01 5.7387e+01 1.0018e+02 4.64020e+00 0.2500 3.1521e+02 10\n", - " 8 1.4506e+03 2.0190e+01 5.7581e+01 8.5465e+01 3.39047e+00 0.2500 3.2267e+02 10\n", - " 9 1.2875e+03 2.0138e+01 5.3989e+01 7.2748e+01 3.48696e+00 0.2500 3.0687e+02 11\n", - " 10 1.2196e+03 2.0078e+01 4.9741e+01 7.0210e+01 3.15281e+00 0.2500 2.8777e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0535e+03 2.8209e+01 1.9368e+02 1.0885e+02 1.08698e+01 0.5000 ---- 25\n", - " 2 3.0474e+03 2.2790e+01 1.6618e+02 1.3628e+02 1.21014e+01 0.1250 3.3522e+02 25\n", - " 3 3.0128e+03 2.3012e+01 1.8238e+02 1.1660e+02 7.25972e+00 0.5000 5.1269e+02 25\n", - " 4 2.6196e+03 2.1830e+01 1.4494e+02 1.1484e+02 1.11316e+01 0.0625 5.8458e+02 8\n", - " 5 2.6127e+03 2.2196e+01 1.5096e+02 1.0809e+02 4.28727e+00 1.0000 6.6235e+02 9\n", - " 6 1.6523e+03 1.9073e+01 3.8162e+01 1.2516e+02 8.00339e+00 0.2500 2.6704e+02 25\n", - " 7 1.6091e+03 1.9595e+01 5.6914e+01 1.0204e+02 4.28856e+00 0.5000 4.2589e+02 16\n", - " 8 1.5577e+03 1.9244e+01 5.6194e+01 9.7647e+01 4.98895e+00 0.2500 3.2714e+02 8\n", - " 9 1.4120e+03 1.9432e+01 5.8687e+01 8.0567e+01 3.51746e+00 0.5000 3.7901e+02 8\n", - " 10 1.3805e+03 1.9753e+01 7.1654e+01 6.4420e+01 5.27304e+00 0.1250 4.4048e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.3810e+03 2.7432e+01 2.3162e+02 1.0373e+02 9.81500e+00 0.5000 ---- 25\n", - " 2 3.0527e+03 2.2301e+01 1.8473e+02 1.1831e+02 1.18486e+01 0.0625 4.7316e+02 25\n", - " 3 2.9730e+03 2.2213e+01 1.8377e+02 1.1131e+02 6.27419e+00 1.0000 5.1452e+02 14\n", - " 4 2.6791e+03 2.0197e+01 1.3574e+02 1.3015e+02 1.12953e+01 0.1250 6.6334e+02 25\n", - " 5 2.4932e+03 2.0284e+01 1.3076e+02 1.1653e+02 7.88470e+00 0.2500 6.8416e+02 25\n", - " 6 2.3296e+03 2.0948e+01 1.3189e+02 9.8974e+01 4.71025e+00 0.5000 7.7113e+02 12\n", - " 7 1.8655e+03 1.9960e+01 9.6667e+01 8.7891e+01 5.85764e+00 0.2500 6.3669e+02 10\n", - " 8 1.8408e+03 2.0610e+01 1.0604e+02 7.5976e+01 3.85948e+00 0.5000 7.2757e+02 10\n", - " 9 1.6876e+03 2.0423e+01 9.8132e+01 6.8586e+01 6.28570e+00 0.1250 6.9757e+02 13\n", - " 10 1.6589e+03 2.0321e+01 9.7329e+01 6.6526e+01 3.64964e+00 0.2500 6.8716e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.3433e+03 2.6890e+01 2.2223e+02 1.0942e+02 1.04786e+01 1.0000 ---- 25\n", - " 2 3.0870e+03 2.4192e+01 1.2924e+02 1.7704e+02 1.55056e+01 0.2500 1.1845e+03 25\n", - " 3 2.2538e+03 2.5648e+01 8.9165e+01 1.3365e+02 8.64341e+00 0.2500 1.2950e+03 20\n", - " 4 1.9545e+03 2.4853e+01 8.8783e+01 1.0418e+02 6.98300e+00 0.1250 1.2311e+03 19\n", - " 5 1.8267e+03 2.3588e+01 8.8640e+01 9.1675e+01 3.83104e+00 1.0000 1.1336e+03 8\n", - " 6 1.4090e+03 1.6844e+01 5.2447e+01 8.6769e+01 1.04441e+01 0.1250 8.6769e+01 10\n", - " 7 1.2259e+03 1.7836e+01 4.5229e+01 7.5577e+01 4.99901e+00 0.2500 4.2665e+02 9\n", - " 8 1.1106e+03 1.7953e+01 4.0617e+01 6.8652e+01 4.00057e+00 0.5000 4.5649e+02 8\n", - " 9 1.1097e+03 1.8874e+01 5.1416e+01 5.7668e+01 6.74828e+00 0.0625 6.0839e+02 8\n", - " 10 1.0847e+03 1.8738e+01 5.1638e+01 5.4958e+01 5.34917e+00 0.1250 5.9260e+02 7\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.5730e+03 2.5235e+01 1.7361e+02 8.1162e+01 8.82994e+00 0.5000 ---- 25\n", - " 2 2.3513e+03 1.9588e+01 1.1605e+02 1.1712e+02 1.08059e+01 0.1250 4.1078e+02 25\n", - " 3 2.2442e+03 1.9561e+01 1.1938e+02 1.0308e+02 5.61073e+00 0.5000 5.0565e+02 10\n", - " 4 1.9254e+03 1.7488e+01 8.8411e+01 1.0238e+02 7.42819e+00 0.1250 3.5633e+02 12\n", - " 5 1.8544e+03 1.7558e+01 9.2395e+01 9.1291e+01 3.62769e+00 1.0000 4.1458e+02 12\n", - " 6 1.3815e+03 1.6067e+01 3.4715e+01 1.0183e+02 1.06554e+01 0.0625 2.2898e+02 19\n", - " 7 1.3236e+03 1.6284e+01 3.6101e+01 9.4626e+01 4.63066e+00 0.2500 3.1890e+02 14\n", - " 8 1.1213e+03 1.6232e+01 3.2717e+01 7.7787e+01 3.83789e+00 0.2500 3.0729e+02 8\n", - " 9 1.0640e+03 1.6158e+01 2.9631e+01 7.5151e+01 3.02504e+00 0.2500 2.8628e+02 8\n", - " 10 9.4697e+02 1.6087e+01 2.9238e+01 6.3851e+01 3.14290e+00 0.2500 2.6453e+02 8\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.2350e+03 2.2169e+01 1.2252e+02 9.8760e+01 8.74602e+00 0.5000 ---- 25\n", - " 2 1.9582e+03 1.7592e+01 7.7214e+01 1.1685e+02 7.97182e+00 0.2500 2.2559e+02 25\n", - " 3 1.8127e+03 1.6923e+01 7.7114e+01 1.0246e+02 5.21198e+00 1.0000 2.8946e+02 10\n", - " 4 1.8040e+03 2.0335e+01 1.0165e+02 7.6714e+01 1.20884e+01 0.1250 9.8143e+02 13\n", - " 5 1.7417e+03 2.0646e+01 1.0191e+02 7.0193e+01 7.92728e+00 0.1250 1.0265e+03 13\n", - " 6 1.6625e+03 2.0352e+01 1.0046e+02 6.3752e+01 4.64583e+00 0.2500 1.0067e+03 12\n", - " 7 1.4588e+03 1.8904e+01 8.5662e+01 5.8329e+01 4.56877e+00 0.2500 8.6925e+02 10\n", - " 8 1.3757e+03 1.8155e+01 8.2994e+01 5.2763e+01 3.86171e+00 0.2500 7.9727e+02 10\n", - " 9 1.2281e+03 1.7443e+01 7.2395e+01 4.8669e+01 3.86291e+00 0.2500 7.1155e+02 9\n", - " 10 1.1834e+03 1.6971e+01 6.9899e+01 4.6745e+01 3.61955e+00 0.2500 6.5426e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.4037e+03 2.2117e+01 1.5672e+02 8.1430e+01 9.35297e+00 0.5000 ---- 25\n", - " 2 2.3280e+03 1.7770e+01 1.1975e+02 1.1127e+02 9.19707e+00 0.2500 5.8234e+02 25\n", - " 3 2.3114e+03 1.7951e+01 1.3208e+02 9.7265e+01 5.46387e+00 1.0000 7.2163e+02 10\n", - " 4 2.1025e+03 2.5235e+01 1.4329e+02 6.4432e+01 1.27440e+01 0.1250 1.4355e+03 25\n", - " 5 2.0154e+03 2.5128e+01 1.3983e+02 5.9194e+01 8.43996e+00 0.1250 1.4416e+03 16\n", - " 6 1.9204e+03 2.4439e+01 1.3582e+02 5.3778e+01 5.13438e+00 0.2500 1.4016e+03 13\n", - " 7 1.7373e+03 2.2540e+01 1.2165e+02 4.9821e+01 5.18953e+00 0.2500 1.2717e+03 12\n", - " 8 1.6046e+03 2.1165e+01 1.1674e+02 4.1600e+01 4.21813e+00 0.2500 1.1826e+03 10\n", - " 9 1.4188e+03 1.9729e+01 1.0277e+02 3.7137e+01 4.37147e+00 0.2500 1.0629e+03 9\n", - " 10 1.3813e+03 1.8724e+01 9.9109e+01 3.7145e+01 3.74904e+00 0.2500 9.8126e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.5621e+03 2.2752e+01 1.8982e+02 6.4113e+01 9.31683e+00 0.5000 ---- 25\n", - " 2 2.4466e+03 1.8635e+01 1.5406e+02 8.8737e+01 9.40958e+00 0.1250 8.7521e+02 25\n", - " 3 2.2967e+03 1.8127e+01 1.4721e+02 8.0649e+01 5.51127e+00 0.5000 8.6104e+02 12\n", - " 4 2.0737e+03 1.6110e+01 1.2759e+02 7.8175e+01 8.79915e+00 0.0625 7.3000e+02 23\n", - " 5 2.0366e+03 1.6207e+01 1.2834e+02 7.3702e+01 4.32897e+00 0.5000 7.5597e+02 21\n", - " 6 1.7642e+03 1.5489e+01 1.0988e+02 6.4987e+01 6.67926e+00 0.1250 7.2396e+02 16\n", - " 7 1.6890e+03 1.5422e+01 1.0724e+02 6.0118e+01 3.15490e+00 0.5000 7.2514e+02 15\n", - " 8 1.2868e+03 1.4293e+01 8.1797e+01 4.5451e+01 7.18549e+00 0.0625 5.7080e+02 14\n", - " 9 1.2762e+03 1.4336e+01 8.2491e+01 4.3697e+01 3.49799e+00 0.2500 5.8452e+02 11\n", - " 10 1.2082e+03 1.3865e+01 7.2044e+01 4.7392e+01 2.91882e+00 0.2500 5.1501e+02 14\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.1931e+03 1.8028e+01 1.4893e+02 6.8576e+01 8.11822e+00 0.5000 ---- 25\n", - " 2 1.6200e+03 1.4044e+01 9.2122e+01 6.8473e+01 7.93209e+00 0.1250 3.7624e+02 25\n", - " 3 1.5106e+03 1.3673e+01 8.7586e+01 6.2104e+01 4.97228e+00 0.5000 3.7208e+02 24\n", - " 4 1.3217e+03 1.2196e+01 5.6664e+01 7.4290e+01 4.68535e+00 0.2500 2.2328e+02 12\n", - " 5 1.1937e+03 1.2145e+01 5.8301e+01 5.9850e+01 4.01136e+00 0.2500 2.8439e+02 12\n", - " 6 1.0459e+03 1.2086e+01 5.5449e+01 4.7928e+01 3.45189e+00 0.2500 3.1341e+02 20\n", - " 7 9.3405e+02 1.1965e+01 5.0150e+01 4.2059e+01 3.26394e+00 0.2500 3.1023e+02 20\n", - " 8 9.0269e+02 1.1840e+01 4.5011e+01 4.4073e+01 3.12759e+00 0.2500 2.9460e+02 19\n", - " 9 8.5847e+02 1.1720e+01 4.0572e+01 4.4103e+01 2.93025e+00 0.2500 2.7448e+02 16\n", - " 10 7.9065e+02 1.1610e+01 3.5696e+01 4.2208e+01 2.75538e+00 0.2500 2.4929e+02 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.8253e+03 1.5543e+01 1.1418e+02 6.6793e+01 8.26864e+00 0.2500 ---- 25\n", - " 2 1.5773e+03 1.3708e+01 9.5678e+01 6.0686e+01 6.33748e+00 0.5000 2.1570e+02 25\n", - " 3 1.3236e+03 1.1687e+01 5.9427e+01 7.1769e+01 6.43577e+00 0.1250 2.4911e+02 16\n", - " 4 1.2496e+03 1.1506e+01 5.7805e+01 6.6008e+01 3.58958e+00 0.5000 2.6447e+02 17\n", - " 5 9.6923e+02 1.0675e+01 3.6540e+01 5.9316e+01 4.58242e+00 0.2500 1.7187e+02 25\n", - " 6 9.5879e+02 1.0678e+01 4.0354e+01 5.4457e+01 3.58889e+00 0.2500 2.3608e+02 12\n", - " 7 8.9605e+02 1.0669e+01 4.1599e+01 4.6939e+01 3.01492e+00 0.2500 2.6944e+02 18\n", - " 8 7.8846e+02 1.0606e+01 4.0388e+01 3.7398e+01 2.89427e+00 0.2500 2.7206e+02 20\n", - " 9 7.0811e+02 1.0526e+01 3.8909e+01 3.0849e+01 2.61916e+00 0.1250 2.6126e+02 20\n", - " 10 6.7794e+02 1.0448e+01 3.5632e+01 3.1117e+01 1.21599e+00 1.0000 2.4078e+02 19\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.0041e+03 1.3518e+01 1.0888e+02 9.0180e+01 7.80031e+00 0.5000 ---- 25\n", - " 2 1.3972e+03 1.0602e+01 7.1263e+01 6.7399e+01 4.73266e+00 0.5000 9.4636e+01 25\n", - " 3 1.2176e+03 9.5940e+00 4.0029e+01 8.0772e+01 3.29554e+00 1.0000 8.0772e+01 25\n", - " 4 1.1652e+03 8.8780e+00 4.0400e+00 1.1159e+02 4.42911e+00 0.5000 1.1159e+02 25\n", - " 5 1.1162e+03 8.8777e+00 3.7454e+00 1.0698e+02 3.35993e+00 0.5000 1.0698e+02 11\n", - " 6 8.6127e+02 8.9385e+00 1.0824e+01 7.4409e+01 4.63310e+00 0.1250 9.8302e+01 13\n", - " 7 7.9614e+02 8.9775e+00 1.1885e+01 6.6831e+01 1.91923e+00 1.0000 1.3819e+02 14\n", - " 8 6.0721e+02 8.8858e+00 3.7720e+00 5.6060e+01 4.43115e+00 0.1250 5.6060e+01 25\n", - " 9 5.6704e+02 8.8848e+00 5.0367e+00 5.0779e+01 2.01765e+00 0.2500 5.0779e+01 25\n", - " 10 5.0766e+02 8.8816e+00 3.7176e+00 4.6161e+01 1.59044e+00 0.5000 4.6161e+01 23\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.7174e+03 1.1879e+01 1.0186e+02 6.8690e+01 6.99373e+00 0.5000 ---- 25\n", - " 2 8.7319e+02 9.3011e+00 4.9603e+01 3.6786e+01 5.59965e+00 0.2500 9.8985e+01 25\n", - " 3 8.1557e+02 8.8361e+00 3.9842e+01 4.0831e+01 3.85973e+00 0.2500 7.6666e+01 22\n", - " 4 7.2228e+02 8.5342e+00 3.3382e+01 3.7993e+01 3.32164e+00 0.2500 8.3005e+01 19\n", - " 5 6.5460e+02 8.3209e+00 2.6769e+01 3.7859e+01 2.71932e+00 0.5000 8.5658e+01 14\n", - " 6 6.4389e+02 8.0747e+00 2.1399e+01 4.2182e+01 4.45391e+00 0.1250 1.1033e+02 21\n", - " 7 6.2965e+02 8.0630e+00 2.1674e+01 4.0485e+01 1.66729e+00 1.0000 1.3349e+02 14\n", - " 8 5.5582e+02 7.7651e+00 2.8474e+00 5.1958e+01 3.51872e+00 0.2500 5.1958e+01 25\n", - " 9 5.2905e+02 7.7638e+00 3.7862e+00 4.8342e+01 2.31638e+00 0.2500 4.8342e+01 6\n", - " 10 4.8613e+02 7.7638e+00 2.5827e+00 4.5254e+01 1.50816e+00 1.0000 4.5254e+01 6\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.6799e+03 1.0327e+01 1.0786e+02 5.9102e+01 8.83692e+00 0.2500 ---- 25\n", - " 2 1.4185e+03 9.3582e+00 9.6239e+01 4.4672e+01 6.53663e+00 0.5000 2.4229e+02 25\n", - " 3 1.1435e+03 8.5006e+00 6.1244e+01 5.2261e+01 6.54159e+00 0.1250 4.0446e+02 12\n", - " 4 1.0743e+03 8.4709e+00 5.9245e+01 4.7338e+01 3.33455e+00 0.5000 4.3596e+02 13\n", - " 5 8.0430e+02 7.7487e+00 4.6271e+01 3.3384e+01 5.11406e+00 0.1250 3.5424e+02 11\n", - " 6 8.0280e+02 7.8169e+00 4.7259e+01 3.2239e+01 1.54190e+00 1.0000 3.8837e+02 11\n", - " 7 4.0506e+02 6.7201e+00 2.0990e+00 3.7735e+01 3.43894e+00 0.1250 3.7735e+01 25\n", - " 8 3.6631e+02 6.7179e+00 2.2566e+00 3.3703e+01 1.73374e+00 0.2500 3.3703e+01 25\n", - " 9 3.5497e+02 6.7171e+00 1.7710e+00 3.3055e+01 1.01155e+00 0.5000 3.3055e+01 11\n", - " 10 3.0556e+02 6.7172e+00 9.0951e-01 2.8974e+01 1.58098e+00 0.1250 2.8974e+01 23\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.3973e+03 8.8124e+00 9.6869e+01 4.1984e+01 5.75303e+00 0.5000 ---- 25\n", - " 2 9.1373e+02 6.8534e+00 5.1831e+01 3.8857e+01 5.34473e+00 0.2500 1.0574e+02 25\n", - " 3 8.1876e+02 6.4991e+00 4.0704e+01 4.0522e+01 3.28464e+00 0.5000 8.1379e+01 17\n", - " 4 6.8315e+02 6.1126e+00 2.7024e+01 4.0679e+01 4.39097e+00 0.1250 1.0825e+02 18\n", - " 5 6.3739e+02 6.0837e+00 2.5152e+01 3.7979e+01 1.62088e+00 1.0000 1.3144e+02 11\n", - " 6 4.8800e+02 5.7091e+00 2.0608e+00 4.6168e+01 2.93826e+00 0.2500 4.6168e+01 25\n", - " 7 4.5493e+02 5.7082e+00 1.8369e+00 4.3085e+01 1.56424e+00 0.5000 4.3085e+01 22\n", - " 8 4.2543e+02 5.7103e+00 2.5082e+00 3.9463e+01 2.17393e+00 0.2500 3.9463e+01 13\n", - " 9 3.8904e+02 5.7130e+00 3.7474e+00 3.4586e+01 1.58201e+00 0.5000 3.4586e+01 11\n", - " 10 3.1630e+02 5.7288e+00 4.4322e+00 2.6625e+01 2.85849e+00 0.1250 5.4758e+01 14\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.3562e+03 7.4009e+00 9.7908e+01 3.6970e+01 5.70920e+00 0.5000 ---- 25\n", - " 2 1.0271e+03 5.7679e+00 6.3832e+01 3.8300e+01 5.97548e+00 0.2500 1.1115e+02 25\n", - " 3 9.4731e+02 5.5497e+00 5.3196e+01 4.0980e+01 3.47255e+00 0.5000 1.6012e+02 21\n", - " 4 7.7086e+02 5.4498e+00 4.5166e+01 3.1376e+01 5.04322e+00 0.1250 2.7062e+02 14\n", - " 5 7.6514e+02 5.5176e+00 4.6147e+01 2.9815e+01 1.61520e+00 1.0000 3.1202e+02 12\n", - " 6 3.5188e+02 4.7689e+00 5.1180e+00 2.9593e+01 3.12743e+00 0.1250 2.9593e+01 25\n", - " 7 3.2718e+02 4.7672e+00 5.0318e+00 2.7210e+01 1.78838e+00 0.2500 2.7210e+01 25\n", - " 8 3.1919e+02 4.7659e+00 3.9655e+00 2.7477e+01 9.60641e-01 0.5000 2.7477e+01 11\n", - " 9 2.5030e+02 4.7655e+00 2.0933e+00 2.2460e+01 1.52166e+00 0.1250 2.2460e+01 21\n", - " 10 2.3590e+02 4.7652e+00 1.9134e+00 2.1200e+01 8.38470e-01 0.5000 2.1200e+01 19\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.2774e+03 6.0825e+00 8.9770e+01 3.7361e+01 5.83338e+00 0.5000 ---- 25\n", - " 2 1.1722e+03 4.6862e+00 5.7424e+01 5.9331e+01 4.58929e+00 0.5000 1.1181e+02 25\n", - " 3 9.6081e+02 4.3348e+00 3.6363e+01 5.9285e+01 4.44854e+00 0.2500 1.4775e+02 14\n", - " 4 8.2882e+02 4.4541e+00 3.1323e+01 5.1114e+01 2.60276e+00 1.0000 2.5391e+02 16\n", - " 5 7.5103e+02 5.6327e+00 4.7351e+01 2.7189e+01 7.44417e+00 0.0625 5.5513e+02 25\n", - " 6 7.2894e+02 5.6011e+00 4.7228e+01 2.5106e+01 5.62225e+00 0.0625 5.5758e+02 25\n", - " 7 7.0844e+02 5.5032e+00 4.6017e+01 2.4276e+01 4.15294e+00 0.1250 5.4488e+02 25\n", - " 8 6.7919e+02 5.3630e+00 4.4042e+01 2.3340e+01 1.89420e+00 1.0000 5.2308e+02 19\n", - " 9 6.1506e+02 4.4219e+00 1.8549e+01 4.2514e+01 7.20596e+00 0.0625 2.8703e+02 25\n", - " 10 6.1182e+02 4.4728e+00 2.0612e+01 4.0123e+01 4.72023e+00 0.1250 3.1328e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.5854e+03 5.4826e+00 9.9772e+01 5.8224e+01 5.22740e+00 1.0000 ---- 25\n", - " 2 1.3444e+03 3.1265e+00 4.2653e+01 9.1472e+01 6.28021e+00 0.5000 9.1472e+01 25\n", - " 3 1.3166e+03 4.4688e+00 5.3922e+01 7.7295e+01 5.94138e+00 0.2500 4.7845e+02 25\n", - " 4 1.2975e+03 6.0862e+00 6.6425e+01 6.2719e+01 2.81719e+00 1.0000 7.4581e+02 9\n", - " 5 6.8057e+02 4.6575e+00 4.6701e+01 2.0890e+01 6.85888e+00 0.0625 5.5031e+02 19\n", - " 6 6.6366e+02 4.6023e+00 4.5894e+01 2.0012e+01 4.99419e+00 0.0625 5.4500e+02 13\n", - " 7 6.4492e+02 4.4989e+00 4.4327e+01 1.9715e+01 3.57328e+00 0.1250 5.2796e+02 13\n", - " 8 6.0938e+02 4.3395e+00 4.1405e+01 1.9099e+01 1.62196e+00 1.0000 4.9758e+02 8\n", - " 9 4.8788e+02 3.5632e+00 1.7297e+01 3.1135e+01 6.46845e+00 0.0625 2.6709e+02 25\n", - " 10 4.7779e+02 3.5802e+00 1.8486e+01 2.8935e+01 4.55415e+00 0.1250 2.8179e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.1448e+03 4.3041e+00 9.5252e+01 1.8797e+01 4.65548e+00 0.5000 ---- 3\n", - " 2 8.6177e+02 3.0374e+00 5.1385e+01 3.4488e+01 3.96505e+00 0.5000 1.5462e+02 3\n", - " 3 7.2456e+02 2.6929e+00 2.7872e+01 4.4315e+01 3.35900e+00 0.5000 1.3029e+02 3\n", - " 4 6.6215e+02 2.7295e+00 2.8866e+01 3.7076e+01 3.88487e+00 0.2500 2.0725e+02 3\n", - " 5 5.9846e+02 2.8478e+00 3.2677e+01 2.6884e+01 2.14540e+00 1.0000 2.6689e+02 3\n", - " 6 5.7349e+02 2.9792e+00 2.3289e+01 3.3762e+01 6.23206e+00 0.1250 3.1392e+02 3\n", - " 7 5.5505e+02 3.1837e+00 2.6020e+01 2.9168e+01 3.32903e+00 0.2500 3.7871e+02 3\n", - " 8 5.1733e+02 2.9576e+00 2.3025e+01 2.8412e+01 1.71936e+00 0.5000 3.2055e+02 3\n", - " 9 4.1268e+02 2.5857e+00 1.3410e+01 2.7599e+01 2.23880e+00 0.2500 1.7934e+02 3\n", - " 10 3.4547e+02 2.5392e+00 1.1336e+01 2.2957e+01 1.46125e+00 0.5000 1.5507e+02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.0416e+03 2.9625e+00 7.8894e+01 2.4971e+01 4.76256e+00 0.5000 ---- 3\n", - " 2 7.3947e+02 2.2081e+00 4.7204e+01 2.6522e+01 3.73486e+00 0.5000 1.2033e+02 3\n", - " 3 7.1879e+02 1.9786e+00 2.8609e+01 4.3072e+01 3.00924e+00 0.5000 6.2082e+01 3\n", - " 4 5.2015e+02 1.9286e+00 1.6763e+01 3.5059e+01 3.01424e+00 0.2500 9.3231e+01 3\n", - " 5 4.4093e+02 1.9204e+00 1.3942e+01 2.9960e+01 1.66655e+00 1.0000 1.0543e+02 3\n", - " 6 2.8042e+02 1.8327e+00 4.0138e+00 2.3845e+01 3.65378e+00 0.1250 3.5318e+01 3\n", - " 7 2.5960e+02 1.8309e+00 4.2046e+00 2.1572e+01 2.58818e+00 0.1250 4.0701e+01 3\n", - " 8 2.4317e+02 1.8284e+00 3.7898e+00 2.0345e+01 1.67510e+00 0.1250 3.6985e+01 3\n", - " 9 2.2604e+02 1.8263e+00 3.3283e+00 1.9093e+01 1.12870e+00 0.5000 3.2562e+01 3\n", - " 10 2.0997e+02 1.8223e+00 1.7543e+00 1.9061e+01 1.74181e+00 0.1250 1.9061e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 8.7722e+02 2.1703e+00 6.9118e+01 1.8387e+01 4.47316e+00 0.5000 ---- 3\n", - " 2 6.2127e+02 1.7066e+00 4.6256e+01 1.5700e+01 3.85620e+00 0.2500 1.2847e+02 3\n", - " 3 5.4756e+02 1.6156e+00 3.6205e+01 1.8390e+01 1.94371e+00 1.0000 1.3655e+02 3\n", - " 4 5.2859e+02 1.3484e+00 4.9658e+00 4.7759e+01 2.68444e+00 0.5000 4.7759e+01 3\n", - " 5 5.0018e+02 1.3482e+00 3.3957e+00 4.6487e+01 2.23195e+00 0.5000 4.6487e+01 3\n", - " 6 3.5220e+02 1.3497e+00 2.6353e+00 3.2450e+01 1.99380e+00 0.5000 3.2450e+01 3\n", - " 7 3.1477e+02 1.3514e+00 2.2261e+00 2.9116e+01 2.25794e+00 0.2500 2.9116e+01 3\n", - " 8 2.6149e+02 1.3505e+00 1.9640e+00 2.4050e+01 1.13237e+00 1.0000 2.4050e+01 3\n", - " 9 1.9808e+02 1.3494e+00 6.7661e-02 1.9605e+01 2.65130e+00 0.1250 1.9605e+01 3\n", - " 10 1.9126e+02 1.3488e+00 6.4103e-02 1.8927e+01 2.05116e+00 0.1250 1.8927e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.1635e+02 1.5714e+00 6.1388e+01 1.0090e+01 4.23616e+00 0.5000 ---- 3\n", - " 2 6.0666e+02 1.2890e+00 4.2549e+01 1.7988e+01 3.63384e+00 0.5000 1.5571e+02 3\n", - " 3 6.0463e+02 1.1840e+00 2.6214e+01 3.4131e+01 2.33695e+00 0.5000 1.6792e+02 3\n", - " 4 3.9874e+02 1.0930e+00 1.5697e+01 2.4068e+01 2.22539e+00 0.5000 1.3077e+02 3\n", - " 5 3.8030e+02 1.0380e+00 9.7643e+00 2.8162e+01 1.95075e+00 0.5000 9.7142e+01 3\n", - " 6 3.4783e+02 1.0063e+00 6.0151e+00 2.8667e+01 1.93646e+00 0.5000 6.5109e+01 3\n", - " 7 3.3985e+02 9.9152e-01 3.8016e+00 3.0085e+01 1.96106e+00 0.2500 4.3700e+01 3\n", - " 8 2.7748e+02 9.8686e-01 2.9931e+00 2.4656e+01 1.14356e+00 1.0000 3.4252e+01 3\n", - " 9 1.8953e+02 9.8095e-01 5.7399e-02 1.8798e+01 2.68728e+00 0.1250 1.8798e+01 3\n", - " 10 1.8727e+02 9.8041e-01 5.9487e-02 1.8570e+01 1.99991e+00 0.1250 1.8570e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.3782e+02 1.1421e+00 5.3798e+01 9.8697e+00 4.25774e+00 0.5000 ---- 3\n", - " 2 5.7386e+02 1.0325e+00 4.1926e+01 1.5357e+01 3.20084e+00 0.2500 1.9936e+02 3\n", - " 3 5.1155e+02 9.0324e-01 3.1867e+01 1.9198e+01 2.04101e+00 1.0000 1.5775e+02 3\n", - " 4 4.6176e+02 7.0498e-01 4.6137e+00 4.1491e+01 2.76541e+00 0.5000 4.1491e+01 3\n", - " 5 4.3729e+02 7.0354e-01 2.9835e+00 4.0675e+01 1.96708e+00 0.5000 4.0675e+01 3\n", - " 6 2.5123e+02 7.0241e-01 1.5311e+00 2.3522e+01 1.72099e+00 0.2500 2.3522e+01 25\n", - " 7 2.1304e+02 7.0212e-01 1.1477e+00 2.0086e+01 1.27895e+00 0.2500 2.0086e+01 25\n", - " 8 2.1163e+02 7.0164e-01 8.6112e-01 2.0232e+01 8.58884e-01 1.0000 2.0232e+01 25\n", - " 9 1.8989e+02 7.0206e-01 3.3895e-02 1.8884e+01 1.61031e+00 0.1250 1.8884e+01 25\n", - " 10 1.7800e+02 7.0174e-01 2.9641e-02 1.7700e+01 1.02961e+00 0.1250 1.7700e+01 23\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.4269e+02 8.7127e-01 4.5630e+01 8.5518e+00 4.11198e+00 0.2500 ---- 3\n", - " 2 4.7115e+02 7.3746e-01 3.8830e+01 8.2114e+00 2.82692e+00 0.5000 1.8849e+02 3\n", - " 3 3.3140e+02 6.0124e-01 2.5359e+01 7.7208e+00 1.92661e+00 0.2500 9.6141e+01 3\n", - " 4 3.1556e+02 5.6982e-01 1.9204e+01 1.2294e+01 1.48209e+00 0.2500 7.2132e+01 3\n", - " 5 2.8418e+02 5.5191e-01 1.4500e+01 1.3863e+01 1.26021e+00 1.0000 5.4057e+01 3\n", - " 6 2.8188e+02 5.2957e-01 1.2583e+00 2.6876e+01 2.04920e+00 0.2500 2.6876e+01 3\n", - " 7 2.4967e+02 5.2874e-01 9.4555e-01 2.3969e+01 1.15354e+00 0.2500 2.3969e+01 3\n", - " 8 2.0638e+02 5.2843e-01 7.0937e-01 1.9876e+01 8.15842e-01 0.5000 1.9876e+01 3\n", - " 9 1.6463e+02 5.2885e-01 3.5418e-01 1.6056e+01 1.26595e+00 0.1250 1.6056e+01 3\n", - " 10 1.4861e+02 5.2864e-01 3.0991e-01 1.4498e+01 7.21270e-01 0.2500 1.4498e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9681e+02 7.4223e-01 4.7190e+01 2.4166e+00 3.53263e+00 0.5000 ---- 3\n", - " 2 4.4528e+02 7.6743e-01 3.6552e+01 7.8994e+00 2.07136e+00 0.5000 2.2460e+02 3\n", - " 3 4.3180e+02 5.2965e-01 1.9235e+01 2.3892e+01 1.81537e+00 0.5000 1.1472e+02 3\n", - " 4 3.5257e+02 4.6872e-01 9.7244e+00 2.5485e+01 1.63557e+00 0.5000 5.7432e+01 3\n", - " 5 2.3429e+02 4.5482e-01 4.9148e+00 1.8469e+01 1.57441e+00 0.2500 2.8704e+01 3\n", - " 6 2.1582e+02 4.5267e-01 3.6871e+00 1.7850e+01 1.00247e+00 0.5000 2.1526e+01 3\n", - " 7 1.3252e+02 4.5165e-01 1.8525e+00 1.1354e+01 1.48946e+00 0.1250 1.1354e+01 3\n", - " 8 1.2890e+02 4.5131e-01 1.6210e+00 1.1224e+01 7.84123e-01 0.2500 1.1224e+01 25\n", - " 9 1.1102e+02 4.5132e-01 1.2173e+00 9.8397e+00 1.14514e+00 0.0625 9.8397e+00 18\n", - " 10 1.0843e+02 4.5122e-01 1.1412e+00 9.6569e+00 7.05719e-01 0.1250 9.6569e+00 22\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0887e+02 7.0580e-01 4.7959e+01 2.8576e+00 3.19853e+00 0.5000 ---- 3\n", - " 2 4.0526e+02 5.6866e-01 3.2263e+01 8.2060e+00 2.02247e+00 0.2500 1.3631e+02 3\n", - " 3 3.6393e+02 5.0117e-01 2.4501e+01 1.1843e+01 1.41622e+00 1.0000 1.0383e+02 3\n", - " 4 3.4945e+02 4.2158e-01 3.1870e+00 3.1716e+01 1.82171e+00 0.5000 3.1716e+01 3\n", - " 5 3.0957e+02 4.1963e-01 1.5982e+00 2.9317e+01 1.31460e+00 0.5000 2.9317e+01 3\n", - " 6 1.9849e+02 4.1985e-01 7.9485e-01 1.9012e+01 1.34806e+00 0.2500 1.9012e+01 3\n", - " 7 1.9601e+02 4.1962e-01 5.9596e-01 1.8963e+01 9.05137e-01 0.5000 1.8963e+01 3\n", - " 8 1.8832e+02 4.1983e-01 3.0004e-01 1.8490e+01 1.28650e+00 0.2500 1.8490e+01 3\n", - " 9 1.7602e+02 4.1951e-01 2.2488e-01 1.7335e+01 8.32267e-01 0.5000 1.7335e+01 3\n", - " 10 1.1684e+02 4.2003e-01 1.1299e-01 1.1529e+01 1.17330e+00 0.1250 1.1529e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1244e+02 6.6082e-01 4.7369e+01 3.8087e+00 2.85992e+00 1.0000 ---- 3\n", - " 2 4.8730e+02 8.6697e-01 2.5084e+01 2.3560e+01 2.45739e+00 0.2500 3.1379e+02 3\n", - " 3 4.4320e+02 6.5512e-01 1.8835e+01 2.5419e+01 1.54534e+00 0.5000 2.3618e+02 3\n", - " 4 3.4550e+02 4.4988e-01 9.4937e+00 2.5012e+01 1.25337e+00 0.5000 1.1996e+02 3\n", - " 5 2.4546e+02 3.9713e-01 4.7507e+00 1.9756e+01 1.21411e+00 0.2500 6.0419e+01 3\n", - " 6 2.1772e+02 3.8915e-01 3.5647e+00 1.8168e+01 9.46727e-01 0.5000 4.5339e+01 3\n", - " 7 2.0360e+02 3.8181e-01 1.7824e+00 1.8540e+01 1.20112e+00 0.2500 2.2724e+01 3\n", - " 8 1.7605e+02 3.8039e-01 1.3374e+00 1.6230e+01 7.04641e-01 0.5000 1.7046e+01 3\n", - " 9 1.5385e+02 3.7967e-01 6.6882e-01 1.4679e+01 1.13678e+00 0.1250 1.4679e+01 3\n", - " 10 1.4141e+02 3.7940e-01 5.8522e-01 1.3517e+01 8.75751e-01 0.2500 1.3517e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0620e+02 6.3459e-01 4.7172e+01 3.3849e+00 2.56026e+00 0.5000 ---- 3\n", - " 2 3.8925e+02 4.1883e-01 2.7358e+01 1.1524e+01 1.69681e+00 0.5000 1.2966e+02 3\n", - " 3 3.5961e+02 3.5968e-01 1.4669e+01 2.1257e+01 1.38598e+00 0.5000 6.5757e+01 3\n", - " 4 2.8027e+02 3.4559e-01 7.5455e+00 2.0447e+01 1.28532e+00 0.2500 3.3064e+01 3\n", - " 5 2.3486e+02 3.4366e-01 5.6739e+00 1.7778e+01 1.08003e+00 1.0000 2.4778e+01 3\n", - " 6 2.0700e+02 3.4435e-01 1.5696e-01 2.0508e+01 2.10460e+00 0.1250 2.0508e+01 3\n", - " 7 1.8822e+02 3.4390e-01 1.3775e-01 1.8650e+01 1.87658e+00 0.1250 1.8650e+01 3\n", - " 8 1.7673e+02 3.4350e-01 1.2066e-01 1.7518e+01 1.40875e+00 0.1250 1.7518e+01 3\n", - " 9 1.6862e+02 3.4323e-01 1.0545e-01 1.6722e+01 9.36517e-01 1.0000 1.6722e+01 25\n", - " 10 1.1327e+02 3.4461e-01 2.2422e-02 1.1270e+01 2.06305e+00 0.1250 1.1270e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.4186e+02 6.1953e-01 4.6421e+01 7.7028e+00 3.03609e+00 0.5000 ---- 25\n", - " 2 4.9774e+02 3.9667e-01 2.6949e+01 2.2786e+01 2.15327e+00 0.5000 1.2736e+02 25\n", - " 3 4.4684e+02 3.4129e-01 1.4435e+01 3.0215e+01 1.80222e+00 1.0000 6.4436e+01 25\n", - " 4 2.8751e+02 3.2846e-01 1.2697e+00 2.7449e+01 2.10236e+00 0.1250 2.7449e+01 25\n", - " 5 2.6845e+02 3.2809e-01 1.1111e+00 2.5701e+01 1.35993e+00 0.2500 2.5701e+01 11\n", - " 6 2.6249e+02 3.2789e-01 8.3360e-01 2.5383e+01 8.42816e-01 0.5000 2.5383e+01 10\n", - " 7 2.5665e+02 3.2784e-01 4.1697e-01 2.5216e+01 8.02933e-01 0.5000 2.5216e+01 15\n", - " 8 2.4998e+02 3.2769e-01 2.1050e-01 2.4754e+01 7.45183e-01 0.5000 2.4754e+01 11\n", - " 9 2.2117e+02 3.2785e-01 1.0561e-01 2.1979e+01 8.14304e-01 0.2500 2.1979e+01 11\n", - " 10 1.9966e+02 3.2782e-01 7.8698e-02 1.9854e+01 7.22719e-01 1.0000 1.9854e+01 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.2129e+02 6.0336e-01 4.6200e+01 5.8687e+00 2.66556e+00 0.5000 ---- 3\n", - " 2 4.8280e+02 3.7926e-01 2.6229e+01 2.2013e+01 1.66814e+00 0.5000 1.2539e+02 3\n", - " 3 3.7589e+02 3.2601e-01 1.3898e+01 2.3658e+01 1.49276e+00 0.5000 6.3350e+01 3\n", - " 4 3.2681e+02 3.1462e-01 7.1552e+00 2.5495e+01 1.39057e+00 0.2500 3.1842e+01 3\n", - " 5 2.6952e+02 3.1318e-01 5.3759e+00 2.1545e+01 1.25036e+00 1.0000 2.3839e+01 3\n", - " 6 2.6497e+02 3.1528e-01 1.6258e-01 2.6303e+01 2.09434e+00 0.2500 2.6303e+01 3\n", - " 7 2.2052e+02 3.1442e-01 1.2253e-01 2.1898e+01 1.85640e+00 0.1250 2.1898e+01 3\n", - " 8 1.9894e+02 3.1403e-01 1.0757e-01 1.9755e+01 1.33128e+00 0.1250 1.9755e+01 3\n", - " 9 1.8552e+02 3.1380e-01 9.4451e-02 1.8426e+01 1.24568e+00 0.5000 1.8426e+01 25\n", - " 10 1.6274e+02 3.1446e-01 5.2484e-02 1.6190e+01 1.77603e+00 0.1250 1.6190e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1543e+02 5.9623e-01 4.6553e+01 4.9307e+00 2.35001e+00 1.0000 ---- 3\n", - " 2 2.9212e+02 3.2423e-01 1.2494e+01 1.6685e+01 2.12516e+00 0.2500 6.1859e+01 3\n", - " 3 2.8705e+02 3.1521e-01 9.3702e+00 1.9303e+01 1.28316e+00 0.5000 4.6414e+01 3\n", - " 4 2.7026e+02 3.0720e-01 4.6791e+00 2.2316e+01 1.37816e+00 0.2500 2.3251e+01 3\n", - " 5 2.2643e+02 3.0564e-01 3.5093e+00 1.9103e+01 8.67447e-01 0.5000 1.9103e+01 3\n", - " 6 1.7806e+02 3.0480e-01 1.7515e+00 1.6024e+01 1.21699e+00 0.2500 1.6024e+01 3\n", - " 7 1.7239e+02 3.0435e-01 1.3138e+00 1.5894e+01 8.60484e-01 0.5000 1.5894e+01 3\n", - " 8 1.0712e+02 3.0477e-01 6.5762e-01 1.0023e+01 1.31467e+00 0.0625 1.0023e+01 3\n", - " 9 1.0289e+02 3.0470e-01 6.1655e-01 9.6417e+00 1.11424e+00 0.2500 9.6417e+00 25\n", - " 10 9.7187e+01 3.0478e-01 4.6316e-01 9.2251e+00 1.26957e+00 0.0625 9.2251e+00 23\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0013e+02 5.8903e-01 4.6721e+01 3.2335e+00 2.36189e+00 1.0000 ---- 3\n", - " 2 4.0408e+02 3.0828e-01 1.2495e+01 2.7883e+01 2.05353e+00 0.5000 4.8023e+01 3\n", - " 3 3.9994e+02 2.9862e-01 6.2293e+00 3.3735e+01 1.43153e+00 1.0000 3.3735e+01 3\n", - " 4 3.2363e+02 2.9727e-01 6.4703e-02 3.2269e+01 2.56953e+00 0.2500 3.2269e+01 3\n", - " 5 2.8743e+02 2.9645e-01 5.2550e-02 2.8661e+01 1.68822e+00 0.2500 2.8661e+01 3\n", - " 6 2.5878e+02 2.9592e-01 4.0562e-02 2.5808e+01 1.14207e+00 0.5000 2.5808e+01 3\n", - " 7 1.9234e+02 2.9626e-01 1.8544e-02 1.9186e+01 1.05465e+00 0.2500 1.9186e+01 3\n", - " 8 1.6247e+02 2.9604e-01 1.3606e-02 1.6204e+01 8.21005e-01 0.5000 1.6204e+01 3\n", - " 9 1.0921e+02 2.9648e-01 8.1439e-03 1.0884e+01 1.20938e+00 0.1250 1.0884e+01 3\n", - " 10 1.0677e+02 2.9628e-01 7.2292e-03 1.0640e+01 8.69812e-01 0.5000 1.0640e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0376e+02 5.7923e-01 4.6888e+01 3.4304e+00 2.20468e+00 0.5000 ---- 3\n", - " 2 4.1263e+02 3.5338e-01 2.6194e+01 1.5033e+01 1.45881e+00 0.5000 1.1878e+02 3\n", - " 3 3.4461e+02 3.0068e-01 1.3817e+01 2.0614e+01 1.18689e+00 0.5000 5.9818e+01 3\n", - " 4 2.3175e+02 2.8991e-01 7.0684e+00 1.6077e+01 1.13467e+00 0.2500 3.0007e+01 3\n", - " 5 2.0238e+02 2.8859e-01 5.3104e+00 1.4899e+01 9.74377e-01 1.0000 2.2482e+01 25\n", - " 6 2.0189e+02 2.9027e-01 1.6281e-01 1.9998e+01 2.17080e+00 0.2500 1.9998e+01 25\n", - " 7 1.8264e+02 2.8936e-01 1.2522e-01 1.8110e+01 1.87850e+00 0.1250 1.8110e+01 17\n", - " 8 1.7198e+02 2.8907e-01 1.0996e-01 1.7059e+01 1.33417e+00 0.1250 1.7059e+01 17\n", - " 9 1.6305e+02 2.8894e-01 9.6140e-02 1.6180e+01 8.79693e-01 1.0000 1.6180e+01 16\n", - " 10 8.0071e+01 2.8963e-01 1.8659e-02 7.9595e+00 1.62585e+00 0.0625 7.9595e+00 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1204e+02 5.7134e-01 4.6607e+01 4.5397e+00 2.26719e+00 1.0000 ---- 3\n", - " 2 3.5055e+02 2.8520e-01 1.2068e+01 2.2958e+01 1.81368e+00 0.5000 3.2835e+01 3\n", - " 3 3.3236e+02 2.8022e-01 6.0304e+00 2.7177e+01 1.13466e+00 1.0000 2.7177e+01 3\n", - " 4 2.9080e+02 2.7972e-01 2.8751e-02 2.9024e+01 1.92073e+00 0.2500 2.9024e+01 3\n", - " 5 2.7087e+02 2.7910e-01 2.2380e-02 2.7037e+01 1.08263e+00 0.5000 2.7037e+01 3\n", - " 6 2.3114e+02 2.7882e-01 1.1885e-02 2.3074e+01 9.95821e-01 0.5000 2.3074e+01 3\n", - " 7 1.6747e+02 2.7920e-01 6.9785e-03 1.6712e+01 1.20916e+00 0.5000 1.6712e+01 25\n", - " 8 1.3242e+02 2.7958e-01 9.0007e-03 1.3205e+01 1.58022e+00 0.0625 1.3205e+01 25\n", - " 9 1.2733e+02 2.7945e-01 8.5177e-03 1.2696e+01 1.34170e+00 0.1250 1.2696e+01 25\n", - " 10 1.2641e+02 2.7932e-01 7.4915e-03 1.2606e+01 6.98296e-01 0.2500 1.2606e+01 19\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.2983e+02 5.6460e-01 4.5590e+01 7.3358e+00 2.26671e+00 1.0000 ---- 3\n", - " 2 2.6125e+02 2.7353e-01 1.1358e+01 1.4740e+01 1.87469e+00 0.1250 2.7717e+01 3\n", - " 3 2.4494e+02 2.7235e-01 9.9374e+00 1.4530e+01 1.53941e+00 0.2500 2.4252e+01 3\n", - " 4 2.3581e+02 2.7064e-01 7.4523e+00 1.6102e+01 7.96095e-01 1.0000 1.8191e+01 3\n", - " 5 2.2240e+02 2.6992e-01 4.9688e-02 2.2163e+01 1.92581e+00 0.2500 2.2163e+01 3\n", - " 6 1.9485e+02 2.6915e-01 3.8361e-02 1.9419e+01 1.04499e+00 0.2500 1.9419e+01 3\n", - " 7 1.6928e+02 2.6887e-01 2.8701e-02 1.6872e+01 8.40610e-01 0.5000 1.6872e+01 3\n", - " 8 9.6937e+01 2.6934e-01 1.5178e-02 9.6516e+00 1.16777e+00 0.0625 9.6516e+00 3\n", - " 9 9.2880e+01 2.6924e-01 1.4235e-02 9.2469e+00 8.81065e-01 0.1250 9.2469e+00 25\n", - " 10 8.6337e+01 2.6923e-01 1.2379e-02 8.5944e+00 6.36219e-01 0.1250 8.5944e+00 13\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9683e+02 5.5736e-01 4.6447e+01 3.1801e+00 1.95441e+00 1.0000 ---- 3\n", - " 2 2.2923e+02 2.6625e-01 1.1158e+01 1.1738e+01 1.65381e+00 0.2500 2.4167e+01 25\n", - " 3 2.2412e+02 2.6469e-01 8.3639e+00 1.4022e+01 1.18188e+00 0.2500 1.8127e+01 25\n", - " 4 2.0680e+02 2.6366e-01 6.2720e+00 1.4382e+01 8.39096e-01 1.0000 1.4382e+01 25\n", - " 5 1.1594e+02 2.6309e-01 3.2465e-02 1.1535e+01 1.49668e+00 0.0625 1.1535e+01 21\n", - " 6 1.1198e+02 2.6295e-01 3.0468e-02 1.1141e+01 1.11602e+00 0.0625 1.1141e+01 14\n", - " 7 1.0837e+02 2.6288e-01 2.8591e-02 1.0782e+01 8.52506e-01 0.2500 1.0782e+01 11\n", - " 8 1.0195e+02 2.6285e-01 2.1561e-02 1.0147e+01 6.11935e-01 0.1250 1.0147e+01 11\n", - " 9 9.6981e+01 2.6282e-01 1.8854e-02 9.6530e+00 3.99271e-01 1.0000 9.6530e+00 9\n", - " 10 7.0618e+01 2.6323e-01 2.5347e-03 7.0329e+00 1.44462e+00 0.0625 7.0329e+00 23\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.6487e+02 5.5214e-01 4.4562e+01 1.8696e+00 2.03148e+00 1.0000 ---- 3\n", - " 2 1.9352e+02 2.5785e-01 1.0723e+01 8.6036e+00 1.32874e+00 0.2500 2.1281e+01 23\n", - " 3 1.8586e+02 2.5666e-01 8.0392e+00 1.0521e+01 1.19655e+00 0.2500 1.5961e+01 3\n", - " 4 1.7230e+02 2.5584e-01 6.0290e+00 1.1176e+01 5.87425e-01 1.0000 1.1972e+01 3\n", - " 5 1.0909e+02 2.5574e-01 2.1024e-02 1.0862e+01 1.62769e+00 0.1250 1.0862e+01 3\n", - " 6 1.0609e+02 2.5542e-01 1.8691e-02 1.0565e+01 1.13231e+00 0.1250 1.0565e+01 3\n", - " 7 1.0069e+02 2.5523e-01 1.6440e-02 1.0027e+01 6.63052e-01 0.2500 1.0027e+01 3\n", - " 8 8.8531e+01 2.5524e-01 1.2174e-02 8.8154e+00 6.94219e-01 0.1250 8.8154e+00 3\n", - " 9 8.2091e+01 2.5518e-01 1.0636e-02 8.1729e+00 5.04683e-01 1.0000 8.1729e+00 3\n", - " 10 4.6862e+01 2.5587e-01 3.5072e-03 4.6571e+00 1.60393e+00 0.0312 4.6571e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.8654e+02 5.4307e-01 4.5664e+01 2.9355e+00 2.15761e+00 1.0000 ---- 3\n", - " 2 4.2924e+02 2.4805e-01 1.1071e+01 3.1829e+01 1.62593e+00 0.5000 3.1829e+01 3\n", - " 3 2.8060e+02 2.4624e-01 5.5315e+00 2.2504e+01 1.17103e+00 0.5000 2.2504e+01 3\n", - " 4 1.8537e+02 2.4620e-01 2.7591e+00 1.5753e+01 1.19337e+00 0.2500 1.5753e+01 3\n", - " 5 1.6841e+02 2.4607e-01 2.0697e+00 1.4747e+01 7.75008e-01 0.5000 1.4747e+01 3\n", - " 6 1.5897e+02 2.4614e-01 1.0342e+00 1.4838e+01 9.54958e-01 0.2500 1.4838e+01 3\n", - " 7 1.3539e+02 2.4596e-01 7.7585e-01 1.2738e+01 6.49755e-01 0.5000 1.2738e+01 3\n", - " 8 9.5500e+01 2.4629e-01 3.8812e-01 9.1373e+00 9.54594e-01 0.1250 9.1373e+00 3\n", - " 9 9.2258e+01 2.4619e-01 3.3960e-01 8.8616e+00 7.29167e-01 0.5000 8.8616e+00 25\n", - " 10 7.1063e+01 2.4649e-01 1.7080e-01 6.9109e+00 1.45607e+00 0.0625 6.9109e+00 23\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.8406e+02 5.3589e-01 4.4948e+01 3.4044e+00 1.85078e+00 1.0000 ---- 3\n", - " 2 3.6709e+02 2.3638e-01 1.0501e+01 2.6184e+01 1.29360e+00 0.5000 2.6184e+01 3\n", - " 3 2.3479e+02 2.3491e-01 5.2408e+00 1.8215e+01 9.58839e-01 1.0000 1.8215e+01 3\n", - " 4 2.2685e+02 2.3545e-01 2.7309e-02 2.2634e+01 1.88139e+00 0.2500 2.2634e+01 3\n", - " 5 2.1069e+02 2.3494e-01 2.3134e-02 2.1023e+01 1.21758e+00 0.2500 2.1023e+01 3\n", - " 6 1.7648e+02 2.3462e-01 1.7665e-02 1.7607e+01 7.54610e-01 0.5000 1.7607e+01 3\n", - " 7 1.3612e+02 2.3477e-01 8.8464e-03 1.3580e+01 7.67265e-01 0.2500 1.3580e+01 3\n", - " 8 1.1341e+02 2.3467e-01 6.7709e-03 1.1311e+01 6.05438e-01 0.5000 1.1311e+01 3\n", - " 9 6.4371e+01 2.3500e-01 3.4240e-03 6.4102e+00 7.97337e-01 0.2500 6.4102e+00 25\n", - " 10 6.0245e+01 2.3499e-01 3.2204e-03 5.9977e+00 4.22731e-01 0.5000 5.9977e+00 21\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.8353e+02 5.2940e-01 4.4085e+01 4.2153e+00 2.02163e+00 1.0000 ---- 3\n", - " 2 3.5998e+02 2.2744e-01 1.0712e+01 2.5264e+01 1.64144e+00 0.5000 2.5264e+01 3\n", - " 3 2.8362e+02 2.2596e-01 5.3545e+00 2.2985e+01 1.03345e+00 1.0000 2.2985e+01 3\n", - " 4 2.0069e+02 2.2662e-01 2.2168e-02 2.0024e+01 1.92133e+00 0.1250 2.0024e+01 3\n", - " 5 1.8233e+02 2.2628e-01 1.9608e-02 1.8191e+01 1.57676e+00 0.1250 1.8191e+01 3\n", - " 6 1.6716e+02 2.2603e-01 1.7288e-02 1.6677e+01 1.06073e+00 0.2500 1.6677e+01 3\n", - " 7 1.5822e+02 2.2581e-01 1.3098e-02 1.5787e+01 6.66434e-01 1.0000 1.5787e+01 3\n", - " 8 1.3684e+02 2.2665e-01 5.7530e-03 1.3656e+01 1.57205e+00 0.1250 1.3656e+01 3\n", - " 9 1.2409e+02 2.2633e-01 5.4346e-03 1.2381e+01 1.19184e+00 0.1250 1.2381e+01 3\n", - " 10 1.1480e+02 2.2611e-01 4.9281e-03 1.1453e+01 7.77554e-01 0.2500 1.1453e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.8019e+02 5.2311e-01 4.3806e+01 4.1607e+00 1.75871e+00 1.0000 ---- 3\n", - " 2 1.8659e+02 2.2104e-01 1.0319e+01 8.3184e+00 1.18008e+00 0.2500 1.3656e+01 3\n", - " 3 1.7290e+02 2.2039e-01 7.7369e+00 9.5313e+00 7.01431e-01 0.5000 1.0241e+01 3\n", - " 4 1.4351e+02 2.1989e-01 3.8626e+00 1.0466e+01 5.42218e-01 0.5000 1.0466e+01 3\n", - " 5 1.1319e+02 2.1979e-01 1.9313e+00 9.3655e+00 4.89733e-01 0.5000 9.3655e+00 3\n", - " 6 1.0451e+02 2.1976e-01 9.6538e-01 9.4636e+00 5.87991e-01 0.2500 9.4636e+00 3\n", - " 7 8.7710e+01 2.1972e-01 7.2417e-01 8.0248e+00 4.13477e-01 1.0000 8.0248e+00 3\n", - " 8 5.2779e+01 2.2017e-01 1.8853e-03 5.2540e+00 1.27134e+00 0.0625 5.2540e+00 3\n", - " 9 5.0481e+01 2.2006e-01 1.7880e-03 5.0243e+00 1.04307e+00 0.0625 5.0243e+00 3\n", - " 10 4.7544e+01 2.1997e-01 1.6840e-03 4.7307e+00 6.13191e-01 0.1250 4.7307e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.6159e+02 5.1856e-01 4.3321e+01 2.7859e+00 1.78060e+00 1.0000 ---- 3\n", - " 2 1.9762e+02 2.1513e-01 9.9410e+00 9.7990e+00 1.25170e+00 0.2500 1.2729e+01 3\n", - " 3 1.8246e+02 2.1453e-01 7.4544e+00 1.0770e+01 6.39771e-01 1.0000 1.0770e+01 3\n", - " 4 6.5026e+01 2.1445e-01 4.8780e-02 6.4324e+00 1.44173e+00 0.1250 6.4324e+00 3\n", - " 5 6.1730e+01 2.1422e-01 4.2816e-02 6.1088e+00 8.78599e-01 0.1250 6.1088e+00 3\n", - " 6 5.6214e+01 2.1413e-01 3.7446e-02 5.5625e+00 5.34098e-01 0.5000 5.5625e+00 3\n", - " 7 5.0757e+01 2.1420e-01 1.8268e-02 5.0360e+00 7.17716e-01 0.1250 5.0360e+00 3\n", - " 8 4.7852e+01 2.1413e-01 1.5909e-02 4.7479e+00 4.30982e-01 0.2500 4.7479e+00 3\n", - " 9 3.9333e+01 2.1413e-01 1.1637e-02 3.9003e+00 3.57307e-01 0.5000 3.9003e+00 3\n", - " 10 3.7453e+01 2.1418e-01 6.5608e-03 3.7173e+00 6.19615e-01 0.1250 3.7173e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.4141e+02 5.1360e-01 4.2887e+01 1.2029e+00 1.63121e+00 1.0000 ---- 3\n", - " 2 1.8745e+02 2.0951e-01 9.5380e+00 9.1865e+00 1.06935e+00 0.5000 1.1389e+01 3\n", - " 3 1.7738e+02 2.0875e-01 4.7604e+00 1.2957e+01 6.52043e-01 1.0000 1.2957e+01 3\n", - " 4 1.4681e+02 2.0888e-01 5.0183e-03 1.4655e+01 1.16646e+00 0.2500 1.4655e+01 3\n", - " 5 1.2517e+02 2.0862e-01 3.7850e-03 1.2492e+01 6.40779e-01 0.5000 1.2492e+01 3\n", - " 6 1.0839e+02 2.0856e-01 3.4251e-03 1.0815e+01 4.52066e-01 0.5000 1.0815e+01 3\n", - " 7 7.4156e+01 2.0864e-01 1.3510e-03 7.3933e+00 4.98859e-01 0.2500 7.3933e+00 3\n", - " 8 6.1963e+01 2.0862e-01 1.1129e-03 6.1744e+00 3.03541e-01 1.0000 6.1744e+00 3\n", - " 9 1.5806e+01 2.0892e-01 1.2334e-03 1.5585e+00 8.10045e-01 0.0625 1.5585e+00 3\n", - " 10 1.5707e+01 2.0885e-01 1.1716e-03 1.5487e+00 4.81763e-01 0.1250 1.5487e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2732e+02 5.0915e-01 4.1960e+01 7.2139e-01 1.54331e+00 1.0000 ---- 3\n", - " 2 1.6413e+02 2.0373e-01 9.3577e+00 7.0352e+00 1.02791e+00 0.5000 1.0466e+01 3\n", - " 3 1.6183e+02 2.0308e-01 4.6703e+00 1.1493e+01 6.93831e-01 0.5000 1.1493e+01 3\n", - " 4 1.1142e+02 2.0298e-01 2.3350e+00 8.7863e+00 6.12621e-01 0.5000 8.7863e+00 3\n", - " 5 8.7330e+01 2.0298e-01 1.1665e+00 7.5462e+00 6.38601e-01 0.2500 7.5462e+00 3\n", - " 6 7.3581e+01 2.0294e-01 8.7491e-01 6.4629e+00 3.22940e-01 1.0000 6.4629e+00 3\n", - " 7 1.8139e+01 2.0324e-01 1.9983e-03 1.7916e+00 9.35057e-01 0.0625 1.7916e+00 3\n", - " 8 1.7773e+01 2.0317e-01 1.8745e-03 1.7551e+00 4.93996e-01 0.1250 1.7551e+00 3\n", - " 9 1.5580e+01 2.0315e-01 1.5869e-03 1.5361e+00 3.74324e-01 0.2500 1.5361e+00 3\n", - " 10 1.3800e+01 2.0312e-01 1.2569e-03 1.3584e+00 5.24333e-01 0.0625 1.3584e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2151e+02 5.0437e-01 4.1238e+01 8.6289e-01 1.62879e+00 1.0000 ---- 3\n", - " 2 1.7117e+02 1.9721e-01 9.3215e+00 7.7753e+00 1.05657e+00 0.5000 9.5287e+00 3\n", - " 3 1.4950e+02 1.9665e-01 4.6545e+00 1.0276e+01 7.56602e-01 0.5000 1.0276e+01 3\n", - " 4 1.0217e+02 1.9654e-01 2.3272e+00 7.8704e+00 5.84564e-01 0.5000 7.8704e+00 3\n", - " 5 7.8080e+01 1.9650e-01 1.1632e+00 6.6252e+00 7.09719e-01 0.2500 6.6252e+00 3\n", - " 6 6.5731e+01 1.9645e-01 8.7244e-01 5.6810e+00 4.70532e-01 1.0000 5.6810e+00 3\n", - " 7 5.5597e+01 1.9656e-01 4.0288e-03 5.5360e+00 6.86012e-01 0.2500 5.5360e+00 3\n", - " 8 5.2015e+01 1.9645e-01 3.0446e-03 5.1788e+00 3.88567e-01 0.2500 5.1788e+00 3\n", - " 9 4.4702e+01 1.9641e-01 2.1629e-03 4.4484e+00 2.68792e-01 1.0000 4.4484e+00 3\n", - " 10 3.7611e+01 1.9651e-01 1.9305e-03 3.7395e+00 6.29992e-01 0.1250 3.7395e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1005e+02 4.9832e-01 3.9892e+01 1.0641e+00 1.50837e+00 1.0000 ---- 3\n", - " 2 1.6004e+02 1.8926e-01 8.9233e+00 7.0617e+00 9.19731e-01 1.0000 8.5509e+00 3\n", - " 3 1.4158e+02 1.8880e-01 5.0041e-02 1.4089e+01 1.39060e+00 0.5000 1.4089e+01 3\n", - " 4 1.3379e+02 1.8859e-01 2.7286e-02 1.3333e+01 7.81219e-01 1.0000 1.3333e+01 3\n", - " 5 8.5002e+01 1.8894e-01 3.4949e-03 8.4778e+00 1.61886e+00 0.1250 8.4778e+00 3\n", - " 6 7.6861e+01 1.8879e-01 3.2274e-03 7.6640e+00 8.78582e-01 0.5000 7.6640e+00 3\n", - " 7 7.5775e+01 1.8874e-01 1.4654e-03 7.5571e+00 7.44911e-01 0.2500 7.5571e+00 3\n", - " 8 6.5536e+01 1.8868e-01 1.0459e-03 6.5337e+00 3.02263e-01 1.0000 6.5337e+00 3\n", - " 9 8.0099e+00 1.8893e-01 8.7515e-04 7.8122e-01 3.51208e-01 0.2500 7.8122e-01 3\n", - " 10 6.5146e+00 1.8890e-01 6.5471e-04 6.3192e-01 1.76206e-01 0.5000 6.3192e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9214e+02 4.9303e-01 3.8257e+01 9.0810e-01 1.53230e+00 1.0000 ---- 3\n", - " 2 1.6041e+02 1.8184e-01 8.6734e+00 7.3498e+00 8.82161e-01 1.0000 7.8323e+00 3\n", - " 3 1.2627e+02 1.8149e-01 5.1878e-02 1.2557e+01 1.41754e+00 0.2500 1.2557e+01 3\n", - " 4 1.0716e+02 1.8131e-01 3.9310e-02 1.0658e+01 6.61235e-01 0.5000 1.0658e+01 3\n", - " 5 6.1567e+01 1.8138e-01 2.0255e-02 6.1184e+00 4.35962e-01 0.5000 6.1184e+00 3\n", - " 6 4.7609e+01 1.8141e-01 1.0680e-02 4.7321e+00 4.63509e-01 0.2500 4.7321e+00 3\n", - " 7 4.1698e+01 1.8139e-01 7.9238e-03 4.1437e+00 2.19681e-01 1.0000 4.1437e+00 3\n", - " 8 6.3219e+00 1.8155e-01 6.2300e-04 6.1341e-01 5.25236e-01 0.0625 6.1341e-01 3\n", - " 9 5.9806e+00 1.8153e-01 5.8133e-04 5.7933e-01 3.18196e-01 0.1250 5.7933e-01 3\n", - " 10 5.5836e+00 1.8152e-01 5.0691e-04 5.3970e-01 1.69558e-01 1.0000 5.3970e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.6865e+02 4.8884e-01 3.6374e+01 4.4254e-01 1.58900e+00 1.0000 ---- 3\n", - " 2 1.5141e+02 1.7645e-01 8.6637e+00 6.4597e+00 1.07692e+00 0.5000 6.8407e+00 3\n", - " 3 1.2637e+02 1.7608e-01 4.3238e+00 8.2954e+00 8.27071e-01 0.5000 8.2954e+00 3\n", - " 4 9.6513e+01 1.7600e-01 2.1616e+00 7.4720e+00 6.34019e-01 0.5000 7.4720e+00 3\n", - " 5 7.8705e+01 1.7598e-01 1.0807e+00 6.7722e+00 6.48334e-01 0.2500 6.7722e+00 3\n", - " 6 6.5402e+01 1.7594e-01 8.1051e-01 5.7121e+00 2.99473e-01 1.0000 5.7121e+00 3\n", - " 7 9.5562e+00 1.7616e-01 2.2994e-03 9.3570e-01 4.53985e-01 0.1250 9.3570e-01 3\n", - " 8 8.2992e+00 1.7613e-01 2.0372e-03 8.1027e-01 2.05841e-01 1.0000 8.1027e-01 3\n", - " 9 7.6404e+00 1.7613e-01 8.8319e-04 7.4555e-01 5.68485e-01 0.0625 7.4555e-01 3\n", - " 10 7.6174e+00 1.7611e-01 8.4230e-04 7.4329e-01 4.36087e-01 0.0625 7.4329e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.5367e+02 4.8644e-01 3.4798e+01 5.1978e-01 1.55936e+00 1.0000 ---- 3\n", - " 2 1.3050e+02 1.7297e-01 8.4617e+00 4.5707e+00 8.64517e-01 1.0000 6.1788e+00 3\n", - " 3 9.7272e+01 1.7270e-01 3.4469e-02 9.6754e+00 1.44462e+00 0.2500 9.6754e+00 3\n", - " 4 9.2657e+01 1.7254e-01 2.6263e-02 9.2222e+00 6.04814e-01 1.0000 9.2222e+00 3\n", - " 5 4.3321e+01 1.7279e-01 4.6706e-03 4.3101e+00 9.08619e-01 0.2500 4.3101e+00 3\n", - " 6 4.2582e+01 1.7268e-01 4.1657e-03 4.2367e+00 4.74488e-01 1.0000 4.2367e+00 3\n", - " 7 4.0600e+01 1.7272e-01 3.2831e-03 4.0394e+00 1.01497e+00 0.1250 4.0394e+00 3\n", - " 8 3.9362e+01 1.7264e-01 3.0362e-03 3.9159e+00 6.59972e-01 0.2500 3.9159e+00 3\n", - " 9 3.6658e+01 1.7260e-01 2.6228e-03 3.6459e+00 2.62423e-01 1.0000 3.6459e+00 3\n", - " 10 1.1159e+01 1.7272e-01 4.2496e-04 1.0982e+00 4.51629e-01 0.2500 1.0982e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.4180e+02 4.8452e-01 3.3149e+01 9.8199e-01 1.49129e+00 1.0000 ---- 3\n", - " 2 1.0952e+02 1.7075e-01 7.9167e+00 3.0180e+00 7.03916e-01 1.0000 5.3262e+00 3\n", - " 3 7.5521e+01 1.7052e-01 2.7005e-02 7.5080e+00 1.10412e+00 0.2500 7.5080e+00 3\n", - " 4 6.4588e+01 1.7043e-01 2.0367e-02 6.4214e+00 4.28789e-01 1.0000 6.4214e+00 3\n", - " 5 2.3737e+01 1.7057e-01 2.3171e-03 2.3544e+00 6.57968e-01 0.2500 2.3544e+00 3\n", - " 6 2.3017e+01 1.7052e-01 1.8481e-03 2.2828e+00 2.42054e-01 1.0000 2.2828e+00 3\n", - " 7 1.3722e+00 1.7056e-01 6.9336e-04 1.1947e-01 4.36467e-01 0.0312 1.1947e-01 3\n", - " 8 1.3457e+00 1.7055e-01 6.7180e-04 1.1684e-01 3.88874e-01 0.0625 1.1684e-01 3\n", - " 9 1.3246e+00 1.7054e-01 6.3009e-04 1.1478e-01 3.06314e-01 0.0625 1.1478e-01 3\n", - " 10 1.2748e+00 1.7054e-01 5.9088e-04 1.0983e-01 2.46149e-01 0.1250 1.0983e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.2094e+02 4.8362e-01 3.1766e+01 2.7986e-01 1.50852e+00 1.0000 ---- 3\n", - " 2 1.1661e+02 1.6979e-01 7.9017e+00 3.7426e+00 7.37847e-01 1.0000 4.5489e+00 3\n", - " 3 3.8901e+01 1.6962e-01 2.9186e-02 3.8440e+00 1.23124e+00 0.2500 3.8440e+00 3\n", - " 4 3.7353e+01 1.6954e-01 2.2247e-02 3.6961e+00 4.62988e-01 1.0000 3.6961e+00 3\n", - " 5 1.6369e+01 1.6962e-01 1.6614e-03 1.6182e+00 5.69433e-01 0.2500 1.6182e+00 3\n", - " 6 1.3977e+01 1.6959e-01 1.3684e-03 1.3794e+00 2.24605e-01 1.0000 1.3794e+00 3\n", - " 7 1.8667e+00 1.6960e-01 7.7232e-04 1.6894e-01 3.13437e-01 0.0625 1.6894e-01 3\n", - " 8 1.8065e+00 1.6960e-01 7.2351e-04 1.6296e-01 2.61024e-01 0.1250 1.6296e-01 3\n", - " 9 1.7789e+00 1.6959e-01 6.3163e-04 1.6030e-01 1.75032e-01 0.2500 1.6030e-01 3\n", - " 10 1.6381e+00 1.6959e-01 4.7086e-04 1.4638e-01 7.02276e-02 1.0000 1.4638e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0545e+02 4.8355e-01 3.0245e+01 2.5164e-01 1.49778e+00 1.0000 ---- 3\n", - " 2 1.0762e+02 1.6966e-01 7.0710e+00 3.6742e+00 5.94412e-01 1.0000 3.8389e+00 3\n", - " 3 4.6604e+01 1.6953e-01 1.3649e-02 4.6298e+00 8.71206e-01 0.2500 4.6298e+00 3\n", - " 4 3.7824e+01 1.6949e-01 1.0362e-02 3.7551e+00 3.47855e-01 1.0000 3.7551e+00 3\n", - " 5 1.7316e+01 1.6955e-01 1.3363e-03 1.7134e+00 4.26109e-01 0.2500 1.7134e+00 3\n", - " 6 1.3523e+01 1.6953e-01 1.1196e-03 1.3342e+00 1.72511e-01 1.0000 1.3342e+00 3\n", - " 7 7.5516e+00 1.6954e-01 3.1373e-04 7.3790e-01 3.04779e-01 0.1250 7.3790e-01 3\n", - " 8 6.9219e+00 1.6954e-01 2.8161e-04 6.7495e-01 1.77036e-01 0.5000 6.7495e-01 3\n", - " 9 5.9753e+00 1.6953e-01 2.2574e-04 5.8035e-01 1.00312e-01 1.0000 5.8035e-01 3\n", - " 10 3.9215e+00 1.6954e-01 6.8561e-05 3.7513e-01 3.10047e-01 0.0625 3.7513e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0171e+02 4.8403e-01 2.9735e+01 3.8701e-01 1.51095e+00 1.0000 ---- 3\n", - " 2 1.0416e+02 1.7062e-01 6.8752e+00 3.5238e+00 6.40811e-01 1.0000 3.5238e+00 3\n", - " 3 3.5321e+01 1.7051e-01 1.7630e-02 3.4974e+00 1.16505e+00 0.2500 3.4974e+00 3\n", - " 4 3.4675e+01 1.7043e-01 1.3157e-02 3.4373e+00 4.85017e-01 1.0000 3.4373e+00 3\n", - " 5 8.7144e+00 1.7050e-01 2.6461e-03 8.5174e-01 6.36656e-01 0.1250 8.5174e-01 3\n", - " 6 8.2758e+00 1.7048e-01 2.3351e-03 8.0819e-01 4.15948e-01 0.2500 8.0819e-01 3\n", - " 7 6.7600e+00 1.7047e-01 1.7613e-03 6.5719e-01 1.56408e-01 1.0000 6.5719e-01 3\n", - " 8 3.0320e-01 1.7048e-01 1.5913e-04 1.3112e-02 1.90695e-01 0.2500 1.3112e-02 3\n", - " 9 2.8198e-01 1.7048e-01 1.1441e-04 1.1036e-02 6.60176e-02 1.0000 1.1036e-02 2\n", - " 10 1.7940e-01 1.7048e-01 2.9709e-05 8.6275e-04 1.00980e-01 0.0020 1.7377e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0144e+02 4.8429e-01 2.9962e+01 1.3409e-01 1.45523e+00 1.0000 ---- 3\n", - " 2 9.7788e+01 1.7058e-01 6.4857e+00 3.2761e+00 5.38288e-01 1.0000 3.4574e+00 3\n", - " 3 2.3231e+01 1.7050e-01 1.1796e-02 2.2942e+00 6.87368e-01 0.2500 2.2942e+00 3\n", - " 4 2.0285e+01 1.7047e-01 8.8863e-03 2.0026e+00 3.01257e-01 1.0000 2.0026e+00 3\n", - " 5 5.0938e+00 1.7051e-01 8.4744e-04 4.9148e-01 3.38125e-01 0.1250 4.9148e-01 3\n", - " 6 4.6388e+00 1.7050e-01 7.5929e-04 4.4607e-01 2.30430e-01 0.2500 4.4607e-01 3\n", - " 7 3.7870e+00 1.7050e-01 5.9734e-04 3.6105e-01 9.40520e-02 1.0000 3.6105e-01 3\n", - " 8 4.8816e-01 1.7050e-01 6.0489e-05 3.1705e-02 1.33215e-01 0.1250 3.1705e-02 3\n", - " 9 4.6811e-01 1.7050e-01 5.3933e-05 2.9707e-02 8.80746e-02 0.5000 2.9707e-02 3\n", - " 10 4.6276e-01 1.7050e-01 3.4913e-05 2.9191e-02 3.36527e-02 0.5000 2.9191e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9452e+02 4.8439e-01 2.9248e+01 1.5585e-01 1.40757e+00 1.0000 ---- 3\n", - " 2 9.7863e+01 1.7031e-01 6.2263e+00 3.5430e+00 4.63280e-01 1.0000 3.5430e+00 3\n", - " 3 1.6715e+01 1.7026e-01 7.8036e-03 1.6467e+00 5.93620e-01 0.2500 1.6467e+00 3\n", - " 4 1.4706e+01 1.7023e-01 5.9311e-03 1.4476e+00 2.33879e-01 1.0000 1.4476e+00 3\n", - " 5 1.3757e+00 1.7026e-01 8.2968e-04 1.1972e-01 2.87899e-01 0.0625 1.1972e-01 3\n", - " 6 1.3177e+00 1.7026e-01 7.7993e-04 1.1396e-01 2.37420e-01 0.1250 1.1396e-01 3\n", - " 7 1.2530e+00 1.7026e-01 6.8848e-04 1.0758e-01 1.55437e-01 0.2500 1.0758e-01 3\n", - " 8 1.0781e+00 1.7026e-01 5.2797e-04 9.0255e-02 5.90356e-02 1.0000 9.0255e-02 3\n", - " 9 2.4928e-01 1.7026e-01 4.6157e-05 7.8561e-03 8.36385e-02 0.2500 7.8561e-03 3\n", - " 10 2.3651e-01 1.7026e-01 3.5851e-05 6.5896e-03 2.72660e-02 1.0000 6.5896e-03 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8938e+02 4.8501e-01 2.8820e+01 6.9624e-02 1.40279e+00 1.0000 ---- 3\n", - " 2 9.4393e+01 1.7102e-01 5.4705e+00 3.9516e+00 3.91863e-01 1.0000 3.9516e+00 3\n", - " 3 2.0375e+01 1.7097e-01 7.6201e-03 2.0127e+00 6.22047e-01 0.2500 2.0127e+00 3\n", - " 4 1.7551e+01 1.7093e-01 5.8711e-03 1.7321e+00 2.47237e-01 1.0000 1.7321e+00 3\n", - " 5 2.4962e+00 1.7098e-01 9.5737e-04 2.3157e-01 3.63673e-01 0.1250 2.3157e-01 3\n", - " 6 2.4465e+00 1.7096e-01 8.5527e-04 2.2670e-01 2.17988e-01 0.2500 2.2670e-01 3\n", - " 7 2.0240e+00 1.7096e-01 6.7298e-04 1.8464e-01 8.38825e-02 1.0000 1.8464e-01 3\n", - " 8 4.0752e-01 1.7096e-01 1.2668e-04 2.3529e-02 1.21514e-01 0.1250 2.3529e-02 3\n", - " 9 3.9282e-01 1.7096e-01 1.1192e-04 2.2074e-02 7.85139e-02 0.2500 2.2074e-02 3\n", - " 10 3.6137e-01 1.7096e-01 8.6002e-05 1.8955e-02 2.93846e-02 1.0000 1.8955e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7455e+02 4.8607e-01 2.7345e+01 6.1898e-02 1.40553e+00 1.0000 ---- 3\n", - " 2 9.2804e+01 1.7206e-01 5.1491e+00 4.1140e+00 4.51528e-01 1.0000 4.1140e+00 3\n", - " 3 1.4164e+01 1.7201e-01 8.1185e-03 1.3911e+00 6.59587e-01 0.2500 1.3911e+00 3\n", - " 4 1.2202e+01 1.7198e-01 6.2961e-03 1.1968e+00 2.18642e-01 1.0000 1.1968e+00 3\n", - " 5 2.8231e-01 1.7201e-01 1.0701e-03 9.9602e-03 3.08198e-01 0.2500 9.9602e-03 3\n", - " 6 2.7161e-01 1.7200e-01 8.6060e-04 9.1001e-03 1.16093e-01 1.0000 9.1001e-03 3\n", - " 7 2.3988e-01 1.7200e-01 2.1697e-04 6.5711e-03 1.80085e-01 0.2500 6.5711e-03 3\n", - " 8 2.2673e-01 1.7199e-01 1.7173e-04 5.3023e-03 6.32628e-02 1.0000 5.3023e-03 2\n", - " 9 1.8215e-01 1.7199e-01 3.1394e-05 9.8479e-04 1.00330e-01 0.0020 3.2514e-03 1\n", - " 10 1.8215e-01 1.7199e-01 3.1394e-05 9.8479e-04 1.00282e-01 0.0156 1.6737e-03 1\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6986e+02 4.8721e-01 2.6856e+01 8.0921e-02 1.39189e+00 1.0000 ---- 3\n", - " 2 9.1916e+01 1.7324e-01 4.5510e+00 4.6233e+00 4.42246e-01 1.0000 4.6233e+00 3\n", - " 3 1.4763e+01 1.7318e-01 6.5139e-03 1.4525e+00 6.46295e-01 0.2500 1.4525e+00 3\n", - " 4 1.2402e+01 1.7315e-01 5.0332e-03 1.2179e+00 2.27319e-01 1.0000 1.2179e+00 3\n", - " 5 5.7362e-01 1.7319e-01 9.9713e-04 3.9046e-02 3.28676e-01 0.1250 3.9046e-02 3\n", - " 6 5.3637e-01 1.7318e-01 8.8627e-04 3.5432e-02 2.13756e-01 0.5000 3.5432e-02 3\n", - " 7 4.2233e-01 1.7317e-01 5.5479e-04 2.4361e-02 9.34542e-02 0.5000 2.4361e-02 3\n", - " 8 3.7631e-01 1.7317e-01 2.7701e-04 2.0036e-02 9.54151e-02 0.1250 2.0036e-02 3\n", - " 9 3.5919e-01 1.7317e-01 2.4307e-04 1.8359e-02 4.39893e-02 1.0000 1.8359e-02 3\n", - " 10 2.8961e-01 1.7317e-01 2.2631e-05 1.1621e-02 1.41610e-01 0.0625 1.1621e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7311e+02 4.8845e-01 2.7135e+01 1.2726e-01 1.37343e+00 1.0000 ---- 3\n", - " 2 8.5796e+01 1.7450e-01 3.9289e+00 4.6333e+00 5.29590e-01 1.0000 4.6333e+00 3\n", - " 3 1.2047e+01 1.7443e-01 9.3232e-03 1.1779e+00 7.94318e-01 0.2500 1.1779e+00 3\n", - " 4 1.0221e+01 1.7439e-01 7.1610e-03 9.9750e-01 2.50948e-01 1.0000 9.9750e-01 3\n", - " 5 7.1527e-01 1.7441e-01 1.4901e-03 5.2596e-02 3.71589e-01 0.0625 5.2596e-02 3\n", - " 6 6.8577e-01 1.7440e-01 1.4002e-03 4.9736e-02 3.03269e-01 0.1250 4.9736e-02 3\n", - " 7 6.7059e-01 1.7440e-01 1.2341e-03 4.8385e-02 1.96223e-01 0.2500 4.8385e-02 3\n", - " 8 6.0678e-01 1.7440e-01 9.4281e-04 4.2295e-02 7.69261e-02 1.0000 4.2295e-02 3\n", - " 9 2.6708e-01 1.7440e-01 9.1670e-05 9.1770e-03 9.61881e-02 0.5000 9.1770e-03 2\n", - " 10 2.3207e-01 1.7440e-01 5.1261e-05 5.7165e-03 3.49682e-02 1.0000 5.7165e-03 2\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6591e+02 4.9005e-01 2.6221e+01 3.2090e-01 1.37315e+00 1.0000 ---- 3\n", - " 2 8.2283e+01 1.7624e-01 3.6608e+00 4.5498e+00 6.11325e-01 1.0000 4.5498e+00 3\n", - " 3 2.2658e+01 1.7614e-01 1.0326e-02 2.2378e+00 8.98405e-01 0.2500 2.2378e+00 3\n", - " 4 1.9129e+01 1.7610e-01 7.7829e-03 1.8875e+00 2.78149e-01 1.0000 1.8875e+00 3\n", - " 5 1.5669e+00 1.7614e-01 1.6034e-03 1.3747e-01 4.09366e-01 0.1250 1.3747e-01 3\n", - " 6 1.5477e+00 1.7613e-01 1.4171e-03 1.3574e-01 2.68124e-01 0.2500 1.3574e-01 3\n", - " 7 1.3872e+00 1.7613e-01 1.0858e-03 1.2002e-01 1.02975e-01 1.0000 1.2002e-01 3\n", - " 8 3.2982e-01 1.7613e-01 7.2475e-05 1.5296e-02 1.44506e-01 0.2500 1.5296e-02 3\n", - " 9 3.0121e-01 1.7613e-01 5.7924e-05 1.2450e-02 5.66161e-02 1.0000 1.2450e-02 3\n", - " 10 2.8768e-01 1.7612e-01 2.9128e-05 1.1127e-02 7.39963e-02 0.5000 1.1127e-02 2\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6441e+02 4.9223e-01 2.6082e+01 3.0968e-01 1.33923e+00 1.0000 ---- 3\n", - " 2 7.2600e+01 1.7857e-01 3.1706e+00 4.0716e+00 5.00197e-01 1.0000 4.0716e+00 3\n", - " 3 1.4069e+01 1.7846e-01 9.3247e-03 1.3797e+00 6.03942e-01 0.2500 1.3797e+00 3\n", - " 4 1.1489e+01 1.7843e-01 7.0572e-03 1.1240e+00 2.37174e-01 1.0000 1.1240e+00 3\n", - " 5 9.6098e-01 1.7845e-01 1.5921e-03 7.6660e-02 3.43722e-01 0.1250 7.6660e-02 3\n", - " 6 8.7642e-01 1.7845e-01 1.3996e-03 6.8398e-02 2.23541e-01 0.5000 6.8398e-02 3\n", - " 7 8.5437e-01 1.7844e-01 7.5589e-04 6.6837e-02 1.06831e-01 0.5000 6.6837e-02 3\n", - " 8 8.4059e-01 1.7844e-01 3.8355e-04 6.5831e-02 8.41846e-02 0.2500 6.5831e-02 3\n", - " 9 7.8332e-01 1.7844e-01 2.8540e-04 6.0202e-02 2.70932e-02 1.0000 6.0202e-02 3\n", - " 10 2.9135e-01 1.7844e-01 1.8480e-05 1.1272e-02 4.94150e-02 0.2500 1.1272e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6397e+02 4.9460e-01 2.6012e+01 3.3553e-01 1.32896e+00 1.0000 ---- 3\n", - " 2 7.0794e+01 1.8119e-01 3.0436e+00 4.0177e+00 4.77029e-01 1.0000 4.0177e+00 3\n", - " 3 1.4675e+01 1.8106e-01 7.9814e-03 1.4414e+00 5.71637e-01 0.2500 1.4414e+00 3\n", - " 4 1.2839e+01 1.8103e-01 6.0955e-03 1.2597e+00 2.18483e-01 1.0000 1.2597e+00 3\n", - " 5 9.7153e-01 1.8106e-01 1.3379e-03 7.7709e-02 3.22725e-01 0.1250 7.7709e-02 3\n", - " 6 8.9478e-01 1.8106e-01 1.1762e-03 7.0196e-02 2.04489e-01 0.5000 7.0196e-02 3\n", - " 7 8.9276e-01 1.8105e-01 6.4026e-04 7.0531e-02 1.10263e-01 0.2500 7.0531e-02 3\n", - " 8 7.0656e-01 1.8105e-01 4.8026e-04 5.2070e-02 4.12727e-02 1.0000 5.2070e-02 3\n", - " 9 4.5238e-01 1.8105e-01 3.5462e-05 2.7097e-02 6.60265e-02 0.2500 2.7097e-02 3\n", - " 10 4.2834e-01 1.8105e-01 2.8945e-05 2.4700e-02 2.96885e-02 1.0000 2.4700e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6383e+02 4.9701e-01 2.5971e+01 3.6245e-01 1.31985e+00 1.0000 ---- 3\n", - " 2 6.5043e+01 1.8368e-01 3.1116e+00 3.3743e+00 5.20312e-01 1.0000 4.3719e+00 3\n", - " 3 2.4867e+01 1.8350e-01 7.8053e-03 2.4606e+00 6.90905e-01 0.2500 2.4606e+00 3\n", - " 4 2.0443e+01 1.8347e-01 5.9747e-03 2.0200e+00 2.70799e-01 1.0000 2.0200e+00 3\n", - " 5 8.4783e-01 1.8351e-01 1.8753e-03 6.4557e-02 3.85072e-01 0.1250 6.4557e-02 3\n", - " 6 7.7896e-01 1.8350e-01 1.6483e-03 5.7898e-02 2.39973e-01 0.2500 5.7898e-02 3\n", - " 7 6.9790e-01 1.8349e-01 1.2530e-03 5.0188e-02 9.41605e-02 1.0000 5.0188e-02 3\n", - " 8 6.2943e-01 1.8349e-01 1.7747e-04 4.4416e-02 1.30683e-01 0.5000 4.4416e-02 3\n", - " 9 6.1142e-01 1.8349e-01 9.8656e-05 4.2694e-02 8.16787e-02 0.1250 4.2694e-02 3\n", - " 10 5.8588e-01 1.8349e-01 8.7318e-05 4.0152e-02 4.97998e-02 0.5000 4.0152e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6099e+02 4.9934e-01 2.5684e+01 3.6466e-01 1.31539e+00 1.0000 ---- 3\n", - " 2 6.5965e+01 1.8610e-01 3.2853e+00 3.2926e+00 5.24052e-01 1.0000 5.1177e+00 3\n", - " 3 2.3945e+01 1.8588e-01 8.1884e-03 2.3677e+00 7.06024e-01 0.2500 2.3677e+00 3\n", - " 4 1.9318e+01 1.8585e-01 6.3197e-03 1.9069e+00 2.61877e-01 1.0000 1.9069e+00 3\n", - " 5 1.5106e+00 1.8588e-01 2.0927e-03 1.3038e-01 3.55133e-01 0.2500 1.3038e-01 3\n", - " 6 1.3310e+00 1.8587e-01 1.5860e-03 1.1293e-01 1.26980e-01 0.5000 1.1293e-01 3\n", - " 7 8.7133e-01 1.8587e-01 7.9772e-04 6.7748e-02 7.15655e-02 0.5000 6.7748e-02 3\n", - " 8 6.0628e-01 1.8587e-01 4.0312e-04 4.1638e-02 5.91753e-02 0.5000 4.1638e-02 3\n", - " 9 4.7837e-01 1.8587e-01 2.1097e-04 2.9039e-02 5.40213e-02 0.5000 2.9039e-02 3\n", - " 10 4.3766e-01 1.8587e-01 1.2201e-04 2.5057e-02 5.05007e-02 0.2500 2.5057e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6019e+02 5.0151e-01 2.5600e+01 3.6886e-01 1.33063e+00 1.0000 ---- 3\n", - " 2 6.8429e+01 1.8827e-01 3.5355e+00 3.2886e+00 4.96734e-01 1.0000 5.8476e+00 3\n", - " 3 2.1087e+01 1.8802e-01 9.0618e-03 2.0809e+00 6.70548e-01 0.2500 2.0809e+00 3\n", - " 4 1.7316e+01 1.8799e-01 6.9863e-03 1.7058e+00 2.56622e-01 1.0000 1.7058e+00 3\n", - " 5 1.4786e+00 1.8802e-01 2.4453e-03 1.2662e-01 3.50553e-01 0.1250 1.2662e-01 3\n", - " 6 1.3821e+00 1.8801e-01 2.1431e-03 1.1726e-01 2.27771e-01 0.5000 1.1726e-01 3\n", - " 7 1.3463e+00 1.8801e-01 1.1196e-03 1.1471e-01 1.44109e-01 0.2500 1.1471e-01 3\n", - " 8 1.1447e+00 1.8801e-01 8.5165e-04 9.4816e-02 6.30876e-02 0.5000 9.4816e-02 3\n", - " 9 7.8328e-01 1.8801e-01 4.5652e-04 5.9071e-02 5.42998e-02 0.5000 5.9071e-02 3\n", - " 10 6.0601e-01 1.8800e-01 2.5463e-04 4.1545e-02 4.98621e-02 0.5000 4.1545e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6875e+02 5.0399e-01 2.6398e+01 4.2682e-01 1.35596e+00 1.0000 ---- 3\n", - " 2 7.5389e+01 1.9076e-01 3.7091e+00 3.8107e+00 5.16561e-01 1.0000 6.5972e+00 3\n", - " 3 2.3685e+01 1.9046e-01 9.2227e-03 2.3403e+00 7.15364e-01 0.2500 2.3403e+00 3\n", - " 4 1.9052e+01 1.9044e-01 7.0820e-03 1.8791e+00 2.58563e-01 1.0000 1.8791e+00 3\n", - " 5 2.0137e+00 1.9047e-01 2.1006e-03 1.8022e-01 3.21463e-01 0.5000 1.8022e-01 3\n", - " 6 1.5003e+00 1.9045e-01 1.1145e-03 1.2987e-01 1.96487e-01 0.2500 1.2987e-01 3\n", - " 7 1.4313e+00 1.9045e-01 8.4445e-04 1.2324e-01 7.27367e-02 0.5000 1.2324e-01 3\n", - " 8 9.0959e-01 1.9045e-01 4.4735e-04 7.1466e-02 6.18602e-02 0.5000 7.1466e-02 3\n", - " 9 7.7936e-01 1.9045e-01 2.5558e-04 5.8636e-02 5.85420e-02 0.5000 5.8636e-02 3\n", - " 10 7.1561e-01 1.9045e-01 1.6028e-04 5.2356e-02 5.21304e-02 0.5000 5.2356e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.8181e+02 5.0737e-01 2.7658e+01 4.7209e-01 1.36551e+00 1.0000 ---- 3\n", - " 2 8.3584e+01 1.9441e-01 4.1386e+00 4.2003e+00 5.60244e-01 1.0000 7.3995e+00 3\n", - " 3 2.8498e+01 1.9406e-01 1.0655e-02 2.8197e+00 8.66455e-01 0.2500 2.8197e+00 3\n", - " 4 2.4765e+01 1.9401e-01 8.1509e-03 2.4490e+00 2.90784e-01 1.0000 2.4490e+00 3\n", - " 5 3.9402e+00 1.9407e-01 2.5899e-03 3.7202e-01 3.85209e-01 0.5000 3.7202e-01 3\n", - " 6 2.4878e+00 1.9405e-01 1.4199e-03 2.2795e-01 2.67592e-01 0.2500 2.2795e-01 3\n", - " 7 2.3817e+00 1.9404e-01 1.0822e-03 2.1768e-01 7.72190e-02 1.0000 2.1768e-01 3\n", - " 8 9.7137e-01 1.9404e-01 1.7531e-04 7.7557e-02 1.06502e-01 0.2500 7.7557e-02 3\n", - " 9 8.5962e-01 1.9404e-01 1.3302e-04 6.6425e-02 5.32040e-02 1.0000 6.6425e-02 3\n", - " 10 8.1740e-01 1.9404e-01 9.6299e-05 6.2239e-02 7.31453e-02 0.2500 6.2239e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9511e+02 5.1109e-01 2.8946e+01 5.1405e-01 1.39919e+00 1.0000 ---- 3\n", - " 2 8.7854e+01 1.9875e-01 4.4833e+00 4.2823e+00 6.06657e-01 1.0000 8.1559e+00 3\n", - " 3 3.5018e+01 1.9834e-01 1.1433e-02 3.4706e+00 1.03094e+00 0.2500 3.4706e+00 3\n", - " 4 3.2727e+01 1.9827e-01 8.9500e-03 3.2439e+00 3.57098e-01 1.0000 3.2439e+00 3\n", - " 5 1.0187e+01 1.9836e-01 3.4955e-03 9.9538e-01 4.53386e-01 0.5000 9.9538e-01 3\n", - " 6 5.3523e+00 1.9833e-01 1.8584e-03 5.1354e-01 2.98718e-01 0.2500 5.1354e-01 3\n", - " 7 4.5125e+00 1.9832e-01 1.4198e-03 4.3000e-01 1.12170e-01 1.0000 4.3000e-01 3\n", - " 8 1.0198e+00 1.9833e-01 2.3409e-04 8.1916e-02 9.86271e-02 1.0000 8.1916e-02 3\n", - " 9 8.3367e-01 1.9832e-01 1.1844e-04 6.3416e-02 1.60142e-01 0.1250 6.3416e-02 3\n", - " 10 8.1083e-01 1.9832e-01 1.0536e-04 6.1146e-02 1.08809e-01 0.2500 6.1146e-02 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0834e+02 5.1524e-01 3.0207e+01 5.7609e-01 1.44630e+00 1.0000 ---- 3\n", - " 2 9.9568e+01 2.0326e-01 5.3046e+00 4.6318e+00 6.56949e-01 1.0000 8.9884e+00 3\n", - " 3 4.1060e+01 2.0278e-01 1.4582e-02 4.0711e+00 1.18772e+00 0.1250 4.0711e+00 3\n", - " 4 3.7257e+01 2.0272e-01 1.2854e-02 3.6926e+00 7.65117e-01 0.2500 3.6926e+00 3\n", - " 5 3.0085e+01 2.0270e-01 9.8311e-03 2.9784e+00 3.00564e-01 1.0000 2.9784e+00 3\n", - " 6 1.4481e+01 2.0281e-01 2.4032e-03 1.4254e+00 3.82872e-01 1.0000 1.4254e+00 3\n", - " 7 1.3615e+01 2.0277e-01 1.7578e-03 1.3394e+00 5.48793e-01 0.2500 1.3394e+00 3\n", - " 8 1.2501e+01 2.0273e-01 1.3308e-03 1.2285e+00 2.08710e-01 1.0000 1.2285e+00 3\n", - " 9 3.9236e+00 2.0275e-01 7.7054e-04 3.7132e-01 2.95832e-01 0.1250 3.7132e-01 3\n", - " 10 3.8977e+00 2.0274e-01 6.7909e-04 3.6881e-01 1.71575e-01 0.5000 3.6881e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.1596e+02 5.1979e-01 3.0987e+01 5.5659e-01 1.43761e+00 1.0000 ---- 3\n", - " 2 9.5385e+01 2.0823e-01 5.4975e+00 4.0203e+00 5.93254e-01 1.0000 9.8552e+00 3\n", - " 3 2.9437e+01 2.0766e-01 1.4468e-02 2.9084e+00 1.01884e+00 0.1250 2.9084e+00 3\n", - " 4 2.6843e+01 2.0762e-01 1.2744e-02 2.6507e+00 6.02930e-01 0.5000 2.6507e+00 3\n", - " 5 2.6696e+01 2.0760e-01 7.2014e-03 2.6416e+00 4.78224e-01 0.2500 2.6416e+00 3\n", - " 6 2.2052e+01 2.0759e-01 5.4521e-03 2.1790e+00 2.49059e-01 1.0000 2.1790e+00 3\n", - " 7 3.6229e+00 2.0769e-01 1.2768e-03 3.4024e-01 3.64508e-01 0.2500 3.4024e-01 3\n", - " 8 3.1923e+00 2.0766e-01 1.0581e-03 2.9741e-01 2.06703e-01 0.2500 2.9741e-01 3\n", - " 9 2.9543e+00 2.0766e-01 8.0017e-04 2.7387e-01 1.38218e-01 0.5000 2.7387e-01 3\n", - " 10 1.8504e+00 2.0765e-01 4.3673e-04 1.6384e-01 1.70946e-01 0.1250 1.6384e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.2911e+02 5.2456e-01 3.2369e+01 4.8945e-01 1.53788e+00 1.0000 ---- 3\n", - " 2 1.1573e+02 2.1350e-01 6.3909e+00 5.1604e+00 8.56311e-01 0.5000 1.0737e+01 3\n", - " 3 8.9341e+01 2.1289e-01 3.1966e+00 5.7162e+00 6.98344e-01 0.5000 5.7162e+00 3\n", - " 4 6.9862e+01 2.1272e-01 1.5991e+00 5.3659e+00 6.80886e-01 0.5000 5.3659e+00 3\n", - " 5 6.8962e+01 2.1266e-01 7.9996e-01 6.0750e+00 7.02755e-01 0.5000 6.0750e+00 3\n", - " 6 6.6302e+01 2.1263e-01 3.9943e-01 6.2095e+00 6.85750e-01 0.5000 6.2095e+00 3\n", - " 7 6.5878e+01 2.1262e-01 1.9987e-01 6.3666e+00 7.07689e-01 0.2500 6.3666e+00 3\n", - " 8 5.3325e+01 2.1260e-01 1.4988e-01 5.1614e+00 3.73500e-01 1.0000 5.1614e+00 3\n", - " 9 2.9759e+01 2.1288e-01 1.1980e-03 2.9535e+00 5.94833e-01 0.2500 2.9535e+00 3\n", - " 10 2.4458e+01 2.1281e-01 8.7336e-04 2.4236e+00 3.16011e-01 1.0000 2.4236e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.5066e+02 5.2985e-01 3.3811e+01 1.2025e+00 1.57575e+00 1.0000 ---- 3\n", - " 2 1.8932e+02 2.1929e-01 7.6274e+00 1.1283e+01 1.19087e+00 0.5000 1.1770e+01 3\n", - " 3 1.5965e+02 2.1850e-01 3.8084e+00 1.2135e+01 9.50929e-01 0.5000 1.2135e+01 3\n", - " 4 1.1067e+02 2.1847e-01 1.9031e+00 9.1421e+00 7.50990e-01 0.5000 9.1421e+00 3\n", - " 5 9.0155e+01 2.1841e-01 9.5220e-01 8.0414e+00 7.13257e-01 0.5000 8.0414e+00 3\n", - " 6 8.4694e+01 2.1838e-01 4.7654e-01 7.9710e+00 6.96195e-01 0.5000 7.9710e+00 3\n", - " 7 8.0019e+01 2.1837e-01 2.3875e-01 7.7413e+00 6.61896e-01 0.5000 7.7413e+00 3\n", - " 8 7.3189e+01 2.1838e-01 1.1980e-01 7.1773e+00 6.31234e-01 0.5000 7.1773e+00 3\n", - " 9 6.8052e+01 2.1838e-01 6.0355e-02 6.7230e+00 6.44330e-01 0.5000 6.7230e+00 3\n", - " 10 6.6452e+01 2.1838e-01 3.0588e-02 6.5927e+00 5.97189e-01 0.5000 6.5927e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0175e+02 5.3458e-01 3.4836e+01 5.2854e+00 1.76942e+00 1.0000 ---- 3\n", - " 2 2.9280e+02 2.2479e-01 7.3422e+00 2.1916e+01 1.78031e+00 0.5000 2.1916e+01 3\n", - " 3 2.5841e+02 2.2371e-01 3.6744e+00 2.2144e+01 1.11285e+00 1.0000 2.2144e+01 3\n", - " 4 2.1012e+02 2.2424e-01 9.3143e-03 2.0981e+01 1.89524e+00 0.2500 2.0981e+01 3\n", - " 5 1.6626e+02 2.2385e-01 7.6583e-03 1.6596e+01 7.44331e-01 1.0000 1.6596e+01 3\n", - " 6 1.4909e+02 2.2400e-01 4.1863e-03 1.4882e+01 1.46255e+00 0.2500 1.4882e+01 3\n", - " 7 1.1769e+02 2.2376e-01 3.4067e-03 1.1743e+01 6.54878e-01 0.5000 1.1743e+01 3\n", - " 8 8.8257e+01 2.2375e-01 2.9093e-03 8.8005e+00 6.04227e-01 0.5000 8.8005e+00 3\n", - " 9 6.2610e+01 2.2382e-01 1.7614e-03 6.2369e+00 5.15758e-01 0.5000 6.2369e+00 3\n", - " 10 5.7330e+01 2.2382e-01 1.7622e-03 5.7089e+00 5.70090e-01 0.5000 5.7089e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9780e+02 5.4162e-01 3.6086e+01 3.6399e+00 1.73323e+00 1.0000 ---- 3\n", - " 2 2.7379e+02 2.3199e-01 8.0649e+00 1.9291e+01 1.47294e+00 0.5000 1.9291e+01 3\n", - " 3 2.1345e+02 2.3088e-01 4.0351e+00 1.7287e+01 1.12863e+00 1.0000 1.7287e+01 3\n", - " 4 1.5078e+02 2.3144e-01 1.0848e-02 1.5044e+01 1.78535e+00 0.2500 1.5044e+01 3\n", - " 5 1.1989e+02 2.3108e-01 8.9887e-03 1.1957e+01 6.47352e-01 1.0000 1.1957e+01 3\n", - " 6 9.8933e+01 2.3103e-01 6.6553e-03 9.8636e+00 1.22708e+00 0.2500 9.8636e+00 3\n", - " 7 8.3706e+01 2.3085e-01 5.4835e-03 8.3420e+00 6.30606e-01 0.5000 8.3420e+00 3\n", - " 8 5.3130e+01 2.3086e-01 3.6297e-03 5.2863e+00 5.09726e-01 0.5000 5.2863e+00 3\n", - " 9 4.2681e+01 2.3089e-01 2.1617e-03 4.2429e+00 4.38124e-01 0.2500 4.2429e+00 3\n", - " 10 3.4036e+01 2.3087e-01 1.6856e-03 3.3788e+00 2.93861e-01 1.0000 3.3788e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8545e+02 5.4952e-01 3.7018e+01 1.4717e+00 1.69636e+00 1.0000 ---- 3\n", - " 2 1.7323e+02 2.4192e-01 8.1542e+00 9.1449e+00 1.20139e+00 0.5000 1.5262e+01 3\n", - " 3 1.1505e+02 2.4082e-01 4.0754e+00 7.4050e+00 7.63982e-01 0.5000 7.6320e+00 3\n", - " 4 8.1454e+01 2.4054e-01 2.0388e+00 6.0825e+00 6.07081e-01 0.5000 6.0825e+00 3\n", - " 5 6.6759e+01 2.4046e-01 1.0199e+00 5.6320e+00 5.69007e-01 0.5000 5.6320e+00 3\n", - " 6 5.9194e+01 2.4044e-01 5.1018e-01 5.3852e+00 5.64749e-01 0.5000 5.3852e+00 3\n", - " 7 5.8293e+01 2.4043e-01 2.5527e-01 5.5500e+00 5.80079e-01 0.2500 5.5500e+00 3\n", - " 8 4.7315e+01 2.4041e-01 1.9151e-01 4.5160e+00 2.81160e-01 1.0000 4.5160e+00 3\n", - " 9 1.5409e+01 2.4063e-01 4.3681e-04 1.5164e+00 2.40700e-01 1.0000 1.5164e+00 3\n", - " 10 1.3287e+01 2.4060e-01 4.7424e-04 1.3042e+00 7.56103e-01 0.1250 1.3042e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8951e+02 5.5810e-01 3.7271e+01 1.6240e+00 1.72820e+00 1.0000 ---- 3\n", - " 2 1.9010e+02 2.5170e-01 8.6885e+00 1.0296e+01 1.41392e+00 0.5000 1.6901e+01 3\n", - " 3 1.7164e+02 2.5032e-01 4.3442e+00 1.2794e+01 9.65236e-01 1.0000 1.2794e+01 3\n", - " 4 1.6680e+02 2.5026e-01 9.0727e-03 1.6646e+01 1.88817e+00 0.2500 1.6646e+01 3\n", - " 5 1.4198e+02 2.4997e-01 6.7796e-03 1.4166e+01 9.28816e-01 0.5000 1.4166e+01 3\n", - " 6 1.2022e+02 2.4992e-01 4.0955e-03 1.1993e+01 8.31492e-01 0.5000 1.1993e+01 3\n", - " 7 9.7901e+01 2.4997e-01 2.2824e-03 9.7628e+00 7.46063e-01 0.5000 9.7628e+00 3\n", - " 8 9.2429e+01 2.4997e-01 1.7289e-03 9.2161e+00 7.27719e-01 0.5000 9.2161e+00 3\n", - " 9 8.5939e+01 2.4998e-01 1.4487e-03 8.5675e+00 6.76979e-01 0.5000 8.5675e+00 3\n", - " 10 8.1196e+01 2.4999e-01 1.1318e-03 8.0934e+00 6.97779e-01 0.5000 8.0934e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.3273e+02 5.6371e-01 3.6688e+01 6.5292e+00 2.06089e+00 1.0000 ---- 3\n", - " 2 3.5357e+02 2.5745e-01 8.5662e+00 2.6765e+01 1.95059e+00 0.5000 2.6765e+01 3\n", - " 3 2.9009e+02 2.5558e-01 4.2900e+00 2.4693e+01 1.31315e+00 1.0000 2.4693e+01 3\n", - " 4 2.2446e+02 2.5601e-01 1.4416e-02 2.2406e+01 1.85750e+00 0.5000 2.2406e+01 3\n", - " 5 1.7741e+02 2.5536e-01 9.0332e-03 1.7707e+01 1.02945e+00 0.5000 1.7707e+01 3\n", - " 6 9.8228e+01 2.5543e-01 5.1772e-03 9.7921e+00 7.48011e-01 0.5000 9.7921e+00 3\n", - " 7 7.5017e+01 2.5544e-01 2.7458e-03 7.4734e+00 6.76179e-01 0.5000 7.4734e+00 3\n", - " 8 6.1985e+01 2.5543e-01 1.3010e-03 6.1717e+00 6.24061e-01 0.5000 6.1717e+00 3\n", - " 9 6.1080e+01 2.5541e-01 7.3704e-04 6.0817e+00 5.73769e-01 0.5000 6.0817e+00 3\n", - " 10 5.2567e+01 2.5542e-01 5.6986e-04 5.2306e+00 5.37075e-01 0.5000 5.2306e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2733e+02 5.7283e-01 3.7141e+01 5.5340e+00 2.01098e+00 1.0000 ---- 3\n", - " 2 3.1655e+02 2.6699e-01 9.0984e+00 2.2530e+01 1.91695e+00 0.5000 2.2530e+01 3\n", - " 3 2.6746e+02 2.6492e-01 4.5522e+00 2.2167e+01 1.27987e+00 1.0000 2.2167e+01 3\n", - " 4 2.1565e+02 2.6505e-01 1.8748e-02 2.1520e+01 1.99328e+00 0.5000 2.1520e+01 3\n", - " 5 2.0108e+02 2.6444e-01 9.8211e-03 2.0072e+01 1.27222e+00 0.5000 2.0072e+01 3\n", - " 6 1.1494e+02 2.6447e-01 5.9231e-03 1.1462e+01 9.08628e-01 0.5000 1.1462e+01 3\n", - " 7 8.9898e+01 2.6449e-01 3.0997e-03 8.9602e+00 8.36384e-01 0.5000 8.9602e+00 3\n", - " 8 8.6296e+01 2.6449e-01 1.7822e-03 8.6014e+00 7.86986e-01 0.5000 8.6014e+00 3\n", - " 9 8.6189e+01 2.6448e-01 1.3820e-03 8.5911e+00 7.79024e-01 0.2500 8.5911e+00 3\n", - " 10 6.8999e+01 2.6446e-01 1.1363e-03 6.8723e+00 5.36358e-01 1.0000 6.8723e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1980e+02 5.8425e-01 3.7153e+01 4.7679e+00 1.91757e+00 1.0000 ---- 3\n", - " 2 2.1456e+02 2.8131e-01 9.2676e+00 1.2161e+01 1.64321e+00 0.5000 2.3611e+01 3\n", - " 3 1.8223e+02 2.7881e-01 4.6430e+00 1.3553e+01 8.94439e-01 1.0000 1.3553e+01 3\n", - " 4 1.5996e+02 2.7835e-01 3.2932e-02 1.5935e+01 1.73780e+00 0.2500 1.5935e+01 3\n", - " 5 1.3740e+02 2.7806e-01 2.4701e-02 1.3688e+01 7.18340e-01 0.5000 1.3688e+01 3\n", - " 6 7.8880e+01 2.7810e-01 1.2569e-02 7.8476e+00 5.55013e-01 0.5000 7.8476e+00 3\n", - " 7 5.0545e+01 2.7815e-01 6.3869e-03 5.0203e+00 4.72454e-01 0.5000 5.0203e+00 3\n", - " 8 4.1667e+01 2.7815e-01 3.1205e-03 4.1358e+00 4.80500e-01 0.2500 4.1358e+00 3\n", - " 9 3.3355e+01 2.7814e-01 2.3450e-03 3.3054e+00 2.19042e-01 1.0000 3.3054e+00 3\n", - " 10 9.8858e+00 2.7828e-01 3.4474e-04 9.6040e-01 2.11351e-01 0.5000 9.6040e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.7574e+02 5.9306e-01 3.6663e+01 8.5221e-01 1.80047e+00 1.0000 ---- 3\n", - " 2 1.8462e+02 2.8942e-01 9.7999e+00 8.6330e+00 1.39135e+00 0.5000 2.6928e+01 3\n", - " 3 1.6074e+02 2.8646e-01 4.9040e+00 1.1142e+01 8.94434e-01 1.0000 1.3471e+01 3\n", - " 4 1.5630e+02 2.8574e-01 4.3007e-02 1.5558e+01 1.80237e+00 0.2500 1.5558e+01 3\n", - " 5 1.3669e+02 2.8546e-01 3.3473e-02 1.3607e+01 7.81732e-01 0.5000 1.3607e+01 3\n", - " 6 1.0893e+02 2.8543e-01 1.7407e-02 1.0847e+01 7.09091e-01 0.5000 1.0847e+01 3\n", - " 7 9.2600e+01 2.8547e-01 9.2580e-03 9.2222e+00 6.20839e-01 0.2500 9.2222e+00 3\n", - " 8 7.4880e+01 2.8544e-01 7.1299e-03 7.4523e+00 4.31167e-01 1.0000 7.4523e+00 3\n", - " 9 4.4905e+01 2.8584e-01 1.8110e-03 4.4601e+00 5.01956e-01 0.5000 4.4601e+00 3\n", - " 10 2.8345e+01 2.8573e-01 1.1283e-03 2.8048e+00 4.30104e-01 0.2500 2.8048e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9072e+02 6.0242e-01 3.6834e+01 2.1778e+00 1.77178e+00 1.0000 ---- 3\n", - " 2 1.8175e+02 2.9872e-01 1.0623e+01 7.5221e+00 1.06312e+00 1.0000 3.1421e+01 3\n", - " 3 1.2287e+02 2.9350e-01 6.8424e-02 1.2189e+01 1.41929e+00 0.5000 1.2189e+01 3\n", - " 4 6.6063e+01 2.9339e-01 4.6890e-02 6.5301e+00 7.29577e-01 0.5000 6.5301e+00 3\n", - " 5 3.5245e+01 2.9343e-01 2.2902e-02 3.4723e+00 5.53157e-01 0.5000 3.4723e+00 3\n", - " 6 2.8945e+01 2.9343e-01 1.1459e-02 2.8537e+00 4.88537e-01 0.5000 2.8537e+00 3\n", - " 7 2.7756e+01 2.9343e-01 5.7084e-03 2.7406e+00 4.73678e-01 0.2500 2.7406e+00 3\n", - " 8 2.2340e+01 2.9342e-01 4.2975e-03 2.2003e+00 1.53679e-01 1.0000 2.2003e+00 3\n", - " 9 3.5145e+00 2.9351e-01 4.4255e-04 3.2165e-01 1.48176e-01 1.0000 3.2165e-01 3\n", - " 10 2.1122e+00 2.9350e-01 2.0260e-04 1.8167e-01 3.57799e-01 0.0625 1.8167e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9563e+02 6.1608e-01 3.8816e+01 6.8516e-01 1.90782e+00 1.0000 ---- 3\n", - " 2 2.1209e+02 3.1704e-01 1.0352e+01 1.0826e+01 1.51587e+00 0.5000 3.7786e+01 3\n", - " 3 1.8276e+02 3.1144e-01 5.1820e+00 1.3062e+01 1.08401e+00 0.5000 1.8909e+01 3\n", - " 4 1.2304e+02 3.1004e-01 2.5803e+00 9.6929e+00 8.49544e-01 0.5000 9.6929e+00 3\n", - " 5 9.0691e+01 3.0974e-01 1.2914e+00 7.7467e+00 7.57419e-01 0.5000 7.7467e+00 3\n", - " 6 7.6072e+01 3.0965e-01 6.4542e-01 6.9308e+00 7.16922e-01 0.5000 6.9308e+00 3\n", - " 7 7.0620e+01 3.0963e-01 3.2328e-01 6.7077e+00 7.06150e-01 0.5000 6.7077e+00 3\n", - " 8 6.8946e+01 3.0962e-01 1.6181e-01 6.7019e+00 7.01533e-01 0.5000 6.7019e+00 3\n", - " 9 6.8518e+01 3.0962e-01 8.1387e-02 6.7395e+00 6.95552e-01 0.2500 6.7395e+00 3\n", - " 10 5.4920e+01 3.0960e-01 6.1115e-02 5.3999e+00 3.36067e-01 1.0000 5.3999e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0298e+02 6.3194e-01 3.7717e+01 2.5175e+00 1.95206e+00 1.0000 ---- 3\n", - " 2 2.1299e+02 3.3788e-01 1.0403e+01 1.0863e+01 1.30922e+00 0.5000 4.6125e+01 3\n", - " 3 1.4916e+02 3.2974e-01 5.2097e+00 9.6733e+00 1.02556e+00 0.5000 2.3086e+01 3\n", - " 4 1.2724e+02 3.2765e-01 2.5886e+00 1.0103e+01 7.49244e-01 0.5000 1.1550e+01 3\n", - " 5 8.2268e+01 3.2716e-01 1.2957e+00 6.8984e+00 6.45470e-01 0.5000 6.8984e+00 3\n", - " 6 5.8444e+01 3.2706e-01 6.4759e-01 5.1641e+00 6.12224e-01 0.2500 5.1641e+00 3\n", - " 7 4.8099e+01 3.2700e-01 4.8572e-01 4.2915e+00 3.17018e-01 1.0000 4.2915e+00 3\n", - " 8 2.0648e+01 3.2719e-01 2.6736e-03 2.0294e+00 4.97123e-01 0.2500 2.0294e+00 3\n", - " 9 1.5762e+01 3.2712e-01 2.2136e-03 1.5413e+00 1.93398e-01 0.5000 1.5413e+00 3\n", - " 10 1.1159e+01 3.2709e-01 1.1227e-03 1.0821e+00 3.13212e-01 0.1250 1.0821e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8455e+02 6.4626e-01 3.7816e+01 5.7475e-01 1.91395e+00 1.0000 ---- 3\n", - " 2 2.1328e+02 3.5696e-01 1.0787e+01 1.0505e+01 1.28722e+00 0.5000 5.8554e+01 3\n", - " 3 1.5382e+02 3.4400e-01 5.4090e+00 9.9388e+00 9.07341e-01 0.5000 2.9314e+01 3\n", - " 4 9.7840e+01 3.4076e-01 2.6847e+00 7.0652e+00 6.21729e-01 0.5000 1.4667e+01 3\n", - " 5 6.7201e+01 3.3997e-01 1.3434e+00 5.3426e+00 5.22877e-01 0.5000 7.3357e+00 3\n", - " 6 5.0504e+01 3.3976e-01 6.7143e-01 4.3450e+00 5.07723e-01 0.5000 4.3450e+00 3\n", - " 7 4.9243e+01 3.3968e-01 3.3601e-01 4.5544e+00 4.87658e-01 0.5000 4.5544e+00 3\n", - " 8 4.6718e+01 3.3966e-01 1.6800e-01 4.4699e+00 4.87467e-01 0.2500 4.4699e+00 3\n", - " 9 3.7546e+01 3.3965e-01 1.2604e-01 3.5946e+00 2.14242e-01 1.0000 3.5946e+00 3\n", - " 10 9.4175e+00 3.3984e-01 9.3455e-04 9.0683e-01 3.34201e-01 0.2500 9.0683e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.8642e+02 6.6393e-01 3.7780e+01 7.9574e-01 1.97811e+00 1.0000 ---- 3\n", - " 2 2.1288e+02 3.8531e-01 1.1304e+01 9.9449e+00 1.31005e+00 0.5000 7.6889e+01 3\n", - " 3 1.6438e+02 3.6307e-01 5.6672e+00 1.0735e+01 8.52182e-01 1.0000 3.8500e+01 3\n", - " 4 1.3104e+02 3.5576e-01 1.1297e-01 1.2955e+01 1.47161e+00 0.2500 1.2955e+01 3\n", - " 5 1.1047e+02 3.5556e-01 8.4551e-02 1.0927e+01 6.32443e-01 1.0000 1.0927e+01 3\n", - " 6 1.0623e+02 3.5585e-01 6.4964e-03 1.0581e+01 9.88963e-01 0.5000 1.0581e+01 3\n", - " 7 8.7134e+01 3.5557e-01 5.5482e-03 8.6723e+00 7.87968e-01 0.5000 8.6723e+00 3\n", - " 8 5.1485e+01 3.5569e-01 4.5190e-03 5.1084e+00 5.64516e-01 0.5000 5.1084e+00 3\n", - " 9 4.5569e+01 3.5568e-01 2.4646e-03 4.5189e+00 5.39146e-01 0.2500 4.5189e+00 3\n", - " 10 3.7876e+01 3.5565e-01 1.8146e-03 3.7502e+00 2.31839e-01 1.0000 3.7502e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0500e+02 6.9413e-01 3.9753e+01 6.7748e-01 2.09361e+00 1.0000 ---- 3\n", - " 2 2.4404e+02 4.4842e-01 1.1862e+01 1.2497e+01 1.45625e+00 0.5000 1.0874e+02 3\n", - " 3 1.9000e+02 4.0417e-01 5.9554e+00 1.3004e+01 1.01846e+00 0.5000 5.4443e+01 3\n", - " 4 1.2559e+02 3.9302e-01 2.9623e+00 9.5579e+00 6.89363e-01 1.0000 2.7239e+01 3\n", - " 5 1.0241e+02 3.8961e-01 1.8236e-02 1.0184e+01 1.46091e+00 0.2500 1.0184e+01 3\n", - " 6 8.4397e+01 3.8940e-01 1.3880e-02 8.3869e+00 4.76594e-01 0.5000 8.3869e+00 3\n", - " 7 6.1087e+01 3.8936e-01 7.1231e-03 6.0627e+00 5.02599e-01 0.5000 6.0627e+00 3\n", - " 8 3.7980e+01 3.8945e-01 4.0943e-03 3.7550e+00 4.07173e-01 0.2500 3.7550e+00 3\n", - " 9 3.2289e+01 3.8942e-01 3.1213e-03 3.1868e+00 2.52214e-01 1.0000 3.1868e+00 3\n", - " 10 1.1635e+01 3.8961e-01 1.7352e-03 1.1228e+00 3.30213e-01 0.1250 1.1228e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0873e+02 7.2879e-01 3.9501e+01 1.2993e+00 2.23649e+00 1.0000 ---- 3\n", - " 2 2.7574e+02 5.6149e-01 1.3124e+01 1.4394e+01 1.55099e+00 0.5000 1.6231e+02 3\n", - " 3 2.2269e+02 4.6241e-01 6.6051e+00 1.5618e+01 1.16905e+00 0.5000 8.1150e+01 3\n", - " 4 1.5596e+02 4.3769e-01 3.2935e+00 1.2258e+01 7.85886e-01 0.5000 4.0573e+01 3\n", - " 5 1.1569e+02 4.3156e-01 1.6467e+00 9.8790e+00 7.92747e-01 0.5000 2.0285e+01 3\n", - " 6 9.4760e+01 4.2999e-01 8.2350e-01 8.6095e+00 6.64053e-01 0.5000 1.0142e+01 3\n", - " 7 8.7997e+01 4.2954e-01 4.1217e-01 8.3446e+00 6.94476e-01 0.5000 8.3446e+00 3\n", - " 8 7.0830e+01 4.2947e-01 2.0624e-01 6.8338e+00 7.26568e-01 0.2500 6.8338e+00 3\n", - " 9 5.9300e+01 4.2942e-01 1.5476e-01 5.7323e+00 3.90662e-01 1.0000 5.7323e+00 25\n", - " 10 2.5453e+01 4.2974e-01 4.6301e-03 2.4977e+00 1.31324e+00 0.2500 2.4977e+00 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.1965e+02 7.7810e-01 4.0650e+01 1.2376e+00 2.35455e+00 1.0000 ---- 3\n", - " 2 3.4012e+02 8.3533e-01 1.8797e+01 1.5131e+01 1.80449e+00 0.5000 2.6485e+02 3\n", - " 3 2.7340e+02 5.6741e-01 9.3903e+00 1.7893e+01 1.44196e+00 0.5000 1.3227e+02 3\n", - " 4 1.9257e+02 5.0073e-01 4.6993e+00 1.4508e+01 8.79205e-01 1.0000 6.6064e+01 3\n", - " 5 1.5542e+02 4.7881e-01 6.7459e-02 1.5427e+01 1.41995e+00 0.5000 1.5427e+01 3\n", - " 6 1.3169e+02 4.7851e-01 3.1755e-02 1.3090e+01 1.39407e+00 0.5000 1.3090e+01 3\n", - " 7 9.6421e+01 4.7863e-01 1.7930e-02 9.5764e+00 1.22408e+00 0.5000 9.5764e+00 3\n", - " 8 9.3956e+01 4.7860e-01 1.0142e-02 9.3376e+00 1.31860e+00 0.2500 9.3376e+00 3\n", - " 9 8.5363e+01 4.7851e-01 7.9477e-03 8.4805e+00 4.44441e-01 1.0000 8.4805e+00 3\n", - " 10 2.3241e+01 4.7892e-01 4.9632e-03 2.2713e+00 7.80595e-01 0.1250 2.2713e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.4387e+02 8.6336e-01 4.2843e+01 1.4581e+00 2.68127e+00 1.0000 ---- 3\n", - " 2 4.2605e+02 1.7134e+00 2.5083e+01 1.7351e+01 2.07449e+00 0.5000 4.6633e+02 3\n", - " 3 3.2249e+02 9.2040e-01 1.3081e+01 1.9076e+01 1.27358e+00 1.0000 2.5766e+02 3\n", - " 4 2.6384e+02 5.7058e-01 4.1753e-01 2.5909e+01 2.12209e+00 0.2500 2.5909e+01 3\n", - " 5 2.1720e+02 5.7016e-01 3.0285e-01 2.1360e+01 1.03559e+00 1.0000 2.1360e+01 3\n", - " 6 2.1251e+02 5.7055e-01 1.6445e-01 2.1029e+01 1.53061e+00 0.5000 2.1029e+01 3\n", - " 7 1.8496e+02 5.7013e-01 9.7180e-02 1.8342e+01 1.30690e+00 0.5000 1.8342e+01 3\n", - " 8 1.2854e+02 5.7027e-01 5.0888e-02 1.2746e+01 1.00714e+00 0.5000 1.2746e+01 3\n", - " 9 8.6367e+01 5.7028e-01 3.1030e-02 8.5486e+00 9.50320e-01 0.2500 8.5486e+00 3\n", - " 10 7.4191e+01 5.7022e-01 2.3450e-02 7.3387e+00 4.75460e-01 1.0000 7.3387e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.6805e+02 1.0234e+00 4.2918e+01 3.7852e+00 3.04022e+00 0.5000 ---- 3\n", - " 2 4.1897e+02 9.8581e-01 3.0394e+01 1.1405e+01 1.88908e+00 1.0000 1.9055e+02 3\n", - " 3 3.0364e+02 7.2800e-01 8.2410e+00 2.2050e+01 1.99585e+00 0.5000 2.2050e+01 3\n", - " 4 2.7017e+02 7.2746e-01 4.2352e+00 2.2709e+01 1.31361e+00 1.0000 2.2709e+01 3\n", - " 5 1.2858e+02 7.2825e-01 1.0130e-01 1.2684e+01 2.42857e+00 0.1250 1.2684e+01 3\n", - " 6 1.1980e+02 7.2795e-01 9.0792e-02 1.1816e+01 1.56867e+00 0.2500 1.1816e+01 3\n", - " 7 1.1334e+02 7.2770e-01 7.0310e-02 1.1191e+01 6.74328e-01 1.0000 1.1191e+01 3\n", - " 8 9.0107e+01 7.2794e-01 8.3665e-03 8.9295e+00 1.52713e+00 0.1250 8.9295e+00 3\n", - " 9 8.5349e+01 7.2776e-01 7.4629e-03 8.4546e+00 9.59493e-01 0.2500 8.4546e+00 3\n", - " 10 8.1860e+01 7.2761e-01 5.9598e-03 8.1073e+00 5.03465e-01 1.0000 8.1073e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.4252e+02 1.3176e+00 4.2116e+01 2.0041e+00 3.54693e+00 0.2500 ---- 3\n", - " 2 3.8520e+02 1.1869e+00 3.4655e+01 3.7468e+00 2.04632e+00 1.0000 1.8088e+02 3\n", - " 3 2.2858e+02 1.0119e+00 1.7692e+01 5.0648e+00 2.08250e+00 0.2500 7.0032e+01 3\n", - " 4 2.0901e+02 1.0157e+00 1.4554e+01 6.2455e+00 7.90179e-01 1.0000 8.0727e+01 3\n", - " 5 1.3398e+02 9.8118e-01 3.8724e-01 1.2912e+01 1.36668e+00 0.5000 1.2912e+01 3\n", - " 6 1.2873e+02 9.8133e-01 9.4344e-01 1.1832e+01 1.11734e+00 0.5000 1.3203e+01 3\n", - " 7 9.2139e+01 9.8101e-01 8.7582e-01 8.2400e+00 9.71663e-01 0.5000 1.1217e+01 3\n", - " 8 8.8444e+01 9.8063e-01 6.4254e-01 8.1038e+00 1.23113e+00 0.2500 8.1038e+00 3\n", - " 9 8.5189e+01 9.8037e-01 5.0528e-01 7.9156e+00 4.38744e-01 1.0000 7.9156e+00 3\n", - " 10 6.6907e+01 9.8047e-01 3.7883e-02 6.5548e+00 1.30384e+00 0.0625 6.5548e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.4944e+02 1.7674e+00 4.2073e+01 2.6947e+00 3.64829e+00 0.2500 ---- 3\n", - " 2 4.0367e+02 1.6108e+00 3.5128e+01 5.0779e+00 2.16826e+00 1.0000 1.7936e+02 3\n", - " 3 3.5027e+02 1.3426e+00 2.2144e+01 1.2749e+01 2.04179e+00 0.2500 1.2749e+01 3\n", - " 4 3.2360e+02 1.3422e+00 1.6634e+01 1.5592e+01 1.01427e+00 1.0000 1.5592e+01 3\n", - " 5 1.7822e+02 1.3425e+00 1.8257e-01 1.7505e+01 1.53323e+00 0.2500 1.7505e+01 3\n", - " 6 1.4756e+02 1.3422e+00 1.3969e-01 1.4482e+01 7.37224e-01 1.0000 1.4482e+01 3\n", - " 7 7.5933e+01 1.3424e+00 4.1797e-02 7.4173e+00 1.50027e+00 0.0625 7.4173e+00 3\n", - " 8 7.3208e+01 1.3423e+00 3.9497e-02 7.1471e+00 1.15139e+00 0.1250 7.1471e+00 3\n", - " 9 6.6821e+01 1.3422e+00 3.5040e-02 6.5128e+00 6.71973e-01 0.5000 6.5128e+00 3\n", - " 10 5.8885e+01 1.3422e+00 1.9322e-02 5.7350e+00 7.26534e-01 0.1250 5.7350e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.4847e+02 2.3895e+00 4.9005e+01 5.6039e+00 3.61118e+00 0.5000 ---- 3\n", - " 2 4.2111e+02 2.1447e+00 3.4788e+01 7.1085e+00 3.83492e+00 0.2500 1.5149e+02 3\n", - " 3 4.1027e+02 2.1541e+00 3.0287e+01 1.0525e+01 1.65420e+00 1.0000 1.9761e+02 3\n", - " 4 3.4220e+02 1.8203e+00 6.4889e+00 2.7549e+01 2.99333e+00 0.2500 3.9622e+01 3\n", - " 5 3.2156e+02 1.8279e+00 6.8507e+00 2.5122e+01 1.30019e+00 1.0000 6.1320e+01 3\n", - " 6 2.8542e+02 1.8125e+00 1.9656e+00 2.6396e+01 2.68552e+00 0.2500 2.6396e+01 3\n", - " 7 2.5723e+02 1.8133e+00 2.9752e+00 2.2566e+01 1.23889e+00 0.5000 3.0212e+01 3\n", - " 8 1.7966e+02 1.8103e+00 1.5256e+00 1.6259e+01 1.22088e+00 0.5000 1.7701e+01 3\n", - " 9 1.4393e+02 1.8099e+00 1.4432e+00 1.2769e+01 1.30394e+00 0.2500 1.3716e+01 3\n", - " 10 1.2225e+02 1.8095e+00 1.3379e+00 1.0707e+01 6.22585e-01 1.0000 1.2815e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.3677e+02 3.1800e+00 6.1628e+01 1.1731e+01 4.95197e+00 0.2500 ---- 3\n", - " 2 6.6638e+02 2.9051e+00 5.0491e+01 1.5856e+01 3.16425e+00 0.5000 1.7530e+02 3\n", - " 3 4.7510e+02 2.5955e+00 3.1833e+01 1.5417e+01 2.57833e+00 0.5000 8.7258e+01 3\n", - " 4 4.6038e+02 2.5284e+00 2.0121e+01 2.5664e+01 2.99756e+00 0.2500 1.0398e+02 3\n", - " 5 3.8637e+02 2.5390e+00 1.8300e+01 2.0083e+01 1.52758e+00 1.0000 1.3503e+02 3\n", - " 6 2.9227e+02 2.4325e+00 9.1328e+00 1.9851e+01 3.73627e+00 0.1250 8.7987e+01 3\n", - " 7 2.8052e+02 2.4361e+00 1.0018e+01 1.7791e+01 2.01980e+00 0.2500 1.0019e+02 3\n", - " 8 2.6033e+02 2.4233e+00 8.9259e+00 1.6865e+01 1.22222e+00 0.2500 8.8312e+01 3\n", - " 9 2.3146e+02 2.4064e+00 6.7837e+00 1.6122e+01 9.48994e-01 1.0000 6.7928e+01 3\n", - " 10 2.1975e+02 2.3833e+00 5.1101e-01 2.1226e+01 1.77360e+00 0.2500 2.1226e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 8.8375e+02 4.1070e+00 6.6712e+01 2.1253e+01 4.28951e+00 0.5000 ---- 3\n", - " 2 7.9100e+02 3.4770e+00 4.7385e+01 3.1367e+01 4.21532e+00 0.5000 1.1301e+02 25\n", - " 3 6.8718e+02 3.6322e+00 3.5421e+01 3.2934e+01 4.82390e+00 0.1250 2.7734e+02 25\n", - " 4 6.4306e+02 3.6546e+00 3.4484e+01 2.9456e+01 2.77862e+00 0.5000 2.9815e+02 25\n", - " 5 5.4246e+02 3.3121e+00 2.1728e+01 3.2187e+01 2.54433e+00 0.2500 1.9060e+02 20\n", - " 6 4.7646e+02 3.2684e+00 1.9580e+01 2.7739e+01 1.33703e+00 1.0000 1.7641e+02 16\n", - " 7 1.8728e+02 3.1391e+00 1.1005e+01 7.4093e+00 3.26684e+00 0.0312 1.1071e+02 25\n", - " 8 1.8465e+02 3.1334e+00 1.0855e+01 7.2968e+00 2.74934e+00 0.0625 1.0932e+02 25\n", - " 9 1.7974e+02 3.1273e+00 1.0677e+01 6.9848e+00 1.89403e+00 0.1250 1.0845e+02 11\n", - " 10 1.7854e+02 3.1209e+00 1.0350e+01 7.1915e+00 8.80397e-01 0.1250 1.0573e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 9.7865e+02 5.2346e+00 8.2686e+01 1.4655e+01 4.34072e+00 0.5000 ---- 25\n", - " 2 7.4869e+02 4.4001e+00 5.1918e+01 2.2512e+01 4.10256e+00 0.2500 1.0985e+02 25\n", - " 3 6.6148e+02 4.2787e+00 4.2903e+01 2.2817e+01 2.42974e+00 1.0000 1.2858e+02 25\n", - " 4 6.2293e+02 4.1835e+00 2.8751e+01 3.3124e+01 5.46271e+00 0.0625 2.3809e+02 25\n", - " 5 5.9984e+02 4.1756e+00 2.8507e+01 3.1060e+01 4.11081e+00 0.1250 2.4317e+02 17\n", - " 6 5.8067e+02 4.1868e+00 2.8283e+01 2.9366e+01 1.80505e+00 0.5000 2.5367e+02 11\n", - " 7 4.4934e+02 4.0415e+00 1.8515e+01 2.6015e+01 2.56196e+00 0.1250 1.9171e+02 9\n", - " 8 4.2189e+02 4.0308e+00 1.8174e+01 2.3612e+01 9.59421e-01 1.0000 1.9016e+02 9\n", - " 9 2.5001e+02 3.8442e+00 5.1886e+00 1.9428e+01 2.86550e+00 0.1250 3.9434e+01 25\n", - " 10 2.3482e+02 3.8432e+00 5.9748e+00 1.7123e+01 1.23192e+00 0.2500 4.7311e+01 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.1318e+03 6.4176e+00 8.4276e+01 2.8264e+01 4.80942e+00 0.5000 ---- 25\n", - " 2 8.9250e+02 5.4221e+00 5.8483e+01 3.0225e+01 4.82753e+00 0.2500 1.0824e+02 25\n", - " 3 8.0736e+02 5.3664e+00 5.0035e+01 3.0164e+01 2.81372e+00 0.5000 2.0381e+02 23\n", - " 4 5.5654e+02 5.2525e+00 3.2506e+01 2.2623e+01 3.95785e+00 0.1250 2.5549e+02 15\n", - " 5 5.3754e+02 5.2416e+00 3.1782e+01 2.1448e+01 1.74327e+00 1.0000 2.6761e+02 17\n", - " 6 4.4418e+02 5.0350e+00 2.8745e+01 1.5169e+01 6.02573e+00 0.0312 2.4052e+02 25\n", - " 7 4.3786e+02 5.0241e+00 2.8678e+01 1.4606e+01 4.75363e+00 0.0625 2.4252e+02 23\n", - " 8 4.3179e+02 5.0251e+00 2.8815e+01 1.3862e+01 2.89347e+00 0.1250 2.4904e+02 25\n", - " 9 4.1280e+02 4.9977e+00 2.7371e+01 1.3409e+01 9.32694e-01 1.0000 2.4149e+02 14\n", - " 10 3.8196e+02 4.6869e+00 3.4100e+00 3.4317e+01 2.25277e+00 0.2500 3.4317e+01 15\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.4572e+03 7.7462e+00 8.8815e+01 5.6134e+01 5.93277e+00 0.5000 ---- 25\n", - " 2 1.0645e+03 6.6651e+00 5.8391e+01 4.7393e+01 6.19725e+00 0.2500 1.9143e+02 25\n", - " 3 9.6025e+02 6.9782e+00 5.2158e+01 4.3169e+01 3.49897e+00 0.5000 3.8788e+02 23\n", - " 4 8.8285e+02 7.3038e+00 5.5245e+01 3.2310e+01 5.23229e+00 0.1250 5.1061e+02 15\n", - " 5 8.6460e+02 7.3623e+00 5.5602e+01 3.0122e+01 2.32906e+00 0.5000 5.3435e+02 14\n", - " 6 6.5213e+02 6.7820e+00 4.0754e+01 2.3780e+01 4.34997e+00 0.1250 4.3790e+02 20\n", - " 7 6.5162e+02 6.8891e+00 4.2815e+01 2.1658e+01 9.34545e-01 1.0000 4.6749e+02 18\n", - " 8 3.6863e+02 5.6140e+00 1.0124e+00 3.5289e+01 1.39543e+00 0.2500 3.5289e+01 25\n", - " 9 3.4283e+02 5.6132e+00 7.7109e-01 3.2951e+01 9.51070e-01 0.5000 3.2951e+01 15\n", - " 10 3.0828e+02 5.6128e+00 3.4198e-01 2.9924e+01 1.08104e+00 0.5000 2.9924e+01 13\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.3908e+03 9.1599e+00 9.0362e+01 4.7801e+01 5.69710e+00 0.5000 ---- 25\n", - " 2 1.1915e+03 7.5996e+00 5.8927e+01 5.9463e+01 4.63961e+00 0.5000 1.0551e+02 25\n", - " 3 9.7337e+02 7.0807e+00 3.4421e+01 6.2208e+01 4.43692e+00 0.2500 8.7401e+01 21\n", - " 4 8.5457e+02 7.1495e+00 3.3727e+01 5.1015e+01 3.57409e+00 0.2500 2.0672e+02 20\n", - " 5 7.2501e+02 7.1786e+00 3.2657e+01 3.9127e+01 2.55058e+00 0.5000 2.5509e+02 14\n", - " 6 6.3597e+02 7.3254e+00 3.3516e+01 2.9349e+01 4.42005e+00 0.0625 3.3031e+02 16\n", - " 7 6.1729e+02 7.2857e+00 3.2962e+01 2.8038e+01 3.06807e+00 0.1250 3.2555e+02 15\n", - " 8 5.8323e+02 7.2218e+00 3.1539e+01 2.6062e+01 1.24730e+00 1.0000 3.1335e+02 15\n", - " 9 3.6101e+02 6.6589e+00 9.6857e+00 2.5749e+01 4.16466e+00 0.1250 7.2894e+01 25\n", - " 10 3.5818e+02 6.7069e+00 1.3028e+01 2.2120e+01 9.34334e-01 0.5000 1.2923e+02 17\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.5617e+03 1.0696e+01 1.0061e+02 5.4489e+01 6.18444e+00 0.5000 ---- 25\n", - " 2 9.7173e+02 8.8840e+00 6.0998e+01 3.5286e+01 5.74879e+00 0.2500 9.8532e+01 25\n", - " 3 8.5546e+02 8.6325e+00 4.5723e+01 3.8960e+01 3.63118e+00 0.5000 1.6798e+02 19\n", - " 4 8.1123e+02 8.5801e+00 3.9499e+01 4.0765e+01 5.28164e+00 0.1250 3.0789e+02 21\n", - " 5 7.7953e+02 8.6291e+00 4.0216e+01 3.6874e+01 2.38623e+00 0.5000 3.4610e+02 19\n", - " 6 6.4896e+02 8.2556e+00 3.0588e+01 3.3483e+01 4.21999e+00 0.0625 2.8081e+02 15\n", - " 7 6.3073e+02 8.2288e+00 3.0319e+01 3.1931e+01 2.33176e+00 0.2500 2.7929e+02 16\n", - " 8 5.6769e+02 8.1362e+00 2.8540e+01 2.7415e+01 2.06076e+00 0.2500 2.6173e+02 15\n", - " 9 4.9689e+02 8.0299e+00 2.5058e+01 2.3828e+01 2.10790e+00 0.2500 2.3206e+02 14\n", - " 10 4.6482e+02 7.9338e+00 2.1576e+01 2.4113e+01 1.80044e+00 0.2500 2.0050e+02 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.5718e+03 1.2444e+01 1.1048e+02 4.5449e+01 7.05130e+00 0.5000 ---- 25\n", - " 2 1.5371e+03 1.0489e+01 7.9106e+01 7.3556e+01 7.31905e+00 0.2500 2.4284e+02 25\n", - " 3 1.2142e+03 1.0731e+01 5.6808e+01 6.3534e+01 4.51579e+00 0.2500 4.3686e+02 21\n", - " 4 1.0624e+03 1.0510e+01 5.4026e+01 5.1164e+01 3.87209e+00 0.5000 4.4884e+02 20\n", - " 5 1.0166e+03 1.1050e+01 6.6148e+01 3.4402e+01 7.48887e+00 0.0312 6.0671e+02 13\n", - " 6 1.0010e+03 1.0994e+01 6.5536e+01 3.3462e+01 5.44067e+00 0.1250 6.0334e+02 10\n", - " 7 1.0002e+03 1.1162e+01 6.7503e+01 3.1399e+01 1.64867e+00 1.0000 6.3796e+02 11\n", - " 8 5.4071e+02 8.7987e+00 4.9018e+00 4.8289e+01 5.21968e+00 0.0625 5.6535e+01 25\n", - " 9 5.2612e+02 8.7971e+00 6.4531e+00 4.5279e+01 2.94011e+00 0.1250 7.4626e+01 25\n", - " 10 4.9508e+02 8.7970e+00 7.1137e+00 4.1515e+01 1.06873e+00 0.5000 8.0704e+01 17\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.7368e+03 1.3898e+01 1.0100e+02 7.1291e+01 7.38871e+00 0.5000 ---- 25\n", - " 2 1.2386e+03 1.1458e+01 6.1719e+01 6.0992e+01 6.26059e+00 0.2500 9.2806e+01 25\n", - " 3 1.0458e+03 1.1028e+01 4.6710e+01 5.6762e+01 3.88191e+00 0.5000 1.0445e+02 20\n", - " 4 9.1525e+02 1.0676e+01 4.1049e+01 4.9409e+01 5.72799e+00 0.1250 2.2602e+02 11\n", - " 5 8.9554e+02 1.0678e+01 4.2770e+01 4.5716e+01 2.74342e+00 0.5000 2.6316e+02 11\n", - " 6 8.2486e+02 1.0327e+01 3.5723e+01 4.5730e+01 4.59937e+00 0.1250 2.0944e+02 25\n", - " 7 8.1566e+02 1.0347e+01 3.8161e+01 4.2370e+01 1.56543e+00 1.0000 2.3332e+02 11\n", - " 8 4.8556e+02 9.8832e+00 7.8598e+00 3.9707e+01 3.71020e+00 0.1250 3.9707e+01 23\n", - " 9 4.5697e+02 9.8824e+00 8.6115e+00 3.6097e+01 1.72575e+00 0.2500 3.6097e+01 14\n", - " 10 4.1145e+02 9.8790e+00 6.3699e+00 3.3787e+01 1.11393e+00 0.5000 3.3787e+01 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.7325e+03 1.5552e+01 1.0765e+02 6.4045e+01 7.21302e+00 0.5000 ---- 25\n", - " 2 1.6491e+03 1.2781e+01 7.3291e+01 9.0339e+01 5.40234e+00 0.5000 9.0750e+01 25\n", - " 3 1.2637e+03 1.1835e+01 4.2461e+01 8.2722e+01 5.53338e+00 0.2500 9.6134e+01 19\n", - " 4 1.2358e+03 1.1947e+01 5.3476e+01 6.8911e+01 4.73265e+00 0.2500 2.5957e+02 15\n", - " 5 1.1495e+03 1.2117e+01 5.6369e+01 5.7366e+01 3.71723e+00 0.2500 3.6052e+02 10\n", - " 6 1.0575e+03 1.2048e+01 5.4132e+01 5.0417e+01 3.50862e+00 0.2500 3.6974e+02 11\n", - " 7 9.7257e+02 1.1929e+01 5.0068e+01 4.5997e+01 2.96601e+00 0.2500 3.5853e+02 12\n", - " 8 8.9456e+02 1.1773e+01 4.5700e+01 4.2579e+01 2.92407e+00 0.2500 3.3241e+02 11\n", - " 9 8.2358e+02 1.1622e+01 4.0386e+01 4.0810e+01 2.70447e+00 0.2500 2.9903e+02 11\n", - " 10 7.8191e+02 1.1492e+01 3.6464e+01 4.0577e+01 2.52942e+00 0.2500 2.6704e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.9151e+03 1.7587e+01 1.2243e+02 6.7326e+01 8.15879e+00 0.5000 ---- 25\n", - " 2 1.6958e+03 1.4907e+01 7.2017e+01 9.6075e+01 8.93764e+00 0.1250 3.5015e+02 25\n", - " 3 1.5276e+03 1.4712e+01 6.5457e+01 8.5828e+01 5.24510e+00 0.5000 3.8989e+02 15\n", - " 4 1.4685e+03 1.3637e+01 6.1988e+01 8.3495e+01 6.95322e+00 0.1250 3.5828e+02 13\n", - " 5 1.4376e+03 1.3822e+01 6.7433e+01 7.4940e+01 3.14414e+00 1.0000 4.3039e+02 11\n", - " 6 1.2555e+03 1.2424e+01 2.5056e+01 9.9247e+01 8.77481e+00 0.0625 1.8779e+02 25\n", - " 7 1.2141e+03 1.2511e+01 2.6742e+01 9.3420e+01 4.54422e+00 0.2500 2.4092e+02 25\n", - " 8 1.0705e+03 1.2607e+01 2.8027e+01 7.7759e+01 3.75491e+00 0.2500 2.7650e+02 17\n", - " 9 9.8092e+02 1.2636e+01 3.0080e+01 6.6748e+01 3.00957e+00 0.2500 2.8809e+02 15\n", - " 10 8.5438e+02 1.2605e+01 3.0565e+01 5.3612e+01 2.70921e+00 0.2500 2.7958e+02 15\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.0692e+03 1.9285e+01 1.2265e+02 8.2342e+01 9.02241e+00 0.5000 ---- 25\n", - " 2 1.8145e+03 1.6683e+01 8.2413e+01 9.7370e+01 9.40438e+00 0.1250 4.4010e+02 25\n", - " 3 1.5735e+03 1.6503e+01 6.9924e+01 8.5773e+01 5.45111e+00 0.5000 4.8423e+02 16\n", - " 4 1.4272e+03 1.5710e+01 6.8570e+01 7.2579e+01 8.40152e+00 0.0625 5.3081e+02 11\n", - " 5 1.4056e+03 1.5766e+01 7.0402e+01 6.8581e+01 4.07899e+00 0.5000 5.5677e+02 11\n", - " 6 1.3012e+03 1.5595e+01 6.6663e+01 6.1901e+01 6.73091e+00 0.1250 5.8931e+02 12\n", - " 7 1.2846e+03 1.5592e+01 6.9497e+01 5.7408e+01 3.44732e+00 0.2500 6.0220e+02 10\n", - " 8 1.1512e+03 1.4932e+01 5.9003e+01 5.4627e+01 3.11767e+00 0.5000 5.0408e+02 10\n", - " 9 1.0846e+03 1.4662e+01 5.4122e+01 5.2875e+01 5.70061e+00 0.1250 4.7429e+02 16\n", - " 10 1.0710e+03 1.4653e+01 5.5798e+01 4.9837e+01 2.65589e+00 0.5000 4.8042e+02 16\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.3922e+03 2.1327e+01 1.2769e+02 1.0940e+02 1.23612e+01 0.2500 ---- 25\n", - " 2 2.1102e+03 2.1592e+01 1.2110e+02 8.7758e+01 9.42216e+00 0.1250 7.2021e+02 25\n", - " 3 2.0122e+03 2.0847e+01 1.1949e+02 7.9642e+01 6.16436e+00 0.5000 7.2087e+02 25\n", - " 4 1.7233e+03 1.8089e+01 1.1723e+02 5.3290e+01 8.54801e+00 0.0625 6.2434e+02 25\n", - " 5 1.6945e+03 1.8092e+01 1.1746e+02 5.0184e+01 4.22624e+00 0.5000 6.4664e+02 15\n", - " 6 1.4918e+03 1.7039e+01 8.8770e+01 5.8707e+01 6.12097e+00 0.1250 6.0038e+02 12\n", - " 7 1.4333e+03 1.6926e+01 8.7287e+01 5.4349e+01 3.13190e+00 0.5000 6.0042e+02 11\n", - " 8 1.0331e+03 1.5963e+01 6.4868e+01 3.6848e+01 6.78733e+00 0.0312 4.7380e+02 25\n", - " 9 1.0181e+03 1.5915e+01 6.4183e+01 3.6035e+01 4.91307e+00 0.0625 4.6932e+02 14\n", - " 10 9.9074e+02 1.5820e+01 6.2445e+01 3.5047e+01 2.67105e+00 0.5000 4.5636e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.4347e+03 2.3041e+01 1.5623e+02 8.4933e+01 1.06738e+01 0.2500 ---- 25\n", - " 2 2.3469e+03 2.0967e+01 1.5842e+02 7.4169e+01 7.10139e+00 0.5000 4.1925e+02 25\n", - " 3 1.7313e+03 1.8514e+01 8.7895e+01 8.3387e+01 7.42130e+00 0.1250 4.4958e+02 25\n", - " 4 1.6452e+03 1.8281e+01 8.6925e+01 7.5770e+01 4.62163e+00 0.5000 4.6493e+02 10\n", - " 5 1.5128e+03 1.7270e+01 7.5294e+01 7.4256e+01 7.42000e+00 0.0625 4.2765e+02 14\n", - " 6 1.4834e+03 1.7262e+01 7.6480e+01 7.0135e+01 4.05978e+00 0.5000 4.4200e+02 14\n", - " 7 1.4667e+03 1.6945e+01 7.2931e+01 7.2048e+01 5.79057e+00 0.1250 4.4311e+02 14\n", - " 8 1.4069e+03 1.6916e+01 7.3125e+01 6.5870e+01 3.24446e+00 0.5000 4.5114e+02 15\n", - " 9 1.1863e+03 1.6437e+01 6.0693e+01 5.6298e+01 6.28963e+00 0.0625 3.6665e+02 15\n", - " 10 1.1681e+03 1.6443e+01 6.1439e+01 5.3729e+01 3.47057e+00 0.2500 3.7524e+02 15\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6168e+03 2.4441e+01 1.6720e+02 9.2039e+01 9.02417e+00 0.5000 ---- 25\n", - " 2 2.3527e+03 1.9721e+01 1.3369e+02 9.9611e+01 8.07421e+00 0.2500 2.4005e+02 25\n", - " 3 2.1038e+03 1.9230e+01 1.2578e+02 8.2683e+01 6.17144e+00 0.5000 3.4903e+02 9\n", - " 4 2.0502e+03 2.0459e+01 1.3537e+02 6.7600e+01 1.12745e+01 0.0312 7.5324e+02 10\n", - " 5 2.0250e+03 2.0459e+01 1.3482e+02 6.5632e+01 7.16236e+00 0.1250 7.6224e+02 10\n", - " 6 1.9365e+03 2.0687e+01 1.3195e+02 5.9627e+01 3.23346e+00 1.0000 8.0523e+02 9\n", - " 7 1.7452e+03 1.8074e+01 1.1120e+02 6.1505e+01 1.52861e+01 0.0156 4.8423e+02 25\n", - " 8 1.7376e+03 1.8079e+01 1.1198e+02 5.9967e+01 1.18545e+01 0.0312 4.9480e+02 25\n", - " 9 1.7286e+03 1.8148e+01 1.1390e+02 5.7143e+01 7.44696e+00 0.0625 5.1673e+02 25\n", - " 10 1.6707e+03 1.8160e+01 1.1296e+02 5.2288e+01 3.96759e+00 0.5000 5.2425e+02 22\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.5405e+03 2.6401e+01 2.4425e+02 1.0717e+02 1.14337e+01 0.2500 ---- 25\n", - " 2 3.0993e+03 2.4100e+01 2.2125e+02 8.6263e+01 7.04651e+00 1.0000 5.1090e+02 25\n", - " 3 2.2912e+03 2.1469e+01 1.0199e+02 1.2498e+02 1.12124e+01 0.1250 7.8613e+02 18\n", - " 4 2.1873e+03 2.1576e+01 1.0468e+02 1.1190e+02 8.22022e+00 0.1250 8.1274e+02 17\n", - " 5 2.0667e+03 2.1412e+01 1.0399e+02 1.0053e+02 5.38008e+00 0.2500 8.0385e+02 17\n", - " 6 1.8103e+03 2.0602e+01 9.3638e+01 8.5330e+01 5.05645e+00 0.2500 7.1621e+02 13\n", - " 7 1.6447e+03 2.0401e+01 9.1209e+01 7.1218e+01 4.63165e+00 0.2500 7.0105e+02 20\n", - " 8 1.4377e+03 2.0105e+01 8.5894e+01 5.5865e+01 4.18622e+00 0.2500 6.6500e+02 21\n", - " 9 1.3802e+03 1.9869e+01 8.8091e+01 4.7943e+01 3.80347e+00 0.1250 6.3768e+02 21\n", - " 10 1.3034e+03 1.9515e+01 8.1417e+01 4.6971e+01 1.78376e+00 1.0000 5.8655e+02 19\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0183e+03 2.6784e+01 1.1048e+02 1.8867e+02 1.45483e+01 0.2500 ---- 25\n", - " 2 2.8590e+03 2.6832e+01 1.5593e+02 1.2728e+02 1.14193e+01 0.1250 6.7409e+02 25\n", - " 3 2.6631e+03 2.5941e+01 1.5397e+02 1.0975e+02 8.16329e+00 0.2500 6.8935e+02 25\n", - " 4 2.4319e+03 2.4548e+01 1.5087e+02 8.9860e+01 5.35466e+00 0.5000 7.0654e+02 15\n", - " 5 2.0014e+03 2.3426e+01 1.3032e+02 6.7482e+01 7.18117e+00 0.1250 7.8729e+02 12\n", - " 6 1.9337e+03 2.3127e+01 1.2903e+02 6.2025e+01 4.91803e+00 0.2500 7.8164e+02 10\n", - " 7 1.7952e+03 2.2345e+01 1.2022e+02 5.7066e+01 4.36675e+00 0.2500 7.2877e+02 11\n", - " 8 1.6688e+03 2.1896e+01 1.1354e+02 5.1155e+01 4.48037e+00 0.2500 7.0505e+02 10\n", - " 9 1.6075e+03 2.1465e+01 1.0803e+02 5.0568e+01 4.63470e+00 0.2500 6.7031e+02 10\n", - " 10 1.5855e+03 2.1130e+01 1.0417e+02 5.2263e+01 4.42692e+00 0.2500 6.4281e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.3739e+03 3.0234e+01 2.4186e+02 9.2504e+01 1.06171e+01 0.5000 ---- 25\n", - " 2 3.0876e+03 2.8842e+01 1.8954e+02 1.1634e+02 1.13251e+01 0.1250 1.0137e+03 25\n", - " 3 2.9078e+03 2.7996e+01 1.8159e+02 1.0639e+02 8.72578e+00 0.2500 9.9475e+02 10\n", - " 4 2.8610e+03 2.8030e+01 1.9519e+02 8.8103e+01 5.13703e+00 0.5000 1.0875e+03 9\n", - " 5 2.2728e+03 2.5155e+01 1.4794e+02 7.6828e+01 6.92514e+00 0.1250 9.4325e+02 22\n", - " 6 2.1493e+03 2.4676e+01 1.4222e+02 7.0244e+01 4.48819e+00 0.2500 9.1098e+02 9\n", - " 7 1.9116e+03 2.3384e+01 1.2048e+02 6.8341e+01 4.89450e+00 0.2500 7.9116e+02 9\n", - " 8 1.8659e+03 2.3512e+01 1.2238e+02 6.1863e+01 5.06103e+00 0.2500 8.2506e+02 10\n", - " 9 1.7970e+03 2.3521e+01 1.2675e+02 5.0598e+01 4.32399e+00 0.1250 8.3978e+02 9\n", - " 10 1.7099e+03 2.2977e+01 1.1987e+02 4.8820e+01 2.36336e+00 1.0000 7.8340e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.1871e+03 2.9531e+01 1.4991e+02 1.6585e+02 2.03454e+01 0.0625 ---- 25\n", - " 2 3.0415e+03 2.9112e+01 1.5120e+02 1.5004e+02 1.01402e+01 0.5000 3.3739e+02 25\n", - " 3 2.0660e+03 2.3715e+01 9.5790e+01 1.0844e+02 7.27572e+00 0.2500 2.1801e+02 9\n", - " 4 1.7988e+03 2.2816e+01 7.6517e+01 1.0109e+02 4.79362e+00 1.0000 2.4733e+02 9\n", - " 5 1.7606e+03 2.2513e+01 6.8541e+01 1.0527e+02 9.79988e+00 0.1250 6.0878e+02 20\n", - " 6 1.6727e+03 2.2565e+01 7.3551e+01 9.1464e+01 7.38768e+00 0.1250 6.2954e+02 22\n", - " 7 1.5839e+03 2.2525e+01 7.6635e+01 7.9505e+01 4.79947e+00 0.2500 6.3279e+02 24\n", - " 8 1.4600e+03 2.2194e+01 7.3363e+01 7.0413e+01 5.14068e+00 0.1250 5.8947e+02 8\n", - " 9 1.4135e+03 2.2088e+01 7.3532e+01 6.5605e+01 3.06975e+00 0.5000 5.7706e+02 9\n", - " 10 1.2568e+03 2.1082e+01 5.5174e+01 6.8394e+01 7.11659e+00 0.0312 3.8347e+02 16\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.2735e+03 3.1153e+01 2.0140e+02 1.2284e+02 1.19602e+01 0.2500 ---- 25\n", - " 2 2.9618e+03 2.9191e+01 1.9598e+02 9.7283e+01 9.81589e+00 0.2500 5.9609e+02 25\n", - " 3 2.8913e+03 2.7949e+01 1.9916e+02 8.7177e+01 5.37079e+00 1.0000 7.1593e+02 11\n", - " 4 1.3787e+03 2.1980e+01 5.5461e+01 8.0208e+01 8.74160e+00 0.1250 4.2598e+02 25\n", - " 5 1.3356e+03 2.2053e+01 5.9170e+01 7.2181e+01 6.20741e+00 0.1250 4.5210e+02 25\n", - " 6 1.2606e+03 2.2000e+01 5.7762e+01 6.6103e+01 3.75573e+00 0.5000 4.4436e+02 13\n", - " 7 1.1107e+03 2.1461e+01 3.0819e+01 7.8104e+01 6.53171e+00 0.0312 2.9767e+02 11\n", - " 8 1.0945e+03 2.1455e+01 3.1545e+01 7.5758e+01 4.25633e+00 0.1250 2.9948e+02 12\n", - " 9 1.0379e+03 2.1471e+01 3.4648e+01 6.6996e+01 2.73630e+00 0.5000 3.0589e+02 10\n", - " 10 7.0507e+02 2.1260e+01 2.7747e+01 4.0634e+01 5.62637e+00 0.0312 2.2187e+02 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.6049e+03 3.1596e+01 1.8318e+02 7.4155e+01 1.16775e+01 0.2500 ---- 25\n", - " 2 2.4429e+03 2.8846e+01 1.6903e+02 7.2375e+01 9.87254e+00 0.1250 3.7576e+02 25\n", - " 3 2.3620e+03 2.7765e+01 1.5944e+02 7.3991e+01 7.02396e+00 0.5000 3.8075e+02 13\n", - " 4 2.0662e+03 2.4836e+01 1.4652e+02 5.7618e+01 1.07421e+01 0.0312 4.3701e+02 25\n", - " 5 2.0412e+03 2.4783e+01 1.4640e+02 5.5239e+01 6.15813e+00 0.1250 4.4953e+02 25\n", - " 6 1.9462e+03 2.4449e+01 1.3710e+02 5.5074e+01 4.23321e+00 0.5000 4.4681e+02 11\n", - " 7 1.6756e+03 2.3235e+01 8.7738e+01 7.7495e+01 1.03575e+01 0.0312 3.8811e+02 25\n", - " 8 1.6726e+03 2.3252e+01 8.9696e+01 7.5240e+01 5.38402e+00 0.1250 4.0611e+02 20\n", - " 9 1.5781e+03 2.3148e+01 8.6743e+01 6.8754e+01 3.51630e+00 0.5000 4.0824e+02 17\n", - " 10 1.5497e+03 2.2704e+01 8.0361e+01 7.2335e+01 1.00647e+01 0.0156 3.7898e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.7502e+03 3.3236e+01 2.5455e+02 1.1714e+02 1.48122e+01 0.1250 ---- 25\n", - " 2 3.6961e+03 3.2385e+01 2.6650e+02 9.9873e+01 1.06777e+01 0.2500 5.7806e+02 25\n", - " 3 3.2133e+03 3.0001e+01 2.3545e+02 8.2885e+01 7.64543e+00 0.5000 6.5122e+02 18\n", - " 4 2.9094e+03 3.1516e+01 2.1641e+02 7.1379e+01 8.63706e+00 0.1250 1.1449e+03 25\n", - " 5 2.7438e+03 3.0492e+01 2.0521e+02 6.6129e+01 8.31255e+00 0.1250 1.0940e+03 14\n", - " 6 2.6760e+03 3.0159e+01 2.0224e+02 6.2351e+01 6.85326e+00 0.1250 1.0999e+03 12\n", - " 7 2.5395e+03 2.9781e+01 1.9532e+02 5.5644e+01 5.45137e+00 0.2500 1.0941e+03 11\n", - " 8 2.4932e+03 3.0218e+01 2.0058e+02 4.5718e+01 7.90209e+00 0.0625 1.1693e+03 12\n", - " 9 2.4354e+03 2.9753e+01 1.9584e+02 4.4721e+01 6.72854e+00 0.0625 1.1405e+03 11\n", - " 10 2.3664e+03 2.9299e+01 1.9011e+02 4.3610e+01 4.19113e+00 0.2500 1.1096e+03 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.5485e+03 3.8458e+01 3.5990e+02 9.1112e+01 2.77569e+01 0.0156 ---- 25\n", - " 2 4.5124e+03 3.8267e+01 3.5841e+02 8.9010e+01 1.68255e+01 0.0625 9.9858e+02 25\n", - " 3 4.3745e+03 3.7563e+01 3.5063e+02 8.3065e+01 1.09453e+01 0.2500 1.0275e+03 14\n", - " 4 3.8023e+03 3.3472e+01 2.8451e+02 9.2370e+01 1.90063e+01 0.0312 9.4232e+02 10\n", - " 5 3.7800e+03 3.3522e+01 2.8499e+02 8.9657e+01 6.94741e+00 1.0000 9.8171e+02 11\n", - " 6 3.0291e+03 2.2777e+01 1.6631e+02 1.3432e+02 3.54181e+01 0.0156 1.5402e+02 20\n", - " 7 2.9741e+03 2.2787e+01 1.6430e+02 1.3083e+02 1.59401e+01 0.0625 2.1759e+02 16\n", - " 8 2.9396e+03 2.3247e+01 1.6862e+02 1.2302e+02 9.09129e+00 0.2500 3.7712e+02 22\n", - " 9 2.4849e+03 2.4296e+01 1.4607e+02 9.9991e+01 1.98988e+01 0.0156 5.9490e+02 25\n", - " 10 2.4752e+03 2.4378e+01 1.4670e+02 9.8386e+01 7.23193e+00 0.1250 6.1431e+02 22\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0907e+03 3.5458e+01 3.5323e+02 1.5229e+02 1.24010e+01 0.2500 ---- 25\n", - " 2 4.7400e+03 3.4595e+01 3.4013e+02 1.3041e+02 3.00364e+01 0.0156 9.9748e+02 25\n", - " 3 4.7048e+03 3.4622e+01 3.3943e+02 1.2759e+02 7.37442e+00 1.0000 1.0219e+03 10\n", - " 4 3.4271e+03 3.5355e+01 1.9417e+02 1.4501e+02 1.13000e+01 0.5000 1.5500e+03 25\n", - " 5 3.1836e+03 3.1361e+01 1.9711e+02 1.1811e+02 6.94537e+00 0.5000 9.3050e+02 15\n", - " 6 2.3613e+03 2.5806e+01 1.1382e+02 1.1973e+02 5.63073e+00 0.5000 6.0147e+02 14\n", - " 7 1.5146e+03 2.3515e+01 4.5999e+01 1.0311e+02 3.66443e+00 0.5000 3.2777e+02 11\n", - " 8 1.1671e+03 2.3061e+01 1.7167e+01 9.7236e+01 6.15737e+00 0.1250 1.4639e+02 8\n", - " 9 1.1293e+03 2.3022e+01 2.2565e+01 8.8058e+01 3.42796e+00 0.2500 1.2839e+02 10\n", - " 10 1.0438e+03 2.3042e+01 2.5497e+01 7.6581e+01 6.91866e+00 0.0312 1.2715e+02 13\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.1170e+03 3.3855e+01 1.9439e+02 1.1393e+02 1.08754e+01 0.5000 ---- 25\n", - " 2 2.3667e+03 2.7590e+01 1.0739e+02 1.2652e+02 1.13993e+01 0.1250 2.6486e+02 25\n", - " 3 2.2955e+03 2.7210e+01 1.1574e+02 1.1109e+02 1.14805e+01 0.0625 3.7295e+02 25\n", - " 4 2.2763e+03 2.7155e+01 1.2059e+02 1.0432e+02 5.63126e+00 0.5000 4.3535e+02 25\n", - " 5 1.5979e+03 2.4935e+01 6.5847e+01 9.1447e+01 3.23696e+01 0.0039 2.9501e+02 25\n", - " 6 1.5936e+03 2.4914e+01 6.6042e+01 9.0825e+01 2.21613e+01 0.0078 2.9825e+02 10\n", - " 7 1.5896e+03 2.4903e+01 6.6451e+01 9.0014e+01 8.55536e+00 0.0625 3.0452e+02 11\n", - " 8 1.5738e+03 2.4978e+01 6.9823e+01 8.5060e+01 1.19981e+01 0.0156 3.5171e+02 8\n", - " 9 1.5642e+03 2.4955e+01 7.0154e+01 8.3773e+01 1.01777e+01 0.0312 3.5667e+02 7\n", - " 10 1.5561e+03 2.4962e+01 7.1821e+01 8.1288e+01 5.07393e+00 0.1250 3.7378e+02 8\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.1198e+03 3.5741e+01 2.1074e+02 9.7668e+01 1.85773e+01 0.0312 ---- 25\n", - " 2 3.0729e+03 3.5267e+01 2.1058e+02 9.3185e+01 1.41838e+01 0.0625 4.2396e+02 25\n", - " 3 3.0347e+03 3.4411e+01 2.0982e+02 9.0203e+01 2.43202e+01 0.0625 4.5786e+02 25\n", - " 4 2.9976e+03 3.4655e+01 2.1233e+02 8.3962e+01 1.99830e+01 0.0312 6.4770e+02 10\n", - " 5 2.9690e+03 3.4290e+01 2.1169e+02 8.1787e+01 2.82259e+01 0.0078 6.7516e+02 9\n", - " 6 2.9659e+03 3.4185e+01 2.1167e+02 8.1510e+01 2.94402e+01 0.0078 6.8063e+02 9\n", - " 7 2.9573e+03 3.4094e+01 2.1166e+02 8.0660e+01 2.18853e+01 0.0156 6.8596e+02 8\n", - " 8 2.9352e+03 3.3939e+01 2.1069e+02 7.9436e+01 1.62721e+01 0.1250 6.9157e+02 9\n", - " 9 2.8984e+03 3.4646e+01 2.1177e+02 7.4606e+01 3.52227e+01 0.0312 8.9862e+02 8\n", - " 10 1.9700e+03 3.0991e+01 1.1957e+02 7.4332e+01 1.44648e+01 0.0156 4.6758e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.2322e+03 4.1463e+01 2.2304e+02 9.6036e+01 2.21605e+01 0.0156 ---- 25\n", - " 2 3.2113e+03 4.1021e+01 2.2146e+02 9.5569e+01 2.14805e+01 0.0312 4.6886e+02 25\n", - " 3 3.1979e+03 4.0270e+01 2.2203e+02 9.3732e+01 1.55491e+01 0.1250 4.9197e+02 25\n", - " 4 3.1269e+03 3.7138e+01 2.0521e+02 1.0376e+02 2.95299e+01 0.0312 4.7426e+02 25\n", - " 5 3.1082e+03 3.6878e+01 2.0673e+02 1.0040e+02 3.10376e+01 0.0078 5.3797e+02 25\n", - " 6 3.1070e+03 3.6726e+01 2.0732e+02 9.9704e+01 3.34828e+01 0.0039 5.4656e+02 25\n", - " 7 3.1003e+03 3.6640e+01 2.0714e+02 9.9231e+01 3.06901e+01 0.0078 5.4804e+02 25\n", - " 8 3.0937e+03 3.6510e+01 2.0730e+02 9.8420e+01 1.56101e+01 0.0625 5.5395e+02 22\n", - " 9 3.0283e+03 3.5562e+01 2.0446e+02 9.4822e+01 4.64775e+01 0.0625 5.7426e+02 25\n", - " 10 2.7838e+03 3.8868e+01 1.8758e+02 8.6909e+01 3.07298e+01 0.0625 8.0782e+02 17\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.9242e+03 4.3402e+01 1.8453e+02 1.0354e+02 3.45871e+01 0.0312 ---- 25\n", - " 2 2.9024e+03 4.2431e+01 1.8442e+02 1.0158e+02 3.73805e+01 0.0078 5.3809e+02 25\n", - " 3 2.8997e+03 4.2220e+01 1.8506e+02 1.0069e+02 2.18347e+01 0.0312 5.4680e+02 25\n", - " 4 2.8681e+03 4.1359e+01 1.8434e+02 9.8334e+01 3.68886e+01 0.1250 5.5280e+02 25\n", - " 5 2.5986e+03 4.6221e+01 1.5454e+02 1.0070e+02 2.99292e+01 0.0625 8.3959e+02 24\n", - " 6 2.2926e+03 4.1070e+01 1.3213e+02 9.3020e+01 3.36268e+01 0.0312 8.4688e+02 25\n", - " 7 2.2431e+03 3.8465e+01 1.3097e+02 8.9501e+01 3.79231e+01 0.0039 8.8111e+02 25\n", - " 8 2.2381e+03 3.8244e+01 1.3089e+02 8.9094e+01 3.24222e+01 0.0078 8.9111e+02 25\n", - " 9 2.2311e+03 3.7869e+01 1.3102e+02 8.8299e+01 2.26930e+01 0.0312 8.9938e+02 25\n", - " 10 2.2149e+03 3.6784e+01 1.3199e+02 8.5828e+01 1.91936e+01 0.0625 8.8162e+02 16\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.5942e+03 4.3972e+01 1.5297e+02 1.0206e+02 3.81834e+01 0.0078 ---- 25\n", - " 2 2.5765e+03 4.3733e+01 1.5213e+02 1.0115e+02 3.40952e+01 0.0078 8.4496e+02 25\n", - " 3 2.5658e+03 4.3499e+01 1.5180e+02 1.0043e+02 1.94710e+01 0.1250 8.4411e+02 25\n", - " 4 2.5296e+03 3.9032e+01 1.4072e+02 1.0833e+02 4.89333e+01 0.0156 7.1365e+02 25\n", - " 5 2.4813e+03 3.8863e+01 1.3693e+02 1.0731e+02 4.01829e+01 0.0078 7.4361e+02 25\n", - " 6 2.4726e+03 3.8568e+01 1.3728e+02 1.0613e+02 1.71393e+01 0.1250 7.7991e+02 25\n", - " 7 2.3829e+03 3.5316e+01 1.3639e+02 9.8364e+01 3.27801e+01 0.0078 6.8167e+02 25\n", - " 8 2.3801e+03 3.5029e+01 1.3688e+02 9.7632e+01 3.82333e+01 0.0039 6.7927e+02 25\n", - " 9 2.3797e+03 3.4892e+01 1.3725e+02 9.7236e+01 3.25819e+01 0.0039 6.8518e+02 17\n", - " 10 2.3761e+03 3.4781e+01 1.3734e+02 9.6788e+01 1.28135e+01 0.1250 6.9281e+02 12\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.0648e+03 4.2528e+01 2.0006e+02 1.0217e+02 4.17978e+01 0.0156 ---- 25\n", - " 2 3.0346e+03 4.1524e+01 1.9903e+02 1.0027e+02 4.70611e+01 0.0078 7.0091e+02 25\n", - " 3 3.0215e+03 4.1075e+01 1.9874e+02 9.9306e+01 5.03471e+01 0.0039 7.1469e+02 25\n", - " 4 3.0154e+03 4.0881e+01 1.9861e+02 9.8848e+01 4.75747e+01 0.0039 7.2737e+02 25\n", - " 5 3.0107e+03 4.0723e+01 1.9859e+02 9.8408e+01 3.52816e+01 0.0078 7.4017e+02 25\n", - " 6 3.0041e+03 4.0479e+01 1.9882e+02 9.7544e+01 1.93195e+01 0.1250 7.4363e+02 25\n", - " 7 2.8022e+03 3.7297e+01 1.7511e+02 1.0138e+02 4.50724e+01 0.0078 6.4168e+02 21\n", - " 8 2.7854e+03 3.6927e+01 1.7567e+02 9.9175e+01 4.04239e+01 0.0078 6.5753e+02 17\n", - " 9 2.7813e+03 3.6658e+01 1.7703e+02 9.7440e+01 1.72358e+01 0.0312 6.7808e+02 25\n", - " 10 2.7688e+03 3.5990e+01 1.7912e+02 9.4160e+01 1.13106e+01 0.2500 6.6801e+02 8\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0143e+03 4.1515e+01 2.8621e+02 1.1107e+02 5.38530e+01 0.0156 ---- 25\n", - " 2 4.0005e+03 4.0819e+01 2.8695e+02 1.0902e+02 5.51150e+01 0.0078 6.5008e+02 25\n", - " 3 3.9995e+03 4.0551e+01 2.8815e+02 1.0774e+02 4.38330e+01 0.0078 6.4574e+02 25\n", - " 4 3.9942e+03 4.0336e+01 2.8871e+02 1.0668e+02 2.87134e+01 0.0312 6.4285e+02 25\n", - " 5 3.9794e+03 3.9679e+01 2.9176e+02 1.0222e+02 2.53904e+01 0.0625 6.3277e+02 25\n", - " 6 3.8581e+03 3.8350e+01 2.8567e+02 9.6306e+01 3.58534e+01 0.0078 6.1536e+02 18\n", - " 7 3.8440e+03 3.8176e+01 2.8541e+02 9.5171e+01 2.32629e+01 0.0312 6.2335e+02 17\n", - " 8 3.8047e+03 3.7560e+01 2.8450e+02 9.2212e+01 2.05386e+01 0.1250 6.4479e+02 11\n", - " 9 3.5562e+03 3.5337e+01 2.5801e+02 9.4083e+01 4.46156e+01 0.0039 6.9343e+02 14\n", - " 10 3.5483e+03 3.5245e+01 2.5798e+02 9.3324e+01 3.56145e+01 0.0078 6.9735e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9193e+03 4.4334e+01 3.7015e+02 1.1734e+02 3.09821e+01 0.0625 ---- 25\n", - " 2 4.9074e+03 4.3193e+01 3.7609e+02 1.1033e+02 2.55833e+01 0.0625 8.5296e+02 25\n", - " 3 4.8824e+03 4.1524e+01 3.7349e+02 1.1060e+02 2.08890e+01 0.2500 8.8750e+02 25\n", - " 4 4.8622e+03 3.5666e+01 3.3638e+02 1.4627e+02 1.74734e+01 0.1250 9.3311e+02 18\n", - " 5 4.5888e+03 3.4001e+01 3.1740e+02 1.3808e+02 1.38224e+01 0.2500 9.6359e+02 25\n", - " 6 4.3768e+03 3.1582e+01 3.1554e+02 1.1899e+02 1.32660e+01 0.2500 1.0065e+03 25\n", - " 7 4.0683e+03 3.1543e+01 2.9279e+02 1.1089e+02 1.69464e+01 0.0312 1.1640e+03 23\n", - " 8 4.0080e+03 3.1370e+01 2.9017e+02 1.0749e+02 9.75102e+00 0.5000 1.1642e+03 25\n", - " 9 3.5963e+03 2.6029e+01 2.4067e+02 1.1635e+02 1.01428e+01 0.5000 7.9101e+02 18\n", - " 10 3.4202e+03 3.0532e+01 2.0384e+02 1.3513e+02 2.91758e+01 0.0078 1.2841e+03 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.3922e+03 3.9748e+01 4.3679e+02 1.9845e+02 2.62942e+01 0.0312 ---- 25\n", - " 2 6.2810e+03 3.9710e+01 4.3512e+02 1.8901e+02 1.25490e+01 0.5000 1.3370e+03 25\n", - " 3 5.7492e+03 3.4599e+01 4.1020e+02 1.6125e+02 1.26712e+01 0.2500 1.4135e+03 10\n", - " 4 4.9125e+03 3.4349e+01 3.4801e+02 1.3980e+02 6.15810e+00 1.0000 1.4713e+03 19\n", - " 5 2.3001e+03 2.2493e+01 1.2398e+02 1.0378e+02 3.74904e+01 0.0078 4.1817e+02 25\n", - " 6 2.2879e+03 2.2440e+01 1.2415e+02 1.0239e+02 3.38150e+01 0.0078 4.3987e+02 25\n", - " 7 2.2785e+03 2.2419e+01 1.2441e+02 1.0120e+02 2.81651e+01 0.0078 4.5759e+02 25\n", - " 8 2.2729e+03 2.2407e+01 1.2483e+02 1.0022e+02 2.24873e+01 0.0078 4.6859e+02 25\n", - " 9 2.2662e+03 2.2393e+01 1.2502e+02 9.9363e+01 1.72404e+01 0.0156 4.7389e+02 13\n", - " 10 2.2598e+03 2.2418e+01 1.2597e+02 9.7765e+01 1.15424e+01 0.0312 4.8801e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1039e+03 3.1121e+01 3.3626e+02 1.7101e+02 1.49294e+01 0.2500 ---- 25\n", - " 2 4.4078e+03 2.8839e+01 3.1613e+02 1.2176e+02 1.05175e+01 0.2500 6.7117e+02 25\n", - " 3 3.8123e+03 2.7319e+01 2.7304e+02 1.0546e+02 7.33652e+00 0.5000 7.4372e+02 13\n", - " 4 3.0865e+03 2.5775e+01 2.2245e+02 8.3617e+01 7.98852e+00 0.2500 8.5695e+02 14\n", - " 5 3.0499e+03 2.6677e+01 2.2254e+02 7.9790e+01 3.90823e+00 1.0000 1.0049e+03 10\n", - " 6 1.4180e+03 2.0231e+01 2.8155e+01 1.1162e+02 5.93514e+00 0.2500 1.1162e+02 25\n", - " 7 1.1601e+03 2.0188e+01 2.7078e+01 8.6917e+01 4.60347e+00 0.2500 8.6917e+01 23\n", - " 8 1.0459e+03 2.0200e+01 2.6362e+01 7.6205e+01 3.12885e+00 0.2500 7.6744e+01 11\n", - " 9 1.0171e+03 2.0210e+01 2.6390e+01 7.3299e+01 3.05225e+00 0.2500 8.8822e+01 10\n", - " 10 9.0678e+02 2.0217e+01 2.5468e+01 6.3188e+01 2.58204e+00 0.2500 9.6512e+01 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.7974e+03 2.8699e+01 1.8614e+02 9.0731e+01 9.60781e+00 0.5000 ---- 25\n", - " 2 2.6100e+03 2.3000e+01 1.4078e+02 1.1792e+02 9.54060e+00 0.1250 1.3592e+02 25\n", - " 3 2.4535e+03 2.2545e+01 1.3976e+02 1.0333e+02 5.60649e+00 1.0000 2.0452e+02 25\n", - " 4 2.1381e+03 1.9824e+01 7.6759e+01 1.3507e+02 1.31744e+01 0.1250 2.7420e+02 18\n", - " 5 2.1071e+03 2.3116e+01 8.7855e+01 1.2054e+02 7.64661e+00 0.1250 8.2474e+02 25\n", - " 6 1.9644e+03 2.2801e+01 8.6539e+01 1.0762e+02 4.79910e+00 0.5000 7.9312e+02 25\n", - " 7 1.8463e+03 2.1678e+01 9.4514e+01 8.7948e+01 9.65792e+00 0.0312 6.4549e+02 9\n", - " 8 1.8378e+03 2.1711e+01 9.6353e+01 8.5251e+01 5.65975e+00 0.1250 6.5580e+02 6\n", - " 9 1.8020e+03 2.1805e+01 1.0255e+02 7.5462e+01 2.98968e+00 1.0000 6.7275e+02 7\n", - " 10 1.2624e+03 2.1033e+01 4.3355e+01 8.0779e+01 1.97186e+01 0.0156 5.3277e+02 15\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.5088e+03 2.9148e+01 1.9562e+02 1.5234e+02 2.10543e+01 0.0625 ---- 25\n", - " 2 3.4781e+03 2.9097e+01 2.0717e+02 1.3774e+02 1.12897e+01 0.5000 6.9367e+02 25\n", - " 3 2.3407e+03 2.2349e+01 1.3543e+02 9.6403e+01 6.44972e+00 0.5000 4.1166e+02 13\n", - " 4 1.9125e+03 2.0385e+01 7.5780e+01 1.1343e+02 7.77618e+00 0.1250 3.5360e+02 12\n", - " 5 1.8544e+03 2.0512e+01 8.1138e+01 1.0225e+02 4.28021e+00 0.5000 4.3488e+02 11\n", - " 6 1.5786e+03 1.9529e+01 6.3173e+01 9.2733e+01 6.74900e+00 0.1250 3.3597e+02 14\n", - " 7 1.5713e+03 1.9771e+01 7.2466e+01 8.2688e+01 3.07143e+00 0.5000 4.1823e+02 13\n", - " 8 1.1381e+03 1.9199e+01 5.3700e+01 5.8195e+01 6.05371e+00 0.0625 3.2804e+02 25\n", - " 9 1.1180e+03 1.9204e+01 5.4639e+01 5.5239e+01 3.02973e+00 0.2500 3.3900e+02 11\n", - " 10 1.0043e+03 1.8987e+01 4.5621e+01 5.2912e+01 2.89478e+00 0.2500 2.9214e+02 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.5347e+03 2.6346e+01 1.6361e+02 8.7231e+01 9.86099e+00 0.5000 ---- 25\n", - " 2 2.1581e+03 2.0894e+01 9.4569e+01 1.1915e+02 8.61179e+00 0.2500 2.1702e+02 25\n", - " 3 1.8449e+03 2.0000e+01 8.3377e+01 9.9109e+01 5.27239e+00 0.5000 2.5761e+02 12\n", - " 4 1.6045e+03 1.8955e+01 7.7932e+01 8.0627e+01 6.36556e+00 0.1250 3.1748e+02 9\n", - " 5 1.5251e+03 1.8843e+01 7.5971e+01 7.4656e+01 3.63020e+00 0.5000 3.3045e+02 9\n", - " 6 1.1519e+03 1.8342e+01 5.9959e+01 5.3400e+01 6.36716e+00 0.0625 3.0111e+02 14\n", - " 7 1.1321e+03 1.8332e+01 6.0550e+01 5.0827e+01 3.53973e+00 0.2500 3.1192e+02 8\n", - " 8 1.0824e+03 1.8122e+01 5.0203e+01 5.6220e+01 2.86439e+00 0.2500 2.7589e+02 10\n", - " 9 9.5507e+02 1.7953e+01 4.2028e+01 5.1684e+01 2.83640e+00 0.2500 2.3886e+02 9\n", - " 10 8.9083e+02 1.7832e+01 3.6787e+01 5.0512e+01 2.64737e+00 0.2500 2.1013e+02 9\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.2029e+03 2.4786e+01 1.4564e+02 7.2163e+01 9.18910e+00 0.5000 ---- 25\n", - " 2 1.9106e+03 1.9607e+01 8.9276e+01 9.9827e+01 7.33814e+00 0.2500 1.5588e+02 25\n", - " 3 1.7198e+03 1.8706e+01 7.9006e+01 9.1104e+01 5.24368e+00 0.5000 1.8354e+02 13\n", - " 4 1.4029e+03 1.7660e+01 5.6778e+01 8.1746e+01 6.00018e+00 0.2500 2.4393e+02 24\n", - " 5 1.3772e+03 1.7803e+01 6.4197e+01 7.1742e+01 4.05053e+00 0.5000 3.7190e+02 17\n", - " 6 1.3350e+03 1.7952e+01 7.5305e+01 5.6397e+01 6.33275e+00 0.1250 4.7180e+02 25\n", - " 7 1.3237e+03 1.7959e+01 7.7389e+01 5.3187e+01 3.44007e+00 0.2500 4.8786e+02 12\n", - " 8 1.2197e+03 1.7597e+01 6.7305e+01 5.2909e+01 3.36598e+00 0.2500 4.2711e+02 11\n", - " 9 1.1040e+03 1.7336e+01 5.7814e+01 5.0857e+01 2.88641e+00 0.2500 3.8042e+02 12\n", - " 10 9.8051e+02 1.7113e+01 4.8329e+01 4.8011e+01 3.00307e+00 0.2500 3.3110e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.4846e+03 2.3452e+01 1.5847e+02 8.7650e+01 9.13231e+00 0.2500 ---- 25\n", - " 2 2.1952e+03 2.0739e+01 1.3232e+02 8.5130e+01 7.01374e+00 1.0000 2.5995e+02 25\n", - " 3 2.0199e+03 1.7097e+01 9.4228e+01 1.0605e+02 1.10761e+01 0.1250 5.7529e+02 25\n", - " 4 1.8447e+03 1.7309e+01 9.1396e+01 9.1347e+01 7.25824e+00 0.2500 6.2006e+02 21\n", - " 5 1.7384e+03 1.7748e+01 9.2633e+01 7.9429e+01 4.81816e+00 0.5000 6.8209e+02 10\n", - " 6 1.6846e+03 1.7785e+01 8.9068e+01 7.7609e+01 6.68734e+00 0.1250 6.7834e+02 8\n", - " 7 1.5920e+03 1.7753e+01 8.7028e+01 7.0401e+01 3.66750e+00 0.5000 6.7771e+02 7\n", - " 8 1.1923e+03 1.7411e+01 7.1210e+01 4.6281e+01 8.10341e+00 0.0312 6.1399e+02 7\n", - " 9 1.1833e+03 1.7377e+01 7.1372e+01 4.5223e+01 5.52044e+00 0.0625 6.1274e+02 8\n", - " 10 1.1551e+03 1.7269e+01 7.0474e+01 4.3313e+01 2.87460e+00 0.2500 5.9876e+02 7\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.5177e+03 2.2564e+01 1.7043e+02 7.9091e+01 8.59087e+00 0.5000 ---- 25\n", - " 2 2.3544e+03 1.7721e+01 1.3728e+02 9.6390e+01 9.26286e+00 0.1250 3.8493e+02 25\n", - " 3 2.2570e+03 1.7647e+01 1.3802e+02 8.5916e+01 4.73376e+00 1.0000 4.6785e+02 11\n", - " 4 1.2808e+03 1.4698e+01 4.0451e+01 8.6161e+01 1.18090e+01 0.0312 2.6370e+02 25\n", - " 5 1.2559e+03 1.4720e+01 4.1402e+01 8.2713e+01 8.57661e+00 0.0625 2.8445e+02 25\n", - " 6 1.2137e+03 1.4761e+01 4.3180e+01 7.6710e+01 5.31392e+00 0.2500 3.0505e+02 25\n", - " 7 1.0679e+03 1.4695e+01 3.7149e+01 6.8173e+01 3.59761e+00 0.2500 2.9023e+02 16\n", - " 8 9.7124e+02 1.4618e+01 3.5654e+01 6.0008e+01 2.72970e+00 0.5000 2.6767e+02 15\n", - " 9 8.8459e+02 1.4794e+01 4.2743e+01 4.4237e+01 5.10862e+00 0.0625 3.1766e+02 20\n", - " 10 8.6058e+02 1.4759e+01 4.1980e+01 4.2602e+01 3.67373e+00 0.1250 3.1248e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.0024e+03 2.0118e+01 1.3343e+02 6.4800e+01 7.72547e+00 0.5000 ---- 25\n", - " 2 1.6973e+03 1.5722e+01 9.1438e+01 7.6717e+01 7.44213e+00 0.2500 1.7998e+02 25\n", - " 3 1.4858e+03 1.5094e+01 8.4025e+01 6.3048e+01 5.25882e+00 0.2500 2.4247e+02 16\n", - " 4 1.3274e+03 1.4665e+01 7.4814e+01 5.6455e+01 3.97607e+00 0.5000 2.7011e+02 10\n", - " 5 1.1790e+03 1.4464e+01 7.2659e+01 4.3791e+01 6.44102e+00 0.1250 3.9016e+02 18\n", - " 6 1.1790e+03 1.4485e+01 7.3613e+01 4.2834e+01 3.01504e+00 0.5000 4.2004e+02 17\n", - " 7 1.1296e+03 1.4063e+01 6.0049e+01 5.1505e+01 6.14565e+00 0.0625 3.6861e+02 14\n", - " 8 1.1118e+03 1.4065e+01 6.0574e+01 4.9195e+01 3.20066e+00 0.2500 3.7837e+02 13\n", - " 9 9.8835e+02 1.3870e+01 5.3139e+01 4.4310e+01 2.74030e+00 0.5000 3.4434e+02 10\n", - " 10 9.3920e+02 1.3911e+01 4.6268e+01 4.6261e+01 6.23965e+00 0.0625 3.6766e+02 14\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.0949e+03 1.8847e+01 1.3270e+02 7.4909e+01 9.05071e+00 0.5000 ---- 25\n", - " 2 1.7390e+03 1.4905e+01 8.3273e+01 8.9134e+01 8.18238e+00 0.2500 3.6893e+02 25\n", - " 3 1.6271e+03 1.4668e+01 8.1601e+01 7.9645e+01 5.12557e+00 0.5000 4.7512e+02 9\n", - " 4 1.4485e+03 1.4711e+01 8.3227e+01 6.0154e+01 7.40933e+00 0.1250 6.2474e+02 13\n", - " 5 1.4067e+03 1.4759e+01 8.4179e+01 5.5010e+01 3.91792e+00 0.5000 6.5236e+02 13\n", - " 6 1.3372e+03 1.4404e+01 7.3669e+01 5.8612e+01 8.17221e+00 0.0625 6.3102e+02 14\n", - " 7 1.3290e+03 1.4531e+01 7.5843e+01 5.5607e+01 3.99537e+00 0.2500 6.5832e+02 13\n", - " 8 1.1922e+03 1.3948e+01 6.5347e+01 5.2479e+01 3.28480e+00 0.5000 5.8505e+02 11\n", - " 9 1.1691e+03 1.3843e+01 7.5179e+01 4.0343e+01 7.38417e+00 0.0312 5.7266e+02 10\n", - " 10 1.1536e+03 1.3800e+01 7.4745e+01 3.9237e+01 5.27401e+00 0.0625 5.6996e+02 13\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 2.2005e+03 1.8058e+01 1.5773e+02 6.0513e+01 7.99169e+00 0.5000 ---- 25\n", - " 2 1.8174e+03 1.3686e+01 9.9840e+01 8.0526e+01 7.35367e+00 0.2500 4.0663e+02 25\n", - " 3 1.7456e+03 1.3203e+01 1.0002e+02 7.3216e+01 5.04066e+00 0.5000 4.4021e+02 12\n", - " 4 1.3293e+03 1.3036e+01 7.4886e+01 5.6738e+01 6.60832e+00 0.1250 5.5439e+02 15\n", - " 5 1.2713e+03 1.3078e+01 7.4566e+01 5.1256e+01 3.34636e+00 0.5000 5.8203e+02 15\n", - " 6 9.7838e+02 1.2443e+01 5.2427e+01 4.4166e+01 6.77124e+00 0.0625 5.0696e+02 17\n", - " 7 9.6774e+02 1.2462e+01 5.3426e+01 4.2102e+01 3.45431e+00 0.2500 5.1872e+02 16\n", - " 8 8.9035e+02 1.2136e+01 4.7718e+01 4.0103e+01 2.78858e+00 0.5000 4.7181e+02 13\n", - " 9 8.3306e+02 1.2221e+01 5.0358e+01 3.1726e+01 6.89262e+00 0.0312 4.9567e+02 12\n", - " 10 8.2474e+02 1.2184e+01 5.0170e+01 3.1086e+01 4.86030e+00 0.1250 4.9297e+02 11\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.8795e+03 1.6099e+01 1.3375e+02 5.2583e+01 7.22931e+00 0.5000 ---- 25\n", - " 2 1.5510e+03 1.2017e+01 8.3264e+01 7.0636e+01 7.11041e+00 0.2500 3.0386e+02 25\n", - " 3 1.4719e+03 1.1752e+01 8.2502e+01 6.3508e+01 5.06691e+00 0.2500 3.9252e+02 15\n", - " 4 1.2910e+03 1.1504e+01 7.6314e+01 5.1632e+01 3.86416e+00 0.5000 4.2394e+02 13\n", - " 5 1.0671e+03 1.1758e+01 6.8478e+01 3.7061e+01 6.20038e+00 0.0625 5.6112e+02 19\n", - " 6 1.0341e+03 1.1643e+01 6.6836e+01 3.5405e+01 4.51216e+00 0.1250 5.5143e+02 19\n", - " 7 9.8245e+02 1.1481e+01 6.3951e+01 3.3146e+01 2.05147e+00 1.0000 5.3510e+02 18\n", - " 8 6.2037e+02 9.8586e+00 2.4737e+01 3.6314e+01 7.73170e+00 0.0625 1.7488e+02 25\n", - " 9 6.0801e+02 9.9283e+00 2.5615e+01 3.4193e+01 3.69043e+00 0.1250 2.2283e+02 25\n", - " 10 5.6762e+02 9.9172e+00 2.4894e+01 3.0876e+01 1.51618e+00 0.5000 2.2364e+02 16\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.8773e+03 1.3012e+01 1.1376e+02 7.2677e+01 6.98120e+00 0.5000 ---- 25\n", - " 2 1.2844e+03 1.0159e+01 6.5145e+01 6.2282e+01 5.10190e+00 0.5000 9.8511e+01 25\n", - " 3 1.1304e+03 9.1765e+00 3.4016e+01 7.8106e+01 3.07262e+00 1.0000 7.8106e+01 14\n", - " 4 9.8726e+02 8.5390e+00 2.4096e+01 7.3776e+01 6.22504e+00 0.1250 8.5761e+01 25\n", - " 5 9.2715e+02 8.5572e+00 2.6589e+01 6.5270e+01 3.45581e+00 0.2500 1.1855e+02 25\n", - " 6 8.2334e+02 8.5325e+00 2.1678e+01 5.9802e+01 2.15508e+00 0.5000 9.6718e+01 18\n", - " 7 6.7767e+02 8.5178e+00 1.2434e+01 5.4481e+01 2.94953e+00 0.2500 7.5555e+01 20\n", - " 8 6.2470e+02 8.5407e+00 1.3597e+01 4.8019e+01 2.29043e+00 0.5000 1.0180e+02 23\n", - " 9 6.0054e+02 8.6775e+00 2.2758e+01 3.6428e+01 4.61182e+00 0.0625 1.7943e+02 22\n", - " 10 5.8298e+02 8.6669e+00 2.2590e+01 3.4841e+01 3.18882e+00 0.1250 1.8031e+02 14\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.6321e+03 1.1477e+01 1.1302e+02 4.9040e+01 6.20154e+00 0.5000 ---- 25\n", - " 2 1.1841e+03 8.9401e+00 5.8789e+01 5.8724e+01 6.65545e+00 0.2500 1.2371e+02 25\n", - " 3 1.0186e+03 8.5582e+00 4.6262e+01 5.4742e+01 4.06949e+00 0.2500 1.7472e+02 17\n", - " 4 8.9938e+02 8.2862e+00 4.0301e+01 4.8809e+01 3.04069e+00 0.5000 1.8872e+02 16\n", - " 5 6.8467e+02 8.0394e+00 3.5013e+01 3.2650e+01 4.60267e+00 0.1250 2.4412e+02 21\n", - " 6 6.7640e+02 8.0339e+00 3.5514e+01 3.1323e+01 1.93542e+00 1.0000 2.6467e+02 21\n", - " 7 6.5348e+02 7.6419e+00 2.0367e+01 4.4217e+01 7.18582e+00 0.0625 1.8972e+02 25\n", - " 8 6.4856e+02 7.6853e+00 2.2834e+01 4.1253e+01 3.64761e+00 0.1250 2.2241e+02 25\n", - " 9 5.9877e+02 7.6811e+00 2.2646e+01 3.6463e+01 1.32990e+00 0.5000 2.2475e+02 22\n", - " 10 5.0594e+02 7.4678e+00 1.1447e+01 3.8400e+01 1.83040e+00 0.2500 1.1217e+02 18\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.6314e+03 9.8106e+00 9.8688e+01 6.3468e+01 6.58074e+00 0.5000 ---- 25\n", - " 2 1.0376e+03 7.6444e+00 5.2861e+01 5.0137e+01 5.71385e+00 0.2500 1.0538e+02 25\n", - " 3 9.0743e+02 7.2744e+00 4.2285e+01 4.7730e+01 3.67231e+00 0.5000 1.0529e+02 16\n", - " 4 7.9847e+02 6.9309e+00 3.4848e+01 4.4306e+01 4.98965e+00 0.1250 1.8917e+02 14\n", - " 5 7.4981e+02 6.9582e+00 3.3960e+01 4.0326e+01 1.73983e+00 1.0000 2.3248e+02 14\n", - " 6 3.6401e+02 6.3542e+00 2.7450e+00 3.3021e+01 2.86011e+00 0.1250 3.3021e+01 25\n", - " 7 3.4136e+02 6.3533e+00 2.5795e+00 3.0921e+01 1.82570e+00 0.2500 3.0921e+01 12\n", - " 8 3.2604e+02 6.3529e+00 1.9703e+00 2.9998e+01 1.50725e+00 0.2500 2.9998e+01 16\n", - " 9 2.9029e+02 6.3528e+00 1.4321e+00 2.6962e+01 1.28875e+00 0.2500 2.6962e+01 9\n", - " 10 2.6289e+02 6.3529e+00 1.0954e+00 2.4558e+01 1.06409e+00 0.2500 2.4558e+01 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.2868e+03 8.2976e+00 9.5838e+01 3.2011e+01 5.47449e+00 0.5000 ---- 25\n", - " 2 1.0681e+03 6.4476e+00 5.8238e+01 4.7924e+01 5.34390e+00 0.2500 1.0681e+02 25\n", - " 3 9.1956e+02 6.1147e+00 4.5481e+01 4.5864e+01 3.09466e+00 0.5000 8.2231e+01 20\n", - " 4 6.6245e+02 5.7498e+00 2.6145e+01 3.9525e+01 3.91458e+00 0.2500 1.0403e+02 20\n", - " 5 6.0417e+02 5.8320e+00 2.6647e+01 3.3187e+01 3.07717e+00 0.2500 2.0716e+02 20\n", - " 6 5.5258e+02 5.8274e+00 2.6879e+01 2.7797e+01 2.31844e+00 0.5000 2.3279e+02 12\n", - " 7 5.2402e+02 5.8296e+00 2.5197e+01 2.6623e+01 4.23116e+00 0.1250 2.6238e+02 17\n", - " 8 5.2289e+02 5.8361e+00 2.6006e+01 2.5699e+01 1.65203e+00 0.5000 2.7373e+02 12\n", - " 9 4.2295e+02 5.5940e+00 1.5319e+01 2.6416e+01 3.02279e+00 0.1250 1.8390e+02 14\n", - " 10 4.1191e+02 5.5826e+00 1.5228e+01 2.5405e+01 9.51280e-01 0.5000 1.8368e+02 10\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.3867e+03 6.9870e+00 9.6158e+01 4.1809e+01 5.81740e+00 0.5000 ---- 25\n", - " 2 1.0658e+03 5.4202e+00 5.4594e+01 5.1443e+01 5.17510e+00 0.5000 1.1387e+02 25\n", - " 3 1.0347e+03 5.7681e+00 4.6234e+01 5.6660e+01 5.94428e+00 0.1250 4.0910e+02 25\n", - " 4 9.7422e+02 5.8509e+00 4.6314e+01 5.0523e+01 3.02383e+00 0.5000 4.4804e+02 25\n", - " 5 7.4424e+02 5.6111e+00 3.7744e+01 3.6119e+01 4.90450e+00 0.1250 4.2732e+02 25\n", - " 6 7.3051e+02 5.7097e+00 3.9273e+01 3.3208e+01 1.59493e+00 1.0000 4.5776e+02 17\n", - " 7 3.4184e+02 4.4572e+00 4.6049e+00 2.9133e+01 3.48016e+00 0.2500 3.3032e+01 25\n", - " 8 3.4032e+02 4.4610e+00 5.3708e+00 2.8215e+01 1.84086e+00 0.2500 4.9774e+01 11\n", - " 9 3.2717e+02 4.4595e+00 4.1070e+00 2.8164e+01 1.26707e+00 0.5000 4.7739e+01 13\n", - " 10 2.6396e+02 4.4598e+00 3.7322e+00 2.2218e+01 2.32434e+00 0.1250 4.3033e+01 17\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.2175e+03 5.6624e+00 8.9123e+01 3.2061e+01 5.08294e+00 0.5000 ---- 25\n", - " 2 9.0972e+02 4.3558e+00 5.0803e+01 3.9733e+01 4.55226e+00 0.5000 1.1347e+02 25\n", - " 3 8.2119e+02 4.0280e+00 3.3632e+01 4.8085e+01 3.88563e+00 0.2500 1.4844e+02 16\n", - " 4 7.1575e+02 4.1108e+00 3.1570e+01 3.9594e+01 2.25582e+00 1.0000 2.3656e+02 12\n", - " 5 6.0146e+02 4.7137e+00 3.6457e+01 2.3218e+01 6.39471e+00 0.0625 4.4278e+02 25\n", - " 6 5.8528e+02 4.6926e+00 3.6290e+01 2.1769e+01 4.81165e+00 0.1250 4.4550e+02 25\n", - " 7 5.8504e+02 4.7324e+00 3.6698e+01 2.1333e+01 2.16772e+00 0.5000 4.5956e+02 21\n", - " 8 5.4744e+02 4.4232e+00 2.5842e+01 2.8459e+01 3.74652e+00 0.1250 3.8421e+02 13\n", - " 9 5.2610e+02 4.4252e+00 2.6137e+01 2.6030e+01 1.22505e+00 1.0000 3.8885e+02 12\n", - " 10 4.4485e+02 3.6485e+00 7.6601e+00 3.6460e+01 3.34183e+00 0.2500 7.8555e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.3187e+03 4.6140e+00 9.4264e+01 3.7148e+01 4.73623e+00 1.0000 ---- 3\n", - " 2 1.3085e+03 2.8562e+00 4.9789e+01 8.0772e+01 4.07793e+00 0.5000 8.0772e+01 3\n", - " 3 8.7189e+02 2.8577e+00 2.2780e+01 6.4124e+01 3.07780e+00 1.0000 6.4124e+01 3\n", - " 4 8.0990e+02 3.0176e+00 1.8916e+01 6.1773e+01 6.58601e+00 0.2500 1.5735e+02 3\n", - " 5 7.6219e+02 3.4065e+00 2.3682e+01 5.2196e+01 3.28922e+00 0.5000 3.2364e+02 3\n", - " 6 6.8872e+02 3.2022e+00 1.9734e+01 4.8818e+01 3.35030e+00 0.5000 2.5593e+02 3\n", - " 7 6.6768e+02 3.8408e+00 3.3424e+01 3.2959e+01 4.50649e+00 0.1250 4.3143e+02 3\n", - " 8 6.2703e+02 3.8983e+00 3.4264e+01 2.8049e+01 1.99966e+00 1.0000 4.4794e+02 25\n", - " 9 4.7246e+02 3.1224e+00 2.0387e+01 2.6547e+01 5.65526e+00 0.1250 2.2194e+02 25\n", - " 10 4.6277e+02 3.1693e+00 2.2187e+01 2.3773e+01 3.19664e+00 0.2500 2.5005e+02 21\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 1.2821e+03 3.7409e+00 9.3896e+01 3.3941e+01 4.86173e+00 1.0000 ---- 3\n", - " 2 1.1279e+03 2.2229e+00 4.5605e+01 6.6965e+01 5.31938e+00 0.2500 6.6965e+01 3\n", - " 3 9.2858e+02 2.2765e+00 3.8828e+01 5.3803e+01 3.04334e+00 0.5000 1.1451e+02 3\n", - " 4 5.9718e+02 2.2554e+00 2.1684e+01 3.7808e+01 2.91065e+00 0.5000 9.5772e+01 3\n", - " 5 5.4390e+02 2.3503e+00 1.8970e+01 3.5185e+01 3.32992e+00 0.2500 1.6107e+02 3\n", - " 6 4.8011e+02 2.4110e+00 1.8949e+01 2.8821e+01 1.61985e+00 1.0000 1.9736e+02 3\n", - " 7 3.3917e+02 2.2726e+00 7.4642e+00 2.6226e+01 4.69947e+00 0.1250 1.0737e+02 3\n", - " 8 3.3656e+02 2.2780e+00 8.6902e+00 2.4738e+01 2.82100e+00 0.1250 1.2009e+02 3\n", - " 9 3.0793e+02 2.2636e+00 7.9296e+00 2.2637e+01 1.66734e+00 0.2500 1.0894e+02 3\n", - " 10 2.9250e+02 2.2383e+00 6.0353e+00 2.2991e+01 1.10494e+00 1.0000 8.3423e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 9.8950e+02 2.6458e+00 7.6739e+01 2.1946e+01 5.30376e+00 0.5000 ---- 3\n", - " 2 8.7912e+02 2.1535e+00 5.5673e+01 3.2024e+01 4.70088e+00 0.5000 1.7526e+02 3\n", - " 3 8.6181e+02 2.5956e+00 4.5703e+01 4.0219e+01 4.29814e+00 0.2500 3.8959e+02 3\n", - " 4 7.5095e+02 2.7132e+00 4.2983e+01 3.1840e+01 2.20779e+00 1.0000 4.2846e+02 3\n", - " 5 4.0062e+02 1.6707e+00 7.9698e+00 3.1926e+01 3.74391e+00 0.1250 5.3351e+01 3\n", - " 6 3.7381e+02 1.6679e+00 7.5354e+00 2.9679e+01 2.68182e+00 0.2500 5.4153e+01 3\n", - " 7 3.4827e+02 1.6627e+00 6.0463e+00 2.8615e+01 1.44275e+00 0.5000 4.5865e+01 3\n", - " 8 3.3669e+02 1.6554e+00 3.0187e+00 3.0484e+01 1.33092e+00 0.5000 3.0484e+01 3\n", - " 9 2.6254e+02 1.6537e+00 1.7887e+00 2.4300e+01 1.35269e+00 0.2500 2.4300e+01 3\n", - " 10 2.0839e+02 1.6533e+00 1.4283e+00 1.9246e+01 1.12370e+00 0.5000 1.9246e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 7.9017e+02 1.9407e+00 6.6531e+01 1.2292e+01 4.86656e+00 0.2500 ---- 3\n", - " 2 7.4186e+02 1.6583e+00 5.3728e+01 2.0292e+01 3.14635e+00 1.0000 1.8191e+02 3\n", - " 3 4.6984e+02 1.1981e+00 1.8865e+01 2.8000e+01 2.65256e+00 0.2500 2.8000e+01 3\n", - " 4 4.2414e+02 1.1974e+00 1.4165e+01 2.8129e+01 1.43795e+00 0.5000 2.8129e+01 3\n", - " 5 3.4530e+02 1.1976e+00 7.0800e+00 2.7330e+01 1.45640e+00 0.5000 2.7330e+01 3\n", - " 6 2.8630e+02 1.1977e+00 3.5442e+00 2.4966e+01 1.44664e+00 0.2500 2.4966e+01 3\n", - " 7 2.2929e+02 1.1977e+00 2.6570e+00 2.0152e+01 1.09885e+00 0.5000 2.0152e+01 3\n", - " 8 1.3344e+02 1.1984e+00 1.3272e+00 1.1897e+01 1.50532e+00 0.1250 1.1897e+01 25\n", - " 9 1.2555e+02 1.1984e+00 1.1610e+00 1.1274e+01 8.24804e-01 0.2500 1.1274e+01 25\n", - " 10 1.2148e+02 1.1984e+00 8.7093e-01 1.1157e+01 1.04191e+00 0.1250 1.1157e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 6.4953e+02 1.4015e+00 5.8621e+01 6.1920e+00 4.19804e+00 0.5000 ---- 3\n", - " 2 5.8380e+02 1.1733e+00 4.4763e+01 1.3499e+01 3.44378e+00 0.5000 1.6917e+02 3\n", - " 3 5.7082e+02 1.0322e+00 2.5562e+01 3.1417e+01 2.21477e+00 0.5000 1.5383e+02 3\n", - " 4 3.9516e+02 9.2783e-01 1.4287e+01 2.5136e+01 2.17844e+00 0.5000 9.7435e+01 3\n", - " 5 3.7051e+02 8.8422e-01 7.5925e+00 2.9370e+01 2.01331e+00 0.5000 5.8957e+01 3\n", - " 6 3.5971e+02 8.6722e-01 4.1139e+00 3.1771e+01 1.99159e+00 0.5000 3.2512e+01 3\n", - " 7 3.3743e+02 8.6145e-01 2.1915e+00 3.1465e+01 1.96138e+00 0.2500 3.1465e+01 3\n", - " 8 2.7083e+02 8.6018e-01 1.6610e+00 2.5336e+01 1.27569e+00 1.0000 2.5336e+01 3\n", - " 9 2.4024e+02 8.5991e-01 5.1692e-02 2.3887e+01 2.66551e+00 0.1250 2.3887e+01 3\n", - " 10 2.1872e+02 8.5938e-01 4.6866e-02 2.1740e+01 2.01413e+00 0.2500 2.1740e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.9907e+02 1.0315e+00 5.0197e+01 9.6070e+00 4.12760e+00 0.5000 ---- 3\n", - " 2 5.7062e+02 9.9973e-01 4.2752e+01 1.4210e+01 2.74939e+00 0.5000 2.2450e+02 3\n", - " 3 5.0474e+02 7.4817e-01 2.2714e+01 2.7685e+01 1.89509e+00 0.5000 1.3079e+02 3\n", - " 4 3.6750e+02 6.6239e-01 1.1654e+01 2.5029e+01 1.63178e+00 0.5000 6.5347e+01 3\n", - " 5 3.2569e+02 6.3999e-01 5.8877e+00 2.6617e+01 1.51849e+00 0.5000 3.2703e+01 3\n", - " 6 2.9081e+02 6.3393e-01 2.9644e+00 2.6054e+01 1.55652e+00 0.2500 2.6054e+01 3\n", - " 7 2.3270e+02 6.3289e-01 2.2236e+00 2.0983e+01 1.05910e+00 1.0000 2.0983e+01 3\n", - " 8 1.9138e+02 6.3275e-01 4.1480e-02 1.9033e+01 2.35216e+00 0.1250 1.9033e+01 3\n", - " 9 1.7751e+02 6.3229e-01 3.7395e-02 1.7650e+01 1.92558e+00 0.1250 1.7650e+01 3\n", - " 10 1.6820e+02 6.3189e-01 3.3201e-02 1.6724e+01 1.37124e+00 0.1250 1.6724e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1853e+02 8.2134e-01 4.5761e+01 6.0091e+00 3.86518e+00 0.5000 ---- 3\n", - " 2 5.0915e+02 8.7203e-01 4.0677e+01 1.0151e+01 2.45640e+00 0.5000 2.4034e+02 3\n", - " 3 4.8359e+02 5.9490e-01 2.1480e+01 2.6819e+01 1.76929e+00 0.5000 1.1987e+02 3\n", - " 4 3.4462e+02 5.2697e-01 1.0942e+01 2.3467e+01 1.63392e+00 0.5000 5.9887e+01 3\n", - " 5 2.7792e+02 5.1061e-01 5.5461e+00 2.2195e+01 1.59239e+00 0.2500 2.9932e+01 3\n", - " 6 2.3209e+02 5.0812e-01 4.1618e+00 1.8997e+01 1.05339e+00 1.0000 2.2448e+01 3\n", - " 7 1.9336e+02 5.0693e-01 8.4302e-02 1.9201e+01 2.13185e+00 0.1250 1.9201e+01 3\n", - " 8 1.7693e+02 5.0648e-01 7.3456e-02 1.7569e+01 1.81440e+00 0.1250 1.7569e+01 3\n", - " 9 1.6580e+02 5.0610e-01 6.4067e-02 1.6465e+01 1.27986e+00 0.1250 1.6465e+01 3\n", - " 10 1.5315e+02 5.0587e-01 5.5762e-02 1.5209e+01 9.63374e-01 0.5000 1.5209e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9508e+02 7.2759e-01 4.6286e+01 3.1497e+00 3.50549e+00 0.5000 ---- 3\n", - " 2 4.6631e+02 6.9166e-01 3.4692e+01 1.1869e+01 2.01965e+00 0.5000 1.9401e+02 3\n", - " 3 4.4646e+02 5.0702e-01 1.8447e+01 2.6149e+01 1.63397e+00 0.5000 1.0220e+02 3\n", - " 4 3.1515e+02 4.5852e-01 9.4034e+00 2.2066e+01 1.44603e+00 0.2500 5.1529e+01 3\n", - " 5 2.7196e+02 4.5160e-01 7.0634e+00 2.0087e+01 1.15386e+00 1.0000 3.8656e+01 3\n", - " 6 2.5900e+02 4.4653e-01 1.9749e-01 2.5658e+01 2.19941e+00 0.2500 2.5658e+01 3\n", - " 7 2.3778e+02 4.4560e-01 1.5165e-01 2.3582e+01 1.64183e+00 0.2500 2.3582e+01 3\n", - " 8 2.3243e+02 4.4501e-01 1.1437e-01 2.3084e+01 9.91966e-01 0.5000 2.3084e+01 3\n", - " 9 1.8530e+02 4.4548e-01 5.6704e-02 1.8429e+01 1.44781e+00 0.2500 1.8429e+01 3\n", - " 10 1.8415e+02 4.4504e-01 4.2844e-02 1.8327e+01 9.90619e-01 0.5000 1.8327e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.2332e+02 6.7475e-01 4.7151e+01 5.1134e+00 3.26568e+00 0.5000 ---- 3\n", - " 2 5.1457e+02 5.1323e-01 2.9114e+01 2.2292e+01 1.93862e+00 1.0000 1.3362e+02 3\n", - " 3 5.0465e+02 3.9933e-01 5.1500e+00 4.5275e+01 2.02668e+00 0.5000 4.5275e+01 3\n", - " 4 3.6525e+02 3.9342e-01 2.5965e+00 3.3889e+01 1.64354e+00 0.5000 3.3889e+01 3\n", - " 5 2.1193e+02 3.9267e-01 1.2959e+00 1.9858e+01 1.68501e+00 0.2500 1.9858e+01 3\n", - " 6 2.0982e+02 3.9231e-01 9.7352e-01 1.9969e+01 1.03918e+00 0.2500 1.9969e+01 3\n", - " 7 1.8497e+02 3.9218e-01 7.2999e-01 1.7727e+01 8.76652e-01 0.5000 1.7727e+01 3\n", - " 8 1.8107e+02 3.9243e-01 3.6456e-01 1.7703e+01 1.38872e+00 0.2500 1.7703e+01 3\n", - " 9 1.7682e+02 3.9201e-01 2.7359e-01 1.7369e+01 9.24998e-01 0.5000 1.7369e+01 3\n", - " 10 1.3201e+02 3.9251e-01 1.3857e-01 1.3023e+01 1.32293e+00 0.1250 1.3023e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0127e+02 6.4632e-01 4.6088e+01 3.9740e+00 3.03483e+00 0.5000 ---- 3\n", - " 2 3.9578e+02 4.3708e-01 2.7673e+01 1.1861e+01 2.09375e+00 0.2500 1.3104e+02 3\n", - " 3 3.4883e+02 3.9758e-01 2.1043e+01 1.3800e+01 1.55241e+00 1.0000 9.8476e+01 3\n", - " 4 2.0754e+02 3.5356e-01 2.7465e+00 1.7972e+01 1.98439e+00 0.1250 1.7972e+01 3\n", - " 5 1.9227e+02 3.5284e-01 2.4034e+00 1.6788e+01 1.74930e+00 0.1250 1.6788e+01 3\n", - " 6 1.8056e+02 3.5227e-01 2.1032e+00 1.5918e+01 1.15986e+00 0.2500 1.5918e+01 3\n", - " 7 1.7595e+02 3.5181e-01 1.5768e+00 1.5983e+01 9.45157e-01 0.2500 1.5983e+01 3\n", - " 8 1.6492e+02 3.5146e-01 1.1830e+00 1.5274e+01 6.92440e-01 0.5000 1.5274e+01 3\n", - " 9 1.3285e+02 3.5163e-01 5.9169e-01 1.2658e+01 1.28013e+00 0.1250 1.2658e+01 3\n", - " 10 1.2422e+02 3.5140e-01 5.1775e-01 1.1869e+01 7.09355e-01 0.2500 1.1869e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.8759e+02 6.2688e-01 4.6320e+01 2.3768e+00 2.53052e+00 1.0000 ---- 3\n", - " 2 4.4076e+02 4.5865e-01 1.6500e+01 2.7529e+01 2.25134e+00 0.2500 1.5509e+02 3\n", - " 3 3.7490e+02 4.0604e-01 1.2375e+01 2.5074e+01 1.26357e+00 1.0000 1.1648e+02 3\n", - " 4 2.7833e+02 3.3979e-01 3.9111e-01 2.7408e+01 2.12167e+00 0.2500 2.7408e+01 3\n", - " 5 2.3499e+02 3.3904e-01 2.9356e-01 2.3172e+01 1.24459e+00 0.5000 2.3172e+01 3\n", - " 6 2.1669e+02 3.3859e-01 1.4382e-01 2.1491e+01 1.05466e+00 0.5000 2.1491e+01 3\n", - " 7 1.6784e+02 3.3895e-01 7.5631e-02 1.6674e+01 1.12341e+00 0.2500 1.6674e+01 3\n", - " 8 1.5842e+02 3.3877e-01 5.5719e-02 1.5753e+01 7.92240e-01 0.5000 1.5753e+01 3\n", - " 9 1.4979e+02 3.3907e-01 2.9215e-02 1.4916e+01 1.18185e+00 0.2500 1.4916e+01 3\n", - " 10 1.4359e+02 3.3875e-01 2.1935e-02 1.4303e+01 5.81302e-01 0.5000 1.4303e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.8189e+02 6.1735e-01 4.5725e+01 2.4026e+00 2.57924e+00 1.0000 ---- 3\n", - " 2 3.5488e+02 3.8213e-01 1.4881e+01 2.0569e+01 1.97696e+00 0.2500 1.0358e+02 3\n", - " 3 3.0967e+02 3.5835e-01 1.1161e+01 1.9770e+01 9.18472e-01 1.0000 7.7750e+01 3\n", - " 4 2.1880e+02 3.2927e-01 2.0229e-01 2.1645e+01 2.04507e+00 0.2500 2.1645e+01 3\n", - " 5 1.9953e+02 3.2852e-01 1.5240e-01 1.9768e+01 9.48597e-01 0.2500 1.9768e+01 3\n", - " 6 1.6530e+02 3.2829e-01 1.1436e-01 1.6383e+01 8.71497e-01 0.5000 1.6383e+01 3\n", - " 7 8.6152e+01 3.2879e-01 5.9725e-02 8.5226e+00 1.15634e+00 0.0625 8.5226e+00 3\n", - " 8 8.2965e+01 3.2869e-01 5.5966e-02 8.2077e+00 7.90979e-01 0.1250 8.2077e+00 25\n", - " 9 7.6123e+01 3.2870e-01 4.8803e-02 7.5306e+00 8.17213e-01 0.1250 7.5306e+00 25\n", - " 10 7.4336e+01 3.2865e-01 4.2685e-02 7.3580e+00 1.01569e+00 0.2500 7.3580e+00 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.8587e+02 6.0619e-01 4.6520e+01 2.0066e+00 2.32309e+00 1.0000 ---- 3\n", - " 2 4.1058e+02 3.4823e-01 1.3070e+01 2.7953e+01 2.08036e+00 0.2500 7.4878e+01 3\n", - " 3 3.3974e+02 3.3544e-01 9.8058e+00 2.4135e+01 1.06923e+00 0.5000 5.6189e+01 3\n", - " 4 2.3084e+02 3.2378e-01 4.8970e+00 1.8155e+01 1.13706e+00 0.2500 2.8164e+01 3\n", - " 5 1.9778e+02 3.2187e-01 3.6728e+00 1.6073e+01 9.07581e-01 0.5000 2.1127e+01 3\n", - " 6 1.3446e+02 3.2074e-01 1.8344e+00 1.1579e+01 1.28788e+00 0.1250 1.1579e+01 3\n", - " 7 1.3160e+02 3.2047e-01 1.6051e+00 1.1522e+01 9.90427e-01 0.1250 1.1522e+01 3\n", - " 8 1.2387e+02 3.2032e-01 1.4045e+00 1.0951e+01 7.98861e-01 0.2500 1.0951e+01 25\n", - " 9 1.1616e+02 3.2025e-01 1.0536e+00 1.0531e+01 1.27695e+00 0.1250 1.0531e+01 25\n", - " 10 1.1510e+02 3.2004e-01 9.2197e-01 1.0556e+01 1.06268e+00 0.5000 1.0556e+01 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0054e+02 5.9533e-01 4.7170e+01 2.8237e+00 2.35533e+00 1.0000 ---- 3\n", - " 2 3.3287e+02 3.2363e-01 1.3054e+01 2.0200e+01 2.06551e+00 0.2500 5.6652e+01 3\n", - " 3 3.0108e+02 3.1605e-01 9.7922e+00 2.0284e+01 1.01980e+00 0.5000 4.2504e+01 3\n", - " 4 2.0798e+02 3.0960e-01 4.8918e+00 1.5875e+01 1.30734e+00 0.2500 2.1287e+01 3\n", - " 5 2.0115e+02 3.0826e-01 3.6688e+00 1.6416e+01 9.05963e-01 1.0000 1.6416e+01 3\n", - " 6 1.8107e+02 3.0828e-01 3.9481e-02 1.8037e+01 1.92010e+00 0.2500 1.8037e+01 3\n", - " 7 1.7673e+02 3.0752e-01 3.3277e-02 1.7609e+01 1.32645e+00 0.2500 1.7609e+01 3\n", - " 8 1.7116e+02 3.0706e-01 2.5770e-02 1.7060e+01 8.60241e-01 0.5000 1.7060e+01 3\n", - " 9 1.2762e+02 3.0750e-01 1.5603e-02 1.2716e+01 1.35000e+00 0.1250 1.2716e+01 3\n", - " 10 1.2137e+02 3.0725e-01 1.3761e-02 1.2092e+01 8.01251e-01 0.2500 1.2092e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0250e+02 5.8983e-01 4.6543e+01 3.6475e+00 2.33107e+00 1.0000 ---- 3\n", - " 2 3.4511e+02 3.1015e-01 1.2293e+01 2.2187e+01 1.61380e+00 0.5000 4.4730e+01 3\n", - " 3 3.1640e+02 3.0200e-01 6.1363e+00 2.5473e+01 1.16156e+00 1.0000 2.5473e+01 3\n", - " 4 2.5377e+02 3.0055e-01 4.5418e-02 2.5301e+01 2.27080e+00 0.2500 2.5301e+01 3\n", - " 5 2.4748e+02 3.0001e-01 3.2616e-02 2.4686e+01 1.30479e+00 0.2500 2.4686e+01 3\n", - " 6 2.0884e+02 2.9965e-01 2.5126e-02 2.0828e+01 8.42085e-01 0.5000 2.0828e+01 3\n", - " 7 1.5125e+02 2.9971e-01 1.2091e-02 1.5083e+01 6.76423e-01 0.5000 1.5083e+01 3\n", - " 8 1.4611e+02 2.9974e-01 6.4089e-03 1.4575e+01 6.52547e-01 0.2500 1.4575e+01 3\n", - " 9 1.1778e+02 2.9968e-01 4.5255e-03 1.1743e+01 6.89352e-01 1.0000 1.1743e+01 3\n", - " 10 1.0972e+02 3.0057e-01 8.4942e-03 1.0934e+01 1.55882e+00 0.1250 1.0934e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.0487e+02 5.8013e-01 4.6986e+01 3.4428e+00 2.29074e+00 1.0000 ---- 3\n", - " 2 3.6607e+02 3.0048e-01 1.1106e+01 2.5471e+01 2.04296e+00 0.2500 3.7233e+01 3\n", - " 3 3.0381e+02 2.9687e-01 8.3243e+00 2.2027e+01 1.07157e+00 0.5000 2.7930e+01 3\n", - " 4 2.1074e+02 2.9395e-01 4.1438e+00 1.6901e+01 9.51545e-01 0.5000 1.6901e+01 3\n", - " 5 2.0519e+02 2.9312e-01 2.0727e+00 1.8417e+01 8.26259e-01 0.5000 1.8417e+01 3\n", - " 6 1.8925e+02 2.9294e-01 1.0338e+00 1.7861e+01 8.65845e-01 0.2500 1.7861e+01 3\n", - " 7 1.5562e+02 2.9286e-01 7.7586e-01 1.4757e+01 8.27378e-01 0.5000 1.4757e+01 3\n", - " 8 9.3696e+01 2.9333e-01 3.8700e-01 8.9533e+00 1.20530e+00 0.0625 8.9533e+00 3\n", - " 9 9.0219e+01 2.9324e-01 3.6284e-01 8.6298e+00 9.59288e-01 0.5000 8.6298e+00 25\n", - " 10 8.0407e+01 2.9355e-01 1.8420e-01 7.8271e+00 1.77660e+00 0.0625 7.8271e+00 25\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.1758e+02 5.7432e-01 4.6334e+01 5.3667e+00 2.25672e+00 0.5000 ---- 3\n", - " 2 4.3302e+02 3.4747e-01 2.5657e+01 1.7611e+01 1.62603e+00 0.5000 1.1521e+02 3\n", - " 3 3.4802e+02 2.9484e-01 1.3500e+01 2.1272e+01 1.21694e+00 0.5000 5.7974e+01 3\n", - " 4 2.8811e+02 2.8391e-01 6.8890e+00 2.1894e+01 1.13547e+00 0.5000 2.9058e+01 3\n", - " 5 2.6126e+02 2.8215e-01 3.4915e+00 2.2606e+01 1.01057e+00 0.5000 2.2606e+01 3\n", - " 6 2.4691e+02 2.8230e-01 1.7538e+00 2.2909e+01 9.95252e-01 0.5000 2.2909e+01 3\n", - " 7 2.4171e+02 2.8254e-01 8.8226e-01 2.3260e+01 9.67557e-01 0.5000 2.3260e+01 3\n", - " 8 2.3297e+02 2.8278e-01 4.4150e-01 2.2827e+01 9.78667e-01 0.5000 2.2827e+01 3\n", - " 9 2.3197e+02 2.8287e-01 2.2326e-01 2.2946e+01 9.85302e-01 0.5000 2.2946e+01 3\n", - " 10 2.3196e+02 2.8296e-01 1.1192e-01 2.3056e+01 1.00225e+00 0.2500 2.3056e+01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 5.4160e+02 5.6595e-01 4.6753e+01 7.3498e+00 2.05103e+00 1.0000 ---- 3\n", - " 2 2.7894e+02 2.7853e-01 1.0851e+01 1.7015e+01 1.73674e+00 0.2500 2.6491e+01 3\n", - " 3 2.5440e+02 2.7652e-01 8.1355e+00 1.7277e+01 9.46123e-01 1.0000 1.9870e+01 3\n", - " 4 1.9845e+02 2.7515e-01 1.0986e-01 1.9708e+01 1.83889e+00 0.2500 1.9708e+01 3\n", - " 5 1.8842e+02 2.7456e-01 8.5569e-02 1.8729e+01 9.41557e-01 0.5000 1.8729e+01 3\n", - " 6 1.6360e+02 2.7437e-01 4.7892e-02 1.6285e+01 7.56032e-01 0.5000 1.6285e+01 3\n", - " 7 1.1223e+02 2.7458e-01 2.1064e-02 1.1174e+01 7.97970e-01 0.2500 1.1174e+01 3\n", - " 8 1.0660e+02 2.7447e-01 1.6557e-02 1.0616e+01 5.44895e-01 0.5000 1.0616e+01 3\n", - " 9 7.2986e+01 2.7475e-01 7.9822e-03 7.2632e+00 9.20966e-01 0.1250 7.2632e+00 3\n", - " 10 7.2379e+01 2.7462e-01 7.0819e-03 7.2034e+00 5.74754e-01 0.5000 7.2034e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.9045e+02 5.6009e-01 4.5508e+01 3.4812e+00 2.14711e+00 1.0000 ---- 3\n", - " 2 3.9280e+02 2.6864e-01 1.0691e+01 2.8562e+01 1.38080e+00 0.5000 2.8562e+01 3\n", - " 3 2.6160e+02 2.6621e-01 5.3349e+00 2.0798e+01 1.00141e+00 1.0000 2.0798e+01 3\n", - " 4 2.1915e+02 2.6645e-01 3.6017e-02 2.1852e+01 1.90104e+00 0.2500 2.1852e+01 3\n", - " 5 2.0194e+02 2.6583e-01 2.8664e-02 2.0139e+01 1.03724e+00 0.2500 2.0139e+01 3\n", - " 6 1.6553e+02 2.6560e-01 2.1685e-02 1.6505e+01 7.69556e-01 0.5000 1.6505e+01 3\n", - " 7 1.1036e+02 2.6588e-01 1.1988e-02 1.0997e+01 1.03906e+00 0.1250 1.0997e+01 3\n", - " 8 1.0012e+02 2.6576e-01 1.0366e-02 9.9747e+00 6.33579e-01 0.2500 9.9747e+00 3\n", - " 9 8.3302e+01 2.6578e-01 7.6079e-03 8.2960e+00 6.20228e-01 0.2500 8.2960e+00 3\n", - " 10 6.9166e+01 2.6582e-01 5.6797e-03 6.8844e+00 6.53924e-01 0.2500 6.8844e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.7806e+02 5.4913e-01 4.5156e+01 2.5951e+00 1.88238e+00 1.0000 ---- 3\n", - " 2 2.8087e+02 2.5912e-01 1.0284e+01 1.7777e+01 1.31138e+00 0.5000 2.0229e+01 3\n", - " 3 2.3206e+02 2.5710e-01 5.1274e+00 1.8053e+01 9.18055e-01 1.0000 1.8053e+01 3\n", - " 4 1.8183e+02 2.5722e-01 3.0925e-02 1.8127e+01 1.62903e+00 0.2500 1.8127e+01 3\n", - " 5 1.8013e+02 2.5676e-01 2.4124e-02 1.7963e+01 9.29981e-01 0.2500 1.7963e+01 3\n", - " 6 1.4953e+02 2.5658e-01 1.8178e-02 1.4909e+01 6.85973e-01 1.0000 1.4909e+01 3\n", - " 7 1.4290e+02 2.5719e-01 5.3367e-03 1.4259e+01 1.30931e+00 0.2500 1.4259e+01 3\n", - " 8 1.3268e+02 2.5678e-01 5.1648e-03 1.3237e+01 9.46808e-01 0.2500 1.3237e+01 3\n", - " 9 1.0631e+02 2.5663e-01 4.5980e-03 1.0601e+01 6.10951e-01 0.5000 1.0601e+01 3\n", - " 10 8.1626e+01 2.5682e-01 2.7457e-03 8.1342e+00 7.62661e-01 0.1250 8.1342e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.7580e+02 5.4417e-01 4.4266e+01 3.2598e+00 1.74659e+00 1.0000 ---- 3\n", - " 2 2.5064e+02 2.4957e-01 1.0186e+01 1.4853e+01 1.04910e+00 0.5000 1.8140e+01 3\n", - " 3 1.8444e+02 2.4806e-01 5.0807e+00 1.3339e+01 6.53895e-01 1.0000 1.3339e+01 3\n", - " 4 1.4994e+02 2.4817e-01 2.0133e-02 1.4949e+01 1.37863e+00 0.2500 1.4949e+01 3\n", - " 5 1.3697e+02 2.4777e-01 1.5568e-02 1.3657e+01 5.88435e-01 0.5000 1.3657e+01 3\n", - " 6 1.3024e+02 2.4760e-01 7.7783e-03 1.2992e+01 6.10211e-01 0.5000 1.2992e+01 3\n", - " 7 7.2296e+01 2.4781e-01 4.1406e-03 7.2007e+00 5.88818e-01 0.2500 7.2007e+00 3\n", - " 8 7.1257e+01 2.4775e-01 3.1238e-03 7.0978e+00 4.69154e-01 0.5000 7.0978e+00 3\n", - " 9 6.6450e+01 2.4789e-01 2.0724e-03 6.6181e+00 7.71676e-01 0.1250 6.6181e+00 3\n", - " 10 6.2522e+01 2.4779e-01 1.8886e-03 6.2255e+00 4.18966e-01 0.2500 6.2255e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.6001e+02 5.3819e-01 4.4178e+01 1.7692e+00 1.79757e+00 1.0000 ---- 3\n", - " 2 2.0888e+02 2.4294e-01 1.0236e+01 1.0627e+01 1.34851e+00 0.5000 1.6345e+01 25\n", - " 3 1.8076e+02 2.4177e-01 5.0999e+00 1.2952e+01 1.56273e+00 0.2500 1.2952e+01 25\n", - " 4 1.5764e+02 2.4133e-01 3.8251e+00 1.1915e+01 1.55933e+00 1.0000 1.1915e+01 25\n", - " 5 1.1397e+02 2.4101e-01 3.4602e-02 1.1339e+01 1.10600e+00 0.1250 1.1339e+01 20\n", - " 6 1.0693e+02 2.4091e-01 3.0191e-02 1.0639e+01 7.58188e-01 0.2500 1.0639e+01 18\n", - " 7 9.7479e+01 2.4084e-01 2.2808e-02 9.7010e+00 4.17821e-01 1.0000 9.7010e+00 12\n", - " 8 2.2608e+01 2.4109e-01 3.0755e-03 2.2336e+00 6.91617e-01 0.0312 2.2336e+00 11\n", - " 9 2.2438e+01 2.4108e-01 2.9843e-03 2.2168e+00 5.43410e-01 0.0625 2.2168e+00 14\n", - " 10 2.2137e+01 2.4106e-01 2.8078e-03 2.1867e+00 3.11254e-01 1.0000 2.1867e+00 15\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.4099e+02 5.3180e-01 4.2980e+01 1.0658e+00 1.79531e+00 1.0000 ---- 3\n", - " 2 2.3174e+02 2.3525e-01 1.0233e+01 1.2918e+01 1.24402e+00 0.5000 1.4874e+01 3\n", - " 3 2.1750e+02 2.3407e-01 5.1089e+00 1.6618e+01 7.71306e-01 1.0000 1.6618e+01 3\n", - " 4 1.9168e+02 2.3434e-01 1.1359e-02 1.9133e+01 1.58124e+00 0.2500 1.9133e+01 3\n", - " 5 1.7348e+02 2.3390e-01 9.2520e-03 1.7315e+01 7.74125e-01 0.5000 1.7315e+01 3\n", - " 6 1.6030e+02 2.3376e-01 4.4894e-03 1.6002e+01 6.19379e-01 0.5000 1.6002e+01 3\n", - " 7 1.0231e+02 2.3396e-01 2.3960e-03 1.0205e+01 6.88326e-01 0.2500 1.0205e+01 3\n", - " 8 8.7508e+01 2.3392e-01 1.7433e-03 8.7257e+00 4.07279e-01 1.0000 8.7257e+00 3\n", - " 9 7.4618e+01 2.3440e-01 2.9442e-03 7.4355e+00 1.20526e+00 0.1250 7.4355e+00 3\n", - " 10 6.9680e+01 2.3419e-01 2.7004e-03 6.9419e+00 7.49045e-01 0.1250 6.9419e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.4324e+02 5.2417e-01 4.3512e+01 7.5949e-01 1.66749e+00 1.0000 ---- 3\n", - " 2 1.7520e+02 2.2531e-01 9.8991e+00 7.5980e+00 1.19870e+00 0.2500 1.3224e+01 3\n", - " 3 1.6049e+02 2.2469e-01 7.4223e+00 8.6042e+00 5.16996e-01 1.0000 9.9177e+00 3\n", - " 4 2.7877e+01 2.2453e-01 3.2297e-02 2.7330e+00 1.24532e+00 0.0625 2.7330e+00 3\n", - " 5 2.7130e+01 2.2443e-01 3.0334e-02 2.6602e+00 7.42403e-01 0.1250 2.6602e+00 3\n", - " 6 2.5115e+01 2.2436e-01 2.6601e-02 2.4625e+00 4.75470e-01 0.0625 2.4625e+00 3\n", - " 7 2.3983e+01 2.2434e-01 2.4934e-02 2.3509e+00 3.30369e-01 0.5000 2.3509e+00 3\n", - " 8 1.5998e+01 2.2437e-01 1.2255e-02 1.5651e+00 6.15686e-01 0.0312 1.5651e+00 3\n", - " 9 1.5723e+01 2.2436e-01 1.1874e-02 1.5380e+00 4.62418e-01 0.0625 1.5380e+00 3\n", - " 10 1.5485e+01 2.2434e-01 1.1135e-02 1.5149e+00 1.85659e-01 0.2500 1.5149e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.3230e+02 5.1815e-01 4.2682e+01 4.9683e-01 1.69156e+00 1.0000 ---- 3\n", - " 2 1.7028e+02 2.1541e-01 9.7520e+00 7.2548e+00 1.14709e+00 0.2500 1.2335e+01 3\n", - " 3 1.5025e+02 2.1486e-01 7.3120e+00 7.6919e+00 4.97519e-01 1.0000 9.2512e+00 3\n", - " 4 3.8520e+01 2.1475e-01 2.7753e-02 3.8028e+00 1.26092e+00 0.0625 3.8028e+00 3\n", - " 5 3.7680e+01 2.1465e-01 2.6065e-02 3.7204e+00 9.00151e-01 0.0625 3.7204e+00 3\n", - " 6 3.5545e+01 2.1459e-01 2.4462e-02 3.5086e+00 5.88980e-01 0.1250 3.5086e+00 3\n", - " 7 3.1353e+01 2.1457e-01 2.1397e-02 3.0924e+00 3.95511e-01 0.2500 3.0924e+00 3\n", - " 8 2.6564e+01 2.1457e-01 1.6022e-02 2.6189e+00 4.28506e-01 0.1250 2.6189e+00 3\n", - " 9 2.5944e+01 2.1454e-01 1.4020e-02 2.5589e+00 2.12720e-01 1.0000 2.5589e+00 3\n", - " 10 2.4602e+01 2.1469e-01 1.1583e-03 2.4375e+00 9.69192e-01 0.0312 2.4375e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.3338e+02 5.1068e-01 4.2203e+01 1.0845e+00 1.69231e+00 1.0000 ---- 3\n", - " 2 2.2942e+02 2.0669e-01 9.6065e+00 1.3315e+01 1.38393e+00 0.5000 1.3315e+01 3\n", - " 3 2.1590e+02 2.0579e-01 4.7989e+00 1.6770e+01 8.09968e-01 1.0000 1.6770e+01 3\n", - " 4 1.4033e+02 2.0613e-01 1.6390e-02 1.3996e+01 1.49445e+00 0.2500 1.3996e+01 3\n", - " 5 1.4019e+02 2.0576e-01 1.2538e-02 1.3986e+01 7.42835e-01 0.2500 1.3986e+01 3\n", - " 6 1.1454e+02 2.0568e-01 9.6030e-03 1.1424e+01 4.31018e-01 1.0000 1.1424e+01 3\n", - " 7 4.8510e+01 2.0617e-01 2.4155e-03 4.8280e+00 1.01771e+00 0.0625 4.8280e+00 3\n", - " 8 4.6147e+01 2.0608e-01 2.2796e-03 4.5918e+00 7.16986e-01 0.1250 4.5918e+00 3\n", - " 9 4.2153e+01 2.0599e-01 2.0311e-03 4.1926e+00 4.54580e-01 0.2500 4.1926e+00 3\n", - " 10 3.8264e+01 2.0597e-01 1.5210e-03 3.8043e+00 4.19687e-01 0.1250 3.8043e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.2475e+02 5.0523e-01 4.0943e+01 1.4808e+00 1.60842e+00 1.0000 ---- 3\n", - " 2 1.4996e+02 1.9883e-01 9.1214e+00 5.8546e+00 1.03957e+00 0.2500 9.9824e+00 3\n", - " 3 1.3861e+02 1.9841e-01 6.8393e+00 7.0018e+00 4.31201e-01 1.0000 7.4868e+00 3\n", - " 4 1.8177e+01 1.9834e-01 2.0967e-02 1.7769e+00 8.54798e-01 0.0625 1.7769e+00 3\n", - " 5 1.7520e+01 1.9828e-01 1.9656e-02 1.7126e+00 5.44108e-01 0.1250 1.7126e+00 3\n", - " 6 1.6512e+01 1.9823e-01 1.7190e-02 1.6142e+00 3.12409e-01 0.5000 1.6142e+00 3\n", - " 7 1.0738e+01 1.9823e-01 8.7377e-03 1.0452e+00 4.31446e-01 0.0625 1.0452e+00 3\n", - " 8 1.0552e+01 1.9821e-01 8.1820e-03 1.0272e+00 2.78413e-01 0.1250 1.0272e+00 3\n", - " 9 9.6328e+00 1.9821e-01 7.1287e-03 9.3633e-01 1.47133e-01 1.0000 9.3633e-01 3\n", - " 10 4.4075e+00 1.9824e-01 5.8716e-04 4.2034e-01 3.05358e-01 0.1250 4.2034e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0796e+02 4.9988e-01 4.0100e+01 6.4572e-01 1.51917e+00 1.0000 ---- 3\n", - " 2 1.3903e+02 1.9129e-01 8.7690e+00 5.1150e+00 9.15995e-01 0.5000 9.2974e+00 3\n", - " 3 1.2417e+02 1.9078e-01 4.3775e+00 8.0209e+00 6.77393e-01 0.5000 8.0209e+00 3\n", - " 4 9.3261e+01 1.9067e-01 2.1886e+00 7.1185e+00 5.18921e-01 0.5000 7.1185e+00 3\n", - " 5 7.1931e+01 1.9067e-01 1.0935e+00 6.0806e+00 4.77341e-01 0.2500 6.0806e+00 3\n", - " 6 5.8193e+01 1.9064e-01 8.2015e-01 4.9801e+00 2.66322e-01 1.0000 4.9801e+00 3\n", - " 7 1.8877e+01 1.9088e-01 1.2547e-03 1.8673e+00 7.88465e-01 0.0625 1.8673e+00 3\n", - " 8 1.8502e+01 1.9083e-01 1.1866e-03 1.8300e+00 4.72319e-01 0.2500 1.8300e+00 3\n", - " 9 1.6106e+01 1.9080e-01 9.3054e-04 1.5906e+00 3.81587e-01 0.1250 1.5906e+00 3\n", - " 10 1.3192e+01 1.9077e-01 8.1714e-04 1.2993e+00 1.24488e-01 1.0000 1.2993e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 4.0049e+02 4.9476e-01 3.9332e+01 6.6740e-01 1.53291e+00 1.0000 ---- 3\n", - " 2 1.3813e+02 1.8482e-01 8.4712e+00 5.3232e+00 9.37886e-01 0.5000 8.2824e+00 3\n", - " 3 1.0939e+02 1.8441e-01 4.2297e+00 6.6905e+00 7.31641e-01 0.5000 6.6905e+00 3\n", - " 4 8.8810e+01 1.8430e-01 2.1147e+00 6.7479e+00 5.61271e-01 0.5000 6.7479e+00 3\n", - " 5 7.7317e+01 1.8426e-01 1.0567e+00 6.6565e+00 5.13865e-01 0.5000 6.6565e+00 3\n", - " 6 6.5727e+01 1.8427e-01 5.2852e-01 6.0257e+00 4.95143e-01 0.5000 6.0257e+00 3\n", - " 7 6.2666e+01 1.8426e-01 2.6425e-01 5.9839e+00 4.94899e-01 0.2500 5.9839e+00 3\n", - " 8 5.0134e+01 1.8425e-01 1.9825e-01 4.7968e+00 2.54856e-01 1.0000 4.7968e+00 3\n", - " 9 1.6595e+01 1.8447e-01 8.6932e-04 1.6401e+00 6.21600e-01 0.0625 1.6401e+00 3\n", - " 10 1.5992e+01 1.8444e-01 8.1610e-04 1.5799e+00 4.05325e-01 0.2500 1.5799e+00 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.9607e+02 4.9025e-01 3.8412e+01 1.1457e+00 1.52681e+00 1.0000 ---- 3\n", - " 2 1.4534e+02 1.7847e-01 8.3155e+00 6.2008e+00 9.81070e-01 0.2500 7.4449e+00 3\n", - " 3 1.2591e+02 1.7820e-01 6.2349e+00 6.3381e+00 4.47681e-01 1.0000 6.3381e+00 3\n", - " 4 2.5661e+01 1.7820e-01 1.8901e-02 2.5294e+00 7.80779e-01 0.1250 2.5294e+00 3\n", - " 5 2.4483e+01 1.7813e-01 1.6553e-02 2.4140e+00 4.71745e-01 0.2500 2.4140e+00 3\n", - " 6 1.9628e+01 1.7810e-01 1.2504e-02 1.9325e+00 3.71400e-01 0.1250 1.9325e+00 3\n", - " 7 1.7124e+01 1.7809e-01 1.0937e-02 1.6837e+00 1.71519e-01 1.0000 1.6837e+00 3\n", - " 8 2.7987e+00 1.7814e-01 1.1174e-03 2.6093e-01 5.08691e-01 0.0078 2.6093e-01 3\n", - " 9 2.7830e+00 1.7814e-01 1.1086e-03 2.5938e-01 4.81703e-01 0.0156 2.5938e-01 3\n", - " 10 2.7791e+00 1.7813e-01 1.0907e-03 2.5900e-01 4.29661e-01 0.0156 2.5900e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.7963e+02 4.8665e-01 3.7495e+01 4.1906e-01 1.54754e+00 1.0000 ---- 3\n", - " 2 1.5879e+02 1.7335e-01 8.2327e+00 7.6294e+00 1.10650e+00 0.5000 7.6294e+00 3\n", - " 3 1.5831e+02 1.7295e-01 4.1135e+00 1.1700e+01 7.83820e-01 0.5000 1.1700e+01 3\n", - " 4 9.9786e+01 1.7294e-01 2.0551e+00 7.9062e+00 6.77474e-01 0.5000 7.9062e+00 3\n", - " 5 8.3128e+01 1.7295e-01 1.0276e+00 7.2679e+00 6.77692e-01 0.2500 7.2679e+00 3\n", - " 6 6.7350e+01 1.7292e-01 7.7074e-01 5.9470e+00 3.03444e-01 1.0000 5.9470e+00 3\n", - " 7 9.4074e+00 1.7318e-01 1.4332e-03 9.2199e-01 6.10349e-01 0.1250 9.2199e-01 3\n", - " 8 9.0008e+00 1.7311e-01 1.2432e-03 8.8152e-01 2.38562e-01 1.0000 8.8152e-01 3\n", - " 9 2.8311e+00 1.7313e-01 1.0335e-03 2.6477e-01 5.15364e-01 0.0625 2.6477e-01 3\n", - " 10 2.6185e+00 1.7311e-01 9.6497e-04 2.4358e-01 4.12802e-01 0.1250 2.4358e-01 3\n", - "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", - " 1 3.5676e+02 4.8427e-01 3.5231e+01 3.9576e-01 1.51057e+00 1.0000 ---- 3\n", - " 2 1.3280e+02 1.7040e-01 8.0624e+00 5.2002e+00 1.16780e+00 0.5000 5.8894e+00 3\n", - " 3 1.2211e+02 1.7006e-01 4.0234e+00 8.1705e+00 9.48777e-01 0.5000 8.1705e+00 3\n", - " 4 1.0926e+02 1.6990e-01 2.0125e+00 8.8967e+00 7.82459e-01 0.5000 8.8967e+00 3\n", - " 5 9.2348e+01 1.6973e-01 1.0059e+00 8.2119e+00 6.56656e-01 1.0000 8.2119e+00 3\n", - " 6 8.5878e+01 1.6979e-01 7.6547e-03 8.5632e+00 1.24618e+00 0.2500 8.5632e+00 3\n", - " 7 7.9761e+01 1.6964e-01 6.4655e-03 7.9526e+00 4.89686e-01 1.0000 7.9526e+00 3\n", - " 8 2.1081e+01 1.6989e-01 5.1964e-03 2.0859e+00 9.17898e-01 0.0625 2.0859e+00 3\n", - " 9 2.0433e+01 1.6985e-01 4.9260e-03 2.0214e+00 6.76351e-01 0.1250 2.0214e+00 3\n", - " 10 1.9881e+01 1.6981e-01 4.4101e-03 1.9667e+00 3.77832e-01 0.5000 1.9667e+00 3\n" + " 1 6.9576e+03 2.8133e-02 6.9576e+02 0.0000e+00 9.81507e+00 1.0000 ---- 1\n", + " 2 3.7704e+02 1.3735e-01 8.7253e+00 2.8965e+01 1.06970e+00 1.0000 3.1775e+01 3\n", + " 3 7.7080e+00 1.1691e-01 3.2293e-02 7.2681e-01 4.49763e-01 0.5000 7.2681e-01 3\n", + " 4 5.8822e+00 1.1689e-01 1.6476e-02 5.6005e-01 1.29178e-01 1.0000 5.6005e-01 3\n", + " 5 2.3396e-01 1.1689e-01 2.1656e-04 1.1490e-02 1.77658e-01 0.0078 1.1490e-02 3\n", + " 6 2.3332e-01 1.1689e-01 2.1487e-04 1.1428e-02 1.73888e-01 0.0078 1.1428e-02 3\n", + " 7 2.3264e-01 1.1689e-01 2.1320e-04 1.1362e-02 1.69514e-01 0.0078 1.1362e-02 3\n", + " 8 2.3194e-01 1.1689e-01 2.1154e-04 1.1293e-02 1.58942e-01 0.0156 1.1293e-02 3\n", + " 9 2.3158e-01 1.1689e-01 2.0825e-04 1.1261e-02 1.52605e-01 0.0156 1.1261e-02 3\n", + " 10 2.3100e-01 1.1689e-01 2.0501e-04 1.1206e-02 1.46504e-01 0.0156 1.1206e-02 3\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 2.6361e+03 2.5588e+03 7.6126e+00 1.1398e-01 1.16250e+01 1.0000 ---- 3\n", + " 2 1.3840e+03 6.6171e+02 3.1571e+01 4.0658e+01 5.43421e+00 1.0000 1.1572e+04 3\n", + " 3 9.1331e+02 2.1493e+02 2.2065e+01 4.7773e+01 3.61513e+00 1.0000 6.6973e+03 3\n", + " 4 6.4281e+02 1.8808e+01 9.2600e+00 5.3141e+01 2.02902e+00 1.0000 1.8176e+03 3\n", + " 5 5.3060e+02 8.5380e-01 9.9872e-01 5.1976e+01 2.08027e+00 0.5000 1.0965e+02 3\n", + " 6 3.9829e+02 8.0905e-01 5.0020e-01 3.9248e+01 9.06580e-01 1.0000 5.4751e+01 3\n", + " 7 1.3797e+02 7.9458e-01 6.1482e-03 1.3712e+01 1.29939e+00 0.1250 1.3712e+01 3\n", + " 8 1.2339e+02 7.9451e-01 5.4038e-03 1.2255e+01 8.08607e-01 0.5000 1.2255e+01 3\n", + " 9 1.2212e+02 7.9446e-01 3.1586e-03 1.2130e+01 4.67159e-01 0.5000 1.2130e+01 3\n", + " 10 5.8794e+01 7.9448e-01 1.5607e-03 5.7984e+00 2.80043e-01 0.5000 5.7984e+00 3\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 2.0544e+02 1.1078e+00 1.4196e+01 6.2374e+00 6.20993e+00 0.5000 ---- 3\n", + " 2 1.5428e+02 6.5901e-01 7.8269e+00 7.5351e+00 3.30417e+00 1.0000 1.1359e+02 3\n", + " 3 4.0536e+01 4.4349e-01 1.1484e+00 2.8609e+00 4.12949e-01 1.0000 8.9661e+00 3\n", + " 4 2.9908e+01 4.3919e-01 6.2752e-03 2.9406e+00 4.06904e-01 0.5000 2.9406e+00 3\n", + " 5 2.6721e+01 4.3916e-01 3.1560e-03 2.6250e+00 1.74018e-01 1.0000 2.6250e+00 3\n", + " 6 1.6186e+00 4.3920e-01 7.9948e-05 1.1786e-01 2.47898e-01 0.1250 1.1786e-01 3\n", + " 7 1.5814e+00 4.3919e-01 6.9107e-05 1.1415e-01 1.63766e-01 0.2500 1.1415e-01 3\n", + " 8 1.4208e+00 4.3919e-01 5.2117e-05 9.8113e-02 5.62225e-02 1.0000 9.8113e-02 3\n", + " 9 4.5725e-01 4.3919e-01 9.7901e-06 1.7962e-03 8.37132e-02 0.0020 3.1965e-03 1\n", + " 10 4.5725e-01 4.3919e-01 9.7901e-06 1.7962e-03 8.37634e-02 0.2500 1.7962e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 9.0356e+01 7.5809e-01 8.9240e+00 3.5729e-02 2.33757e+00 1.0000 ---- 3\n", + " 2 1.8665e+01 3.9443e-01 9.4366e-01 8.8342e-01 2.71054e-01 1.0000 4.1178e+00 3\n", + " 3 1.8644e+00 3.9371e-01 3.2497e-03 1.4382e-01 2.39924e-01 0.5000 1.4382e-01 3\n", + " 4 1.5522e+00 3.9370e-01 1.6578e-03 1.1419e-01 6.73683e-02 1.0000 1.1419e-01 3\n", + " 5 6.8516e-01 3.9370e-01 3.4351e-06 2.9143e-02 7.93792e-02 0.5000 2.9143e-02 2\n", + " 6 5.3708e-01 3.9370e-01 2.1255e-06 1.4336e-02 2.20264e-02 0.0020 1.4336e-02 1\n", + " 7 5.3708e-01 3.9370e-01 2.1255e-06 1.4336e-02 2.20799e-02 1.0000 1.4336e-02 1\n", + " 8 4.2793e-01 3.9370e-01 2.5978e-06 3.4199e-03 3.34873e-02 0.2500 4.0895e-03 1\n", + " 9 4.2480e-01 3.9370e-01 2.0978e-06 3.1077e-03 1.25160e-02 0.5000 3.1077e-03 1\n", + " 10 4.2457e-01 3.9370e-01 1.1504e-06 3.0860e-03 3.60327e-03 1.0000 3.0860e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 6.7717e+01 7.1697e-01 6.6163e+00 8.3747e-02 8.86343e-01 1.0000 ---- 3\n", + " 2 1.5692e+01 3.8213e-01 6.0977e-01 9.2120e-01 2.03435e-01 1.0000 1.0071e+00 3\n", + " 3 3.5519e+00 3.8212e-01 3.7346e-04 3.1660e-01 1.74519e-01 0.5000 3.1660e-01 3\n", + " 4 1.9936e+00 3.8212e-01 1.9675e-04 1.6095e-01 9.00271e-02 1.0000 1.6095e-01 3\n", + " 5 9.4745e-01 3.8212e-01 1.0768e-05 5.6522e-02 1.30191e-01 0.2500 5.6522e-02 3\n", + " 6 9.3877e-01 3.8212e-01 8.9091e-06 5.5657e-02 3.96801e-02 1.0000 5.5657e-02 3\n", + " 7 5.8451e-01 3.8212e-01 1.9508e-06 2.0238e-02 6.79570e-02 0.2500 2.0238e-02 3\n", + " 8 5.7044e-01 3.8212e-01 1.5969e-06 1.8830e-02 2.62384e-02 1.0000 1.8830e-02 3\n", + " 9 5.0039e-01 3.8212e-01 4.3045e-07 1.1827e-02 4.89463e-02 0.0020 1.1827e-02 1\n", + " 10 5.0039e-01 3.8212e-01 4.3045e-07 1.1827e-02 4.70608e-02 0.1250 1.1827e-02 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 7.2184e+01 7.0478e-01 7.0111e+00 1.3686e-01 6.67196e-01 1.0000 ---- 3\n", + " 2 1.6067e+01 3.7561e-01 5.3836e-01 1.0308e+00 1.27193e-01 1.0000 1.0308e+00 3\n", + " 3 2.0376e+00 3.7562e-01 3.1259e-04 1.6588e-01 1.34838e-01 0.5000 1.6588e-01 3\n", + " 4 1.9263e+00 3.7561e-01 1.6583e-04 1.5490e-01 1.25776e-01 0.5000 1.5490e-01 3\n", + " 5 1.1852e+00 3.7561e-01 8.8901e-05 8.0865e-02 7.71480e-02 0.5000 8.0865e-02 3\n", + " 6 1.0770e+00 3.7561e-01 4.5938e-05 7.0094e-02 5.02908e-02 0.5000 7.0094e-02 3\n", + " 7 8.5644e-01 3.7561e-01 2.3927e-05 4.8059e-02 3.94938e-02 0.5000 4.8059e-02 3\n", + " 8 7.1387e-01 3.7561e-01 1.2869e-05 3.3813e-02 2.75969e-02 0.5000 3.3813e-02 3\n", + " 9 6.4203e-01 3.7561e-01 6.9373e-06 2.6635e-02 2.43324e-02 0.5000 2.6635e-02 3\n", + " 10 5.9884e-01 3.7561e-01 3.9603e-06 2.2319e-02 2.08454e-02 0.5000 2.2319e-02 3\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 7.5899e+01 6.9755e-01 7.3676e+00 1.5251e-01 5.49139e-01 1.0000 ---- 3\n", + " 2 1.5292e+01 3.7124e-01 4.8435e-01 1.0077e+00 1.43467e-01 1.0000 1.0077e+00 3\n", + " 3 1.3852e+00 3.7125e-01 3.2667e-04 1.0107e-01 1.32616e-01 0.2500 1.0107e-01 3\n", + " 4 1.2067e+00 3.7125e-01 2.4784e-04 8.3300e-02 7.92780e-02 1.0000 8.3300e-02 3\n", + " 5 9.8775e-01 3.7125e-01 1.9857e-05 6.1630e-02 1.14889e-01 0.2500 6.1630e-02 3\n", + " 6 8.9426e-01 3.7125e-01 1.6062e-05 5.2286e-02 4.42895e-02 1.0000 5.2286e-02 3\n", + " 7 6.9227e-01 3.7125e-01 3.2835e-06 3.2099e-02 6.52610e-02 0.2500 3.2099e-02 3\n", + " 8 6.7660e-01 3.7125e-01 2.6938e-06 3.0533e-02 3.72454e-02 1.0000 3.0533e-02 3\n", + " 9 5.0725e-01 3.7125e-01 1.9932e-06 1.3599e-02 6.16674e-02 0.0020 1.3599e-02 1\n", + " 10 5.0725e-01 3.7125e-01 1.9932e-06 1.3599e-02 6.11194e-02 0.2500 1.3599e-02 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 7.5886e+01 6.9288e-01 7.3785e+00 1.4080e-01 5.27663e-01 1.0000 ---- 3\n", + " 2 1.4815e+01 3.6758e-01 4.6454e-01 9.8016e-01 1.15745e-01 1.0000 9.8016e-01 3\n", + " 3 1.0330e+00 3.6759e-01 2.1153e-04 6.6327e-02 9.75645e-02 0.2500 6.6327e-02 3\n", + " 4 8.4887e-01 3.6759e-01 1.6051e-04 4.7968e-02 4.54787e-02 1.0000 4.7968e-02 3\n", + " 5 7.0329e-01 3.6759e-01 1.0690e-05 3.3559e-02 5.14218e-02 0.5000 3.3559e-02 3\n", + " 6 6.3544e-01 3.6759e-01 7.5685e-06 2.6778e-02 1.08289e-02 1.0000 2.6778e-02 3\n", + " 7 3.8279e-01 3.6759e-01 3.7098e-07 1.5205e-03 1.27687e-02 0.2500 1.5791e-03 1\n", + " 8 3.8247e-01 3.6759e-01 3.4098e-07 1.4885e-03 6.00458e-03 1.0000 1.4885e-03 1\n", + " 9 3.7070e-01 3.6759e-01 4.1363e-07 3.1094e-04 6.28003e-03 1.0000 7.7635e-04 1\n", + " 10 3.7027e-01 3.6759e-01 9.5272e-08 2.6798e-04 8.02428e-03 0.0312 8.0596e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 7.5202e+01 6.8925e-01 7.3204e+00 1.3094e-01 5.26186e-01 1.0000 ---- 3\n", + " 2 1.4223e+01 3.6403e-01 4.6247e-01 9.2340e-01 1.21927e-01 1.0000 9.2340e-01 3\n", + " 3 1.2708e+00 3.6404e-01 1.9490e-04 9.0478e-02 1.02941e-01 0.5000 9.0478e-02 3\n", + " 4 1.2316e+00 3.6404e-01 1.0619e-04 8.6652e-02 3.98892e-02 1.0000 8.6652e-02 3\n", + " 5 5.2794e-01 3.6404e-01 4.2989e-06 1.6386e-02 3.98989e-02 1.0000 1.6386e-02 2\n", + " 6 4.6654e-01 3.6404e-01 3.0626e-06 1.0247e-02 6.48239e-02 0.2500 1.0247e-02 3\n", + " 7 4.6455e-01 3.6404e-01 2.8359e-06 1.0048e-02 2.59887e-02 0.5000 1.0048e-02 3\n", + " 8 4.2909e-01 3.6404e-01 1.7838e-06 6.5032e-03 1.00910e-02 1.0000 6.5032e-03 2\n", + " 9 3.7786e-01 3.6404e-01 2.5516e-07 1.3820e-03 1.45263e-02 0.5000 1.3820e-03 1\n", + " 10 3.7698e-01 3.6404e-01 4.0820e-07 1.2941e-03 5.18782e-03 1.0000 1.2941e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 7.4537e+01 6.8572e-01 7.2519e+00 1.3326e-01 5.28586e-01 1.0000 ---- 3\n", + " 2 1.4527e+01 3.6054e-01 4.6437e-01 9.5227e-01 1.40983e-01 1.0000 9.5227e-01 3\n", + " 3 1.8647e+00 3.6054e-01 2.3589e-04 1.5018e-01 1.17873e-01 0.5000 1.5018e-01 3\n", + " 4 1.4550e+00 3.6054e-01 1.2859e-04 1.0932e-01 5.23958e-02 1.0000 1.0932e-01 3\n", + " 5 5.8188e-01 3.6054e-01 7.8096e-06 2.2126e-02 6.08500e-02 0.2500 2.2126e-02 3\n", + " 6 5.4837e-01 3.6054e-01 6.3058e-06 1.8776e-02 2.16021e-02 1.0000 1.8776e-02 3\n", + " 7 3.8197e-01 3.6054e-01 9.1295e-07 2.1418e-03 2.79471e-02 0.0020 2.1723e-03 1\n", + " 8 3.8197e-01 3.6054e-01 9.1295e-07 2.1418e-03 2.78464e-02 0.5000 2.1418e-03 1\n", + " 9 3.7816e-01 3.6054e-01 1.3962e-06 1.7600e-03 9.55660e-03 0.5000 1.7600e-03 1\n", + " 10 3.7645e-01 3.6054e-01 7.3143e-07 1.5894e-03 5.53022e-03 1.0000 1.5894e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 7.3967e+01 6.8221e-01 7.1946e+00 1.3383e-01 5.24461e-01 1.0000 ---- 3\n", + " 2 1.4100e+01 3.5707e-01 4.6379e-01 9.1052e-01 1.29568e-01 1.0000 9.1052e-01 3\n", + " 3 1.3354e+00 3.5708e-01 2.5742e-04 9.7575e-02 1.00310e-01 0.5000 9.7575e-02 3\n", + " 4 1.1108e+00 3.5707e-01 1.3795e-04 7.5232e-02 4.88351e-02 1.0000 7.5232e-02 3\n", + " 5 6.1303e-01 3.5707e-01 6.5081e-06 2.5589e-02 5.32057e-02 0.5000 2.5589e-02 2\n", + " 6 4.6698e-01 3.5707e-01 4.6519e-06 1.0985e-02 2.31543e-02 1.0000 1.0985e-02 3\n", + " 7 4.4379e-01 3.5707e-01 1.6085e-06 8.6697e-03 4.30591e-02 0.0020 8.6768e-03 1\n", + " 8 4.4379e-01 3.5707e-01 1.6085e-06 8.6697e-03 4.18420e-02 0.1250 8.6697e-03 1\n", + " 9 4.3996e-01 3.5707e-01 1.4615e-06 8.2866e-03 2.61283e-02 0.1250 8.2866e-03 1\n", + " 10 4.3901e-01 3.5707e-01 1.3028e-06 8.1919e-03 1.71299e-02 0.5000 8.1919e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 7.3483e+01 6.7873e-01 7.1414e+00 1.3902e-01 5.25588e-01 1.0000 ---- 3\n", + " 2 1.4402e+01 3.5362e-01 4.5970e-01 9.4516e-01 1.28333e-01 1.0000 9.4516e-01 3\n", + " 3 1.2621e+00 3.5363e-01 2.1072e-04 9.0632e-02 1.09804e-01 0.5000 9.0632e-02 3\n", + " 4 1.1555e+00 3.5363e-01 1.1566e-04 8.0071e-02 3.69577e-02 1.0000 8.0071e-02 3\n", + " 5 4.7273e-01 3.5363e-01 4.0065e-06 1.1906e-02 3.63157e-02 1.0000 1.1906e-02 2\n", + " 6 4.5197e-01 3.5363e-01 1.9967e-06 9.8318e-03 5.50975e-02 0.2500 9.8318e-03 2\n", + " 7 4.2619e-01 3.5363e-01 1.7554e-06 7.2541e-03 2.10974e-02 1.0000 7.2541e-03 2\n", + " 8 3.8033e-01 3.5363e-01 7.0588e-07 2.6693e-03 3.48657e-02 0.0020 2.6693e-03 1\n", + " 9 3.8033e-01 3.5363e-01 7.0588e-07 2.6693e-03 3.49883e-02 0.1250 2.6693e-03 1\n", + " 10 3.8011e-01 3.5363e-01 6.6030e-07 2.6480e-03 2.36426e-02 0.0625 2.6480e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 7.2915e+01 6.7527e-01 7.0876e+00 1.3639e-01 5.25782e-01 1.0000 ---- 3\n", + " 2 1.4492e+01 3.5020e-01 4.5649e-01 9.5770e-01 1.22535e-01 1.0000 9.5770e-01 3\n", + " 3 8.3536e-01 3.5020e-01 2.4912e-04 4.8266e-02 1.04438e-01 0.2500 4.8266e-02 3\n", + " 4 7.1787e-01 3.5020e-01 1.8936e-04 3.6577e-02 5.60307e-02 0.5000 3.6577e-02 3\n", + " 5 5.6817e-01 3.5020e-01 9.7709e-05 2.1699e-02 1.37899e-02 1.0000 2.1699e-02 3\n", + " 6 3.7300e-01 3.5020e-01 8.8409e-07 2.2794e-03 1.40081e-02 0.0625 2.7626e-03 1\n", + " 7 3.7294e-01 3.5020e-01 8.2664e-07 2.2734e-03 1.22197e-02 1.0000 2.8333e-03 1\n", + " 8 3.5933e-01 3.5020e-01 9.9463e-07 9.1158e-04 1.81167e-02 0.2500 2.9612e-03 1\n", + " 9 3.5844e-01 3.5020e-01 7.8638e-07 8.2311e-04 7.06214e-03 0.5000 1.5123e-03 1\n", + " 10 3.5710e-01 3.5020e-01 4.2657e-07 6.8982e-04 1.93909e-03 1.0000 7.8701e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 7.2317e+01 6.7184e-01 7.0377e+00 1.2676e-01 5.23972e-01 1.0000 ---- 3\n", + " 2 1.4044e+01 3.4680e-01 4.5172e-01 9.1801e-01 1.20090e-01 1.0000 9.1801e-01 3\n", + " 3 1.0573e+00 3.4680e-01 1.9933e-04 7.0853e-02 1.04723e-01 0.2500 7.0853e-02 3\n", + " 4 8.8972e-01 3.4680e-01 1.5196e-04 5.4140e-02 5.29450e-02 1.0000 5.4140e-02 3\n", + " 5 7.1052e-01 3.4680e-01 1.3056e-05 3.6359e-02 5.88971e-02 0.5000 3.6359e-02 3\n", + " 6 6.9105e-01 3.4680e-01 9.4774e-06 3.4415e-02 1.51957e-02 1.0000 3.4415e-02 3\n", + " 7 3.8738e-01 3.4680e-01 5.5337e-07 4.0576e-03 1.47309e-02 1.0000 4.0576e-03 1\n", + " 8 3.8651e-01 3.4680e-01 1.2403e-06 3.9698e-03 1.55505e-02 1.0000 3.9698e-03 1\n", + " 9 3.6092e-01 3.4680e-01 4.5948e-07 1.4112e-03 2.31085e-02 0.1250 2.2156e-03 1\n", + " 10 3.6007e-01 3.4680e-01 4.0501e-07 1.3268e-03 1.56180e-02 0.0625 1.4603e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 7.1952e+01 6.6844e-01 6.9856e+00 1.4279e-01 5.22673e-01 1.0000 ---- 3\n", + " 2 1.4039e+01 3.4342e-01 4.4788e-01 9.2167e-01 1.11570e-01 1.0000 9.2167e-01 3\n", + " 3 9.8257e-01 3.4342e-01 1.8068e-04 6.3734e-02 9.39655e-02 0.2500 6.3734e-02 3\n", + " 4 8.4458e-01 3.4342e-01 1.3760e-04 4.9978e-02 4.72432e-02 1.0000 4.9978e-02 3\n", + " 5 7.1560e-01 3.4342e-01 1.1125e-05 3.7207e-02 5.37209e-02 0.5000 3.7207e-02 3\n", + " 6 6.8558e-01 3.4342e-01 8.1128e-06 3.4208e-02 1.24737e-02 1.0000 3.4208e-02 3\n", + " 7 3.7153e-01 3.4342e-01 4.0408e-07 2.8106e-03 1.34044e-02 1.0000 2.8106e-03 1\n", + " 8 3.7081e-01 3.4342e-01 1.1756e-06 2.7374e-03 1.37235e-02 1.0000 2.7374e-03 1\n", + " 9 3.5400e-01 3.4342e-01 3.3180e-07 1.0575e-03 2.07562e-02 0.1250 1.9370e-03 1\n", + " 10 3.5355e-01 3.4342e-01 2.8895e-07 1.0121e-03 1.41994e-02 0.1250 1.3728e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 7.1303e+01 6.6506e-01 6.9301e+00 1.3369e-01 5.22020e-01 1.0000 ---- 3\n", + " 2 1.3977e+01 3.4007e-01 4.4469e-01 9.1904e-01 1.12979e-01 1.0000 9.1904e-01 3\n", + " 3 1.0048e+00 3.4007e-01 1.8132e-04 6.6288e-02 9.59281e-02 0.2500 6.6288e-02 3\n", + " 4 8.7216e-01 3.4007e-01 1.3811e-04 5.3071e-02 4.79302e-02 1.0000 5.3071e-02 3\n", + " 5 6.6327e-01 3.4007e-01 1.1134e-05 3.2309e-02 5.40034e-02 0.2500 3.2309e-02 3\n", + " 6 6.0312e-01 3.4007e-01 8.9960e-06 2.6296e-02 2.28588e-02 1.0000 2.6296e-02 3\n", + " 7 4.2816e-01 3.4007e-01 1.9823e-06 8.8070e-03 2.70809e-02 0.5000 8.8070e-03 2\n", + " 8 4.1058e-01 3.4007e-01 1.6043e-06 7.0499e-03 5.93549e-03 1.0000 7.0499e-03 2\n", + " 9 3.4050e-01 3.4007e-01 6.3583e-08 4.2957e-05 8.18475e-03 0.0020 1.1979e-03 1\n", + " 10 3.4050e-01 3.4007e-01 6.3583e-08 4.2957e-05 8.26209e-03 0.5000 1.2791e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 7.0755e+01 6.6171e-01 6.8715e+00 1.3778e-01 5.23141e-01 1.0000 ---- 3\n", + " 2 1.4231e+01 3.3674e-01 4.4181e-01 9.4759e-01 1.16621e-01 1.0000 9.4759e-01 3\n", + " 3 1.0196e+00 3.3674e-01 1.9187e-04 6.8095e-02 1.03354e-01 0.2500 6.8095e-02 3\n", + " 4 8.8089e-01 3.3674e-01 1.4640e-04 5.4268e-02 5.11280e-02 1.0000 5.4268e-02 3\n", + " 5 6.0838e-01 3.3674e-01 1.2642e-05 2.7151e-02 5.73137e-02 0.2500 2.7151e-02 3\n", + " 6 5.6929e-01 3.3674e-01 1.0206e-05 2.3245e-02 2.44167e-02 1.0000 2.3245e-02 3\n", + " 7 4.4111e-01 3.3674e-01 2.2640e-06 1.0434e-02 2.92419e-02 0.5000 1.0434e-02 2\n", + " 8 4.1278e-01 3.3674e-01 1.8270e-06 7.6017e-03 6.38461e-03 1.0000 7.6017e-03 2\n", + " 9 3.3678e-01 3.3674e-01 6.6040e-08 3.8086e-06 8.83114e-03 0.0020 1.3197e-03 1\n", + " 10 3.3678e-01 3.3674e-01 6.6040e-08 3.8086e-06 8.95512e-03 0.5000 1.4125e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 7.0185e+01 6.5839e-01 6.8155e+00 1.3718e-01 5.22870e-01 1.0000 ---- 3\n", + " 2 1.4195e+01 3.3344e-01 4.3919e-01 9.4701e-01 1.16482e-01 1.0000 9.4701e-01 3\n", + " 3 1.0310e+00 3.3345e-01 1.9387e-04 6.9560e-02 1.03204e-01 0.2500 6.9560e-02 3\n", + " 4 8.8604e-01 3.3344e-01 1.4795e-04 5.5112e-02 5.19003e-02 1.0000 5.5112e-02 3\n", + " 5 6.3179e-01 3.3344e-01 1.3109e-05 2.9821e-02 5.89640e-02 0.2500 2.9821e-02 3\n", + " 6 5.8547e-01 3.3344e-01 1.0584e-05 2.5192e-02 2.46339e-02 1.0000 2.5192e-02 3\n", + " 7 4.4100e-01 3.3344e-01 2.2954e-06 1.0753e-02 2.92024e-02 0.2500 1.0753e-02 3\n", + " 8 4.2440e-01 3.3344e-01 1.8955e-06 9.0938e-03 1.59336e-02 1.0000 9.0938e-03 2\n", + " 9 3.4938e-01 3.3344e-01 7.8816e-07 1.5932e-03 2.06517e-02 0.0020 4.1712e-03 1\n", + " 10 3.4938e-01 3.3344e-01 7.8816e-07 1.5932e-03 2.07451e-02 0.5000 1.9334e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 6.9642e+01 6.5511e-01 6.7595e+00 1.3922e-01 5.23115e-01 1.0000 ---- 3\n", + " 2 1.4256e+01 3.3017e-01 4.3639e-01 9.5615e-01 1.18866e-01 1.0000 9.5615e-01 3\n", + " 3 1.0302e+00 3.3018e-01 1.9792e-04 6.9809e-02 1.06866e-01 0.2500 6.9809e-02 3\n", + " 4 8.8408e-01 3.3017e-01 1.5115e-04 5.5239e-02 5.22436e-02 1.0000 5.5239e-02 3\n", + " 5 5.8005e-01 3.3017e-01 1.3285e-05 2.4974e-02 5.82978e-02 0.2500 2.4974e-02 3\n", + " 6 5.4873e-01 3.3017e-01 1.0715e-05 2.1845e-02 2.51754e-02 1.0000 2.1845e-02 3\n", + " 7 4.4367e-01 3.3017e-01 2.4028e-06 1.1347e-02 3.00243e-02 0.5000 1.1347e-02 2\n", + " 8 4.0442e-01 3.3017e-01 1.9321e-06 7.4225e-03 6.61492e-03 0.0020 7.4225e-03 1\n", + " 9 4.0442e-01 3.3017e-01 1.9321e-06 7.4225e-03 6.18808e-03 1.0000 7.4225e-03 1\n", + " 10 3.3414e-01 3.3017e-01 5.3949e-07 3.9617e-04 7.31084e-03 1.0000 7.6223e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 6.9131e+01 6.5186e-01 6.7103e+00 1.3760e-01 5.21805e-01 1.0000 ---- 3\n", + " 2 1.4102e+01 3.2693e-01 4.3348e-01 9.4402e-01 1.11762e-01 1.0000 9.4402e-01 3\n", + " 3 1.0638e+00 3.2693e-01 1.8537e-04 7.3497e-02 9.84251e-02 0.2500 7.3497e-02 3\n", + " 4 9.0570e-01 3.2693e-01 1.4143e-04 5.7735e-02 4.74118e-02 1.0000 5.7735e-02 3\n", + " 5 6.2654e-01 3.2693e-01 1.1647e-05 2.9949e-02 5.23800e-02 0.2500 2.9949e-02 3\n", + " 6 5.7781e-01 3.2693e-01 9.3857e-06 2.5078e-02 2.30389e-02 1.0000 2.5078e-02 3\n", + " 7 4.2877e-01 3.2693e-01 2.1272e-06 1.0181e-02 2.69878e-02 0.5000 1.0181e-02 2\n", + " 8 4.0062e-01 3.2693e-01 1.6810e-06 7.3667e-03 6.17184e-03 0.0020 7.3667e-03 1\n", + " 9 4.0062e-01 3.2693e-01 1.6810e-06 7.3667e-03 6.03923e-03 1.0000 7.3667e-03 1\n", + " 10 3.2963e-01 3.2693e-01 5.0934e-07 2.6966e-04 6.36036e-03 1.0000 7.6587e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 6.8520e+01 6.4863e-01 6.6484e+00 1.3877e-01 5.21016e-01 1.0000 ---- 3\n", + " 2 1.3805e+01 3.2372e-01 4.2998e-01 9.1820e-01 1.14522e-01 1.0000 9.1820e-01 3\n", + " 3 1.2603e+00 3.2372e-01 1.8944e-04 9.3473e-02 1.09043e-01 0.5000 9.3473e-02 3\n", + " 4 1.1944e+00 3.2372e-01 1.0543e-04 8.6960e-02 3.38588e-02 1.0000 8.6960e-02 3\n", + " 5 4.0360e-01 3.2372e-01 3.7713e-06 7.9842e-03 3.50243e-02 0.0020 7.9842e-03 1\n", + " 6 4.0360e-01 3.2372e-01 3.7713e-06 7.9842e-03 3.48975e-02 0.5000 7.9842e-03 1\n", + " 7 3.9062e-01 3.2372e-01 1.7927e-06 6.6881e-03 1.50832e-02 0.5000 6.7942e-03 1\n", + " 8 3.8642e-01 3.2372e-01 1.0090e-06 6.2692e-03 5.17052e-03 1.0000 6.2692e-03 1\n", + " 9 3.4122e-01 3.2372e-01 1.0348e-07 1.7498e-03 9.27587e-03 1.0000 1.7498e-03 1\n", + " 10 3.3828e-01 3.2372e-01 2.4237e-07 1.4552e-03 1.36168e-02 0.0156 3.7865e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 6.7976e+01 6.4544e-01 6.6019e+00 1.3117e-01 5.22119e-01 1.0000 ---- 3\n", + " 2 1.3831e+01 3.2054e-01 4.2625e-01 9.2475e-01 1.27872e-01 1.0000 9.2475e-01 3\n", + " 3 8.3776e-01 3.2054e-01 2.5041e-04 5.1472e-02 1.05092e-01 0.5000 5.1472e-02 3\n", + " 4 8.2571e-01 3.2054e-01 1.3546e-04 5.0381e-02 3.28858e-02 1.0000 5.0381e-02 3\n", + " 5 3.9087e-01 3.2054e-01 3.4439e-06 7.0294e-03 3.27358e-02 0.0020 7.3781e-03 1\n", + " 6 3.9087e-01 3.2054e-01 3.4439e-06 7.0294e-03 3.25496e-02 0.5000 7.8510e-03 1\n", + " 7 3.6926e-01 3.2054e-01 1.4826e-06 4.8709e-03 1.03763e-02 1.0000 4.8709e-03 1\n", + " 8 3.5430e-01 3.2054e-01 4.2469e-07 3.3758e-03 1.39287e-02 1.0000 3.3758e-03 1\n", + " 9 3.5267e-01 3.2054e-01 5.0909e-07 3.2129e-03 2.30111e-02 0.1250 3.2129e-03 1\n", + " 10 3.5232e-01 3.2054e-01 4.6464e-07 3.1777e-03 1.55044e-02 0.5000 3.1777e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 6.7481e+01 6.4229e-01 6.5437e+00 1.4018e-01 5.21677e-01 1.0000 ---- 3\n", + " 2 1.4019e+01 3.1739e-01 4.2338e-01 9.4681e-01 1.18965e-01 1.0000 9.4681e-01 3\n", + " 3 1.0034e+00 3.1739e-01 2.2971e-04 6.8370e-02 1.03857e-01 0.2500 6.8370e-02 3\n", + " 4 8.4523e-01 3.1739e-01 1.7497e-04 5.2609e-02 5.80501e-02 1.0000 5.2609e-02 3\n", + " 5 6.6042e-01 3.1739e-01 1.6309e-05 3.4287e-02 6.92221e-02 0.2500 3.4287e-02 3\n", + " 6 5.9891e-01 3.1739e-01 1.3167e-05 2.8139e-02 2.71589e-02 1.0000 2.8139e-02 3\n", + " 7 4.6967e-01 3.1739e-01 2.6739e-06 1.5225e-02 3.14560e-02 0.2500 1.5225e-02 3\n", + " 8 4.4489e-01 3.1739e-01 2.2039e-06 1.2748e-02 1.81493e-02 1.0000 1.2748e-02 3\n", + " 9 3.5723e-01 3.1739e-01 1.0056e-06 3.9832e-03 2.64955e-02 0.0078 3.9832e-03 1\n", + " 10 3.5722e-01 3.1739e-01 9.9777e-07 3.9824e-03 2.58039e-02 0.2500 3.9824e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 6.6893e+01 6.3917e-01 6.4811e+00 1.4427e-01 5.20729e-01 1.0000 ---- 3\n", + " 2 1.4321e+01 3.1427e-01 4.2002e-01 9.8064e-01 1.12275e-01 1.0000 9.8064e-01 3\n", + " 3 1.0306e+00 3.1428e-01 2.0747e-04 7.1425e-02 9.78261e-02 0.5000 7.1425e-02 3\n", + " 4 1.0190e+00 3.1427e-01 1.1398e-04 7.0354e-02 2.00481e-02 1.0000 7.0354e-02 3\n", + " 5 3.3670e-01 3.1427e-01 2.0113e-06 2.2401e-03 2.07814e-02 0.5000 2.8302e-03 1\n", + " 6 3.3667e-01 3.1427e-01 8.2648e-07 2.2391e-03 3.98138e-03 1.0000 2.2391e-03 1\n", + " 7 3.1718e-01 3.1427e-01 7.7379e-08 2.9082e-04 4.67011e-03 0.5000 7.7166e-04 1\n", + " 8 3.1497e-01 3.1427e-01 4.0012e-08 6.9333e-05 1.14301e-03 0.5000 7.7825e-04 1\n", + " 9 3.1481e-01 3.1427e-01 2.0714e-08 5.3432e-05 2.81756e-04 1.0000 7.7596e-04 1\n", + " 10 3.1435e-01 3.1427e-01 1.3808e-10 7.7495e-06 4.82925e-04 0.5000 7.7691e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 6.6158e+01 6.3609e-01 6.4258e+00 1.2633e-01 5.21648e-01 1.0000 ---- 3\n", + " 2 1.3999e+01 3.1119e-01 4.1746e-01 9.5129e-01 1.14847e-01 1.0000 9.5129e-01 3\n", + " 3 1.0363e+00 3.1119e-01 2.0245e-04 7.2304e-02 1.03501e-01 0.2500 7.2304e-02 3\n", + " 4 8.7555e-01 3.1119e-01 1.5450e-04 5.6281e-02 4.90014e-02 1.0000 5.6281e-02 3\n", + " 5 5.2078e-01 3.1119e-01 1.2722e-05 2.0947e-02 5.36698e-02 0.2500 2.0947e-02 3\n", + " 6 5.0998e-01 3.1119e-01 1.0221e-05 1.9869e-02 2.41211e-02 1.0000 1.9869e-02 3\n", + " 7 4.2618e-01 3.1119e-01 2.3069e-06 1.1497e-02 2.77183e-02 0.0039 1.1497e-02 1\n", + " 8 4.2618e-01 3.1119e-01 2.2979e-06 1.1497e-02 2.74630e-02 0.2500 1.1497e-02 1\n", + " 9 4.1557e-01 3.1119e-01 1.9966e-06 1.0436e-02 1.22334e-02 0.5000 1.0436e-02 1\n", + " 10 4.0639e-01 3.1119e-01 1.2468e-06 9.5185e-03 2.10849e-03 1.0000 9.5185e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 6.5738e+01 6.3304e-01 6.3656e+00 1.4488e-01 5.22026e-01 1.0000 ---- 3\n", + " 2 1.4176e+01 3.0814e-01 4.1452e-01 9.7229e-01 1.15897e-01 1.0000 9.7229e-01 3\n", + " 3 1.0368e+00 3.0814e-01 1.9980e-04 7.2670e-02 1.05305e-01 0.5000 7.2670e-02 3\n", + " 4 1.0102e+00 3.0814e-01 1.1079e-04 7.0098e-02 1.82930e-02 1.0000 7.0098e-02 3\n", + " 5 3.2387e-01 3.0814e-01 1.9666e-06 1.5705e-03 1.99974e-02 0.2500 2.1321e-03 1\n", + " 6 3.2325e-01 3.0814e-01 1.4150e-06 1.5098e-03 9.21653e-03 1.0000 1.5282e-03 1\n", + " 7 3.1391e-01 3.0814e-01 4.8325e-07 5.7632e-04 1.00852e-02 0.2500 1.7167e-03 1\n", + " 8 3.1329e-01 3.0814e-01 3.8248e-07 5.1413e-04 4.43466e-03 1.0000 1.0000e-03 1\n", + " 9 3.1276e-01 3.0814e-01 6.0092e-08 4.6211e-04 5.42408e-03 0.5000 7.6078e-04 1\n", + " 10 3.1199e-01 3.0814e-01 5.2766e-08 3.8480e-04 1.18608e-03 1.0000 8.4480e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 6.4993e+01 6.3003e-01 6.3066e+00 1.2967e-01 5.21987e-01 1.0000 ---- 3\n", + " 2 1.4066e+01 3.0512e-01 4.1173e-01 9.6431e-01 1.16375e-01 1.0000 9.6431e-01 3\n", + " 3 1.0367e+00 3.0513e-01 2.0525e-04 7.2950e-02 1.04757e-01 0.5000 7.2950e-02 3\n", + " 4 1.0071e+00 3.0512e-01 1.1368e-04 7.0083e-02 2.11556e-02 1.0000 7.0083e-02 3\n", + " 5 3.3569e-01 3.0512e-01 2.1576e-06 3.0545e-03 2.19285e-02 0.0625 3.6659e-03 1\n", + " 6 3.3557e-01 3.0512e-01 2.0188e-06 3.0427e-03 1.88278e-02 0.5000 3.7309e-03 1\n", + " 7 3.2941e-01 3.0512e-01 8.4751e-07 2.4281e-03 4.69569e-03 1.0000 3.2305e-03 1\n", + " 8 3.1804e-01 3.0512e-01 9.0734e-08 1.2918e-03 5.75157e-03 1.0000 1.4700e-03 1\n", + " 9 3.1117e-01 3.0512e-01 5.9732e-08 6.0410e-04 9.38314e-03 0.5000 8.7179e-04 1\n", + " 10 3.1110e-01 3.0512e-01 7.3481e-08 5.9702e-04 2.40634e-03 1.0000 9.8784e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 6.4491e+01 6.2706e-01 6.2483e+00 1.3814e-01 5.22011e-01 1.0000 ---- 3\n", + " 2 1.4083e+01 3.0214e-01 4.0883e-01 9.6921e-01 1.14846e-01 1.0000 9.6921e-01 3\n", + " 3 1.0729e+00 3.0215e-01 2.0589e-04 7.6872e-02 1.03247e-01 0.5000 7.6872e-02 3\n", + " 4 1.0490e+00 3.0214e-01 1.1389e-04 7.4574e-02 2.07810e-02 1.0000 7.4574e-02 3\n", + " 5 3.2633e-01 3.0214e-01 2.0664e-06 2.4168e-03 2.14969e-02 0.0625 3.4058e-03 1\n", + " 6 3.2630e-01 3.0214e-01 1.9337e-06 2.4141e-03 1.84598e-02 0.5000 3.4431e-03 1\n", + " 7 3.2296e-01 3.0214e-01 8.2280e-07 2.0811e-03 4.42245e-03 1.0000 2.7759e-03 1\n", + " 8 3.1415e-01 3.0214e-01 8.0990e-08 1.2006e-03 5.38296e-03 1.0000 1.6703e-03 1\n", + " 9 3.0817e-01 3.0214e-01 5.7085e-08 6.0226e-04 8.64178e-03 0.5000 8.4502e-04 1\n", + " 10 3.0766e-01 3.0214e-01 6.7244e-08 5.5153e-04 2.15617e-03 1.0000 1.1322e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 6.3863e+01 6.2413e-01 6.1903e+00 1.3368e-01 5.21978e-01 1.0000 ---- 3\n", + " 2 1.4036e+01 2.9920e-01 4.0592e-01 9.6774e-01 1.14145e-01 1.0000 9.6774e-01 3\n", + " 3 1.0549e+00 2.9920e-01 2.0438e-04 7.5362e-02 1.02681e-01 0.5000 7.5362e-02 3\n", + " 4 1.0310e+00 2.9920e-01 1.1304e-04 7.3066e-02 1.88808e-02 1.0000 7.3066e-02 3\n", + " 5 3.2211e-01 2.9920e-01 1.8872e-06 2.2889e-03 2.01185e-02 0.0625 2.8144e-03 1\n", + " 6 3.2206e-01 2.9920e-01 1.7659e-06 2.2838e-03 1.72862e-02 0.5000 2.4575e-03 1\n", + " 7 3.1842e-01 2.9920e-01 7.4126e-07 1.9213e-03 3.85789e-03 1.0000 3.0362e-03 1\n", + " 8 3.0986e-01 2.9920e-01 6.6246e-08 1.0659e-03 4.55019e-03 1.0000 1.5313e-03 1\n", + " 9 3.0364e-01 2.9920e-01 4.4578e-08 4.4397e-04 6.85716e-03 0.5000 7.7846e-04 1\n", + " 10 3.0292e-01 2.9920e-01 4.9069e-08 3.7172e-04 1.56759e-03 1.0000 1.0140e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 6.3303e+01 6.2124e-01 6.1326e+00 1.3560e-01 5.22111e-01 1.0000 ---- 3\n", + " 2 1.4051e+01 2.9629e-01 4.0286e-01 9.7262e-01 1.13669e-01 1.0000 9.7262e-01 3\n", + " 3 1.0356e+00 2.9629e-01 2.0158e-04 7.3732e-02 1.02586e-01 0.5000 7.3732e-02 3\n", + " 4 9.9326e-01 2.9629e-01 1.1151e-04 6.9586e-02 1.63809e-02 1.0000 6.9586e-02 3\n", + " 5 3.1447e-01 2.9629e-01 1.7546e-06 1.8160e-03 1.86258e-02 0.0625 2.8381e-03 1\n", + " 6 3.1443e-01 2.9629e-01 1.6414e-06 1.8119e-03 1.60397e-02 0.5000 1.8119e-03 1\n", + " 7 3.1256e-01 2.9629e-01 6.6215e-07 1.6261e-03 3.14599e-03 1.0000 3.0362e-03 1\n", + " 8 3.0570e-01 2.9629e-01 5.1090e-08 9.4045e-04 3.54191e-03 1.0000 1.4989e-03 1\n", + " 9 3.0088e-01 2.9629e-01 3.6269e-08 4.5823e-04 4.80190e-03 0.5000 7.7645e-04 1\n", + " 10 3.0009e-01 2.9629e-01 3.6718e-08 3.8005e-04 9.32216e-04 1.0000 9.9012e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 6.2711e+01 6.1839e-01 6.0747e+00 1.3459e-01 5.22198e-01 1.0000 ---- 3\n", + " 2 1.4070e+01 2.9342e-01 3.9974e-01 9.7792e-01 1.13420e-01 1.0000 9.7792e-01 3\n", + " 3 1.0293e+00 2.9342e-01 1.9664e-04 7.3391e-02 1.02554e-01 0.5000 7.3391e-02 3\n", + " 4 9.9155e-01 2.9342e-01 1.0881e-04 6.9704e-02 1.56327e-02 1.0000 6.9704e-02 3\n", + " 5 3.0142e-01 2.9342e-01 1.7016e-06 7.9798e-04 1.83871e-02 0.2500 7.9798e-04 1\n", + " 6 3.0109e-01 2.9342e-01 1.2245e-06 7.6520e-04 8.42890e-03 1.0000 7.6520e-04 1\n", + " 7 2.9812e-01 2.9342e-01 3.9094e-07 4.6959e-04 9.72593e-03 0.1250 1.6766e-03 1\n", + " 8 2.9805e-01 2.9342e-01 3.4653e-07 4.6224e-04 6.95803e-03 0.5000 7.8705e-04 1\n", + " 9 2.9773e-01 2.9342e-01 2.0952e-07 4.3035e-04 1.22163e-03 1.0000 1.1018e-03 1\n", + " 10 2.9561e-01 2.9342e-01 3.5318e-09 2.1916e-04 1.56414e-03 1.0000 7.7084e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 6.2123e+01 6.1557e-01 6.0158e+00 1.3490e-01 5.22754e-01 1.0000 ---- 3\n", + " 2 1.4199e+01 2.9059e-01 3.9656e-01 9.9427e-01 1.15341e-01 1.0000 9.9427e-01 3\n", + " 3 1.0107e+00 2.9059e-01 2.0093e-04 7.1812e-02 1.05250e-01 0.5000 7.1812e-02 3\n", + " 4 9.3697e-01 2.9059e-01 1.1141e-04 6.4527e-02 1.60261e-02 1.0000 6.4527e-02 3\n", + " 5 3.0046e-01 2.9059e-01 1.7443e-06 9.8526e-04 1.88110e-02 0.0625 9.8526e-04 1\n", + " 6 3.0043e-01 2.9059e-01 1.6318e-06 9.8186e-04 1.62490e-02 0.1250 9.8186e-04 1\n", + " 7 2.9973e-01 2.9059e-01 1.4171e-06 9.1267e-04 1.18313e-02 0.1250 9.1267e-04 1\n", + " 8 2.9939e-01 2.9059e-01 1.2340e-06 8.7909e-04 8.65773e-03 0.5000 8.7909e-04 1\n", + " 9 2.9873e-01 2.9059e-01 5.6317e-07 8.1363e-04 1.76731e-03 1.0000 8.1363e-04 1\n", + " 10 2.9451e-01 2.9059e-01 2.4934e-08 3.9232e-04 1.80203e-03 1.0000 7.6526e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 6.1613e+01 6.1280e-01 5.9654e+00 1.3469e-01 5.22413e-01 1.0000 ---- 3\n", + " 2 1.4096e+01 2.8779e-01 3.9316e-01 9.8762e-01 1.12685e-01 1.0000 9.8762e-01 3\n", + " 3 1.0271e+00 2.8780e-01 1.9437e-04 7.3732e-02 1.01764e-01 0.5000 7.3732e-02 3\n", + " 4 9.6959e-01 2.8780e-01 1.0746e-04 6.8071e-02 1.55186e-02 1.0000 6.8071e-02 3\n", + " 5 2.9706e-01 2.8780e-01 1.6798e-06 9.2471e-04 1.82458e-02 0.2500 9.2471e-04 1\n", + " 6 2.9615e-01 2.8780e-01 1.2114e-06 8.3413e-04 8.39983e-03 1.0000 8.3413e-04 1\n", + " 7 2.9467e-01 2.8780e-01 3.7096e-07 6.8665e-04 9.59454e-03 0.0625 1.5930e-03 1\n", + " 8 2.9466e-01 2.8780e-01 3.4884e-07 6.8609e-04 8.24111e-03 0.2500 7.8777e-04 1\n", + " 9 2.9417e-01 2.8780e-01 2.7404e-07 6.3733e-04 3.58103e-03 1.0000 8.9663e-04 1\n", + " 10 2.9374e-01 2.8780e-01 3.6937e-08 5.9385e-04 4.47254e-03 0.5000 7.5626e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 6.1306e+01 6.1008e-01 5.9346e+00 1.3499e-01 5.22749e-01 1.0000 ---- 3\n", + " 2 1.4147e+01 2.8504e-01 3.8990e-01 9.9626e-01 1.13729e-01 1.0000 9.9626e-01 3\n", + " 3 1.0248e+00 2.8505e-01 1.9726e-04 7.3777e-02 1.03019e-01 0.5000 7.3777e-02 3\n", + " 4 9.5326e-01 2.8504e-01 1.0916e-04 6.6712e-02 1.61453e-02 1.0000 6.6712e-02 3\n", + " 5 2.9377e-01 2.8504e-01 1.7705e-06 8.7124e-04 1.85905e-02 0.0625 8.7124e-04 1\n", + " 6 2.9361e-01 2.8504e-01 1.6567e-06 8.5495e-04 1.60806e-02 0.2500 9.3778e-04 1\n", + " 7 2.9332e-01 2.8504e-01 1.2052e-06 8.2653e-04 7.40608e-03 0.5000 9.1157e-04 1\n", + " 8 2.9217e-01 2.8504e-01 5.6800e-07 7.1246e-04 1.63111e-03 1.0000 7.5519e-04 1\n", + " 9 2.8702e-01 2.8504e-01 2.3281e-08 1.9723e-04 1.60076e-03 0.5000 7.6428e-04 1\n", + " 10 2.8636e-01 2.8504e-01 1.1254e-08 1.3195e-04 3.73658e-04 1.0000 7.6657e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 6.0987e+01 6.0739e-01 5.9035e+00 1.3440e-01 5.23103e-01 1.0000 ---- 3\n", + " 2 1.4200e+01 2.8233e-01 3.8660e-01 1.0051e+00 1.14614e-01 1.0000 1.0051e+00 3\n", + " 3 1.0189e+00 2.8233e-01 2.0220e-04 7.3456e-02 1.04007e-01 0.5000 7.3456e-02 3\n", + " 4 9.3357e-01 2.8233e-01 1.1191e-04 6.5012e-02 1.62628e-02 1.0000 6.5012e-02 3\n", + " 5 2.9506e-01 2.8233e-01 1.7498e-06 1.2709e-03 1.87383e-02 0.0625 1.6505e-03 1\n", + " 6 2.9499e-01 2.8233e-01 1.6371e-06 1.2644e-03 1.61438e-02 0.2500 1.2644e-03 1\n", + " 7 2.9384e-01 2.8233e-01 1.1884e-06 1.1499e-03 7.52132e-03 0.5000 1.1499e-03 1\n", + " 8 2.9289e-01 2.8233e-01 5.5593e-07 1.0550e-03 1.49994e-03 1.0000 1.0550e-03 1\n", + " 9 2.8494e-01 2.8233e-01 2.2009e-08 2.6045e-04 1.40366e-03 1.0000 7.6313e-04 1\n", + " 10 2.8373e-01 2.8233e-01 5.2842e-09 1.3945e-04 1.83982e-03 0.2500 7.6812e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 6.0678e+01 6.0475e-01 5.8728e+00 1.3456e-01 5.23206e-01 1.0000 ---- 3\n", + " 2 1.4200e+01 2.7965e-01 3.8335e-01 1.0087e+00 1.13818e-01 1.0000 1.0087e+00 3\n", + " 3 1.0192e+00 2.7966e-01 1.9793e-04 7.3760e-02 1.03221e-01 0.5000 7.3760e-02 3\n", + " 4 9.3132e-01 2.7966e-01 1.0950e-04 6.5057e-02 1.57165e-02 1.0000 6.5057e-02 3\n", + " 5 2.9682e-01 2.7966e-01 1.6826e-06 1.7150e-03 1.84179e-02 0.0312 2.0786e-03 1\n", + " 6 2.9682e-01 2.7966e-01 1.6292e-06 1.7148e-03 1.71603e-02 0.2500 1.7148e-03 1\n", + " 7 2.9617e-01 2.7966e-01 1.1777e-06 1.6502e-03 7.90075e-03 0.5000 1.6502e-03 1\n", + " 8 2.9433e-01 2.7966e-01 5.4711e-07 1.4671e-03 1.59100e-03 1.0000 1.4671e-03 1\n", + " 9 2.8287e-01 2.7966e-01 2.2481e-08 3.2165e-04 1.49593e-03 1.0000 7.6221e-04 1\n", + " 10 2.8047e-01 2.7966e-01 6.2263e-09 8.1328e-05 1.92776e-03 0.1250 7.6715e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 6.0360e+01 6.0215e-01 5.8414e+00 1.3435e-01 5.23354e-01 1.0000 ---- 3\n", + " 2 1.4197e+01 2.7702e-01 3.8024e-01 1.0118e+00 1.13534e-01 1.0000 1.0118e+00 3\n", + " 3 1.0194e+00 2.7703e-01 1.9832e-04 7.4035e-02 1.02817e-01 0.5000 7.4035e-02 3\n", + " 4 9.3032e-01 2.7703e-01 1.0960e-04 6.5220e-02 1.57477e-02 1.0000 6.5220e-02 3\n", + " 5 2.9592e-01 2.7703e-01 1.7007e-06 1.8876e-03 1.83880e-02 0.0312 2.0569e-03 1\n", + " 6 2.9587e-01 2.7703e-01 1.6468e-06 1.8831e-03 1.71413e-02 0.2500 1.8831e-03 1\n", + " 7 2.9504e-01 2.7703e-01 1.1930e-06 1.8004e-03 7.89606e-03 1.0000 1.8004e-03 1\n", + " 8 2.9488e-01 2.7703e-01 3.1538e-07 1.7845e-03 9.02592e-03 0.5000 1.7845e-03 1\n", + " 9 2.9429e-01 2.7703e-01 2.1664e-07 1.7259e-03 1.58609e-03 1.0000 1.7259e-03 1\n", + " 10 2.8376e-01 2.7703e-01 6.3871e-09 6.7355e-04 2.05580e-03 1.0000 7.6605e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 6.0044e+01 5.9960e-01 5.8099e+00 1.3458e-01 5.24109e-01 1.0000 ---- 3\n", + " 2 1.4360e+01 2.7443e-01 3.7716e-01 1.0314e+00 1.16229e-01 1.0000 1.0314e+00 3\n", + " 3 9.9187e-01 2.7444e-01 2.1005e-04 7.1533e-02 1.06259e-01 0.5000 7.1533e-02 3\n", + " 4 9.0149e-01 2.7444e-01 1.1622e-04 6.2589e-02 1.73366e-02 1.0000 6.2589e-02 3\n", + " 5 2.8760e-01 2.7444e-01 1.8927e-06 1.3144e-03 1.93603e-02 0.0625 2.1530e-03 1\n", + " 6 2.8753e-01 2.7444e-01 1.7708e-06 1.3075e-03 1.66707e-02 0.5000 1.4761e-03 1\n", + " 7 2.8718e-01 2.7444e-01 7.2520e-07 1.2732e-03 3.58655e-03 1.0000 2.6326e-03 1\n", + " 8 2.8271e-01 2.7444e-01 5.9007e-08 8.2762e-04 4.19520e-03 1.0000 1.4085e-03 1\n", + " 9 2.7921e-01 2.7444e-01 3.9448e-08 4.7694e-04 6.06405e-03 0.5000 7.7340e-04 1\n", + " 10 2.7866e-01 2.7444e-01 4.0465e-08 4.2208e-04 1.29919e-03 1.0000 7.5849e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.9732e+01 5.9709e-01 5.7780e+00 1.3541e-01 5.24054e-01 1.0000 ---- 3\n", + " 2 1.4273e+01 2.7189e-01 3.7389e-01 1.0263e+00 1.14160e-01 1.0000 1.0263e+00 3\n", + " 3 1.0031e+00 2.7189e-01 2.0770e-04 7.2914e-02 1.03733e-01 0.5000 7.2914e-02 3\n", + " 4 9.3530e-01 2.7189e-01 1.1465e-04 6.6226e-02 1.78678e-02 1.0000 6.6226e-02 3\n", + " 5 2.8287e-01 2.7189e-01 1.9110e-06 1.0961e-03 1.96640e-02 0.2500 2.0769e-03 1\n", + " 6 2.8280e-01 2.7189e-01 1.3848e-06 1.0898e-03 9.03433e-03 1.0000 1.4106e-03 1\n", + " 7 2.7480e-01 2.7189e-01 3.7739e-07 2.9050e-04 9.90443e-03 0.2500 9.4132e-04 1\n", + " 8 2.7464e-01 2.7189e-01 2.9993e-07 2.7432e-04 4.37906e-03 0.2500 7.7244e-04 1\n", + " 9 2.7450e-01 2.7189e-01 2.2794e-07 2.6097e-04 2.01491e-03 1.0000 7.6657e-04 1\n", + " 10 2.7289e-01 2.7189e-01 1.0455e-08 9.9609e-05 2.34030e-03 0.5000 7.5537e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.9401e+01 5.9463e-01 5.7459e+00 1.3477e-01 5.24332e-01 1.0000 ---- 3\n", + " 2 1.4327e+01 2.6939e-01 3.7083e-01 1.0350e+00 1.15200e-01 1.0000 1.0350e+00 3\n", + " 3 9.9047e-01 2.6939e-01 2.1215e-04 7.1896e-02 1.04658e-01 0.5000 7.1896e-02 3\n", + " 4 9.2871e-01 2.6939e-01 1.1708e-04 6.5815e-02 1.76375e-02 1.0000 6.5815e-02 3\n", + " 5 2.8062e-01 2.6939e-01 1.8684e-06 1.1211e-03 1.94122e-02 0.5000 1.7549e-03 1\n", + " 6 2.8024e-01 2.6939e-01 7.5338e-07 1.0845e-03 3.88476e-03 1.0000 1.0845e-03 1\n", + " 7 2.7261e-01 2.6939e-01 6.6738e-08 3.2180e-04 4.63281e-03 0.5000 1.0582e-03 1\n", + " 8 2.7243e-01 2.6939e-01 4.3649e-08 3.0387e-04 1.12260e-03 1.0000 9.1301e-04 1\n", + " 9 2.7084e-01 2.6939e-01 2.7690e-09 1.4513e-04 1.46563e-03 0.5000 7.5681e-04 1\n", + " 10 2.7045e-01 2.6939e-01 2.2980e-09 1.0577e-04 4.01056e-04 1.0000 7.6093e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.9075e+01 5.9222e-01 5.7135e+00 1.3475e-01 5.24684e-01 1.0000 ---- 3\n", + " 2 1.4349e+01 2.6693e-01 3.6755e-01 1.0406e+00 1.15513e-01 1.0000 1.0406e+00 3\n", + " 3 9.8493e-01 2.6693e-01 2.1236e-04 7.1588e-02 1.04656e-01 0.5000 7.1588e-02 3\n", + " 4 8.9879e-01 2.6693e-01 1.1713e-04 6.3068e-02 1.88952e-02 1.0000 6.3068e-02 3\n", + " 5 2.8444e-01 2.6693e-01 2.0298e-06 1.7489e-03 2.04676e-02 0.0625 2.6608e-03 1\n", + " 6 2.8438e-01 2.6693e-01 1.8998e-06 1.7434e-03 1.76052e-02 0.5000 2.5778e-03 1\n", + " 7 2.8254e-01 2.6693e-01 8.1306e-07 1.5601e-03 4.26153e-03 1.0000 2.7763e-03 1\n", + " 8 2.7607e-01 2.6693e-01 7.5222e-08 9.1358e-04 4.89936e-03 1.0000 1.3685e-03 1\n", + " 9 2.7018e-01 2.6693e-01 4.7566e-08 3.2456e-04 7.70676e-03 0.5000 7.8294e-04 1\n", + " 10 2.7008e-01 2.6693e-01 5.3470e-08 3.1500e-04 1.75381e-03 1.0000 9.1665e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.8743e+01 5.8986e-01 5.6807e+00 1.3458e-01 5.25077e-01 1.0000 ---- 3\n", + " 2 1.4330e+01 2.6451e-01 3.6437e-01 1.0421e+00 1.14566e-01 1.0000 1.0421e+00 3\n", + " 3 9.9714e-01 2.6452e-01 2.1168e-04 7.3050e-02 1.03959e-01 0.5000 7.3050e-02 3\n", + " 4 9.3302e-01 2.6452e-01 1.1689e-04 6.6733e-02 1.77354e-02 1.0000 6.6733e-02 3\n", + " 5 2.7498e-01 2.6452e-01 1.8936e-06 1.0441e-03 1.96333e-02 0.2500 1.8980e-03 1\n", + " 6 2.7451e-01 2.6452e-01 1.3736e-06 9.9763e-04 9.06220e-03 1.0000 1.2427e-03 1\n", + " 7 2.7116e-01 2.6452e-01 3.6609e-07 6.6366e-04 9.85224e-03 0.2500 2.1110e-03 1\n", + " 8 2.7084e-01 2.6452e-01 2.9138e-07 6.3148e-04 4.39221e-03 1.0000 1.2665e-03 1\n", + " 9 2.6846e-01 2.6452e-01 5.2738e-08 3.9426e-04 5.30322e-03 0.5000 7.4586e-04 1\n", + " 10 2.6746e-01 2.6452e-01 4.7023e-08 2.9389e-04 1.07345e-03 1.0000 8.5942e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.8408e+01 5.8754e-01 5.6468e+00 1.3527e-01 5.25569e-01 1.0000 ---- 3\n", + " 2 1.4467e+01 2.6215e-01 3.6154e-01 1.0589e+00 1.16230e-01 1.0000 1.0589e+00 3\n", + " 3 9.8275e-01 2.6215e-01 2.1322e-04 7.1846e-02 1.05997e-01 0.5000 7.1846e-02 3\n", + " 4 9.0929e-01 2.6215e-01 1.1795e-04 6.4596e-02 1.65189e-02 1.0000 6.4596e-02 3\n", + " 5 2.7723e-01 2.6215e-01 1.7841e-06 1.5060e-03 1.90225e-02 0.0625 2.5626e-03 1\n", + " 6 2.7713e-01 2.6215e-01 1.6693e-06 1.4960e-03 1.64682e-02 0.5000 1.4960e-03 1\n", + " 7 2.7624e-01 2.6215e-01 6.8149e-07 1.4087e-03 3.01009e-03 1.0000 2.8985e-03 1\n", + " 8 2.7075e-01 2.6215e-01 4.8435e-08 8.5986e-04 3.28487e-03 1.0000 1.3913e-03 1\n", + " 9 2.6635e-01 2.6215e-01 3.3069e-08 4.1971e-04 4.41882e-03 0.5000 7.6734e-04 1\n", + " 10 2.6556e-01 2.6215e-01 3.3030e-08 3.4112e-04 8.52445e-04 1.0000 9.1389e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.8063e+01 5.8527e-01 5.6132e+00 1.3453e-01 5.25866e-01 1.0000 ---- 3\n", + " 2 1.4455e+01 2.5983e-01 3.5847e-01 1.0611e+00 1.14903e-01 1.0000 1.0611e+00 3\n", + " 3 9.7908e-01 2.5983e-01 2.0740e-04 7.1717e-02 1.04379e-01 0.5000 7.1717e-02 3\n", + " 4 9.1271e-01 2.5983e-01 1.1450e-04 6.5173e-02 1.65480e-02 1.0000 6.5173e-02 3\n", + " 5 2.6799e-01 2.5983e-01 1.8287e-06 8.1388e-04 1.89019e-02 0.5000 1.1866e-03 1\n", + " 6 2.6684e-01 2.5983e-01 7.4322e-07 7.0036e-04 3.96624e-03 1.0000 7.4262e-04 1\n", + " 7 2.6124e-01 2.5983e-01 7.2985e-08 1.4060e-04 4.71287e-03 0.5000 7.5172e-04 1\n", + " 8 2.6058e-01 2.5983e-01 4.8500e-08 7.4843e-05 9.46959e-04 0.5000 7.5827e-04 1\n", + " 9 2.6058e-01 2.5983e-01 2.4751e-08 7.4542e-05 2.47129e-04 1.0000 7.5609e-04 1\n", + " 10 2.5991e-01 2.5983e-01 1.9822e-10 7.5296e-06 3.08207e-04 0.2500 7.5691e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.7726e+01 5.8306e-01 5.5797e+00 1.3453e-01 5.26442e-01 1.0000 ---- 3\n", + " 2 1.4552e+01 2.5755e-01 3.5549e-01 1.0740e+00 1.15908e-01 1.0000 1.0740e+00 3\n", + " 3 9.7397e-01 2.5756e-01 2.1474e-04 7.1427e-02 1.05155e-01 0.5000 7.1427e-02 3\n", + " 4 9.1092e-01 2.5756e-01 1.1865e-04 6.5218e-02 1.83172e-02 1.0000 6.5218e-02 3\n", + " 5 2.7047e-01 2.5756e-01 2.0034e-06 1.2890e-03 2.01216e-02 0.0156 2.3150e-03 1\n", + " 6 2.7046e-01 2.5756e-01 1.9719e-06 1.2886e-03 1.93339e-02 0.2500 2.4589e-03 1\n", + " 7 2.6935e-01 2.5756e-01 1.4348e-06 1.1777e-03 9.01427e-03 1.0000 1.4411e-03 1\n", + " 8 2.6873e-01 2.5756e-01 3.4441e-07 1.1174e-03 9.75389e-03 0.5000 2.0860e-03 1\n", + " 9 2.6709e-01 2.5756e-01 2.3469e-07 9.5263e-04 1.90600e-03 1.0000 1.9302e-03 1\n", + " 10 2.6143e-01 2.5756e-01 8.4875e-09 3.8697e-04 2.73136e-03 1.0000 7.5952e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.7307e+01 5.8089e-01 5.5387e+00 1.3395e-01 5.27899e-01 1.0000 ---- 3\n", + " 2 1.4648e+01 2.5533e-01 3.5262e-01 1.0866e+00 1.18263e-01 1.0000 1.0866e+00 3\n", + " 3 9.6364e-01 2.5533e-01 2.2385e-04 7.0607e-02 1.07913e-01 0.5000 7.0607e-02 3\n", + " 4 9.0249e-01 2.5533e-01 1.2393e-04 6.4591e-02 1.93984e-02 1.0000 6.4591e-02 3\n", + " 5 2.6619e-01 2.5533e-01 2.1207e-06 1.0836e-03 2.09873e-02 0.2500 2.7453e-03 1\n", + " 6 2.6602e-01 2.5533e-01 1.5350e-06 1.0673e-03 9.61990e-03 1.0000 1.7135e-03 1\n", + " 7 2.5764e-01 2.5533e-01 3.9589e-07 2.3025e-04 1.04874e-02 0.5000 1.1383e-03 1\n", + " 8 2.5636e-01 2.5533e-01 2.6984e-07 1.0283e-04 1.99695e-03 1.0000 7.5158e-04 1\n", + " 9 2.5635e-01 2.5533e-01 9.0265e-09 1.0183e-04 3.02553e-03 0.5000 7.6023e-04 1\n", + " 10 2.5619e-01 2.5533e-01 8.9633e-09 8.5292e-05 7.02950e-04 1.0000 7.5285e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.6938e+01 5.7878e-01 5.5014e+00 1.3448e-01 5.29370e-01 1.0000 ---- 3\n", + " 2 1.4602e+01 2.5315e-01 3.5023e-01 1.0847e+00 1.16741e-01 1.0000 1.0847e+00 3\n", + " 3 9.8858e-01 2.5316e-01 2.2208e-04 7.3320e-02 1.06480e-01 0.5000 7.3320e-02 3\n", + " 4 9.2892e-01 2.5316e-01 1.2281e-04 6.7453e-02 1.82951e-02 1.0000 6.7453e-02 3\n", + " 5 2.7011e-01 2.5316e-01 1.9852e-06 1.6930e-03 2.00867e-02 0.0625 2.5739e-03 1\n", + " 6 2.7006e-01 2.5316e-01 1.8582e-06 1.6882e-03 1.73107e-02 0.5000 1.9014e-03 1\n", + " 7 2.6858e-01 2.5316e-01 7.9833e-07 1.5416e-03 3.58540e-03 1.0000 2.8775e-03 1\n", + " 8 2.6216e-01 2.5316e-01 6.4371e-08 9.0012e-04 4.01794e-03 1.0000 1.3998e-03 1\n", + " 9 2.5598e-01 2.5316e-01 4.0076e-08 2.8254e-04 5.93111e-03 0.5000 7.6193e-04 1\n", + " 10 2.5557e-01 2.5316e-01 4.0837e-08 2.4153e-04 1.25315e-03 1.0000 9.0670e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.6556e+01 5.7671e-01 5.4639e+00 1.3403e-01 5.30624e-01 1.0000 ---- 3\n", + " 2 1.4586e+01 2.5103e-01 3.4788e-01 1.0856e+00 1.16231e-01 1.0000 1.0856e+00 3\n", + " 3 9.9435e-01 2.5103e-01 2.1730e-04 7.4115e-02 1.05405e-01 0.5000 7.4115e-02 3\n", + " 4 9.3832e-01 2.5103e-01 1.2000e-04 6.8609e-02 1.75660e-02 1.0000 6.8609e-02 3\n", + " 5 2.6016e-01 2.5103e-01 1.9072e-06 9.1135e-04 1.96208e-02 0.1250 1.6208e-03 1\n", + " 6 2.5996e-01 2.5103e-01 1.6580e-06 8.9166e-04 1.42715e-02 0.2500 1.4375e-03 1\n", + " 7 2.5894e-01 2.5103e-01 1.2197e-06 7.8998e-04 6.79099e-03 1.0000 7.9653e-04 1\n", + " 8 2.5742e-01 2.5103e-01 2.0557e-07 6.3858e-04 7.25485e-03 0.5000 1.2456e-03 1\n", + " 9 2.5625e-01 2.5103e-01 1.3574e-07 5.2214e-04 1.22633e-03 1.0000 1.1718e-03 1\n", + " 10 2.5321e-01 2.5103e-01 4.2501e-09 2.1836e-04 1.69248e-03 1.0000 7.5523e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.6178e+01 5.7468e-01 5.4265e+00 1.3377e-01 5.32133e-01 1.0000 ---- 3\n", + " 2 1.4797e+01 2.4895e-01 3.4535e-01 1.1094e+00 1.18090e-01 1.0000 1.1094e+00 3\n", + " 3 9.6285e-01 2.4895e-01 2.2196e-04 7.1168e-02 1.07831e-01 0.5000 7.1168e-02 3\n", + " 4 9.2013e-01 2.4895e-01 1.2286e-04 6.6995e-02 1.68786e-02 1.0000 6.6995e-02 3\n", + " 5 2.5669e-01 2.4895e-01 1.8218e-06 7.7209e-04 1.92323e-02 1.0000 7.7209e-04 1\n", + " 6 2.5647e-01 2.4895e-01 1.4183e-06 7.5070e-04 2.36333e-02 0.2500 9.5316e-04 1\n", + " 7 2.5598e-01 2.4895e-01 1.1680e-06 7.0196e-04 1.00461e-02 0.5000 7.8194e-04 1\n", + " 8 2.5416e-01 2.4895e-01 6.5774e-07 5.2045e-04 1.67704e-03 1.0000 7.5136e-04 1\n", + " 9 2.5183e-01 2.4895e-01 7.1092e-09 2.8783e-04 2.25143e-03 1.0000 8.4457e-04 1\n", + " 10 2.5140e-01 2.4895e-01 1.5200e-08 2.4480e-04 3.06182e-03 0.5000 7.4370e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.5807e+01 5.7270e-01 5.3890e+00 1.3444e-01 5.33177e-01 1.0000 ---- 3\n", + " 2 1.4796e+01 2.4692e-01 3.4273e-01 1.1122e+00 1.16825e-01 1.0000 1.1122e+00 3\n", + " 3 9.7746e-01 2.4692e-01 2.1565e-04 7.2838e-02 1.06109e-01 0.5000 7.2838e-02 3\n", + " 4 9.3583e-01 2.4692e-01 1.1914e-04 6.8772e-02 1.64355e-02 1.0000 6.8772e-02 3\n", + " 5 2.5484e-01 2.4692e-01 1.7627e-06 7.9014e-04 1.89341e-02 0.5000 7.9014e-04 1\n", + " 6 2.5313e-01 2.4692e-01 7.1653e-07 6.2031e-04 3.55838e-03 1.0000 7.3832e-04 1\n", + " 7 2.4814e-01 2.4692e-01 6.6676e-08 1.2158e-04 4.05276e-03 0.5000 7.4505e-04 1\n", + " 8 2.4779e-01 2.4692e-01 4.4164e-08 8.7206e-05 8.39854e-04 1.0000 7.5356e-04 1\n", + " 9 2.4726e-01 2.4692e-01 2.0454e-09 3.4508e-05 1.07645e-03 0.2500 7.4798e-04 1\n", + " 10 2.4725e-01 2.4692e-01 1.6802e-09 3.3554e-05 4.44281e-04 1.0000 7.4997e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.5413e+01 5.7077e-01 5.3510e+00 1.3316e-01 5.34315e-01 1.0000 ---- 3\n", + " 2 1.4760e+01 2.4493e-01 3.4002e-01 1.1115e+00 1.17101e-01 1.0000 1.1115e+00 3\n", + " 3 9.6982e-01 2.4494e-01 2.1706e-04 7.2271e-02 1.06151e-01 0.5000 7.2271e-02 3\n", + " 4 9.3606e-01 2.4493e-01 1.1995e-04 6.8993e-02 1.63091e-02 1.0000 6.8993e-02 3\n", + " 5 2.5270e-01 2.4494e-01 1.7228e-06 7.7522e-04 1.88673e-02 0.5000 7.7522e-04 1\n", + " 6 2.5108e-01 2.4494e-01 6.9208e-07 6.1416e-04 3.42660e-03 1.0000 7.3775e-04 1\n", + " 7 2.4613e-01 2.4494e-01 6.1253e-08 1.1955e-04 3.88749e-03 1.0000 7.4370e-04 1\n", + " 8 2.4602e-01 2.4494e-01 4.7188e-08 1.0825e-04 5.25756e-03 0.5000 7.6199e-04 1\n", + " 9 2.4576e-01 2.4494e-01 4.5970e-08 8.2252e-05 1.01815e-03 1.0000 7.4683e-04 1\n", + " 10 2.4513e-01 2.4494e-01 2.4182e-09 1.9890e-05 1.43378e-03 0.2500 7.5554e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.5035e+01 5.6889e-01 5.3132e+00 1.3350e-01 5.35450e-01 1.0000 ---- 3\n", + " 2 1.4834e+01 2.4300e-01 3.3729e-01 1.1218e+00 1.17317e-01 1.0000 1.1218e+00 3\n", + " 3 9.6119e-01 2.4300e-01 2.1925e-04 7.1599e-02 1.06551e-01 0.5000 7.1599e-02 3\n", + " 4 9.3628e-01 2.4300e-01 1.2126e-04 6.9207e-02 1.66332e-02 1.0000 6.9207e-02 3\n", + " 5 2.5143e-01 2.4300e-01 1.7855e-06 8.4067e-04 1.91019e-02 0.5000 8.4067e-04 1\n", + " 6 2.4955e-01 2.4300e-01 7.3149e-07 6.5385e-04 3.68221e-03 1.0000 7.3694e-04 1\n", + " 7 2.4439e-01 2.4300e-01 7.4230e-08 1.3913e-04 4.18964e-03 1.0000 7.4281e-04 1\n", + " 8 2.4401e-01 2.4300e-01 4.9777e-08 1.0132e-04 5.83863e-03 0.5000 7.6126e-04 1\n", + " 9 2.4393e-01 2.4300e-01 4.9237e-08 9.3401e-05 1.17088e-03 1.0000 7.4596e-04 1\n", + " 10 2.4319e-01 2.4300e-01 2.6524e-09 1.9163e-05 1.63975e-03 0.1250 7.5476e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.4648e+01 5.6706e-01 5.2752e+00 1.3295e-01 5.36566e-01 1.0000 ---- 3\n", + " 2 1.4843e+01 2.4111e-01 3.3458e-01 1.1256e+00 1.17253e-01 1.0000 1.1256e+00 3\n", + " 3 9.5368e-01 2.4112e-01 2.1813e-04 7.1038e-02 1.06274e-01 0.5000 7.1038e-02 3\n", + " 4 9.3669e-01 2.4111e-01 1.2067e-04 6.9436e-02 1.65071e-02 1.0000 6.9436e-02 3\n", + " 5 2.4953e-01 2.4112e-01 1.7782e-06 8.3969e-04 1.90253e-02 0.5000 8.3969e-04 1\n", + " 6 2.4765e-01 2.4112e-01 7.3027e-07 6.5288e-04 3.59606e-03 1.0000 7.3558e-04 1\n", + " 7 2.4264e-01 2.4112e-01 7.2594e-08 1.5250e-04 4.08777e-03 1.0000 7.4273e-04 1\n", + " 8 2.4250e-01 2.4112e-01 4.9911e-08 1.3803e-04 5.60600e-03 1.0000 7.5913e-04 1\n", + " 9 2.4193e-01 2.4111e-01 9.5859e-08 8.1843e-05 7.61189e-03 0.2500 7.3185e-04 1\n", + " 10 2.4183e-01 2.4111e-01 8.1998e-08 7.1769e-05 3.09329e-03 1.0000 7.4252e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.4270e+01 5.6529e-01 5.2369e+00 1.3359e-01 5.37358e-01 1.0000 ---- 3\n", + " 2 1.4823e+01 2.3928e-01 3.3197e-01 1.1264e+00 1.15836e-01 1.0000 1.1264e+00 3\n", + " 3 9.5847e-01 2.3928e-01 2.1438e-04 7.1705e-02 1.03924e-01 0.5000 7.1705e-02 3\n", + " 4 9.4779e-01 2.3928e-01 1.1832e-04 7.0733e-02 1.60990e-02 1.0000 7.0733e-02 3\n", + " 5 2.4756e-01 2.3928e-01 1.7130e-06 8.2597e-04 1.85734e-02 0.5000 8.2597e-04 1\n", + " 6 2.4628e-01 2.3928e-01 7.1901e-07 6.9927e-04 3.46438e-03 1.0000 7.3368e-04 1\n", + " 7 2.4061e-01 2.3928e-01 6.5413e-08 1.3331e-04 3.84157e-03 1.0000 7.4360e-04 1\n", + " 8 2.3985e-01 2.3928e-01 4.8637e-08 5.6701e-05 5.17378e-03 1.0000 7.5568e-04 1\n", + " 9 2.3970e-01 2.3928e-01 9.1853e-08 4.1536e-05 6.92386e-03 0.0625 7.3529e-04 1\n", + " 10 2.3968e-01 2.3928e-01 8.6724e-08 4.0281e-05 5.90483e-03 0.5000 7.3726e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.3869e+01 5.6357e-01 5.1983e+00 1.3222e-01 5.38634e-01 1.0000 ---- 3\n", + " 2 1.4946e+01 2.3749e-01 3.2930e-01 1.1415e+00 1.17477e-01 1.0000 1.1415e+00 3\n", + " 3 9.3621e-01 2.3750e-01 2.2094e-04 6.9650e-02 1.05782e-01 0.5000 6.9650e-02 3\n", + " 4 9.3244e-01 2.3750e-01 1.2209e-04 6.9372e-02 1.63453e-02 1.0000 6.9372e-02 3\n", + " 5 2.4573e-01 2.3750e-01 1.7085e-06 8.2177e-04 1.88240e-02 0.5000 8.2177e-04 1\n", + " 6 2.4398e-01 2.3750e-01 6.9796e-07 6.4727e-04 3.37525e-03 1.0000 7.3451e-04 1\n", + " 7 2.3888e-01 2.3750e-01 6.1881e-08 1.3840e-04 3.78482e-03 1.0000 7.4018e-04 1\n", + " 8 2.3861e-01 2.3750e-01 4.5267e-08 1.1167e-04 5.07651e-03 1.0000 7.5908e-04 1\n", + " 9 2.3820e-01 2.3750e-01 8.4741e-08 7.0683e-05 6.91808e-03 0.5000 7.2763e-04 1\n", + " 10 2.3816e-01 2.3750e-01 7.8937e-08 6.6632e-05 1.38314e-03 1.0000 7.5242e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.3485e+01 5.6190e-01 5.1592e+00 1.3308e-01 5.39782e-01 1.0000 ---- 3\n", + " 2 1.5093e+01 2.3576e-01 3.2673e-01 1.1590e+00 1.19124e-01 1.0000 1.1590e+00 3\n", + " 3 9.0687e-01 2.3577e-01 2.2717e-04 6.6883e-02 1.07083e-01 0.2500 6.6883e-02 3\n", + " 4 7.8031e-01 2.3576e-01 1.7324e-04 5.4281e-02 5.09919e-02 1.0000 5.4281e-02 3\n", + " 5 3.8895e-01 2.3576e-01 1.4918e-05 1.5304e-02 5.65231e-02 0.2500 1.5304e-02 3\n", + " 6 3.5790e-01 2.3576e-01 1.1943e-05 1.2202e-02 2.53995e-02 1.0000 1.2202e-02 3\n", + " 7 2.9602e-01 2.3576e-01 2.6864e-06 6.0227e-03 2.92178e-02 0.0020 6.0227e-03 1\n", + " 8 2.9602e-01 2.3576e-01 2.6864e-06 6.0227e-03 2.93715e-02 0.2500 6.0227e-03 1\n", + " 9 2.9250e-01 2.3576e-01 2.2535e-06 5.6710e-03 1.32780e-02 0.5000 5.6710e-03 1\n", + " 10 2.8970e-01 2.3576e-01 1.3365e-06 5.3920e-03 2.26267e-03 1.0000 5.3920e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.3125e+01 5.6029e-01 5.1198e+00 1.3664e-01 5.40994e-01 1.0000 ---- 3\n", + " 2 1.5183e+01 2.3408e-01 3.2402e-01 1.1709e+00 1.19540e-01 1.0000 1.1709e+00 3\n", + " 3 8.9523e-01 2.3409e-01 2.2983e-04 6.5884e-02 1.08206e-01 0.2500 6.5884e-02 3\n", + " 4 7.7298e-01 2.3409e-01 1.7531e-04 5.3715e-02 5.12889e-02 1.0000 5.3715e-02 3\n", + " 5 3.9113e-01 2.3408e-01 1.5213e-05 1.5689e-02 5.67494e-02 0.2500 1.5689e-02 3\n", + " 6 3.5853e-01 2.3408e-01 1.2170e-05 1.2433e-02 2.54824e-02 1.0000 1.2433e-02 3\n", + " 7 2.9386e-01 2.3408e-01 2.6605e-06 5.9747e-03 2.94237e-02 0.0020 5.9747e-03 1\n", + " 8 2.9386e-01 2.3408e-01 2.6605e-06 5.9747e-03 2.94263e-02 0.2500 5.9747e-03 1\n", + " 9 2.9048e-01 2.3408e-01 2.2361e-06 5.6378e-03 1.32883e-02 0.5000 5.6378e-03 1\n", + " 10 2.8771e-01 2.3408e-01 1.3292e-06 5.3610e-03 2.17602e-03 1.0000 5.3610e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.2746e+01 5.5873e-01 5.0841e+00 1.3464e-01 5.41747e-01 1.0000 ---- 3\n", + " 2 1.5240e+01 2.3245e-01 3.2136e-01 1.1794e+00 1.19679e-01 1.0000 1.1794e+00 3\n", + " 3 8.6266e-01 2.3246e-01 2.3297e-04 6.2787e-02 1.08369e-01 0.2500 6.2787e-02 3\n", + " 4 7.5202e-01 2.3246e-01 1.7771e-04 5.1779e-02 5.19973e-02 1.0000 5.1779e-02 3\n", + " 5 3.9513e-01 2.3246e-01 1.6112e-05 1.6251e-02 5.92298e-02 0.2500 1.6251e-02 3\n", + " 6 3.6082e-01 2.3246e-01 1.2911e-05 1.2824e-02 2.61639e-02 1.0000 1.2824e-02 3\n", + " 7 2.9786e-01 2.3245e-01 2.8881e-06 6.5375e-03 3.10354e-02 0.5000 6.5375e-03 2\n", + " 8 2.9669e-01 2.3245e-01 2.1975e-06 6.4218e-03 6.30163e-03 0.0020 6.4218e-03 1\n", + " 9 2.9669e-01 2.3245e-01 2.1975e-06 6.4218e-03 6.06410e-03 1.0000 6.4218e-03 1\n", + " 10 2.3598e-01 2.3245e-01 4.8361e-07 3.5226e-04 6.75608e-03 1.0000 7.2394e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.2544e+01 5.5722e-01 5.0611e+00 1.3764e-01 5.40366e-01 1.0000 ---- 3\n", + " 2 1.5288e+01 2.3086e-01 3.1816e-01 1.1875e+00 1.15319e-01 1.0000 1.1875e+00 3\n", + " 3 8.9201e-01 2.3086e-01 2.2558e-04 6.5889e-02 1.02290e-01 0.2500 6.5889e-02 3\n", + " 4 7.7340e-01 2.3086e-01 1.7196e-04 5.4082e-02 4.88664e-02 1.0000 5.4082e-02 3\n", + " 5 4.0087e-01 2.3086e-01 1.4702e-05 1.6987e-02 5.45571e-02 0.2500 1.6987e-02 3\n", + " 6 3.6326e-01 2.3086e-01 1.1764e-05 1.3228e-02 2.43037e-02 1.0000 1.3228e-02 3\n", + " 7 3.2778e-01 2.3086e-01 2.5764e-06 9.6892e-03 2.85424e-02 0.5000 9.6892e-03 2\n", + " 8 2.9803e-01 2.3086e-01 1.9605e-06 6.7151e-03 6.14949e-03 0.0020 6.7151e-03 1\n", + " 9 2.9803e-01 2.3086e-01 1.9605e-06 6.7151e-03 6.00464e-03 1.0000 6.7151e-03 1\n", + " 10 2.3431e-01 2.3086e-01 4.7849e-07 3.4500e-04 6.18070e-03 1.0000 7.2862e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.2305e+01 5.5576e-01 5.0394e+00 1.3558e-01 5.38256e-01 1.0000 ---- 3\n", + " 2 1.5275e+01 2.2927e-01 3.1443e-01 1.1901e+00 1.15835e-01 1.0000 1.1901e+00 3\n", + " 3 8.5810e-01 2.2928e-01 2.2553e-04 6.2657e-02 1.01611e-01 0.2500 6.2657e-02 3\n", + " 4 7.5139e-01 2.2928e-01 1.7185e-04 5.2040e-02 4.89920e-02 1.0000 5.2040e-02 3\n", + " 5 4.0590e-01 2.2928e-01 1.4591e-05 1.7647e-02 5.46712e-02 0.2500 1.7647e-02 3\n", + " 6 3.6577e-01 2.2928e-01 1.1669e-05 1.3638e-02 2.42496e-02 1.0000 1.3638e-02 3\n", + " 7 3.2231e-01 2.2928e-01 2.5348e-06 9.3012e-03 2.83044e-02 0.5000 9.3012e-03 2\n", + " 8 2.9401e-01 2.2928e-01 1.9109e-06 6.4715e-03 6.10686e-03 0.0020 6.4715e-03 1\n", + " 9 2.9401e-01 2.2928e-01 1.9109e-06 6.4715e-03 5.93495e-03 1.0000 6.4715e-03 1\n", + " 10 2.3248e-01 2.2928e-01 4.6170e-07 3.1966e-04 6.17491e-03 1.0000 7.2494e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.2167e+01 5.5434e-01 5.0270e+00 1.3426e-01 5.36902e-01 1.0000 ---- 3\n", + " 2 1.5333e+01 2.2771e-01 3.1103e-01 1.1995e+00 1.15813e-01 1.0000 1.1995e+00 3\n", + " 3 8.3608e-01 2.2771e-01 2.2711e-04 6.0610e-02 1.02004e-01 0.2500 6.0610e-02 3\n", + " 4 7.3470e-01 2.2771e-01 1.7307e-04 5.0526e-02 4.87808e-02 1.0000 5.0526e-02 3\n", + " 5 4.0621e-01 2.2771e-01 1.4501e-05 1.7836e-02 5.42091e-02 0.2500 1.7836e-02 3\n", + " 6 3.6421e-01 2.2771e-01 1.1597e-05 1.3639e-02 2.43122e-02 1.0000 1.3639e-02 3\n", + " 7 2.9880e-01 2.2771e-01 2.5689e-06 7.1061e-03 2.75044e-02 0.0020 7.1061e-03 1\n", + " 8 2.9880e-01 2.2771e-01 2.5689e-06 7.1061e-03 2.75815e-02 0.2500 7.1061e-03 1\n", + " 9 2.9585e-01 2.2771e-01 2.1326e-06 6.8117e-03 1.25728e-02 0.5000 6.8117e-03 1\n", + " 10 2.9511e-01 2.2771e-01 1.2453e-06 6.7388e-03 2.22935e-03 1.0000 6.7388e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.2035e+01 5.5295e-01 5.0142e+00 1.3402e-01 5.36415e-01 1.0000 ---- 3\n", + " 2 1.5435e+01 2.2615e-01 3.0761e-01 1.2132e+00 1.19341e-01 1.0000 1.2132e+00 3\n", + " 3 7.6586e-01 2.2616e-01 2.3688e-04 5.3733e-02 1.07277e-01 0.2500 5.3733e-02 3\n", + " 4 6.8539e-01 2.2615e-01 1.8063e-04 4.5743e-02 5.07830e-02 1.0000 4.5743e-02 3\n", + " 5 4.0483e-01 2.2615e-01 1.4905e-05 1.7853e-02 5.57231e-02 0.2500 1.7853e-02 3\n", + " 6 3.6184e-01 2.2615e-01 1.1902e-05 1.3557e-02 2.51874e-02 1.0000 1.3557e-02 3\n", + " 7 2.8105e-01 2.2615e-01 2.6100e-06 5.4867e-03 2.90797e-02 0.0020 5.4867e-03 1\n", + " 8 2.8105e-01 2.2615e-01 2.6049e-06 5.4867e-03 2.89170e-02 0.2500 5.4867e-03 1\n", + " 9 2.7854e-01 2.2615e-01 2.1804e-06 5.2362e-03 1.30248e-02 0.2500 5.2362e-03 1\n", + " 10 2.7639e-01 2.2615e-01 1.6836e-06 5.0221e-03 5.99723e-03 1.0000 5.0221e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.1921e+01 5.5158e-01 5.0017e+00 1.3528e-01 5.33981e-01 1.0000 ---- 3\n", + " 2 1.5446e+01 2.2461e-01 3.0445e-01 1.2176e+00 1.14804e-01 1.0000 1.2176e+00 3\n", + " 3 6.8995e-01 2.2462e-01 2.2429e-04 4.6309e-02 1.00066e-01 0.2500 4.6309e-02 3\n", + " 4 6.4045e-01 2.2462e-01 1.7079e-04 4.1413e-02 4.79477e-02 1.0000 4.1413e-02 3\n", + " 5 4.0774e-01 2.2462e-01 1.3890e-05 1.8299e-02 5.22325e-02 0.2500 1.8299e-02 3\n", + " 6 3.7523e-01 2.2462e-01 1.1097e-05 1.5051e-02 2.35528e-02 1.0000 1.5051e-02 3\n", + " 7 2.7704e-01 2.2462e-01 2.3730e-06 5.2397e-03 2.71524e-02 0.0020 5.2397e-03 1\n", + " 8 2.7704e-01 2.2462e-01 2.3730e-06 5.2397e-03 2.69917e-02 0.2500 5.2397e-03 1\n", + " 9 2.7317e-01 2.2462e-01 1.9725e-06 4.8537e-03 1.22221e-02 0.5000 4.8537e-03 1\n", + " 10 2.7025e-01 2.2462e-01 1.1557e-06 4.5621e-03 2.17233e-03 1.0000 4.5621e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.1748e+01 5.5023e-01 4.9898e+00 1.3001e-01 5.34501e-01 1.0000 ---- 3\n", + " 2 1.5480e+01 2.2309e-01 3.0150e-01 1.2242e+00 1.19029e-01 1.0000 1.2242e+00 3\n", + " 3 7.0463e-01 2.2310e-01 2.4177e-04 4.7912e-02 1.05930e-01 0.2500 4.7912e-02 3\n", + " 4 6.4535e-01 2.2310e-01 1.8432e-04 4.2041e-02 5.09287e-02 1.0000 4.2041e-02 3\n", + " 5 4.0922e-01 2.2310e-01 1.6134e-05 1.8596e-02 5.72886e-02 0.2500 1.8596e-02 3\n", + " 6 3.7137e-01 2.2310e-01 1.2903e-05 1.4815e-02 2.52254e-02 1.0000 1.4815e-02 3\n", + " 7 2.8196e-01 2.2310e-01 2.7580e-06 5.8837e-03 2.96666e-02 0.5000 5.8837e-03 2\n", + " 8 2.6663e-01 2.2310e-01 2.0931e-06 4.3517e-03 5.85016e-03 1.0000 4.3517e-03 2\n", + " 9 2.2427e-01 2.2309e-01 4.8402e-08 1.1732e-04 8.37997e-03 0.2500 1.4306e-03 1\n", + " 10 2.2426e-01 2.2309e-01 5.5629e-08 1.1607e-04 3.93998e-03 1.0000 9.2737e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.1707e+01 5.4891e-01 4.9798e+00 1.3607e-01 5.33655e-01 1.0000 ---- 3\n", + " 2 1.5375e+01 2.2159e-01 2.9741e-01 1.2180e+00 1.16790e-01 1.0000 1.2180e+00 3\n", + " 3 7.0784e-01 2.2160e-01 2.3865e-04 4.8386e-02 1.02243e-01 0.2500 4.8386e-02 3\n", + " 4 6.4821e-01 2.2160e-01 1.8184e-04 4.2480e-02 4.93761e-02 1.0000 4.2480e-02 3\n", + " 5 4.1185e-01 2.2160e-01 1.5234e-05 1.9010e-02 5.50329e-02 0.5000 1.9010e-02 3\n", + " 6 4.0746e-01 2.2160e-01 1.0627e-05 1.8576e-02 9.92782e-03 1.0000 1.8576e-02 3\n", + " 7 2.3284e-01 2.2160e-01 2.7246e-07 1.1237e-03 1.19471e-02 1.0000 1.7796e-03 1\n", + " 8 2.3203e-01 2.2160e-01 9.0842e-07 1.0421e-03 1.38147e-02 0.2500 1.4013e-03 1\n", + " 9 2.3109e-01 2.2160e-01 6.9528e-07 9.4863e-04 5.83525e-03 1.0000 9.4863e-04 1\n", + " 10 2.2859e-01 2.2160e-01 8.4265e-08 6.9913e-04 7.77578e-03 0.5000 1.2908e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.1561e+01 5.4760e-01 4.9682e+00 1.3319e-01 5.33361e-01 1.0000 ---- 3\n", + " 2 1.5598e+01 2.2012e-01 2.9489e-01 1.2428e+00 1.18798e-01 1.0000 1.2428e+00 3\n", + " 3 6.1336e-01 2.2012e-01 2.4749e-04 3.9077e-02 1.04814e-01 0.2500 3.9077e-02 3\n", + " 4 5.8683e-01 2.2012e-01 1.8861e-04 3.6483e-02 5.07064e-02 1.0000 3.6483e-02 3\n", + " 5 4.2094e-01 2.2012e-01 1.6016e-05 2.0066e-02 5.66477e-02 0.5000 2.0066e-02 3\n", + " 6 4.1653e-01 2.2012e-01 1.1140e-05 1.9630e-02 9.81505e-03 1.0000 1.9630e-02 3\n", + " 7 2.3158e-01 2.2012e-01 2.6661e-07 1.1461e-03 1.22235e-02 1.0000 1.3051e-03 1\n", + " 8 2.3081e-01 2.2012e-01 9.3619e-07 1.0688e-03 1.47575e-02 1.0000 1.3256e-03 1\n", + " 9 2.2586e-01 2.2012e-01 3.2287e-07 5.7359e-04 2.08667e-02 0.2500 1.6200e-03 1\n", + " 10 2.2513e-01 2.2012e-01 2.4882e-07 5.0126e-04 8.28397e-03 0.5000 7.8128e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.1437e+01 5.4632e-01 4.9559e+00 1.3310e-01 5.32853e-01 1.0000 ---- 3\n", + " 2 1.5651e+01 2.1866e-01 2.9214e-01 1.2511e+00 1.18710e-01 1.0000 1.2511e+00 3\n", + " 3 6.5850e-01 2.1866e-01 2.4634e-04 4.3737e-02 1.04062e-01 0.2500 4.3737e-02 3\n", + " 4 6.0880e-01 2.1866e-01 1.8765e-04 3.8826e-02 4.99887e-02 1.0000 3.8826e-02 3\n", + " 5 4.1575e-01 2.1866e-01 1.4932e-05 1.9694e-02 5.46686e-02 0.5000 1.9694e-02 3\n", + " 6 3.9199e-01 2.1866e-01 1.0365e-05 1.7322e-02 9.17982e-03 1.0000 1.7322e-02 3\n", + " 7 2.2897e-01 2.1866e-01 2.5094e-07 1.0302e-03 1.12137e-02 0.5000 1.5643e-03 1\n", + " 8 2.2786e-01 2.1866e-01 3.2826e-07 9.1927e-04 2.25626e-03 1.0000 9.1927e-04 1\n", + " 9 2.2030e-01 2.1866e-01 5.4201e-08 1.6353e-04 2.66363e-03 1.0000 7.4301e-04 1\n", + " 10 2.1879e-01 2.1866e-01 3.3042e-08 1.2820e-05 3.62316e-03 1.0000 7.2541e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.1315e+01 5.4506e-01 4.9453e+00 1.3164e-01 5.32484e-01 1.0000 ---- 3\n", + " 2 1.5480e+01 2.1723e-01 2.8867e-01 1.2376e+00 1.16120e-01 1.0000 1.2376e+00 3\n", + " 3 6.2458e-01 2.1723e-01 2.4084e-04 4.0494e-02 1.02589e-01 0.2500 4.0494e-02 3\n", + " 4 5.8867e-01 2.1723e-01 1.8347e-04 3.6960e-02 4.86011e-02 1.0000 3.6960e-02 3\n", + " 5 4.1873e-01 2.1723e-01 1.4690e-05 2.0135e-02 5.31250e-02 0.5000 2.0135e-02 3\n", + " 6 3.9750e-01 2.1723e-01 1.0222e-05 1.8017e-02 8.26603e-03 1.0000 1.8017e-02 3\n", + " 7 2.2526e-01 2.1723e-01 2.2080e-07 8.0252e-04 1.09707e-02 1.0000 8.0252e-04 1\n", + " 8 2.2458e-01 2.1723e-01 9.2921e-07 7.3447e-04 1.25849e-02 0.5000 7.3447e-04 1\n", + " 9 2.2201e-01 2.1723e-01 5.0664e-07 4.7779e-04 2.22702e-03 1.0000 7.3414e-04 1\n", + " 10 2.1857e-01 2.1723e-01 3.2159e-08 1.3409e-04 3.03850e-03 1.0000 7.3620e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.1253e+01 5.4383e-01 4.9352e+00 1.3573e-01 5.31241e-01 1.0000 ---- 3\n", + " 2 1.5687e+01 2.1582e-01 2.8545e-01 1.2617e+00 1.16464e-01 1.0000 1.2617e+00 3\n", + " 3 6.0672e-01 2.1583e-01 2.3678e-04 3.8852e-02 9.97798e-02 0.2500 3.8852e-02 3\n", + " 4 5.5771e-01 2.1583e-01 1.8020e-04 3.4008e-02 4.80198e-02 1.0000 3.4008e-02 3\n", + " 5 4.2334e-01 2.1583e-01 1.3442e-05 2.0738e-02 5.13922e-02 0.5000 2.0738e-02 3\n", + " 6 3.9696e-01 2.1582e-01 9.2578e-06 1.8105e-02 7.69051e-03 1.0000 1.8105e-02 3\n", + " 7 2.2326e-01 2.1583e-01 2.0713e-07 7.4285e-04 1.02746e-02 1.0000 7.4843e-04 1\n", + " 8 2.2113e-01 2.1582e-01 7.9060e-07 5.2968e-04 1.24063e-02 1.0000 6.9033e-04 1\n", + " 9 2.1866e-01 2.1582e-01 2.4694e-07 2.8366e-04 1.66773e-02 0.1250 7.9319e-04 1\n", + " 10 2.1853e-01 2.1582e-01 2.1587e-07 2.6988e-04 1.17360e-02 0.2500 7.7576e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.1086e+01 5.4262e-01 4.9250e+00 1.2929e-01 5.31233e-01 1.0000 ---- 3\n", + " 2 1.5715e+01 2.1445e-01 2.8241e-01 1.2676e+00 1.16043e-01 1.0000 1.2676e+00 3\n", + " 3 6.0180e-01 2.1445e-01 2.4150e-04 3.8494e-02 1.00279e-01 0.2500 3.8494e-02 3\n", + " 4 5.3276e-01 2.1445e-01 1.8385e-04 3.1648e-02 4.79120e-02 1.0000 3.1648e-02 3\n", + " 5 4.3354e-01 2.1445e-01 1.4007e-05 2.1895e-02 5.19243e-02 0.5000 2.1895e-02 3\n", + " 6 3.9223e-01 2.1445e-01 9.7698e-06 1.7769e-02 8.70452e-03 1.0000 1.7769e-02 3\n", + " 7 2.2259e-01 2.1445e-01 2.3949e-07 8.1409e-04 1.08657e-02 1.0000 1.3673e-03 1\n", + " 8 2.2198e-01 2.1445e-01 8.8649e-07 7.5231e-04 1.21577e-02 1.0000 7.9666e-04 1\n", + " 9 2.2168e-01 2.1445e-01 2.0543e-07 7.2274e-04 1.61328e-02 0.5000 7.6989e-04 1\n", + " 10 2.2112e-01 2.1445e-01 2.2003e-07 6.6664e-04 2.96902e-03 1.0000 7.2879e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.1015e+01 5.4144e-01 4.9159e+00 1.3151e-01 5.31497e-01 1.0000 ---- 3\n", + " 2 1.5684e+01 2.1310e-01 2.7880e-01 1.2683e+00 1.16440e-01 1.0000 1.2683e+00 3\n", + " 3 5.9213e-01 2.1310e-01 2.4491e-04 3.7658e-02 1.00921e-01 0.2500 3.7658e-02 3\n", + " 4 5.0473e-01 2.1310e-01 1.8641e-04 2.8977e-02 4.81766e-02 1.0000 2.8977e-02 3\n", + " 5 4.3796e-01 2.1310e-01 1.3879e-05 2.2472e-02 5.19256e-02 0.5000 2.2472e-02 3\n", + " 6 3.9071e-01 2.1310e-01 9.5807e-06 1.7752e-02 7.30048e-03 1.0000 1.7752e-02 3\n", + " 7 2.2106e-01 2.1310e-01 1.9814e-07 7.9639e-04 1.03513e-02 1.0000 7.9639e-04 1\n", + " 8 2.1888e-01 2.1310e-01 8.1343e-07 5.7722e-04 1.16472e-02 1.0000 7.0047e-04 1\n", + " 9 2.1690e-01 2.1310e-01 1.8939e-07 3.8029e-04 1.51806e-02 0.0312 7.7196e-04 1\n", + " 10 2.1690e-01 2.1310e-01 1.8340e-07 3.7970e-04 1.40718e-02 0.2500 7.6919e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0910e+01 5.4029e-01 4.9066e+00 1.3039e-01 5.30994e-01 1.0000 ---- 3\n", + " 2 1.5820e+01 2.1178e-01 2.7583e-01 1.2850e+00 1.15835e-01 1.0000 1.2850e+00 3\n", + " 3 5.7244e-01 2.1178e-01 2.4254e-04 3.5824e-02 9.79848e-02 0.2500 3.5824e-02 3\n", + " 4 4.7916e-01 2.1178e-01 1.8450e-04 2.6554e-02 4.70674e-02 1.0000 2.6554e-02 3\n", + " 5 4.3775e-01 2.1178e-01 1.3281e-05 2.2584e-02 5.04376e-02 0.5000 2.2584e-02 3\n", + " 6 3.8884e-01 2.1178e-01 9.1444e-06 1.7697e-02 7.71101e-03 1.0000 1.7697e-02 3\n", + " 7 2.1839e-01 2.1178e-01 2.1690e-07 6.6148e-04 1.02822e-02 1.0000 7.4049e-04 1\n", + " 8 2.1668e-01 2.1178e-01 8.2194e-07 4.8915e-04 1.17567e-02 1.0000 6.9702e-04 1\n", + " 9 2.1619e-01 2.1178e-01 2.0751e-07 4.4140e-04 1.57254e-02 0.0312 7.7598e-04 1\n", + " 10 2.1619e-01 2.1178e-01 2.0095e-07 4.4126e-04 1.46147e-02 0.5000 7.7281e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0795e+01 5.3917e-01 4.8973e+00 1.2822e-01 5.32112e-01 1.0000 ---- 3\n", + " 2 1.5925e+01 2.1049e-01 2.7270e-01 1.2988e+00 1.19168e-01 1.0000 1.2988e+00 3\n", + " 3 5.2306e-01 2.1049e-01 2.5984e-04 3.0997e-02 1.02619e-01 0.2500 3.0997e-02 3\n", + " 4 4.4640e-01 2.1049e-01 1.9774e-04 2.3393e-02 4.93442e-02 1.0000 2.3393e-02 3\n", + " 5 4.0429e-01 2.1049e-01 1.5136e-05 1.9365e-02 5.29694e-02 0.5000 1.9365e-02 3\n", + " 6 3.8037e-01 2.1049e-01 1.0391e-05 1.6978e-02 8.04697e-03 1.0000 1.6978e-02 3\n", + " 7 2.1732e-01 2.1049e-01 2.1218e-07 6.8325e-04 1.06317e-02 1.0000 7.4818e-04 1\n", + " 8 2.1557e-01 2.1049e-01 8.4492e-07 5.0772e-04 1.32006e-02 1.0000 6.8271e-04 1\n", + " 9 2.1220e-01 2.1049e-01 2.5662e-07 1.7064e-04 1.80103e-02 0.2500 7.9587e-04 1\n", + " 10 2.1201e-01 2.1049e-01 1.9522e-07 1.5232e-04 7.25914e-03 0.2500 7.5725e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0733e+01 5.3809e-01 4.8882e+00 1.3128e-01 5.31775e-01 1.0000 ---- 3\n", + " 2 1.5860e+01 2.0923e-01 2.7055e-01 1.2946e+00 1.16636e-01 1.0000 1.2946e+00 3\n", + " 3 4.1364e-01 2.0923e-01 2.5478e-04 2.0186e-02 9.97189e-02 0.2500 2.0186e-02 3\n", + " 4 3.8064e-01 2.0923e-01 1.9381e-04 1.6947e-02 4.78903e-02 0.5000 1.6947e-02 3\n", + " 5 2.9481e-01 2.0923e-01 9.9739e-05 8.4583e-03 1.01730e-02 0.0020 8.4583e-03 1\n", + " 6 2.9481e-01 2.0923e-01 9.9739e-05 8.4583e-03 1.01998e-02 1.0000 8.4583e-03 1\n", + " 7 2.1524e-01 2.0923e-01 1.2583e-06 5.9991e-04 7.99253e-03 0.5000 6.9286e-04 1\n", + " 8 2.1221e-01 2.0923e-01 7.0254e-07 2.9695e-04 1.57839e-03 1.0000 7.3040e-04 1\n", + " 9 2.1188e-01 2.0923e-01 2.6177e-08 2.6527e-04 1.79729e-03 0.5000 7.2997e-04 1\n", + " 10 2.1151e-01 2.0923e-01 1.7576e-08 2.2774e-04 4.18037e-04 1.0000 7.3494e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0480e+01 5.3704e-01 4.8792e+00 1.1515e-01 5.32027e-01 1.0000 ---- 3\n", + " 2 1.5291e+01 2.0801e-01 2.6788e-01 1.2404e+00 1.17963e-01 1.0000 1.2404e+00 3\n", + " 3 4.0010e-01 2.0801e-01 2.6722e-04 1.8942e-02 1.01202e-01 0.2500 1.8942e-02 2\n", + " 4 3.4284e-01 2.0801e-01 2.0323e-04 1.3280e-02 4.86789e-02 0.5000 1.3280e-02 2\n", + " 5 2.3478e-01 2.0801e-01 1.0450e-04 2.5727e-03 1.00368e-02 0.0020 2.5727e-03 1\n", + " 6 2.3478e-01 2.0801e-01 1.0450e-04 2.5727e-03 1.00679e-02 1.0000 2.5727e-03 1\n", + " 7 2.1042e-01 2.0801e-01 1.2496e-06 2.4023e-04 8.13727e-03 0.5000 6.8869e-04 1\n", + " 8 2.0995e-01 2.0801e-01 6.9601e-07 1.9370e-04 1.60587e-03 1.0000 7.3006e-04 1\n", + " 9 2.0921e-01 2.0801e-01 2.6389e-08 1.1981e-04 1.81267e-03 0.0156 7.2749e-04 1\n", + " 10 2.0921e-01 2.0801e-01 2.5980e-08 1.1970e-04 1.74320e-03 1.0000 7.2769e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0472e+01 5.3602e-01 4.8701e+00 1.2343e-01 5.32284e-01 1.0000 ---- 3\n", + " 2 1.5529e+01 2.0682e-01 2.6558e-01 1.2667e+00 1.16805e-01 1.0000 1.2667e+00 3\n", + " 3 5.2018e-01 2.0682e-01 2.6567e-04 3.1070e-02 1.00236e-01 0.2500 3.1070e-02 3\n", + " 4 4.4027e-01 2.0682e-01 2.0206e-04 2.3143e-02 4.80079e-02 1.0000 2.3143e-02 3\n", + " 5 3.5225e-01 2.0682e-01 1.4331e-05 1.4528e-02 5.15718e-02 0.2500 1.4528e-02 3\n", + " 6 3.2327e-01 2.0682e-01 1.1407e-05 1.1634e-02 2.35573e-02 1.0000 1.1634e-02 3\n", + " 7 2.4408e-01 2.0682e-01 2.3737e-06 3.7240e-03 2.67725e-02 0.0020 3.7240e-03 1\n", + " 8 2.4408e-01 2.0682e-01 2.3737e-06 3.7240e-03 2.67407e-02 0.2500 3.7240e-03 1\n", + " 9 2.4197e-01 2.0682e-01 1.9655e-06 3.5130e-03 1.21513e-02 0.2500 3.5130e-03 1\n", + " 10 2.4039e-01 2.0682e-01 1.5123e-06 3.3551e-03 5.68655e-03 1.0000 3.3551e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0466e+01 5.3504e-01 4.8628e+00 1.3032e-01 5.31303e-01 1.0000 ---- 3\n", + " 2 1.6131e+01 2.0567e-01 2.6310e-01 1.3295e+00 1.14839e-01 1.0000 1.3295e+00 3\n", + " 3 4.9953e-01 2.0567e-01 2.6074e-04 2.9125e-02 9.57358e-02 0.2500 2.9125e-02 3\n", + " 4 4.2716e-01 2.0567e-01 1.9819e-04 2.1951e-02 4.63700e-02 1.0000 2.1951e-02 3\n", + " 5 3.2024e-01 2.0567e-01 1.3655e-05 1.1443e-02 4.91200e-02 0.2500 1.1443e-02 3\n", + " 6 3.0352e-01 2.0567e-01 1.0856e-05 9.7742e-03 2.26154e-02 1.0000 9.7742e-03 3\n", + " 7 2.5058e-01 2.0567e-01 2.3949e-06 4.4887e-03 2.55401e-02 0.0020 4.4887e-03 1\n", + " 8 2.5058e-01 2.0567e-01 2.3949e-06 4.4887e-03 2.55276e-02 0.2500 4.4887e-03 1\n", + " 9 2.4774e-01 2.0567e-01 1.9681e-06 4.2050e-03 1.16255e-02 0.5000 4.2050e-03 1\n", + " 10 2.4561e-01 2.0567e-01 1.1213e-06 3.9931e-03 1.99903e-03 1.0000 3.9931e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0309e+01 5.3411e-01 4.8552e+00 1.2226e-01 5.32838e-01 1.0000 ---- 3\n", + " 2 1.6168e+01 2.0456e-01 2.6075e-01 1.3356e+00 1.18762e-01 1.0000 1.3356e+00 3\n", + " 3 4.6117e-01 2.0456e-01 2.7426e-04 2.5386e-02 1.01031e-01 0.2500 2.5386e-02 3\n", + " 4 4.0317e-01 2.0456e-01 2.0853e-04 1.9653e-02 4.86947e-02 1.0000 1.9653e-02 3\n", + " 5 3.1304e-01 2.0456e-01 1.5357e-05 1.0833e-02 5.19662e-02 0.2500 1.0833e-02 3\n", + " 6 3.0130e-01 2.0456e-01 1.2201e-05 9.6623e-03 2.37307e-02 1.0000 9.6623e-03 2\n", + " 7 2.2137e-01 2.0456e-01 2.4285e-06 1.6790e-03 2.71140e-02 0.0020 1.6790e-03 1\n", + " 8 2.2137e-01 2.0456e-01 2.4285e-06 1.6790e-03 2.70812e-02 0.2500 1.6790e-03 1\n", + " 9 2.2068e-01 2.0456e-01 2.0080e-06 1.6100e-03 1.23102e-02 0.5000 1.6100e-03 1\n", + " 10 2.2020e-01 2.0456e-01 1.1601e-06 1.5627e-03 2.06370e-03 1.0000 1.5627e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0284e+01 5.3321e-01 4.8477e+00 1.2732e-01 5.33119e-01 1.0000 ---- 3\n", + " 2 1.6088e+01 2.0349e-01 2.5815e-01 1.3303e+00 1.19145e-01 1.0000 1.3303e+00 3\n", + " 3 3.3777e-01 2.0349e-01 2.7851e-04 1.3150e-02 1.01142e-01 0.2500 1.3150e-02 2\n", + " 4 3.0491e-01 2.0349e-01 2.1172e-04 9.9306e-03 4.88273e-02 1.0000 9.9306e-03 2\n", + " 5 2.9626e-01 2.0349e-01 1.5765e-05 9.2614e-03 5.20078e-02 0.2500 9.2614e-03 2\n", + " 6 2.7599e-01 2.0349e-01 1.2521e-05 7.2380e-03 2.37585e-02 1.0000 7.2380e-03 2\n", + " 7 2.2579e-01 2.0348e-01 2.4631e-06 2.2276e-03 2.71841e-02 0.0078 2.2276e-03 1\n", + " 8 2.2578e-01 2.0348e-01 2.4440e-06 2.2274e-03 2.67015e-02 0.1250 2.2274e-03 1\n", + " 9 2.2478e-01 2.0348e-01 2.1834e-06 2.1269e-03 1.93894e-02 0.1250 2.1269e-03 1\n", + " 10 2.2448e-01 2.0348e-01 1.9345e-06 2.0980e-03 1.41273e-02 0.5000 2.0980e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0162e+01 5.3235e-01 4.8396e+00 1.2337e-01 5.32994e-01 1.0000 ---- 3\n", + " 2 1.6043e+01 2.0245e-01 2.5565e-01 1.3284e+00 1.17355e-01 1.0000 1.3284e+00 3\n", + " 3 3.5806e-01 2.0245e-01 2.7631e-04 1.5285e-02 9.78336e-02 0.2500 1.5285e-02 2\n", + " 4 3.1472e-01 2.0245e-01 2.0998e-04 1.1017e-02 4.72749e-02 1.0000 1.1017e-02 2\n", + " 5 2.6882e-01 2.0245e-01 1.4512e-05 6.6218e-03 5.01594e-02 0.1250 6.6218e-03 3\n", + " 6 2.6302e-01 2.0245e-01 1.2857e-05 6.0441e-03 3.67012e-02 0.5000 6.0441e-03 2\n", + " 7 2.5649e-01 2.0245e-01 7.7983e-06 5.3959e-03 7.14320e-03 0.0020 5.3959e-03 1\n", + " 8 2.5649e-01 2.0245e-01 7.7983e-06 5.3959e-03 7.13578e-03 1.0000 5.3959e-03 1\n", + " 9 2.0802e-01 2.0245e-01 3.4598e-07 5.5623e-04 7.04217e-03 1.0000 7.4771e-04 1\n", + " 10 2.0710e-01 2.0245e-01 1.5576e-07 4.6462e-04 8.84449e-03 0.1250 7.0350e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0100e+01 5.3153e-01 4.8337e+00 1.2319e-01 5.33842e-01 1.0000 ---- 3\n", + " 2 1.6405e+01 2.0146e-01 2.5297e-01 1.3674e+00 1.21473e-01 1.0000 1.3674e+00 3\n", + " 3 3.0624e-01 2.0146e-01 2.9624e-04 1.0182e-02 1.03228e-01 0.0625 1.0182e-02 1\n", + " 4 3.0622e-01 2.0146e-01 2.7792e-04 1.0198e-02 8.96322e-02 0.2500 1.0198e-02 1\n", + " 5 2.8500e-01 2.0146e-01 2.1086e-04 8.1432e-03 4.37013e-02 0.5000 8.1432e-03 1\n", + " 6 2.7813e-01 2.0146e-01 1.0785e-04 7.5589e-03 7.25290e-03 1.0000 7.5589e-03 1\n", + " 7 2.2339e-01 2.0146e-01 6.5181e-07 2.1925e-03 6.75477e-03 1.0000 2.1925e-03 1\n", + " 8 2.0675e-01 2.0146e-01 1.7746e-07 5.2870e-04 8.25076e-03 1.0000 7.6184e-04 1\n", + " 9 2.0493e-01 2.0146e-01 7.8897e-08 3.4705e-04 1.09979e-02 0.2500 6.8778e-04 1\n", + " 10 2.0472e-01 2.0146e-01 7.5801e-08 3.2582e-04 4.54348e-03 1.0000 7.1104e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9911e+01 5.3077e-01 4.8277e+00 1.1032e-01 5.33070e-01 1.0000 ---- 3\n", + " 2 1.5460e+01 2.0052e-01 2.5034e-01 1.2757e+00 1.15812e-01 1.0000 1.2757e+00 3\n", + " 3 3.8160e-01 2.0052e-01 2.8617e-04 1.7822e-02 9.53796e-02 0.2500 1.7822e-02 3\n", + " 4 3.5001e-01 2.0051e-01 2.1708e-04 1.4733e-02 4.63021e-02 1.0000 1.4733e-02 2\n", + " 5 2.3260e-01 2.0051e-01 1.4764e-05 3.1943e-03 4.88902e-02 0.2500 3.1943e-03 2\n", + " 6 2.2883e-01 2.0051e-01 1.1727e-05 2.8196e-03 2.26789e-02 0.5000 2.8196e-03 2\n", + " 7 2.1056e-01 2.0051e-01 6.5045e-06 9.9804e-04 5.33389e-03 0.2500 9.9804e-04 1\n", + " 8 2.1051e-01 2.0051e-01 4.8810e-06 9.9458e-04 3.11131e-03 1.0000 9.9458e-04 1\n", + " 9 2.0175e-01 2.0051e-01 1.1985e-07 1.2404e-04 2.09843e-03 0.2500 7.2996e-04 1\n", + " 10 2.0171e-01 2.0051e-01 9.0470e-08 1.1942e-04 9.70872e-04 1.0000 7.2761e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0029e+01 5.3004e-01 4.8215e+00 1.2842e-01 5.34223e-01 1.0000 ---- 3\n", + " 2 1.6530e+01 1.9961e-01 2.4804e-01 1.3850e+00 1.19389e-01 1.0000 1.3850e+00 3\n", + " 3 3.7285e-01 1.9961e-01 2.9918e-04 1.7024e-02 9.92717e-02 0.2500 1.7024e-02 3\n", + " 4 3.4307e-01 1.9961e-01 2.2706e-04 1.4119e-02 4.83307e-02 1.0000 1.4119e-02 3\n", + " 5 2.4807e-01 1.9961e-01 1.6271e-05 4.8293e-03 5.16822e-02 0.0020 4.8293e-03 1\n", + " 6 2.4807e-01 1.9961e-01 1.6271e-05 4.8293e-03 5.18352e-02 0.1250 4.8293e-03 1\n", + " 7 2.4598e-01 1.9961e-01 1.4401e-05 4.6228e-03 3.77245e-02 0.1250 4.6228e-03 1\n", + " 8 2.4554e-01 1.9961e-01 1.2689e-05 4.5807e-03 2.76264e-02 0.5000 4.5807e-03 1\n", + " 9 2.4474e-01 1.9961e-01 7.1321e-06 4.5060e-03 4.43822e-03 1.0000 4.5060e-03 1\n", + " 10 2.2173e-01 1.9961e-01 5.4124e-08 2.2121e-03 4.91887e-03 1.0000 2.2121e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9844e+01 5.2936e-01 4.8148e+00 1.1657e-01 5.34927e-01 1.0000 ---- 3\n", + " 2 1.6388e+01 1.9876e-01 2.4578e-01 1.3732e+00 1.21923e-01 1.0000 1.3732e+00 3\n", + " 3 3.4089e-01 1.9876e-01 3.1246e-04 1.3901e-02 1.01368e-01 0.5000 1.3901e-02 2\n", + " 4 3.2114e-01 1.9875e-01 1.6774e-04 1.2070e-02 1.68771e-02 1.0000 1.2070e-02 3\n", + " 5 2.0601e-01 1.9875e-01 2.0745e-06 7.2387e-04 1.98287e-02 0.5000 1.0197e-03 1\n", + " 6 2.0481e-01 1.9875e-01 8.8625e-07 6.0461e-04 3.92868e-03 1.0000 7.1937e-04 1\n", + " 7 1.9953e-01 1.9875e-01 8.8101e-08 7.7471e-05 4.78759e-03 0.5000 7.0676e-04 1\n", + " 8 1.9927e-01 1.9875e-01 5.2801e-08 5.1427e-05 1.08309e-03 1.0000 7.3082e-04 1\n", + " 9 1.9906e-01 1.9875e-01 1.2737e-09 3.0319e-05 1.54290e-03 0.0020 7.1558e-04 1\n", + " 10 1.9906e-01 1.9875e-01 1.2737e-09 3.0319e-05 1.54503e-03 1.0000 7.1556e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9817e+01 5.2873e-01 4.8076e+00 1.2128e-01 5.35255e-01 1.0000 ---- 3\n", + " 2 1.6154e+01 1.9795e-01 2.4402e-01 1.3516e+00 1.18727e-01 1.0000 1.3736e+00 3\n", + " 3 3.8588e-01 1.9795e-01 3.1534e-04 1.8478e-02 9.83442e-02 0.5000 1.8478e-02 3\n", + " 4 3.7096e-01 1.9794e-01 1.6860e-04 1.7133e-02 1.53582e-02 1.0000 1.7133e-02 3\n", + " 5 2.0437e-01 1.9794e-01 2.0757e-06 6.4066e-04 1.78522e-02 1.0000 6.4214e-04 1\n", + " 6 2.0428e-01 1.9794e-01 9.4825e-07 6.3294e-04 2.09514e-02 0.1250 1.1699e-03 1\n", + " 7 2.0419e-01 1.9794e-01 8.4407e-07 6.2364e-04 1.50292e-02 0.2500 7.6675e-04 1\n", + " 8 2.0393e-01 1.9794e-01 6.6207e-07 5.9827e-04 6.57327e-03 1.0000 7.4376e-04 1\n", + " 9 2.0241e-01 1.9794e-01 1.1103e-07 4.4641e-04 8.22894e-03 0.5000 7.0223e-04 1\n", + " 10 2.0225e-01 1.9794e-01 1.0776e-07 4.3041e-04 1.47332e-03 1.0000 7.2582e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9712e+01 5.2816e-01 4.8009e+00 1.1747e-01 5.35791e-01 1.0000 ---- 3\n", + " 2 1.6498e+01 1.9719e-01 2.4185e-01 1.3882e+00 1.20752e-01 1.0000 1.4142e+00 3\n", + " 3 3.9312e-01 1.9719e-01 3.3471e-04 1.9258e-02 9.92839e-02 0.5000 1.9258e-02 3\n", + " 4 3.6672e-01 1.9719e-01 1.7822e-04 1.6775e-02 1.62557e-02 1.0000 1.6775e-02 3\n", + " 5 2.0377e-01 1.9719e-01 2.0735e-06 6.5623e-04 1.82760e-02 1.0000 7.0557e-04 1\n", + " 6 2.0191e-01 1.9719e-01 9.4902e-07 4.7135e-04 2.28840e-02 0.5000 8.1098e-04 1\n", + " 7 1.9991e-01 1.9718e-01 7.4499e-07 2.7168e-04 4.07375e-03 1.0000 7.0966e-04 1\n", + " 8 1.9794e-01 1.9718e-01 4.2939e-08 7.5788e-05 5.68430e-03 0.5000 7.4593e-04 1\n", + " 9 1.9764e-01 1.9718e-01 3.9451e-08 4.5627e-05 1.25315e-03 1.0000 7.1647e-04 1\n", + " 10 1.9734e-01 1.9718e-01 2.1366e-09 1.5571e-05 1.80779e-03 0.5000 7.3390e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9677e+01 5.2763e-01 4.7943e+00 1.2067e-01 5.35846e-01 1.0000 ---- 3\n", + " 2 1.6525e+01 1.9648e-01 2.3932e-01 1.3936e+00 1.20072e-01 1.0000 1.4568e+00 3\n", + " 3 3.5054e-01 1.9648e-01 3.2748e-04 1.5078e-02 9.65830e-02 0.5000 1.5078e-02 2\n", + " 4 3.0934e-01 1.9648e-01 1.7442e-04 1.1112e-02 1.60861e-02 1.0000 1.1112e-02 3\n", + " 5 2.0316e-01 1.9648e-01 2.0166e-06 6.6621e-04 1.83512e-02 1.0000 6.6621e-04 1\n", + " 6 2.0308e-01 1.9648e-01 9.5328e-07 6.5897e-04 2.30156e-02 0.5000 1.0152e-03 1\n", + " 7 2.0246e-01 1.9648e-01 7.3268e-07 5.9805e-04 4.06233e-03 1.0000 7.0727e-04 1\n", + " 8 2.0011e-01 1.9648e-01 4.0437e-08 3.6338e-04 5.76609e-03 1.0000 7.4832e-04 1\n", + " 9 1.9781e-01 1.9648e-01 7.1966e-08 1.3297e-04 8.21011e-03 1.0000 6.8104e-04 1\n", + " 10 1.9743e-01 1.9648e-01 1.2429e-07 9.5653e-05 1.19391e-02 0.1250 7.8768e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9593e+01 5.2716e-01 4.7862e+00 1.2037e-01 5.37087e-01 1.0000 ---- 3\n", + " 2 1.6406e+01 1.9583e-01 2.3768e-01 1.3833e+00 1.18573e-01 1.0000 1.5016e+00 3\n", + " 3 3.5853e-01 1.9582e-01 3.3264e-04 1.5938e-02 9.68213e-02 0.2500 1.5938e-02 2\n", + " 4 3.1971e-01 1.9582e-01 2.5215e-04 1.2136e-02 4.62167e-02 1.0000 1.2136e-02 2\n", + " 5 2.8658e-01 1.9582e-01 1.5345e-05 9.0609e-03 4.95436e-02 0.5000 9.0609e-03 2\n", + " 6 2.5928e-01 1.9582e-01 1.0349e-05 6.3357e-03 8.74180e-03 0.0020 6.3357e-03 1\n", + " 7 2.5928e-01 1.9582e-01 1.0349e-05 6.3357e-03 8.76503e-03 1.0000 6.3357e-03 1\n", + " 8 2.0163e-01 1.9582e-01 4.1805e-07 5.8006e-04 1.00693e-02 1.0000 7.2542e-04 1\n", + " 9 1.9897e-01 1.9582e-01 3.7097e-07 3.1441e-04 1.37527e-02 0.2500 7.2710e-04 1\n", + " 10 1.9847e-01 1.9582e-01 3.1726e-07 2.6418e-04 5.52482e-03 1.0000 7.2048e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9468e+01 5.2675e-01 4.7802e+00 1.1400e-01 5.35648e-01 1.0000 ---- 3\n", + " 2 1.6517e+01 1.9523e-01 2.3512e-01 1.3971e+00 1.18827e-01 1.0000 1.5488e+00 3\n", + " 3 3.7540e-01 1.9522e-01 3.3064e-04 1.7687e-02 8.97375e-02 0.2500 1.7687e-02 3\n", + " 4 3.3891e-01 1.9522e-01 2.5017e-04 1.4119e-02 4.43949e-02 1.0000 1.4119e-02 2\n", + " 5 2.2775e-01 1.9522e-01 1.2975e-05 3.2398e-03 4.61473e-02 0.0020 6.1666e-03 1\n", + " 6 2.2775e-01 1.9522e-01 1.2975e-05 3.2398e-03 4.61184e-02 0.2500 3.2398e-03 1\n", + " 7 2.2732e-01 1.9522e-01 1.0217e-05 3.2001e-03 2.15373e-02 0.2500 4.3251e-03 1\n", + " 8 2.2686e-01 1.9522e-01 7.7852e-06 3.1562e-03 1.05708e-02 1.0000 3.1562e-03 1\n", + " 9 2.0889e-01 1.9522e-01 6.1669e-07 1.3663e-03 1.07620e-02 1.0000 1.3663e-03 1\n", + " 10 2.0610e-01 1.9522e-01 3.5797e-07 1.0880e-03 1.25814e-02 0.1250 1.0880e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9443e+01 5.2639e-01 4.7716e+00 1.2000e-01 5.36401e-01 1.0000 ---- 3\n", + " 2 1.6733e+01 1.9468e-01 2.3332e-01 1.4205e+00 1.17321e-01 1.0000 1.5986e+00 3\n", + " 3 2.7182e-01 1.9468e-01 3.3492e-04 7.3791e-03 8.99095e-02 0.0039 7.3791e-03 1\n", + " 4 2.7182e-01 1.9468e-01 3.3362e-04 7.3802e-03 8.91071e-02 0.1250 7.3802e-03 1\n", + " 5 2.6797e-01 1.9468e-01 2.9250e-04 7.0363e-03 6.61469e-02 0.1250 7.0363e-03 1\n", + " 6 2.6690e-01 1.9468e-01 2.5628e-04 6.9660e-03 4.96573e-02 0.5000 6.9660e-03 1\n", + " 7 2.6232e-01 1.9468e-01 1.3124e-04 6.6333e-03 8.67852e-03 1.0000 6.6333e-03 1\n", + " 8 2.2693e-01 1.9468e-01 9.0389e-07 3.2244e-03 7.75992e-03 1.0000 3.2244e-03 1\n", + " 9 2.0019e-01 1.9468e-01 2.4219e-07 5.5086e-04 9.58028e-03 1.0000 7.5703e-04 1\n", + " 10 1.9657e-01 1.9468e-01 1.2889e-07 1.8888e-04 1.28061e-02 0.0020 6.8194e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9165e+01 5.2610e-01 4.7654e+00 9.8452e-02 5.39733e-01 1.0000 ---- 3\n", + " 2 1.6468e+01 1.9420e-01 2.3070e-01 1.3967e+00 1.27607e-01 1.0000 1.6513e+00 3\n", + " 3 3.1550e-01 1.9420e-01 3.8483e-04 1.1746e-02 1.05030e-01 0.0039 1.1746e-02 1\n", + " 4 3.1550e-01 1.9420e-01 3.8333e-04 1.1747e-02 1.04060e-01 0.2500 1.1747e-02 1\n", + " 5 3.0934e-01 1.9419e-01 2.9058e-04 1.1224e-02 5.07652e-02 0.5000 1.1224e-02 1\n", + " 6 3.0106e-01 1.9419e-01 1.4842e-04 1.0538e-02 8.95996e-03 1.0000 1.0538e-02 2\n", + " 7 1.9420e-01 1.9419e-01 5.3491e-07 0.0000e+00 1.03022e-02 0.5000 6.5647e-04 1\n", + " 8 1.9420e-01 1.9419e-01 2.6543e-07 0.0000e+00 2.14846e-03 1.0000 7.0871e-04 1\n", + " 9 1.9419e-01 1.9419e-01 4.7610e-08 0.0000e+00 1.91966e-03 0.1250 7.1454e-04 1\n", + " 10 1.9419e-01 1.9419e-01 4.1655e-08 0.0000e+00 1.37042e-03 1.0000 7.1634e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9301e+01 5.2586e-01 4.7592e+00 1.1833e-01 5.38959e-01 1.0000 ---- 3\n", + " 2 1.6707e+01 1.9378e-01 2.2832e-01 1.4230e+00 1.20409e-01 1.0000 1.7068e+00 3\n", + " 3 2.7338e-01 1.9377e-01 3.5836e-04 7.6027e-03 9.38973e-02 0.0625 7.6027e-03 1\n", + " 4 2.7332e-01 1.9377e-01 3.3612e-04 7.6192e-03 8.15335e-02 0.5000 7.6192e-03 1\n", + " 5 2.6680e-01 1.9377e-01 1.7592e-04 7.1273e-03 1.36480e-02 1.0000 7.1273e-03 1\n", + " 6 2.4625e-01 1.9377e-01 1.8292e-06 5.2460e-03 1.41821e-02 1.0000 5.2460e-03 1\n", + " 7 2.1673e-01 1.9377e-01 5.1627e-07 2.2960e-03 1.78674e-02 1.0000 2.2960e-03 1\n", + " 8 2.1538e-01 1.9377e-01 5.2516e-07 2.1602e-03 2.44308e-02 0.2500 2.1602e-03 1\n", + " 9 2.1456e-01 1.9377e-01 4.8413e-07 2.0789e-03 9.87951e-03 1.0000 2.0789e-03 1\n", + " 10 2.0515e-01 1.9377e-01 2.1823e-07 1.1383e-03 1.34207e-02 0.5000 1.1383e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9130e+01 5.2570e-01 4.7538e+00 1.0664e-01 5.39924e-01 1.0000 ---- 3\n", + " 2 1.6637e+01 1.9342e-01 2.2655e-01 1.4178e+00 1.22881e-01 1.0000 1.7659e+00 3\n", + " 3 2.9309e-01 1.9341e-01 3.7469e-04 9.5933e-03 9.57446e-02 0.0078 9.5933e-03 1\n", + " 4 2.9309e-01 1.9341e-01 3.7176e-04 9.5961e-03 9.41064e-02 0.2500 9.5961e-03 1\n", + " 5 2.9021e-01 1.9341e-01 2.8137e-04 9.3989e-03 4.65080e-02 0.5000 9.3989e-03 1\n", + " 6 2.8440e-01 1.9341e-01 1.4330e-04 8.9553e-03 8.54865e-03 1.0000 8.9553e-03 2\n", + " 7 1.9394e-01 1.9341e-01 5.2671e-07 5.2180e-05 9.70226e-03 1.0000 6.5923e-04 1\n", + " 8 1.9379e-01 1.9341e-01 6.5982e-07 3.7740e-05 1.01861e-02 0.2500 7.5511e-04 1\n", + " 9 1.9378e-01 1.9341e-01 5.1504e-07 3.6214e-05 4.55702e-03 1.0000 7.3478e-04 1\n", + " 10 1.9357e-01 1.9341e-01 7.0456e-08 1.5508e-05 5.51539e-03 0.5000 7.0024e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9122e+01 5.2560e-01 4.7481e+00 1.1153e-01 5.40426e-01 1.0000 ---- 3\n", + " 2 1.6516e+01 1.9313e-01 2.2435e-01 1.4079e+00 1.21623e-01 1.0000 1.8285e+00 3\n", + " 3 3.3101e-01 1.9312e-01 3.8003e-04 1.3409e-02 9.38191e-02 0.5000 1.3409e-02 2\n", + " 4 2.8339e-01 1.9312e-01 2.0023e-04 8.8276e-03 1.58399e-02 1.0000 8.8276e-03 2\n", + " 5 1.9351e-01 1.9312e-01 2.0621e-06 3.7732e-05 1.77210e-02 1.0000 6.2126e-04 1\n", + " 6 1.9334e-01 1.9312e-01 8.8366e-07 2.1893e-05 2.19738e-02 0.2500 8.0605e-04 1\n", + " 7 1.9332e-01 1.9312e-01 7.1698e-07 1.9369e-05 9.20074e-03 1.0000 7.5511e-04 1\n", + " 8 1.9323e-01 1.9312e-01 1.9948e-07 1.1241e-05 1.23834e-02 0.2500 6.7199e-04 1\n", + " 9 1.9320e-01 1.9312e-01 1.7325e-07 8.1421e-06 5.02265e-03 1.0000 6.9907e-04 1\n", + " 10 1.9317e-01 1.9312e-01 6.4335e-08 5.2243e-06 6.73474e-03 0.5000 7.4257e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9073e+01 5.2557e-01 4.7424e+00 1.1238e-01 5.41488e-01 1.0000 ---- 3\n", + " 2 1.6994e+01 1.9290e-01 2.2271e-01 1.4574e+00 1.23048e-01 1.0000 1.8951e+00 3\n", + " 3 2.6680e-01 1.9290e-01 3.8728e-04 7.0034e-03 9.45131e-02 0.0625 7.0034e-03 1\n", + " 4 2.6669e-01 1.9289e-01 3.6323e-04 7.0166e-03 8.24058e-02 0.5000 7.0166e-03 1\n", + " 5 2.3929e-01 1.9289e-01 1.8951e-04 4.4504e-03 1.40598e-02 1.0000 4.4504e-03 1\n", + " 6 2.0924e-01 1.9289e-01 1.8867e-06 1.6332e-03 1.46525e-02 1.0000 1.6332e-03 1\n", + " 7 1.9367e-01 1.9289e-01 5.3085e-07 7.7187e-05 1.88874e-02 1.0000 8.0394e-04 1\n", + " 8 1.9339e-01 1.9289e-01 4.9357e-07 4.8847e-05 2.58941e-02 0.5000 6.3102e-04 1\n", + " 9 1.9311e-01 1.9289e-01 5.7390e-07 2.1026e-05 5.08161e-03 0.5000 7.4086e-04 1\n", + " 10 1.9304e-01 1.9289e-01 3.0161e-07 1.4176e-05 1.15073e-03 1.0000 7.1020e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9009e+01 5.2562e-01 4.7360e+00 1.1237e-01 5.42487e-01 1.0000 ---- 3\n", + " 2 1.6836e+01 1.9275e-01 2.2101e-01 1.4433e+00 1.22569e-01 1.0000 1.9662e+00 3\n", + " 3 2.6709e-01 1.9274e-01 3.9462e-04 7.0401e-03 9.40741e-02 0.0312 7.0401e-03 1\n", + " 4 2.6705e-01 1.9274e-01 3.8233e-04 7.0481e-03 8.78567e-02 0.2500 7.0481e-03 1\n", + " 5 2.5413e-01 1.9274e-01 2.8897e-04 5.8498e-03 4.34196e-02 0.5000 5.8498e-03 1\n", + " 6 2.4643e-01 1.9274e-01 1.4675e-04 5.2221e-03 7.55120e-03 1.0000 5.2221e-03 1\n", + " 7 2.0526e-01 1.9274e-01 7.2435e-07 1.2513e-03 6.43344e-03 1.0000 1.2513e-03 1\n", + " 8 1.9783e-01 1.9274e-01 1.8395e-07 5.0878e-04 7.73049e-03 0.5000 7.4821e-04 1\n", + " 9 1.9692e-01 1.9274e-01 9.3557e-08 4.1748e-04 1.44806e-03 1.0000 7.1597e-04 1\n", + " 10 1.9431e-01 1.9274e-01 1.3734e-08 1.5677e-04 1.94246e-03 0.5000 7.2206e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8848e+01 5.2574e-01 4.7308e+00 1.0147e-01 5.42994e-01 1.0000 ---- 3\n", + " 2 1.6559e+01 1.9268e-01 2.1868e-01 1.4180e+00 1.23447e-01 1.0000 2.0421e+00 3\n", + " 3 2.7473e-01 1.9267e-01 4.0778e-04 7.7987e-03 9.37213e-02 0.0156 7.7987e-03 1\n", + " 4 2.7472e-01 1.9267e-01 4.0142e-04 7.8036e-03 9.06805e-02 0.2500 7.8036e-03 1\n", + " 5 2.7204e-01 1.9267e-01 3.0341e-04 7.6339e-03 4.50315e-02 0.5000 7.6339e-03 1\n", + " 6 2.6738e-01 1.9267e-01 1.5408e-04 7.3168e-03 7.94356e-03 1.0000 7.3168e-03 1\n", + " 7 2.1054e-01 1.9267e-01 7.6794e-07 1.7870e-03 6.99765e-03 1.0000 1.7870e-03 1\n", + " 8 1.9361e-01 1.9267e-01 2.0356e-07 9.3909e-05 8.50966e-03 0.5000 7.5575e-04 1\n", + " 9 1.9325e-01 1.9267e-01 1.0471e-07 5.7891e-05 1.57964e-03 0.2500 7.1293e-04 1\n", + " 10 1.9324e-01 1.9267e-01 7.7888e-08 5.7410e-05 6.87595e-04 1.0000 7.1596e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8848e+01 5.2595e-01 4.7248e+00 1.0733e-01 5.43799e-01 1.0000 ---- 3\n", + " 2 1.6959e+01 1.9269e-01 2.1690e-01 1.4597e+00 1.23142e-01 1.0000 2.1234e+00 3\n", + " 3 2.6202e-01 1.9268e-01 4.0796e-04 6.5263e-03 9.23897e-02 0.0625 6.5263e-03 1\n", + " 4 2.6198e-01 1.9267e-01 3.8262e-04 6.5474e-03 8.05127e-02 0.5000 6.5474e-03 1\n", + " 5 2.3554e-01 1.9267e-01 1.9883e-04 4.0878e-03 1.37968e-02 1.0000 4.0878e-03 1\n", + " 6 2.0777e-01 1.9267e-01 1.8558e-06 1.5075e-03 1.39837e-02 1.0000 1.5075e-03 1\n", + " 7 1.9277e-01 1.9267e-01 5.0767e-07 8.7551e-06 1.78508e-02 1.0000 7.9415e-04 1\n", + " 8 1.9268e-01 1.9267e-01 4.7154e-07 0.0000e+00 2.43320e-02 0.2500 6.3114e-04 1\n", + " 9 1.9268e-01 1.9267e-01 4.3398e-07 0.0000e+00 9.87392e-03 1.0000 6.7580e-04 1\n", + " 10 1.9267e-01 1.9267e-01 2.0220e-07 7.9162e-09 1.34695e-02 0.0020 7.6887e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8787e+01 5.2624e-01 4.7184e+00 1.0761e-01 5.44363e-01 1.0000 ---- 3\n", + " 2 1.6716e+01 1.9278e-01 2.1494e-01 1.4373e+00 1.21446e-01 1.0000 2.2107e+00 3\n", + " 3 2.5851e-01 1.9276e-01 3.9923e-04 6.1756e-03 8.74590e-02 0.0039 6.1756e-03 1\n", + " 4 2.5851e-01 1.9276e-01 3.9767e-04 6.1769e-03 8.66966e-02 0.1250 6.1769e-03 1\n", + " 5 2.5482e-01 1.9276e-01 3.4850e-04 5.8575e-03 6.39198e-02 0.1250 5.8575e-03 1\n", + " 6 2.5367e-01 1.9276e-01 3.0525e-04 5.7859e-03 4.80062e-02 0.5000 5.7859e-03 1\n", + " 7 2.5289e-01 1.9276e-01 1.5546e-04 5.8568e-03 9.07646e-03 1.0000 5.8568e-03 1\n", + " 8 2.2595e-01 1.9276e-01 9.6943e-07 3.3174e-03 8.05531e-03 1.0000 3.3174e-03 1\n", + " 9 1.9905e-01 1.9276e-01 2.3689e-07 6.2835e-04 9.91466e-03 1.0000 6.2835e-04 1\n", + " 10 1.9565e-01 1.9276e-01 1.5482e-07 2.8872e-04 1.34066e-02 0.0078 6.1376e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8680e+01 5.2663e-01 4.7124e+00 1.0289e-01 5.47938e-01 1.0000 ---- 3\n", + " 2 1.7711e+01 1.9296e-01 2.1303e-01 1.5387e+00 1.30572e-01 1.0000 2.3049e+00 3\n", + " 3 2.9055e-01 1.9294e-01 4.6490e-04 9.2961e-03 1.04785e-01 0.0078 9.2961e-03 1\n", + " 4 2.9055e-01 1.9294e-01 4.6127e-04 9.2993e-03 1.02994e-01 0.2500 9.2993e-03 1\n", + " 5 2.8370e-01 1.9294e-01 3.4895e-04 8.7273e-03 5.00946e-02 0.5000 8.7273e-03 1\n", + " 6 2.7494e-01 1.9294e-01 1.7750e-04 8.0225e-03 8.29842e-03 1.0000 8.0225e-03 1\n", + " 7 2.1075e-01 1.9294e-01 8.5131e-07 1.7804e-03 7.31790e-03 1.0000 1.7804e-03 1\n", + " 8 1.9400e-01 1.9294e-01 1.9847e-07 1.0549e-04 8.91316e-03 1.0000 7.4933e-04 1\n", + " 9 1.9347e-01 1.9294e-01 1.3663e-07 5.2868e-05 1.17836e-02 0.0312 6.7741e-04 1\n", + " 10 1.9347e-01 1.9294e-01 1.3276e-07 5.2510e-05 1.09191e-02 0.1250 6.8002e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8625e+01 5.2711e-01 4.7059e+00 1.0386e-01 5.47247e-01 1.0000 ---- 3\n", + " 2 1.7380e+01 1.9323e-01 2.1127e-01 1.5074e+00 1.29125e-01 1.0000 2.4062e+00 3\n", + " 3 2.6700e-01 1.9322e-01 4.5689e-04 6.9214e-03 9.83408e-02 0.0625 6.9214e-03 1\n", + " 4 2.6686e-01 1.9321e-01 4.2851e-04 6.9361e-03 8.57877e-02 0.5000 6.9361e-03 1\n", + " 5 2.3913e-01 1.9321e-01 2.2268e-04 4.3695e-03 1.45181e-02 1.0000 4.3695e-03 1\n", + " 6 2.0958e-01 1.9321e-01 1.9819e-06 1.6351e-03 1.52175e-02 1.0000 1.6351e-03 1\n", + " 7 1.9385e-01 1.9321e-01 5.3036e-07 6.2888e-05 1.98284e-02 1.0000 8.0746e-04 1\n", + " 8 1.9335e-01 1.9321e-01 5.6493e-07 1.2851e-05 2.71245e-02 0.5000 6.1392e-04 1\n", + " 9 1.9324e-01 1.9321e-01 6.3847e-07 1.8844e-06 5.27277e-03 0.0020 7.3922e-04 1\n", + " 10 1.9324e-01 1.9321e-01 6.3847e-07 1.8844e-06 5.26886e-03 1.0000 7.3920e-04 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 2.0224e+02 2.4952e-01 2.0077e+01 1.2123e-01 8.08388e+00 0.1250 ---- 3\n", + " 2 1.9700e+02 2.3687e-01 1.7557e+01 2.1200e+00 6.90818e+00 0.2500 7.9557e+01 3\n", + " 3 1.8966e+02 2.1991e-01 1.3152e+01 5.7919e+00 4.78137e+00 0.5000 5.9669e+01 3\n", + " 4 1.7381e+02 2.0690e-01 6.6394e+00 1.0721e+01 1.91846e+00 1.0000 2.9835e+01 3\n", + " 5 6.5763e+01 2.0924e-01 1.0212e+00 5.5342e+00 1.05532e+00 0.5000 5.5342e+00 3\n", + " 6 4.5873e+01 2.0932e-01 4.6983e-01 4.0965e+00 4.56310e-01 1.0000 4.0965e+00 3\n", + " 7 3.3220e+01 2.0949e-01 2.9012e-02 3.2721e+00 8.06515e-01 0.1250 3.2721e+00 3\n", + " 8 3.1657e+01 2.0945e-01 2.5384e-02 3.1194e+00 5.33467e-01 0.5000 3.1194e+00 3\n", + " 9 2.3611e+01 2.0945e-01 1.2711e-02 2.3274e+00 2.85517e-01 1.0000 2.3274e+00 3\n", + " 10 2.2380e+01 2.0949e-01 2.7476e-04 2.2168e+00 5.89288e-01 0.0625 2.2168e+00 3\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 3.7856e+02 2.1664e-01 3.5734e+01 2.1008e+00 1.39801e+00 1.0000 ---- 3\n", + " 2 2.6147e+02 2.0566e-01 2.4587e+00 2.3667e+01 7.52160e-01 1.0000 2.3667e+01 3\n", + " 3 2.0136e+01 2.0598e-01 1.8257e-02 1.9747e+00 9.90601e-01 0.2500 1.9747e+00 3\n", + " 4 1.6852e+01 2.0583e-01 1.3822e-02 1.6508e+00 3.14261e-01 1.0000 1.6508e+00 3\n", + " 5 1.2542e+01 2.0584e-01 1.4718e-03 1.2321e+00 4.85265e-01 0.2500 1.2321e+00 3\n", + " 6 1.1908e+01 2.0582e-01 1.1319e-03 1.1690e+00 1.64552e-01 1.0000 1.1690e+00 3\n", + " 7 1.9602e+00 2.0584e-01 1.6774e-04 1.7527e-01 2.56975e-01 0.2500 1.7527e-01 3\n", + " 8 1.7121e+00 2.0583e-01 1.3383e-04 1.5049e-01 8.38983e-02 1.0000 1.5049e-01 3\n", + " 9 2.5440e-01 2.0583e-01 2.7940e-05 4.8288e-03 1.40359e-01 0.0020 4.8288e-03 1\n", + " 10 2.5440e-01 2.0583e-01 2.7940e-05 4.8288e-03 1.40281e-01 0.0625 4.8288e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.1827e+02 2.1326e-01 4.1700e+01 1.0480e-01 1.25171e+00 1.0000 ---- 3\n", + " 2 1.2759e+02 2.0031e-01 2.5797e+00 1.0160e+01 4.49367e-01 1.0000 1.0160e+01 3\n", + " 3 8.4330e+00 2.0048e-01 1.9037e-02 8.0422e-01 3.91071e-01 0.5000 8.0422e-01 3\n", + " 4 5.8806e+00 2.0046e-01 9.7301e-03 5.5829e-01 1.27689e-01 1.0000 5.5829e-01 3\n", + " 5 6.3532e-01 2.0047e-01 9.7977e-05 4.3387e-02 2.34040e-01 0.2500 4.3387e-02 2\n", + " 6 5.4810e-01 2.0047e-01 7.2830e-05 3.4690e-02 6.26615e-02 0.0020 3.4690e-02 1\n", + " 7 5.4810e-01 2.0047e-01 7.2830e-05 3.4690e-02 6.26534e-02 1.0000 3.4690e-02 1\n", + " 8 4.0917e-01 2.0047e-01 1.3578e-05 2.0857e-02 1.17812e-01 0.1250 2.0857e-02 1\n", + " 9 4.0707e-01 2.0047e-01 1.2094e-05 2.0648e-02 7.47386e-02 0.2500 2.0648e-02 1\n", + " 10 3.9335e-01 2.0047e-01 9.3987e-06 1.9279e-02 2.03218e-02 1.0000 1.9279e-02 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.5073e+02 2.0998e-01 4.4836e+01 2.1576e-01 1.06180e+00 1.0000 ---- 3\n", + " 2 8.2736e+01 1.9722e-01 2.4143e+00 5.8396e+00 3.50021e-01 1.0000 5.8396e+00 3\n", + " 3 8.2224e+00 1.9732e-01 1.3304e-02 7.8920e-01 2.78165e-01 1.0000 7.8920e-01 3\n", + " 4 6.7125e+00 1.9731e-01 1.0147e-03 6.5050e-01 3.84686e-01 0.5000 6.5050e-01 3\n", + " 5 6.2665e+00 1.9730e-01 5.7321e-04 6.0635e-01 1.47227e-01 1.0000 6.0635e-01 3\n", + " 6 9.7146e-01 1.9731e-01 2.3944e-05 7.7391e-02 2.72206e-01 0.1250 7.7391e-02 3\n", + " 7 9.1480e-01 1.9731e-01 2.1369e-05 7.1728e-02 1.74678e-01 0.2500 7.1728e-02 3\n", + " 8 8.0900e-01 1.9731e-01 1.6791e-05 6.1152e-02 4.96994e-02 1.0000 6.1152e-02 3\n", + " 9 2.7474e-01 1.9731e-01 1.4662e-06 7.7415e-03 9.18962e-02 0.0156 7.7415e-03 1\n", + " 10 2.7473e-01 1.9731e-01 1.4429e-06 7.7412e-03 8.78234e-02 0.2500 7.7412e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6358e+02 2.0715e-01 4.6060e+01 2.7668e-01 1.03361e+00 1.0000 ---- 3\n", + " 2 7.1926e+01 1.9502e-01 2.2093e+00 4.9638e+00 3.07373e-01 1.0000 4.9638e+00 3\n", + " 3 7.7912e+00 1.9510e-01 8.8651e-03 7.5074e-01 2.40760e-01 1.0000 7.5074e-01 3\n", + " 4 6.9883e+00 1.9510e-01 8.5626e-04 6.7847e-01 3.16093e-01 0.5000 6.7847e-01 3\n", + " 5 6.5649e+00 1.9509e-01 5.0806e-04 6.3647e-01 1.14562e-01 1.0000 6.3647e-01 3\n", + " 6 5.3701e-01 1.9510e-01 1.6255e-05 3.4175e-02 2.11624e-01 0.0625 3.4175e-02 3\n", + " 7 5.1908e-01 1.9510e-01 1.5295e-05 3.2383e-02 1.73601e-01 0.1250 3.2383e-02 3\n", + " 8 5.0757e-01 1.9510e-01 1.3537e-05 3.1234e-02 1.11228e-01 0.2500 3.1234e-02 3\n", + " 9 4.7609e-01 1.9510e-01 1.0383e-05 2.8089e-02 3.17052e-02 1.0000 2.8089e-02 3\n", + " 10 2.4439e-01 1.9510e-01 1.5708e-06 4.9283e-03 5.81349e-02 0.0312 4.9283e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6839e+02 2.0483e-01 4.6543e+01 2.7558e-01 1.03646e+00 1.0000 ---- 3\n", + " 2 6.8007e+01 1.9359e-01 2.1133e+00 4.6681e+00 3.18113e-01 1.0000 4.6681e+00 3\n", + " 3 9.0024e+00 1.9366e-01 7.5363e-03 8.7334e-01 2.95966e-01 0.5000 8.7334e-01 3\n", + " 4 6.2721e+00 1.9365e-01 3.9502e-03 6.0389e-01 9.99807e-02 1.0000 6.0389e-01 3\n", + " 5 5.5631e-01 1.9366e-01 5.9055e-05 3.6206e-02 1.76176e-01 0.1250 3.6206e-02 3\n", + " 6 5.4610e-01 1.9366e-01 5.1480e-05 3.5193e-02 1.12581e-01 0.2500 3.5193e-02 3\n", + " 7 5.1100e-01 1.9366e-01 3.8277e-05 3.1696e-02 3.22451e-02 1.0000 3.1696e-02 3\n", + " 8 2.4404e-01 1.9366e-01 2.6435e-06 5.0350e-03 5.79016e-02 0.0156 5.0350e-03 1\n", + " 9 2.4400e-01 1.9366e-01 2.6024e-06 5.0311e-03 5.53183e-02 0.1250 5.0311e-03 1\n", + " 10 2.4196e-01 1.9366e-01 2.2989e-06 4.8277e-03 3.56628e-02 0.1250 4.8277e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7046e+02 2.0331e-01 4.6754e+01 2.7100e-01 1.03467e+00 1.0000 ---- 3\n", + " 2 6.6803e+01 1.9273e-01 2.0837e+00 4.5773e+00 3.04025e-01 1.0000 4.5773e+00 3\n", + " 3 8.7183e+00 1.9279e-01 7.5823e-03 8.4497e-01 2.42676e-01 1.0000 8.4497e-01 3\n", + " 4 7.7453e+00 1.9279e-01 9.7766e-04 7.5428e-01 3.12259e-01 0.5000 7.5428e-01 3\n", + " 5 6.9089e+00 1.9278e-01 5.8716e-04 6.7103e-01 1.17615e-01 1.0000 6.7103e-01 3\n", + " 6 6.5057e-01 1.9279e-01 1.6423e-05 4.5762e-02 2.18527e-01 0.2500 4.5762e-02 3\n", + " 7 6.4665e-01 1.9279e-01 1.3192e-05 4.5373e-02 6.02082e-02 1.0000 4.5373e-02 3\n", + " 8 3.0336e-01 1.9279e-01 7.7129e-06 1.1050e-02 1.11670e-01 0.2500 1.1050e-02 2\n", + " 9 2.9363e-01 1.9279e-01 6.0603e-06 1.0078e-02 3.20068e-02 0.0020 1.0078e-02 1\n", + " 10 2.9363e-01 1.9279e-01 6.0603e-06 1.0078e-02 3.20030e-02 1.0000 1.0078e-02 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7400e+02 2.0236e-01 4.7105e+01 2.7485e-01 1.06238e+00 1.0000 ---- 3\n", + " 2 6.9855e+01 1.9215e-01 2.1157e+00 4.8505e+00 3.47940e-01 1.0000 4.8505e+00 3\n", + " 3 9.5395e+00 1.9222e-01 7.6176e-03 9.2711e-01 3.27442e-01 0.5000 9.2711e-01 3\n", + " 4 6.4334e+00 1.9221e-01 3.9771e-03 6.2014e-01 1.04731e-01 1.0000 6.2014e-01 3\n", + " 5 9.3463e-01 1.9222e-01 9.5475e-05 7.4146e-02 1.87730e-01 0.1250 7.4146e-02 3\n", + " 6 9.1513e-01 1.9222e-01 8.3619e-05 7.2208e-02 1.20228e-01 0.2500 7.2208e-02 3\n", + " 7 8.3510e-01 1.9221e-01 6.2864e-05 6.4226e-02 3.42442e-02 1.0000 6.4226e-02 3\n", + " 8 2.3120e-01 1.9222e-01 2.4940e-06 3.8957e-03 6.21211e-02 0.1250 3.8957e-03 1\n", + " 9 2.3071e-01 1.9222e-01 2.2253e-06 3.8474e-03 3.98981e-02 0.5000 3.8474e-03 1\n", + " 10 2.2895e-01 1.9222e-01 1.6961e-06 3.6717e-03 1.79666e-02 0.2500 3.6717e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7579e+02 2.0174e-01 4.7315e+01 2.4405e-01 1.05437e+00 1.0000 ---- 3\n", + " 2 6.8517e+01 1.9172e-01 2.1383e+00 4.6942e+00 3.10305e-01 1.0000 4.6942e+00 3\n", + " 3 9.3107e+00 1.9179e-01 7.9352e-03 9.0396e-01 2.38252e-01 1.0000 9.0396e-01 3\n", + " 4 8.7539e+00 1.9178e-01 9.9043e-04 8.5522e-01 2.80903e-01 0.5000 8.5522e-01 3\n", + " 5 8.4043e+00 1.9177e-01 5.7262e-04 8.2068e-01 1.00224e-01 1.0000 8.2068e-01 3\n", + " 6 6.4734e-01 1.9179e-01 1.2696e-05 4.5543e-02 1.88081e-01 0.1250 4.5543e-02 3\n", + " 7 6.3373e-01 1.9178e-01 1.1263e-05 4.4183e-02 1.20079e-01 0.2500 4.4183e-02 3\n", + " 8 5.9753e-01 1.9178e-01 8.6898e-06 4.0566e-02 3.35875e-02 1.0000 4.0566e-02 3\n", + " 9 2.4307e-01 1.9178e-01 3.8512e-06 5.1245e-03 6.16212e-02 0.0312 5.1245e-03 1\n", + " 10 2.4293e-01 1.9178e-01 3.7310e-06 5.1107e-03 5.61407e-02 0.2500 5.1107e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7827e+02 2.0131e-01 4.7552e+01 2.5494e-01 1.05959e+00 1.0000 ---- 3\n", + " 2 6.7761e+01 1.9138e-01 2.1706e+00 4.5863e+00 3.13430e-01 1.0000 4.5863e+00 3\n", + " 3 9.9427e+00 1.9145e-01 7.9391e-03 9.6718e-01 2.48497e-01 1.0000 9.6718e-01 3\n", + " 4 9.5482e+00 1.9144e-01 1.0290e-03 9.3464e-01 3.08280e-01 0.5000 9.3464e-01 3\n", + " 5 9.4454e+00 1.9143e-01 5.9811e-04 9.2479e-01 1.11922e-01 1.0000 9.2479e-01 3\n", + " 6 7.5270e-01 1.9145e-01 1.8247e-05 5.6107e-02 2.11591e-01 0.1250 5.6107e-02 3\n", + " 7 7.2212e-01 1.9144e-01 1.6193e-05 5.3051e-02 1.34723e-01 0.2500 5.3051e-02 3\n", + " 8 6.8917e-01 1.9144e-01 1.2530e-05 4.9760e-02 3.70666e-02 1.0000 4.9760e-02 3\n", + " 9 2.5834e-01 1.9144e-01 4.3955e-06 6.6852e-03 6.84640e-02 0.0312 6.6852e-03 1\n", + " 10 2.5818e-01 1.9144e-01 4.2578e-06 6.6695e-03 6.23430e-02 0.2500 6.6695e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8043e+02 2.0097e-01 4.7771e+01 2.5180e-01 1.06403e+00 1.0000 ---- 3\n", + " 2 6.7229e+01 1.9111e-01 2.1786e+00 4.5252e+00 3.15469e-01 1.0000 4.5252e+00 3\n", + " 3 9.8234e+00 1.9117e-01 8.0636e-03 9.5516e-01 2.53285e-01 0.5000 9.5516e-01 3\n", + " 4 5.7558e+00 1.9117e-01 4.2461e-03 5.5222e-01 6.24416e-02 1.0000 5.5222e-01 3\n", + " 5 5.2550e-01 1.9118e-01 7.2511e-05 3.3360e-02 1.00526e-01 0.2500 3.3360e-02 3\n", + " 6 4.7722e-01 1.9118e-01 5.4554e-05 2.8550e-02 2.98736e-02 1.0000 2.8550e-02 3\n", + " 7 2.2698e-01 1.9118e-01 4.2830e-06 3.5758e-03 5.14401e-02 0.2500 3.5758e-03 1\n", + " 8 2.2679e-01 1.9118e-01 3.3959e-06 3.5581e-03 1.54696e-02 1.0000 3.5581e-03 1\n", + " 9 2.1242e-01 1.9118e-01 1.8911e-06 2.1222e-03 2.59483e-02 0.2500 2.8118e-03 1\n", + " 10 2.1164e-01 1.9118e-01 1.4321e-06 2.0452e-03 7.77419e-03 1.0000 2.0452e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8169e+02 2.0072e-01 4.7893e+01 2.5663e-01 1.06495e+00 1.0000 ---- 3\n", + " 2 6.5529e+01 1.9090e-01 2.1410e+00 4.3928e+00 3.12302e-01 1.0000 4.3928e+00 3\n", + " 3 9.3233e+00 1.9096e-01 8.2039e-03 9.0503e-01 2.38463e-01 1.0000 9.0503e-01 3\n", + " 4 8.3271e+00 1.9095e-01 1.0168e-03 8.1260e-01 2.66014e-01 0.5000 8.1260e-01 3\n", + " 5 7.6857e+00 1.9094e-01 5.8430e-04 7.4889e-01 8.68414e-02 1.0000 7.4889e-01 3\n", + " 6 8.2841e-01 1.9095e-01 9.9866e-06 6.3736e-02 1.62154e-01 0.2500 6.3736e-02 3\n", + " 7 7.8643e-01 1.9095e-01 9.1832e-06 5.9539e-02 4.49377e-02 1.0000 5.9539e-02 3\n", + " 8 2.2852e-01 1.9095e-01 7.0912e-06 3.7498e-03 8.22211e-02 0.0625 3.7498e-03 1\n", + " 9 2.2843e-01 1.9095e-01 6.6620e-06 3.7416e-03 6.76139e-02 0.2500 3.7416e-03 1\n", + " 10 2.2274e-01 1.9095e-01 5.2102e-06 3.1739e-03 1.98487e-02 1.0000 3.1739e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8331e+02 2.0051e-01 4.8056e+01 2.5458e-01 1.07178e+00 1.0000 ---- 3\n", + " 2 6.7189e+01 1.9072e-01 2.1371e+00 4.5628e+00 3.26269e-01 1.0000 4.5628e+00 3\n", + " 3 9.5845e+00 1.9078e-01 8.2952e-03 9.3107e-01 2.64149e-01 1.0000 9.3107e-01 3\n", + " 4 8.5289e+00 1.9078e-01 9.5159e-04 8.3286e-01 3.11324e-01 0.5000 8.3286e-01 3\n", + " 5 8.4484e+00 1.9076e-01 5.3458e-04 8.2523e-01 1.03115e-01 1.0000 8.2523e-01 3\n", + " 6 1.0242e+00 1.9078e-01 1.3009e-05 8.3329e-02 2.02289e-01 0.1250 8.3329e-02 3\n", + " 7 9.8348e-01 1.9078e-01 1.1635e-05 7.9259e-02 1.27389e-01 0.2500 7.9259e-02 3\n", + " 8 8.7131e-01 1.9077e-01 9.2652e-06 6.8045e-02 3.33178e-02 1.0000 6.8045e-02 3\n", + " 9 2.3529e-01 1.9077e-01 4.0398e-06 4.4477e-03 6.34658e-02 0.0156 4.4477e-03 1\n", + " 10 2.3525e-01 1.9077e-01 3.9767e-06 4.4435e-03 6.05706e-02 0.1250 4.4435e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8393e+02 2.0035e-01 4.8129e+01 2.4374e-01 1.07780e+00 1.0000 ---- 3\n", + " 2 6.6179e+01 1.9058e-01 2.1734e+00 4.4255e+00 3.36965e-01 1.0000 4.4255e+00 3\n", + " 3 1.1089e+01 1.9064e-01 8.0389e-03 1.0818e+00 3.05820e-01 0.5000 1.0818e+00 3\n", + " 4 8.0605e+00 1.9063e-01 4.2155e-03 7.8277e-01 1.00057e-01 1.0000 7.8277e-01 3\n", + " 5 7.7418e-01 1.9064e-01 6.8635e-05 5.8285e-02 1.77301e-01 0.1250 5.8285e-02 3\n", + " 6 7.3586e-01 1.9064e-01 6.0077e-05 5.4462e-02 1.12282e-01 0.2500 5.4462e-02 3\n", + " 7 6.6482e-01 1.9064e-01 4.5118e-05 4.7373e-02 3.12933e-02 1.0000 4.7373e-02 3\n", + " 8 2.5585e-01 1.9064e-01 2.2113e-06 6.5186e-03 5.69401e-02 0.0078 6.5186e-03 1\n", + " 9 2.5584e-01 1.9064e-01 2.1941e-06 6.5177e-03 5.56236e-02 0.1250 6.5177e-03 1\n", + " 10 2.5415e-01 1.9064e-01 1.9583e-06 6.3490e-03 3.55358e-02 0.1250 6.3490e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8443e+02 2.0022e-01 4.8178e+01 2.4581e-01 1.07386e+00 1.0000 ---- 3\n", + " 2 6.4788e+01 1.9047e-01 2.1329e+00 4.3269e+00 3.21431e-01 1.0000 4.3269e+00 3\n", + " 3 9.8351e+00 1.9053e-01 8.3510e-03 9.5611e-01 2.64708e-01 1.0000 9.5611e-01 3\n", + " 4 9.8081e+00 1.9053e-01 9.9132e-04 9.6076e-01 3.33973e-01 0.5000 9.6076e-01 3\n", + " 5 9.6370e+00 1.9051e-01 5.7504e-04 9.4408e-01 1.32713e-01 1.0000 9.4408e-01 3\n", + " 6 1.8931e+00 1.9053e-01 1.4519e-05 1.7024e-01 2.54027e-01 0.2500 1.7024e-01 3\n", + " 7 1.7549e+00 1.9052e-01 1.2527e-05 1.5643e-01 6.75481e-02 1.0000 1.5643e-01 3\n", + " 8 2.5716e-01 1.9053e-01 6.6277e-06 6.6567e-03 1.28059e-01 0.0312 6.6567e-03 1\n", + " 9 2.5711e-01 1.9053e-01 6.4230e-06 6.6522e-03 1.16402e-01 0.2500 6.6522e-03 1\n", + " 10 2.5207e-01 1.9052e-01 4.9786e-06 6.1497e-03 3.17846e-02 1.0000 6.1497e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8637e+02 2.0012e-01 4.8363e+01 2.5364e-01 1.09044e+00 1.0000 ---- 3\n", + " 2 6.8718e+01 1.9038e-01 2.1343e+00 4.7185e+00 3.63037e-01 1.0000 4.7185e+00 3\n", + " 3 1.0383e+01 1.9044e-01 8.3646e-03 1.0109e+00 3.42871e-01 0.5000 1.0109e+00 3\n", + " 4 7.8743e+00 1.9043e-01 4.3522e-03 7.6404e-01 9.95683e-02 1.0000 7.6404e-01 3\n", + " 5 7.1650e-01 1.9044e-01 8.2130e-05 5.2523e-02 1.79721e-01 0.0625 5.2523e-02 3\n", + " 6 7.0676e-01 1.9044e-01 7.7017e-05 5.1555e-02 1.47202e-01 0.0625 5.1555e-02 3\n", + " 7 6.8477e-01 1.9044e-01 7.2216e-05 4.9361e-02 1.20601e-01 0.1250 4.9361e-02 3\n", + " 8 6.6155e-01 1.9044e-01 6.3222e-05 4.7048e-02 7.69883e-02 0.2500 4.7048e-02 3\n", + " 9 5.9523e-01 1.9044e-01 4.7475e-05 4.0431e-02 2.17237e-02 1.0000 4.0431e-02 3\n", + " 10 2.1542e-01 1.9044e-01 9.4185e-07 2.4973e-03 3.95090e-02 0.1250 2.4973e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8586e+02 2.0004e-01 4.8318e+01 2.4812e-01 1.07961e+00 1.0000 ---- 3\n", + " 2 6.5890e+01 1.9029e-01 2.1364e+00 4.4336e+00 3.27542e-01 1.0000 4.4336e+00 3\n", + " 3 1.0557e+01 1.9035e-01 8.5474e-03 1.0281e+00 2.88025e-01 0.5000 1.0281e+00 3\n", + " 4 6.6613e+00 1.9035e-01 4.4744e-03 6.4262e-01 8.36419e-02 1.0000 6.4262e-01 3\n", + " 5 5.4081e-01 1.9036e-01 5.2836e-05 3.4993e-02 1.45336e-01 0.1250 3.4993e-02 3\n", + " 6 5.1188e-01 1.9036e-01 4.6283e-05 3.2106e-02 9.22828e-02 0.2500 3.2106e-02 3\n", + " 7 4.6565e-01 1.9036e-01 3.4826e-05 2.7495e-02 2.61394e-02 1.0000 2.7495e-02 3\n", + " 8 2.6550e-01 1.9036e-01 1.6215e-06 7.5127e-03 4.70959e-02 0.0625 7.5127e-03 1\n", + " 9 2.6530e-01 1.9036e-01 1.5210e-06 7.4924e-03 3.86464e-02 0.5000 7.4924e-03 1\n", + " 10 2.5080e-01 1.9036e-01 1.2772e-06 6.0427e-03 1.78055e-02 1.0000 6.0427e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8701e+02 1.9997e-01 4.8434e+01 2.4728e-01 1.08463e+00 1.0000 ---- 3\n", + " 2 6.5819e+01 1.9022e-01 2.1381e+00 4.4249e+00 3.46890e-01 1.0000 4.4249e+00 3\n", + " 3 9.9702e+00 1.9028e-01 8.3986e-03 9.6959e-01 3.19259e-01 0.5000 9.6959e-01 3\n", + " 4 6.1337e+00 1.9027e-01 4.3849e-03 5.8996e-01 8.63539e-02 1.0000 5.8996e-01 3\n", + " 5 5.3041e-01 1.9028e-01 6.9439e-05 3.3943e-02 1.54286e-01 0.1250 3.3943e-02 3\n", + " 6 5.2035e-01 1.9028e-01 6.0806e-05 3.2947e-02 9.80298e-02 0.2500 3.2947e-02 3\n", + " 7 4.8885e-01 1.9028e-01 4.5690e-05 2.9811e-02 2.72981e-02 1.0000 2.9811e-02 3\n", + " 8 2.4046e-01 1.9028e-01 1.8872e-06 5.0163e-03 5.00015e-02 0.1250 5.0163e-03 1\n", + " 9 2.4036e-01 1.9028e-01 1.6606e-06 5.0070e-03 3.19768e-02 0.5000 5.0070e-03 1\n", + " 10 2.2776e-01 1.9028e-01 1.2646e-06 3.7471e-03 1.50058e-02 0.5000 3.7471e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8740e+02 1.9990e-01 4.8469e+01 2.5099e-01 1.08003e+00 1.0000 ---- 3\n", + " 2 6.5070e+01 1.9014e-01 2.1387e+00 4.3492e+00 3.18503e-01 1.0000 4.3492e+00 3\n", + " 3 1.0417e+01 1.9020e-01 8.5163e-03 1.0141e+00 2.51901e-01 1.0000 1.0141e+00 3\n", + " 4 9.9754e+00 1.9020e-01 1.0088e-03 9.7751e-01 2.92600e-01 0.5000 9.7751e-01 3\n", + " 5 9.6159e+00 1.9019e-01 5.8251e-04 9.4198e-01 1.03356e-01 1.0000 9.4198e-01 3\n", + " 6 1.1746e+00 1.9020e-01 1.4248e-05 9.8422e-02 1.95009e-01 0.2500 9.8422e-02 3\n", + " 7 1.1409e+00 1.9020e-01 1.2942e-05 9.5056e-02 5.24884e-02 1.0000 9.5056e-02 3\n", + " 8 2.9175e-01 1.9020e-01 6.9332e-06 1.0148e-02 9.68810e-02 0.1250 1.0148e-02 3\n", + " 9 2.9125e-01 1.9020e-01 6.1592e-06 1.0099e-02 6.19729e-02 0.2500 1.0099e-02 3\n", + " 10 2.8657e-01 1.9020e-01 4.8130e-06 9.6328e-03 1.75444e-02 1.0000 9.6328e-03 3\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8851e+02 1.9984e-01 4.8577e+01 2.5395e-01 1.08297e+00 1.0000 ---- 3\n", + " 2 6.7167e+01 1.9007e-01 2.1373e+00 4.5604e+00 3.30365e-01 1.0000 4.5604e+00 3\n", + " 3 1.0664e+01 1.9013e-01 8.6300e-03 1.0388e+00 2.69537e-01 1.0000 1.0388e+00 3\n", + " 4 8.8229e+00 1.9013e-01 9.7309e-04 8.6230e-01 3.13540e-01 0.5000 8.6230e-01 3\n", + " 5 8.2829e+00 1.9011e-01 5.5658e-04 8.0872e-01 1.04207e-01 1.0000 8.0872e-01 3\n", + " 6 1.2183e+00 1.9013e-01 1.2886e-05 1.0280e-01 2.05071e-01 0.1250 1.0280e-01 3\n", + " 7 1.1198e+00 1.9013e-01 1.1765e-05 9.2956e-02 1.28871e-01 0.5000 9.2956e-02 3\n", + " 8 1.0661e+00 1.9012e-01 9.3372e-06 8.7585e-02 6.26763e-02 1.0000 8.7585e-02 3\n", + " 9 6.0479e-01 1.9012e-01 3.1730e-06 4.1463e-02 1.23049e-01 0.1250 4.1463e-02 3\n", + " 10 5.9466e-01 1.9012e-01 2.8725e-06 4.0451e-02 7.73304e-02 0.2500 4.0451e-02 3\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8889e+02 1.9977e-01 4.8594e+01 2.7524e-01 1.08276e+00 1.0000 ---- 3\n", + " 2 6.6745e+01 1.9000e-01 2.1528e+00 4.5028e+00 3.25328e-01 1.0000 4.5028e+00 3\n", + " 3 1.0051e+01 1.9006e-01 8.5133e-03 9.7761e-01 2.67377e-01 0.5000 9.7761e-01 3\n", + " 4 6.0718e+00 1.9005e-01 4.4487e-03 5.8373e-01 6.16706e-02 1.0000 5.8373e-01 3\n", + " 5 2.6239e-01 1.9006e-01 5.7313e-05 7.1760e-03 1.03480e-01 0.0039 7.5257e-03 1\n", + " 6 2.6239e-01 1.9006e-01 5.7089e-05 7.1759e-03 1.02269e-01 0.2500 7.1759e-03 1\n", + " 7 2.6216e-01 1.9006e-01 4.3025e-05 7.1669e-03 2.90896e-02 0.2500 7.1669e-03 1\n", + " 8 2.5709e-01 1.9006e-01 3.2292e-05 6.6710e-03 9.98263e-03 1.0000 6.6710e-03 1\n", + " 9 2.1026e-01 1.9006e-01 1.6389e-06 2.0180e-03 1.43267e-02 0.5000 2.0180e-03 1\n", + " 10 2.0057e-01 1.9006e-01 8.8079e-07 1.0498e-03 6.05692e-03 1.0000 1.4428e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8827e+02 1.9971e-01 4.8564e+01 2.4368e-01 1.08204e+00 1.0000 ---- 3\n", + " 2 6.3519e+01 1.8993e-01 2.1359e+00 4.1971e+00 3.24104e-01 1.0000 4.1971e+00 3\n", + " 3 9.5482e+00 1.8999e-01 8.5874e-03 9.2724e-01 2.66255e-01 1.0000 9.2724e-01 3\n", + " 4 9.4975e+00 1.8998e-01 9.8008e-04 9.2977e-01 3.09392e-01 0.5000 9.2977e-01 3\n", + " 5 8.8903e+00 1.8997e-01 5.6521e-04 8.6947e-01 1.08715e-01 1.0000 8.6947e-01 3\n", + " 6 1.5717e+00 1.8998e-01 1.5604e-05 1.3815e-01 2.14499e-01 0.2500 1.3815e-01 3\n", + " 7 1.4683e+00 1.8998e-01 1.4146e-05 1.2782e-01 5.44090e-02 1.0000 1.2782e-01 3\n", + " 8 2.8188e-01 1.8998e-01 7.1226e-06 9.1833e-03 1.04561e-01 0.1250 9.1833e-03 2\n", + " 9 2.7301e-01 1.8998e-01 6.3349e-06 8.2964e-03 6.61328e-02 0.2500 8.2964e-03 2\n", + " 10 2.5057e-01 1.8998e-01 4.9567e-06 6.0539e-03 1.76321e-02 1.0000 6.0539e-03 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8937e+02 1.9965e-01 4.8666e+01 2.5155e-01 1.08532e+00 1.0000 ---- 3\n", + " 2 6.7021e+01 1.8986e-01 2.1374e+00 4.5457e+00 3.31314e-01 1.0000 4.5457e+00 3\n", + " 3 1.0176e+01 1.8992e-01 8.7215e-03 9.8990e-01 2.76484e-01 0.5000 9.8990e-01 3\n", + " 4 6.1411e+00 1.8991e-01 4.5481e-03 5.9057e-01 6.38134e-02 1.0000 5.9057e-01 3\n", + " 5 2.3960e-01 1.8992e-01 5.8269e-05 4.9094e-03 1.10195e-01 0.0156 4.9094e-03 1\n", + " 6 2.3959e-01 1.8992e-01 5.7359e-05 4.9101e-03 1.05183e-01 0.2500 4.9101e-03 1\n", + " 7 2.3619e-01 1.8992e-01 4.3217e-05 4.5841e-03 2.92822e-02 1.0000 4.5841e-03 1\n", + " 8 2.2526e-01 1.8992e-01 4.0581e-06 3.5300e-03 5.18431e-02 0.5000 3.5300e-03 1\n", + " 9 2.1908e-01 1.8992e-01 2.3962e-06 2.9136e-03 2.47628e-02 1.0000 2.9136e-03 1\n", + " 10 2.1194e-01 1.8992e-01 1.4141e-07 2.2019e-03 4.94044e-02 0.2500 2.2019e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8887e+02 1.9958e-01 4.8613e+01 2.5431e-01 1.08294e+00 1.0000 ---- 3\n", + " 2 6.3123e+01 1.8979e-01 2.1370e+00 4.1563e+00 3.27725e-01 1.0000 4.1563e+00 3\n", + " 3 9.3367e+00 1.8985e-01 8.6066e-03 9.0608e-01 2.77650e-01 0.5000 9.0608e-01 3\n", + " 4 5.6137e+00 1.8984e-01 4.4962e-03 5.3789e-01 6.29444e-02 1.0000 5.3789e-01 3\n", + " 5 2.4774e-01 1.8985e-01 5.9707e-05 5.7291e-03 1.07883e-01 0.0156 5.7291e-03 1\n", + " 6 2.4771e-01 1.8985e-01 5.8775e-05 5.7278e-03 1.02906e-01 0.2500 5.7278e-03 1\n", + " 7 2.4183e-01 1.8985e-01 4.4350e-05 5.1537e-03 2.86871e-02 0.5000 5.1537e-03 1\n", + " 8 2.3940e-01 1.8985e-01 2.2467e-05 4.9329e-03 1.24944e-02 1.0000 4.9329e-03 1\n", + " 9 2.0746e-01 1.8985e-01 5.5328e-07 1.7606e-03 2.39862e-02 0.5000 1.7606e-03 1\n", + " 10 2.0050e-01 1.8985e-01 3.1304e-07 1.0646e-03 1.23885e-02 0.5000 1.5980e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8912e+02 1.9952e-01 4.8646e+01 2.4601e-01 1.08278e+00 1.0000 ---- 3\n", + " 2 6.3009e+01 1.8972e-01 2.1370e+00 4.1449e+00 3.27166e-01 1.0000 4.1449e+00 3\n", + " 3 9.5174e+00 1.8978e-01 8.6568e-03 9.2410e-01 2.74300e-01 0.5000 9.2410e-01 3\n", + " 4 5.7289e+00 1.8977e-01 4.5307e-03 5.4938e-01 6.38751e-02 1.0000 5.4938e-01 3\n", + " 5 4.4660e-01 1.8978e-01 5.5602e-05 2.5626e-02 1.07712e-01 0.2500 2.5626e-02 3\n", + " 6 4.4457e-01 1.8978e-01 4.2090e-05 2.5437e-02 2.97280e-02 1.0000 2.5437e-02 3\n", + " 7 2.2716e-01 1.8978e-01 3.5587e-06 3.7347e-03 5.28011e-02 0.0625 3.7347e-03 1\n", + " 8 2.2714e-01 1.8978e-01 3.3433e-06 3.7330e-03 4.31842e-02 0.1250 3.7330e-03 1\n", + " 9 2.2488e-01 1.8978e-01 2.9434e-06 3.5076e-03 2.75256e-02 0.2500 3.5076e-03 1\n", + " 10 2.2320e-01 1.8978e-01 2.2342e-06 3.3396e-03 8.28815e-03 1.0000 3.3396e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8949e+02 1.9945e-01 4.8678e+01 2.5105e-01 1.08702e+00 1.0000 ---- 3\n", + " 2 6.3775e+01 1.8965e-01 2.1466e+00 4.2120e+00 3.32434e-01 1.0000 4.2120e+00 3\n", + " 3 9.8334e+00 1.8971e-01 8.6493e-03 9.5572e-01 2.83513e-01 0.5000 9.5572e-01 3\n", + " 4 5.9625e+00 1.8970e-01 4.5297e-03 5.7275e-01 6.81695e-02 1.0000 5.7275e-01 3\n", + " 5 6.2372e-01 1.8971e-01 5.7715e-05 4.3343e-02 1.13846e-01 0.2500 4.3343e-02 3\n", + " 6 5.6803e-01 1.8971e-01 4.3673e-05 3.7789e-02 3.17942e-02 1.0000 3.7789e-02 3\n", + " 7 2.2884e-01 1.8971e-01 3.9472e-06 3.9095e-03 5.62367e-02 0.1250 3.9095e-03 1\n", + " 8 2.2841e-01 1.8971e-01 3.4854e-06 3.8667e-03 3.58721e-02 0.5000 3.8667e-03 1\n", + " 9 2.1738e-01 1.8971e-01 2.1063e-06 2.7652e-03 1.68041e-02 1.0000 2.7652e-03 1\n", + " 10 2.0789e-01 1.8971e-01 5.9400e-07 1.8176e-03 3.31105e-02 0.1250 1.8176e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8979e+02 1.9938e-01 4.8705e+01 2.5458e-01 1.08578e+00 1.0000 ---- 3\n", + " 2 6.3318e+01 1.8958e-01 2.1394e+00 4.1735e+00 3.25503e-01 1.0000 4.1735e+00 3\n", + " 3 9.9467e+00 1.8964e-01 8.8067e-03 9.6690e-01 2.66225e-01 1.0000 9.6690e-01 3\n", + " 4 8.5762e+00 1.8963e-01 1.0257e-03 8.3763e-01 3.10332e-01 0.5000 8.3763e-01 3\n", + " 5 8.1602e+00 1.8962e-01 5.9917e-04 7.9646e-01 1.13749e-01 1.0000 7.9646e-01 3\n", + " 6 1.3550e+00 1.8963e-01 2.5741e-05 1.1651e-01 2.20666e-01 0.1250 1.1651e-01 3\n", + " 7 1.2860e+00 1.8963e-01 2.3202e-05 1.0961e-01 1.38652e-01 0.2500 1.0961e-01 3\n", + " 8 1.0995e+00 1.8963e-01 1.8680e-05 9.0967e-02 3.56491e-02 1.0000 9.0967e-02 3\n", + " 9 2.2262e-01 1.8963e-01 4.4625e-06 3.2951e-03 6.77551e-02 0.2500 3.2951e-03 1\n", + " 10 2.2056e-01 1.8963e-01 3.4826e-06 3.0896e-03 1.81161e-02 1.0000 3.0896e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9079e+02 1.9930e-01 4.8814e+01 2.4555e-01 1.09417e+00 1.0000 ---- 3\n", + " 2 6.7318e+01 1.8950e-01 2.1554e+00 4.5574e+00 3.42855e-01 1.0000 4.5574e+00 3\n", + " 3 9.6882e+00 1.8956e-01 8.7384e-03 9.4113e-01 3.09152e-01 0.5000 9.4113e-01 3\n", + " 4 5.8050e+00 1.8955e-01 4.5713e-03 5.5698e-01 8.35681e-02 1.0000 5.5698e-01 3\n", + " 5 3.1791e-01 1.8956e-01 7.0048e-05 1.2765e-02 1.52336e-01 0.0625 1.2765e-02 2\n", + " 6 3.1433e-01 1.8956e-01 6.5709e-05 1.2411e-02 1.24097e-01 0.0625 1.2411e-02 2\n", + " 7 3.0582e-01 1.8956e-01 6.1630e-05 1.1564e-02 1.01198e-01 0.1250 1.1564e-02 2\n", + " 8 2.9653e-01 1.8956e-01 5.4003e-05 1.0643e-02 6.40383e-02 0.2500 1.0643e-02 2\n", + " 9 2.7425e-01 1.8956e-01 4.0645e-05 8.4289e-03 1.73691e-02 1.0000 8.4289e-03 2\n", + " 10 1.9632e-01 1.8956e-01 1.0641e-06 6.7545e-04 3.22036e-02 0.2500 1.5946e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9086e+02 1.9924e-01 4.8819e+01 2.4644e-01 1.08759e+00 1.0000 ---- 3\n", + " 2 6.5041e+01 1.8942e-01 2.1692e+00 4.3159e+00 3.18342e-01 1.0000 4.3159e+00 3\n", + " 3 9.8428e+00 1.8948e-01 8.6847e-03 9.5665e-01 2.51816e-01 1.0000 9.5665e-01 3\n", + " 4 9.7927e+00 1.8948e-01 1.0236e-03 9.5930e-01 2.91440e-01 0.5000 9.5930e-01 3\n", + " 5 9.4624e+00 1.8947e-01 5.8902e-04 9.2670e-01 1.01990e-01 1.0000 9.2670e-01 3\n", + " 6 1.2572e+00 1.8948e-01 1.3240e-05 1.0676e-01 1.92062e-01 0.2500 1.0676e-01 3\n", + " 7 1.1982e+00 1.8948e-01 1.1992e-05 1.0086e-01 5.17743e-02 1.0000 1.0086e-01 3\n", + " 8 3.1383e-01 1.8948e-01 6.2851e-06 1.2429e-02 9.55715e-02 0.1250 1.2429e-02 3\n", + " 9 3.0793e-01 1.8948e-01 5.5867e-06 1.1840e-02 6.11596e-02 0.2500 1.1840e-02 3\n", + " 10 2.9990e-01 1.8948e-01 4.3667e-06 1.1038e-02 1.72513e-02 1.0000 1.1038e-02 3\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9249e+02 1.9917e-01 4.8970e+01 2.5888e-01 1.09287e+00 1.0000 ---- 3\n", + " 2 6.7452e+01 1.8935e-01 2.1747e+00 4.5516e+00 3.30774e-01 1.0000 4.5516e+00 3\n", + " 3 1.0054e+01 1.8941e-01 8.7041e-03 9.7777e-01 2.68356e-01 1.0000 9.7777e-01 3\n", + " 4 8.4826e+00 1.8941e-01 9.7426e-04 8.2835e-01 3.13378e-01 0.5000 8.2835e-01 3\n", + " 5 8.0955e+00 1.8939e-01 5.5204e-04 7.9006e-01 1.03124e-01 1.0000 7.9006e-01 3\n", + " 6 1.3010e+00 1.8941e-01 1.1230e-05 1.1115e-01 2.03655e-01 0.1250 1.1115e-01 3\n", + " 7 1.1920e+00 1.8941e-01 1.0254e-05 1.0025e-01 1.27993e-01 0.5000 1.0025e-01 3\n", + " 8 1.1091e+00 1.8940e-01 8.8820e-06 9.1957e-02 6.25251e-02 1.0000 9.1957e-02 3\n", + " 9 5.5577e-01 1.8940e-01 3.0115e-06 3.6633e-02 1.22812e-01 0.0625 3.6633e-02 3\n", + " 10 5.4146e-01 1.8940e-01 2.8466e-06 3.5203e-02 9.99944e-02 0.1250 3.5203e-02 3\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9290e+02 1.9909e-01 4.8999e+01 2.7168e-01 1.10330e+00 1.0000 ---- 3\n", + " 2 6.9103e+01 1.8927e-01 2.1947e+00 4.6966e+00 3.59266e-01 1.0000 4.6966e+00 3\n", + " 3 1.0622e+01 1.8933e-01 8.7078e-03 1.0345e+00 3.56691e-01 0.5000 1.0345e+00 3\n", + " 4 8.3413e+00 1.8932e-01 4.5432e-03 8.1066e-01 1.09917e-01 1.0000 8.1066e-01 3\n", + " 5 3.4918e-01 1.8933e-01 7.3227e-05 1.5911e-02 2.05148e-01 0.0020 1.5911e-02 1\n", + " 6 3.4918e-01 1.8933e-01 7.3227e-05 1.5911e-02 2.05056e-01 0.0625 1.5911e-02 1\n", + " 7 3.4340e-01 1.8933e-01 6.8682e-05 1.5339e-02 1.67065e-01 0.0625 1.5339e-02 1\n", + " 8 3.4299e-01 1.8933e-01 6.4415e-05 1.5301e-02 1.36174e-01 0.1250 1.5301e-02 1\n", + " 9 3.3867e-01 1.8933e-01 5.6450e-05 1.4878e-02 8.60470e-02 0.2500 1.4878e-02 1\n", + " 10 3.3516e-01 1.8933e-01 4.2534e-05 1.4540e-02 2.26743e-02 1.0000 1.4540e-02 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9248e+02 1.9902e-01 4.8979e+01 2.4951e-01 1.10513e+00 1.0000 ---- 3\n", + " 2 6.6100e+01 1.8919e-01 2.1944e+00 4.3967e+00 3.64837e-01 1.0000 4.3967e+00 3\n", + " 3 1.0726e+01 1.8925e-01 8.7576e-03 1.0450e+00 3.55139e-01 0.5000 1.0450e+00 3\n", + " 4 8.4804e+00 1.8924e-01 4.5893e-03 8.2453e-01 1.10802e-01 1.0000 8.2453e-01 3\n", + " 5 4.0368e-01 1.8925e-01 7.7948e-05 2.1365e-02 2.03470e-01 0.0625 2.1365e-02 2\n", + " 6 3.9696e-01 1.8925e-01 7.3093e-05 2.0698e-02 1.66049e-01 0.0625 2.0698e-02 2\n", + " 7 3.8332e-01 1.8925e-01 6.8536e-05 1.9339e-02 1.35479e-01 0.1250 1.9339e-02 2\n", + " 8 3.6887e-01 1.8925e-01 6.0001e-05 1.7901e-02 8.61852e-02 0.0020 1.7901e-02 1\n", + " 9 3.6887e-01 1.8925e-01 6.0001e-05 1.7901e-02 8.61628e-02 0.1250 1.7901e-02 1\n", + " 10 3.5779e-01 1.8925e-01 5.2486e-05 1.6802e-02 5.50880e-02 0.1250 1.6802e-02 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9418e+02 1.9895e-01 4.9135e+01 2.6297e-01 1.10624e+00 1.0000 ---- 3\n", + " 2 6.7845e+01 1.8911e-01 2.2053e+00 4.5603e+00 3.54170e-01 1.0000 4.5603e+00 3\n", + " 3 1.0866e+01 1.8917e-01 8.5465e-03 1.0592e+00 3.34043e-01 0.5000 1.0592e+00 3\n", + " 4 8.0598e+00 1.8916e-01 4.4935e-03 7.8257e-01 1.04560e-01 1.0000 7.8257e-01 3\n", + " 5 7.8774e-01 1.8918e-01 8.1277e-05 5.9775e-02 1.90533e-01 0.1250 5.9775e-02 3\n", + " 6 7.1940e-01 1.8918e-01 7.1185e-05 5.2951e-02 1.20414e-01 0.2500 5.2951e-02 3\n", + " 7 6.4453e-01 1.8918e-01 5.3534e-05 4.5482e-02 3.29345e-02 1.0000 4.5482e-02 3\n", + " 8 2.6825e-01 1.8918e-01 2.1374e-06 7.9050e-03 6.04389e-02 0.2500 7.9050e-03 2\n", + " 9 2.5347e-01 1.8918e-01 1.7208e-06 6.4280e-03 1.70721e-02 0.0020 9.6332e-03 1\n", + " 10 2.5347e-01 1.8918e-01 1.7208e-06 6.4280e-03 1.70561e-02 1.0000 6.4280e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9388e+02 1.9888e-01 4.9114e+01 2.5391e-01 1.10381e+00 1.0000 ---- 3\n", + " 2 6.6426e+01 1.8904e-01 2.2116e+00 4.4121e+00 3.47709e-01 1.0000 4.4121e+00 3\n", + " 3 1.0629e+01 1.8909e-01 8.6018e-03 1.0354e+00 3.24086e-01 0.5000 1.0354e+00 3\n", + " 4 7.6252e+00 1.8909e-01 4.5249e-03 7.3909e-01 9.95184e-02 1.0000 7.3909e-01 3\n", + " 5 8.5406e-01 1.8910e-01 8.4178e-05 6.6411e-02 1.80131e-01 0.2500 6.6411e-02 3\n", + " 6 8.2322e-01 1.8910e-01 6.3386e-05 6.3349e-02 4.81394e-02 1.0000 6.3349e-02 3\n", + " 7 3.5845e-01 1.8910e-01 4.1545e-06 1.6931e-02 9.02713e-02 0.1250 1.6931e-02 3\n", + " 8 3.4524e-01 1.8910e-01 3.6947e-06 1.5611e-02 5.69894e-02 0.5000 1.5611e-02 3\n", + " 9 3.3312e-01 1.8910e-01 2.3327e-06 1.4400e-02 2.69996e-02 1.0000 1.4400e-02 2\n", + " 10 1.9005e-01 1.8910e-01 1.7703e-07 9.5436e-05 5.49283e-02 0.0020 1.6064e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9424e+02 1.9881e-01 4.9145e+01 2.5928e-01 1.10941e+00 1.0000 ---- 3\n", + " 2 6.7088e+01 1.8896e-01 2.2080e+00 4.4820e+00 3.63564e-01 1.0000 4.4820e+00 3\n", + " 3 1.1306e+01 1.8902e-01 8.9139e-03 1.1027e+00 3.74009e-01 0.5000 1.1027e+00 3\n", + " 4 9.2253e+00 1.8901e-01 4.6703e-03 8.9896e-01 1.24490e-01 1.0000 8.9896e-01 3\n", + " 5 4.1378e-01 1.8902e-01 7.7646e-05 2.2398e-02 2.33114e-01 0.0625 2.2398e-02 2\n", + " 6 3.9989e-01 1.8902e-01 7.2809e-05 2.1014e-02 1.89519e-01 0.0625 2.1014e-02 2\n", + " 7 3.8256e-01 1.8902e-01 6.8271e-05 1.9286e-02 1.54089e-01 0.1250 1.9286e-02 2\n", + " 8 3.7347e-01 1.8902e-01 5.9771e-05 1.8385e-02 9.68300e-02 0.2500 1.8385e-02 2\n", + " 9 3.6144e-01 1.8902e-01 4.4891e-05 1.7198e-02 2.55971e-02 1.0000 1.7198e-02 2\n", + " 10 1.9597e-01 1.8902e-01 1.1151e-06 6.9396e-04 4.80845e-02 0.0312 1.4385e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9446e+02 1.9873e-01 4.9178e+01 2.4814e-01 1.11212e+00 1.0000 ---- 3\n", + " 2 6.6903e+01 1.8888e-01 2.2250e+00 4.4464e+00 3.72480e-01 1.0000 4.4464e+00 3\n", + " 3 1.0903e+01 1.8894e-01 8.6398e-03 1.0628e+00 3.75684e-01 0.5000 1.0628e+00 3\n", + " 4 8.5405e+00 1.8893e-01 4.5343e-03 8.3062e-01 1.26554e-01 1.0000 8.3062e-01 3\n", + " 5 4.2215e-01 1.8894e-01 9.5072e-05 2.3225e-02 2.37803e-01 0.1250 2.3225e-02 2\n", + " 6 4.0324e-01 1.8894e-01 8.3212e-05 2.1347e-02 1.49397e-01 0.1250 2.1347e-02 2\n", + " 7 3.7004e-01 1.8894e-01 7.2819e-05 1.8037e-02 9.39159e-02 0.2500 1.8037e-02 2\n", + " 8 3.2971e-01 1.8894e-01 5.4628e-05 1.4023e-02 2.50030e-02 1.0000 1.4023e-02 2\n", + " 9 2.1721e-01 1.8894e-01 9.4793e-07 2.8262e-03 4.74549e-02 0.0020 3.3579e-03 1\n", + " 10 2.1721e-01 1.8894e-01 9.4793e-07 2.8262e-03 4.74297e-02 0.1250 2.8262e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9516e+02 1.9866e-01 4.9246e+01 2.5029e-01 1.10257e+00 1.0000 ---- 3\n", + " 2 6.6442e+01 1.8880e-01 2.2213e+00 4.4041e+00 3.26224e-01 1.0000 4.4041e+00 3\n", + " 3 9.4053e+00 1.8886e-01 8.8440e-03 9.1280e-01 2.83058e-01 0.5000 9.1280e-01 3\n", + " 4 5.9870e+00 1.8886e-01 4.6501e-03 5.7517e-01 8.35009e-02 1.0000 5.7517e-01 3\n", + " 5 5.4700e-01 1.8887e-01 5.8785e-05 3.5754e-02 1.51063e-01 0.1250 3.5754e-02 3\n", + " 6 5.1688e-01 1.8887e-01 5.1485e-05 3.2750e-02 9.49640e-02 0.5000 3.2750e-02 3\n", + " 7 5.1401e-01 1.8887e-01 2.6209e-05 3.2488e-02 4.60027e-02 1.0000 3.2488e-02 3\n", + " 8 2.5621e-01 1.8887e-01 7.9603e-07 6.7339e-03 9.31954e-02 0.0020 6.7339e-03 1\n", + " 9 2.5621e-01 1.8887e-01 7.9603e-07 6.7339e-03 9.31538e-02 0.1250 6.7339e-03 1\n", + " 10 2.5503e-01 1.8887e-01 7.3375e-07 6.6158e-03 5.82421e-02 0.0625 6.6158e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9600e+02 1.9859e-01 4.9313e+01 2.6756e-01 1.11108e+00 1.0000 ---- 3\n", + " 2 6.6375e+01 1.8873e-01 2.2305e+00 4.3881e+00 3.43842e-01 1.0000 4.3881e+00 3\n", + " 3 1.1521e+01 1.8879e-01 9.1050e-03 1.1241e+00 3.33738e-01 0.5000 1.1241e+00 3\n", + " 4 8.0487e+00 1.8878e-01 4.7931e-03 7.8120e-01 1.24556e-01 1.0000 7.8120e-01 3\n", + " 5 1.5159e+00 1.8879e-01 7.1648e-05 1.3264e-01 2.34709e-01 0.2500 1.3264e-01 3\n", + " 6 1.3990e+00 1.8879e-01 5.3625e-05 1.2097e-01 5.85294e-02 1.0000 1.2097e-01 3\n", + " 7 2.6783e-01 1.8879e-01 5.1140e-06 7.8990e-03 1.12572e-01 0.2500 7.8990e-03 2\n", + " 8 2.6752e-01 1.8879e-01 4.1368e-06 7.8683e-03 2.91009e-02 0.0020 9.3189e-03 1\n", + " 9 2.6752e-01 1.8879e-01 4.1368e-06 7.8683e-03 2.90980e-02 1.0000 7.8683e-03 1\n", + " 10 2.3773e-01 1.8879e-01 2.8541e-06 4.8913e-03 5.52688e-02 0.0625 4.8913e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9632e+02 1.9852e-01 4.9345e+01 2.6675e-01 1.11308e+00 1.0000 ---- 3\n", + " 2 6.6618e+01 1.8866e-01 2.2373e+00 4.4056e+00 3.45386e-01 1.0000 4.4056e+00 3\n", + " 3 9.6257e+00 1.8872e-01 8.8835e-03 9.3482e-01 3.31624e-01 0.5000 9.3482e-01 3\n", + " 4 6.6746e+00 1.8871e-01 4.6717e-03 6.4392e-01 1.16803e-01 1.0000 6.4392e-01 3\n", + " 5 1.5202e+00 1.8872e-01 8.0863e-05 1.3307e-01 2.17216e-01 0.2500 1.3307e-01 3\n", + " 6 1.4025e+00 1.8872e-01 6.0410e-05 1.2132e-01 5.49249e-02 1.0000 1.2132e-01 3\n", + " 7 2.7608e-01 1.8872e-01 4.9770e-06 8.7309e-03 1.05033e-01 0.0020 8.7309e-03 1\n", + " 8 2.7608e-01 1.8872e-01 4.9770e-06 8.7309e-03 1.04995e-01 0.1250 8.7309e-03 1\n", + " 9 2.7068e-01 1.8872e-01 4.3884e-06 8.1918e-03 6.61151e-02 0.1250 8.1918e-03 1\n", + " 10 2.6874e-01 1.8872e-01 3.8512e-06 7.9988e-03 4.17889e-02 0.5000 7.9988e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9636e+02 1.9846e-01 4.9346e+01 2.6921e-01 1.10563e+00 1.0000 ---- 3\n", + " 2 6.5506e+01 1.8859e-01 2.2379e+00 4.2939e+00 3.26517e-01 1.0000 4.2939e+00 3\n", + " 3 9.1678e+00 1.8864e-01 8.7341e-03 8.8918e-01 2.82490e-01 0.5000 8.8918e-01 3\n", + " 4 5.6498e+00 1.8863e-01 4.5982e-03 5.4152e-01 9.10476e-02 1.0000 5.4152e-01 3\n", + " 5 8.8877e-01 1.8865e-01 7.2335e-05 6.9940e-02 1.72066e-01 0.2500 6.9940e-02 3\n", + " 6 8.0495e-01 1.8864e-01 5.4595e-05 6.1576e-02 4.18847e-02 1.0000 6.1576e-02 3\n", + " 7 2.3459e-01 1.8864e-01 4.2184e-06 4.5904e-03 8.13762e-02 0.0312 4.5904e-03 1\n", + " 8 2.3448e-01 1.8864e-01 4.0893e-06 4.5791e-03 7.36867e-02 0.2500 4.5791e-03 1\n", + " 9 2.3133e-01 1.8864e-01 3.2221e-06 4.2657e-03 1.83213e-02 1.0000 4.2657e-03 1\n", + " 10 2.1754e-01 1.8864e-01 1.7414e-06 2.8877e-03 3.50053e-02 0.5000 2.8877e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9691e+02 1.9839e-01 4.9407e+01 2.6376e-01 1.10533e+00 1.0000 ---- 3\n", + " 2 6.5212e+01 1.8851e-01 2.2335e+00 4.2689e+00 3.25890e-01 1.0000 4.2689e+00 3\n", + " 3 8.0398e+00 1.8857e-01 8.8113e-03 7.7631e-01 2.74932e-01 0.5000 7.7631e-01 3\n", + " 4 4.6950e+00 1.8856e-01 4.6177e-03 4.4603e-01 7.08170e-02 1.0000 4.4603e-01 3\n", + " 5 4.7358e-01 1.8857e-01 6.8491e-05 2.8432e-02 1.25418e-01 0.1250 2.8432e-02 3\n", + " 6 4.5206e-01 1.8857e-01 6.0017e-05 2.6289e-02 7.90006e-02 0.5000 2.6289e-02 3\n", + " 7 4.4833e-01 1.8857e-01 3.0750e-05 2.5945e-02 3.83123e-02 1.0000 2.5945e-02 3\n", + " 8 2.9828e-01 1.8857e-01 7.1537e-07 1.0970e-02 7.79112e-02 0.2500 1.0970e-02 2\n", + " 9 2.7963e-01 1.8857e-01 6.0334e-07 9.1055e-03 1.85247e-02 1.0000 9.1055e-03 2\n", + " 10 1.9376e-01 1.8857e-01 9.5176e-08 5.1882e-04 3.82820e-02 0.0020 1.5562e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9725e+02 1.9832e-01 4.9440e+01 2.6551e-01 1.10900e+00 1.0000 ---- 3\n", + " 2 6.5436e+01 1.8844e-01 2.2428e+00 4.2820e+00 3.43332e-01 1.0000 4.2820e+00 3\n", + " 3 8.4944e+00 1.8850e-01 8.7812e-03 8.2181e-01 3.12979e-01 0.5000 8.2181e-01 3\n", + " 4 5.3228e+00 1.8849e-01 4.5767e-03 5.0885e-01 9.78568e-02 1.0000 5.0885e-01 3\n", + " 5 9.4178e-01 1.8850e-01 8.9032e-05 7.5239e-02 1.88209e-01 0.1250 7.5239e-02 3\n", + " 6 8.8546e-01 1.8850e-01 7.8020e-05 6.9618e-02 1.16330e-01 0.2500 6.9618e-02 3\n", + " 7 7.5562e-01 1.8850e-01 5.8742e-05 5.6653e-02 2.87515e-02 1.0000 5.6653e-02 3\n", + " 8 2.1906e-01 1.8850e-01 1.6447e-06 3.0544e-03 5.53369e-02 0.0625 3.0544e-03 1\n", + " 9 2.1893e-01 1.8850e-01 1.5378e-06 3.0419e-03 4.50109e-02 0.5000 3.0419e-03 1\n", + " 10 2.1523e-01 1.8850e-01 1.0818e-06 2.6726e-03 2.36491e-02 0.5000 2.6726e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9781e+02 1.9825e-01 4.9488e+01 2.7286e-01 1.10677e+00 1.0000 ---- 3\n", + " 2 6.5935e+01 1.8837e-01 2.2428e+00 4.3319e+00 3.26559e-01 1.0000 4.3319e+00 3\n", + " 3 7.8746e+00 1.8843e-01 8.7323e-03 7.5988e-01 2.71909e-01 1.0000 7.5988e-01 3\n", + " 4 7.6764e+00 1.8843e-01 1.0961e-03 7.4770e-01 3.39936e-01 0.2500 7.4770e-01 3\n", + " 5 6.1870e+00 1.8841e-01 8.4467e-04 5.9901e-01 1.29314e-01 1.0000 5.9901e-01 3\n", + " 6 6.1608e-01 1.8842e-01 1.3991e-04 4.2626e-02 1.61636e-01 0.2500 4.2626e-02 3\n", + " 7 5.5922e-01 1.8842e-01 1.1241e-04 3.6968e-02 6.44771e-02 1.0000 3.6968e-02 3\n", + " 8 2.6894e-01 1.8842e-01 2.6336e-05 8.0260e-03 8.64594e-02 0.0078 8.1090e-03 1\n", + " 9 2.6894e-01 1.8842e-01 2.6132e-05 8.0261e-03 8.46402e-02 0.1250 8.0261e-03 1\n", + " 10 2.6463e-01 1.8842e-01 2.3373e-05 7.5978e-03 5.75066e-02 0.1250 7.5978e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9842e+02 1.9818e-01 4.9536e+01 2.8564e-01 1.11025e+00 1.0000 ---- 3\n", + " 2 7.0470e+01 1.8829e-01 2.2597e+00 4.7685e+00 3.34735e-01 1.0000 4.7685e+00 3\n", + " 3 9.2583e+00 1.8835e-01 8.5160e-03 8.9847e-01 2.71410e-01 0.5000 8.9847e-01 3\n", + " 4 5.4974e+00 1.8834e-01 4.4976e-03 5.2641e-01 6.47531e-02 1.0000 5.2641e-01 3\n", + " 5 5.9859e-01 1.8835e-01 5.2930e-05 4.0971e-02 1.10754e-01 0.2500 4.0971e-02 3\n", + " 6 5.4518e-01 1.8835e-01 4.0416e-05 3.5643e-02 3.07507e-02 1.0000 3.5643e-02 3\n", + " 7 2.3194e-01 1.8835e-01 2.9607e-06 4.3554e-03 5.49334e-02 0.0312 5.9822e-03 1\n", + " 8 2.3193e-01 1.8835e-01 2.8703e-06 4.3553e-03 4.99676e-02 0.2500 4.3553e-03 1\n", + " 9 2.2679e-01 1.8835e-01 2.2710e-06 3.8415e-03 1.48000e-02 1.0000 3.8415e-03 1\n", + " 10 2.1892e-01 1.8835e-01 1.6223e-06 3.0551e-03 2.53474e-02 0.2500 3.0551e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9823e+02 1.9812e-01 4.9536e+01 2.6632e-01 1.10994e+00 1.0000 ---- 3\n", + " 2 6.6340e+01 1.8823e-01 2.2502e+00 4.3650e+00 3.30211e-01 1.0000 4.3650e+00 3\n", + " 3 8.1336e+00 1.8828e-01 8.7256e-03 7.8580e-01 2.74614e-01 0.5000 7.8580e-01 3\n", + " 4 5.0460e+00 1.8828e-01 4.5968e-03 4.8117e-01 6.64885e-02 1.0000 4.8117e-01 3\n", + " 5 7.7246e-01 1.8828e-01 7.0000e-05 5.8348e-02 1.14140e-01 0.5000 5.8348e-02 3\n", + " 6 7.3311e-01 1.8828e-01 3.8339e-05 5.4445e-02 5.61304e-02 1.0000 5.4445e-02 3\n", + " 7 3.5401e-01 1.8828e-01 1.7870e-06 1.6571e-02 1.15864e-01 0.2500 1.6571e-02 3\n", + " 8 3.4583e-01 1.8828e-01 1.6944e-06 1.5753e-02 2.67460e-02 1.0000 1.5753e-02 3\n", + " 9 2.4035e-01 1.8828e-01 6.7375e-07 5.2065e-03 5.54622e-02 0.0156 5.2065e-03 1\n", + " 10 2.4034e-01 1.8828e-01 6.6313e-07 5.2050e-03 5.28423e-02 0.1250 5.2050e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9872e+02 1.9805e-01 4.9573e+01 2.7853e-01 1.11060e+00 1.0000 ---- 3\n", + " 2 6.6402e+01 1.8816e-01 2.2563e+00 4.3651e+00 3.31268e-01 1.0000 4.3651e+00 3\n", + " 3 7.4775e+00 1.8822e-01 8.8344e-03 7.2010e-01 2.81757e-01 0.5000 7.2010e-01 3\n", + " 4 4.5392e+00 1.8821e-01 4.6450e-03 4.3046e-01 7.82070e-02 1.0000 4.3046e-01 3\n", + " 5 4.2686e-01 1.8821e-01 6.3053e-05 2.3801e-02 1.48142e-01 0.1250 2.3801e-02 3\n", + " 6 4.1031e-01 1.8821e-01 5.5359e-05 2.2154e-02 9.19705e-02 0.2500 2.2154e-02 3\n", + " 7 3.7213e-01 1.8821e-01 4.1873e-05 1.8350e-02 2.32395e-02 1.0000 1.8350e-02 3\n", + " 8 2.0793e-01 1.8821e-01 1.4936e-06 1.9705e-03 4.41911e-02 0.5000 1.9705e-03 1\n", + " 9 2.0550e-01 1.8821e-01 1.3670e-06 1.7276e-03 2.29589e-02 0.5000 1.7276e-03 1\n", + " 10 2.0278e-01 1.8821e-01 6.2162e-07 1.4564e-03 1.22046e-02 1.0000 1.4564e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9908e+02 1.9798e-01 4.9628e+01 2.6062e-01 1.11392e+00 1.0000 ---- 3\n", + " 2 6.6640e+01 1.8809e-01 2.2581e+00 4.3871e+00 3.40056e-01 1.0000 4.3871e+00 3\n", + " 3 8.0821e+00 1.8814e-01 8.9560e-03 7.8044e-01 3.17307e-01 0.5000 7.8044e-01 3\n", + " 4 5.9126e+00 1.8813e-01 4.7179e-03 5.6773e-01 1.10902e-01 1.0000 5.6773e-01 3\n", + " 5 1.3333e+00 1.8814e-01 7.0485e-05 1.1445e-01 2.09684e-01 0.2500 1.1445e-01 3\n", + " 6 1.2236e+00 1.8814e-01 5.3326e-05 1.0350e-01 5.26239e-02 1.0000 1.0350e-01 3\n", + " 7 2.7157e-01 1.8814e-01 3.5452e-06 8.3401e-03 1.00422e-01 0.2500 8.3401e-03 2\n", + " 8 2.6031e-01 1.8814e-01 2.8989e-06 7.2142e-03 2.65141e-02 0.0020 1.0498e-02 1\n", + " 9 2.6031e-01 1.8814e-01 2.8989e-06 7.2142e-03 2.65341e-02 0.5000 7.2142e-03 1\n", + " 10 2.3083e-01 1.8814e-01 1.6865e-06 4.2676e-03 1.27136e-02 1.0000 4.2676e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9926e+02 1.9791e-01 4.9639e+01 2.6742e-01 1.11442e+00 1.0000 ---- 3\n", + " 2 6.7329e+01 1.8801e-01 2.2669e+00 4.4471e+00 3.40612e-01 1.0000 4.4471e+00 3\n", + " 3 8.2072e+00 1.8807e-01 8.5438e-03 7.9337e-01 3.10693e-01 0.5000 7.9337e-01 3\n", + " 4 5.1466e+00 1.8806e-01 4.4998e-03 4.9136e-01 8.92955e-02 1.0000 4.9136e-01 3\n", + " 5 4.9050e-01 1.8807e-01 6.5381e-05 3.0177e-02 1.65793e-01 0.2500 3.0177e-02 3\n", + " 6 4.8643e-01 1.8806e-01 5.0661e-05 2.9786e-02 4.33698e-02 1.0000 2.9786e-02 3\n", + " 7 2.2424e-01 1.8806e-01 4.6738e-06 3.6126e-03 8.36342e-02 0.0039 3.6126e-03 1\n", + " 8 2.2424e-01 1.8806e-01 4.6556e-06 3.6126e-03 8.26203e-02 0.1250 3.6126e-03 1\n", + " 9 2.2302e-01 1.8806e-01 4.1407e-06 3.4916e-03 5.18028e-02 0.1250 3.4916e-03 1\n", + " 10 2.2271e-01 1.8806e-01 3.6547e-06 3.4610e-03 3.26400e-02 0.2500 3.4610e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9949e+02 1.9784e-01 4.9666e+01 2.6364e-01 1.10930e+00 1.0000 ---- 3\n", + " 2 6.6705e+01 1.8793e-01 2.2752e+00 4.3765e+00 3.15307e-01 1.0000 4.3765e+00 3\n", + " 3 7.9544e+00 1.8799e-01 8.7819e-03 7.6786e-01 2.45983e-01 0.5000 7.6786e-01 3\n", + " 4 5.2926e+00 1.8799e-01 4.6298e-03 5.0583e-01 5.74137e-02 1.0000 5.0583e-01 3\n", + " 5 6.1080e-01 1.8800e-01 6.5362e-05 4.2215e-02 9.60397e-02 0.2500 4.2215e-02 3\n", + " 6 5.4283e-01 1.8799e-01 4.9418e-05 3.5434e-02 2.73115e-02 1.0000 3.5434e-02 3\n", + " 7 2.0586e-01 1.8799e-01 2.4792e-06 1.7841e-03 4.90595e-02 0.0156 1.7841e-03 1\n", + " 8 2.0585e-01 1.8799e-01 2.4408e-06 1.7835e-03 4.68842e-02 0.1250 1.7835e-03 1\n", + " 9 2.0496e-01 1.8799e-01 2.1516e-06 1.6944e-03 3.02641e-02 0.1250 1.6944e-03 1\n", + " 10 2.0449e-01 1.8799e-01 1.8879e-06 1.6480e-03 1.96357e-02 0.5000 1.6480e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9995e+02 1.9777e-01 4.9711e+01 2.6367e-01 1.11224e+00 1.0000 ---- 3\n", + " 2 6.6530e+01 1.8787e-01 2.2802e+00 4.3540e+00 3.22116e-01 1.0000 4.3540e+00 3\n", + " 3 8.2530e+00 1.8792e-01 8.7285e-03 7.9778e-01 2.60874e-01 0.5000 7.9778e-01 3\n", + " 4 5.1962e+00 1.8792e-01 4.6047e-03 4.9623e-01 7.06527e-02 1.0000 4.9623e-01 3\n", + " 5 8.6678e-01 1.8793e-01 6.2905e-05 6.7823e-02 1.26921e-01 0.5000 6.7823e-02 3\n", + " 6 7.6469e-01 1.8792e-01 3.4022e-05 5.7643e-02 6.33566e-02 1.0000 5.7643e-02 3\n", + " 7 3.5427e-01 1.8792e-01 1.8566e-06 1.6632e-02 1.28945e-01 0.2500 1.6632e-02 3\n", + " 8 3.4646e-01 1.8792e-01 1.7406e-06 1.5852e-02 3.09229e-02 1.0000 1.5852e-02 3\n", + " 9 2.2909e-01 1.8792e-01 6.3105e-07 4.1164e-03 6.35532e-02 0.0156 4.1164e-03 1\n", + " 10 2.2905e-01 1.8792e-01 6.2122e-07 4.1122e-03 6.05683e-02 0.1250 4.1122e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0031e+02 1.9771e-01 4.9730e+01 2.8194e-01 1.11598e+00 1.0000 ---- 3\n", + " 2 6.6851e+01 1.8779e-01 2.2851e+00 4.3812e+00 3.29173e-01 1.0000 4.3812e+00 3\n", + " 3 7.8406e+00 1.8785e-01 8.7529e-03 7.5653e-01 2.82688e-01 0.5000 7.5653e-01 3\n", + " 4 5.3643e+00 1.8784e-01 4.6001e-03 5.1305e-01 8.28457e-02 1.0000 5.1305e-01 3\n", + " 5 2.2627e-01 1.8785e-01 6.7049e-05 3.7742e-03 1.54889e-01 0.0020 3.7742e-03 1\n", + " 6 2.2627e-01 1.8785e-01 6.7049e-05 3.7742e-03 1.54819e-01 0.1250 3.7742e-03 1\n", + " 7 2.2326e-01 1.8785e-01 5.8710e-05 3.4816e-03 9.69826e-02 0.1250 3.4816e-03 1\n", + " 8 2.2253e-01 1.8785e-01 5.1390e-05 3.4159e-03 6.11424e-02 0.5000 3.4159e-03 1\n", + " 9 2.2158e-01 1.8785e-01 2.5788e-05 3.3471e-03 3.00014e-02 0.5000 3.3471e-03 1\n", + " 10 2.1797e-01 1.8785e-01 1.2899e-05 2.9989e-03 1.56549e-02 1.0000 2.9989e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0039e+02 1.9764e-01 4.9762e+01 2.5786e-01 1.12123e+00 1.0000 ---- 3\n", + " 2 6.7588e+01 1.8772e-01 2.2840e+00 4.4560e+00 3.50147e-01 1.0000 4.4560e+00 3\n", + " 3 8.7116e+00 1.8778e-01 8.6033e-03 8.4378e-01 3.38742e-01 0.5000 8.4378e-01 3\n", + " 4 5.4766e+00 1.8777e-01 4.5347e-03 5.2435e-01 1.18194e-01 1.0000 5.2435e-01 3\n", + " 5 9.9222e-01 1.8778e-01 7.5503e-05 8.0368e-02 2.29590e-01 0.1250 8.0368e-02 3\n", + " 6 9.4809e-01 1.8778e-01 6.6247e-05 7.5965e-02 1.43186e-01 0.2500 7.5965e-02 3\n", + " 7 8.4686e-01 1.8778e-01 4.9996e-05 6.5858e-02 3.55800e-02 1.0000 6.5858e-02 3\n", + " 8 2.0801e-01 1.8778e-01 1.9313e-06 2.0217e-03 7.02199e-02 0.0312 2.0217e-03 1\n", + " 9 2.0796e-01 1.8778e-01 1.8719e-06 2.0166e-03 6.36009e-02 0.2500 2.0166e-03 1\n", + " 10 2.0479e-01 1.8778e-01 1.4903e-06 1.6999e-03 1.60413e-02 0.5000 1.6999e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0060e+02 1.9756e-01 4.9781e+01 2.5939e-01 1.11424e+00 1.0000 ---- 3\n", + " 2 6.8150e+01 1.8764e-01 2.2965e+00 4.4998e+00 3.19314e-01 1.0000 4.4998e+00 3\n", + " 3 8.3567e+00 1.8771e-01 8.6182e-03 8.0828e-01 2.59280e-01 0.5000 8.0828e-01 3\n", + " 4 5.3317e+00 1.8770e-01 4.5525e-03 5.0985e-01 6.80296e-02 1.0000 5.0985e-01 3\n", + " 5 7.8448e-01 1.8771e-01 6.7061e-05 5.9610e-02 1.21967e-01 0.5000 5.9610e-02 3\n", + " 6 7.5721e-01 1.8771e-01 3.5241e-05 5.6915e-02 6.00151e-02 1.0000 5.6915e-02 3\n", + " 7 5.0913e-01 1.8771e-01 1.5778e-06 3.2141e-02 1.22088e-01 0.2500 3.2141e-02 3\n", + " 8 4.9015e-01 1.8771e-01 1.4020e-06 3.0243e-02 2.91765e-02 1.0000 3.0243e-02 3\n", + " 9 2.3039e-01 1.8771e-01 4.4682e-07 4.2680e-03 6.02229e-02 0.0625 4.2680e-03 1\n", + " 10 2.3038e-01 1.8771e-01 4.2798e-07 4.2667e-03 4.89297e-02 0.2500 4.2667e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0115e+02 1.9749e-01 4.9810e+01 2.8475e-01 1.11445e+00 1.0000 ---- 3\n", + " 2 6.7928e+01 1.8757e-01 2.2997e+00 4.4743e+00 3.13983e-01 1.0000 4.4743e+00 3\n", + " 3 7.7419e+00 1.8764e-01 8.5838e-03 7.4685e-01 2.39194e-01 0.5000 7.4685e-01 3\n", + " 4 4.9073e+00 1.8763e-01 4.5288e-03 4.6744e-01 5.26499e-02 1.0000 4.6744e-01 3\n", + " 5 5.5125e-01 1.8764e-01 6.3560e-05 3.6298e-02 8.75400e-02 0.2500 3.6298e-02 3\n", + " 6 4.8738e-01 1.8764e-01 4.8087e-05 2.9926e-02 2.49229e-02 1.0000 2.9926e-02 3\n", + " 7 2.0451e-01 1.8764e-01 2.2763e-06 1.6849e-03 4.47794e-02 0.1250 1.6849e-03 1\n", + " 8 2.0424e-01 1.8764e-01 2.0170e-06 1.6582e-03 2.88958e-02 0.5000 1.6582e-03 1\n", + " 9 2.0053e-01 1.8764e-01 1.4330e-06 1.2877e-03 1.30422e-02 1.0000 1.4603e-03 1\n", + " 10 2.0020e-01 1.8764e-01 5.0620e-07 1.2556e-03 2.45582e-02 0.1250 1.4597e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0120e+02 1.9743e-01 4.9832e+01 2.6830e-01 1.11504e+00 1.0000 ---- 3\n", + " 2 6.6790e+01 1.8751e-01 2.2900e+00 4.3703e+00 3.18911e-01 1.0000 4.3703e+00 3\n", + " 3 7.1634e+00 1.8757e-01 8.6269e-03 6.8895e-01 2.51426e-01 0.5000 6.8895e-01 3\n", + " 4 4.4012e+00 1.8756e-01 4.5443e-03 4.1682e-01 5.48326e-02 1.0000 4.1682e-01 3\n", + " 5 4.1085e-01 1.8757e-01 6.3687e-05 2.2265e-02 9.66748e-02 0.2500 2.2265e-02 3\n", + " 6 3.8630e-01 1.8757e-01 4.8187e-05 1.9825e-02 2.57159e-02 1.0000 1.9825e-02 3\n", + " 7 2.1844e-01 1.8757e-01 2.3501e-06 3.0850e-03 4.75376e-02 0.0625 3.6614e-03 1\n", + " 8 2.1833e-01 1.8757e-01 2.2086e-06 3.0737e-03 3.88233e-02 0.2500 3.0737e-03 1\n", + " 9 2.1742e-01 1.8757e-01 1.7236e-06 2.9836e-03 1.08218e-02 0.5000 2.9836e-03 1\n", + " 10 2.1317e-01 1.8757e-01 9.7645e-07 2.5596e-03 5.10517e-03 1.0000 2.5596e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0141e+02 1.9736e-01 4.9856e+01 2.6476e-01 1.11538e+00 1.0000 ---- 3\n", + " 2 6.6672e+01 1.8744e-01 2.2908e+00 4.3577e+00 3.18063e-01 1.0000 4.3577e+00 3\n", + " 3 7.4027e+00 1.8750e-01 8.7166e-03 7.1281e-01 2.49756e-01 0.5000 7.1281e-01 3\n", + " 4 4.7774e+00 1.8749e-01 4.5955e-03 4.5440e-01 5.40580e-02 1.0000 4.5440e-01 3\n", + " 5 5.7857e-01 1.8750e-01 6.1603e-05 3.9045e-02 9.01504e-02 0.5000 3.9045e-02 3\n", + " 6 5.6786e-01 1.8750e-01 3.2732e-05 3.8004e-02 4.06535e-02 1.0000 3.8004e-02 3\n", + " 7 3.1770e-01 1.8750e-01 1.1311e-06 1.3019e-02 8.05974e-02 0.2500 1.3019e-02 3\n", + " 8 3.1190e-01 1.8750e-01 1.0012e-06 1.2439e-02 2.02928e-02 1.0000 1.2439e-02 3\n", + " 9 2.1722e-01 1.8750e-01 2.6649e-07 2.9722e-03 4.11480e-02 0.0078 2.9722e-03 1\n", + " 10 2.1722e-01 1.8750e-01 2.6435e-07 2.9717e-03 4.01861e-02 0.1250 2.9717e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0171e+02 1.9730e-01 4.9867e+01 2.8444e-01 1.11613e+00 1.0000 ---- 3\n", + " 2 6.7223e+01 1.8737e-01 2.2967e+00 4.4069e+00 3.22214e-01 1.0000 4.4069e+00 3\n", + " 3 6.5011e+00 1.8743e-01 8.6509e-03 6.2272e-01 2.56931e-01 1.0000 6.2272e-01 3\n", + " 4 6.4258e+00 1.8743e-01 1.0319e-03 6.2280e-01 3.05196e-01 0.2500 6.2280e-01 3\n", + " 5 5.2020e+00 1.8742e-01 7.8315e-04 5.0067e-01 1.24915e-01 1.0000 5.0067e-01 3\n", + " 6 3.6515e-01 1.8743e-01 1.1030e-04 1.7662e-02 1.46679e-01 0.2500 1.7662e-02 3\n", + " 7 3.3948e-01 1.8743e-01 8.8872e-05 1.5116e-02 6.20656e-02 1.0000 1.5116e-02 3\n", + " 8 2.7778e-01 1.8742e-01 2.2844e-05 9.0127e-03 7.76978e-02 0.0020 9.0127e-03 1\n", + " 9 2.7778e-01 1.8742e-01 2.2844e-05 9.0127e-03 7.76606e-02 0.1250 9.0127e-03 1\n", + " 10 2.7377e-01 1.8742e-01 2.0431e-05 8.6138e-03 5.39172e-02 0.1250 8.6138e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0213e+02 1.9722e-01 4.9901e+01 2.9225e-01 1.11849e+00 1.0000 ---- 3\n", + " 2 7.1281e+01 1.8730e-01 2.3078e+00 4.8016e+00 3.31266e-01 1.0000 4.8016e+00 3\n", + " 3 9.3508e+00 1.8736e-01 8.4341e-03 9.0791e-01 2.67565e-01 0.5000 9.0791e-01 3\n", + " 4 5.6015e+00 1.8735e-01 4.4758e-03 5.3694e-01 6.30304e-02 1.0000 5.3694e-01 3\n", + " 5 5.9641e-01 1.8736e-01 5.7990e-05 4.0847e-02 1.07758e-01 0.2500 4.0847e-02 3\n", + " 6 5.2344e-01 1.8736e-01 4.4031e-05 3.3564e-02 3.01984e-02 1.0000 3.3564e-02 3\n", + " 7 2.2305e-01 1.8736e-01 2.5859e-06 3.5658e-03 5.43828e-02 0.1250 3.5658e-03 1\n", + " 8 2.2284e-01 1.8736e-01 2.2915e-06 3.5451e-03 3.47978e-02 0.5000 3.5451e-03 1\n", + " 9 2.1351e-01 1.8736e-01 1.4542e-06 2.6129e-03 1.62207e-02 1.0000 2.6129e-03 1\n", + " 10 2.0327e-01 1.8736e-01 5.9064e-07 1.5900e-03 3.15465e-02 0.2500 1.5900e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0157e+02 1.9716e-01 4.9866e+01 2.7107e-01 1.11677e+00 1.0000 ---- 3\n", + " 2 6.6926e+01 1.8724e-01 2.2931e+00 4.3808e+00 3.22964e-01 1.0000 4.3808e+00 3\n", + " 3 6.8885e+00 1.8730e-01 8.7131e-03 6.6141e-01 2.61470e-01 0.5000 6.6141e-01 3\n", + " 4 4.2576e+00 1.8729e-01 4.6023e-03 4.0243e-01 5.43808e-02 1.0000 4.0243e-01 3\n", + " 5 6.1792e-01 1.8730e-01 6.0159e-05 4.3002e-02 8.71557e-02 0.5000 4.3002e-02 3\n", + " 6 5.8926e-01 1.8730e-01 3.2663e-05 4.0164e-02 3.76047e-02 1.0000 4.0164e-02 3\n", + " 7 3.2395e-01 1.8730e-01 1.2161e-06 1.3664e-02 7.49410e-02 0.2500 1.3664e-02 3\n", + " 8 3.1355e-01 1.8730e-01 1.0803e-06 1.2624e-02 1.87040e-02 1.0000 1.2624e-02 3\n", + " 9 2.1938e-01 1.8730e-01 3.0642e-07 3.2084e-03 3.75137e-02 0.0625 3.2084e-03 1\n", + " 10 2.1928e-01 1.8730e-01 2.8566e-07 3.1979e-03 3.06439e-02 0.2500 3.1979e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0206e+02 1.9710e-01 4.9900e+01 2.8611e-01 1.11667e+00 1.0000 ---- 3\n", + " 2 6.7072e+01 1.8718e-01 2.2998e+00 4.3887e+00 3.23487e-01 1.0000 4.3887e+00 3\n", + " 3 6.9072e+00 1.8724e-01 8.7496e-03 6.6324e-01 2.61201e-01 0.5000 6.6324e-01 3\n", + " 4 4.2257e+00 1.8723e-01 4.6206e-03 3.9923e-01 5.52463e-02 1.0000 3.9923e-01 3\n", + " 5 5.8202e-01 1.8724e-01 5.9666e-05 3.9418e-02 8.84531e-02 0.5000 3.9418e-02 3\n", + " 6 5.5416e-01 1.8723e-01 3.2656e-05 3.6660e-02 3.68289e-02 1.0000 3.6660e-02 3\n", + " 7 3.1313e-01 1.8723e-01 1.3619e-06 1.2589e-02 7.38837e-02 0.2500 1.2589e-02 3\n", + " 8 3.0398e-01 1.8723e-01 1.2200e-06 1.1674e-02 1.83856e-02 1.0000 1.1674e-02 3\n", + " 9 2.1079e-01 1.8723e-01 3.5657e-07 2.3553e-03 3.69317e-02 0.0625 2.4849e-03 1\n", + " 10 2.1072e-01 1.8723e-01 3.3358e-07 2.3487e-03 3.02009e-02 0.2500 2.3487e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0185e+02 1.9704e-01 4.9880e+01 2.8594e-01 1.11665e+00 1.0000 ---- 3\n", + " 2 6.5399e+01 1.8711e-01 2.3007e+00 4.2205e+00 3.26173e-01 1.0000 4.2205e+00 3\n", + " 3 7.5333e+00 1.8717e-01 8.8779e-03 7.2573e-01 2.63246e-01 1.0000 7.2573e-01 3\n", + " 4 6.8266e+00 1.8717e-01 1.0463e-03 6.6289e-01 3.24739e-01 0.2500 6.6289e-01 3\n", + " 5 5.5798e+00 1.8716e-01 7.9718e-04 5.3847e-01 1.27114e-01 1.0000 5.3847e-01 3\n", + " 6 2.3845e-01 1.8716e-01 1.1461e-04 5.0140e-03 1.59536e-01 0.1250 5.0140e-03 1\n", + " 7 2.3795e-01 1.8716e-01 1.0163e-04 4.9771e-03 1.10272e-01 0.2500 4.9771e-03 1\n", + " 8 2.2743e-01 1.8716e-01 7.8987e-05 3.9480e-03 4.59086e-02 0.5000 3.9480e-03 1\n", + " 9 2.2333e-01 1.8716e-01 4.1798e-05 3.5751e-03 9.73319e-03 1.0000 3.5751e-03 1\n", + " 10 2.0551e-01 1.8716e-01 3.0384e-07 1.8348e-03 1.65657e-02 0.5000 2.1302e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0218e+02 1.9697e-01 4.9912e+01 2.8624e-01 1.11699e+00 1.0000 ---- 3\n", + " 2 6.6231e+01 1.8704e-01 2.2972e+00 4.3072e+00 3.24663e-01 1.0000 4.3072e+00 3\n", + " 3 6.8485e+00 1.8710e-01 8.7169e-03 6.5742e-01 2.59227e-01 0.5000 6.5742e-01 3\n", + " 4 4.2097e+00 1.8709e-01 4.5992e-03 3.9766e-01 5.46100e-02 1.0000 3.9766e-01 3\n", + " 5 6.3079e-01 1.8710e-01 5.6343e-05 4.4313e-02 8.74345e-02 0.5000 4.4313e-02 3\n", + " 6 5.8197e-01 1.8710e-01 3.0825e-05 3.9457e-02 3.65041e-02 1.0000 3.9457e-02 3\n", + " 7 3.0080e-01 1.8710e-01 1.1491e-06 1.1369e-02 7.29932e-02 0.2500 1.1369e-02 3\n", + " 8 2.9224e-01 1.8710e-01 1.0201e-06 1.0513e-02 1.81792e-02 1.0000 1.0513e-02 2\n", + " 9 1.8710e-01 1.8710e-01 2.4906e-07 0.0000e+00 3.63756e-02 0.2500 1.5810e-03 1\n", + " 10 1.8710e-01 1.8710e-01 2.4885e-07 0.0000e+00 1.00280e-02 0.2500 1.2831e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0206e+02 1.9691e-01 4.9977e+01 2.0954e-01 1.11768e+00 1.0000 ---- 3\n", + " 2 6.7400e+01 1.8698e-01 2.2902e+00 4.4311e+00 3.23255e-01 1.0000 4.4311e+00 3\n", + " 3 6.2825e+00 1.8704e-01 8.7851e-03 6.0076e-01 2.63813e-01 0.5000 6.0076e-01 3\n", + " 4 4.1119e+00 1.8703e-01 4.6500e-03 3.8784e-01 6.08065e-02 1.0000 3.8784e-01 3\n", + " 5 7.0394e-01 1.8704e-01 6.3698e-05 5.1627e-02 9.99390e-02 0.5000 5.1627e-02 3\n", + " 6 6.3886e-01 1.8703e-01 3.4781e-05 4.5148e-02 4.19940e-02 1.0000 4.5148e-02 3\n", + " 7 3.4336e-01 1.8703e-01 1.5753e-06 1.5631e-02 8.23523e-02 0.2500 1.5631e-02 3\n", + " 8 3.3829e-01 1.8703e-01 1.4270e-06 1.5124e-02 2.09008e-02 1.0000 1.5124e-02 3\n", + " 9 2.1205e-01 1.8703e-01 4.1480e-07 2.5012e-03 4.17415e-02 0.0625 2.5012e-03 1\n", + " 10 2.1196e-01 1.8703e-01 3.8751e-07 2.4924e-03 3.41257e-02 0.2500 2.4924e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0235e+02 1.9685e-01 4.9926e+01 2.8849e-01 1.11735e+00 1.0000 ---- 3\n", + " 2 6.6358e+01 1.8692e-01 2.3085e+00 4.3086e+00 3.24905e-01 1.0000 4.3086e+00 3\n", + " 3 6.4522e+00 1.8697e-01 8.8274e-03 6.1769e-01 2.64310e-01 1.0000 6.1769e-01 3\n", + " 4 6.4333e+00 1.8697e-01 1.1239e-03 6.2351e-01 3.31821e-01 0.2500 6.2351e-01 3\n", + " 5 5.4566e+00 1.8695e-01 8.6138e-04 5.2610e-01 1.28394e-01 1.0000 5.2610e-01 3\n", + " 6 4.5550e-01 1.8696e-01 1.3261e-04 2.6722e-02 1.62725e-01 0.1250 2.6722e-02 3\n", + " 7 4.3737e-01 1.8696e-01 1.1780e-04 2.4923e-02 1.12525e-01 0.2500 2.4923e-02 3\n", + " 8 4.0410e-01 1.8696e-01 9.2061e-05 2.1622e-02 4.66060e-02 1.0000 2.1622e-02 3\n", + " 9 2.3906e-01 1.8696e-01 1.3926e-05 5.1967e-03 6.06446e-02 0.0625 8.6787e-03 1\n", + " 10 2.3904e-01 1.8696e-01 1.3118e-05 5.1954e-03 5.12284e-02 0.2500 5.1954e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0286e+02 1.9677e-01 5.0000e+01 2.6684e-01 1.11837e+00 1.0000 ---- 3\n", + " 2 6.9848e+01 1.8684e-01 2.3247e+00 4.6414e+00 3.23967e-01 1.0000 4.6414e+00 3\n", + " 3 7.0823e+00 1.8690e-01 8.4194e-03 6.8112e-01 2.60929e-01 0.5000 6.8112e-01 3\n", + " 4 4.4686e+00 1.8689e-01 4.4744e-03 4.2369e-01 5.82589e-02 1.0000 4.2369e-01 3\n", + " 5 7.0777e-01 1.8690e-01 5.4743e-05 5.2032e-02 9.40195e-02 0.5000 5.2032e-02 3\n", + " 6 6.3324e-01 1.8690e-01 3.0208e-05 4.4604e-02 4.01576e-02 1.0000 4.4604e-02 3\n", + " 7 3.2999e-01 1.8690e-01 1.4614e-06 1.4307e-02 7.86737e-02 0.2500 1.4307e-02 3\n", + " 8 3.2558e-01 1.8690e-01 1.3015e-06 1.3867e-02 2.01307e-02 1.0000 1.3867e-02 3\n", + " 9 2.1602e-01 1.8690e-01 3.8598e-07 2.9117e-03 4.04324e-02 0.0312 2.9117e-03 1\n", + " 10 2.1600e-01 1.8690e-01 3.7338e-07 2.9099e-03 3.67409e-02 0.2500 2.9099e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0297e+02 1.9671e-01 4.9986e+01 2.9074e-01 1.11901e+00 1.0000 ---- 3\n", + " 2 6.7405e+01 1.8678e-01 2.3159e+00 4.4058e+00 3.22776e-01 1.0000 4.4058e+00 3\n", + " 3 6.5421e+00 1.8684e-01 8.6942e-03 6.2683e-01 2.60652e-01 0.5000 6.2683e-01 3\n", + " 4 4.0734e+00 1.8683e-01 4.6026e-03 3.8405e-01 5.48985e-02 1.0000 3.8405e-01 3\n", + " 5 5.9901e-01 1.8684e-01 6.5706e-05 4.1152e-02 8.62018e-02 0.5000 4.1152e-02 3\n", + " 6 5.5307e-01 1.8684e-01 3.5998e-05 3.6587e-02 3.40440e-02 1.0000 3.6587e-02 3\n", + " 7 3.1284e-01 1.8684e-01 1.2858e-06 1.2599e-02 6.47636e-02 0.2500 1.2599e-02 3\n", + " 8 3.0045e-01 1.8684e-01 1.1479e-06 1.1360e-02 1.73796e-02 1.0000 1.1360e-02 3\n", + " 9 2.1177e-01 1.8684e-01 3.3306e-07 2.4928e-03 3.40719e-02 0.0312 2.9536e-03 1\n", + " 10 2.1172e-01 1.8684e-01 3.2196e-07 2.4884e-03 3.10258e-02 0.2500 2.4884e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0316e+02 1.9665e-01 5.0007e+01 2.8941e-01 1.11884e+00 1.0000 ---- 3\n", + " 2 6.7389e+01 1.8672e-01 2.3139e+00 4.4064e+00 3.24096e-01 1.0000 4.4064e+00 3\n", + " 3 6.4826e+00 1.8678e-01 8.7342e-03 6.2085e-01 2.64844e-01 0.5000 6.2085e-01 3\n", + " 4 4.0463e+00 1.8677e-01 4.6230e-03 3.8133e-01 5.93955e-02 1.0000 3.8133e-01 3\n", + " 5 6.1052e-01 1.8678e-01 6.6726e-05 4.2308e-02 9.55336e-02 0.5000 4.2308e-02 3\n", + " 6 5.6186e-01 1.8678e-01 3.6746e-05 3.7472e-02 3.90862e-02 1.0000 3.7472e-02 3\n", + " 7 3.1698e-01 1.8678e-01 1.5108e-06 1.3019e-02 7.60524e-02 0.2500 1.3019e-02 3\n", + " 8 3.0464e-01 1.8678e-01 1.3614e-06 1.1785e-02 1.95173e-02 1.0000 1.1785e-02 3\n", + " 9 2.0761e-01 1.8678e-01 3.8303e-07 2.0834e-03 3.87269e-02 0.0625 3.0181e-03 1\n", + " 10 2.0761e-01 1.8678e-01 3.5934e-07 2.0834e-03 3.16922e-02 0.2500 2.0834e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0305e+02 1.9660e-01 4.9996e+01 2.8964e-01 1.11880e+00 1.0000 ---- 3\n", + " 2 6.6476e+01 1.8666e-01 2.3142e+00 4.3147e+00 3.25254e-01 1.0000 4.3147e+00 3\n", + " 3 6.1650e+00 1.8672e-01 8.7848e-03 5.8905e-01 2.66982e-01 0.5000 5.8905e-01 3\n", + " 4 3.8347e+00 1.8671e-01 4.6443e-03 3.6015e-01 6.01976e-02 1.0000 3.6015e-01 3\n", + " 5 6.5000e-01 1.8672e-01 6.2726e-05 4.6265e-02 9.60873e-02 0.2500 4.6265e-02 3\n", + " 6 5.8228e-01 1.8672e-01 4.7957e-05 3.9509e-02 3.00499e-02 1.0000 3.9509e-02 3\n", + " 7 2.1062e-01 1.8672e-01 3.2432e-06 2.3874e-03 5.05160e-02 0.0020 3.9928e-03 1\n", + " 8 2.1062e-01 1.8672e-01 3.2432e-06 2.3874e-03 5.04935e-02 0.1250 2.3874e-03 1\n", + " 9 2.1020e-01 1.8672e-01 2.8867e-06 2.3454e-03 3.31119e-02 0.1250 2.7808e-03 1\n", + " 10 2.1019e-01 1.8672e-01 2.5434e-06 2.3447e-03 2.18292e-02 0.5000 2.3447e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0338e+02 1.9654e-01 5.0041e+01 2.7677e-01 1.12184e+00 1.0000 ---- 3\n", + " 2 6.7395e+01 1.8660e-01 2.3228e+00 4.3981e+00 3.30727e-01 1.0000 4.3981e+00 3\n", + " 3 7.0418e+00 1.8666e-01 8.6859e-03 6.7683e-01 2.86013e-01 0.5000 6.7683e-01 3\n", + " 4 4.7330e+00 1.8665e-01 4.6047e-03 4.5003e-01 7.52871e-02 1.0000 4.5003e-01 3\n", + " 5 9.4490e-01 1.8666e-01 6.7732e-05 7.5756e-02 1.26376e-01 0.5000 7.5756e-02 3\n", + " 6 7.8532e-01 1.8666e-01 3.7963e-05 5.9828e-02 5.46260e-02 1.0000 5.9828e-02 3\n", + " 7 3.6496e-01 1.8666e-01 2.4016e-06 1.7827e-02 1.07865e-01 0.2500 1.7827e-02 3\n", + " 8 3.5679e-01 1.8666e-01 2.1496e-06 1.7011e-02 2.69006e-02 1.0000 1.7011e-02 3\n", + " 9 2.2189e-01 1.8666e-01 7.3392e-07 3.5226e-03 5.36317e-02 0.0156 3.5226e-03 1\n", + " 10 2.2189e-01 1.8666e-01 7.2244e-07 3.5223e-03 5.11599e-02 0.2500 3.5223e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0357e+02 1.9648e-01 5.0044e+01 2.9362e-01 1.11932e+00 1.0000 ---- 3\n", + " 2 6.7430e+01 1.8655e-01 2.3228e+00 4.4015e+00 3.22894e-01 1.0000 4.4015e+00 3\n", + " 3 6.2177e+00 1.8661e-01 8.6986e-03 5.9441e-01 2.61465e-01 0.5000 5.9441e-01 3\n", + " 4 3.9251e+00 1.8660e-01 4.6137e-03 3.6924e-01 5.55033e-02 1.0000 3.6924e-01 3\n", + " 5 5.9023e-01 1.8660e-01 6.6396e-05 4.0297e-02 8.60864e-02 0.5000 4.0297e-02 3\n", + " 6 5.3504e-01 1.8660e-01 3.6969e-05 3.4807e-02 3.26483e-02 1.0000 3.4807e-02 3\n", + " 7 3.0439e-01 1.8660e-01 1.5562e-06 1.1777e-02 6.16105e-02 0.2500 1.1777e-02 3\n", + " 8 2.9083e-01 1.8660e-01 1.3943e-06 1.0421e-02 1.68256e-02 1.0000 1.0421e-02 3\n", + " 9 2.0661e-01 1.8660e-01 4.1739e-07 2.0005e-03 3.24613e-02 0.0078 2.8987e-03 1\n", + " 10 2.0661e-01 1.8660e-01 4.1409e-07 2.0002e-03 3.17241e-02 0.2500 2.0002e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0374e+02 1.9643e-01 5.0063e+01 2.9131e-01 1.11957e+00 1.0000 ---- 3\n", + " 2 6.7492e+01 1.8649e-01 2.3185e+00 4.4120e+00 3.26488e-01 1.0000 4.4120e+00 3\n", + " 3 6.1930e+00 1.8655e-01 8.7200e-03 5.9192e-01 2.73143e-01 0.5000 5.9192e-01 3\n", + " 4 3.9328e+00 1.8654e-01 4.6246e-03 3.7000e-01 6.58552e-02 1.0000 3.7000e-01 3\n", + " 5 6.0969e-01 1.8655e-01 6.7183e-05 4.2247e-02 1.09158e-01 0.5000 4.2247e-02 3\n", + " 6 5.4786e-01 1.8655e-01 3.7723e-05 3.6093e-02 4.64917e-02 1.0000 3.6093e-02 3\n", + " 7 3.2060e-01 1.8655e-01 1.9255e-06 1.3403e-02 9.23372e-02 0.2500 1.3403e-02 3\n", + " 8 3.0610e-01 1.8654e-01 1.7390e-06 1.1953e-02 2.26519e-02 1.0000 1.1953e-02 3\n", + " 9 2.1555e-01 1.8654e-01 4.8794e-07 2.8996e-03 4.53887e-02 0.0625 3.0163e-03 1\n", + " 10 2.1539e-01 1.8654e-01 4.6012e-07 2.8845e-03 3.69831e-02 0.5000 2.8845e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0391e+02 1.9637e-01 5.0077e+01 2.9498e-01 1.12399e+00 1.0000 ---- 3\n", + " 2 6.7617e+01 1.8644e-01 2.3273e+00 4.4158e+00 3.40715e-01 1.0000 4.4158e+00 3\n", + " 3 7.4517e+00 1.8649e-01 8.7873e-03 7.1773e-01 3.18274e-01 0.5000 7.1773e-01 3\n", + " 4 5.0265e+00 1.8648e-01 4.6452e-03 4.7936e-01 1.01833e-01 1.0000 4.7936e-01 3\n", + " 5 1.0054e+00 1.8649e-01 6.5517e-05 8.1825e-02 1.87080e-01 0.5000 8.1825e-02 3\n", + " 6 9.3127e-01 1.8649e-01 3.7220e-05 7.4441e-02 9.94879e-02 1.0000 7.4441e-02 3\n", + " 7 5.1670e-01 1.8649e-01 3.9325e-06 3.3017e-02 2.15950e-01 0.2500 3.3017e-02 3\n", + " 8 5.0611e-01 1.8649e-01 3.4997e-06 3.1959e-02 4.37057e-02 1.0000 3.1959e-02 3\n", + " 9 1.9553e-01 1.8649e-01 8.0138e-07 9.0351e-04 9.40268e-02 0.0020 1.6510e-03 1\n", + " 10 1.9553e-01 1.8649e-01 8.0138e-07 9.0351e-04 9.39829e-02 0.1250 1.6504e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0358e+02 1.9631e-01 5.0047e+01 2.9084e-01 1.12930e+00 1.0000 ---- 3\n", + " 2 6.7708e+01 1.8637e-01 2.3241e+00 4.4281e+00 3.64748e-01 1.0000 4.4281e+00 3\n", + " 3 5.5386e+00 1.8643e-01 8.6614e-03 5.2655e-01 3.88259e-01 0.5000 5.2655e-01 3\n", + " 4 3.5890e+00 1.8642e-01 4.6033e-03 3.3565e-01 1.60728e-01 1.0000 3.3565e-01 3\n", + " 5 4.1605e-01 1.8643e-01 1.0092e-04 2.2861e-02 3.46141e-01 0.1250 2.2861e-02 2\n", + " 6 4.0238e-01 1.8642e-01 8.8503e-05 2.1507e-02 2.06373e-01 0.2500 2.1507e-02 2\n", + " 7 3.5357e-01 1.8642e-01 6.6681e-05 1.6648e-02 4.22985e-02 1.0000 1.6648e-02 2\n", + " 8 1.8933e-01 1.8642e-01 2.4395e-06 2.8858e-04 8.57625e-02 0.0625 1.6660e-03 1\n", + " 9 1.8929e-01 1.8642e-01 2.2902e-06 2.8430e-04 6.88898e-02 0.1250 1.5559e-03 1\n", + " 10 1.8908e-01 1.8642e-01 2.0106e-06 2.6409e-04 4.18848e-02 0.0625 1.5526e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0326e+02 1.9625e-01 5.0042e+01 2.6342e-01 1.12176e+00 1.0000 ---- 3\n", + " 2 6.6319e+01 1.8631e-01 2.3143e+00 4.2990e+00 3.51285e-01 1.0000 4.2990e+00 3\n", + " 3 6.0428e+00 1.8637e-01 9.0561e-03 5.7659e-01 3.50879e-01 0.5000 5.7659e-01 3\n", + " 4 4.1259e+00 1.8636e-01 4.7896e-03 3.8917e-01 1.39730e-01 1.0000 3.8917e-01 3\n", + " 5 9.0511e-01 1.8636e-01 8.0757e-05 7.1794e-02 2.94345e-01 0.2500 7.1794e-02 3\n", + " 6 8.3575e-01 1.8636e-01 6.1959e-05 6.4877e-02 5.99812e-02 1.0000 6.4877e-02 3\n", + " 7 2.1338e-01 1.8636e-01 4.3859e-06 2.6980e-03 1.25527e-01 0.0020 5.1671e-03 1\n", + " 8 2.1338e-01 1.8636e-01 4.3859e-06 2.6980e-03 1.25465e-01 0.1250 2.6980e-03 1\n", + " 9 2.1296e-01 1.8636e-01 3.9517e-06 2.6564e-03 7.56806e-02 0.0625 3.4757e-03 1\n", + " 10 2.1272e-01 1.8636e-01 3.7181e-06 2.6328e-03 6.07826e-02 0.2500 2.6328e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0338e+02 1.9618e-01 5.0027e+01 2.9101e-01 1.11890e+00 1.0000 ---- 3\n", + " 2 6.5715e+01 1.8624e-01 2.3316e+00 4.2213e+00 3.22177e-01 1.0000 4.2213e+00 3\n", + " 3 6.2509e+00 1.8630e-01 8.6992e-03 5.9776e-01 2.62259e-01 0.5000 5.9776e-01 3\n", + " 4 4.0839e+00 1.8629e-01 4.6069e-03 3.8516e-01 7.15464e-02 1.0000 3.8516e-01 3\n", + " 5 7.4645e-01 1.8630e-01 5.7170e-05 5.5958e-02 1.32236e-01 0.5000 5.5958e-02 3\n", + " 6 6.9142e-01 1.8630e-01 3.2152e-05 5.0480e-02 7.18634e-02 1.0000 5.0480e-02 3\n", + " 7 3.8273e-01 1.8630e-01 2.2922e-06 1.9641e-02 1.55837e-01 0.2500 1.9641e-02 3\n", + " 8 3.8154e-01 1.8629e-01 1.9104e-06 1.9522e-02 3.18552e-02 1.0000 1.9522e-02 3\n", + " 9 2.0652e-01 1.8629e-01 7.1388e-07 2.0217e-03 6.86068e-02 0.0020 2.0217e-03 1\n", + " 10 2.0652e-01 1.8629e-01 7.1388e-07 2.0217e-03 6.85761e-02 0.1250 2.0217e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0364e+02 1.9612e-01 5.0051e+01 2.9396e-01 1.12380e+00 1.0000 ---- 3\n", + " 2 6.6391e+01 1.8618e-01 2.3316e+00 4.2889e+00 3.38597e-01 1.0000 4.2889e+00 3\n", + " 3 5.6688e+00 1.8624e-01 8.8239e-03 5.3943e-01 3.29132e-01 0.5000 5.3943e-01 3\n", + " 4 4.9471e+00 1.8622e-01 4.6537e-03 4.7144e-01 1.24631e-01 1.0000 4.7144e-01 3\n", + " 5 4.4056e-01 1.8623e-01 4.8817e-05 2.5384e-02 2.59649e-01 0.2500 2.5384e-02 3\n", + " 6 4.3100e-01 1.8623e-01 3.7030e-05 2.4440e-02 5.57277e-02 1.0000 2.4440e-02 3\n", + " 7 1.9699e-01 1.8622e-01 2.8123e-06 1.0739e-03 1.13948e-01 0.0020 1.5801e-03 1\n", + " 8 1.9699e-01 1.8622e-01 2.8123e-06 1.0739e-03 1.13896e-01 0.0312 1.5800e-03 1\n", + " 9 1.9688e-01 1.8622e-01 2.7281e-06 1.0627e-03 1.02853e-01 0.0039 1.5781e-03 1\n", + " 10 1.9688e-01 1.8622e-01 2.7174e-06 1.0626e-03 1.01155e-01 0.0156 1.5776e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0376e+02 1.9605e-01 5.0078e+01 2.7836e-01 1.16915e+00 1.0000 ---- 3\n", + " 2 7.0121e+01 1.8610e-01 2.3313e+00 4.6622e+00 4.55836e-01 1.0000 4.6622e+00 3\n", + " 3 1.3861e+01 1.8616e-01 8.6586e-03 1.3588e+00 5.93043e-01 0.2500 1.3588e+00 3\n", + " 4 1.2382e+01 1.8614e-01 6.5352e-03 1.2130e+00 1.86317e-01 1.0000 1.2130e+00 3\n", + " 5 1.6095e+00 1.8616e-01 3.5043e-04 1.4198e-01 3.02949e-01 0.1250 1.4198e-01 3\n", + " 6 1.5236e+00 1.8615e-01 3.0702e-04 1.3344e-01 1.94009e-01 0.2500 1.3344e-01 3\n", + " 7 1.3367e+00 1.8615e-01 2.3104e-04 1.1482e-01 6.01300e-02 1.0000 1.1482e-01 3\n", + " 8 4.1546e-01 1.8615e-01 1.3602e-05 2.2917e-02 9.07786e-02 0.2500 2.2917e-02 3\n", + " 9 3.7798e-01 1.8615e-01 1.1008e-05 1.9172e-02 2.91203e-02 1.0000 1.9172e-02 3\n", + " 10 2.0312e-01 1.8615e-01 2.5036e-06 1.6950e-03 4.60375e-02 0.0020 1.6950e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0389e+02 1.9597e-01 5.0078e+01 2.9199e-01 1.12861e+00 1.0000 ---- 3\n", + " 2 7.2383e+01 1.8602e-01 2.3709e+00 4.8489e+00 3.45535e-01 1.0000 4.8489e+00 3\n", + " 3 8.7426e+00 1.8609e-01 8.4578e-03 8.4720e-01 3.26779e-01 0.5000 8.4720e-01 3\n", + " 4 7.0670e+00 1.8608e-01 4.5086e-03 6.8358e-01 1.15567e-01 1.0000 6.8358e-01 3\n", + " 5 1.0874e+00 1.8609e-01 5.8799e-05 9.0068e-02 2.21119e-01 0.2500 9.0068e-02 3\n", + " 6 1.0680e+00 1.8609e-01 4.4390e-05 8.8150e-02 5.44490e-02 1.0000 8.8150e-02 3\n", + " 7 2.7639e-01 1.8609e-01 2.0844e-06 9.0285e-03 1.05410e-01 0.1250 9.0285e-03 2\n", + " 8 2.6432e-01 1.8609e-01 1.8645e-06 7.8217e-03 6.60836e-02 0.2500 7.8217e-03 2\n", + " 9 2.4113e-01 1.8608e-01 1.4791e-06 5.5029e-03 1.77703e-02 0.0020 7.7480e-03 1\n", + " 10 2.4113e-01 1.8608e-01 1.4791e-06 5.5029e-03 1.77727e-02 1.0000 5.5029e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0377e+02 1.9590e-01 5.0089e+01 2.6872e-01 1.12671e+00 1.0000 ---- 3\n", + " 2 6.7206e+01 1.8596e-01 2.3312e+00 4.3708e+00 3.30908e-01 1.0000 4.3708e+00 3\n", + " 3 8.6697e+00 1.8602e-01 8.6467e-03 8.3972e-01 2.92596e-01 0.5000 8.3972e-01 3\n", + " 4 6.0494e+00 1.8601e-01 4.5869e-03 5.8175e-01 9.64006e-02 1.0000 5.8175e-01 3\n", + " 5 1.0035e+00 1.8602e-01 5.6967e-05 8.1686e-02 1.81774e-01 0.2500 8.1686e-02 3\n", + " 6 8.9683e-01 1.8602e-01 4.3029e-05 7.1038e-02 4.50996e-02 1.0000 7.1038e-02 3\n", + " 7 2.5466e-01 1.8602e-01 2.3233e-06 6.8622e-03 8.69755e-02 0.0020 8.4055e-03 1\n", + " 8 2.5466e-01 1.8602e-01 2.3233e-06 6.8622e-03 8.69452e-02 0.1250 6.8622e-03 1\n", + " 9 2.5395e-01 1.8602e-01 2.0576e-06 6.7907e-03 5.47819e-02 0.0625 6.7907e-03 1\n", + " 10 2.5330e-01 1.8602e-01 1.9322e-06 6.7263e-03 4.47263e-02 0.2500 6.7263e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0392e+02 1.9584e-01 5.0093e+01 2.7922e-01 1.12082e+00 1.0000 ---- 3\n", + " 2 6.6677e+01 1.8590e-01 2.3281e+00 4.3210e+00 3.18274e-01 1.0000 4.3210e+00 3\n", + " 3 6.2265e+00 1.8596e-01 8.4756e-03 5.9558e-01 2.57179e-01 0.5000 5.9558e-01 3\n", + " 4 4.1845e+00 1.8595e-01 4.4575e-03 3.9539e-01 6.77642e-02 1.0000 3.9539e-01 3\n", + " 5 7.8517e-01 1.8596e-01 7.1940e-05 5.9849e-02 1.24288e-01 0.5000 5.9849e-02 3\n", + " 6 7.7264e-01 1.8595e-01 3.8543e-05 5.8630e-02 6.19227e-02 1.0000 5.8630e-02 3\n", + " 7 3.7225e-01 1.8595e-01 1.4704e-06 1.8628e-02 1.25519e-01 0.2500 1.8628e-02 3\n", + " 8 3.7136e-01 1.8595e-01 1.3661e-06 1.8539e-02 2.99702e-02 1.0000 1.8539e-02 3\n", + " 9 2.1370e-01 1.8595e-01 3.8669e-07 2.7748e-03 6.14297e-02 0.0020 2.7748e-03 1\n", + " 10 2.1370e-01 1.8595e-01 3.8669e-07 2.7748e-03 6.14025e-02 0.1250 2.7748e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0386e+02 1.9577e-01 5.0069e+01 2.9675e-01 1.12513e+00 1.0000 ---- 3\n", + " 2 6.6694e+01 1.8583e-01 2.3557e+00 4.2951e+00 3.25479e-01 1.0000 4.2951e+00 3\n", + " 3 6.4959e+00 1.8589e-01 8.4524e-03 6.2255e-01 2.80409e-01 0.5000 6.2255e-01 3\n", + " 4 4.7675e+00 1.8588e-01 4.4608e-03 4.5370e-01 8.60721e-02 1.0000 4.5370e-01 3\n", + " 5 7.7450e-01 1.8589e-01 5.6592e-05 5.8805e-02 1.64859e-01 0.2500 5.8805e-02 3\n", + " 6 7.6425e-01 1.8589e-01 4.2831e-05 5.7793e-02 4.08656e-02 1.0000 5.7793e-02 3\n", + " 7 2.1270e-01 1.8589e-01 1.8234e-06 2.6794e-03 7.89900e-02 0.0020 2.6794e-03 1\n", + " 8 2.1270e-01 1.8589e-01 1.8234e-06 2.6794e-03 7.89579e-02 0.0312 2.6794e-03 1\n", + " 9 2.1227e-01 1.8589e-01 1.7682e-06 2.6365e-03 7.16495e-02 0.0156 2.6365e-03 1\n", + " 10 2.1223e-01 1.8589e-01 1.7410e-06 2.6325e-03 6.83394e-02 0.0312 2.6325e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0341e+02 1.9571e-01 5.0034e+01 2.8724e-01 1.13908e+00 1.0000 ---- 3\n", + " 2 6.8184e+01 1.8577e-01 2.3447e+00 4.4551e+00 3.86504e-01 1.0000 4.4551e+00 3\n", + " 3 7.8965e+00 1.8582e-01 8.5503e-03 7.6251e-01 4.10895e-01 0.5000 7.6251e-01 3\n", + " 4 6.6824e+00 1.8581e-01 4.5240e-03 6.4513e-01 1.60243e-01 1.0000 6.4513e-01 3\n", + " 5 2.8120e+00 1.8582e-01 1.0072e-04 2.6252e-01 3.21066e-01 0.1250 2.6252e-01 3\n", + " 6 2.5512e+00 1.8582e-01 8.8333e-05 2.3645e-01 1.98503e-01 0.5000 2.3645e-01 3\n", + " 7 2.5381e+00 1.8581e-01 4.5550e-05 2.3518e-01 1.07313e-01 1.0000 2.3518e-01 3\n", + " 8 6.7223e-01 1.8582e-01 2.5486e-06 4.8638e-02 2.27120e-01 0.0625 4.8638e-02 3\n", + " 9 6.5592e-01 1.8582e-01 2.4083e-06 4.7007e-02 1.82509e-01 0.1250 4.7007e-02 3\n", + " 10 6.4487e-01 1.8582e-01 2.1539e-06 4.5903e-02 1.10732e-01 0.2500 4.5903e-02 3\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0366e+02 1.9563e-01 5.0080e+01 2.6669e-01 1.12660e+00 1.0000 ---- 3\n", + " 2 6.8543e+01 1.8569e-01 2.3447e+00 4.4911e+00 3.36476e-01 1.0000 4.4911e+00 3\n", + " 3 7.0723e+00 1.8575e-01 8.5148e-03 6.8014e-01 3.11981e-01 0.5000 6.8014e-01 3\n", + " 4 5.7692e+00 1.8574e-01 4.5270e-03 5.5382e-01 1.08483e-01 1.0000 5.5382e-01 3\n", + " 5 9.8310e-01 1.8575e-01 7.2926e-05 7.9662e-02 2.17122e-01 0.2500 7.9662e-02 3\n", + " 6 9.2770e-01 1.8575e-01 5.5046e-05 7.4140e-02 4.86999e-02 1.0000 7.4140e-02 3\n", + " 7 2.4944e-01 1.8575e-01 2.4749e-06 6.3669e-03 9.85731e-02 0.0020 6.8943e-03 1\n", + " 8 2.4944e-01 1.8575e-01 2.4749e-06 6.3669e-03 9.85237e-02 0.0625 6.3669e-03 1\n", + " 9 2.4758e-01 1.8575e-01 2.3276e-06 6.1804e-03 7.97638e-02 0.0312 6.1804e-03 1\n", + " 10 2.4743e-01 1.8575e-01 2.2562e-06 6.1659e-03 7.21929e-02 0.1250 6.1659e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0206e+02 1.9557e-01 5.0004e+01 1.8202e-01 1.12433e+00 1.0000 ---- 3\n", + " 2 6.5924e+01 1.8562e-01 2.3282e+00 4.2456e+00 3.29463e-01 1.0000 4.2456e+00 3\n", + " 3 6.6711e+00 1.8568e-01 8.7128e-03 6.3983e-01 3.04514e-01 0.5000 6.3983e-01 3\n", + " 4 4.7127e+00 1.8567e-01 4.6145e-03 4.4809e-01 1.17163e-01 1.0000 4.4809e-01 3\n", + " 5 9.4800e-01 1.8568e-01 7.3664e-05 7.6158e-02 2.41671e-01 0.2500 7.6158e-02 3\n", + " 6 9.0047e-01 1.8568e-01 5.5587e-05 7.1424e-02 5.15624e-02 1.0000 7.1424e-02 3\n", + " 7 2.1473e-01 1.8568e-01 2.0549e-06 2.9032e-03 1.05045e-01 0.0156 2.9032e-03 1\n", + " 8 2.1473e-01 1.8568e-01 2.0228e-06 2.9031e-03 9.99824e-02 0.2500 2.9031e-03 1\n", + " 9 2.1219e-01 1.8568e-01 1.6026e-06 2.6500e-03 2.30823e-02 0.5000 2.6500e-03 1\n", + " 10 2.1048e-01 1.8568e-01 1.0338e-06 2.4791e-03 1.20099e-02 1.0000 2.4791e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0197e+02 1.9549e-01 5.0041e+01 1.3591e-01 1.12238e+00 1.0000 ---- 3\n", + " 2 6.6957e+01 1.8555e-01 2.3307e+00 4.3464e+00 3.32226e-01 1.0000 4.3464e+00 3\n", + " 3 5.5239e+00 1.8561e-01 8.6513e-03 5.2518e-01 3.03328e-01 0.5000 5.2518e-01 3\n", + " 4 3.9276e+00 1.8560e-01 4.5825e-03 3.6961e-01 1.01730e-01 1.0000 3.6961e-01 3\n", + " 5 7.1430e-01 1.8561e-01 6.8768e-05 5.2800e-02 2.07418e-01 0.2500 5.2800e-02 3\n", + " 6 6.3298e-01 1.8561e-01 5.2038e-05 4.4685e-02 4.44986e-02 1.0000 4.4685e-02 3\n", + " 7 2.2542e-01 1.8561e-01 2.3088e-06 3.9787e-03 9.05920e-02 0.0020 3.9787e-03 1\n", + " 8 2.2542e-01 1.8561e-01 2.3088e-06 3.9787e-03 9.05533e-02 0.2500 3.9787e-03 1\n", + " 9 2.2312e-01 1.8561e-01 1.9521e-06 3.7492e-03 2.08913e-02 1.0000 3.7492e-03 1\n", + " 10 2.2183e-01 1.8561e-01 1.8528e-06 3.6202e-03 4.04997e-02 0.5000 3.6202e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0194e+02 1.9542e-01 5.0053e+01 1.2172e-01 1.12160e+00 1.0000 ---- 3\n", + " 2 6.6272e+01 1.8548e-01 2.3421e+00 4.2666e+00 3.12669e-01 1.0000 4.2666e+00 3\n", + " 3 6.3459e+00 1.8554e-01 8.5320e-03 6.0750e-01 2.48029e-01 0.5000 6.0750e-01 3\n", + " 4 4.2502e+00 1.8553e-01 4.4906e-03 4.0198e-01 7.92785e-02 1.0000 4.0198e-01 3\n", + " 5 6.0169e-01 1.8554e-01 6.3654e-05 4.1551e-02 1.57762e-01 0.2500 4.1551e-02 3\n", + " 6 5.3969e-01 1.8554e-01 4.8108e-05 3.5367e-02 3.46726e-02 1.0000 3.5367e-02 3\n", + " 7 2.1747e-01 1.8554e-01 1.7850e-06 3.1915e-03 6.87631e-02 0.0156 3.1915e-03 1\n", + " 8 2.1746e-01 1.8554e-01 1.7574e-06 3.1905e-03 6.54790e-02 0.2500 3.1905e-03 1\n", + " 9 2.1690e-01 1.8554e-01 1.4024e-06 3.1350e-03 1.56295e-02 1.0000 3.1350e-03 1\n", + " 10 2.1048e-01 1.8554e-01 1.4205e-06 2.4929e-03 2.95996e-02 0.5000 2.4929e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0202e+02 1.9536e-01 5.0051e+01 1.3163e-01 1.12027e+00 1.0000 ---- 3\n", + " 2 6.5738e+01 1.8541e-01 2.3395e+00 4.2158e+00 3.16709e-01 1.0000 4.2158e+00 3\n", + " 3 5.5830e+00 1.8547e-01 8.5832e-03 5.3117e-01 2.54180e-01 0.5000 5.3117e-01 3\n", + " 4 3.6238e+00 1.8547e-01 4.5359e-03 3.3929e-01 7.26382e-02 1.0000 3.3929e-01 3\n", + " 5 6.1711e-01 1.8547e-01 5.9298e-05 4.3105e-02 1.43433e-01 0.2500 4.3105e-02 3\n", + " 6 5.3650e-01 1.8547e-01 4.4953e-05 3.5058e-02 3.28618e-02 1.0000 3.5058e-02 3\n", + " 7 2.2064e-01 1.8547e-01 2.0543e-06 3.5152e-03 6.51557e-02 0.1250 3.5152e-03 1\n", + " 8 2.2014e-01 1.8547e-01 1.8336e-06 3.4651e-03 4.03715e-02 0.5000 3.4651e-03 1\n", + " 9 2.1122e-01 1.8547e-01 1.3802e-06 2.5737e-03 2.15557e-02 1.0000 2.5737e-03 1\n", + " 10 2.0253e-01 1.8547e-01 4.9439e-07 1.7055e-03 4.50777e-02 0.2500 1.7055e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0264e+02 1.9529e-01 5.0120e+01 1.2464e-01 1.12119e+00 1.0000 ---- 3\n", + " 2 6.6660e+01 1.8535e-01 2.3408e+00 4.3067e+00 3.10792e-01 1.0000 4.3067e+00 3\n", + " 3 5.1220e+00 1.8541e-01 8.4784e-03 4.8518e-01 2.34340e-01 0.5000 4.8518e-01 3\n", + " 4 3.9626e+00 1.8540e-01 4.4707e-03 3.7325e-01 5.70850e-02 1.0000 3.7325e-01 3\n", + " 5 6.5292e-01 1.8541e-01 5.3381e-05 4.6698e-02 1.01160e-01 0.5000 4.6698e-02 3\n", + " 6 5.6138e-01 1.8541e-01 2.8763e-05 3.7568e-02 4.80303e-02 1.0000 3.7568e-02 3\n", + " 7 3.7058e-01 1.8541e-01 1.0510e-06 1.8516e-02 9.80461e-02 0.2500 1.8516e-02 3\n", + " 8 3.5093e-01 1.8541e-01 9.4855e-07 1.6551e-02 2.28900e-02 1.0000 1.6551e-02 3\n", + " 9 2.0667e-01 1.8541e-01 2.0589e-07 2.1259e-03 4.71784e-02 0.2500 2.1259e-03 1\n", + " 10 2.0531e-01 1.8541e-01 2.8649e-07 1.9899e-03 1.24168e-02 1.0000 1.9899e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0417e+02 1.9523e-01 5.0147e+01 2.5026e-01 1.12639e+00 1.0000 ---- 3\n", + " 2 6.6263e+01 1.8529e-01 2.3388e+00 4.2690e+00 3.25661e-01 1.0000 4.2690e+00 3\n", + " 3 7.0909e+00 1.8535e-01 8.6719e-03 6.8189e-01 2.83054e-01 0.5000 6.8189e-01 3\n", + " 4 5.4172e+00 1.8534e-01 4.5648e-03 5.1862e-01 8.46869e-02 1.0000 5.1862e-01 3\n", + " 5 1.0277e+00 1.8535e-01 5.7381e-05 8.4181e-02 1.54041e-01 0.2500 8.4181e-02 3\n", + " 6 8.9628e-01 1.8534e-01 4.3737e-05 7.1050e-02 4.03975e-02 1.0000 7.1050e-02 3\n", + " 7 3.4204e-01 1.8534e-01 3.4920e-06 1.5667e-02 7.52507e-02 0.2500 1.5667e-02 3\n", + " 8 3.4101e-01 1.8534e-01 2.8700e-06 1.5564e-02 2.02310e-02 1.0000 1.5564e-02 3\n", + " 9 2.2270e-01 1.8534e-01 7.1915e-07 3.7346e-03 3.81158e-02 0.1250 3.7346e-03 1\n", + " 10 2.2206e-01 1.8534e-01 6.4349e-07 3.6707e-03 2.46356e-02 0.5000 3.6707e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0389e+02 1.9516e-01 5.0066e+01 3.0353e-01 1.12175e+00 1.0000 ---- 3\n", + " 2 6.5782e+01 1.8523e-01 2.3569e+00 4.2028e+00 3.16202e-01 1.0000 4.2028e+00 3\n", + " 3 5.1836e+00 1.8529e-01 8.4398e-03 4.9139e-01 2.42417e-01 0.5000 4.9139e-01 3\n", + " 4 3.5224e+00 1.8528e-01 4.4646e-03 3.2924e-01 5.08366e-02 1.0000 3.2924e-01 3\n", + " 5 6.5398e-01 1.8528e-01 5.3426e-05 4.6817e-02 8.40509e-02 0.5000 4.6817e-02 3\n", + " 6 5.5652e-01 1.8528e-01 2.9246e-05 3.7094e-02 3.75182e-02 1.0000 3.7094e-02 3\n", + " 7 2.6691e-01 1.8528e-01 8.9872e-07 8.1619e-03 7.41741e-02 0.2500 8.1619e-03 2\n", + " 8 2.4931e-01 1.8528e-01 7.8648e-07 6.4022e-03 1.85967e-02 1.0000 6.4022e-03 2\n", + " 9 1.8529e-01 1.8528e-01 1.8435e-07 0.0000e+00 3.73673e-02 0.1250 1.5580e-03 1\n", + " 10 1.8528e-01 1.8528e-01 1.5167e-07 0.0000e+00 2.37915e-02 0.1250 1.4468e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0341e+02 1.9511e-01 5.0169e+01 1.5267e-01 1.12127e+00 1.0000 ---- 3\n", + " 2 6.6107e+01 1.8517e-01 2.3354e+00 4.2568e+00 3.15813e-01 1.0000 4.2568e+00 3\n", + " 3 5.1173e+00 1.8523e-01 8.6039e-03 4.8460e-01 2.44314e-01 0.5000 4.8460e-01 3\n", + " 4 3.2510e+00 1.8522e-01 4.5328e-03 3.0205e-01 5.54088e-02 1.0000 3.0205e-01 3\n", + " 5 6.3501e-01 1.8523e-01 7.1694e-05 4.4907e-02 9.48996e-02 0.5000 4.4907e-02 3\n", + " 6 6.2125e-01 1.8523e-01 3.8402e-05 4.3564e-02 4.42564e-02 1.0000 4.3564e-02 3\n", + " 7 3.1568e-01 1.8523e-01 1.1844e-06 1.3044e-02 8.95471e-02 0.2500 1.3044e-02 2\n", + " 8 3.0699e-01 1.8522e-01 1.0963e-06 1.2176e-02 2.13848e-02 1.0000 1.2176e-02 2\n", + " 9 1.8523e-01 1.8522e-01 3.0312e-07 0.0000e+00 4.35128e-02 0.1250 1.5651e-03 1\n", + " 10 1.8523e-01 1.8522e-01 2.6354e-07 0.0000e+00 2.73640e-02 0.2500 1.5325e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0508e+02 1.9505e-01 5.0187e+01 3.0101e-01 1.12338e+00 1.0000 ---- 3\n", + " 2 6.7957e+01 1.8511e-01 2.3612e+00 4.4161e+00 3.17467e-01 1.0000 4.4161e+00 3\n", + " 3 5.4564e+00 1.8518e-01 8.4330e-03 5.1869e-01 2.53980e-01 0.5000 5.1869e-01 3\n", + " 4 3.8083e+00 1.8517e-01 4.4781e-03 3.5783e-01 5.73239e-02 1.0000 3.5783e-01 3\n", + " 5 7.4924e-01 1.8517e-01 6.0661e-05 5.6346e-02 9.40089e-02 0.5000 5.6346e-02 3\n", + " 6 6.1854e-01 1.8517e-01 3.3494e-05 4.3303e-02 4.17239e-02 1.0000 4.3303e-02 3\n", + " 7 3.4616e-01 1.8517e-01 1.4348e-06 1.6097e-02 8.35610e-02 0.2500 1.6097e-02 3\n", + " 8 3.2765e-01 1.8517e-01 1.2775e-06 1.4247e-02 2.06742e-02 1.0000 1.4247e-02 3\n", + " 9 2.1867e-01 1.8517e-01 3.2943e-07 3.3492e-03 4.15145e-02 0.0625 3.3492e-03 1\n", + " 10 2.1860e-01 1.8517e-01 3.0869e-07 3.3427e-03 3.38819e-02 0.5000 3.3427e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0509e+02 1.9500e-01 5.0185e+01 3.0461e-01 1.12662e+00 1.0000 ---- 3\n", + " 2 6.6552e+01 1.8506e-01 2.3583e+00 4.2785e+00 3.28330e-01 1.0000 4.2785e+00 3\n", + " 3 7.9705e+00 1.8512e-01 8.5069e-03 7.7003e-01 2.86543e-01 0.5000 7.7003e-01 3\n", + " 4 5.1034e+00 1.8511e-01 4.5257e-03 4.8731e-01 8.44418e-02 1.0000 4.8731e-01 3\n", + " 5 8.8249e-01 1.8512e-01 6.9014e-05 6.9668e-02 1.50874e-01 0.5000 6.9668e-02 3\n", + " 6 8.5808e-01 1.8512e-01 3.8223e-05 6.7258e-02 7.67928e-02 1.0000 6.7258e-02 3\n", + " 7 4.6469e-01 1.8512e-01 2.5677e-06 2.7955e-02 1.60490e-01 0.1250 2.7955e-02 3\n", + " 8 4.4248e-01 1.8512e-01 2.3632e-06 2.5734e-02 9.80988e-02 0.5000 2.5734e-02 3\n", + " 9 4.3648e-01 1.8512e-01 2.0010e-06 2.5134e-02 5.46979e-02 1.0000 2.5134e-02 3\n", + " 10 2.7474e-01 1.8511e-01 8.8203e-07 8.9617e-03 1.16661e-01 0.0020 8.9617e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0541e+02 1.9494e-01 5.0208e+01 3.1344e-01 1.20274e+00 1.0000 ---- 3\n", + " 2 6.9186e+01 1.8500e-01 2.3692e+00 4.5309e+00 5.27945e-01 1.0000 4.5309e+00 3\n", + " 3 3.7912e+01 1.8503e-01 9.3954e-03 3.7633e+00 7.09365e-01 0.2500 3.7633e+00 3\n", + " 4 3.0973e+01 1.8501e-01 7.0988e-03 3.0717e+00 2.44868e-01 1.0000 3.0717e+00 3\n", + " 5 4.3343e+00 1.8505e-01 4.6574e-04 4.1446e-01 4.26821e-01 0.0625 4.1446e-01 3\n", + " 6 4.1223e+00 1.8505e-01 4.3695e-04 3.9329e-01 3.49359e-01 0.1250 3.9329e-01 3\n", + " 7 3.9047e+00 1.8504e-01 3.8345e-04 3.7158e-01 2.21026e-01 0.2500 3.7158e-01 3\n", + " 8 3.3876e+00 1.8504e-01 2.9051e-04 3.1997e-01 6.30677e-02 1.0000 3.1997e-01 3\n", + " 9 2.7580e-01 1.8504e-01 2.2442e-05 9.0529e-03 1.06579e-01 0.1250 9.0529e-03 2\n", + " 10 2.7446e-01 1.8504e-01 1.9938e-05 8.9217e-03 6.80273e-02 0.2500 8.9217e-03 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0492e+02 1.9486e-01 5.0206e+01 2.6640e-01 1.12661e+00 1.0000 ---- 3\n", + " 2 6.8814e+01 1.8492e-01 2.3879e+00 4.4750e+00 3.15988e-01 1.0000 4.4750e+00 3\n", + " 3 6.5173e+00 1.8499e-01 8.3585e-03 6.2487e-01 2.70881e-01 0.5000 6.2487e-01 3\n", + " 4 4.6738e+00 1.8498e-01 4.4416e-03 4.4444e-01 8.29856e-02 1.0000 4.4444e-01 3\n", + " 5 1.0466e+00 1.8499e-01 6.1694e-05 8.6096e-02 1.55789e-01 0.2500 8.6096e-02 3\n", + " 6 8.9852e-01 1.8499e-01 4.6738e-05 7.1307e-02 4.01836e-02 1.0000 7.1307e-02 3\n", + " 7 2.2022e-01 1.8499e-01 2.2002e-06 3.5210e-03 7.80384e-02 0.0312 3.5210e-03 1\n", + " 8 2.2017e-01 1.8499e-01 2.1335e-06 3.5158e-03 7.08363e-02 0.2500 3.5158e-03 1\n", + " 9 2.1721e-01 1.8499e-01 1.8008e-06 3.2210e-03 1.86853e-02 1.0000 3.2210e-03 1\n", + " 10 2.0863e-01 1.8499e-01 1.6567e-06 2.3629e-03 3.48620e-02 0.2500 2.3629e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0519e+02 1.9480e-01 5.0217e+01 2.8263e-01 1.12645e+00 1.0000 ---- 3\n", + " 2 6.8569e+01 1.8486e-01 2.3754e+00 4.4630e+00 3.12388e-01 1.0000 4.4630e+00 3\n", + " 3 7.4418e+00 1.8493e-01 8.2303e-03 7.1746e-01 2.50436e-01 0.5000 7.1746e-01 3\n", + " 4 4.9980e+00 1.8492e-01 4.3721e-03 4.7693e-01 6.71580e-02 1.0000 4.7693e-01 3\n", + " 5 7.6902e-01 1.8493e-01 6.6064e-05 5.8343e-02 1.20831e-01 0.5000 5.8343e-02 3\n", + " 6 7.4131e-01 1.8493e-01 3.5326e-05 5.5603e-02 5.91734e-02 1.0000 5.5603e-02 3\n", + " 7 3.9069e-01 1.8493e-01 1.6432e-06 2.0575e-02 1.19630e-01 0.2500 2.0575e-02 3\n", + " 8 3.8466e-01 1.8493e-01 1.4618e-06 1.9972e-02 2.88900e-02 1.0000 1.9972e-02 3\n", + " 9 2.4475e-01 1.8493e-01 4.1787e-07 5.9819e-03 5.92238e-02 0.0156 5.9819e-03 1\n", + " 10 2.4471e-01 1.8493e-01 4.1208e-07 5.9779e-03 5.64606e-02 0.1250 5.9779e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0514e+02 1.9474e-01 5.0188e+01 3.0705e-01 1.12481e+00 1.0000 ---- 3\n", + " 2 6.9197e+01 1.8481e-01 2.3739e+00 4.5273e+00 3.11646e-01 1.0000 4.5273e+00 3\n", + " 3 5.1568e+00 1.8487e-01 8.2832e-03 4.8891e-01 2.52192e-01 0.5000 4.8891e-01 3\n", + " 4 3.9619e+00 1.8486e-01 4.3918e-03 3.7331e-01 7.78754e-02 1.0000 3.7331e-01 3\n", + " 5 4.6527e-01 1.8487e-01 6.6300e-05 2.7974e-02 1.48465e-01 0.2500 2.7974e-02 3\n", + " 6 4.2642e-01 1.8487e-01 5.0238e-05 2.4105e-02 3.67606e-02 1.0000 2.4105e-02 3\n", + " 7 2.2269e-01 1.8487e-01 1.8943e-06 3.7800e-03 7.14131e-02 0.1250 3.7800e-03 1\n", + " 8 2.2239e-01 1.8487e-01 1.7001e-06 3.7500e-03 4.47760e-02 0.5000 3.7500e-03 1\n", + " 9 2.1212e-01 1.8487e-01 1.3204e-06 2.7241e-03 2.29840e-02 1.0000 2.7241e-03 1\n", + " 10 2.0486e-01 1.8487e-01 7.1006e-07 1.9979e-03 4.57760e-02 0.2500 1.9979e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0495e+02 1.9468e-01 5.0194e+01 2.8068e-01 1.12393e+00 1.0000 ---- 3\n", + " 2 6.6858e+01 1.8475e-01 2.3673e+00 4.3000e+00 3.14367e-01 1.0000 4.3000e+00 3\n", + " 3 6.4837e+00 1.8481e-01 8.3579e-03 6.2153e-01 2.52442e-01 0.5000 6.2153e-01 3\n", + " 4 4.3053e+00 1.8481e-01 4.4254e-03 4.0762e-01 7.13061e-02 1.0000 4.0762e-01 3\n", + " 5 7.1562e-01 1.8481e-01 6.8917e-05 5.3011e-02 1.33068e-01 0.5000 5.3011e-02 3\n", + " 6 6.3065e-01 1.8481e-01 3.6885e-05 4.4547e-02 6.79055e-02 1.0000 4.4547e-02 3\n", + " 7 4.1291e-01 1.8481e-01 1.6334e-06 2.2808e-02 1.39928e-01 0.2500 2.2808e-02 3\n", + " 8 4.0425e-01 1.8481e-01 1.4938e-06 2.1942e-02 3.23461e-02 1.0000 2.1942e-02 3\n", + " 9 2.3737e-01 1.8481e-01 3.4191e-07 5.2560e-03 6.73418e-02 0.0312 5.2560e-03 1\n", + " 10 2.3726e-01 1.8481e-01 3.3282e-07 5.2450e-03 6.09869e-02 0.2500 5.2450e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0539e+02 1.9462e-01 5.0212e+01 3.0737e-01 1.12359e+00 1.0000 ---- 3\n", + " 2 6.8025e+01 1.8469e-01 2.3731e+00 4.4110e+00 3.04926e-01 1.0000 4.4110e+00 3\n", + " 3 6.0808e+00 1.8475e-01 8.2578e-03 5.8135e-01 2.27850e-01 0.5000 5.8135e-01 3\n", + " 4 4.2709e+00 1.8475e-01 4.3813e-03 4.0423e-01 5.56216e-02 1.0000 4.0423e-01 3\n", + " 5 7.0437e-01 1.8476e-01 6.5019e-05 5.1897e-02 9.64770e-02 0.5000 5.1897e-02 3\n", + " 6 5.9413e-01 1.8475e-01 3.4695e-05 4.0903e-02 4.58807e-02 1.0000 4.0903e-02 3\n", + " 7 3.7594e-01 1.8475e-01 1.1630e-06 1.9118e-02 9.19616e-02 0.2500 1.9118e-02 3\n", + " 8 3.6043e-01 1.8475e-01 1.0429e-06 1.7567e-02 2.24612e-02 1.0000 1.7567e-02 3\n", + " 9 2.2274e-01 1.8475e-01 2.2518e-07 3.7984e-03 4.55268e-02 0.0625 3.7984e-03 1\n", + " 10 2.2267e-01 1.8475e-01 2.1062e-07 3.7910e-03 3.71531e-02 0.5000 3.7910e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0550e+02 1.9457e-01 5.0222e+01 3.0840e-01 1.12763e+00 1.0000 ---- 3\n", + " 2 6.7799e+01 1.8464e-01 2.3735e+00 4.3879e+00 3.14907e-01 1.0000 4.3879e+00 3\n", + " 3 7.1911e+00 1.8470e-01 8.3141e-03 6.9232e-01 2.61715e-01 0.5000 6.9232e-01 3\n", + " 4 5.2565e+00 1.8469e-01 4.4169e-03 5.0277e-01 7.60998e-02 1.0000 5.0277e-01 3\n", + " 5 9.0816e-01 1.8470e-01 6.2270e-05 7.2283e-02 1.35259e-01 0.2500 7.2283e-02 3\n", + " 6 7.7188e-01 1.8470e-01 4.7361e-05 5.8671e-02 3.66403e-02 1.0000 5.8671e-02 3\n", + " 7 2.2385e-01 1.8470e-01 2.5709e-06 3.9126e-03 6.76551e-02 0.0625 3.9126e-03 1\n", + " 8 2.2378e-01 1.8470e-01 2.4221e-06 3.9058e-03 5.54430e-02 0.5000 3.9058e-03 1\n", + " 9 2.2259e-01 1.8470e-01 1.9694e-06 3.7874e-03 2.55946e-02 0.2500 3.7874e-03 1\n", + " 10 2.2066e-01 1.8470e-01 1.4689e-06 3.5948e-03 6.96934e-03 1.0000 3.5948e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0517e+02 1.9452e-01 5.0203e+01 2.9501e-01 1.12335e+00 1.0000 ---- 3\n", + " 2 6.7359e+01 1.8459e-01 2.3622e+00 4.3552e+00 3.10138e-01 1.0000 4.3552e+00 3\n", + " 3 4.8358e+00 1.8465e-01 8.2078e-03 4.5691e-01 2.40158e-01 0.5000 4.5691e-01 3\n", + " 4 3.4676e+00 1.8464e-01 4.3510e-03 3.2394e-01 5.81536e-02 1.0000 3.2394e-01 3\n", + " 5 6.7462e-01 1.8465e-01 5.3377e-05 4.8944e-02 1.03475e-01 0.5000 4.8944e-02 3\n", + " 6 5.8241e-01 1.8465e-01 2.9622e-05 3.9746e-02 5.15016e-02 1.0000 3.9746e-02 3\n", + " 7 3.4759e-01 1.8465e-01 1.3640e-06 1.6293e-02 1.05500e-01 0.2500 1.6293e-02 3\n", + " 8 3.3738e-01 1.8464e-01 1.2280e-06 1.5273e-02 2.43936e-02 1.0000 1.5273e-02 3\n", + " 9 2.1928e-01 1.8464e-01 2.8113e-07 3.4634e-03 5.05020e-02 0.2500 3.4634e-03 1\n", + " 10 2.1858e-01 1.8464e-01 3.7488e-07 3.3933e-03 1.27805e-02 1.0000 3.3933e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0553e+02 1.9446e-01 5.0229e+01 3.0454e-01 1.12820e+00 1.0000 ---- 3\n", + " 2 6.7710e+01 1.8453e-01 2.3667e+00 4.3858e+00 3.23179e-01 1.0000 4.3858e+00 3\n", + " 3 7.3611e+00 1.8459e-01 8.2736e-03 7.0938e-01 2.88904e-01 0.5000 7.0938e-01 3\n", + " 4 5.0389e+00 1.8459e-01 4.4063e-03 4.8103e-01 9.31973e-02 1.0000 4.8103e-01 3\n", + " 5 9.7764e-01 1.8459e-01 5.3451e-05 7.9251e-02 1.76564e-01 0.5000 7.9251e-02 3\n", + " 6 9.4981e-01 1.8459e-01 2.9863e-05 7.6492e-02 9.32490e-02 1.0000 7.6492e-02 3\n", + " 7 4.6910e-01 1.8459e-01 2.9797e-06 2.8448e-02 1.95390e-01 0.2500 2.8448e-02 3\n", + " 8 4.6494e-01 1.8459e-01 2.3882e-06 2.8033e-02 4.27847e-02 1.0000 2.8033e-02 3\n", + " 9 2.2770e-01 1.8459e-01 8.1652e-07 4.3101e-03 8.99556e-02 0.0020 4.3101e-03 1\n", + " 10 2.2770e-01 1.8459e-01 8.1652e-07 4.3101e-03 8.99071e-02 0.1250 4.3101e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0518e+02 1.9440e-01 5.0191e+01 3.0786e-01 1.13260e+00 1.0000 ---- 3\n", + " 2 6.8782e+01 1.8447e-01 2.3767e+00 4.4831e+00 3.42421e-01 1.0000 4.4831e+00 3\n", + " 3 6.7805e+00 1.8453e-01 8.3304e-03 6.5127e-01 3.58149e-01 0.5000 6.5127e-01 3\n", + " 4 5.5573e+00 1.8452e-01 4.4027e-03 5.3287e-01 1.52548e-01 1.0000 5.3287e-01 3\n", + " 5 1.7267e+00 1.8453e-01 8.2056e-05 1.5414e-01 3.14553e-01 0.2500 1.5414e-01 3\n", + " 6 1.5941e+00 1.8452e-01 6.2307e-05 1.4090e-01 6.96795e-02 1.0000 1.4090e-01 3\n", + " 7 2.1815e-01 1.8453e-01 2.3674e-06 3.3603e-03 1.43049e-01 0.0039 3.3603e-03 1\n", + " 8 2.1815e-01 1.8453e-01 2.3581e-06 3.3601e-03 1.41277e-01 0.2500 3.3601e-03 1\n", + " 9 2.1755e-01 1.8452e-01 1.7403e-06 3.3010e-03 3.27773e-02 1.0000 3.3010e-03 1\n", + " 10 2.1372e-01 1.8452e-01 1.9382e-06 2.9178e-03 6.57863e-02 0.2500 2.9178e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0523e+02 1.9433e-01 5.0218e+01 2.8574e-01 1.12663e+00 1.0000 ---- 3\n", + " 2 6.9299e+01 1.8441e-01 2.3826e+00 4.5289e+00 3.07606e-01 1.0000 4.5289e+00 3\n", + " 3 7.3140e+00 1.8447e-01 8.2006e-03 7.0475e-01 2.45267e-01 0.5000 7.0475e-01 3\n", + " 4 5.1707e+00 1.8446e-01 4.3590e-03 4.9427e-01 6.93256e-02 1.0000 4.9427e-01 3\n", + " 5 7.7944e-01 1.8447e-01 6.2396e-05 5.9435e-02 1.22894e-01 0.2500 5.9435e-02 3\n", + " 6 6.6447e-01 1.8447e-01 4.7321e-05 4.7953e-02 3.34974e-02 1.0000 4.7953e-02 3\n", + " 7 1.9923e-01 1.8447e-01 2.1167e-06 1.4737e-03 6.16734e-02 0.0625 1.5710e-03 1\n", + " 8 1.9912e-01 1.8447e-01 1.9916e-06 1.4630e-03 5.05926e-02 0.2500 1.5714e-03 1\n", + " 9 1.9707e-01 1.8447e-01 1.5867e-06 1.2580e-03 1.44413e-02 1.0000 1.5729e-03 1\n", + " 10 1.9374e-01 1.8447e-01 1.4536e-06 9.2532e-04 2.54446e-02 0.2500 1.5779e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0503e+02 1.9428e-01 5.0196e+01 2.8722e-01 1.12611e+00 1.0000 ---- 3\n", + " 2 6.7872e+01 1.8435e-01 2.3780e+00 4.3907e+00 3.08571e-01 1.0000 4.3907e+00 3\n", + " 3 6.6188e+00 1.8442e-01 8.2019e-03 6.3523e-01 2.41229e-01 0.5000 6.3523e-01 3\n", + " 4 4.5658e+00 1.8441e-01 4.3531e-03 4.3378e-01 6.31293e-02 1.0000 4.3378e-01 3\n", + " 5 7.2573e-01 1.8442e-01 5.6361e-05 5.4075e-02 1.11896e-01 0.2500 5.4075e-02 3\n", + " 6 6.2066e-01 1.8442e-01 4.2860e-05 4.3582e-02 3.05427e-02 1.0000 4.3582e-02 3\n", + " 7 2.1822e-01 1.8442e-01 2.2881e-06 3.3778e-03 5.59639e-02 0.1250 3.3778e-03 1\n", + " 8 2.1816e-01 1.8442e-01 2.0308e-06 3.3724e-03 3.56257e-02 0.5000 3.3724e-03 1\n", + " 9 2.0953e-01 1.8442e-01 1.5695e-06 2.5096e-03 1.68953e-02 1.0000 2.5096e-03 1\n", + " 10 1.9868e-01 1.8442e-01 5.3554e-07 1.4262e-03 3.26595e-02 0.2500 1.6000e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0479e+02 1.9423e-01 5.0171e+01 2.8877e-01 1.12353e+00 1.0000 ---- 3\n", + " 2 6.6717e+01 1.8430e-01 2.3696e+00 4.2837e+00 3.07444e-01 1.0000 4.2837e+00 3\n", + " 3 4.8763e+00 1.8436e-01 8.2537e-03 4.6094e-01 2.31942e-01 0.5000 4.6094e-01 3\n", + " 4 3.5758e+00 1.8435e-01 4.3484e-03 3.3479e-01 5.36752e-02 1.0000 3.3479e-01 3\n", + " 5 7.6862e-01 1.8436e-01 4.7258e-05 5.8379e-02 9.29969e-02 0.2500 5.8379e-02 3\n", + " 6 6.5876e-01 1.8436e-01 3.6071e-05 4.7404e-02 2.65920e-02 1.0000 4.7404e-02 3\n", + " 7 2.1181e-01 1.8436e-01 2.0134e-06 2.7427e-03 4.72129e-02 0.0039 2.7427e-03 1\n", + " 8 2.1181e-01 1.8436e-01 2.0055e-06 2.7427e-03 4.66586e-02 0.1250 2.7427e-03 1\n", + " 9 2.1027e-01 1.8436e-01 1.7742e-06 2.5892e-03 3.01692e-02 0.1250 2.5892e-03 1\n", + " 10 2.0963e-01 1.8436e-01 1.5593e-06 2.5258e-03 1.97198e-02 0.5000 2.5258e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0480e+02 1.9417e-01 5.0156e+01 3.0465e-01 1.12577e+00 1.0000 ---- 3\n", + " 2 6.6254e+01 1.8425e-01 2.3754e+00 4.2316e+00 3.15514e-01 1.0000 4.2316e+00 3\n", + " 3 6.2753e+00 1.8431e-01 8.3060e-03 6.0079e-01 2.53252e-01 0.5000 6.0079e-01 3\n", + " 4 4.3391e+00 1.8430e-01 4.3923e-03 4.1108e-01 6.67879e-02 1.0000 4.1108e-01 3\n", + " 5 8.8999e-01 1.8431e-01 5.6417e-05 7.0512e-02 1.19338e-01 0.2500 7.0512e-02 3\n", + " 6 7.5607e-01 1.8431e-01 4.3036e-05 5.7133e-02 3.23477e-02 1.0000 5.7133e-02 3\n", + " 7 2.1200e-01 1.8431e-01 2.6243e-06 2.7669e-03 5.90554e-02 0.1250 2.7669e-03 1\n", + " 8 2.1160e-01 1.8431e-01 2.3249e-06 2.7270e-03 3.75961e-02 0.5000 2.7270e-03 1\n", + " 9 2.0877e-01 1.8431e-01 1.5924e-06 2.4449e-03 1.79662e-02 0.5000 2.4449e-03 1\n", + " 10 2.0673e-01 1.8431e-01 8.1528e-07 2.2414e-03 9.18841e-03 1.0000 2.2414e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0465e+02 1.9412e-01 5.0140e+01 3.0631e-01 1.12675e+00 1.0000 ---- 3\n", + " 2 6.5661e+01 1.8420e-01 2.3696e+00 4.1780e+00 3.23554e-01 1.0000 4.1780e+00 3\n", + " 3 6.4616e+00 1.8425e-01 8.2737e-03 6.1946e-01 2.81748e-01 0.5000 6.1946e-01 3\n", + " 4 4.5075e+00 1.8424e-01 4.4000e-03 4.2792e-01 9.14031e-02 1.0000 4.2792e-01 3\n", + " 5 8.6193e-01 1.8425e-01 5.1956e-05 6.7716e-02 1.74165e-01 0.2500 6.7716e-02 3\n", + " 6 7.4568e-01 1.8425e-01 3.9809e-05 5.6103e-02 4.29202e-02 1.0000 5.6103e-02 3\n", + " 7 2.2927e-01 1.8425e-01 3.6017e-06 4.4990e-03 8.28826e-02 0.0312 4.4990e-03 1\n", + " 8 2.2915e-01 1.8425e-01 3.4905e-06 4.4862e-03 7.51036e-02 0.2500 4.4862e-03 1\n", + " 9 2.2707e-01 1.8425e-01 2.7505e-06 4.2797e-03 1.90681e-02 1.0000 4.2797e-03 1\n", + " 10 2.1433e-01 1.8425e-01 1.8760e-06 3.0058e-03 3.54974e-02 0.5000 3.0058e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0483e+02 1.9406e-01 5.0162e+01 3.0165e-01 1.12341e+00 1.0000 ---- 3\n", + " 2 6.5021e+01 1.8414e-01 2.3600e+00 4.1237e+00 3.11228e-01 1.0000 4.1237e+00 3\n", + " 3 6.6778e+00 1.8419e-01 8.3697e-03 6.4099e-01 2.37243e-01 0.5000 6.4099e-01 3\n", + " 4 4.3822e+00 1.8419e-01 4.4057e-03 4.1540e-01 6.78116e-02 1.0000 4.1540e-01 3\n", + " 5 7.4820e-01 1.8419e-01 5.6858e-05 5.6344e-02 1.27345e-01 0.5000 5.6344e-02 3\n", + " 6 6.8791e-01 1.8419e-01 3.1542e-05 5.0340e-02 6.48366e-02 1.0000 5.0340e-02 3\n", + " 7 3.2733e-01 1.8419e-01 1.4171e-06 1.4312e-02 1.34795e-01 0.1250 1.4312e-02 3\n", + " 8 3.2343e-01 1.8419e-01 1.2516e-06 1.3922e-02 8.28755e-02 0.2500 1.3922e-02 3\n", + " 9 3.1015e-01 1.8419e-01 9.7848e-07 1.2595e-02 1.92240e-02 1.0000 1.2595e-02 2\n", + " 10 1.8419e-01 1.8419e-01 1.8978e-07 0.0000e+00 3.99777e-02 0.1250 1.5180e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0509e+02 1.9400e-01 5.0185e+01 3.0524e-01 1.12605e+00 1.0000 ---- 3\n", + " 2 6.7529e+01 1.8408e-01 2.3822e+00 4.3522e+00 3.19603e-01 1.0000 4.3522e+00 3\n", + " 3 4.8087e+00 1.8414e-01 8.1471e-03 4.5431e-01 2.71121e-01 0.5000 4.5431e-01 3\n", + " 4 4.0068e+00 1.8413e-01 4.3085e-03 3.7795e-01 8.78858e-02 1.0000 3.7795e-01 3\n", + " 5 8.2893e-01 1.8414e-01 5.6140e-05 6.4423e-02 1.70664e-01 0.1250 6.4423e-02 3\n", + " 6 7.7410e-01 1.8414e-01 4.9300e-05 5.8947e-02 1.06263e-01 0.5000 5.8947e-02 3\n", + " 7 7.7015e-01 1.8413e-01 2.5925e-05 5.8576e-02 5.53762e-02 1.0000 5.8576e-02 3\n", + " 8 3.8898e-01 1.8413e-01 1.0338e-06 2.0484e-02 1.14515e-01 0.1250 2.0484e-02 3\n", + " 9 3.8447e-01 1.8413e-01 9.1986e-07 2.0033e-02 7.02847e-02 0.2500 2.0033e-02 3\n", + " 10 3.6619e-01 1.8413e-01 7.1764e-07 1.8205e-02 1.60516e-02 1.0000 1.8205e-02 3\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0525e+02 1.9394e-01 5.0192e+01 3.1292e-01 1.12836e+00 1.0000 ---- 3\n", + " 2 6.9539e+01 1.8402e-01 2.3910e+00 4.5446e+00 3.18206e-01 1.0000 4.5446e+00 3\n", + " 3 6.0185e+00 1.8408e-01 8.2226e-03 5.7521e-01 2.90223e-01 0.5000 5.7521e-01 3\n", + " 4 5.0811e+00 1.8407e-01 4.3663e-03 4.8534e-01 1.08948e-01 1.0000 4.8534e-01 3\n", + " 5 1.1867e+00 1.8408e-01 6.1735e-05 1.0020e-01 2.13147e-01 0.2500 1.0020e-01 3\n", + " 6 1.0865e+00 1.8408e-01 4.6828e-05 9.0198e-02 5.17093e-02 1.0000 9.0198e-02 3\n", + " 7 2.1205e-01 1.8408e-01 1.9279e-06 2.7951e-03 1.01694e-01 0.0625 2.7951e-03 1\n", + " 8 2.1199e-01 1.8408e-01 1.8196e-06 2.7895e-03 8.26945e-02 0.2500 2.7895e-03 1\n", + " 9 2.1070e-01 1.8408e-01 1.5203e-06 2.6605e-03 2.09448e-02 0.5000 2.6605e-03 1\n", + " 10 2.0946e-01 1.8408e-01 9.9346e-07 2.5373e-03 1.04150e-02 1.0000 2.5373e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0504e+02 1.9388e-01 5.0201e+01 2.8315e-01 1.12584e+00 1.0000 ---- 3\n", + " 2 6.9046e+01 1.8396e-01 2.3822e+00 4.5040e+00 3.16281e-01 1.0000 4.5040e+00 3\n", + " 3 5.4968e+00 1.8403e-01 8.0805e-03 5.2320e-01 2.69175e-01 0.5000 5.2320e-01 3\n", + " 4 4.2129e+00 1.8402e-01 4.2941e-03 3.9860e-01 8.41064e-02 1.0000 3.9860e-01 3\n", + " 5 8.7627e-01 1.8403e-01 6.0629e-05 6.9164e-02 1.60807e-01 0.2500 6.9164e-02 3\n", + " 6 8.2187e-01 1.8402e-01 4.6079e-05 6.3739e-02 4.04318e-02 1.0000 6.3739e-02 3\n", + " 7 2.2322e-01 1.8402e-01 2.1134e-06 3.9174e-03 7.88016e-02 0.0312 3.9174e-03 1\n", + " 8 2.2312e-01 1.8402e-01 2.0501e-06 3.9077e-03 7.14678e-02 0.1250 3.9077e-03 1\n", + " 9 2.2295e-01 1.8402e-01 1.8317e-06 3.8903e-03 4.49203e-02 0.0625 3.8903e-03 1\n", + " 10 2.2277e-01 1.8402e-01 1.7216e-06 3.8731e-03 3.66402e-02 0.1250 3.8731e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0487e+02 1.9383e-01 5.0186e+01 2.8198e-01 1.12252e+00 1.0000 ---- 3\n", + " 2 6.8360e+01 1.8391e-01 2.3806e+00 4.4369e+00 3.02212e-01 1.0000 4.4369e+00 3\n", + " 3 5.2859e+00 1.8397e-01 8.1549e-03 5.0204e-01 2.32198e-01 0.5000 5.0204e-01 3\n", + " 4 4.2344e+00 1.8397e-01 4.3303e-03 4.0072e-01 6.96956e-02 1.0000 4.0072e-01 3\n", + " 5 7.2817e-01 1.8397e-01 6.2167e-05 5.4357e-02 1.28344e-01 0.2500 5.4357e-02 3\n", + " 6 6.2090e-01 1.8397e-01 4.7170e-05 4.3645e-02 3.33208e-02 1.0000 4.3645e-02 3\n", + " 7 2.0001e-01 1.8397e-01 1.8492e-06 1.6015e-03 6.27223e-02 0.0625 1.6015e-03 1\n", + " 8 1.9993e-01 1.8397e-01 1.7414e-06 1.5938e-03 5.12306e-02 0.2500 1.5938e-03 1\n", + " 9 1.9740e-01 1.8397e-01 1.4046e-06 1.3409e-03 1.39143e-02 1.0000 1.5311e-03 1\n", + " 10 1.9492e-01 1.8397e-01 1.3772e-06 1.0930e-03 2.52490e-02 0.2500 1.5375e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0523e+02 1.9378e-01 5.0218e+01 2.8626e-01 1.12619e+00 1.0000 ---- 3\n", + " 2 6.7791e+01 1.8386e-01 2.3844e+00 4.3763e+00 3.05474e-01 1.0000 4.3763e+00 3\n", + " 3 6.4141e+00 1.8392e-01 8.1189e-03 6.1490e-01 2.37328e-01 0.5000 6.1490e-01 3\n", + " 4 4.7437e+00 1.8391e-01 4.3122e-03 4.5166e-01 6.10318e-02 1.0000 4.5166e-01 3\n", + " 5 7.1241e-01 1.8392e-01 6.1171e-05 5.2787e-02 1.07060e-01 0.5000 5.2787e-02 3\n", + " 6 7.0354e-01 1.8392e-01 3.2980e-05 5.1929e-02 5.02934e-02 1.0000 5.1929e-02 3\n", + " 7 3.9340e-01 1.8392e-01 1.5490e-06 2.0946e-02 9.98486e-02 0.2500 2.0946e-02 3\n", + " 8 3.8024e-01 1.8392e-01 1.3917e-06 1.9631e-02 2.49166e-02 1.0000 1.9631e-02 3\n", + " 9 2.2451e-01 1.8392e-01 3.7999e-07 4.0585e-03 5.03264e-02 0.0312 4.0585e-03 1\n", + " 10 2.2443e-01 1.8392e-01 3.6856e-07 4.0509e-03 4.57110e-02 0.2500 4.0509e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0522e+02 1.9373e-01 5.0190e+01 3.1287e-01 1.12373e+00 1.0000 ---- 3\n", + " 2 6.7660e+01 1.8381e-01 2.3837e+00 4.3639e+00 3.05144e-01 1.0000 4.3639e+00 3\n", + " 3 4.4756e+00 1.8387e-01 8.1156e-03 4.2106e-01 2.31106e-01 0.5000 4.2106e-01 3\n", + " 4 3.6354e+00 1.8386e-01 4.3064e-03 3.4085e-01 5.25703e-02 1.0000 3.4085e-01 3\n", + " 5 6.1981e-01 1.8387e-01 5.5310e-05 4.3538e-02 8.98958e-02 0.5000 4.3538e-02 3\n", + " 6 5.7745e-01 1.8387e-01 3.0047e-05 3.9328e-02 4.04436e-02 1.0000 3.9328e-02 3\n", + " 7 3.9828e-01 1.8387e-01 1.1125e-06 2.1440e-02 7.85849e-02 0.2500 2.1440e-02 3\n", + " 8 3.7623e-01 1.8387e-01 1.0032e-06 1.9235e-02 2.04251e-02 1.0000 1.9235e-02 3\n", + " 9 2.0976e-01 1.8387e-01 2.4913e-07 2.5893e-03 4.06100e-02 0.1250 2.5893e-03 1\n", + " 10 2.0966e-01 1.8387e-01 2.2440e-07 2.5786e-03 2.60356e-02 0.5000 2.5786e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0534e+02 1.9368e-01 5.0203e+01 3.1132e-01 1.12687e+00 1.0000 ---- 3\n", + " 2 6.7609e+01 1.8376e-01 2.3807e+00 4.3619e+00 3.14103e-01 1.0000 4.3619e+00 3\n", + " 3 6.3622e+00 1.8382e-01 8.1925e-03 6.0964e-01 2.60529e-01 0.5000 6.0964e-01 3\n", + " 4 4.5570e+00 1.8381e-01 4.3452e-03 4.3297e-01 7.23829e-02 1.0000 4.3297e-01 3\n", + " 5 8.0311e-01 1.8382e-01 5.2252e-05 6.1876e-02 1.30246e-01 0.2500 6.1876e-02 3\n", + " 6 6.8301e-01 1.8382e-01 3.9972e-05 4.9879e-02 3.51803e-02 1.0000 4.9879e-02 3\n", + " 7 2.1983e-01 1.8382e-01 2.8077e-06 3.5987e-03 6.41304e-02 0.1250 3.5987e-03 1\n", + " 8 2.1960e-01 1.8382e-01 2.5053e-06 3.5754e-03 4.06874e-02 0.5000 3.5754e-03 1\n", + " 9 2.0983e-01 1.8382e-01 1.7661e-06 2.5997e-03 1.93918e-02 1.0000 2.5997e-03 1\n", + " 10 1.9939e-01 1.8382e-01 5.7504e-07 1.5563e-03 3.82813e-02 0.2500 1.5563e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0495e+02 1.9363e-01 5.0179e+01 2.9628e-01 1.12362e+00 1.0000 ---- 3\n", + " 2 6.7132e+01 1.8371e-01 2.3733e+00 4.3215e+00 3.06888e-01 1.0000 4.3215e+00 3\n", + " 3 4.6557e+00 1.8377e-01 8.2031e-03 4.3899e-01 2.36180e-01 0.5000 4.3899e-01 3\n", + " 4 3.4445e+00 1.8376e-01 4.3463e-03 3.2173e-01 5.38180e-02 1.0000 3.2173e-01 3\n", + " 5 5.9667e-01 1.8377e-01 5.9276e-05 4.1231e-02 8.93746e-02 0.2500 4.1231e-02 3\n", + " 6 5.1785e-01 1.8377e-01 4.5159e-05 3.3363e-02 2.68842e-02 1.0000 3.3363e-02 3\n", + " 7 2.1288e-01 1.8377e-01 2.1848e-06 2.9085e-03 4.68520e-02 0.0312 3.1162e-03 1\n", + " 8 2.1282e-01 1.8377e-01 2.1189e-06 2.9030e-03 4.27736e-02 0.2500 2.9030e-03 1\n", + " 9 2.0981e-01 1.8377e-01 1.7235e-06 2.6026e-03 1.32432e-02 1.0000 2.6026e-03 1\n", + " 10 2.0564e-01 1.8377e-01 1.5898e-06 2.1858e-03 2.20943e-02 0.2500 2.1858e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0486e+02 1.9358e-01 5.0180e+01 2.8684e-01 1.12673e+00 1.0000 ---- 3\n", + " 2 6.7097e+01 1.8366e-01 2.3782e+00 4.3131e+00 3.13391e-01 1.0000 4.3131e+00 3\n", + " 3 6.1356e+00 1.8372e-01 8.1793e-03 5.8700e-01 2.53737e-01 0.5000 5.8700e-01 3\n", + " 4 4.2122e+00 1.8372e-01 4.3462e-03 3.9850e-01 6.29606e-02 1.0000 3.9850e-01 3\n", + " 5 7.1113e-01 1.8372e-01 6.2075e-05 5.2679e-02 1.07345e-01 0.5000 5.2679e-02 3\n", + " 6 6.8814e-01 1.8372e-01 3.4060e-05 5.0408e-02 4.90220e-02 1.0000 5.0408e-02 3\n", + " 7 3.8074e-01 1.8372e-01 1.6900e-06 1.9700e-02 9.88393e-02 0.2500 1.9700e-02 3\n", + " 8 3.6461e-01 1.8372e-01 1.5069e-06 1.8087e-02 2.38140e-02 1.0000 1.8087e-02 3\n", + " 9 2.3686e-01 1.8372e-01 3.7944e-07 5.3134e-03 4.85319e-02 0.1250 5.3134e-03 1\n", + " 10 2.3632e-01 1.8372e-01 3.3800e-07 5.2600e-03 3.06091e-02 0.5000 5.2600e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0496e+02 1.9353e-01 5.0160e+01 3.1589e-01 1.12661e+00 1.0000 ---- 3\n", + " 2 6.6189e+01 1.8362e-01 2.3780e+00 4.2225e+00 3.20875e-01 1.0000 4.2225e+00 3\n", + " 3 6.4314e+00 1.8368e-01 8.1950e-03 6.1657e-01 2.74257e-01 0.5000 6.1657e-01 3\n", + " 4 4.5320e+00 1.8367e-01 4.3489e-03 4.3049e-01 8.26056e-02 1.0000 4.3049e-01 3\n", + " 5 9.8269e-01 1.8368e-01 6.3432e-05 7.9838e-02 1.50264e-01 0.2500 7.9838e-02 3\n", + " 6 8.4011e-01 1.8367e-01 4.8420e-05 6.5595e-02 3.95943e-02 1.0000 6.5595e-02 3\n", + " 7 2.2708e-01 1.8367e-01 3.0867e-06 4.3379e-03 7.19849e-02 0.0625 4.3379e-03 1\n", + " 8 2.2684e-01 1.8367e-01 2.9013e-06 4.3138e-03 5.88551e-02 0.2500 4.3138e-03 1\n", + " 9 2.2050e-01 1.8367e-01 2.3186e-06 3.6808e-03 1.64241e-02 1.0000 3.6808e-03 1\n", + " 10 2.0598e-01 1.8367e-01 1.5073e-06 2.2290e-03 2.88159e-02 0.5000 2.2290e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0505e+02 1.9348e-01 5.0173e+01 3.1284e-01 1.12321e+00 1.0000 ---- 3\n", + " 2 6.7125e+01 1.8357e-01 2.3733e+00 4.3209e+00 3.09055e-01 1.0000 4.3209e+00 3\n", + " 3 4.4305e+00 1.8363e-01 8.1426e-03 4.1654e-01 2.41264e-01 0.5000 4.1654e-01 3\n", + " 4 3.3533e+00 1.8362e-01 4.3270e-03 3.1264e-01 5.84665e-02 1.0000 3.1264e-01 3\n", + " 5 5.7418e-01 1.8363e-01 6.2794e-05 3.8993e-02 1.04149e-01 0.5000 3.8993e-02 3\n", + " 6 5.4900e-01 1.8363e-01 3.5197e-05 3.6502e-02 5.16684e-02 1.0000 3.6502e-02 3\n", + " 7 3.6844e-01 1.8363e-01 1.5381e-06 1.8480e-02 1.08437e-01 0.2500 1.8480e-02 3\n", + " 8 3.5162e-01 1.8363e-01 1.5005e-06 1.6798e-02 2.41954e-02 1.0000 1.6798e-02 3\n", + " 9 2.0838e-01 1.8363e-01 5.0305e-07 2.4751e-03 5.00218e-02 0.0625 2.4751e-03 1\n", + " 10 2.0838e-01 1.8363e-01 4.7620e-07 2.4746e-03 4.05426e-02 0.2500 2.4746e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0512e+02 1.9343e-01 5.0181e+01 3.1096e-01 1.12300e+00 1.0000 ---- 3\n", + " 2 6.7581e+01 1.8352e-01 2.3753e+00 4.3645e+00 3.10881e-01 1.0000 4.3645e+00 3\n", + " 3 4.4649e+00 1.8358e-01 8.1429e-03 4.1999e-01 2.48701e-01 0.5000 4.1999e-01 3\n", + " 4 3.3867e+00 1.8358e-01 4.3299e-03 3.1598e-01 6.41684e-02 1.0000 3.1598e-01 3\n", + " 5 5.6362e-01 1.8358e-01 5.7554e-05 3.7946e-02 1.14260e-01 0.2500 3.7946e-02 3\n", + " 6 4.9244e-01 1.8358e-01 4.3988e-05 3.0842e-02 3.08444e-02 1.0000 3.0842e-02 3\n", + " 7 2.0766e-01 1.8358e-01 2.4098e-06 2.4050e-03 5.52248e-02 0.1250 2.4050e-03 1\n", + " 8 2.0753e-01 1.8358e-01 2.1459e-06 2.3924e-03 3.52232e-02 0.5000 2.3924e-03 1\n", + " 9 2.0155e-01 1.8358e-01 1.4522e-06 1.7951e-03 1.64108e-02 1.0000 1.7951e-03 1\n", + " 10 2.0052e-01 1.8358e-01 4.9887e-07 1.6930e-03 3.26884e-02 0.1250 1.6930e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0485e+02 1.9339e-01 5.0177e+01 2.8874e-01 1.12262e+00 1.0000 ---- 3\n", + " 2 6.7459e+01 1.8348e-01 2.3691e+00 4.3585e+00 3.08792e-01 1.0000 4.3585e+00 3\n", + " 3 3.9430e+00 1.8354e-01 8.2025e-03 3.6774e-01 2.42695e-01 0.5000 3.6774e-01 3\n", + " 4 3.0260e+00 1.8353e-01 4.3517e-03 2.7989e-01 7.03620e-02 1.0000 2.7989e-01 3\n", + " 5 7.3475e-01 1.8354e-01 6.7141e-05 5.5054e-02 1.35526e-01 0.5000 5.5054e-02 3\n", + " 6 7.2039e-01 1.8353e-01 3.7881e-05 5.3648e-02 7.27444e-02 1.0000 5.3648e-02 3\n", + " 7 3.9748e-01 1.8353e-01 1.4957e-06 2.1393e-02 1.56455e-01 0.1250 2.1393e-02 3\n", + " 8 3.8404e-01 1.8353e-01 1.2900e-06 2.0050e-02 9.48783e-02 0.2500 2.0050e-02 3\n", + " 9 3.5262e-01 1.8353e-01 9.5638e-07 1.6908e-02 2.05379e-02 1.0000 1.6908e-02 3\n", + " 10 2.0604e-01 1.8353e-01 2.9502e-07 2.2507e-03 4.33010e-02 0.0156 2.2507e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0485e+02 1.9334e-01 5.0160e+01 3.0580e-01 1.13238e+00 1.0000 ---- 3\n", + " 2 6.7750e+01 1.8343e-01 2.3756e+00 4.3811e+00 3.39214e-01 1.0000 4.3811e+00 3\n", + " 3 5.3435e+00 1.8349e-01 8.1473e-03 5.0786e-01 3.25651e-01 0.5000 5.0786e-01 3\n", + " 4 5.0970e+00 1.8347e-01 4.3204e-03 4.8703e-01 1.29640e-01 1.0000 4.8703e-01 3\n", + " 5 2.4909e+00 1.8348e-01 6.2857e-05 2.3067e-01 2.58327e-01 0.2500 2.3067e-01 3\n", + " 6 2.1622e+00 1.8347e-01 4.7680e-05 1.9783e-01 6.20947e-02 1.0000 1.9783e-01 3\n", + " 7 2.1125e-01 1.8347e-01 2.7210e-06 2.7749e-03 1.25987e-01 0.0078 2.7749e-03 1\n", + " 8 2.1124e-01 1.8347e-01 2.7002e-06 2.7740e-03 1.22928e-01 0.0625 2.7740e-03 1\n", + " 9 2.1062e-01 1.8347e-01 2.5623e-06 2.7123e-03 9.95002e-02 0.0625 2.7123e-03 1\n", + " 10 2.1053e-01 1.8347e-01 2.4249e-06 2.7028e-03 8.05750e-02 0.1250 2.7028e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0437e+02 1.9327e-01 5.0137e+01 2.8126e-01 1.13375e+00 1.0000 ---- 3\n", + " 2 6.9044e+01 1.8336e-01 2.3866e+00 4.4995e+00 3.49817e-01 1.0000 4.4995e+00 3\n", + " 3 9.8107e+00 1.8342e-01 8.3936e-03 9.5433e-01 3.64188e-01 0.5000 9.5433e-01 3\n", + " 4 9.6150e+00 1.8341e-01 4.4718e-03 9.3868e-01 1.49683e-01 1.0000 9.3868e-01 3\n", + " 5 2.4321e+00 1.8343e-01 8.9091e-05 2.2478e-01 2.92569e-01 0.2500 2.2478e-01 3\n", + " 6 2.3568e+00 1.8342e-01 6.7742e-05 2.1727e-01 7.10277e-02 1.0000 2.1727e-01 3\n", + " 7 2.7790e-01 1.8342e-01 3.7009e-06 9.4437e-03 1.39917e-01 0.0020 1.0624e-02 1\n", + " 8 2.7790e-01 1.8342e-01 3.7009e-06 9.4437e-03 1.39870e-01 0.0312 9.4437e-03 1\n", + " 9 2.7726e-01 1.8342e-01 3.5859e-06 9.3801e-03 1.26834e-01 0.0156 9.3801e-03 1\n", + " 10 2.7718e-01 1.8342e-01 3.5299e-06 9.3727e-03 1.20933e-01 0.0312 9.3727e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0426e+02 1.9322e-01 5.0117e+01 2.8940e-01 1.16859e+00 1.0000 ---- 3\n", + " 2 7.0980e+01 1.8331e-01 2.3970e+00 4.6827e+00 4.45052e-01 1.0000 4.6827e+00 3\n", + " 3 1.8607e+01 1.8336e-01 7.9534e-03 1.8344e+00 5.45914e-01 0.2500 1.8344e+00 3\n", + " 4 1.5621e+01 1.8335e-01 6.0198e-03 1.5377e+00 1.84558e-01 1.0000 1.5377e+00 3\n", + " 5 5.0813e-01 1.8337e-01 3.8944e-04 3.2086e-02 2.92531e-01 0.0625 3.2086e-02 3\n", + " 6 4.8902e-01 1.8337e-01 3.6517e-04 3.0199e-02 2.40709e-01 0.0625 3.0199e-02 3\n", + " 7 4.8640e-01 1.8337e-01 3.4240e-04 2.9961e-02 1.98299e-01 0.0625 2.9961e-02 3\n", + " 8 4.8585e-01 1.8337e-01 3.2104e-04 2.9927e-02 1.63591e-01 0.0625 2.9927e-02 3\n", + " 9 4.7671e-01 1.8337e-01 3.0101e-04 2.9033e-02 1.35218e-01 0.1250 2.9033e-02 3\n", + " 10 4.7268e-01 1.8337e-01 2.6348e-04 2.8668e-02 8.90361e-02 0.2500 2.8668e-02 3\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0544e+02 1.9316e-01 5.0190e+01 3.3448e-01 1.12682e+00 1.0000 ---- 3\n", + " 2 7.2540e+01 1.8325e-01 2.3989e+00 4.8368e+00 3.11570e-01 1.0000 4.8368e+00 3\n", + " 3 7.2560e+00 1.8332e-01 7.7837e-03 6.9949e-01 2.53839e-01 0.5000 6.9949e-01 3\n", + " 4 5.3545e+00 1.8331e-01 4.1629e-03 5.1296e-01 7.48265e-02 1.0000 5.1296e-01 3\n", + " 5 7.4072e-01 1.8332e-01 5.5581e-05 5.5685e-02 1.34332e-01 0.2500 5.5685e-02 3\n", + " 6 6.5901e-01 1.8332e-01 4.2244e-05 4.7527e-02 3.63457e-02 1.0000 4.7527e-02 3\n", + " 7 2.0782e-01 1.8332e-01 2.0655e-06 2.4478e-03 6.72751e-02 0.0625 2.4478e-03 1\n", + " 8 2.0775e-01 1.8332e-01 1.9454e-06 2.4411e-03 5.51070e-02 0.2500 2.4411e-03 1\n", + " 9 2.0463e-01 1.8332e-01 1.5947e-06 2.1297e-03 1.56448e-02 0.5000 2.1297e-03 1\n", + " 10 1.9986e-01 1.8332e-01 1.0553e-06 1.6525e-03 7.03774e-03 1.0000 1.6525e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0444e+02 1.9312e-01 5.0134e+01 2.9009e-01 1.12357e+00 1.0000 ---- 3\n", + " 2 6.7374e+01 1.8321e-01 2.3840e+00 4.3351e+00 3.07033e-01 1.0000 4.3351e+00 3\n", + " 3 5.1293e+00 1.8327e-01 7.9932e-03 4.8661e-01 2.41012e-01 0.5000 4.8661e-01 3\n", + " 4 3.8546e+00 1.8327e-01 4.2440e-03 3.6289e-01 6.17383e-02 1.0000 3.6289e-01 3\n", + " 5 5.4600e-01 1.8327e-01 6.4371e-05 3.6209e-02 1.12101e-01 0.2500 3.6209e-02 3\n", + " 6 4.7960e-01 1.8327e-01 4.8885e-05 2.9584e-02 3.05312e-02 1.0000 2.9584e-02 3\n", + " 7 2.1160e-01 1.8327e-01 2.0462e-06 2.8309e-03 5.67103e-02 0.0625 2.8309e-03 1\n", + " 8 2.1150e-01 1.8327e-01 1.9254e-06 2.8213e-03 4.64123e-02 0.2500 2.8213e-03 1\n", + " 9 2.0741e-01 1.8327e-01 1.5382e-06 2.4125e-03 1.30038e-02 1.0000 2.4125e-03 1\n", + " 10 1.9848e-01 1.8327e-01 1.3359e-06 1.5194e-03 2.32743e-02 0.2500 1.5194e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0477e+02 1.9307e-01 5.0170e+01 2.8713e-01 1.12605e+00 1.0000 ---- 3\n", + " 2 6.7590e+01 1.8316e-01 2.3871e+00 4.3535e+00 3.06843e-01 1.0000 4.3535e+00 3\n", + " 3 5.5018e+00 1.8323e-01 7.9578e-03 5.2390e-01 2.44535e-01 0.5000 5.2390e-01 3\n", + " 4 4.0128e+00 1.8322e-01 4.2296e-03 3.7873e-01 6.47593e-02 1.0000 3.7873e-01 3\n", + " 5 7.2206e-01 1.8323e-01 5.3352e-05 5.3830e-02 1.14936e-01 0.5000 5.3830e-02 3\n", + " 6 7.1758e-01 1.8322e-01 2.9435e-05 5.3406e-02 5.56759e-02 1.0000 5.3406e-02 3\n", + " 7 3.9887e-01 1.8322e-01 1.6566e-06 2.1563e-02 1.12750e-01 0.2500 2.1563e-02 3\n", + " 8 3.8106e-01 1.8322e-01 1.4882e-06 1.9782e-02 2.67968e-02 1.0000 1.9782e-02 3\n", + " 9 2.3526e-01 1.8322e-01 3.4929e-07 5.2031e-03 5.50607e-02 0.0625 5.2031e-03 1\n", + " 10 2.3523e-01 1.8322e-01 3.3064e-07 5.2004e-03 4.48254e-02 0.5000 5.2004e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0506e+02 1.9302e-01 5.0166e+01 3.2105e-01 1.12826e+00 1.0000 ---- 3\n", + " 2 6.7270e+01 1.8312e-01 2.3881e+00 4.3205e+00 3.19924e-01 1.0000 4.3205e+00 3\n", + " 3 6.4286e+00 1.8318e-01 7.9960e-03 6.1655e-01 2.91275e-01 0.5000 6.1655e-01 3\n", + " 4 4.8527e+00 1.8317e-01 4.2640e-03 4.6269e-01 1.01294e-01 1.0000 4.6269e-01 3\n", + " 5 9.6588e-01 1.8318e-01 6.0563e-05 7.8210e-02 1.95570e-01 0.2500 7.8210e-02 3\n", + " 6 8.0542e-01 1.8317e-01 4.6196e-05 6.2178e-02 4.68986e-02 1.0000 6.2178e-02 3\n", + " 7 2.1517e-01 1.8317e-01 3.0168e-06 3.1969e-03 9.15451e-02 0.0020 3.1969e-03 1\n", + " 8 2.1517e-01 1.8317e-01 3.0168e-06 3.1969e-03 9.15073e-02 0.2500 3.1969e-03 1\n", + " 9 2.1365e-01 1.8317e-01 2.5162e-06 3.0448e-03 2.28086e-02 1.0000 3.0448e-03 1\n", + " 10 2.1254e-01 1.8317e-01 1.9951e-06 2.9351e-03 4.30349e-02 0.5000 2.9351e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0475e+02 1.9297e-01 5.0152e+01 3.0420e-01 1.12354e+00 1.0000 ---- 3\n", + " 2 6.7826e+01 1.8307e-01 2.3808e+00 4.3835e+00 3.03592e-01 1.0000 4.3835e+00 3\n", + " 3 4.8522e+00 1.8313e-01 7.9239e-03 4.5898e-01 2.40231e-01 0.5000 4.5898e-01 3\n", + " 4 3.8884e+00 1.8312e-01 4.2113e-03 3.6631e-01 7.51099e-02 1.0000 3.6631e-01 3\n", + " 5 5.1539e-01 1.8313e-01 6.2657e-05 3.3164e-02 1.45846e-01 0.2500 3.3164e-02 3\n", + " 6 4.6068e-01 1.8313e-01 4.7757e-05 2.7707e-02 3.48058e-02 1.0000 2.7707e-02 3\n", + " 7 2.0745e-01 1.8313e-01 2.2132e-06 2.4300e-03 6.80091e-02 0.1250 2.4300e-03 1\n", + " 8 2.0709e-01 1.8313e-01 1.9899e-06 2.3948e-03 4.23216e-02 0.5000 2.3948e-03 1\n", + " 9 2.0505e-01 1.8313e-01 1.5115e-06 2.1905e-03 2.22335e-02 0.5000 2.1905e-03 1\n", + " 10 2.0228e-01 1.8313e-01 7.4108e-07 1.9151e-03 1.19570e-02 1.0000 1.9151e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0468e+02 1.9292e-01 5.0160e+01 2.8879e-01 1.12933e+00 1.0000 ---- 3\n", + " 2 6.7344e+01 1.8302e-01 2.3876e+00 4.3285e+00 3.13681e-01 1.0000 4.3285e+00 3\n", + " 3 7.1848e+00 1.8308e-01 8.0464e-03 6.9213e-01 2.81546e-01 0.5000 6.9213e-01 3\n", + " 4 5.4843e+00 1.8307e-01 4.2789e-03 5.2585e-01 1.09250e-01 1.0000 5.2585e-01 3\n", + " 5 8.5999e-01 1.8308e-01 7.2477e-05 6.7618e-02 2.18564e-01 0.2500 6.7618e-02 3\n", + " 6 7.3295e-01 1.8308e-01 5.5074e-05 5.4932e-02 4.97915e-02 1.0000 5.4932e-02 3\n", + " 7 2.0635e-01 1.8308e-01 2.5750e-06 2.3246e-03 9.85976e-02 0.0625 2.3246e-03 1\n", + " 8 2.0635e-01 1.8308e-01 2.4301e-06 2.3246e-03 7.98520e-02 0.5000 2.3246e-03 1\n", + " 9 2.0391e-01 1.8308e-01 2.3065e-06 2.0804e-03 4.27252e-02 0.2500 2.0804e-03 1\n", + " 10 2.0311e-01 1.8308e-01 1.6913e-06 2.0019e-03 9.79726e-03 1.0000 2.0019e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0444e+02 1.9287e-01 5.0124e+01 3.0063e-01 1.12276e+00 1.0000 ---- 3\n", + " 2 6.6912e+01 1.8297e-01 2.3800e+00 4.2929e+00 3.08920e-01 1.0000 4.2929e+00 3\n", + " 3 4.4757e+00 1.8303e-01 7.9504e-03 4.2131e-01 2.59833e-01 0.5000 4.2131e-01 3\n", + " 4 3.5042e+00 1.8303e-01 4.2237e-03 3.2789e-01 8.25185e-02 1.0000 3.2789e-01 3\n", + " 5 5.3116e-01 1.8303e-01 5.3078e-05 3.4760e-02 1.63337e-01 0.2500 3.4760e-02 3\n", + " 6 4.8824e-01 1.8303e-01 4.0668e-05 3.0481e-02 3.74832e-02 1.0000 3.0481e-02 3\n", + " 7 2.1070e-01 1.8303e-01 2.3593e-06 2.7647e-03 7.41328e-02 0.0020 2.7647e-03 1\n", + " 8 2.1070e-01 1.8303e-01 2.3593e-06 2.7647e-03 7.40984e-02 0.2500 2.7647e-03 1\n", + " 9 2.0859e-01 1.8303e-01 1.9577e-06 2.5540e-03 1.78270e-02 0.5000 2.5540e-03 1\n", + " 10 2.0831e-01 1.8303e-01 1.1540e-06 2.5268e-03 8.86895e-03 1.0000 2.5268e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0408e+02 1.9282e-01 5.0103e+01 2.8527e-01 1.12290e+00 1.0000 ---- 3\n", + " 2 6.5996e+01 1.8293e-01 2.3799e+00 4.2014e+00 3.05008e-01 1.0000 4.2014e+00 3\n", + " 3 4.6158e+00 1.8298e-01 8.0627e-03 4.3522e-01 2.39390e-01 0.5000 4.3522e-01 3\n", + " 4 3.9931e+00 1.8298e-01 4.2595e-03 3.7676e-01 7.36219e-02 1.0000 3.7676e-01 3\n", + " 5 6.5992e-01 1.8298e-01 6.3962e-05 4.7630e-02 1.42550e-01 0.2500 4.7630e-02 3\n", + " 6 5.8145e-01 1.8298e-01 4.8672e-05 3.9798e-02 3.39636e-02 1.0000 3.9798e-02 3\n", + " 7 2.0035e-01 1.8298e-01 2.0369e-06 1.7347e-03 6.57250e-02 0.1250 1.7347e-03 1\n", + " 8 2.0005e-01 1.8298e-01 1.8127e-06 1.7048e-03 4.10779e-02 0.5000 1.7048e-03 1\n", + " 9 1.9751e-01 1.8298e-01 1.2594e-06 1.4511e-03 2.13002e-02 0.2500 1.5891e-03 1\n", + " 10 1.9689e-01 1.8298e-01 9.3836e-07 1.3898e-03 5.29272e-03 1.0000 1.5900e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0423e+02 1.9278e-01 5.0089e+01 3.1458e-01 1.12255e+00 1.0000 ---- 3\n", + " 2 6.5802e+01 1.8288e-01 2.3807e+00 4.1812e+00 3.08054e-01 1.0000 4.1812e+00 3\n", + " 3 4.3672e+00 1.8294e-01 8.0422e-03 4.1038e-01 2.42071e-01 0.5000 4.1038e-01 3\n", + " 4 3.2611e+00 1.8293e-01 4.2562e-03 3.0356e-01 6.48522e-02 1.0000 3.0356e-01 3\n", + " 5 6.1788e-01 1.8294e-01 4.6664e-05 4.3448e-02 1.21911e-01 0.2500 4.3448e-02 3\n", + " 6 5.5193e-01 1.8294e-01 3.5777e-05 3.6863e-02 3.09885e-02 1.0000 3.6863e-02 3\n", + " 7 2.0796e-01 1.8294e-01 2.2186e-06 2.5002e-03 5.82653e-02 0.1250 2.5002e-03 1\n", + " 8 2.0759e-01 1.8294e-01 1.9789e-06 2.4633e-03 3.66670e-02 0.2500 2.4633e-03 1\n", + " 9 2.0308e-01 1.8294e-01 1.5609e-06 2.0130e-03 1.01607e-02 1.0000 2.0130e-03 1\n", + " 10 1.9966e-01 1.8294e-01 1.1434e-06 1.6714e-03 1.79318e-02 0.2500 1.6714e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0413e+02 1.9273e-01 5.0080e+01 3.1355e-01 1.12490e+00 1.0000 ---- 3\n", + " 2 6.5723e+01 1.8283e-01 2.3843e+00 4.1697e+00 3.10731e-01 1.0000 4.1697e+00 3\n", + " 3 5.4843e+00 1.8289e-01 8.0800e-03 5.2206e-01 2.47891e-01 0.5000 5.2206e-01 3\n", + " 4 3.9098e+00 1.8288e-01 4.2754e-03 3.6841e-01 6.19616e-02 1.0000 3.6841e-01 3\n", + " 5 7.9651e-01 1.8289e-01 5.0264e-05 6.1311e-02 1.08122e-01 0.2500 6.1311e-02 3\n", + " 6 6.8309e-01 1.8289e-01 3.8435e-05 4.9981e-02 3.04943e-02 1.0000 4.9981e-02 3\n", + " 7 2.0776e-01 1.8289e-01 2.2773e-06 2.4851e-03 5.40335e-02 0.2500 2.4851e-03 1\n", + " 8 2.0705e-01 1.8289e-01 1.8565e-06 2.4142e-03 1.60562e-02 1.0000 2.4142e-03 1\n", + " 9 2.0268e-01 1.8289e-01 1.7428e-06 1.9777e-03 2.71762e-02 0.0625 1.9777e-03 1\n", + " 10 2.0234e-01 1.8289e-01 1.6335e-06 1.9434e-03 2.24219e-02 0.1250 1.9434e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0373e+02 1.9268e-01 5.0043e+01 3.1075e-01 1.12689e+00 1.0000 ---- 3\n", + " 2 6.5608e+01 1.8279e-01 2.3847e+00 4.1579e+00 3.17219e-01 1.0000 4.1579e+00 3\n", + " 3 5.7987e+00 1.8285e-01 8.0177e-03 5.5357e-01 2.63549e-01 0.5000 5.5357e-01 3\n", + " 4 4.2000e+00 1.8284e-01 4.2612e-03 3.9746e-01 7.07491e-02 1.0000 3.9746e-01 3\n", + " 5 8.9185e-01 1.8285e-01 5.2878e-05 7.0848e-02 1.25018e-01 0.5000 7.0848e-02 3\n", + " 6 7.7702e-01 1.8284e-01 2.9411e-05 5.9388e-02 5.95073e-02 1.0000 5.9388e-02 3\n", + " 7 3.8635e-01 1.8284e-01 1.5723e-06 2.0349e-02 1.22219e-01 0.2500 2.0349e-02 3\n", + " 8 3.7470e-01 1.8284e-01 1.3886e-06 1.9185e-02 2.79486e-02 1.0000 1.9185e-02 3\n", + " 9 2.2301e-01 1.8284e-01 3.5060e-07 4.0169e-03 5.78470e-02 0.1250 4.0169e-03 1\n", + " 10 2.2284e-01 1.8284e-01 3.2549e-07 3.9995e-03 3.61194e-02 0.5000 3.9995e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0378e+02 1.9264e-01 5.0099e+01 2.6047e-01 1.12540e+00 1.0000 ---- 3\n", + " 2 6.5041e+01 1.8274e-01 2.3664e+00 4.1195e+00 3.20836e-01 1.0000 4.1195e+00 3\n", + " 3 6.1453e+00 1.8280e-01 8.0881e-03 5.8816e-01 2.83869e-01 0.5000 5.8816e-01 3\n", + " 4 4.2614e+00 1.8279e-01 4.2792e-03 4.0359e-01 9.35136e-02 1.0000 4.0359e-01 3\n", + " 5 9.6657e-01 1.8280e-01 7.4577e-05 7.8303e-02 1.80647e-01 0.2500 7.8303e-02 3\n", + " 6 8.3690e-01 1.8280e-01 5.6720e-05 6.5354e-02 4.43740e-02 1.0000 6.5354e-02 3\n", + " 7 2.1975e-01 1.8280e-01 3.0927e-06 3.6919e-03 8.49079e-02 0.0020 3.6919e-03 1\n", + " 8 2.1975e-01 1.8280e-01 3.0927e-06 3.6919e-03 8.48700e-02 0.2500 3.6919e-03 1\n", + " 9 2.1704e-01 1.8280e-01 2.5173e-06 3.4218e-03 2.16889e-02 0.5000 3.4218e-03 1\n", + " 10 2.1174e-01 1.8280e-01 1.3934e-06 2.8932e-03 1.02897e-02 1.0000 2.8932e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0405e+02 1.9259e-01 5.0074e+01 3.1217e-01 1.12207e+00 1.0000 ---- 3\n", + " 2 6.5303e+01 1.8270e-01 2.3781e+00 4.1340e+00 3.09200e-01 1.0000 4.1340e+00 3\n", + " 3 4.6641e+00 1.8275e-01 8.0379e-03 4.4009e-01 2.46252e-01 0.5000 4.4009e-01 3\n", + " 4 3.7337e+00 1.8275e-01 4.2358e-03 3.5086e-01 7.22422e-02 1.0000 3.5086e-01 3\n", + " 5 6.6816e-01 1.8275e-01 7.1845e-05 4.8469e-02 1.40317e-01 0.2500 4.8469e-02 3\n", + " 6 5.9730e-01 1.8275e-01 5.4939e-05 4.1399e-02 3.39776e-02 1.0000 4.1399e-02 3\n", + " 7 2.1600e-01 1.8275e-01 2.6527e-06 3.3221e-03 6.58931e-02 0.1250 3.3221e-03 1\n", + " 8 2.1533e-01 1.8275e-01 2.4043e-06 3.2558e-03 4.09878e-02 0.5000 3.2558e-03 1\n", + " 9 2.1281e-01 1.8275e-01 1.8922e-06 3.0041e-03 2.14909e-02 0.5000 3.0041e-03 1\n", + " 10 2.1057e-01 1.8275e-01 9.4606e-07 2.7808e-03 1.17461e-02 1.0000 2.7808e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0459e+02 1.9254e-01 5.0122e+01 3.1796e-01 1.12948e+00 1.0000 ---- 3\n", + " 2 6.6724e+01 1.8265e-01 2.3893e+00 4.2648e+00 3.15409e-01 1.0000 4.2648e+00 3\n", + " 3 6.7944e+00 1.8271e-01 8.1005e-03 6.5307e-01 2.89240e-01 0.5000 6.5307e-01 3\n", + " 4 5.8662e+00 1.8270e-01 4.3046e-03 5.6404e-01 1.13109e-01 1.0000 5.6404e-01 3\n", + " 5 9.3780e-01 1.8271e-01 6.2214e-05 7.5446e-02 2.24787e-01 0.2500 7.5446e-02 3\n", + " 6 7.9847e-01 1.8271e-01 4.7528e-05 6.1529e-02 5.29438e-02 1.0000 6.1529e-02 3\n", + " 7 2.1153e-01 1.8271e-01 2.8990e-06 2.8793e-03 1.04075e-01 0.0625 2.8793e-03 1\n", + " 8 2.1152e-01 1.8271e-01 2.7369e-06 2.8789e-03 8.44272e-02 0.2500 2.8789e-03 1\n", + " 9 2.0768e-01 1.8271e-01 2.3121e-06 2.4948e-03 2.08405e-02 1.0000 2.4948e-03 1\n", + " 10 1.9587e-01 1.8270e-01 1.6409e-06 1.3152e-03 3.99973e-02 0.2500 1.3223e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0426e+02 1.9249e-01 5.0108e+01 2.9874e-01 1.12538e+00 1.0000 ---- 3\n", + " 2 6.7017e+01 1.8260e-01 2.3933e+00 4.2902e+00 3.03568e-01 1.0000 4.2902e+00 3\n", + " 3 5.8008e+00 1.8266e-01 7.8964e-03 5.5391e-01 2.43123e-01 0.5000 5.5391e-01 3\n", + " 4 4.1321e+00 1.8266e-01 4.2001e-03 3.9075e-01 6.89566e-02 1.0000 3.9075e-01 3\n", + " 5 7.3840e-01 1.8266e-01 5.6727e-05 5.5517e-02 1.25016e-01 0.5000 5.5517e-02 3\n", + " 6 7.3416e-01 1.8266e-01 3.1447e-05 5.5119e-02 6.01493e-02 1.0000 5.5119e-02 3\n", + " 7 4.5312e-01 1.8266e-01 1.8477e-06 2.7044e-02 1.20635e-01 0.2500 2.7044e-02 3\n", + " 8 4.3531e-01 1.8266e-01 1.6559e-06 2.5263e-02 2.93968e-02 1.0000 2.5263e-02 3\n", + " 9 2.1658e-01 1.8266e-01 4.3705e-07 3.3920e-03 5.96515e-02 0.0312 3.8702e-03 1\n", + " 10 2.1653e-01 1.8266e-01 4.2327e-07 3.3866e-03 5.41305e-02 0.2500 3.3866e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0439e+02 1.9245e-01 5.0100e+01 3.2052e-01 1.12238e+00 1.0000 ---- 3\n", + " 2 6.7130e+01 1.8256e-01 2.3903e+00 4.3045e+00 3.02558e-01 1.0000 4.3045e+00 3\n", + " 3 3.9296e+00 1.8262e-01 7.8856e-03 3.6681e-01 2.32640e-01 0.5000 3.6681e-01 3\n", + " 4 3.1545e+00 1.8261e-01 4.1910e-03 2.9300e-01 5.88016e-02 1.0000 2.9300e-01 3\n", + " 5 4.8416e-01 1.8262e-01 5.2229e-05 3.0102e-02 1.05717e-01 0.2500 3.0102e-02 3\n", + " 6 4.3858e-01 1.8262e-01 3.9943e-05 2.5556e-02 2.89952e-02 1.0000 2.5556e-02 3\n", + " 7 2.0063e-01 1.8262e-01 2.1106e-06 1.7996e-03 5.32426e-02 0.0625 1.7996e-03 1\n", + " 8 2.0055e-01 1.8262e-01 1.9855e-06 1.7910e-03 4.36038e-02 0.2500 1.7910e-03 1\n", + " 9 1.9899e-01 1.8262e-01 1.5666e-06 1.6361e-03 1.28467e-02 0.5000 1.6361e-03 1\n", + " 10 1.9809e-01 1.8262e-01 8.1836e-07 1.5462e-03 5.79997e-03 1.0000 1.5462e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0416e+02 1.9241e-01 5.0109e+01 2.8753e-01 1.12270e+00 1.0000 ---- 3\n", + " 2 6.7114e+01 1.8252e-01 2.3800e+00 4.3131e+00 3.03879e-01 1.0000 4.3131e+00 3\n", + " 3 4.0895e+00 1.8258e-01 7.9344e-03 3.8275e-01 2.37791e-01 0.5000 3.8275e-01 3\n", + " 4 3.2084e+00 1.8257e-01 4.2149e-03 2.9836e-01 6.14632e-02 1.0000 2.9836e-01 3\n", + " 5 4.9778e-01 1.8258e-01 5.6293e-05 3.1464e-02 1.11189e-01 0.2500 3.1464e-02 3\n", + " 6 4.4193e-01 1.8258e-01 4.3038e-05 2.5893e-02 3.00609e-02 1.0000 2.5893e-02 3\n", + " 7 1.9938e-01 1.8258e-01 2.2202e-06 1.6777e-03 5.50227e-02 0.1250 1.6777e-03 1\n", + " 8 1.9905e-01 1.8258e-01 1.9769e-06 1.6456e-03 3.50289e-02 0.2500 1.6456e-03 1\n", + " 9 1.9609e-01 1.8258e-01 1.5384e-06 1.3498e-03 1.05663e-02 1.0000 1.4298e-03 1\n", + " 10 1.9364e-01 1.8258e-01 1.1095e-06 1.1052e-03 1.78613e-02 0.2500 1.5148e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0419e+02 1.9237e-01 5.0110e+01 2.8952e-01 1.12509e+00 1.0000 ---- 3\n", + " 2 6.7145e+01 1.8248e-01 2.3839e+00 4.3124e+00 3.07264e-01 1.0000 4.3124e+00 3\n", + " 3 5.0787e+00 1.8254e-01 7.9147e-03 4.8170e-01 2.49142e-01 0.5000 4.8170e-01 3\n", + " 4 3.8008e+00 1.8253e-01 4.2084e-03 3.5762e-01 6.93885e-02 1.0000 3.5762e-01 3\n", + " 5 6.8984e-01 1.8254e-01 5.6688e-05 5.0674e-02 1.25850e-01 0.5000 5.0674e-02 3\n", + " 6 6.4864e-01 1.8254e-01 3.2229e-05 4.6578e-02 6.33148e-02 1.0000 4.6578e-02 3\n", + " 7 3.9186e-01 1.8253e-01 1.9062e-06 2.0930e-02 1.31274e-01 0.2500 2.0930e-02 3\n", + " 8 3.7023e-01 1.8253e-01 1.7691e-06 1.8768e-02 2.96225e-02 1.0000 1.8768e-02 3\n", + " 9 2.2360e-01 1.8253e-01 5.1575e-07 4.1064e-03 6.18192e-02 0.0312 4.1064e-03 1\n", + " 10 2.2353e-01 1.8253e-01 5.0011e-07 4.0990e-03 5.59613e-02 0.2500 4.0990e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0427e+02 1.9232e-01 5.0087e+01 3.2093e-01 1.12159e+00 1.0000 ---- 3\n", + " 2 6.6994e+01 1.8244e-01 2.3838e+00 4.2974e+00 3.03454e-01 1.0000 4.2974e+00 3\n", + " 3 3.8292e+00 1.8250e-01 7.9431e-03 3.5672e-01 2.36648e-01 0.5000 3.5672e-01 3\n", + " 4 3.0868e+00 1.8249e-01 4.2194e-03 2.8621e-01 5.69119e-02 1.0000 2.8621e-01 3\n", + " 5 4.5532e-01 1.8249e-01 5.4517e-05 2.7228e-02 9.72084e-02 0.2500 2.7228e-02 3\n", + " 6 4.1064e-01 1.8249e-01 4.1642e-05 2.2773e-02 2.87251e-02 1.0000 2.2773e-02 3\n", + " 7 1.9177e-01 1.8249e-01 2.1353e-06 9.2560e-04 5.09187e-02 0.1250 1.6166e-03 1\n", + " 8 1.9157e-01 1.8249e-01 1.9089e-06 9.0614e-04 3.29631e-02 0.1250 1.4918e-03 1\n", + " 9 1.9064e-01 1.8249e-01 1.6868e-06 8.1280e-04 2.15638e-02 0.1250 1.4928e-03 1\n", + " 10 1.9014e-01 1.8249e-01 1.4818e-06 7.6326e-04 1.42516e-02 0.2500 1.4937e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0373e+02 1.9228e-01 5.0067e+01 2.8693e-01 1.12184e+00 1.0000 ---- 3\n", + " 2 6.6631e+01 1.8240e-01 2.3803e+00 4.2646e+00 3.05048e-01 1.0000 4.2646e+00 3\n", + " 3 4.3734e+00 1.8246e-01 7.9342e-03 4.1116e-01 2.45714e-01 0.5000 4.1116e-01 3\n", + " 4 3.3819e+00 1.8245e-01 4.2213e-03 3.1572e-01 6.34872e-02 1.0000 3.1572e-01 3\n", + " 5 5.3652e-01 1.8246e-01 5.4964e-05 3.5351e-02 1.14718e-01 0.2500 3.5351e-02 3\n", + " 6 4.6752e-01 1.8245e-01 4.2174e-05 2.8465e-02 3.09373e-02 1.0000 2.8465e-02 3\n", + " 7 1.9463e-01 1.8245e-01 2.4462e-06 1.2154e-03 5.59797e-02 0.2500 1.6411e-03 1\n", + " 8 1.9376e-01 1.8245e-01 2.0260e-06 1.1288e-03 1.62548e-02 0.5000 1.5237e-03 1\n", + " 9 1.8931e-01 1.8245e-01 1.1209e-06 6.8409e-04 7.09033e-03 1.0000 1.5265e-03 1\n", + " 10 1.8463e-01 1.8245e-01 3.3298e-07 2.1761e-04 1.25540e-02 0.2500 1.5299e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0355e+02 1.9224e-01 5.0045e+01 2.9098e-01 1.12201e+00 1.0000 ---- 3\n", + " 2 6.5202e+01 1.8236e-01 2.3739e+00 4.1281e+00 3.08478e-01 1.0000 4.1281e+00 3\n", + " 3 4.3759e+00 1.8242e-01 7.9405e-03 4.1141e-01 2.46004e-01 0.5000 4.1141e-01 3\n", + " 4 3.3097e+00 1.8241e-01 4.1969e-03 3.0853e-01 6.06911e-02 1.0000 3.0853e-01 3\n", + " 5 6.5114e-01 1.8241e-01 6.0296e-05 4.6812e-02 1.05584e-01 0.2500 4.6812e-02 3\n", + " 6 5.6633e-01 1.8241e-01 4.6135e-05 3.8346e-02 3.03922e-02 1.0000 3.8346e-02 3\n", + " 7 1.9123e-01 1.8241e-01 2.4665e-06 8.7880e-04 5.30921e-02 0.2500 1.6462e-03 1\n", + " 8 1.9068e-01 1.8241e-01 2.0230e-06 8.2441e-04 1.60986e-02 0.5000 1.5524e-03 1\n", + " 9 1.8828e-01 1.8241e-01 1.0837e-06 5.8509e-04 6.60113e-03 1.0000 1.5550e-03 1\n", + " 10 1.8749e-01 1.8241e-01 3.3308e-07 5.0719e-04 1.14577e-02 0.2500 1.5589e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0404e+02 1.9220e-01 5.0067e+01 3.1739e-01 1.12230e+00 1.0000 ---- 3\n", + " 2 6.5992e+01 1.8232e-01 2.3766e+00 4.2044e+00 3.08787e-01 1.0000 4.2044e+00 3\n", + " 3 4.2576e+00 1.8238e-01 7.9545e-03 3.9956e-01 2.51539e-01 0.5000 3.9956e-01 3\n", + " 4 3.3444e+00 1.8237e-01 4.2105e-03 3.1199e-01 6.28044e-02 1.0000 3.1199e-01 3\n", + " 5 5.6873e-01 1.8238e-01 5.1049e-05 3.8584e-02 1.06994e-01 0.2500 3.8584e-02 3\n", + " 6 5.1679e-01 1.8238e-01 3.9269e-05 3.3403e-02 3.17001e-02 1.0000 3.3403e-02 3\n", + " 7 2.1226e-01 1.8238e-01 2.6881e-06 2.9860e-03 5.47786e-02 0.0020 4.3153e-03 1\n", + " 8 2.1226e-01 1.8238e-01 2.6881e-06 2.9860e-03 5.47485e-02 0.1250 2.9860e-03 1\n", + " 9 2.1112e-01 1.8238e-01 2.4006e-06 2.8722e-03 3.56714e-02 0.1250 2.9976e-03 1\n", + " 10 2.1073e-01 1.8238e-01 2.1166e-06 2.8333e-03 2.33540e-02 0.5000 2.8333e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0405e+02 1.9217e-01 5.0067e+01 3.1849e-01 1.12497e+00 1.0000 ---- 3\n", + " 2 6.6423e+01 1.8229e-01 2.3850e+00 4.2391e+00 3.15028e-01 1.0000 4.2391e+00 3\n", + " 3 5.3266e+00 1.8234e-01 7.9284e-03 5.0650e-01 2.71701e-01 0.5000 5.0650e-01 3\n", + " 4 3.9908e+00 1.8233e-01 4.2245e-03 3.7662e-01 7.67513e-02 1.0000 3.7662e-01 3\n", + " 5 7.8212e-01 1.8234e-01 5.9353e-05 5.9919e-02 1.34987e-01 0.5000 5.9919e-02 3\n", + " 6 6.7132e-01 1.8234e-01 3.3847e-05 4.8864e-02 6.33143e-02 1.0000 4.8864e-02 3\n", + " 7 4.0432e-01 1.8234e-01 2.2322e-06 2.2196e-02 1.31546e-01 0.2500 2.2196e-02 3\n", + " 8 3.8956e-01 1.8234e-01 2.0120e-06 2.0721e-02 2.91681e-02 1.0000 2.0721e-02 3\n", + " 9 2.1433e-01 1.8234e-01 6.8623e-07 3.1989e-03 5.97161e-02 0.0039 3.1989e-03 1\n", + " 10 2.1433e-01 1.8234e-01 6.8356e-07 3.1988e-03 5.89781e-02 0.1250 3.1988e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0381e+02 1.9213e-01 5.0041e+01 3.2090e-01 1.11919e+00 1.0000 ---- 3\n", + " 2 6.6458e+01 1.8225e-01 2.3780e+00 4.2496e+00 3.15587e-01 1.0000 4.2496e+00 3\n", + " 3 2.5152e+00 1.8231e-01 8.0495e-03 2.2524e-01 2.74706e-01 0.5000 2.2524e-01 3\n", + " 4 2.2779e+00 1.8230e-01 4.2607e-03 2.0530e-01 9.71613e-02 1.0000 2.0530e-01 3\n", + " 5 4.6984e-01 1.8230e-01 7.2298e-05 2.8682e-02 2.02597e-01 0.2500 2.8682e-02 3\n", + " 6 4.1716e-01 1.8230e-01 5.5636e-05 2.3431e-02 4.32882e-02 1.0000 2.3431e-02 3\n", + " 7 1.8795e-01 1.8230e-01 3.5577e-06 5.6195e-04 8.84196e-02 0.0020 1.6263e-03 1\n", + " 8 1.8795e-01 1.8230e-01 3.5577e-06 5.6195e-04 8.83852e-02 0.2500 1.6257e-03 1\n", + " 9 1.8770e-01 1.8230e-01 3.1195e-06 5.3690e-04 2.07205e-02 0.0020 1.6018e-03 1\n", + " 10 1.8770e-01 1.8230e-01 3.1195e-06 5.3690e-04 2.06296e-02 1.0000 1.6015e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0383e+02 1.9208e-01 5.0053e+01 3.1093e-01 1.13495e+00 1.0000 ---- 3\n", + " 2 6.7310e+01 1.8220e-01 2.4071e+00 4.3057e+00 3.27482e-01 1.0000 4.3057e+00 3\n", + " 3 6.6423e+00 1.8226e-01 7.9616e-03 6.3805e-01 3.21389e-01 0.5000 6.3805e-01 3\n", + " 4 4.9919e+00 1.8225e-01 4.2355e-03 4.7673e-01 1.21644e-01 1.0000 4.7673e-01 3\n", + " 5 9.7160e-01 1.8226e-01 7.7575e-05 7.8856e-02 2.45074e-01 0.2500 7.8856e-02 3\n", + " 6 8.0360e-01 1.8226e-01 5.9101e-05 6.2075e-02 5.56155e-02 1.0000 6.2075e-02 3\n", + " 7 2.0148e-01 1.8226e-01 3.3684e-06 1.9193e-03 1.10310e-01 0.0020 3.4447e-03 1\n", + " 8 2.0148e-01 1.8226e-01 3.3684e-06 1.9193e-03 1.10268e-01 0.1250 1.9193e-03 1\n", + " 9 2.0033e-01 1.8226e-01 3.0168e-06 1.8041e-03 6.80877e-02 0.1250 2.1564e-03 1\n", + " 10 2.0002e-01 1.8226e-01 2.6755e-06 1.7734e-03 4.24289e-02 1.0000 1.7734e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0351e+02 1.9204e-01 5.0028e+01 3.0354e-01 1.14952e+00 1.0000 ---- 3\n", + " 2 6.6508e+01 1.8216e-01 2.4039e+00 4.2287e+00 3.87406e-01 1.0000 4.2287e+00 3\n", + " 3 8.5506e+00 1.8222e-01 8.1497e-03 8.2869e-01 4.79243e-01 0.5000 8.2869e-01 3\n", + " 4 7.4850e+00 1.8220e-01 4.3023e-03 7.2598e-01 2.18400e-01 1.0000 7.2598e-01 3\n", + " 5 1.9216e+00 1.8221e-01 1.0816e-04 1.7383e-01 4.50805e-01 0.1250 1.7383e-01 3\n", + " 6 1.7521e+00 1.8220e-01 9.4715e-05 1.5690e-01 2.74735e-01 0.5000 1.5690e-01 3\n", + " 7 1.5697e+00 1.8220e-01 4.7971e-05 1.3870e-01 1.52921e-01 1.0000 1.3870e-01 3\n", + " 8 7.8250e-01 1.8220e-01 4.1694e-06 6.0026e-02 3.34030e-01 0.1250 6.0026e-02 3\n", + " 9 7.6595e-01 1.8220e-01 3.6755e-06 5.8372e-02 2.00726e-01 0.2500 5.8372e-02 3\n", + " 10 6.7895e-01 1.8220e-01 2.8765e-06 4.9672e-02 4.11930e-02 1.0000 4.9672e-02 3\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0315e+02 1.9198e-01 4.9974e+01 3.2191e-01 1.14513e+00 1.0000 ---- 3\n", + " 2 6.5544e+01 1.8210e-01 2.3798e+00 4.1564e+00 4.25078e-01 1.0000 4.1564e+00 3\n", + " 3 4.9710e+00 1.8216e-01 8.1607e-03 4.7073e-01 5.36465e-01 0.5000 4.7073e-01 3\n", + " 4 4.8292e+00 1.8214e-01 4.3134e-03 4.6039e-01 2.59046e-01 1.0000 4.6039e-01 3\n", + " 5 3.0744e+00 1.8215e-01 1.4558e-04 2.8908e-01 5.52567e-01 0.1250 2.8908e-01 3\n", + " 6 2.9896e+00 1.8214e-01 1.2819e-04 2.8062e-01 3.35223e-01 0.2500 2.8062e-01 3\n", + " 7 2.6159e+00 1.8214e-01 9.7501e-05 2.4327e-01 7.03063e-02 1.0000 2.4327e-01 3\n", + " 8 2.0695e-01 1.8214e-01 4.2768e-06 2.4770e-03 1.49285e-01 0.0020 4.7123e-03 1\n", + " 9 2.0695e-01 1.8214e-01 4.2768e-06 2.4770e-03 1.49211e-01 0.0625 2.4770e-03 1\n", + " 10 2.0625e-01 1.8214e-01 4.0345e-06 2.4069e-03 1.19571e-01 0.0312 3.1601e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0371e+02 1.9192e-01 5.0038e+01 3.1427e-01 1.16192e+00 1.0000 ---- 3\n", + " 2 6.7032e+01 1.8205e-01 2.3900e+00 4.2950e+00 4.47506e-01 1.0000 4.2950e+00 3\n", + " 3 9.6916e+00 1.8210e-01 8.7728e-03 9.4217e-01 6.33254e-01 0.2500 9.4217e-01 3\n", + " 4 8.6603e+00 1.8209e-01 6.6445e-03 8.4117e-01 1.72122e-01 1.0000 8.4117e-01 3\n", + " 5 4.2610e-01 1.8210e-01 4.8115e-04 2.3919e-02 2.91855e-01 0.0625 2.3919e-02 3\n", + " 6 4.2177e-01 1.8210e-01 4.5126e-04 2.3516e-02 2.37641e-01 0.0625 2.3516e-02 3\n", + " 7 4.1203e-01 1.8210e-01 4.2319e-04 2.2570e-02 1.93709e-01 0.1250 2.2570e-02 3\n", + " 8 4.0495e-01 1.8210e-01 3.7065e-04 2.1915e-02 1.22660e-01 0.2500 2.1915e-02 3\n", + " 9 3.8693e-01 1.8210e-01 2.7863e-04 2.0205e-02 3.78022e-02 1.0000 2.0205e-02 3\n", + " 10 2.1934e-01 1.8210e-01 7.2869e-06 3.7169e-03 5.66623e-02 0.0020 5.9712e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0351e+02 1.9188e-01 5.0063e+01 2.6828e-01 1.13384e+00 1.0000 ---- 3\n", + " 2 6.5013e+01 1.8200e-01 2.3944e+00 4.0887e+00 3.32042e-01 1.0000 4.0887e+00 3\n", + " 3 5.9020e+00 1.8206e-01 8.4271e-03 5.6357e-01 3.44628e-01 0.5000 5.6357e-01 3\n", + " 4 4.9802e+00 1.8205e-01 4.4653e-03 4.7535e-01 1.40863e-01 1.0000 4.7535e-01 3\n", + " 5 1.2656e+00 1.8206e-01 8.4874e-05 1.0826e-01 2.81972e-01 0.2500 1.0826e-01 3\n", + " 6 1.1587e+00 1.8206e-01 6.4414e-05 9.7597e-02 6.63243e-02 1.0000 9.7597e-02 3\n", + " 7 2.7819e-01 1.8206e-01 2.7287e-06 9.6111e-03 1.31698e-01 0.0020 9.9779e-03 1\n", + " 8 2.7819e-01 1.8206e-01 2.7287e-06 9.6111e-03 1.31646e-01 0.1250 9.6111e-03 1\n", + " 9 2.7452e-01 1.8206e-01 2.4436e-06 9.2439e-03 8.17659e-02 0.1250 9.2439e-03 1\n", + " 10 2.7400e-01 1.8206e-01 2.1625e-06 9.1919e-03 5.10836e-02 0.5000 9.1919e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0408e+02 1.9183e-01 5.0058e+01 3.3104e-01 1.12635e+00 1.0000 ---- 3\n", + " 2 6.6701e+01 1.8196e-01 2.3965e+00 4.2554e+00 3.16011e-01 1.0000 4.2554e+00 3\n", + " 3 6.2535e+00 1.8202e-01 7.8565e-03 5.9929e-01 2.94093e-01 0.5000 5.9929e-01 3\n", + " 4 4.6971e+00 1.8201e-01 4.1879e-03 4.4732e-01 1.09863e-01 1.0000 4.4732e-01 3\n", + " 5 1.0399e+00 1.8202e-01 6.7894e-05 8.5721e-02 2.18037e-01 0.2500 8.5721e-02 3\n", + " 6 8.4855e-01 1.8201e-01 5.2460e-05 6.6601e-02 5.16643e-02 1.0000 6.6601e-02 3\n", + " 7 2.0276e-01 1.8201e-01 3.8549e-06 2.0708e-03 1.02182e-01 0.1250 2.0708e-03 1\n", + " 8 2.0268e-01 1.8201e-01 3.4498e-06 2.0635e-03 6.32068e-02 0.5000 2.0635e-03 1\n", + " 9 2.0208e-01 1.8201e-01 2.4979e-06 2.0044e-03 3.35778e-02 0.5000 2.0044e-03 1\n", + " 10 2.0191e-01 1.8201e-01 1.2570e-06 1.9888e-03 1.86226e-02 1.0000 1.9888e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0385e+02 1.9179e-01 5.0048e+01 3.1791e-01 1.13528e+00 1.0000 ---- 3\n", + " 2 6.6483e+01 1.8192e-01 2.3917e+00 4.2384e+00 3.39070e-01 1.0000 4.2384e+00 3\n", + " 3 8.0780e+00 1.8197e-01 7.8515e-03 7.8175e-01 3.56022e-01 0.5000 7.8175e-01 3\n", + " 4 6.2668e+00 1.8196e-01 4.1861e-03 6.0430e-01 1.53425e-01 1.0000 6.0430e-01 3\n", + " 5 2.8819e+00 1.8197e-01 8.2846e-05 2.6991e-01 3.07366e-01 0.2500 2.6991e-01 3\n", + " 6 2.4266e+00 1.8196e-01 6.3505e-05 2.2440e-01 7.25851e-02 1.0000 2.2440e-01 3\n", + " 7 4.8401e-01 1.8197e-01 3.5342e-06 3.0200e-02 1.46795e-01 0.2500 3.0200e-02 3\n", + " 8 4.7786e-01 1.8196e-01 3.0402e-06 2.9587e-02 3.43368e-02 1.0000 2.9587e-02 3\n", + " 9 2.5962e-01 1.8196e-01 9.6929e-07 7.7641e-03 6.84361e-02 0.2500 7.7641e-03 2\n", + " 10 2.5594e-01 1.8196e-01 8.4065e-07 7.3965e-03 1.66245e-02 1.0000 7.3965e-03 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0356e+02 1.9173e-01 5.0018e+01 3.1893e-01 1.12262e+00 1.0000 ---- 3\n", + " 2 6.8320e+01 1.8186e-01 2.3953e+00 4.4185e+00 3.07633e-01 1.0000 4.4185e+00 3\n", + " 3 4.7308e+00 1.8192e-01 7.8251e-03 4.4707e-01 2.77856e-01 0.2500 4.4707e-01 3\n", + " 4 3.9334e+00 1.8192e-01 5.9320e-03 3.6921e-01 1.12545e-01 1.0000 3.6921e-01 3\n", + " 5 6.7352e-01 1.8192e-01 4.5901e-04 4.8701e-02 1.41567e-01 0.1250 4.8701e-02 3\n", + " 6 6.4391e-01 1.8192e-01 4.0221e-04 4.5796e-02 9.57532e-02 0.2500 4.5796e-02 3\n", + " 7 5.8052e-01 1.8192e-01 3.0270e-04 3.9557e-02 3.92417e-02 1.0000 3.9557e-02 3\n", + " 8 2.6317e-01 1.8192e-01 1.1858e-05 8.1130e-03 4.65198e-02 0.2500 8.1130e-03 2\n", + " 9 2.4057e-01 1.8192e-01 9.6252e-06 5.8547e-03 1.89578e-02 0.0020 8.5180e-03 1\n", + " 10 2.4057e-01 1.8192e-01 9.6252e-06 5.8547e-03 1.89643e-02 1.0000 5.8547e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0349e+02 1.9169e-01 5.0041e+01 2.8930e-01 1.12246e+00 1.0000 ---- 3\n", + " 2 7.0189e+01 1.8182e-01 2.4012e+00 4.5995e+00 3.07363e-01 1.0000 4.5995e+00 3\n", + " 3 5.0923e+00 1.8189e-01 7.4877e-03 4.8355e-01 2.52428e-01 0.5000 4.8355e-01 3\n", + " 4 4.0127e+00 1.8188e-01 3.9883e-03 3.7909e-01 7.37295e-02 1.0000 3.7909e-01 3\n", + " 5 5.3358e-01 1.8189e-01 5.7097e-05 3.5112e-02 1.36935e-01 0.2500 3.5112e-02 3\n", + " 6 4.9935e-01 1.8188e-01 4.3556e-05 3.1703e-02 3.55617e-02 1.0000 3.1703e-02 3\n", + " 7 2.0723e-01 1.8188e-01 2.1179e-06 2.5328e-03 6.77386e-02 0.0020 3.4102e-03 1\n", + " 8 2.0723e-01 1.8188e-01 2.1179e-06 2.5328e-03 6.77075e-02 0.1250 2.5328e-03 1\n", + " 9 2.0542e-01 1.8188e-01 1.8981e-06 2.3513e-03 4.27929e-02 0.0625 2.3513e-03 1\n", + " 10 2.0496e-01 1.8188e-01 1.7842e-06 2.3057e-03 3.49925e-02 0.2500 2.3057e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0305e+02 1.9165e-01 4.9991e+01 2.9409e-01 1.11913e+00 1.0000 ---- 3\n", + " 2 6.6036e+01 1.8178e-01 2.3895e+00 4.1960e+00 2.94038e-01 1.0000 4.1960e+00 3\n", + " 3 4.4902e+00 1.8184e-01 7.8190e-03 4.2302e-01 2.21523e-01 0.5000 4.2302e-01 3\n", + " 4 3.7762e+00 1.8184e-01 4.1587e-03 3.5528e-01 5.39272e-02 1.0000 3.5528e-01 3\n", + " 5 4.9526e-01 1.8184e-01 5.5208e-05 3.1286e-02 9.39744e-02 0.2500 3.1286e-02 3\n", + " 6 4.3828e-01 1.8184e-01 4.1960e-05 2.5601e-02 2.66948e-02 1.0000 2.5601e-02 3\n", + " 7 2.0060e-01 1.8184e-01 1.7643e-06 1.8741e-03 4.83214e-02 0.2500 1.8741e-03 1\n", + " 8 1.9984e-01 1.8184e-01 1.4353e-06 1.7983e-03 1.43946e-02 0.5000 1.7983e-03 1\n", + " 9 1.9573e-01 1.8184e-01 9.5727e-07 1.3876e-03 6.32399e-03 1.0000 1.6232e-03 1\n", + " 10 1.8831e-01 1.8184e-01 3.3621e-07 6.4626e-04 1.07185e-02 0.5000 1.6321e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0304e+02 1.9161e-01 4.9992e+01 2.9235e-01 1.12181e+00 1.0000 ---- 3\n", + " 2 6.5287e+01 1.8175e-01 2.3843e+00 4.1262e+00 3.03778e-01 1.0000 4.1262e+00 3\n", + " 3 4.7265e+00 1.8180e-01 7.8364e-03 4.4663e-01 2.41366e-01 0.5000 4.4663e-01 3\n", + " 4 3.6192e+00 1.8180e-01 4.1488e-03 3.3959e-01 6.64637e-02 1.0000 3.3959e-01 3\n", + " 5 8.8299e-01 1.8180e-01 5.4889e-05 7.0064e-02 1.20716e-01 0.5000 7.0064e-02 3\n", + " 6 8.3533e-01 1.8180e-01 3.0234e-05 6.5323e-02 6.00111e-02 1.0000 6.5323e-02 3\n", + " 7 4.1158e-01 1.8180e-01 1.6288e-06 2.2976e-02 1.23439e-01 0.1250 2.2976e-02 3\n", + " 8 3.9304e-01 1.8180e-01 1.4977e-06 2.1122e-02 7.58654e-02 0.5000 2.1122e-02 3\n", + " 9 3.7770e-01 1.8180e-01 1.2256e-06 1.9588e-02 4.09617e-02 1.0000 1.9588e-02 3\n", + " 10 2.4245e-01 1.8180e-01 3.9665e-07 6.0646e-03 8.74074e-02 0.0312 6.0646e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0326e+02 1.9157e-01 4.9975e+01 3.3158e-01 1.15639e+00 1.0000 ---- 3\n", + " 2 6.4821e+01 1.8170e-01 2.3965e+00 4.0674e+00 4.06215e-01 1.0000 4.0674e+00 3\n", + " 3 1.3730e+01 1.8175e-01 8.2905e-03 1.3466e+00 5.26936e-01 0.5000 1.3466e+00 3\n", + " 4 1.3677e+01 1.8173e-01 4.4069e-03 1.3451e+00 2.49663e-01 1.0000 1.3451e+00 3\n", + " 5 3.4735e+00 1.8175e-01 1.1544e-04 3.2906e-01 5.05048e-01 0.1250 3.2906e-01 3\n", + " 6 3.3133e+00 1.8175e-01 1.0099e-04 3.1305e-01 3.11370e-01 0.2500 3.1305e-01 3\n", + " 7 2.8829e+00 1.8174e-01 7.5793e-05 2.7004e-01 7.15084e-02 1.0000 2.7004e-01 3\n", + " 8 3.1383e-01 1.8175e-01 2.9139e-06 1.3206e-02 1.44566e-01 0.1250 1.3206e-02 3\n", + " 9 3.0853e-01 1.8175e-01 2.5485e-06 1.2676e-02 8.87429e-02 0.2500 1.2676e-02 3\n", + " 10 2.9000e-01 1.8174e-01 1.9214e-06 1.0823e-02 2.05480e-02 1.0000 1.0823e-02 3\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0245e+02 1.9151e-01 4.9919e+01 3.0715e-01 1.13388e+00 1.0000 ---- 3\n", + " 2 6.5408e+01 1.8164e-01 2.4086e+00 4.1141e+00 3.43057e-01 1.0000 4.1141e+00 3\n", + " 3 8.3165e+00 1.8170e-01 7.7073e-03 8.0578e-01 3.51311e-01 0.5000 8.0578e-01 3\n", + " 4 7.2181e+00 1.8169e-01 4.0826e-03 6.9956e-01 1.42524e-01 1.0000 6.9956e-01 3\n", + " 5 1.3202e+00 1.8170e-01 8.2734e-05 1.1377e-01 2.85616e-01 0.2500 1.1377e-01 3\n", + " 6 1.3124e+00 1.8170e-01 6.2743e-05 1.1301e-01 6.63352e-02 1.0000 1.1301e-01 3\n", + " 7 3.5550e-01 1.8170e-01 3.1135e-06 1.7377e-02 1.33288e-01 0.1250 1.7377e-02 3\n", + " 8 3.4075e-01 1.8170e-01 2.7748e-06 1.5902e-02 8.22952e-02 0.2500 1.5902e-02 3\n", + " 9 3.0912e-01 1.8170e-01 2.1970e-06 1.2741e-02 1.97183e-02 1.0000 1.2741e-02 3\n", + " 10 2.0502e-01 1.8170e-01 3.5614e-07 2.3321e-03 3.97769e-02 0.1250 2.3321e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0304e+02 1.9146e-01 4.9968e+01 3.1660e-01 1.12630e+00 1.0000 ---- 3\n", + " 2 6.7384e+01 1.8159e-01 2.4077e+00 4.3126e+00 3.15927e-01 1.0000 4.3126e+00 3\n", + " 3 6.0524e+00 1.8165e-01 7.6116e-03 5.7947e-01 2.90218e-01 0.5000 5.7947e-01 3\n", + " 4 5.0371e+00 1.8165e-01 4.0231e-03 4.8152e-01 1.00020e-01 1.0000 4.8152e-01 3\n", + " 5 1.1907e+00 1.8166e-01 5.7052e-05 1.0085e-01 1.95537e-01 0.2500 1.0085e-01 3\n", + " 6 1.0617e+00 1.8165e-01 4.3346e-05 8.7959e-02 4.73831e-02 1.0000 8.7959e-02 3\n", + " 7 2.3028e-01 1.8165e-01 2.4092e-06 4.8602e-03 9.33085e-02 0.0020 4.8602e-03 1\n", + " 8 2.3028e-01 1.8165e-01 2.4092e-06 4.8602e-03 9.32690e-02 0.1250 4.8602e-03 1\n", + " 9 2.2713e-01 1.8165e-01 2.1558e-06 4.5453e-03 5.82631e-02 0.1250 4.5453e-03 1\n", + " 10 2.2637e-01 1.8165e-01 1.9122e-06 4.4695e-03 3.65766e-02 0.5000 4.4695e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0299e+02 1.9142e-01 4.9960e+01 3.2056e-01 1.12345e+00 1.0000 ---- 3\n", + " 2 6.6155e+01 1.8156e-01 2.4023e+00 4.1950e+00 3.09185e-01 1.0000 4.1950e+00 3\n", + " 3 5.8080e+00 1.8161e-01 7.6379e-03 5.5500e-01 2.71376e-01 0.5000 5.5500e-01 3\n", + " 4 4.5888e+00 1.8161e-01 4.0399e-03 4.3668e-01 8.88811e-02 1.0000 4.3668e-01 3\n", + " 5 1.1563e+00 1.8162e-01 5.7759e-05 9.7410e-02 1.72074e-01 0.2500 9.7410e-02 3\n", + " 6 9.9942e-01 1.8161e-01 4.3949e-05 8.1736e-02 4.18979e-02 1.0000 8.1736e-02 3\n", + " 7 2.3280e-01 1.8161e-01 2.5596e-06 5.1158e-03 8.15420e-02 0.0020 5.1158e-03 1\n", + " 8 2.3280e-01 1.8161e-01 2.5596e-06 5.1158e-03 8.15041e-02 0.1250 5.1158e-03 1\n", + " 9 2.3065e-01 1.8161e-01 2.2855e-06 4.9016e-03 5.09683e-02 0.1250 4.9016e-03 1\n", + " 10 2.3010e-01 1.8161e-01 2.0213e-06 4.8468e-03 3.20652e-02 0.5000 4.8468e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0327e+02 1.9138e-01 4.9984e+01 3.2397e-01 1.12307e+00 1.0000 ---- 3\n", + " 2 6.6432e+01 1.8152e-01 2.3966e+00 4.2285e+00 3.07625e-01 1.0000 4.2285e+00 3\n", + " 3 5.1340e+00 1.8158e-01 7.6709e-03 4.8757e-01 2.67031e-01 0.5000 4.8757e-01 3\n", + " 4 4.1283e+00 1.8157e-01 4.0598e-03 3.9062e-01 8.41338e-02 1.0000 3.9062e-01 3\n", + " 5 9.3020e-01 1.8158e-01 5.3899e-05 7.4808e-02 1.61193e-01 0.2500 7.4808e-02 3\n", + " 6 7.8307e-01 1.8157e-01 4.1061e-05 6.0109e-02 3.96314e-02 1.0000 6.0109e-02 3\n", + " 7 2.3583e-01 1.8157e-01 2.2377e-06 5.4230e-03 7.56612e-02 0.0078 5.4230e-03 1\n", + " 8 2.3583e-01 1.8157e-01 2.2204e-06 5.4230e-03 7.38620e-02 0.2500 5.4230e-03 1\n", + " 9 2.3487e-01 1.8157e-01 1.8190e-06 5.3280e-03 1.89621e-02 1.0000 5.3280e-03 1\n", + " 10 2.2753e-01 1.8157e-01 1.6947e-06 4.5939e-03 3.51826e-02 0.5000 4.5939e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0314e+02 1.9134e-01 4.9973e+01 3.2183e-01 1.12014e+00 1.0000 ---- 3\n", + " 2 6.7322e+01 1.8148e-01 2.3974e+00 4.3167e+00 2.95419e-01 1.0000 4.3167e+00 3\n", + " 3 3.9778e+00 1.8154e-01 7.6461e-03 3.7198e-01 2.29589e-01 0.5000 3.7198e-01 3\n", + " 4 3.4957e+00 1.8153e-01 4.0754e-03 3.2735e-01 6.49019e-02 1.0000 3.2735e-01 3\n", + " 5 5.0783e-01 1.8154e-01 5.7460e-05 3.2572e-02 1.24067e-01 0.2500 3.2572e-02 3\n", + " 6 4.6978e-01 1.8154e-01 4.3873e-05 2.8781e-02 3.04305e-02 1.0000 2.8781e-02 3\n", + " 7 2.0160e-01 1.8154e-01 1.9651e-06 2.0038e-03 5.80626e-02 0.0625 2.0038e-03 1\n", + " 8 2.0153e-01 1.8154e-01 1.8528e-06 1.9975e-03 4.72527e-02 0.1250 1.9975e-03 1\n", + " 9 1.9974e-01 1.8154e-01 1.6493e-06 1.8186e-03 2.98449e-02 0.1250 1.8186e-03 1\n", + " 10 1.9933e-01 1.8154e-01 1.4550e-06 1.7779e-03 1.91017e-02 0.5000 1.7779e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0296e+02 1.9130e-01 4.9983e+01 2.9352e-01 1.12229e+00 1.0000 ---- 3\n", + " 2 6.6317e+01 1.8144e-01 2.3901e+00 4.2234e+00 3.01088e-01 1.0000 4.2234e+00 3\n", + " 3 5.3350e+00 1.8150e-01 7.7368e-03 5.0761e-01 2.44185e-01 0.5000 5.0761e-01 3\n", + " 4 4.2322e+00 1.8150e-01 4.1177e-03 4.0095e-01 6.59923e-02 1.0000 4.0095e-01 3\n", + " 5 8.6740e-01 1.8150e-01 5.7304e-05 6.8532e-02 1.17017e-01 0.5000 6.8532e-02 3\n", + " 6 7.5809e-01 1.8150e-01 3.1583e-05 5.7627e-02 5.58434e-02 1.0000 5.7627e-02 3\n", + " 7 4.9479e-01 1.8150e-01 1.9841e-06 3.1327e-02 1.14763e-01 0.2500 3.1327e-02 3\n", + " 8 4.9148e-01 1.8150e-01 1.7809e-06 3.0996e-02 2.61820e-02 1.0000 3.0996e-02 3\n", + " 9 2.4401e-01 1.8150e-01 4.9537e-07 6.2507e-03 5.36136e-02 0.0312 6.2507e-03 1\n", + " 10 2.4385e-01 1.8150e-01 4.7940e-07 6.2347e-03 4.85935e-02 0.2500 6.2347e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0286e+02 1.9127e-01 4.9937e+01 3.2941e-01 1.11837e+00 1.0000 ---- 3\n", + " 2 6.5011e+01 1.8141e-01 2.3876e+00 4.0954e+00 2.98751e-01 1.0000 4.0954e+00 3\n", + " 3 3.3877e+00 1.8147e-01 7.7905e-03 3.1283e-01 2.29899e-01 0.5000 3.1283e-01 3\n", + " 4 2.9310e+00 1.8146e-01 4.1376e-03 2.7082e-01 5.33180e-02 1.0000 2.7082e-01 3\n", + " 5 4.2889e-01 1.8146e-01 5.0183e-05 2.4693e-02 9.20292e-02 0.2500 2.4693e-02 3\n", + " 6 3.9314e-01 1.8146e-01 3.8342e-05 2.1130e-02 2.64654e-02 1.0000 2.1130e-02 3\n", + " 7 1.9914e-01 1.8146e-01 1.9033e-06 1.7656e-03 4.61713e-02 0.0625 1.7656e-03 1\n", + " 8 1.9880e-01 1.8146e-01 1.7923e-06 1.7324e-03 3.80266e-02 0.1250 1.7324e-03 1\n", + " 9 1.9814e-01 1.8146e-01 1.5896e-06 1.6659e-03 2.48448e-02 0.1250 1.6659e-03 1\n", + " 10 1.9762e-01 1.8146e-01 1.3984e-06 1.6140e-03 1.64440e-02 0.2500 1.6140e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0276e+02 1.9123e-01 4.9967e+01 2.8968e-01 1.11904e+00 1.0000 ---- 3\n", + " 2 6.6066e+01 1.8137e-01 2.3813e+00 4.2071e+00 2.99971e-01 1.0000 4.2071e+00 3\n", + " 3 3.9049e+00 1.8143e-01 7.7463e-03 3.6460e-01 2.39414e-01 0.5000 3.6460e-01 3\n", + " 4 3.1886e+00 1.8142e-01 4.1210e-03 2.9660e-01 5.81259e-02 1.0000 2.9660e-01 3\n", + " 5 5.7700e-01 1.8143e-01 5.6595e-05 3.9501e-02 9.71842e-02 0.5000 3.9501e-02 3\n", + " 6 5.6664e-01 1.8143e-01 3.1360e-05 3.8489e-02 4.10167e-02 1.0000 3.8489e-02 3\n", + " 7 4.1915e-01 1.8143e-01 1.4816e-06 2.3770e-02 7.92552e-02 0.2500 2.3770e-02 3\n", + " 8 3.9429e-01 1.8143e-01 1.3335e-06 2.1285e-02 2.04863e-02 1.0000 2.1285e-02 3\n", + " 9 2.2187e-01 1.8143e-01 3.2695e-07 4.0436e-03 4.05137e-02 0.1250 4.0436e-03 1\n", + " 10 2.2140e-01 1.8143e-01 2.8323e-07 3.9968e-03 2.59600e-02 0.5000 3.9968e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0316e+02 1.9119e-01 4.9969e+01 3.2849e-01 1.12310e+00 1.0000 ---- 3\n", + " 2 6.5772e+01 1.8134e-01 2.3836e+00 4.1754e+00 3.11756e-01 1.0000 4.1754e+00 3\n", + " 3 5.5089e+00 1.8140e-01 7.7967e-03 5.2496e-01 2.72534e-01 0.5000 5.2496e-01 3\n", + " 4 4.2402e+00 1.8139e-01 4.1531e-03 4.0173e-01 7.92960e-02 1.0000 4.0173e-01 3\n", + " 5 9.1933e-01 1.8140e-01 6.1811e-05 7.3732e-02 1.38349e-01 0.5000 7.3732e-02 3\n", + " 6 8.4249e-01 1.8139e-01 3.4554e-05 6.6075e-02 6.18476e-02 1.0000 6.6075e-02 3\n", + " 7 6.0792e-01 1.8139e-01 2.6156e-06 4.2650e-02 1.23861e-01 0.2500 4.2650e-02 3\n", + " 8 6.0601e-01 1.8139e-01 2.3705e-06 4.2459e-02 2.98439e-02 1.0000 4.2459e-02 3\n", + " 9 2.3889e-01 1.8139e-01 7.0740e-07 5.7487e-03 6.01194e-02 0.0020 5.7487e-03 1\n", + " 10 2.3889e-01 1.8139e-01 7.0740e-07 5.7487e-03 6.00949e-02 0.1250 5.7487e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0256e+02 1.9116e-01 4.9909e+01 3.2769e-01 1.11682e+00 1.0000 ---- 3\n", + " 2 6.5097e+01 1.8131e-01 2.3799e+00 4.1116e+00 3.11570e-01 1.0000 4.1116e+00 3\n", + " 3 2.5406e+00 1.8136e-01 7.8907e-03 2.2804e-01 2.66481e-01 0.5000 2.2804e-01 3\n", + " 4 2.2154e+00 1.8136e-01 4.2043e-03 1.9920e-01 8.17727e-02 1.0000 1.9920e-01 3\n", + " 5 6.4068e-01 1.8136e-01 7.3492e-05 4.5859e-02 1.56080e-01 0.2500 4.5859e-02 3\n", + " 6 6.1277e-01 1.8136e-01 5.5993e-05 4.3085e-02 3.82388e-02 1.0000 4.3085e-02 3\n", + " 7 2.0699e-01 1.8136e-01 2.4700e-06 2.5604e-03 7.35264e-02 0.0020 2.5604e-03 1\n", + " 8 2.0699e-01 1.8136e-01 2.4700e-06 2.5604e-03 7.35094e-02 0.2500 2.5604e-03 1\n", + " 9 2.0626e-01 1.8136e-01 2.0360e-06 2.4881e-03 1.91416e-02 0.5000 2.4881e-03 1\n", + " 10 2.0591e-01 1.8136e-01 1.0399e-06 2.4538e-03 8.63129e-03 1.0000 2.4538e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0245e+02 1.9113e-01 4.9946e+01 2.7955e-01 1.11906e+00 1.0000 ---- 3\n", + " 2 6.5108e+01 1.8128e-01 2.3678e+00 4.1248e+00 3.14767e-01 1.0000 4.1248e+00 3\n", + " 3 4.4572e+00 1.8133e-01 7.8833e-03 4.1971e-01 2.82074e-01 0.5000 4.1971e-01 3\n", + " 4 3.3319e+00 1.8132e-01 4.1991e-03 3.1086e-01 8.77824e-02 1.0000 3.1086e-01 3\n", + " 5 7.0037e-01 1.8133e-01 6.7203e-05 5.1837e-02 1.62694e-01 0.2500 5.1837e-02 3\n", + " 6 6.6098e-01 1.8133e-01 5.1416e-05 4.7913e-02 4.19465e-02 1.0000 4.7913e-02 3\n", + " 7 2.0626e-01 1.8133e-01 2.7950e-06 2.4900e-03 7.82211e-02 0.0020 2.4900e-03 1\n", + " 8 2.0626e-01 1.8133e-01 2.7950e-06 2.4900e-03 7.81832e-02 0.2500 2.4900e-03 1\n", + " 9 2.0529e-01 1.8133e-01 2.3723e-06 2.3939e-03 2.10188e-02 0.5000 2.3939e-03 1\n", + " 10 2.0397e-01 1.8133e-01 1.3033e-06 2.2633e-03 9.17285e-03 1.0000 2.2633e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0259e+02 1.9109e-01 4.9957e+01 2.8364e-01 1.11918e+00 1.0000 ---- 3\n", + " 2 6.6211e+01 1.8125e-01 2.3712e+00 4.2317e+00 3.04402e-01 1.0000 4.2317e+00 3\n", + " 3 3.5086e+00 1.8130e-01 7.7752e-03 3.2496e-01 2.57982e-01 0.5000 3.2496e-01 3\n", + " 4 3.0127e+00 1.8130e-01 4.1463e-03 2.7900e-01 7.83723e-02 1.0000 2.7900e-01 3\n", + " 5 6.1430e-01 1.8130e-01 7.3780e-05 4.3226e-02 1.41956e-01 0.2500 4.3226e-02 3\n", + " 6 5.6543e-01 1.8130e-01 5.6435e-05 3.8356e-02 3.77979e-02 1.0000 3.8356e-02 3\n", + " 7 2.1363e-01 1.8130e-01 2.9948e-06 3.2299e-03 6.90468e-02 0.1250 3.2299e-03 1\n", + " 8 2.1362e-01 1.8130e-01 2.6780e-06 3.2298e-03 4.40775e-02 0.5000 3.2298e-03 1\n", + " 9 2.0799e-01 1.8130e-01 1.8732e-06 2.6675e-03 2.00155e-02 0.5000 2.6675e-03 1\n", + " 10 2.0515e-01 1.8130e-01 9.1280e-07 2.3838e-03 1.02008e-02 1.0000 2.3838e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0285e+02 1.9107e-01 4.9964e+01 3.0187e-01 1.12597e+00 1.0000 ---- 3\n", + " 2 6.6200e+01 1.8122e-01 2.3798e+00 4.2221e+00 3.18127e-01 1.0000 4.2221e+00 3\n", + " 3 5.5008e+00 1.8128e-01 7.7620e-03 5.2419e-01 3.05247e-01 0.5000 5.2419e-01 3\n", + " 4 4.5822e+00 1.8127e-01 4.1271e-03 4.3597e-01 1.07498e-01 1.0000 4.3597e-01 3\n", + " 5 1.1909e+00 1.8127e-01 8.6723e-05 1.0087e-01 2.04186e-01 0.2500 1.0087e-01 3\n", + " 6 1.0871e+00 1.8127e-01 6.6456e-05 9.0514e-02 5.07090e-02 1.0000 9.0514e-02 3\n", + " 7 1.9493e-01 1.8127e-01 3.7299e-06 1.3624e-03 9.59233e-02 0.1250 1.6428e-03 1\n", + " 8 1.9478e-01 1.8127e-01 3.3647e-06 1.3476e-03 6.02870e-02 0.5000 1.5787e-03 1\n", + " 9 1.9454e-01 1.8127e-01 2.6940e-06 1.3240e-03 2.98743e-02 0.1250 1.5777e-03 1\n", + " 10 1.9432e-01 1.8127e-01 2.3500e-06 1.3029e-03 1.84032e-02 1.0000 1.5760e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0269e+02 1.9104e-01 4.9931e+01 3.1901e-01 1.11703e+00 1.0000 ---- 3\n", + " 2 6.5978e+01 1.8119e-01 2.3622e+00 4.2175e+00 3.20051e-01 1.0000 4.2175e+00 3\n", + " 3 2.8541e+00 1.8125e-01 7.7848e-03 2.5950e-01 3.03493e-01 0.5000 2.5950e-01 3\n", + " 4 2.8385e+00 1.8124e-01 4.1716e-03 2.6155e-01 1.11760e-01 1.0000 2.6155e-01 3\n", + " 5 9.7910e-01 1.8124e-01 5.2214e-05 7.9733e-02 2.35218e-01 0.1250 7.9733e-02 3\n", + " 6 9.3029e-01 1.8124e-01 4.6055e-05 7.4859e-02 1.41266e-01 0.2500 7.4859e-02 3\n", + " 7 7.8986e-01 1.8124e-01 3.5213e-05 6.0827e-02 3.05861e-02 1.0000 6.0827e-02 3\n", + " 8 1.9035e-01 1.8124e-01 1.8153e-06 9.0956e-04 6.04883e-02 0.2500 1.6789e-03 1\n", + " 9 1.9025e-01 1.8124e-01 1.3647e-06 8.9975e-04 1.45431e-02 1.0000 1.5838e-03 1\n", + " 10 1.8755e-01 1.8124e-01 1.3917e-06 6.2992e-04 2.65632e-02 0.2500 1.5877e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0266e+02 1.9100e-01 4.9957e+01 2.9032e-01 1.12204e+00 1.0000 ---- 3\n", + " 2 6.6294e+01 1.8116e-01 2.3769e+00 4.2344e+00 3.07429e-01 1.0000 4.2344e+00 3\n", + " 3 4.2931e+00 1.8122e-01 7.7101e-03 4.0348e-01 2.59818e-01 0.5000 4.0348e-01 3\n", + " 4 3.3916e+00 1.8121e-01 4.1021e-03 3.1694e-01 6.97494e-02 1.0000 3.1694e-01 3\n", + " 5 7.1320e-01 1.8121e-01 6.3640e-05 5.3136e-02 1.19687e-01 0.5000 5.3136e-02 3\n", + " 6 5.8629e-01 1.8121e-01 3.5944e-05 4.0472e-02 5.48948e-02 1.0000 4.0472e-02 3\n", + " 7 3.8573e-01 1.8121e-01 2.1512e-06 2.0450e-02 1.13119e-01 0.2500 2.0450e-02 3\n", + " 8 3.6697e-01 1.8121e-01 1.9577e-06 1.8575e-02 2.61212e-02 1.0000 1.8575e-02 3\n", + " 9 2.1341e-01 1.8121e-01 5.0855e-07 3.2192e-03 5.29892e-02 0.2500 3.2192e-03 1\n", + " 10 2.1168e-01 1.8121e-01 4.8789e-07 3.0471e-03 1.36897e-02 1.0000 3.0471e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0296e+02 1.9097e-01 4.9950e+01 3.2652e-01 1.12605e+00 1.0000 ---- 3\n", + " 2 6.5925e+01 1.8113e-01 2.3803e+00 4.1941e+00 3.25198e-01 1.0000 4.1941e+00 3\n", + " 3 5.7608e+00 1.8118e-01 7.7244e-03 5.5024e-01 3.18053e-01 0.5000 5.5024e-01 3\n", + " 4 4.6450e+00 1.8117e-01 4.1172e-03 4.4226e-01 1.04547e-01 1.0000 4.4226e-01 3\n", + " 5 8.3819e-01 1.8118e-01 6.7725e-05 6.5633e-02 1.95074e-01 0.5000 6.5633e-02 3\n", + " 6 8.1970e-01 1.8118e-01 3.8305e-05 6.3814e-02 1.02347e-01 1.0000 6.3814e-02 3\n", + " 7 5.1349e-01 1.8118e-01 3.6128e-06 3.3228e-02 2.18972e-01 0.2500 3.3228e-02 3\n", + " 8 4.9936e-01 1.8118e-01 3.3059e-06 3.1815e-02 4.55727e-02 1.0000 3.1815e-02 3\n", + " 9 1.9803e-01 1.8118e-01 9.0086e-07 1.6850e-03 9.68805e-02 0.0020 4.0219e-03 1\n", + " 10 1.9803e-01 1.8118e-01 9.0086e-07 1.6850e-03 9.68241e-02 0.1250 1.6850e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0252e+02 1.9094e-01 4.9906e+01 3.2683e-01 1.12541e+00 1.0000 ---- 3\n", + " 2 6.6014e+01 1.8109e-01 2.3772e+00 4.2060e+00 3.50640e-01 1.0000 4.2060e+00 3\n", + " 3 2.5455e+00 1.8115e-01 7.7785e-03 2.2866e-01 3.81058e-01 0.2500 2.2866e-01 3\n", + " 4 2.1100e+00 1.8114e-01 5.8993e-03 1.8698e-01 1.25660e-01 1.0000 1.8698e-01 3\n", + " 5 4.4541e-01 1.8114e-01 4.2165e-04 2.6005e-02 1.72185e-01 0.1250 2.6005e-02 3\n", + " 6 4.2788e-01 1.8114e-01 3.6939e-04 2.4304e-02 1.14676e-01 0.2500 2.4304e-02 3\n", + " 7 3.9417e-01 1.8114e-01 2.7790e-04 2.1025e-02 4.28382e-02 1.0000 2.1025e-02 3\n", + " 8 2.3252e-01 1.8114e-01 1.1498e-05 5.1267e-03 5.47318e-02 0.0020 5.3696e-03 1\n", + " 9 2.3252e-01 1.8114e-01 1.1498e-05 5.1267e-03 5.47252e-02 0.1250 5.1267e-03 1\n", + " 10 2.2982e-01 1.8114e-01 1.0223e-05 4.8574e-03 3.73017e-02 0.1250 4.8574e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0262e+02 1.9090e-01 4.9960e+01 2.8304e-01 1.12325e+00 1.0000 ---- 3\n", + " 2 6.5108e+01 1.8106e-01 2.3722e+00 4.1205e+00 3.06205e-01 1.0000 4.1205e+00 3\n", + " 3 3.8919e+00 1.8112e-01 8.0626e-03 3.6301e-01 2.57793e-01 0.5000 3.6301e-01 3\n", + " 4 3.2911e+00 1.8111e-01 4.2788e-03 3.0672e-01 6.66639e-02 1.0000 3.0672e-01 3\n", + " 5 6.7532e-01 1.8112e-01 6.4180e-05 4.9356e-02 1.15402e-01 0.5000 4.9356e-02 3\n", + " 6 5.8844e-01 1.8112e-01 3.5951e-05 4.0697e-02 5.21992e-02 1.0000 4.0697e-02 3\n", + " 7 4.2146e-01 1.8111e-01 1.8271e-06 2.4033e-02 1.04469e-01 0.2500 2.4033e-02 3\n", + " 8 3.9613e-01 1.8111e-01 1.6420e-06 2.1500e-02 2.51849e-02 1.0000 2.1500e-02 3\n", + " 9 2.1145e-01 1.8111e-01 4.8274e-07 3.0327e-03 5.06447e-02 0.0312 4.7843e-03 1\n", + " 10 2.1141e-01 1.8111e-01 4.6711e-07 3.0296e-03 4.59824e-02 0.2500 3.0296e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0272e+02 1.9087e-01 4.9923e+01 3.2998e-01 1.11670e+00 1.0000 ---- 3\n", + " 2 6.6057e+01 1.8103e-01 2.3783e+00 4.2093e+00 3.04630e-01 1.0000 4.2093e+00 3\n", + " 3 3.1537e+00 1.8109e-01 7.7332e-03 2.8953e-01 2.51032e-01 0.5000 2.8953e-01 3\n", + " 4 2.7803e+00 1.8108e-01 4.1270e-03 2.5580e-01 6.72257e-02 1.0000 2.5580e-01 3\n", + " 5 4.1376e-01 1.8109e-01 6.1493e-05 2.3206e-02 1.17795e-01 0.2500 2.3206e-02 3\n", + " 6 3.7812e-01 1.8108e-01 4.7141e-05 1.9656e-02 3.28983e-02 1.0000 1.9656e-02 3\n", + " 7 1.9118e-01 1.8108e-01 2.6793e-06 1.0073e-03 5.84213e-02 0.0625 1.6827e-03 1\n", + " 8 1.9101e-01 1.8108e-01 2.5280e-06 9.9037e-04 4.80241e-02 0.0625 1.5652e-03 1\n", + " 9 1.9073e-01 1.8108e-01 2.3802e-06 9.6265e-04 3.95228e-02 0.0625 1.5601e-03 1\n", + " 10 1.9064e-01 1.8108e-01 2.2376e-06 9.5328e-04 3.25614e-02 0.1250 1.5606e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0197e+02 1.9084e-01 4.9887e+01 2.9112e-01 1.11312e+00 1.0000 ---- 3\n", + " 2 6.5533e+01 1.8100e-01 2.3697e+00 4.1656e+00 2.99572e-01 1.0000 4.1656e+00 3\n", + " 3 2.8813e+00 1.8106e-01 7.7824e-03 2.6224e-01 2.41478e-01 0.5000 2.6224e-01 3\n", + " 4 2.5720e+00 1.8105e-01 4.1642e-03 2.3493e-01 6.22909e-02 1.0000 2.3493e-01 3\n", + " 5 3.7825e-01 1.8106e-01 5.8627e-05 1.9661e-02 1.05632e-01 0.2500 1.9661e-02 3\n", + " 6 3.4246e-01 1.8106e-01 4.4944e-05 1.6095e-02 3.12696e-02 1.0000 1.6095e-02 3\n", + " 7 1.8657e-01 1.8106e-01 2.6492e-06 5.4831e-04 5.42377e-02 0.1250 1.6968e-03 1\n", + " 8 1.8634e-01 1.8106e-01 2.3627e-06 5.2645e-04 3.54809e-02 0.0625 1.5910e-03 1\n", + " 9 1.8630e-01 1.8106e-01 2.2178e-06 5.2226e-04 2.94136e-02 0.0625 1.5914e-03 1\n", + " 10 1.8620e-01 1.8106e-01 2.0803e-06 5.1227e-04 2.44077e-02 0.1250 1.5917e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0174e+02 1.9082e-01 4.9864e+01 2.9153e-01 1.11376e+00 1.0000 ---- 3\n", + " 2 6.4435e+01 1.8098e-01 2.3680e+00 4.0574e+00 3.04680e-01 1.0000 4.0574e+00 3\n", + " 3 3.0217e+00 1.8103e-01 7.8098e-03 2.7626e-01 2.51134e-01 0.5000 2.7626e-01 3\n", + " 4 2.6038e+00 1.8102e-01 4.1651e-03 2.3811e-01 6.82456e-02 1.0000 2.3811e-01 3\n", + " 5 5.4780e-01 1.8103e-01 6.3305e-05 3.6614e-02 1.18587e-01 0.2500 3.6614e-02 3\n", + " 6 4.8163e-01 1.8103e-01 4.8694e-05 3.0012e-02 3.36550e-02 1.0000 3.0012e-02 3\n", + " 7 1.8567e-01 1.8103e-01 3.1850e-06 4.6098e-04 5.92408e-02 0.1250 1.7072e-03 1\n", + " 8 1.8543e-01 1.8103e-01 2.8726e-06 4.3769e-04 3.83389e-02 0.2500 1.6185e-03 1\n", + " 9 1.8462e-01 1.8103e-01 2.2883e-06 3.5700e-04 1.18391e-02 0.2500 1.6190e-03 1\n", + " 10 1.8403e-01 1.8103e-01 1.7111e-06 2.9847e-04 4.37161e-03 1.0000 1.6203e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0216e+02 1.9079e-01 4.9874e+01 3.2318e-01 1.12113e+00 1.0000 ---- 3\n", + " 2 6.4940e+01 1.8095e-01 2.3763e+00 4.0996e+00 3.12181e-01 1.0000 4.0996e+00 3\n", + " 3 4.1816e+00 1.8100e-01 7.7371e-03 3.9232e-01 2.70119e-01 0.5000 3.9232e-01 3\n", + " 4 3.4073e+00 1.8099e-01 4.1050e-03 3.1852e-01 7.47783e-02 1.0000 3.1852e-01 3\n", + " 5 8.9529e-01 1.8100e-01 6.3798e-05 7.1365e-02 1.29812e-01 0.5000 7.1365e-02 3\n", + " 6 7.5785e-01 1.8100e-01 3.6621e-05 5.7648e-02 5.79582e-02 1.0000 5.7648e-02 3\n", + " 7 3.5516e-01 1.8100e-01 2.5858e-06 1.7413e-02 1.20581e-01 0.2500 1.7413e-02 3\n", + " 8 3.5228e-01 1.8100e-01 2.3690e-06 1.7126e-02 2.67548e-02 1.0000 1.7126e-02 3\n", + " 9 2.0422e-01 1.8100e-01 6.8632e-07 2.3214e-03 5.44377e-02 0.0020 3.1851e-03 1\n", + " 10 2.0422e-01 1.8100e-01 6.8632e-07 2.3214e-03 5.44135e-02 0.1250 2.3214e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0175e+02 1.9076e-01 4.9827e+01 3.2875e-01 1.11314e+00 1.0000 ---- 3\n", + " 2 6.5060e+01 1.8092e-01 2.3733e+00 4.1146e+00 3.09571e-01 1.0000 4.1146e+00 3\n", + " 3 2.0903e+00 1.8098e-01 7.7941e-03 1.8314e-01 2.65247e-01 0.2500 1.8314e-01 3\n", + " 4 1.7159e+00 1.8097e-01 5.9087e-03 1.4759e-01 1.09354e-01 1.0000 1.4759e-01 3\n", + " 5 4.7196e-01 1.8097e-01 3.8941e-04 2.8710e-02 1.31284e-01 0.1250 2.8710e-02 3\n", + " 6 4.4843e-01 1.8097e-01 3.4099e-04 2.6405e-02 9.13456e-02 0.2500 2.6405e-02 3\n", + " 7 4.0548e-01 1.8097e-01 2.5622e-04 2.2195e-02 3.98147e-02 1.0000 2.2195e-02 3\n", + " 8 2.1105e-01 1.8097e-01 1.1259e-05 2.9967e-03 4.59495e-02 0.0020 3.2924e-03 1\n", + " 9 2.1105e-01 1.8097e-01 1.1259e-05 2.9967e-03 4.59433e-02 0.1250 2.9967e-03 1\n", + " 10 2.1038e-01 1.8097e-01 9.9411e-06 2.9308e-03 3.24318e-02 0.0625 2.9308e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0190e+02 1.9073e-01 4.9842e+01 3.2884e-01 1.12324e+00 1.0000 ---- 3\n", + " 2 6.2779e+01 1.8090e-01 2.3651e+00 3.8947e+00 3.15682e-01 1.0000 3.8947e+00 3\n", + " 3 3.5185e+00 1.8095e-01 8.2507e-03 3.2551e-01 2.70261e-01 0.5000 3.2551e-01 3\n", + " 4 3.1182e+00 1.8094e-01 4.3551e-03 2.8937e-01 6.47739e-02 1.0000 2.8937e-01 3\n", + " 5 7.8584e-01 1.8094e-01 6.7781e-05 6.0422e-02 1.07061e-01 0.5000 6.0422e-02 3\n", + " 6 7.0985e-01 1.8094e-01 3.8317e-05 5.2852e-02 4.53608e-02 1.0000 5.2852e-02 3\n", + " 7 3.4982e-01 1.8094e-01 2.2711e-06 1.6885e-02 8.91267e-02 0.2500 1.6885e-02 3\n", + " 8 3.4661e-01 1.8094e-01 2.0514e-06 1.6565e-02 2.18949e-02 1.0000 1.6565e-02 3\n", + " 9 2.0074e-01 1.8094e-01 6.6310e-07 1.9791e-03 4.36296e-02 0.0020 3.1217e-03 1\n", + " 10 2.0074e-01 1.8094e-01 6.6310e-07 1.9791e-03 4.36114e-02 0.1250 1.9791e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0128e+02 1.9070e-01 4.9781e+01 3.2831e-01 1.11086e+00 1.0000 ---- 3\n", + " 2 6.4131e+01 1.8086e-01 2.3715e+00 4.0235e+00 3.06571e-01 1.0000 4.0235e+00 3\n", + " 3 2.0135e+00 1.8092e-01 7.8651e-03 1.7539e-01 2.45910e-01 0.2500 1.7539e-01 3\n", + " 4 1.6599e+00 1.8091e-01 5.9664e-03 1.4193e-01 1.08765e-01 1.0000 1.4193e-01 3\n", + " 5 4.7638e-01 1.8091e-01 4.1076e-04 2.9136e-02 1.27277e-01 0.1250 2.9136e-02 3\n", + " 6 4.5061e-01 1.8091e-01 3.5977e-04 2.6610e-02 8.96709e-02 0.2500 2.6610e-02 3\n", + " 7 4.0457e-01 1.8091e-01 2.7058e-04 2.2095e-02 3.97813e-02 1.0000 2.2095e-02 3\n", + " 8 2.0114e-01 1.8091e-01 1.2176e-05 2.0110e-03 4.53091e-02 0.0020 2.8256e-03 1\n", + " 9 2.0114e-01 1.8091e-01 1.2176e-05 2.0110e-03 4.52979e-02 0.0625 2.0110e-03 1\n", + " 10 2.0051e-01 1.8091e-01 1.1452e-05 1.9486e-03 3.87456e-02 0.0312 1.9486e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0171e+02 1.9067e-01 4.9844e+01 3.0724e-01 1.12497e+00 1.0000 ---- 3\n", + " 2 6.2058e+01 1.8084e-01 2.3434e+00 3.8444e+00 3.18768e-01 1.0000 3.8444e+00 3\n", + " 3 3.3437e+00 1.8089e-01 8.4055e-03 3.0787e-01 2.78028e-01 0.5000 3.0787e-01 3\n", + " 4 3.0920e+00 1.8088e-01 4.4398e-03 2.8667e-01 6.81607e-02 1.0000 2.8667e-01 3\n", + " 5 5.8792e-01 1.8088e-01 6.8279e-05 4.0635e-02 1.17140e-01 0.5000 4.0635e-02 3\n", + " 6 5.1226e-01 1.8088e-01 3.8125e-05 3.3100e-02 5.40333e-02 1.0000 3.3100e-02 3\n", + " 7 3.4554e-01 1.8088e-01 2.1391e-06 1.6464e-02 1.10493e-01 0.2500 1.6464e-02 3\n", + " 8 3.2927e-01 1.8088e-01 1.8867e-06 1.4837e-02 2.46722e-02 1.0000 1.4837e-02 3\n", + " 9 1.8680e-01 1.8088e-01 6.4460e-07 5.9110e-04 5.05426e-02 0.0020 1.6706e-03 1\n", + " 10 1.8680e-01 1.8088e-01 6.4460e-07 5.9110e-04 5.05228e-02 0.0625 1.6695e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0104e+02 1.9063e-01 4.9768e+01 3.1667e-01 1.11012e+00 1.0000 ---- 3\n", + " 2 6.3220e+01 1.8080e-01 2.3552e+00 3.9487e+00 3.19248e-01 1.0000 3.9487e+00 3\n", + " 3 2.0096e+00 1.8085e-01 7.9700e-03 1.7491e-01 2.86411e-01 0.5000 1.7491e-01 3\n", + " 4 1.8321e+00 1.8084e-01 4.2498e-03 1.6088e-01 9.84902e-02 1.0000 1.6088e-01 3\n", + " 5 3.3785e-01 1.8085e-01 6.7977e-05 1.5633e-02 1.98299e-01 0.5000 1.5633e-02 3\n", + " 6 2.9632e-01 1.8084e-01 3.8302e-05 1.1510e-02 1.13117e-01 1.0000 1.1510e-02 2\n", + " 7 2.1841e-01 1.8084e-01 2.6459e-06 3.7540e-03 2.58375e-01 0.0020 9.6393e-03 1\n", + " 8 2.1841e-01 1.8084e-01 2.6459e-06 3.7540e-03 2.58254e-01 0.0625 3.7540e-03 1\n", + " 9 2.1758e-01 1.8084e-01 2.5054e-06 3.6710e-03 2.05195e-01 0.0312 6.7864e-03 1\n", + " 10 2.1741e-01 1.8084e-01 2.4311e-06 3.6545e-03 1.84151e-01 0.0625 4.5398e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0092e+02 1.9059e-01 4.9778e+01 2.9511e-01 1.20096e+00 1.0000 ---- 3\n", + " 2 6.4411e+01 1.8076e-01 2.3954e+00 4.0277e+00 5.46544e-01 1.0000 4.0277e+00 3\n", + " 3 8.5094e+00 1.8080e-01 8.2292e-03 8.2463e-01 8.86144e-01 0.2500 8.2463e-01 3\n", + " 4 6.9268e+00 1.8078e-01 6.2339e-03 6.6837e-01 2.10041e-01 1.0000 6.6837e-01 3\n", + " 5 2.3990e-01 1.8078e-01 3.7498e-04 5.5363e-03 3.84506e-01 0.0020 7.9908e-03 1\n", + " 6 2.3990e-01 1.8078e-01 3.7498e-04 5.5363e-03 3.84356e-01 0.0156 5.5363e-03 1\n", + " 7 2.3977e-01 1.8078e-01 3.6913e-04 5.5295e-03 3.66243e-01 0.0039 5.7957e-03 1\n", + " 8 2.3972e-01 1.8078e-01 3.6768e-04 5.5263e-03 3.60345e-01 0.0078 5.5263e-03 1\n", + " 9 2.3954e-01 1.8078e-01 3.6481e-04 5.5112e-03 3.37015e-01 0.0078 5.5112e-03 1\n", + " 10 2.3945e-01 1.8078e-01 3.6196e-04 5.5045e-03 2.31752e-01 0.0312 5.5045e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9848e+02 1.9053e-01 4.9706e+01 1.2250e-01 1.28960e+00 1.0000 ---- 3\n", + " 2 7.8026e+01 1.8068e-01 2.3297e+00 5.4548e+00 7.69209e-01 1.0000 5.4548e+00 3\n", + " 3 2.9704e+01 1.8072e-01 1.2157e-02 2.9402e+00 1.19602e+00 0.2500 2.9402e+00 3\n", + " 4 2.6568e+01 1.8068e-01 9.2013e-03 2.6295e+00 3.06801e-01 1.0000 2.6295e+00 3\n", + " 5 9.8221e-01 1.8072e-01 5.5778e-04 7.9591e-02 5.55334e-01 0.0625 7.9591e-02 3\n", + " 6 9.5829e-01 1.8072e-01 5.2328e-04 7.7234e-02 4.49462e-01 0.1250 7.7234e-02 3\n", + " 7 9.4686e-01 1.8071e-01 4.5889e-04 7.6155e-02 2.79193e-01 0.2500 7.6155e-02 3\n", + " 8 8.5842e-01 1.8071e-01 3.4601e-04 6.7425e-02 7.51519e-02 1.0000 6.7425e-02 3\n", + " 9 2.3612e-01 1.8071e-01 3.0378e-05 5.5106e-03 1.21384e-01 0.0020 1.0117e-02 1\n", + " 10 2.3612e-01 1.8071e-01 3.0378e-05 5.5106e-03 1.21356e-01 0.1250 5.5106e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0065e+02 1.9046e-01 4.9765e+01 2.8033e-01 1.13806e+00 1.0000 ---- 3\n", + " 2 6.3770e+01 1.8064e-01 2.3837e+00 3.9753e+00 3.85909e-01 1.0000 3.9753e+00 3\n", + " 3 3.3217e+00 1.8069e-01 8.6514e-03 3.0545e-01 4.55263e-01 0.2500 3.0545e-01 3\n", + " 4 2.7291e+00 1.8068e-01 6.5758e-03 2.4827e-01 1.45288e-01 1.0000 2.4827e-01 3\n", + " 5 5.0601e-01 1.8069e-01 4.8768e-04 3.2045e-02 2.18048e-01 0.1250 3.2045e-02 3\n", + " 6 4.8448e-01 1.8068e-01 4.2720e-04 2.9952e-02 1.42298e-01 0.2500 2.9952e-02 3\n", + " 7 4.4130e-01 1.8068e-01 3.2153e-04 2.5740e-02 4.81205e-02 1.0000 2.5740e-02 3\n", + " 8 2.2844e-01 1.8068e-01 1.3499e-05 4.7627e-03 6.63355e-02 0.0020 5.6577e-03 1\n", + " 9 2.2844e-01 1.8068e-01 1.3499e-05 4.7627e-03 6.63105e-02 0.1250 4.7627e-03 1\n", + " 10 2.2555e-01 1.8068e-01 1.2041e-05 4.4749e-03 4.45990e-02 0.1250 4.4749e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0227e+02 1.9043e-01 4.9881e+01 3.2777e-01 1.12322e+00 1.0000 ---- 3\n", + " 2 6.4178e+01 1.8061e-01 2.3688e+00 4.0309e+00 3.21434e-01 1.0000 4.0309e+00 3\n", + " 3 3.4240e+00 1.8066e-01 8.1036e-03 3.1623e-01 2.97698e-01 0.5000 3.1623e-01 3\n", + " 4 3.1829e+00 1.8065e-01 4.3093e-03 2.9591e-01 9.16922e-02 1.0000 2.9591e-01 3\n", + " 5 7.2043e-01 1.8066e-01 8.2003e-05 5.3896e-02 1.71681e-01 0.2500 5.3896e-02 3\n", + " 6 6.2823e-01 1.8066e-01 6.2834e-05 4.4695e-02 4.43035e-02 1.0000 4.4695e-02 3\n", + " 7 1.9540e-01 1.8066e-01 4.0386e-06 1.4701e-03 8.14254e-02 0.0020 1.6926e-03 1\n", + " 8 1.9540e-01 1.8066e-01 4.0386e-06 1.4701e-03 8.13864e-02 0.0625 1.6881e-03 1\n", + " 9 1.9506e-01 1.8066e-01 3.8154e-06 1.4362e-03 6.64371e-02 0.0312 1.5902e-03 1\n", + " 10 1.9504e-01 1.8066e-01 3.7009e-06 1.4345e-03 6.03615e-02 0.0625 1.5903e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0169e+02 1.9040e-01 4.9829e+01 3.2154e-01 1.11658e+00 1.0000 ---- 3\n", + " 2 6.5047e+01 1.8058e-01 2.3623e+00 4.1243e+00 3.20073e-01 1.0000 4.1243e+00 3\n", + " 3 2.2355e+00 1.8063e-01 7.8752e-03 1.9761e-01 3.01839e-01 0.2500 1.9761e-01 3\n", + " 4 1.9042e+00 1.8063e-01 5.9758e-03 1.6638e-01 1.12958e-01 1.0000 1.6638e-01 3\n", + " 5 4.7822e-01 1.8063e-01 4.2074e-04 2.9338e-02 1.42330e-01 0.1250 2.9338e-02 3\n", + " 6 4.5228e-01 1.8063e-01 3.6866e-04 2.6797e-02 9.78844e-02 0.2500 2.6797e-02 3\n", + " 7 4.0593e-01 1.8063e-01 2.7752e-04 2.2253e-02 4.03854e-02 1.0000 2.2253e-02 3\n", + " 8 2.1549e-01 1.8063e-01 1.3412e-05 3.4726e-03 4.86330e-02 0.0020 5.5900e-03 1\n", + " 9 2.1549e-01 1.8063e-01 1.3412e-05 3.4726e-03 4.86240e-02 0.1250 3.4726e-03 1\n", + " 10 2.1342e-01 1.8063e-01 1.1934e-05 3.2670e-03 3.39350e-02 0.1250 3.5494e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0176e+02 1.9038e-01 4.9873e+01 2.8335e-01 1.12110e+00 1.0000 ---- 3\n", + " 2 6.4519e+01 1.8055e-01 2.3631e+00 4.0707e+00 3.13365e-01 1.0000 4.0707e+00 3\n", + " 3 3.6778e+00 1.8061e-01 8.0485e-03 3.4167e-01 2.77884e-01 0.5000 3.4167e-01 3\n", + " 4 3.2630e+00 1.8060e-01 4.2732e-03 3.0396e-01 7.45426e-02 1.0000 3.0396e-01 3\n", + " 5 6.0414e-01 1.8060e-01 6.9552e-05 4.2284e-02 1.29169e-01 0.5000 4.2284e-02 3\n", + " 6 5.5690e-01 1.8060e-01 4.0366e-05 3.7590e-02 6.42765e-02 1.0000 3.7590e-02 3\n", + " 7 4.1806e-01 1.8060e-01 3.2625e-06 2.3743e-02 1.37045e-01 0.2500 2.3743e-02 3\n", + " 8 3.9052e-01 1.8060e-01 3.1376e-06 2.0989e-02 2.89164e-02 1.0000 2.0989e-02 3\n", + " 9 2.0400e-01 1.8060e-01 1.0146e-06 2.3387e-03 6.03581e-02 0.0020 2.6473e-03 1\n", + " 10 2.0400e-01 1.8060e-01 1.0146e-06 2.3387e-03 6.03282e-02 0.1250 2.3387e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0130e+02 1.9034e-01 4.9781e+01 3.2946e-01 1.11367e+00 1.0000 ---- 3\n", + " 2 6.4369e+01 1.8052e-01 2.3661e+00 4.0528e+00 3.15801e-01 1.0000 4.0528e+00 3\n", + " 3 1.9663e+00 1.8058e-01 7.8965e-03 1.7067e-01 2.84431e-01 0.2500 1.7067e-01 3\n", + " 4 1.6374e+00 1.8057e-01 5.9858e-03 1.3970e-01 1.11444e-01 1.0000 1.3970e-01 3\n", + " 5 5.2333e-01 1.8057e-01 3.8747e-04 3.3889e-02 1.34855e-01 0.2500 3.3889e-02 3\n", + " 6 5.0933e-01 1.8057e-01 2.9165e-04 3.2585e-02 5.49872e-02 1.0000 3.2585e-02 3\n", + " 7 2.8298e-01 1.8057e-01 1.8878e-05 1.0223e-02 6.80447e-02 0.2500 1.0223e-02 2\n", + " 8 2.5882e-01 1.8057e-01 1.5100e-05 7.8098e-03 2.73301e-02 0.0020 1.0044e-02 1\n", + " 9 2.5882e-01 1.8057e-01 1.5100e-05 7.8098e-03 2.73347e-02 1.0000 7.8098e-03 1\n", + " 10 2.4467e-01 1.8057e-01 5.8669e-06 6.4043e-03 3.48603e-02 0.5000 6.4043e-03 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0140e+02 1.9031e-01 4.9786e+01 3.3463e-01 1.11944e+00 1.0000 ---- 3\n", + " 2 6.5031e+01 1.8049e-01 2.3793e+00 4.1057e+00 3.10813e-01 1.0000 4.1057e+00 3\n", + " 3 4.2039e+00 1.8055e-01 7.7393e-03 3.9460e-01 2.70152e-01 0.5000 3.9460e-01 3\n", + " 4 3.4753e+00 1.8054e-01 4.1031e-03 3.2538e-01 7.43024e-02 1.0000 3.2538e-01 3\n", + " 5 8.8172e-01 1.8054e-01 6.5354e-05 7.0052e-02 1.31488e-01 0.5000 7.0052e-02 3\n", + " 6 7.7976e-01 1.8054e-01 3.7932e-05 5.9884e-02 6.61877e-02 1.0000 5.9884e-02 3\n", + " 7 3.8116e-01 1.8054e-01 3.1059e-06 2.0059e-02 1.41708e-01 0.2500 2.0059e-02 3\n", + " 8 3.7830e-01 1.8054e-01 3.0155e-06 1.9773e-02 2.94664e-02 1.0000 1.9773e-02 3\n", + " 9 2.0631e-01 1.8054e-01 9.8953e-07 2.5761e-03 6.18495e-02 0.0020 3.3335e-03 1\n", + " 10 2.0631e-01 1.8054e-01 9.8953e-07 2.5761e-03 6.18221e-02 0.1250 2.5761e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0051e+02 1.9028e-01 4.9701e+01 3.3061e-01 1.11299e+00 1.0000 ---- 3\n", + " 2 6.3672e+01 1.8046e-01 2.3657e+00 3.9834e+00 3.17317e-01 1.0000 3.9834e+00 3\n", + " 3 1.9309e+00 1.8052e-01 7.9185e-03 1.6711e-01 2.86018e-01 0.2500 1.6711e-01 3\n", + " 4 1.6209e+00 1.8051e-01 6.0044e-03 1.3804e-01 1.11715e-01 1.0000 1.3804e-01 3\n", + " 5 5.1311e-01 1.8051e-01 3.8702e-04 3.2873e-02 1.37003e-01 0.2500 3.2873e-02 3\n", + " 6 5.0709e-01 1.8051e-01 2.9204e-04 3.2366e-02 5.52578e-02 1.0000 3.2366e-02 3\n", + " 7 2.8038e-01 1.8051e-01 2.2231e-05 9.9652e-03 6.89132e-02 0.2500 9.9652e-03 2\n", + " 8 2.5867e-01 1.8051e-01 1.7761e-05 7.7984e-03 2.75092e-02 1.0000 7.7984e-03 2\n", + " 9 1.8616e-01 1.8051e-01 4.1021e-06 5.6145e-04 3.68657e-02 0.0020 1.6278e-03 1\n", + " 10 1.8616e-01 1.8051e-01 4.1021e-06 5.6145e-04 3.68482e-02 0.1250 1.6278e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0053e+02 1.9025e-01 4.9706e+01 3.2795e-01 1.11281e+00 1.0000 ---- 3\n", + " 2 6.5632e+01 1.8043e-01 2.3703e+00 4.1749e+00 3.15570e-01 1.0000 4.1749e+00 3\n", + " 3 3.6014e+00 1.8049e-01 7.5778e-03 3.3452e-01 2.72845e-01 0.5000 3.3452e-01 3\n", + " 4 2.9873e+00 1.8048e-01 4.0492e-03 2.7664e-01 7.92891e-02 1.0000 2.7664e-01 3\n", + " 5 4.9284e-01 1.8048e-01 6.3745e-05 3.1172e-02 1.51336e-01 0.5000 3.1172e-02 3\n", + " 6 4.8875e-01 1.8048e-01 3.9189e-05 3.0788e-02 8.22263e-02 1.0000 3.0788e-02 3\n", + " 7 3.3090e-01 1.8048e-01 3.1268e-06 1.5039e-02 1.83174e-01 0.2500 1.5039e-02 3\n", + " 8 3.1467e-01 1.8047e-01 3.8103e-06 1.3415e-02 3.61452e-02 1.0000 1.3415e-02 3\n", + " 9 1.8574e-01 1.8047e-01 2.6776e-06 5.2369e-04 7.74095e-02 0.0312 1.6935e-03 1\n", + " 10 1.8573e-01 1.8047e-01 2.6012e-06 5.2322e-04 6.97202e-02 0.2500 1.6359e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9993e+02 1.9021e-01 4.9698e+01 2.7557e-01 1.11198e+00 1.0000 ---- 3\n", + " 2 6.2052e+01 1.8039e-01 2.3508e+00 3.8363e+00 3.00240e-01 1.0000 3.8363e+00 3\n", + " 3 3.8325e+00 1.8045e-01 7.7674e-03 3.5744e-01 2.32995e-01 0.5000 3.5744e-01 3\n", + " 4 2.7290e+00 1.8044e-01 4.1285e-03 2.5073e-01 6.20870e-02 1.0000 2.5073e-01 3\n", + " 5 4.2626e-01 1.8044e-01 5.8885e-05 2.4523e-02 1.13174e-01 0.5000 2.4523e-02 3\n", + " 6 4.1769e-01 1.8044e-01 3.3057e-05 2.3692e-02 6.02327e-02 1.0000 2.3692e-02 3\n", + " 7 2.2182e-01 1.8044e-01 1.0726e-06 4.1374e-03 1.28997e-01 0.0020 7.7627e-03 1\n", + " 8 2.2182e-01 1.8044e-01 1.0726e-06 4.1374e-03 1.28934e-01 0.0625 4.1374e-03 1\n", + " 9 2.2140e-01 1.8044e-01 1.0224e-06 4.0949e-03 1.03609e-01 0.0312 5.5890e-03 1\n", + " 10 2.2123e-01 1.8044e-01 9.9382e-07 4.0787e-03 9.34368e-02 0.0625 4.0787e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0059e+02 1.9017e-01 4.9804e+01 2.3567e-01 1.16539e+00 1.0000 ---- 3\n", + " 2 6.4675e+01 1.8035e-01 2.3731e+00 4.0764e+00 4.29577e-01 1.0000 4.0764e+00 3\n", + " 3 2.2776e+01 1.8039e-01 7.8685e-03 2.2517e+00 5.32062e-01 0.2500 2.2517e+00 3\n", + " 4 1.7549e+01 1.8037e-01 5.9482e-03 1.7309e+00 1.82758e-01 1.0000 1.7309e+00 3\n", + " 5 2.5986e+00 1.8039e-01 3.6868e-04 2.4145e-01 3.07161e-01 0.0625 2.4145e-01 3\n", + " 6 2.4968e+00 1.8039e-01 3.4580e-04 2.3129e-01 2.52146e-01 0.1250 2.3129e-01 3\n", + " 7 2.4198e+00 1.8039e-01 3.0314e-04 2.2364e-01 1.61465e-01 0.2500 2.2364e-01 3\n", + " 8 2.1096e+00 1.8038e-01 2.2867e-04 1.9269e-01 4.93484e-02 1.0000 1.9269e-01 3\n", + " 9 3.1956e-01 1.8039e-01 1.1886e-05 1.3905e-02 7.85911e-02 0.2500 1.3905e-02 3\n", + " 10 3.0049e-01 1.8039e-01 9.5598e-06 1.2001e-02 2.43042e-02 1.0000 1.2001e-02 3\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0115e+02 1.9011e-01 4.9761e+01 3.3414e-01 1.12122e+00 1.0000 ---- 3\n", + " 2 6.9685e+01 1.8029e-01 2.3928e+00 4.5576e+00 3.15399e-01 1.0000 4.5576e+00 3\n", + " 3 5.9278e+00 1.8036e-01 7.4646e-03 5.6728e-01 2.95868e-01 0.2500 5.6728e-01 3\n", + " 4 4.9089e+00 1.8035e-01 5.6642e-03 4.6719e-01 1.15590e-01 1.0000 4.6719e-01 3\n", + " 5 6.2854e-01 1.8036e-01 4.5564e-04 4.4363e-02 1.53815e-01 0.1250 4.4363e-02 3\n", + " 6 6.1670e-01 1.8035e-01 3.9929e-04 4.3235e-02 1.04012e-01 0.2500 4.3235e-02 3\n", + " 7 5.7664e-01 1.8035e-01 3.0059e-04 3.9328e-02 4.03540e-02 1.0000 3.9328e-02 3\n", + " 8 2.6746e-01 1.8035e-01 1.1953e-05 8.6984e-03 5.15425e-02 0.5000 8.6984e-03 2\n", + " 9 2.6623e-01 1.8035e-01 8.8910e-06 8.5787e-03 1.77654e-02 1.0000 8.5787e-03 2\n", + " 10 1.9384e-01 1.8035e-01 2.4682e-07 1.3489e-03 3.49938e-02 0.0020 3.3697e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9989e+02 1.9008e-01 4.9683e+01 2.8691e-01 1.12256e+00 1.0000 ---- 3\n", + " 2 6.4253e+01 1.8026e-01 2.3932e+00 4.0140e+00 3.14957e-01 1.0000 4.0140e+00 3\n", + " 3 7.2126e+00 1.8032e-01 7.7529e-03 6.9547e-01 2.85688e-01 0.5000 6.9547e-01 3\n", + " 4 6.0890e+00 1.8031e-01 4.1295e-03 5.8674e-01 1.00648e-01 1.0000 5.8674e-01 3\n", + " 5 8.9891e-01 1.8032e-01 6.0334e-05 7.1799e-02 1.91997e-01 0.2500 7.1799e-02 3\n", + " 6 8.6195e-01 1.8032e-01 4.5579e-05 6.8117e-02 4.73782e-02 1.0000 6.8117e-02 3\n", + " 7 2.4878e-01 1.8032e-01 1.8051e-06 6.8444e-03 9.09714e-02 0.0020 8.4155e-03 1\n", + " 8 2.4878e-01 1.8032e-01 1.8051e-06 6.8444e-03 9.09406e-02 0.0625 6.8444e-03 1\n", + " 9 2.4617e-01 1.8032e-01 1.6967e-06 6.5830e-03 7.41653e-02 0.0312 6.5830e-03 1\n", + " 10 2.4577e-01 1.8032e-01 1.6443e-06 6.5438e-03 6.73462e-02 0.1250 6.5438e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9966e+02 1.9005e-01 4.9740e+01 2.0624e-01 1.11713e+00 1.0000 ---- 3\n", + " 2 6.6033e+01 1.8023e-01 2.3711e+00 4.2142e+00 3.18551e-01 1.0000 4.2142e+00 3\n", + " 3 3.7640e+00 1.8029e-01 7.3620e-03 3.5101e-01 2.95773e-01 0.5000 3.5101e-01 3\n", + " 4 3.7465e+00 1.8028e-01 3.9066e-03 3.5272e-01 1.00811e-01 1.0000 3.5272e-01 3\n", + " 5 5.3677e-01 1.8029e-01 7.0413e-05 3.5578e-02 1.98752e-01 0.1250 3.5578e-02 3\n", + " 6 5.1995e-01 1.8028e-01 6.1866e-05 3.3904e-02 1.23589e-01 0.2500 3.3904e-02 3\n", + " 7 4.7557e-01 1.8028e-01 4.6834e-05 2.9482e-02 3.04128e-02 1.0000 2.9482e-02 3\n", + " 8 1.9569e-01 1.8028e-01 1.1092e-06 1.5398e-03 5.95196e-02 0.0020 1.6844e-03 1\n", + " 9 1.9569e-01 1.8028e-01 1.1092e-06 1.5398e-03 5.94951e-02 0.1250 1.6843e-03 1\n", + " 10 1.9553e-01 1.8028e-01 9.8769e-07 1.5237e-03 3.75348e-02 0.0156 1.6852e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9960e+02 1.9001e-01 4.9658e+01 2.8330e-01 1.11460e+00 1.0000 ---- 3\n", + " 2 6.2636e+01 1.8019e-01 2.3814e+00 3.8642e+00 3.11788e-01 1.0000 3.8642e+00 3\n", + " 3 5.0053e+00 1.8025e-01 7.6520e-03 4.7486e-01 2.74699e-01 0.5000 4.7486e-01 3\n", + " 4 4.0879e+00 1.8024e-01 4.0778e-03 3.8669e-01 1.05745e-01 1.0000 3.8669e-01 3\n", + " 5 5.0222e-01 1.8025e-01 6.0606e-05 3.2137e-02 2.13268e-01 0.1250 3.2137e-02 3\n", + " 6 4.8222e-01 1.8025e-01 5.3165e-05 3.0144e-02 1.30345e-01 0.2500 3.0144e-02 3\n", + " 7 4.3696e-01 1.8024e-01 4.0110e-05 2.5631e-02 2.99079e-02 1.0000 2.5631e-02 3\n", + " 8 1.9463e-01 1.8024e-01 8.7466e-07 1.4381e-03 5.94064e-02 0.0020 1.6991e-03 1\n", + " 9 1.9463e-01 1.8024e-01 8.7466e-07 1.4381e-03 5.93802e-02 0.1250 1.6991e-03 1\n", + " 10 1.9397e-01 1.8024e-01 7.8748e-07 1.3715e-03 3.71979e-02 0.0312 1.7002e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9990e+02 1.8997e-01 4.9677e+01 2.9407e-01 1.11585e+00 1.0000 ---- 3\n", + " 2 6.3420e+01 1.8016e-01 2.3653e+00 3.9588e+00 3.18433e-01 1.0000 3.9588e+00 3\n", + " 3 3.1880e+00 1.8021e-01 7.5953e-03 2.9318e-01 2.91188e-01 0.2500 2.9318e-01 3\n", + " 4 2.6440e+00 1.8021e-01 5.7455e-03 2.4064e-01 1.13596e-01 1.0000 2.4064e-01 3\n", + " 5 5.9648e-01 1.8021e-01 3.6524e-04 4.1262e-02 1.45191e-01 0.1250 4.1262e-02 3\n", + " 6 5.5457e-01 1.8021e-01 3.1963e-04 3.7116e-02 9.90528e-02 0.2500 3.7116e-02 3\n", + " 7 4.8633e-01 1.8021e-01 2.3973e-04 3.0373e-02 4.01019e-02 1.0000 3.0373e-02 3\n", + " 8 2.6297e-01 1.8020e-01 9.2567e-06 8.2670e-03 4.93375e-02 0.0020 8.7956e-03 1\n", + " 9 2.6297e-01 1.8020e-01 9.2567e-06 8.2670e-03 4.93055e-02 0.2500 8.2670e-03 1\n", + " 10 2.5781e-01 1.8020e-01 7.5069e-06 7.7531e-03 1.98484e-02 0.5000 7.7531e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9961e+02 1.8993e-01 4.9608e+01 3.3460e-01 1.11263e+00 1.0000 ---- 3\n", + " 2 6.3924e+01 1.8012e-01 2.3808e+00 3.9936e+00 2.93177e-01 1.0000 3.9936e+00 3\n", + " 3 3.1508e+00 1.8017e-01 7.5295e-03 2.8953e-01 2.23755e-01 0.5000 2.8953e-01 3\n", + " 4 2.8315e+00 1.8017e-01 4.0129e-03 2.6112e-01 5.74886e-02 1.0000 2.6112e-01 3\n", + " 5 5.7346e-01 1.8017e-01 3.8895e-05 3.9290e-02 1.07798e-01 0.5000 3.9290e-02 3\n", + " 6 4.9148e-01 1.8017e-01 2.2100e-05 3.1109e-02 5.72170e-02 1.0000 3.1109e-02 3\n", + " 7 3.0098e-01 1.8017e-01 1.3166e-06 1.2080e-02 1.22025e-01 0.2500 1.2080e-02 3\n", + " 8 3.0045e-01 1.8017e-01 1.1905e-06 1.2027e-02 2.47473e-02 1.0000 1.2027e-02 3\n", + " 9 1.9213e-01 1.8017e-01 2.3687e-07 1.1961e-03 5.23283e-02 0.2500 1.6740e-03 1\n", + " 10 1.9193e-01 1.8017e-01 3.5686e-07 1.1755e-03 1.25583e-02 0.5000 1.6790e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9745e+02 1.8989e-01 4.9576e+01 1.5021e-01 1.11288e+00 1.0000 ---- 3\n", + " 2 6.3332e+01 1.8008e-01 2.3609e+00 3.9542e+00 2.97570e-01 1.0000 3.9542e+00 3\n", + " 3 3.6824e+00 1.8013e-01 7.6064e-03 3.4262e-01 2.34294e-01 0.5000 3.4262e-01 3\n", + " 4 2.8774e+00 1.8013e-01 4.0575e-03 2.6567e-01 6.16795e-02 1.0000 2.6567e-01 3\n", + " 5 5.9882e-01 1.8013e-01 4.3393e-05 4.1825e-02 1.16707e-01 0.5000 4.1825e-02 3\n", + " 6 5.2993e-01 1.8013e-01 2.4463e-05 3.4955e-02 6.33778e-02 1.0000 3.4955e-02 3\n", + " 7 2.2569e-01 1.8013e-01 1.4647e-06 4.5542e-03 1.37141e-01 0.0625 4.5542e-03 1\n", + " 8 2.2557e-01 1.8013e-01 1.3773e-06 4.5424e-03 1.09811e-01 0.2500 4.5424e-03 1\n", + " 9 2.2500e-01 1.8013e-01 1.0924e-06 4.4863e-03 2.26032e-02 1.0000 4.4863e-03 1\n", + " 10 2.2411e-01 1.8013e-01 1.4031e-06 4.3967e-03 4.61919e-02 0.2500 4.3967e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9749e+02 1.8985e-01 4.9594e+01 1.3623e-01 1.11181e+00 1.0000 ---- 3\n", + " 2 6.1847e+01 1.8004e-01 2.3629e+00 3.8038e+00 2.93507e-01 1.0000 3.8038e+00 3\n", + " 3 2.5520e+00 1.8009e-01 7.6916e-03 2.2950e-01 2.18765e-01 0.5000 2.2950e-01 3\n", + " 4 2.3934e+00 1.8009e-01 4.0896e-03 2.1725e-01 5.06932e-02 1.0000 2.1725e-01 3\n", + " 5 5.3042e-01 1.8009e-01 4.7371e-05 3.4986e-02 8.79277e-02 0.5000 3.4986e-02 3\n", + " 6 5.1444e-01 1.8009e-01 2.6143e-05 3.3409e-02 3.94795e-02 1.0000 3.3409e-02 3\n", + " 7 2.2439e-01 1.8009e-01 9.9130e-07 4.4294e-03 7.92294e-02 0.0020 6.5816e-03 1\n", + " 8 2.2439e-01 1.8009e-01 9.9130e-07 4.4294e-03 7.91927e-02 0.0312 4.4294e-03 1\n", + " 9 2.2371e-01 1.8009e-01 9.6273e-07 4.3612e-03 7.18080e-02 0.0156 4.6084e-03 1\n", + " 10 2.2359e-01 1.8009e-01 9.4818e-07 4.3493e-03 6.84646e-02 0.0312 4.3493e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9830e+02 1.8981e-01 4.9678e+01 1.3278e-01 1.13026e+00 1.0000 ---- 3\n", + " 2 6.5204e+01 1.8000e-01 2.3975e+00 4.1049e+00 3.49031e-01 1.0000 4.1049e+00 3\n", + " 3 8.7190e+00 1.8005e-01 7.6332e-03 8.4626e-01 3.74392e-01 0.5000 8.4626e-01 3\n", + " 4 7.5306e+00 1.8004e-01 4.0510e-03 7.3101e-01 1.37849e-01 1.0000 7.3101e-01 3\n", + " 5 9.4957e-01 1.8006e-01 6.6049e-05 7.6885e-02 2.69872e-01 0.1250 7.6885e-02 3\n", + " 6 8.7862e-01 1.8005e-01 5.7986e-05 6.9799e-02 1.66968e-01 0.2500 6.9799e-02 3\n", + " 7 7.4249e-01 1.8005e-01 4.3850e-05 5.6199e-02 4.13559e-02 1.0000 5.6199e-02 3\n", + " 8 2.0856e-01 1.8005e-01 3.0146e-06 2.8475e-03 7.82220e-02 0.0020 2.8475e-03 1\n", + " 9 2.0856e-01 1.8005e-01 3.0146e-06 2.8475e-03 7.81854e-02 0.1250 2.8475e-03 1\n", + " 10 2.0840e-01 1.8005e-01 2.6619e-06 2.8321e-03 4.95025e-02 0.0625 2.8321e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9853e+02 1.8978e-01 4.9517e+01 3.1681e-01 1.10996e+00 1.0000 ---- 3\n", + " 2 6.0145e+01 1.7997e-01 2.3692e+00 3.6273e+00 3.16967e-01 1.0000 3.6273e+00 3\n", + " 3 2.5424e+00 1.8002e-01 7.6478e-03 2.2859e-01 2.84383e-01 0.5000 2.2859e-01 3\n", + " 4 2.2641e+00 1.8001e-01 4.0618e-03 2.0434e-01 9.72772e-02 1.0000 2.0434e-01 3\n", + " 5 4.8853e-01 1.8001e-01 5.2626e-05 3.0799e-02 2.00108e-01 0.2500 3.0799e-02 3\n", + " 6 4.6516e-01 1.8001e-01 4.0639e-05 2.8474e-02 4.38839e-02 1.0000 2.8474e-02 3\n", + " 7 2.3735e-01 1.8001e-01 2.5253e-06 5.7317e-03 8.82604e-02 0.0156 5.7317e-03 1\n", + " 8 2.3735e-01 1.8001e-01 2.4864e-06 5.7311e-03 8.40155e-02 0.1250 5.7311e-03 1\n", + " 9 2.3410e-01 1.8001e-01 2.2099e-06 5.4062e-03 5.18860e-02 0.2500 5.4062e-03 1\n", + " 10 2.3367e-01 1.8001e-01 1.7383e-06 5.3637e-03 1.30646e-02 1.0000 5.3637e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9823e+02 1.8974e-01 4.9679e+01 1.2514e-01 1.11816e+00 1.0000 ---- 3\n", + " 2 6.3058e+01 1.7993e-01 2.3705e+00 3.9172e+00 3.08222e-01 1.0000 3.9172e+00 3\n", + " 3 5.0464e+00 1.7998e-01 7.5452e-03 4.7909e-01 2.66261e-01 0.5000 4.7909e-01 3\n", + " 4 3.6109e+00 1.7997e-01 3.9849e-03 3.3911e-01 8.16361e-02 1.0000 3.3911e-01 3\n", + " 5 9.1683e-01 1.7998e-01 5.5526e-05 7.3630e-02 1.55506e-01 0.2500 7.3630e-02 3\n", + " 6 7.7544e-01 1.7998e-01 4.2506e-05 5.9503e-02 3.87244e-02 1.0000 5.9503e-02 3\n", + " 7 2.0371e-01 1.7998e-01 2.6977e-06 2.3705e-03 7.14042e-02 0.0020 2.3705e-03 1\n", + " 8 2.0371e-01 1.7998e-01 2.6977e-06 2.3705e-03 7.13733e-02 0.1250 2.3705e-03 1\n", + " 9 2.0230e-01 1.7998e-01 2.4017e-06 2.2301e-03 4.51154e-02 0.1250 2.2301e-03 1\n", + " 10 2.0194e-01 1.7998e-01 2.1208e-06 2.1938e-03 2.87546e-02 0.5000 2.1938e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9949e+02 1.8970e-01 4.9607e+01 3.2367e-01 1.11570e+00 1.0000 ---- 3\n", + " 2 6.2511e+01 1.7990e-01 2.3786e+00 3.8545e+00 3.05286e-01 1.0000 3.8545e+00 3\n", + " 3 4.1988e+00 1.7995e-01 7.5003e-03 3.9438e-01 2.60010e-01 0.5000 3.9438e-01 3\n", + " 4 3.5042e+00 1.7994e-01 3.9952e-03 3.2843e-01 7.48884e-02 1.0000 3.2843e-01 3\n", + " 5 7.3216e-01 1.7995e-01 4.6156e-05 5.5175e-02 1.42378e-01 0.5000 5.5175e-02 3\n", + " 6 6.8558e-01 1.7994e-01 2.6195e-05 5.0537e-02 7.60731e-02 1.0000 5.0537e-02 3\n", + " 7 3.6049e-01 1.7994e-01 1.5754e-06 1.8053e-02 1.62138e-01 0.1250 1.8053e-02 3\n", + " 8 3.4911e-01 1.7994e-01 1.4323e-06 1.6915e-02 9.76308e-02 0.5000 1.6915e-02 2\n", + " 9 2.8321e-01 1.7994e-01 1.1431e-06 1.0326e-02 5.74743e-02 1.0000 1.0326e-02 2\n", + " 10 2.2096e-01 1.7994e-01 1.0461e-06 4.1003e-03 1.26967e-01 0.0020 1.1127e-02 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9978e+02 1.8966e-01 4.9673e+01 2.8605e-01 1.19680e+00 1.0000 ---- 3\n", + " 2 6.2184e+01 1.7985e-01 2.3482e+00 3.8523e+00 5.50892e-01 1.0000 3.8523e+00 3\n", + " 3 3.3162e+01 1.7988e-01 8.6378e-03 3.2895e+00 7.78397e-01 0.2500 3.2895e+00 3\n", + " 4 2.8790e+01 1.7985e-01 6.5054e-03 2.8545e+00 2.39115e-01 1.0000 2.8545e+00 3\n", + " 5 2.4127e+00 1.7990e-01 3.0383e-04 2.2298e-01 4.35371e-01 0.0625 2.2298e-01 3\n", + " 6 2.3548e+00 1.7989e-01 2.8502e-04 2.1721e-01 3.53464e-01 0.1250 2.1721e-01 3\n", + " 7 2.3433e+00 1.7989e-01 2.5007e-04 2.1609e-01 2.20012e-01 0.2500 2.1609e-01 3\n", + " 8 2.1498e+00 1.7989e-01 1.8936e-04 1.9681e-01 5.77407e-02 1.0000 1.9681e-01 3\n", + " 9 3.4317e-01 1.7989e-01 1.2786e-05 1.6316e-02 1.02235e-01 0.2500 1.6316e-02 3\n", + " 10 3.1705e-01 1.7989e-01 1.0348e-05 1.3706e-02 2.79579e-02 1.0000 1.3706e-02 3\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0036e+02 1.8960e-01 4.9692e+01 3.2513e-01 1.12365e+00 1.0000 ---- 3\n", + " 2 6.8808e+01 1.7980e-01 2.3918e+00 4.4710e+00 3.26501e-01 1.0000 4.4710e+00 3\n", + " 3 7.4176e+00 1.7986e-01 7.5317e-03 7.1624e-01 3.24569e-01 0.2500 7.1624e-01 3\n", + " 4 6.0812e+00 1.7985e-01 5.7141e-03 5.8442e-01 1.20368e-01 1.0000 5.8442e-01 3\n", + " 5 5.6269e-01 1.7986e-01 4.6735e-04 3.7816e-02 1.69620e-01 0.0625 3.7816e-02 3\n", + " 6 5.4639e-01 1.7986e-01 4.3832e-04 3.6215e-02 1.40802e-01 0.1250 3.6215e-02 3\n", + " 7 5.3014e-01 1.7986e-01 3.8402e-04 3.4644e-02 9.39258e-02 0.2500 3.4644e-02 3\n", + " 8 4.9498e-01 1.7986e-01 2.8894e-04 3.1224e-02 3.53252e-02 1.0000 3.1224e-02 3\n", + " 9 2.8985e-01 1.7986e-01 9.5115e-06 1.0990e-02 4.68109e-02 0.5000 1.0990e-02 2\n", + " 10 2.5813e-01 1.7986e-01 7.0853e-06 7.8208e-03 1.71901e-02 1.0000 7.8208e-03 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0069e+02 1.8957e-01 4.9723e+01 3.2709e-01 1.12234e+00 1.0000 ---- 3\n", + " 2 6.6605e+01 1.7977e-01 2.3939e+00 4.2486e+00 3.06041e-01 1.0000 4.2486e+00 3\n", + " 3 6.6181e+00 1.7983e-01 7.4838e-03 6.3635e-01 2.74526e-01 0.5000 6.3635e-01 3\n", + " 4 6.0248e+00 1.7982e-01 4.0001e-03 5.8050e-01 8.84235e-02 1.0000 5.8050e-01 3\n", + " 5 9.9924e-01 1.7983e-01 5.6420e-05 8.1884e-02 1.60634e-01 0.2500 8.1884e-02 3\n", + " 6 9.1322e-01 1.7983e-01 4.2836e-05 7.3296e-02 4.39819e-02 1.0000 7.3296e-02 3\n", + " 7 2.2207e-01 1.7983e-01 2.0663e-06 4.2217e-03 8.14697e-02 0.0020 6.7015e-03 1\n", + " 8 2.2207e-01 1.7983e-01 2.0663e-06 4.2217e-03 8.14372e-02 0.0625 4.2217e-03 1\n", + " 9 2.2085e-01 1.7983e-01 1.9453e-06 4.1004e-03 6.67989e-02 0.0312 4.6113e-03 1\n", + " 10 2.2062e-01 1.7983e-01 1.8858e-06 4.0767e-03 6.08088e-02 0.0625 4.0767e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0012e+02 1.8954e-01 4.9671e+01 3.2158e-01 1.11717e+00 1.0000 ---- 3\n", + " 2 6.6013e+01 1.7975e-01 2.3784e+00 4.2050e+00 3.24158e-01 1.0000 4.2050e+00 3\n", + " 3 3.0595e+00 1.7981e-01 7.2670e-03 2.8070e-01 3.02845e-01 0.2500 2.8070e-01 3\n", + " 4 2.6651e+00 1.7980e-01 5.5065e-03 2.4303e-01 1.17911e-01 1.0000 2.4303e-01 3\n", + " 5 6.1183e-01 1.7980e-01 3.9473e-04 4.2808e-02 1.49783e-01 0.2500 4.2808e-02 3\n", + " 6 5.8884e-01 1.7980e-01 2.9715e-04 4.0607e-02 5.71173e-02 1.0000 4.0607e-02 3\n", + " 7 3.8255e-01 1.7980e-01 1.7587e-05 2.0258e-02 7.41743e-02 0.5000 2.0258e-02 2\n", + " 8 3.6096e-01 1.7980e-01 1.3211e-05 1.8102e-02 2.44276e-02 1.0000 1.8102e-02 2\n", + " 9 2.1011e-01 1.7980e-01 5.5734e-07 3.0309e-03 4.79127e-02 0.0020 3.0309e-03 1\n", + " 10 2.1011e-01 1.7980e-01 5.5734e-07 3.0309e-03 4.78888e-02 0.1250 3.0309e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0042e+02 1.8951e-01 4.9733e+01 2.9062e-01 1.12320e+00 1.0000 ---- 3\n", + " 2 6.6323e+01 1.7971e-01 2.3983e+00 4.2160e+00 3.20780e-01 1.0000 4.2160e+00 3\n", + " 3 6.4610e+00 1.7977e-01 7.2698e-03 6.2085e-01 3.05974e-01 0.5000 6.2085e-01 3\n", + " 4 5.3953e+00 1.7976e-01 3.8769e-03 5.1767e-01 1.05670e-01 1.0000 5.1767e-01 3\n", + " 5 8.4223e-01 1.7977e-01 6.7141e-05 6.6178e-02 2.00780e-01 0.2500 6.6178e-02 3\n", + " 6 8.1959e-01 1.7977e-01 5.1197e-05 6.3931e-02 5.20455e-02 1.0000 6.3931e-02 3\n", + " 7 4.3222e-01 1.7977e-01 2.9082e-06 2.5242e-02 9.97506e-02 0.2500 2.5242e-02 3\n", + " 8 4.2447e-01 1.7977e-01 2.4341e-06 2.4468e-02 2.58477e-02 1.0000 2.4468e-02 3\n", + " 9 2.1757e-01 1.7977e-01 7.4821e-07 3.7790e-03 5.01483e-02 0.0020 3.7790e-03 1\n", + " 10 2.1757e-01 1.7977e-01 7.4821e-07 3.7790e-03 5.01269e-02 0.1250 3.7790e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0029e+02 1.8948e-01 4.9696e+01 3.1369e-01 1.12344e+00 1.0000 ---- 3\n", + " 2 6.5894e+01 1.7968e-01 2.3984e+00 4.1731e+00 3.17595e-01 1.0000 4.1731e+00 3\n", + " 3 5.9795e+00 1.7974e-01 7.2445e-03 5.7273e-01 3.05366e-01 0.2500 5.7273e-01 3\n", + " 4 4.8469e+00 1.7973e-01 5.4943e-03 4.6122e-01 1.17309e-01 1.0000 4.6122e-01 3\n", + " 5 5.6381e-01 1.7974e-01 4.0093e-04 3.8006e-02 1.58315e-01 0.0625 3.8006e-02 3\n", + " 6 5.5279e-01 1.7974e-01 3.7598e-04 3.6929e-02 1.32389e-01 0.1250 3.6929e-02 3\n", + " 7 5.5036e-01 1.7974e-01 3.2930e-04 3.6733e-02 8.97888e-02 0.2500 3.6733e-02 3\n", + " 8 5.2839e-01 1.7974e-01 2.4755e-04 3.4618e-02 3.51257e-02 1.0000 3.4618e-02 3\n", + " 9 3.1214e-01 1.7974e-01 8.3315e-06 1.3232e-02 4.49035e-02 0.5000 1.3232e-02 2\n", + " 10 2.9180e-01 1.7974e-01 6.2419e-06 1.1201e-02 1.45010e-02 1.0000 1.1201e-02 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0005e+02 1.8945e-01 4.9701e+01 2.8471e-01 1.11987e+00 1.0000 ---- 3\n", + " 2 6.6404e+01 1.7965e-01 2.3938e+00 4.2286e+00 3.11855e-01 1.0000 4.2286e+00 3\n", + " 3 5.0461e+00 1.7971e-01 7.2635e-03 4.7938e-01 2.89849e-01 0.5000 4.7938e-01 3\n", + " 4 4.5049e+00 1.7970e-01 3.8790e-03 4.2864e-01 9.92051e-02 1.0000 4.2864e-01 3\n", + " 5 9.6246e-01 1.7971e-01 5.8321e-05 7.8217e-02 1.90113e-01 0.2500 7.8217e-02 3\n", + " 6 8.8129e-01 1.7971e-01 4.4313e-05 7.0114e-02 4.73981e-02 1.0000 7.0114e-02 3\n", + " 7 2.2802e-01 1.7971e-01 2.1220e-06 4.8286e-03 9.19413e-02 0.0020 4.8286e-03 1\n", + " 8 2.2802e-01 1.7971e-01 2.1220e-06 4.8286e-03 9.19062e-02 0.1250 4.8286e-03 1\n", + " 9 2.2499e-01 1.7971e-01 1.9038e-06 4.5263e-03 5.77721e-02 0.1250 4.5263e-03 1\n", + " 10 2.2498e-01 1.7971e-01 1.6905e-06 4.5252e-03 3.64919e-02 0.5000 4.5252e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0004e+02 1.8942e-01 4.9680e+01 3.0449e-01 1.11717e+00 1.0000 ---- 3\n", + " 2 6.5396e+01 1.7962e-01 2.3806e+00 4.1411e+00 3.06503e-01 1.0000 4.1411e+00 3\n", + " 3 4.3030e+00 1.7968e-01 7.2413e-03 4.0509e-01 2.75140e-01 0.5000 4.0509e-01 3\n", + " 4 3.8481e+00 1.7967e-01 3.8627e-03 3.6298e-01 8.84230e-02 1.0000 3.6298e-01 3\n", + " 5 7.8503e-01 1.7968e-01 5.6769e-05 6.0478e-02 1.67508e-01 0.2500 6.0478e-02 3\n", + " 6 6.7464e-01 1.7968e-01 4.3345e-05 4.9452e-02 4.24232e-02 1.0000 4.9452e-02 3\n", + " 7 2.1110e-01 1.7968e-01 2.3405e-06 3.1398e-03 8.03428e-02 0.0020 3.1398e-03 1\n", + " 8 2.1110e-01 1.7968e-01 2.3405e-06 3.1398e-03 8.03077e-02 0.1250 3.1398e-03 1\n", + " 9 2.0828e-01 1.7968e-01 2.0935e-06 2.8578e-03 5.06143e-02 0.0625 2.8578e-03 1\n", + " 10 2.0810e-01 1.7968e-01 1.9673e-06 2.8405e-03 4.13417e-02 0.2500 2.8405e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9996e+02 1.8939e-01 4.9673e+01 3.0459e-01 1.11165e+00 1.0000 ---- 3\n", + " 2 6.5083e+01 1.7960e-01 2.3734e+00 4.1169e+00 2.88295e-01 1.0000 4.1169e+00 3\n", + " 3 3.4611e+00 1.7966e-01 7.2901e-03 3.2085e-01 2.23704e-01 0.5000 3.2085e-01 3\n", + " 4 3.1577e+00 1.7965e-01 3.8855e-03 2.9392e-01 5.23830e-02 1.0000 2.9392e-01 3\n", + " 5 5.7568e-01 1.7966e-01 5.2041e-05 3.9550e-02 9.00921e-02 0.5000 3.9550e-02 3\n", + " 6 4.7864e-01 1.7965e-01 2.9334e-05 2.9870e-02 4.02789e-02 1.0000 2.9870e-02 3\n", + " 7 3.9684e-01 1.7965e-01 1.5988e-06 2.1717e-02 8.14475e-02 0.2500 2.1717e-02 3\n", + " 8 3.6947e-01 1.7965e-01 1.5460e-06 1.8980e-02 1.95334e-02 1.0000 1.8980e-02 3\n", + " 9 1.9373e-01 1.7965e-01 4.9373e-07 1.4069e-03 3.91717e-02 0.0625 1.5541e-03 1\n", + " 10 1.9366e-01 1.7965e-01 4.6602e-07 1.4002e-03 3.19423e-02 0.5000 1.5492e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0055e+02 1.8936e-01 4.9699e+01 3.3751e-01 1.11918e+00 1.0000 ---- 3\n", + " 2 6.5164e+01 1.7957e-01 2.3832e+00 4.1153e+00 3.02115e-01 1.0000 4.1153e+00 3\n", + " 3 6.1714e+00 1.7963e-01 7.3767e-03 5.9180e-01 2.65402e-01 0.5000 5.9180e-01 3\n", + " 4 5.1332e+00 1.7962e-01 3.9264e-03 4.9143e-01 8.70808e-02 1.0000 4.9143e-01 3\n", + " 5 7.5554e-01 1.7963e-01 5.6451e-05 5.7535e-02 1.67380e-01 0.5000 5.7535e-02 3\n", + " 6 7.5022e-01 1.7962e-01 3.2556e-05 5.7027e-02 8.50455e-02 1.0000 5.7027e-02 3\n", + " 7 5.2999e-01 1.7962e-01 3.0068e-06 3.5034e-02 1.75228e-01 0.2500 3.5034e-02 3\n", + " 8 5.2630e-01 1.7962e-01 2.3710e-06 3.4666e-02 4.13147e-02 1.0000 3.4666e-02 3\n", + " 9 2.3020e-01 1.7962e-01 1.1088e-06 5.0567e-03 8.34472e-02 0.0312 5.0567e-03 1\n", + " 10 2.3011e-01 1.7962e-01 1.0773e-06 5.0479e-03 7.56240e-02 0.2500 5.0479e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0009e+02 1.8932e-01 4.9649e+01 3.4044e-01 1.11393e+00 1.0000 ---- 3\n", + " 2 6.5031e+01 1.7953e-01 2.3896e+00 4.0955e+00 2.88685e-01 1.0000 4.0955e+00 3\n", + " 3 3.9841e+00 1.7959e-01 7.2694e-03 3.7318e-01 2.28477e-01 0.5000 3.7318e-01 3\n", + " 4 3.3652e+00 1.7959e-01 3.8675e-03 3.1469e-01 6.36718e-02 1.0000 3.1469e-01 3\n", + " 5 5.1641e-01 1.7959e-01 4.8772e-05 3.3633e-02 1.19329e-01 0.1250 3.3633e-02 3\n", + " 6 4.9603e-01 1.7959e-01 4.2830e-05 3.1601e-02 7.53147e-02 0.2500 3.1601e-02 3\n", + " 7 4.4983e-01 1.7959e-01 3.2408e-05 2.6991e-02 2.00068e-02 1.0000 2.6991e-02 3\n", + " 8 2.0014e-01 1.7959e-01 8.8579e-07 2.0537e-03 3.83921e-02 0.0039 2.0537e-03 1\n", + " 9 2.0013e-01 1.7959e-01 8.8233e-07 2.0536e-03 3.79400e-02 0.0625 2.0536e-03 1\n", + " 10 1.9966e-01 1.7959e-01 8.2820e-07 2.0067e-03 3.11048e-02 0.0625 2.0067e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9948e+02 1.8929e-01 4.9641e+01 2.8814e-01 1.11141e+00 1.0000 ---- 3\n", + " 2 6.5921e+01 1.7950e-01 2.3776e+00 4.1966e+00 2.89007e-01 1.0000 4.1966e+00 3\n", + " 3 3.4157e+00 1.7956e-01 7.3054e-03 3.1631e-01 2.31387e-01 0.2500 3.1631e-01 3\n", + " 4 2.8057e+00 1.7956e-01 5.5372e-03 2.5708e-01 1.02428e-01 1.0000 2.5708e-01 3\n", + " 5 4.4156e-01 1.7956e-01 4.1901e-04 2.5780e-02 1.19635e-01 0.1250 2.5780e-02 3\n", + " 6 4.3029e-01 1.7956e-01 3.6702e-04 2.4705e-02 8.33168e-02 0.2500 2.4705e-02 3\n", + " 7 4.0565e-01 1.7956e-01 2.7613e-04 2.2333e-02 3.59271e-02 1.0000 2.2333e-02 3\n", + " 8 2.7302e-01 1.7956e-01 1.0643e-05 9.3348e-03 4.13562e-02 0.0020 9.3348e-03 1\n", + " 9 2.7302e-01 1.7956e-01 1.0643e-05 9.3348e-03 4.13488e-02 0.2500 9.3348e-03 1\n", + " 10 2.7272e-01 1.7956e-01 8.5605e-06 9.3076e-03 1.78345e-02 0.5000 9.3076e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9965e+02 1.8926e-01 4.9654e+01 2.9254e-01 1.11298e+00 1.0000 ---- 3\n", + " 2 6.4541e+01 1.7948e-01 2.3792e+00 4.0570e+00 2.88808e-01 1.0000 4.0570e+00 3\n", + " 3 3.3710e+00 1.7953e-01 7.3209e-03 3.1183e-01 2.22838e-01 0.5000 3.1183e-01 3\n", + " 4 3.3657e+00 1.7953e-01 3.8713e-03 3.1474e-01 5.93124e-02 1.0000 3.1474e-01 3\n", + " 5 6.5212e-01 1.7953e-01 4.8467e-05 4.7211e-02 1.07393e-01 0.2500 4.7211e-02 3\n", + " 6 5.7778e-01 1.7953e-01 3.6993e-05 3.9787e-02 2.91821e-02 1.0000 3.9787e-02 3\n", + " 7 2.2901e-01 1.7953e-01 1.7684e-06 4.9463e-03 5.37449e-02 0.0156 4.9463e-03 1\n", + " 8 2.2897e-01 1.7953e-01 1.7412e-06 4.9424e-03 5.13088e-02 0.1250 4.9424e-03 1\n", + " 9 2.2622e-01 1.7953e-01 1.5483e-06 4.6674e-03 3.28150e-02 0.2500 4.6674e-03 1\n", + " 10 2.2568e-01 1.7953e-01 1.2024e-06 4.6139e-03 9.61821e-03 1.0000 4.6139e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9991e+02 1.8923e-01 4.9637e+01 3.3475e-01 1.11767e+00 1.0000 ---- 3\n", + " 2 6.4009e+01 1.7945e-01 2.3835e+00 3.9995e+00 3.01112e-01 1.0000 3.9995e+00 3\n", + " 3 5.2525e+00 1.7950e-01 7.3207e-03 4.9998e-01 2.55872e-01 0.5000 4.9998e-01 3\n", + " 4 4.1635e+00 1.7950e-01 3.9005e-03 3.9450e-01 7.40922e-02 1.0000 3.9450e-01 3\n", + " 5 7.5991e-01 1.7950e-01 5.0071e-05 5.7990e-02 1.35098e-01 0.5000 5.7990e-02 3\n", + " 6 7.0199e-01 1.7950e-01 2.8077e-05 5.2221e-02 6.64261e-02 1.0000 5.2221e-02 3\n", + " 7 4.5297e-01 1.7950e-01 1.7906e-06 2.7345e-02 1.36624e-01 0.2500 2.7345e-02 3\n", + " 8 4.4709e-01 1.7950e-01 1.6295e-06 2.6757e-02 3.12110e-02 1.0000 2.6757e-02 3\n", + " 9 2.4224e-01 1.7950e-01 4.6624e-07 6.2735e-03 6.44686e-02 0.0078 6.2735e-03 1\n", + " 10 2.4223e-01 1.7950e-01 4.6265e-07 6.2723e-03 6.29193e-02 0.2500 6.2723e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9961e+02 1.8920e-01 4.9599e+01 3.4294e-01 1.11125e+00 1.0000 ---- 3\n", + " 2 6.2604e+01 1.7942e-01 2.3776e+00 3.8649e+00 2.88144e-01 1.0000 3.8649e+00 3\n", + " 3 3.9834e+00 1.7947e-01 7.4031e-03 3.7299e-01 2.14369e-01 0.5000 3.7299e-01 3\n", + " 4 3.2832e+00 1.7947e-01 3.9100e-03 3.0646e-01 5.24416e-02 1.0000 3.0646e-01 3\n", + " 5 4.6751e-01 1.7947e-01 5.0219e-05 2.8754e-02 9.41658e-02 0.2500 2.8754e-02 3\n", + " 6 4.0746e-01 1.7947e-01 3.8310e-05 2.2761e-02 2.62901e-02 1.0000 2.2761e-02 3\n", + " 7 2.2406e-01 1.7947e-01 1.6991e-06 4.4573e-03 4.74885e-02 0.0625 5.1409e-03 1\n", + " 8 2.2394e-01 1.7947e-01 1.6017e-06 4.4456e-03 3.91066e-02 0.2500 4.4456e-03 1\n", + " 9 2.1809e-01 1.7947e-01 1.2885e-06 3.8603e-03 1.20148e-02 1.0000 3.8603e-03 1\n", + " 10 2.0420e-01 1.7947e-01 1.3581e-06 2.4720e-03 2.00075e-02 0.5000 2.4720e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9970e+02 1.8917e-01 4.9626e+01 3.2525e-01 1.11247e+00 1.0000 ---- 3\n", + " 2 6.4617e+01 1.7939e-01 2.3757e+00 4.0680e+00 2.91249e-01 1.0000 4.0680e+00 3\n", + " 3 2.7506e+00 1.7945e-01 7.2518e-03 2.4986e-01 2.30542e-01 0.5000 2.4986e-01 3\n", + " 4 2.7218e+00 1.7944e-01 3.8344e-03 2.5041e-01 6.08109e-02 1.0000 2.5041e-01 3\n", + " 5 5.5287e-01 1.7945e-01 4.3382e-05 3.7299e-02 1.09628e-01 0.5000 3.7299e-02 3\n", + " 6 4.8919e-01 1.7945e-01 2.4647e-05 3.0950e-02 5.41416e-02 1.0000 3.0950e-02 3\n", + " 7 4.5746e-01 1.7944e-01 1.6298e-06 2.7800e-02 1.11545e-01 0.2500 2.7800e-02 3\n", + " 8 4.3311e-01 1.7944e-01 1.4531e-06 2.5365e-02 2.52901e-02 1.0000 2.5365e-02 3\n", + " 9 2.4208e-01 1.7944e-01 5.5953e-07 6.2634e-03 5.23650e-02 0.1250 6.2634e-03 1\n", + " 10 2.4154e-01 1.7944e-01 5.0690e-07 6.2091e-03 3.27007e-02 0.5000 6.2091e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 5.0011e+02 1.8914e-01 4.9648e+01 3.4409e-01 1.11608e+00 1.0000 ---- 3\n", + " 2 6.4921e+01 1.7937e-01 2.3770e+00 4.0972e+00 3.04228e-01 1.0000 4.0972e+00 3\n", + " 3 4.3085e+00 1.7942e-01 7.2192e-03 4.0569e-01 2.73272e-01 0.5000 4.0569e-01 3\n", + " 4 3.9021e+00 1.7941e-01 3.8509e-03 3.6842e-01 9.20930e-02 1.0000 3.6842e-01 3\n", + " 5 7.5961e-01 1.7942e-01 5.1749e-05 5.7967e-02 1.79322e-01 0.2500 5.7967e-02 3\n", + " 6 6.5789e-01 1.7942e-01 3.9754e-05 4.7808e-02 4.33118e-02 1.0000 4.7808e-02 3\n", + " 7 2.2731e-01 1.7942e-01 2.7667e-06 4.7867e-03 8.31686e-02 0.0312 4.7867e-03 1\n", + " 8 2.2720e-01 1.7942e-01 2.6836e-06 4.7752e-03 7.53273e-02 0.5000 4.7752e-03 1\n", + " 9 2.2653e-01 1.7942e-01 2.3961e-06 4.7084e-03 3.90318e-02 0.2500 4.7084e-03 1\n", + " 10 2.2521e-01 1.7942e-01 1.7991e-06 4.5770e-03 9.16759e-03 1.0000 4.5770e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9970e+02 1.8912e-01 4.9633e+01 3.1806e-01 1.11219e+00 1.0000 ---- 3\n", + " 2 6.4493e+01 1.7934e-01 2.3679e+00 4.0635e+00 2.89205e-01 1.0000 4.0635e+00 3\n", + " 3 3.5664e+00 1.7940e-01 7.2301e-03 3.3147e-01 2.29125e-01 0.5000 3.3147e-01 3\n", + " 4 3.2818e+00 1.7939e-01 3.8469e-03 3.0639e-01 6.79175e-02 1.0000 3.0639e-01 3\n", + " 5 5.2933e-01 1.7939e-01 5.7266e-05 3.4937e-02 1.32325e-01 0.5000 3.4937e-02 3\n", + " 6 5.0761e-01 1.7939e-01 3.2786e-05 3.2789e-02 7.02010e-02 1.0000 3.2789e-02 3\n", + " 7 4.8083e-01 1.7939e-01 1.4197e-06 3.0142e-02 1.50534e-01 0.2500 3.0142e-02 3\n", + " 8 4.5841e-01 1.7939e-01 1.5428e-06 2.7901e-02 3.21318e-02 1.0000 2.7901e-02 3\n", + " 9 1.9452e-01 1.7939e-01 7.1746e-07 1.5128e-03 6.72829e-02 0.0020 1.5251e-03 1\n", + " 10 1.9452e-01 1.7939e-01 7.1746e-07 1.5128e-03 6.72591e-02 0.2500 1.5246e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9972e+02 1.8909e-01 4.9619e+01 3.3383e-01 1.11133e+00 1.0000 ---- 3\n", + " 2 6.4776e+01 1.7931e-01 2.3762e+00 4.0835e+00 2.91436e-01 1.0000 4.0835e+00 3\n", + " 3 2.5499e+00 1.7937e-01 7.2087e-03 2.2985e-01 2.38569e-01 0.5000 2.2985e-01 3\n", + " 4 2.5190e+00 1.7936e-01 3.8369e-03 2.3013e-01 7.28121e-02 1.0000 2.3013e-01 3\n", + " 5 5.0382e-01 1.7936e-01 4.6365e-05 3.2399e-02 1.41756e-01 0.5000 3.2399e-02 3\n", + " 6 4.9008e-01 1.7936e-01 2.6319e-05 3.1046e-02 7.64056e-02 1.0000 3.1046e-02 3\n", + " 7 4.5880e-01 1.7936e-01 1.9427e-06 2.7942e-02 1.61125e-01 0.2500 2.7942e-02 3\n", + " 8 4.4142e-01 1.7936e-01 1.6371e-06 2.6205e-02 3.44533e-02 1.0000 2.6205e-02 3\n", + " 9 2.0548e-01 1.7936e-01 4.7444e-07 2.6122e-03 7.28021e-02 0.0312 2.6122e-03 1\n", + " 10 2.0547e-01 1.7936e-01 4.6059e-07 2.6113e-03 6.58083e-02 0.2500 2.6113e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9966e+02 1.8905e-01 4.9615e+01 3.3166e-01 1.11164e+00 1.0000 ---- 3\n", + " 2 6.4999e+01 1.7928e-01 2.3783e+00 4.1036e+00 2.85722e-01 1.0000 4.1036e+00 3\n", + " 3 3.8153e+00 1.7933e-01 7.2103e-03 3.5639e-01 2.17739e-01 0.5000 3.5639e-01 3\n", + " 4 3.3887e+00 1.7933e-01 3.8359e-03 3.1710e-01 6.16998e-02 1.0000 3.1710e-01 3\n", + " 5 5.4053e-01 1.7933e-01 5.3951e-05 3.6065e-02 1.15797e-01 0.5000 3.6065e-02 3\n", + " 6 4.8505e-01 1.7933e-01 3.0025e-05 3.0542e-02 5.80105e-02 1.0000 3.0542e-02 3\n", + " 7 4.3827e-01 1.7933e-01 1.2843e-06 2.5893e-02 1.20539e-01 0.2500 2.5893e-02 3\n", + " 8 4.1853e-01 1.7933e-01 1.2460e-06 2.3919e-02 2.72390e-02 1.0000 2.3919e-02 3\n", + " 9 2.0285e-01 1.7933e-01 3.8985e-07 2.3519e-03 5.59341e-02 0.2500 2.3519e-03 1\n", + " 10 2.0240e-01 1.7933e-01 4.1512e-07 2.3068e-03 1.38000e-02 1.0000 2.3068e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9989e+02 1.8902e-01 4.9631e+01 3.3871e-01 1.11893e+00 1.0000 ---- 3\n", + " 2 6.5012e+01 1.7925e-01 2.3806e+00 4.1028e+00 3.01344e-01 1.0000 4.1028e+00 3\n", + " 3 6.0832e+00 1.7930e-01 7.2345e-03 5.8315e-01 2.72728e-01 0.5000 5.8315e-01 3\n", + " 4 5.4629e+00 1.7930e-01 3.8535e-03 5.2450e-01 9.41265e-02 1.0000 5.2450e-01 3\n", + " 5 7.9206e-01 1.7931e-01 5.7074e-05 6.1218e-02 1.80183e-01 0.2500 6.1218e-02 3\n", + " 6 6.6942e-01 1.7930e-01 4.3661e-05 4.8968e-02 4.48785e-02 1.0000 4.8968e-02 3\n", + " 7 2.1173e-01 1.7930e-01 2.5224e-06 3.2402e-03 8.59456e-02 0.1250 3.2402e-03 1\n", + " 8 2.1147e-01 1.7930e-01 2.2784e-06 3.2141e-03 5.40628e-02 0.5000 3.2141e-03 1\n", + " 9 2.0360e-01 1.7930e-01 1.8188e-06 2.4275e-03 2.69036e-02 1.0000 2.4275e-03 1\n", + " 10 2.0009e-01 1.7930e-01 8.7778e-07 2.0779e-03 5.35110e-02 0.1250 2.0779e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9937e+02 1.8899e-01 4.9591e+01 3.2615e-01 1.11263e+00 1.0000 ---- 3\n", + " 2 6.4367e+01 1.7922e-01 2.3711e+00 4.0477e+00 3.00531e-01 1.0000 4.0477e+00 3\n", + " 3 2.9015e+00 1.7928e-01 7.1008e-03 2.6512e-01 2.64911e-01 0.2500 2.6512e-01 3\n", + " 4 2.3526e+00 1.7927e-01 5.3815e-03 2.1195e-01 1.06338e-01 1.0000 2.1195e-01 3\n", + " 5 5.2078e-01 1.7928e-01 3.7894e-04 3.3772e-02 1.28654e-01 0.1250 3.3772e-02 3\n", + " 6 4.9276e-01 1.7928e-01 3.3182e-04 3.1017e-02 8.82745e-02 0.2500 3.1017e-02 3\n", + " 7 4.4225e-01 1.7927e-01 2.4933e-04 2.6048e-02 3.74096e-02 1.0000 2.6048e-02 3\n", + " 8 2.2288e-01 1.7927e-01 9.7249e-06 4.3507e-03 4.40440e-02 0.0078 4.3507e-03 1\n", + " 9 2.2288e-01 1.7927e-01 9.6495e-06 4.3505e-03 4.32155e-02 0.1250 4.3505e-03 1\n", + " 10 2.2105e-01 1.7927e-01 8.5786e-06 4.1685e-03 3.05093e-02 0.1250 4.1685e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9942e+02 1.8897e-01 4.9628e+01 2.9586e-01 1.11534e+00 1.0000 ---- 3\n", + " 2 6.3883e+01 1.7920e-01 2.3692e+00 4.0012e+00 2.93282e-01 1.0000 4.0012e+00 3\n", + " 3 3.1500e+00 1.7925e-01 7.4557e-03 2.8962e-01 2.38536e-01 0.5000 2.8962e-01 3\n", + " 4 2.9677e+00 1.7925e-01 3.9604e-03 2.7489e-01 6.39091e-02 1.0000 2.7489e-01 3\n", + " 5 5.8813e-01 1.7925e-01 4.9701e-05 4.0839e-02 1.14369e-01 0.5000 4.0839e-02 3\n", + " 6 5.2595e-01 1.7925e-01 2.7535e-05 3.4643e-02 5.56072e-02 1.0000 3.4643e-02 3\n", + " 7 4.2489e-01 1.7925e-01 1.2991e-06 2.4563e-02 1.13874e-01 0.2500 2.4563e-02 3\n", + " 8 3.9729e-01 1.7925e-01 1.1915e-06 2.1803e-02 2.60215e-02 1.0000 2.1803e-02 3\n", + " 9 2.0488e-01 1.7925e-01 3.1234e-07 2.5627e-03 5.35760e-02 0.0625 2.5627e-03 1\n", + " 10 2.0479e-01 1.7925e-01 2.9888e-07 2.5541e-03 4.35701e-02 0.2500 2.5541e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9927e+02 1.8894e-01 4.9571e+01 3.3655e-01 1.11057e+00 1.0000 ---- 3\n", + " 2 6.4258e+01 1.7917e-01 2.3749e+00 4.0330e+00 2.86569e-01 1.0000 4.0330e+00 3\n", + " 3 3.0374e+00 1.7922e-01 7.2459e-03 2.7857e-01 2.16939e-01 0.2500 2.7857e-01 3\n", + " 4 2.4931e+00 1.7922e-01 5.4883e-03 2.2590e-01 1.01165e-01 1.0000 2.2590e-01 3\n", + " 5 5.1981e-01 1.7922e-01 3.7808e-04 3.3681e-02 1.14654e-01 0.1250 3.3681e-02 3\n", + " 6 5.0604e-01 1.7922e-01 3.3103e-04 3.2351e-02 8.13616e-02 0.2500 3.2351e-02 3\n", + " 7 4.7618e-01 1.7922e-01 2.4868e-04 2.9447e-02 3.62924e-02 1.0000 2.9447e-02 3\n", + " 8 2.4977e-01 1.7922e-01 9.8650e-06 7.0446e-03 4.12020e-02 0.0020 7.0446e-03 1\n", + " 9 2.4977e-01 1.7922e-01 9.8650e-06 7.0446e-03 4.11852e-02 0.1250 7.0446e-03 1\n", + " 10 2.4634e-01 1.7922e-01 8.7578e-06 6.7033e-03 2.94110e-02 0.1250 6.7033e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9854e+02 1.8891e-01 4.9533e+01 3.0278e-01 1.11487e+00 1.0000 ---- 3\n", + " 2 6.2055e+01 1.7915e-01 2.3711e+00 3.8165e+00 2.96497e-01 1.0000 3.8165e+00 3\n", + " 3 3.0151e+00 1.7920e-01 7.6045e-03 2.7599e-01 2.37955e-01 0.5000 2.7599e-01 3\n", + " 4 2.8449e+00 1.7919e-01 4.0317e-03 2.6254e-01 5.72837e-02 1.0000 2.6254e-01 3\n", + " 5 7.1606e-01 1.7920e-01 4.7414e-05 5.3639e-02 9.61459e-02 0.5000 5.3639e-02 3\n", + " 6 6.8429e-01 1.7919e-01 2.6391e-05 5.0483e-02 4.17051e-02 1.0000 5.0483e-02 3\n", + " 7 3.8937e-01 1.7919e-01 1.2298e-06 2.1016e-02 8.28617e-02 0.2500 2.1016e-02 3\n", + " 8 3.8544e-01 1.7919e-01 1.0655e-06 2.0623e-02 2.02929e-02 1.0000 2.0623e-02 3\n", + " 9 2.2149e-01 1.7919e-01 2.9856e-07 4.2294e-03 4.07480e-02 0.0312 4.2294e-03 1\n", + " 10 2.2138e-01 1.7919e-01 2.8901e-07 4.2180e-03 3.70271e-02 0.2500 4.2180e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9872e+02 1.8888e-01 4.9512e+01 3.4159e-01 1.11000e+00 1.0000 ---- 3\n", + " 2 6.2767e+01 1.7912e-01 2.3723e+00 3.8864e+00 2.90589e-01 1.0000 3.8864e+00 3\n", + " 3 2.4391e+00 1.7917e-01 7.2488e-03 2.1875e-01 2.21228e-01 0.2500 2.1875e-01 3\n", + " 4 2.0066e+00 1.7917e-01 5.4927e-03 1.7725e-01 1.01453e-01 1.0000 1.7725e-01 3\n", + " 5 5.0596e-01 1.7917e-01 3.8268e-04 3.2296e-02 1.16688e-01 0.1250 3.2296e-02 3\n", + " 6 4.8680e-01 1.7917e-01 3.3514e-04 3.0428e-02 8.26339e-02 0.2500 3.0428e-02 3\n", + " 7 4.4855e-01 1.7917e-01 2.5198e-04 2.6686e-02 3.65575e-02 1.0000 2.6686e-02 3\n", + " 8 2.2641e-01 1.7917e-01 1.0513e-05 4.7134e-03 4.18252e-02 0.0039 4.7134e-03 1\n", + " 9 2.2640e-01 1.7917e-01 1.0472e-05 4.7133e-03 4.14304e-02 0.1250 4.7133e-03 1\n", + " 10 2.2493e-01 1.7917e-01 9.3022e-06 4.5672e-03 2.95098e-02 0.1250 4.5672e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9936e+02 1.8886e-01 4.9628e+01 2.8906e-01 1.11597e+00 1.0000 ---- 3\n", + " 2 6.3647e+01 1.7909e-01 2.3534e+00 3.9934e+00 2.96249e-01 1.0000 3.9934e+00 3\n", + " 3 3.1399e+00 1.7915e-01 7.4917e-03 2.8858e-01 2.47089e-01 0.5000 2.8858e-01 3\n", + " 4 2.9285e+00 1.7914e-01 3.9720e-03 2.7097e-01 6.29300e-02 1.0000 2.7097e-01 3\n", + " 5 5.9376e-01 1.7915e-01 5.7216e-05 4.1404e-02 1.05659e-01 0.5000 4.1404e-02 3\n", + " 6 5.0766e-01 1.7915e-01 3.1573e-05 3.2820e-02 4.54121e-02 1.0000 3.2820e-02 3\n", + " 7 4.2063e-01 1.7915e-01 1.3657e-06 2.4147e-02 9.03088e-02 0.2500 2.4147e-02 3\n", + " 8 3.9036e-01 1.7914e-01 1.2247e-06 2.1120e-02 2.20163e-02 1.0000 2.1120e-02 3\n", + " 9 2.0504e-01 1.7914e-01 3.2276e-07 2.5895e-03 4.37530e-02 0.2500 2.5895e-03 1\n", + " 10 2.0415e-01 1.7914e-01 3.2261e-07 2.5003e-03 1.19949e-02 1.0000 2.5003e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9952e+02 1.8883e-01 4.9591e+01 3.4188e-01 1.11774e+00 1.0000 ---- 3\n", + " 2 6.4642e+01 1.7907e-01 2.3727e+00 4.0737e+00 3.10877e-01 1.0000 4.0737e+00 3\n", + " 3 4.9770e+00 1.7913e-01 7.2044e-03 4.7258e-01 2.88220e-01 0.5000 4.7258e-01 3\n", + " 4 4.3960e+00 1.7912e-01 3.8230e-03 4.1787e-01 8.97388e-02 1.0000 4.1787e-01 3\n", + " 5 7.9484e-01 1.7912e-01 5.2939e-05 6.1519e-02 1.64596e-01 0.2500 6.1519e-02 3\n", + " 6 6.7433e-01 1.7912e-01 4.0632e-05 4.9480e-02 4.32812e-02 1.0000 4.9480e-02 3\n", + " 7 2.0336e-01 1.7912e-01 2.8825e-06 2.4206e-03 7.85460e-02 0.0020 2.4206e-03 1\n", + " 8 2.0336e-01 1.7912e-01 2.8825e-06 2.4206e-03 7.85123e-02 0.2500 2.4206e-03 1\n", + " 9 2.0121e-01 1.7912e-01 2.3873e-06 2.2067e-03 2.21756e-02 0.5000 2.2067e-03 1\n", + " 10 1.9804e-01 1.7912e-01 1.3022e-06 1.8902e-03 9.37530e-03 1.0000 1.8902e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9874e+02 1.8881e-01 4.9536e+01 3.1914e-01 1.11017e+00 1.0000 ---- 3\n", + " 2 6.4048e+01 1.7905e-01 2.3697e+00 4.0172e+00 2.90569e-01 1.0000 4.0172e+00 3\n", + " 3 2.4445e+00 1.7910e-01 7.2134e-03 2.1932e-01 2.36117e-01 0.2500 2.1932e-01 3\n", + " 4 2.0054e+00 1.7910e-01 5.4689e-03 1.7716e-01 1.04165e-01 1.0000 1.7716e-01 3\n", + " 5 4.4335e-01 1.7910e-01 3.9851e-04 2.6026e-02 1.24120e-01 0.1250 2.6026e-02 3\n", + " 6 4.3371e-01 1.7910e-01 3.4903e-04 2.5112e-02 8.68718e-02 0.2500 2.5112e-02 3\n", + " 7 4.1091e-01 1.7910e-01 2.6249e-04 2.2918e-02 3.74102e-02 1.0000 2.2918e-02 3\n", + " 8 2.3298e-01 1.7910e-01 1.1324e-05 5.3764e-03 4.40136e-02 0.0020 5.3764e-03 1\n", + " 9 2.3298e-01 1.7910e-01 1.1324e-05 5.3764e-03 4.39985e-02 0.1250 5.3764e-03 1\n", + " 10 2.3054e-01 1.7910e-01 1.0075e-05 5.1342e-03 3.11505e-02 0.1250 5.1342e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9893e+02 1.8879e-01 4.9584e+01 2.8968e-01 1.11619e+00 1.0000 ---- 3\n", + " 2 6.3660e+01 1.7903e-01 2.3592e+00 3.9889e+00 2.98516e-01 1.0000 3.9889e+00 3\n", + " 3 3.1145e+00 1.7909e-01 7.5506e-03 2.8600e-01 2.52051e-01 0.5000 2.8600e-01 3\n", + " 4 2.9099e+00 1.7908e-01 4.0084e-03 2.6907e-01 6.29190e-02 1.0000 2.6907e-01 3\n", + " 5 5.8289e-01 1.7908e-01 5.6875e-05 4.0324e-02 1.04324e-01 0.5000 4.0324e-02 3\n", + " 6 4.8780e-01 1.7908e-01 3.1759e-05 3.0840e-02 4.20595e-02 1.0000 3.0840e-02 3\n", + " 7 3.9739e-01 1.7908e-01 1.4432e-06 2.1830e-02 8.07837e-02 0.2500 2.1830e-02 3\n", + " 8 3.6599e-01 1.7908e-01 1.2870e-06 1.8690e-02 2.09290e-02 1.0000 1.8690e-02 3\n", + " 9 1.9200e-01 1.7908e-01 3.7633e-07 1.2920e-03 4.08619e-02 0.0312 1.6149e-03 1\n", + " 10 1.9196e-01 1.7908e-01 3.6423e-07 1.2874e-03 3.71990e-02 0.1250 1.6147e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9875e+02 1.8877e-01 4.9520e+01 3.3670e-01 1.10649e+00 1.0000 ---- 3\n", + " 2 6.3663e+01 1.7901e-01 2.3638e+00 3.9846e+00 2.89558e-01 1.0000 3.9846e+00 3\n", + " 3 1.5581e+00 1.7906e-01 7.2872e-03 1.3062e-01 2.23029e-01 0.2500 1.3062e-01 3\n", + " 4 1.3747e+00 1.7906e-01 5.5219e-03 1.1404e-01 1.01499e-01 1.0000 1.1404e-01 3\n", + " 5 5.3109e-01 1.7906e-01 3.6051e-04 3.4843e-02 1.16148e-01 0.2500 3.4843e-02 3\n", + " 6 5.1037e-01 1.7906e-01 2.7120e-04 3.2860e-02 4.97501e-02 1.0000 3.2860e-02 3\n", + " 7 2.6100e-01 1.7906e-01 1.7591e-05 8.1767e-03 5.87781e-02 0.0020 9.5503e-03 1\n", + " 8 2.6100e-01 1.7906e-01 1.7591e-05 8.1767e-03 5.87590e-02 0.1250 8.1767e-03 1\n", + " 9 2.5750e-01 1.7906e-01 1.5650e-05 7.8283e-03 4.17330e-02 0.1250 7.8283e-03 1\n", + " 10 2.5659e-01 1.7906e-01 1.3828e-05 7.7397e-03 2.97989e-02 0.5000 7.7397e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9879e+02 1.8874e-01 4.9526e+01 3.3465e-01 1.11025e+00 1.0000 ---- 3\n", + " 2 6.4422e+01 1.7899e-01 2.3686e+00 4.0557e+00 2.96164e-01 1.0000 4.0557e+00 3\n", + " 3 2.8883e+00 1.7904e-01 7.3404e-03 2.6359e-01 2.47904e-01 0.5000 2.6359e-01 3\n", + " 4 2.8180e+00 1.7903e-01 3.9044e-03 2.5999e-01 6.76102e-02 1.0000 2.5999e-01 3\n", + " 5 5.3211e-01 1.7904e-01 4.9165e-05 3.5258e-02 1.16515e-01 0.5000 3.5258e-02 3\n", + " 6 4.6525e-01 1.7904e-01 2.8503e-05 2.8593e-02 5.07483e-02 1.0000 2.8593e-02 3\n", + " 7 4.1950e-01 1.7904e-01 2.1116e-06 2.4044e-02 1.00617e-01 0.2500 2.4044e-02 3\n", + " 8 3.9818e-01 1.7904e-01 1.8778e-06 2.1912e-02 2.43988e-02 1.0000 2.1912e-02 3\n", + " 9 2.2229e-01 1.7904e-01 6.4891e-07 4.3243e-03 4.85671e-02 0.0312 4.5014e-03 1\n", + " 10 2.2218e-01 1.7904e-01 6.2945e-07 4.3135e-03 4.40997e-02 0.2500 4.3135e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9865e+02 1.8872e-01 4.9503e+01 3.4324e-01 1.10943e+00 1.0000 ---- 3\n", + " 2 6.4194e+01 1.7897e-01 2.3640e+00 4.0375e+00 2.92918e-01 1.0000 4.0375e+00 3\n", + " 3 2.4571e+00 1.7902e-01 7.2988e-03 2.2051e-01 2.36097e-01 0.2500 2.2051e-01 3\n", + " 4 2.0232e+00 1.7902e-01 5.5353e-03 1.7888e-01 1.05806e-01 1.0000 1.7888e-01 3\n", + " 5 4.7017e-01 1.7902e-01 3.9632e-04 2.8718e-02 1.25168e-01 0.1250 2.8718e-02 3\n", + " 6 4.5624e-01 1.7902e-01 3.4714e-04 2.7375e-02 8.82015e-02 0.2500 2.7375e-02 3\n", + " 7 4.2697e-01 1.7902e-01 2.6116e-04 2.4534e-02 3.82219e-02 1.0000 2.4534e-02 3\n", + " 8 2.2637e-01 1.7902e-01 1.1558e-05 4.7241e-03 4.52947e-02 0.0020 5.5072e-03 1\n", + " 9 2.2637e-01 1.7902e-01 1.1558e-05 4.7241e-03 4.52770e-02 0.1250 4.7241e-03 1\n", + " 10 2.2509e-01 1.7902e-01 1.0286e-05 4.5971e-03 3.20578e-02 0.1250 4.5971e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9796e+02 1.8871e-01 4.9487e+01 2.8997e-01 1.11545e+00 1.0000 ---- 3\n", + " 2 6.1807e+01 1.7895e-01 2.3541e+00 3.8087e+00 3.05762e-01 1.0000 3.8087e+00 3\n", + " 3 2.8625e+00 1.7901e-01 7.6771e-03 2.6068e-01 2.60818e-01 0.5000 2.6068e-01 3\n", + " 4 2.7067e+00 1.7900e-01 4.0656e-03 2.4870e-01 6.80694e-02 1.0000 2.4870e-01 3\n", + " 5 5.8821e-01 1.7900e-01 5.9734e-05 4.0861e-02 1.14988e-01 0.5000 4.0861e-02 3\n", + " 6 4.8586e-01 1.7900e-01 3.3861e-05 3.0652e-02 4.82441e-02 1.0000 3.0652e-02 3\n", + " 7 3.6566e-01 1.7900e-01 1.7104e-06 1.8665e-02 9.56299e-02 0.2500 1.8665e-02 3\n", + " 8 3.4352e-01 1.7900e-01 1.5317e-06 1.6451e-02 2.33270e-02 1.0000 1.6451e-02 3\n", + " 9 2.0053e-01 1.7900e-01 4.5705e-07 2.1530e-03 4.64677e-02 0.0078 2.7212e-03 1\n", + " 10 2.0053e-01 1.7900e-01 4.5345e-07 2.1524e-03 4.53848e-02 0.2500 2.1524e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9892e+02 1.8868e-01 4.9541e+01 3.3219e-01 1.10877e+00 1.0000 ---- 3\n", + " 2 6.4024e+01 1.7893e-01 2.3502e+00 4.0343e+00 2.91980e-01 1.0000 4.0343e+00 3\n", + " 3 2.4731e+00 1.7898e-01 7.2692e-03 2.2214e-01 2.33654e-01 0.2500 2.2214e-01 3\n", + " 4 2.0265e+00 1.7898e-01 5.5119e-03 1.7924e-01 1.04916e-01 1.0000 1.7924e-01 3\n", + " 5 4.4566e-01 1.7898e-01 3.8849e-04 2.6279e-02 1.24200e-01 0.1250 2.6279e-02 3\n", + " 6 4.3660e-01 1.7898e-01 3.4026e-04 2.5422e-02 8.73792e-02 0.2500 2.5422e-02 3\n", + " 7 4.1420e-01 1.7898e-01 2.5593e-04 2.3266e-02 3.79440e-02 1.0000 2.3266e-02 3\n", + " 8 2.2756e-01 1.7898e-01 1.1260e-05 4.8468e-03 4.48432e-02 0.0020 5.3866e-03 1\n", + " 9 2.2756e-01 1.7898e-01 1.1260e-05 4.8468e-03 4.48262e-02 0.1250 4.8468e-03 1\n", + " 10 2.2595e-01 1.7898e-01 1.0012e-05 4.6872e-03 3.17332e-02 0.1250 4.6872e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9831e+02 1.8866e-01 4.9523e+01 2.8954e-01 1.11580e+00 1.0000 ---- 3\n", + " 2 6.2734e+01 1.7891e-01 2.3571e+00 3.8984e+00 3.03915e-01 1.0000 3.8984e+00 3\n", + " 3 2.9641e+00 1.7897e-01 7.6442e-03 2.7087e-01 2.62324e-01 0.5000 2.7087e-01 3\n", + " 4 2.7950e+00 1.7896e-01 4.0395e-03 2.5757e-01 6.98401e-02 1.0000 2.5757e-01 3\n", + " 5 6.0251e-01 1.7896e-01 6.0819e-05 4.2294e-02 1.18485e-01 0.2500 4.2294e-02 3\n", + " 6 5.1966e-01 1.7896e-01 4.6648e-05 3.4024e-02 3.50317e-02 1.0000 3.4024e-02 3\n", + " 7 2.1995e-01 1.7896e-01 3.1788e-06 4.0963e-03 6.03319e-02 0.0020 6.1662e-03 1\n", + " 8 2.1995e-01 1.7896e-01 3.1726e-06 4.0962e-03 5.99707e-02 0.1250 4.0962e-03 1\n", + " 9 2.1802e-01 1.7896e-01 2.8363e-06 3.9034e-03 3.90724e-02 0.1250 4.0956e-03 1\n", + " 10 2.1724e-01 1.7896e-01 2.5012e-06 3.8251e-03 2.56103e-02 0.5000 3.8251e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9861e+02 1.8864e-01 4.9503e+01 3.3940e-01 1.11438e+00 1.0000 ---- 3\n", + " 2 6.3892e+01 1.7889e-01 2.3697e+00 4.0016e+00 3.04598e-01 1.0000 4.0016e+00 3\n", + " 3 3.6441e+00 1.7895e-01 7.2459e-03 3.3927e-01 2.73985e-01 0.5000 3.3927e-01 3\n", + " 4 3.3629e+00 1.7894e-01 3.8423e-03 3.1455e-01 8.24019e-02 1.0000 3.1455e-01 3\n", + " 5 6.6915e-01 1.7894e-01 5.9348e-05 4.8962e-02 1.48194e-01 0.5000 4.8962e-02 3\n", + " 6 5.7951e-01 1.7894e-01 3.4075e-05 4.0023e-02 7.05912e-02 1.0000 4.0023e-02 3\n", + " 7 4.9481e-01 1.7894e-01 2.8577e-06 3.1584e-02 1.45848e-01 0.2500 3.1584e-02 3\n", + " 8 4.6385e-01 1.7894e-01 2.5118e-06 2.8489e-02 3.19513e-02 1.0000 2.8489e-02 3\n", + " 9 1.9152e-01 1.7894e-01 6.3899e-07 1.2579e-03 6.58462e-02 0.0156 1.6466e-03 1\n", + " 10 1.9152e-01 1.7894e-01 6.2921e-07 1.2571e-03 6.27171e-02 0.1250 1.6189e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9827e+02 1.8862e-01 4.9469e+01 3.3922e-01 1.10839e+00 1.0000 ---- 3\n", + " 2 6.3654e+01 1.7887e-01 2.3618e+00 3.9857e+00 3.10391e-01 1.0000 3.9857e+00 3\n", + " 3 1.7717e+00 1.7893e-01 7.3343e-03 1.5194e-01 2.88267e-01 0.2500 1.5194e-01 3\n", + " 4 1.4982e+00 1.7892e-01 5.5645e-03 1.2637e-01 1.09030e-01 1.0000 1.2637e-01 3\n", + " 5 4.7072e-01 1.7892e-01 3.9910e-04 2.8780e-02 1.39816e-01 0.2500 2.8780e-02 3\n", + " 6 4.2971e-01 1.7892e-01 3.0092e-04 2.4778e-02 5.27447e-02 1.0000 2.4778e-02 3\n", + " 7 2.7113e-01 1.7892e-01 2.0446e-05 9.2011e-03 6.80224e-02 0.2500 9.2011e-03 2\n", + " 8 2.5027e-01 1.7892e-01 1.6618e-05 7.1183e-03 2.62397e-02 1.0000 7.1183e-03 2\n", + " 9 1.9769e-01 1.7892e-01 4.5034e-06 1.8731e-03 3.62621e-02 0.0020 4.5089e-03 1\n", + " 10 1.9769e-01 1.7892e-01 4.5034e-06 1.8731e-03 3.62445e-02 0.1250 1.8731e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9777e+02 1.8860e-01 4.9466e+01 2.9208e-01 1.10779e+00 1.0000 ---- 3\n", + " 2 6.5673e+01 1.7885e-01 2.3666e+00 4.1828e+00 3.02100e-01 1.0000 4.1828e+00 3\n", + " 3 3.2331e+00 1.7891e-01 7.1757e-03 2.9825e-01 2.63687e-01 0.5000 2.9825e-01 3\n", + " 4 2.8785e+00 1.7890e-01 3.8253e-03 2.6613e-01 8.06844e-02 1.0000 2.6613e-01 3\n", + " 5 5.4099e-01 1.7890e-01 5.9511e-05 3.6149e-02 1.47323e-01 0.5000 3.6149e-02 3\n", + " 6 4.5282e-01 1.7890e-01 3.4554e-05 2.7357e-02 7.22160e-02 1.0000 2.7357e-02 3\n", + " 7 3.8073e-01 1.7890e-01 3.3258e-06 2.0179e-02 1.53117e-01 0.2500 2.0179e-02 3\n", + " 8 3.6538e-01 1.7890e-01 3.0560e-06 1.8645e-02 3.18391e-02 1.0000 1.8645e-02 3\n", + " 9 1.9695e-01 1.7890e-01 8.1034e-07 1.8040e-03 6.67289e-02 0.0156 2.6471e-03 1\n", + " 10 1.9694e-01 1.7890e-01 7.9786e-07 1.8036e-03 6.35181e-02 0.1250 1.8036e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9774e+02 1.8858e-01 4.9415e+01 3.4016e-01 1.10868e+00 1.0000 ---- 3\n", + " 2 6.3211e+01 1.7884e-01 2.3573e+00 3.9460e+00 3.18410e-01 1.0000 3.9460e+00 3\n", + " 3 1.5283e+00 1.7889e-01 7.4309e-03 1.2751e-01 3.05661e-01 0.2500 1.2751e-01 3\n", + " 4 1.3632e+00 1.7889e-01 5.6344e-03 1.1280e-01 1.11297e-01 1.0000 1.1280e-01 3\n", + " 5 5.1754e-01 1.7888e-01 3.6973e-04 3.3496e-02 1.45770e-01 0.2500 3.3496e-02 3\n", + " 6 4.9441e-01 1.7888e-01 2.7883e-04 3.1274e-02 5.39644e-02 1.0000 3.1274e-02 3\n", + " 7 2.4994e-01 1.7888e-01 1.9567e-05 7.0858e-03 7.08284e-02 0.2500 7.0858e-03 2\n", + " 8 2.4056e-01 1.7888e-01 1.5952e-05 6.1516e-03 2.67557e-02 0.0020 8.3284e-03 1\n", + " 9 2.4056e-01 1.7888e-01 1.5952e-05 6.1516e-03 2.67542e-02 1.0000 6.1516e-03 1\n", + " 10 2.3852e-01 1.7888e-01 7.0030e-06 5.9566e-03 3.62607e-02 0.1250 7.7663e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9768e+02 1.8856e-01 4.9405e+01 3.4383e-01 1.10761e+00 1.0000 ---- 3\n", + " 2 6.4122e+01 1.7882e-01 2.3642e+00 4.0302e+00 3.06950e-01 1.0000 4.0302e+00 3\n", + " 3 3.1363e+00 1.7887e-01 7.1101e-03 2.8863e-01 2.71079e-01 0.5000 2.8863e-01 3\n", + " 4 2.7476e+00 1.7886e-01 3.8008e-03 2.5307e-01 8.39048e-02 1.0000 2.5307e-01 3\n", + " 5 7.1057e-01 1.7887e-01 6.5428e-05 5.3105e-02 1.52997e-01 0.5000 5.3105e-02 3\n", + " 6 6.3354e-01 1.7886e-01 3.8824e-05 4.5429e-02 7.62172e-02 1.0000 4.5429e-02 3\n", + " 7 3.5449e-01 1.7886e-01 4.0517e-06 1.7559e-02 1.68156e-01 0.2500 1.7559e-02 3\n", + " 8 3.5041e-01 1.7886e-01 3.9073e-06 1.7151e-02 3.26071e-02 1.0000 1.7151e-02 3\n", + " 9 1.9890e-01 1.7886e-01 1.2559e-06 2.0028e-03 6.77598e-02 0.0020 3.1558e-03 1\n", + " 10 1.9890e-01 1.7886e-01 1.2559e-06 2.0028e-03 6.77289e-02 0.1250 2.0028e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9745e+02 1.8854e-01 4.9385e+01 3.4105e-01 1.10942e+00 1.0000 ---- 3\n", + " 2 6.2451e+01 1.7880e-01 2.3497e+00 3.8775e+00 3.22108e-01 1.0000 3.8775e+00 3\n", + " 3 1.6253e+00 1.7885e-01 7.5565e-03 1.3709e-01 3.18256e-01 0.2500 1.3709e-01 3\n", + " 4 1.4092e+00 1.7885e-01 5.7305e-03 1.1730e-01 1.10880e-01 1.0000 1.1730e-01 3\n", + " 5 5.3129e-01 1.7885e-01 3.8037e-04 3.4864e-02 1.45452e-01 0.2500 3.4864e-02 3\n", + " 6 5.0213e-01 1.7884e-01 2.8732e-04 3.2041e-02 5.40074e-02 1.0000 3.2041e-02 3\n", + " 7 2.4178e-01 1.7884e-01 2.0429e-05 6.2730e-03 7.14859e-02 0.2500 6.2730e-03 2\n", + " 8 2.3596e-01 1.7884e-01 1.6329e-05 5.6950e-03 2.68404e-02 0.0020 7.9271e-03 1\n", + " 9 2.3596e-01 1.7884e-01 1.6329e-05 5.6950e-03 2.68418e-02 0.5000 5.6950e-03 1\n", + " 10 2.2135e-01 1.7884e-01 9.1818e-06 4.2416e-03 6.80251e-03 1.0000 4.2416e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9754e+02 1.8852e-01 4.9391e+01 3.4446e-01 1.11360e+00 1.0000 ---- 3\n", + " 2 6.2462e+01 1.7878e-01 2.3571e+00 3.8712e+00 3.08023e-01 1.0000 3.8712e+00 3\n", + " 3 3.5123e+00 1.7883e-01 7.3020e-03 3.2604e-01 2.69225e-01 0.5000 3.2604e-01 3\n", + " 4 3.1440e+00 1.7882e-01 3.8771e-03 2.9264e-01 7.20204e-02 1.0000 2.9264e-01 3\n", + " 5 6.2226e-01 1.7883e-01 6.1246e-05 4.4282e-02 1.19646e-01 0.5000 4.4282e-02 3\n", + " 6 5.8522e-01 1.7882e-01 3.6584e-05 4.0603e-02 5.02193e-02 1.0000 4.0603e-02 3\n", + " 7 3.8051e-01 1.7882e-01 4.4938e-06 2.0165e-02 1.01528e-01 0.2500 2.0165e-02 3\n", + " 8 3.6509e-01 1.7882e-01 3.8844e-06 1.8622e-02 2.43353e-02 1.0000 1.8622e-02 3\n", + " 9 1.8561e-01 1.7882e-01 1.0964e-06 6.7747e-04 4.80544e-02 0.0020 1.6787e-03 1\n", + " 10 1.8561e-01 1.7882e-01 1.0964e-06 6.7747e-04 4.80301e-02 0.0625 1.6787e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9701e+02 1.8850e-01 4.9343e+01 3.3940e-01 1.10334e+00 1.0000 ---- 3\n", + " 2 6.1661e+01 1.7876e-01 2.3432e+00 3.8050e+00 3.09310e-01 1.0000 3.8050e+00 3\n", + " 3 1.5300e+00 1.7881e-01 7.6304e-03 1.2749e-01 2.75205e-01 0.2500 1.2749e-01 3\n", + " 4 1.2850e+00 1.7881e-01 5.7846e-03 1.0483e-01 1.07041e-01 1.0000 1.0483e-01 3\n", + " 5 5.3264e-01 1.7880e-01 3.5665e-04 3.5027e-02 1.31611e-01 0.2500 3.5027e-02 3\n", + " 6 4.7927e-01 1.7880e-01 2.6855e-04 2.9778e-02 5.28249e-02 1.0000 2.9778e-02 3\n", + " 7 2.3337e-01 1.7880e-01 2.2090e-05 5.4342e-03 6.64375e-02 0.2500 5.4342e-03 2\n", + " 8 2.1985e-01 1.7880e-01 1.7800e-05 4.0868e-03 2.63741e-02 0.0020 7.5920e-03 1\n", + " 9 2.1985e-01 1.7880e-01 1.7800e-05 4.0868e-03 2.63601e-02 0.5000 4.0868e-03 1\n", + " 10 2.0923e-01 1.7880e-01 1.0211e-05 3.0322e-03 5.97204e-03 1.0000 3.0322e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9706e+02 1.8848e-01 4.9347e+01 3.4001e-01 1.11240e+00 1.0000 ---- 3\n", + " 2 6.2766e+01 1.7874e-01 2.3583e+00 3.9004e+00 3.08611e-01 1.0000 3.9004e+00 3\n", + " 3 3.1657e+00 1.7879e-01 7.3049e-03 2.9139e-01 2.72058e-01 0.5000 2.9139e-01 3\n", + " 4 3.0001e+00 1.7878e-01 3.8826e-03 2.7825e-01 7.62793e-02 1.0000 2.7825e-01 3\n", + " 5 5.9597e-01 1.7879e-01 6.2120e-05 4.1656e-02 1.32915e-01 0.5000 4.1656e-02 3\n", + " 6 4.9506e-01 1.7878e-01 3.7071e-05 3.1590e-02 6.43606e-02 1.0000 3.1590e-02 3\n", + " 7 3.2693e-01 1.7878e-01 3.7561e-06 1.4810e-02 1.41665e-01 0.2500 1.4810e-02 3\n", + " 8 3.0454e-01 1.7878e-01 3.5476e-06 1.2572e-02 2.78260e-02 1.0000 1.2572e-02 3\n", + " 9 1.7879e-01 1.7878e-01 1.0564e-06 0.0000e+00 5.74475e-02 0.2500 1.6799e-03 1\n", + " 10 1.7879e-01 1.7878e-01 9.6722e-07 0.0000e+00 1.37866e-02 0.5000 1.6751e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9675e+02 1.8845e-01 4.9341e+01 3.1498e-01 1.11041e+00 1.0000 ---- 3\n", + " 2 6.0802e+01 1.7872e-01 2.3412e+00 3.7211e+00 3.06409e-01 1.0000 3.7211e+00 3\n", + " 3 3.7286e+00 1.7877e-01 7.3703e-03 3.4761e-01 2.72442e-01 0.5000 3.4761e-01 3\n", + " 4 3.0021e+00 1.7876e-01 3.9120e-03 2.7842e-01 8.18586e-02 1.0000 2.7842e-01 3\n", + " 5 5.9432e-01 1.7876e-01 6.9952e-05 4.1486e-02 1.50541e-01 0.5000 4.1486e-02 3\n", + " 6 4.8447e-01 1.7876e-01 4.0058e-05 3.0531e-02 7.58162e-02 1.0000 3.0531e-02 3\n", + " 7 2.5519e-01 1.7876e-01 3.2155e-06 7.6396e-03 1.66961e-01 0.1250 7.6396e-03 3\n", + " 8 2.4958e-01 1.7876e-01 2.9503e-06 7.0794e-03 9.86904e-02 0.5000 7.0794e-03 2\n", + " 9 2.3561e-01 1.7876e-01 2.3910e-06 5.6828e-03 6.21796e-02 1.0000 5.6828e-03 2\n", + " 10 1.7876e-01 1.7876e-01 8.6010e-07 0.0000e+00 1.46228e-01 0.1250 1.6525e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9660e+02 1.8842e-01 4.9364e+01 2.7686e-01 1.14709e+00 1.0000 ---- 3\n", + " 2 6.2225e+01 1.7869e-01 2.3499e+00 3.8548e+00 4.47588e-01 1.0000 3.8548e+00 3\n", + " 3 4.8235e+00 1.7874e-01 8.2240e-03 4.5626e-01 6.50935e-01 0.5000 4.5626e-01 3\n", + " 4 4.0089e+00 1.7871e-01 4.3598e-03 3.7866e-01 3.87381e-01 1.0000 3.7866e-01 3\n", + " 5 1.2460e+00 1.7870e-01 2.7986e-04 1.0645e-01 8.54358e-01 0.1250 1.0645e-01 3\n", + " 6 1.1174e+00 1.7868e-01 2.4502e-04 9.3627e-02 5.08096e-01 0.2500 9.3627e-02 3\n", + " 7 9.3819e-01 1.7867e-01 1.8400e-04 7.5767e-02 9.20173e-02 1.0000 7.5767e-02 3\n", + " 8 2.1481e-01 1.7867e-01 5.2522e-06 3.6080e-03 2.03597e-01 0.0020 5.9774e-03 1\n", + " 9 2.1481e-01 1.7867e-01 5.2522e-06 3.6080e-03 2.03507e-01 0.0625 3.6080e-03 1\n", + " 10 2.1413e-01 1.7867e-01 4.9358e-06 3.5404e-03 1.62000e-01 0.0312 4.1657e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9690e+02 1.8833e-01 4.9363e+01 3.0823e-01 1.18387e+00 1.0000 ---- 3\n", + " 2 6.2931e+01 1.7860e-01 2.3458e+00 3.9295e+00 5.23992e-01 1.0000 3.9295e+00 3\n", + " 3 9.7021e+00 1.7865e-01 8.2839e-03 9.4406e-01 8.35139e-01 0.2500 9.4406e-01 3\n", + " 4 8.9768e+00 1.7862e-01 6.2699e-03 8.7355e-01 1.92532e-01 1.0000 8.7355e-01 3\n", + " 5 4.9771e-01 1.7864e-01 3.7056e-04 3.1536e-02 3.52244e-01 0.2500 3.1536e-02 3\n", + " 6 4.7950e-01 1.7863e-01 2.8038e-04 2.9806e-02 8.16290e-02 1.0000 2.9806e-02 3\n", + " 7 2.9916e-01 1.7863e-01 1.3238e-05 1.2040e-02 1.49831e-01 0.2500 1.2040e-02 3\n", + " 8 2.9768e-01 1.7863e-01 1.0774e-05 1.1894e-02 3.69845e-02 1.0000 1.1894e-02 2\n", + " 9 1.9837e-01 1.7863e-01 3.3147e-06 1.9704e-03 6.68121e-02 0.0020 3.4765e-03 1\n", + " 10 1.9837e-01 1.7863e-01 3.3147e-06 1.9704e-03 6.67780e-02 0.1250 1.9704e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9744e+02 1.8828e-01 4.9440e+01 2.8509e-01 1.10985e+00 1.0000 ---- 3\n", + " 2 6.4866e+01 1.7855e-01 2.3553e+00 4.1135e+00 3.11163e-01 1.0000 4.1135e+00 3\n", + " 3 3.8556e+00 1.7861e-01 7.2072e-03 3.6050e-01 2.98557e-01 0.5000 3.6050e-01 3\n", + " 4 3.6978e+00 1.7860e-01 3.8141e-03 3.4810e-01 1.24817e-01 1.0000 3.4810e-01 3\n", + " 5 6.0156e-01 1.7861e-01 6.4091e-05 4.2231e-02 2.63671e-01 0.2500 4.2231e-02 3\n", + " 6 5.6685e-01 1.7860e-01 4.9106e-05 3.8776e-02 5.38496e-02 1.0000 3.8776e-02 3\n", + " 7 1.8233e-01 1.7860e-01 2.2740e-06 3.7006e-04 1.13030e-01 0.0020 1.6344e-03 1\n", + " 8 1.8233e-01 1.7860e-01 2.2740e-06 3.7006e-04 1.12982e-01 0.0312 1.6344e-03 1\n", + " 9 1.8225e-01 1.7860e-01 2.2059e-06 3.6219e-04 1.01935e-01 0.0078 1.6318e-03 1\n", + " 10 1.8225e-01 1.7860e-01 2.1889e-06 3.6218e-04 9.90037e-02 0.0312 1.6310e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9689e+02 1.8826e-01 4.9363e+01 3.0802e-01 1.13509e+00 1.0000 ---- 3\n", + " 2 6.3705e+01 1.7853e-01 2.3892e+00 3.9634e+00 3.89041e-01 1.0000 3.9634e+00 3\n", + " 3 4.8422e+00 1.7858e-01 7.1855e-03 4.5918e-01 5.03400e-01 0.2500 4.5918e-01 3\n", + " 4 4.0713e+00 1.7857e-01 5.4428e-03 3.8383e-01 1.37585e-01 1.0000 3.8383e-01 3\n", + " 5 5.1241e-01 1.7858e-01 3.8298e-04 3.3001e-02 2.17923e-01 0.2500 3.3001e-02 3\n", + " 6 4.3332e-01 1.7857e-01 2.8869e-04 2.5186e-02 6.26065e-02 1.0000 2.5186e-02 3\n", + " 7 3.2066e-01 1.7857e-01 1.6696e-05 1.4192e-02 9.83066e-02 0.2500 1.4192e-02 3\n", + " 8 3.0833e-01 1.7857e-01 1.3593e-05 1.2962e-02 2.98638e-02 1.0000 1.2962e-02 2\n", + " 9 2.0273e-01 1.7857e-01 3.8011e-06 2.4119e-03 4.73500e-02 0.0020 5.7134e-03 1\n", + " 10 2.0273e-01 1.7857e-01 3.8011e-06 2.4119e-03 4.73230e-02 0.2500 2.4119e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9715e+02 1.8823e-01 4.9418e+01 2.7838e-01 1.10841e+00 1.0000 ---- 3\n", + " 2 6.5200e+01 1.7850e-01 2.3765e+00 4.1257e+00 2.85558e-01 1.0000 4.1257e+00 3\n", + " 3 3.1868e+00 1.7856e-01 6.9236e-03 2.9390e-01 2.29451e-01 0.5000 2.9390e-01 3\n", + " 4 2.8398e+00 1.7855e-01 3.6959e-03 2.6243e-01 6.47492e-02 1.0000 2.6243e-01 3\n", + " 5 5.3215e-01 1.7855e-01 5.0254e-05 3.5309e-02 1.19229e-01 0.5000 3.5309e-02 3\n", + " 6 4.5785e-01 1.7855e-01 2.8136e-05 2.7902e-02 6.24034e-02 1.0000 2.7902e-02 3\n", + " 7 3.9201e-01 1.7855e-01 1.7507e-06 2.1345e-02 1.33173e-01 0.2500 2.1345e-02 3\n", + " 8 3.6234e-01 1.7855e-01 1.5792e-06 1.8377e-02 2.72674e-02 1.0000 1.8377e-02 3\n", + " 9 1.9266e-01 1.7855e-01 3.5134e-07 1.4104e-03 5.77686e-02 0.1250 1.6448e-03 1\n", + " 10 1.9245e-01 1.7855e-01 3.0379e-07 1.3898e-03 3.55785e-02 0.5000 1.6450e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9763e+02 1.8820e-01 4.9403e+01 3.4126e-01 1.11304e+00 1.0000 ---- 3\n", + " 2 6.3989e+01 1.7848e-01 2.3666e+00 4.0145e+00 3.07545e-01 1.0000 4.0145e+00 3\n", + " 3 3.7667e+00 1.7853e-01 7.0647e-03 3.5175e-01 2.92749e-01 0.5000 3.5175e-01 3\n", + " 4 3.4937e+00 1.7852e-01 3.7665e-03 3.2775e-01 1.06794e-01 1.0000 3.2775e-01 3\n", + " 5 6.8610e-01 1.7853e-01 6.4501e-05 5.0692e-02 2.17924e-01 0.5000 5.0692e-02 3\n", + " 6 6.2450e-01 1.7852e-01 3.6609e-05 4.4561e-02 1.31541e-01 1.0000 4.4561e-02 3\n", + " 7 4.4477e-01 1.7852e-01 4.6607e-06 2.6620e-02 2.97140e-01 0.2500 2.6620e-02 3\n", + " 8 4.2669e-01 1.7852e-01 4.1585e-06 2.4813e-02 5.10125e-02 1.0000 2.4813e-02 3\n", + " 9 2.1289e-01 1.7852e-01 9.5039e-07 3.4362e-03 1.14435e-01 0.0020 5.0364e-03 1\n", + " 10 2.1289e-01 1.7852e-01 9.5039e-07 3.4362e-03 1.14384e-01 0.1250 3.4362e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9700e+02 1.8817e-01 4.9338e+01 3.4318e-01 1.12937e+00 1.0000 ---- 3\n", + " 2 6.2714e+01 1.7844e-01 2.3662e+00 3.8874e+00 3.60873e-01 1.0000 3.8874e+00 3\n", + " 3 2.9229e+00 1.7850e-01 7.3518e-03 2.6709e-01 4.44317e-01 0.2500 2.6709e-01 3\n", + " 4 2.5696e+00 1.7849e-01 5.5642e-03 2.3354e-01 1.23693e-01 1.0000 2.3354e-01 3\n", + " 5 5.6473e-01 1.7849e-01 3.4780e-04 3.8276e-02 1.86260e-01 0.2500 3.8276e-02 3\n", + " 6 5.1898e-01 1.7849e-01 2.6182e-04 3.3788e-02 5.53437e-02 1.0000 3.3788e-02 3\n", + " 7 3.5543e-01 1.7849e-01 1.6871e-05 1.7678e-02 8.07884e-02 0.2500 1.7678e-02 3\n", + " 8 3.3504e-01 1.7849e-01 1.3647e-05 1.5642e-02 2.66380e-02 1.0000 1.5642e-02 3\n", + " 9 2.2186e-01 1.7849e-01 3.7209e-06 4.3339e-03 3.98433e-02 0.0020 8.5736e-03 1\n", + " 10 2.2186e-01 1.7849e-01 3.7209e-06 4.3339e-03 3.98228e-02 0.2500 4.3339e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9682e+02 1.8814e-01 4.9316e+01 3.4701e-01 1.10711e+00 1.0000 ---- 3\n", + " 2 6.3563e+01 1.7841e-01 2.3779e+00 3.9605e+00 2.90873e-01 1.0000 3.9605e+00 3\n", + " 3 3.0863e+00 1.7847e-01 6.9451e-03 2.8383e-01 2.35325e-01 0.5000 2.8383e-01 3\n", + " 4 2.9549e+00 1.7846e-01 3.6871e-03 2.7396e-01 7.14544e-02 1.0000 2.7396e-01 3\n", + " 5 7.2456e-01 1.7846e-01 4.9620e-05 5.4560e-02 1.37886e-01 0.5000 5.4560e-02 3\n", + " 6 6.9847e-01 1.7846e-01 2.8266e-05 5.1973e-02 7.50508e-02 1.0000 5.1973e-02 3\n", + " 7 3.8329e-01 1.7846e-01 1.9133e-06 2.0481e-02 1.60454e-01 0.1250 2.0481e-02 3\n", + " 8 3.6581e-01 1.7846e-01 1.7754e-06 1.8734e-02 9.67802e-02 0.5000 1.8734e-02 3\n", + " 9 3.6200e-01 1.7846e-01 1.5182e-06 1.8353e-02 5.67592e-02 1.0000 1.8353e-02 3\n", + " 10 2.2557e-01 1.7846e-01 5.7992e-07 4.7109e-03 1.26036e-01 0.0020 4.7109e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9674e+02 1.8811e-01 4.9305e+01 3.5017e-01 1.19563e+00 1.0000 ---- 3\n", + " 2 6.4476e+01 1.7838e-01 2.3713e+00 4.0584e+00 5.47795e-01 1.0000 4.0584e+00 3\n", + " 3 2.1841e+01 1.7842e-01 8.3226e-03 2.1579e+00 8.32210e-01 0.2500 2.1579e+00 3\n", + " 4 1.8566e+01 1.7839e-01 6.3001e-03 1.8325e+00 2.19463e-01 1.0000 1.8325e+00 3\n", + " 5 1.9756e+00 1.7841e-01 3.1297e-04 1.7940e-01 4.08634e-01 0.0625 1.7940e-01 3\n", + " 6 1.9027e+00 1.7841e-01 2.9365e-04 1.7214e-01 3.30882e-01 0.1250 1.7214e-01 3\n", + " 7 1.8324e+00 1.7841e-01 2.5775e-04 1.6514e-01 2.05261e-01 0.2500 1.6514e-01 3\n", + " 8 1.6087e+00 1.7840e-01 1.9530e-04 1.4283e-01 5.38348e-02 1.0000 1.4283e-01 3\n", + " 9 3.2510e-01 1.7841e-01 1.1449e-05 1.4658e-02 9.30427e-02 0.2500 1.4658e-02 2\n", + " 10 3.0076e-01 1.7840e-01 9.3089e-06 1.2226e-02 2.57296e-02 1.0000 1.2226e-02 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9642e+02 1.8804e-01 4.9335e+01 2.8898e-01 1.11618e+00 1.0000 ---- 3\n", + " 2 6.5980e+01 1.7832e-01 2.3563e+00 4.2239e+00 3.12483e-01 1.0000 4.2239e+00 3\n", + " 3 5.8969e+00 1.7838e-01 7.2831e-03 5.6456e-01 3.04386e-01 0.2500 5.6456e-01 3\n", + " 4 4.8633e+00 1.7837e-01 5.5124e-03 4.6299e-01 1.11737e-01 1.0000 4.6299e-01 3\n", + " 5 5.6774e-01 1.7838e-01 3.7097e-04 3.8565e-02 1.56110e-01 0.1250 3.8565e-02 3\n", + " 6 5.4808e-01 1.7838e-01 3.2509e-04 3.6645e-02 1.03524e-01 0.2500 3.6645e-02 3\n", + " 7 5.0171e-01 1.7838e-01 2.4475e-04 3.2089e-02 3.84902e-02 1.0000 3.2089e-02 3\n", + " 8 2.4775e-01 1.7838e-01 1.1879e-05 6.9258e-03 5.15008e-02 0.2500 6.9258e-03 2\n", + " 9 2.3089e-01 1.7838e-01 9.5163e-06 5.2422e-03 1.94540e-02 0.0020 9.3905e-03 1\n", + " 10 2.3089e-01 1.7838e-01 9.5163e-06 5.2422e-03 1.94588e-02 1.0000 5.2422e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9620e+02 1.8801e-01 4.9259e+01 3.4176e-01 1.10941e+00 1.0000 ---- 3\n", + " 2 6.4495e+01 1.7829e-01 2.3905e+00 4.0411e+00 2.99600e-01 1.0000 4.0411e+00 3\n", + " 3 3.6233e+00 1.7835e-01 6.7532e-03 3.3774e-01 2.49718e-01 0.5000 3.3774e-01 3\n", + " 4 3.3301e+00 1.7834e-01 3.5806e-03 3.1159e-01 7.69194e-02 1.0000 3.1159e-01 3\n", + " 5 6.1263e-01 1.7835e-01 4.4052e-05 4.3384e-02 1.47348e-01 0.2500 4.3384e-02 3\n", + " 6 5.6101e-01 1.7835e-01 3.3865e-05 3.8233e-02 3.72310e-02 1.0000 3.8233e-02 3\n", + " 7 2.2868e-01 1.7835e-01 2.0461e-06 5.0310e-03 7.20031e-02 0.0020 5.0310e-03 1\n", + " 8 2.2868e-01 1.7835e-01 2.0461e-06 5.0310e-03 7.19760e-02 0.1250 5.0310e-03 1\n", + " 9 2.2588e-01 1.7835e-01 1.8267e-06 4.7511e-03 4.55328e-02 0.1250 4.7511e-03 1\n", + " 10 2.2485e-01 1.7835e-01 1.6115e-06 4.6487e-03 2.89815e-02 0.5000 4.6487e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9694e+02 1.8798e-01 4.9346e+01 3.2922e-01 1.11049e+00 1.0000 ---- 3\n", + " 2 6.2540e+01 1.7827e-01 2.3618e+00 3.8743e+00 2.93806e-01 1.0000 3.8743e+00 3\n", + " 3 5.1520e+00 1.7832e-01 6.9807e-03 4.9039e-01 2.52672e-01 0.5000 4.9039e-01 3\n", + " 4 3.9346e+00 1.7831e-01 3.7078e-03 3.7192e-01 7.99004e-02 1.0000 3.7192e-01 3\n", + " 5 6.9128e-01 1.7832e-01 5.5996e-05 5.1240e-02 1.53568e-01 0.5000 5.1240e-02 3\n", + " 6 6.3067e-01 1.7832e-01 3.0958e-05 4.5205e-02 8.08974e-02 1.0000 4.5205e-02 3\n", + " 7 4.4433e-01 1.7832e-01 2.1263e-06 2.6600e-02 1.69865e-01 0.2500 2.6600e-02 3\n", + " 8 4.3554e-01 1.7831e-01 1.8423e-06 2.5721e-02 3.65059e-02 1.0000 2.5721e-02 3\n", + " 9 2.9346e-01 1.7831e-01 4.6013e-07 1.1514e-02 7.52923e-02 0.2500 1.1514e-02 2\n", + " 10 2.7118e-01 1.7831e-01 4.1080e-07 9.2864e-03 1.70596e-02 1.0000 9.2864e-03 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9633e+02 1.8795e-01 4.9269e+01 3.4568e-01 1.11736e+00 1.0000 ---- 3\n", + " 2 6.1070e+01 1.7823e-01 2.3797e+00 3.7095e+00 3.22311e-01 1.0000 3.7095e+00 3\n", + " 3 7.6326e+00 1.7828e-01 7.0490e-03 7.3838e-01 3.21479e-01 0.5000 7.3838e-01 3\n", + " 4 6.6840e+00 1.7827e-01 3.7398e-03 6.4683e-01 1.28920e-01 1.0000 6.4683e-01 3\n", + " 5 9.5514e-01 1.7828e-01 6.1686e-05 7.7624e-02 2.59797e-01 0.1250 7.7624e-02 3\n", + " 6 8.8808e-01 1.7828e-01 5.4153e-05 7.0925e-02 1.59438e-01 0.2500 7.0925e-02 3\n", + " 7 7.6458e-01 1.7828e-01 4.0933e-05 5.8589e-02 3.67859e-02 1.0000 5.8589e-02 3\n", + " 8 2.1042e-01 1.7828e-01 1.7889e-06 3.2119e-03 7.32483e-02 0.0020 4.4084e-03 1\n", + " 9 2.1042e-01 1.7828e-01 1.7889e-06 3.2119e-03 7.32104e-02 0.0625 3.2119e-03 1\n", + " 10 2.0949e-01 1.7828e-01 1.6807e-06 3.1193e-03 5.94060e-02 0.0312 3.1193e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9601e+02 1.8792e-01 4.9264e+01 3.1809e-01 1.11484e+00 1.0000 ---- 3\n", + " 2 6.2442e+01 1.7820e-01 2.3691e+00 3.8572e+00 3.11629e-01 1.0000 3.8572e+00 3\n", + " 3 3.9161e+00 1.7826e-01 7.1450e-03 3.6664e-01 3.19384e-01 0.2500 3.6664e-01 3\n", + " 4 3.2244e+00 1.7825e-01 5.4060e-03 2.9921e-01 1.10437e-01 1.0000 2.9921e-01 3\n", + " 5 5.0286e-01 1.7825e-01 3.5986e-04 3.2101e-02 1.53083e-01 0.2500 3.2101e-02 3\n", + " 6 4.4769e-01 1.7825e-01 2.7046e-04 2.6674e-02 5.23474e-02 1.0000 2.6674e-02 3\n", + " 7 2.7942e-01 1.7825e-01 1.6279e-05 1.0101e-02 7.29959e-02 0.1250 1.0101e-02 3\n", + " 8 2.7522e-01 1.7825e-01 1.4486e-05 9.6825e-03 4.86371e-02 0.2500 9.6825e-03 2\n", + " 9 2.5302e-01 1.7825e-01 1.1391e-05 7.4653e-03 1.85897e-02 1.0000 7.4653e-03 2\n", + " 10 1.9650e-01 1.7825e-01 1.8634e-06 1.8234e-03 2.59946e-02 0.0020 2.1145e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9601e+02 1.8788e-01 4.9247e+01 3.3529e-01 1.10859e+00 1.0000 ---- 3\n", + " 2 6.5560e+01 1.7817e-01 2.3965e+00 4.1417e+00 2.98643e-01 1.0000 4.1417e+00 3\n", + " 3 3.4022e+00 1.7823e-01 6.8515e-03 3.1555e-01 2.55988e-01 0.2500 3.1555e-01 3\n", + " 4 2.8167e+00 1.7822e-01 5.1937e-03 2.5865e-01 1.04139e-01 1.0000 2.5865e-01 3\n", + " 5 6.7211e-01 1.7823e-01 3.6064e-04 4.9027e-02 1.29079e-01 0.1250 4.9027e-02 3\n", + " 6 6.3237e-01 1.7822e-01 3.1571e-04 4.5099e-02 8.85774e-02 0.2500 4.5099e-02 3\n", + " 7 5.6185e-01 1.7822e-01 2.3702e-04 3.8126e-02 3.66720e-02 1.0000 3.8126e-02 3\n", + " 8 2.7450e-01 1.7822e-01 1.0280e-05 9.6170e-03 4.50541e-02 0.0020 9.6170e-03 1\n", + " 9 2.7450e-01 1.7822e-01 1.0280e-05 9.6170e-03 4.50298e-02 0.2500 9.6170e-03 1\n", + " 10 2.7442e-01 1.7822e-01 8.1578e-06 9.6119e-03 1.83630e-02 0.5000 9.6119e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9593e+02 1.8786e-01 4.9224e+01 3.5014e-01 1.10684e+00 1.0000 ---- 3\n", + " 2 6.1030e+01 1.7815e-01 2.3638e+00 3.7214e+00 2.85123e-01 1.0000 3.7214e+00 3\n", + " 3 3.3686e+00 1.7820e-01 7.1113e-03 3.1193e-01 2.13854e-01 0.5000 3.1193e-01 3\n", + " 4 2.9678e+00 1.7819e-01 3.7726e-03 2.7519e-01 5.35408e-02 1.0000 2.7519e-01 3\n", + " 5 6.2196e-01 1.7820e-01 4.1937e-05 4.4335e-02 9.51297e-02 0.5000 4.4335e-02 3\n", + " 6 5.4799e-01 1.7820e-01 2.3484e-05 3.6956e-02 4.53090e-02 1.0000 3.6956e-02 3\n", + " 7 2.8930e-01 1.7820e-01 1.1143e-06 1.1109e-02 9.05918e-02 0.2500 1.1109e-02 2\n", + " 8 2.8344e-01 1.7819e-01 1.0292e-06 1.0523e-02 2.19253e-02 1.0000 1.0523e-02 2\n", + " 9 1.8184e-01 1.7819e-01 2.4740e-07 3.6458e-04 4.43929e-02 0.0020 1.5505e-03 1\n", + " 10 1.8184e-01 1.7819e-01 2.4740e-07 3.6458e-04 4.43740e-02 0.1250 1.5505e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9593e+02 1.8783e-01 4.9276e+01 2.9778e-01 1.10616e+00 1.0000 ---- 3\n", + " 2 6.1618e+01 1.7812e-01 2.3452e+00 3.7987e+00 2.84967e-01 1.0000 3.7987e+00 3\n", + " 3 1.5939e+00 1.7817e-01 7.0245e-03 1.3455e-01 2.18423e-01 0.1250 1.3455e-01 3\n", + " 4 1.4611e+00 1.7817e-01 6.1590e-03 1.2214e-01 1.56640e-01 0.2500 1.2214e-01 3\n", + " 5 1.2358e+00 1.7817e-01 4.6538e-03 1.0111e-01 7.34042e-02 1.0000 1.0111e-01 3\n", + " 6 3.7220e-01 1.7817e-01 2.4391e-04 1.9159e-02 8.03235e-02 0.2500 1.9159e-02 3\n", + " 7 3.5377e-01 1.7817e-01 1.8332e-04 1.7377e-02 3.54078e-02 1.0000 1.7377e-02 3\n", + " 8 2.9542e-01 1.7817e-01 9.1350e-06 1.1716e-02 4.02961e-02 0.5000 1.1716e-02 2\n", + " 9 2.5356e-01 1.7817e-01 6.6753e-06 7.5330e-03 1.24069e-02 0.0020 7.5330e-03 1\n", + " 10 2.5356e-01 1.7817e-01 6.6753e-06 7.5330e-03 1.24001e-02 1.0000 7.5330e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9653e+02 1.8780e-01 4.9332e+01 3.0192e-01 1.11325e+00 1.0000 ---- 3\n", + " 2 6.2821e+01 1.7809e-01 2.3526e+00 3.9118e+00 2.97966e-01 1.0000 3.9118e+00 3\n", + " 3 3.4693e+00 1.7815e-01 7.0324e-03 3.2208e-01 2.58992e-01 0.2500 3.2208e-01 3\n", + " 4 2.8046e+00 1.7814e-01 5.3246e-03 2.5732e-01 1.09542e-01 1.0000 2.5732e-01 3\n", + " 5 6.5272e-01 1.7814e-01 3.5558e-04 4.7103e-02 1.40113e-01 0.1250 4.7103e-02 3\n", + " 6 6.2716e-01 1.7814e-01 3.1138e-04 4.4590e-02 9.61842e-02 0.2500 4.4590e-02 3\n", + " 7 5.7213e-01 1.7814e-01 2.3403e-04 3.9165e-02 3.89495e-02 1.0000 3.9165e-02 3\n", + " 8 2.8196e-01 1.7814e-01 1.0109e-05 1.0372e-02 4.95609e-02 0.5000 1.0372e-02 2\n", + " 9 2.6285e-01 1.7814e-01 7.7631e-06 8.4627e-03 1.37899e-02 1.0000 8.4627e-03 2\n", + " 10 1.8862e-01 1.7814e-01 2.7521e-07 1.0474e-03 2.51982e-02 0.0020 2.1372e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9624e+02 1.8778e-01 4.9322e+01 2.8345e-01 1.11395e+00 1.0000 ---- 3\n", + " 2 6.4857e+01 1.7807e-01 2.3810e+00 4.0868e+00 3.00097e-01 1.0000 4.0868e+00 3\n", + " 3 4.4782e+00 1.7812e-01 6.9605e-03 4.2305e-01 2.66111e-01 0.5000 4.2305e-01 3\n", + " 4 3.9313e+00 1.7812e-01 3.7113e-03 3.7161e-01 8.01514e-02 1.0000 3.7161e-01 3\n", + " 5 7.6241e-01 1.7812e-01 5.0733e-05 5.8378e-02 1.47476e-01 0.5000 5.8378e-02 3\n", + " 6 7.5160e-01 1.7812e-01 2.8743e-05 5.7319e-02 7.28698e-02 1.0000 5.7319e-02 3\n", + " 7 5.1154e-01 1.7812e-01 2.0240e-06 3.3340e-02 1.49273e-01 0.2500 3.3340e-02 3\n", + " 8 4.9572e-01 1.7812e-01 1.8623e-06 3.1758e-02 3.45758e-02 1.0000 3.1758e-02 3\n", + " 9 2.4676e-01 1.7812e-01 5.7867e-07 6.8634e-03 7.12397e-02 0.0039 6.8634e-03 1\n", + " 10 2.4675e-01 1.7812e-01 5.7642e-07 6.8630e-03 7.03689e-02 0.2500 6.8630e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9646e+02 1.8775e-01 4.9277e+01 3.5044e-01 1.10668e+00 1.0000 ---- 3\n", + " 2 6.2504e+01 1.7805e-01 2.3629e+00 3.8697e+00 2.85406e-01 1.0000 3.8697e+00 3\n", + " 3 2.5444e+00 1.7810e-01 6.9965e-03 2.2963e-01 2.27025e-01 0.5000 2.2963e-01 3\n", + " 4 2.4539e+00 1.7809e-01 3.7203e-03 2.2386e-01 6.02719e-02 1.0000 2.2386e-01 3\n", + " 5 4.6684e-01 1.7810e-01 4.5353e-05 2.8829e-02 1.06584e-01 0.5000 2.8829e-02 3\n", + " 6 4.0974e-01 1.7809e-01 2.5642e-05 2.3139e-02 4.84826e-02 1.0000 2.3139e-02 3\n", + " 7 3.3233e-01 1.7809e-01 1.2356e-06 1.5422e-02 9.53055e-02 0.2500 1.5422e-02 3\n", + " 8 3.2670e-01 1.7809e-01 1.1400e-06 1.4859e-02 2.41291e-02 1.0000 1.4859e-02 3\n", + " 9 2.0653e-01 1.7809e-01 3.4048e-07 2.8432e-03 4.78391e-02 0.0312 3.6384e-03 1\n", + " 10 2.0646e-01 1.7809e-01 3.2921e-07 2.8363e-03 4.35022e-02 0.2500 2.8363e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9650e+02 1.8773e-01 4.9292e+01 3.3895e-01 1.10765e+00 1.0000 ---- 3\n", + " 2 6.3418e+01 1.7802e-01 2.3594e+00 3.9646e+00 2.88186e-01 1.0000 3.9646e+00 3\n", + " 3 2.2469e+00 1.7808e-01 6.9328e-03 1.9995e-01 2.31660e-01 0.2500 1.9995e-01 3\n", + " 4 1.8941e+00 1.7807e-01 5.2515e-03 1.6635e-01 1.02306e-01 1.0000 1.6635e-01 3\n", + " 5 5.0016e-01 1.7808e-01 3.6080e-04 3.1847e-02 1.20873e-01 0.1250 3.1847e-02 3\n", + " 6 4.8183e-01 1.7807e-01 3.1596e-04 3.0059e-02 8.48891e-02 0.2500 3.0059e-02 3\n", + " 7 4.4586e-01 1.7807e-01 2.3752e-04 2.6541e-02 3.67125e-02 1.0000 2.6541e-02 3\n", + " 8 2.2932e-01 1.7807e-01 9.9071e-06 5.1151e-03 4.34743e-02 0.0156 5.6731e-03 1\n", + " 9 2.2928e-01 1.7807e-01 9.7544e-06 5.1111e-03 4.18890e-02 0.1250 5.1111e-03 1\n", + " 10 2.2629e-01 1.7807e-01 8.6568e-06 4.8127e-03 2.96950e-02 0.1250 4.8127e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9603e+02 1.8771e-01 4.9289e+01 2.9504e-01 1.11159e+00 1.0000 ---- 3\n", + " 2 6.2185e+01 1.7801e-01 2.3554e+00 3.8453e+00 2.94479e-01 1.0000 3.8453e+00 3\n", + " 3 3.0685e+00 1.7806e-01 7.3095e-03 2.8174e-01 2.45524e-01 0.5000 2.8174e-01 3\n", + " 4 2.8261e+00 1.7805e-01 3.8637e-03 2.6094e-01 6.48186e-02 1.0000 2.6094e-01 3\n", + " 5 5.3970e-01 1.7806e-01 4.7907e-05 3.6116e-02 1.14978e-01 0.5000 3.6116e-02 3\n", + " 6 5.0766e-01 1.7806e-01 2.7438e-05 3.2933e-02 5.54151e-02 0.5000 3.2933e-02 3\n", + " 7 3.5645e-01 1.7806e-01 1.3787e-05 1.7825e-02 2.98259e-02 1.0000 1.7825e-02 2\n", + " 8 1.8425e-01 1.7806e-01 3.7999e-07 6.1888e-04 6.51811e-02 0.0020 1.9722e-03 1\n", + " 9 1.8425e-01 1.7806e-01 3.7999e-07 6.1888e-04 6.51509e-02 0.0625 1.5558e-03 1\n", + " 10 1.8410e-01 1.7806e-01 3.6953e-07 6.0441e-04 5.24901e-02 0.0312 1.4755e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9581e+02 1.8769e-01 4.9217e+01 3.4558e-01 1.11380e+00 1.0000 ---- 3\n", + " 2 6.1522e+01 1.7798e-01 2.3640e+00 3.7704e+00 3.22832e-01 1.0000 3.7704e+00 3\n", + " 3 2.7246e+00 1.7804e-01 7.2089e-03 2.4744e-01 3.38030e-01 0.1250 2.4744e-01 3\n", + " 4 2.4801e+00 1.7803e-01 6.3203e-03 2.2389e-01 2.26034e-01 0.5000 2.2389e-01 3\n", + " 5 2.4374e+00 1.7802e-01 3.3032e-03 2.2264e-01 9.45923e-02 1.0000 2.2264e-01 3\n", + " 6 8.4233e-01 1.7803e-01 3.7875e-05 6.6393e-02 1.95716e-01 0.1250 6.6393e-02 3\n", + " 7 7.8916e-01 1.7802e-01 3.3221e-05 6.1080e-02 1.19196e-01 0.5000 6.1080e-02 3\n", + " 8 7.6892e-01 1.7802e-01 1.7189e-05 5.9073e-02 6.65901e-02 1.0000 5.9073e-02 3\n", + " 9 6.5098e-01 1.7802e-01 1.4657e-06 4.7294e-02 1.42637e-01 0.1250 4.7294e-02 3\n", + " 10 6.2148e-01 1.7802e-01 1.3099e-06 4.4345e-02 8.62832e-02 0.2500 4.4345e-02 3\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9705e+02 1.8765e-01 4.9313e+01 3.7281e-01 1.11010e+00 1.0000 ---- 3\n", + " 2 6.4603e+01 1.7795e-01 2.3643e+00 4.0782e+00 2.87082e-01 1.0000 4.0782e+00 3\n", + " 3 3.3000e+00 1.7800e-01 6.9654e-03 3.0524e-01 2.47440e-01 0.2500 3.0524e-01 3\n", + " 4 2.6500e+00 1.7800e-01 5.2792e-03 2.4192e-01 1.03387e-01 1.0000 2.4192e-01 3\n", + " 5 4.6336e-01 1.7800e-01 3.8312e-04 2.8153e-02 1.30215e-01 0.0625 2.8153e-02 3\n", + " 6 4.5267e-01 1.7800e-01 3.5929e-04 2.7108e-02 1.09543e-01 0.1250 2.7108e-02 3\n", + " 7 4.4465e-01 1.7800e-01 3.1470e-04 2.6350e-02 7.57675e-02 0.2500 2.6350e-02 3\n", + " 8 4.2529e-01 1.7800e-01 2.3667e-04 2.4492e-02 3.15598e-02 1.0000 2.4492e-02 3\n", + " 9 2.5928e-01 1.7800e-01 8.2101e-06 8.1204e-03 3.81033e-02 0.0020 8.1204e-03 1\n", + " 10 2.5928e-01 1.7800e-01 8.2101e-06 8.1204e-03 3.81070e-02 0.1250 8.1204e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9624e+02 1.8762e-01 4.9313e+01 2.9251e-01 1.11211e+00 1.0000 ---- 3\n", + " 2 6.3514e+01 1.7793e-01 2.3585e+00 3.9751e+00 2.87726e-01 1.0000 3.9751e+00 3\n", + " 3 3.1450e+00 1.7798e-01 7.2579e-03 2.8945e-01 2.40101e-01 0.5000 2.8945e-01 3\n", + " 4 2.9899e+00 1.7798e-01 3.8587e-03 2.7733e-01 7.60429e-02 1.0000 2.7733e-01 3\n", + " 5 5.6720e-01 1.7798e-01 5.1217e-05 3.8871e-02 1.42539e-01 0.2500 3.8871e-02 3\n", + " 6 4.9793e-01 1.7798e-01 3.9257e-05 3.1956e-02 3.70408e-02 1.0000 3.1956e-02 3\n", + " 7 2.0462e-01 1.7798e-01 2.0054e-06 2.6622e-03 6.97306e-02 0.0156 2.6622e-03 1\n", + " 8 2.0460e-01 1.7798e-01 1.9743e-06 2.6600e-03 6.64997e-02 0.2500 2.6600e-03 1\n", + " 9 2.0358e-01 1.7798e-01 1.6019e-06 2.5588e-03 1.76883e-02 1.0000 2.5588e-03 1\n", + " 10 2.0165e-01 1.7798e-01 1.4805e-06 2.3659e-03 3.29922e-02 0.1250 2.3659e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9627e+02 1.8760e-01 4.9293e+01 3.1488e-01 1.11294e+00 1.0000 ---- 3\n", + " 2 6.4069e+01 1.7791e-01 2.3686e+00 4.0206e+00 2.96066e-01 1.0000 4.0206e+00 3\n", + " 3 4.8933e+00 1.7796e-01 6.8528e-03 4.6469e-01 2.64760e-01 0.5000 4.6469e-01 3\n", + " 4 4.0742e+00 1.7795e-01 3.6520e-03 3.8597e-01 8.64347e-02 1.0000 3.8597e-01 3\n", + " 5 7.4478e-01 1.7796e-01 5.0212e-05 5.6631e-02 1.66096e-01 0.5000 5.6631e-02 3\n", + " 6 6.6927e-01 1.7796e-01 2.9591e-05 4.9102e-02 8.59830e-02 1.0000 4.9102e-02 3\n", + " 7 4.6326e-01 1.7795e-01 1.9471e-06 2.8528e-02 1.77131e-01 0.2500 2.8528e-02 3\n", + " 8 4.3994e-01 1.7795e-01 1.9574e-06 2.6197e-02 4.09634e-02 1.0000 2.6197e-02 3\n", + " 9 2.3390e-01 1.7795e-01 8.6438e-07 5.5937e-03 8.47109e-02 0.0312 5.5937e-03 1\n", + " 10 2.3386e-01 1.7795e-01 8.3922e-07 5.5900e-03 7.66651e-02 0.2500 5.5900e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9629e+02 1.8757e-01 4.9260e+01 3.5036e-01 1.10710e+00 1.0000 ---- 3\n", + " 2 6.3423e+01 1.7787e-01 2.3692e+00 3.9553e+00 2.78280e-01 1.0000 3.9553e+00 3\n", + " 3 3.7371e+00 1.7793e-01 6.9189e-03 3.4900e-01 2.20165e-01 0.5000 3.4900e-01 3\n", + " 4 3.4925e+00 1.7792e-01 3.6844e-03 3.2777e-01 6.75109e-02 1.0000 3.2777e-01 3\n", + " 5 6.2910e-01 1.7793e-01 5.5977e-05 4.5061e-02 1.24872e-01 0.5000 4.5061e-02 3\n", + " 6 6.1438e-01 1.7793e-01 3.0476e-05 4.3614e-02 5.97789e-02 1.0000 4.3614e-02 3\n", + " 7 4.7517e-01 1.7793e-01 1.4811e-06 2.9723e-02 1.19280e-01 0.1250 2.9723e-02 3\n", + " 8 4.5461e-01 1.7793e-01 1.3592e-06 2.7667e-02 7.42867e-02 0.2500 2.7667e-02 3\n", + " 9 4.0854e-01 1.7793e-01 1.1259e-06 2.3060e-02 1.84776e-02 1.0000 2.3060e-02 3\n", + " 10 1.9733e-01 1.7793e-01 1.5661e-07 1.9407e-03 3.72245e-02 0.0312 1.9407e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9607e+02 1.8754e-01 4.9253e+01 3.3511e-01 1.10853e+00 1.0000 ---- 3\n", + " 2 6.4674e+01 1.7785e-01 2.3667e+00 4.0829e+00 2.97124e-01 1.0000 4.0829e+00 3\n", + " 3 2.5820e+00 1.7791e-01 6.7677e-03 2.3364e-01 2.60338e-01 0.2500 2.3364e-01 3\n", + " 4 2.1941e+00 1.7790e-01 5.1292e-03 1.9649e-01 1.04447e-01 1.0000 1.9649e-01 3\n", + " 5 5.5645e-01 1.7791e-01 3.6845e-04 3.7486e-02 1.27010e-01 0.2500 3.7486e-02 3\n", + " 6 5.2361e-01 1.7790e-01 2.7770e-04 3.4293e-02 4.96984e-02 1.0000 3.4293e-02 3\n", + " 7 3.1638e-01 1.7790e-01 1.6530e-05 1.3831e-02 6.22676e-02 0.2500 1.3831e-02 2\n", + " 8 2.8345e-01 1.7790e-01 1.3393e-05 1.0542e-02 2.48511e-02 0.0020 1.0542e-02 1\n", + " 9 2.8345e-01 1.7790e-01 1.3393e-05 1.0542e-02 2.48334e-02 1.0000 1.0542e-02 1\n", + " 10 2.6101e-01 1.7790e-01 5.7298e-06 8.3049e-03 3.19550e-02 0.1250 8.3049e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9573e+02 1.8752e-01 4.9253e+01 3.0151e-01 1.10571e+00 1.0000 ---- 3\n", + " 2 6.4899e+01 1.7783e-01 2.3660e+00 4.1060e+00 2.82441e-01 1.0000 4.1060e+00 3\n", + " 3 3.2097e+00 1.7789e-01 6.6930e-03 2.9649e-01 2.22061e-01 0.2500 2.9649e-01 3\n", + " 4 2.6571e+00 1.7788e-01 5.0758e-03 2.4285e-01 9.87587e-02 1.0000 2.4285e-01 3\n", + " 5 5.4193e-01 1.7788e-01 3.7645e-04 3.6028e-02 1.17871e-01 0.1250 3.6028e-02 3\n", + " 6 5.2923e-01 1.7788e-01 3.2982e-04 3.4805e-02 8.21555e-02 0.2500 3.4805e-02 3\n", + " 7 5.0077e-01 1.7788e-01 2.4820e-04 3.2041e-02 3.53233e-02 1.0000 3.2041e-02 3\n", + " 8 2.7866e-01 1.7788e-01 1.0433e-05 1.0067e-02 4.20530e-02 0.0039 1.0067e-02 1\n", + " 9 2.7866e-01 1.7788e-01 1.0393e-05 1.0067e-02 4.16466e-02 0.2500 1.0067e-02 1\n", + " 10 2.7569e-01 1.7788e-01 8.3656e-06 9.7724e-03 1.80458e-02 1.0000 9.7724e-03 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9541e+02 1.8750e-01 4.9228e+01 2.9472e-01 1.10552e+00 1.0000 ---- 3\n", + " 2 6.4916e+01 1.7781e-01 2.3694e+00 4.1044e+00 2.85423e-01 1.0000 4.1044e+00 3\n", + " 3 2.9010e+00 1.7786e-01 6.7677e-03 2.6555e-01 2.24174e-01 0.5000 2.6555e-01 3\n", + " 4 2.7729e+00 1.7786e-01 3.6055e-03 2.5590e-01 6.23910e-02 1.0000 2.5590e-01 3\n", + " 5 5.4178e-01 1.7786e-01 4.4247e-05 3.6348e-02 1.14047e-01 0.5000 3.6348e-02 3\n", + " 6 5.0052e-01 1.7786e-01 2.5446e-05 3.2240e-02 5.60561e-02 1.0000 3.2240e-02 3\n", + " 7 4.6077e-01 1.7786e-01 1.6422e-06 2.8290e-02 1.13882e-01 0.2500 2.8290e-02 3\n", + " 8 4.5052e-01 1.7786e-01 1.5544e-06 2.7264e-02 2.66522e-02 1.0000 2.7264e-02 3\n", + " 9 2.1800e-01 1.7786e-01 5.1014e-07 4.0132e-03 5.44072e-02 0.0020 4.0132e-03 1\n", + " 10 2.1800e-01 1.7786e-01 5.0914e-07 4.0131e-03 5.40669e-02 0.1250 4.0131e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9586e+02 1.8748e-01 4.9219e+01 3.4839e-01 1.10682e+00 1.0000 ---- 3\n", + " 2 6.3402e+01 1.7779e-01 2.3598e+00 3.9626e+00 2.86755e-01 1.0000 3.9626e+00 3\n", + " 3 1.2281e+00 1.7785e-01 6.8779e-03 9.8146e-02 2.34773e-01 0.2500 9.8146e-02 3\n", + " 4 1.1602e+00 1.7784e-01 5.2143e-03 9.3017e-02 1.02336e-01 1.0000 9.3017e-02 3\n", + " 5 7.8310e-01 1.7784e-01 3.7402e-04 6.0152e-02 1.22260e-01 0.2500 6.0152e-02 3\n", + " 6 7.1460e-01 1.7784e-01 2.8195e-04 5.3394e-02 4.95233e-02 1.0000 5.3394e-02 3\n", + " 7 2.7346e-01 1.7784e-01 1.8757e-05 9.5431e-03 6.06450e-02 0.2500 9.5431e-03 2\n", + " 8 2.6050e-01 1.7784e-01 1.5305e-05 8.2514e-03 2.48983e-02 0.0020 8.2884e-03 1\n", + " 9 2.6050e-01 1.7784e-01 1.5305e-05 8.2514e-03 2.48854e-02 0.5000 8.2514e-03 1\n", + " 10 2.3732e-01 1.7784e-01 8.5188e-06 5.9402e-03 5.85727e-03 1.0000 5.9402e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9571e+02 1.8745e-01 4.9253e+01 2.9923e-01 1.10929e+00 1.0000 ---- 3\n", + " 2 6.4143e+01 1.7777e-01 2.3583e+00 4.0382e+00 2.89013e-01 1.0000 4.0382e+00 3\n", + " 3 3.2968e+00 1.7782e-01 6.8218e-03 3.0508e-01 2.39249e-01 0.5000 3.0508e-01 3\n", + " 4 3.0388e+00 1.7782e-01 3.6273e-03 2.8247e-01 6.70164e-02 1.0000 2.8247e-01 3\n", + " 5 6.2857e-01 1.7782e-01 5.0574e-05 4.5024e-02 1.21351e-01 0.5000 4.5024e-02 3\n", + " 6 5.2999e-01 1.7782e-01 2.8892e-05 3.5188e-02 5.88946e-02 1.0000 3.5188e-02 3\n", + " 7 4.3339e-01 1.7782e-01 1.7071e-06 2.5556e-02 1.19719e-01 0.2500 2.5556e-02 3\n", + " 8 4.0477e-01 1.7782e-01 1.5655e-06 2.2693e-02 2.80671e-02 1.0000 2.2693e-02 3\n", + " 9 2.1120e-01 1.7782e-01 4.4898e-07 3.3373e-03 5.72144e-02 0.0312 3.3373e-03 1\n", + " 10 2.1109e-01 1.7782e-01 4.3418e-07 3.3267e-03 5.18801e-02 0.2500 3.3267e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9583e+02 1.8743e-01 4.9216e+01 3.4757e-01 1.10652e+00 1.0000 ---- 3\n", + " 2 6.3016e+01 1.7775e-01 2.3574e+00 3.9264e+00 2.84732e-01 1.0000 3.9264e+00 3\n", + " 3 2.0380e+00 1.7780e-01 6.8462e-03 1.7917e-01 2.27671e-01 0.2500 1.7917e-01 3\n", + " 4 1.7444e+00 1.7780e-01 5.1866e-03 1.5147e-01 1.01279e-01 1.0000 1.5147e-01 3\n", + " 5 5.0562e-01 1.7780e-01 3.6148e-04 3.2421e-02 1.20163e-01 0.1250 3.2421e-02 3\n", + " 6 4.7997e-01 1.7780e-01 3.1660e-04 2.9901e-02 8.42585e-02 0.2500 2.9901e-02 3\n", + " 7 4.3291e-01 1.7780e-01 2.3810e-04 2.5273e-02 3.62702e-02 1.0000 2.5273e-02 3\n", + " 8 2.1160e-01 1.7780e-01 1.0449e-05 3.3700e-03 4.30563e-02 0.0078 5.6550e-03 1\n", + " 9 2.1160e-01 1.7780e-01 1.0368e-05 3.3697e-03 4.22525e-02 0.1250 3.3697e-03 1\n", + " 10 2.0903e-01 1.7780e-01 9.2080e-06 3.1142e-03 2.99394e-02 0.1250 3.5860e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9555e+02 1.8741e-01 4.9242e+01 2.9423e-01 1.11109e+00 1.0000 ---- 3\n", + " 2 6.2678e+01 1.7773e-01 2.3517e+00 3.8984e+00 2.92585e-01 1.0000 3.8984e+00 3\n", + " 3 2.7319e+00 1.7779e-01 7.1950e-03 2.4822e-01 2.46963e-01 0.5000 2.4822e-01 3\n", + " 4 2.7162e+00 1.7778e-01 3.8080e-03 2.5004e-01 6.94661e-02 1.0000 2.5004e-01 3\n", + " 5 5.1990e-01 1.7778e-01 5.2432e-05 3.4160e-02 1.27952e-01 0.5000 3.4160e-02 3\n", + " 6 5.0389e-01 1.7778e-01 3.0230e-05 3.2581e-02 6.51785e-02 1.0000 3.2581e-02 3\n", + " 7 4.6162e-01 1.7778e-01 1.9543e-06 2.8382e-02 1.36731e-01 0.2500 2.8382e-02 3\n", + " 8 4.3021e-01 1.7778e-01 1.8329e-06 2.5241e-02 2.97630e-02 1.0000 2.5241e-02 3\n", + " 9 2.1423e-01 1.7778e-01 5.7935e-07 3.6445e-03 6.23324e-02 0.1250 3.6445e-03 1\n", + " 10 2.1420e-01 1.7778e-01 5.1378e-07 3.6416e-03 3.85742e-02 0.2500 3.6416e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9556e+02 1.8739e-01 4.9188e+01 3.4888e-01 1.10587e+00 1.0000 ---- 3\n", + " 2 6.2385e+01 1.7771e-01 2.3586e+00 3.8622e+00 2.83965e-01 1.0000 3.8622e+00 3\n", + " 3 2.7268e+00 1.7776e-01 6.9268e-03 2.4798e-01 2.26392e-01 0.5000 2.4798e-01 3\n", + " 4 2.5447e+00 1.7776e-01 3.6930e-03 2.3300e-01 5.78099e-02 1.0000 2.3300e-01 3\n", + " 5 5.0856e-01 1.7776e-01 4.7364e-05 3.3033e-02 9.96383e-02 0.5000 3.3033e-02 3\n", + " 6 4.1696e-01 1.7776e-01 2.6990e-05 2.3894e-02 4.40518e-02 1.0000 2.3894e-02 3\n", + " 7 3.3896e-01 1.7776e-01 1.3458e-06 1.6119e-02 8.67293e-02 0.2500 1.6119e-02 3\n", + " 8 3.2891e-01 1.7776e-01 1.2425e-06 1.5114e-02 2.18643e-02 1.0000 1.5114e-02 3\n", + " 9 1.9244e-01 1.7776e-01 3.7449e-07 1.4677e-03 4.32038e-02 0.2500 1.6537e-03 1\n", + " 10 1.9154e-01 1.7776e-01 2.9841e-07 1.3781e-03 1.21676e-02 1.0000 1.6524e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9570e+02 1.8737e-01 4.9205e+01 3.4607e-01 1.11156e+00 1.0000 ---- 3\n", + " 2 6.3071e+01 1.7769e-01 2.3540e+00 3.9353e+00 3.07407e-01 1.0000 3.9353e+00 3\n", + " 3 4.1990e+00 1.7774e-01 6.8881e-03 3.9524e-01 2.86139e-01 0.5000 3.9524e-01 3\n", + " 4 3.9286e+00 1.7773e-01 3.6497e-03 3.7144e-01 8.87454e-02 1.0000 3.7144e-01 3\n", + " 5 7.1549e-01 1.7774e-01 5.0375e-05 5.3724e-02 1.65170e-01 0.2500 5.3724e-02 3\n", + " 6 6.0086e-01 1.7774e-01 3.8825e-05 4.2273e-02 4.34634e-02 1.0000 4.2273e-02 3\n", + " 7 2.0921e-01 1.7774e-01 2.9779e-06 3.1446e-03 7.93668e-02 0.1250 3.1446e-03 1\n", + " 8 2.0828e-01 1.7774e-01 2.6644e-06 3.0510e-03 5.04971e-02 0.2500 3.0510e-03 1\n", + " 9 2.0310e-01 1.7774e-01 2.1085e-06 2.5343e-03 1.47452e-02 1.0000 2.5343e-03 1\n", + " 10 1.9298e-01 1.7774e-01 1.3718e-06 1.5230e-03 2.53243e-02 0.5000 1.6463e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9499e+02 1.8735e-01 4.9139e+01 3.4172e-01 1.10530e+00 1.0000 ---- 3\n", + " 2 6.1589e+01 1.7767e-01 2.3504e+00 3.7907e+00 2.87130e-01 1.0000 3.7907e+00 3\n", + " 3 2.6843e+00 1.7772e-01 6.9985e-03 2.4366e-01 2.31916e-01 0.5000 2.4366e-01 3\n", + " 4 2.4850e+00 1.7772e-01 3.7160e-03 2.2702e-01 5.66631e-02 1.0000 2.2702e-01 3\n", + " 5 4.8926e-01 1.7772e-01 4.5843e-05 3.1108e-02 9.61574e-02 0.5000 3.1108e-02 3\n", + " 6 4.0676e-01 1.7772e-01 2.6513e-05 2.2878e-02 4.04795e-02 1.0000 2.2878e-02 3\n", + " 7 3.2052e-01 1.7772e-01 1.6756e-06 1.4279e-02 7.79769e-02 0.2500 1.4279e-02 3\n", + " 8 3.1051e-01 1.7772e-01 1.5349e-06 1.3277e-02 2.03354e-02 1.0000 1.3277e-02 3\n", + " 9 2.0225e-01 1.7772e-01 4.5080e-07 2.4529e-03 3.98447e-02 0.0156 4.3419e-03 1\n", + " 10 2.0224e-01 1.7772e-01 4.4355e-07 2.4515e-03 3.80736e-02 0.2500 2.4515e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9470e+02 1.8733e-01 4.9102e+01 3.4927e-01 1.10451e+00 1.0000 ---- 3\n", + " 2 6.0322e+01 1.7765e-01 2.3531e+00 3.6613e+00 2.91245e-01 1.0000 3.6613e+00 3\n", + " 3 2.7877e+00 1.7770e-01 7.0685e-03 2.5393e-01 2.34676e-01 0.5000 2.5393e-01 3\n", + " 4 2.4051e+00 1.7770e-01 3.7599e-03 2.1898e-01 5.98188e-02 1.0000 2.1898e-01 3\n", + " 5 6.5603e-01 1.7770e-01 5.1909e-05 4.7781e-02 1.03332e-01 0.5000 4.7781e-02 3\n", + " 6 5.9192e-01 1.7770e-01 2.9672e-05 4.1393e-02 4.82120e-02 1.0000 4.1393e-02 3\n", + " 7 2.8946e-01 1.7770e-01 1.4567e-06 1.1174e-02 9.99525e-02 0.1250 1.1174e-02 3\n", + " 8 2.8448e-01 1.7770e-01 1.3508e-06 1.0677e-02 6.10649e-02 0.2500 1.0677e-02 3\n", + " 9 2.7848e-01 1.7770e-01 1.1461e-06 1.0078e-02 1.41722e-02 1.0000 1.0078e-02 2\n", + " 10 1.7977e-01 1.7770e-01 2.4750e-07 2.0721e-04 2.89030e-02 0.0020 1.5850e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9464e+02 1.8731e-01 4.9101e+01 3.4409e-01 1.10318e+00 1.0000 ---- 3\n", + " 2 6.1177e+01 1.7763e-01 2.3476e+00 3.7524e+00 2.96813e-01 1.0000 3.7524e+00 3\n", + " 3 1.1818e+00 1.7769e-01 7.0646e-03 9.3347e-02 2.51183e-01 0.2500 9.3347e-02 3\n", + " 4 1.1342e+00 1.7768e-01 5.3554e-03 9.0294e-02 1.05230e-01 1.0000 9.0294e-02 3\n", + " 5 6.1696e-01 1.7768e-01 3.6840e-04 4.3560e-02 1.29360e-01 0.2500 4.3560e-02 3\n", + " 6 5.5451e-01 1.7768e-01 2.7797e-04 3.7406e-02 5.08600e-02 1.0000 3.7406e-02 3\n", + " 7 2.3087e-01 1.7768e-01 1.9807e-05 5.2997e-03 6.41000e-02 0.0020 8.6701e-03 1\n", + " 8 2.3087e-01 1.7768e-01 1.9807e-05 5.2997e-03 6.40884e-02 0.1250 5.2997e-03 1\n", + " 9 2.2870e-01 1.7768e-01 1.7645e-05 5.0850e-03 4.45267e-02 0.1250 5.7964e-03 1\n", + " 10 2.2814e-01 1.7768e-01 1.5605e-05 5.0303e-03 3.14185e-02 0.2500 5.0303e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9571e+02 1.8729e-01 4.9224e+01 3.2861e-01 1.10900e+00 1.0000 ---- 3\n", + " 2 6.2677e+01 1.7762e-01 2.3316e+00 3.9183e+00 2.93891e-01 1.0000 3.9183e+00 3\n", + " 3 2.4893e+00 1.7767e-01 7.1178e-03 2.2405e-01 2.49834e-01 0.2500 2.2405e-01 3\n", + " 4 2.0673e+00 1.7767e-01 5.3921e-03 1.8357e-01 1.08328e-01 1.0000 1.8357e-01 3\n", + " 5 4.6066e-01 1.7767e-01 3.7470e-04 2.7925e-02 1.33361e-01 0.1250 2.7925e-02 3\n", + " 6 4.5060e-01 1.7767e-01 3.2811e-04 2.6965e-02 9.25242e-02 0.2500 2.6965e-02 3\n", + " 7 4.2652e-01 1.7766e-01 2.4715e-04 2.4638e-02 3.87122e-02 1.0000 2.4638e-02 3\n", + " 8 2.2966e-01 1.7766e-01 1.0965e-05 5.1883e-03 4.72275e-02 0.0020 6.6925e-03 1\n", + " 9 2.2966e-01 1.7766e-01 1.0965e-05 5.1883e-03 4.72063e-02 0.1250 5.1883e-03 1\n", + " 10 2.2782e-01 1.7766e-01 9.7777e-06 5.0056e-03 3.33328e-02 0.1250 5.0056e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9493e+02 1.8728e-01 4.9184e+01 2.9014e-01 1.11116e+00 1.0000 ---- 3\n", + " 2 6.1527e+01 1.7760e-01 2.3456e+00 3.7894e+00 2.97397e-01 1.0000 3.7894e+00 3\n", + " 3 3.3052e+00 1.7766e-01 7.2870e-03 3.0547e-01 2.59460e-01 0.5000 3.0547e-01 3\n", + " 4 2.8001e+00 1.7765e-01 3.8681e-03 2.5837e-01 7.10247e-02 1.0000 2.5837e-01 3\n", + " 5 4.7057e-01 1.7765e-01 5.8214e-05 2.9234e-02 1.25356e-01 0.5000 2.9234e-02 3\n", + " 6 4.5370e-01 1.7765e-01 3.3349e-05 2.7571e-02 6.02813e-02 1.0000 2.7571e-02 3\n", + " 7 3.7976e-01 1.7765e-01 1.9058e-06 2.0209e-02 1.27330e-01 0.2500 2.0209e-02 3\n", + " 8 3.6826e-01 1.7765e-01 1.7593e-06 1.9059e-02 2.72656e-02 1.0000 1.9059e-02 3\n", + " 9 1.8964e-01 1.7765e-01 5.9646e-07 1.1992e-03 5.64991e-02 0.1250 1.6081e-03 1\n", + " 10 1.8911e-01 1.7765e-01 5.3178e-07 1.1455e-03 3.49181e-02 0.2500 1.5231e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9512e+02 1.8725e-01 4.9146e+01 3.4677e-01 1.10457e+00 1.0000 ---- 3\n", + " 2 6.1333e+01 1.7758e-01 2.3476e+00 3.7680e+00 2.85948e-01 1.0000 3.7680e+00 3\n", + " 3 3.1224e+00 1.7763e-01 6.9950e-03 2.8748e-01 2.31561e-01 0.5000 2.8748e-01 3\n", + " 4 2.5967e+00 1.7763e-01 3.7269e-03 2.3818e-01 5.82580e-02 1.0000 2.3818e-01 3\n", + " 5 4.9288e-01 1.7763e-01 5.7003e-05 3.1468e-02 9.75643e-02 0.5000 3.1468e-02 3\n", + " 6 4.1419e-01 1.7763e-01 3.2291e-05 2.3624e-02 4.12549e-02 1.0000 2.3624e-02 3\n", + " 7 2.9428e-01 1.7763e-01 1.6911e-06 1.1663e-02 8.04123e-02 0.1250 1.1663e-02 3\n", + " 8 2.8658e-01 1.7763e-01 1.5475e-06 1.0893e-02 5.03756e-02 0.2500 1.0893e-02 3\n", + " 9 2.6888e-01 1.7763e-01 1.2777e-06 9.1236e-03 1.29555e-02 1.0000 9.1236e-03 2\n", + " 10 1.7763e-01 1.7763e-01 2.1667e-07 0.0000e+00 2.60667e-02 0.2500 1.5921e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9510e+02 1.8723e-01 4.9158e+01 3.3412e-01 1.10530e+00 1.0000 ---- 3\n", + " 2 6.2989e+01 1.7757e-01 2.3483e+00 3.9329e+00 2.87169e-01 1.0000 3.9329e+00 3\n", + " 3 2.2010e+00 1.7762e-01 6.9012e-03 1.9543e-01 2.37822e-01 0.2500 1.9543e-01 3\n", + " 4 1.8560e+00 1.7762e-01 5.2347e-03 1.6260e-01 1.03144e-01 1.0000 1.6260e-01 3\n", + " 5 4.8803e-01 1.7762e-01 3.7470e-04 3.0667e-02 1.25854e-01 0.1250 3.0667e-02 3\n", + " 6 4.6761e-01 1.7761e-01 3.2824e-04 2.8671e-02 8.75540e-02 0.2500 2.8671e-02 3\n", + " 7 4.2854e-01 1.7761e-01 2.4701e-04 2.4846e-02 3.70638e-02 1.0000 2.4846e-02 3\n", + " 8 2.1580e-01 1.7761e-01 1.1301e-05 3.8070e-03 4.50964e-02 0.0020 6.1262e-03 1\n", + " 9 2.1580e-01 1.7761e-01 1.1301e-05 3.8070e-03 4.50759e-02 0.1250 3.8070e-03 1\n", + " 10 2.1378e-01 1.7761e-01 1.0058e-05 3.6067e-03 3.18227e-02 0.1250 3.9048e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9499e+02 1.8722e-01 4.9188e+01 2.9275e-01 1.11089e+00 1.0000 ---- 3\n", + " 2 6.2517e+01 1.7756e-01 2.3401e+00 3.8939e+00 2.97187e-01 1.0000 3.8939e+00 3\n", + " 3 2.6557e+00 1.7761e-01 7.2362e-03 2.4057e-01 2.60916e-01 0.2500 2.4057e-01 3\n", + " 4 2.1698e+00 1.7760e-01 5.4823e-03 1.9373e-01 1.11072e-01 1.0000 1.9373e-01 3\n", + " 5 3.8940e-01 1.7760e-01 3.7891e-04 2.0801e-02 1.39372e-01 0.0625 2.0801e-02 3\n", + " 6 3.8062e-01 1.7760e-01 3.5542e-04 1.9946e-02 1.17599e-01 0.1250 1.9946e-02 3\n", + " 7 3.7282e-01 1.7760e-01 3.1154e-04 1.9210e-02 8.16969e-02 0.2500 1.9210e-02 3\n", + " 8 3.5553e-01 1.7760e-01 2.3469e-04 1.7558e-02 3.41873e-02 1.0000 1.7558e-02 3\n", + " 9 2.1702e-01 1.7760e-01 8.6181e-06 3.9331e-03 4.14207e-02 0.0020 5.0325e-03 1\n", + " 10 2.1702e-01 1.7760e-01 8.6181e-06 3.9331e-03 4.14031e-02 0.1250 3.9331e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9491e+02 1.8721e-01 4.9185e+01 2.8763e-01 1.11291e+00 1.0000 ---- 3\n", + " 2 6.2423e+01 1.7754e-01 2.3460e+00 3.8786e+00 2.98426e-01 1.0000 3.8786e+00 3\n", + " 3 2.7080e+00 1.7760e-01 7.2932e-03 2.4575e-01 2.65401e-01 0.5000 2.4575e-01 3\n", + " 4 2.7068e+00 1.7759e-01 3.8679e-03 2.4905e-01 7.24251e-02 1.0000 2.4905e-01 3\n", + " 5 4.5561e-01 1.7759e-01 5.9400e-05 2.7743e-02 1.27127e-01 0.5000 2.7743e-02 3\n", + " 6 4.4324e-01 1.7759e-01 3.3429e-05 2.6532e-02 6.00580e-02 1.0000 2.6532e-02 3\n", + " 7 4.0896e-01 1.7759e-01 1.8910e-06 2.3135e-02 1.26053e-01 0.2500 2.3135e-02 3\n", + " 8 3.7645e-01 1.7759e-01 1.6876e-06 1.9885e-02 2.70075e-02 1.0000 1.9885e-02 3\n", + " 9 1.8264e-01 1.7759e-01 4.9319e-07 5.0485e-04 5.55395e-02 0.0020 1.6365e-03 1\n", + " 10 1.8264e-01 1.7759e-01 4.9319e-07 5.0485e-04 5.55146e-02 0.1250 1.6365e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9481e+02 1.8719e-01 4.9118e+01 3.4411e-01 1.10257e+00 1.0000 ---- 3\n", + " 2 6.2763e+01 1.7752e-01 2.3453e+00 3.9133e+00 2.95399e-01 1.0000 3.9133e+00 3\n", + " 3 1.0647e+00 1.7758e-01 7.0019e-03 8.1711e-02 2.60166e-01 0.2500 8.1711e-02 3\n", + " 4 1.0356e+00 1.7757e-01 5.3108e-03 8.0490e-02 1.04066e-01 1.0000 8.0490e-02 3\n", + " 5 5.8155e-01 1.7757e-01 3.7759e-04 4.0020e-02 1.29199e-01 0.2500 4.0020e-02 3\n", + " 6 5.1716e-01 1.7757e-01 2.8495e-04 3.3674e-02 5.04971e-02 1.0000 3.3674e-02 3\n", + " 7 2.2739e-01 1.7757e-01 2.0246e-05 4.9614e-03 6.32392e-02 0.2500 4.9614e-03 2\n", + " 8 2.1348e-01 1.7757e-01 1.6433e-05 3.5751e-03 2.52102e-02 0.0020 8.0469e-03 1\n", + " 9 2.1348e-01 1.7757e-01 1.6433e-05 3.5751e-03 2.51956e-02 0.5000 3.5751e-03 1\n", + " 10 2.0280e-01 1.7757e-01 9.1904e-06 2.5141e-03 5.95104e-03 1.0000 2.8292e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9423e+02 1.8717e-01 4.9106e+01 2.9805e-01 1.10728e+00 1.0000 ---- 3\n", + " 2 6.2006e+01 1.7751e-01 2.3467e+00 3.8361e+00 2.93514e-01 1.0000 3.8361e+00 3\n", + " 3 3.1525e+00 1.7756e-01 6.9157e-03 2.9058e-01 2.42752e-01 0.5000 2.9058e-01 3\n", + " 4 2.8111e+00 1.7755e-01 3.6596e-03 2.5969e-01 6.10058e-02 1.0000 2.5969e-01 3\n", + " 5 7.5934e-01 1.7755e-01 5.6125e-05 5.8122e-02 1.00028e-01 0.5000 5.8122e-02 3\n", + " 6 6.7928e-01 1.7755e-01 3.2030e-05 5.0141e-02 4.17896e-02 1.0000 5.0141e-02 3\n", + " 7 3.6093e-01 1.7755e-01 1.5934e-06 1.8336e-02 8.33127e-02 0.2500 1.8336e-02 3\n", + " 8 3.5300e-01 1.7755e-01 1.4568e-06 1.7544e-02 2.01486e-02 1.0000 1.7544e-02 3\n", + " 9 2.0135e-01 1.7755e-01 5.3233e-07 2.3795e-03 3.95030e-02 0.0020 4.0238e-03 1\n", + " 10 2.0135e-01 1.7755e-01 5.3233e-07 2.3795e-03 3.94856e-02 0.1250 2.3795e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9444e+02 1.8715e-01 4.9076e+01 3.4904e-01 1.10175e+00 1.0000 ---- 3\n", + " 2 6.1803e+01 1.7749e-01 2.3440e+00 3.8185e+00 2.89533e-01 1.0000 3.8185e+00 3\n", + " 3 1.4422e+00 1.7754e-01 7.0236e-03 1.1944e-01 2.39735e-01 0.2500 1.1944e-01 3\n", + " 4 1.2572e+00 1.7754e-01 5.3239e-03 1.0264e-01 1.02597e-01 1.0000 1.0264e-01 3\n", + " 5 5.3617e-01 1.7754e-01 3.5414e-04 3.5510e-02 1.23618e-01 0.2500 3.5510e-02 3\n", + " 6 4.5545e-01 1.7754e-01 2.6695e-04 2.7525e-02 5.02975e-02 1.0000 2.7525e-02 3\n", + " 7 2.2018e-01 1.7753e-01 1.8820e-05 4.2460e-03 6.19128e-02 0.0020 1.0675e-02 1\n", + " 8 2.2018e-01 1.7753e-01 1.8820e-05 4.2460e-03 6.18865e-02 0.1250 4.2460e-03 1\n", + " 9 2.1706e-01 1.7753e-01 1.6696e-05 3.9356e-03 4.34069e-02 0.1250 7.0194e-03 1\n", + " 10 2.1612e-01 1.7753e-01 1.4746e-05 3.8441e-03 3.07205e-02 0.5000 4.7113e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9395e+02 1.8713e-01 4.9071e+01 3.0549e-01 1.10427e+00 1.0000 ---- 3\n", + " 2 6.1993e+01 1.7748e-01 2.3447e+00 3.8369e+00 2.90575e-01 1.0000 3.8369e+00 3\n", + " 3 2.7063e+00 1.7753e-01 7.0232e-03 2.4585e-01 2.46102e-01 0.5000 2.4585e-01 3\n", + " 4 2.4781e+00 1.7752e-01 3.7403e-03 2.2632e-01 6.95267e-02 1.0000 2.2632e-01 3\n", + " 5 4.4693e-01 1.7752e-01 5.2095e-05 2.6889e-02 1.23561e-01 0.5000 2.6889e-02 3\n", + " 6 4.1192e-01 1.7752e-01 3.0838e-05 2.3409e-02 6.18718e-02 0.5000 2.3409e-02 3\n", + " 7 2.7485e-01 1.7752e-01 1.6017e-05 9.7172e-03 3.74425e-02 0.0020 9.7172e-03 1\n", + " 8 2.7485e-01 1.7752e-01 1.6017e-05 9.7172e-03 3.74304e-02 1.0000 9.7172e-03 1\n", + " 9 2.4291e-01 1.7752e-01 3.6262e-06 6.5352e-03 8.32739e-02 0.5000 6.5352e-03 2\n", + " 10 2.4196e-01 1.7752e-01 3.0898e-06 6.4409e-03 5.42901e-02 1.0000 6.4409e-03 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9382e+02 1.8712e-01 4.9015e+01 3.4744e-01 1.16667e+00 1.0000 ---- 3\n", + " 2 6.0982e+01 1.7746e-01 2.3683e+00 3.7121e+00 5.12462e-01 1.0000 3.7121e+00 3\n", + " 3 1.5835e+01 1.7749e-01 7.6927e-03 1.5581e+00 7.94748e-01 0.2500 1.5581e+00 3\n", + " 4 1.3431e+01 1.7746e-01 5.8160e-03 1.3195e+00 2.01518e-01 1.0000 1.3195e+00 3\n", + " 5 3.7369e+00 1.7747e-01 3.7005e-04 3.5558e-01 3.55788e-01 0.1250 3.5558e-01 3\n", + " 6 3.4311e+00 1.7747e-01 3.2565e-04 3.2504e-01 2.23312e-01 0.5000 3.2504e-01 3\n", + " 7 3.0925e+00 1.7746e-01 1.7946e-04 2.9132e-01 1.17061e-01 1.0000 2.9132e-01 3\n", + " 8 4.0926e-01 1.7747e-01 2.4743e-06 2.3177e-02 2.55336e-01 0.0312 2.3177e-02 3\n", + " 9 4.0805e-01 1.7746e-01 2.4016e-06 2.3056e-02 2.29935e-01 0.0312 2.3056e-02 3\n", + " 10 4.0498e-01 1.7746e-01 2.3297e-06 2.2749e-02 2.07017e-01 0.0312 2.2749e-02 3\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9431e+02 1.8705e-01 4.9056e+01 3.5590e-01 1.26028e+00 1.0000 ---- 3\n", + " 2 7.2545e+01 1.7738e-01 2.3514e+00 4.8854e+00 6.98340e-01 1.0000 4.8854e+00 3\n", + " 3 4.6715e+01 1.7741e-01 8.6204e-03 4.6452e+00 1.09444e+00 0.2500 4.6452e+00 3\n", + " 4 3.7626e+01 1.7737e-01 6.5018e-03 3.7383e+00 3.06805e-01 1.0000 3.7383e+00 3\n", + " 5 5.5643e+00 1.7742e-01 3.4975e-04 5.3833e-01 5.76385e-01 0.1250 5.3833e-01 3\n", + " 6 5.4856e+00 1.7741e-01 3.0547e-04 5.3051e-01 3.58071e-01 0.2500 5.3051e-01 3\n", + " 7 4.7766e+00 1.7740e-01 2.2952e-04 4.5969e-01 8.85597e-02 1.0000 4.5969e-01 3\n", + " 8 1.8622e-01 1.7741e-01 2.8978e-05 8.5186e-04 1.61708e-01 0.0020 1.6487e-03 1\n", + " 9 1.8622e-01 1.7741e-01 2.8978e-05 8.5186e-04 1.61645e-01 0.0625 1.6487e-03 1\n", + " 10 1.8594e-01 1.7741e-01 2.7230e-05 8.2534e-04 1.31385e-01 0.0156 1.6486e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9466e+02 1.8699e-01 4.9099e+01 3.4882e-01 1.18258e+00 1.0000 ---- 3\n", + " 2 6.4304e+01 1.7733e-01 2.4052e+00 4.0075e+00 4.96739e-01 1.0000 4.0075e+00 3\n", + " 3 2.7819e+01 1.7737e-01 7.0595e-03 2.7571e+00 6.99487e-01 0.2500 2.7571e+00 3\n", + " 4 2.3216e+01 1.7735e-01 5.3550e-03 2.2985e+00 2.13938e-01 1.0000 2.2985e+00 3\n", + " 5 1.2937e+00 1.7739e-01 3.3377e-04 1.1130e-01 3.80580e-01 0.0625 1.1130e-01 3\n", + " 6 1.2843e+00 1.7738e-01 3.1306e-04 1.1038e-01 3.10053e-01 0.0625 1.1038e-01 3\n", + " 7 1.2391e+00 1.7738e-01 2.9363e-04 1.0588e-01 2.52599e-01 0.1250 1.0588e-01 3\n", + " 8 1.1950e+00 1.7738e-01 2.5737e-04 1.0151e-01 1.59273e-01 0.2500 1.0151e-01 3\n", + " 9 1.0489e+00 1.7738e-01 1.9408e-04 8.6958e-02 4.62471e-02 1.0000 8.6958e-02 3\n", + " 10 2.4578e-01 1.7738e-01 9.8651e-06 6.8307e-03 7.60538e-02 0.2500 6.8307e-03 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9397e+02 1.8696e-01 4.9069e+01 3.0951e-01 1.10889e+00 1.0000 ---- 3\n", + " 2 6.3364e+01 1.7730e-01 2.3854e+00 3.9333e+00 2.93091e-01 1.0000 3.9333e+00 3\n", + " 3 3.0745e+00 1.7736e-01 6.8044e-03 2.8291e-01 2.59638e-01 0.2500 2.8291e-01 3\n", + " 4 2.5496e+00 1.7735e-01 5.1528e-03 2.3207e-01 1.04048e-01 1.0000 2.3207e-01 3\n", + " 5 6.6518e-01 1.7735e-01 3.3774e-04 4.8445e-02 1.31188e-01 0.1250 4.8445e-02 3\n", + " 6 6.2436e-01 1.7735e-01 2.9563e-04 4.4405e-02 9.00601e-02 0.2500 4.4405e-02 3\n", + " 7 5.4897e-01 1.7735e-01 2.2191e-04 3.6940e-02 3.66254e-02 1.0000 3.6940e-02 3\n", + " 8 2.4997e-01 1.7735e-01 8.5331e-06 7.2532e-03 4.55186e-02 0.0020 8.5091e-03 1\n", + " 9 2.4997e-01 1.7735e-01 8.5331e-06 7.2532e-03 4.54882e-02 0.1250 7.2532e-03 1\n", + " 10 2.4603e-01 1.7735e-01 7.5773e-06 6.8601e-03 3.16864e-02 0.1250 6.8601e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9424e+02 1.8693e-01 4.9066e+01 3.4008e-01 1.10749e+00 1.0000 ---- 3\n", + " 2 6.1606e+01 1.7728e-01 2.3604e+00 3.7825e+00 2.87042e-01 1.0000 3.7825e+00 3\n", + " 3 2.8857e+00 1.7733e-01 7.0392e-03 2.6380e-01 2.33386e-01 0.2500 2.6380e-01 3\n", + " 4 2.4155e+00 1.7733e-01 5.3300e-03 2.1848e-01 1.01062e-01 1.0000 2.1848e-01 3\n", + " 5 6.0493e-01 1.7733e-01 3.4340e-04 4.2416e-02 1.20779e-01 0.1250 4.2416e-02 3\n", + " 6 5.6160e-01 1.7733e-01 3.0058e-04 3.8126e-02 8.41409e-02 0.2500 3.8126e-02 3\n", + " 7 4.9406e-01 1.7733e-01 2.2561e-04 3.1448e-02 3.57879e-02 1.0000 3.1448e-02 3\n", + " 8 2.3358e-01 1.7733e-01 8.7067e-06 5.6161e-03 4.23869e-02 0.0020 9.2206e-03 1\n", + " 9 2.3358e-01 1.7733e-01 8.7067e-06 5.6161e-03 4.23721e-02 0.1250 5.6161e-03 1\n", + " 10 2.3140e-01 1.7733e-01 7.7258e-06 5.3995e-03 2.99256e-02 0.1250 5.8564e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9412e+02 1.8691e-01 4.9045e+01 3.4880e-01 1.10746e+00 1.0000 ---- 3\n", + " 2 6.0599e+01 1.7726e-01 2.3545e+00 3.6877e+00 2.87121e-01 1.0000 3.6877e+00 3\n", + " 3 2.8936e+00 1.7731e-01 7.0280e-03 2.6460e-01 2.30505e-01 0.5000 2.6460e-01 3\n", + " 4 2.8581e+00 1.7730e-01 3.7104e-03 2.6437e-01 6.09018e-02 1.0000 2.6437e-01 3\n", + " 5 6.6436e-01 1.7731e-01 4.9322e-05 4.8656e-02 1.09304e-01 0.2500 4.8656e-02 3\n", + " 6 5.7155e-01 1.7730e-01 3.7491e-05 3.9387e-02 2.91791e-02 1.0000 3.9387e-02 3\n", + " 7 1.9752e-01 1.7730e-01 1.5275e-06 2.0197e-03 5.23820e-02 0.1250 2.0197e-03 1\n", + " 8 1.9704e-01 1.7730e-01 1.3565e-06 1.9727e-03 3.35370e-02 0.5000 1.9727e-03 1\n", + " 9 1.9556e-01 1.7730e-01 1.0901e-06 1.8250e-03 1.55676e-02 0.5000 1.8250e-03 1\n", + " 10 1.9477e-01 1.7730e-01 6.1323e-07 1.7464e-03 8.02434e-03 1.0000 1.7464e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9390e+02 1.8688e-01 4.9024e+01 3.4735e-01 1.10634e+00 1.0000 ---- 3\n", + " 2 6.0340e+01 1.7723e-01 2.3491e+00 3.6672e+00 2.99159e-01 1.0000 3.6672e+00 3\n", + " 3 4.6529e+00 1.7728e-01 6.8481e-03 4.4072e-01 2.70304e-01 0.5000 4.4072e-01 3\n", + " 4 3.6345e+00 1.7727e-01 3.6240e-03 3.4210e-01 9.23567e-02 1.0000 3.4210e-01 3\n", + " 5 8.7545e-01 1.7728e-01 4.9878e-05 6.9767e-02 1.82488e-01 0.5000 6.9767e-02 3\n", + " 6 8.4684e-01 1.7728e-01 2.8389e-05 6.6928e-02 1.05047e-01 1.0000 6.6928e-02 3\n", + " 7 4.3526e-01 1.7728e-01 4.3091e-06 2.5794e-02 2.31991e-01 0.1250 2.5794e-02 3\n", + " 8 4.1209e-01 1.7727e-01 3.9263e-06 2.3477e-02 1.37284e-01 0.2500 2.3477e-02 3\n", + " 9 3.7256e-01 1.7727e-01 3.1951e-06 1.9526e-02 2.57390e-02 1.0000 1.9526e-02 3\n", + " 10 2.0319e-01 1.7727e-01 3.6185e-07 2.5912e-03 5.65288e-02 0.0020 2.5912e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9336e+02 1.8685e-01 4.8969e+01 3.4836e-01 1.11466e+00 1.0000 ---- 3\n", + " 2 5.9912e+01 1.7720e-01 2.3554e+00 3.6180e+00 3.27233e-01 1.0000 3.6180e+00 3\n", + " 3 3.2662e+00 1.7725e-01 6.9354e-03 3.0196e-01 3.48314e-01 0.5000 3.0196e-01 3\n", + " 4 2.8983e+00 1.7724e-01 3.6665e-03 2.6844e-01 1.76715e-01 1.0000 2.6844e-01 3\n", + " 5 7.2751e-01 1.7724e-01 8.8051e-05 5.4939e-02 4.01588e-01 0.2500 5.4939e-02 3\n", + " 6 7.1711e-01 1.7724e-01 6.7612e-05 5.3920e-02 7.28946e-02 1.0000 5.3920e-02 3\n", + " 7 1.8941e-01 1.7724e-01 3.1405e-06 1.2141e-03 1.57831e-01 0.0020 1.6379e-03 1\n", + " 8 1.8941e-01 1.7724e-01 3.1405e-06 1.2141e-03 1.57763e-01 0.2500 1.6379e-03 1\n", + " 9 1.8918e-01 1.7724e-01 2.9216e-06 1.1916e-03 3.03278e-02 0.2500 1.6399e-03 1\n", + " 10 1.8907e-01 1.7724e-01 2.2493e-06 1.1809e-03 7.33390e-03 1.0000 1.6413e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9354e+02 1.8681e-01 4.9003e+01 3.3197e-01 1.10599e+00 1.0000 ---- 3\n", + " 2 6.1544e+01 1.7717e-01 2.3588e+00 3.7779e+00 2.83201e-01 1.0000 3.7779e+00 3\n", + " 3 2.8595e+00 1.7722e-01 6.6469e-03 2.6158e-01 2.26600e-01 0.2500 2.6158e-01 3\n", + " 4 2.3201e+00 1.7721e-01 5.0315e-03 2.0926e-01 9.90508e-02 1.0000 2.0926e-01 3\n", + " 5 6.4892e-01 1.7721e-01 3.3062e-04 4.6840e-02 1.19555e-01 0.1250 4.6840e-02 3\n", + " 6 6.1214e-01 1.7721e-01 2.8935e-04 4.3203e-02 8.33281e-02 0.2500 4.3203e-02 3\n", + " 7 5.4399e-01 1.7721e-01 2.1710e-04 3.6460e-02 3.55473e-02 1.0000 3.6460e-02 3\n", + " 8 2.2433e-01 1.7721e-01 9.1830e-06 4.7025e-03 4.21992e-02 0.0020 4.7025e-03 1\n", + " 9 2.2433e-01 1.7721e-01 9.1830e-06 4.7025e-03 4.21892e-02 0.1250 4.7025e-03 1\n", + " 10 2.2359e-01 1.7721e-01 8.1728e-06 4.6292e-03 2.99071e-02 0.0625 4.6292e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9410e+02 1.8679e-01 4.9040e+01 3.5137e-01 1.10873e+00 1.0000 ---- 3\n", + " 2 6.0328e+01 1.7715e-01 2.3460e+00 3.6691e+00 2.88085e-01 1.0000 3.6691e+00 3\n", + " 3 2.5673e+00 1.7720e-01 7.0801e-03 2.3193e-01 2.34484e-01 0.2500 2.3193e-01 3\n", + " 4 2.1276e+00 1.7719e-01 5.3586e-03 1.8968e-01 1.03497e-01 1.0000 1.8968e-01 3\n", + " 5 5.0947e-01 1.7719e-01 3.3627e-04 3.2892e-02 1.24481e-01 0.1250 3.2892e-02 3\n", + " 6 4.7974e-01 1.7719e-01 2.9423e-04 2.9960e-02 8.69734e-02 0.2500 2.9960e-02 3\n", + " 7 4.3519e-01 1.7719e-01 2.2061e-04 2.5580e-02 3.69975e-02 1.0000 2.5580e-02 3\n", + " 8 2.2939e-01 1.7719e-01 9.8472e-06 5.2105e-03 4.40963e-02 0.0078 8.9544e-03 1\n", + " 9 2.2939e-01 1.7719e-01 9.7707e-06 5.2098e-03 4.32708e-02 0.1250 5.2098e-03 1\n", + " 10 2.2611e-01 1.7719e-01 8.6568e-06 4.8830e-03 3.06780e-02 0.1250 5.7027e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9422e+02 1.8677e-01 4.9049e+01 3.5442e-01 1.10849e+00 1.0000 ---- 3\n", + " 2 6.1197e+01 1.7712e-01 2.3470e+00 3.7550e+00 2.88036e-01 1.0000 3.7550e+00 3\n", + " 3 2.3804e+00 1.7718e-01 7.0393e-03 2.1328e-01 2.37338e-01 0.2500 2.1328e-01 3\n", + " 4 2.0136e+00 1.7717e-01 5.3270e-03 1.7831e-01 1.04202e-01 1.0000 1.7831e-01 3\n", + " 5 5.1163e-01 1.7717e-01 3.2786e-04 3.3118e-02 1.25448e-01 0.1250 3.3118e-02 3\n", + " 6 4.8887e-01 1.7717e-01 2.8690e-04 3.0883e-02 8.75731e-02 0.2500 3.0883e-02 3\n", + " 7 4.5186e-01 1.7717e-01 2.1524e-04 2.7254e-02 3.72899e-02 1.0000 2.7254e-02 3\n", + " 8 2.2152e-01 1.7717e-01 9.2583e-06 4.4257e-03 4.44430e-02 0.0078 7.3219e-03 1\n", + " 9 2.2151e-01 1.7717e-01 9.1865e-06 4.4251e-03 4.36061e-02 0.1250 4.4251e-03 1\n", + " 10 2.1918e-01 1.7717e-01 8.1552e-06 4.1931e-03 3.09323e-02 0.1250 4.6525e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9335e+02 1.8675e-01 4.8987e+01 3.2895e-01 1.10789e+00 1.0000 ---- 3\n", + " 2 6.0089e+01 1.7710e-01 2.3536e+00 3.6376e+00 2.90188e-01 1.0000 3.6376e+00 3\n", + " 3 2.7888e+00 1.7716e-01 7.1213e-03 2.5405e-01 2.38352e-01 0.5000 2.5405e-01 3\n", + " 4 2.6601e+00 1.7715e-01 3.7707e-03 2.4452e-01 6.01437e-02 1.0000 2.4452e-01 3\n", + " 5 6.7496e-01 1.7715e-01 4.3290e-05 4.9737e-02 1.05020e-01 0.2500 4.9737e-02 3\n", + " 6 5.8478e-01 1.7715e-01 3.3108e-05 4.0730e-02 2.98511e-02 1.0000 4.0730e-02 3\n", + " 7 2.0305e-01 1.7715e-01 1.7543e-06 2.5878e-03 5.22322e-02 0.2500 2.5878e-03 1\n", + " 8 2.0175e-01 1.7715e-01 1.4665e-06 2.4586e-03 1.60046e-02 0.5000 2.4586e-03 1\n", + " 9 1.9522e-01 1.7715e-01 8.4596e-07 1.8058e-03 6.47133e-03 1.0000 1.8058e-03 1\n", + " 10 1.8411e-01 1.7715e-01 4.0237e-07 6.9555e-04 1.10325e-02 0.5000 1.6738e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9306e+02 1.8672e-01 4.8947e+01 3.4004e-01 1.10421e+00 1.0000 ---- 3\n", + " 2 6.0699e+01 1.7708e-01 2.3430e+00 3.7092e+00 2.90893e-01 1.0000 3.7092e+00 3\n", + " 3 2.5380e+00 1.7713e-01 6.7920e-03 2.2929e-01 2.38672e-01 0.2500 2.2929e-01 3\n", + " 4 2.1081e+00 1.7713e-01 5.1460e-03 1.8795e-01 1.02654e-01 1.0000 1.8795e-01 3\n", + " 5 5.1948e-01 1.7713e-01 3.4764e-04 3.3887e-02 1.25302e-01 0.1250 3.3887e-02 3\n", + " 6 5.0001e-01 1.7713e-01 3.0441e-04 3.1983e-02 8.75399e-02 0.2500 3.1983e-02 3\n", + " 7 4.6036e-01 1.7713e-01 2.2882e-04 2.8094e-02 3.69732e-02 1.0000 2.8094e-02 3\n", + " 8 2.1691e-01 1.7713e-01 1.0005e-05 3.9686e-03 4.50403e-02 0.0020 3.9686e-03 1\n", + " 9 2.1691e-01 1.7713e-01 1.0005e-05 3.9686e-03 4.50235e-02 0.0625 3.9686e-03 1\n", + " 10 2.1567e-01 1.7713e-01 9.4125e-06 3.8446e-03 3.83704e-02 0.0625 3.8446e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9344e+02 1.8670e-01 4.9012e+01 3.1334e-01 1.10936e+00 1.0000 ---- 3\n", + " 2 5.8420e+01 1.7706e-01 2.3209e+00 3.5034e+00 2.97654e-01 1.0000 3.5034e+00 3\n", + " 3 3.0328e+00 1.7711e-01 7.2387e-03 2.7833e-01 2.51718e-01 0.5000 2.7833e-01 3\n", + " 4 2.6632e+00 1.7710e-01 3.8097e-03 2.4480e-01 6.57537e-02 1.0000 2.4480e-01 3\n", + " 5 5.9114e-01 1.7711e-01 4.9460e-05 4.1354e-02 1.13869e-01 0.2500 4.1354e-02 3\n", + " 6 5.3459e-01 1.7711e-01 3.7761e-05 3.5710e-02 3.27290e-02 1.0000 3.5710e-02 3\n", + " 7 2.0417e-01 1.7711e-01 1.8856e-06 2.7045e-03 5.72522e-02 0.0625 2.7045e-03 1\n", + " 8 2.0402e-01 1.7711e-01 1.7724e-06 2.6893e-03 4.72625e-02 0.1250 2.6893e-03 1\n", + " 9 2.0269e-01 1.7711e-01 1.5599e-06 2.5564e-03 3.08308e-02 0.2500 2.5564e-03 1\n", + " 10 2.0200e-01 1.7711e-01 1.1957e-06 2.4879e-03 9.76295e-03 1.0000 2.4879e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9314e+02 1.8668e-01 4.8959e+01 3.3728e-01 1.10741e+00 1.0000 ---- 3\n", + " 2 6.1016e+01 1.7704e-01 2.3501e+00 3.7339e+00 2.99381e-01 1.0000 3.7339e+00 3\n", + " 3 3.2127e+00 1.7709e-01 6.7782e-03 2.9679e-01 2.59924e-01 0.5000 2.9679e-01 3\n", + " 4 3.0540e+00 1.7708e-01 3.5909e-03 2.8410e-01 7.36299e-02 1.0000 2.8410e-01 3\n", + " 5 8.0607e-01 1.7709e-01 4.5663e-05 6.2853e-02 1.30370e-01 0.5000 6.2853e-02 3\n", + " 6 7.7617e-01 1.7709e-01 2.6182e-05 5.9883e-02 6.11157e-02 1.0000 5.9883e-02 3\n", + " 7 4.5290e-01 1.7709e-01 2.0306e-06 2.7579e-02 1.25659e-01 0.2500 2.7579e-02 3\n", + " 8 4.5002e-01 1.7709e-01 1.7785e-06 2.7291e-02 2.85551e-02 1.0000 2.7291e-02 3\n", + " 9 2.2129e-01 1.7709e-01 4.7004e-07 4.4205e-03 5.84716e-02 0.0020 4.4205e-03 1\n", + " 10 2.2129e-01 1.7709e-01 4.7004e-07 4.4205e-03 5.84419e-02 0.2500 4.4205e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9328e+02 1.8666e-01 4.8955e+01 3.5447e-01 1.10248e+00 1.0000 ---- 3\n", + " 2 5.9649e+01 1.7702e-01 2.3426e+00 3.6046e+00 2.82412e-01 1.0000 3.6046e+00 3\n", + " 3 2.5453e+00 1.7707e-01 6.8446e-03 2.2998e-01 2.20030e-01 0.5000 2.2998e-01 3\n", + " 4 2.3170e+00 1.7706e-01 3.6290e-03 2.1036e-01 5.66785e-02 1.0000 2.1036e-01 3\n", + " 5 6.1509e-01 1.7707e-01 5.6102e-05 4.3746e-02 9.57095e-02 0.5000 4.3746e-02 3\n", + " 6 6.0435e-01 1.7707e-01 3.1324e-05 4.2697e-02 4.15722e-02 1.0000 4.2697e-02 3\n", + " 7 3.5150e-01 1.7707e-01 1.3929e-06 1.7442e-02 8.53469e-02 0.1250 1.7442e-02 3\n", + " 8 3.4008e-01 1.7707e-01 1.2958e-06 1.6300e-02 5.23065e-02 0.2500 1.6300e-02 3\n", + " 9 3.2154e-01 1.7706e-01 1.1049e-06 1.4446e-02 1.23074e-02 1.0000 1.4446e-02 3\n", + " 10 2.0770e-01 1.7706e-01 2.1260e-07 3.0637e-03 2.49782e-02 0.0625 3.0637e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9370e+02 1.8664e-01 4.8997e+01 3.5431e-01 1.10129e+00 1.0000 ---- 3\n", + " 2 6.2499e+01 1.7700e-01 2.3429e+00 3.8894e+00 2.86882e-01 1.0000 3.8894e+00 3\n", + " 3 1.3423e+00 1.7706e-01 6.7409e-03 1.0978e-01 2.40674e-01 0.2500 1.0978e-01 3\n", + " 4 1.2546e+00 1.7705e-01 5.1149e-03 1.0264e-01 9.99973e-02 1.0000 1.0264e-01 3\n", + " 5 5.7916e-01 1.7705e-01 3.6466e-04 3.9846e-02 1.19469e-01 0.2500 3.9846e-02 3\n", + " 6 5.3384e-01 1.7705e-01 2.7507e-04 3.5404e-02 4.87688e-02 1.0000 3.5404e-02 3\n", + " 7 2.4089e-01 1.7705e-01 1.9110e-05 6.3650e-03 6.08083e-02 0.2500 6.3650e-03 2\n", + " 8 2.3361e-01 1.7705e-01 1.5537e-05 5.6406e-03 2.48130e-02 0.0020 8.4164e-03 1\n", + " 9 2.3361e-01 1.7705e-01 1.5537e-05 5.6406e-03 2.48015e-02 0.5000 5.6406e-03 1\n", + " 10 2.1665e-01 1.7705e-01 8.7565e-06 3.9510e-03 5.55915e-03 1.0000 3.9510e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9346e+02 1.8662e-01 4.9028e+01 2.9953e-01 1.10629e+00 1.0000 ---- 3\n", + " 2 6.3333e+01 1.7699e-01 2.3410e+00 3.9746e+00 2.92750e-01 1.0000 3.9746e+00 3\n", + " 3 3.0111e+00 1.7704e-01 6.6896e-03 2.7672e-01 2.55163e-01 0.5000 2.7672e-01 3\n", + " 4 2.8718e+00 1.7704e-01 3.5593e-03 2.6592e-01 7.32099e-02 1.0000 2.6592e-01 3\n", + " 5 5.6620e-01 1.7704e-01 5.6923e-05 3.8859e-02 1.27021e-01 0.5000 3.8859e-02 3\n", + " 6 4.9816e-01 1.7704e-01 3.2394e-05 3.2080e-02 5.73808e-02 1.0000 3.2080e-02 3\n", + " 7 4.4544e-01 1.7704e-01 2.0321e-06 2.6838e-02 1.15922e-01 0.2500 2.6838e-02 3\n", + " 8 4.1694e-01 1.7704e-01 1.8456e-06 2.3988e-02 2.71260e-02 1.0000 2.3988e-02 3\n", + " 9 2.0382e-01 1.7704e-01 5.1629e-07 2.6776e-03 5.50754e-02 0.1250 2.6776e-03 1\n", + " 10 2.0368e-01 1.7704e-01 4.6313e-07 2.6637e-03 3.45845e-02 0.5000 2.6637e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9379e+02 1.8661e-01 4.9006e+01 3.5346e-01 1.10779e+00 1.0000 ---- 3\n", + " 2 6.2678e+01 1.7698e-01 2.3425e+00 3.9075e+00 3.06156e-01 1.0000 3.9075e+00 3\n", + " 3 3.2693e+00 1.7703e-01 6.7342e-03 3.0249e-01 2.99666e-01 0.5000 3.0249e-01 3\n", + " 4 3.2479e+00 1.7702e-01 3.5872e-03 3.0350e-01 1.00418e-01 1.0000 3.0350e-01 3\n", + " 5 7.1957e-01 1.7702e-01 6.2382e-05 5.4192e-02 1.90014e-01 0.5000 5.4192e-02 3\n", + " 6 7.0495e-01 1.7702e-01 3.6198e-05 5.2757e-02 1.00209e-01 1.0000 5.2757e-02 3\n", + " 7 6.0815e-01 1.7702e-01 3.6048e-06 4.3109e-02 2.16303e-01 0.1250 4.3109e-02 3\n", + " 8 5.6616e-01 1.7702e-01 3.3162e-06 3.8911e-02 1.30056e-01 0.5000 3.8911e-02 3\n", + " 9 5.2666e-01 1.7702e-01 2.7838e-06 3.4961e-02 7.70465e-02 1.0000 3.4961e-02 3\n", + " 10 3.8850e-01 1.7702e-01 1.0996e-06 2.1147e-02 1.72454e-01 0.1250 2.1147e-02 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9384e+02 1.8659e-01 4.8992e+01 3.7370e-01 1.15689e+00 1.0000 ---- 3\n", + " 2 6.3530e+01 1.7696e-01 2.3555e+00 3.9798e+00 4.64672e-01 1.0000 3.9798e+00 3\n", + " 3 7.2521e+00 1.7700e-01 7.6428e-03 6.9987e-01 7.00351e-01 0.2500 6.9987e-01 3\n", + " 4 6.7651e+00 1.7699e-01 5.7912e-03 6.5302e-01 1.81424e-01 1.0000 6.5302e-01 3\n", + " 5 7.5592e-01 1.7699e-01 3.6902e-04 5.7523e-02 3.16466e-01 0.1250 5.7523e-02 3\n", + " 6 7.4852e-01 1.7699e-01 3.2415e-04 5.6829e-02 1.96824e-01 0.2500 5.6829e-02 3\n", + " 7 7.3051e-01 1.7699e-01 2.4559e-04 5.5106e-02 5.41309e-02 1.0000 5.5106e-02 3\n", + " 8 2.9241e-01 1.7699e-01 1.0798e-05 1.1531e-02 8.88728e-02 0.2500 1.1531e-02 2\n", + " 9 2.7480e-01 1.7699e-01 8.9559e-06 9.7723e-03 2.66077e-02 1.0000 9.7723e-03 2\n", + " 10 1.9378e-01 1.7699e-01 2.8871e-06 1.6760e-03 4.44978e-02 0.0020 3.4562e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9256e+02 1.8655e-01 4.8945e+01 2.9208e-01 1.11025e+00 1.0000 ---- 3\n", + " 2 6.5374e+01 1.7692e-01 2.3508e+00 4.1689e+00 3.02391e-01 1.0000 4.1689e+00 3\n", + " 3 3.4929e+00 1.7698e-01 6.8994e-03 3.2469e-01 2.91517e-01 0.5000 3.2469e-01 3\n", + " 4 3.3381e+00 1.7697e-01 3.6750e-03 3.1244e-01 1.18500e-01 1.0000 3.1244e-01 3\n", + " 5 5.6014e-01 1.7697e-01 5.6012e-05 3.8261e-02 2.47024e-01 0.2500 3.8261e-02 3\n", + " 6 5.3018e-01 1.7697e-01 4.4058e-05 3.5277e-02 5.40328e-02 1.0000 3.5277e-02 3\n", + " 7 2.0772e-01 1.7697e-01 3.7165e-06 3.0718e-03 1.12338e-01 0.0020 3.3915e-03 1\n", + " 8 2.0772e-01 1.7697e-01 3.7165e-06 3.0718e-03 1.12294e-01 0.1250 3.0718e-03 1\n", + " 9 2.0706e-01 1.7697e-01 3.3291e-06 3.0054e-03 6.86567e-02 0.0625 3.0054e-03 1\n", + " 10 2.0685e-01 1.7697e-01 3.1300e-06 2.9850e-03 5.54130e-02 0.2500 2.9850e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9302e+02 1.8653e-01 4.8960e+01 3.2378e-01 1.10234e+00 1.0000 ---- 3\n", + " 2 6.2256e+01 1.7690e-01 2.3466e+00 3.8613e+00 2.76448e-01 1.0000 3.8613e+00 3\n", + " 3 2.3624e+00 1.7696e-01 6.6903e-03 2.1185e-01 2.24610e-01 0.2500 2.1185e-01 3\n", + " 4 1.9425e+00 1.7695e-01 5.0719e-03 1.7148e-01 9.63302e-02 1.0000 1.7148e-01 3\n", + " 5 4.9123e-01 1.7695e-01 3.5813e-04 3.1070e-02 1.15334e-01 0.1250 3.1070e-02 3\n", + " 6 4.6642e-01 1.7695e-01 3.1380e-04 2.8633e-02 7.97756e-02 0.2500 2.8633e-02 3\n", + " 7 4.2162e-01 1.7695e-01 2.3621e-04 2.4231e-02 3.41713e-02 1.0000 2.4231e-02 3\n", + " 8 2.2105e-01 1.7695e-01 1.0475e-05 4.3998e-03 4.04981e-02 0.0020 6.0149e-03 1\n", + " 9 2.2105e-01 1.7695e-01 1.0475e-05 4.3998e-03 4.04736e-02 0.2500 4.3998e-03 1\n", + " 10 2.2031e-01 1.7695e-01 8.4192e-06 4.3273e-03 1.72817e-02 0.2500 4.3273e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9312e+02 1.8651e-01 4.8998e+01 2.9620e-01 1.10515e+00 1.0000 ---- 3\n", + " 2 6.2406e+01 1.7689e-01 2.3416e+00 3.8813e+00 2.80389e-01 1.0000 3.8813e+00 3\n", + " 3 2.4448e+00 1.7694e-01 6.8013e-03 2.1999e-01 2.24357e-01 0.2500 2.1999e-01 3\n", + " 4 2.0221e+00 1.7694e-01 5.1520e-03 1.7937e-01 9.92639e-02 1.0000 1.7937e-01 3\n", + " 5 4.1343e-01 1.7694e-01 3.5336e-04 2.3296e-02 1.16462e-01 0.1250 2.3296e-02 3\n", + " 6 4.1006e-01 1.7694e-01 3.0945e-04 2.3003e-02 8.16036e-02 0.2500 2.3003e-02 3\n", + " 7 3.9755e-01 1.7694e-01 2.3269e-04 2.1829e-02 3.54624e-02 1.0000 2.1829e-02 3\n", + " 8 2.3946e-01 1.7693e-01 1.0034e-05 6.2426e-03 4.15775e-02 0.0020 6.7406e-03 1\n", + " 9 2.3946e-01 1.7693e-01 1.0034e-05 6.2426e-03 4.15670e-02 0.1250 6.2426e-03 1\n", + " 10 2.3618e-01 1.7693e-01 8.9159e-06 5.9158e-03 2.95645e-02 0.1250 5.9158e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9317e+02 1.8649e-01 4.9006e+01 2.9268e-01 1.10790e+00 1.0000 ---- 3\n", + " 2 6.2016e+01 1.7687e-01 2.3403e+00 3.8436e+00 2.84994e-01 1.0000 3.8436e+00 3\n", + " 3 2.5027e+00 1.7693e-01 6.9555e-03 2.2563e-01 2.37291e-01 0.2500 2.2563e-01 3\n", + " 4 2.0711e+00 1.7692e-01 5.2692e-03 1.8415e-01 1.03301e-01 1.0000 1.8415e-01 3\n", + " 5 4.1433e-01 1.7692e-01 3.6409e-04 2.3377e-02 1.24092e-01 0.1250 2.3377e-02 3\n", + " 6 4.1218e-01 1.7692e-01 3.1879e-04 2.3207e-02 8.65919e-02 0.2500 2.3207e-02 3\n", + " 7 4.0090e-01 1.7692e-01 2.3958e-04 2.2158e-02 3.68538e-02 1.0000 2.2158e-02 3\n", + " 8 2.3940e-01 1.7692e-01 1.0269e-05 6.2377e-03 4.38956e-02 0.0020 7.0211e-03 1\n", + " 9 2.3940e-01 1.7692e-01 1.0269e-05 6.2377e-03 4.38831e-02 0.1250 6.2377e-03 1\n", + " 10 2.3613e-01 1.7692e-01 9.1441e-06 5.9120e-03 3.11135e-02 0.1250 5.9120e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9309e+02 1.8648e-01 4.8999e+01 2.9084e-01 1.10807e+00 1.0000 ---- 3\n", + " 2 6.1948e+01 1.7686e-01 2.3404e+00 3.8368e+00 2.85589e-01 1.0000 3.8368e+00 3\n", + " 3 2.4971e+00 1.7691e-01 6.9194e-03 2.2510e-01 2.39528e-01 0.2500 2.2510e-01 3\n", + " 4 2.0647e+00 1.7691e-01 5.2419e-03 1.8353e-01 1.04024e-01 1.0000 1.8353e-01 3\n", + " 5 4.0495e-01 1.7691e-01 3.6079e-04 2.2444e-02 1.25821e-01 0.1250 2.2444e-02 3\n", + " 6 4.0398e-01 1.7691e-01 3.1587e-04 2.2391e-02 8.77048e-02 0.2500 2.2391e-02 3\n", + " 7 3.9475e-01 1.7690e-01 2.3747e-04 2.1547e-02 3.71374e-02 1.0000 2.1547e-02 3\n", + " 8 2.3788e-01 1.7690e-01 1.0260e-05 6.0875e-03 4.44856e-02 0.0020 7.0294e-03 1\n", + " 9 2.3788e-01 1.7690e-01 1.0260e-05 6.0875e-03 4.44726e-02 0.1250 6.0875e-03 1\n", + " 10 2.3475e-01 1.7690e-01 9.1345e-06 5.7750e-03 3.15068e-02 0.1250 5.7750e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9298e+02 1.8646e-01 4.8989e+01 2.9061e-01 1.10800e+00 1.0000 ---- 3\n", + " 2 6.1832e+01 1.7684e-01 2.3397e+00 3.8258e+00 2.86502e-01 1.0000 3.8258e+00 3\n", + " 3 2.4841e+00 1.7690e-01 6.8893e-03 2.2384e-01 2.41917e-01 0.2500 2.2384e-01 3\n", + " 4 2.0559e+00 1.7689e-01 5.2188e-03 1.8268e-01 1.04532e-01 1.0000 1.8268e-01 3\n", + " 5 4.0056e-01 1.7689e-01 3.5657e-04 2.2010e-02 1.27442e-01 0.1250 2.2010e-02 3\n", + " 6 3.9993e-01 1.7689e-01 3.1215e-04 2.1992e-02 8.86597e-02 0.2500 2.1992e-02 3\n", + " 7 3.9152e-01 1.7689e-01 2.3481e-04 2.1228e-02 3.73407e-02 1.0000 2.1228e-02 3\n", + " 8 2.3627e-01 1.7689e-01 1.0250e-05 5.9274e-03 4.49434e-02 0.0020 7.0199e-03 1\n", + " 9 2.3627e-01 1.7689e-01 1.0250e-05 5.9274e-03 4.49318e-02 0.1250 5.9274e-03 1\n", + " 10 2.3334e-01 1.7689e-01 9.1192e-06 5.6358e-03 3.17631e-02 0.1250 5.6358e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9285e+02 1.8645e-01 4.8976e+01 2.9045e-01 1.10786e+00 1.0000 ---- 3\n", + " 2 6.1732e+01 1.7683e-01 2.3390e+00 3.8165e+00 2.87435e-01 1.0000 3.8165e+00 3\n", + " 3 2.4732e+00 1.7688e-01 6.8957e-03 2.2273e-01 2.44157e-01 0.2500 2.2273e-01 3\n", + " 4 2.0494e+00 1.7687e-01 5.2209e-03 1.8203e-01 1.05117e-01 1.0000 1.8203e-01 3\n", + " 5 4.0111e-01 1.7688e-01 3.3985e-04 2.2083e-02 1.28886e-01 0.1250 2.2083e-02 3\n", + " 6 4.0029e-01 1.7687e-01 2.9745e-04 2.2044e-02 8.95809e-02 0.2500 2.2044e-02 3\n", + " 7 3.9178e-01 1.7687e-01 2.2372e-04 2.1267e-02 3.75844e-02 1.0000 2.1267e-02 3\n", + " 8 2.3582e-01 1.7687e-01 9.6101e-06 5.8854e-03 4.54769e-02 0.0020 6.8823e-03 1\n", + " 9 2.3582e-01 1.7687e-01 9.6101e-06 5.8854e-03 4.54656e-02 0.1250 5.8854e-03 1\n", + " 10 2.3301e-01 1.7687e-01 8.5555e-06 5.6051e-03 3.21191e-02 0.1250 5.6051e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9248e+02 1.8643e-01 4.8935e+01 2.9421e-01 1.10757e+00 1.0000 ---- 3\n", + " 2 6.1119e+01 1.7681e-01 2.3433e+00 3.7509e+00 2.89193e-01 1.0000 3.7509e+00 3\n", + " 3 2.3802e+00 1.7686e-01 6.9210e-03 2.1341e-01 2.45506e-01 0.2500 2.1341e-01 3\n", + " 4 1.9844e+00 1.7686e-01 5.2402e-03 1.7551e-01 1.05340e-01 1.0000 1.7551e-01 3\n", + " 5 4.1931e-01 1.7686e-01 3.3822e-04 2.3907e-02 1.29743e-01 0.1250 2.3907e-02 3\n", + " 6 4.1395e-01 1.7686e-01 2.9601e-04 2.3413e-02 9.01377e-02 0.2500 2.3413e-02 3\n", + " 7 3.9854e-01 1.7686e-01 2.2274e-04 2.1946e-02 3.76675e-02 1.0000 2.1946e-02 3\n", + " 8 2.2818e-01 1.7686e-01 9.7199e-06 5.1222e-03 4.58049e-02 0.0020 5.5665e-03 1\n", + " 9 2.2818e-01 1.7686e-01 9.7199e-06 5.1222e-03 4.57915e-02 0.1250 5.1222e-03 1\n", + " 10 2.2623e-01 1.7686e-01 8.6579e-06 4.9284e-03 3.23173e-02 0.1250 4.9284e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9264e+02 1.8641e-01 4.8916e+01 3.2930e-01 1.10753e+00 1.0000 ---- 3\n", + " 2 6.0859e+01 1.7680e-01 2.3415e+00 3.7267e+00 2.90715e-01 1.0000 3.7267e+00 3\n", + " 3 2.2230e+00 1.7685e-01 6.9550e-03 1.9766e-01 2.48303e-01 0.2500 1.9766e-01 3\n", + " 4 1.8916e+00 1.7684e-01 5.2653e-03 1.6621e-01 1.06325e-01 1.0000 1.6621e-01 3\n", + " 5 4.8092e-01 1.7684e-01 3.3583e-04 3.0072e-02 1.31358e-01 0.1250 3.0072e-02 3\n", + " 6 4.6306e-01 1.7684e-01 2.9392e-04 2.8328e-02 9.11769e-02 0.2500 2.8328e-02 3\n", + " 7 4.2749e-01 1.7684e-01 2.2126e-04 2.4844e-02 3.80348e-02 1.0000 2.4844e-02 3\n", + " 8 2.0741e-01 1.7684e-01 9.8739e-06 3.0474e-03 4.63769e-02 0.0020 5.5004e-03 1\n", + " 9 2.0741e-01 1.7684e-01 9.8739e-06 3.0474e-03 4.63613e-02 0.0625 3.0474e-03 1\n", + " 10 2.0656e-01 1.7684e-01 9.2956e-06 2.9625e-03 3.94669e-02 0.0312 3.6401e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9236e+02 1.8639e-01 4.8885e+01 3.3213e-01 1.11061e+00 1.0000 ---- 3\n", + " 2 5.9096e+01 1.7678e-01 2.3409e+00 3.5510e+00 2.98326e-01 1.0000 3.5510e+00 3\n", + " 3 2.7833e+00 1.7683e-01 7.1673e-03 2.5348e-01 2.59994e-01 0.5000 2.5348e-01 3\n", + " 4 2.6594e+00 1.7682e-01 3.7836e-03 2.4448e-01 7.04549e-02 1.0000 2.4448e-01 3\n", + " 5 6.1105e-01 1.7682e-01 4.8373e-05 4.3374e-02 1.28032e-01 0.2500 4.3374e-02 3\n", + " 6 5.4008e-01 1.7682e-01 3.6968e-05 3.6289e-02 3.38652e-02 1.0000 3.6289e-02 3\n", + " 7 1.8891e-01 1.7682e-01 2.0753e-06 1.2064e-03 6.05318e-02 0.1250 1.6728e-03 1\n", + " 8 1.8873e-01 1.7682e-01 1.8414e-06 1.1887e-03 3.88503e-02 0.1250 1.6712e-03 1\n", + " 9 1.8848e-01 1.7682e-01 1.6196e-06 1.1643e-03 2.52380e-02 0.2500 1.6706e-03 1\n", + " 10 1.8828e-01 1.7682e-01 1.2381e-06 1.1445e-03 7.96726e-03 1.0000 1.6708e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9216e+02 1.8637e-01 4.8854e+01 3.4346e-01 1.10469e+00 1.0000 ---- 3\n", + " 2 6.0644e+01 1.7676e-01 2.3420e+00 3.7047e+00 2.95641e-01 1.0000 3.7047e+00 3\n", + " 3 2.9921e+00 1.7681e-01 6.6596e-03 2.7487e-01 2.55943e-01 0.5000 2.7487e-01 3\n", + " 4 2.8879e+00 1.7680e-01 3.5217e-03 2.6759e-01 7.28778e-02 1.0000 2.6759e-01 3\n", + " 5 7.8469e-01 1.7680e-01 4.7882e-05 6.0741e-02 1.33031e-01 0.5000 6.0741e-02 3\n", + " 6 7.1363e-01 1.7680e-01 2.7258e-05 5.3656e-02 6.66646e-02 1.0000 5.3656e-02 3\n", + " 7 3.9574e-01 1.7680e-01 1.9352e-06 2.1892e-02 1.42173e-01 0.2500 2.1892e-02 3\n", + " 8 3.8794e-01 1.7680e-01 1.7924e-06 2.1112e-02 2.91273e-02 1.0000 2.1112e-02 3\n", + " 9 2.0221e-01 1.7680e-01 4.8487e-07 2.5408e-03 6.14101e-02 0.0020 4.0532e-03 1\n", + " 10 2.0221e-01 1.7680e-01 4.8487e-07 2.5408e-03 6.13793e-02 0.1250 2.5408e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9173e+02 1.8635e-01 4.8803e+01 3.5205e-01 1.10229e+00 1.0000 ---- 3\n", + " 2 5.9723e+01 1.7674e-01 2.3358e+00 3.6188e+00 3.01294e-01 1.0000 3.6188e+00 3\n", + " 3 9.1437e-01 1.7679e-01 6.8284e-03 6.6930e-02 2.73575e-01 0.1250 6.6930e-02 3\n", + " 4 8.5566e-01 1.7679e-01 5.9882e-03 6.1899e-02 1.86641e-01 0.2500 6.1899e-02 3\n", + " 5 7.5600e-01 1.7678e-01 4.5268e-03 5.3395e-02 7.57343e-02 1.0000 5.3395e-02 3\n", + " 6 3.4862e-01 1.7678e-01 2.3019e-04 1.6954e-02 9.15578e-02 0.2500 1.6954e-02 3\n", + " 7 3.1050e-01 1.7678e-01 1.7322e-04 1.3199e-02 3.65906e-02 1.0000 1.3199e-02 3\n", + " 8 2.2502e-01 1.7678e-01 1.0294e-05 4.8134e-03 4.49411e-02 0.5000 4.8134e-03 2\n", + " 9 2.2153e-01 1.7678e-01 7.4286e-06 4.4677e-03 1.50652e-02 0.0020 5.6351e-03 1\n", + " 10 2.2153e-01 1.7678e-01 7.4286e-06 4.4677e-03 1.50563e-02 1.0000 4.4677e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9223e+02 1.8633e-01 4.8858e+01 3.4559e-01 1.10826e+00 1.0000 ---- 3\n", + " 2 6.0609e+01 1.7672e-01 2.3313e+00 3.7120e+00 3.00276e-01 1.0000 3.7120e+00 3\n", + " 3 3.4642e+00 1.7677e-01 6.7193e-03 3.2202e-01 2.73380e-01 0.5000 3.2202e-01 3\n", + " 4 3.1430e+00 1.7676e-01 3.5330e-03 2.9309e-01 8.65678e-02 1.0000 2.9309e-01 3\n", + " 5 8.9564e-01 1.7677e-01 6.0282e-05 7.1827e-02 1.65269e-01 0.5000 7.1827e-02 3\n", + " 6 8.0587e-01 1.7676e-01 3.4237e-05 6.2876e-02 9.06337e-02 1.0000 6.2876e-02 3\n", + " 7 4.6078e-01 1.7676e-01 2.5150e-06 2.8399e-02 1.99379e-01 0.2500 2.8399e-02 3\n", + " 8 4.5991e-01 1.7676e-01 2.2933e-06 2.8312e-02 3.83745e-02 1.0000 2.8312e-02 3\n", + " 9 2.0669e-01 1.7676e-01 6.5682e-07 2.9922e-03 8.23732e-02 0.0020 4.7073e-03 1\n", + " 10 2.0669e-01 1.7676e-01 6.5682e-07 2.9922e-03 8.23389e-02 0.1250 2.9922e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9109e+02 1.8631e-01 4.8739e+01 3.5137e-01 1.10830e+00 1.0000 ---- 3\n", + " 2 5.8847e+01 1.7670e-01 2.3286e+00 3.5384e+00 3.36148e-01 1.0000 3.5384e+00 3\n", + " 3 1.3085e+00 1.7675e-01 7.0360e-03 1.0614e-01 3.64875e-01 0.2500 1.0614e-01 3\n", + " 4 1.2185e+00 1.7674e-01 5.3366e-03 9.8839e-02 1.15184e-01 1.0000 9.8839e-02 3\n", + " 5 5.3947e-01 1.7674e-01 3.4245e-04 3.5931e-02 1.60735e-01 0.2500 3.5931e-02 3\n", + " 6 4.6086e-01 1.7674e-01 2.5811e-04 2.8154e-02 5.46965e-02 1.0000 2.8154e-02 3\n", + " 7 2.4607e-01 1.7674e-01 1.7469e-05 6.9157e-03 7.54592e-02 0.5000 6.9157e-03 2\n", + " 8 2.3110e-01 1.7674e-01 1.2938e-05 5.4235e-03 2.85084e-02 0.0020 8.0042e-03 1\n", + " 9 2.3110e-01 1.7674e-01 1.2938e-05 5.4235e-03 2.84960e-02 1.0000 5.4235e-03 1\n", + " 10 2.0588e-01 1.7674e-01 2.8788e-06 2.9115e-03 5.84318e-02 0.1250 2.9115e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9139e+02 1.8628e-01 4.8811e+01 3.0926e-01 1.11030e+00 1.0000 ---- 3\n", + " 2 6.0152e+01 1.7668e-01 2.3207e+00 3.6769e+00 3.30105e-01 1.0000 3.6769e+00 3\n", + " 3 3.4838e+00 1.7672e-01 6.7560e-03 3.2395e-01 3.48845e-01 0.5000 3.2395e-01 3\n", + " 4 3.0863e+00 1.7671e-01 3.5832e-03 2.8738e-01 1.46084e-01 1.0000 2.8738e-01 3\n", + " 5 8.4854e-01 1.7672e-01 7.6590e-05 6.7106e-02 3.12831e-01 0.2500 6.7106e-02 3\n", + " 6 8.0256e-01 1.7671e-01 5.8688e-05 6.2526e-02 6.24766e-02 1.0000 6.2526e-02 3\n", + " 7 1.8079e-01 1.7671e-01 3.4720e-06 4.0389e-04 1.29937e-01 0.0020 1.7554e-03 1\n", + " 8 1.8079e-01 1.7671e-01 3.4720e-06 4.0389e-04 1.29879e-01 0.1250 1.7548e-03 1\n", + " 9 1.8074e-01 1.7671e-01 3.0873e-06 3.9990e-04 7.86519e-02 0.0020 1.6321e-03 1\n", + " 10 1.8074e-01 1.7671e-01 3.0873e-06 3.9990e-04 7.83006e-02 0.1250 1.6319e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9035e+02 1.8626e-01 4.8780e+01 2.3656e-01 1.10840e+00 1.0000 ---- 3\n", + " 2 5.9317e+01 1.7665e-01 2.3096e+00 3.6044e+00 3.17136e-01 1.0000 3.6044e+00 3\n", + " 3 2.5839e+00 1.7670e-01 7.0732e-03 2.3364e-01 3.33184e-01 0.2500 2.3364e-01 3\n", + " 4 2.2280e+00 1.7669e-01 5.3593e-03 1.9977e-01 1.10236e-01 1.0000 1.9977e-01 3\n", + " 5 4.1883e-01 1.7669e-01 3.5670e-04 2.3858e-02 1.55187e-01 0.1250 2.3858e-02 3\n", + " 6 4.0705e-01 1.7669e-01 3.1253e-04 2.2723e-02 1.02513e-01 0.2500 2.2723e-02 3\n", + " 7 3.9318e-01 1.7669e-01 2.3545e-04 2.1413e-02 3.76411e-02 1.0000 2.1413e-02 3\n", + " 8 2.4908e-01 1.7669e-01 1.0984e-05 7.2280e-03 4.90073e-02 0.2500 7.2280e-03 2\n", + " 9 2.2903e-01 1.7669e-01 8.8155e-06 5.2257e-03 1.88298e-02 0.0020 7.4584e-03 1\n", + " 10 2.2903e-01 1.7669e-01 8.8155e-06 5.2257e-03 1.88233e-02 1.0000 5.2257e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9031e+02 1.8623e-01 4.8868e+01 1.4460e-01 1.09899e+00 1.0000 ---- 3\n", + " 2 6.1907e+01 1.7662e-01 2.3362e+00 3.8368e+00 2.88071e-01 1.0000 3.8368e+00 3\n", + " 3 3.8673e+00 1.7668e-01 6.4883e-03 3.6257e-01 2.50021e-01 0.5000 3.6257e-01 3\n", + " 4 2.6709e+00 1.7667e-01 3.4743e-03 2.4594e-01 7.75618e-02 1.0000 2.4594e-01 3\n", + " 5 3.2860e-01 1.7667e-01 5.1885e-05 1.5140e-02 1.42780e-01 0.2500 1.5140e-02 3\n", + " 6 3.2074e-01 1.7667e-01 3.9796e-05 1.4367e-02 3.68778e-02 1.0000 1.4367e-02 2\n", + " 7 1.7877e-01 1.7667e-01 2.2889e-06 2.0773e-04 6.83038e-02 0.2500 1.7008e-03 1\n", + " 8 1.7862e-01 1.7667e-01 1.8996e-06 1.9280e-04 1.91122e-02 0.5000 1.6262e-03 1\n", + " 9 1.7783e-01 1.7667e-01 1.0039e-06 1.1484e-04 7.98788e-03 1.0000 1.6277e-03 1\n", + " 10 1.7776e-01 1.7667e-01 3.8280e-07 1.0861e-04 1.44569e-02 0.1250 1.6341e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9191e+02 1.8621e-01 4.8873e+01 2.9953e-01 1.10151e+00 1.0000 ---- 3\n", + " 2 6.1986e+01 1.7661e-01 2.3270e+00 3.8539e+00 2.80585e-01 1.0000 3.8539e+00 3\n", + " 3 1.9536e+00 1.7666e-01 6.6034e-03 1.7109e-01 2.30943e-01 0.2500 1.7109e-01 3\n", + " 4 1.6762e+00 1.7666e-01 5.0085e-03 1.4495e-01 1.00472e-01 1.0000 1.4495e-01 3\n", + " 5 4.5934e-01 1.7666e-01 3.5616e-04 2.7912e-02 1.22828e-01 0.1250 2.7912e-02 3\n", + " 6 4.3932e-01 1.7666e-01 3.1196e-04 2.5955e-02 8.54818e-02 0.2500 2.5955e-02 3\n", + " 7 4.0201e-01 1.7666e-01 2.3475e-04 2.2300e-02 3.61685e-02 1.0000 2.2300e-02 3\n", + " 8 2.0813e-01 1.7666e-01 1.1043e-05 3.1364e-03 4.41421e-02 0.0020 6.5980e-03 1\n", + " 9 2.0813e-01 1.7666e-01 1.1043e-05 3.1364e-03 4.41240e-02 0.1250 3.1364e-03 1\n", + " 10 2.0664e-01 1.7666e-01 9.8275e-06 2.9888e-03 3.11704e-02 0.1250 4.2116e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9186e+02 1.8620e-01 4.8873e+01 2.9415e-01 1.10681e+00 1.0000 ---- 3\n", + " 2 6.0113e+01 1.7660e-01 2.3251e+00 3.6685e+00 2.93404e-01 1.0000 3.6685e+00 3\n", + " 3 3.1465e+00 1.7665e-01 7.0219e-03 2.8996e-01 2.57099e-01 0.5000 2.8996e-01 3\n", + " 4 2.6635e+00 1.7664e-01 3.7254e-03 2.4496e-01 7.02498e-02 1.0000 2.4496e-01 3\n", + " 5 3.3566e-01 1.7665e-01 5.5963e-05 1.5846e-02 1.20231e-01 0.2500 1.5846e-02 3\n", + " 6 3.2202e-01 1.7664e-01 4.2928e-05 1.4494e-02 3.46455e-02 1.0000 1.4494e-02 3\n", + " 7 1.9663e-01 1.7664e-01 2.8073e-06 1.9960e-03 6.06022e-02 0.0020 2.5407e-03 1\n", + " 8 1.9663e-01 1.7664e-01 2.8073e-06 1.9960e-03 6.05778e-02 0.0625 1.9960e-03 1\n", + " 9 1.9608e-01 1.7664e-01 2.6413e-06 1.9411e-03 4.99603e-02 0.0312 1.9411e-03 1\n", + " 10 1.9596e-01 1.7664e-01 2.5599e-06 1.9290e-03 4.56022e-02 0.1250 1.9290e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9122e+02 1.8618e-01 4.8805e+01 2.9814e-01 1.09598e+00 1.0000 ---- 3\n", + " 2 5.9740e+01 1.7658e-01 2.3220e+00 3.6343e+00 2.75480e-01 1.0000 3.6343e+00 3\n", + " 3 1.9894e+00 1.7663e-01 6.9169e-03 1.7436e-01 2.19281e-01 0.5000 1.7436e-01 3\n", + " 4 1.7811e+00 1.7663e-01 3.6820e-03 1.5676e-01 5.66696e-02 1.0000 1.5676e-01 3\n", + " 5 2.4170e-01 1.7663e-01 4.8677e-05 6.4583e-03 9.49018e-02 0.0020 7.0223e-03 1\n", + " 6 2.4170e-01 1.7663e-01 4.8677e-05 6.4583e-03 9.48547e-02 0.1250 6.4583e-03 1\n", + " 7 2.3873e-01 1.7663e-01 4.2803e-05 6.1672e-03 6.18312e-02 0.1250 6.1672e-03 1\n", + " 8 2.3783e-01 1.7663e-01 3.7538e-05 6.0822e-03 4.05914e-02 0.5000 6.0822e-03 1\n", + " 9 2.3165e-01 1.7663e-01 1.9313e-05 5.4831e-03 1.56541e-02 1.0000 5.4831e-03 1\n", + " 10 2.0460e-01 1.7663e-01 6.6608e-07 2.7962e-03 2.96405e-02 1.0000 2.7962e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9112e+02 1.8617e-01 4.8794e+01 2.9945e-01 1.09925e+00 1.0000 ---- 3\n", + " 2 6.0534e+01 1.7657e-01 2.3047e+00 3.7311e+00 3.16465e-01 1.0000 3.7311e+00 3\n", + " 3 9.3041e-01 1.7662e-01 7.0001e-03 6.8379e-02 3.27824e-01 0.5000 6.8379e-02 3\n", + " 4 7.3781e-01 1.7661e-01 3.7527e-03 5.2367e-02 1.32365e-01 1.0000 5.2367e-02 3\n", + " 5 2.1201e-01 1.7661e-01 8.3186e-05 3.4564e-03 2.83702e-01 0.0020 7.1784e-03 1\n", + " 6 2.1201e-01 1.7661e-01 8.3186e-05 3.4564e-03 2.83586e-01 0.1250 3.4564e-03 1\n", + " 7 2.1032e-01 1.7661e-01 7.3135e-05 3.2980e-03 1.68556e-01 0.1250 4.8332e-03 1\n", + " 8 2.0976e-01 1.7661e-01 6.4121e-05 3.2507e-03 1.00935e-01 1.0000 3.2507e-03 1\n", + " 9 2.0693e-01 1.7661e-01 7.9943e-06 3.0239e-03 2.24366e-01 0.1250 3.8948e-03 1\n", + " 10 2.0686e-01 1.7661e-01 7.2558e-06 3.0179e-03 1.31610e-01 0.2500 3.4193e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9141e+02 1.8615e-01 4.8812e+01 3.1019e-01 1.10298e+00 1.0000 ---- 3\n", + " 2 5.9971e+01 1.7655e-01 2.3203e+00 3.6592e+00 2.98312e-01 1.0000 3.6592e+00 3\n", + " 3 3.0820e+00 1.7660e-01 6.7516e-03 2.8378e-01 2.88739e-01 0.5000 2.8378e-01 3\n", + " 4 2.6086e+00 1.7659e-01 3.5914e-03 2.3961e-01 1.11073e-01 1.0000 2.3961e-01 3\n", + " 5 2.9378e-01 1.7659e-01 7.1628e-05 1.1647e-02 2.23552e-01 0.2500 1.1647e-02 2\n", + " 6 2.7461e-01 1.7659e-01 5.5283e-05 9.7462e-03 4.94182e-02 1.0000 9.7462e-03 2\n", + " 7 1.7663e-01 1.7659e-01 3.7363e-06 0.0000e+00 9.54806e-02 0.1250 1.6819e-03 1\n", + " 8 1.7662e-01 1.7659e-01 3.3339e-06 0.0000e+00 5.95353e-02 0.1250 1.6530e-03 1\n", + " 9 1.7662e-01 1.7659e-01 2.9370e-06 0.0000e+00 3.74002e-02 0.2500 1.6560e-03 1\n", + " 10 1.7661e-01 1.7659e-01 2.2347e-06 0.0000e+00 1.01429e-02 0.1250 1.6602e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9094e+02 1.8613e-01 4.8758e+01 3.1825e-01 1.10047e+00 1.0000 ---- 3\n", + " 2 5.9790e+01 1.7654e-01 2.3320e+00 3.6293e+00 2.89558e-01 1.0000 3.6293e+00 3\n", + " 3 2.5754e+00 1.7659e-01 6.8122e-03 2.3307e-01 2.51755e-01 0.5000 2.3307e-01 3\n", + " 4 2.3846e+00 1.7658e-01 3.6228e-03 2.1718e-01 7.43838e-02 1.0000 2.1718e-01 3\n", + " 5 2.9248e-01 1.7658e-01 5.2107e-05 1.1538e-02 1.30939e-01 0.1250 1.1538e-02 2\n", + " 6 2.7823e-01 1.7658e-01 4.5921e-05 1.0120e-02 8.38086e-02 0.2500 1.0120e-02 2\n", + " 7 2.5338e-01 1.7658e-01 3.5021e-05 7.6449e-03 2.50713e-02 0.0020 8.1699e-03 1\n", + " 8 2.5338e-01 1.7658e-01 3.5021e-05 7.6449e-03 2.50707e-02 1.0000 7.6449e-03 1\n", + " 9 2.2886e-01 1.7658e-01 3.7487e-06 5.2245e-03 4.10657e-02 0.1250 5.2245e-03 1\n", + " 10 2.2717e-01 1.7658e-01 3.2806e-06 5.0563e-03 2.66691e-02 0.2500 5.0563e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9107e+02 1.8612e-01 4.8756e+01 3.3213e-01 1.09980e+00 1.0000 ---- 3\n", + " 2 5.9283e+01 1.7653e-01 2.3198e+00 3.5909e+00 2.87627e-01 1.0000 3.5909e+00 3\n", + " 3 2.3854e+00 1.7657e-01 6.7883e-03 2.1409e-01 2.46061e-01 0.5000 2.1409e-01 3\n", + " 4 2.3039e+00 1.7656e-01 3.6047e-03 2.0913e-01 6.88567e-02 1.0000 2.0913e-01 3\n", + " 5 4.1587e-01 1.7657e-01 5.1103e-05 2.3879e-02 1.17294e-01 0.2500 2.3879e-02 3\n", + " 6 4.0256e-01 1.7657e-01 3.9651e-05 2.2560e-02 3.50111e-02 1.0000 2.2560e-02 3\n", + " 7 2.1203e-01 1.7656e-01 3.6140e-06 3.5428e-03 6.08163e-02 0.0020 4.8360e-03 1\n", + " 8 2.1203e-01 1.7656e-01 3.6140e-06 3.5428e-03 6.07958e-02 0.1250 3.5428e-03 1\n", + " 9 2.1153e-01 1.7656e-01 3.2529e-06 3.4936e-03 3.97628e-02 0.0625 3.4936e-03 1\n", + " 10 2.1115e-01 1.7656e-01 3.0574e-06 3.4559e-03 3.29607e-02 0.2500 3.4559e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9112e+02 1.8610e-01 4.8755e+01 3.3759e-01 1.09908e+00 1.0000 ---- 3\n", + " 2 5.9334e+01 1.7651e-01 2.3205e+00 3.5953e+00 2.87094e-01 1.0000 3.5953e+00 3\n", + " 3 2.1889e+00 1.7656e-01 6.8144e-03 1.9442e-01 2.44706e-01 0.2500 1.9442e-01 3\n", + " 4 1.8004e+00 1.7656e-01 5.1653e-03 1.5722e-01 1.01864e-01 1.0000 1.5722e-01 3\n", + " 5 5.1188e-01 1.7656e-01 3.3296e-04 3.3200e-02 1.29568e-01 0.2500 3.3200e-02 3\n", + " 6 4.6809e-01 1.7655e-01 2.5105e-04 2.8903e-02 5.08960e-02 1.0000 2.8903e-02 3\n", + " 7 2.2182e-01 1.7655e-01 1.9860e-05 4.5069e-03 6.70733e-02 0.0020 5.8255e-03 1\n", + " 8 2.2182e-01 1.7655e-01 1.9860e-05 4.5069e-03 6.70550e-02 0.0625 4.5069e-03 1\n", + " 9 2.2052e-01 1.7655e-01 1.8678e-05 4.3777e-03 5.67348e-02 0.0312 4.3777e-03 1\n", + " 10 2.2030e-01 1.7655e-01 1.8106e-05 4.3567e-03 5.23945e-02 0.1250 4.3567e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9165e+02 1.8609e-01 4.8792e+01 3.5439e-01 1.11095e+00 1.0000 ---- 3\n", + " 2 5.8140e+01 1.7650e-01 2.3147e+00 3.4816e+00 3.08800e-01 1.0000 3.4816e+00 3\n", + " 3 2.9188e+00 1.7655e-01 7.2940e-03 2.6693e-01 2.83367e-01 0.5000 2.6693e-01 3\n", + " 4 2.6820e+00 1.7654e-01 3.8429e-03 2.4671e-01 7.81068e-02 1.0000 2.4671e-01 3\n", + " 5 6.1503e-01 1.7654e-01 6.3817e-05 4.3785e-02 1.36557e-01 0.2500 4.3785e-02 3\n", + " 6 5.3777e-01 1.7654e-01 4.9035e-05 3.6074e-02 3.82073e-02 1.0000 3.6074e-02 3\n", + " 7 1.8322e-01 1.7654e-01 3.9680e-06 6.6350e-04 6.68136e-02 0.0156 1.6976e-03 1\n", + " 8 1.8321e-01 1.7654e-01 3.9072e-06 6.6330e-04 6.38598e-02 0.0312 1.6725e-03 1\n", + " 9 1.8313e-01 1.7654e-01 3.7896e-06 6.5514e-04 5.82203e-02 0.0312 1.6721e-03 1\n", + " 10 1.8311e-01 1.7654e-01 3.6748e-06 6.5279e-04 5.30911e-02 0.0625 1.6717e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9079e+02 1.8608e-01 4.8727e+01 3.3377e-01 1.09692e+00 1.0000 ---- 3\n", + " 2 5.9507e+01 1.7649e-01 2.3148e+00 3.6183e+00 2.86645e-01 1.0000 3.6183e+00 3\n", + " 3 9.1954e-01 1.7654e-01 7.0913e-03 6.7209e-02 2.48017e-01 0.2500 6.7209e-02 3\n", + " 4 8.0765e-01 1.7653e-01 5.3759e-03 5.7736e-02 9.87761e-02 1.0000 5.7736e-02 3\n", + " 5 5.2086e-01 1.7653e-01 3.5707e-04 3.4076e-02 1.21521e-01 0.2500 3.4076e-02 3\n", + " 6 4.6399e-01 1.7653e-01 2.6997e-04 2.8476e-02 4.96187e-02 1.0000 2.8476e-02 3\n", + " 7 2.3440e-01 1.7653e-01 2.3232e-05 5.7643e-03 6.19947e-02 0.2500 5.7643e-03 2\n", + " 8 2.1861e-01 1.7653e-01 1.8740e-05 4.1895e-03 2.49886e-02 0.0020 8.9974e-03 1\n", + " 9 2.1861e-01 1.7653e-01 1.8740e-05 4.1895e-03 2.49841e-02 1.0000 4.1895e-03 1\n", + " 10 2.1044e-01 1.7653e-01 7.6637e-06 3.3836e-03 3.21831e-02 0.1250 3.4048e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9087e+02 1.8606e-01 4.8709e+01 3.5979e-01 1.09871e+00 1.0000 ---- 3\n", + " 2 6.0814e+01 1.7648e-01 2.3309e+00 3.7329e+00 2.94895e-01 1.0000 3.7329e+00 3\n", + " 3 1.8571e+00 1.7653e-01 6.4095e-03 1.6165e-01 2.60432e-01 0.2500 1.6165e-01 3\n", + " 4 1.6133e+00 1.7652e-01 4.8620e-03 1.3882e-01 1.05024e-01 1.0000 1.3882e-01 3\n", + " 5 5.4170e-01 1.7652e-01 3.2235e-04 3.6196e-02 1.35997e-01 0.2500 3.6196e-02 3\n", + " 6 5.3915e-01 1.7652e-01 2.4359e-04 3.6020e-02 5.26819e-02 1.0000 3.6020e-02 3\n", + " 7 2.7264e-01 1.7652e-01 1.9891e-05 9.5924e-03 6.99315e-02 0.2500 9.5924e-03 2\n", + " 8 2.5814e-01 1.7652e-01 1.6252e-05 8.1467e-03 2.72411e-02 1.0000 8.1467e-03 2\n", + " 9 1.8514e-01 1.7652e-01 4.4090e-06 8.5758e-04 3.87681e-02 0.0020 2.2884e-03 1\n", + " 10 1.8514e-01 1.7652e-01 4.4090e-06 8.5758e-04 3.87498e-02 0.0625 1.6610e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9052e+02 1.8605e-01 4.8716e+01 3.1734e-01 1.09765e+00 1.0000 ---- 3\n", + " 2 6.1044e+01 1.7646e-01 2.3170e+00 3.7697e+00 2.93591e-01 1.0000 3.7697e+00 3\n", + " 3 2.0441e+00 1.7651e-01 6.7853e-03 1.7997e-01 2.49601e-01 0.2500 1.7997e-01 3\n", + " 4 1.7161e+00 1.7651e-01 5.1431e-03 1.4882e-01 1.02534e-01 1.0000 1.4882e-01 3\n", + " 5 4.5569e-01 1.7651e-01 3.3108e-04 2.7587e-02 1.30098e-01 0.1250 2.7587e-02 3\n", + " 6 4.3563e-01 1.7651e-01 2.9023e-04 2.5622e-02 9.05503e-02 0.2500 2.5622e-02 3\n", + " 7 3.9844e-01 1.7651e-01 2.1877e-04 2.1975e-02 3.78910e-02 1.0000 2.1975e-02 3\n", + " 8 2.0362e-01 1.7650e-01 1.2725e-05 2.6990e-03 4.75519e-02 0.0020 4.2767e-03 1\n", + " 9 2.0362e-01 1.7650e-01 1.2725e-05 2.6990e-03 4.75334e-02 0.1250 2.6990e-03 1\n", + " 10 2.0264e-01 1.7650e-01 1.1316e-05 2.6021e-03 3.33763e-02 0.0625 2.9656e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9144e+02 1.8604e-01 4.8798e+01 3.2745e-01 1.10713e+00 1.0000 ---- 3\n", + " 2 5.8978e+01 1.7646e-01 2.2935e+00 3.5866e+00 3.06666e-01 1.0000 3.5866e+00 3\n", + " 3 3.2156e+00 1.7651e-01 7.2542e-03 2.9666e-01 2.87320e-01 0.5000 2.9666e-01 3\n", + " 4 2.6949e+00 1.7650e-01 3.8430e-03 2.4800e-01 8.46136e-02 1.0000 2.4800e-01 3\n", + " 5 3.0831e-01 1.7650e-01 7.1317e-05 1.3110e-02 1.49776e-01 0.2500 1.3110e-02 3\n", + " 6 2.9995e-01 1.7650e-01 5.5083e-05 1.2290e-02 4.12540e-02 1.0000 1.2290e-02 2\n", + " 7 1.7655e-01 1.7650e-01 5.2414e-06 0.0000e+00 7.29415e-02 0.2500 1.7357e-03 1\n", + " 8 1.7654e-01 1.7650e-01 4.4960e-06 0.0000e+00 2.13667e-02 0.2500 1.6801e-03 1\n", + " 9 1.7653e-01 1.7650e-01 3.4112e-06 0.0000e+00 7.30891e-03 0.5000 1.6812e-03 1\n", + " 10 1.7651e-01 1.7650e-01 1.6813e-06 0.0000e+00 2.69446e-03 1.0000 1.6840e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8999e+02 1.8603e-01 4.8681e+01 2.9951e-01 1.09893e+00 1.0000 ---- 3\n", + " 2 5.8719e+01 1.7644e-01 2.3138e+00 3.5405e+00 2.90662e-01 1.0000 3.5405e+00 3\n", + " 3 2.8863e+00 1.7649e-01 6.8567e-03 2.6412e-01 2.52750e-01 0.5000 2.6412e-01 3\n", + " 4 2.4529e+00 1.7648e-01 3.6410e-03 2.2400e-01 7.27078e-02 1.0000 2.2400e-01 3\n", + " 5 4.2166e-01 1.7648e-01 5.7394e-05 2.4460e-02 1.27489e-01 0.2500 2.4460e-02 3\n", + " 6 4.0831e-01 1.7648e-01 4.4465e-05 2.3139e-02 3.61775e-02 1.0000 2.3139e-02 3\n", + " 7 2.1436e-01 1.7648e-01 3.9365e-06 3.7833e-03 6.36215e-02 0.0020 5.1954e-03 1\n", + " 8 2.1436e-01 1.7648e-01 3.9365e-06 3.7833e-03 6.36009e-02 0.1250 3.7833e-03 1\n", + " 9 2.1197e-01 1.7648e-01 3.5455e-06 3.5455e-03 4.13842e-02 0.1250 3.5525e-03 1\n", + " 10 2.1164e-01 1.7648e-01 3.1399e-06 3.5131e-03 2.71692e-02 0.2500 3.5131e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8989e+02 1.8601e-01 4.8636e+01 3.3394e-01 1.09782e+00 1.0000 ---- 3\n", + " 2 5.9399e+01 1.7643e-01 2.3161e+00 3.6062e+00 2.88547e-01 1.0000 3.6062e+00 3\n", + " 3 1.5063e+00 1.7648e-01 6.7442e-03 1.2624e-01 2.47176e-01 0.2500 1.2624e-01 3\n", + " 4 1.3740e+00 1.7647e-01 5.1161e-03 1.1464e-01 1.02593e-01 1.0000 1.1464e-01 3\n", + " 5 5.8228e-01 1.7647e-01 3.4284e-04 4.0238e-02 1.30025e-01 0.2500 4.0238e-02 3\n", + " 6 5.4938e-01 1.7647e-01 2.5923e-04 3.7031e-02 5.17304e-02 1.0000 3.7031e-02 3\n", + " 7 2.3942e-01 1.7647e-01 2.0593e-05 6.2747e-03 6.69719e-02 0.0020 8.6796e-03 1\n", + " 8 2.3942e-01 1.7647e-01 2.0593e-05 6.2747e-03 6.69485e-02 0.1250 6.2747e-03 1\n", + " 9 2.3884e-01 1.7647e-01 1.8356e-05 6.2183e-03 4.67423e-02 0.0625 6.2183e-03 1\n", + " 10 2.3836e-01 1.7647e-01 1.7253e-05 6.1721e-03 3.97523e-02 0.2500 6.1721e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8925e+02 1.8600e-01 4.8722e+01 1.8459e-01 1.10226e+00 1.0000 ---- 3\n", + " 2 5.9024e+01 1.7642e-01 2.3020e+00 3.5827e+00 2.96251e-01 1.0000 3.5827e+00 3\n", + " 3 2.5296e+00 1.7647e-01 7.0054e-03 2.2831e-01 2.61148e-01 0.5000 2.2831e-01 3\n", + " 4 2.2277e+00 1.7646e-01 3.6984e-03 2.0143e-01 7.43995e-02 1.0000 2.0143e-01 3\n", + " 5 3.7128e-01 1.7646e-01 6.1374e-05 1.9421e-02 1.30794e-01 0.2500 1.9421e-02 3\n", + " 6 3.4285e-01 1.7646e-01 4.7336e-05 1.6592e-02 3.60269e-02 1.0000 1.6592e-02 3\n", + " 7 2.4475e-01 1.7646e-01 4.0715e-06 6.8251e-03 6.37852e-02 0.0020 9.1578e-03 1\n", + " 8 2.4475e-01 1.7646e-01 4.0715e-06 6.8251e-03 6.37631e-02 0.2500 6.8251e-03 1\n", + " 9 2.3655e-01 1.7646e-01 3.5006e-06 6.0055e-03 1.91796e-02 1.0000 6.0055e-03 1\n", + " 10 2.3317e-01 1.7646e-01 1.6952e-06 5.6696e-03 3.17987e-02 0.2500 5.6696e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8994e+02 1.8598e-01 4.8623e+01 3.5163e-01 1.10233e+00 1.0000 ---- 3\n", + " 2 5.9144e+01 1.7641e-01 2.3210e+00 3.5757e+00 3.00151e-01 1.0000 3.5757e+00 3\n", + " 3 2.7128e+00 1.7645e-01 6.7900e-03 2.4684e-01 2.67432e-01 0.5000 2.4684e-01 3\n", + " 4 2.6077e+00 1.7644e-01 3.6072e-03 2.3952e-01 7.62610e-02 1.0000 2.3952e-01 3\n", + " 5 4.6157e-01 1.7645e-01 5.4987e-05 2.8457e-02 1.37091e-01 0.5000 2.8457e-02 3\n", + " 6 4.2751e-01 1.7644e-01 3.2470e-05 2.5074e-02 6.60436e-02 1.0000 2.5074e-02 3\n", + " 7 2.6713e-01 1.7644e-01 2.8228e-06 9.0655e-03 1.41073e-01 0.1250 9.0655e-03 3\n", + " 8 2.5899e-01 1.7644e-01 2.5825e-06 8.2522e-03 8.40604e-02 0.5000 8.2522e-03 3\n", + " 9 2.5520e-01 1.7644e-01 2.0467e-06 7.8736e-03 5.11700e-02 1.0000 7.8736e-03 3\n", + " 10 1.8285e-01 1.7644e-01 7.0680e-07 6.4045e-04 1.20222e-01 0.0020 1.6915e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8932e+02 1.8597e-01 4.8623e+01 2.9040e-01 1.16710e+00 1.0000 ---- 3\n", + " 2 5.8478e+01 1.7639e-01 2.3084e+00 3.5217e+00 5.31941e-01 1.0000 3.5217e+00 3\n", + " 3 5.6279e+00 1.7642e-01 8.1420e-03 5.3701e-01 8.58169e-01 0.5000 5.3701e-01 3\n", + " 4 4.4255e+00 1.7638e-01 4.3159e-03 4.2059e-01 5.39092e-01 1.0000 4.2059e-01 3\n", + " 5 3.2419e+00 1.7636e-01 4.3697e-04 3.0611e-01 1.15490e+00 0.0312 3.0611e-01 3\n", + " 6 3.1696e+00 1.7635e-01 4.2330e-04 2.9890e-01 1.04381e+00 0.0625 2.9890e-01 3\n", + " 7 3.1484e+00 1.7634e-01 3.9683e-04 2.9681e-01 8.39027e-01 0.0625 2.9681e-01 3\n", + " 8 3.0292e+00 1.7633e-01 3.7205e-04 2.8492e-01 6.71848e-01 0.1250 2.8492e-01 3\n", + " 9 2.8965e+00 1.7632e-01 3.2568e-04 2.7169e-01 4.00647e-01 0.2500 2.7169e-01 3\n", + " 10 2.3880e+00 1.7632e-01 2.4457e-04 2.2093e-01 7.57356e-02 1.0000 2.2093e-01 3\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8873e+02 1.8584e-01 4.8699e+01 1.5506e-01 1.19119e+00 1.0000 ---- 3\n", + " 2 5.9803e+01 1.7626e-01 2.2975e+00 3.6653e+00 5.55226e-01 1.0000 3.6653e+00 3\n", + " 3 1.3402e+01 1.7630e-01 9.0135e-03 1.3136e+00 9.30238e-01 0.2500 1.3136e+00 3\n", + " 4 1.3144e+01 1.7627e-01 6.8179e-03 1.2900e+00 2.12355e-01 1.0000 1.2900e+00 3\n", + " 5 6.2591e-01 1.7630e-01 4.0339e-04 4.4557e-02 4.05196e-01 0.1250 4.4557e-02 3\n", + " 6 5.8309e-01 1.7630e-01 3.5424e-04 4.0325e-02 2.48484e-01 0.2500 4.0325e-02 3\n", + " 7 5.1508e-01 1.7629e-01 2.6858e-04 3.3610e-02 5.96658e-02 1.0000 3.3610e-02 3\n", + " 8 2.6890e-01 1.7629e-01 1.3246e-05 9.2474e-03 1.07403e-01 0.5000 9.2474e-03 2\n", + " 9 2.5888e-01 1.7629e-01 9.8382e-06 8.2486e-03 5.54361e-02 0.0020 9.1242e-03 1\n", + " 10 2.5888e-01 1.7629e-01 9.8382e-06 8.2486e-03 5.54051e-02 1.0000 8.2486e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9150e+02 1.8581e-01 4.8768e+01 3.6325e-01 1.16663e+00 1.0000 ---- 3\n", + " 2 6.2524e+01 1.7624e-01 2.3570e+00 3.8778e+00 4.70103e-01 1.0000 3.8778e+00 3\n", + " 3 1.0493e+01 1.7628e-01 7.3832e-03 1.0243e+00 7.22351e-01 0.2500 1.0243e+00 3\n", + " 4 9.7409e+00 1.7627e-01 5.5872e-03 9.5088e-01 1.82264e-01 1.0000 9.5088e-01 3\n", + " 5 4.2116e-01 1.7628e-01 3.6189e-04 2.4126e-02 3.29156e-01 0.0625 2.4126e-02 3\n", + " 6 4.0925e-01 1.7628e-01 3.3964e-04 2.2958e-02 2.67223e-01 0.1250 2.2958e-02 3\n", + " 7 3.9720e-01 1.7628e-01 2.9825e-04 2.1794e-02 1.67365e-01 0.2500 2.1794e-02 3\n", + " 8 3.7167e-01 1.7628e-01 2.2590e-04 1.9313e-02 4.52177e-02 1.0000 1.9313e-02 3\n", + " 9 1.9717e-01 1.7628e-01 7.4282e-06 2.0817e-03 7.53225e-02 0.0020 4.2888e-03 1\n", + " 10 1.9717e-01 1.7628e-01 7.4282e-06 2.0817e-03 7.52945e-02 0.0625 2.0817e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9069e+02 1.8579e-01 4.8759e+01 2.9076e-01 1.11839e+00 1.0000 ---- 3\n", + " 2 6.1481e+01 1.7622e-01 2.3586e+00 3.7719e+00 3.20473e-01 1.0000 3.7719e+00 3\n", + " 3 3.4501e+00 1.7627e-01 6.8645e-03 3.2052e-01 3.43841e-01 0.2500 3.2052e-01 3\n", + " 4 2.8193e+00 1.7626e-01 5.2012e-03 2.5911e-01 1.19949e-01 1.0000 2.5911e-01 3\n", + " 5 4.0153e-01 1.7627e-01 3.6703e-04 2.2159e-02 1.70832e-01 0.1250 2.2159e-02 3\n", + " 6 3.9572e-01 1.7626e-01 3.2204e-04 2.1624e-02 1.13604e-01 0.2500 2.1624e-02 3\n", + " 7 3.7896e-01 1.7626e-01 2.4332e-04 2.0027e-02 4.10610e-02 1.0000 2.0027e-02 3\n", + " 8 2.5227e-01 1.7626e-01 1.1147e-05 7.5894e-03 5.56372e-02 0.0020 1.0684e-02 1\n", + " 9 2.5227e-01 1.7626e-01 1.1147e-05 7.5894e-03 5.56294e-02 0.1250 7.5894e-03 1\n", + " 10 2.4862e-01 1.7626e-01 9.9739e-06 7.2262e-03 3.79668e-02 0.1250 7.2262e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9076e+02 1.8578e-01 4.8768e+01 2.8924e-01 1.10612e+00 1.0000 ---- 3\n", + " 2 6.1178e+01 1.7620e-01 2.3337e+00 3.7665e+00 2.83796e-01 1.0000 3.7665e+00 3\n", + " 3 2.5062e+00 1.7626e-01 6.8375e-03 2.2616e-01 2.40245e-01 0.2500 2.2616e-01 3\n", + " 4 2.0798e+00 1.7625e-01 5.1793e-03 1.8518e-01 1.04534e-01 1.0000 1.8518e-01 3\n", + " 5 3.9458e-01 1.7625e-01 3.5225e-04 2.1481e-02 1.27290e-01 0.0625 2.1481e-02 3\n", + " 6 3.8490e-01 1.7625e-01 3.3038e-04 2.0534e-02 1.07887e-01 0.1250 2.0534e-02 3\n", + " 7 3.7544e-01 1.7625e-01 2.8952e-04 1.9629e-02 7.55030e-02 0.2500 1.9629e-02 3\n", + " 8 3.5577e-01 1.7625e-01 2.1798e-04 1.7733e-02 3.22888e-02 1.0000 1.7733e-02 3\n", + " 9 2.1546e-01 1.7625e-01 7.9536e-06 3.9127e-03 3.84359e-02 0.0020 5.8158e-03 1\n", + " 10 2.1546e-01 1.7625e-01 7.9536e-06 3.9127e-03 3.84257e-02 0.1250 3.9127e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9084e+02 1.8576e-01 4.8771e+01 2.9431e-01 1.10676e+00 1.0000 ---- 3\n", + " 2 6.1142e+01 1.7619e-01 2.3286e+00 3.7680e+00 2.86794e-01 1.0000 3.7680e+00 3\n", + " 3 2.3638e+00 1.7625e-01 6.8658e-03 2.1189e-01 2.45617e-01 0.2500 2.1189e-01 3\n", + " 4 1.9857e+00 1.7624e-01 5.2009e-03 1.7575e-01 1.05914e-01 1.0000 1.7575e-01 3\n", + " 5 4.3183e-01 1.7624e-01 3.5109e-04 2.5208e-02 1.29198e-01 0.1250 2.5208e-02 3\n", + " 6 4.2510e-01 1.7624e-01 3.0782e-04 2.4578e-02 8.97217e-02 0.2500 2.4578e-02 3\n", + " 7 4.0689e-01 1.7624e-01 2.3207e-04 2.2833e-02 3.77611e-02 1.0000 2.2833e-02 3\n", + " 8 2.3150e-01 1.7624e-01 1.0624e-05 5.5157e-03 4.56190e-02 0.0020 7.4965e-03 1\n", + " 9 2.3150e-01 1.7624e-01 1.0624e-05 5.5157e-03 4.56044e-02 0.1250 5.5157e-03 1\n", + " 10 2.2914e-01 1.7624e-01 9.4795e-06 5.2803e-03 3.22988e-02 0.1250 5.2803e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9071e+02 1.8575e-01 4.8760e+01 2.9227e-01 1.10521e+00 1.0000 ---- 3\n", + " 2 6.1169e+01 1.7618e-01 2.3264e+00 3.7729e+00 2.84706e-01 1.0000 3.7729e+00 3\n", + " 3 2.2998e+00 1.7623e-01 6.8007e-03 2.0555e-01 2.43065e-01 0.2500 2.0555e-01 3\n", + " 4 1.9326e+00 1.7623e-01 5.1518e-03 1.7049e-01 1.04430e-01 1.0000 1.7049e-01 3\n", + " 5 4.2194e-01 1.7623e-01 3.4841e-04 2.4222e-02 1.27365e-01 0.1250 2.4222e-02 3\n", + " 6 4.1506e-01 1.7623e-01 3.0525e-04 2.3577e-02 8.85224e-02 0.2500 2.3577e-02 3\n", + " 7 3.9693e-01 1.7623e-01 2.3006e-04 2.1840e-02 3.73024e-02 1.0000 2.1840e-02 3\n", + " 8 2.2708e-01 1.7623e-01 1.0375e-05 5.0753e-03 4.49596e-02 0.0020 7.3010e-03 1\n", + " 9 2.2708e-01 1.7623e-01 1.0375e-05 5.0753e-03 4.49452e-02 0.1250 5.0753e-03 1\n", + " 10 2.2499e-01 1.7623e-01 9.2469e-06 4.8667e-03 3.18231e-02 0.1250 4.8667e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9051e+02 1.8574e-01 4.8740e+01 2.9242e-01 1.10485e+00 1.0000 ---- 3\n", + " 2 6.1018e+01 1.7617e-01 2.3243e+00 3.7599e+00 2.84982e-01 1.0000 3.7599e+00 3\n", + " 3 2.2683e+00 1.7622e-01 6.7967e-03 2.0241e-01 2.43785e-01 0.2500 2.0241e-01 3\n", + " 4 1.9094e+00 1.7622e-01 5.1488e-03 1.6817e-01 1.04516e-01 1.0000 1.6817e-01 3\n", + " 5 4.1434e-01 1.7622e-01 3.4771e-04 2.3464e-02 1.27922e-01 0.1250 2.3464e-02 3\n", + " 6 4.0780e-01 1.7622e-01 3.0461e-04 2.2853e-02 8.88829e-02 0.2500 2.2853e-02 3\n", + " 7 3.9109e-01 1.7621e-01 2.2958e-04 2.1258e-02 3.73807e-02 1.0000 2.1258e-02 3\n", + " 8 2.2426e-01 1.7621e-01 1.0396e-05 4.7939e-03 4.52784e-02 0.0020 7.2906e-03 1\n", + " 9 2.2426e-01 1.7621e-01 1.0396e-05 4.7939e-03 4.52654e-02 0.1250 4.7939e-03 1\n", + " 10 2.2254e-01 1.7621e-01 9.2631e-06 4.6232e-03 3.19866e-02 0.1250 4.6640e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9005e+02 1.8572e-01 4.8694e+01 2.9192e-01 1.10419e+00 1.0000 ---- 3\n", + " 2 5.9015e+01 1.7616e-01 2.3213e+00 3.5626e+00 2.87718e-01 1.0000 3.5626e+00 3\n", + " 3 2.3973e+00 1.7621e-01 6.8306e-03 2.1528e-01 2.41353e-01 0.5000 2.1528e-01 3\n", + " 4 2.3888e+00 1.7620e-01 3.6015e-03 2.1765e-01 6.51681e-02 1.0000 2.1765e-01 3\n", + " 5 4.4216e-01 1.7620e-01 5.1415e-05 2.6545e-02 1.15568e-01 0.2500 2.6545e-02 3\n", + " 6 4.2247e-01 1.7620e-01 3.9298e-05 2.4588e-02 3.10664e-02 1.0000 2.4588e-02 3\n", + " 7 2.1720e-01 1.7620e-01 1.9929e-06 4.0981e-03 5.48507e-02 0.0020 4.9777e-03 1\n", + " 8 2.1720e-01 1.7620e-01 1.9890e-06 4.0981e-03 5.45261e-02 0.1250 4.0981e-03 1\n", + " 9 2.1475e-01 1.7620e-01 1.7687e-06 3.8537e-03 3.52660e-02 0.1250 3.8537e-03 1\n", + " 10 2.1393e-01 1.7620e-01 1.5557e-06 3.7720e-03 2.29751e-02 0.5000 3.7720e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9040e+02 1.8570e-01 4.8671e+01 3.5112e-01 1.10148e+00 1.0000 ---- 3\n", + " 2 6.0409e+01 1.7614e-01 2.3295e+00 3.6937e+00 2.90061e-01 1.0000 3.6937e+00 3\n", + " 3 2.4547e+00 1.7619e-01 6.4572e-03 2.2139e-01 2.54751e-01 0.2500 2.2139e-01 3\n", + " 4 2.0612e+00 1.7619e-01 4.8885e-03 1.8362e-01 1.03674e-01 1.0000 1.8362e-01 3\n", + " 5 5.2626e-01 1.7619e-01 3.0583e-04 3.4702e-02 1.31555e-01 0.1250 3.4702e-02 3\n", + " 6 5.0261e-01 1.7619e-01 2.6764e-04 3.2374e-02 9.05281e-02 0.2500 3.2374e-02 3\n", + " 7 4.5678e-01 1.7618e-01 2.0081e-04 2.7858e-02 3.69880e-02 1.0000 2.7858e-02 3\n", + " 8 2.0379e-01 1.7618e-01 1.0246e-05 2.7505e-03 4.64887e-02 0.0020 5.2135e-03 1\n", + " 9 2.0379e-01 1.7618e-01 1.0246e-05 2.7505e-03 4.64729e-02 0.0625 2.7505e-03 1\n", + " 10 2.0318e-01 1.7618e-01 9.6345e-06 2.6899e-03 3.94186e-02 0.0312 3.4526e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9064e+02 1.8569e-01 4.8690e+01 3.5603e-01 1.10700e+00 1.0000 ---- 3\n", + " 2 5.8862e+01 1.7613e-01 2.3204e+00 3.5481e+00 2.96875e-01 1.0000 3.5481e+00 3\n", + " 3 2.2883e+00 1.7618e-01 6.9371e-03 2.0428e-01 2.63977e-01 0.2500 2.0428e-01 3\n", + " 4 1.9285e+00 1.7617e-01 5.2511e-03 1.6998e-01 1.09739e-01 1.0000 1.6998e-01 3\n", + " 5 5.3154e-01 1.7617e-01 3.3362e-04 3.5203e-02 1.38618e-01 0.1250 3.5203e-02 3\n", + " 6 4.9704e-01 1.7617e-01 2.9245e-04 3.1795e-02 9.55199e-02 0.2500 3.1795e-02 3\n", + " 7 4.4500e-01 1.7617e-01 2.2033e-04 2.6663e-02 3.88797e-02 1.0000 2.6663e-02 3\n", + " 8 2.1635e-01 1.7617e-01 1.0064e-05 4.0083e-03 4.84703e-02 0.0020 8.4062e-03 1\n", + " 9 2.1635e-01 1.7617e-01 1.0064e-05 4.0083e-03 4.84521e-02 0.2500 4.0083e-03 1\n", + " 10 2.1177e-01 1.7617e-01 8.2422e-06 3.5514e-03 1.99502e-02 0.2500 5.3335e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.9065e+02 1.8567e-01 4.8686e+01 3.5989e-01 1.10104e+00 1.0000 ---- 3\n", + " 2 6.1014e+01 1.7611e-01 2.3202e+00 3.7636e+00 2.82501e-01 1.0000 3.7636e+00 3\n", + " 3 1.8936e+00 1.7617e-01 6.5682e-03 1.6517e-01 2.40342e-01 0.2500 1.6517e-01 3\n", + " 4 1.6705e+00 1.7616e-01 4.9779e-03 1.4446e-01 1.02600e-01 1.0000 1.4446e-01 3\n", + " 5 5.2378e-01 1.7616e-01 3.4579e-04 3.4416e-02 1.26058e-01 0.1250 3.4416e-02 3\n", + " 6 4.9264e-01 1.7616e-01 3.0281e-04 3.1345e-02 8.74827e-02 0.2500 3.1345e-02 3\n", + " 7 4.3691e-01 1.7616e-01 2.2772e-04 2.5848e-02 3.68416e-02 1.0000 2.5848e-02 3\n", + " 8 2.0504e-01 1.7616e-01 1.0597e-05 2.8772e-03 4.49848e-02 0.0020 7.1999e-03 1\n", + " 9 2.0504e-01 1.7616e-01 1.0597e-05 2.8772e-03 4.49695e-02 0.2500 2.8772e-03 1\n", + " 10 2.0319e-01 1.7616e-01 8.5642e-06 2.6949e-03 1.87730e-02 0.2500 4.6965e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8909e+02 1.8566e-01 4.8596e+01 2.9465e-01 1.09936e+00 1.0000 ---- 3\n", + " 2 5.8105e+01 1.7610e-01 2.3144e+00 3.4785e+00 2.86238e-01 1.0000 3.4785e+00 3\n", + " 3 2.7432e+00 1.7615e-01 6.7216e-03 2.4999e-01 2.37929e-01 0.5000 2.4999e-01 3\n", + " 4 2.3507e+00 1.7614e-01 3.5494e-03 2.1391e-01 6.44715e-02 1.0000 2.1391e-01 3\n", + " 5 4.3854e-01 1.7614e-01 5.1526e-05 2.6188e-02 1.13238e-01 0.2500 2.6188e-02 3\n", + " 6 4.1609e-01 1.7614e-01 3.9439e-05 2.3956e-02 3.09224e-02 1.0000 2.3956e-02 3\n", + " 7 2.1243e-01 1.7614e-01 2.2206e-06 3.6269e-03 5.48378e-02 0.0020 4.9318e-03 1\n", + " 8 2.1243e-01 1.7614e-01 2.2206e-06 3.6269e-03 5.48176e-02 0.1250 3.6269e-03 1\n", + " 9 2.1025e-01 1.7614e-01 1.9877e-06 3.4093e-03 3.55874e-02 0.1250 3.4093e-03 1\n", + " 10 2.0964e-01 1.7614e-01 1.7611e-06 3.3482e-03 2.33077e-02 0.5000 3.3482e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8880e+02 1.8564e-01 4.8520e+01 3.4143e-01 1.09970e+00 1.0000 ---- 3\n", + " 2 5.7776e+01 1.7608e-01 2.3203e+00 3.4397e+00 2.95427e-01 1.0000 3.4397e+00 3\n", + " 3 3.3192e+00 1.7613e-01 6.6501e-03 3.0766e-01 2.60614e-01 0.5000 3.0766e-01 3\n", + " 4 2.7535e+00 1.7612e-01 3.5318e-03 2.5420e-01 7.81049e-02 1.0000 2.5420e-01 3\n", + " 5 4.0891e-01 1.7612e-01 4.7760e-05 2.3230e-02 1.44980e-01 0.2500 2.3230e-02 3\n", + " 6 3.6735e-01 1.7612e-01 3.6750e-05 1.9086e-02 3.63138e-02 1.0000 1.9086e-02 3\n", + " 7 1.7891e-01 1.7612e-01 2.6415e-06 2.7632e-04 6.64403e-02 0.0156 1.7173e-03 1\n", + " 8 1.7889e-01 1.7612e-01 2.6009e-06 2.7409e-04 6.34468e-02 0.0156 1.7173e-03 1\n", + " 9 1.7886e-01 1.7612e-01 2.5609e-06 2.7157e-04 6.05912e-02 0.0078 1.7173e-03 1\n", + " 10 1.7886e-01 1.7612e-01 2.5411e-06 2.7110e-04 5.92030e-02 0.0156 1.7173e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8776e+02 1.8562e-01 4.8465e+01 2.9225e-01 1.09675e+00 1.0000 ---- 3\n", + " 2 5.6165e+01 1.7607e-01 2.2843e+00 3.3145e+00 3.00005e-01 1.0000 3.3145e+00 3\n", + " 3 6.2050e-01 1.7611e-01 7.0879e-03 3.7351e-02 2.82409e-01 0.1250 3.7351e-02 3\n", + " 4 5.8601e-01 1.7611e-01 6.2158e-03 3.4775e-02 1.90545e-01 0.2500 3.4775e-02 3\n", + " 5 5.2200e-01 1.7610e-01 4.6983e-03 2.9891e-02 7.32352e-02 1.0000 2.9891e-02 3\n", + " 6 2.2973e-01 1.7610e-01 2.2774e-04 5.1345e-03 8.97330e-02 0.2500 5.1345e-03 2\n", + " 7 2.2402e-01 1.7610e-01 1.7170e-04 4.6201e-03 3.79800e-02 0.0020 1.0188e-02 1\n", + " 8 2.2402e-01 1.7610e-01 1.7170e-04 4.6201e-03 3.79660e-02 0.5000 4.6201e-03 1\n", + " 9 2.1570e-01 1.7610e-01 8.4272e-05 3.8761e-03 7.86207e-03 1.0000 4.8874e-03 1\n", + " 10 2.0133e-01 1.7610e-01 1.1358e-06 2.5219e-03 1.25943e-02 1.0000 2.5219e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8723e+02 1.8560e-01 4.8505e+01 1.9967e-01 1.10227e+00 1.0000 ---- 3\n", + " 2 5.8136e+01 1.7605e-01 2.3045e+00 3.4915e+00 3.03841e-01 1.0000 3.4915e+00 3\n", + " 3 3.0292e+00 1.7609e-01 6.6735e-03 2.7863e-01 2.79665e-01 0.5000 2.7863e-01 3\n", + " 4 2.8992e+00 1.7608e-01 3.5203e-03 2.6879e-01 9.03140e-02 1.0000 2.6879e-01 3\n", + " 5 4.1318e-01 1.7608e-01 6.7412e-05 2.3642e-02 1.70000e-01 0.2500 2.3642e-02 3\n", + " 6 3.6962e-01 1.7608e-01 5.1814e-05 1.9303e-02 4.21757e-02 1.0000 1.9303e-02 3\n", + " 7 1.7979e-01 1.7608e-01 3.6151e-06 3.6704e-04 7.82435e-02 0.0020 1.7333e-03 1\n", + " 8 1.7979e-01 1.7608e-01 3.6151e-06 3.6704e-04 7.82089e-02 0.0312 1.7333e-03 1\n", + " 9 1.7978e-01 1.7608e-01 3.5071e-06 3.6631e-04 7.10862e-02 0.0156 1.7328e-03 1\n", + " 10 1.7978e-01 1.7608e-01 3.4533e-06 3.6634e-04 6.78566e-02 0.0312 1.7326e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8677e+02 1.8558e-01 4.8493e+01 1.6478e-01 1.09727e+00 1.0000 ---- 3\n", + " 2 5.6482e+01 1.7602e-01 2.2777e+00 3.3529e+00 3.17562e-01 1.0000 3.3529e+00 3\n", + " 3 1.1348e+00 1.7607e-01 7.2679e-03 8.8605e-02 3.28998e-01 0.5000 8.8605e-02 3\n", + " 4 6.8889e-01 1.7606e-01 3.8618e-03 4.7421e-02 1.34971e-01 1.0000 4.7421e-02 3\n", + " 5 5.0681e-01 1.7606e-01 8.0673e-05 3.2994e-02 2.85035e-01 0.2500 3.2994e-02 3\n", + " 6 4.7102e-01 1.7605e-01 6.2094e-05 2.9435e-02 5.52154e-02 1.0000 2.9435e-02 3\n", + " 7 1.8282e-01 1.7605e-01 3.4738e-06 6.7371e-04 1.13617e-01 0.0020 1.7831e-03 1\n", + " 8 1.8282e-01 1.7605e-01 3.4738e-06 6.7371e-04 1.13568e-01 0.2500 1.7826e-03 1\n", + " 9 1.8206e-01 1.7605e-01 2.9406e-06 5.9801e-04 2.52706e-02 0.5000 1.7077e-03 1\n", + " 10 1.8156e-01 1.7605e-01 1.6095e-06 5.4886e-04 1.21976e-02 1.0000 1.7188e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8839e+02 1.8555e-01 4.8464e+01 3.5628e-01 1.10043e+00 1.0000 ---- 3\n", + " 2 5.8967e+01 1.7600e-01 2.3035e+00 3.5756e+00 3.10279e-01 1.0000 3.5756e+00 3\n", + " 3 1.1934e+00 1.7605e-01 6.7637e-03 9.4972e-02 3.10788e-01 0.2500 9.4972e-02 3\n", + " 4 1.1499e+00 1.7604e-01 5.1317e-03 9.2252e-02 1.09257e-01 1.0000 9.2252e-02 3\n", + " 5 6.0959e-01 1.7604e-01 3.5119e-04 4.3004e-02 1.48960e-01 0.2500 4.3004e-02 3\n", + " 6 5.4939e-01 1.7604e-01 2.6644e-04 3.7068e-02 5.36561e-02 1.0000 3.7068e-02 3\n", + " 7 2.1247e-01 1.7604e-01 2.1560e-05 3.6219e-03 7.21124e-02 0.0020 8.3790e-03 1\n", + " 8 2.1247e-01 1.7604e-01 2.1560e-05 3.6219e-03 7.20843e-02 0.0625 3.6219e-03 1\n", + " 9 2.1120e-01 1.7604e-01 2.0306e-05 3.4955e-03 6.06493e-02 0.0312 5.6938e-03 1\n", + " 10 2.1099e-01 1.7604e-01 1.9689e-05 3.4759e-03 5.58734e-02 0.1250 3.8271e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8680e+02 1.8554e-01 4.8526e+01 1.3518e-01 1.10636e+00 1.0000 ---- 3\n", + " 2 5.7436e+01 1.7599e-01 2.2981e+00 3.4280e+00 3.01584e-01 1.0000 3.4280e+00 3\n", + " 3 1.7240e+00 1.7603e-01 7.2319e-03 1.4756e-01 2.68043e-01 0.2500 1.4756e-01 3\n", + " 4 1.4711e+00 1.7603e-01 5.4779e-03 1.2403e-01 1.13189e-01 1.0000 1.2403e-01 3\n", + " 5 4.5569e-01 1.7602e-01 3.6415e-04 2.7602e-02 1.43824e-01 0.2500 2.7602e-02 3\n", + " 6 4.2105e-01 1.7602e-01 2.7856e-04 2.4224e-02 5.59843e-02 1.0000 2.4224e-02 3\n", + " 7 2.5754e-01 1.7602e-01 2.3716e-05 8.1284e-03 7.14067e-02 0.2500 8.1284e-03 2\n", + " 8 2.4487e-01 1.7602e-01 1.9905e-05 6.8649e-03 2.92767e-02 0.0020 1.0020e-02 1\n", + " 9 2.4487e-01 1.7602e-01 1.9905e-05 6.8649e-03 2.92543e-02 1.0000 6.8649e-03 1\n", + " 10 2.3916e-01 1.7602e-01 8.8045e-06 6.3057e-03 3.84708e-02 0.1250 8.2303e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8648e+02 1.8552e-01 4.8492e+01 1.3742e-01 1.09339e+00 1.0000 ---- 3\n", + " 2 5.8312e+01 1.7596e-01 2.3100e+00 3.5036e+00 2.84653e-01 1.0000 3.5036e+00 3\n", + " 3 2.5860e+00 1.7601e-01 6.8148e-03 2.3419e-01 2.32200e-01 0.5000 2.3419e-01 3\n", + " 4 2.2571e+00 1.7600e-01 3.6395e-03 2.0447e-01 6.56966e-02 1.0000 2.0447e-01 3\n", + " 5 2.1504e-01 1.7600e-01 4.9925e-05 3.8540e-03 1.15851e-01 0.0020 9.9375e-03 1\n", + " 6 2.1504e-01 1.7600e-01 4.9925e-05 3.8540e-03 1.15800e-01 0.0625 3.9719e-03 1\n", + " 7 2.1355e-01 1.7600e-01 4.6865e-05 3.7075e-03 9.50373e-02 0.0625 7.2105e-03 1\n", + " 8 2.1326e-01 1.7600e-01 4.3976e-05 3.6820e-03 7.80700e-02 0.1250 5.0544e-03 1\n", + " 9 2.1302e-01 1.7600e-01 3.8586e-05 3.6631e-03 5.03531e-02 0.1250 5.8453e-03 1\n", + " 10 2.1228e-01 1.7600e-01 3.3801e-05 3.5946e-03 3.28048e-02 0.2500 4.9805e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8868e+02 1.8550e-01 4.8559e+01 2.8985e-01 1.10052e+00 1.0000 ---- 3\n", + " 2 5.8060e+01 1.7595e-01 2.3084e+00 3.4799e+00 2.97353e-01 1.0000 3.4799e+00 3\n", + " 3 3.5455e+00 1.7599e-01 6.6392e-03 3.3031e-01 2.63517e-01 0.5000 3.3031e-01 3\n", + " 4 2.7849e+00 1.7598e-01 3.5046e-03 2.5739e-01 7.79269e-02 1.0000 2.5739e-01 3\n", + " 5 5.3111e-01 1.7599e-01 6.5969e-05 3.5447e-02 1.37068e-01 0.2500 3.5447e-02 3\n", + " 6 4.8446e-01 1.7599e-01 5.0711e-05 3.0796e-02 3.81362e-02 1.0000 3.0796e-02 3\n", + " 7 2.0231e-01 1.7599e-01 3.7721e-06 2.6290e-03 6.75695e-02 0.0020 4.5806e-03 1\n", + " 8 2.0231e-01 1.7599e-01 3.7721e-06 2.6290e-03 6.75435e-02 0.1250 2.6290e-03 1\n", + " 9 2.0201e-01 1.7599e-01 3.3877e-06 2.5991e-03 4.37196e-02 0.0625 3.2462e-03 1\n", + " 10 2.0176e-01 1.7599e-01 3.1836e-06 2.5740e-03 3.61048e-02 0.2500 2.5740e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8861e+02 1.8548e-01 4.8506e+01 3.3625e-01 1.09557e+00 1.0000 ---- 3\n", + " 2 5.7289e+01 1.7594e-01 2.3132e+00 3.3981e+00 2.83518e-01 1.0000 3.3981e+00 3\n", + " 3 2.6001e+00 1.7598e-01 6.6979e-03 2.3571e-01 2.37921e-01 0.5000 2.3571e-01 3\n", + " 4 2.2205e+00 1.7597e-01 3.5635e-03 2.0089e-01 6.53189e-02 1.0000 2.0089e-01 3\n", + " 5 3.7995e-01 1.7597e-01 5.5385e-05 2.0342e-02 1.11116e-01 0.2500 2.0342e-02 3\n", + " 6 3.6591e-01 1.7597e-01 4.2695e-05 1.8951e-02 3.30006e-02 1.0000 1.8951e-02 3\n", + " 7 2.3436e-01 1.7597e-01 3.1883e-06 5.8353e-03 5.72895e-02 0.0020 8.0357e-03 1\n", + " 8 2.3436e-01 1.7597e-01 3.1883e-06 5.8353e-03 5.72762e-02 0.2500 5.8353e-03 1\n", + " 9 2.2808e-01 1.7597e-01 2.7334e-06 5.2080e-03 1.78526e-02 1.0000 5.2080e-03 1\n", + " 10 2.2805e-01 1.7597e-01 1.6489e-06 5.2060e-03 2.94116e-02 0.2500 5.2060e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8893e+02 1.8547e-01 4.8531e+01 3.4338e-01 1.10102e+00 1.0000 ---- 3\n", + " 2 5.8525e+01 1.7592e-01 2.3153e+00 3.5196e+00 2.96719e-01 1.0000 3.5196e+00 3\n", + " 3 3.2457e+00 1.7597e-01 6.6285e-03 3.0034e-01 2.62415e-01 0.5000 3.0034e-01 3\n", + " 4 2.7342e+00 1.7596e-01 3.5068e-03 2.5232e-01 7.56088e-02 1.0000 2.5232e-01 3\n", + " 5 5.8104e-01 1.7596e-01 5.8248e-05 4.0449e-02 1.32105e-01 0.2500 4.0449e-02 3\n", + " 6 5.1327e-01 1.7596e-01 4.4913e-05 3.3686e-02 3.71655e-02 1.0000 3.3686e-02 3\n", + " 7 1.8011e-01 1.7596e-01 3.7099e-06 4.1126e-04 6.54632e-02 0.0020 1.7263e-03 1\n", + " 8 1.8011e-01 1.7596e-01 3.7099e-06 4.1126e-04 6.54354e-02 0.0156 1.7257e-03 1\n", + " 9 1.8008e-01 1.7596e-01 3.6532e-06 4.0829e-04 6.25618e-02 0.0039 1.6950e-03 1\n", + " 10 1.8008e-01 1.7596e-01 3.6390e-06 4.0818e-04 6.16056e-02 0.0156 1.6805e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8837e+02 1.8545e-01 4.8484e+01 3.3460e-01 1.09662e+00 1.0000 ---- 3\n", + " 2 5.6858e+01 1.7591e-01 2.2943e+00 3.3739e+00 2.92162e-01 1.0000 3.3739e+00 3\n", + " 3 1.8393e+00 1.7595e-01 7.2023e-03 1.5913e-01 2.60640e-01 0.5000 1.5913e-01 3\n", + " 4 1.1577e+00 1.7595e-01 3.8346e-03 9.4342e-02 8.85533e-02 1.0000 9.4342e-02 3\n", + " 5 3.1891e-01 1.7595e-01 5.3790e-05 1.4242e-02 1.75596e-01 0.2500 1.4242e-02 3\n", + " 6 3.0041e-01 1.7595e-01 4.1436e-05 1.2405e-02 3.94420e-02 1.0000 1.2405e-02 3\n", + " 7 1.8864e-01 1.7594e-01 2.6962e-06 1.2668e-03 7.60512e-02 0.0312 1.7173e-03 1\n", + " 8 1.8863e-01 1.7594e-01 2.6151e-06 1.2663e-03 6.88830e-02 0.2500 1.6880e-03 1\n", + " 9 1.8667e-01 1.7594e-01 2.1614e-06 1.0699e-03 1.76388e-02 0.5000 1.6919e-03 1\n", + " 10 1.8464e-01 1.7594e-01 1.0819e-06 8.6835e-04 7.61660e-03 1.0000 1.6978e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8885e+02 1.8544e-01 4.8522e+01 3.4455e-01 1.09713e+00 1.0000 ---- 3\n", + " 2 5.7948e+01 1.7590e-01 2.3000e+00 3.4772e+00 3.01340e-01 1.0000 3.4772e+00 3\n", + " 3 2.0863e+00 1.7594e-01 6.6865e-03 1.8435e-01 2.88062e-01 0.5000 1.8435e-01 3\n", + " 4 2.0458e+00 1.7593e-01 3.5551e-03 1.8343e-01 1.03362e-01 1.0000 1.8343e-01 3\n", + " 5 3.5483e-01 1.7594e-01 7.1823e-05 1.7817e-02 2.01251e-01 0.2500 1.7817e-02 3\n", + " 6 3.5217e-01 1.7593e-01 5.5466e-05 1.7568e-02 4.62631e-02 1.0000 1.7568e-02 3\n", + " 7 2.2470e-01 1.7593e-01 4.3976e-06 4.8725e-03 8.84674e-02 0.0020 6.8781e-03 1\n", + " 8 2.2470e-01 1.7593e-01 4.3976e-06 4.8725e-03 8.84376e-02 0.2500 4.8725e-03 1\n", + " 9 2.2041e-01 1.7593e-01 3.8599e-06 4.4442e-03 2.26862e-02 0.5000 4.4837e-03 1\n", + " 10 2.1555e-01 1.7593e-01 2.1265e-06 3.9601e-03 9.68201e-03 1.0000 3.9601e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8877e+02 1.8542e-01 4.8514e+01 3.4481e-01 1.09603e+00 1.0000 ---- 3\n", + " 2 5.8642e+01 1.7588e-01 2.2996e+00 3.5470e+00 2.90448e-01 1.0000 3.5470e+00 3\n", + " 3 1.8126e+00 1.7593e-01 6.7128e-03 1.5695e-01 2.61380e-01 0.2500 1.5695e-01 3\n", + " 4 1.5432e+00 1.7593e-01 5.0901e-03 1.3164e-01 1.02392e-01 1.0000 1.3164e-01 3\n", + " 5 5.2568e-01 1.7593e-01 3.3182e-04 3.4643e-02 1.33205e-01 0.2500 3.4643e-02 3\n", + " 6 4.7421e-01 1.7592e-01 2.5079e-04 2.9577e-02 5.09902e-02 1.0000 2.9577e-02 3\n", + " 7 2.5156e-01 1.7592e-01 1.9710e-05 7.5444e-03 6.78896e-02 0.2500 7.5444e-03 3\n", + " 8 2.5031e-01 1.7592e-01 1.6109e-05 7.4223e-03 2.62109e-02 1.0000 7.4223e-03 2\n", + " 9 2.0463e-01 1.7592e-01 4.4353e-06 2.8666e-03 3.76374e-02 0.0020 6.5375e-03 1\n", + " 10 2.0463e-01 1.7592e-01 4.4353e-06 2.8666e-03 3.76181e-02 0.2500 2.8666e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8823e+02 1.8541e-01 4.8450e+01 3.5409e-01 1.09563e+00 1.0000 ---- 3\n", + " 2 5.8364e+01 1.7587e-01 2.3149e+00 3.5039e+00 2.91542e-01 1.0000 3.5039e+00 3\n", + " 3 2.5964e+00 1.7592e-01 6.5220e-03 2.3553e-01 2.56002e-01 0.5000 2.3553e-01 3\n", + " 4 2.3597e+00 1.7591e-01 3.4865e-03 2.1489e-01 7.61359e-02 1.0000 2.1489e-01 3\n", + " 5 3.3074e-01 1.7591e-01 5.5978e-05 1.5426e-02 1.34386e-01 0.2500 1.5426e-02 3\n", + " 6 3.0687e-01 1.7591e-01 4.3509e-05 1.3052e-02 3.76938e-02 1.0000 1.3052e-02 3\n", + " 7 1.8317e-01 1.7591e-01 4.3393e-06 7.2198e-04 6.65957e-02 0.0020 1.7573e-03 1\n", + " 8 1.8317e-01 1.7591e-01 4.3393e-06 7.2198e-04 6.65683e-02 0.0312 1.7567e-03 1\n", + " 9 1.8308e-01 1.7591e-01 4.2113e-06 7.1237e-04 6.06932e-02 0.0156 1.6924e-03 1\n", + " 10 1.8307e-01 1.7591e-01 4.1471e-06 7.1224e-04 5.80262e-02 0.0312 1.6922e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8788e+02 1.8540e-01 4.8476e+01 2.9346e-01 1.09583e+00 1.0000 ---- 3\n", + " 2 5.7432e+01 1.7586e-01 2.2743e+00 3.4513e+00 2.92720e-01 1.0000 3.4513e+00 3\n", + " 3 9.1079e-01 1.7591e-01 7.1958e-03 6.6292e-02 2.59317e-01 0.2500 6.6292e-02 3\n", + " 4 7.8779e-01 1.7590e-01 5.4584e-03 5.5731e-02 9.99249e-02 1.0000 5.5731e-02 3\n", + " 5 3.5418e-01 1.7590e-01 3.5719e-04 1.7471e-02 1.22690e-01 0.2500 1.7471e-02 3\n", + " 6 3.3005e-01 1.7590e-01 2.7085e-04 1.5144e-02 5.11722e-02 1.0000 1.5144e-02 3\n", + " 7 2.7183e-01 1.7590e-01 2.7106e-05 9.5661e-03 6.35611e-02 0.5000 9.5661e-03 2\n", + " 8 2.2766e-01 1.7590e-01 2.0725e-05 5.1555e-03 1.92533e-02 0.0020 1.0138e-02 1\n", + " 9 2.2766e-01 1.7590e-01 2.0725e-05 5.1555e-03 1.92432e-02 1.0000 5.1555e-03 1\n", + " 10 1.9453e-01 1.7590e-01 2.8032e-06 1.8607e-03 3.44791e-02 0.1250 1.8607e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8891e+02 1.8539e-01 4.8529e+01 3.4382e-01 1.10386e+00 1.0000 ---- 3\n", + " 2 5.8877e+01 1.7586e-01 2.2951e+00 3.5750e+00 3.07320e-01 1.0000 3.5750e+00 3\n", + " 3 3.1197e+00 1.7590e-01 6.4785e-03 2.8790e-01 2.88610e-01 0.5000 2.8790e-01 3\n", + " 4 2.8657e+00 1.7589e-01 3.4101e-03 2.6557e-01 8.32236e-02 1.0000 2.6557e-01 3\n", + " 5 5.7097e-01 1.7589e-01 6.2967e-05 3.9445e-02 1.43171e-01 0.5000 3.9445e-02 3\n", + " 6 4.6961e-01 1.7589e-01 3.9490e-05 2.9332e-02 6.20145e-02 1.0000 2.9332e-02 3\n", + " 7 3.1040e-01 1.7589e-01 3.9954e-06 1.3447e-02 1.29523e-01 0.2500 1.3447e-02 3\n", + " 8 2.9974e-01 1.7589e-01 3.7010e-06 1.2382e-02 2.88754e-02 1.0000 1.2382e-02 3\n", + " 9 1.9439e-01 1.7589e-01 1.3114e-06 1.8495e-03 5.70666e-02 0.0020 4.3347e-03 1\n", + " 10 1.9439e-01 1.7589e-01 1.3089e-06 1.8494e-03 5.67165e-02 0.2500 1.8887e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8842e+02 1.8537e-01 4.8474e+01 3.4962e-01 1.09373e+00 1.0000 ---- 3\n", + " 2 5.7556e+01 1.7584e-01 2.2903e+00 3.4477e+00 2.91189e-01 1.0000 3.4477e+00 3\n", + " 3 1.6444e+00 1.7588e-01 6.6886e-03 1.4016e-01 2.58955e-01 0.2500 1.4016e-01 3\n", + " 4 1.4225e+00 1.7588e-01 5.0724e-03 1.1959e-01 1.02122e-01 1.0000 1.1959e-01 3\n", + " 5 5.1156e-01 1.7588e-01 3.3221e-04 3.3236e-02 1.32684e-01 0.2500 3.3236e-02 3\n", + " 6 4.4966e-01 1.7588e-01 2.5123e-04 2.7127e-02 5.09472e-02 1.0000 2.7127e-02 3\n", + " 7 2.3372e-01 1.7587e-01 2.0218e-05 5.7644e-03 6.77709e-02 0.2500 5.7644e-03 2\n", + " 8 2.2531e-01 1.7587e-01 1.6269e-05 4.9278e-03 2.62068e-02 0.0020 8.6290e-03 1\n", + " 9 2.2531e-01 1.7587e-01 1.6269e-05 4.9278e-03 2.62050e-02 0.5000 4.9278e-03 1\n", + " 10 2.1512e-01 1.7587e-01 9.1390e-06 3.9151e-03 6.50504e-03 1.0000 3.9151e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8813e+02 1.8536e-01 4.8494e+01 3.0003e-01 1.09921e+00 1.0000 ---- 3\n", + " 2 5.9119e+01 1.7583e-01 2.2936e+00 3.6007e+00 2.97636e-01 1.0000 3.6007e+00 3\n", + " 3 2.3864e+00 1.7588e-01 6.5378e-03 2.1452e-01 2.68576e-01 0.2500 2.1452e-01 3\n", + " 4 1.9638e+00 1.7587e-01 4.9498e-03 1.7384e-01 1.09789e-01 1.0000 1.7384e-01 3\n", + " 5 4.2322e-01 1.7587e-01 3.0693e-04 2.4428e-02 1.43680e-01 0.1250 2.4428e-02 3\n", + " 6 4.1402e-01 1.7587e-01 2.6941e-04 2.3546e-02 9.84148e-02 0.2500 2.3546e-02 3\n", + " 7 3.9288e-01 1.7587e-01 2.0364e-04 2.1498e-02 3.91303e-02 1.0000 2.1498e-02 3\n", + " 8 2.1828e-01 1.7587e-01 1.1024e-05 4.2304e-03 5.03692e-02 0.0020 6.3793e-03 1\n", + " 9 2.1828e-01 1.7587e-01 1.1024e-05 4.2304e-03 5.03545e-02 0.1250 4.2304e-03 1\n", + " 10 2.1702e-01 1.7587e-01 9.8262e-06 4.1053e-03 3.52230e-02 0.0625 4.4513e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8797e+02 1.8535e-01 4.8427e+01 3.5148e-01 1.10326e+00 1.0000 ---- 3\n", + " 2 5.5998e+01 1.7582e-01 2.2940e+00 3.2882e+00 3.03632e-01 1.0000 3.2882e+00 3\n", + " 3 2.1703e+00 1.7586e-01 7.0733e-03 1.9237e-01 2.74555e-01 0.2500 1.9237e-01 3\n", + " 4 1.8219e+00 1.7585e-01 5.3520e-03 1.5925e-01 1.14114e-01 1.0000 1.5925e-01 3\n", + " 5 5.0583e-01 1.7585e-01 3.3183e-04 3.2665e-02 1.46904e-01 0.2500 3.2665e-02 3\n", + " 6 4.7462e-01 1.7585e-01 2.5352e-04 2.9623e-02 5.64714e-02 1.0000 2.9623e-02 3\n", + " 7 2.6505e-01 1.7585e-01 2.1669e-05 8.8979e-03 7.36994e-02 0.2500 8.8979e-03 2\n", + " 8 2.5618e-01 1.7585e-01 1.8179e-05 8.0147e-03 2.95233e-02 0.0020 9.6759e-03 1\n", + " 9 2.5618e-01 1.7585e-01 1.8179e-05 8.0147e-03 2.95164e-02 1.0000 8.0147e-03 1\n", + " 10 2.5563e-01 1.7585e-01 7.3342e-06 7.9711e-03 3.97256e-02 0.5000 7.9711e-03 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8656e+02 1.8533e-01 4.8451e+01 1.8648e-01 1.09785e+00 1.0000 ---- 3\n", + " 2 5.9094e+01 1.7580e-01 2.3079e+00 3.5839e+00 2.91877e-01 1.0000 3.5839e+00 3\n", + " 3 2.8615e+00 1.7584e-01 6.6184e-03 2.6194e-01 2.55679e-01 0.5000 2.6194e-01 3\n", + " 4 2.4578e+00 1.7584e-01 3.5113e-03 2.2469e-01 7.38879e-02 1.0000 2.2469e-01 3\n", + " 5 3.3212e-01 1.7584e-01 5.3047e-05 1.5575e-02 1.34161e-01 0.2500 1.5575e-02 3\n", + " 6 3.2994e-01 1.7584e-01 4.0745e-05 1.5370e-02 3.49857e-02 1.0000 1.5370e-02 3\n", + " 7 2.4073e-01 1.7584e-01 3.1073e-06 6.4862e-03 6.22469e-02 0.0020 6.4862e-03 1\n", + " 8 2.4073e-01 1.7584e-01 3.1073e-06 6.4862e-03 6.22167e-02 0.1250 6.4862e-03 1\n", + " 9 2.3668e-01 1.7584e-01 2.7899e-06 6.0815e-03 4.01283e-02 0.1250 6.0815e-03 1\n", + " 10 2.3547e-01 1.7584e-01 2.4723e-06 5.9610e-03 2.61072e-02 0.5000 5.9610e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8684e+02 1.8531e-01 4.8318e+01 3.4830e-01 1.09742e+00 1.0000 ---- 3\n", + " 2 5.7043e+01 1.7578e-01 2.3145e+00 3.3722e+00 2.99674e-01 1.0000 3.3722e+00 3\n", + " 3 2.9761e+00 1.7583e-01 6.6815e-03 2.7335e-01 2.74390e-01 0.5000 2.7335e-01 3\n", + " 4 2.5924e+00 1.7582e-01 3.5498e-03 2.3811e-01 8.82612e-02 1.0000 2.3811e-01 3\n", + " 5 3.5375e-01 1.7582e-01 5.4014e-05 1.7739e-02 1.70406e-01 0.2500 1.7739e-02 3\n", + " 6 3.2935e-01 1.7582e-01 4.1645e-05 1.5311e-02 3.93880e-02 1.0000 1.5311e-02 3\n", + " 7 1.8692e-01 1.7582e-01 3.1704e-06 1.1066e-03 7.36615e-02 0.0020 2.1347e-03 1\n", + " 8 1.8692e-01 1.7582e-01 3.1704e-06 1.1066e-03 7.36310e-02 0.0312 1.7570e-03 1\n", + " 9 1.8674e-01 1.7582e-01 3.0754e-06 1.0889e-03 6.68513e-02 0.0156 1.7355e-03 1\n", + " 10 1.8672e-01 1.7582e-01 3.0282e-06 1.0872e-03 6.37828e-02 0.0312 1.7356e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8462e+02 1.8530e-01 4.8293e+01 1.5047e-01 1.09403e+00 1.0000 ---- 3\n", + " 2 5.5963e+01 1.7576e-01 2.2778e+00 3.3009e+00 3.07708e-01 1.0000 3.3009e+00 3\n", + " 3 7.3456e-01 1.7581e-01 7.1608e-03 4.8715e-02 3.07419e-01 0.2500 4.8715e-02 3\n", + " 4 5.8757e-01 1.7580e-01 5.4269e-03 3.5750e-02 1.02983e-01 1.0000 3.5750e-02 3\n", + " 5 3.3596e-01 1.7580e-01 3.4438e-04 1.5671e-02 1.35371e-01 0.2500 1.5671e-02 3\n", + " 6 3.2607e-01 1.7580e-01 2.6049e-04 1.4767e-02 5.15096e-02 1.0000 1.4767e-02 3\n", + " 7 2.6973e-01 1.7580e-01 2.3762e-05 9.3691e-03 6.53062e-02 0.5000 9.3691e-03 2\n", + " 8 2.3751e-01 1.7580e-01 1.7207e-05 6.1540e-03 2.17058e-02 0.0020 1.0193e-02 1\n", + " 9 2.3751e-01 1.7580e-01 1.7207e-05 6.1540e-03 2.16931e-02 1.0000 6.1540e-03 1\n", + " 10 1.9380e-01 1.7580e-01 2.6228e-06 1.7981e-03 4.14691e-02 0.1250 1.7981e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8599e+02 1.8527e-01 4.8445e+01 1.3482e-01 1.10171e+00 1.0000 ---- 3\n", + " 2 5.9699e+01 1.7575e-01 2.3105e+00 3.6419e+00 3.05113e-01 1.0000 3.6419e+00 3\n", + " 3 2.6884e+00 1.7579e-01 6.5715e-03 2.4469e-01 2.91505e-01 0.5000 2.4469e-01 3\n", + " 4 2.6111e+00 1.7578e-01 3.4944e-03 2.4003e-01 9.68890e-02 1.0000 2.4003e-01 3\n", + " 5 3.6105e-01 1.7579e-01 5.9532e-05 1.8467e-02 1.88470e-01 0.2500 1.8467e-02 3\n", + " 6 3.3509e-01 1.7578e-01 4.6084e-05 1.5884e-02 4.36189e-02 1.0000 1.5884e-02 3\n", + " 7 1.9236e-01 1.7578e-01 4.3079e-06 1.6537e-03 8.13845e-02 0.0020 4.6979e-03 1\n", + " 8 1.9236e-01 1.7578e-01 4.3079e-06 1.6537e-03 8.13532e-02 0.1250 1.8887e-03 1\n", + " 9 1.9185e-01 1.7578e-01 3.8609e-06 1.6028e-03 5.14964e-02 0.1250 3.4227e-03 1\n", + " 10 1.9182e-01 1.7578e-01 3.4136e-06 1.6004e-03 3.29156e-02 0.2500 2.4800e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8680e+02 1.8526e-01 4.8345e+01 3.1670e-01 1.09302e+00 1.0000 ---- 3\n", + " 2 5.6291e+01 1.7573e-01 2.2890e+00 3.3225e+00 2.87824e-01 1.0000 3.3225e+00 3\n", + " 3 1.6064e+00 1.7577e-01 6.7050e-03 1.3636e-01 2.49635e-01 0.2500 1.3636e-01 3\n", + " 4 1.4353e+00 1.7577e-01 5.0812e-03 1.2087e-01 1.00774e-01 1.0000 1.2087e-01 3\n", + " 5 4.9994e-01 1.7577e-01 3.2068e-04 3.2096e-02 1.28554e-01 0.2500 3.2096e-02 3\n", + " 6 4.9188e-01 1.7577e-01 2.4227e-04 3.1369e-02 5.09315e-02 1.0000 3.1369e-02 3\n", + " 7 2.6174e-01 1.7576e-01 1.9497e-05 8.5781e-03 6.63228e-02 0.2500 8.5781e-03 2\n", + " 8 2.4870e-01 1.7576e-01 1.5880e-05 7.2774e-03 2.64563e-02 0.0020 1.0059e-02 1\n", + " 9 2.4870e-01 1.7576e-01 1.5880e-05 7.2774e-03 2.64570e-02 1.0000 7.2774e-03 1\n", + " 10 2.4398e-01 1.7576e-01 6.7845e-06 6.8144e-03 3.54292e-02 0.1250 8.5969e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8521e+02 1.8524e-01 4.8337e+01 1.6523e-01 1.09159e+00 1.0000 ---- 3\n", + " 2 5.7915e+01 1.7571e-01 2.2959e+00 3.4780e+00 2.85867e-01 1.0000 3.4780e+00 3\n", + " 3 3.1165e+00 1.7576e-01 6.4473e-03 2.8763e-01 2.43017e-01 0.5000 2.8763e-01 3\n", + " 4 2.2455e+00 1.7575e-01 3.4314e-03 2.0354e-01 6.96067e-02 1.0000 2.0354e-01 3\n", + " 5 1.7912e-01 1.7575e-01 5.5366e-05 2.8151e-04 1.24248e-01 0.0020 1.7693e-03 1\n", + " 6 1.7912e-01 1.7575e-01 5.5366e-05 2.8151e-04 1.24193e-01 0.0156 1.7692e-03 1\n", + " 7 1.7912e-01 1.7575e-01 5.4506e-05 2.8188e-04 1.18565e-01 0.0039 1.7491e-03 1\n", + " 8 1.7911e-01 1.7575e-01 5.4293e-05 2.8188e-04 1.16711e-01 0.0078 1.7440e-03 1\n", + " 9 1.7910e-01 1.7575e-01 5.3870e-05 2.8131e-04 1.09306e-01 0.0078 1.7314e-03 1\n", + " 10 1.7910e-01 1.7575e-01 5.3450e-05 2.8129e-04 7.55149e-02 0.0156 1.7082e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8580e+02 1.8523e-01 4.8365e+01 1.9617e-01 1.14002e+00 1.0000 ---- 3\n", + " 2 6.0726e+01 1.7570e-01 2.3279e+00 3.7272e+00 4.17578e-01 1.0000 3.7272e+00 3\n", + " 3 7.6511e+00 1.7574e-01 7.2197e-03 7.4031e-01 5.36543e-01 0.5000 7.4031e-01 3\n", + " 4 6.7437e+00 1.7571e-01 3.7772e-03 6.5302e-01 2.56942e-01 1.0000 6.5302e-01 3\n", + " 5 4.8436e-01 1.7572e-01 1.5041e-04 3.0714e-02 5.80183e-01 0.2500 3.0714e-02 3\n", + " 6 4.7632e-01 1.7571e-01 1.1381e-04 2.9947e-02 8.96197e-02 1.0000 2.9947e-02 3\n", + " 7 2.5010e-01 1.7571e-01 6.1784e-06 7.4332e-03 1.97624e-01 0.2500 7.4332e-03 2\n", + " 8 2.4325e-01 1.7570e-01 4.8937e-06 6.7497e-03 3.71255e-02 0.0020 9.0568e-03 1\n", + " 9 2.4325e-01 1.7570e-01 4.8937e-06 6.7497e-03 3.71172e-02 1.0000 6.7497e-03 1\n", + " 10 2.4097e-01 1.7570e-01 4.1886e-06 6.5226e-03 7.48566e-02 0.1250 6.7670e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8550e+02 1.8517e-01 4.8353e+01 1.7785e-01 1.10250e+00 1.0000 ---- 3\n", + " 2 5.8397e+01 1.7564e-01 2.3161e+00 3.5060e+00 3.28971e-01 1.0000 3.5060e+00 3\n", + " 3 3.2005e+00 1.7569e-01 6.4215e-03 2.9606e-01 3.70492e-01 0.5000 2.9606e-01 3\n", + " 4 2.6599e+00 1.7568e-01 3.4153e-03 2.4501e-01 1.80336e-01 1.0000 2.4501e-01 3\n", + " 5 4.5456e-01 1.7568e-01 9.0500e-05 2.7797e-02 4.02696e-01 0.2500 2.7797e-02 3\n", + " 6 4.1038e-01 1.7568e-01 6.9396e-05 2.3401e-02 6.87282e-02 1.0000 2.3401e-02 3\n", + " 7 1.8590e-01 1.7568e-01 3.2244e-06 1.0191e-03 1.48429e-01 0.0020 2.2481e-03 1\n", + " 8 1.8590e-01 1.7568e-01 3.2244e-06 1.0191e-03 1.48363e-01 0.0312 1.7261e-03 1\n", + " 9 1.8577e-01 1.7568e-01 3.1264e-06 1.0059e-03 1.33394e-01 0.0156 1.7214e-03 1\n", + " 10 1.8576e-01 1.7568e-01 3.0781e-06 1.0051e-03 1.26675e-01 0.0312 1.7211e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8635e+02 1.8514e-01 4.8274e+01 3.4252e-01 1.14097e+00 1.0000 ---- 3\n", + " 2 5.5889e+01 1.7562e-01 2.3068e+00 3.2645e+00 4.41611e-01 1.0000 3.2645e+00 3\n", + " 3 1.6065e+00 1.7566e-01 7.1031e-03 1.3598e-01 6.49063e-01 0.2500 1.3598e-01 3\n", + " 4 1.4853e+00 1.7564e-01 5.3791e-03 1.2559e-01 1.53839e-01 1.0000 1.2559e-01 3\n", + " 5 2.6190e-01 1.7564e-01 3.3964e-04 8.2859e-03 2.59252e-01 0.1250 8.2859e-03 2\n", + " 6 2.4811e-01 1.7564e-01 2.9781e-04 6.9495e-03 1.62808e-01 0.2500 6.9495e-03 2\n", + " 7 2.2961e-01 1.7564e-01 2.2468e-04 5.1724e-03 4.86727e-02 0.0020 7.2164e-03 1\n", + " 8 2.2961e-01 1.7564e-01 2.2468e-04 5.1724e-03 4.86521e-02 0.5000 5.1724e-03 1\n", + " 9 2.1691e-01 1.7564e-01 1.1126e-04 4.0159e-03 1.69264e-02 1.0000 4.0159e-03 1\n", + " 10 2.0534e-01 1.7564e-01 1.1431e-06 2.9695e-03 3.35557e-02 1.0000 2.9695e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8574e+02 1.8510e-01 4.8371e+01 1.8434e-01 1.12504e+00 1.0000 ---- 3\n", + " 2 5.8015e+01 1.7558e-01 2.3087e+00 3.4752e+00 3.91066e-01 1.0000 3.4752e+00 3\n", + " 3 4.8947e+00 1.7562e-01 6.5283e-03 4.6538e-01 5.02138e-01 0.5000 4.6538e-01 3\n", + " 4 3.8008e+00 1.7561e-01 3.4499e-03 3.5907e-01 2.62415e-01 1.0000 3.5907e-01 3\n", + " 5 6.8186e-01 1.7561e-01 1.1689e-04 5.0509e-02 5.88780e-01 0.1250 5.0509e-02 3\n", + " 6 6.3836e-01 1.7560e-01 1.0273e-04 4.6173e-02 3.47829e-01 0.5000 4.6173e-02 3\n", + " 7 6.2334e-01 1.7560e-01 5.4561e-05 4.4720e-02 2.19301e-01 1.0000 4.4720e-02 3\n", + " 8 2.8319e-01 1.7559e-01 4.0281e-06 1.0755e-02 5.12256e-01 0.1250 1.0755e-02 3\n", + " 9 2.8258e-01 1.7559e-01 3.7867e-06 1.0695e-02 2.99244e-01 0.2500 1.0695e-02 3\n", + " 10 2.7113e-01 1.7558e-01 3.3218e-06 9.5517e-03 5.15740e-02 1.0000 9.5517e-03 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8611e+02 1.8504e-01 4.8359e+01 2.3386e-01 1.15011e+00 1.0000 ---- 3\n", + " 2 5.6228e+01 1.7552e-01 2.2774e+00 3.3279e+00 4.71383e-01 1.0000 3.3279e+00 3\n", + " 3 2.3491e+00 1.7556e-01 7.7487e-03 2.0960e-01 6.91748e-01 0.2500 2.0960e-01 3\n", + " 4 1.8530e+00 1.7554e-01 5.8627e-03 1.6188e-01 1.66975e-01 1.0000 1.6188e-01 3\n", + " 5 3.4859e-01 1.7554e-01 3.0250e-04 1.7002e-02 2.90101e-01 0.2500 1.7002e-02 3\n", + " 6 3.4100e-01 1.7554e-01 2.2881e-04 1.6317e-02 7.52239e-02 1.0000 1.6317e-02 3\n", + " 7 2.1937e-01 1.7554e-01 1.6810e-05 4.3661e-03 1.26397e-01 0.0020 8.9341e-03 1\n", + " 8 2.1937e-01 1.7554e-01 1.6810e-05 4.3661e-03 1.26346e-01 0.1250 4.3661e-03 1\n", + " 9 2.1696e-01 1.7554e-01 1.4943e-05 4.1267e-03 8.04491e-02 0.1250 6.0026e-03 1\n", + " 10 2.1650e-01 1.7554e-01 1.3199e-05 4.0832e-03 5.19474e-02 0.5000 4.1812e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8757e+02 1.8500e-01 4.8413e+01 3.2545e-01 1.10002e+00 1.0000 ---- 3\n", + " 2 5.7822e+01 1.7548e-01 2.2930e+00 3.4717e+00 2.98601e-01 1.0000 3.4717e+00 3\n", + " 3 2.5282e+00 1.7553e-01 6.4686e-03 2.2880e-01 2.87056e-01 0.5000 2.2880e-01 3\n", + " 4 2.3859e+00 1.7552e-01 3.4245e-03 2.1762e-01 1.20071e-01 1.0000 2.1762e-01 3\n", + " 5 4.7339e-01 1.7552e-01 6.3203e-05 2.9724e-02 2.54849e-01 0.2500 2.9724e-02 3\n", + " 6 4.5798e-01 1.7552e-01 4.9513e-05 2.8196e-02 5.30627e-02 1.0000 2.8196e-02 3\n", + " 7 2.3694e-01 1.7552e-01 3.9906e-06 6.1378e-03 1.08698e-01 0.0020 8.8005e-03 1\n", + " 8 2.3694e-01 1.7552e-01 3.9906e-06 6.1378e-03 1.08664e-01 0.2500 6.1378e-03 1\n", + " 9 2.3149e-01 1.7552e-01 3.3158e-06 5.5933e-03 2.45565e-02 0.5000 5.5933e-03 1\n", + " 10 2.2646e-01 1.7552e-01 1.8011e-06 5.0924e-03 1.26770e-02 1.0000 5.0924e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8654e+02 1.8498e-01 4.8292e+01 3.4335e-01 1.09489e+00 1.0000 ---- 3\n", + " 2 5.6599e+01 1.7546e-01 2.3019e+00 3.3405e+00 2.97735e-01 1.0000 3.3405e+00 3\n", + " 3 6.2572e-01 1.7551e-01 6.6443e-03 3.8377e-02 2.82849e-01 0.1250 3.8377e-02 3\n", + " 4 5.9051e-01 1.7550e-01 5.8256e-03 3.5675e-02 1.91654e-01 0.2500 3.5675e-02 3\n", + " 5 5.3751e-01 1.7550e-01 4.4013e-03 3.1799e-02 7.50205e-02 1.0000 3.1799e-02 3\n", + " 6 3.2069e-01 1.7550e-01 2.0733e-04 1.4312e-02 9.45339e-02 0.2500 1.4312e-02 3\n", + " 7 3.1105e-01 1.7550e-01 1.5615e-04 1.3399e-02 3.65392e-02 1.0000 1.3399e-02 3\n", + " 8 2.1317e-01 1.7550e-01 1.0170e-05 3.7573e-03 4.67503e-02 0.0020 5.2587e-03 1\n", + " 9 2.1317e-01 1.7550e-01 1.0170e-05 3.7573e-03 4.67409e-02 0.1250 3.7573e-03 1\n", + " 10 2.1110e-01 1.7550e-01 9.0267e-06 3.5513e-03 3.23771e-02 0.1250 3.6164e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8715e+02 1.8496e-01 4.8424e+01 2.7255e-01 1.09993e+00 1.0000 ---- 3\n", + " 2 5.6653e+01 1.7544e-01 2.2869e+00 3.3608e+00 2.88733e-01 1.0000 3.3608e+00 3\n", + " 3 2.5379e+00 1.7549e-01 6.7292e-03 2.2951e-01 2.42768e-01 0.5000 2.2951e-01 3\n", + " 4 2.2851e+00 1.7548e-01 3.5484e-03 2.0742e-01 7.95199e-02 1.0000 2.0742e-01 3\n", + " 5 1.9175e-01 1.7548e-01 4.8908e-05 1.5774e-03 1.55211e-01 0.0312 1.6420e-03 1\n", + " 6 1.9173e-01 1.7548e-01 4.7403e-05 1.5771e-03 1.40420e-01 0.2500 1.6435e-03 1\n", + " 7 1.9073e-01 1.7548e-01 3.6764e-05 1.4883e-03 3.44135e-02 0.5000 1.6543e-03 1\n", + " 8 1.8746e-01 1.7548e-01 1.8748e-05 1.1789e-03 1.64527e-02 1.0000 1.6618e-03 1\n", + " 9 1.7717e-01 1.7548e-01 7.3635e-07 1.6798e-04 3.37370e-02 1.0000 1.6660e-03 1\n", + " 10 1.7643e-01 1.7548e-01 5.1315e-07 9.4954e-05 7.22891e-02 0.0020 1.6741e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8729e+02 1.8493e-01 4.8384e+01 3.2611e-01 1.11409e+00 1.0000 ---- 3\n", + " 2 5.6117e+01 1.7542e-01 2.2847e+00 3.3094e+00 3.62511e-01 1.0000 3.3094e+00 3\n", + " 3 3.4493e+00 1.7546e-01 6.6734e-03 3.2071e-01 4.40287e-01 0.1250 3.2071e-01 3\n", + " 4 3.3046e+00 1.7545e-01 5.8481e-03 3.0707e-01 2.85675e-01 0.2500 3.0707e-01 3\n", + " 5 2.9652e+00 1.7545e-01 4.4131e-03 2.7457e-01 9.26190e-02 1.0000 2.7457e-01 3\n", + " 6 6.4430e-01 1.7545e-01 2.0952e-04 4.6675e-02 1.34328e-01 0.2500 4.6675e-02 3\n", + " 7 6.1647e-01 1.7545e-01 1.5726e-04 4.3945e-02 4.37505e-02 1.0000 4.3945e-02 3\n", + " 8 2.2889e-01 1.7545e-01 1.0448e-05 5.3331e-03 6.19358e-02 0.0020 6.8371e-03 1\n", + " 9 2.2889e-01 1.7545e-01 1.0448e-05 5.3331e-03 6.19313e-02 0.0625 5.3331e-03 1\n", + " 10 2.2724e-01 1.7545e-01 9.8298e-06 5.1696e-03 5.14732e-02 0.0625 5.1696e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8802e+02 1.8490e-01 4.8442e+01 3.4160e-01 1.10995e+00 1.0000 ---- 3\n", + " 2 5.7982e+01 1.7539e-01 2.3149e+00 3.4658e+00 3.06278e-01 1.0000 3.4658e+00 3\n", + " 3 3.2662e+00 1.7544e-01 6.7505e-03 3.0232e-01 2.98460e-01 0.2500 3.0232e-01 3\n", + " 4 2.7499e+00 1.7543e-01 5.1071e-03 2.5234e-01 1.13206e-01 1.0000 2.5234e-01 3\n", + " 5 8.8410e-01 1.7543e-01 3.3386e-04 7.0532e-02 1.54332e-01 0.2500 7.0532e-02 3\n", + " 6 7.7507e-01 1.7543e-01 2.5188e-04 5.9711e-02 5.49543e-02 1.0000 5.9711e-02 3\n", + " 7 2.1405e-01 1.7543e-01 1.7229e-05 3.8444e-03 7.72338e-02 0.0020 6.6800e-03 1\n", + " 8 2.1405e-01 1.7543e-01 1.7229e-05 3.8444e-03 7.72105e-02 0.0625 3.8444e-03 1\n", + " 9 2.1315e-01 1.7543e-01 1.6217e-05 3.7556e-03 6.45703e-02 0.0312 4.7840e-03 1\n", + " 10 2.1295e-01 1.7543e-01 1.5722e-05 3.7355e-03 5.93149e-02 0.0625 3.7355e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8861e+02 1.8489e-01 4.8487e+01 3.5594e-01 1.10933e+00 1.0000 ---- 3\n", + " 2 5.9747e+01 1.7538e-01 2.3157e+00 3.6414e+00 3.03375e-01 1.0000 3.6414e+00 3\n", + " 3 2.1638e+00 1.7543e-01 6.7851e-03 1.9205e-01 2.93116e-01 0.2500 1.9205e-01 3\n", + " 4 1.9290e+00 1.7542e-01 5.1330e-03 1.7022e-01 1.13910e-01 1.0000 1.7022e-01 3\n", + " 5 6.5105e-01 1.7542e-01 3.0769e-04 4.7256e-02 1.51697e-01 0.2500 4.7256e-02 3\n", + " 6 6.4273e-01 1.7542e-01 2.3277e-04 4.6498e-02 5.60751e-02 1.0000 4.6498e-02 3\n", + " 7 3.1196e-01 1.7542e-01 1.8156e-05 1.3635e-02 7.68405e-02 0.2500 1.3635e-02 2\n", + " 8 2.8852e-01 1.7542e-01 1.5001e-05 1.1295e-02 2.90169e-02 1.0000 1.1295e-02 2\n", + " 9 2.0046e-01 1.7542e-01 4.3679e-06 2.4999e-03 4.18295e-02 0.0020 4.2243e-03 1\n", + " 10 2.0046e-01 1.7542e-01 4.3679e-06 2.4999e-03 4.18089e-02 0.1250 2.4999e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8714e+02 1.8487e-01 4.8365e+01 3.3144e-01 1.09505e+00 1.0000 ---- 3\n", + " 2 6.2411e+01 1.7536e-01 2.3342e+00 3.8893e+00 2.78617e-01 1.0000 3.8893e+00 3\n", + " 3 2.0426e+00 1.7541e-01 6.2733e-03 1.8044e-01 2.38247e-01 0.2500 1.8044e-01 3\n", + " 4 1.7728e+00 1.7541e-01 4.7525e-03 1.5499e-01 9.71079e-02 1.0000 1.5499e-01 3\n", + " 5 6.4362e-01 1.7541e-01 3.1397e-04 4.6507e-02 1.20384e-01 0.2500 4.6507e-02 3\n", + " 6 6.0340e-01 1.7541e-01 2.3689e-04 4.2563e-02 4.81782e-02 1.0000 4.2563e-02 3\n", + " 7 3.0475e-01 1.7541e-01 1.9227e-05 1.2915e-02 6.20108e-02 0.2500 1.2915e-02 2\n", + " 8 2.7518e-01 1.7541e-01 1.5506e-05 9.9615e-03 2.46960e-02 0.0020 1.0466e-02 1\n", + " 9 2.7518e-01 1.7541e-01 1.5506e-05 9.9615e-03 2.46795e-02 1.0000 9.9615e-03 1\n", + " 10 2.6431e-01 1.7541e-01 6.2760e-06 8.8838e-03 3.26421e-02 0.5000 8.8838e-03 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8721e+02 1.8486e-01 4.8376e+01 3.2691e-01 1.09676e+00 1.0000 ---- 3\n", + " 2 5.9833e+01 1.7535e-01 2.3274e+00 3.6383e+00 2.84812e-01 1.0000 3.6383e+00 3\n", + " 3 2.5918e+00 1.7540e-01 6.3087e-03 2.3534e-01 2.45190e-01 0.2500 2.3534e-01 3\n", + " 4 2.1539e+00 1.7540e-01 4.7766e-03 1.9307e-01 1.00806e-01 1.0000 1.9307e-01 3\n", + " 5 6.2720e-01 1.7540e-01 3.0674e-04 4.4873e-02 1.25288e-01 0.2500 4.4873e-02 3\n", + " 6 6.2680e-01 1.7540e-01 2.3074e-04 4.4909e-02 4.92895e-02 1.0000 4.4909e-02 3\n", + " 7 3.4533e-01 1.7540e-01 1.5885e-05 1.6977e-02 6.42284e-02 0.2500 1.6977e-02 2\n", + " 8 3.0303e-01 1.7540e-01 1.3029e-05 1.2750e-02 2.54878e-02 1.0000 1.2750e-02 2\n", + " 9 1.8084e-01 1.7540e-01 3.7822e-06 5.4095e-04 3.55298e-02 0.0020 1.6746e-03 1\n", + " 10 1.8084e-01 1.7540e-01 3.7822e-06 5.4095e-04 3.55159e-02 0.0625 1.6746e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8764e+02 1.8485e-01 4.8382e+01 3.6361e-01 1.09490e+00 1.0000 ---- 3\n", + " 2 6.1755e+01 1.7534e-01 2.3208e+00 3.8372e+00 2.75435e-01 1.0000 3.8372e+00 3\n", + " 3 1.6835e+00 1.7540e-01 6.2081e-03 1.4460e-01 2.28623e-01 0.2500 1.4460e-01 3\n", + " 4 1.5212e+00 1.7539e-01 4.7048e-03 1.2987e-01 9.62349e-02 1.0000 1.2987e-01 3\n", + " 5 5.6697e-01 1.7539e-01 3.2243e-04 3.8836e-02 1.17543e-01 0.2500 3.8836e-02 3\n", + " 6 5.5060e-01 1.7539e-01 2.4369e-04 3.7278e-02 4.83562e-02 1.0000 3.7278e-02 3\n", + " 7 3.0875e-01 1.7539e-01 2.0209e-05 1.3316e-02 6.09768e-02 0.2500 1.3316e-02 2\n", + " 8 2.7594e-01 1.7539e-01 1.6274e-05 1.0039e-02 2.47090e-02 1.0000 1.0039e-02 2\n", + " 9 1.9894e-01 1.7539e-01 4.3591e-06 2.3509e-03 3.36822e-02 0.0020 5.4480e-03 1\n", + " 10 1.9894e-01 1.7539e-01 4.3591e-06 2.3509e-03 3.36645e-02 0.1250 2.3509e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8664e+02 1.8484e-01 4.8343e+01 3.0242e-01 1.09416e+00 1.0000 ---- 3\n", + " 2 6.1618e+01 1.7534e-01 2.3222e+00 3.8221e+00 2.78434e-01 1.0000 3.8221e+00 3\n", + " 3 1.9513e+00 1.7539e-01 6.1799e-03 1.7142e-01 2.36868e-01 0.2500 1.7142e-01 3\n", + " 4 1.6744e+00 1.7538e-01 4.6871e-03 1.4521e-01 9.83638e-02 1.0000 1.4521e-01 3\n", + " 5 4.4292e-01 1.7538e-01 3.3121e-04 2.6423e-02 1.22341e-01 0.1250 2.6423e-02 3\n", + " 6 4.2620e-01 1.7538e-01 2.9034e-04 2.4791e-02 8.50980e-02 0.2500 2.4791e-02 3\n", + " 7 3.9462e-01 1.7538e-01 2.1889e-04 2.1705e-02 3.58615e-02 1.0000 2.1705e-02 3\n", + " 8 2.1450e-01 1.7538e-01 1.1712e-05 3.9002e-03 4.44783e-02 0.0020 7.0529e-03 1\n", + " 9 2.1450e-01 1.7538e-01 1.1712e-05 3.9002e-03 4.44635e-02 0.1250 3.9002e-03 1\n", + " 10 2.1227e-01 1.7538e-01 1.0413e-05 3.6787e-03 3.13465e-02 0.1250 4.5007e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8649e+02 1.8483e-01 4.8331e+01 2.9935e-01 1.09939e+00 1.0000 ---- 3\n", + " 2 5.7195e+01 1.7533e-01 2.2913e+00 3.4106e+00 2.92218e-01 1.0000 3.4106e+00 3\n", + " 3 2.0872e+00 1.7538e-01 6.7247e-03 1.8446e-01 2.51197e-01 0.2500 1.8446e-01 3\n", + " 4 1.7505e+00 1.7537e-01 5.0913e-03 1.5242e-01 1.06171e-01 1.0000 1.5242e-01 3\n", + " 5 4.3956e-01 1.7537e-01 3.2517e-04 2.6094e-02 1.32029e-01 0.1250 2.6094e-02 3\n", + " 6 4.1352e-01 1.7537e-01 2.8516e-04 2.3529e-02 9.17770e-02 0.2500 2.3529e-02 3\n", + " 7 3.7332e-01 1.7537e-01 2.1510e-04 1.9580e-02 3.80198e-02 1.0000 1.9580e-02 3\n", + " 8 2.1728e-01 1.7537e-01 1.0326e-05 4.1806e-03 4.71839e-02 0.0078 6.9227e-03 1\n", + " 9 2.1728e-01 1.7537e-01 1.0246e-05 4.1806e-03 4.62944e-02 0.2500 4.1806e-03 1\n", + " 10 2.1705e-01 1.7537e-01 8.3413e-06 4.1598e-03 1.91493e-02 0.2500 4.3463e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8684e+02 1.8482e-01 4.8375e+01 2.9080e-01 1.09631e+00 1.0000 ---- 3\n", + " 2 5.7387e+01 1.7532e-01 2.2830e+00 3.4382e+00 2.85083e-01 1.0000 3.4382e+00 3\n", + " 3 2.1595e+00 1.7536e-01 6.5074e-03 1.9190e-01 2.37677e-01 0.2500 1.9190e-01 3\n", + " 4 1.7770e+00 1.7536e-01 4.9259e-03 1.5524e-01 1.01622e-01 1.0000 1.5524e-01 3\n", + " 5 4.2541e-01 1.7536e-01 3.1392e-04 2.4691e-02 1.24606e-01 0.2500 2.4691e-02 3\n", + " 6 4.2066e-01 1.7536e-01 2.3730e-04 2.4292e-02 5.01333e-02 1.0000 2.4292e-02 3\n", + " 7 3.2009e-01 1.7536e-01 1.7041e-05 1.4456e-02 6.42992e-02 0.5000 1.4456e-02 2\n", + " 8 3.0184e-01 1.7536e-01 1.3451e-05 1.2634e-02 1.77617e-02 1.0000 1.2634e-02 2\n", + " 9 1.7537e-01 1.7536e-01 8.6850e-07 0.0000e+00 3.26440e-02 0.2500 1.6285e-03 1\n", + " 10 1.7536e-01 1.7536e-01 7.4937e-07 0.0000e+00 1.01959e-02 0.5000 1.6332e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8716e+02 1.8480e-01 4.8450e+01 2.4812e-01 1.09568e+00 1.0000 ---- 3\n", + " 2 6.0638e+01 1.7531e-01 2.2909e+00 3.7554e+00 2.77776e-01 1.0000 3.7554e+00 3\n", + " 3 2.1359e+00 1.7536e-01 6.2581e-03 1.8980e-01 2.38004e-01 0.2500 1.8980e-01 3\n", + " 4 1.7860e+00 1.7535e-01 4.7434e-03 1.5633e-01 9.99904e-02 1.0000 1.5633e-01 3\n", + " 5 3.6522e-01 1.7535e-01 3.2315e-04 1.8664e-02 1.25059e-01 0.1250 1.8664e-02 3\n", + " 6 3.6436e-01 1.7535e-01 2.8306e-04 1.8618e-02 8.64417e-02 0.2500 1.8618e-02 3\n", + " 7 3.5745e-01 1.7535e-01 2.1324e-04 1.7997e-02 3.58273e-02 1.0000 1.7997e-02 3\n", + " 8 2.3558e-01 1.7535e-01 1.0340e-05 6.0127e-03 4.48810e-02 0.0020 7.0630e-03 1\n", + " 9 2.3558e-01 1.7535e-01 1.0340e-05 6.0127e-03 4.48688e-02 0.1250 6.0127e-03 1\n", + " 10 2.3172e-01 1.7535e-01 9.1997e-06 5.6282e-03 3.14685e-02 0.1250 5.6282e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8733e+02 1.8480e-01 4.8417e+01 2.9794e-01 1.10082e+00 1.0000 ---- 3\n", + " 2 5.9918e+01 1.7530e-01 2.3004e+00 3.6738e+00 2.90125e-01 1.0000 3.6738e+00 3\n", + " 3 1.9941e+00 1.7535e-01 6.5839e-03 1.7529e-01 2.59640e-01 0.2500 1.7529e-01 3\n", + " 4 1.7284e+00 1.7535e-01 4.9876e-03 1.5032e-01 1.08509e-01 1.0000 1.5032e-01 3\n", + " 5 4.5602e-01 1.7535e-01 3.4007e-04 2.7727e-02 1.37429e-01 0.1250 2.7727e-02 3\n", + " 6 4.3954e-01 1.7535e-01 2.9836e-04 2.6121e-02 9.46852e-02 0.2500 2.6121e-02 3\n", + " 7 4.0729e-01 1.7535e-01 2.2534e-04 2.2969e-02 3.87095e-02 1.0000 2.2969e-02 3\n", + " 8 2.1703e-01 1.7534e-01 1.1382e-05 4.1574e-03 4.86055e-02 0.0020 7.5839e-03 1\n", + " 9 2.1703e-01 1.7534e-01 1.1382e-05 4.1574e-03 4.85879e-02 0.1250 4.1574e-03 1\n", + " 10 2.1460e-01 1.7534e-01 1.0168e-05 3.9159e-03 3.41012e-02 0.1250 4.8551e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8690e+02 1.8479e-01 4.8377e+01 2.9483e-01 1.10061e+00 1.0000 ---- 3\n", + " 2 5.7865e+01 1.7530e-01 2.2991e+00 3.4699e+00 2.91038e-01 1.0000 3.4699e+00 3\n", + " 3 2.5614e+00 1.7534e-01 6.7098e-03 2.3189e-01 2.60816e-01 0.5000 2.3189e-01 3\n", + " 4 2.5608e+00 1.7533e-01 3.5446e-03 2.3501e-01 7.57841e-02 1.0000 2.3501e-01 3\n", + " 5 2.0032e-01 1.7534e-01 5.4820e-05 2.4436e-03 1.41329e-01 0.0156 2.4436e-03 1\n", + " 6 2.0031e-01 1.7534e-01 5.3968e-05 2.4437e-03 1.34766e-01 0.2500 2.4437e-03 1\n", + " 7 1.9878e-01 1.7533e-01 4.1576e-05 2.3033e-03 3.58854e-02 0.5000 2.3033e-03 1\n", + " 8 1.9714e-01 1.7533e-01 2.1085e-05 2.1592e-03 1.49743e-02 1.0000 2.1592e-03 1\n", + " 9 1.8593e-01 1.7533e-01 7.0170e-07 1.0588e-03 3.00617e-02 0.5000 1.6713e-03 1\n", + " 10 1.8406e-01 1.7533e-01 3.8895e-07 8.7187e-04 1.70720e-02 1.0000 1.6782e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8677e+02 1.8477e-01 4.8353e+01 3.0582e-01 1.10469e+00 1.0000 ---- 3\n", + " 2 5.9757e+01 1.7528e-01 2.3036e+00 3.6546e+00 3.34925e-01 1.0000 3.6546e+00 3\n", + " 3 3.2734e+00 1.7533e-01 6.4589e-03 3.0334e-01 3.86842e-01 0.2500 3.0334e-01 3\n", + " 4 2.6600e+00 1.7532e-01 4.8946e-03 2.4358e-01 1.19691e-01 1.0000 2.4358e-01 3\n", + " 5 4.1495e-01 1.7532e-01 2.9690e-04 2.3666e-02 1.77114e-01 0.1250 2.3666e-02 3\n", + " 6 4.0811e-01 1.7532e-01 2.6017e-04 2.3019e-02 1.15819e-01 0.2500 2.3019e-02 3\n", + " 7 3.9850e-01 1.7532e-01 1.9595e-04 2.2123e-02 4.11973e-02 1.0000 2.2123e-02 3\n", + " 8 2.5305e-01 1.7532e-01 9.6163e-06 7.7633e-03 5.68676e-02 0.0020 1.0372e-02 1\n", + " 9 2.5305e-01 1.7532e-01 9.6163e-06 7.7633e-03 5.68532e-02 0.1250 7.7633e-03 1\n", + " 10 2.4891e-01 1.7532e-01 8.5841e-06 7.3503e-03 3.85771e-02 0.1250 7.3503e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8708e+02 1.8476e-01 4.8337e+01 3.5260e-01 1.09945e+00 1.0000 ---- 3\n", + " 2 5.7895e+01 1.7526e-01 2.3087e+00 3.4633e+00 2.94096e-01 1.0000 3.4633e+00 3\n", + " 3 1.6792e+00 1.7531e-01 6.6790e-03 1.4371e-01 2.70862e-01 0.2500 1.4371e-01 3\n", + " 4 1.6098e+00 1.7530e-01 5.0579e-03 1.3839e-01 1.07432e-01 1.0000 1.3839e-01 3\n", + " 5 6.3312e-01 1.7530e-01 3.2456e-04 4.5457e-02 1.38173e-01 0.2500 4.5457e-02 3\n", + " 6 6.1404e-01 1.7530e-01 2.4616e-04 4.3628e-02 5.26123e-02 1.0000 4.3628e-02 3\n", + " 7 2.6048e-01 1.7530e-01 1.9254e-05 8.4989e-03 6.96414e-02 0.2500 8.4989e-03 2\n", + " 8 2.5809e-01 1.7530e-01 1.5908e-05 8.2629e-03 2.70262e-02 0.0020 9.9971e-03 1\n", + " 9 2.5809e-01 1.7530e-01 1.5908e-05 8.2629e-03 2.70134e-02 0.5000 8.2629e-03 1\n", + " 10 2.3579e-01 1.7530e-01 9.1460e-06 6.0393e-03 6.45529e-03 1.0000 6.0393e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8650e+02 1.8474e-01 4.8344e+01 2.8749e-01 1.09672e+00 1.0000 ---- 3\n", + " 2 5.8592e+01 1.7525e-01 2.3063e+00 3.5354e+00 2.90057e-01 1.0000 3.5354e+00 3\n", + " 3 3.0613e+00 1.7529e-01 6.4043e-03 2.8220e-01 2.58523e-01 0.5000 2.8220e-01 3\n", + " 4 2.6705e+00 1.7528e-01 3.3779e-03 2.4614e-01 8.04753e-02 1.0000 2.4614e-01 3\n", + " 5 4.9251e-01 1.7529e-01 4.8244e-05 3.1674e-02 1.50829e-01 0.2500 3.1674e-02 3\n", + " 6 4.6890e-01 1.7529e-01 3.7269e-05 2.9324e-02 3.81508e-02 1.0000 2.9324e-02 3\n", + " 7 2.1172e-01 1.7529e-01 2.7461e-06 3.6405e-03 7.07967e-02 0.0078 3.6405e-03 1\n", + " 8 2.1172e-01 1.7529e-01 2.7249e-06 3.6405e-03 6.91404e-02 0.0625 3.6405e-03 1\n", + " 9 2.1070e-01 1.7529e-01 2.5681e-06 3.5387e-03 5.64432e-02 0.0625 3.5387e-03 1\n", + " 10 2.1054e-01 1.7529e-01 2.4158e-06 3.5234e-03 4.61479e-02 0.1250 3.5234e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8682e+02 1.8472e-01 4.8318e+01 3.4490e-01 1.09243e+00 1.0000 ---- 3\n", + " 2 5.7927e+01 1.7523e-01 2.2952e+00 3.4799e+00 2.71934e-01 1.0000 3.4799e+00 3\n", + " 3 1.9321e+00 1.7528e-01 6.5174e-03 1.6917e-01 2.26865e-01 0.5000 1.6917e-01 3\n", + " 4 1.7224e+00 1.7527e-01 3.4746e-03 1.5124e-01 6.48210e-02 1.0000 1.5124e-01 3\n", + " 5 1.9010e-01 1.7527e-01 4.4254e-05 1.4386e-03 1.20984e-01 0.0625 1.5705e-03 1\n", + " 6 1.9001e-01 1.7527e-01 4.1543e-05 1.4325e-03 9.82057e-02 0.5000 1.5691e-03 1\n", + " 7 1.8981e-01 1.7527e-01 2.3226e-05 1.4308e-03 5.05804e-02 0.5000 1.5646e-03 1\n", + " 8 1.8922e-01 1.7527e-01 1.1531e-05 1.3829e-03 2.93194e-02 1.0000 1.5725e-03 1\n", + " 9 1.8519e-01 1.7527e-01 4.6103e-07 9.9173e-04 6.54047e-02 0.1250 1.5673e-03 1\n", + " 10 1.8483e-01 1.7527e-01 4.0840e-07 9.5498e-04 3.86105e-02 0.2500 1.5686e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8645e+02 1.8471e-01 4.8314e+01 3.1247e-01 1.09385e+00 1.0000 ---- 3\n", + " 2 5.8466e+01 1.7522e-01 2.2946e+00 3.5345e+00 2.87347e-01 1.0000 3.5345e+00 3\n", + " 3 1.5519e+00 1.7527e-01 6.3176e-03 1.3135e-01 2.52482e-01 0.2500 1.3135e-01 3\n", + " 4 1.3960e+00 1.7526e-01 4.7864e-03 1.1728e-01 1.00895e-01 1.0000 1.1728e-01 3\n", + " 5 5.6967e-01 1.7526e-01 2.8797e-04 3.9153e-02 1.28877e-01 0.2500 3.9153e-02 3\n", + " 6 5.3660e-01 1.7526e-01 2.1797e-04 3.5916e-02 4.90997e-02 1.0000 3.5916e-02 3\n", + " 7 2.4676e-01 1.7526e-01 1.7751e-05 7.1326e-03 6.46554e-02 0.0020 1.0538e-02 1\n", + " 8 2.4676e-01 1.7526e-01 1.7751e-05 7.1326e-03 6.46337e-02 0.1250 7.1326e-03 1\n", + " 9 2.4486e-01 1.7526e-01 1.5854e-05 6.9445e-03 4.46321e-02 0.0625 7.0480e-03 1\n", + " 10 2.4413e-01 1.7526e-01 1.4905e-05 6.8716e-03 3.78918e-02 0.2500 6.8716e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8730e+02 1.8470e-01 4.8345e+01 3.6650e-01 1.09765e+00 1.0000 ---- 3\n", + " 2 5.8165e+01 1.7521e-01 2.2954e+00 3.5036e+00 2.87283e-01 1.0000 3.5036e+00 3\n", + " 3 2.5822e+00 1.7526e-01 6.5754e-03 2.3412e-01 2.55174e-01 0.5000 2.3412e-01 3\n", + " 4 2.4355e+00 1.7525e-01 3.4945e-03 2.2253e-01 7.58990e-02 1.0000 2.2253e-01 3\n", + " 5 2.1258e-01 1.7525e-01 5.1718e-05 3.6809e-03 1.36624e-01 0.0020 5.7224e-03 1\n", + " 6 2.1258e-01 1.7525e-01 5.1718e-05 3.6809e-03 1.36566e-01 0.0625 3.6809e-03 1\n", + " 7 2.1240e-01 1.7525e-01 4.8554e-05 3.6663e-03 1.11543e-01 0.0156 3.8498e-03 1\n", + " 8 2.1230e-01 1.7525e-01 4.7798e-05 3.6570e-03 1.06462e-01 0.0312 3.6570e-03 1\n", + " 9 2.1185e-01 1.7525e-01 4.6316e-05 3.6135e-03 9.67747e-02 0.0312 3.6135e-03 1\n", + " 10 2.1160e-01 1.7525e-01 4.4877e-05 3.5904e-03 8.79942e-02 0.0625 3.5904e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8580e+02 1.8468e-01 4.8281e+01 2.7995e-01 1.11787e+00 1.0000 ---- 3\n", + " 2 6.0720e+01 1.7520e-01 2.3316e+00 3.7229e+00 3.61429e-01 1.0000 3.7229e+00 3\n", + " 3 5.9707e+00 1.7524e-01 6.5805e-03 5.7296e-01 4.32296e-01 0.2500 5.7296e-01 3\n", + " 4 4.7113e+00 1.7523e-01 4.9768e-03 4.4864e-01 1.43457e-01 1.0000 4.4864e-01 3\n", + " 5 4.5086e-01 1.7523e-01 3.1545e-04 2.7247e-02 2.18669e-01 0.0312 2.7247e-02 3\n", + " 6 4.4524e-01 1.7523e-01 3.0568e-04 2.6695e-02 1.99650e-01 0.0625 2.6695e-02 3\n", + " 7 4.4481e-01 1.7523e-01 2.8688e-04 2.6671e-02 1.65096e-01 0.0625 2.6671e-02 3\n", + " 8 4.3657e-01 1.7523e-01 2.6916e-04 2.5865e-02 1.36845e-01 0.1250 2.5865e-02 3\n", + " 9 4.3537e-01 1.7523e-01 2.3611e-04 2.5778e-02 9.08004e-02 0.2500 2.5778e-02 3\n", + " 10 4.2295e-01 1.7523e-01 1.7820e-04 2.4593e-02 3.27014e-02 1.0000 2.4593e-02 3\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8621e+02 1.8466e-01 4.8315e+01 2.8785e-01 1.10288e+00 1.0000 ---- 3\n", + " 2 5.8480e+01 1.7517e-01 2.3175e+00 3.5129e+00 2.98139e-01 1.0000 3.5129e+00 3\n", + " 3 3.5040e+00 1.7522e-01 6.5908e-03 3.2628e-01 2.80098e-01 0.5000 3.2628e-01 3\n", + " 4 2.8500e+00 1.7521e-01 3.4918e-03 2.6399e-01 9.59033e-02 1.0000 2.6399e-01 3\n", + " 5 2.8494e-01 1.7522e-01 5.5798e-05 1.0917e-02 1.89850e-01 0.1250 1.0917e-02 2\n", + " 6 2.7133e-01 1.7522e-01 4.8979e-05 9.5626e-03 1.16674e-01 0.0020 9.5626e-03 1\n", + " 7 2.7133e-01 1.7522e-01 4.8979e-05 9.5626e-03 1.16624e-01 0.2500 9.5626e-03 1\n", + " 8 2.7087e-01 1.7522e-01 3.6987e-05 9.5287e-03 2.76760e-02 0.5000 9.5287e-03 1\n", + " 9 2.6480e-01 1.7521e-01 1.8430e-05 8.9406e-03 1.29203e-02 1.0000 8.9406e-03 1\n", + " 10 1.9379e-01 1.7521e-01 5.7858e-07 1.8568e-03 2.63174e-02 1.0000 1.8568e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8542e+02 1.8464e-01 4.8238e+01 2.8554e-01 1.10320e+00 1.0000 ---- 3\n", + " 2 5.8397e+01 1.7516e-01 2.2995e+00 3.5227e+00 3.27924e-01 1.0000 3.5227e+00 3\n", + " 3 2.6929e-01 1.7520e-01 6.4148e-03 2.9943e-03 3.69217e-01 0.1250 5.0191e-03 1\n", + " 4 2.6511e-01 1.7520e-01 5.6259e-03 3.3646e-03 2.38466e-01 0.2500 3.3646e-03 1\n", + " 5 2.4828e-01 1.7520e-01 4.2540e-03 3.0542e-03 7.93918e-02 0.5000 3.5622e-03 1\n", + " 6 2.4111e-01 1.7520e-01 2.1792e-03 4.4122e-03 2.23714e-02 1.0000 6.8829e-03 1\n", + " 7 1.9973e-01 1.7520e-01 1.1078e-05 2.4423e-03 4.30161e-02 1.0000 3.3191e-03 1\n", + " 8 1.7889e-01 1.7520e-01 1.6507e-06 3.6796e-04 9.15452e-02 0.2500 1.7328e-03 1\n", + " 9 1.7791e-01 1.7520e-01 1.3959e-06 2.6975e-04 1.85733e-02 0.0020 1.7313e-03 1\n", + " 10 1.7791e-01 1.7520e-01 1.3959e-06 2.6975e-04 1.85652e-02 1.0000 1.7313e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8530e+02 1.8462e-01 4.8272e+01 2.3913e-01 1.10253e+00 1.0000 ---- 3\n", + " 2 5.9430e+01 1.7514e-01 2.3098e+00 3.6158e+00 3.17676e-01 1.0000 3.6158e+00 3\n", + " 3 3.7527e+00 1.7519e-01 6.3508e-03 3.5140e-01 3.36989e-01 0.5000 3.5140e-01 3\n", + " 4 3.1103e+00 1.7518e-01 3.3700e-03 2.9015e-01 1.44641e-01 1.0000 2.9015e-01 3\n", + " 5 2.9743e-01 1.7518e-01 6.3370e-05 1.2162e-02 3.07923e-01 0.1250 1.2162e-02 2\n", + " 6 2.8195e-01 1.7518e-01 5.5779e-05 1.0621e-02 1.84046e-01 0.2500 1.0621e-02 2\n", + " 7 2.5727e-01 1.7518e-01 4.2418e-05 8.1668e-03 3.87478e-02 0.0020 8.7603e-03 1\n", + " 8 2.5727e-01 1.7518e-01 4.2418e-05 8.1668e-03 3.87244e-02 1.0000 8.1668e-03 1\n", + " 9 2.2973e-01 1.7518e-01 4.0447e-06 5.4517e-03 7.55017e-02 0.1250 6.4707e-03 1\n", + " 10 2.2837e-01 1.7518e-01 3.5503e-06 5.3158e-03 4.61372e-02 0.5000 5.3158e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8543e+02 1.8460e-01 4.8224e+01 3.0076e-01 1.09719e+00 1.0000 ---- 3\n", + " 2 5.8256e+01 1.7512e-01 2.2994e+00 3.5086e+00 2.98075e-01 1.0000 3.5086e+00 3\n", + " 3 2.4462e+00 1.7517e-01 6.3726e-03 2.2073e-01 2.94817e-01 0.2500 2.2073e-01 3\n", + " 4 2.1231e+00 1.7516e-01 4.8232e-03 1.8997e-01 1.06684e-01 1.0000 1.8997e-01 3\n", + " 5 4.8321e-01 1.7516e-01 3.0055e-04 3.0505e-02 1.44058e-01 0.1250 3.0505e-02 3\n", + " 6 4.6658e-01 1.7516e-01 2.6319e-04 2.8878e-02 9.78034e-02 0.2500 2.8878e-02 3\n", + " 7 4.3752e-01 1.7516e-01 1.9785e-04 2.6038e-02 3.79740e-02 1.0000 2.6038e-02 3\n", + " 8 2.1425e-01 1.7516e-01 9.7271e-06 3.8994e-03 4.97024e-02 0.0020 8.2099e-03 1\n", + " 9 2.1425e-01 1.7516e-01 9.7271e-06 3.8994e-03 4.96897e-02 0.1250 3.8994e-03 1\n", + " 10 2.1287e-01 1.7516e-01 8.6495e-06 3.7626e-03 3.43629e-02 0.0625 5.3757e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8484e+02 1.8459e-01 4.8173e+01 2.9279e-01 1.09821e+00 1.0000 ---- 3\n", + " 2 5.5526e+01 1.7511e-01 2.2985e+00 3.2366e+00 2.91099e-01 1.0000 3.2366e+00 3\n", + " 3 1.5634e+00 1.7515e-01 6.7868e-03 1.3204e-01 2.50070e-01 0.2500 1.3204e-01 3\n", + " 4 1.2700e+00 1.7514e-01 5.1361e-03 1.0435e-01 1.05475e-01 1.0000 1.0435e-01 3\n", + " 5 4.0535e-01 1.7514e-01 3.1353e-04 2.2708e-02 1.32183e-01 0.1250 2.2708e-02 3\n", + " 6 3.8464e-01 1.7514e-01 2.7496e-04 2.0675e-02 9.18859e-02 0.2500 2.0675e-02 3\n", + " 7 3.5364e-01 1.7514e-01 2.0743e-04 1.7642e-02 3.81261e-02 1.0000 1.7642e-02 3\n", + " 8 2.0811e-01 1.7514e-01 1.0421e-05 3.2862e-03 4.72878e-02 0.0020 8.3718e-03 1\n", + " 9 2.0811e-01 1.7514e-01 1.0421e-05 3.2862e-03 4.72745e-02 0.1250 3.3483e-03 1\n", + " 10 2.0752e-01 1.7514e-01 9.2910e-06 3.2285e-03 3.31963e-02 0.0625 5.6704e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8588e+02 1.8456e-01 4.8214e+01 3.5509e-01 1.09951e+00 1.0000 ---- 3\n", + " 2 5.5328e+01 1.7509e-01 2.2913e+00 3.2240e+00 2.92188e-01 1.0000 3.2240e+00 3\n", + " 3 1.3999e+00 1.7513e-01 6.7472e-03 1.1573e-01 2.53798e-01 0.2500 1.1573e-01 3\n", + " 4 1.3835e+00 1.7512e-01 5.1041e-03 1.1574e-01 1.06457e-01 1.0000 1.1574e-01 3\n", + " 5 8.2124e-01 1.7512e-01 3.0071e-04 6.4311e-02 1.34001e-01 0.2500 6.4311e-02 3\n", + " 6 7.2035e-01 1.7512e-01 2.2786e-04 5.4295e-02 5.28482e-02 1.0000 5.4295e-02 3\n", + " 7 2.0363e-01 1.7512e-01 1.7704e-05 2.8330e-03 6.85675e-02 0.0020 5.4286e-03 1\n", + " 8 2.0363e-01 1.7512e-01 1.7704e-05 2.8330e-03 6.85439e-02 0.0625 2.8330e-03 1\n", + " 9 2.0330e-01 1.7512e-01 1.6685e-05 2.8011e-03 5.81882e-02 0.0312 3.9192e-03 1\n", + " 10 2.0323e-01 1.7512e-01 1.6179e-05 2.7950e-03 5.38090e-02 0.0625 2.7950e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8595e+02 1.8454e-01 4.8223e+01 3.5368e-01 1.10448e+00 1.0000 ---- 3\n", + " 2 5.5194e+01 1.7507e-01 2.2936e+00 3.2083e+00 3.00998e-01 1.0000 3.2083e+00 3\n", + " 3 2.2145e+00 1.7511e-01 6.8802e-03 1.9706e-01 2.69892e-01 0.2500 1.9706e-01 3\n", + " 4 1.9257e+00 1.7510e-01 5.2021e-03 1.6985e-01 1.11751e-01 1.0000 1.6985e-01 3\n", + " 5 5.6895e-01 1.7510e-01 2.9872e-04 3.9086e-02 1.42989e-01 0.1250 3.9086e-02 3\n", + " 6 5.3383e-01 1.7510e-01 2.6215e-04 3.5610e-02 9.86281e-02 0.2500 3.5610e-02 3\n", + " 7 4.7036e-01 1.7510e-01 1.9805e-04 2.9328e-02 3.97524e-02 1.0000 2.9328e-02 3\n", + " 8 2.0034e-01 1.7510e-01 1.1485e-05 2.5128e-03 5.05542e-02 0.0020 5.8498e-03 1\n", + " 9 2.0034e-01 1.7510e-01 1.1485e-05 2.5128e-03 5.05345e-02 0.1250 2.5128e-03 1\n", + " 10 1.9869e-01 1.7510e-01 1.0258e-05 2.3486e-03 3.53770e-02 0.1250 3.7990e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8527e+02 1.8452e-01 4.8149e+01 3.5892e-01 1.09723e+00 1.0000 ---- 3\n", + " 2 5.5287e+01 1.7505e-01 2.3002e+00 3.2110e+00 2.88812e-01 1.0000 3.2110e+00 3\n", + " 3 1.0077e+00 1.7509e-01 6.6765e-03 7.6581e-02 2.47204e-01 0.2500 7.6581e-02 3\n", + " 4 9.4001e-01 1.7508e-01 5.0532e-03 7.1440e-02 1.03709e-01 1.0000 7.1440e-02 3\n", + " 5 8.6503e-01 1.7508e-01 3.0473e-04 6.8690e-02 1.28997e-01 0.2500 6.8690e-02 3\n", + " 6 7.4198e-01 1.7508e-01 2.3092e-04 5.6459e-02 5.14277e-02 1.0000 5.6459e-02 3\n", + " 7 2.0096e-01 1.7508e-01 1.8935e-05 2.5692e-03 6.58596e-02 0.0020 4.7772e-03 1\n", + " 8 2.0096e-01 1.7508e-01 1.8935e-05 2.5692e-03 6.58373e-02 0.0312 2.5692e-03 1\n", + " 9 2.0058e-01 1.7508e-01 1.8364e-05 2.5322e-03 6.08536e-02 0.0156 3.4316e-03 1\n", + " 10 2.0054e-01 1.7508e-01 1.8082e-05 2.5279e-03 5.85579e-02 0.0312 2.5279e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8583e+02 1.8450e-01 4.8258e+01 3.0642e-01 1.10610e+00 1.0000 ---- 3\n", + " 2 5.5087e+01 1.7502e-01 2.2797e+00 3.2116e+00 3.03700e-01 1.0000 3.2116e+00 3\n", + " 3 1.9230e+00 1.7506e-01 6.9058e-03 1.6789e-01 2.74205e-01 0.2500 1.6789e-01 3\n", + " 4 1.7572e+00 1.7506e-01 5.2212e-03 1.5299e-01 1.11790e-01 1.0000 1.5299e-01 3\n", + " 5 5.9809e-01 1.7506e-01 3.0292e-04 4.2000e-02 1.43477e-01 0.1250 4.2000e-02 3\n", + " 6 5.5878e-01 1.7506e-01 2.6588e-04 3.8107e-02 9.87154e-02 0.2500 3.8107e-02 3\n", + " 7 4.8858e-01 1.7506e-01 2.0101e-04 3.1152e-02 3.96749e-02 1.0000 3.1152e-02 3\n", + " 8 1.9217e-01 1.7506e-01 1.0817e-05 1.7009e-03 5.01435e-02 0.0020 2.8379e-03 1\n", + " 9 1.9217e-01 1.7506e-01 1.0817e-05 1.7009e-03 5.01237e-02 0.0625 1.7009e-03 1\n", + " 10 1.9172e-01 1.7506e-01 1.0186e-05 1.6559e-03 4.25802e-02 0.0312 2.1342e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8623e+02 1.8447e-01 4.8296e+01 3.0861e-01 1.10180e+00 1.0000 ---- 3\n", + " 2 5.7258e+01 1.7500e-01 2.2931e+00 3.4152e+00 2.90160e-01 1.0000 3.4152e+00 3\n", + " 3 1.9047e+00 1.7504e-01 6.6653e-03 1.6630e-01 2.60684e-01 0.2500 1.6630e-01 3\n", + " 4 1.7467e+00 1.7504e-01 5.0434e-03 1.5212e-01 1.06845e-01 1.0000 1.5212e-01 3\n", + " 5 5.5547e-01 1.7504e-01 3.1132e-04 3.7732e-02 1.34716e-01 0.1250 3.7732e-02 3\n", + " 6 5.2210e-01 1.7504e-01 2.7299e-04 3.4433e-02 9.30474e-02 0.2500 3.4433e-02 3\n", + " 7 4.6185e-01 1.7504e-01 2.0589e-04 2.8475e-02 3.78733e-02 1.0000 2.8475e-02 3\n", + " 8 1.9147e-01 1.7504e-01 1.0312e-05 1.6328e-03 4.71327e-02 0.0020 3.1604e-03 1\n", + " 9 1.9147e-01 1.7504e-01 1.0312e-05 1.6328e-03 4.71150e-02 0.0625 1.6531e-03 1\n", + " 10 1.9117e-01 1.7504e-01 9.7093e-06 1.6034e-03 4.00405e-02 0.0312 2.1751e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8523e+02 1.8445e-01 4.8223e+01 2.8151e-01 1.10073e+00 1.0000 ---- 3\n", + " 2 5.7324e+01 1.7498e-01 2.3016e+00 3.4133e+00 2.90346e-01 1.0000 3.4133e+00 3\n", + " 3 1.9139e+00 1.7502e-01 6.6302e-03 1.6725e-01 2.48943e-01 0.2500 1.6725e-01 3\n", + " 4 1.6586e+00 1.7502e-01 5.0190e-03 1.4334e-01 1.04279e-01 1.0000 1.4334e-01 3\n", + " 5 4.8160e-01 1.7502e-01 3.1251e-04 3.0345e-02 1.28133e-01 0.1250 3.0345e-02 3\n", + " 6 4.5848e-01 1.7502e-01 2.7395e-04 2.8072e-02 8.94352e-02 0.2500 2.8072e-02 3\n", + " 7 4.1606e-01 1.7502e-01 2.0647e-04 2.3897e-02 3.71326e-02 1.0000 2.3897e-02 3\n", + " 8 1.9920e-01 1.7502e-01 9.9521e-06 2.4086e-03 4.49612e-02 0.0020 2.6437e-03 1\n", + " 9 1.9920e-01 1.7502e-01 9.9521e-06 2.4086e-03 4.49437e-02 0.0625 2.4086e-03 1\n", + " 10 1.9862e-01 1.7502e-01 9.3680e-06 2.3506e-03 3.83693e-02 0.0312 2.3506e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8533e+02 1.8443e-01 4.8255e+01 2.5902e-01 1.09952e+00 1.0000 ---- 3\n", + " 2 5.7107e+01 1.7496e-01 2.2873e+00 3.4060e+00 2.87086e-01 1.0000 3.4060e+00 3\n", + " 3 1.7930e+00 1.7501e-01 6.6056e-03 1.5520e-01 2.42776e-01 0.2500 1.5520e-01 3\n", + " 4 1.5568e+00 1.7500e-01 4.9988e-03 1.3318e-01 1.02356e-01 1.0000 1.3318e-01 3\n", + " 5 4.4104e-01 1.7500e-01 3.0633e-04 2.6297e-02 1.24601e-01 0.1250 2.6297e-02 3\n", + " 6 4.2233e-01 1.7500e-01 2.6850e-04 2.4465e-02 8.69486e-02 0.2500 2.4465e-02 3\n", + " 7 3.8777e-01 1.7500e-01 2.0230e-04 2.1075e-02 3.64033e-02 1.0000 2.1075e-02 3\n", + " 8 2.0199e-01 1.7500e-01 9.4337e-06 2.6896e-03 4.36720e-02 0.0020 4.1277e-03 1\n", + " 9 2.0199e-01 1.7500e-01 9.4337e-06 2.6896e-03 4.36550e-02 0.1250 2.6896e-03 1\n", + " 10 2.0163e-01 1.7500e-01 8.3943e-06 2.6547e-03 3.09273e-02 0.0625 2.9268e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8556e+02 1.8441e-01 4.8261e+01 2.7728e-01 1.09789e+00 1.0000 ---- 3\n", + " 2 5.7198e+01 1.7494e-01 2.2879e+00 3.4145e+00 2.82671e-01 1.0000 3.4145e+00 3\n", + " 3 2.0293e+00 1.7499e-01 6.5002e-03 1.7893e-01 2.36869e-01 0.2500 1.7893e-01 3\n", + " 4 1.6996e+00 1.7498e-01 4.9169e-03 1.4755e-01 1.00584e-01 1.0000 1.4755e-01 3\n", + " 5 4.5456e-01 1.7498e-01 2.8530e-04 2.7672e-02 1.22000e-01 0.1250 2.7672e-02 3\n", + " 6 4.3241e-01 1.7498e-01 2.4969e-04 2.5493e-02 8.48505e-02 0.2500 2.5493e-02 3\n", + " 7 3.9228e-01 1.7498e-01 1.8794e-04 2.1542e-02 3.55937e-02 1.0000 2.1542e-02 3\n", + " 8 1.9807e-01 1.7498e-01 9.1678e-06 2.2995e-03 4.31123e-02 0.0020 3.3627e-03 1\n", + " 9 1.9807e-01 1.7498e-01 9.1678e-06 2.2995e-03 4.30973e-02 0.1250 2.2995e-03 1\n", + " 10 1.9748e-01 1.7498e-01 8.1610e-06 2.2418e-03 3.03838e-02 0.0625 2.2418e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8535e+02 1.8439e-01 4.8158e+01 3.5841e-01 1.09753e+00 1.0000 ---- 3\n", + " 2 5.7039e+01 1.7492e-01 2.2984e+00 3.3880e+00 2.85080e-01 1.0000 3.3880e+00 3\n", + " 3 1.3824e+00 1.7497e-01 6.5417e-03 1.1420e-01 2.36817e-01 0.2500 1.1420e-01 3\n", + " 4 1.3160e+00 1.7497e-01 4.9534e-03 1.0915e-01 1.02085e-01 1.0000 1.0915e-01 3\n", + " 5 6.2292e-01 1.7497e-01 3.1423e-04 4.4482e-02 1.22263e-01 0.2500 4.4482e-02 3\n", + " 6 5.7792e-01 1.7496e-01 2.3750e-04 4.0058e-02 5.02567e-02 1.0000 4.0058e-02 3\n", + " 7 2.2838e-01 1.7496e-01 1.8106e-05 5.3236e-03 6.15320e-02 0.0020 9.1738e-03 1\n", + " 8 2.2838e-01 1.7496e-01 1.8106e-05 5.3236e-03 6.15095e-02 0.0625 5.3236e-03 1\n", + " 9 2.2693e-01 1.7496e-01 1.7049e-05 5.1798e-03 5.24917e-02 0.0312 6.2640e-03 1\n", + " 10 2.2669e-01 1.7496e-01 1.6530e-05 5.1562e-03 4.86647e-02 0.0625 5.1562e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8433e+02 1.8437e-01 4.8229e+01 1.8578e-01 1.10030e+00 1.0000 ---- 3\n", + " 2 5.6176e+01 1.7490e-01 2.2825e+00 3.3177e+00 2.88864e-01 1.0000 3.3177e+00 3\n", + " 3 2.5632e+00 1.7495e-01 6.6831e-03 2.3214e-01 2.45941e-01 0.5000 2.3214e-01 3\n", + " 4 2.2285e+00 1.7494e-01 3.5232e-03 2.0184e-01 6.78785e-02 1.0000 2.0184e-01 3\n", + " 5 1.7797e-01 1.7494e-01 4.2829e-05 2.6002e-04 1.23988e-01 0.0020 1.6671e-03 1\n", + " 6 1.7797e-01 1.7494e-01 4.2829e-05 2.6002e-04 1.23933e-01 0.0078 1.6671e-03 1\n", + " 7 1.7796e-01 1.7494e-01 4.2495e-05 2.5912e-04 1.20527e-01 0.0020 1.6664e-03 1\n", + " 8 1.7796e-01 1.7494e-01 4.2495e-05 2.5912e-04 1.15416e-01 0.0078 1.6634e-03 1\n", + " 9 1.7796e-01 1.7494e-01 4.2163e-05 2.5916e-04 7.93386e-02 0.0078 1.6431e-03 1\n", + " 10 1.7796e-01 1.7494e-01 4.1834e-05 2.5922e-04 1.99244e-02 0.2500 1.6057e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8509e+02 1.8435e-01 4.8167e+01 3.2290e-01 1.12872e+00 1.0000 ---- 3\n", + " 2 6.0287e+01 1.7488e-01 2.3071e+00 3.7041e+00 4.03913e-01 1.0000 3.7041e+00 3\n", + " 3 7.0106e+00 1.7492e-01 6.4877e-03 6.7708e-01 5.08335e-01 0.5000 6.7708e-01 3\n", + " 4 6.4673e+00 1.7491e-01 3.4305e-03 6.2581e-01 2.25745e-01 1.0000 6.2581e-01 3\n", + " 5 6.0843e-01 1.7491e-01 1.1955e-04 4.3232e-02 4.77681e-01 0.1250 4.3232e-02 3\n", + " 6 5.7859e-01 1.7491e-01 1.0473e-04 4.0264e-02 2.85204e-01 0.2500 4.0264e-02 3\n", + " 7 5.1571e-01 1.7491e-01 7.8714e-05 3.4002e-02 5.60142e-02 1.0000 3.4002e-02 3\n", + " 8 2.0225e-01 1.7491e-01 3.0036e-06 2.7318e-03 1.17400e-01 0.0020 4.4018e-03 1\n", + " 9 2.0225e-01 1.7491e-01 3.0036e-06 2.7318e-03 1.17351e-01 0.0625 2.7318e-03 1\n", + " 10 2.0144e-01 1.7491e-01 2.8127e-06 2.6505e-03 9.41729e-02 0.0312 3.1243e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8384e+02 1.8431e-01 4.8173e+01 1.9234e-01 1.12791e+00 1.0000 ---- 3\n", + " 2 5.6989e+01 1.7485e-01 2.2894e+00 3.3921e+00 3.86217e-01 1.0000 3.3921e+00 3\n", + " 3 4.1077e+00 1.7489e-01 6.7558e-03 3.8652e-01 5.28722e-01 0.5000 3.8652e-01 3\n", + " 4 3.5826e+00 1.7487e-01 3.5667e-03 3.3721e-01 2.73996e-01 1.0000 3.3721e-01 3\n", + " 5 1.3150e+00 1.7487e-01 1.1730e-04 1.1390e-01 6.16764e-01 0.1250 1.1390e-01 3\n", + " 6 1.2684e+00 1.7487e-01 1.0296e-04 1.0925e-01 3.66695e-01 0.2500 1.0925e-01 3\n", + " 7 1.0862e+00 1.7486e-01 7.7932e-05 9.1056e-02 7.18484e-02 1.0000 9.1056e-02 3\n", + " 8 2.0532e-01 1.7486e-01 2.8978e-06 3.0432e-03 1.51846e-01 0.0020 4.1013e-03 1\n", + " 9 2.0532e-01 1.7486e-01 2.8978e-06 3.0432e-03 1.51792e-01 0.1250 3.0432e-03 1\n", + " 10 2.0337e-01 1.7486e-01 2.6083e-06 2.8481e-03 9.18073e-02 0.1250 2.8749e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8575e+02 1.8427e-01 4.8215e+01 3.4158e-01 1.11016e+00 1.0000 ---- 3\n", + " 2 5.9502e+01 1.7481e-01 2.2914e+00 3.6413e+00 3.46944e-01 1.0000 3.6413e+00 3\n", + " 3 1.2747e+00 1.7486e-01 6.6924e-03 1.0329e-01 4.11370e-01 0.1250 1.0329e-01 3\n", + " 4 1.1833e+00 1.7485e-01 5.8684e-03 9.4976e-02 2.65847e-01 0.2500 9.4976e-02 3\n", + " 5 1.0145e+00 1.7485e-01 4.4339e-03 7.9526e-02 8.46781e-02 1.0000 7.9526e-02 3\n", + " 6 3.6354e-01 1.7485e-01 1.9713e-04 1.8672e-02 1.20089e-01 0.2500 1.8672e-02 3\n", + " 7 3.1945e-01 1.7485e-01 1.4856e-04 1.4312e-02 3.96580e-02 1.0000 1.4312e-02 3\n", + " 8 2.1103e-01 1.7485e-01 9.6843e-06 3.6085e-03 5.65876e-02 0.0078 6.4826e-03 1\n", + " 9 2.1103e-01 1.7485e-01 9.6091e-06 3.6083e-03 5.53861e-02 0.2500 3.6083e-03 1\n", + " 10 2.0736e-01 1.7485e-01 7.6818e-06 3.2439e-03 1.90026e-02 0.5000 3.9926e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8551e+02 1.8425e-01 4.8224e+01 3.0914e-01 1.09340e+00 1.0000 ---- 3\n", + " 2 5.8607e+01 1.7479e-01 2.2985e+00 3.5446e+00 2.72977e-01 1.0000 3.5446e+00 3\n", + " 3 2.6429e+00 1.7484e-01 6.2126e-03 2.4060e-01 2.25380e-01 0.5000 2.4060e-01 3\n", + " 4 2.3663e+00 1.7483e-01 3.3135e-03 2.1583e-01 5.80720e-02 1.0000 2.1583e-01 3\n", + " 5 2.0186e-01 1.7484e-01 4.2854e-05 2.6595e-03 9.64993e-02 0.0312 2.6595e-03 1\n", + " 6 2.0179e-01 1.7484e-01 4.1527e-05 2.6540e-03 8.81486e-02 0.2500 2.6540e-03 1\n", + " 7 1.9959e-01 1.7484e-01 3.1836e-05 2.4438e-03 2.74565e-02 0.5000 2.4438e-03 1\n", + " 8 1.9395e-01 1.7484e-01 1.6080e-05 1.8955e-03 9.78318e-03 1.0000 1.8955e-03 1\n", + " 9 1.7738e-01 1.7484e-01 5.7489e-07 2.5387e-04 1.74302e-02 0.5000 1.6444e-03 1\n", + " 10 1.7561e-01 1.7484e-01 2.7979e-07 7.6686e-05 8.29042e-03 0.0020 1.6483e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8534e+02 1.8424e-01 4.8220e+01 2.9614e-01 1.09167e+00 1.0000 ---- 3\n", + " 2 5.8755e+01 1.7478e-01 2.2899e+00 3.5682e+00 2.71038e-01 1.0000 3.5682e+00 3\n", + " 3 1.9926e+00 1.7483e-01 6.1897e-03 1.7559e-01 2.18436e-01 0.5000 1.7559e-01 3\n", + " 4 1.9901e+00 1.7482e-01 3.2938e-03 1.7823e-01 5.71889e-02 1.0000 1.7823e-01 3\n", + " 5 1.8650e-01 1.7483e-01 4.2645e-05 1.1247e-03 9.61555e-02 0.0312 1.6120e-03 1\n", + " 6 1.8648e-01 1.7483e-01 4.1327e-05 1.1237e-03 8.77221e-02 0.2500 1.6143e-03 1\n", + " 7 1.8531e-01 1.7483e-01 3.1795e-05 1.0161e-03 2.67708e-02 1.0000 1.6309e-03 1\n", + " 8 1.8090e-01 1.7483e-01 2.9595e-06 6.0479e-04 4.38769e-02 1.0000 1.6534e-03 1\n", + " 9 1.7790e-01 1.7483e-01 4.0338e-06 3.0332e-04 7.78930e-02 0.0625 1.6310e-03 1\n", + " 10 1.7787e-01 1.7483e-01 3.8192e-06 3.0028e-04 6.39344e-02 0.1250 1.6338e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8599e+02 1.8423e-01 4.8243e+01 3.3752e-01 1.10503e+00 1.0000 ---- 3\n", + " 2 6.0851e+01 1.7477e-01 2.3122e+00 3.7555e+00 3.13976e-01 1.0000 3.7555e+00 3\n", + " 3 4.9308e+00 1.7482e-01 6.0864e-03 4.6951e-01 3.17991e-01 0.5000 4.6951e-01 3\n", + " 4 4.5627e+00 1.7481e-01 3.2181e-03 4.3557e-01 1.07506e-01 1.0000 4.3557e-01 3\n", + " 5 6.4937e-01 1.7482e-01 4.8398e-05 4.7407e-02 2.06147e-01 0.2500 4.7407e-02 3\n", + " 6 5.7162e-01 1.7481e-01 3.7355e-05 3.9643e-02 5.04388e-02 1.0000 3.9643e-02 3\n", + " 7 1.8626e-01 1.7481e-01 3.6164e-06 1.1411e-03 9.58937e-02 0.0020 1.6732e-03 1\n", + " 8 1.8626e-01 1.7481e-01 3.6164e-06 1.1411e-03 9.58498e-02 0.1250 1.6726e-03 1\n", + " 9 1.8521e-01 1.7481e-01 3.2306e-06 1.0359e-03 6.04893e-02 0.1250 1.6284e-03 1\n", + " 10 1.8482e-01 1.7481e-01 2.8515e-06 9.9729e-04 3.84190e-02 0.2500 1.6256e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8545e+02 1.8422e-01 4.8199e+01 3.2710e-01 1.09167e+00 1.0000 ---- 3\n", + " 2 5.8835e+01 1.7476e-01 2.2933e+00 3.5727e+00 2.70665e-01 1.0000 3.5727e+00 3\n", + " 3 1.5156e+00 1.7481e-01 6.1249e-03 1.2795e-01 2.25912e-01 0.2500 1.2795e-01 3\n", + " 4 1.3924e+00 1.7481e-01 4.6426e-03 1.1711e-01 9.62515e-02 1.0000 1.1711e-01 3\n", + " 5 5.4230e-01 1.7481e-01 2.9906e-04 3.6451e-02 1.17800e-01 0.2500 3.6451e-02 3\n", + " 6 5.0453e-01 1.7480e-01 2.2570e-04 3.2747e-02 4.77146e-02 1.0000 3.2747e-02 3\n", + " 7 2.7085e-01 1.7480e-01 1.7825e-05 9.5864e-03 6.11840e-02 0.2500 9.5864e-03 3\n", + " 8 2.6378e-01 1.7480e-01 1.4482e-05 8.8827e-03 2.45126e-02 1.0000 8.8827e-03 2\n", + " 9 2.0926e-01 1.7480e-01 3.8153e-06 3.4417e-03 3.38876e-02 0.0020 6.5013e-03 1\n", + " 10 2.0926e-01 1.7480e-01 3.8153e-06 3.4417e-03 3.38689e-02 0.2500 3.4417e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8510e+02 1.8420e-01 4.8193e+01 2.9883e-01 1.09154e+00 1.0000 ---- 3\n", + " 2 6.0510e+01 1.7475e-01 2.3066e+00 3.7269e+00 2.75811e-01 1.0000 3.7269e+00 3\n", + " 3 1.9670e+00 1.7480e-01 6.0417e-03 1.7318e-01 2.37152e-01 0.2500 1.7318e-01 3\n", + " 4 1.6951e+00 1.7480e-01 4.5786e-03 1.4746e-01 9.80185e-02 1.0000 1.4746e-01 3\n", + " 5 4.5060e-01 1.7480e-01 2.8955e-04 2.7290e-02 1.23574e-01 0.1250 2.7290e-02 3\n", + " 6 4.3329e-01 1.7480e-01 2.5362e-04 2.5596e-02 8.53644e-02 0.2500 2.5596e-02 3\n", + " 7 4.0013e-01 1.7480e-01 1.9100e-04 2.2342e-02 3.51812e-02 1.0000 2.2342e-02 3\n", + " 8 2.1510e-01 1.7480e-01 1.0120e-05 4.0201e-03 4.43605e-02 0.0020 7.1330e-03 1\n", + " 9 2.1510e-01 1.7480e-01 1.0120e-05 4.0201e-03 4.43451e-02 0.1250 4.0201e-03 1\n", + " 10 2.1269e-01 1.7480e-01 8.9881e-06 3.7804e-03 3.10839e-02 0.1250 4.5633e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8553e+02 1.8420e-01 4.8229e+01 3.0566e-01 1.09772e+00 1.0000 ---- 3\n", + " 2 5.9376e+01 1.7475e-01 2.2920e+00 3.6281e+00 2.87464e-01 1.0000 3.6281e+00 3\n", + " 3 1.8548e+00 1.7480e-01 6.4067e-03 1.6160e-01 2.55214e-01 0.2500 1.6160e-01 3\n", + " 4 1.6381e+00 1.7479e-01 4.8537e-03 1.4148e-01 1.06481e-01 1.0000 1.4148e-01 3\n", + " 5 4.7133e-01 1.7479e-01 3.2362e-04 2.9330e-02 1.34183e-01 0.1250 2.9330e-02 3\n", + " 6 4.5029e-01 1.7479e-01 2.8390e-04 2.7266e-02 9.23128e-02 0.2500 2.7266e-02 3\n", + " 7 4.1097e-01 1.7479e-01 2.1436e-04 2.3403e-02 3.76434e-02 1.0000 2.3403e-02 3\n", + " 8 2.1689e-01 1.7479e-01 1.0757e-05 4.1995e-03 4.71059e-02 0.0078 7.7497e-03 1\n", + " 9 2.1689e-01 1.7479e-01 1.0673e-05 4.1992e-03 4.62066e-02 0.2500 4.1992e-03 1\n", + " 10 2.1304e-01 1.7479e-01 8.7702e-06 3.8158e-03 1.90250e-02 0.5000 4.9880e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8531e+02 1.8419e-01 4.8214e+01 2.9846e-01 1.09221e+00 1.0000 ---- 3\n", + " 2 5.9646e+01 1.7474e-01 2.2882e+00 3.6589e+00 2.75767e-01 1.0000 3.6589e+00 3\n", + " 3 1.8066e+00 1.7479e-01 6.1558e-03 1.5703e-01 2.36903e-01 0.2500 1.5703e-01 3\n", + " 4 1.5822e+00 1.7479e-01 4.6633e-03 1.3608e-01 9.85923e-02 1.0000 1.3608e-01 3\n", + " 5 4.5294e-01 1.7479e-01 2.8989e-04 2.7525e-02 1.23525e-01 0.1250 2.7525e-02 3\n", + " 6 4.3325e-01 1.7479e-01 2.5381e-04 2.5593e-02 8.52946e-02 0.2500 2.5593e-02 3\n", + " 7 3.9681e-01 1.7479e-01 1.9102e-04 2.2011e-02 3.53077e-02 1.0000 2.2011e-02 3\n", + " 8 2.1400e-01 1.7478e-01 9.7911e-06 3.9113e-03 4.41447e-02 0.0078 7.0493e-03 1\n", + " 9 2.1399e-01 1.7478e-01 9.7151e-06 3.9109e-03 4.32968e-02 0.1250 3.9109e-03 1\n", + " 10 2.1104e-01 1.7478e-01 8.6251e-06 3.6165e-03 3.04019e-02 0.1250 4.4968e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8528e+02 1.8419e-01 4.8203e+01 3.0682e-01 1.09768e+00 1.0000 ---- 3\n", + " 2 5.9173e+01 1.7474e-01 2.2950e+00 3.6048e+00 2.87501e-01 1.0000 3.6048e+00 3\n", + " 3 1.8231e+00 1.7479e-01 6.4475e-03 1.5838e-01 2.54935e-01 0.2500 1.5838e-01 3\n", + " 4 1.6151e+00 1.7478e-01 4.8808e-03 1.3915e-01 1.06553e-01 1.0000 1.3915e-01 3\n", + " 5 4.7925e-01 1.7478e-01 3.0432e-04 3.0143e-02 1.34463e-01 0.1250 3.0143e-02 3\n", + " 6 4.5647e-01 1.7478e-01 2.6692e-04 2.7902e-02 9.25271e-02 0.2500 2.7902e-02 3\n", + " 7 4.1463e-01 1.7478e-01 2.0142e-04 2.3784e-02 3.77657e-02 1.0000 2.3784e-02 3\n", + " 8 2.1566e-01 1.7478e-01 1.0066e-05 4.0782e-03 4.73647e-02 0.0156 7.3570e-03 1\n", + " 9 2.1566e-01 1.7478e-01 9.9119e-06 4.0781e-03 4.55913e-02 0.2500 4.0781e-03 1\n", + " 10 2.1136e-01 1.7478e-01 8.1319e-06 3.6502e-03 1.87875e-02 0.5000 4.7204e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8490e+02 1.8418e-01 4.8163e+01 3.0847e-01 1.09182e+00 1.0000 ---- 3\n", + " 2 5.9426e+01 1.7473e-01 2.2966e+00 3.6285e+00 2.76352e-01 1.0000 3.6285e+00 3\n", + " 3 1.7328e+00 1.7478e-01 6.1833e-03 1.4962e-01 2.37168e-01 0.2500 1.4962e-01 3\n", + " 4 1.5358e+00 1.7478e-01 4.6867e-03 1.3142e-01 9.87484e-02 1.0000 1.3142e-01 3\n", + " 5 4.7716e-01 1.7478e-01 2.9855e-04 2.9940e-02 1.23771e-01 0.1250 2.9940e-02 3\n", + " 6 4.5231e-01 1.7477e-01 2.6145e-04 2.7492e-02 8.54969e-02 0.2500 2.7492e-02 3\n", + " 7 4.0786e-01 1.7477e-01 1.9690e-04 2.3112e-02 3.54417e-02 1.0000 2.3112e-02 3\n", + " 8 2.1170e-01 1.7477e-01 9.8779e-06 3.6830e-03 4.43964e-02 0.0078 6.5721e-03 1\n", + " 9 2.1170e-01 1.7477e-01 9.8013e-06 3.6827e-03 4.35435e-02 0.2500 3.6827e-03 1\n", + " 10 2.0833e-01 1.7477e-01 7.8872e-06 3.3481e-03 1.78965e-02 0.5000 4.3275e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8486e+02 1.8417e-01 4.8146e+01 3.2191e-01 1.09202e+00 1.0000 ---- 3\n", + " 2 5.9073e+01 1.7473e-01 2.2942e+00 3.5956e+00 2.78276e-01 1.0000 3.5956e+00 3\n", + " 3 1.6330e+00 1.7478e-01 6.1950e-03 1.3963e-01 2.40546e-01 0.2500 1.3963e-01 3\n", + " 4 1.4727e+00 1.7477e-01 4.6948e-03 1.2510e-01 9.95424e-02 1.0000 1.2510e-01 3\n", + " 5 5.0809e-01 1.7477e-01 2.9765e-04 3.3035e-02 1.25894e-01 0.2500 3.3035e-02 3\n", + " 6 5.0767e-01 1.7477e-01 2.2508e-04 3.3065e-02 4.93769e-02 1.0000 3.3065e-02 3\n", + " 7 2.7512e-01 1.7477e-01 1.7917e-05 1.0017e-02 6.49064e-02 0.2500 1.0017e-02 2\n", + " 8 2.5687e-01 1.7477e-01 1.4679e-05 8.1955e-03 2.57724e-02 0.0020 1.0425e-02 1\n", + " 9 2.5687e-01 1.7477e-01 1.4679e-05 8.1955e-03 2.57618e-02 1.0000 8.1955e-03 1\n", + " 10 2.4432e-01 1.7477e-01 6.5853e-06 6.9482e-03 3.46794e-02 0.1250 8.5331e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8465e+02 1.8416e-01 4.8104e+01 3.4284e-01 1.08952e+00 1.0000 ---- 3\n", + " 2 5.9256e+01 1.7472e-01 2.2965e+00 3.6116e+00 2.78267e-01 1.0000 3.6116e+00 3\n", + " 3 1.5080e+00 1.7477e-01 6.0673e-03 1.2726e-01 2.39247e-01 0.2500 1.2726e-01 3\n", + " 4 1.3811e+00 1.7477e-01 4.5985e-03 1.1604e-01 9.79508e-02 1.0000 1.1604e-01 3\n", + " 5 5.4501e-01 1.7476e-01 2.9003e-04 3.6735e-02 1.24552e-01 0.2500 3.6735e-02 3\n", + " 6 5.2456e-01 1.7476e-01 2.1942e-04 3.4760e-02 4.96656e-02 1.0000 3.4760e-02 3\n", + " 7 2.6035e-01 1.7476e-01 1.9977e-05 8.5388e-03 6.52381e-02 0.2500 8.5388e-03 2\n", + " 8 2.4801e-01 1.7476e-01 1.6064e-05 7.3088e-03 2.59645e-02 0.0020 9.8728e-03 1\n", + " 9 2.4801e-01 1.7476e-01 1.6064e-05 7.3088e-03 2.59559e-02 1.0000 7.3088e-03 1\n", + " 10 2.4213e-01 1.7476e-01 7.1102e-06 6.7294e-03 3.47292e-02 0.1250 8.5608e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8484e+02 1.8416e-01 4.8098e+01 3.6797e-01 1.09000e+00 1.0000 ---- 3\n", + " 2 5.8748e+01 1.7472e-01 2.2926e+00 3.5647e+00 2.82078e-01 1.0000 3.5647e+00 3\n", + " 3 1.5598e+00 1.7477e-01 6.0144e-03 1.3249e-01 2.46403e-01 0.2500 1.3249e-01 3\n", + " 4 1.4099e+00 1.7476e-01 4.5593e-03 1.1895e-01 1.00047e-01 1.0000 1.1895e-01 3\n", + " 5 5.9213e-01 1.7476e-01 2.9214e-04 4.1445e-02 1.28839e-01 0.2500 4.1445e-02 3\n", + " 6 5.5170e-01 1.7476e-01 2.2093e-04 3.7473e-02 5.04700e-02 1.0000 3.7473e-02 3\n", + " 7 2.4112e-01 1.7476e-01 1.9413e-05 6.6167e-03 6.71921e-02 0.2500 6.6167e-03 2\n", + " 8 2.3844e-01 1.7476e-01 1.5702e-05 6.3527e-03 2.64461e-02 0.0020 9.2324e-03 1\n", + " 9 2.3844e-01 1.7476e-01 1.5702e-05 6.3527e-03 2.64380e-02 0.5000 6.3527e-03 1\n", + " 10 2.2095e-01 1.7476e-01 9.0026e-06 4.6098e-03 6.36326e-03 1.0000 4.6098e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8522e+02 1.8415e-01 4.8135e+01 3.6829e-01 1.09484e+00 1.0000 ---- 3\n", + " 2 5.8630e+01 1.7472e-01 2.2843e+00 3.5613e+00 2.91797e-01 1.0000 3.5613e+00 3\n", + " 3 1.8877e+00 1.7476e-01 6.1556e-03 1.6514e-01 2.64208e-01 0.2500 1.6514e-01 3\n", + " 4 1.6780e+00 1.7476e-01 4.6595e-03 1.4567e-01 1.07715e-01 1.0000 1.4567e-01 3\n", + " 5 6.0855e-01 1.7476e-01 2.9472e-04 4.3085e-02 1.40947e-01 0.2500 4.3085e-02 3\n", + " 6 5.9315e-01 1.7475e-01 2.2406e-04 4.1615e-02 5.30579e-02 1.0000 4.1615e-02 3\n", + " 7 2.7990e-01 1.7475e-01 1.7811e-05 1.0497e-02 7.11720e-02 0.2500 1.0497e-02 2\n", + " 8 2.6542e-01 1.7475e-01 1.4893e-05 9.0514e-03 2.79217e-02 0.0020 1.0061e-02 1\n", + " 9 2.6542e-01 1.7475e-01 1.4893e-05 9.0514e-03 2.79127e-02 1.0000 9.0514e-03 1\n", + " 10 2.5922e-01 1.7475e-01 6.0370e-06 8.4403e-03 3.83363e-02 0.5000 8.4403e-03 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8494e+02 1.8415e-01 4.8106e+01 3.6953e-01 1.09423e+00 1.0000 ---- 3\n", + " 2 5.8535e+01 1.7471e-01 2.2933e+00 3.5427e+00 2.90801e-01 1.0000 3.5427e+00 3\n", + " 3 1.9788e+00 1.7476e-01 6.1864e-03 1.7422e-01 2.60485e-01 0.2500 1.7422e-01 3\n", + " 4 1.7333e+00 1.7475e-01 4.6848e-03 1.5117e-01 1.06882e-01 1.0000 1.5117e-01 3\n", + " 5 5.8987e-01 1.7475e-01 3.0083e-04 4.1211e-02 1.38129e-01 0.2500 4.1211e-02 3\n", + " 6 5.8157e-01 1.7475e-01 2.2847e-04 4.0454e-02 5.27734e-02 1.0000 4.0454e-02 3\n", + " 7 2.8128e-01 1.7475e-01 1.8197e-05 1.0634e-02 7.02400e-02 0.2500 1.0634e-02 2\n", + " 8 2.6619e-01 1.7475e-01 1.5125e-05 9.1295e-03 2.76764e-02 0.0020 1.0458e-02 1\n", + " 9 2.6619e-01 1.7475e-01 1.5125e-05 9.1295e-03 2.76705e-02 1.0000 9.1295e-03 1\n", + " 10 2.5957e-01 1.7475e-01 6.0782e-06 8.4762e-03 3.77179e-02 0.5000 8.4762e-03 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8473e+02 1.8414e-01 4.8086e+01 3.6936e-01 1.09369e+00 1.0000 ---- 3\n", + " 2 5.8099e+01 1.7471e-01 2.2930e+00 3.4994e+00 2.90093e-01 1.0000 3.4994e+00 3\n", + " 3 2.1205e+00 1.7475e-01 6.1711e-03 1.8841e-01 2.57099e-01 0.2500 1.8841e-01 3\n", + " 4 1.8102e+00 1.7475e-01 4.6713e-03 1.5887e-01 1.05903e-01 1.0000 1.5887e-01 3\n", + " 5 5.9234e-01 1.7475e-01 2.8160e-04 4.1478e-02 1.35738e-01 0.2500 4.1478e-02 3\n", + " 6 5.8021e-01 1.7474e-01 2.1401e-04 4.0333e-02 5.22277e-02 1.0000 4.0333e-02 3\n", + " 7 2.7013e-01 1.7474e-01 1.8315e-05 9.5200e-03 6.91826e-02 0.2500 9.5200e-03 2\n", + " 8 2.6006e-01 1.7474e-01 1.5216e-05 8.5168e-03 2.73241e-02 0.0020 9.0919e-03 1\n", + " 9 2.6006e-01 1.7474e-01 1.5216e-05 8.5168e-03 2.73149e-02 1.0000 8.5168e-03 1\n", + " 10 2.5831e-01 1.7474e-01 6.4554e-06 8.3504e-03 3.71378e-02 0.5000 8.3504e-03 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8458e+02 1.8413e-01 4.8075e+01 3.6449e-01 1.09347e+00 1.0000 ---- 3\n", + " 2 5.8577e+01 1.7470e-01 2.2955e+00 3.5447e+00 2.88794e-01 1.0000 3.5447e+00 3\n", + " 3 1.9509e+00 1.7475e-01 6.1698e-03 1.7145e-01 2.56799e-01 0.2500 1.7145e-01 3\n", + " 4 1.7124e+00 1.7474e-01 4.6732e-03 1.4909e-01 1.05589e-01 1.0000 1.4909e-01 3\n", + " 5 5.8551e-01 1.7474e-01 3.0329e-04 4.0774e-02 1.35349e-01 0.2500 4.0774e-02 3\n", + " 6 5.7698e-01 1.7474e-01 2.3012e-04 3.9994e-02 5.23386e-02 1.0000 3.9994e-02 3\n", + " 7 2.8113e-01 1.7474e-01 1.8296e-05 1.0620e-02 6.90880e-02 0.2500 1.0620e-02 2\n", + " 8 2.6591e-01 1.7474e-01 1.5153e-05 9.1019e-03 2.73908e-02 0.0020 1.0604e-02 1\n", + " 9 2.6591e-01 1.7474e-01 1.5153e-05 9.1019e-03 2.73849e-02 1.0000 9.1019e-03 1\n", + " 10 2.5880e-01 1.7474e-01 6.2420e-06 8.4000e-03 3.71364e-02 0.5000 8.4000e-03 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8429e+02 1.8413e-01 4.8041e+01 3.6891e-01 1.09290e+00 1.0000 ---- 3\n", + " 2 5.7896e+01 1.7469e-01 2.2915e+00 3.4807e+00 2.89380e-01 1.0000 3.4807e+00 3\n", + " 3 1.7161e+00 1.7474e-01 6.1976e-03 1.4794e-01 2.54126e-01 0.2500 1.4794e-01 3\n", + " 4 1.5552e+00 1.7473e-01 4.6946e-03 1.3335e-01 1.04957e-01 1.0000 1.3335e-01 3\n", + " 5 5.9473e-01 1.7473e-01 3.0147e-04 4.1698e-02 1.33715e-01 0.2500 4.1698e-02 3\n", + " 6 5.7699e-01 1.7473e-01 2.2882e-04 3.9997e-02 5.22573e-02 1.0000 3.9997e-02 3\n", + " 7 2.5828e-01 1.7473e-01 1.8610e-05 8.3360e-03 6.82207e-02 0.2500 8.3360e-03 2\n", + " 8 2.5313e-01 1.7473e-01 1.5399e-05 7.8249e-03 2.72795e-02 0.0020 9.0088e-03 1\n", + " 9 2.5313e-01 1.7473e-01 1.5399e-05 7.8249e-03 2.72734e-02 0.5000 7.8249e-03 1\n", + " 10 2.3346e-01 1.7473e-01 8.6995e-06 5.8639e-03 6.43194e-03 1.0000 5.8639e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8428e+02 1.8412e-01 4.8066e+01 3.4346e-01 1.09299e+00 1.0000 ---- 3\n", + " 2 5.7203e+01 1.7469e-01 2.2759e+00 3.4269e+00 2.88888e-01 1.0000 3.4269e+00 3\n", + " 3 2.3511e+00 1.7473e-01 6.2073e-03 2.1143e-01 2.54818e-01 0.2500 2.1143e-01 3\n", + " 4 1.9300e+00 1.7472e-01 4.6963e-03 1.7083e-01 1.05086e-01 1.0000 1.7083e-01 3\n", + " 5 4.8937e-01 1.7473e-01 2.9704e-04 3.1167e-02 1.34235e-01 0.2500 3.1167e-02 3\n", + " 6 4.7893e-01 1.7472e-01 2.2511e-04 3.0196e-02 5.19393e-02 1.0000 3.0196e-02 3\n", + " 7 2.9937e-01 1.7472e-01 1.8538e-05 1.2447e-02 6.85877e-02 0.2500 1.2447e-02 2\n", + " 8 2.7315e-01 1.7472e-01 1.5409e-05 9.8277e-03 2.72750e-02 1.0000 9.8277e-03 2\n", + " 9 1.8704e-01 1.7472e-01 4.7774e-06 1.2266e-03 3.83270e-02 0.0020 3.4504e-03 1\n", + " 10 1.8704e-01 1.7472e-01 4.7774e-06 1.2266e-03 3.83076e-02 0.0625 1.7080e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8319e+02 1.8411e-01 4.7938e+01 3.6184e-01 1.08785e+00 1.0000 ---- 3\n", + " 2 5.6644e+01 1.7467e-01 2.2914e+00 3.3556e+00 2.80697e-01 1.0000 3.3556e+00 3\n", + " 3 2.1962e+00 1.7472e-01 6.4021e-03 1.9575e-01 2.34201e-01 0.5000 1.9575e-01 3\n", + " 4 2.0536e+00 1.7471e-01 3.4139e-03 1.8448e-01 6.49566e-02 1.0000 1.8448e-01 3\n", + " 5 1.7979e-01 1.7471e-01 4.2204e-05 4.6580e-04 1.15705e-01 0.0625 1.7203e-03 1\n", + " 6 1.7976e-01 1.7471e-01 3.9632e-05 4.6495e-04 9.46612e-02 0.1250 1.7237e-03 1\n", + " 7 1.7932e-01 1.7471e-01 3.4854e-05 4.2594e-04 6.06399e-02 0.1250 1.7292e-03 1\n", + " 8 1.7905e-01 1.7471e-01 3.0564e-05 4.0287e-04 3.91722e-02 0.1250 1.7329e-03 1\n", + " 9 1.7865e-01 1.7471e-01 2.6765e-05 3.6750e-04 2.55472e-02 0.1250 1.7355e-03 1\n", + " 10 1.7838e-01 1.7471e-01 2.3422e-05 3.4308e-04 1.68618e-02 0.2500 1.7375e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8297e+02 1.8410e-01 4.8003e+01 2.7558e-01 1.09175e+00 1.0000 ---- 3\n", + " 2 5.7788e+01 1.7467e-01 2.2680e+00 3.4934e+00 2.88909e-01 1.0000 3.4934e+00 3\n", + " 3 1.6632e+00 1.7471e-01 6.2288e-03 1.4262e-01 2.55184e-01 0.2500 1.4262e-01 3\n", + " 4 1.4766e+00 1.7471e-01 4.7204e-03 1.2547e-01 1.04616e-01 1.0000 1.2547e-01 3\n", + " 5 5.1640e-01 1.7471e-01 2.9932e-04 3.3870e-02 1.34084e-01 0.2500 3.3870e-02 3\n", + " 6 5.1167e-01 1.7470e-01 2.2734e-04 3.3469e-02 5.21030e-02 1.0000 3.3469e-02 3\n", + " 7 2.6756e-01 1.7470e-01 1.8680e-05 9.2668e-03 6.84149e-02 0.2500 9.2668e-03 2\n", + " 8 2.5283e-01 1.7470e-01 1.5454e-05 7.7970e-03 2.73746e-02 0.0020 9.4143e-03 1\n", + " 9 2.5283e-01 1.7470e-01 1.5454e-05 7.7970e-03 2.73680e-02 1.0000 7.7970e-03 1\n", + " 10 2.4707e-01 1.7470e-01 6.4373e-06 7.2305e-03 3.69986e-02 0.5000 7.2305e-03 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8244e+02 1.8409e-01 4.7986e+01 2.3997e-01 1.09119e+00 1.0000 ---- 3\n", + " 2 5.7553e+01 1.7466e-01 2.2745e+00 3.4633e+00 2.89597e-01 1.0000 3.4633e+00 3\n", + " 3 2.0747e+00 1.7470e-01 6.2418e-03 1.8375e-01 2.56498e-01 0.2500 1.8375e-01 3\n", + " 4 1.7258e+00 1.7470e-01 4.7277e-03 1.5038e-01 1.05083e-01 1.0000 1.5038e-01 3\n", + " 5 3.7345e-01 1.7470e-01 3.0477e-04 1.9570e-02 1.34683e-01 0.1250 1.9570e-02 3\n", + " 6 3.6812e-01 1.7470e-01 2.6744e-04 1.9075e-02 9.31121e-02 0.2500 1.9075e-02 3\n", + " 7 3.5472e-01 1.7470e-01 2.0205e-04 1.7800e-02 3.78743e-02 1.0000 1.7800e-02 3\n", + " 8 2.1627e-01 1.7470e-01 1.0341e-05 4.1473e-03 4.77763e-02 0.0020 7.8996e-03 1\n", + " 9 2.1627e-01 1.7470e-01 1.0341e-05 4.1473e-03 4.77623e-02 0.1250 4.1473e-03 1\n", + " 10 2.1460e-01 1.7470e-01 9.2274e-06 3.9815e-03 3.35649e-02 0.0625 5.3361e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8241e+02 1.8408e-01 4.7981e+01 2.4124e-01 1.09557e+00 1.0000 ---- 3\n", + " 2 5.4998e+01 1.7465e-01 2.2615e+00 3.2208e+00 2.94485e-01 1.0000 3.2208e+00 3\n", + " 3 2.4963e+00 1.7469e-01 6.6859e-03 2.2547e-01 2.61056e-01 0.5000 2.2547e-01 3\n", + " 4 2.1000e+00 1.7468e-01 3.5319e-03 1.8900e-01 7.25078e-02 1.0000 1.8900e-01 3\n", + " 5 1.7525e-01 1.7469e-01 5.6435e-05 0.0000e+00 1.31251e-01 0.5000 1.7128e-03 1\n", + " 6 1.7501e-01 1.7468e-01 3.2836e-05 0.0000e+00 6.67037e-02 0.5000 1.7429e-03 1\n", + " 7 1.7485e-01 1.7468e-01 1.6325e-05 0.0000e+00 4.19220e-02 1.0000 1.7320e-03 1\n", + " 8 1.7469e-01 1.7468e-01 6.4647e-07 0.0000e+00 1.00161e-01 0.5000 1.7722e-03 1\n", + " 9 1.7469e-01 1.7468e-01 6.3288e-07 0.0000e+00 7.09103e-02 1.0000 1.7324e-03 1\n", + " 10 1.7469e-01 1.7468e-01 4.5555e-07 0.0000e+00 1.76936e-01 0.1250 1.8132e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8151e+02 1.8406e-01 4.7960e+01 1.7317e-01 1.13227e+00 1.0000 ---- 3\n", + " 2 5.6616e+01 1.7463e-01 2.2929e+00 3.3512e+00 4.33117e-01 1.0000 3.3512e+00 3\n", + " 3 2.0826e+00 1.7467e-01 6.5410e-03 1.8425e-01 7.04851e-01 0.2500 1.8425e-01 3\n", + " 4 1.6651e+00 1.7465e-01 4.9518e-03 1.4409e-01 1.44679e-01 1.0000 1.4409e-01 3\n", + " 5 2.2920e-01 1.7465e-01 3.0482e-04 5.1499e-03 2.54396e-01 0.0625 5.1499e-03 2\n", + " 6 2.2663e-01 1.7465e-01 2.8599e-04 4.9119e-03 2.05020e-01 0.1250 4.9119e-03 2\n", + " 7 2.2560e-01 1.7465e-01 2.5093e-04 4.8448e-03 1.27677e-01 0.0020 9.1995e-03 1\n", + " 8 2.2560e-01 1.7465e-01 2.5093e-04 4.8448e-03 1.27613e-01 0.1250 4.8448e-03 1\n", + " 9 2.2459e-01 1.7465e-01 2.1979e-04 4.7743e-03 8.10477e-02 0.0625 6.4494e-03 1\n", + " 10 2.2396e-01 1.7465e-01 2.0607e-04 4.7255e-03 6.67668e-02 0.2500 4.7255e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8092e+02 1.8402e-01 4.7909e+01 1.6484e-01 1.08603e+00 1.0000 ---- 3\n", + " 2 5.7622e+01 1.7459e-01 2.2822e+00 3.4626e+00 2.82222e-01 1.0000 3.4626e+00 3\n", + " 3 2.7187e+00 1.7464e-01 6.1642e-03 2.4824e-01 2.44740e-01 0.5000 2.4824e-01 3\n", + " 4 2.1703e+00 1.7463e-01 3.2734e-03 1.9629e-01 8.89478e-02 1.0000 1.9629e-01 3\n", + " 5 2.0237e-01 1.7463e-01 4.8201e-05 2.7259e-03 1.88004e-01 0.0020 6.6229e-03 1\n", + " 6 2.0237e-01 1.7463e-01 4.8201e-05 2.7259e-03 1.87925e-01 0.1250 2.7259e-03 1\n", + " 7 2.0090e-01 1.7463e-01 4.2549e-05 2.5847e-03 1.12536e-01 0.1250 4.4186e-03 1\n", + " 8 2.0053e-01 1.7463e-01 3.7381e-05 2.5525e-03 6.81623e-02 0.5000 2.8422e-03 1\n", + " 9 1.9626e-01 1.7463e-01 1.9637e-05 2.1435e-03 4.10716e-02 1.0000 2.8424e-03 1\n", + " 10 1.8717e-01 1.7463e-01 1.5715e-06 1.2525e-03 9.33026e-02 0.5000 1.7192e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8152e+02 1.8400e-01 4.7964e+01 1.6962e-01 1.10836e+00 1.0000 ---- 3\n", + " 2 5.6635e+01 1.7458e-01 2.2844e+00 3.3617e+00 3.59920e-01 1.0000 3.3617e+00 3\n", + " 3 2.7250e+00 1.7462e-01 6.3619e-03 2.4867e-01 4.87158e-01 0.1250 2.4867e-01 3\n", + " 4 2.5374e+00 1.7461e-01 5.5769e-03 2.3070e-01 3.03076e-01 0.2500 2.3070e-01 3\n", + " 5 2.3787e+00 1.7460e-01 4.2120e-03 2.1620e-01 8.59888e-02 1.0000 2.1620e-01 3\n", + " 6 7.7528e-01 1.7461e-01 2.0655e-04 5.9861e-02 1.26504e-01 0.2500 5.9861e-02 3\n", + " 7 7.4745e-01 1.7460e-01 1.5617e-04 5.7128e-02 4.02025e-02 1.0000 5.7128e-02 3\n", + " 8 3.0062e-01 1.7460e-01 1.0099e-05 1.2591e-02 5.66965e-02 0.2500 1.2591e-02 3\n", + " 9 2.7755e-01 1.7460e-01 8.3164e-06 1.0286e-02 1.99606e-02 1.0000 1.0286e-02 3\n", + " 10 1.8354e-01 1.7460e-01 2.4600e-06 8.9129e-04 2.97786e-02 0.0020 3.0363e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8209e+02 1.8397e-01 4.7937e+01 2.5424e-01 1.09148e+00 1.0000 ---- 3\n", + " 2 5.8543e+01 1.7455e-01 2.2835e+00 3.5534e+00 2.91291e-01 1.0000 3.5534e+00 3\n", + " 3 2.8869e+00 1.7460e-01 6.1526e-03 2.6508e-01 2.72064e-01 0.5000 2.6508e-01 3\n", + " 4 2.7343e+00 1.7459e-01 3.2698e-03 2.5270e-01 1.04436e-01 1.0000 2.5270e-01 3\n", + " 5 2.3258e-01 1.7459e-01 4.6467e-05 5.7526e-03 2.19392e-01 0.1250 5.7526e-03 2\n", + " 6 2.3007e-01 1.7459e-01 4.1147e-05 5.5067e-03 1.33072e-01 0.2500 5.5067e-03 2\n", + " 7 2.2166e-01 1.7459e-01 3.1686e-05 4.6759e-03 2.85544e-02 1.0000 4.6759e-03 2\n", + " 8 1.7460e-01 1.7458e-01 1.4448e-06 0.0000e+00 5.88300e-02 0.2500 1.7441e-03 1\n", + " 9 1.7460e-01 1.7458e-01 1.2434e-06 0.0000e+00 1.38008e-02 0.5000 1.7471e-03 1\n", + " 10 1.7459e-01 1.7458e-01 7.4502e-07 0.0000e+00 7.04772e-03 1.0000 1.7533e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8222e+02 1.8395e-01 4.7961e+01 2.4261e-01 1.08821e+00 1.0000 ---- 3\n", + " 2 5.6644e+01 1.7453e-01 2.2737e+00 3.3733e+00 2.68124e-01 1.0000 3.3733e+00 3\n", + " 3 2.0338e+00 1.7457e-01 6.1962e-03 1.7972e-01 2.16602e-01 0.5000 1.7972e-01 3\n", + " 4 1.9331e+00 1.7456e-01 3.2803e-03 1.7257e-01 6.23312e-02 1.0000 1.7257e-01 3\n", + " 5 4.0201e-01 1.7457e-01 3.7318e-05 2.2707e-02 1.13512e-01 0.2500 2.2707e-02 3\n", + " 6 3.7832e-01 1.7457e-01 2.8555e-05 2.0347e-02 3.13434e-02 1.0000 2.0347e-02 3\n", + " 7 2.2840e-01 1.7456e-01 1.4804e-06 5.3823e-03 5.67766e-02 0.2500 5.3823e-03 2\n", + " 8 2.1332e-01 1.7456e-01 1.2920e-06 3.8743e-03 1.65815e-02 1.0000 3.8743e-03 2\n", + " 9 1.7803e-01 1.7456e-01 4.3579e-07 3.4593e-04 3.03384e-02 0.0020 1.7411e-03 1\n", + " 10 1.7803e-01 1.7456e-01 4.3579e-07 3.4593e-04 3.03228e-02 0.0312 1.7411e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8237e+02 1.8393e-01 4.7936e+01 2.8298e-01 1.09434e+00 1.0000 ---- 3\n", + " 2 5.6524e+01 1.7451e-01 2.2849e+00 3.3500e+00 2.97470e-01 1.0000 3.3500e+00 3\n", + " 3 4.4925e+00 1.7455e-01 6.2329e-03 4.2557e-01 2.70553e-01 0.5000 4.2557e-01 3\n", + " 4 3.5793e+00 1.7454e-01 3.2954e-03 3.3718e-01 9.17401e-02 1.0000 3.3718e-01 3\n", + " 5 5.0768e-01 1.7455e-01 4.6774e-05 3.3266e-02 1.78545e-01 0.1250 3.3266e-02 3\n", + " 6 4.8505e-01 1.7455e-01 4.1149e-05 3.1009e-02 1.10612e-01 0.2500 3.1009e-02 3\n", + " 7 4.3892e-01 1.7455e-01 3.1250e-05 2.6406e-02 2.73053e-02 1.0000 2.6406e-02 3\n", + " 8 1.8619e-01 1.7455e-01 1.0554e-06 1.1636e-03 5.21435e-02 0.0020 1.9451e-03 1\n", + " 9 1.8619e-01 1.7455e-01 1.0554e-06 1.1636e-03 5.21212e-02 0.1250 1.7434e-03 1\n", + " 10 1.8579e-01 1.7455e-01 9.2672e-07 1.1233e-03 3.30004e-02 0.1250 1.7438e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8099e+02 1.8391e-01 4.7862e+01 2.1902e-01 1.08805e+00 1.0000 ---- 3\n", + " 2 5.4720e+01 1.7449e-01 2.2699e+00 3.1846e+00 2.77764e-01 1.0000 3.1846e+00 3\n", + " 3 1.5890e+00 1.7453e-01 6.2054e-03 1.3524e-01 2.34286e-01 0.2500 1.3524e-01 3\n", + " 4 1.4087e+00 1.7453e-01 4.6973e-03 1.1872e-01 9.69188e-02 1.0000 1.1872e-01 3\n", + " 5 4.6930e-01 1.7453e-01 2.8978e-04 2.9188e-02 1.21062e-01 0.2500 2.9188e-02 3\n", + " 6 4.4821e-01 1.7453e-01 2.1900e-04 2.7149e-02 4.86676e-02 1.0000 2.7149e-02 3\n", + " 7 3.0040e-01 1.7452e-01 1.6901e-05 1.2571e-02 6.25523e-02 0.5000 1.2571e-02 2\n", + " 8 2.8318e-01 1.7452e-01 1.2701e-05 1.0853e-02 1.84176e-02 1.0000 1.0853e-02 2\n", + " 9 1.7616e-01 1.7452e-01 5.4014e-07 1.6275e-04 3.48687e-02 0.0020 1.7360e-03 1\n", + " 10 1.7616e-01 1.7452e-01 5.4014e-07 1.6275e-04 3.48540e-02 0.1250 1.7360e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8083e+02 1.8389e-01 4.7888e+01 1.7641e-01 1.09139e+00 1.0000 ---- 3\n", + " 2 5.5850e+01 1.7447e-01 2.2830e+00 3.2846e+00 2.95305e-01 1.0000 3.2846e+00 3\n", + " 3 3.3154e+00 1.7451e-01 6.1491e-03 3.0794e-01 2.66291e-01 0.5000 3.0794e-01 3\n", + " 4 2.8675e+00 1.7450e-01 3.2437e-03 2.6605e-01 9.22263e-02 1.0000 2.6605e-01 3\n", + " 5 2.8648e-01 1.7451e-01 5.1691e-05 1.1146e-02 1.83821e-01 0.0020 1.1146e-02 1\n", + " 6 2.8648e-01 1.7451e-01 5.1691e-05 1.1146e-02 1.83746e-01 0.1250 1.1146e-02 1\n", + " 7 2.8547e-01 1.7451e-01 4.5578e-05 1.1050e-02 1.13163e-01 0.0625 1.1050e-02 1\n", + " 8 2.8478e-01 1.7450e-01 4.2765e-05 1.0984e-02 9.16730e-02 0.2500 1.0984e-02 1\n", + " 9 2.8280e-01 1.7450e-01 3.2464e-05 1.0797e-02 2.31160e-02 1.0000 1.0797e-02 1\n", + " 10 2.6125e-01 1.7450e-01 1.6307e-06 8.6725e-03 4.19904e-02 0.5000 8.6725e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8097e+02 1.8387e-01 4.7881e+01 1.9822e-01 1.09008e+00 1.0000 ---- 3\n", + " 2 5.5485e+01 1.7445e-01 2.2707e+00 3.2604e+00 2.95046e-01 1.0000 3.2604e+00 3\n", + " 3 2.8495e+00 1.7449e-01 6.1080e-03 2.6139e-01 2.83106e-01 0.5000 2.6139e-01 3\n", + " 4 2.6776e+00 1.7448e-01 3.2284e-03 2.4709e-01 1.07348e-01 1.0000 2.4709e-01 3\n", + " 5 2.9249e-01 1.7448e-01 5.4689e-05 1.1746e-02 2.22752e-01 0.2500 1.1746e-02 2\n", + " 6 2.7697e-01 1.7448e-01 4.2132e-05 1.0207e-02 4.81616e-02 0.0020 1.0207e-02 1\n", + " 7 2.7697e-01 1.7448e-01 4.2132e-05 1.0207e-02 4.81322e-02 1.0000 1.0207e-02 1\n", + " 8 2.1870e-01 1.7448e-01 5.3066e-06 4.4166e-03 9.50181e-02 0.1250 4.4166e-03 1\n", + " 9 2.1794e-01 1.7448e-01 4.7087e-06 4.3410e-03 5.82590e-02 0.1250 4.3410e-03 1\n", + " 10 2.1653e-01 1.7448e-01 4.1528e-06 4.2011e-03 3.59205e-02 0.5000 4.2011e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8128e+02 1.8384e-01 4.7892e+01 2.1782e-01 1.09033e+00 1.0000 ---- 3\n", + " 2 5.5410e+01 1.7442e-01 2.2729e+00 3.2507e+00 2.88129e-01 1.0000 3.2507e+00 3\n", + " 3 2.6818e+00 1.7446e-01 6.0768e-03 2.4466e-01 2.67710e-01 0.5000 2.4466e-01 3\n", + " 4 2.6588e+00 1.7445e-01 3.2079e-03 2.4523e-01 1.03584e-01 1.0000 2.4523e-01 3\n", + " 5 4.8139e-01 1.7445e-01 5.4541e-05 3.0639e-02 2.16135e-01 0.1250 3.0639e-02 3\n", + " 6 4.7796e-01 1.7445e-01 4.7952e-05 3.0303e-02 1.29975e-01 0.2500 3.0303e-02 3\n", + " 7 4.5151e-01 1.7445e-01 3.6343e-05 2.7669e-02 2.71672e-02 1.0000 2.7669e-02 3\n", + " 8 1.8692e-01 1.7445e-01 9.7102e-07 1.2455e-03 5.51236e-02 0.0020 1.7338e-03 1\n", + " 9 1.8692e-01 1.7445e-01 9.7102e-07 1.2455e-03 5.50955e-02 0.1250 1.7338e-03 1\n", + " 10 1.8578e-01 1.7445e-01 8.6374e-07 1.1320e-03 3.42320e-02 0.1250 1.7342e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8113e+02 1.8381e-01 4.7880e+01 2.1431e-01 1.08678e+00 1.0000 ---- 3\n", + " 2 5.5846e+01 1.7439e-01 2.2741e+00 3.2931e+00 2.67446e-01 1.0000 3.2931e+00 3\n", + " 3 2.6491e+00 1.7443e-01 6.0887e-03 2.4138e-01 2.14770e-01 0.2500 2.4138e-01 3\n", + " 4 2.1655e+00 1.7443e-01 4.6088e-03 1.9450e-01 9.27581e-02 1.0000 1.9450e-01 3\n", + " 5 3.3385e-01 1.7443e-01 3.0137e-04 1.5641e-02 1.12718e-01 0.1250 1.5641e-02 3\n", + " 6 3.1708e-01 1.7443e-01 2.6411e-04 1.4001e-02 7.81902e-02 0.2500 1.4001e-02 3\n", + " 7 3.0378e-01 1.7443e-01 1.9892e-04 1.2736e-02 3.34010e-02 1.0000 1.2736e-02 3\n", + " 8 2.5817e-01 1.7443e-01 9.5620e-06 8.3641e-03 4.00851e-02 0.5000 8.3641e-03 2\n", + " 9 2.2599e-01 1.7443e-01 6.9189e-06 5.1494e-03 1.20480e-02 0.0020 5.1506e-03 1\n", + " 10 2.2599e-01 1.7443e-01 6.9189e-06 5.1494e-03 1.20348e-02 1.0000 5.1494e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8145e+02 1.8379e-01 4.7908e+01 2.1882e-01 1.09142e+00 1.0000 ---- 3\n", + " 2 5.5768e+01 1.7437e-01 2.2809e+00 3.2785e+00 2.83631e-01 1.0000 3.2785e+00 3\n", + " 3 3.7646e+00 1.7441e-01 6.1150e-03 3.5290e-01 2.37003e-01 0.5000 3.5290e-01 3\n", + " 4 3.3719e+00 1.7441e-01 3.2193e-03 3.1653e-01 6.82880e-02 1.0000 3.1653e-01 3\n", + " 5 2.2822e-01 1.7441e-01 4.3978e-05 5.3367e-03 1.30461e-01 0.0039 6.2342e-03 1\n", + " 6 2.2821e-01 1.7441e-01 4.3806e-05 5.3363e-03 1.28875e-01 0.0625 5.3363e-03 1\n", + " 7 2.2784e-01 1.7441e-01 4.1102e-05 5.3021e-03 1.04787e-01 0.0312 5.3021e-03 1\n", + " 8 2.2762e-01 1.7441e-01 3.9824e-05 5.2809e-03 9.50476e-02 0.0625 5.2809e-03 1\n", + " 9 2.2683e-01 1.7441e-01 3.7353e-05 5.2042e-03 7.74129e-02 0.0625 5.2042e-03 1\n", + " 10 2.2617e-01 1.7441e-01 3.5030e-05 5.1411e-03 6.31033e-02 0.1250 5.1411e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8141e+02 1.8377e-01 4.7921e+01 2.0204e-01 1.09550e+00 1.0000 ---- 3\n", + " 2 5.7818e+01 1.7435e-01 2.2900e+00 3.4744e+00 3.07350e-01 1.0000 3.4744e+00 3\n", + " 3 3.8905e+00 1.7439e-01 6.2352e-03 3.6537e-01 2.97933e-01 0.2500 3.6537e-01 3\n", + " 4 3.2127e+00 1.7439e-01 4.7211e-03 2.9911e-01 1.14079e-01 1.0000 2.9911e-01 3\n", + " 5 5.5929e-01 1.7439e-01 3.0380e-04 3.8186e-02 1.55615e-01 0.1250 3.8186e-02 3\n", + " 6 5.3937e-01 1.7439e-01 2.6601e-04 3.6232e-02 1.05008e-01 0.2500 3.6232e-02 3\n", + " 7 5.0120e-01 1.7439e-01 2.0036e-04 3.2481e-02 3.97071e-02 1.0000 3.2481e-02 3\n", + " 8 2.7850e-01 1.7439e-01 9.2889e-06 1.0402e-02 5.31302e-02 0.5000 1.0402e-02 2\n", + " 9 2.5960e-01 1.7439e-01 7.3898e-06 8.5135e-03 1.63927e-02 1.0000 8.5135e-03 2\n", + " 10 1.7757e-01 1.7439e-01 2.5163e-07 3.1774e-04 3.29798e-02 0.0020 1.7527e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8164e+02 1.8375e-01 4.7825e+01 3.1988e-01 1.09046e+00 1.0000 ---- 3\n", + " 2 5.5648e+01 1.7433e-01 2.2813e+00 3.2660e+00 3.01601e-01 1.0000 3.2660e+00 3\n", + " 3 2.2499e+00 1.7437e-01 6.2689e-03 2.0128e-01 2.84883e-01 0.2500 2.0128e-01 3\n", + " 4 1.9918e+00 1.7437e-01 4.7441e-03 1.7700e-01 1.09189e-01 1.0000 1.7700e-01 3\n", + " 5 6.0893e-01 1.7437e-01 2.9377e-04 4.3162e-02 1.46038e-01 0.1250 4.3162e-02 3\n", + " 6 5.6881e-01 1.7437e-01 2.5740e-04 3.9187e-02 9.93453e-02 0.2500 3.9187e-02 3\n", + " 7 4.9696e-01 1.7437e-01 1.9379e-04 3.2066e-02 3.85818e-02 1.0000 3.2066e-02 3\n", + " 8 2.0079e-01 1.7437e-01 9.5686e-06 2.6330e-03 4.96732e-02 0.0039 4.8561e-03 1\n", + " 9 2.0079e-01 1.7437e-01 9.5314e-06 2.6328e-03 4.91748e-02 0.1250 2.6328e-03 1\n", + " 10 2.0023e-01 1.7437e-01 8.4667e-06 2.5778e-03 3.40524e-02 0.0625 3.3628e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8037e+02 1.8372e-01 4.7851e+01 1.6751e-01 1.09065e+00 1.0000 ---- 3\n", + " 2 5.4272e+01 1.7431e-01 2.2644e+00 3.1454e+00 2.82944e-01 1.0000 3.1454e+00 3\n", + " 3 1.9132e+00 1.7435e-01 6.5232e-03 1.6736e-01 2.32599e-01 0.2500 1.6736e-01 3\n", + " 4 1.6421e+00 1.7435e-01 4.9354e-03 1.4184e-01 9.93707e-02 1.0000 1.4184e-01 3\n", + " 5 3.7683e-01 1.7435e-01 3.0152e-04 1.9947e-02 1.19505e-01 0.1250 1.9947e-02 3\n", + " 6 3.6270e-01 1.7435e-01 2.6411e-04 1.8571e-02 8.36609e-02 0.2500 1.8571e-02 3\n", + " 7 3.4256e-01 1.7435e-01 1.9917e-04 1.6622e-02 3.57512e-02 1.0000 1.6622e-02 3\n", + " 8 2.4601e-01 1.7435e-01 9.4322e-06 7.1575e-03 4.28341e-02 0.5000 7.1575e-03 2\n", + " 9 2.2469e-01 1.7434e-01 7.1236e-06 5.0273e-03 1.28363e-02 0.0020 7.0394e-03 1\n", + " 10 2.2469e-01 1.7434e-01 7.1236e-06 5.0273e-03 1.28255e-02 1.0000 5.0273e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8029e+02 1.8370e-01 4.7835e+01 1.7483e-01 1.09019e+00 1.0000 ---- 3\n", + " 2 5.5543e+01 1.7429e-01 2.2763e+00 3.2606e+00 2.89287e-01 1.0000 3.2606e+00 3\n", + " 3 2.4145e+00 1.7433e-01 6.1353e-03 2.1788e-01 2.53023e-01 0.2500 2.1788e-01 3\n", + " 4 1.9424e+00 1.7432e-01 4.6434e-03 1.7217e-01 1.01563e-01 1.0000 1.7217e-01 3\n", + " 5 5.5154e-01 1.7432e-01 2.7796e-04 3.7444e-02 1.27898e-01 0.2500 3.7444e-02 3\n", + " 6 5.3824e-01 1.7432e-01 2.0990e-04 3.6182e-02 5.06267e-02 1.0000 3.6182e-02 3\n", + " 7 3.8014e-01 1.7432e-01 1.5802e-05 2.0566e-02 6.55206e-02 0.5000 2.0566e-02 3\n", + " 8 3.6500e-01 1.7432e-01 1.2372e-05 1.9056e-02 1.88844e-02 1.0000 1.9056e-02 3\n", + " 9 1.9599e-01 1.7432e-01 5.3822e-07 2.1659e-03 3.71456e-02 0.0078 2.8492e-03 1\n", + " 10 1.9598e-01 1.7432e-01 5.3406e-07 2.1657e-03 3.62963e-02 0.2500 2.1657e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8067e+02 1.8368e-01 4.7887e+01 1.6141e-01 1.08857e+00 1.0000 ---- 3\n", + " 2 5.7443e+01 1.7426e-01 2.2817e+00 3.4452e+00 2.77558e-01 1.0000 3.4452e+00 3\n", + " 3 2.3628e+00 1.7431e-01 6.0027e-03 2.1285e-01 2.22808e-01 0.5000 2.1285e-01 3\n", + " 4 2.1810e+00 1.7430e-01 3.1773e-03 1.9749e-01 6.48373e-02 1.0000 1.9749e-01 3\n", + " 5 2.3624e-01 1.7431e-01 4.2174e-05 6.1509e-03 1.22664e-01 0.0020 6.1509e-03 1\n", + " 6 2.3624e-01 1.7431e-01 4.2174e-05 6.1509e-03 1.22614e-01 0.2500 6.1509e-03 1\n", + " 7 2.3544e-01 1.7431e-01 3.2416e-05 6.0806e-03 3.11280e-02 1.0000 6.0806e-03 1\n", + " 8 2.1816e-01 1.7431e-01 2.8369e-06 4.3828e-03 5.63666e-02 0.5000 4.3828e-03 1\n", + " 9 2.0455e-01 1.7431e-01 2.1311e-06 3.0220e-03 2.89145e-02 1.0000 3.0220e-03 1\n", + " 10 2.0341e-01 1.7431e-01 2.6827e-07 2.9106e-03 6.18109e-02 0.2500 2.9106e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8119e+02 1.8366e-01 4.7970e+01 1.3095e-01 1.08769e+00 1.0000 ---- 3\n", + " 2 5.7417e+01 1.7425e-01 2.2792e+00 3.4450e+00 2.63349e-01 1.0000 3.4450e+00 3\n", + " 3 2.3833e+00 1.7429e-01 6.0795e-03 2.1482e-01 2.12536e-01 0.5000 2.1482e-01 3\n", + " 4 2.0354e+00 1.7429e-01 3.2366e-03 1.8287e-01 5.89611e-02 1.0000 1.8287e-01 3\n", + " 5 1.9557e-01 1.7429e-01 4.1541e-05 2.0865e-03 1.06002e-01 0.2500 2.0865e-03 1\n", + " 6 1.9535e-01 1.7429e-01 3.1902e-05 2.0744e-03 2.95859e-02 1.0000 2.0744e-03 1\n", + " 7 1.7954e-01 1.7429e-01 2.8785e-06 5.2254e-04 5.18914e-02 0.5000 1.3490e-03 1\n", + " 8 1.7538e-01 1.7429e-01 2.1853e-06 1.0677e-04 2.45278e-02 0.0020 1.3450e-03 1\n", + " 9 1.7538e-01 1.7429e-01 2.1853e-06 1.0677e-04 2.45164e-02 1.0000 1.3449e-03 1\n", + " 10 1.7534e-01 1.7429e-01 4.0900e-07 1.0512e-04 4.94595e-02 0.0312 1.3473e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8277e+02 1.8364e-01 4.7931e+01 3.2745e-01 1.09400e+00 1.0000 ---- 3\n", + " 2 5.6081e+01 1.7424e-01 2.2673e+00 3.3234e+00 2.94530e-01 1.0000 3.3234e+00 3\n", + " 3 1.0984e+00 1.7428e-01 5.9996e-03 8.6416e-02 2.87508e-01 0.2500 8.6416e-02 3\n", + " 4 9.3426e-01 1.7428e-01 4.5438e-03 7.1455e-02 1.00563e-01 1.0000 7.1455e-02 3\n", + " 5 3.9345e-01 1.7428e-01 2.5881e-04 2.1659e-02 1.31281e-01 0.2500 2.1659e-02 3\n", + " 6 3.9163e-01 1.7427e-01 1.9596e-04 2.1540e-02 4.88327e-02 1.0000 2.1540e-02 3\n", + " 7 3.0200e-01 1.7427e-01 1.6794e-05 1.2756e-02 6.34685e-02 0.2500 1.2756e-02 3\n", + " 8 2.8165e-01 1.7427e-01 1.3660e-05 1.0724e-02 2.43416e-02 1.0000 1.0724e-02 2\n", + " 9 1.7957e-01 1.7427e-01 3.8958e-06 5.2551e-04 3.29993e-02 0.0020 1.5678e-03 1\n", + " 10 1.7957e-01 1.7427e-01 3.8958e-06 5.2551e-04 3.29819e-02 0.1250 1.5672e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8308e+02 1.8362e-01 4.7923e+01 3.6689e-01 1.08631e+00 1.0000 ---- 3\n", + " 2 5.8039e+01 1.7422e-01 2.2961e+00 3.4904e+00 2.75268e-01 1.0000 3.4904e+00 3\n", + " 3 1.5448e+00 1.7427e-01 6.0190e-03 1.3104e-01 2.38209e-01 0.2500 1.3104e-01 3\n", + " 4 1.4753e+00 1.7426e-01 4.5629e-03 1.2554e-01 9.79439e-02 1.0000 1.2554e-01 3\n", + " 5 6.1116e-01 1.7426e-01 3.1488e-04 4.3375e-02 1.23743e-01 0.2500 4.3375e-02 3\n", + " 6 5.8060e-01 1.7426e-01 2.3855e-04 4.0396e-02 4.87229e-02 1.0000 4.0396e-02 3\n", + " 7 3.3570e-01 1.7426e-01 2.0975e-05 1.6123e-02 6.41724e-02 0.2500 1.6123e-02 3\n", + " 8 3.2407e-01 1.7426e-01 1.6920e-05 1.4964e-02 2.50557e-02 1.0000 1.4964e-02 2\n", + " 9 2.0944e-01 1.7426e-01 4.7689e-06 3.5136e-03 3.51758e-02 0.0020 7.4742e-03 1\n", + " 10 2.0944e-01 1.7426e-01 4.7689e-06 3.5136e-03 3.51556e-02 0.2500 3.5136e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8281e+02 1.8361e-01 4.7969e+01 2.9370e-01 1.08833e+00 1.0000 ---- 3\n", + " 2 5.9808e+01 1.7421e-01 2.2885e+00 3.6749e+00 2.72121e-01 1.0000 3.6749e+00 3\n", + " 3 1.8094e+00 1.7426e-01 5.8034e-03 1.5771e-01 2.32336e-01 0.2500 1.5771e-01 3\n", + " 4 1.5886e+00 1.7426e-01 4.4006e-03 1.3704e-01 9.68959e-02 1.0000 1.3704e-01 3\n", + " 5 4.6612e-01 1.7426e-01 2.9924e-04 2.8888e-02 1.21348e-01 0.1250 2.8888e-02 3\n", + " 6 4.4536e-01 1.7426e-01 2.6220e-04 2.6848e-02 8.41428e-02 0.2500 2.6848e-02 3\n", + " 7 4.0693e-01 1.7425e-01 1.9769e-04 2.3070e-02 3.49490e-02 1.0000 2.3070e-02 3\n", + " 8 2.1911e-01 1.7425e-01 1.0687e-05 4.4748e-03 4.40638e-02 0.0156 7.5304e-03 1\n", + " 9 2.1911e-01 1.7425e-01 1.0522e-05 4.4749e-03 4.24033e-02 0.2500 4.4749e-03 1\n", + " 10 2.1754e-01 1.7425e-01 8.4521e-06 4.3204e-03 1.73966e-02 0.5000 4.7865e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8288e+02 1.8361e-01 4.7965e+01 3.0461e-01 1.08900e+00 1.0000 ---- 3\n", + " 2 5.7917e+01 1.7421e-01 2.2745e+00 3.4998e+00 2.74008e-01 1.0000 3.4998e+00 3\n", + " 3 2.3797e+00 1.7425e-01 6.0120e-03 2.1454e-01 2.35643e-01 0.5000 2.1454e-01 3\n", + " 4 2.2601e+00 1.7425e-01 3.2087e-03 2.0538e-01 6.57441e-02 1.0000 2.0538e-01 3\n", + " 5 2.1429e-01 1.7425e-01 4.6049e-05 3.9575e-03 1.12363e-01 0.0625 3.9575e-03 1\n", + " 6 2.1419e-01 1.7425e-01 4.3231e-05 3.9507e-03 9.25969e-02 0.5000 3.9507e-03 1\n", + " 7 2.1222e-01 1.7425e-01 2.4311e-05 3.7731e-03 3.87374e-02 0.5000 3.7731e-03 1\n", + " 8 2.0904e-01 1.7425e-01 1.2095e-05 3.4667e-03 1.91683e-02 1.0000 3.4667e-03 1\n", + " 9 1.9236e-01 1.7425e-01 4.1015e-07 1.8110e-03 3.94271e-02 0.2500 1.8110e-03 1\n", + " 10 1.9109e-01 1.7425e-01 3.3247e-07 1.6835e-03 8.72341e-03 1.0000 1.6835e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8320e+02 1.8360e-01 4.7969e+01 3.3272e-01 1.09310e+00 1.0000 ---- 3\n", + " 2 5.8541e+01 1.7420e-01 2.2745e+00 3.5622e+00 2.98952e-01 1.0000 3.5622e+00 3\n", + " 3 3.1676e+00 1.7425e-01 6.0425e-03 2.9329e-01 2.94067e-01 0.5000 2.9329e-01 3\n", + " 4 3.0573e+00 1.7424e-01 3.2194e-03 2.8508e-01 1.02105e-01 1.0000 2.8508e-01 3\n", + " 5 4.5660e-01 1.7424e-01 5.3468e-05 2.8183e-02 1.92223e-01 0.2500 2.8183e-02 3\n", + " 6 4.4588e-01 1.7424e-01 4.1452e-05 2.7122e-02 4.82720e-02 1.0000 2.7122e-02 3\n", + " 7 2.0412e-01 1.7424e-01 3.4718e-06 2.9846e-03 9.03524e-02 0.0020 2.9846e-03 1\n", + " 8 2.0412e-01 1.7424e-01 3.4718e-06 2.9846e-03 9.03125e-02 0.0625 2.9846e-03 1\n", + " 9 2.0318e-01 1.7424e-01 3.2692e-06 2.8907e-03 7.38071e-02 0.0625 2.8907e-03 1\n", + " 10 2.0313e-01 1.7424e-01 3.0733e-06 2.8861e-03 6.03788e-02 0.1250 2.8861e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8249e+02 1.8359e-01 4.7902e+01 3.2888e-01 1.08844e+00 1.0000 ---- 3\n", + " 2 5.6328e+01 1.7420e-01 2.2640e+00 3.3514e+00 2.76063e-01 1.0000 3.3514e+00 3\n", + " 3 9.7917e-01 1.7424e-01 6.2850e-03 7.4208e-02 2.57040e-01 0.2500 7.4208e-02 3\n", + " 4 9.0219e-01 1.7423e-01 4.7640e-03 6.8032e-02 9.67202e-02 1.0000 6.8032e-02 3\n", + " 5 2.9122e-01 1.7423e-01 3.0651e-04 1.1392e-02 1.25628e-01 0.1250 1.1392e-02 2\n", + " 6 2.7911e-01 1.7423e-01 2.6887e-04 1.0219e-02 8.58054e-02 0.2500 1.0219e-02 2\n", + " 7 2.6379e-01 1.7423e-01 2.0307e-04 8.7530e-03 3.61202e-02 0.0020 9.8368e-03 1\n", + " 8 2.6379e-01 1.7423e-01 2.0307e-04 8.7530e-03 3.60697e-02 1.0000 8.7530e-03 1\n", + " 9 2.6243e-01 1.7423e-01 1.6555e-05 8.8036e-03 4.54887e-02 0.5000 8.8036e-03 2\n", + " 10 2.2481e-01 1.7423e-01 1.1767e-05 5.0459e-03 1.39913e-02 0.0020 7.1589e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8251e+02 1.8358e-01 4.7937e+01 2.9582e-01 1.08644e+00 1.0000 ---- 3\n", + " 2 5.6958e+01 1.7419e-01 2.2619e+00 3.4164e+00 2.78344e-01 1.0000 3.4164e+00 3\n", + " 3 1.8833e+00 1.7423e-01 6.2842e-03 1.6463e-01 2.51545e-01 0.2500 1.6463e-01 3\n", + " 4 1.6098e+00 1.7423e-01 4.7641e-03 1.3879e-01 9.86074e-02 1.0000 1.3879e-01 3\n", + " 5 4.6086e-01 1.7423e-01 3.0906e-04 2.8354e-02 1.27375e-01 0.2500 2.8354e-02 3\n", + " 6 4.1375e-01 1.7423e-01 2.3458e-04 2.3718e-02 4.91056e-02 1.0000 2.3718e-02 3\n", + " 7 2.5434e-01 1.7423e-01 2.0951e-05 7.9907e-03 6.55514e-02 0.2500 7.9907e-03 2\n", + " 8 2.4298e-01 1.7423e-01 1.6894e-05 6.8587e-03 2.53460e-02 0.0020 1.0278e-02 1\n", + " 9 2.4298e-01 1.7423e-01 1.6894e-05 6.8587e-03 2.53346e-02 1.0000 6.8587e-03 1\n", + " 10 2.3488e-01 1.7423e-01 7.6942e-06 6.0581e-03 3.46206e-02 0.1250 6.6109e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8242e+02 1.8358e-01 4.7928e+01 2.9610e-01 1.08605e+00 1.0000 ---- 3\n", + " 2 5.9480e+01 1.7418e-01 2.2760e+00 3.6546e+00 2.74816e-01 1.0000 3.6546e+00 3\n", + " 3 1.6590e+00 1.7423e-01 5.8892e-03 1.4259e-01 2.41899e-01 0.2500 1.4259e-01 3\n", + " 4 1.4687e+00 1.7423e-01 4.4676e-03 1.2498e-01 9.86766e-02 1.0000 1.2498e-01 3\n", + " 5 4.4842e-01 1.7423e-01 3.0181e-04 2.7118e-02 1.26294e-01 0.1250 2.7118e-02 3\n", + " 6 4.2674e-01 1.7423e-01 2.6473e-04 2.4987e-02 8.72762e-02 0.2500 2.4987e-02 3\n", + " 7 3.8816e-01 1.7423e-01 1.9987e-04 2.1193e-02 3.59931e-02 1.0000 2.1193e-02 3\n", + " 8 2.1592e-01 1.7422e-01 1.2195e-05 4.1572e-03 4.60274e-02 0.0156 7.3108e-03 1\n", + " 9 2.1591e-01 1.7422e-01 1.2007e-05 4.1568e-03 4.42796e-02 0.2500 4.1568e-03 1\n", + " 10 2.1218e-01 1.7422e-01 9.7114e-06 3.7861e-03 1.80415e-02 0.5000 4.6492e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8231e+02 1.8358e-01 4.7907e+01 3.0551e-01 1.08824e+00 1.0000 ---- 3\n", + " 2 5.7038e+01 1.7419e-01 2.2644e+00 3.4220e+00 2.81709e-01 1.0000 3.4220e+00 3\n", + " 3 1.7218e+00 1.7423e-01 6.1164e-03 1.4864e-01 2.49504e-01 0.2500 1.4864e-01 3\n", + " 4 1.5000e+00 1.7423e-01 4.6353e-03 1.2794e-01 1.00905e-01 1.0000 1.2794e-01 3\n", + " 5 5.1474e-01 1.7423e-01 2.9212e-04 3.3760e-02 1.31103e-01 0.2500 3.3760e-02 3\n", + " 6 5.0239e-01 1.7422e-01 2.2187e-04 3.2595e-02 4.99259e-02 1.0000 3.2595e-02 3\n", + " 7 2.6296e-01 1.7422e-01 1.8409e-05 8.8550e-03 6.74275e-02 0.2500 8.8550e-03 2\n", + " 8 2.4818e-01 1.7422e-01 1.5162e-05 7.3806e-03 2.62619e-02 0.0020 8.6937e-03 1\n", + " 9 2.4818e-01 1.7422e-01 1.5162e-05 7.3806e-03 2.62474e-02 1.0000 7.3806e-03 1\n", + " 10 2.3787e-01 1.7422e-01 6.8183e-06 6.3577e-03 3.62175e-02 0.1250 7.7078e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8264e+02 1.8357e-01 4.7875e+01 3.7064e-01 1.08570e+00 1.0000 ---- 3\n", + " 2 5.7314e+01 1.7418e-01 2.2704e+00 3.4436e+00 2.80906e-01 1.0000 3.4436e+00 3\n", + " 3 1.5150e+00 1.7423e-01 5.9944e-03 1.2808e-01 2.46752e-01 0.2500 1.2808e-01 3\n", + " 4 1.3687e+00 1.7422e-01 4.5437e-03 1.1491e-01 9.91248e-02 1.0000 1.1491e-01 3\n", + " 5 6.2600e-01 1.7422e-01 2.7825e-04 4.4900e-02 1.27913e-01 0.2500 4.4900e-02 3\n", + " 6 5.6624e-01 1.7422e-01 2.1145e-04 3.8990e-02 5.00412e-02 1.0000 3.8990e-02 3\n", + " 7 2.3173e-01 1.7422e-01 2.2130e-05 5.7291e-03 6.71895e-02 0.2500 5.7291e-03 2\n", + " 8 2.2271e-01 1.7422e-01 1.7918e-05 4.8307e-03 2.62663e-02 0.0020 8.0922e-03 1\n", + " 9 2.2271e-01 1.7422e-01 1.7918e-05 4.8307e-03 2.62492e-02 0.5000 4.8307e-03 1\n", + " 10 2.1172e-01 1.7422e-01 1.0341e-05 3.7402e-03 6.47773e-03 1.0000 3.7402e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8300e+02 1.8357e-01 4.7915e+01 3.6631e-01 1.09166e+00 1.0000 ---- 3\n", + " 2 5.7803e+01 1.7418e-01 2.2723e+00 3.4906e+00 2.92449e-01 1.0000 3.4906e+00 3\n", + " 3 1.7795e+00 1.7423e-01 6.0207e-03 1.5450e-01 2.69115e-01 0.2500 1.5450e-01 3\n", + " 4 1.6030e+00 1.7422e-01 4.5572e-03 1.3832e-01 1.08389e-01 1.0000 1.3832e-01 3\n", + " 5 6.1760e-01 1.7422e-01 2.8762e-04 4.4050e-02 1.43553e-01 0.2500 4.4050e-02 3\n", + " 6 5.9330e-01 1.7422e-01 2.1968e-04 4.1688e-02 5.31774e-02 1.0000 4.1688e-02 3\n", + " 7 2.7142e-01 1.7422e-01 1.8946e-05 9.7012e-03 7.22719e-02 0.2500 9.7012e-03 2\n", + " 8 2.5936e-01 1.7422e-01 1.5891e-05 8.4982e-03 2.80334e-02 0.0020 1.0550e-02 1\n", + " 9 2.5936e-01 1.7422e-01 1.5891e-05 8.4982e-03 2.80238e-02 1.0000 8.4982e-03 1\n", + " 10 2.5481e-01 1.7422e-01 6.4053e-06 8.0525e-03 3.88853e-02 0.5000 8.0525e-03 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8319e+02 1.8357e-01 4.7927e+01 3.7374e-01 1.09176e+00 1.0000 ---- 3\n", + " 2 5.9342e+01 1.7418e-01 2.2809e+00 3.6358e+00 2.89433e-01 1.0000 3.6358e+00 3\n", + " 3 1.8084e+00 1.7423e-01 6.0279e-03 1.5739e-01 2.67578e-01 0.2500 1.5739e-01 3\n", + " 4 1.6393e+00 1.7422e-01 4.5673e-03 1.4194e-01 1.08525e-01 1.0000 1.4194e-01 3\n", + " 5 5.8208e-01 1.7422e-01 3.0796e-04 4.0477e-02 1.41816e-01 0.2500 4.0477e-02 3\n", + " 6 5.7572e-01 1.7422e-01 2.3471e-04 3.9915e-02 5.36124e-02 1.0000 3.9915e-02 3\n", + " 7 2.7760e-01 1.7422e-01 2.0614e-05 1.0317e-02 7.18511e-02 0.1250 1.0317e-02 3\n", + " 8 2.6880e-01 1.7422e-01 1.8468e-05 9.4392e-03 4.96910e-02 0.5000 9.4392e-03 2\n", + " 9 2.4691e-01 1.7422e-01 1.2776e-05 7.2561e-03 1.49379e-02 0.0020 1.0208e-02 1\n", + " 10 2.4691e-01 1.7422e-01 1.2776e-05 7.2561e-03 1.49226e-02 1.0000 7.2561e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8227e+02 1.8357e-01 4.7905e+01 3.0364e-01 1.09568e+00 1.0000 ---- 3\n", + " 2 5.8013e+01 1.7418e-01 2.2844e+00 3.4995e+00 2.98351e-01 1.0000 3.4995e+00 3\n", + " 3 3.6535e+00 1.7422e-01 5.9925e-03 3.4194e-01 2.86422e-01 0.5000 3.4194e-01 3\n", + " 4 2.9691e+00 1.7421e-01 3.1679e-03 2.7632e-01 9.34727e-02 1.0000 2.7632e-01 3\n", + " 5 3.6502e-01 1.7422e-01 5.9694e-05 1.9020e-02 1.78426e-01 0.2500 1.9020e-02 3\n", + " 6 3.4550e-01 1.7422e-01 4.6261e-05 1.7083e-02 4.35460e-02 1.0000 1.7083e-02 3\n", + " 7 1.9681e-01 1.7421e-01 4.4465e-06 2.2555e-03 7.89195e-02 0.0039 2.4632e-03 1\n", + " 8 1.9681e-01 1.7421e-01 4.4292e-06 2.2555e-03 7.79874e-02 0.0625 2.2555e-03 1\n", + " 9 1.9622e-01 1.7421e-01 4.1687e-06 2.1967e-03 6.38125e-02 0.0625 2.1967e-03 1\n", + " 10 1.9620e-01 1.7421e-01 3.9178e-06 2.1949e-03 5.23978e-02 0.1250 2.1949e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8197e+02 1.8356e-01 4.7867e+01 3.1173e-01 1.08618e+00 1.0000 ---- 3\n", + " 2 5.6232e+01 1.7417e-01 2.2623e+00 3.3435e+00 2.71863e-01 1.0000 3.3435e+00 3\n", + " 3 1.7204e+00 1.7421e-01 6.3551e-03 1.4826e-01 2.46641e-01 0.5000 1.4826e-01 3\n", + " 4 1.4471e+00 1.7421e-01 3.3850e-03 1.2391e-01 8.85713e-02 1.0000 1.2391e-01 3\n", + " 5 1.8327e-01 1.7421e-01 4.7160e-05 8.5965e-04 1.84196e-01 0.0312 1.8988e-03 1\n", + " 6 1.8326e-01 1.7421e-01 4.5712e-05 8.5959e-04 1.66002e-01 0.2500 1.8415e-03 1\n", + " 7 1.8245e-01 1.7420e-01 3.5627e-05 7.8947e-04 3.67251e-02 1.0000 1.6414e-03 1\n", + " 8 1.7870e-01 1.7420e-01 3.7864e-06 4.4612e-04 6.91909e-02 0.5000 1.6500e-03 1\n", + " 9 1.7634e-01 1.7420e-01 3.4810e-06 2.1063e-04 3.94929e-02 0.5000 1.6505e-03 1\n", + " 10 1.7608e-01 1.7420e-01 2.0408e-06 1.8566e-04 2.49153e-02 1.0000 1.6494e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8245e+02 1.8354e-01 4.7912e+01 3.1456e-01 1.10931e+00 1.0000 ---- 3\n", + " 2 5.8541e+01 1.7416e-01 2.2854e+00 3.5513e+00 3.71161e-01 1.0000 3.5513e+00 3\n", + " 3 6.5784e+00 1.7420e-01 6.3948e-03 6.3402e-01 4.97995e-01 0.1250 6.3402e-01 3\n", + " 4 6.0714e+00 1.7419e-01 5.6046e-03 5.8412e-01 3.16406e-01 0.2500 5.8412e-01 3\n", + " 5 5.1338e+00 1.7418e-01 4.2304e-03 4.9173e-01 1.00480e-01 1.0000 4.9173e-01 3\n", + " 6 9.2766e-01 1.7419e-01 2.0165e-04 7.5145e-02 1.50021e-01 0.1250 7.5145e-02 3\n", + " 7 8.6257e-01 1.7419e-01 1.7720e-04 6.8661e-02 9.65706e-02 0.2500 6.8661e-02 3\n", + " 8 7.2622e-01 1.7419e-01 1.3435e-04 5.5069e-02 3.30934e-02 1.0000 5.5069e-02 3\n", + " 9 2.3383e-01 1.7419e-01 7.2645e-06 5.9568e-03 4.51254e-02 0.5000 5.9568e-03 2\n", + " 10 2.0321e-01 1.7419e-01 5.7965e-06 2.8963e-03 1.92709e-02 0.0020 6.1256e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8134e+02 1.8352e-01 4.7836e+01 2.7903e-01 1.09048e+00 1.0000 ---- 3\n", + " 2 5.9321e+01 1.7413e-01 2.2947e+00 3.6200e+00 2.83298e-01 1.0000 3.6200e+00 3\n", + " 3 1.9008e+00 1.7418e-01 6.0538e-03 1.6661e-01 2.72223e-01 0.2500 1.6661e-01 3\n", + " 4 1.6947e+00 1.7418e-01 4.5872e-03 1.4747e-01 9.78868e-02 1.0000 1.4747e-01 3\n", + " 5 5.3403e-01 1.7418e-01 2.9260e-04 3.5693e-02 1.28571e-01 0.2500 3.5693e-02 3\n", + " 6 5.2862e-01 1.7418e-01 2.2079e-04 3.5224e-02 4.76103e-02 1.0000 3.5224e-02 3\n", + " 7 3.1632e-01 1.7418e-01 1.6696e-05 1.4198e-02 6.28357e-02 0.5000 1.4198e-02 2\n", + " 8 3.1384e-01 1.7418e-01 1.2439e-05 1.3954e-02 2.03016e-02 1.0000 1.3954e-02 2\n", + " 9 1.7554e-01 1.7418e-01 5.5783e-07 1.3622e-04 4.20634e-02 0.0020 1.6858e-03 1\n", + " 10 1.7554e-01 1.7418e-01 5.5783e-07 1.3622e-04 4.20452e-02 0.0625 1.6857e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8212e+02 1.8351e-01 4.7838e+01 3.5572e-01 1.09637e+00 1.0000 ---- 3\n", + " 2 5.7768e+01 1.7412e-01 2.3013e+00 3.4581e+00 3.10234e-01 1.0000 3.4581e+00 3\n", + " 3 5.2875e+00 1.7417e-01 5.9922e-03 5.0535e-01 3.26683e-01 0.5000 5.0535e-01 3\n", + " 4 4.4818e+00 1.7416e-01 3.1897e-03 4.2758e-01 1.41045e-01 1.0000 4.2758e-01 3\n", + " 5 8.2286e-01 1.7416e-01 5.2330e-05 6.4817e-02 2.92020e-01 0.0625 6.4817e-02 3\n", + " 6 7.9132e-01 1.7416e-01 4.9146e-05 6.1667e-02 2.35095e-01 0.1250 6.1667e-02 3\n", + " 7 7.5980e-01 1.7416e-01 4.3234e-05 5.8521e-02 1.43151e-01 0.2500 5.8521e-02 3\n", + " 8 6.8401e-01 1.7416e-01 3.2809e-05 5.0953e-02 3.15129e-02 1.0000 5.0953e-02 3\n", + " 9 1.7417e-01 1.7416e-01 1.1595e-06 0.0000e+00 6.38417e-02 0.1250 1.7112e-03 1\n", + " 10 1.7417e-01 1.7416e-01 1.0365e-06 0.0000e+00 3.94603e-02 0.1250 1.7114e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8124e+02 1.8348e-01 4.7808e+01 2.9798e-01 1.08891e+00 1.0000 ---- 3\n", + " 2 5.7665e+01 1.7409e-01 2.2841e+00 3.4650e+00 2.63971e-01 1.0000 3.4650e+00 3\n", + " 3 2.4446e+00 1.7414e-01 5.9405e-03 2.2111e-01 2.26752e-01 0.2500 2.2111e-01 3\n", + " 4 2.1392e+00 1.7414e-01 4.4987e-03 1.9200e-01 9.13839e-02 1.0000 1.9200e-01 3\n", + " 5 6.0794e-01 1.7414e-01 2.9184e-04 4.3088e-02 1.14636e-01 0.2500 4.3088e-02 3\n", + " 6 5.3098e-01 1.7414e-01 2.2032e-04 3.5464e-02 4.41884e-02 1.0000 3.5464e-02 3\n", + " 7 3.2266e-01 1.7414e-01 1.5856e-05 1.4836e-02 5.81671e-02 0.2500 1.4836e-02 3\n", + " 8 2.9672e-01 1.7414e-01 1.2793e-05 1.2245e-02 2.23569e-02 1.0000 1.2245e-02 3\n", + " 9 2.0634e-01 1.7414e-01 3.3569e-06 3.2169e-03 3.17966e-02 0.0020 5.4906e-03 1\n", + " 10 2.0634e-01 1.7414e-01 3.3569e-06 3.2169e-03 3.17794e-02 0.2500 3.2169e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8156e+02 1.8346e-01 4.7771e+01 3.6685e-01 1.08585e+00 1.0000 ---- 3\n", + " 2 5.7175e+01 1.7408e-01 2.2966e+00 3.4034e+00 2.66479e-01 1.0000 3.4034e+00 3\n", + " 3 2.2992e+00 1.7413e-01 5.7612e-03 2.0675e-01 2.12691e-01 0.2500 2.0675e-01 3\n", + " 4 1.9911e+00 1.7412e-01 4.3653e-03 1.7733e-01 9.03716e-02 1.0000 1.7733e-01 3\n", + " 5 6.8437e-01 1.7412e-01 2.8526e-04 5.0739e-02 1.07834e-01 0.2500 5.0739e-02 3\n", + " 6 5.9200e-01 1.7412e-01 2.1535e-04 4.1572e-02 4.41463e-02 1.0000 4.1572e-02 3\n", + " 7 3.2697e-01 1.7412e-01 1.7107e-05 1.5268e-02 5.56151e-02 0.2500 1.5268e-02 3\n", + " 8 3.0829e-01 1.7412e-01 1.3645e-05 1.3403e-02 2.24207e-02 1.0000 1.3403e-02 2\n", + " 9 2.0654e-01 1.7412e-01 3.2657e-06 3.2382e-03 3.03166e-02 0.0020 7.1638e-03 1\n", + " 10 2.0654e-01 1.7412e-01 3.2657e-06 3.2382e-03 3.02991e-02 0.2500 3.2382e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8130e+02 1.8344e-01 4.7750e+01 3.6203e-01 1.08558e+00 1.0000 ---- 3\n", + " 2 5.5768e+01 1.7407e-01 2.2839e+00 3.2755e+00 2.65964e-01 1.0000 3.2755e+00 3\n", + " 3 2.2146e+00 1.7411e-01 5.8120e-03 1.9823e-01 2.08722e-01 0.2500 1.9823e-01 3\n", + " 4 1.8346e+00 1.7410e-01 4.4027e-03 1.6164e-01 9.00469e-02 1.0000 1.6164e-01 3\n", + " 5 6.6919e-01 1.7411e-01 2.8056e-04 4.9228e-02 1.07328e-01 0.2500 4.9228e-02 3\n", + " 6 5.8371e-01 1.7410e-01 2.1162e-04 4.0748e-02 4.45389e-02 1.0000 4.0748e-02 3\n", + " 7 2.5721e-01 1.7410e-01 1.5626e-05 8.2952e-03 5.58513e-02 0.2500 8.2952e-03 2\n", + " 8 2.3769e-01 1.7410e-01 1.2542e-05 6.3457e-03 2.28723e-02 1.0000 6.3457e-03 2\n", + " 9 2.1057e-01 1.7410e-01 3.3227e-06 3.6435e-03 3.08249e-02 0.0020 7.3980e-03 1\n", + " 10 2.1057e-01 1.7410e-01 3.3227e-06 3.6435e-03 3.08078e-02 0.2500 3.6435e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8057e+02 1.8343e-01 4.7742e+01 2.9603e-01 1.08494e+00 1.0000 ---- 3\n", + " 2 5.5246e+01 1.7405e-01 2.2747e+00 3.2326e+00 2.67740e-01 1.0000 3.2326e+00 3\n", + " 3 2.5355e+00 1.7409e-01 5.8135e-03 2.3033e-01 2.12884e-01 0.5000 2.3033e-01 3\n", + " 4 2.1771e+00 1.7408e-01 3.0774e-03 1.9723e-01 6.00045e-02 1.0000 1.9723e-01 3\n", + " 5 2.0584e-01 1.7409e-01 4.0930e-05 3.1345e-03 1.13951e-01 0.0312 3.1345e-03 1\n", + " 6 2.0584e-01 1.7409e-01 3.9663e-05 3.1353e-03 1.03178e-01 0.2500 3.1353e-03 1\n", + " 7 2.0216e-01 1.7409e-01 3.0419e-05 2.7770e-03 2.57011e-02 1.0000 2.7770e-03 1\n", + " 8 1.9292e-01 1.7409e-01 2.3212e-06 1.8810e-03 4.58828e-02 0.5000 1.8810e-03 1\n", + " 9 1.8683e-01 1.7409e-01 1.6834e-06 1.2727e-03 2.21549e-02 1.0000 1.7577e-03 1\n", + " 10 1.8359e-01 1.7409e-01 2.3978e-07 9.5004e-04 4.63248e-02 0.5000 1.7647e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8080e+02 1.8341e-01 4.7769e+01 2.9211e-01 1.09051e+00 1.0000 ---- 3\n", + " 2 5.6184e+01 1.7403e-01 2.2599e+00 3.3411e+00 3.04757e-01 1.0000 3.3411e+00 3\n", + " 3 2.6152e+00 1.7408e-01 5.9762e-03 2.3813e-01 3.19389e-01 0.5000 2.3813e-01 3\n", + " 4 2.5649e+00 1.7407e-01 3.1700e-03 2.3591e-01 1.42768e-01 1.0000 2.3591e-01 3\n", + " 5 2.8436e-01 1.7407e-01 6.7748e-05 1.0962e-02 3.19446e-01 0.0020 1.0962e-02 1\n", + " 6 2.8436e-01 1.7407e-01 6.7748e-05 1.0962e-02 3.19315e-01 0.0625 1.0962e-02 1\n", + " 7 2.8148e-01 1.7407e-01 6.3607e-05 1.0678e-02 2.52722e-01 0.0312 1.0678e-02 1\n", + " 8 2.8104e-01 1.7407e-01 6.1635e-05 1.0635e-02 2.26455e-01 0.1250 1.0635e-02 1\n", + " 9 2.8090e-01 1.7407e-01 5.4132e-05 1.0629e-02 1.32286e-01 0.1250 1.0629e-02 1\n", + " 10 2.7830e-01 1.7407e-01 4.7448e-05 1.0376e-02 7.78510e-02 0.5000 1.0376e-02 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8017e+02 1.8339e-01 4.7722e+01 2.7677e-01 1.10144e+00 1.0000 ---- 3\n", + " 2 5.4506e+01 1.7401e-01 2.2696e+00 3.1636e+00 3.20077e-01 1.0000 3.1636e+00 3\n", + " 3 4.1288e+00 1.7405e-01 5.9546e-03 3.8952e-01 3.94236e-01 0.5000 3.8952e-01 3\n", + " 4 3.5583e+00 1.7404e-01 3.1520e-03 3.3528e-01 2.31806e-01 1.0000 3.3528e-01 3\n", + " 5 2.5754e-01 1.7404e-01 8.9445e-05 8.2604e-03 5.68020e-01 0.0020 8.2604e-03 1\n", + " 6 2.5754e-01 1.7404e-01 8.9445e-05 8.2604e-03 5.67753e-01 0.1250 8.2604e-03 1\n", + " 7 2.5584e-01 1.7403e-01 7.8861e-05 8.1025e-03 3.26384e-01 0.1250 8.1025e-03 1\n", + " 8 2.5526e-01 1.7402e-01 6.9258e-05 8.0546e-03 1.88170e-01 0.5000 8.0546e-03 1\n", + " 9 2.4016e-01 1.7402e-01 3.6014e-05 6.5778e-03 1.27609e-01 1.0000 6.5778e-03 1\n", + " 10 2.2825e-01 1.7402e-01 3.2512e-06 5.4195e-03 3.19432e-01 0.1250 5.4195e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7980e+02 1.8333e-01 4.7742e+01 2.1983e-01 1.20556e+00 1.0000 ---- 3\n", + " 2 5.7785e+01 1.7395e-01 2.3333e+00 3.4278e+00 5.98565e-01 1.0000 3.4278e+00 3\n", + " 3 2.6006e+01 1.7397e-01 7.5908e-03 2.5756e+00 1.08453e+00 0.1250 2.5756e+00 3\n", + " 4 2.4226e+01 1.7394e-01 6.6563e-03 2.3985e+00 6.74446e-01 0.2500 2.3985e+00 3\n", + " 5 1.9873e+01 1.7392e-01 5.0255e-03 1.9649e+00 1.57837e-01 1.0000 1.9649e+00 3\n", + " 6 2.0965e-01 1.7396e-01 3.1929e-04 3.2498e-03 3.23190e-01 0.0078 5.5877e-03 1\n", + " 7 2.0963e-01 1.7396e-01 3.1679e-04 3.2503e-03 3.15116e-01 0.0625 3.2503e-03 1\n", + " 8 2.0947e-01 1.7396e-01 2.9637e-04 3.2545e-03 2.53014e-01 0.0312 4.2493e-03 1\n", + " 9 2.0923e-01 1.7396e-01 2.8699e-04 3.2404e-03 2.28212e-01 0.0625 3.2404e-03 1\n", + " 10 2.0853e-01 1.7396e-01 2.6866e-04 3.1879e-03 1.83527e-01 0.1250 3.6515e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7895e+02 1.8327e-01 4.7803e+01 7.3585e-02 1.12880e+00 1.0000 ---- 3\n", + " 2 6.2550e+01 1.7389e-01 2.2559e+00 3.9817e+00 4.03859e-01 1.0000 3.9817e+00 3\n", + " 3 7.9852e+00 1.7394e-01 7.1056e-03 7.7402e-01 5.28643e-01 0.2500 7.7402e-01 3\n", + " 4 7.0869e+00 1.7393e-01 5.3795e-03 6.8592e-01 1.41554e-01 1.0000 6.8592e-01 3\n", + " 5 5.9223e-01 1.7394e-01 2.9820e-04 4.1531e-02 2.19231e-01 0.2500 4.1531e-02 3\n", + " 6 5.7729e-01 1.7394e-01 2.2505e-04 4.0110e-02 5.85489e-02 1.0000 4.0110e-02 3\n", + " 7 3.6921e-01 1.7394e-01 1.9644e-05 1.9508e-02 9.30842e-02 0.5000 1.9508e-02 3\n", + " 8 3.5591e-01 1.7394e-01 1.4157e-05 1.8183e-02 4.26367e-02 1.0000 1.8183e-02 2\n", + " 9 2.0725e-01 1.7394e-01 8.0091e-07 3.3303e-03 9.54573e-02 0.0020 5.1952e-03 1\n", + " 10 2.0725e-01 1.7394e-01 8.0091e-07 3.3303e-03 9.54221e-02 0.0625 3.3303e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8246e+02 1.8325e-01 4.7870e+01 3.5811e-01 1.11442e+00 1.0000 ---- 3\n", + " 2 5.9221e+01 1.7388e-01 2.2746e+00 3.6302e+00 3.77203e-01 1.0000 3.6302e+00 3\n", + " 3 7.5586e+00 1.7393e-01 5.8860e-03 7.3259e-01 4.90947e-01 0.2500 7.3259e-01 3\n", + " 4 6.8154e+00 1.7392e-01 4.4580e-03 6.5969e-01 1.35465e-01 1.0000 6.5969e-01 3\n", + " 5 6.2760e-01 1.7393e-01 2.8454e-04 4.5083e-02 2.15752e-01 0.2500 4.5083e-02 3\n", + " 6 5.7720e-01 1.7392e-01 2.1467e-04 4.0113e-02 5.83030e-02 1.0000 4.0113e-02 3\n", + " 7 2.5396e-01 1.7392e-01 1.3121e-05 7.9902e-03 9.48948e-02 0.0020 7.9902e-03 1\n", + " 8 2.5396e-01 1.7392e-01 1.3121e-05 7.9902e-03 9.48505e-02 0.1250 7.9902e-03 1\n", + " 9 2.5235e-01 1.7392e-01 1.1686e-05 7.8313e-03 6.13632e-02 0.1250 7.8313e-03 1\n", + " 10 2.5235e-01 1.7392e-01 1.0336e-05 7.8326e-03 4.02289e-02 0.2500 7.8326e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8252e+02 1.8323e-01 4.7870e+01 3.6365e-01 1.08997e+00 1.0000 ---- 3\n", + " 2 5.8173e+01 1.7387e-01 2.2808e+00 3.5192e+00 2.66283e-01 1.0000 3.5192e+00 3\n", + " 3 1.4150e+00 1.7392e-01 5.7707e-03 1.1834e-01 2.14222e-01 0.2500 1.1834e-01 3\n", + " 4 1.3741e+00 1.7391e-01 4.3709e-03 1.1565e-01 9.25707e-02 1.0000 1.1565e-01 3\n", + " 5 6.6619e-01 1.7391e-01 2.9344e-04 4.8934e-02 1.09195e-01 0.2500 4.8934e-02 3\n", + " 6 6.0828e-01 1.7391e-01 2.2099e-04 4.3216e-02 4.48694e-02 1.0000 4.3216e-02 3\n", + " 7 2.7648e-01 1.7391e-01 1.5654e-05 1.0241e-02 5.62106e-02 0.2500 1.0241e-02 2\n", + " 8 2.4331e-01 1.7391e-01 1.2708e-05 6.9275e-03 2.29223e-02 0.0020 9.9982e-03 1\n", + " 9 2.4331e-01 1.7391e-01 1.2708e-05 6.9275e-03 2.29045e-02 1.0000 6.9275e-03 1\n", + " 10 2.3894e-01 1.7391e-01 5.8967e-06 6.4966e-03 2.93787e-02 0.0625 7.4056e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8189e+02 1.8322e-01 4.7829e+01 3.4148e-01 1.08541e+00 1.0000 ---- 3\n", + " 2 5.9604e+01 1.7385e-01 2.2827e+00 3.6603e+00 2.58511e-01 1.0000 3.6603e+00 3\n", + " 3 2.2799e+00 1.7390e-01 5.5716e-03 2.0503e-01 2.03484e-01 0.2500 2.0503e-01 3\n", + " 4 1.9546e+00 1.7390e-01 4.2242e-03 1.7385e-01 8.95062e-02 1.0000 1.7385e-01 3\n", + " 5 5.5175e-01 1.7390e-01 2.9904e-04 3.7486e-02 1.05131e-01 0.2500 3.7486e-02 3\n", + " 6 5.2814e-01 1.7390e-01 2.2574e-04 3.5198e-02 4.44286e-02 1.0000 3.5198e-02 3\n", + " 7 3.1459e-01 1.7390e-01 1.7651e-05 1.4051e-02 5.50250e-02 0.2500 1.4051e-02 2\n", + " 8 2.7609e-01 1.7390e-01 1.4204e-05 1.0205e-02 2.27437e-02 1.0000 1.0205e-02 2\n", + " 9 2.0243e-01 1.7390e-01 3.8202e-06 2.8491e-03 3.03926e-02 0.0020 6.3589e-03 1\n", + " 10 2.0243e-01 1.7390e-01 3.8202e-06 2.8491e-03 3.03745e-02 0.2500 2.8491e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8129e+02 1.8321e-01 4.7799e+01 3.1165e-01 1.08595e+00 1.0000 ---- 3\n", + " 2 5.9234e+01 1.7385e-01 2.2866e+00 3.6194e+00 2.65726e-01 1.0000 3.6194e+00 3\n", + " 3 1.8740e+00 1.7390e-01 5.7068e-03 1.6430e-01 2.19482e-01 0.2500 1.6430e-01 3\n", + " 4 1.7269e+00 1.7389e-01 4.3273e-03 1.5097e-01 9.36043e-02 1.0000 1.5097e-01 3\n", + " 5 6.6313e-01 1.7389e-01 2.9887e-04 4.8625e-02 1.13728e-01 0.2500 4.8625e-02 3\n", + " 6 6.3337e-01 1.7389e-01 2.2588e-04 4.5722e-02 4.65188e-02 1.0000 4.5722e-02 3\n", + " 7 3.0622e-01 1.7389e-01 1.7582e-05 1.3216e-02 5.95693e-02 0.2500 1.3216e-02 2\n", + " 8 2.7846e-01 1.7389e-01 1.4211e-05 1.0443e-02 2.40304e-02 1.0000 1.0443e-02 2\n", + " 9 1.9864e-01 1.7389e-01 3.9863e-06 2.4711e-03 3.27287e-02 0.0020 3.7380e-03 1\n", + " 10 1.9864e-01 1.7389e-01 3.9863e-06 2.4711e-03 3.27122e-02 0.1250 2.4711e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8001e+02 1.8320e-01 4.7681e+01 3.0236e-01 1.08308e+00 1.0000 ---- 3\n", + " 2 5.7121e+01 1.7384e-01 2.2801e+00 3.4147e+00 2.67950e-01 1.0000 3.4147e+00 3\n", + " 3 1.3297e+00 1.7388e-01 5.8495e-03 1.0973e-01 2.13323e-01 0.2500 1.0973e-01 3\n", + " 4 1.2446e+00 1.7388e-01 4.4327e-03 1.0264e-01 9.19138e-02 1.0000 1.0264e-01 3\n", + " 5 6.2828e-01 1.7388e-01 2.8609e-04 4.5154e-02 1.09995e-01 0.2500 4.5154e-02 3\n", + " 6 5.9552e-01 1.7388e-01 2.1620e-04 4.1948e-02 4.63930e-02 1.0000 4.1948e-02 3\n", + " 7 3.0758e-01 1.7388e-01 1.8084e-05 1.3353e-02 5.76756e-02 0.2500 1.3353e-02 2\n", + " 8 2.7550e-01 1.7388e-01 1.4539e-05 1.0148e-02 2.40965e-02 0.0020 1.0148e-02 1\n", + " 9 2.7550e-01 1.7388e-01 1.4539e-05 1.0148e-02 2.40821e-02 1.0000 1.0148e-02 1\n", + " 10 2.5510e-01 1.7388e-01 6.6114e-06 8.1152e-03 3.05268e-02 0.1250 8.1152e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7987e+02 1.8319e-01 4.7729e+01 2.3993e-01 1.08379e+00 1.0000 ---- 3\n", + " 2 5.7124e+01 1.7383e-01 2.2637e+00 3.4313e+00 2.70091e-01 1.0000 3.4313e+00 3\n", + " 3 1.6946e+00 1.7387e-01 5.7452e-03 1.4633e-01 2.20384e-01 0.2500 1.4633e-01 3\n", + " 4 1.4598e+00 1.7387e-01 4.3529e-03 1.2424e-01 9.34007e-02 1.0000 1.2424e-01 3\n", + " 5 4.2137e-01 1.7387e-01 2.7844e-04 2.4472e-02 1.14230e-01 0.1250 2.4472e-02 3\n", + " 6 4.0579e-01 1.7387e-01 2.4405e-04 2.2948e-02 8.03275e-02 0.2500 2.2948e-02 3\n", + " 7 3.7710e-01 1.7387e-01 1.8392e-04 2.0139e-02 3.42800e-02 1.0000 2.0139e-02 3\n", + " 8 2.2301e-01 1.7387e-01 1.0138e-05 4.9046e-03 4.19911e-02 0.0078 5.5275e-03 1\n", + " 9 2.2301e-01 1.7387e-01 1.0059e-05 4.9041e-03 4.12087e-02 0.1250 4.9041e-03 1\n", + " 10 2.2018e-01 1.7387e-01 8.9309e-06 4.6224e-03 2.91896e-02 0.1250 4.6224e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8089e+02 1.8318e-01 4.7827e+01 2.4274e-01 1.09049e+00 1.0000 ---- 3\n", + " 2 5.5952e+01 1.7382e-01 2.2514e+00 3.3264e+00 2.81910e-01 1.0000 3.3264e+00 3\n", + " 3 1.8937e+00 1.7386e-01 6.2130e-03 1.6577e-01 2.46131e-01 0.2500 1.6577e-01 3\n", + " 4 1.6873e+00 1.7386e-01 4.7019e-03 1.4664e-01 1.02582e-01 1.0000 1.4664e-01 3\n", + " 5 4.3633e-01 1.7386e-01 2.9325e-04 2.5954e-02 1.28617e-01 0.1250 2.5954e-02 3\n", + " 6 4.2518e-01 1.7386e-01 2.5726e-04 2.4875e-02 8.88705e-02 0.2500 2.4875e-02 3\n", + " 7 4.0134e-01 1.7386e-01 1.9431e-04 2.2554e-02 3.63981e-02 1.0000 2.2554e-02 3\n", + " 8 2.3378e-01 1.7386e-01 1.0179e-05 5.9822e-03 4.58643e-02 0.0156 6.4861e-03 1\n", + " 9 2.3375e-01 1.7386e-01 1.0023e-05 5.9793e-03 4.41490e-02 0.2500 5.9793e-03 1\n", + " 10 2.3264e-01 1.7386e-01 8.1783e-06 5.8699e-03 1.81258e-02 0.5000 5.8699e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8087e+02 1.8317e-01 4.7777e+01 2.9145e-01 1.08579e+00 1.0000 ---- 3\n", + " 2 5.6478e+01 1.7381e-01 2.2669e+00 3.3635e+00 2.71739e-01 1.0000 3.3635e+00 3\n", + " 3 1.3478e+00 1.7385e-01 5.9709e-03 1.1142e-01 2.33041e-01 0.1250 1.1142e-01 3\n", + " 4 1.2406e+00 1.7385e-01 5.2363e-03 1.0144e-01 1.62494e-01 0.2500 1.0144e-01 3\n", + " 5 1.0567e+00 1.7385e-01 3.9582e-03 8.4330e-02 7.04209e-02 1.0000 8.4330e-02 3\n", + " 6 2.8237e-01 1.7385e-01 1.9459e-04 1.0658e-02 8.50422e-02 0.0078 1.0658e-02 1\n", + " 7 2.8234e-01 1.7385e-01 1.9307e-04 1.0656e-02 8.33775e-02 0.0625 1.0656e-02 1\n", + " 8 2.7875e-01 1.7385e-01 1.8101e-04 1.0310e-02 7.07299e-02 0.0625 1.0310e-02 1\n", + " 9 2.7797e-01 1.7385e-01 1.6971e-04 1.0242e-02 6.01339e-02 0.1250 1.0242e-02 1\n", + " 10 2.7582e-01 1.7385e-01 1.4850e-04 1.0049e-02 4.26188e-02 0.2500 1.0049e-02 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8088e+02 1.8316e-01 4.7771e+01 2.9859e-01 1.08515e+00 1.0000 ---- 3\n", + " 2 5.9493e+01 1.7380e-01 2.2864e+00 3.6456e+00 2.72379e-01 1.0000 3.6456e+00 3\n", + " 3 2.0217e+00 1.7385e-01 5.6025e-03 1.7918e-01 2.36740e-01 0.2500 1.7918e-01 3\n", + " 4 1.7369e+00 1.7385e-01 4.2501e-03 1.5206e-01 9.77381e-02 1.0000 1.5206e-01 3\n", + " 5 4.5545e-01 1.7385e-01 2.9168e-04 2.7869e-02 1.23975e-01 0.1250 2.7869e-02 3\n", + " 6 4.3951e-01 1.7385e-01 2.5567e-04 2.6310e-02 8.56936e-02 0.2500 2.6310e-02 3\n", + " 7 4.0877e-01 1.7384e-01 1.9295e-04 2.3300e-02 3.52338e-02 1.0000 2.3300e-02 3\n", + " 8 2.2841e-01 1.7384e-01 1.0976e-05 5.4453e-03 4.50302e-02 0.0156 7.6148e-03 1\n", + " 9 2.2840e-01 1.7384e-01 1.0807e-05 5.4452e-03 4.33293e-02 0.2500 5.4452e-03 1\n", + " 10 2.2775e-01 1.7384e-01 8.7142e-06 5.3817e-03 1.76756e-02 0.5000 5.3817e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8142e+02 1.8316e-01 4.7816e+01 3.0814e-01 1.08702e+00 1.0000 ---- 3\n", + " 2 5.8612e+01 1.7380e-01 2.2621e+00 3.5818e+00 2.73576e-01 1.0000 3.5818e+00 3\n", + " 3 1.5902e+00 1.7385e-01 5.8621e-03 1.3577e-01 2.39473e-01 0.2500 1.3577e-01 3\n", + " 4 1.4478e+00 1.7385e-01 4.4464e-03 1.2295e-01 9.85938e-02 1.0000 1.2295e-01 3\n", + " 5 5.0732e-01 1.7385e-01 2.9727e-04 3.3050e-02 1.25065e-01 0.2500 3.3050e-02 3\n", + " 6 5.0645e-01 1.7384e-01 2.2557e-04 3.3035e-02 4.89012e-02 1.0000 3.3035e-02 3\n", + " 7 2.8488e-01 1.7384e-01 1.9260e-05 1.1084e-02 6.47995e-02 0.2500 1.1084e-02 2\n", + " 8 2.5998e-01 1.7384e-01 1.5772e-05 8.5974e-03 2.54432e-02 1.0000 8.5974e-03 2\n", + " 9 1.9139e-01 1.7384e-01 4.4747e-06 1.7503e-03 3.59453e-02 0.0020 4.0541e-03 1\n", + " 10 1.9139e-01 1.7384e-01 4.4747e-06 1.7503e-03 3.59257e-02 0.1250 1.7503e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8092e+02 1.8316e-01 4.7773e+01 3.0116e-01 1.08338e+00 1.0000 ---- 3\n", + " 2 5.9127e+01 1.7380e-01 2.2716e+00 3.6238e+00 2.71714e-01 1.0000 3.6238e+00 3\n", + " 3 1.5792e+00 1.7385e-01 5.8825e-03 1.3465e-01 2.36759e-01 0.2500 1.3465e-01 3\n", + " 4 1.4262e+00 1.7385e-01 4.4617e-03 1.2078e-01 9.68116e-02 1.0000 1.2078e-01 3\n", + " 5 4.8919e-01 1.7384e-01 3.0152e-04 3.1233e-02 1.22123e-01 0.2500 3.1233e-02 3\n", + " 6 4.8896e-01 1.7384e-01 2.2877e-04 3.1283e-02 4.90302e-02 1.0000 3.1283e-02 3\n", + " 7 2.8059e-01 1.7384e-01 2.2460e-05 1.0653e-02 6.43499e-02 0.2500 1.0653e-02 2\n", + " 8 2.5637e-01 1.7384e-01 1.8172e-05 8.2346e-03 2.54173e-02 1.0000 8.2346e-03 2\n", + " 9 1.8983e-01 1.7384e-01 5.0341e-06 1.5933e-03 3.55984e-02 0.0020 3.7314e-03 1\n", + " 10 1.8983e-01 1.7384e-01 5.0341e-06 1.5933e-03 3.55796e-02 0.1250 1.5933e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8079e+02 1.8316e-01 4.7757e+01 3.0341e-01 1.08387e+00 1.0000 ---- 3\n", + " 2 5.9085e+01 1.7380e-01 2.2719e+00 3.6192e+00 2.75318e-01 1.0000 3.6192e+00 3\n", + " 3 1.5289e+00 1.7385e-01 5.8302e-03 1.2967e-01 2.46032e-01 0.2500 1.2967e-01 3\n", + " 4 1.3893e+00 1.7385e-01 4.4228e-03 1.1712e-01 9.91454e-02 1.0000 1.1712e-01 3\n", + " 5 4.9113e-01 1.7385e-01 2.9661e-04 3.1431e-02 1.27557e-01 0.2500 3.1431e-02 3\n", + " 6 4.8796e-01 1.7384e-01 2.2531e-04 3.1186e-02 5.02308e-02 1.0000 3.1186e-02 3\n", + " 7 2.7397e-01 1.7384e-01 2.2230e-05 9.9901e-03 6.68010e-02 0.2500 9.9901e-03 2\n", + " 8 2.5278e-01 1.7384e-01 1.7984e-05 7.8755e-03 2.60551e-02 1.0000 7.8755e-03 2\n", + " 9 1.9056e-01 1.7384e-01 4.9348e-06 1.6664e-03 3.70156e-02 0.0020 3.8841e-03 1\n", + " 10 1.9056e-01 1.7384e-01 4.9348e-06 1.6664e-03 3.69962e-02 0.1250 1.6664e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8046e+02 1.8316e-01 4.7725e+01 3.0332e-01 1.08314e+00 1.0000 ---- 3\n", + " 2 5.7668e+01 1.7380e-01 2.2678e+00 3.4816e+00 2.78084e-01 1.0000 3.4816e+00 3\n", + " 3 2.3910e+00 1.7385e-01 5.9593e-03 2.1576e-01 2.50236e-01 0.5000 2.1576e-01 3\n", + " 4 2.1940e+00 1.7384e-01 3.1865e-03 1.9883e-01 7.32929e-02 1.0000 1.9883e-01 3\n", + " 5 1.9252e-01 1.7384e-01 5.0146e-05 1.8177e-03 1.25209e-01 0.2500 1.9080e-03 1\n", + " 6 1.9186e-01 1.7384e-01 3.9064e-05 1.7632e-03 3.80961e-02 1.0000 1.7632e-03 1\n", + " 7 1.7817e-01 1.7384e-01 5.5563e-06 4.2749e-04 6.42850e-02 0.5000 1.6487e-03 1\n", + " 8 1.7440e-01 1.7384e-01 5.0644e-06 5.1165e-05 2.59883e-02 0.0020 1.4946e-03 1\n", + " 9 1.7440e-01 1.7384e-01 5.0644e-06 5.1165e-05 2.59774e-02 1.0000 1.4946e-03 1\n", + " 10 1.7439e-01 1.7384e-01 1.7022e-06 5.2908e-05 5.02610e-02 0.0020 1.4949e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8078e+02 1.8316e-01 4.7729e+01 3.3145e-01 1.09186e+00 1.0000 ---- 3\n", + " 2 5.5591e+01 1.7380e-01 2.2345e+00 3.3072e+00 3.02287e-01 1.0000 3.3072e+00 3\n", + " 3 1.1029e+00 1.7385e-01 6.5778e-03 8.6325e-02 3.14549e-01 0.5000 8.6325e-02 3\n", + " 4 1.0942e+00 1.7383e-01 3.5100e-03 8.8530e-02 1.46210e-01 1.0000 8.8530e-02 3\n", + " 5 4.0823e-01 1.7383e-01 6.1134e-05 2.3378e-02 3.15770e-01 0.2500 2.3378e-02 3\n", + " 6 3.9195e-01 1.7382e-01 4.8035e-05 2.1765e-02 6.37903e-02 1.0000 2.1765e-02 3\n", + " 7 1.8840e-01 1.7382e-01 1.1249e-05 1.4467e-03 1.31932e-01 0.0625 1.8142e-03 1\n", + " 8 1.8829e-01 1.7382e-01 1.0574e-05 1.4367e-03 1.05577e-01 0.2500 1.6860e-03 1\n", + " 9 1.8623e-01 1.7382e-01 8.2788e-06 1.2331e-03 2.34374e-02 1.0000 1.5251e-03 1\n", + " 10 1.8195e-01 1.7382e-01 1.4425e-06 8.1163e-04 4.48039e-02 0.1250 1.5310e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8185e+02 1.8312e-01 4.7798e+01 3.6846e-01 1.09527e+00 1.0000 ---- 3\n", + " 2 5.9000e+01 1.7377e-01 2.2868e+00 3.5958e+00 2.87878e-01 1.0000 3.5958e+00 3\n", + " 3 1.9422e+00 1.7382e-01 5.6658e-03 1.7117e-01 2.76032e-01 0.2500 1.7117e-01 3\n", + " 4 1.7472e+00 1.7381e-01 4.2923e-03 1.5304e-01 1.04595e-01 1.0000 1.5304e-01 3\n", + " 5 6.3912e-01 1.7381e-01 2.8167e-04 4.6250e-02 1.36149e-01 0.1250 4.6250e-02 3\n", + " 6 6.1078e-01 1.7381e-01 2.4699e-04 4.3450e-02 9.33098e-02 0.2500 4.3450e-02 3\n", + " 7 5.5617e-01 1.7381e-01 1.8636e-04 3.8049e-02 3.73784e-02 1.0000 3.8049e-02 3\n", + " 8 2.4542e-01 1.7381e-01 1.0175e-05 7.1509e-03 4.81052e-02 0.0020 8.8634e-03 1\n", + " 9 2.4542e-01 1.7381e-01 1.0175e-05 7.1509e-03 4.80927e-02 0.2500 7.1509e-03 1\n", + " 10 2.4228e-01 1.7381e-01 8.3989e-06 6.8389e-03 1.92254e-02 0.5000 6.8389e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8113e+02 1.8311e-01 4.7786e+01 3.0816e-01 1.08608e+00 1.0000 ---- 3\n", + " 2 5.8457e+01 1.7376e-01 2.2649e+00 3.5634e+00 2.70094e-01 1.0000 3.5634e+00 3\n", + " 3 2.3309e+00 1.7381e-01 5.8088e-03 2.0990e-01 2.30520e-01 0.2500 2.0990e-01 3\n", + " 4 1.9367e+00 1.7380e-01 4.4014e-03 1.7189e-01 9.52346e-02 1.0000 1.7189e-01 3\n", + " 5 5.5835e-01 1.7380e-01 2.9755e-04 3.8157e-02 1.17829e-01 0.2500 3.8157e-02 3\n", + " 6 4.9959e-01 1.7380e-01 2.2484e-04 3.2354e-02 4.64981e-02 1.0000 3.2354e-02 3\n", + " 7 2.3808e-01 1.7380e-01 1.7575e-05 6.4108e-03 6.01394e-02 0.0020 7.8907e-03 1\n", + " 8 2.3808e-01 1.7380e-01 1.7575e-05 6.4108e-03 6.01223e-02 0.1250 6.4108e-03 1\n", + " 9 2.3706e-01 1.7380e-01 1.5657e-05 6.3105e-03 4.18162e-02 0.0625 6.3105e-03 1\n", + " 10 2.3650e-01 1.7380e-01 1.4715e-05 6.2556e-03 3.55403e-02 0.2500 6.2556e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8119e+02 1.8310e-01 4.7799e+01 3.0099e-01 1.08912e+00 1.0000 ---- 3\n", + " 2 5.6740e+01 1.7375e-01 2.2603e+00 3.3963e+00 2.76605e-01 1.0000 3.3963e+00 3\n", + " 3 2.7404e+00 1.7380e-01 6.0695e-03 2.5060e-01 2.39562e-01 0.5000 2.5060e-01 3\n", + " 4 2.5156e+00 1.7379e-01 3.2207e-03 2.3096e-01 7.09694e-02 1.0000 2.3096e-01 3\n", + " 5 2.0161e-01 1.7379e-01 4.9665e-05 2.7323e-03 1.36102e-01 0.0625 2.7323e-03 1\n", + " 6 2.0153e-01 1.7379e-01 4.6629e-05 2.7269e-03 1.10081e-01 0.5000 2.7269e-03 1\n", + " 7 1.9961e-01 1.7379e-01 2.6300e-05 2.5558e-03 5.94213e-02 0.5000 2.5558e-03 1\n", + " 8 1.9645e-01 1.7379e-01 1.3297e-05 2.2527e-03 3.51884e-02 1.0000 2.2527e-03 1\n", + " 9 1.8551e-01 1.7379e-01 5.4504e-07 1.1716e-03 7.83662e-02 0.2500 1.6429e-03 1\n", + " 10 1.8505e-01 1.7379e-01 5.1556e-07 1.1259e-03 1.41789e-02 1.0000 1.6372e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8146e+02 1.8309e-01 4.7794e+01 3.3374e-01 1.09454e+00 1.0000 ---- 3\n", + " 2 5.8876e+01 1.7374e-01 2.2688e+00 3.6013e+00 3.08365e-01 1.0000 3.6013e+00 3\n", + " 3 3.8656e+00 1.7379e-01 5.9014e-03 3.6328e-01 3.40498e-01 0.2500 3.6328e-01 3\n", + " 4 3.1961e+00 1.7378e-01 4.4699e-03 2.9776e-01 1.15452e-01 1.0000 2.9776e-01 3\n", + " 5 5.1863e-01 1.7378e-01 2.9383e-04 3.4191e-02 1.65934e-01 0.1250 3.4191e-02 3\n", + " 6 4.8504e-01 1.7378e-01 2.5771e-04 3.0868e-02 1.09169e-01 0.2500 3.0868e-02 3\n", + " 7 4.4895e-01 1.7378e-01 1.9448e-04 2.7322e-02 3.88924e-02 1.0000 2.7322e-02 3\n", + " 8 2.2659e-01 1.7378e-01 1.0055e-05 5.2706e-03 5.33006e-02 0.2500 5.2706e-03 2\n", + " 9 2.1300e-01 1.7378e-01 8.2403e-06 3.9133e-03 2.02109e-02 0.0020 6.9956e-03 1\n", + " 10 2.1300e-01 1.7378e-01 8.2403e-06 3.9133e-03 2.02027e-02 0.5000 3.9133e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8079e+02 1.8308e-01 4.7759e+01 3.0153e-01 1.08578e+00 1.0000 ---- 3\n", + " 2 5.8451e+01 1.7373e-01 2.2721e+00 3.5556e+00 2.63387e-01 1.0000 3.5556e+00 3\n", + " 3 1.5225e+00 1.7378e-01 5.7329e-03 1.2914e-01 2.15858e-01 0.2500 1.2914e-01 3\n", + " 4 1.3896e+00 1.7378e-01 4.3457e-03 1.1724e-01 9.18840e-02 1.0000 1.1724e-01 3\n", + " 5 4.7198e-01 1.7378e-01 2.9078e-04 2.9530e-02 1.11013e-01 0.1250 2.9530e-02 3\n", + " 6 4.4482e-01 1.7377e-01 2.5478e-04 2.6850e-02 7.76378e-02 0.2500 2.6850e-02 3\n", + " 7 3.9723e-01 1.7377e-01 1.9198e-04 2.2154e-02 3.32088e-02 1.0000 2.2154e-02 3\n", + " 8 2.1324e-01 1.7377e-01 9.9182e-06 3.9371e-03 4.03087e-02 0.0039 7.7774e-03 1\n", + " 9 2.1324e-01 1.7377e-01 9.8796e-06 3.9371e-03 3.99230e-02 0.2500 3.9371e-03 1\n", + " 10 2.0949e-01 1.7377e-01 7.9194e-06 3.5638e-03 1.68186e-02 0.5000 5.0153e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8060e+02 1.8307e-01 4.7738e+01 3.0451e-01 1.08586e+00 1.0000 ---- 3\n", + " 2 5.7418e+01 1.7373e-01 2.2646e+00 3.4598e+00 2.66612e-01 1.0000 3.4598e+00 3\n", + " 3 1.4358e+00 1.7377e-01 5.7262e-03 1.2047e-01 2.19073e-01 0.2500 1.2047e-01 3\n", + " 4 1.3299e+00 1.7377e-01 4.3388e-03 1.1128e-01 9.28951e-02 1.0000 1.1128e-01 3\n", + " 5 4.9641e-01 1.7377e-01 2.7713e-04 3.1987e-02 1.13588e-01 0.2500 3.1987e-02 3\n", + " 6 4.8883e-01 1.7377e-01 2.0931e-04 3.1297e-02 4.62020e-02 1.0000 3.1297e-02 3\n", + " 7 2.6319e-01 1.7377e-01 1.6762e-05 8.9255e-03 5.91014e-02 0.2500 8.9255e-03 2\n", + " 8 2.4799e-01 1.7377e-01 1.3618e-05 7.4088e-03 2.40422e-02 0.0020 1.0569e-02 1\n", + " 9 2.4799e-01 1.7377e-01 1.3618e-05 7.4088e-03 2.40358e-02 1.0000 7.4088e-03 1\n", + " 10 2.3680e-01 1.7377e-01 6.1476e-06 6.2969e-03 3.14840e-02 0.1250 7.4658e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8049e+02 1.8306e-01 4.7678e+01 3.5252e-01 1.08356e+00 1.0000 ---- 3\n", + " 2 5.7395e+01 1.7372e-01 2.2705e+00 3.4516e+00 2.66064e-01 1.0000 3.4516e+00 3\n", + " 3 1.1657e+00 1.7377e-01 5.6202e-03 9.3569e-02 2.19762e-01 0.2500 9.3569e-02 3\n", + " 4 1.1526e+00 1.7376e-01 4.2591e-03 9.3627e-02 9.23693e-02 1.0000 9.3627e-02 3\n", + " 5 6.2013e-01 1.7376e-01 2.7321e-04 4.4364e-02 1.14150e-01 0.2500 4.4364e-02 3\n", + " 6 5.5834e-01 1.7376e-01 2.0652e-04 3.8252e-02 4.68124e-02 1.0000 3.8252e-02 3\n", + " 7 2.3671e-01 1.7376e-01 1.8014e-05 6.2774e-03 6.01976e-02 0.2500 6.2774e-03 2\n", + " 8 2.2340e-01 1.7376e-01 1.4522e-05 4.9500e-03 2.44818e-02 0.0020 9.6748e-03 1\n", + " 9 2.2340e-01 1.7376e-01 1.4522e-05 4.9500e-03 2.44699e-02 0.5000 4.9500e-03 1\n", + " 10 2.1162e-01 1.7376e-01 8.3408e-06 3.7779e-03 5.45639e-03 1.0000 3.7779e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8060e+02 1.8306e-01 4.7667e+01 3.7420e-01 1.08679e+00 1.0000 ---- 3\n", + " 2 5.6325e+01 1.7371e-01 2.2618e+00 3.3533e+00 2.80404e-01 1.0000 3.3533e+00 3\n", + " 3 1.7411e+00 1.7376e-01 5.7819e-03 1.5095e-01 2.39921e-01 0.2500 1.5095e-01 3\n", + " 4 1.5513e+00 1.7375e-01 4.3773e-03 1.3338e-01 1.00424e-01 1.0000 1.3338e-01 3\n", + " 5 6.2705e-01 1.7375e-01 2.6148e-04 4.5069e-02 1.26092e-01 0.2500 4.5069e-02 3\n", + " 6 5.8482e-01 1.7375e-01 1.9870e-04 4.0908e-02 4.98370e-02 1.0000 4.0908e-02 3\n", + " 7 2.3353e-01 1.7375e-01 1.8626e-05 5.9588e-03 6.53504e-02 0.1250 5.9588e-03 2\n", + " 8 2.2695e-01 1.7375e-01 1.6633e-05 5.3038e-03 4.53781e-02 0.0020 9.5155e-03 1\n", + " 9 2.2695e-01 1.7375e-01 1.6633e-05 5.3038e-03 4.53664e-02 0.1250 5.3038e-03 1\n", + " 10 2.2379e-01 1.7375e-01 1.4714e-05 4.9894e-03 3.17801e-02 0.1250 6.0303e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8017e+02 1.8305e-01 4.7632e+01 3.6733e-01 1.09012e+00 1.0000 ---- 3\n", + " 2 5.3920e+01 1.7371e-01 2.2569e+00 3.1178e+00 2.84599e-01 1.0000 3.1178e+00 3\n", + " 3 1.9143e+00 1.7375e-01 6.2076e-03 1.6785e-01 2.42983e-01 0.2500 1.6785e-01 3\n", + " 4 1.6114e+00 1.7374e-01 4.7005e-03 1.3906e-01 1.02996e-01 1.0000 1.3906e-01 3\n", + " 5 5.8016e-01 1.7374e-01 2.9591e-04 4.0346e-02 1.27865e-01 0.5000 4.0346e-02 3\n", + " 6 5.5757e-01 1.7374e-01 1.6095e-04 3.8222e-02 3.50035e-02 1.0000 3.8222e-02 3\n", + " 7 1.9672e-01 1.7374e-01 5.3776e-06 2.2928e-03 6.19100e-02 0.0020 6.2790e-03 1\n", + " 8 1.9672e-01 1.7374e-01 5.3776e-06 2.2928e-03 6.18805e-02 0.1250 2.5104e-03 1\n", + " 9 1.9568e-01 1.7374e-01 4.8544e-06 2.1891e-03 4.00380e-02 0.1250 4.3892e-03 1\n", + " 10 1.9527e-01 1.7374e-01 4.3151e-06 2.1489e-03 2.61601e-02 0.2500 2.9240e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7930e+02 1.8304e-01 4.7615e+01 2.9646e-01 1.08286e+00 1.0000 ---- 3\n", + " 2 5.4510e+01 1.7369e-01 2.2470e+00 3.1867e+00 2.70121e-01 1.0000 3.1867e+00 3\n", + " 3 1.8252e+00 1.7374e-01 6.0347e-03 1.5911e-01 2.21205e-01 0.2500 1.5911e-01 3\n", + " 4 1.5090e+00 1.7373e-01 4.5734e-03 1.2896e-01 9.33006e-02 1.0000 1.2896e-01 3\n", + " 5 4.4127e-01 1.7373e-01 2.9028e-04 2.6463e-02 1.14676e-01 0.2500 2.6463e-02 3\n", + " 6 3.9517e-01 1.7373e-01 2.1981e-04 2.1924e-02 4.69785e-02 1.0000 2.1924e-02 3\n", + " 7 1.8773e-01 1.7373e-01 1.8632e-05 1.3816e-03 5.99924e-02 0.0020 4.2973e-03 1\n", + " 8 1.8773e-01 1.7373e-01 1.8632e-05 1.3816e-03 5.99705e-02 0.0625 1.7399e-03 1\n", + " 9 1.8731e-01 1.7373e-01 1.7528e-05 1.3402e-03 5.08840e-02 0.0625 2.9891e-03 1\n", + " 10 1.8730e-01 1.7373e-01 1.6479e-05 1.3405e-03 4.32167e-02 0.1250 2.1104e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7958e+02 1.8303e-01 4.7649e+01 2.9005e-01 1.09194e+00 1.0000 ---- 3\n", + " 2 5.3813e+01 1.7369e-01 2.2365e+00 3.1274e+00 2.89887e-01 1.0000 3.1274e+00 3\n", + " 3 2.1313e+00 1.7373e-01 6.3452e-03 1.8941e-01 2.51630e-01 0.5000 1.8941e-01 3\n", + " 4 2.0990e+00 1.7372e-01 3.3473e-03 1.8918e-01 6.76357e-02 1.0000 1.8918e-01 3\n", + " 5 1.8187e-01 1.7372e-01 4.4714e-05 7.7064e-04 1.18515e-01 0.0156 1.7103e-03 1\n", + " 6 1.8187e-01 1.7372e-01 4.4019e-05 7.7078e-04 1.13170e-01 0.2500 1.7115e-03 1\n", + " 7 1.8154e-01 1.7372e-01 3.3901e-05 7.4782e-04 3.22166e-02 1.0000 1.7295e-03 1\n", + " 8 1.7858e-01 1.7372e-01 3.4623e-06 4.8266e-04 5.42782e-02 1.0000 1.7528e-03 1\n", + " 9 1.7614e-01 1.7372e-01 4.8561e-06 2.3700e-04 9.84975e-02 0.0625 1.7330e-03 1\n", + " 10 1.7611e-01 1.7372e-01 4.5964e-06 2.3444e-04 8.07245e-02 0.1250 1.7355e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7960e+02 1.8301e-01 4.7596e+01 3.4515e-01 1.09748e+00 1.0000 ---- 3\n", + " 2 5.5531e+01 1.7367e-01 2.2630e+00 3.2727e+00 3.32467e-01 1.0000 3.2727e+00 3\n", + " 3 4.8268e+00 1.7371e-01 5.9872e-03 4.5932e-01 3.52045e-01 0.5000 4.5932e-01 3\n", + " 4 4.0638e+00 1.7370e-01 3.1503e-03 3.8586e-01 1.33205e-01 1.0000 3.8586e-01 3\n", + " 5 6.8527e-01 1.7371e-01 6.5474e-05 5.1091e-02 2.77380e-01 0.2500 5.1091e-02 3\n", + " 6 5.9722e-01 1.7370e-01 5.0245e-05 4.2301e-02 5.63032e-02 1.0000 4.2301e-02 3\n", + " 7 1.7374e-01 1.7370e-01 3.5007e-06 0.0000e+00 1.11895e-01 0.2500 1.7400e-03 1\n", + " 8 1.7373e-01 1.7370e-01 2.8883e-06 0.0000e+00 2.64175e-02 0.2500 1.7355e-03 1\n", + " 9 1.7372e-01 1.7370e-01 2.1971e-06 0.0000e+00 7.96946e-03 0.5000 1.7380e-03 1\n", + " 10 1.7371e-01 1.7370e-01 1.0952e-06 0.0000e+00 3.34572e-03 0.2500 1.7430e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7812e+02 1.8299e-01 4.7562e+01 2.3203e-01 1.08292e+00 1.0000 ---- 3\n", + " 2 5.4081e+01 1.7365e-01 2.2488e+00 3.1419e+00 2.75114e-01 1.0000 3.1419e+00 3\n", + " 3 2.3772e+00 1.7369e-01 5.9442e-03 2.1441e-01 2.30774e-01 0.5000 2.1441e-01 3\n", + " 4 2.0408e+00 1.7369e-01 3.1558e-03 1.8356e-01 6.29289e-02 1.0000 1.8356e-01 3\n", + " 5 1.8091e-01 1.7369e-01 4.1783e-05 6.8015e-04 1.10995e-01 0.1250 1.7081e-03 1\n", + " 6 1.8089e-01 1.7369e-01 3.6793e-05 6.8384e-04 7.10577e-02 0.5000 1.7144e-03 1\n", + " 7 1.7921e-01 1.7369e-01 1.9998e-05 5.3258e-04 3.29580e-02 1.0000 1.7304e-03 1\n", + " 8 1.7885e-01 1.7369e-01 1.3914e-06 5.1492e-04 6.98211e-02 0.1250 1.7184e-03 1\n", + " 9 1.7876e-01 1.7369e-01 1.2256e-06 5.0601e-04 4.19782e-02 0.2500 1.7272e-03 1\n", + " 10 1.7836e-01 1.7369e-01 9.6636e-07 4.6677e-04 8.97464e-03 1.0000 1.7361e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7864e+02 1.8298e-01 4.7568e+01 2.7700e-01 1.08230e+00 1.0000 ---- 3\n", + " 2 5.3405e+01 1.7364e-01 2.2355e+00 3.0877e+00 2.67930e-01 1.0000 3.0877e+00 3\n", + " 3 1.9278e+00 1.7368e-01 6.0514e-03 1.6936e-01 2.16071e-01 0.5000 1.6936e-01 3\n", + " 4 1.6882e+00 1.7367e-01 3.2162e-03 1.4824e-01 6.03578e-02 1.0000 1.4824e-01 3\n", + " 5 1.9456e-01 1.7367e-01 3.9668e-05 2.0488e-03 1.10366e-01 0.0625 2.0488e-03 1\n", + " 6 1.9454e-01 1.7367e-01 3.7246e-05 2.0493e-03 8.97328e-02 0.2500 2.0493e-03 1\n", + " 7 1.9232e-01 1.7367e-01 2.8567e-05 1.8361e-03 2.43030e-02 1.0000 1.8361e-03 1\n", + " 8 1.8331e-01 1.7367e-01 2.5465e-06 9.6071e-04 4.07960e-02 1.0000 1.6929e-03 1\n", + " 9 1.7532e-01 1.7367e-01 3.2447e-06 1.6098e-04 7.74907e-02 0.0625 1.6896e-03 1\n", + " 10 1.7527e-01 1.7367e-01 3.0733e-06 1.5702e-04 6.29303e-02 0.0625 1.6901e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7882e+02 1.8296e-01 4.7599e+01 2.6413e-01 1.09912e+00 1.0000 ---- 3\n", + " 2 5.5841e+01 1.7363e-01 2.2613e+00 3.3055e+00 3.18964e-01 1.0000 3.3055e+00 3\n", + " 3 5.3836e+00 1.7366e-01 5.8893e-03 5.1510e-01 3.25999e-01 0.5000 5.1510e-01 3\n", + " 4 4.1784e+00 1.7365e-01 3.1022e-03 3.9737e-01 1.33780e-01 1.0000 3.9737e-01 3\n", + " 5 8.3611e-01 1.7366e-01 6.3457e-05 6.6181e-02 2.76917e-01 0.2500 6.6181e-02 3\n", + " 6 7.2903e-01 1.7365e-01 4.8956e-05 5.5489e-02 5.77475e-02 1.0000 5.5489e-02 3\n", + " 7 1.7515e-01 1.7365e-01 4.1305e-06 1.4588e-04 1.14895e-01 0.0020 1.7053e-03 1\n", + " 8 1.7515e-01 1.7365e-01 4.1305e-06 1.4588e-04 1.14845e-01 0.2500 1.7046e-03 1\n", + " 9 1.7505e-01 1.7365e-01 3.3780e-06 1.3676e-04 2.70431e-02 0.5000 1.5807e-03 1\n", + " 10 1.7487e-01 1.7365e-01 1.6735e-06 1.2045e-04 1.29879e-02 1.0000 1.5818e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7836e+02 1.8294e-01 4.7633e+01 1.8502e-01 1.08356e+00 1.0000 ---- 3\n", + " 2 5.5805e+01 1.7360e-01 2.2384e+00 3.3248e+00 2.85327e-01 1.0000 3.3248e+00 3\n", + " 3 1.8801e+00 1.7364e-01 5.9722e-03 1.6467e-01 2.86260e-01 0.5000 1.6467e-01 3\n", + " 4 1.5248e+00 1.7364e-01 3.1696e-03 1.3195e-01 1.15259e-01 1.0000 1.3195e-01 3\n", + " 5 5.3080e-01 1.7364e-01 5.0199e-05 3.5666e-02 2.44775e-01 0.2500 3.5666e-02 3\n", + " 6 5.1525e-01 1.7363e-01 3.9878e-05 3.4122e-02 4.99815e-02 1.0000 3.4122e-02 3\n", + " 7 1.7389e-01 1.7363e-01 4.3301e-06 2.1908e-05 1.02810e-01 0.0020 1.7041e-03 1\n", + " 8 1.7389e-01 1.7363e-01 4.3301e-06 2.1908e-05 1.02762e-01 0.1250 1.7040e-03 1\n", + " 9 1.7379e-01 1.7363e-01 3.9192e-06 1.1430e-05 6.26251e-02 0.0020 1.7015e-03 1\n", + " 10 1.7379e-01 1.7363e-01 3.9192e-06 1.1430e-05 6.23438e-02 0.1250 1.7012e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7976e+02 1.8292e-01 4.7622e+01 3.3550e-01 1.08991e+00 1.0000 ---- 3\n", + " 2 5.5490e+01 1.7358e-01 2.2591e+00 3.2726e+00 2.83323e-01 1.0000 3.2726e+00 3\n", + " 3 1.1181e+00 1.7363e-01 6.0354e-03 8.8409e-02 2.73222e-01 0.2500 8.8409e-02 3\n", + " 4 9.7498e-01 1.7362e-01 4.5723e-03 7.5564e-02 9.47571e-02 1.0000 7.5564e-02 3\n", + " 5 2.6169e-01 1.7362e-01 2.8223e-04 8.5249e-03 1.24600e-01 0.1250 8.5249e-03 2\n", + " 6 2.5927e-01 1.7362e-01 2.4724e-04 8.3177e-03 8.43632e-02 0.2500 8.3177e-03 2\n", + " 7 2.5333e-01 1.7362e-01 1.8610e-04 7.7854e-03 3.50637e-02 0.0020 1.0091e-02 1\n", + " 8 2.5333e-01 1.7362e-01 1.8610e-04 7.7854e-03 3.50230e-02 0.5000 7.7854e-03 1\n", + " 9 2.3448e-01 1.7362e-01 9.1609e-05 5.9949e-03 8.20982e-03 1.0000 5.9949e-03 1\n", + " 10 2.0904e-01 1.7362e-01 1.0869e-06 3.5415e-03 1.31915e-02 1.0000 3.5415e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7991e+02 1.8290e-01 4.7600e+01 3.7333e-01 1.08992e+00 1.0000 ---- 3\n", + " 2 5.6503e+01 1.7357e-01 2.2639e+00 3.3690e+00 2.94043e-01 1.0000 3.3690e+00 3\n", + " 3 1.9002e+00 1.7361e-01 5.7035e-03 1.6696e-01 2.72018e-01 0.2500 1.6696e-01 3\n", + " 4 1.7071e+00 1.7361e-01 4.3193e-03 1.4903e-01 1.05453e-01 1.0000 1.4903e-01 3\n", + " 5 6.1872e-01 1.7361e-01 2.6862e-04 4.4242e-02 1.37416e-01 0.2500 4.4242e-02 3\n", + " 6 6.0716e-01 1.7361e-01 2.0321e-04 4.3152e-02 5.32463e-02 1.0000 4.3152e-02 3\n", + " 7 2.7808e-01 1.7361e-01 1.6943e-05 1.0430e-02 7.10166e-02 0.2500 1.0430e-02 2\n", + " 8 2.6644e-01 1.7361e-01 1.3871e-05 9.2698e-03 2.73903e-02 1.0000 9.2698e-03 2\n", + " 9 1.9325e-01 1.7361e-01 3.8856e-06 1.9605e-03 3.89556e-02 0.0020 4.5569e-03 1\n", + " 10 1.9325e-01 1.7361e-01 3.8856e-06 1.9605e-03 3.89362e-02 0.1250 1.9605e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7839e+02 1.8289e-01 4.7565e+01 2.5595e-01 1.08117e+00 1.0000 ---- 3\n", + " 2 5.6753e+01 1.7356e-01 2.2582e+00 3.3998e+00 2.68648e-01 1.0000 3.3998e+00 3\n", + " 3 2.6554e+00 1.7360e-01 5.7858e-03 2.4239e-01 2.26814e-01 0.5000 2.4239e-01 3\n", + " 4 2.4539e+00 1.7359e-01 3.0796e-03 2.2495e-01 6.61624e-02 1.0000 2.2495e-01 3\n", + " 5 1.7784e-01 1.7360e-01 3.9545e-05 3.8457e-04 1.28303e-01 0.1250 1.7853e-03 1\n", + " 6 1.7782e-01 1.7360e-01 3.4974e-05 3.8697e-04 7.96100e-02 0.5000 1.6640e-03 1\n", + " 7 1.7672e-01 1.7360e-01 1.9945e-05 2.9227e-04 4.27920e-02 0.2500 1.6749e-03 1\n", + " 8 1.7626e-01 1.7360e-01 1.4978e-05 2.5139e-04 8.50198e-03 1.0000 1.6747e-03 1\n", + " 9 1.7433e-01 1.7360e-01 5.3504e-07 7.2532e-05 1.68659e-02 1.0000 1.6787e-03 1\n", + " 10 1.7388e-01 1.7360e-01 2.3704e-07 2.7968e-05 3.61917e-02 0.0020 1.6818e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7904e+02 1.8288e-01 4.7582e+01 3.0318e-01 1.09095e+00 1.0000 ---- 3\n", + " 2 5.5327e+01 1.7355e-01 2.2384e+00 3.2770e+00 2.87133e-01 1.0000 3.2770e+00 3\n", + " 3 8.3827e-01 1.7359e-01 5.9105e-03 6.0558e-02 2.83047e-01 0.2500 6.0558e-02 3\n", + " 4 7.8225e-01 1.7358e-01 4.4798e-03 5.6387e-02 9.57308e-02 1.0000 5.6387e-02 3\n", + " 5 4.0356e-01 1.7358e-01 2.6897e-04 2.2729e-02 1.25328e-01 0.2500 2.2729e-02 3\n", + " 6 3.9015e-01 1.7358e-01 2.0361e-04 2.1453e-02 4.75129e-02 1.0000 2.1453e-02 3\n", + " 7 2.4524e-01 1.7358e-01 1.7080e-05 7.1487e-03 6.08440e-02 0.5000 7.1487e-03 2\n", + " 8 2.3609e-01 1.7358e-01 1.3217e-05 6.2384e-03 2.24075e-02 1.0000 6.2384e-03 2\n", + " 9 1.7374e-01 1.7358e-01 5.4664e-07 1.5389e-05 4.68630e-02 0.0020 1.6773e-03 1\n", + " 10 1.7374e-01 1.7358e-01 5.4664e-07 1.5389e-05 4.68423e-02 0.1250 1.6773e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7844e+02 1.8286e-01 4.7682e+01 1.4418e-01 1.09029e+00 1.0000 ---- 3\n", + " 2 5.8779e+01 1.7353e-01 2.2696e+00 3.5910e+00 2.92311e-01 1.0000 3.5910e+00 3\n", + " 3 2.8885e+00 1.7357e-01 5.5785e-03 2.6591e-01 2.78680e-01 0.2500 2.6591e-01 3\n", + " 4 2.3075e+00 1.7357e-01 4.2252e-03 2.0917e-01 1.04332e-01 1.0000 2.0917e-01 3\n", + " 5 5.4169e-01 1.7357e-01 2.5900e-04 3.6553e-02 1.38648e-01 0.1250 3.6553e-02 3\n", + " 6 5.0752e-01 1.7357e-01 2.2676e-04 3.3168e-02 9.50746e-02 0.2500 3.3168e-02 3\n", + " 7 4.6646e-01 1.7357e-01 1.7080e-04 2.9119e-02 3.73746e-02 1.0000 2.9119e-02 3\n", + " 8 2.9583e-01 1.7357e-01 8.7429e-06 1.2218e-02 4.94062e-02 0.5000 1.2218e-02 2\n", + " 9 2.4713e-01 1.7357e-01 6.6311e-06 7.3499e-03 1.65343e-02 0.0020 9.9522e-03 1\n", + " 10 2.4713e-01 1.7357e-01 6.6311e-06 7.3499e-03 1.65180e-02 1.0000 7.3499e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.8006e+02 1.8285e-01 4.7653e+01 3.3438e-01 1.09135e+00 1.0000 ---- 3\n", + " 2 5.7639e+01 1.7352e-01 2.2735e+00 3.4731e+00 3.04158e-01 1.0000 3.4731e+00 3\n", + " 3 2.3347e+00 1.7357e-01 5.6230e-03 2.1049e-01 3.01975e-01 0.2500 2.1049e-01 3\n", + " 4 2.0221e+00 1.7356e-01 4.2581e-03 1.8059e-01 1.11691e-01 1.0000 1.8059e-01 3\n", + " 5 6.4301e-01 1.7356e-01 2.6290e-04 4.6682e-02 1.54169e-01 0.2500 4.6682e-02 3\n", + " 6 6.3252e-01 1.7356e-01 1.9937e-04 4.5697e-02 5.50141e-02 1.0000 4.5697e-02 3\n", + " 7 3.1502e-01 1.7356e-01 1.6531e-05 1.4130e-02 7.71360e-02 0.2500 1.4130e-02 2\n", + " 8 2.8941e-01 1.7356e-01 1.3634e-05 1.1571e-02 2.83893e-02 1.0000 1.1571e-02 2\n", + " 9 1.9146e-01 1.7356e-01 3.9884e-06 1.7859e-03 4.20881e-02 0.0020 2.1829e-03 1\n", + " 10 1.9146e-01 1.7356e-01 3.9884e-06 1.7859e-03 4.20687e-02 0.0625 1.7859e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7966e+02 1.8283e-01 4.7574e+01 3.7422e-01 1.08282e+00 1.0000 ---- 3\n", + " 2 5.8138e+01 1.7351e-01 2.2653e+00 3.5312e+00 2.72620e-01 1.0000 3.5312e+00 3\n", + " 3 1.6848e+00 1.7356e-01 5.7083e-03 1.4541e-01 2.39674e-01 0.2500 1.4541e-01 3\n", + " 4 1.5555e+00 1.7355e-01 4.3292e-03 1.3387e-01 9.50692e-02 1.0000 1.3387e-01 3\n", + " 5 7.4925e-01 1.7355e-01 2.8625e-04 5.7284e-02 1.20444e-01 0.2500 5.7284e-02 3\n", + " 6 6.6350e-01 1.7355e-01 2.1648e-04 4.8778e-02 4.80321e-02 1.0000 4.8778e-02 3\n", + " 7 2.9004e-01 1.7355e-01 1.9833e-05 1.1629e-02 6.27782e-02 0.5000 1.1629e-02 2\n", + " 8 2.8382e-01 1.7355e-01 1.5042e-05 1.1012e-02 1.61642e-02 1.0000 1.1012e-02 2\n", + " 9 1.8837e-01 1.7355e-01 5.6993e-07 1.4819e-03 2.81433e-02 0.0020 1.8693e-03 1\n", + " 10 1.8837e-01 1.7355e-01 5.6993e-07 1.4819e-03 2.81286e-02 0.2500 1.7041e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7943e+02 1.8283e-01 4.7552e+01 3.7239e-01 1.08533e+00 1.0000 ---- 3\n", + " 2 5.4812e+01 1.7351e-01 2.2610e+00 3.2029e+00 2.84346e-01 1.0000 3.2029e+00 3\n", + " 3 2.1403e+00 1.7355e-01 5.8699e-03 1.9081e-01 2.49024e-01 0.2500 1.9081e-01 3\n", + " 4 1.8130e+00 1.7354e-01 4.4462e-03 1.5950e-01 1.01369e-01 1.0000 1.5950e-01 3\n", + " 5 8.0764e-01 1.7354e-01 2.7264e-04 6.3137e-02 1.29909e-01 0.5000 6.3137e-02 3\n", + " 6 7.4864e-01 1.7354e-01 1.4746e-04 5.7363e-02 3.86192e-02 1.0000 5.7363e-02 3\n", + " 7 2.4681e-01 1.7354e-01 7.5208e-06 7.3200e-03 7.63498e-02 0.2500 7.3200e-03 2\n", + " 8 2.3185e-01 1.7354e-01 6.8320e-06 5.8248e-03 1.77652e-02 1.0000 5.8248e-03 2\n", + " 9 1.7355e-01 1.7354e-01 1.0804e-06 0.0000e+00 3.15079e-02 0.2500 1.7208e-03 1\n", + " 10 1.7355e-01 1.7354e-01 9.6002e-07 0.0000e+00 1.04966e-02 0.5000 1.7278e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7915e+02 1.8281e-01 4.7531e+01 3.6620e-01 1.08358e+00 1.0000 ---- 3\n", + " 2 5.3841e+01 1.7349e-01 2.2491e+00 3.1176e+00 2.74598e-01 1.0000 3.1176e+00 3\n", + " 3 1.9992e+00 1.7353e-01 5.9149e-03 1.7666e-01 2.30296e-01 0.5000 1.7666e-01 3\n", + " 4 1.9942e+00 1.7352e-01 3.1471e-03 1.7892e-01 6.43882e-02 1.0000 1.7892e-01 3\n", + " 5 2.0411e-01 1.7353e-01 4.3364e-05 3.0145e-03 1.18310e-01 0.0625 3.0145e-03 1\n", + " 6 2.0400e-01 1.7353e-01 4.0727e-05 3.0065e-03 9.62843e-02 0.5000 3.0065e-03 1\n", + " 7 2.0087e-01 1.7353e-01 2.3552e-05 2.7111e-03 5.11728e-02 1.0000 2.7111e-03 1\n", + " 8 1.9657e-01 1.7352e-01 2.7963e-06 2.3018e-03 1.10911e-01 0.2500 2.3018e-03 1\n", + " 9 1.9456e-01 1.7352e-01 2.5408e-06 2.1013e-03 2.18180e-02 1.0000 2.1013e-03 1\n", + " 10 1.8480e-01 1.7352e-01 5.9879e-07 1.1269e-03 4.59016e-02 0.5000 1.7417e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7946e+02 1.8280e-01 4.7576e+01 3.5180e-01 1.09045e+00 1.0000 ---- 3\n", + " 2 5.5246e+01 1.7348e-01 2.2483e+00 3.2590e+00 3.04254e-01 1.0000 3.2590e+00 3\n", + " 3 2.6378e+00 1.7352e-01 5.9113e-03 2.4051e-01 3.17411e-01 0.2500 2.4051e-01 3\n", + " 4 2.4249e+00 1.7351e-01 4.4703e-03 2.2067e-01 1.14320e-01 1.0000 2.2067e-01 3\n", + " 5 7.7782e-01 1.7351e-01 2.5591e-04 6.0175e-02 1.60546e-01 0.2500 6.0175e-02 3\n", + " 6 7.1285e-01 1.7351e-01 1.9541e-04 5.3739e-02 5.53281e-02 1.0000 5.3739e-02 3\n", + " 7 2.6209e-01 1.7351e-01 1.8394e-05 8.8395e-03 7.77072e-02 0.0020 9.5830e-03 1\n", + " 8 2.6209e-01 1.7351e-01 1.8394e-05 8.8395e-03 7.76899e-02 0.0625 8.8395e-03 1\n", + " 9 2.5964e-01 1.7351e-01 1.7321e-05 8.5958e-03 6.53878e-02 0.0312 8.5958e-03 1\n", + " 10 2.5913e-01 1.7351e-01 1.6794e-05 8.5457e-03 6.02537e-02 0.1250 8.5457e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7930e+02 1.8278e-01 4.7539e+01 3.7310e-01 1.09373e+00 1.0000 ---- 3\n", + " 2 5.3145e+01 1.7346e-01 2.2534e+00 3.0437e+00 2.93609e-01 1.0000 3.0437e+00 3\n", + " 3 2.0352e+00 1.7350e-01 6.3608e-03 1.7981e-01 2.60153e-01 0.2500 1.7981e-01 3\n", + " 4 1.7709e+00 1.7350e-01 4.8112e-03 1.5493e-01 1.07418e-01 1.0000 1.5493e-01 3\n", + " 5 6.0163e-01 1.7350e-01 2.8721e-04 4.2526e-02 1.35527e-01 0.2500 4.2526e-02 3\n", + " 6 5.2222e-01 1.7349e-01 2.1865e-04 3.4654e-02 5.27745e-02 1.0000 3.4654e-02 3\n", + " 7 2.1148e-01 1.7349e-01 1.9720e-05 3.7786e-03 6.78364e-02 0.0156 3.7786e-03 1\n", + " 8 2.1147e-01 1.7349e-01 1.9418e-05 3.7778e-03 6.52583e-02 0.1250 3.7778e-03 1\n", + " 9 2.0897e-01 1.7349e-01 1.7319e-05 3.5305e-03 4.54293e-02 0.1250 3.5305e-03 1\n", + " 10 2.0897e-01 1.7349e-01 1.5326e-05 3.5321e-03 3.19286e-02 0.2500 3.5321e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7866e+02 1.8276e-01 4.7553e+01 2.9444e-01 1.08591e+00 1.0000 ---- 3\n", + " 2 5.3193e+01 1.7344e-01 2.2472e+00 3.0548e+00 2.71585e-01 1.0000 3.0548e+00 3\n", + " 3 1.9361e+00 1.7348e-01 6.0714e-03 1.7019e-01 2.15519e-01 0.2500 1.7019e-01 3\n", + " 4 1.6303e+00 1.7348e-01 4.5929e-03 1.4109e-01 9.40664e-02 1.0000 1.4109e-01 3\n", + " 5 4.6525e-01 1.7348e-01 2.7211e-04 2.8905e-02 1.11718e-01 0.2500 2.8905e-02 3\n", + " 6 4.2239e-01 1.7348e-01 2.0552e-04 2.4685e-02 4.62334e-02 1.0000 2.4685e-02 3\n", + " 7 2.2783e-01 1.7348e-01 1.5923e-05 5.4190e-03 5.77326e-02 0.0078 6.8634e-03 1\n", + " 8 2.2783e-01 1.7348e-01 1.5800e-05 5.4188e-03 5.66400e-02 0.1250 5.4188e-03 1\n", + " 9 2.2667e-01 1.7348e-01 1.4069e-05 5.3046e-03 3.98274e-02 0.1250 5.3046e-03 1\n", + " 10 2.2657e-01 1.7348e-01 1.2437e-05 5.2970e-03 2.81743e-02 0.2500 5.2970e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7948e+02 1.8275e-01 4.7604e+01 3.2582e-01 1.08672e+00 1.0000 ---- 3\n", + " 2 5.5068e+01 1.7343e-01 2.2462e+00 3.2432e+00 2.71378e-01 1.0000 3.2432e+00 3\n", + " 3 1.1310e+00 1.7348e-01 5.9189e-03 8.9832e-02 2.15323e-01 0.1250 8.9832e-02 3\n", + " 4 1.0411e+00 1.7347e-01 5.1886e-03 8.1570e-02 1.53738e-01 0.2500 8.1570e-02 3\n", + " 5 8.9119e-01 1.7347e-01 3.9175e-03 6.7854e-02 6.94349e-02 1.0000 6.7854e-02 3\n", + " 6 3.0330e-01 1.7347e-01 1.7824e-04 1.2804e-02 7.89789e-02 0.2500 1.2804e-02 3\n", + " 7 2.9191e-01 1.7347e-01 1.3394e-04 1.1710e-02 3.39863e-02 1.0000 1.1710e-02 3\n", + " 8 2.5064e-01 1.7347e-01 8.6781e-06 7.7088e-03 4.07182e-02 0.0078 1.0220e-02 1\n", + " 9 2.5064e-01 1.7347e-01 8.6108e-06 7.7086e-03 3.99650e-02 0.2500 7.7086e-03 1\n", + " 10 2.4485e-01 1.7347e-01 6.9269e-06 7.1310e-03 1.71559e-02 1.0000 7.1310e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7945e+02 1.8274e-01 4.7594e+01 3.3203e-01 1.08212e+00 1.0000 ---- 3\n", + " 2 5.6936e+01 1.7342e-01 2.2498e+00 3.4264e+00 2.64184e-01 1.0000 3.4264e+00 3\n", + " 3 1.2714e+00 1.7347e-01 5.6529e-03 1.0414e-01 2.15851e-01 0.2500 1.0414e-01 3\n", + " 4 1.2177e+00 1.7347e-01 4.2772e-03 1.0015e-01 9.15076e-02 1.0000 1.0015e-01 3\n", + " 5 5.4036e-01 1.7346e-01 2.4867e-04 3.6440e-02 1.11532e-01 0.2500 3.6440e-02 3\n", + " 6 5.1075e-01 1.7346e-01 1.8774e-04 3.3541e-02 4.61504e-02 1.0000 3.3541e-02 3\n", + " 7 2.5082e-01 1.7346e-01 1.8433e-05 7.7172e-03 5.88050e-02 0.2500 7.7172e-03 2\n", + " 8 2.3333e-01 1.7346e-01 1.4862e-05 5.9720e-03 2.40983e-02 0.0020 1.0410e-02 1\n", + " 9 2.3333e-01 1.7346e-01 1.4862e-05 5.9720e-03 2.40857e-02 0.5000 5.9720e-03 1\n", + " 10 2.1545e-01 1.7346e-01 8.5018e-06 4.1901e-03 5.46443e-03 1.0000 4.1901e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7961e+02 1.8273e-01 4.7577e+01 3.6586e-01 1.08520e+00 1.0000 ---- 3\n", + " 2 5.5778e+01 1.7342e-01 2.2663e+00 3.2942e+00 2.77997e-01 1.0000 3.2942e+00 3\n", + " 3 2.1493e+00 1.7346e-01 5.7733e-03 1.9181e-01 2.37613e-01 0.2500 1.9181e-01 3\n", + " 4 1.8097e+00 1.7346e-01 4.3713e-03 1.5925e-01 9.93456e-02 1.0000 1.5925e-01 3\n", + " 5 6.0420e-01 1.7346e-01 2.7128e-04 4.2802e-02 1.24493e-01 0.2500 4.2802e-02 3\n", + " 6 5.2979e-01 1.7346e-01 2.0533e-04 3.5428e-02 4.91985e-02 1.0000 3.5428e-02 3\n", + " 7 1.9631e-01 1.7346e-01 1.7546e-05 2.2682e-03 6.47266e-02 0.0020 2.2682e-03 1\n", + " 8 1.9631e-01 1.7346e-01 1.7512e-05 2.2682e-03 6.43930e-02 0.0625 2.2682e-03 1\n", + " 9 1.9631e-01 1.7346e-01 1.6484e-05 2.2684e-03 5.45870e-02 0.0312 2.2684e-03 1\n", + " 10 1.9626e-01 1.7346e-01 1.5981e-05 2.2644e-03 5.04501e-02 0.0625 2.2644e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7954e+02 1.8273e-01 4.7568e+01 3.6783e-01 1.09487e+00 1.0000 ---- 3\n", + " 2 5.5087e+01 1.7342e-01 2.2455e+00 3.2459e+00 2.92190e-01 1.0000 3.2459e+00 3\n", + " 3 1.1398e+00 1.7346e-01 6.1876e-03 9.0448e-02 2.55387e-01 0.1250 9.0448e-02 3\n", + " 4 1.0578e+00 1.7346e-01 5.4240e-03 8.3006e-02 1.81641e-01 0.2500 8.3006e-02 3\n", + " 5 9.2297e-01 1.7345e-01 4.0952e-03 7.0857e-02 7.88424e-02 1.0000 7.0857e-02 3\n", + " 6 3.4002e-01 1.7345e-01 1.8532e-04 1.6471e-02 9.49757e-02 0.2500 1.6471e-02 3\n", + " 7 3.3379e-01 1.7345e-01 1.4072e-04 1.5893e-02 3.89982e-02 1.0000 1.5893e-02 3\n", + " 8 2.5277e-01 1.7345e-01 1.1260e-05 7.9211e-03 4.85964e-02 0.5000 7.9211e-03 2\n", + " 9 2.3764e-01 1.7345e-01 9.1338e-06 6.4096e-03 1.34124e-02 0.0020 9.2267e-03 1\n", + " 10 2.3764e-01 1.7345e-01 9.1338e-06 6.4096e-03 1.33947e-02 1.0000 6.4096e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7802e+02 1.8272e-01 4.7622e+01 1.6217e-01 1.08786e+00 1.0000 ---- 3\n", + " 2 5.8408e+01 1.7340e-01 2.2605e+00 3.5630e+00 2.81732e-01 1.0000 3.5630e+00 3\n", + " 3 2.7451e+00 1.7345e-01 5.5659e-03 2.5160e-01 2.55697e-01 0.5000 2.5160e-01 3\n", + " 4 2.5389e+00 1.7344e-01 2.9460e-03 2.3360e-01 8.10108e-02 1.0000 2.3360e-01 3\n", + " 5 2.0556e-01 1.7345e-01 4.8862e-05 3.1624e-03 1.53266e-01 0.0156 3.1624e-03 1\n", + " 6 2.0556e-01 1.7345e-01 4.8102e-05 3.1627e-03 1.46043e-01 0.1250 3.1627e-03 1\n", + " 7 2.0375e-01 1.7345e-01 4.2330e-05 2.9884e-03 9.09831e-02 0.2500 2.9884e-03 1\n", + " 8 2.0292e-01 1.7345e-01 3.2168e-05 2.9152e-03 2.39170e-02 1.0000 2.9152e-03 1\n", + " 9 1.8152e-01 1.7345e-01 1.7545e-06 8.0562e-04 4.09249e-02 1.0000 1.4734e-03 1\n", + " 10 1.7463e-01 1.7345e-01 2.1883e-06 1.1668e-04 7.85228e-02 0.1250 1.4633e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7911e+02 1.8271e-01 4.7557e+01 3.3587e-01 1.09546e+00 1.0000 ---- 3\n", + " 2 5.7083e+01 1.7340e-01 2.2656e+00 3.4253e+00 3.27524e-01 1.0000 3.4253e+00 3\n", + " 3 3.2825e+00 1.7344e-01 5.7491e-03 3.0516e-01 3.61450e-01 0.2500 3.0516e-01 3\n", + " 4 2.6665e+00 1.7343e-01 4.3519e-03 2.4495e-01 1.19668e-01 1.0000 2.4495e-01 3\n", + " 5 5.5128e-01 1.7343e-01 2.4764e-04 3.7537e-02 1.67309e-01 0.1250 3.7537e-02 3\n", + " 6 5.3530e-01 1.7343e-01 2.1715e-04 3.5970e-02 1.11850e-01 0.2500 3.5970e-02 3\n", + " 7 4.9929e-01 1.7343e-01 1.6385e-04 3.2422e-02 4.18558e-02 1.0000 3.2422e-02 3\n", + " 8 2.3338e-01 1.7343e-01 9.4956e-06 5.9858e-03 5.60197e-02 0.0020 7.5954e-03 1\n", + " 9 2.3338e-01 1.7343e-01 9.4956e-06 5.9858e-03 5.60069e-02 0.1250 5.9858e-03 1\n", + " 10 2.3213e-01 1.7343e-01 8.4748e-06 5.8617e-03 3.85263e-02 0.0625 5.8617e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7972e+02 1.8270e-01 4.7579e+01 3.7424e-01 1.08964e+00 1.0000 ---- 3\n", + " 2 5.5332e+01 1.7339e-01 2.2529e+00 3.2630e+00 2.88212e-01 1.0000 3.2630e+00 3\n", + " 3 8.9583e-01 1.7343e-01 5.9318e-03 6.6308e-02 2.60605e-01 0.1250 6.6308e-02 3\n", + " 4 8.5268e-01 1.7343e-01 5.2004e-03 6.2725e-02 1.80579e-01 0.2500 6.2725e-02 3\n", + " 5 7.7825e-01 1.7343e-01 3.9275e-03 5.6555e-02 7.44323e-02 1.0000 5.6555e-02 3\n", + " 6 3.6506e-01 1.7342e-01 1.7866e-04 1.8985e-02 9.08870e-02 0.2500 1.8985e-02 3\n", + " 7 3.2942e-01 1.7342e-01 1.3486e-04 1.5465e-02 3.62759e-02 1.0000 1.5465e-02 3\n", + " 8 2.2778e-01 1.7342e-01 9.5463e-06 5.4263e-03 4.55604e-02 0.0039 1.0338e-02 1\n", + " 9 2.2778e-01 1.7342e-01 9.5092e-06 5.4263e-03 4.51159e-02 0.2500 5.4263e-03 1\n", + " 10 2.2686e-01 1.7342e-01 7.7937e-06 5.3354e-03 1.83985e-02 0.5000 6.2368e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7926e+02 1.8268e-01 4.7604e+01 3.0429e-01 1.08322e+00 1.0000 ---- 3\n", + " 2 5.7217e+01 1.7338e-01 2.2430e+00 3.4614e+00 2.67166e-01 1.0000 3.4614e+00 3\n", + " 3 1.7115e+00 1.7342e-01 5.7004e-03 1.4811e-01 2.29484e-01 0.2500 1.4811e-01 3\n", + " 4 1.5687e+00 1.7342e-01 4.3217e-03 1.3521e-01 9.46742e-02 1.0000 1.3521e-01 3\n", + " 5 6.5422e-01 1.7342e-01 2.8198e-04 4.7798e-02 1.17763e-01 0.2500 4.7798e-02 3\n", + " 6 5.6656e-01 1.7342e-01 2.1316e-04 3.9101e-02 4.68689e-02 1.0000 3.9101e-02 3\n", + " 7 2.9296e-01 1.7342e-01 1.7231e-05 1.1937e-02 6.08451e-02 0.2500 1.1937e-02 3\n", + " 8 2.8184e-01 1.7342e-01 1.4021e-05 1.0828e-02 2.42072e-02 1.0000 1.0828e-02 2\n", + " 9 2.0710e-01 1.7342e-01 3.8154e-06 3.3646e-03 3.34497e-02 0.0020 5.1773e-03 1\n", + " 10 2.0710e-01 1.7342e-01 3.8154e-06 3.3646e-03 3.34319e-02 0.2500 3.3646e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7795e+02 1.8268e-01 4.7477e+01 2.9977e-01 1.08069e+00 1.0000 ---- 3\n", + " 2 5.6002e+01 1.7337e-01 2.2593e+00 3.3236e+00 2.70778e-01 1.0000 3.3236e+00 3\n", + " 3 1.3791e+00 1.7342e-01 5.6933e-03 1.1488e-01 2.31641e-01 0.2500 1.1488e-01 3\n", + " 4 1.2753e+00 1.7341e-01 4.3134e-03 1.0588e-01 9.40168e-02 1.0000 1.0588e-01 3\n", + " 5 5.6274e-01 1.7341e-01 2.5758e-04 3.8675e-02 1.18838e-01 0.2500 3.8675e-02 3\n", + " 6 5.3912e-01 1.7341e-01 1.9492e-04 3.6376e-02 4.71986e-02 1.0000 3.6376e-02 3\n", + " 7 2.8164e-01 1.7341e-01 1.8492e-05 1.0805e-02 6.19309e-02 0.2500 1.0805e-02 2\n", + " 8 2.6284e-01 1.7341e-01 1.4841e-05 8.9282e-03 2.47851e-02 0.0020 8.9282e-03 1\n", + " 9 2.6284e-01 1.7341e-01 1.4841e-05 8.9282e-03 2.47833e-02 1.0000 8.9282e-03 1\n", + " 10 2.5790e-01 1.7341e-01 6.9255e-06 8.4423e-03 3.29200e-02 0.1250 8.4423e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7800e+02 1.8267e-01 4.7405e+01 3.7748e-01 1.08012e+00 1.0000 ---- 3\n", + " 2 5.5805e+01 1.7336e-01 2.2509e+00 3.3123e+00 2.71404e-01 1.0000 3.3123e+00 3\n", + " 3 7.9478e-01 1.7341e-01 5.6732e-03 5.6464e-02 2.32000e-01 0.1250 5.6464e-02 3\n", + " 4 7.6092e-01 1.7341e-01 4.9756e-03 5.3776e-02 1.62678e-01 0.2500 5.3776e-02 3\n", + " 5 7.0449e-01 1.7340e-01 3.7615e-03 4.9347e-02 6.94176e-02 1.0000 4.9347e-02 3\n", + " 6 3.6449e-01 1.7340e-01 1.8204e-04 1.8927e-02 8.31798e-02 0.2500 1.8927e-02 3\n", + " 7 3.3659e-01 1.7340e-01 1.3757e-04 1.6181e-02 3.51873e-02 1.0000 1.6181e-02 3\n", + " 8 2.2108e-01 1.7340e-01 1.1053e-05 4.7564e-03 4.34213e-02 0.0020 9.3946e-03 1\n", + " 9 2.2108e-01 1.7340e-01 1.1053e-05 4.7564e-03 4.34043e-02 0.2500 4.7564e-03 1\n", + " 10 2.1773e-01 1.7340e-01 8.9109e-06 4.4241e-03 1.82780e-02 0.5000 5.4416e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7595e+02 1.8266e-01 4.7439e+01 1.3783e-01 1.08027e+00 1.0000 ---- 3\n", + " 2 5.5586e+01 1.7336e-01 2.2417e+00 3.2996e+00 2.74522e-01 1.0000 3.2996e+00 3\n", + " 3 1.5490e+00 1.7340e-01 5.9211e-03 1.3164e-01 2.36700e-01 0.2500 1.3164e-01 3\n", + " 4 1.3291e+00 1.7340e-01 4.4923e-03 1.1108e-01 9.58360e-02 1.0000 1.1108e-01 3\n", + " 5 3.5416e-01 1.7340e-01 2.8645e-04 1.7790e-02 1.21268e-01 0.1250 1.7790e-02 3\n", + " 6 3.4522e-01 1.7339e-01 2.5133e-04 1.6932e-02 8.42251e-02 0.2500 1.6932e-02 3\n", + " 7 3.2817e-01 1.7339e-01 1.8986e-04 1.5287e-02 3.49503e-02 1.0000 1.5287e-02 2\n", + " 8 1.8075e-01 1.7339e-01 1.0744e-05 7.2521e-04 4.36807e-02 0.0020 3.0128e-03 1\n", + " 9 1.8075e-01 1.7339e-01 1.0744e-05 7.2521e-04 4.36622e-02 0.1250 1.6783e-03 1\n", + " 10 1.8053e-01 1.7339e-01 9.5690e-06 7.0397e-04 3.07208e-02 0.0625 2.2174e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7664e+02 1.8266e-01 4.7462e+01 1.8368e-01 1.08789e+00 1.0000 ---- 3\n", + " 2 5.4618e+01 1.7335e-01 2.2259e+00 3.2186e+00 2.87806e-01 1.0000 3.2186e+00 3\n", + " 3 1.6070e+00 1.7339e-01 6.2182e-03 1.3714e-01 2.52210e-01 0.2500 1.3714e-01 3\n", + " 4 1.3715e+00 1.7339e-01 4.7057e-03 1.1510e-01 1.05117e-01 1.0000 1.1510e-01 3\n", + " 5 3.5452e-01 1.7339e-01 2.8449e-04 1.7829e-02 1.31974e-01 0.1250 1.7829e-02 3\n", + " 6 3.4620e-01 1.7339e-01 2.4994e-04 1.7032e-02 9.14598e-02 0.2500 1.7032e-02 3\n", + " 7 3.3003e-01 1.7338e-01 1.8935e-04 1.5476e-02 3.77964e-02 1.0000 1.5476e-02 2\n", + " 8 1.8112e-01 1.7338e-01 1.0977e-05 7.6244e-04 4.67984e-02 0.0020 3.1377e-03 1\n", + " 9 1.8112e-01 1.7338e-01 1.0977e-05 7.6244e-04 4.67790e-02 0.1250 1.7014e-03 1\n", + " 10 1.8099e-01 1.7338e-01 9.8116e-06 7.5096e-04 3.31162e-02 0.0625 2.3345e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7660e+02 1.8265e-01 4.7511e+01 1.3020e-01 1.08865e+00 1.0000 ---- 3\n", + " 2 5.4825e+01 1.7334e-01 2.2421e+00 3.2231e+00 2.83567e-01 1.0000 3.2231e+00 3\n", + " 3 1.2327e+00 1.7338e-01 6.1711e-03 9.9762e-02 2.48020e-01 0.2500 9.9762e-02 3\n", + " 4 1.1486e+00 1.7338e-01 4.6720e-03 9.2854e-02 1.02481e-01 1.0000 9.2854e-02 3\n", + " 5 4.3515e-01 1.7338e-01 2.8754e-04 2.5890e-02 1.29960e-01 0.2500 2.5890e-02 3\n", + " 6 4.3121e-01 1.7338e-01 2.1968e-04 2.5564e-02 5.04457e-02 1.0000 2.5564e-02 3\n", + " 7 2.5092e-01 1.7338e-01 2.0059e-05 7.7343e-03 6.57001e-02 0.0020 1.0284e-02 1\n", + " 8 2.5092e-01 1.7338e-01 2.0059e-05 7.7343e-03 6.56813e-02 0.1250 7.7343e-03 1\n", + " 9 2.4708e-01 1.7337e-01 1.7982e-05 7.3523e-03 4.57647e-02 0.1250 7.3523e-03 1\n", + " 10 2.4644e-01 1.7337e-01 1.5955e-05 7.2905e-03 3.21854e-02 0.5000 7.2905e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7796e+02 1.8263e-01 4.7442e+01 3.3521e-01 1.08071e+00 1.0000 ---- 3\n", + " 2 5.4667e+01 1.7333e-01 2.2331e+00 3.2163e+00 2.69330e-01 1.0000 3.2163e+00 3\n", + " 3 8.1241e-01 1.7337e-01 5.8929e-03 5.8011e-02 2.20098e-01 0.1250 5.8011e-02 3\n", + " 4 7.6863e-01 1.7337e-01 5.1678e-03 5.4358e-02 1.55797e-01 0.2500 5.4358e-02 3\n", + " 5 6.9584e-01 1.7337e-01 3.9059e-03 4.8341e-02 6.88097e-02 1.0000 4.8341e-02 3\n", + " 6 3.1700e-01 1.7337e-01 1.8524e-04 1.4178e-02 7.99671e-02 0.2500 1.4178e-02 3\n", + " 7 3.0432e-01 1.7337e-01 1.4004e-04 1.2955e-02 3.44431e-02 1.0000 1.2955e-02 3\n", + " 8 2.1981e-01 1.7337e-01 1.0733e-05 4.6334e-03 4.15573e-02 0.0020 9.3999e-03 1\n", + " 9 2.1981e-01 1.7337e-01 1.0733e-05 4.6334e-03 4.15419e-02 0.2500 4.6334e-03 1\n", + " 10 2.1643e-01 1.7337e-01 8.6120e-06 4.2973e-03 1.76940e-02 0.5000 5.4666e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7670e+02 1.8263e-01 4.7514e+01 1.3795e-01 1.08101e+00 1.0000 ---- 3\n", + " 2 5.4625e+01 1.7332e-01 2.2452e+00 3.1999e+00 2.71843e-01 1.0000 3.1999e+00 3\n", + " 3 2.3991e+00 1.7337e-01 5.8560e-03 2.1672e-01 2.30586e-01 0.5000 2.1672e-01 3\n", + " 4 1.9660e+00 1.7336e-01 3.1191e-03 1.7615e-01 6.78435e-02 1.0000 1.7615e-01 3\n", + " 5 3.8911e-01 1.7336e-01 4.4470e-05 2.1530e-02 1.18092e-01 0.2500 2.1530e-02 3\n", + " 6 3.5320e-01 1.7336e-01 3.4440e-05 1.7949e-02 3.31834e-02 1.0000 1.7949e-02 3\n", + " 7 1.7577e-01 1.7336e-01 2.8933e-06 2.3804e-04 5.87543e-02 0.2500 1.7145e-03 1\n", + " 8 1.7560e-01 1.7336e-01 2.4829e-06 2.2138e-04 1.75775e-02 0.5000 1.6840e-03 1\n", + " 9 1.7469e-01 1.7336e-01 1.3404e-06 1.3220e-04 6.58384e-03 1.0000 1.6865e-03 1\n", + " 10 1.7357e-01 1.7336e-01 4.0210e-07 2.0358e-05 1.12839e-02 0.5000 1.6930e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7944e+02 1.8262e-01 4.7562e+01 3.6334e-01 1.08515e+00 1.0000 ---- 3\n", + " 2 5.6333e+01 1.7332e-01 2.2467e+00 3.3693e+00 2.79705e-01 1.0000 3.3693e+00 3\n", + " 3 2.0302e+00 1.7336e-01 5.7545e-03 1.7993e-01 2.55185e-01 0.2500 1.7993e-01 3\n", + " 4 1.7311e+00 1.7336e-01 4.3598e-03 1.5141e-01 1.01433e-01 1.0000 1.5141e-01 3\n", + " 5 5.9376e-01 1.7336e-01 2.7261e-04 4.1767e-02 1.32484e-01 0.5000 4.1767e-02 3\n", + " 6 5.8779e-01 1.7335e-01 1.4689e-04 4.1297e-02 4.09437e-02 1.0000 4.1297e-02 3\n", + " 7 2.4979e-01 1.7335e-01 6.4619e-06 7.6374e-03 7.53989e-02 0.5000 7.6374e-03 2\n", + " 8 2.4687e-01 1.7335e-01 6.9595e-06 7.3447e-03 3.94154e-02 1.0000 7.3447e-03 2\n", + " 9 1.7338e-01 1.7335e-01 2.2732e-06 0.0000e+00 8.75004e-02 0.1250 1.7127e-03 1\n", + " 10 1.7337e-01 1.7335e-01 2.1130e-06 0.0000e+00 5.18430e-02 0.2500 1.7120e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7867e+02 1.8261e-01 4.7522e+01 3.2654e-01 1.08269e+00 1.0000 ---- 3\n", + " 2 5.5417e+01 1.7331e-01 2.2528e+00 3.2716e+00 2.68138e-01 1.0000 3.2716e+00 3\n", + " 3 1.8118e+00 1.7336e-01 5.8792e-03 1.5797e-01 2.24899e-01 0.2500 1.5797e-01 3\n", + " 4 1.5118e+00 1.7335e-01 4.4555e-03 1.2939e-01 9.41404e-02 1.0000 1.2939e-01 3\n", + " 5 5.1199e-01 1.7335e-01 2.7606e-04 3.3588e-02 1.16254e-01 0.5000 3.3588e-02 3\n", + " 6 4.5726e-01 1.7335e-01 1.4648e-04 2.8245e-02 2.92958e-02 1.0000 2.8245e-02 3\n", + " 7 2.0623e-01 1.7335e-01 4.2076e-06 3.2835e-03 5.09659e-02 0.0020 7.5817e-03 1\n", + " 8 2.0623e-01 1.7335e-01 4.2076e-06 3.2835e-03 5.09429e-02 0.1250 3.2835e-03 1\n", + " 9 2.0601e-01 1.7335e-01 3.7813e-06 3.2625e-03 3.34208e-02 0.0625 5.5591e-03 1\n", + " 10 2.0567e-01 1.7335e-01 3.5563e-06 3.2283e-03 2.77573e-02 0.2500 3.6283e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7887e+02 1.8261e-01 4.7517e+01 3.5139e-01 1.08248e+00 1.0000 ---- 3\n", + " 2 5.5970e+01 1.7331e-01 2.2445e+00 3.3352e+00 2.69709e-01 1.0000 3.3352e+00 3\n", + " 3 1.2643e+00 1.7335e-01 5.9074e-03 1.0319e-01 2.33757e-01 0.2500 1.0319e-01 3\n", + " 4 1.1879e+00 1.7335e-01 4.4768e-03 9.6978e-02 9.56685e-02 1.0000 9.6978e-02 3\n", + " 5 5.5657e-01 1.7335e-01 2.7628e-04 3.8046e-02 1.20796e-01 0.2500 3.8046e-02 3\n", + " 6 4.5926e-01 1.7335e-01 2.0965e-04 2.8381e-02 4.80875e-02 1.0000 2.8381e-02 3\n", + " 7 2.4027e-01 1.7335e-01 1.9360e-05 6.6727e-03 6.29681e-02 0.2500 6.6727e-03 2\n", + " 8 2.1926e-01 1.7335e-01 1.5581e-05 4.5762e-03 2.49053e-02 1.0000 4.5762e-03 2\n", + " 9 1.9250e-01 1.7335e-01 4.2435e-06 1.9111e-03 3.49764e-02 0.0020 4.3312e-03 1\n", + " 10 1.9250e-01 1.7335e-01 4.2435e-06 1.9111e-03 3.49598e-02 0.2500 1.9111e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7773e+02 1.8260e-01 4.7419e+01 3.3560e-01 1.08045e+00 1.0000 ---- 3\n", + " 2 5.3921e+01 1.7331e-01 2.2575e+00 3.1173e+00 2.75564e-01 1.0000 3.1173e+00 3\n", + " 3 2.3955e+00 1.7335e-01 5.7936e-03 2.1642e-01 2.40977e-01 0.5000 2.1642e-01 3\n", + " 4 2.1299e+00 1.7334e-01 3.0804e-03 1.9258e-01 7.09932e-02 1.0000 1.9258e-01 3\n", + " 5 4.1415e-01 1.7334e-01 4.6464e-05 2.4034e-02 1.24360e-01 0.2500 2.4034e-02 3\n", + " 6 3.7296e-01 1.7334e-01 3.6034e-05 1.9926e-02 3.50731e-02 1.0000 1.9926e-02 3\n", + " 7 1.7626e-01 1.7334e-01 3.3236e-06 2.8883e-04 6.17491e-02 0.2500 1.7329e-03 1\n", + " 8 1.7602e-01 1.7334e-01 2.9104e-06 2.6485e-04 1.87747e-02 0.5000 1.6968e-03 1\n", + " 9 1.7491e-01 1.7334e-01 1.5839e-06 1.5553e-04 6.97307e-03 1.0000 1.7036e-03 1\n", + " 10 1.7357e-01 1.7334e-01 3.8948e-07 2.2653e-05 1.18192e-02 0.5000 1.7090e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7775e+02 1.8259e-01 4.7401e+01 3.5577e-01 1.08334e+00 1.0000 ---- 3\n", + " 2 5.3455e+01 1.7330e-01 2.2377e+00 3.0905e+00 2.86491e-01 1.0000 3.0905e+00 3\n", + " 3 1.0213e+00 1.7334e-01 5.8892e-03 7.8906e-02 2.59164e-01 0.1250 7.8906e-02 3\n", + " 4 9.6716e-01 1.7334e-01 5.1639e-03 7.4218e-02 1.78880e-01 0.2500 7.4218e-02 3\n", + " 5 8.7205e-01 1.7333e-01 3.9016e-03 6.5970e-02 7.35222e-02 1.0000 6.5970e-02 3\n", + " 6 3.3899e-01 1.7333e-01 1.7582e-04 1.6390e-02 9.28086e-02 0.2500 1.6390e-02 3\n", + " 7 3.3024e-01 1.7333e-01 1.3290e-04 1.5558e-02 3.65348e-02 1.0000 1.5558e-02 3\n", + " 8 2.3391e-01 1.7333e-01 1.0095e-05 6.0477e-03 4.79276e-02 0.0020 1.0273e-02 1\n", + " 9 2.3391e-01 1.7333e-01 1.0095e-05 6.0477e-03 4.79168e-02 0.1250 6.0477e-03 1\n", + " 10 2.3015e-01 1.7333e-01 8.9973e-06 5.6725e-03 3.32131e-02 0.1250 6.6230e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7795e+02 1.8259e-01 4.7476e+01 3.0055e-01 1.08816e+00 1.0000 ---- 3\n", + " 2 5.2585e+01 1.7330e-01 2.2297e+00 3.0114e+00 2.88488e-01 1.0000 3.0114e+00 3\n", + " 3 2.4399e+00 1.7333e-01 6.1221e-03 2.2054e-01 2.60118e-01 0.5000 2.2054e-01 3\n", + " 4 2.2002e+00 1.7332e-01 3.2161e-03 1.9947e-01 7.76199e-02 1.0000 1.9947e-01 3\n", + " 5 4.4101e-01 1.7333e-01 5.5419e-05 2.6713e-02 1.38060e-01 0.2500 2.6713e-02 3\n", + " 6 3.9640e-01 1.7333e-01 4.2791e-05 2.2265e-02 3.70931e-02 1.0000 2.2265e-02 3\n", + " 7 1.8017e-01 1.7333e-01 3.8154e-06 6.8057e-04 6.61268e-02 0.2500 1.7200e-03 1\n", + " 8 1.7955e-01 1.7332e-01 3.2112e-06 6.1890e-04 1.94231e-02 0.5000 1.6520e-03 1\n", + " 9 1.7711e-01 1.7332e-01 1.7185e-06 3.7687e-04 7.44522e-03 1.0000 1.6553e-03 1\n", + " 10 1.7386e-01 1.7332e-01 3.7668e-07 5.3300e-05 1.28873e-02 0.5000 1.6589e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7842e+02 1.8258e-01 4.7464e+01 3.5957e-01 1.08388e+00 1.0000 ---- 3\n", + " 2 5.4445e+01 1.7329e-01 2.2430e+00 3.1841e+00 2.83074e-01 1.0000 3.1841e+00 3\n", + " 3 2.4479e+00 1.7333e-01 5.7916e-03 2.2167e-01 2.61741e-01 0.5000 2.2167e-01 3\n", + " 4 2.3416e+00 1.7332e-01 3.0695e-03 2.1376e-01 8.47599e-02 1.0000 2.1376e-01 3\n", + " 5 3.1663e-01 1.7332e-01 4.8802e-05 1.4282e-02 1.58828e-01 0.1250 1.4282e-02 3\n", + " 6 3.0492e-01 1.7332e-01 4.3019e-05 1.3117e-02 9.89834e-02 0.2500 1.3117e-02 3\n", + " 7 2.8194e-01 1.7332e-01 3.2818e-05 1.0829e-02 2.55357e-02 1.0000 1.0829e-02 2\n", + " 8 1.7334e-01 1.7332e-01 1.6626e-06 0.0000e+00 4.64417e-02 0.5000 1.6999e-03 1\n", + " 9 1.7333e-01 1.7332e-01 1.5847e-06 0.0000e+00 2.08551e-02 0.0625 1.6883e-03 1\n", + " 10 1.7333e-01 1.7332e-01 1.4856e-06 0.0000e+00 1.69682e-02 0.5000 1.6888e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7768e+02 1.8257e-01 4.7407e+01 3.4247e-01 1.08250e+00 1.0000 ---- 3\n", + " 2 5.5223e+01 1.7328e-01 2.2378e+00 3.2672e+00 2.71484e-01 1.0000 3.2672e+00 3\n", + " 3 7.8189e-01 1.7332e-01 5.7557e-03 5.5101e-02 2.28465e-01 0.1250 5.5101e-02 3\n", + " 4 7.3334e-01 1.7332e-01 5.0481e-03 5.0954e-02 1.60811e-01 0.2500 5.0954e-02 3\n", + " 5 6.5436e-01 1.7332e-01 3.8163e-03 4.4287e-02 7.00584e-02 1.0000 4.4287e-02 3\n", + " 6 3.9840e-01 1.7332e-01 1.7959e-04 2.2328e-02 8.41587e-02 0.5000 2.2328e-02 3\n", + " 7 3.9460e-01 1.7332e-01 9.4637e-05 2.2034e-02 2.14712e-02 1.0000 2.2034e-02 3\n", + " 8 1.7838e-01 1.7332e-01 2.5789e-06 5.0342e-04 3.79218e-02 0.2500 1.7586e-03 1\n", + " 9 1.7776e-01 1.7332e-01 2.2631e-06 4.4249e-04 1.18557e-02 0.2500 1.7184e-03 1\n", + " 10 1.7741e-01 1.7332e-01 1.7212e-06 4.0725e-04 4.53640e-03 1.0000 1.7201e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7672e+02 1.8257e-01 4.7412e+01 2.4151e-01 1.08238e+00 1.0000 ---- 3\n", + " 2 5.5299e+01 1.7328e-01 2.2356e+00 3.2769e+00 2.79904e-01 1.0000 3.2769e+00 3\n", + " 3 1.6286e+00 1.7332e-01 5.7170e-03 1.3981e-01 2.44831e-01 0.2500 1.3981e-01 3\n", + " 4 1.4222e+00 1.7332e-01 4.3285e-03 1.2056e-01 1.00554e-01 1.0000 1.2056e-01 3\n", + " 5 4.1523e-01 1.7332e-01 2.6664e-04 2.3925e-02 1.28507e-01 0.1250 2.3925e-02 3\n", + " 6 3.9732e-01 1.7331e-01 2.3400e-04 2.2166e-02 8.89172e-02 0.2500 2.2166e-02 3\n", + " 7 3.6517e-01 1.7331e-01 1.7686e-04 1.9009e-02 3.61985e-02 1.0000 1.9009e-02 3\n", + " 8 1.9984e-01 1.7331e-01 9.8160e-06 2.6431e-03 4.59527e-02 0.0020 3.9902e-03 1\n", + " 9 1.9984e-01 1.7331e-01 9.8160e-06 2.6431e-03 4.59355e-02 0.1250 2.6431e-03 1\n", + " 10 1.9968e-01 1.7331e-01 8.7612e-06 2.6279e-03 3.23126e-02 0.0625 2.7830e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7740e+02 1.8256e-01 4.7448e+01 2.7427e-01 1.08905e+00 1.0000 ---- 3\n", + " 2 5.4475e+01 1.7328e-01 2.2278e+00 3.2024e+00 2.87814e-01 1.0000 3.2024e+00 3\n", + " 3 1.2637e+00 1.7332e-01 6.1278e-03 1.0291e-01 2.57356e-01 0.2500 1.0291e-01 3\n", + " 4 1.1911e+00 1.7331e-01 4.6361e-03 9.7147e-02 1.06130e-01 1.0000 9.7147e-02 3\n", + " 5 4.9142e-01 1.7331e-01 2.7899e-04 3.1532e-02 1.35492e-01 0.2500 3.1532e-02 3\n", + " 6 4.7381e-01 1.7331e-01 2.1339e-04 2.9837e-02 5.27498e-02 1.0000 2.9837e-02 3\n", + " 7 2.4260e-01 1.7331e-01 2.0113e-05 6.9088e-03 6.87855e-02 0.0020 1.0296e-02 1\n", + " 8 2.4260e-01 1.7331e-01 2.0113e-05 6.9088e-03 6.87677e-02 0.1250 6.9088e-03 1\n", + " 9 2.4040e-01 1.7331e-01 1.8026e-05 6.6910e-03 4.79723e-02 0.0625 6.8719e-03 1\n", + " 10 2.3963e-01 1.7331e-01 1.6954e-05 6.6154e-03 4.08845e-02 0.2500 6.6154e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7711e+02 1.8256e-01 4.7410e+01 2.8235e-01 1.08501e+00 1.0000 ---- 3\n", + " 2 5.4401e+01 1.7327e-01 2.2292e+00 3.1936e+00 2.80241e-01 1.0000 3.1936e+00 3\n", + " 3 1.1469e+00 1.7331e-01 6.0283e-03 9.1330e-02 2.42848e-01 0.2500 9.1330e-02 3\n", + " 4 1.1021e+00 1.7331e-01 4.5625e-03 8.8317e-02 1.00991e-01 1.0000 8.8317e-02 3\n", + " 5 4.9503e-01 1.7330e-01 2.7642e-04 3.1896e-02 1.26480e-01 0.2500 3.1896e-02 3\n", + " 6 4.6839e-01 1.7330e-01 2.1022e-04 2.9298e-02 5.04579e-02 1.0000 2.9298e-02 3\n", + " 7 2.2777e-01 1.7330e-01 1.9048e-05 5.4278e-03 6.46958e-02 0.0020 9.6601e-03 1\n", + " 8 2.2777e-01 1.7330e-01 1.9048e-05 5.4278e-03 6.46794e-02 0.1250 5.4278e-03 1\n", + " 9 2.2704e-01 1.7330e-01 1.7029e-05 5.3566e-03 4.53476e-02 0.0625 6.4429e-03 1\n", + " 10 2.2657e-01 1.7330e-01 1.6013e-05 5.3110e-03 3.86973e-02 0.2500 5.3110e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7626e+02 1.8255e-01 4.7372e+01 2.3588e-01 1.08379e+00 1.0000 ---- 3\n", + " 2 5.3700e+01 1.7326e-01 2.2275e+00 3.1253e+00 2.79944e-01 1.0000 3.1253e+00 3\n", + " 3 1.7821e+00 1.7330e-01 6.0952e-03 1.5478e-01 2.40216e-01 0.2500 1.5478e-01 3\n", + " 4 1.4711e+00 1.7330e-01 4.6141e-03 1.2516e-01 1.00344e-01 1.0000 1.2516e-01 3\n", + " 5 3.2485e-01 1.7330e-01 2.8293e-04 1.4872e-02 1.24747e-01 0.2500 1.4872e-02 3\n", + " 6 3.2288e-01 1.7330e-01 2.1509e-04 1.4743e-02 5.01655e-02 1.0000 1.4743e-02 3\n", + " 7 2.8279e-01 1.7329e-01 1.9038e-05 1.0930e-02 6.39059e-02 0.5000 1.0930e-02 2\n", + " 8 2.7282e-01 1.7329e-01 1.5244e-05 9.9376e-03 1.59404e-02 1.0000 9.9376e-03 2\n", + " 9 1.7330e-01 1.7329e-01 8.2698e-07 0.0000e+00 2.79075e-02 0.2500 1.7350e-03 1\n", + " 10 1.7330e-01 1.7329e-01 7.6262e-07 0.0000e+00 9.50300e-03 0.5000 1.7387e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7517e+02 1.8254e-01 4.7309e+01 1.8957e-01 1.07868e+00 1.0000 ---- 3\n", + " 2 5.2851e+01 1.7325e-01 2.2277e+00 3.0400e+00 2.73102e-01 1.0000 3.0400e+00 3\n", + " 3 2.6331e+00 1.7329e-01 5.9465e-03 2.4003e-01 2.28059e-01 0.5000 2.4003e-01 3\n", + " 4 1.9251e+00 1.7328e-01 3.1558e-03 1.7203e-01 6.30191e-02 1.0000 1.7203e-01 3\n", + " 5 1.7374e-01 1.7328e-01 4.5170e-05 0.0000e+00 1.12930e-01 0.5000 1.7192e-03 1\n", + " 6 1.7355e-01 1.7328e-01 2.6470e-05 0.0000e+00 5.47157e-02 1.0000 1.7430e-03 1\n", + " 7 1.7331e-01 1.7328e-01 2.5745e-06 0.0000e+00 1.17918e-01 0.0312 1.7280e-03 1\n", + " 8 1.7331e-01 1.7328e-01 2.4982e-06 0.0000e+00 1.05957e-01 0.0312 1.7298e-03 1\n", + " 9 1.7331e-01 1.7328e-01 2.4236e-06 0.0000e+00 9.52241e-02 0.0312 1.7314e-03 1\n", + " 10 1.7330e-01 1.7328e-01 2.3508e-06 0.0000e+00 8.55917e-02 0.0312 1.7329e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7514e+02 1.8252e-01 4.7341e+01 1.5485e-01 1.10523e+00 1.0000 ---- 3\n", + " 2 5.4792e+01 1.7324e-01 2.2362e+00 3.2257e+00 3.95482e-01 1.0000 3.2257e+00 3\n", + " 3 4.6303e+00 1.7327e-01 6.2256e-03 4.3948e-01 5.34875e-01 0.5000 4.3948e-01 3\n", + " 4 3.4345e+00 1.7326e-01 3.2808e-03 3.2284e-01 2.85987e-01 1.0000 3.2284e-01 3\n", + " 5 6.3357e-01 1.7326e-01 1.5864e-04 4.5873e-02 6.42341e-01 0.5000 4.5873e-02 3\n", + " 6 6.0072e-01 1.7323e-01 9.1519e-05 4.2657e-02 4.55827e-01 0.5000 4.2657e-02 3\n", + " 7 5.5967e-01 1.7321e-01 4.9324e-05 3.8596e-02 3.03648e-01 0.2500 3.8596e-02 3\n", + " 8 5.1860e-01 1.7321e-01 3.6963e-05 3.4502e-02 4.59668e-02 1.0000 3.4502e-02 3\n", + " 9 1.8020e-01 1.7321e-01 1.3040e-06 6.9735e-04 1.10173e-01 0.0020 2.3813e-03 1\n", + " 10 1.8020e-01 1.7321e-01 1.3040e-06 6.9735e-04 1.10123e-01 0.0625 1.7274e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7686e+02 1.8245e-01 4.7452e+01 2.1577e-01 1.12298e+00 1.0000 ---- 3\n", + " 2 5.5570e+01 1.7317e-01 2.2281e+00 3.3116e+00 4.13614e-01 1.0000 3.3116e+00 3\n", + " 3 3.2950e+00 1.7321e-01 6.5779e-03 3.0560e-01 6.27786e-01 0.2500 3.0560e-01 3\n", + " 4 3.0475e+00 1.7319e-01 4.9819e-03 2.8245e-01 1.41749e-01 1.0000 2.8245e-01 3\n", + " 5 3.3273e-01 1.7320e-01 2.7005e-04 1.5683e-02 2.51375e-01 0.1250 1.5683e-02 3\n", + " 6 3.1921e-01 1.7319e-01 2.3691e-04 1.4364e-02 1.56443e-01 0.2500 1.4364e-02 3\n", + " 7 2.9316e-01 1.7319e-01 1.7910e-04 1.1818e-02 4.15958e-02 1.0000 1.1818e-02 3\n", + " 8 2.5087e-01 1.7319e-01 9.2064e-06 7.7587e-03 6.90097e-02 0.5000 7.7587e-03 2\n", + " 9 2.4124e-01 1.7319e-01 6.7654e-06 6.7977e-03 3.27370e-02 0.0020 1.0349e-02 1\n", + " 10 2.4124e-01 1.7319e-01 6.7654e-06 6.7977e-03 3.27207e-02 1.0000 6.7977e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7906e+02 1.8243e-01 4.7512e+01 3.7526e-01 1.10818e+00 1.0000 ---- 3\n", + " 2 5.7310e+01 1.7315e-01 2.2579e+00 3.4558e+00 3.61830e-01 1.0000 3.4558e+00 3\n", + " 3 3.5743e+00 1.7320e-01 5.7022e-03 3.3441e-01 4.82569e-01 0.2500 3.3441e-01 3\n", + " 4 3.0905e+00 1.7319e-01 4.3135e-03 2.8742e-01 1.29637e-01 1.0000 2.8742e-01 3\n", + " 5 5.4564e-01 1.7319e-01 2.4991e-04 3.6995e-02 2.10748e-01 0.2500 3.6995e-02 3\n", + " 6 5.2920e-01 1.7319e-01 1.9025e-04 3.5411e-02 6.03201e-02 1.0000 3.5411e-02 3\n", + " 7 3.5847e-01 1.7319e-01 1.6152e-05 1.8513e-02 9.64564e-02 0.2500 1.8513e-02 3\n", + " 8 3.4418e-01 1.7319e-01 1.3516e-05 1.7086e-02 3.01840e-02 1.0000 1.7086e-02 3\n", + " 9 2.1610e-01 1.7319e-01 4.0735e-06 4.2872e-03 4.84664e-02 0.0020 9.3907e-03 1\n", + " 10 2.1610e-01 1.7319e-01 4.0735e-06 4.2872e-03 4.84391e-02 0.2500 4.2872e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7841e+02 1.8242e-01 4.7489e+01 3.3395e-01 1.08079e+00 1.0000 ---- 3\n", + " 2 5.7968e+01 1.7315e-01 2.2617e+00 3.5177e+00 2.68306e-01 1.0000 3.5177e+00 3\n", + " 3 1.2630e+00 1.7319e-01 5.6281e-03 1.0335e-01 2.35328e-01 0.2500 1.0335e-01 3\n", + " 4 1.2098e+00 1.7319e-01 4.2676e-03 9.9389e-02 9.47661e-02 1.0000 9.9389e-02 3\n", + " 5 5.1552e-01 1.7319e-01 2.8170e-04 3.3952e-02 1.20207e-01 0.2500 3.3952e-02 3\n", + " 6 4.8407e-01 1.7319e-01 2.1371e-04 3.0874e-02 4.77677e-02 1.0000 3.0874e-02 3\n", + " 7 2.5178e-01 1.7318e-01 2.0828e-05 7.8388e-03 6.27005e-02 0.2500 7.8388e-03 3\n", + " 8 2.3934e-01 1.7318e-01 1.6773e-05 6.5991e-03 2.47133e-02 1.0000 6.5991e-03 2\n", + " 9 2.0791e-01 1.7318e-01 4.4773e-06 3.4678e-03 3.46417e-02 0.0020 7.5588e-03 1\n", + " 10 2.0791e-01 1.7318e-01 4.4773e-06 3.4678e-03 3.46218e-02 0.2500 3.4678e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7768e+02 1.8242e-01 4.7445e+01 3.0433e-01 1.08085e+00 1.0000 ---- 3\n", + " 2 5.7081e+01 1.7315e-01 2.2516e+00 3.4392e+00 2.70197e-01 1.0000 3.4392e+00 3\n", + " 3 1.5858e+00 1.7319e-01 5.5548e-03 1.3571e-01 2.37728e-01 0.2500 1.3571e-01 3\n", + " 4 1.4139e+00 1.7319e-01 4.2077e-03 1.1986e-01 9.58078e-02 1.0000 1.1986e-01 3\n", + " 5 4.6834e-01 1.7319e-01 2.5032e-04 2.9265e-02 1.23510e-01 0.2500 2.9265e-02 3\n", + " 6 4.3738e-01 1.7318e-01 1.8966e-04 2.6230e-02 4.82838e-02 1.0000 2.6230e-02 3\n", + " 7 2.7463e-01 1.7318e-01 1.8702e-05 1.0126e-02 6.45403e-02 0.2500 1.0126e-02 3\n", + " 8 2.6757e-01 1.7318e-01 1.5062e-05 9.4237e-03 2.52112e-02 1.0000 9.4237e-03 2\n", + " 9 1.9168e-01 1.7318e-01 4.1611e-06 1.8458e-03 3.58074e-02 0.0020 4.3353e-03 1\n", + " 10 1.9168e-01 1.7318e-01 4.1611e-06 1.8458e-03 3.57886e-02 0.1250 1.8458e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7757e+02 1.8242e-01 4.7412e+01 3.2659e-01 1.07915e+00 1.0000 ---- 3\n", + " 2 5.6267e+01 1.7314e-01 2.2609e+00 3.3485e+00 2.70855e-01 1.0000 3.3485e+00 3\n", + " 3 1.1270e+00 1.7319e-01 5.6472e-03 8.9734e-02 2.35716e-01 0.2500 8.9734e-02 3\n", + " 4 1.1034e+00 1.7318e-01 4.2796e-03 8.8743e-02 9.48810e-02 1.0000 8.8743e-02 3\n", + " 5 5.6612e-01 1.7318e-01 2.6698e-04 3.9027e-02 1.21289e-01 0.2500 3.9027e-02 3\n", + " 6 5.1347e-01 1.7318e-01 2.0241e-04 3.3827e-02 4.83163e-02 1.0000 3.3827e-02 3\n", + " 7 2.2936e-01 1.7318e-01 2.0554e-05 5.5977e-03 6.40223e-02 0.2500 5.5977e-03 2\n", + " 8 2.1438e-01 1.7318e-01 1.6577e-05 4.1035e-03 2.53672e-02 0.0020 1.0155e-02 1\n", + " 9 2.1438e-01 1.7318e-01 1.6577e-05 4.1035e-03 2.53562e-02 0.5000 4.1035e-03 1\n", + " 10 2.0701e-01 1.7318e-01 9.4800e-06 3.3736e-03 6.02014e-03 1.0000 3.8023e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7829e+02 1.8242e-01 4.7432e+01 3.7853e-01 1.08429e+00 1.0000 ---- 3\n", + " 2 5.5107e+01 1.7315e-01 2.2399e+00 3.2535e+00 2.85289e-01 1.0000 3.2535e+00 3\n", + " 3 1.7472e+00 1.7319e-01 5.6623e-03 1.5173e-01 2.58036e-01 0.2500 1.5173e-01 3\n", + " 4 1.5400e+00 1.7318e-01 4.2864e-03 1.3240e-01 1.03844e-01 1.0000 1.3240e-01 3\n", + " 5 5.8558e-01 1.7318e-01 2.5824e-04 4.0982e-02 1.36238e-01 0.2500 4.0982e-02 3\n", + " 6 5.2115e-01 1.7318e-01 1.9632e-04 3.4601e-02 5.13738e-02 1.0000 3.4601e-02 3\n", + " 7 2.5261e-01 1.7318e-01 1.8147e-05 7.9251e-03 6.93502e-02 0.2500 7.9251e-03 3\n", + " 8 2.4766e-01 1.7318e-01 1.5124e-05 7.4328e-03 2.69150e-02 1.0000 7.4328e-03 2\n", + " 9 2.1325e-01 1.7318e-01 4.4885e-06 4.0027e-03 3.86479e-02 0.0020 8.6952e-03 1\n", + " 10 2.1325e-01 1.7318e-01 4.4885e-06 4.0027e-03 3.86263e-02 0.2500 4.0027e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7771e+02 1.8241e-01 4.7382e+01 3.7097e-01 1.07994e+00 1.0000 ---- 3\n", + " 2 5.4755e+01 1.7314e-01 2.2454e+00 3.2128e+00 2.74548e-01 1.0000 3.2128e+00 3\n", + " 3 1.7562e+00 1.7318e-01 5.6985e-03 1.5260e-01 2.42701e-01 0.2500 1.5260e-01 3\n", + " 4 1.5023e+00 1.7318e-01 4.3176e-03 1.2859e-01 9.65047e-02 1.0000 1.2859e-01 3\n", + " 5 5.8622e-01 1.7318e-01 2.6345e-04 4.1040e-02 1.25809e-01 0.5000 4.1040e-02 3\n", + " 6 5.4547e-01 1.7317e-01 1.4003e-04 3.7090e-02 3.72757e-02 1.0000 3.7090e-02 3\n", + " 7 2.7164e-01 1.7317e-01 5.8970e-06 9.8403e-03 6.82813e-02 0.2500 9.8403e-03 3\n", + " 8 2.6276e-01 1.7317e-01 5.2992e-06 8.9536e-03 1.86231e-02 1.0000 8.9536e-03 3\n", + " 9 1.7529e-01 1.7317e-01 1.3884e-06 2.1010e-04 3.30479e-02 0.0020 1.7158e-03 1\n", + " 10 1.7529e-01 1.7317e-01 1.3884e-06 2.1010e-04 3.30325e-02 0.0625 1.7158e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7781e+02 1.8241e-01 4.7387e+01 3.7658e-01 1.08823e+00 1.0000 ---- 3\n", + " 2 5.4704e+01 1.7314e-01 2.2635e+00 3.1896e+00 3.00046e-01 1.0000 3.1896e+00 3\n", + " 3 3.0175e+00 1.7318e-01 5.6699e-03 2.7876e-01 2.92975e-01 0.5000 2.7876e-01 3\n", + " 4 2.7634e+00 1.7317e-01 2.9777e-03 2.5604e-01 9.63214e-02 1.0000 2.5604e-01 3\n", + " 5 5.7170e-01 1.7317e-01 5.4938e-05 3.9797e-02 1.79479e-01 0.2500 3.9797e-02 3\n", + " 6 5.1422e-01 1.7317e-01 4.2480e-05 3.4062e-02 4.50825e-02 1.0000 3.4062e-02 3\n", + " 7 2.0251e-01 1.7317e-01 4.1779e-06 2.9298e-03 8.29563e-02 0.0020 4.7611e-03 1\n", + " 8 2.0251e-01 1.7317e-01 4.1779e-06 2.9298e-03 8.29240e-02 0.1250 2.9298e-03 1\n", + " 9 2.0187e-01 1.7317e-01 3.7578e-06 2.8663e-03 5.27465e-02 0.0625 3.3751e-03 1\n", + " 10 2.0155e-01 1.7317e-01 3.5333e-06 2.8345e-03 4.32858e-02 0.2500 2.8345e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7698e+02 1.8240e-01 4.7329e+01 3.5018e-01 1.07992e+00 1.0000 ---- 3\n", + " 2 5.3120e+01 1.7313e-01 2.2386e+00 3.0561e+00 2.69867e-01 1.0000 3.0561e+00 3\n", + " 3 1.7064e+00 1.7317e-01 5.8560e-03 1.4747e-01 2.29029e-01 0.5000 1.4747e-01 3\n", + " 4 1.5967e+00 1.7316e-01 3.1140e-03 1.3924e-01 6.28152e-02 1.0000 1.3924e-01 3\n", + " 5 2.3877e-01 1.7316e-01 3.7263e-05 6.5229e-03 1.07690e-01 0.2500 6.5229e-03 2\n", + " 6 2.2829e-01 1.7316e-01 2.9087e-05 5.4837e-03 3.15583e-02 1.0000 5.4837e-03 2\n", + " 7 1.8670e-01 1.7316e-01 3.0415e-06 1.3504e-03 5.48717e-02 0.0020 3.3530e-03 1\n", + " 8 1.8670e-01 1.7316e-01 3.0415e-06 1.3504e-03 5.48414e-02 0.1250 1.7494e-03 1\n", + " 9 1.8665e-01 1.7316e-01 2.7276e-06 1.3461e-03 3.60713e-02 0.0625 2.5604e-03 1\n", + " 10 1.8651e-01 1.7316e-01 2.5631e-06 1.3323e-03 2.99615e-02 0.2500 1.8098e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7689e+02 1.8240e-01 4.7318e+01 3.5197e-01 1.08026e+00 1.0000 ---- 3\n", + " 2 5.2959e+01 1.7313e-01 2.2374e+00 3.0412e+00 2.72346e-01 1.0000 3.0412e+00 3\n", + " 3 1.7970e+00 1.7317e-01 5.9095e-03 1.5647e-01 2.34271e-01 0.5000 1.5647e-01 3\n", + " 4 1.6396e+00 1.7316e-01 3.1464e-03 1.4350e-01 6.71162e-02 1.0000 1.4350e-01 3\n", + " 5 1.7356e-01 1.7316e-01 3.9940e-05 0.0000e+00 1.18246e-01 0.5000 1.7313e-03 1\n", + " 6 1.7340e-01 1.7316e-01 2.4873e-05 0.0000e+00 5.45764e-02 0.5000 1.7413e-03 1\n", + " 7 1.7328e-01 1.7316e-01 1.2535e-05 0.0000e+00 3.08238e-02 1.0000 1.7314e-03 1\n", + " 8 1.7316e-01 1.7316e-01 7.0064e-07 0.0000e+00 6.94812e-02 0.5000 1.7581e-03 1\n", + " 9 1.7316e-01 1.7316e-01 6.9971e-07 0.0000e+00 4.60739e-02 0.5000 1.7301e-03 1\n", + " 10 1.7316e-01 1.7315e-01 4.1942e-07 0.0000e+00 3.25847e-02 0.2500 1.7515e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7691e+02 1.8239e-01 4.7320e+01 3.5253e-01 1.08139e+00 1.0000 ---- 3\n", + " 2 5.2648e+01 1.7312e-01 2.2167e+00 3.0308e+00 2.76566e-01 1.0000 3.0308e+00 3\n", + " 3 1.8586e+00 1.7316e-01 5.8375e-03 1.6271e-01 2.36398e-01 0.2500 1.6271e-01 3\n", + " 4 1.5422e+00 1.7315e-01 4.4200e-03 1.3249e-01 9.86666e-02 1.0000 1.3249e-01 3\n", + " 5 5.5784e-01 1.7315e-01 2.6157e-04 3.8207e-02 1.25397e-01 0.5000 3.8207e-02 3\n", + " 6 4.9697e-01 1.7315e-01 1.4184e-04 3.2241e-02 3.54054e-02 1.0000 3.2241e-02 3\n", + " 7 1.8114e-01 1.7315e-01 7.2171e-06 7.9215e-04 6.42146e-02 0.0020 3.0712e-03 1\n", + " 8 1.8114e-01 1.7315e-01 7.2171e-06 7.9215e-04 6.41862e-02 0.0625 1.8478e-03 1\n", + " 9 1.8103e-01 1.7315e-01 6.8285e-06 7.8170e-04 5.26632e-02 0.0312 2.2957e-03 1\n", + " 10 1.8102e-01 1.7315e-01 6.6256e-06 7.8100e-04 4.79700e-02 0.0625 1.7271e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7607e+02 1.8238e-01 4.7294e+01 2.9481e-01 1.08264e+00 1.0000 ---- 3\n", + " 2 5.1792e+01 1.7311e-01 2.1974e+00 2.9646e+00 2.80176e-01 1.0000 2.9646e+00 3\n", + " 3 1.1334e+00 1.7315e-01 6.5533e-03 8.9476e-02 2.52708e-01 0.5000 8.9476e-02 3\n", + " 4 1.1265e+00 1.7314e-01 3.4797e-03 9.1861e-02 9.33393e-02 1.0000 9.1861e-02 3\n", + " 5 1.7354e-01 1.7314e-01 4.0828e-05 0.0000e+00 1.94775e-01 0.5000 1.7115e-03 1\n", + " 6 1.7338e-01 1.7313e-01 2.5228e-05 0.0000e+00 1.23967e-01 0.5000 1.7456e-03 1\n", + " 7 1.7323e-01 1.7312e-01 1.1067e-05 0.0000e+00 7.85928e-02 0.5000 1.7249e-03 1\n", + " 8 1.7318e-01 1.7312e-01 5.9013e-06 0.0000e+00 5.34259e-02 0.1250 1.7455e-03 1\n", + " 9 1.7317e-01 1.7312e-01 5.1599e-06 0.0000e+00 3.11105e-02 0.5000 1.7395e-03 1\n", + " 10 1.7315e-01 1.7312e-01 2.5691e-06 0.0000e+00 2.06936e-02 0.1250 1.7338e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7671e+02 1.8234e-01 4.7332e+01 3.2161e-01 1.08172e+00 1.0000 ---- 3\n", + " 2 5.2938e+01 1.7307e-01 2.2281e+00 3.0485e+00 2.77746e-01 1.0000 3.0485e+00 3\n", + " 3 2.2333e+00 1.7311e-01 5.7628e-03 2.0026e-01 2.55085e-01 0.5000 2.0026e-01 3\n", + " 4 2.0413e+00 1.7310e-01 3.0458e-03 1.8378e-01 1.02699e-01 1.0000 1.8378e-01 3\n", + " 5 1.9611e-01 1.7310e-01 4.5064e-05 2.2553e-03 2.17741e-01 0.0020 5.5950e-03 1\n", + " 6 1.9611e-01 1.7310e-01 4.5064e-05 2.2553e-03 2.17645e-01 0.0312 2.2553e-03 1\n", + " 7 1.9576e-01 1.7310e-01 4.3671e-05 2.2221e-03 1.95846e-01 0.0156 4.1942e-03 1\n", + " 8 1.9570e-01 1.7310e-01 4.2992e-05 2.2169e-03 1.86050e-01 0.0312 3.0190e-03 1\n", + " 9 1.9545e-01 1.7310e-01 4.1661e-05 2.1933e-03 1.67427e-01 0.0312 3.6897e-03 1\n", + " 10 1.9531e-01 1.7310e-01 4.0369e-05 2.1806e-03 1.50690e-01 0.0625 3.2771e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7644e+02 1.8232e-01 4.7334e+01 2.9218e-01 1.14197e+00 1.0000 ---- 3\n", + " 2 5.5735e+01 1.7305e-01 2.2419e+00 3.3143e+00 4.92560e-01 1.0000 3.3143e+00 3\n", + " 3 2.1520e+01 1.7307e-01 6.3093e-03 2.1284e+00 7.36466e-01 0.2500 2.1284e+00 3\n", + " 4 1.6701e+01 1.7305e-01 4.7637e-03 1.6480e+00 1.88925e-01 1.0000 1.6480e+00 3\n", + " 5 6.9176e-01 1.7307e-01 2.0258e-04 5.1666e-02 3.41436e-01 0.0312 5.1666e-02 3\n", + " 6 6.8997e-01 1.7307e-01 1.9628e-04 5.1493e-02 3.09234e-01 0.0312 5.1493e-02 3\n", + " 7 6.8375e-01 1.7307e-01 1.9017e-04 5.0878e-02 2.80099e-01 0.0312 5.0878e-02 3\n", + " 8 6.7423e-01 1.7307e-01 1.8425e-04 4.9932e-02 2.53729e-01 0.0312 4.9932e-02 3\n", + " 9 6.6229e-01 1.7307e-01 1.7852e-04 4.8743e-02 2.29870e-01 0.0625 4.8743e-02 3\n", + " 10 6.5544e-01 1.7307e-01 1.6745e-04 4.8070e-02 1.86684e-01 0.0625 4.8070e-02 3\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7643e+02 1.8228e-01 4.7222e+01 4.0257e-01 1.16461e+00 1.0000 ---- 3\n", + " 2 6.4631e+01 1.7300e-01 2.2474e+00 4.1983e+00 4.97151e-01 1.0000 4.1983e+00 3\n", + " 3 3.2136e+01 1.7304e-01 6.6188e-03 3.1897e+00 7.20919e-01 0.2500 3.1897e+00 3\n", + " 4 2.6594e+01 1.7301e-01 5.0029e-03 2.6371e+00 2.11475e-01 1.0000 2.6371e+00 3\n", + " 5 1.4715e+00 1.7306e-01 3.9046e-04 1.2946e-01 3.67582e-01 0.0625 1.2946e-01 3\n", + " 6 1.4693e+00 1.7306e-01 3.6624e-04 1.2926e-01 3.01873e-01 0.0625 1.2926e-01 3\n", + " 7 1.4204e+00 1.7305e-01 3.4346e-04 1.2440e-01 2.47563e-01 0.1250 1.2440e-01 3\n", + " 8 1.3759e+00 1.7305e-01 3.0081e-04 1.1998e-01 1.57868e-01 0.2500 1.1998e-01 3\n", + " 9 1.1968e+00 1.7305e-01 2.2603e-04 1.0215e-01 4.58693e-02 1.0000 1.0215e-01 3\n", + " 10 1.8554e-01 1.7305e-01 5.6381e-06 1.2432e-03 7.70985e-02 0.0020 2.4272e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7660e+02 1.8226e-01 4.7352e+01 2.8941e-01 1.10794e+00 1.0000 ---- 3\n", + " 2 5.4434e+01 1.7300e-01 2.2410e+00 3.1851e+00 3.49282e-01 1.0000 3.1851e+00 3\n", + " 3 1.0886e+01 1.7303e-01 6.2483e-03 1.0650e+00 4.04601e-01 0.2500 1.0650e+00 3\n", + " 4 9.0616e+00 1.7302e-01 4.7291e-03 8.8412e-01 1.36344e-01 1.0000 8.8412e-01 3\n", + " 5 5.5355e-01 1.7304e-01 3.1584e-04 3.7736e-02 2.11777e-01 0.0625 3.7736e-02 3\n", + " 6 5.4220e-01 1.7304e-01 2.9613e-04 3.6620e-02 1.74947e-01 0.1250 3.6620e-02 3\n", + " 7 5.3754e-01 1.7303e-01 2.5923e-04 3.6192e-02 1.14287e-01 0.2500 3.6192e-02 3\n", + " 8 5.0186e-01 1.7303e-01 1.9464e-04 3.2688e-02 3.87490e-02 1.0000 3.2688e-02 3\n", + " 9 1.9527e-01 1.7303e-01 6.9178e-06 2.2163e-03 5.71238e-02 0.0020 2.5745e-03 1\n", + " 10 1.9527e-01 1.7303e-01 6.9178e-06 2.2163e-03 5.70948e-02 0.0625 2.2163e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7732e+02 1.8224e-01 4.7374e+01 3.3981e-01 1.09427e+00 1.0000 ---- 3\n", + " 2 5.2771e+01 1.7298e-01 2.2373e+00 3.0225e+00 2.98013e-01 1.0000 3.0225e+00 3\n", + " 3 3.2598e+00 1.7302e-01 5.9804e-03 3.0270e-01 2.86348e-01 0.2500 3.0270e-01 3\n", + " 4 2.8116e+00 1.7301e-01 4.5218e-03 2.5934e-01 1.09700e-01 1.0000 2.5934e-01 3\n", + " 5 8.5165e-01 1.7302e-01 2.6494e-04 6.7599e-02 1.48813e-01 0.2500 6.7599e-02 3\n", + " 6 7.7908e-01 1.7302e-01 1.9999e-04 6.0406e-02 5.39029e-02 1.0000 6.0406e-02 3\n", + " 7 3.0701e-01 1.7302e-01 1.6320e-05 1.3384e-02 7.62352e-02 0.2500 1.3384e-02 3\n", + " 8 3.0143e-01 1.7301e-01 1.3367e-05 1.2828e-02 2.75797e-02 1.0000 1.2828e-02 2\n", + " 9 2.3700e-01 1.7301e-01 3.8651e-06 6.3951e-03 4.16133e-02 0.0020 7.9874e-03 1\n", + " 10 2.3700e-01 1.7301e-01 3.8651e-06 6.3951e-03 4.15786e-02 0.2500 6.3951e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7642e+02 1.8222e-01 4.7266e+01 3.5796e-01 1.07947e+00 1.0000 ---- 3\n", + " 2 5.4260e+01 1.7296e-01 2.2553e+00 3.1533e+00 2.67672e-01 1.0000 3.1533e+00 3\n", + " 3 1.5943e+00 1.7300e-01 5.4924e-03 1.3663e-01 2.23944e-01 0.2500 1.3663e-01 3\n", + " 4 1.4844e+00 1.7300e-01 4.1577e-03 1.2698e-01 9.15700e-02 1.0000 1.2698e-01 3\n", + " 5 6.8494e-01 1.7300e-01 2.5215e-04 5.0942e-02 1.13207e-01 0.2500 5.0942e-02 3\n", + " 6 5.8150e-01 1.7300e-01 1.9060e-04 4.0659e-02 4.54565e-02 1.0000 4.0659e-02 3\n", + " 7 2.8255e-01 1.7300e-01 1.6391e-05 1.0939e-02 5.87583e-02 0.5000 1.0939e-02 2\n", + " 8 2.7334e-01 1.7300e-01 1.1783e-05 1.0023e-02 1.70332e-02 1.0000 1.0023e-02 2\n", + " 9 1.7337e-01 1.7300e-01 4.5066e-07 3.6449e-05 3.30046e-02 0.0156 1.7444e-03 1\n", + " 10 1.7337e-01 1.7300e-01 4.4372e-07 3.6450e-05 3.15581e-02 0.2500 1.7447e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7641e+02 1.8221e-01 4.7300e+01 3.2295e-01 1.08081e+00 1.0000 ---- 3\n", + " 2 5.4314e+01 1.7295e-01 2.2427e+00 3.1714e+00 2.71587e-01 1.0000 3.1714e+00 3\n", + " 3 2.2755e+00 1.7299e-01 5.4943e-03 2.0476e-01 2.23867e-01 0.2500 2.0476e-01 3\n", + " 4 1.8941e+00 1.7299e-01 4.1588e-03 1.6795e-01 9.39532e-02 1.0000 1.6795e-01 3\n", + " 5 5.2141e-01 1.7299e-01 2.5377e-04 3.4589e-02 1.14708e-01 0.2500 3.4589e-02 3\n", + " 6 4.8035e-01 1.7299e-01 1.9153e-04 3.0545e-02 4.65599e-02 1.0000 3.0545e-02 3\n", + " 7 2.9945e-01 1.7299e-01 1.5187e-05 1.2632e-02 5.94172e-02 0.2500 1.2632e-02 2\n", + " 8 2.7071e-01 1.7298e-01 1.2386e-05 9.7598e-03 2.40999e-02 0.0020 9.7598e-03 1\n", + " 9 2.7071e-01 1.7298e-01 1.2386e-05 9.7598e-03 2.40847e-02 1.0000 9.7598e-03 1\n", + " 10 2.5569e-01 1.7298e-01 5.8921e-06 8.2645e-03 3.15465e-02 0.1250 8.9489e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7589e+02 1.8220e-01 4.7236e+01 3.3509e-01 1.07794e+00 1.0000 ---- 3\n", + " 2 5.3501e+01 1.7294e-01 2.2353e+00 3.0975e+00 2.61183e-01 1.0000 3.0975e+00 3\n", + " 3 1.9215e+00 1.7298e-01 5.4655e-03 1.6939e-01 2.07899e-01 0.5000 1.6939e-01 3\n", + " 4 1.8508e+00 1.7297e-01 2.8892e-03 1.6490e-01 6.02806e-02 1.0000 1.6490e-01 3\n", + " 5 1.9357e-01 1.7297e-01 3.3026e-05 2.0271e-03 1.15105e-01 0.1250 2.0271e-03 1\n", + " 6 1.9350e-01 1.7297e-01 2.9141e-05 2.0236e-03 7.18007e-02 1.0000 2.0236e-03 1\n", + " 7 1.9172e-01 1.7297e-01 8.1454e-06 1.8669e-03 1.43035e-01 0.0625 1.8669e-03 1\n", + " 8 1.9138e-01 1.7297e-01 7.6925e-06 1.8333e-03 1.15306e-01 0.0625 1.8333e-03 1\n", + " 9 1.9090e-01 1.7297e-01 7.2508e-06 1.7853e-03 9.30483e-02 0.0312 1.7854e-03 1\n", + " 10 1.9086e-01 1.7297e-01 7.0310e-06 1.7817e-03 8.40995e-02 0.0312 1.7842e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7537e+02 1.8218e-01 4.7224e+01 2.9410e-01 1.09509e+00 1.0000 ---- 3\n", + " 2 5.1711e+01 1.7292e-01 2.2147e+00 2.9391e+00 3.12672e-01 1.0000 2.9391e+00 3\n", + " 3 3.0824e+00 1.7296e-01 5.9677e-03 2.8498e-01 3.67322e-01 0.2500 2.8498e-01 3\n", + " 4 2.9372e+00 1.7295e-01 4.5154e-03 2.7191e-01 1.10142e-01 1.0000 2.7191e-01 3\n", + " 5 7.9809e-01 1.7295e-01 2.8434e-04 6.2229e-02 1.59662e-01 0.2500 6.2229e-02 3\n", + " 6 7.5943e-01 1.7295e-01 2.1626e-04 5.8431e-02 5.33251e-02 1.0000 5.8431e-02 3\n", + " 7 2.6889e-01 1.7295e-01 1.7891e-05 9.5761e-03 7.58045e-02 0.1250 9.5761e-03 3\n", + " 8 2.6245e-01 1.7295e-01 1.5933e-05 8.9337e-03 5.06413e-02 0.2500 8.9337e-03 3\n", + " 9 2.4977e-01 1.7295e-01 1.2558e-05 7.6698e-03 1.89699e-02 1.0000 7.6698e-03 2\n", + " 10 1.7413e-01 1.7295e-01 2.2843e-06 1.1552e-04 2.74050e-02 0.0020 1.7644e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7425e+02 1.8216e-01 4.7166e+01 2.4066e-01 1.07774e+00 1.0000 ---- 3\n", + " 2 5.3427e+01 1.7290e-01 2.2408e+00 3.0845e+00 2.82741e-01 1.0000 3.0845e+00 3\n", + " 3 2.4848e+00 1.7294e-01 5.6778e-03 2.2551e-01 2.58034e-01 0.2500 2.2551e-01 3\n", + " 4 2.0556e+00 1.7293e-01 4.2990e-03 1.8396e-01 9.82633e-02 1.0000 1.8396e-01 3\n", + " 5 5.1124e-01 1.7294e-01 2.7393e-04 3.3556e-02 1.25783e-01 0.2500 3.3556e-02 3\n", + " 6 4.8496e-01 1.7293e-01 2.0725e-04 3.0995e-02 4.88737e-02 1.0000 3.0995e-02 3\n", + " 7 2.6792e-01 1.7293e-01 1.8142e-05 9.4808e-03 6.41759e-02 0.0020 9.4808e-03 1\n", + " 8 2.6792e-01 1.7293e-01 1.8107e-05 9.4808e-03 6.38581e-02 0.1250 9.4808e-03 1\n", + " 9 2.6370e-01 1.7293e-01 1.6075e-05 9.0606e-03 4.41449e-02 0.1250 9.0606e-03 1\n", + " 10 2.6243e-01 1.7293e-01 1.4197e-05 8.9354e-03 3.08066e-02 0.5000 8.9354e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7355e+02 1.8215e-01 4.7198e+01 1.3929e-01 1.07708e+00 1.0000 ---- 3\n", + " 2 5.2667e+01 1.7288e-01 2.2318e+00 3.0177e+00 2.65124e-01 1.0000 3.0177e+00 3\n", + " 3 2.6043e+00 1.7292e-01 5.8493e-03 2.3729e-01 2.12366e-01 0.5000 2.3729e-01 3\n", + " 4 1.9112e+00 1.7292e-01 3.1009e-03 1.7073e-01 6.41144e-02 1.0000 1.7073e-01 3\n", + " 5 2.0592e-01 1.7292e-01 3.1157e-05 3.2686e-03 1.23360e-01 0.0156 3.3016e-03 1\n", + " 6 2.0590e-01 1.7292e-01 3.0674e-05 3.2671e-03 1.17570e-01 0.2500 3.2671e-03 1\n", + " 7 2.0358e-01 1.7292e-01 2.3962e-05 3.0425e-03 2.99421e-02 1.0000 3.0425e-03 1\n", + " 8 1.9451e-01 1.7292e-01 2.9270e-06 2.1561e-03 5.50099e-02 0.5000 2.1561e-03 1\n", + " 9 1.8882e-01 1.7292e-01 2.3140e-06 1.5883e-03 2.71125e-02 1.0000 1.7528e-03 1\n", + " 10 1.8705e-01 1.7292e-01 3.9199e-07 1.4130e-03 5.62524e-02 0.2500 1.7621e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7401e+02 1.8213e-01 4.7152e+01 2.3052e-01 1.07833e+00 1.0000 ---- 3\n", + " 2 5.2190e+01 1.7287e-01 2.2221e+00 2.9796e+00 2.68758e-01 1.0000 2.9796e+00 3\n", + " 3 6.2375e-01 1.7291e-01 5.8501e-03 3.9234e-02 2.20267e-01 0.2500 3.9234e-02 3\n", + " 4 6.1754e-01 1.7290e-01 4.4287e-03 4.0035e-02 9.37989e-02 0.5000 4.0035e-02 3\n", + " 5 4.4409e-01 1.7290e-01 2.2784e-03 2.4840e-02 1.97998e-02 1.0000 2.4840e-02 3\n", + " 6 1.9012e-01 1.7290e-01 1.2572e-05 1.7097e-03 3.23315e-02 0.5000 1.7209e-03 1\n", + " 7 1.8643e-01 1.7290e-01 6.4017e-06 1.3466e-03 1.42218e-02 1.0000 1.7300e-03 1\n", + " 8 1.7447e-01 1.7290e-01 1.2198e-06 1.5596e-04 2.65058e-02 0.5000 1.7403e-03 1\n", + " 9 1.7328e-01 1.7290e-01 5.5751e-07 3.7249e-05 1.32734e-02 0.0020 1.7438e-03 1\n", + " 10 1.7328e-01 1.7290e-01 5.5751e-07 3.7249e-05 1.32671e-02 0.1250 1.7437e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7377e+02 1.8211e-01 4.7225e+01 1.3389e-01 1.07807e+00 1.0000 ---- 3\n", + " 2 5.2483e+01 1.7286e-01 2.2280e+00 3.0030e+00 2.68955e-01 1.0000 3.0030e+00 3\n", + " 3 2.3723e+00 1.7290e-01 5.8309e-03 2.1411e-01 2.21004e-01 0.5000 2.1411e-01 3\n", + " 4 1.8452e+00 1.7289e-01 3.0927e-03 1.6414e-01 6.65902e-02 1.0000 1.6414e-01 3\n", + " 5 2.0961e-01 1.7289e-01 3.5226e-05 3.6362e-03 1.27526e-01 0.2500 3.6362e-03 1\n", + " 6 2.0939e-01 1.7289e-01 2.7661e-05 3.6227e-03 3.24386e-02 1.0000 3.6227e-03 1\n", + " 7 1.8264e-01 1.7289e-01 3.4800e-06 9.7160e-04 5.97492e-02 1.0000 1.7138e-03 1\n", + " 8 1.7683e-01 1.7289e-01 5.2588e-06 3.8873e-04 1.18514e-01 0.0020 1.7287e-03 1\n", + " 9 1.7683e-01 1.7289e-01 5.2588e-06 3.8873e-04 1.18461e-01 0.0625 1.7287e-03 1\n", + " 10 1.7671e-01 1.7289e-01 4.9863e-06 3.7719e-04 9.60433e-02 0.0625 1.7275e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7621e+02 1.8210e-01 4.7256e+01 3.4738e-01 1.10745e+00 1.0000 ---- 3\n", + " 2 5.4755e+01 1.7284e-01 2.2523e+00 3.2059e+00 3.78073e-01 1.0000 3.2059e+00 3\n", + " 3 5.4944e+00 1.7288e-01 5.7222e-03 5.2643e-01 4.78384e-01 0.2500 5.2643e-01 3\n", + " 4 4.2095e+00 1.7286e-01 4.3252e-03 3.9934e-01 1.49819e-01 1.0000 3.9934e-01 3\n", + " 5 2.8108e+00 1.7286e-01 2.4891e-04 2.6354e-01 2.36920e-01 0.2500 2.6354e-01 3\n", + " 6 2.5148e+00 1.7286e-01 1.9047e-04 2.3400e-01 7.36322e-02 1.0000 2.3400e-01 3\n", + " 7 4.7763e-01 1.7286e-01 2.6848e-05 3.0450e-02 1.15140e-01 0.2500 3.0450e-02 3\n", + " 8 4.5760e-01 1.7286e-01 2.1959e-05 2.8452e-02 3.73204e-02 1.0000 2.8452e-02 3\n", + " 9 2.6811e-01 1.7286e-01 5.6527e-06 9.5195e-03 5.91943e-02 0.0020 9.5680e-03 1\n", + " 10 2.6811e-01 1.7286e-01 5.6527e-06 9.5195e-03 5.91656e-02 0.1250 9.5195e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7499e+02 1.8206e-01 4.7243e+01 2.3750e-01 1.08066e+00 1.0000 ---- 3\n", + " 2 5.5690e+01 1.7281e-01 2.2313e+00 3.3204e+00 2.80755e-01 1.0000 3.3204e+00 3\n", + " 3 3.6058e+00 1.7285e-01 5.7708e-03 3.3752e-01 2.53233e-01 0.5000 3.3752e-01 3\n", + " 4 3.0732e+00 1.7284e-01 3.0543e-03 2.8698e-01 8.63891e-02 1.0000 2.8698e-01 3\n", + " 5 2.1428e-01 1.7285e-01 4.1014e-05 4.1018e-03 1.70152e-01 0.0312 4.1018e-03 1\n", + " 6 2.1424e-01 1.7285e-01 3.9751e-05 4.0996e-03 1.54101e-01 0.1250 4.0996e-03 1\n", + " 7 2.1293e-01 1.7285e-01 3.5022e-05 3.9728e-03 9.61343e-02 0.1250 3.9728e-03 1\n", + " 8 2.1177e-01 1.7285e-01 3.0736e-05 3.8613e-03 6.02617e-02 0.5000 3.8613e-03 1\n", + " 9 2.0622e-01 1.7285e-01 1.5865e-05 3.3214e-03 3.05332e-02 1.0000 3.3214e-03 1\n", + " 10 1.9102e-01 1.7285e-01 9.1522e-07 1.8161e-03 6.34604e-02 0.5000 1.8161e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7652e+02 1.8205e-01 4.7340e+01 2.9368e-01 1.09284e+00 1.0000 ---- 3\n", + " 2 5.4459e+01 1.7280e-01 2.2249e+00 3.2037e+00 2.97956e-01 1.0000 3.2037e+00 3\n", + " 3 2.0589e+00 1.7284e-01 5.6191e-03 1.8299e-01 3.14327e-01 0.1250 1.8299e-01 3\n", + " 4 2.0357e+00 1.7283e-01 4.9245e-03 1.8136e-01 2.07698e-01 0.2500 1.8136e-01 3\n", + " 5 1.8977e+00 1.7283e-01 3.7145e-03 1.6878e-01 7.45543e-02 1.0000 1.6878e-01 3\n", + " 6 3.8931e-01 1.7283e-01 1.4532e-04 2.1503e-02 9.98855e-02 0.1250 2.1503e-02 3\n", + " 7 3.7805e-01 1.7283e-01 1.2730e-04 2.0395e-02 6.67490e-02 0.2500 2.0395e-02 3\n", + " 8 3.5160e-01 1.7283e-01 9.5815e-05 1.7781e-02 2.55073e-02 1.0000 1.7781e-02 2\n", + " 9 1.8844e-01 1.7283e-01 4.6363e-06 1.5569e-03 3.32977e-02 0.0020 3.2582e-03 1\n", + " 10 1.8844e-01 1.7283e-01 4.6363e-06 1.5569e-03 3.32873e-02 0.2500 1.5569e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7803e+02 1.8203e-01 4.7451e+01 3.3467e-01 1.08483e+00 1.0000 ---- 3\n", + " 2 5.7413e+01 1.7278e-01 2.2584e+00 3.4656e+00 2.67438e-01 1.0000 3.4656e+00 3\n", + " 3 1.4609e+00 1.7283e-01 5.5376e-03 1.2327e-01 2.27530e-01 0.2500 1.2327e-01 3\n", + " 4 1.4114e+00 1.7282e-01 4.1958e-03 1.1966e-01 9.48639e-02 1.0000 1.1966e-01 3\n", + " 5 6.5498e-01 1.7282e-01 2.7840e-04 4.7937e-02 1.16106e-01 0.2500 4.7937e-02 3\n", + " 6 6.0282e-01 1.7282e-01 2.1074e-04 4.2789e-02 4.63323e-02 1.0000 4.2789e-02 3\n", + " 7 2.8966e-01 1.7282e-01 1.7573e-05 1.1666e-02 5.99386e-02 0.2500 1.1666e-02 3\n", + " 8 2.7090e-01 1.7282e-01 1.4346e-05 9.7931e-03 2.37562e-02 1.0000 9.7931e-03 2\n", + " 9 2.1367e-01 1.7282e-01 4.2679e-06 4.0801e-03 3.25586e-02 0.0020 8.4754e-03 1\n", + " 10 2.1367e-01 1.7282e-01 4.2679e-06 4.0801e-03 3.25391e-02 0.2500 4.0801e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7701e+02 1.8202e-01 4.7381e+01 3.0185e-01 1.07896e+00 1.0000 ---- 3\n", + " 2 5.7897e+01 1.7277e-01 2.2501e+00 3.5223e+00 2.60716e-01 1.0000 3.5223e+00 3\n", + " 3 2.1662e+00 1.7282e-01 5.3609e-03 1.9398e-01 2.18259e-01 0.2500 1.9398e-01 3\n", + " 4 1.8645e+00 1.7282e-01 4.0643e-03 1.6510e-01 9.12267e-02 1.0000 1.6510e-01 3\n", + " 5 5.0935e-01 1.7282e-01 2.7478e-04 3.3378e-02 1.11771e-01 0.2500 3.3378e-02 3\n", + " 6 5.0165e-01 1.7282e-01 2.0797e-04 3.2675e-02 4.51483e-02 1.0000 3.2675e-02 3\n", + " 7 3.4849e-01 1.7282e-01 1.7990e-05 1.7549e-02 5.82757e-02 0.2500 1.7549e-02 3\n", + " 8 3.2341e-01 1.7282e-01 1.4476e-05 1.5045e-02 2.32956e-02 1.0000 1.5045e-02 2\n", + " 9 1.9298e-01 1.7282e-01 3.9807e-06 2.0118e-03 3.19515e-02 0.0020 4.7541e-03 1\n", + " 10 1.9298e-01 1.7282e-01 3.9807e-06 2.0118e-03 3.19321e-02 0.2500 2.0118e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7700e+02 1.8202e-01 4.7376e+01 3.0521e-01 1.07938e+00 1.0000 ---- 3\n", + " 2 5.7501e+01 1.7277e-01 2.2514e+00 3.4814e+00 2.62854e-01 1.0000 3.4814e+00 3\n", + " 3 1.8419e+00 1.7282e-01 5.3790e-03 1.6153e-01 2.23311e-01 0.2500 1.6153e-01 3\n", + " 4 1.6758e+00 1.7281e-01 4.0778e-03 1.4622e-01 9.24521e-02 1.0000 1.4622e-01 3\n", + " 5 6.0881e-01 1.7282e-01 2.6869e-04 4.3330e-02 1.14701e-01 0.2500 4.3330e-02 3\n", + " 6 5.8798e-01 1.7281e-01 2.0345e-04 4.1313e-02 4.58686e-02 1.0000 4.1313e-02 3\n", + " 7 3.0990e-01 1.7281e-01 1.7744e-05 1.3690e-02 5.98068e-02 0.2500 1.3690e-02 3\n", + " 8 3.0099e-01 1.7281e-01 1.4276e-05 1.2803e-02 2.37507e-02 1.0000 1.2803e-02 2\n", + " 9 1.9451e-01 1.7281e-01 4.0056e-06 2.1653e-03 3.28673e-02 0.0020 4.8489e-03 1\n", + " 10 1.9451e-01 1.7281e-01 4.0056e-06 2.1653e-03 3.28476e-02 0.2500 2.1653e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7692e+02 1.8202e-01 4.7369e+01 3.0529e-01 1.07930e+00 1.0000 ---- 3\n", + " 2 5.7486e+01 1.7277e-01 2.2484e+00 3.4829e+00 2.64142e-01 1.0000 3.4829e+00 3\n", + " 3 1.4524e+00 1.7282e-01 5.3919e-03 1.2257e-01 2.26504e-01 0.2500 1.2257e-01 3\n", + " 4 1.3568e+00 1.7281e-01 4.0874e-03 1.1431e-01 9.32138e-02 1.0000 1.1431e-01 3\n", + " 5 5.1892e-01 1.7281e-01 2.6508e-04 3.4346e-02 1.16612e-01 0.2500 3.4346e-02 3\n", + " 6 5.0847e-01 1.7281e-01 2.0095e-04 3.3364e-02 4.64861e-02 1.0000 3.3364e-02 3\n", + " 7 3.2976e-01 1.7281e-01 1.8605e-05 1.5676e-02 6.07670e-02 0.2500 1.5676e-02 3\n", + " 8 3.1408e-01 1.7281e-01 1.4956e-05 1.4112e-02 2.40700e-02 1.0000 1.4112e-02 2\n", + " 9 1.9607e-01 1.7281e-01 4.1772e-06 2.3218e-03 3.34673e-02 0.0020 4.8769e-03 1\n", + " 10 1.9607e-01 1.7281e-01 4.1772e-06 2.3218e-03 3.34474e-02 0.2500 2.3218e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7684e+02 1.8201e-01 4.7360e+01 3.0550e-01 1.07930e+00 1.0000 ---- 3\n", + " 2 5.7371e+01 1.7277e-01 2.2461e+00 3.4736e+00 2.65572e-01 1.0000 3.4736e+00 3\n", + " 3 1.4229e+00 1.7282e-01 5.4200e-03 1.1958e-01 2.29947e-01 0.2500 1.1958e-01 3\n", + " 4 1.3358e+00 1.7281e-01 4.1089e-03 1.1219e-01 9.39786e-02 1.0000 1.1219e-01 3\n", + " 5 5.1967e-01 1.7281e-01 2.6431e-04 3.4421e-02 1.18658e-01 0.2500 3.4421e-02 3\n", + " 6 5.0785e-01 1.7281e-01 2.0051e-04 3.3303e-02 4.70260e-02 1.0000 3.3303e-02 3\n", + " 7 2.7344e-01 1.7281e-01 1.9098e-05 1.0044e-02 6.18625e-02 0.2500 1.0044e-02 3\n", + " 8 2.6989e-01 1.7281e-01 1.5346e-05 9.6925e-03 2.43765e-02 1.0000 9.6925e-03 2\n", + " 9 1.9474e-01 1.7281e-01 4.2029e-06 2.1886e-03 3.41520e-02 0.0020 4.8950e-03 1\n", + " 10 1.9474e-01 1.7281e-01 4.2029e-06 2.1886e-03 3.41323e-02 0.2500 2.1886e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7674e+02 1.8201e-01 4.7350e+01 3.0531e-01 1.07921e+00 1.0000 ---- 3\n", + " 2 5.7292e+01 1.7277e-01 2.2442e+00 3.4677e+00 2.66697e-01 1.0000 3.4677e+00 3\n", + " 3 1.4389e+00 1.7281e-01 5.4433e-03 1.2117e-01 2.33583e-01 0.2500 1.2117e-01 3\n", + " 4 1.3412e+00 1.7281e-01 4.1271e-03 1.1272e-01 9.47858e-02 1.0000 1.1272e-01 3\n", + " 5 5.1541e-01 1.7281e-01 2.6562e-04 3.3995e-02 1.20670e-01 0.2500 3.3995e-02 3\n", + " 6 4.9985e-01 1.7281e-01 2.0166e-04 3.2503e-02 4.75298e-02 1.0000 3.2503e-02 3\n", + " 7 2.7432e-01 1.7281e-01 1.9576e-05 1.0132e-02 6.28980e-02 0.2500 1.0132e-02 3\n", + " 8 2.6919e-01 1.7281e-01 1.5751e-05 9.6228e-03 2.46997e-02 1.0000 9.6228e-03 2\n", + " 9 1.9488e-01 1.7281e-01 4.3211e-06 2.2027e-03 3.47799e-02 0.0020 4.9238e-03 1\n", + " 10 1.9488e-01 1.7281e-01 4.3211e-06 2.2027e-03 3.47597e-02 0.2500 2.2027e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7654e+02 1.8201e-01 4.7331e+01 3.0487e-01 1.07894e+00 1.0000 ---- 3\n", + " 2 5.6331e+01 1.7277e-01 2.2416e+00 3.3742e+00 2.68265e-01 1.0000 3.3742e+00 3\n", + " 3 2.0983e+00 1.7281e-01 5.4839e-03 1.8706e-01 2.36669e-01 0.2500 1.8706e-01 3\n", + " 4 1.7396e+00 1.7281e-01 4.1582e-03 1.5253e-01 9.55573e-02 1.0000 1.5253e-01 3\n", + " 5 5.0779e-01 1.7281e-01 2.6919e-04 3.3229e-02 1.22408e-01 0.2500 3.3229e-02 3\n", + " 6 4.4852e-01 1.7281e-01 2.0440e-04 2.7367e-02 4.77402e-02 1.0000 2.7367e-02 3\n", + " 7 1.9972e-01 1.7281e-01 1.9597e-05 2.6723e-03 6.36724e-02 0.0312 2.6723e-03 1\n", + " 8 1.9972e-01 1.7281e-01 1.9002e-05 2.6721e-03 5.87706e-02 0.1250 2.6721e-03 1\n", + " 9 1.9849e-01 1.7281e-01 1.6873e-05 2.5517e-03 4.07347e-02 0.0625 2.5517e-03 1\n", + " 10 1.9822e-01 1.7281e-01 1.5853e-05 2.5253e-03 3.45564e-02 0.1250 2.5253e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7709e+02 1.8201e-01 4.7393e+01 2.9743e-01 1.08707e+00 1.0000 ---- 3\n", + " 2 5.6449e+01 1.7277e-01 2.2229e+00 3.4047e+00 2.82575e-01 1.0000 3.4047e+00 3\n", + " 3 1.4615e+00 1.7282e-01 5.8019e-03 1.2306e-01 2.55602e-01 0.2500 1.2306e-01 3\n", + " 4 1.3723e+00 1.7281e-01 4.3923e-03 1.1556e-01 1.05399e-01 1.0000 1.1556e-01 3\n", + " 5 5.0055e-01 1.7281e-01 2.7547e-04 3.2499e-02 1.34671e-01 0.2500 3.2499e-02 3\n", + " 6 4.9805e-01 1.7281e-01 2.1067e-04 3.2313e-02 5.18731e-02 1.0000 3.2313e-02 3\n", + " 7 2.7623e-01 1.7281e-01 2.0385e-05 1.0322e-02 6.83736e-02 0.2500 1.0322e-02 3\n", + " 8 2.7167e-01 1.7281e-01 1.6936e-05 9.8694e-03 2.70930e-02 1.0000 9.8694e-03 2\n", + " 9 1.9505e-01 1.7281e-01 5.0929e-06 2.2198e-03 3.78847e-02 0.0020 4.9684e-03 1\n", + " 10 1.9505e-01 1.7281e-01 5.0929e-06 2.2198e-03 3.78647e-02 0.2500 2.2198e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7604e+02 1.8201e-01 4.7286e+01 2.9979e-01 1.07726e+00 1.0000 ---- 3\n", + " 2 5.5449e+01 1.7277e-01 2.2387e+00 3.2889e+00 2.68787e-01 1.0000 3.2889e+00 3\n", + " 3 1.3396e+00 1.7281e-01 5.5659e-03 1.1112e-01 2.30899e-01 0.2500 1.1112e-01 3\n", + " 4 1.2495e+00 1.7281e-01 4.2183e-03 1.0345e-01 9.36844e-02 1.0000 1.0345e-01 3\n", + " 5 5.3494e-01 1.7281e-01 2.6004e-04 3.5953e-02 1.19119e-01 0.2500 3.5953e-02 3\n", + " 6 5.0557e-01 1.7280e-01 1.9750e-04 3.3079e-02 4.72192e-02 1.0000 3.3079e-02 3\n", + " 7 2.4918e-01 1.7280e-01 1.9841e-05 7.6179e-03 6.25686e-02 0.2500 7.6179e-03 2\n", + " 8 2.3796e-01 1.7280e-01 1.6015e-05 6.4999e-03 2.48401e-02 0.0020 1.0630e-02 1\n", + " 9 2.3796e-01 1.7280e-01 1.6015e-05 6.4999e-03 2.48296e-02 1.0000 6.4999e-03 1\n", + " 10 2.3275e-01 1.7280e-01 7.4052e-06 5.9876e-03 3.32529e-02 0.1250 7.1401e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7701e+02 1.8200e-01 4.7300e+01 3.8281e-01 1.07853e+00 1.0000 ---- 3\n", + " 2 5.5103e+01 1.7277e-01 2.2354e+00 3.2577e+00 2.69133e-01 1.0000 3.2577e+00 3\n", + " 3 1.6902e+00 1.7281e-01 5.4888e-03 1.4625e-01 2.40861e-01 0.2500 1.4625e-01 3\n", + " 4 1.4240e+00 1.7280e-01 4.1608e-03 1.2096e-01 9.65244e-02 1.0000 1.2096e-01 3\n", + " 5 6.4165e-01 1.7280e-01 2.5987e-04 4.6625e-02 1.24231e-01 0.5000 4.6625e-02 3\n", + " 6 5.1239e-01 1.7280e-01 1.4084e-04 3.3818e-02 3.62966e-02 1.0000 3.3818e-02 3\n", + " 7 2.5356e-01 1.7280e-01 5.5182e-06 8.0699e-03 6.59213e-02 0.5000 8.0699e-03 2\n", + " 8 2.4974e-01 1.7280e-01 6.1444e-06 7.6879e-03 3.23444e-02 1.0000 7.6879e-03 3\n", + " 9 2.0425e-01 1.7280e-01 2.2134e-06 3.1431e-03 7.10374e-02 0.0020 5.1589e-03 1\n", + " 10 2.0425e-01 1.7280e-01 2.2134e-06 3.1431e-03 7.10056e-02 0.1250 3.1431e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7659e+02 1.8200e-01 4.7317e+01 3.2345e-01 1.09181e+00 1.0000 ---- 3\n", + " 2 5.4408e+01 1.7277e-01 2.2161e+00 3.2075e+00 2.94509e-01 1.0000 3.2075e+00 3\n", + " 3 1.8267e+00 1.7280e-01 6.0187e-03 1.5937e-01 3.10813e-01 0.2500 1.5937e-01 3\n", + " 4 1.3517e+00 1.7279e-01 4.5623e-03 1.1332e-01 1.01666e-01 1.0000 1.1332e-01 3\n", + " 5 2.9583e-01 1.7279e-01 2.6519e-04 1.2038e-02 1.34085e-01 0.1250 1.2038e-02 3\n", + " 6 2.8634e-01 1.7279e-01 2.3259e-04 1.1122e-02 9.06162e-02 0.2500 1.1122e-02 3\n", + " 7 2.7119e-01 1.7279e-01 1.7572e-04 9.6637e-03 3.59973e-02 1.0000 9.6637e-03 3\n", + " 8 2.5158e-01 1.7279e-01 1.0608e-05 7.8680e-03 4.42893e-02 0.5000 7.8680e-03 2\n", + " 9 2.3947e-01 1.7279e-01 7.8637e-06 6.6607e-03 1.45866e-02 1.0000 6.6607e-03 2\n", + " 10 1.7279e-01 1.7279e-01 3.8560e-07 0.0000e+00 3.04742e-02 0.2500 1.4881e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7642e+02 1.8199e-01 4.7336e+01 2.8788e-01 1.08245e+00 1.0000 ---- 3\n", + " 2 5.6486e+01 1.7275e-01 2.2396e+00 3.3917e+00 2.74006e-01 1.0000 3.3917e+00 3\n", + " 3 2.0710e+00 1.7279e-01 5.5117e-03 1.8430e-01 2.44987e-01 0.2500 1.8430e-01 3\n", + " 4 1.7432e+00 1.7279e-01 4.1725e-03 1.5287e-01 9.83310e-02 1.0000 1.5287e-01 3\n", + " 5 4.8851e-01 1.7279e-01 2.5633e-04 3.1315e-02 1.25778e-01 0.2500 3.1315e-02 3\n", + " 6 4.4065e-01 1.7279e-01 1.9441e-04 2.6592e-02 4.84456e-02 1.0000 2.6592e-02 3\n", + " 7 2.2043e-01 1.7279e-01 1.6708e-05 4.7480e-03 6.42147e-02 0.0020 4.7946e-03 1\n", + " 8 2.2043e-01 1.7279e-01 1.6708e-05 4.7480e-03 6.42013e-02 0.0625 4.7480e-03 1\n", + " 9 2.1940e-01 1.7279e-01 1.5734e-05 4.6460e-03 5.43083e-02 0.0312 4.6460e-03 1\n", + " 10 2.1920e-01 1.7279e-01 1.5255e-05 4.6257e-03 5.01568e-02 0.0625 4.6257e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7714e+02 1.8198e-01 4.7391e+01 3.0447e-01 1.09178e+00 1.0000 ---- 3\n", + " 2 5.6397e+01 1.7275e-01 2.2317e+00 3.3907e+00 2.91137e-01 1.0000 3.3907e+00 3\n", + " 3 1.5803e+00 1.7279e-01 5.9757e-03 1.3478e-01 2.73861e-01 0.2500 1.3478e-01 3\n", + " 4 1.4641e+00 1.7279e-01 4.5216e-03 1.2461e-01 1.10448e-01 1.0000 1.2461e-01 3\n", + " 5 5.0123e-01 1.7279e-01 2.7955e-04 3.2564e-02 1.42703e-01 0.1250 3.2564e-02 3\n", + " 6 4.7156e-01 1.7279e-01 2.4575e-04 2.9632e-02 9.75323e-02 0.2500 2.9632e-02 3\n", + " 7 4.2005e-01 1.7278e-01 1.8649e-04 2.4540e-02 3.88283e-02 1.0000 2.4540e-02 3\n", + " 8 2.1687e-01 1.7278e-01 1.1856e-05 4.3971e-03 4.92778e-02 0.0020 9.0536e-03 1\n", + " 9 2.1687e-01 1.7278e-01 1.1856e-05 4.3971e-03 4.92593e-02 0.2500 4.3971e-03 1\n", + " 10 2.1214e-01 1.7278e-01 9.8438e-06 3.9260e-03 2.02049e-02 0.5000 5.7884e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7582e+02 1.8198e-01 4.7261e+01 3.0259e-01 1.07838e+00 1.0000 ---- 3\n", + " 2 5.4431e+01 1.7274e-01 2.2282e+00 3.1976e+00 2.67366e-01 1.0000 3.1976e+00 3\n", + " 3 5.6131e-01 1.7278e-01 5.7040e-03 3.3149e-02 2.33260e-01 0.1250 3.3149e-02 3\n", + " 4 5.3127e-01 1.7278e-01 5.0020e-03 3.0847e-02 1.61383e-01 0.2500 3.0847e-02 3\n", + " 5 5.1194e-01 1.7278e-01 3.7800e-03 3.0136e-02 6.84248e-02 1.0000 3.0136e-02 3\n", + " 6 4.7378e-01 1.7278e-01 1.7328e-04 2.9927e-02 8.24887e-02 0.2500 2.9927e-02 3\n", + " 7 4.1861e-01 1.7278e-01 1.3106e-04 2.4452e-02 3.39483e-02 1.0000 2.4452e-02 3\n", + " 8 2.0156e-01 1.7278e-01 1.0298e-05 2.8679e-03 4.29678e-02 0.0078 4.5809e-03 1\n", + " 9 2.0156e-01 1.7278e-01 1.0218e-05 2.8680e-03 4.21427e-02 0.1250 2.8680e-03 1\n", + " 10 1.9980e-01 1.7277e-01 9.0831e-06 2.6938e-03 2.94160e-02 0.1250 3.0857e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7633e+02 1.8197e-01 4.7323e+01 2.9126e-01 1.08469e+00 1.0000 ---- 3\n", + " 2 5.4079e+01 1.7274e-01 2.2231e+00 3.1675e+00 2.79767e-01 1.0000 3.1675e+00 3\n", + " 3 1.4262e+00 1.7278e-01 5.7874e-03 1.1956e-01 2.42397e-01 0.2500 1.1956e-01 3\n", + " 4 1.3081e+00 1.7277e-01 4.3769e-03 1.0915e-01 9.99373e-02 1.0000 1.0915e-01 3\n", + " 5 5.3022e-01 1.7277e-01 2.4124e-04 3.5503e-02 1.25745e-01 0.2500 3.5503e-02 3\n", + " 6 5.0280e-01 1.7277e-01 1.8351e-04 3.2820e-02 4.89928e-02 1.0000 3.2820e-02 3\n", + " 7 2.4544e-01 1.7277e-01 1.7467e-05 7.2499e-03 6.39487e-02 0.2500 7.2499e-03 2\n", + " 8 2.3717e-01 1.7277e-01 1.4471e-05 6.4252e-03 2.56416e-02 0.0020 9.2445e-03 1\n", + " 9 2.3717e-01 1.7277e-01 1.4471e-05 6.4252e-03 2.56350e-02 1.0000 6.4252e-03 1\n", + " 10 2.3313e-01 1.7277e-01 6.5983e-06 6.0294e-03 3.38285e-02 0.1250 7.1645e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7705e+02 1.8196e-01 4.7304e+01 3.8262e-01 1.07785e+00 1.0000 ---- 3\n", + " 2 5.6797e+01 1.7273e-01 2.2353e+00 3.4272e+00 2.62566e-01 1.0000 3.4272e+00 3\n", + " 3 1.0011e+00 1.7278e-01 5.3980e-03 7.7431e-02 2.27676e-01 0.2500 7.7431e-02 3\n", + " 4 9.7599e-01 1.7277e-01 4.0932e-03 7.6229e-02 9.27903e-02 1.0000 7.6229e-02 3\n", + " 5 6.4627e-01 1.7277e-01 2.6305e-04 4.7087e-02 1.15943e-01 0.2500 4.7087e-02 3\n", + " 6 5.6825e-01 1.7277e-01 1.9957e-04 3.9348e-02 4.70283e-02 1.0000 3.9348e-02 3\n", + " 7 2.5508e-01 1.7277e-01 2.0599e-05 8.2103e-03 6.09717e-02 0.5000 8.2103e-03 2\n", + " 8 2.3233e-01 1.7277e-01 1.5031e-05 5.9411e-03 1.54568e-02 1.0000 5.9411e-03 2\n", + " 9 1.7560e-01 1.7277e-01 6.2604e-07 2.8297e-04 2.66783e-02 0.0020 1.6327e-03 1\n", + " 10 1.7560e-01 1.7277e-01 6.2604e-07 2.8297e-04 2.66652e-02 0.2500 1.6327e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7595e+02 1.8196e-01 4.7267e+01 3.0967e-01 1.08100e+00 1.0000 ---- 3\n", + " 2 5.5058e+01 1.7273e-01 2.2349e+00 3.2536e+00 2.78472e-01 1.0000 3.2536e+00 3\n", + " 3 1.7586e+00 1.7277e-01 5.4778e-03 1.5311e-01 2.44459e-01 0.2500 1.5311e-01 3\n", + " 4 1.5361e+00 1.7277e-01 4.1473e-03 1.3219e-01 9.96017e-02 1.0000 1.3219e-01 3\n", + " 5 5.3735e-01 1.7277e-01 2.4752e-04 3.6211e-02 1.27227e-01 0.2500 3.6211e-02 3\n", + " 6 5.1936e-01 1.7277e-01 1.8789e-04 3.4472e-02 4.91547e-02 1.0000 3.4472e-02 3\n", + " 7 2.5459e-01 1.7277e-01 1.6220e-05 8.1659e-03 6.52852e-02 0.2500 8.1659e-03 2\n", + " 8 2.4516e-01 1.7276e-01 1.3442e-05 7.2259e-03 2.58254e-02 0.0020 9.1722e-03 1\n", + " 9 2.4516e-01 1.7276e-01 1.3442e-05 7.2259e-03 2.58174e-02 1.0000 7.2259e-03 1\n", + " 10 2.4130e-01 1.7276e-01 6.0319e-06 6.8478e-03 3.49255e-02 0.1250 8.4888e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7621e+02 1.8195e-01 4.7226e+01 3.7663e-01 1.07715e+00 1.0000 ---- 3\n", + " 2 5.4760e+01 1.7273e-01 2.2282e+00 3.2305e+00 2.67026e-01 1.0000 3.2305e+00 3\n", + " 3 1.0708e+00 1.7277e-01 5.4415e-03 8.4365e-02 2.30311e-01 0.2500 8.4365e-02 3\n", + " 4 1.0052e+00 1.7276e-01 4.1221e-03 7.9122e-02 9.32654e-02 1.0000 7.9122e-02 3\n", + " 5 6.7219e-01 1.7276e-01 2.3452e-04 4.9708e-02 1.17765e-01 0.5000 4.9708e-02 3\n", + " 6 6.6995e-01 1.7276e-01 1.2497e-04 4.9594e-02 3.17923e-02 1.0000 4.9594e-02 3\n", + " 7 1.9851e-01 1.7276e-01 4.2169e-06 2.5710e-03 5.83747e-02 0.0078 4.8900e-03 1\n", + " 8 1.9851e-01 1.7276e-01 4.1845e-06 2.5710e-03 5.70379e-02 0.2500 2.5710e-03 1\n", + " 9 1.9803e-01 1.7276e-01 3.6912e-06 2.5227e-03 1.63040e-02 0.5000 3.8724e-03 1\n", + " 10 1.9468e-01 1.7276e-01 2.0002e-06 2.1897e-03 6.42958e-03 1.0000 2.2836e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7629e+02 1.8195e-01 4.7234e+01 3.7664e-01 1.07942e+00 1.0000 ---- 3\n", + " 2 5.4032e+01 1.7273e-01 2.2162e+00 3.1697e+00 2.69502e-01 1.0000 3.1697e+00 3\n", + " 3 7.6412e-01 1.7277e-01 5.6311e-03 5.3504e-02 2.30452e-01 0.2500 5.3504e-02 3\n", + " 4 7.2323e-01 1.7276e-01 4.2692e-03 5.0777e-02 9.40308e-02 1.0000 5.0777e-02 3\n", + " 5 4.8458e-01 1.7276e-01 2.5937e-04 3.0923e-02 1.18516e-01 0.2500 3.0923e-02 3\n", + " 6 4.5466e-01 1.7276e-01 1.9717e-04 2.7993e-02 4.76456e-02 1.0000 2.7993e-02 3\n", + " 7 2.3488e-01 1.7276e-01 1.8901e-05 6.1934e-03 6.23409e-02 0.2500 6.1934e-03 2\n", + " 8 2.2077e-01 1.7276e-01 1.5409e-05 4.7854e-03 2.48104e-02 0.0020 8.1752e-03 1\n", + " 9 2.2077e-01 1.7276e-01 1.5409e-05 4.7854e-03 2.47990e-02 0.5000 4.7854e-03 1\n", + " 10 2.0686e-01 1.7276e-01 8.8691e-06 3.4013e-03 5.87970e-03 1.0000 3.4013e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7601e+02 1.8195e-01 4.7211e+01 3.7149e-01 1.08137e+00 1.0000 ---- 3\n", + " 2 5.4407e+01 1.7273e-01 2.2154e+00 3.2080e+00 2.82163e-01 1.0000 3.2080e+00 3\n", + " 3 1.0659e+00 1.7277e-01 5.4996e-03 8.3816e-02 2.52255e-01 0.1250 8.3816e-02 3\n", + " 4 9.9144e-01 1.7276e-01 4.8214e-03 7.7046e-02 1.76266e-01 0.2500 7.7046e-02 3\n", + " 5 8.6802e-01 1.7276e-01 3.6410e-03 6.5885e-02 7.35705e-02 1.0000 6.5885e-02 3\n", + " 6 3.3550e-01 1.7276e-01 1.6364e-04 1.6110e-02 9.16909e-02 0.2500 1.6110e-02 3\n", + " 7 3.1228e-01 1.7276e-01 1.2407e-04 1.3828e-02 3.63897e-02 1.0000 1.3828e-02 3\n", + " 8 2.3742e-01 1.7276e-01 9.7164e-06 6.4567e-03 4.70143e-02 0.5000 6.4567e-03 2\n", + " 9 2.3362e-01 1.7276e-01 7.8293e-06 6.0783e-03 1.39910e-02 0.0020 8.0857e-03 1\n", + " 10 2.3362e-01 1.7276e-01 7.8293e-06 6.0783e-03 1.39741e-02 1.0000 6.0783e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7532e+02 1.8195e-01 4.7185e+01 3.2920e-01 1.08377e+00 1.0000 ---- 3\n", + " 2 5.4715e+01 1.7272e-01 2.2276e+00 3.2266e+00 2.91450e-01 1.0000 3.2266e+00 3\n", + " 3 1.5490e+00 1.7277e-01 5.4571e-03 1.3216e-01 2.73011e-01 0.2500 1.3216e-01 3\n", + " 4 1.4294e+00 1.7276e-01 4.1268e-03 1.2154e-01 1.08162e-01 1.0000 1.2154e-01 3\n", + " 5 5.6779e-01 1.7276e-01 2.4251e-04 3.9261e-02 1.42756e-01 0.2500 3.9261e-02 3\n", + " 6 5.4847e-01 1.7276e-01 1.8601e-04 3.7385e-02 5.36712e-02 1.0000 3.7385e-02 3\n", + " 7 2.5379e-01 1.7276e-01 1.8782e-05 8.0848e-03 7.15729e-02 0.0020 1.0180e-02 1\n", + " 8 2.5379e-01 1.7276e-01 1.8782e-05 8.0848e-03 7.15568e-02 0.1250 8.0848e-03 1\n", + " 9 2.5206e-01 1.7276e-01 1.6841e-05 7.9135e-03 4.96229e-02 0.0625 7.9135e-03 1\n", + " 10 2.5118e-01 1.7276e-01 1.5840e-05 7.8264e-03 4.21722e-02 0.2500 7.8264e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7494e+02 1.8194e-01 4.7184e+01 2.9108e-01 1.08174e+00 1.0000 ---- 3\n", + " 2 5.3639e+01 1.7272e-01 2.2168e+00 3.1298e+00 2.77761e-01 1.0000 3.1298e+00 3\n", + " 3 1.0903e+00 1.7276e-01 5.7603e-03 8.5997e-02 2.41712e-01 0.2500 8.5997e-02 3\n", + " 4 1.0631e+00 1.7275e-01 4.3593e-03 8.4679e-02 9.97663e-02 1.0000 8.4679e-02 3\n", + " 5 4.9036e-01 1.7275e-01 2.5987e-04 3.1501e-02 1.25968e-01 0.2500 3.1501e-02 3\n", + " 6 4.6285e-01 1.7275e-01 1.9804e-04 2.8812e-02 4.97743e-02 1.0000 2.8812e-02 3\n", + " 7 2.3165e-01 1.7275e-01 1.8600e-05 5.8710e-03 6.43410e-02 0.2500 5.8710e-03 2\n", + " 8 2.2241e-01 1.7275e-01 1.5411e-05 4.9504e-03 2.62293e-02 0.0020 8.7602e-03 1\n", + " 9 2.2241e-01 1.7275e-01 1.5411e-05 4.9504e-03 2.62213e-02 0.5000 4.9504e-03 1\n", + " 10 2.0980e-01 1.7275e-01 8.8241e-06 3.6958e-03 5.93956e-03 1.0000 3.6958e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7410e+02 1.8194e-01 4.7128e+01 2.6427e-01 1.07860e+00 1.0000 ---- 3\n", + " 2 5.3609e+01 1.7271e-01 2.2187e+00 3.1250e+00 2.79089e-01 1.0000 3.1250e+00 3\n", + " 3 1.8835e+00 1.7275e-01 5.6232e-03 1.6545e-01 2.43053e-01 0.2500 1.6545e-01 3\n", + " 4 1.5716e+00 1.7275e-01 4.2572e-03 1.3562e-01 9.97886e-02 1.0000 1.3562e-01 3\n", + " 5 3.8219e-01 1.7275e-01 2.5882e-04 2.0685e-02 1.26109e-01 0.2500 2.0685e-02 3\n", + " 6 3.7227e-01 1.7274e-01 1.9682e-04 1.9756e-02 4.98867e-02 1.0000 1.9756e-02 3\n", + " 7 2.9497e-01 1.7274e-01 1.8013e-05 1.2205e-02 6.46867e-02 0.5000 1.2205e-02 2\n", + " 8 2.8793e-01 1.7274e-01 1.4371e-05 1.1504e-02 1.68529e-02 1.0000 1.1504e-02 2\n", + " 9 1.7275e-01 1.7274e-01 8.3145e-07 0.0000e+00 2.95592e-02 0.2500 1.7240e-03 1\n", + " 10 1.7275e-01 1.7274e-01 7.6134e-07 0.0000e+00 9.99211e-03 0.5000 1.7301e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7340e+02 1.8193e-01 4.7078e+01 2.4372e-01 1.07620e+00 1.0000 ---- 3\n", + " 2 5.1963e+01 1.7270e-01 2.2125e+00 2.9666e+00 2.71556e-01 1.0000 2.9666e+00 3\n", + " 3 1.9192e+00 1.7274e-01 5.7522e-03 1.6889e-01 2.27289e-01 0.5000 1.6889e-01 3\n", + " 4 1.8292e+00 1.7273e-01 3.0512e-03 1.6260e-01 6.27657e-02 1.0000 1.6260e-01 3\n", + " 5 1.7844e-01 1.7273e-01 4.2780e-05 5.2824e-04 1.10646e-01 0.1250 1.7071e-03 1\n", + " 6 1.7830e-01 1.7273e-01 3.7683e-05 5.1931e-04 7.06570e-02 0.5000 1.7122e-03 1\n", + " 7 1.7676e-01 1.7273e-01 2.0543e-05 3.8207e-04 3.17487e-02 1.0000 1.7262e-03 1\n", + " 8 1.7556e-01 1.7273e-01 1.4687e-06 2.8080e-04 6.79430e-02 0.1250 1.7165e-03 1\n", + " 9 1.7544e-01 1.7273e-01 1.3197e-06 2.6953e-04 4.04379e-02 0.2500 1.7241e-03 1\n", + " 10 1.7527e-01 1.7273e-01 1.0463e-06 2.5314e-04 8.61128e-03 1.0000 1.7319e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7285e+02 1.8192e-01 4.7128e+01 1.3829e-01 1.07463e+00 1.0000 ---- 3\n", + " 2 5.3093e+01 1.7269e-01 2.2093e+00 3.0827e+00 2.62058e-01 1.0000 3.0827e+00 3\n", + " 3 1.7726e+00 1.7273e-01 5.7867e-03 1.5420e-01 2.13745e-01 0.5000 1.5420e-01 3\n", + " 4 1.5622e+00 1.7272e-01 3.0841e-03 1.3586e-01 6.09811e-02 1.0000 1.3586e-01 3\n", + " 5 1.8610e-01 1.7273e-01 3.6340e-05 1.3010e-03 1.09934e-01 0.0625 1.7261e-03 1\n", + " 6 1.8602e-01 1.7273e-01 3.4133e-05 1.2949e-03 8.94969e-02 0.5000 1.7262e-03 1\n", + " 7 1.8556e-01 1.7272e-01 1.9961e-05 1.2636e-03 4.55383e-02 0.5000 1.7291e-03 1\n", + " 8 1.8482e-01 1.7272e-01 9.8979e-06 1.1993e-03 2.87592e-02 1.0000 1.7434e-03 1\n", + " 9 1.8136e-01 1.7272e-01 5.5844e-07 8.6278e-04 6.81794e-02 0.1250 1.7287e-03 1\n", + " 10 1.8108e-01 1.7272e-01 4.9353e-07 8.3554e-04 3.89450e-02 0.2500 1.7330e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7440e+02 1.8191e-01 4.7141e+01 2.8066e-01 1.07730e+00 1.0000 ---- 3\n", + " 2 5.2621e+01 1.7269e-01 2.2065e+00 3.0383e+00 2.74298e-01 1.0000 3.0383e+00 3\n", + " 3 1.6476e+00 1.7273e-01 5.6788e-03 1.4181e-01 2.40854e-01 0.2500 1.4181e-01 3\n", + " 4 1.3731e+00 1.7272e-01 4.3018e-03 1.1574e-01 9.63725e-02 1.0000 1.1574e-01 3\n", + " 5 4.4915e-01 1.7272e-01 2.5869e-04 2.7384e-02 1.22127e-01 0.5000 2.7384e-02 3\n", + " 6 4.4028e-01 1.7272e-01 1.4072e-04 2.6615e-02 3.82290e-02 1.0000 2.6615e-02 3\n", + " 7 2.2019e-01 1.7272e-01 6.7674e-06 4.7407e-03 7.33192e-02 0.0020 1.0475e-02 1\n", + " 8 2.2019e-01 1.7272e-01 6.7674e-06 4.7407e-03 7.32875e-02 0.1250 4.7407e-03 1\n", + " 9 2.1729e-01 1.7272e-01 6.1694e-06 4.4508e-03 4.53197e-02 0.1250 7.1548e-03 1\n", + " 10 2.1636e-01 1.7272e-01 5.4998e-06 4.3591e-03 2.86482e-02 1.0000 4.8519e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7452e+02 1.8190e-01 4.7178e+01 2.5583e-01 1.09461e+00 1.0000 ---- 3\n", + " 2 5.5421e+01 1.7268e-01 2.2436e+00 3.2812e+00 3.36313e-01 1.0000 3.2812e+00 3\n", + " 3 2.5164e+00 1.7271e-01 5.6488e-03 2.2872e-01 4.16825e-01 0.2500 2.2872e-01 3\n", + " 4 2.3089e+00 1.7270e-01 4.2633e-03 2.0936e-01 1.33990e-01 0.5000 2.0936e-01 3\n", + " 5 1.5531e+00 1.7270e-01 2.1773e-03 1.3586e-01 4.30160e-02 1.0000 1.3586e-01 3\n", + " 6 1.7794e-01 1.7270e-01 1.8900e-05 5.0523e-04 8.65120e-02 0.2500 1.7231e-03 1\n", + " 7 1.7785e-01 1.7270e-01 1.4142e-05 5.0061e-04 1.91556e-02 1.0000 1.7327e-03 1\n", + " 8 1.7371e-01 1.7270e-01 2.1112e-06 9.9010e-05 3.57490e-02 0.5000 1.7552e-03 1\n", + " 9 1.7271e-01 1.7270e-01 1.1831e-06 0.0000e+00 1.97722e-02 0.0312 1.7521e-03 1\n", + " 10 1.7271e-01 1.7270e-01 1.1462e-06 2.5043e-08 1.77898e-02 0.5000 1.7522e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7419e+02 1.8187e-01 4.7112e+01 2.8897e-01 1.07841e+00 1.0000 ---- 3\n", + " 2 5.5085e+01 1.7265e-01 2.2357e+00 3.2556e+00 2.65829e-01 1.0000 3.2556e+00 3\n", + " 3 1.4302e+00 1.7270e-01 5.5301e-03 1.2022e-01 2.32975e-01 0.2500 1.2022e-01 3\n", + " 4 1.3307e+00 1.7269e-01 4.1905e-03 1.1161e-01 9.13921e-02 1.0000 1.1161e-01 3\n", + " 5 5.7375e-01 1.7269e-01 2.6032e-04 3.9845e-02 1.13039e-01 0.2500 3.9845e-02 3\n", + " 6 5.2546e-01 1.7269e-01 1.9700e-04 3.5079e-02 4.56446e-02 1.0000 3.5079e-02 3\n", + " 7 2.7221e-01 1.7269e-01 1.6399e-05 9.9351e-03 5.74427e-02 0.2500 9.9351e-03 2\n", + " 8 2.4469e-01 1.7269e-01 1.3311e-05 7.1862e-03 2.36937e-02 0.0020 7.7729e-03 1\n", + " 9 2.4469e-01 1.7269e-01 1.3311e-05 7.1862e-03 2.36728e-02 0.5000 7.1862e-03 1\n", + " 10 2.2502e-01 1.7269e-01 7.5823e-06 5.2249e-03 5.08325e-03 1.0000 5.2249e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7334e+02 1.8186e-01 4.7078e+01 2.3758e-01 1.07659e+00 1.0000 ---- 3\n", + " 2 5.3359e+01 1.7264e-01 2.2223e+00 3.0964e+00 2.69603e-01 1.0000 3.0964e+00 3\n", + " 3 2.4726e+00 1.7269e-01 5.5267e-03 2.2446e-01 2.21459e-01 0.5000 2.2446e-01 3\n", + " 4 2.2262e+00 1.7268e-01 2.9238e-03 2.0243e-01 7.27533e-02 1.0000 2.0243e-01 3\n", + " 5 1.8232e-01 1.7268e-01 3.7776e-05 9.2632e-04 1.48016e-01 0.0625 1.7065e-03 1\n", + " 6 1.8231e-01 1.7268e-01 3.5493e-05 9.2738e-04 1.19121e-01 0.5000 1.7096e-03 1\n", + " 7 1.8191e-01 1.7268e-01 2.1102e-05 9.0166e-04 6.98513e-02 0.2500 1.7330e-03 1\n", + " 8 1.8153e-01 1.7268e-01 1.5783e-05 8.6928e-04 1.36271e-02 1.0000 1.7282e-03 1\n", + " 9 1.7440e-01 1.7268e-01 6.9607e-07 1.7172e-04 2.79355e-02 1.0000 1.7340e-03 1\n", + " 10 1.7268e-01 1.7268e-01 2.8386e-07 0.0000e+00 6.09463e-02 0.1250 1.7390e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7249e+02 1.8185e-01 4.7111e+01 1.1932e-01 1.08174e+00 1.0000 ---- 3\n", + " 2 5.4148e+01 1.7263e-01 2.2315e+00 3.1660e+00 2.77674e-01 1.0000 3.1660e+00 3\n", + " 3 1.6511e+00 1.7267e-01 5.5830e-03 1.4226e-01 2.86910e-01 0.1250 1.4226e-01 3\n", + " 4 1.5689e+00 1.7266e-01 4.8946e-03 1.3473e-01 1.90038e-01 0.2500 1.3473e-01 3\n", + " 5 1.3779e+00 1.7266e-01 3.6972e-03 1.1683e-01 7.04182e-02 1.0000 1.1683e-01 3\n", + " 6 2.5259e-01 1.7266e-01 1.7469e-04 7.8178e-03 9.09799e-02 0.1250 7.8178e-03 2\n", + " 7 2.4542e-01 1.7266e-01 1.5305e-04 7.1230e-03 6.16439e-02 0.2500 7.1230e-03 2\n", + " 8 2.3187e-01 1.7266e-01 1.1520e-04 5.8060e-03 2.48084e-02 1.0000 5.8060e-03 2\n", + " 9 1.8645e-01 1.7266e-01 5.0444e-06 1.3740e-03 3.08018e-02 0.0020 2.3996e-03 1\n", + " 10 1.8645e-01 1.7266e-01 5.0444e-06 1.3740e-03 3.07926e-02 0.1250 1.7487e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7409e+02 1.8183e-01 4.7145e+01 2.4590e-01 1.08253e+00 1.0000 ---- 3\n", + " 2 5.3673e+01 1.7261e-01 2.2215e+00 3.1285e+00 2.69937e-01 1.0000 3.1285e+00 3\n", + " 3 1.7715e+00 1.7266e-01 5.7734e-03 1.5411e-01 2.24692e-01 0.2500 1.5411e-01 3\n", + " 4 1.5020e+00 1.7265e-01 4.3690e-03 1.2856e-01 9.44409e-02 1.0000 1.2856e-01 3\n", + " 5 4.2345e-01 1.7265e-01 2.6495e-04 2.4815e-02 1.15392e-01 0.2500 2.4815e-02 3\n", + " 6 4.1345e-01 1.7265e-01 2.0063e-04 2.3879e-02 4.70469e-02 1.0000 2.3879e-02 3\n", + " 7 3.0757e-01 1.7265e-01 1.7162e-05 1.3475e-02 5.93880e-02 0.2500 1.3475e-02 3\n", + " 8 2.8739e-01 1.7265e-01 1.3973e-05 1.1460e-02 2.41701e-02 1.0000 1.1460e-02 2\n", + " 9 1.7725e-01 1.7265e-01 3.8643e-06 4.5666e-04 3.25324e-02 0.0020 2.1095e-03 1\n", + " 10 1.7725e-01 1.7265e-01 3.8643e-06 4.5666e-04 3.25140e-02 0.1250 1.7257e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7286e+02 1.8182e-01 4.7078e+01 1.8946e-01 1.07461e+00 1.0000 ---- 3\n", + " 2 5.5130e+01 1.7260e-01 2.2350e+00 3.2607e+00 2.61010e-01 1.0000 3.2607e+00 3\n", + " 3 2.1075e+00 1.7265e-01 5.3773e-03 1.8811e-01 2.14801e-01 0.5000 1.8811e-01 3\n", + " 4 1.9836e+00 1.7264e-01 2.8439e-03 1.7825e-01 7.36551e-02 1.0000 1.7825e-01 3\n", + " 5 1.8433e-01 1.7264e-01 3.3793e-05 1.1355e-03 1.48898e-01 0.0020 1.7463e-03 1\n", + " 6 1.8433e-01 1.7264e-01 3.3793e-05 1.1355e-03 1.48830e-01 0.1250 1.7463e-03 1\n", + " 7 1.8407e-01 1.7264e-01 2.9906e-05 1.1126e-03 9.10747e-02 0.0625 1.7502e-03 1\n", + " 8 1.8402e-01 1.7264e-01 2.8072e-05 1.1097e-03 7.37238e-02 0.2500 1.7524e-03 1\n", + " 9 1.8307e-01 1.7264e-01 2.1428e-05 1.0216e-03 1.82067e-02 1.0000 1.7598e-03 1\n", + " 10 1.7856e-01 1.7264e-01 1.3527e-06 5.9108e-04 3.30759e-02 1.0000 1.7721e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7423e+02 1.8181e-01 4.7093e+01 3.1179e-01 1.09713e+00 1.0000 ---- 3\n", + " 2 5.4441e+01 1.7259e-01 2.2295e+00 3.1973e+00 3.55039e-01 1.0000 3.1973e+00 3\n", + " 3 6.5675e+00 1.7263e-01 5.5147e-03 6.3397e-01 4.37875e-01 0.2500 6.3397e-01 3\n", + " 4 5.1003e+00 1.7262e-01 4.1765e-03 4.8859e-01 1.35886e-01 1.0000 4.8859e-01 3\n", + " 5 7.8901e-01 1.7262e-01 2.3330e-04 6.1405e-02 2.08644e-01 0.0625 6.1405e-02 3\n", + " 6 7.5863e-01 1.7262e-01 2.1884e-04 5.8382e-02 1.72476e-01 0.1250 5.8382e-02 3\n", + " 7 7.2461e-01 1.7262e-01 1.9189e-04 5.5007e-02 1.13051e-01 0.2500 5.5007e-02 3\n", + " 8 6.4308e-01 1.7262e-01 1.4479e-04 4.6901e-02 3.83999e-02 1.0000 4.6901e-02 3\n", + " 9 1.8838e-01 1.7262e-01 7.9305e-06 1.5685e-03 5.53286e-02 0.0020 4.8382e-03 1\n", + " 10 1.8838e-01 1.7262e-01 7.9305e-06 1.5685e-03 5.53101e-02 0.0625 1.7829e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7357e+02 1.8178e-01 4.7142e+01 1.9645e-01 1.08431e+00 1.0000 ---- 3\n", + " 2 5.4054e+01 1.7256e-01 2.2324e+00 3.1557e+00 2.88448e-01 1.0000 3.1557e+00 3\n", + " 3 2.4411e+00 1.7261e-01 5.6415e-03 2.2121e-01 2.79552e-01 0.2500 2.2121e-01 3\n", + " 4 2.3665e+00 1.7260e-01 4.2712e-03 2.1512e-01 1.00852e-01 1.0000 2.1512e-01 3\n", + " 5 6.8182e-01 1.7260e-01 2.4919e-04 5.0672e-02 1.35737e-01 0.1250 5.0672e-02 3\n", + " 6 6.3660e-01 1.7260e-01 2.1853e-04 4.6182e-02 9.17009e-02 0.2500 4.6182e-02 3\n", + " 7 5.6197e-01 1.7260e-01 1.6497e-04 3.8772e-02 3.55918e-02 1.0000 3.8772e-02 3\n", + " 8 2.2846e-01 1.7260e-01 8.9073e-06 5.5774e-03 4.63274e-02 0.0020 7.2950e-03 1\n", + " 9 2.2846e-01 1.7260e-01 8.9073e-06 5.5774e-03 4.63089e-02 0.1250 5.5774e-03 1\n", + " 10 2.2608e-01 1.7260e-01 7.9384e-06 5.3400e-03 3.20475e-02 0.1250 5.3400e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7384e+02 1.8176e-01 4.7087e+01 2.7928e-01 1.08134e+00 1.0000 ---- 3\n", + " 2 5.1749e+01 1.7255e-01 2.2140e+00 2.9436e+00 2.74645e-01 1.0000 2.9436e+00 3\n", + " 3 2.5234e+00 1.7259e-01 5.7177e-03 2.2936e-01 2.30728e-01 0.5000 2.2936e-01 3\n", + " 4 2.2064e+00 1.7258e-01 3.0099e-03 2.0037e-01 6.71636e-02 1.0000 2.0037e-01 3\n", + " 5 2.3531e-01 1.7259e-01 3.5960e-05 6.2363e-03 1.30000e-01 0.0020 6.2363e-03 1\n", + " 6 2.3531e-01 1.7259e-01 3.5960e-05 6.2363e-03 1.29944e-01 0.1250 6.2363e-03 1\n", + " 7 2.3125e-01 1.7259e-01 3.1625e-05 5.8347e-03 8.02725e-02 0.1250 5.8347e-03 1\n", + " 8 2.2989e-01 1.7258e-01 2.7738e-05 5.7032e-03 5.00504e-02 1.0000 5.7032e-03 1\n", + " 9 2.2322e-01 1.7258e-01 3.6353e-06 5.0601e-03 9.94929e-02 0.1250 5.0601e-03 1\n", + " 10 2.2198e-01 1.7258e-01 3.2364e-06 4.9366e-03 6.11196e-02 0.5000 4.9366e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7287e+02 1.8174e-01 4.7002e+01 2.6677e-01 1.07899e+00 1.0000 ---- 3\n", + " 2 5.3041e+01 1.7253e-01 2.2135e+00 3.0734e+00 3.08410e-01 1.0000 3.0734e+00 3\n", + " 3 2.3418e+00 1.7257e-01 5.6731e-03 2.1125e-01 3.23788e-01 0.2500 2.1125e-01 3\n", + " 4 1.9863e+00 1.7257e-01 4.2940e-03 1.7708e-01 1.06547e-01 1.0000 1.7708e-01 3\n", + " 5 5.0372e-01 1.7257e-01 2.4439e-04 3.2871e-02 1.45658e-01 0.1250 3.2871e-02 3\n", + " 6 4.7129e-01 1.7257e-01 2.1409e-04 2.9658e-02 9.83437e-02 0.2500 2.9658e-02 3\n", + " 7 4.1987e-01 1.7256e-01 1.6126e-04 2.4569e-02 3.76620e-02 1.0000 2.4569e-02 3\n", + " 8 2.1924e-01 1.7256e-01 9.3054e-06 4.6579e-03 4.90780e-02 0.0020 7.9059e-03 1\n", + " 9 2.1924e-01 1.7256e-01 9.3054e-06 4.6579e-03 4.90605e-02 0.1250 4.6579e-03 1\n", + " 10 2.1601e-01 1.7256e-01 8.2672e-06 4.3361e-03 3.39745e-02 0.1250 5.0243e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7200e+02 1.8173e-01 4.7043e+01 1.3880e-01 1.07794e+00 1.0000 ---- 3\n", + " 2 5.1724e+01 1.7251e-01 2.2167e+00 2.9384e+00 2.77640e-01 1.0000 2.9384e+00 3\n", + " 3 2.0085e+00 1.7255e-01 5.8491e-03 1.7774e-01 2.35352e-01 0.2500 1.7774e-01 3\n", + " 4 1.6853e+00 1.7255e-01 4.4274e-03 1.4685e-01 9.61698e-02 1.0000 1.4685e-01 3\n", + " 5 3.1336e-01 1.7255e-01 2.6428e-04 1.3817e-02 1.18404e-01 0.0625 1.3817e-02 3\n", + " 6 3.0816e-01 1.7255e-01 2.4791e-04 1.3314e-02 1.00411e-01 0.1250 1.3314e-02 3\n", + " 7 3.0370e-01 1.7255e-01 2.1736e-04 1.2898e-02 7.03002e-02 0.2500 1.2898e-02 3\n", + " 8 2.9597e-01 1.7255e-01 1.6394e-04 1.2178e-02 2.97644e-02 1.0000 1.2178e-02 2\n", + " 9 1.9076e-01 1.7255e-01 7.2956e-06 1.8139e-03 3.60603e-02 0.0020 3.0732e-03 1\n", + " 10 1.9076e-01 1.7255e-01 7.2956e-06 1.8139e-03 3.60448e-02 0.1250 1.8139e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7240e+02 1.8171e-01 4.7091e+01 1.3055e-01 1.08094e+00 1.0000 ---- 3\n", + " 2 5.1455e+01 1.7249e-01 2.2174e+00 2.9108e+00 2.77821e-01 1.0000 2.9108e+00 3\n", + " 3 3.1488e+00 1.7253e-01 5.9247e-03 2.9170e-01 2.33387e-01 0.5000 2.9170e-01 3\n", + " 4 2.2685e+00 1.7253e-01 3.1281e-03 2.0647e-01 6.55260e-02 1.0000 2.0647e-01 3\n", + " 5 2.2962e-01 1.7253e-01 3.4908e-05 5.6739e-03 1.20896e-01 0.0020 5.6739e-03 1\n", + " 6 2.2962e-01 1.7253e-01 3.4908e-05 5.6739e-03 1.20844e-01 0.2500 5.6739e-03 1\n", + " 7 2.2864e-01 1.7253e-01 2.6816e-05 5.5838e-03 3.12839e-02 1.0000 5.5838e-03 1\n", + " 8 2.1988e-01 1.7253e-01 2.6595e-06 4.7324e-03 5.59385e-02 0.5000 4.7324e-03 1\n", + " 9 2.0984e-01 1.7253e-01 1.9481e-06 3.7293e-03 2.75437e-02 1.0000 3.7293e-03 1\n", + " 10 2.0360e-01 1.7253e-01 3.5152e-07 3.1064e-03 5.80922e-02 0.2500 3.1064e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7283e+02 1.8169e-01 4.7055e+01 2.1010e-01 1.07491e+00 1.0000 ---- 3\n", + " 2 5.1833e+01 1.7248e-01 2.2121e+00 2.9539e+00 2.58225e-01 1.0000 2.9539e+00 3\n", + " 3 2.4416e+00 1.7252e-01 5.6043e-03 2.2130e-01 1.98440e-01 0.5000 2.2130e-01 3\n", + " 4 1.9970e+00 1.7251e-01 2.9736e-03 1.7948e-01 4.66988e-02 1.0000 1.7948e-01 3\n", + " 5 1.8824e-01 1.7252e-01 3.1985e-05 1.5400e-03 7.65883e-02 0.2500 1.7247e-03 1\n", + " 6 1.8753e-01 1.7251e-01 2.4618e-05 1.4771e-03 2.40183e-02 1.0000 1.7405e-03 1\n", + " 7 1.7606e-01 1.7251e-01 2.6295e-06 3.5180e-04 3.86965e-02 1.0000 1.7628e-03 1\n", + " 8 1.7309e-01 1.7251e-01 3.1212e-06 5.4426e-05 6.91348e-02 0.0020 1.7471e-03 1\n", + " 9 1.7309e-01 1.7251e-01 3.1212e-06 5.4426e-05 6.91043e-02 0.0625 1.7470e-03 1\n", + " 10 1.7308e-01 1.7251e-01 2.9543e-06 5.3164e-05 5.68419e-02 0.0312 1.7492e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7376e+02 1.8167e-01 4.7097e+01 2.6123e-01 1.09189e+00 1.0000 ---- 3\n", + " 2 5.5222e+01 1.7247e-01 2.2320e+00 3.2730e+00 3.12596e-01 1.0000 3.2730e+00 3\n", + " 3 5.4759e+00 1.7251e-01 5.5129e-03 5.2483e-01 3.03397e-01 0.5000 5.2483e-01 3\n", + " 4 4.8029e+00 1.7249e-01 2.8893e-03 4.6015e-01 9.51221e-02 1.0000 4.6015e-01 3\n", + " 5 7.1558e-01 1.7250e-01 4.4490e-05 5.4263e-02 1.77634e-01 0.2500 5.4263e-02 3\n", + " 6 6.5359e-01 1.7250e-01 3.4130e-05 4.8075e-02 4.41375e-02 1.0000 4.8075e-02 3\n", + " 7 2.1264e-01 1.7250e-01 2.7553e-06 4.0116e-03 8.18927e-02 0.0078 4.3336e-03 1\n", + " 8 2.1264e-01 1.7250e-01 2.7340e-06 4.0109e-03 7.99926e-02 0.0625 4.0109e-03 1\n", + " 9 2.1165e-01 1.7250e-01 2.5741e-06 3.9128e-03 6.53913e-02 0.0625 3.9128e-03 1\n", + " 10 2.1155e-01 1.7250e-01 2.4201e-06 3.9021e-03 5.35090e-02 0.1250 3.9021e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7330e+02 1.8166e-01 4.7040e+01 2.7201e-01 1.07732e+00 1.0000 ---- 3\n", + " 2 5.0730e+01 1.7245e-01 2.2081e+00 2.8477e+00 2.74068e-01 1.0000 2.8477e+00 3\n", + " 3 2.1590e+00 1.7249e-01 5.7266e-03 1.9293e-01 2.53167e-01 0.5000 1.9293e-01 3\n", + " 4 1.9498e+00 1.7248e-01 3.0259e-03 1.7471e-01 8.31327e-02 1.0000 1.7471e-01 3\n", + " 5 2.9950e-01 1.7249e-01 3.7755e-05 1.2663e-02 1.59079e-01 0.0020 1.2663e-02 1\n", + " 6 2.9950e-01 1.7249e-01 3.7755e-05 1.2663e-02 1.59019e-01 0.0625 1.2663e-02 1\n", + " 7 2.9539e-01 1.7249e-01 3.5462e-05 1.2255e-02 1.28936e-01 0.0625 1.2255e-02 1\n", + " 8 2.9525e-01 1.7249e-01 3.3290e-05 1.2243e-02 1.04654e-01 0.1250 1.2243e-02 1\n", + " 9 2.9025e-01 1.7249e-01 2.9249e-05 1.1747e-02 6.54581e-02 0.2500 1.1747e-02 1\n", + " 10 2.8360e-01 1.7249e-01 2.2123e-05 1.1089e-02 1.74247e-02 1.0000 1.1089e-02 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7388e+02 1.8165e-01 4.7041e+01 3.2898e-01 1.07865e+00 1.0000 ---- 3\n", + " 2 5.2211e+01 1.7244e-01 2.1961e+00 3.0077e+00 2.77495e-01 1.0000 3.0077e+00 3\n", + " 3 1.2960e+00 1.7248e-01 5.7779e-03 1.0657e-01 2.60131e-01 0.5000 1.0657e-01 3\n", + " 4 1.2134e+00 1.7248e-01 3.0707e-03 1.0103e-01 9.35948e-02 1.0000 1.0103e-01 3\n", + " 5 3.7481e-01 1.7248e-01 4.3473e-05 2.0189e-02 1.85223e-01 0.0020 2.0189e-02 1\n", + " 6 3.7481e-01 1.7248e-01 4.3473e-05 2.0189e-02 1.85133e-01 0.1250 2.0189e-02 1\n", + " 7 3.7009e-01 1.7248e-01 3.8287e-05 1.9723e-02 1.13666e-01 0.1250 1.9723e-02 1\n", + " 8 3.6784e-01 1.7248e-01 3.3597e-05 1.9503e-02 7.03649e-02 0.5000 1.9503e-02 1\n", + " 9 3.3408e-01 1.7248e-01 1.7336e-05 1.6144e-02 3.79681e-02 1.0000 1.6144e-02 1\n", + " 10 2.9873e-01 1.7248e-01 1.3999e-06 1.2625e-02 8.48858e-02 0.2500 1.2625e-02 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7249e+02 1.8164e-01 4.7062e+01 1.6850e-01 1.07833e+00 1.0000 ---- 3\n", + " 2 5.4081e+01 1.7243e-01 2.2112e+00 3.1796e+00 2.84209e-01 1.0000 3.1796e+00 3\n", + " 3 1.8336e+00 1.7247e-01 5.4897e-03 1.6062e-01 2.61358e-01 0.2500 1.6062e-01 3\n", + " 4 1.5239e+00 1.7247e-01 4.1603e-03 1.3098e-01 1.00741e-01 1.0000 1.3098e-01 3\n", + " 5 3.3407e-01 1.7247e-01 2.6834e-04 1.5891e-02 1.31818e-01 0.1250 1.5891e-02 3\n", + " 6 3.2349e-01 1.7247e-01 2.3551e-04 1.4866e-02 9.02355e-02 0.2500 1.4866e-02 2\n", + " 7 2.9450e-01 1.7247e-01 1.7809e-04 1.2025e-02 3.59421e-02 1.0000 1.2025e-02 2\n", + " 8 1.9765e-01 1.7247e-01 1.0587e-05 2.5073e-03 4.56758e-02 0.0020 7.9825e-03 1\n", + " 9 1.9765e-01 1.7247e-01 1.0587e-05 2.5073e-03 4.56669e-02 0.2500 3.1833e-03 1\n", + " 10 1.9704e-01 1.7247e-01 8.5697e-06 2.4485e-03 1.86547e-02 0.2500 5.1198e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7317e+02 1.8163e-01 4.7165e+01 1.3388e-01 1.07773e+00 1.0000 ---- 3\n", + " 2 5.3917e+01 1.7242e-01 2.2136e+00 3.1609e+00 2.68879e-01 1.0000 3.1609e+00 3\n", + " 3 1.6961e+00 1.7246e-01 5.6783e-03 1.4668e-01 2.33138e-01 0.2500 1.4668e-01 3\n", + " 4 1.5074e+00 1.7246e-01 4.3025e-03 1.2919e-01 9.54410e-02 1.0000 1.2919e-01 3\n", + " 5 3.3531e-01 1.7246e-01 2.6537e-04 1.6019e-02 1.20394e-01 0.1250 1.6019e-02 3\n", + " 6 3.3432e-01 1.7246e-01 2.3290e-04 1.5953e-02 8.32280e-02 0.2500 1.5953e-02 3\n", + " 7 3.3136e-01 1.7246e-01 1.7615e-04 1.5714e-02 3.42009e-02 1.0000 1.5714e-02 2\n", + " 8 1.8889e-01 1.7246e-01 1.0399e-05 1.6330e-03 4.33313e-02 0.0020 4.3491e-03 1\n", + " 9 1.8889e-01 1.7246e-01 1.0399e-05 1.6330e-03 4.33121e-02 0.1250 1.7467e-03 1\n", + " 10 1.8826e-01 1.7246e-01 9.2977e-06 1.5707e-03 3.02939e-02 0.0625 3.0355e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7542e+02 1.8162e-01 4.7234e+01 2.8972e-01 1.08544e+00 1.0000 ---- 3\n", + " 2 5.3624e+01 1.7242e-01 2.2139e+00 3.1312e+00 2.79947e-01 1.0000 3.1312e+00 3\n", + " 3 2.5473e+00 1.7246e-01 5.7843e-03 2.3170e-01 2.49911e-01 0.5000 2.3170e-01 3\n", + " 4 2.3651e+00 1.7245e-01 3.0432e-03 2.1622e-01 7.00828e-02 1.0000 2.1622e-01 3\n", + " 5 2.0451e-01 1.7246e-01 4.3355e-05 3.1626e-03 1.21144e-01 0.0625 3.1626e-03 1\n", + " 6 2.0451e-01 1.7246e-01 4.0705e-05 3.1648e-03 9.95860e-02 0.5000 3.1648e-03 1\n", + " 7 2.0313e-01 1.7245e-01 2.3136e-05 3.0450e-03 4.42602e-02 0.5000 3.0450e-03 1\n", + " 8 2.0128e-01 1.7245e-01 1.1476e-05 2.8715e-03 2.34656e-02 1.0000 2.8715e-03 1\n", + " 9 1.8988e-01 1.7245e-01 4.1377e-07 1.7427e-03 5.00549e-02 0.2500 1.7427e-03 1\n", + " 10 1.8988e-01 1.7245e-01 3.3130e-07 1.7419e-03 1.02073e-02 1.0000 1.7419e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7580e+02 1.8161e-01 4.7217e+01 3.4500e-01 1.08217e+00 1.0000 ---- 3\n", + " 2 5.6225e+01 1.7242e-01 2.2241e+00 3.3811e+00 2.94494e-01 1.0000 3.3811e+00 3\n", + " 3 1.8688e+00 1.7246e-01 5.3945e-03 1.6424e-01 3.02978e-01 0.2500 1.6424e-01 3\n", + " 4 1.7220e+00 1.7245e-01 4.0870e-03 1.5087e-01 1.07439e-01 1.0000 1.5087e-01 3\n", + " 5 5.7530e-01 1.7245e-01 2.5576e-04 4.0029e-02 1.50676e-01 0.1250 4.0029e-02 3\n", + " 6 5.3694e-01 1.7245e-01 2.2441e-04 3.6224e-02 1.00690e-01 0.2500 3.6224e-02 3\n", + " 7 4.7094e-01 1.7245e-01 1.6959e-04 2.9679e-02 3.74160e-02 1.0000 2.9679e-02 3\n", + " 8 2.1921e-01 1.7245e-01 1.0409e-05 4.6650e-03 5.08975e-02 0.0020 9.0878e-03 1\n", + " 9 2.1921e-01 1.7245e-01 1.0409e-05 4.6650e-03 5.08794e-02 0.2500 4.6650e-03 1\n", + " 10 2.1447e-01 1.7245e-01 8.4726e-06 4.1935e-03 1.94022e-02 0.5000 5.8870e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7558e+02 1.8161e-01 4.7201e+01 3.3873e-01 1.07868e+00 1.0000 ---- 3\n", + " 2 5.5007e+01 1.7242e-01 2.2190e+00 3.2645e+00 2.64635e-01 1.0000 3.2645e+00 3\n", + " 3 1.8877e+00 1.7246e-01 5.4818e-03 1.6604e-01 2.27212e-01 0.2500 1.6604e-01 3\n", + " 4 1.5848e+00 1.7245e-01 4.1548e-03 1.3708e-01 9.44008e-02 1.0000 1.3708e-01 3\n", + " 5 5.6513e-01 1.7245e-01 2.6171e-04 3.9005e-02 1.17608e-01 0.5000 3.9005e-02 3\n", + " 6 4.8944e-01 1.7245e-01 1.4082e-04 3.1558e-02 3.28490e-02 1.0000 3.1558e-02 3\n", + " 7 2.3061e-01 1.7245e-01 4.2820e-06 5.8113e-03 5.82354e-02 0.2500 5.8113e-03 2\n", + " 8 2.2017e-01 1.7245e-01 3.7848e-06 4.7677e-03 1.81655e-02 0.0020 9.7227e-03 1\n", + " 9 2.2017e-01 1.7245e-01 3.7848e-06 4.7677e-03 1.81532e-02 1.0000 4.7677e-03 1\n", + " 10 1.9343e-01 1.7245e-01 1.8501e-06 2.0963e-03 3.04539e-02 0.1250 2.6494e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7540e+02 1.8161e-01 4.7205e+01 3.1712e-01 1.08204e+00 1.0000 ---- 3\n", + " 2 5.6856e+01 1.7242e-01 2.2335e+00 3.4349e+00 2.82007e-01 1.0000 3.4349e+00 3\n", + " 3 1.9527e+00 1.7246e-01 5.2992e-03 1.7272e-01 2.60732e-01 0.2500 1.7272e-01 3\n", + " 4 1.7293e+00 1.7245e-01 4.0100e-03 1.5168e-01 1.05745e-01 1.0000 1.5168e-01 3\n", + " 5 5.0087e-01 1.7245e-01 2.5056e-04 3.2590e-02 1.37687e-01 0.1250 3.2590e-02 3\n", + " 6 4.7477e-01 1.7245e-01 2.2011e-04 3.0012e-02 9.40207e-02 0.2500 3.0012e-02 3\n", + " 7 4.3097e-01 1.7245e-01 1.6672e-04 2.5685e-02 3.73839e-02 1.0000 2.5685e-02 3\n", + " 8 2.1782e-01 1.7245e-01 1.0318e-05 4.5269e-03 4.84423e-02 0.0020 9.1637e-03 1\n", + " 9 2.1782e-01 1.7245e-01 1.0318e-05 4.5269e-03 4.84263e-02 0.2500 4.5269e-03 1\n", + " 10 2.1501e-01 1.7245e-01 8.5309e-06 4.2473e-03 1.95474e-02 0.5000 5.8390e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7476e+02 1.8161e-01 4.7148e+01 3.0972e-01 1.07741e+00 1.0000 ---- 3\n", + " 2 5.4220e+01 1.7241e-01 2.2183e+00 3.1865e+00 2.66385e-01 1.0000 3.1865e+00 3\n", + " 3 5.5113e-01 1.7246e-01 5.5782e-03 3.2290e-02 2.31897e-01 0.0625 3.2290e-02 3\n", + " 4 5.3625e-01 1.7245e-01 5.2321e-03 3.1147e-02 1.96440e-01 0.0625 3.1147e-02 3\n", + " 5 5.1727e-01 1.7245e-01 4.9073e-03 2.9575e-02 1.66636e-01 0.1250 2.9575e-02 3\n", + " 6 5.0895e-01 1.7245e-01 4.3009e-03 2.9349e-02 1.17048e-01 0.2500 2.9349e-02 3\n", + " 7 4.9510e-01 1.7245e-01 3.2441e-03 2.9021e-02 5.15812e-02 1.0000 2.9021e-02 3\n", + " 8 2.8911e-01 1.7245e-01 1.1478e-04 1.1552e-02 5.97230e-02 0.5000 1.1552e-02 2\n", + " 9 2.8721e-01 1.7245e-01 5.9998e-05 1.1416e-02 1.55856e-02 1.0000 1.1416e-02 2\n", + " 10 1.7246e-01 1.7245e-01 9.3732e-07 0.0000e+00 2.82875e-02 0.5000 1.6693e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7519e+02 1.8161e-01 4.7204e+01 2.9674e-01 1.08007e+00 1.0000 ---- 3\n", + " 2 5.6535e+01 1.7241e-01 2.2282e+00 3.4080e+00 2.78371e-01 1.0000 3.4080e+00 3\n", + " 3 1.7751e+00 1.7246e-01 5.3516e-03 1.5491e-01 2.56707e-01 0.2500 1.5491e-01 3\n", + " 4 1.5899e+00 1.7245e-01 4.0534e-03 1.3770e-01 1.02150e-01 1.0000 1.3770e-01 3\n", + " 5 4.6496e-01 1.7245e-01 2.5350e-04 2.8997e-02 1.33565e-01 0.1250 2.8997e-02 3\n", + " 6 4.4099e-01 1.7245e-01 2.2249e-04 2.6631e-02 9.13406e-02 0.2500 2.6631e-02 3\n", + " 7 4.0233e-01 1.7245e-01 1.6822e-04 2.2820e-02 3.62125e-02 1.0000 2.2820e-02 3\n", + " 8 2.1683e-01 1.7245e-01 1.0111e-05 4.4274e-03 4.70889e-02 0.0020 9.2364e-03 1\n", + " 9 2.1683e-01 1.7245e-01 1.0111e-05 4.4274e-03 4.70743e-02 0.2500 4.4274e-03 1\n", + " 10 2.1227e-01 1.7245e-01 8.2960e-06 3.9738e-03 1.88884e-02 0.5000 5.8941e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7510e+02 1.8161e-01 4.7183e+01 3.0919e-01 1.07814e+00 1.0000 ---- 3\n", + " 2 5.5605e+01 1.7242e-01 2.2176e+00 3.3257e+00 2.66174e-01 1.0000 3.3257e+00 3\n", + " 3 1.1703e+00 1.7246e-01 5.4462e-03 9.4342e-02 2.30960e-01 0.2500 9.4342e-02 3\n", + " 4 1.1479e+00 1.7246e-01 4.1258e-03 9.3416e-02 9.43879e-02 1.0000 9.3416e-02 3\n", + " 5 5.0497e-01 1.7245e-01 2.4752e-04 3.3004e-02 1.19529e-01 0.2500 3.3004e-02 3\n", + " 6 4.8160e-01 1.7245e-01 1.8797e-04 3.0726e-02 4.72910e-02 1.0000 3.0726e-02 3\n", + " 7 2.5178e-01 1.7245e-01 1.7716e-05 7.9146e-03 6.23520e-02 0.2500 7.9146e-03 2\n", + " 8 2.3131e-01 1.7245e-01 1.4491e-05 5.8714e-03 2.46088e-02 1.0000 5.8714e-03 2\n", + " 9 2.0349e-01 1.7245e-01 3.9530e-06 3.0994e-03 3.46853e-02 0.0020 6.5328e-03 1\n", + " 10 2.0349e-01 1.7245e-01 3.9530e-06 3.0994e-03 3.46655e-02 0.2500 3.0994e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7494e+02 1.8161e-01 4.7143e+01 3.3321e-01 1.07642e+00 1.0000 ---- 3\n", + " 2 5.5967e+01 1.7242e-01 2.2331e+00 3.3464e+00 2.66848e-01 1.0000 3.3464e+00 3\n", + " 3 1.1307e+00 1.7246e-01 5.3593e-03 9.0466e-02 2.35284e-01 0.1250 9.0466e-02 3\n", + " 4 1.0395e+00 1.7246e-01 4.6997e-03 8.2004e-02 1.63473e-01 0.2500 8.2004e-02 3\n", + " 5 8.8571e-01 1.7246e-01 3.5515e-03 6.7773e-02 6.86102e-02 1.0000 6.7773e-02 3\n", + " 6 3.2948e-01 1.7246e-01 1.6349e-04 1.5538e-02 8.43891e-02 0.2500 1.5538e-02 3\n", + " 7 3.0037e-01 1.7246e-01 1.2371e-04 1.2668e-02 3.43860e-02 1.0000 1.2668e-02 3\n", + " 8 1.8787e-01 1.7246e-01 1.0466e-05 1.5315e-03 4.45966e-02 0.0020 1.6459e-03 1\n", + " 9 1.8787e-01 1.7246e-01 1.0466e-05 1.5315e-03 4.45803e-02 0.0625 1.6453e-03 1\n", + " 10 1.8764e-01 1.7246e-01 9.8507e-06 1.5083e-03 3.77808e-02 0.0312 1.6004e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7524e+02 1.8161e-01 4.7172e+01 3.3410e-01 1.08767e+00 1.0000 ---- 3\n", + " 2 5.3381e+01 1.7243e-01 2.2112e+00 3.1097e+00 2.90806e-01 1.0000 3.1097e+00 3\n", + " 3 1.4192e+00 1.7247e-01 5.8783e-03 1.1880e-01 2.64039e-01 0.2500 1.1880e-01 3\n", + " 4 1.3149e+00 1.7246e-01 4.4443e-03 1.0980e-01 1.08776e-01 1.0000 1.0980e-01 3\n", + " 5 6.0599e-01 1.7246e-01 2.4972e-04 4.3103e-02 1.39853e-01 0.2500 4.3103e-02 3\n", + " 6 5.5126e-01 1.7246e-01 1.9196e-04 3.7688e-02 5.34626e-02 1.0000 3.7688e-02 3\n", + " 7 2.3250e-01 1.7246e-01 2.1003e-05 5.9832e-03 7.11487e-02 0.2500 5.9832e-03 2\n", + " 8 2.1767e-01 1.7246e-01 1.7610e-05 4.5037e-03 2.83057e-02 0.0020 9.2514e-03 1\n", + " 9 2.1767e-01 1.7246e-01 1.7610e-05 4.5037e-03 2.82924e-02 0.5000 4.5037e-03 1\n", + " 10 2.0746e-01 1.7246e-01 1.0116e-05 3.4906e-03 6.56998e-03 1.0000 3.4906e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7518e+02 1.8161e-01 4.7125e+01 3.7554e-01 1.08014e+00 1.0000 ---- 3\n", + " 2 5.4091e+01 1.7242e-01 2.2251e+00 3.1668e+00 2.78528e-01 1.0000 3.1668e+00 3\n", + " 3 1.0276e+00 1.7246e-01 5.4095e-03 8.0104e-02 2.44668e-01 0.1250 8.0104e-02 3\n", + " 4 9.6195e-01 1.7246e-01 4.7424e-03 7.4207e-02 1.71514e-01 0.2500 7.4207e-02 3\n", + " 5 8.5126e-01 1.7246e-01 3.5808e-03 6.4300e-02 7.23979e-02 1.0000 6.4300e-02 3\n", + " 6 3.5792e-01 1.7246e-01 1.5676e-04 1.8389e-02 8.89517e-02 0.2500 1.8389e-02 3\n", + " 7 3.2512e-01 1.7246e-01 1.1878e-04 1.5147e-02 3.56917e-02 1.0000 1.5147e-02 3\n", + " 8 2.3152e-01 1.7246e-01 9.9137e-06 5.8961e-03 4.59760e-02 0.2500 5.8961e-03 2\n", + " 9 2.1656e-01 1.7246e-01 8.1184e-06 4.4027e-03 1.88246e-02 0.0020 7.1692e-03 1\n", + " 10 2.1656e-01 1.7246e-01 8.1184e-06 4.4027e-03 1.88204e-02 1.0000 4.4027e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7530e+02 1.8161e-01 4.7130e+01 3.8092e-01 1.07600e+00 1.0000 ---- 3\n", + " 2 5.6199e+01 1.7242e-01 2.2161e+00 3.3866e+00 2.64510e-01 1.0000 3.3866e+00 3\n", + " 3 9.9944e-01 1.7247e-01 5.3357e-03 7.7361e-02 2.34746e-01 0.2500 7.7361e-02 3\n", + " 4 9.2373e-01 1.7246e-01 4.0439e-03 7.1083e-02 9.44892e-02 1.0000 7.1083e-02 3\n", + " 5 6.0479e-01 1.7246e-01 2.4647e-04 4.2987e-02 1.20175e-01 0.2500 4.2987e-02 3\n", + " 6 5.3929e-01 1.7246e-01 1.8736e-04 3.6496e-02 4.82265e-02 1.0000 3.6496e-02 3\n", + " 7 2.5335e-01 1.7246e-01 2.1302e-05 8.0683e-03 6.37507e-02 0.2500 8.0683e-03 3\n", + " 8 2.3805e-01 1.7246e-01 1.7245e-05 6.5420e-03 2.51128e-02 1.0000 6.5420e-03 2\n", + " 9 1.8070e-01 1.7246e-01 4.7822e-06 8.1982e-04 3.53287e-02 0.0020 2.2431e-03 1\n", + " 10 1.8070e-01 1.7246e-01 4.7822e-06 8.1982e-04 3.53115e-02 0.1250 1.6937e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7377e+02 1.8161e-01 4.7048e+01 3.1144e-01 1.07419e+00 1.0000 ---- 3\n", + " 2 5.4349e+01 1.7243e-01 2.2298e+00 3.1879e+00 2.69973e-01 1.0000 3.1879e+00 3\n", + " 3 8.8524e-01 1.7247e-01 5.3875e-03 6.5890e-02 2.37181e-01 0.1250 6.5890e-02 3\n", + " 4 8.2906e-01 1.7246e-01 4.7247e-03 6.0935e-02 1.64578e-01 0.2500 6.0935e-02 3\n", + " 5 7.3340e-01 1.7246e-01 3.5708e-03 5.2523e-02 6.81598e-02 1.0000 5.2523e-02 3\n", + " 6 3.0873e-01 1.7246e-01 1.6378e-04 1.3463e-02 8.44572e-02 0.2500 1.3463e-02 3\n", + " 7 2.8242e-01 1.7246e-01 1.2406e-04 1.0871e-02 3.45910e-02 1.0000 1.0871e-02 3\n", + " 8 2.2329e-01 1.7246e-01 1.1323e-05 5.0722e-03 4.45188e-02 0.5000 5.0722e-03 2\n", + " 9 2.1855e-01 1.7246e-01 8.3428e-06 4.6007e-03 1.31483e-02 0.0020 5.0993e-03 1\n", + " 10 2.1855e-01 1.7246e-01 8.3428e-06 4.6007e-03 1.31328e-02 1.0000 4.6007e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7454e+02 1.8161e-01 4.7100e+01 3.3613e-01 1.08264e+00 1.0000 ---- 3\n", + " 2 5.4461e+01 1.7243e-01 2.2173e+00 3.2115e+00 2.91974e-01 1.0000 3.2115e+00 3\n", + " 3 1.8673e+00 1.7247e-01 5.3349e-03 1.6415e-01 2.79875e-01 0.2500 1.6415e-01 3\n", + " 4 1.6281e+00 1.7246e-01 4.0317e-03 1.4153e-01 1.09351e-01 1.0000 1.4153e-01 3\n", + " 5 5.6866e-01 1.7246e-01 2.3387e-04 3.9386e-02 1.47685e-01 0.2500 3.9386e-02 3\n", + " 6 5.4880e-01 1.7246e-01 1.7948e-04 3.7455e-02 5.36757e-02 1.0000 3.7455e-02 3\n", + " 7 2.5314e-01 1.7246e-01 1.8453e-05 8.0499e-03 7.41616e-02 0.2500 8.0499e-03 2\n", + " 8 2.4756e-01 1.7246e-01 1.5642e-05 7.4946e-03 2.85368e-02 0.0020 9.3031e-03 1\n", + " 9 2.4756e-01 1.7246e-01 1.5642e-05 7.4946e-03 2.85290e-02 0.5000 7.4946e-03 1\n", + " 10 2.2782e-01 1.7246e-01 8.9170e-06 5.5269e-03 7.27044e-03 1.0000 5.5269e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7456e+02 1.8161e-01 4.7062e+01 3.7616e-01 1.07952e+00 1.0000 ---- 3\n", + " 2 5.4008e+01 1.7243e-01 2.2175e+00 3.1660e+00 2.82053e-01 1.0000 3.1660e+00 3\n", + " 3 9.3925e-01 1.7247e-01 5.4547e-03 7.1223e-02 2.53746e-01 0.1250 7.1223e-02 3\n", + " 4 8.8642e-01 1.7247e-01 4.7823e-03 6.6613e-02 1.77226e-01 0.2500 6.6613e-02 3\n", + " 5 7.9669e-01 1.7246e-01 3.6118e-03 5.8811e-02 7.36357e-02 1.0000 5.8811e-02 3\n", + " 6 3.4550e-01 1.7246e-01 1.6109e-04 1.7143e-02 9.21654e-02 0.2500 1.7143e-02 3\n", + " 7 3.1371e-01 1.7246e-01 1.2222e-04 1.4003e-02 3.65951e-02 1.0000 1.4003e-02 3\n", + " 8 2.2215e-01 1.7246e-01 1.0076e-05 4.9590e-03 4.74732e-02 0.2500 4.9590e-03 2\n", + " 9 2.1141e-01 1.7246e-01 8.3359e-06 3.8862e-03 1.93457e-02 0.0020 6.8545e-03 1\n", + " 10 2.1141e-01 1.7246e-01 8.3359e-06 3.8862e-03 1.93400e-02 1.0000 3.8862e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7353e+02 1.8161e-01 4.6983e+01 3.5171e-01 1.07357e+00 1.0000 ---- 3\n", + " 2 5.3705e+01 1.7243e-01 2.2053e+00 3.1480e+00 2.69021e-01 1.0000 3.1480e+00 3\n", + " 3 7.7860e-01 1.7247e-01 5.4659e-03 5.5148e-02 2.34565e-01 0.1250 5.5148e-02 3\n", + " 4 7.2177e-01 1.7247e-01 4.7934e-03 5.0137e-02 1.63125e-01 0.2500 5.0137e-02 3\n", + " 5 6.2431e-01 1.7246e-01 3.6225e-03 4.1563e-02 6.81397e-02 1.0000 4.1563e-02 3\n", + " 6 3.5635e-01 1.7246e-01 1.6198e-04 1.8227e-02 8.33440e-02 0.5000 1.8227e-02 3\n", + " 7 3.5317e-01 1.7246e-01 8.5974e-05 1.7985e-02 2.15643e-02 1.0000 1.7985e-02 3\n", + " 8 1.7681e-01 1.7246e-01 1.8934e-06 4.3344e-04 4.00780e-02 0.0020 1.9893e-03 1\n", + " 9 1.7681e-01 1.7246e-01 1.8934e-06 4.3344e-04 4.00590e-02 0.1250 1.7656e-03 1\n", + " 10 1.7674e-01 1.7246e-01 1.7057e-06 4.2634e-04 2.58085e-02 0.0625 1.7287e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7246e+02 1.8161e-01 4.6998e+01 2.3009e-01 1.07407e+00 1.0000 ---- 3\n", + " 2 5.2166e+01 1.7243e-01 2.1915e+00 3.0079e+00 2.69730e-01 1.0000 3.0079e+00 3\n", + " 3 1.5345e+00 1.7247e-01 5.8620e-03 1.3034e-01 2.33853e-01 0.5000 1.3034e-01 3\n", + " 4 1.5225e+00 1.7246e-01 3.1182e-03 1.3189e-01 6.50423e-02 1.0000 1.3189e-01 3\n", + " 5 1.7284e-01 1.7246e-01 3.8119e-05 0.0000e+00 1.12219e-01 0.5000 1.7593e-03 1\n", + " 6 1.7271e-01 1.7246e-01 2.5345e-05 0.0000e+00 5.11633e-02 0.5000 1.7371e-03 1\n", + " 7 1.7258e-01 1.7246e-01 1.2745e-05 0.0000e+00 2.99101e-02 0.5000 1.7350e-03 1\n", + " 8 1.7252e-01 1.7246e-01 6.4338e-06 0.0000e+00 2.03379e-02 1.0000 1.7411e-03 1\n", + " 9 1.7246e-01 1.7246e-01 2.4189e-07 0.0000e+00 4.93059e-02 0.5000 1.7390e-03 1\n", + " 10 1.7246e-01 1.7245e-01 1.8162e-07 0.0000e+00 3.74316e-02 0.2500 1.7440e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7329e+02 1.8160e-01 4.6990e+01 3.2072e-01 1.07684e+00 1.0000 ---- 3\n", + " 2 5.1344e+01 1.7242e-01 2.1953e+00 2.9219e+00 2.76744e-01 1.0000 2.9219e+00 3\n", + " 3 2.0081e+00 1.7246e-01 5.5895e-03 1.7798e-01 2.44244e-01 0.5000 1.7798e-01 3\n", + " 4 1.8461e+00 1.7245e-01 2.9593e-03 1.6441e-01 7.14195e-02 1.0000 1.6441e-01 3\n", + " 5 1.7293e-01 1.7245e-01 4.7401e-05 0.0000e+00 1.31304e-01 0.5000 2.0153e-03 1\n", + " 6 1.7275e-01 1.7245e-01 3.0353e-05 0.0000e+00 7.00216e-02 0.5000 1.7600e-03 1\n", + " 7 1.7260e-01 1.7245e-01 1.5567e-05 0.0000e+00 4.61563e-02 1.0000 1.7549e-03 1\n", + " 8 1.7246e-01 1.7245e-01 9.5505e-07 0.0000e+00 1.09421e-01 0.5000 1.7745e-03 1\n", + " 9 1.7245e-01 1.7244e-01 6.3065e-07 0.0000e+00 7.87646e-02 0.2500 1.7559e-03 1\n", + " 10 1.7245e-01 1.7244e-01 6.0908e-07 0.0000e+00 1.13680e-02 1.0000 1.7632e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7303e+02 1.8159e-01 4.6994e+01 2.9045e-01 1.08517e+00 1.0000 ---- 3\n", + " 2 5.2562e+01 1.7241e-01 2.1956e+00 3.0434e+00 2.90363e-01 1.0000 3.0434e+00 3\n", + " 3 1.3849e+00 1.7244e-01 5.7111e-03 1.1554e-01 2.96592e-01 0.1250 1.1554e-01 3\n", + " 4 1.3342e+00 1.7244e-01 5.0077e-03 1.1117e-01 1.95481e-01 0.2500 1.1117e-01 3\n", + " 5 1.2211e+00 1.7243e-01 3.7824e-03 1.0108e-01 6.98144e-02 1.0000 1.0108e-01 3\n", + " 6 4.2380e-01 1.7243e-01 1.6177e-04 2.4975e-02 8.90319e-02 0.2500 2.4975e-02 3\n", + " 7 3.8122e-01 1.7243e-01 1.2210e-04 2.0757e-02 3.41122e-02 1.0000 2.0757e-02 3\n", + " 8 2.0993e-01 1.7243e-01 9.0334e-06 3.7408e-03 4.34827e-02 0.0020 6.7971e-03 1\n", + " 9 2.0993e-01 1.7243e-01 9.0334e-06 3.7408e-03 4.34453e-02 0.1250 3.7408e-03 1\n", + " 10 2.0847e-01 1.7243e-01 8.0567e-06 3.5956e-03 3.02370e-02 0.1250 4.4916e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7299e+02 1.8157e-01 4.7027e+01 2.5384e-01 1.08067e+00 1.0000 ---- 3\n", + " 2 5.1932e+01 1.7239e-01 2.2042e+00 2.9718e+00 2.75074e-01 1.0000 2.9718e+00 3\n", + " 3 2.0333e+00 1.7243e-01 5.7307e-03 1.8036e-01 2.31113e-01 0.5000 1.8036e-01 3\n", + " 4 1.9430e+00 1.7242e-01 3.0199e-03 1.7404e-01 6.65721e-02 1.0000 1.7404e-01 3\n", + " 5 1.7279e-01 1.7242e-01 3.6605e-05 0.0000e+00 1.27783e-01 0.5000 1.7322e-03 1\n", + " 6 1.7264e-01 1.7242e-01 2.2030e-05 0.0000e+00 7.10317e-02 0.5000 1.7662e-03 1\n", + " 7 1.7253e-01 1.7242e-01 1.0846e-05 0.0000e+00 4.36799e-02 1.0000 1.7520e-03 1\n", + " 8 1.7243e-01 1.7242e-01 7.0242e-07 0.0000e+00 1.01675e-01 0.1250 1.7871e-03 1\n", + " 9 1.7243e-01 1.7242e-01 6.3544e-07 0.0000e+00 5.89807e-02 0.1250 1.7772e-03 1\n", + " 10 1.7243e-01 1.7242e-01 5.6418e-07 0.0000e+00 3.43345e-02 0.2500 1.7718e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7346e+02 1.8156e-01 4.6961e+01 3.6628e-01 1.07575e+00 1.0000 ---- 3\n", + " 2 5.1047e+01 1.7238e-01 2.2009e+00 2.8866e+00 2.65907e-01 1.0000 2.8866e+00 3\n", + " 3 1.5597e+00 1.7242e-01 5.5100e-03 1.3322e-01 2.14179e-01 0.2500 1.3322e-01 3\n", + " 4 1.2448e+00 1.7241e-01 4.1727e-03 1.0306e-01 9.26372e-02 1.0000 1.0306e-01 3\n", + " 5 5.2190e-01 1.7241e-01 2.3960e-04 3.4709e-02 1.11740e-01 0.5000 3.4709e-02 3\n", + " 6 4.5390e-01 1.7241e-01 1.2873e-04 2.8020e-02 2.88771e-02 1.0000 2.8020e-02 3\n", + " 7 2.0618e-01 1.7241e-01 3.6864e-06 3.3731e-03 5.20767e-02 0.0020 8.6732e-03 1\n", + " 8 2.0618e-01 1.7241e-01 3.6864e-06 3.3731e-03 5.20538e-02 0.1250 3.3731e-03 1\n", + " 9 2.0532e-01 1.7241e-01 3.3380e-06 3.2883e-03 3.31550e-02 0.1250 5.8864e-03 1\n", + " 10 2.0522e-01 1.7241e-01 2.9688e-06 3.2783e-03 2.16416e-02 0.5000 4.0579e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7227e+02 1.8155e-01 4.6980e+01 2.2915e-01 1.07571e+00 1.0000 ---- 3\n", + " 2 5.1955e+01 1.7237e-01 2.2150e+00 2.9632e+00 2.74897e-01 1.0000 2.9632e+00 3\n", + " 3 2.8532e+00 1.7240e-01 5.4792e-03 2.6260e-01 2.37060e-01 0.5000 2.6260e-01 3\n", + " 4 2.2038e+00 1.7240e-01 2.8957e-03 2.0024e-01 7.55109e-02 1.0000 2.0024e-01 3\n", + " 5 1.8250e-01 1.7240e-01 4.2259e-05 9.6765e-04 1.52271e-01 0.0156 1.7453e-03 1\n", + " 6 1.8250e-01 1.7240e-01 4.1602e-05 9.6808e-04 1.44843e-01 0.2500 1.7464e-03 1\n", + " 7 1.8219e-01 1.7240e-01 3.2178e-05 9.4719e-04 3.24539e-02 1.0000 1.7634e-03 1\n", + " 8 1.7940e-01 1.7240e-01 2.7287e-06 6.9780e-04 6.08714e-02 0.5000 1.7814e-03 1\n", + " 9 1.7764e-01 1.7240e-01 2.2897e-06 5.2201e-04 3.22602e-02 1.0000 1.7763e-03 1\n", + " 10 1.7729e-01 1.7240e-01 6.5399e-07 4.8867e-04 7.08038e-02 0.2500 1.7800e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7285e+02 1.8153e-01 4.6939e+01 3.2708e-01 1.07547e+00 1.0000 ---- 3\n", + " 2 5.1133e+01 1.7235e-01 2.2010e+00 2.8951e+00 2.61871e-01 1.0000 2.8951e+00 3\n", + " 3 1.5699e+00 1.7239e-01 5.5030e-03 1.3424e-01 2.15175e-01 0.5000 1.3424e-01 3\n", + " 4 1.4245e+00 1.7238e-01 2.9119e-03 1.2230e-01 6.10268e-02 1.0000 1.2230e-01 3\n", + " 5 1.7271e-01 1.7238e-01 2.7811e-05 4.2335e-06 1.15441e-01 0.2500 1.7622e-03 1\n", + " 6 1.7265e-01 1.7238e-01 2.1749e-05 5.3229e-06 2.98322e-02 0.5000 1.7849e-03 1\n", + " 7 1.7252e-01 1.7238e-01 1.1210e-05 1.9967e-06 1.30926e-02 1.0000 1.7956e-03 1\n", + " 8 1.7240e-01 1.7238e-01 8.2254e-07 7.8423e-07 2.59578e-02 0.5000 1.7983e-03 1\n", + " 9 1.7240e-01 1.7238e-01 4.6602e-07 8.2544e-07 1.47637e-02 0.5000 1.8043e-03 1\n", + " 10 1.7239e-01 1.7238e-01 2.4108e-07 4.1771e-07 9.07545e-03 0.5000 1.7998e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7193e+02 1.8152e-01 4.6949e+01 2.2555e-01 1.07487e+00 1.0000 ---- 3\n", + " 2 5.1639e+01 1.7234e-01 2.2056e+00 2.9411e+00 2.67177e-01 1.0000 2.9411e+00 3\n", + " 3 2.0254e+00 1.7238e-01 5.4720e-03 1.7983e-01 2.21079e-01 0.5000 1.7983e-01 3\n", + " 4 1.8511e+00 1.7237e-01 2.8837e-03 1.6499e-01 7.03573e-02 1.0000 1.6499e-01 3\n", + " 5 1.8091e-01 1.7237e-01 3.8399e-05 8.1528e-04 1.40222e-01 0.0625 1.7803e-03 1\n", + " 6 1.8084e-01 1.7237e-01 3.6058e-05 8.1099e-04 1.12877e-01 0.1250 1.7787e-03 1\n", + " 7 1.8014e-01 1.7237e-01 3.1708e-05 7.4491e-04 6.91778e-02 0.2500 1.7765e-03 1\n", + " 8 1.7937e-01 1.7237e-01 2.4014e-05 6.7587e-04 1.71305e-02 0.5000 1.7758e-03 1\n", + " 9 1.7675e-01 1.7237e-01 1.1920e-05 4.2582e-04 7.71036e-03 1.0000 1.7810e-03 1\n", + " 10 1.7477e-01 1.7237e-01 4.1902e-07 2.3992e-04 1.53185e-02 0.2500 1.7909e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7231e+02 1.8150e-01 4.6921e+01 2.9150e-01 1.07522e+00 1.0000 ---- 3\n", + " 2 5.1392e+01 1.7233e-01 2.2042e+00 2.9178e+00 2.69574e-01 1.0000 2.9178e+00 3\n", + " 3 1.7911e+00 1.7236e-01 5.4409e-03 1.5644e-01 2.24497e-01 0.2500 1.5644e-01 3\n", + " 4 1.5137e+00 1.7236e-01 4.1196e-03 1.3001e-01 9.36970e-02 1.0000 1.3001e-01 3\n", + " 5 5.0853e-01 1.7236e-01 2.4242e-04 3.3375e-02 1.16061e-01 0.5000 3.3375e-02 3\n", + " 6 4.9640e-01 1.7236e-01 1.2995e-04 3.2274e-02 3.25561e-02 1.0000 3.2274e-02 3\n", + " 7 2.1169e-01 1.7236e-01 3.0343e-06 3.9303e-03 5.98152e-02 0.0020 8.7032e-03 1\n", + " 8 2.1169e-01 1.7236e-01 3.0343e-06 3.9303e-03 5.97878e-02 0.1250 3.9303e-03 1\n", + " 9 2.1050e-01 1.7236e-01 2.7152e-06 3.8118e-03 3.84620e-02 0.1250 6.2064e-03 1\n", + " 10 2.1020e-01 1.7236e-01 2.4069e-06 3.7819e-03 2.49840e-02 0.5000 4.2074e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7182e+02 1.8149e-01 4.6871e+01 2.9229e-01 1.07456e+00 1.0000 ---- 3\n", + " 2 5.1324e+01 1.7231e-01 2.2054e+00 2.9097e+00 2.78714e-01 1.0000 2.9097e+00 3\n", + " 3 8.3918e-01 1.7235e-01 5.4649e-03 6.1218e-02 2.45847e-01 0.2500 6.1218e-02 3\n", + " 4 7.7947e-01 1.7234e-01 4.1362e-03 5.6576e-02 9.74707e-02 1.0000 5.6576e-02 3\n", + " 5 7.3332e-01 1.7234e-01 2.3698e-04 5.5860e-02 1.24480e-01 0.2500 5.5860e-02 3\n", + " 6 6.3877e-01 1.7234e-01 1.8011e-04 4.6463e-02 4.95895e-02 1.0000 4.6463e-02 3\n", + " 7 2.1931e-01 1.7234e-01 1.8489e-05 4.6785e-03 6.42907e-02 0.0020 7.8873e-03 1\n", + " 8 2.1931e-01 1.7234e-01 1.8489e-05 4.6785e-03 6.42731e-02 0.0625 4.6785e-03 1\n", + " 9 2.1788e-01 1.7234e-01 1.7405e-05 4.5369e-03 5.44177e-02 0.0312 5.5738e-03 1\n", + " 10 2.1762e-01 1.7234e-01 1.6874e-05 4.5109e-03 5.02743e-02 0.1250 4.5109e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7125e+02 1.8148e-01 4.6971e+01 1.3545e-01 1.08183e+00 1.0000 ---- 3\n", + " 2 5.0986e+01 1.7230e-01 2.2012e+00 2.8802e+00 2.81657e-01 1.0000 2.8802e+00 3\n", + " 3 1.9477e+00 1.7234e-01 5.8178e-03 1.7171e-01 2.41549e-01 0.2500 1.7171e-01 3\n", + " 4 1.6129e+00 1.7233e-01 4.3995e-03 1.3966e-01 1.00551e-01 1.0000 1.3966e-01 3\n", + " 5 2.1899e-01 1.7233e-01 2.4966e-04 4.4164e-03 1.26634e-01 0.0020 6.4283e-03 1\n", + " 6 2.1899e-01 1.7233e-01 2.4966e-04 4.4164e-03 1.26576e-01 0.0312 4.4164e-03 1\n", + " 7 2.1870e-01 1.7233e-01 2.4189e-04 4.3955e-03 1.16824e-01 0.0156 4.8047e-03 1\n", + " 8 2.1867e-01 1.7233e-01 2.3811e-04 4.3959e-03 1.12337e-01 0.0312 4.3959e-03 1\n", + " 9 2.1850e-01 1.7233e-01 2.3070e-04 4.3858e-03 1.03727e-01 0.0156 4.3858e-03 1\n", + " 10 2.1830e-01 1.7233e-01 2.2710e-04 4.3696e-03 9.97653e-02 0.0312 4.3696e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6976e+02 1.8146e-01 4.6726e+01 2.3227e-01 1.08283e+00 1.0000 ---- 3\n", + " 2 5.3686e+01 1.7228e-01 2.2577e+00 3.0937e+00 2.89864e-01 1.0000 3.0937e+00 3\n", + " 3 2.5202e+00 1.7232e-01 5.9222e-03 2.2887e-01 2.35643e-01 0.2500 2.2887e-01 3\n", + " 4 2.1848e+00 1.7231e-01 4.4947e-03 1.9675e-01 1.01540e-01 1.0000 1.9675e-01 3\n", + " 5 7.6355e-01 1.7232e-01 3.1440e-04 5.8809e-02 1.15234e-01 0.5000 5.8809e-02 3\n", + " 6 7.4851e-01 1.7231e-01 1.7266e-04 5.7447e-02 3.32479e-02 1.0000 5.7447e-02 3\n", + " 7 1.7688e-01 1.7231e-01 1.7500e-06 4.5514e-04 6.45486e-02 0.0625 1.7768e-03 1\n", + " 8 1.7685e-01 1.7231e-01 1.6460e-06 4.5236e-04 5.28349e-02 0.2500 1.7780e-03 1\n", + " 9 1.7627e-01 1.7231e-01 1.3791e-06 3.9431e-04 1.48052e-02 1.0000 1.7866e-03 1\n", + " 10 1.7428e-01 1.7231e-01 1.7602e-06 1.9540e-04 2.58784e-02 0.5000 1.8155e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7179e+02 1.8145e-01 4.6875e+01 2.8627e-01 1.07583e+00 1.0000 ---- 3\n", + " 2 5.1313e+01 1.7228e-01 2.1910e+00 2.9231e+00 2.76521e-01 1.0000 2.9231e+00 3\n", + " 3 1.2348e+00 1.7231e-01 5.5270e-03 1.0072e-01 2.49081e-01 0.2500 1.0072e-01 3\n", + " 4 1.1137e+00 1.7231e-01 4.1866e-03 8.9957e-02 9.80713e-02 1.0000 8.9957e-02 3\n", + " 5 4.4581e-01 1.7231e-01 2.4275e-04 2.7108e-02 1.27410e-01 0.2500 2.7108e-02 3\n", + " 6 4.0027e-01 1.7231e-01 1.8490e-04 2.2611e-02 4.95403e-02 1.0000 2.2611e-02 3\n", + " 7 2.4570e-01 1.7231e-01 1.8511e-05 7.3207e-03 6.57551e-02 0.5000 7.3207e-03 2\n", + " 8 2.4488e-01 1.7230e-01 1.4538e-05 7.2430e-03 1.83225e-02 1.0000 7.2430e-03 2\n", + " 9 1.7318e-01 1.7230e-01 8.2526e-07 8.7054e-05 3.31787e-02 0.5000 1.7692e-03 1\n", + " 10 1.7307e-01 1.7230e-01 1.2282e-06 7.5703e-05 1.48138e-02 0.0020 1.7687e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7033e+02 1.8144e-01 4.6802e+01 2.1305e-01 1.07241e+00 1.0000 ---- 3\n", + " 2 5.0774e+01 1.7227e-01 2.1932e+00 2.8670e+00 2.69574e-01 1.0000 2.8670e+00 3\n", + " 3 6.3330e-01 1.7230e-01 5.7086e-03 4.0391e-02 2.35134e-01 0.2500 4.0391e-02 3\n", + " 4 5.5967e-01 1.7230e-01 4.3238e-03 3.4413e-02 9.49541e-02 1.0000 3.4413e-02 3\n", + " 5 2.8247e-01 1.7229e-01 2.5045e-04 1.0767e-02 1.21062e-01 0.2500 1.0767e-02 3\n", + " 6 2.7602e-01 1.7229e-01 1.9101e-04 1.0181e-02 4.84691e-02 1.0000 1.0181e-02 3\n", + " 7 2.0726e-01 1.7229e-01 2.0508e-05 3.4767e-03 6.22721e-02 0.0020 7.6668e-03 1\n", + " 8 2.0726e-01 1.7229e-01 2.0508e-05 3.4767e-03 6.22513e-02 0.2500 3.4767e-03 1\n", + " 9 2.0723e-01 1.7229e-01 1.6691e-05 3.4777e-03 2.50698e-02 0.5000 5.2253e-03 1\n", + " 10 2.0641e-01 1.7229e-01 9.4371e-06 3.4029e-03 5.72955e-03 1.0000 3.4029e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6988e+02 1.8142e-01 4.6856e+01 1.1408e-01 1.07404e+00 1.0000 ---- 3\n", + " 2 5.1815e+01 1.7225e-01 2.2077e+00 2.9565e+00 2.78899e-01 1.0000 2.9565e+00 3\n", + " 3 1.2615e+00 1.7229e-01 5.5737e-03 1.0334e-01 2.41652e-01 0.2500 1.0334e-01 3\n", + " 4 1.2192e+00 1.7228e-01 4.2197e-03 1.0047e-01 9.90917e-02 1.0000 1.0047e-01 3\n", + " 5 4.9548e-01 1.7228e-01 2.4984e-04 3.2070e-02 1.27262e-01 0.2500 3.2070e-02 3\n", + " 6 4.8011e-01 1.7228e-01 1.9062e-04 3.0592e-02 5.01067e-02 1.0000 3.0592e-02 3\n", + " 7 2.4875e-01 1.7228e-01 1.9413e-05 7.6275e-03 6.58161e-02 0.2500 7.6275e-03 2\n", + " 8 2.3807e-01 1.7228e-01 1.6118e-05 6.5632e-03 2.63648e-02 0.0020 8.5785e-03 1\n", + " 9 2.3807e-01 1.7228e-01 1.6118e-05 6.5632e-03 2.63578e-02 1.0000 6.5632e-03 1\n", + " 10 2.3446e-01 1.7228e-01 7.9746e-06 6.2105e-03 3.52263e-02 0.1250 6.2105e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7061e+02 1.8141e-01 4.6876e+01 1.6645e-01 1.06959e+00 1.0000 ---- 3\n", + " 2 5.1823e+01 1.7224e-01 2.2078e+00 2.9573e+00 2.67043e-01 1.0000 2.9573e+00 3\n", + " 3 2.7309e+00 1.7228e-01 5.5414e-03 2.5032e-01 2.25835e-01 0.5000 2.5032e-01 3\n", + " 4 1.8922e+00 1.7227e-01 2.9441e-03 1.6905e-01 6.36899e-02 1.0000 1.6905e-01 3\n", + " 5 1.8207e-01 1.7227e-01 3.5761e-05 9.4435e-04 1.13953e-01 0.1250 1.7390e-03 1\n", + " 6 1.8187e-01 1.7227e-01 3.1566e-05 9.2776e-04 7.23047e-02 1.0000 1.7492e-03 1\n", + " 7 1.7957e-01 1.7227e-01 1.1131e-05 7.1842e-04 1.38577e-01 0.1250 1.7945e-03 1\n", + " 8 1.7945e-01 1.7227e-01 1.0095e-05 7.0764e-04 8.62157e-02 0.0625 1.7814e-03 1\n", + " 9 1.7921e-01 1.7227e-01 9.5039e-06 6.8478e-04 7.01180e-02 0.0625 1.7786e-03 1\n", + " 10 1.7914e-01 1.7227e-01 8.9375e-06 6.7815e-04 5.70731e-02 0.0312 1.7766e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7185e+02 1.8140e-01 4.6875e+01 2.9146e-01 1.07576e+00 1.0000 ---- 3\n", + " 2 4.9783e+01 1.7224e-01 2.1782e+00 2.7829e+00 2.80138e-01 1.0000 2.7829e+00 3\n", + " 3 6.6056e-01 1.7227e-01 5.9174e-03 4.2912e-02 2.73500e-01 0.1250 4.2912e-02 3\n", + " 4 6.1791e-01 1.7227e-01 5.1882e-03 3.9376e-02 1.84582e-01 0.2500 3.9376e-02 3\n", + " 5 5.3871e-01 1.7226e-01 3.9190e-03 3.2725e-02 6.99944e-02 1.0000 3.2725e-02 3\n", + " 6 1.9949e-01 1.7226e-01 1.7006e-04 2.5526e-03 8.98239e-02 0.0020 6.0619e-03 1\n", + " 7 1.9949e-01 1.7226e-01 1.6972e-04 2.5529e-03 8.93448e-02 0.1250 2.5529e-03 1\n", + " 8 1.9854e-01 1.7226e-01 1.4867e-04 2.4789e-03 6.20426e-02 0.1250 4.6068e-03 1\n", + " 9 1.9832e-01 1.7226e-01 1.3013e-04 2.4759e-03 4.36915e-02 0.5000 3.3665e-03 1\n", + " 10 1.9719e-01 1.7226e-01 6.5124e-05 2.4274e-03 1.23726e-02 1.0000 4.5403e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7174e+02 1.8140e-01 4.6891e+01 2.6465e-01 1.07442e+00 1.0000 ---- 3\n", + " 2 5.0677e+01 1.7223e-01 2.1756e+00 2.8748e+00 2.90156e-01 1.0000 2.8748e+00 3\n", + " 3 1.4723e+00 1.7227e-01 5.7968e-03 1.2421e-01 2.90291e-01 0.5000 1.2421e-01 3\n", + " 4 1.4553e+00 1.7225e-01 3.0783e-03 1.2523e-01 1.17531e-01 1.0000 1.2523e-01 3\n", + " 5 2.2180e-01 1.7226e-01 4.6436e-05 4.9078e-03 2.47033e-01 0.0156 4.9078e-03 1\n", + " 6 2.2178e-01 1.7225e-01 4.5713e-05 4.9073e-03 2.34675e-01 0.1250 4.9073e-03 1\n", + " 7 2.1922e-01 1.7225e-01 4.0230e-05 4.6568e-03 1.41064e-01 0.2500 4.6568e-03 1\n", + " 8 2.1810e-01 1.7225e-01 3.0858e-05 4.5543e-03 3.10453e-02 1.0000 4.5543e-03 1\n", + " 9 1.8512e-01 1.7225e-01 3.0854e-06 1.2839e-03 5.80670e-02 1.0000 1.7062e-03 1\n", + " 10 1.7229e-01 1.7225e-01 4.2048e-06 0.0000e+00 1.19693e-01 0.1250 1.7013e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7109e+02 1.8138e-01 4.6981e+01 1.0926e-01 1.09892e+00 1.0000 ---- 3\n", + " 2 5.4896e+01 1.7221e-01 2.2210e+00 3.2514e+00 3.72761e-01 1.0000 3.2514e+00 3\n", + " 3 2.1292e+00 1.7225e-01 5.6388e-03 1.9005e-01 5.13461e-01 0.2500 1.9005e-01 3\n", + " 4 2.0244e+00 1.7223e-01 4.2684e-03 1.8095e-01 1.38559e-01 1.0000 1.8095e-01 3\n", + " 5 1.2554e+00 1.7223e-01 2.4448e-04 1.0807e-01 2.23952e-01 0.1250 1.0807e-01 3\n", + " 6 1.1514e+00 1.7223e-01 2.1502e-04 9.7699e-02 1.44081e-01 0.5000 9.7699e-02 3\n", + " 7 1.1382e+00 1.7223e-01 1.1720e-04 9.6476e-02 6.30816e-02 1.0000 9.6476e-02 3\n", + " 8 1.8256e-01 1.7223e-01 2.1252e-06 1.0314e-03 1.37685e-01 0.0156 1.7388e-03 1\n", + " 9 1.8255e-01 1.7223e-01 2.0917e-06 1.0304e-03 1.30776e-01 0.2500 1.7092e-03 1\n", + " 10 1.8248e-01 1.7223e-01 1.7228e-06 1.0238e-03 2.64656e-02 1.0000 1.6675e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7331e+02 1.8135e-01 4.7013e+01 2.9979e-01 1.08771e+00 1.0000 ---- 3\n", + " 2 5.3456e+01 1.7219e-01 2.2181e+00 3.1102e+00 3.42086e-01 1.0000 3.1102e+00 3\n", + " 3 3.2642e+00 1.7223e-01 5.4045e-03 3.0379e-01 4.07892e-01 0.2500 3.0379e-01 3\n", + " 4 2.6836e+00 1.7222e-01 4.0906e-03 2.4705e-01 1.22254e-01 1.0000 2.4705e-01 3\n", + " 5 6.8865e-01 1.7222e-01 2.2434e-04 5.1419e-02 1.84957e-01 0.2500 5.1419e-02 3\n", + " 6 6.5545e-01 1.7222e-01 1.6978e-04 4.8154e-02 5.88215e-02 1.0000 4.8154e-02 3\n", + " 7 2.6180e-01 1.7222e-01 1.6455e-05 8.9418e-03 8.93284e-02 0.2500 8.9418e-03 2\n", + " 8 2.6179e-01 1.7222e-01 1.3604e-05 8.9441e-03 2.94493e-02 1.0000 8.9441e-03 2\n", + " 9 1.9284e-01 1.7222e-01 3.8032e-06 2.0583e-03 4.60204e-02 0.0020 3.5869e-03 1\n", + " 10 1.9284e-01 1.7222e-01 3.8032e-06 2.0583e-03 4.59963e-02 0.0625 2.0583e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7355e+02 1.8134e-01 4.6962e+01 3.7491e-01 1.07561e+00 1.0000 ---- 3\n", + " 2 5.5279e+01 1.7218e-01 2.2120e+00 3.2986e+00 2.78112e-01 1.0000 3.2986e+00 3\n", + " 3 1.4490e+00 1.7222e-01 5.4120e-03 1.2227e-01 2.65800e-01 0.2500 1.2227e-01 3\n", + " 4 1.2520e+00 1.7221e-01 4.1040e-03 1.0387e-01 9.70269e-02 1.0000 1.0387e-01 3\n", + " 5 6.6746e-01 1.7221e-01 2.4965e-04 4.9275e-02 1.28616e-01 0.2500 4.9275e-02 3\n", + " 6 6.0642e-01 1.7221e-01 1.8963e-04 4.3231e-02 4.86127e-02 1.0000 4.3231e-02 3\n", + " 7 2.8772e-01 1.7221e-01 2.1075e-05 1.1530e-02 6.53520e-02 0.2500 1.1530e-02 2\n", + " 8 2.5799e-01 1.7221e-01 1.7190e-05 8.5603e-03 2.52021e-02 0.0020 1.0549e-02 1\n", + " 9 2.5799e-01 1.7221e-01 1.7190e-05 8.5603e-03 2.51910e-02 1.0000 8.5603e-03 1\n", + " 10 2.4868e-01 1.7221e-01 8.0957e-06 7.6383e-03 3.41410e-02 0.1250 7.6383e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7326e+02 1.8134e-01 4.6960e+01 3.4842e-01 1.07401e+00 1.0000 ---- 3\n", + " 2 5.3681e+01 1.7218e-01 2.2076e+00 3.1432e+00 2.74475e-01 1.0000 3.1432e+00 3\n", + " 3 1.2975e+00 1.7222e-01 5.1354e-03 1.0740e-01 2.54434e-01 0.2500 1.0740e-01 3\n", + " 4 1.2004e+00 1.7221e-01 3.8923e-03 9.8927e-02 9.58656e-02 1.0000 9.8927e-02 3\n", + " 5 7.3749e-01 1.7221e-01 2.1841e-04 5.6310e-02 1.26604e-01 0.2500 5.6310e-02 3\n", + " 6 6.3876e-01 1.7221e-01 1.6567e-04 4.6489e-02 4.76250e-02 1.0000 4.6489e-02 3\n", + " 7 2.6706e-01 1.7221e-01 1.6352e-05 9.4690e-03 6.35675e-02 0.2500 9.4690e-03 2\n", + " 8 2.3980e-01 1.7221e-01 1.3304e-05 6.7453e-03 2.49097e-02 0.0020 8.0896e-03 1\n", + " 9 2.3980e-01 1.7221e-01 1.3304e-05 6.7453e-03 2.49014e-02 1.0000 6.7453e-03 1\n", + " 10 2.3436e-01 1.7221e-01 6.6477e-06 6.2088e-03 3.35086e-02 0.1250 6.2088e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7329e+02 1.8133e-01 4.7004e+01 3.0755e-01 1.07301e+00 1.0000 ---- 3\n", + " 2 5.4029e+01 1.7217e-01 2.2047e+00 3.1810e+00 2.67046e-01 1.0000 3.1810e+00 3\n", + " 3 2.1713e+00 1.7221e-01 5.2663e-03 1.9464e-01 2.43127e-01 0.2500 1.9464e-01 3\n", + " 4 1.7436e+00 1.7221e-01 3.9892e-03 1.5315e-01 9.44676e-02 1.0000 1.5315e-01 3\n", + " 5 7.2901e-01 1.7221e-01 2.2541e-04 5.5455e-02 1.22438e-01 0.5000 5.5455e-02 3\n", + " 6 6.5376e-01 1.7221e-01 1.2051e-04 4.8035e-02 3.54549e-02 1.0000 4.8035e-02 3\n", + " 7 1.8461e-01 1.7221e-01 6.2060e-06 1.2345e-03 7.08059e-02 0.0020 1.8232e-03 1\n", + " 8 1.8461e-01 1.7221e-01 6.2060e-06 1.2345e-03 7.07757e-02 0.0625 1.8226e-03 1\n", + " 9 1.8443e-01 1.7221e-01 5.8906e-06 1.2160e-03 5.66629e-02 0.0312 1.6961e-03 1\n", + " 10 1.8438e-01 1.7221e-01 5.7183e-06 1.2112e-03 5.10712e-02 0.0625 1.6961e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7366e+02 1.8133e-01 4.7018e+01 3.2945e-01 1.08784e+00 1.0000 ---- 3\n", + " 2 5.2383e+01 1.7217e-01 2.1949e+00 3.0262e+00 2.86744e-01 1.0000 3.0262e+00 3\n", + " 3 7.3904e-01 1.7221e-01 6.0689e-03 5.0614e-02 2.82178e-01 0.2500 5.0614e-02 3\n", + " 4 7.0828e-01 1.7220e-01 4.5981e-03 4.9010e-02 9.26939e-02 1.0000 4.9010e-02 3\n", + " 5 4.7632e-01 1.7220e-01 2.4408e-04 3.0168e-02 1.15661e-01 0.1250 3.0168e-02 3\n", + " 6 4.5621e-01 1.7219e-01 2.1408e-04 2.8187e-02 7.98025e-02 0.2500 2.8187e-02 3\n", + " 7 4.2398e-01 1.7219e-01 1.6174e-04 2.5017e-02 3.42890e-02 1.0000 2.5017e-02 3\n", + " 8 2.4593e-01 1.7219e-01 1.1375e-05 7.3624e-03 4.05492e-02 0.2500 7.3624e-03 2\n", + " 9 2.3229e-01 1.7219e-01 9.1476e-06 6.0006e-03 1.78120e-02 0.0020 9.3897e-03 1\n", + " 10 2.3229e-01 1.7219e-01 9.1476e-06 6.0006e-03 1.78087e-02 1.0000 6.0006e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7372e+02 1.8131e-01 4.6995e+01 3.5871e-01 1.07343e+00 1.0000 ---- 3\n", + " 2 5.3139e+01 1.7216e-01 2.2048e+00 3.0918e+00 2.68795e-01 1.0000 3.0918e+00 3\n", + " 3 2.0610e+00 1.7220e-01 5.1998e-03 1.8368e-01 2.41660e-01 0.2500 1.8368e-01 3\n", + " 4 1.7145e+00 1.7219e-01 3.9398e-03 1.5029e-01 9.44420e-02 1.0000 1.5029e-01 3\n", + " 5 6.8065e-01 1.7219e-01 2.2504e-04 5.0620e-02 1.22937e-01 0.2500 5.0620e-02 3\n", + " 6 5.6979e-01 1.7219e-01 1.7043e-04 3.9590e-02 4.64783e-02 1.0000 3.9590e-02 3\n", + " 7 2.5898e-01 1.7219e-01 1.8523e-05 8.6606e-03 6.20968e-02 0.2500 8.6606e-03 2\n", + " 8 2.3372e-01 1.7219e-01 1.4957e-05 6.1382e-03 2.44114e-02 0.0020 9.2194e-03 1\n", + " 9 2.3372e-01 1.7219e-01 1.4957e-05 6.1382e-03 2.44087e-02 0.5000 6.1382e-03 1\n", + " 10 2.1136e-01 1.7219e-01 8.6115e-06 3.9083e-03 5.81399e-03 1.0000 3.9083e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7421e+02 1.8131e-01 4.7016e+01 3.8628e-01 1.07791e+00 1.0000 ---- 3\n", + " 2 5.2941e+01 1.7215e-01 2.2102e+00 3.0667e+00 2.77256e-01 1.0000 3.0667e+00 3\n", + " 3 1.8236e+00 1.7219e-01 5.3647e-03 1.5977e-01 2.46561e-01 0.2500 1.5977e-01 3\n", + " 4 1.5812e+00 1.7219e-01 4.0623e-03 1.3684e-01 9.91600e-02 1.0000 1.3684e-01 3\n", + " 5 6.6017e-01 1.7219e-01 2.3772e-04 4.8561e-02 1.27561e-01 0.5000 4.8561e-02 3\n", + " 6 5.7732e-01 1.7219e-01 1.2964e-04 4.0384e-02 3.78071e-02 1.0000 4.0384e-02 3\n", + " 7 3.0599e-01 1.7219e-01 7.0723e-06 1.3374e-02 7.13086e-02 0.2500 1.3374e-02 3\n", + " 8 2.9020e-01 1.7218e-01 6.3673e-06 1.1795e-02 1.79033e-02 1.0000 1.1795e-02 3\n", + " 9 1.8279e-01 1.7218e-01 1.2116e-06 1.0591e-03 3.14705e-02 0.0156 1.7166e-03 1\n", + " 10 1.8278e-01 1.7218e-01 1.1932e-06 1.0581e-03 3.01408e-02 0.2500 1.7171e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7384e+02 1.8130e-01 4.6983e+01 3.8334e-01 1.07777e+00 1.0000 ---- 3\n", + " 2 5.1887e+01 1.7215e-01 2.2213e+00 2.9501e+00 2.75962e-01 1.0000 2.9501e+00 3\n", + " 3 2.2078e+00 1.7218e-01 5.3735e-03 1.9819e-01 2.41172e-01 0.5000 1.9819e-01 3\n", + " 4 2.1959e+00 1.7218e-01 2.8285e-03 1.9954e-01 7.21222e-02 1.0000 1.9954e-01 3\n", + " 5 4.5701e-01 1.7218e-01 4.2697e-05 2.8441e-02 1.32560e-01 0.2500 2.8441e-02 3\n", + " 6 4.0801e-01 1.7218e-01 3.3234e-05 2.3550e-02 3.44775e-02 1.0000 2.3550e-02 3\n", + " 7 1.8699e-01 1.7218e-01 2.9689e-06 1.4778e-03 6.19960e-02 0.2500 1.7336e-03 1\n", + " 8 1.8695e-01 1.7218e-01 2.5563e-06 1.4743e-03 1.78775e-02 1.0000 1.7323e-03 1\n", + " 9 1.7557e-01 1.7218e-01 1.8037e-06 3.3780e-04 3.00765e-02 0.1250 1.7405e-03 1\n", + " 10 1.7529e-01 1.7218e-01 1.5599e-06 3.0936e-04 1.96256e-02 0.0020 1.7418e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7416e+02 1.8129e-01 4.7034e+01 3.6404e-01 1.08038e+00 1.0000 ---- 3\n", + " 2 5.6491e+01 1.7214e-01 2.2198e+00 3.4121e+00 2.82308e-01 1.0000 3.4121e+00 3\n", + " 3 1.5256e+00 1.7219e-01 5.2491e-03 1.3009e-01 2.65101e-01 0.2500 1.3009e-01 3\n", + " 4 1.4754e+00 1.7218e-01 3.9734e-03 1.2635e-01 1.05272e-01 1.0000 1.2635e-01 3\n", + " 5 6.3103e-01 1.7218e-01 2.4648e-04 4.5639e-02 1.37614e-01 0.2500 4.5639e-02 3\n", + " 6 5.9640e-01 1.7218e-01 1.8788e-04 4.2234e-02 5.22683e-02 1.0000 4.2234e-02 3\n", + " 7 2.6382e-01 1.7218e-01 1.9347e-05 9.1454e-03 6.99802e-02 0.2500 9.1454e-03 3\n", + " 8 2.6303e-01 1.7218e-01 1.5963e-05 9.0695e-03 2.72395e-02 1.0000 9.0695e-03 2\n", + " 9 2.1501e-01 1.7218e-01 4.6740e-06 4.2786e-03 3.84988e-02 0.0020 9.1796e-03 1\n", + " 10 2.1501e-01 1.7218e-01 4.6740e-06 4.2786e-03 3.84762e-02 0.2500 4.2786e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7194e+02 1.8129e-01 4.6870e+01 3.0577e-01 1.07211e+00 1.0000 ---- 3\n", + " 2 5.1785e+01 1.7214e-01 2.2145e+00 2.9468e+00 2.64900e-01 1.0000 2.9468e+00 3\n", + " 3 1.7635e+00 1.7217e-01 5.4326e-03 1.5370e-01 2.19576e-01 0.2500 1.5370e-01 3\n", + " 4 1.4828e+00 1.7217e-01 4.1129e-03 1.2695e-01 9.10060e-02 1.0000 1.2695e-01 3\n", + " 5 4.8100e-01 1.7217e-01 2.3718e-04 3.0646e-02 1.13427e-01 0.5000 3.0646e-02 3\n", + " 6 4.6663e-01 1.7217e-01 1.2714e-04 2.9319e-02 3.03284e-02 1.0000 2.9319e-02 3\n", + " 7 2.2005e-01 1.7217e-01 3.2152e-06 4.7851e-03 5.52534e-02 0.0020 1.0298e-02 1\n", + " 8 2.2005e-01 1.7217e-01 3.2152e-06 4.7851e-03 5.52294e-02 0.1250 4.7851e-03 1\n", + " 9 2.1796e-01 1.7217e-01 2.9007e-06 4.5760e-03 3.56070e-02 0.1250 7.2703e-03 1\n", + " 10 2.1726e-01 1.7217e-01 2.5714e-06 4.5064e-03 2.31647e-02 0.5000 4.9669e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7270e+02 1.8128e-01 4.6909e+01 3.4295e-01 1.07612e+00 1.0000 ---- 3\n", + " 2 5.1425e+01 1.7213e-01 2.2015e+00 2.9238e+00 2.77649e-01 1.0000 2.9238e+00 3\n", + " 3 2.3062e+00 1.7217e-01 5.3881e-03 2.0802e-01 2.44448e-01 0.5000 2.0802e-01 3\n", + " 4 2.1546e+00 1.7216e-01 2.8450e-03 1.9540e-01 7.44141e-02 1.0000 1.9540e-01 3\n", + " 5 1.9653e-01 1.7216e-01 4.2019e-05 2.3950e-03 1.36616e-01 0.0312 2.3950e-03 1\n", + " 6 1.9652e-01 1.7216e-01 4.0724e-05 2.3948e-03 1.23879e-01 0.2500 2.3948e-03 1\n", + " 7 1.9558e-01 1.7216e-01 3.1493e-05 2.3103e-03 3.26886e-02 1.0000 2.3103e-03 1\n", + " 8 1.8621e-01 1.7216e-01 3.0437e-06 1.4021e-03 5.67567e-02 1.0000 1.7352e-03 1\n", + " 9 1.7824e-01 1.7216e-01 5.4633e-06 6.0228e-04 1.06109e-01 0.0625 1.7227e-03 1\n", + " 10 1.7818e-01 1.7216e-01 5.1746e-06 5.9637e-04 8.65430e-02 0.0625 1.7241e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7301e+02 1.8127e-01 4.6920e+01 3.6305e-01 1.09596e+00 1.0000 ---- 3\n", + " 2 5.3681e+01 1.7212e-01 2.2181e+00 3.1328e+00 3.53883e-01 1.0000 3.1328e+00 3\n", + " 3 4.5027e+00 1.7216e-01 5.4976e-03 4.2756e-01 4.23958e-01 0.5000 4.2756e-01 3\n", + " 4 4.4444e+00 1.7214e-01 2.8573e-03 4.2437e-01 2.03737e-01 1.0000 4.2437e-01 3\n", + " 5 9.0974e-01 1.7214e-01 8.5173e-05 7.3675e-02 4.53049e-01 0.2500 7.3675e-02 3\n", + " 6 8.6912e-01 1.7214e-01 6.5253e-05 6.9633e-02 7.84689e-02 1.0000 6.9633e-02 3\n", + " 7 1.7217e-01 1.7214e-01 3.1436e-06 0.0000e+00 1.68676e-01 0.0312 1.7368e-03 1\n", + " 8 1.7217e-01 1.7214e-01 3.0489e-06 0.0000e+00 1.51704e-01 0.0156 1.7365e-03 1\n", + " 9 1.7217e-01 1.7214e-01 3.0020e-06 0.0000e+00 1.44081e-01 0.0156 1.7364e-03 1\n", + " 10 1.7217e-01 1.7214e-01 2.9558e-06 0.0000e+00 1.36847e-01 0.0156 1.7363e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7256e+02 1.8124e-01 4.6900e+01 3.3797e-01 1.14107e+00 1.0000 ---- 3\n", + " 2 5.3108e+01 1.7209e-01 2.2105e+00 3.0830e+00 4.48603e-01 1.0000 3.0830e+00 3\n", + " 3 5.8343e+00 1.7213e-01 5.7932e-03 5.6043e-01 7.12277e-01 0.2500 5.6043e-01 3\n", + " 4 4.9890e+00 1.7211e-01 4.3835e-03 4.7731e-01 1.61439e-01 1.0000 4.7731e-01 3\n", + " 5 2.2819e-01 1.7212e-01 2.3099e-04 5.3762e-03 2.86719e-01 0.0312 5.3762e-03 2\n", + " 6 2.2644e-01 1.7212e-01 2.2380e-04 5.2090e-03 2.59134e-01 0.0625 5.2090e-03 2\n", + " 7 2.2539e-01 1.7211e-01 2.0988e-04 5.1174e-03 2.09406e-01 0.0625 5.1174e-03 2\n", + " 8 2.2247e-01 1.7211e-01 1.9682e-04 4.8389e-03 1.69464e-01 0.1250 4.8389e-03 2\n", + " 9 2.1968e-01 1.7211e-01 1.7238e-04 4.5839e-03 1.06051e-01 0.2500 4.5839e-03 2\n", + " 10 2.1100e-01 1.7211e-01 1.2962e-04 3.7590e-03 3.07147e-02 0.0020 9.4642e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7246e+02 1.8121e-01 4.6863e+01 3.6505e-01 1.07235e+00 1.0000 ---- 3\n", + " 2 5.3691e+01 1.7206e-01 2.2393e+00 3.1126e+00 2.68209e-01 1.0000 3.1126e+00 3\n", + " 3 2.0654e+00 1.7210e-01 5.1770e-03 1.8415e-01 2.35607e-01 0.2500 1.8415e-01 3\n", + " 4 1.8031e+00 1.7210e-01 3.9212e-03 1.5918e-01 9.15850e-02 1.0000 1.5918e-01 3\n", + " 5 6.7942e-01 1.7210e-01 2.4806e-04 5.0484e-02 1.15589e-01 0.2500 5.0484e-02 3\n", + " 6 6.0787e-01 1.7210e-01 1.8760e-04 4.3389e-02 4.49721e-02 1.0000 4.3389e-02 3\n", + " 7 3.1117e-01 1.7210e-01 1.6807e-05 1.3890e-02 5.87120e-02 0.2500 1.3890e-02 3\n", + " 8 2.8342e-01 1.7210e-01 1.3504e-05 1.1118e-02 2.28828e-02 1.0000 1.1118e-02 2\n", + " 9 1.8906e-01 1.7210e-01 3.6014e-06 1.6925e-03 3.17258e-02 0.0020 4.7069e-03 1\n", + " 10 1.8906e-01 1.7210e-01 3.6014e-06 1.6925e-03 3.17108e-02 0.2500 1.8710e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7223e+02 1.8120e-01 4.6875e+01 3.2933e-01 1.07367e+00 1.0000 ---- 3\n", + " 2 5.2027e+01 1.7205e-01 2.2158e+00 2.9697e+00 2.60041e-01 1.0000 2.9697e+00 3\n", + " 3 7.2539e-01 1.7209e-01 5.2333e-03 5.0096e-02 2.13452e-01 0.1250 5.0096e-02 3\n", + " 4 6.7557e-01 1.7209e-01 4.5869e-03 4.5761e-02 1.49007e-01 0.2500 4.5761e-02 3\n", + " 5 6.5536e-01 1.7209e-01 3.4616e-03 4.4866e-02 6.44074e-02 1.0000 4.4866e-02 3\n", + " 6 5.2929e-01 1.7209e-01 1.4379e-04 3.5576e-02 7.56404e-02 0.5000 3.5576e-02 3\n", + " 7 5.0127e-01 1.7208e-01 7.3654e-05 3.2845e-02 2.06887e-02 1.0000 3.2845e-02 3\n", + " 8 2.2102e-01 1.7209e-01 1.0374e-06 4.8928e-03 3.85336e-02 0.0156 6.6755e-03 1\n", + " 9 2.2101e-01 1.7208e-01 1.0212e-06 4.8919e-03 3.67938e-02 0.2500 4.8919e-03 1\n", + " 10 2.1662e-01 1.7208e-01 8.0439e-07 4.4530e-03 1.09504e-02 1.0000 4.4530e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7369e+02 1.8119e-01 4.6965e+01 3.8556e-01 1.07722e+00 1.0000 ---- 3\n", + " 2 5.3597e+01 1.7204e-01 2.2201e+00 3.1224e+00 2.76155e-01 1.0000 3.1224e+00 3\n", + " 3 1.8127e+00 1.7208e-01 5.2417e-03 1.5882e-01 2.49156e-01 0.2500 1.5882e-01 3\n", + " 4 1.7054e+00 1.7208e-01 3.9620e-03 1.4937e-01 9.93891e-02 1.0000 1.4937e-01 3\n", + " 5 6.4498e-01 1.7208e-01 2.1715e-04 4.7074e-02 1.26457e-01 0.2500 4.7074e-02 3\n", + " 6 5.8601e-01 1.7208e-01 1.6463e-04 4.1229e-02 4.94044e-02 1.0000 4.1229e-02 3\n", + " 7 3.0302e-01 1.7208e-01 1.6554e-05 1.3078e-02 6.56427e-02 0.2500 1.3078e-02 3\n", + " 8 2.9703e-01 1.7207e-01 1.3535e-05 1.2482e-02 2.54740e-02 1.0000 1.2482e-02 3\n", + " 9 2.3827e-01 1.7207e-01 3.7506e-06 6.6160e-03 3.49656e-02 0.5000 6.6160e-03 2\n", + " 10 2.0916e-01 1.7207e-01 3.0597e-06 3.7053e-03 1.13500e-02 0.0020 6.0726e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7292e+02 1.8118e-01 4.6948e+01 3.2550e-01 1.07539e+00 1.0000 ---- 3\n", + " 2 5.3960e+01 1.7203e-01 2.2349e+00 3.1438e+00 2.69621e-01 1.0000 3.1438e+00 3\n", + " 3 1.1968e+00 1.7207e-01 5.2663e-03 9.7211e-02 2.24439e-01 0.2500 9.7211e-02 3\n", + " 4 1.1868e+00 1.7207e-01 3.9881e-03 9.7489e-02 9.38164e-02 1.0000 9.7489e-02 3\n", + " 5 6.0097e-01 1.7207e-01 2.4243e-04 4.2648e-02 1.14419e-01 0.2500 4.2648e-02 3\n", + " 6 5.5420e-01 1.7207e-01 1.8367e-04 3.8029e-02 4.69211e-02 1.0000 3.8029e-02 3\n", + " 7 2.3486e-01 1.7207e-01 1.6986e-05 6.2625e-03 5.94870e-02 0.2500 6.2625e-03 2\n", + " 8 2.3317e-01 1.7207e-01 1.3817e-05 6.0970e-03 2.43719e-02 0.0020 8.3176e-03 1\n", + " 9 2.3317e-01 1.7207e-01 1.3817e-05 6.0970e-03 2.43638e-02 0.5000 6.0970e-03 1\n", + " 10 2.1551e-01 1.7207e-01 7.7936e-06 4.3364e-03 5.56391e-03 1.0000 4.3364e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7189e+02 1.8117e-01 4.6840e+01 3.3075e-01 1.07475e+00 1.0000 ---- 3\n", + " 2 5.3357e+01 1.7202e-01 2.2012e+00 3.1173e+00 2.70154e-01 1.0000 3.1173e+00 3\n", + " 3 1.0037e+00 1.7206e-01 5.2709e-03 7.7898e-02 2.25670e-01 0.1250 7.7898e-02 3\n", + " 4 9.3440e-01 1.7206e-01 4.6211e-03 7.1613e-02 1.59600e-01 0.2500 7.1613e-02 3\n", + " 5 8.2023e-01 1.7206e-01 3.4898e-03 6.1328e-02 6.93586e-02 1.0000 6.1328e-02 3\n", + " 6 3.2190e-01 1.7206e-01 1.5752e-04 1.4827e-02 8.12418e-02 0.2500 1.4827e-02 3\n", + " 7 3.1447e-01 1.7206e-01 1.1894e-04 1.4122e-02 3.44461e-02 1.0000 1.4122e-02 3\n", + " 8 2.4392e-01 1.7206e-01 9.5246e-06 7.1770e-03 4.20377e-02 0.0020 1.0407e-02 1\n", + " 9 2.4392e-01 1.7206e-01 9.5246e-06 7.1770e-03 4.20238e-02 0.2500 7.1770e-03 1\n", + " 10 2.3955e-01 1.7206e-01 7.6652e-06 6.7418e-03 1.78324e-02 0.5000 6.7418e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6981e+02 1.8116e-01 4.6820e+01 1.4326e-01 1.07183e+00 1.0000 ---- 3\n", + " 2 5.3230e+01 1.7201e-01 2.2021e+00 3.1037e+00 2.62305e-01 1.0000 3.1037e+00 3\n", + " 3 1.4810e+00 1.7206e-01 5.3542e-03 1.2554e-01 2.13859e-01 0.2500 1.2554e-01 3\n", + " 4 1.2546e+00 1.7205e-01 4.0567e-03 1.0420e-01 9.04591e-02 1.0000 1.0420e-01 3\n", + " 5 3.0775e-01 1.7205e-01 2.4476e-04 1.3325e-02 1.09490e-01 0.1250 1.3325e-02 3\n", + " 6 3.0476e-01 1.7205e-01 2.1472e-04 1.3056e-02 7.71961e-02 0.2500 1.3056e-02 3\n", + " 7 2.9815e-01 1.7205e-01 1.6224e-04 1.2447e-02 3.33358e-02 1.0000 1.2447e-02 2\n", + " 8 1.8867e-01 1.7205e-01 1.0078e-05 1.6520e-03 4.04547e-02 0.0020 3.3285e-03 1\n", + " 9 1.8867e-01 1.7205e-01 1.0078e-05 1.6520e-03 4.04410e-02 0.1250 1.6657e-03 1\n", + " 10 1.8782e-01 1.7205e-01 8.9557e-06 1.5677e-03 2.87344e-02 0.1250 2.2410e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7049e+02 1.8116e-01 4.6901e+01 1.3018e-01 1.07749e+00 1.0000 ---- 3\n", + " 2 5.2772e+01 1.7201e-01 2.1984e+00 3.0615e+00 2.71448e-01 1.0000 3.0615e+00 3\n", + " 3 1.1195e+00 1.7205e-01 5.5738e-03 8.9175e-02 2.26253e-01 0.2500 8.9175e-02 3\n", + " 4 1.0422e+00 1.7204e-01 4.2189e-03 8.2801e-02 9.55955e-02 1.0000 8.2801e-02 3\n", + " 5 4.1321e-01 1.7204e-01 2.4958e-04 2.3867e-02 1.16768e-01 0.2500 2.3867e-02 3\n", + " 6 4.0571e-01 1.7204e-01 1.8991e-04 2.3176e-02 4.78228e-02 1.0000 2.3176e-02 3\n", + " 7 2.4713e-01 1.7204e-01 1.8740e-05 7.4902e-03 5.98421e-02 0.0020 8.3779e-03 1\n", + " 8 2.4713e-01 1.7204e-01 1.8740e-05 7.4902e-03 5.98265e-02 0.1250 7.4902e-03 1\n", + " 9 2.4280e-01 1.7204e-01 1.6740e-05 7.0594e-03 4.21980e-02 0.1250 7.0594e-03 1\n", + " 10 2.4179e-01 1.7204e-01 1.4830e-05 6.9601e-03 2.99364e-02 0.5000 6.9601e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7113e+02 1.8115e-01 4.6949e+01 1.4557e-01 1.07246e+00 1.0000 ---- 3\n", + " 2 5.4460e+01 1.7200e-01 2.2034e+00 3.2254e+00 2.57919e-01 1.0000 3.2254e+00 3\n", + " 3 2.3177e+00 1.7204e-01 5.3701e-03 2.0920e-01 2.20261e-01 0.5000 2.0920e-01 3\n", + " 4 1.9626e+00 1.7204e-01 2.8593e-03 1.7619e-01 6.17017e-02 1.0000 1.7619e-01 3\n", + " 5 1.8880e-01 1.7204e-01 3.1577e-05 1.6440e-03 1.09722e-01 0.0625 1.7096e-03 1\n", + " 6 1.8865e-01 1.7204e-01 2.9666e-05 1.6312e-03 8.97505e-02 0.2500 1.7109e-03 1\n", + " 7 1.8662e-01 1.7204e-01 2.2931e-05 1.4351e-03 2.54031e-02 1.0000 1.7159e-03 1\n", + " 8 1.8040e-01 1.7204e-01 2.2034e-06 8.3369e-04 4.31093e-02 1.0000 1.7299e-03 1\n", + " 9 1.7442e-01 1.7204e-01 3.2831e-06 2.3490e-04 7.93930e-02 0.0625 1.7259e-03 1\n", + " 10 1.7437e-01 1.7204e-01 3.1089e-06 2.3005e-04 6.49214e-02 0.0625 1.7264e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7245e+02 1.8114e-01 4.6871e+01 3.5625e-01 1.08623e+00 1.0000 ---- 3\n", + " 2 5.4931e+01 1.7200e-01 2.2199e+00 3.2559e+00 3.22496e-01 1.0000 3.2559e+00 3\n", + " 3 3.1861e+00 1.7204e-01 5.3014e-03 2.9610e-01 3.41698e-01 0.2500 2.9610e-01 3\n", + " 4 2.5985e+00 1.7203e-01 4.0082e-03 2.3864e-01 1.23996e-01 1.0000 2.3864e-01 3\n", + " 5 6.2236e-01 1.7203e-01 2.2485e-04 4.4808e-02 1.70435e-01 0.1250 4.4808e-02 3\n", + " 6 5.9382e-01 1.7203e-01 1.9746e-04 4.1981e-02 1.15452e-01 0.2500 4.1981e-02 3\n", + " 7 5.7340e-01 1.7203e-01 1.4948e-04 3.9988e-02 4.38841e-02 1.0000 3.9988e-02 3\n", + " 8 2.5970e-01 1.7203e-01 1.0474e-05 8.7566e-03 5.84394e-02 0.2500 8.7566e-03 2\n", + " 9 2.5421e-01 1.7203e-01 8.6260e-06 8.2099e-03 2.26643e-02 1.0000 8.2099e-03 2\n", + " 10 1.9803e-01 1.7203e-01 2.5071e-06 2.5980e-03 3.23615e-02 0.0020 3.7261e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7058e+02 1.8113e-01 4.6812e+01 2.2857e-01 1.07218e+00 1.0000 ---- 3\n", + " 2 5.4521e+01 1.7199e-01 2.2078e+00 3.2271e+00 2.65478e-01 1.0000 3.2271e+00 3\n", + " 3 1.3634e+00 1.7203e-01 5.4933e-03 1.1364e-01 2.21171e-01 0.2500 1.1364e-01 3\n", + " 4 1.2154e+00 1.7202e-01 4.1597e-03 1.0018e-01 9.26492e-02 1.0000 1.0018e-01 3\n", + " 5 4.0297e-01 1.7202e-01 2.4476e-04 2.2850e-02 1.12952e-01 0.1250 2.2850e-02 3\n", + " 6 3.8270e-01 1.7202e-01 2.1466e-04 2.0853e-02 7.99741e-02 0.2500 2.0853e-02 3\n", + " 7 3.4810e-01 1.7202e-01 1.6209e-04 1.7445e-02 3.46546e-02 1.0000 1.7445e-02 3\n", + " 8 1.9705e-01 1.7202e-01 1.2030e-05 2.4908e-03 4.24125e-02 0.0020 3.2296e-03 1\n", + " 9 1.9705e-01 1.7202e-01 1.2030e-05 2.4908e-03 4.23963e-02 0.1250 2.4908e-03 1\n", + " 10 1.9588e-01 1.7202e-01 1.0704e-05 2.3748e-03 3.00403e-02 0.1250 2.3748e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7117e+02 1.8113e-01 4.6916e+01 1.8273e-01 1.07776e+00 1.0000 ---- 3\n", + " 2 5.2655e+01 1.7199e-01 2.1851e+00 3.0632e+00 2.76344e-01 1.0000 3.0632e+00 3\n", + " 3 1.5252e+00 1.7203e-01 5.6401e-03 1.2968e-01 2.35006e-01 0.2500 1.2968e-01 3\n", + " 4 1.3170e+00 1.7202e-01 4.2697e-03 1.1022e-01 9.81466e-02 1.0000 1.1022e-01 3\n", + " 5 3.0510e-01 1.7202e-01 2.4438e-04 1.3064e-02 1.22513e-01 0.1250 1.3064e-02 2\n", + " 6 2.9436e-01 1.7202e-01 2.1452e-04 1.2019e-02 8.51660e-02 0.2500 1.2019e-02 2\n", + " 7 2.7363e-01 1.7202e-01 1.6230e-04 9.9991e-03 3.52315e-02 1.0000 9.9991e-03 2\n", + " 8 1.8468e-01 1.7202e-01 1.0001e-05 1.2558e-03 4.41729e-02 0.0020 4.3059e-03 1\n", + " 9 1.8468e-01 1.7202e-01 1.0001e-05 1.2558e-03 4.41562e-02 0.1250 1.7192e-03 1\n", + " 10 1.8376e-01 1.7202e-01 8.9245e-06 1.1647e-03 3.11567e-02 0.1250 3.0061e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7258e+02 1.8112e-01 4.6928e+01 3.1095e-01 1.08060e+00 1.0000 ---- 3\n", + " 2 5.2309e+01 1.7198e-01 2.1883e+00 3.0254e+00 2.78570e-01 1.0000 3.0254e+00 3\n", + " 3 8.8059e-01 1.7202e-01 5.6093e-03 6.5247e-02 2.41943e-01 0.1250 6.5247e-02 3\n", + " 4 8.2489e-01 1.7202e-01 4.9167e-03 6.0370e-02 1.70305e-01 0.2500 6.0370e-02 3\n", + " 5 7.4076e-01 1.7202e-01 3.7107e-03 5.3163e-02 7.28027e-02 1.0000 5.3163e-02 3\n", + " 6 3.1918e-01 1.7202e-01 1.5565e-04 1.4560e-02 8.83228e-02 0.2500 1.4560e-02 3\n", + " 7 2.9144e-01 1.7202e-01 1.1805e-04 1.1824e-02 3.59188e-02 1.0000 1.1824e-02 3\n", + " 8 2.3127e-01 1.7202e-01 9.9704e-06 5.9150e-03 4.55699e-02 0.5000 5.9150e-03 2\n", + " 9 2.1844e-01 1.7202e-01 7.9304e-06 4.6340e-03 1.31032e-02 0.0020 5.2730e-03 1\n", + " 10 2.1844e-01 1.7202e-01 7.9304e-06 4.6340e-03 1.30913e-02 1.0000 4.6340e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7270e+02 1.8112e-01 4.6904e+01 3.4839e-01 1.07940e+00 1.0000 ---- 3\n", + " 2 5.3315e+01 1.7198e-01 2.2067e+00 3.1076e+00 2.85620e-01 1.0000 3.1076e+00 3\n", + " 3 1.3791e+00 1.7202e-01 5.2537e-03 1.1545e-01 2.62066e-01 0.2500 1.1545e-01 3\n", + " 4 1.3304e+00 1.7202e-01 3.9710e-03 1.1187e-01 1.04753e-01 1.0000 1.1187e-01 3\n", + " 5 6.2558e-01 1.7202e-01 2.1764e-04 4.5138e-02 1.36295e-01 0.2500 4.5138e-02 3\n", + " 6 5.8138e-01 1.7201e-01 1.6644e-04 4.0770e-02 5.18958e-02 1.0000 4.0770e-02 3\n", + " 7 2.4269e-01 1.7201e-01 1.8377e-05 7.0488e-03 6.94762e-02 0.2500 7.0488e-03 2\n", + " 8 2.3969e-01 1.7201e-01 1.5161e-05 6.7528e-03 2.72612e-02 0.0020 9.1807e-03 1\n", + " 9 2.3969e-01 1.7201e-01 1.5161e-05 6.7528e-03 2.72484e-02 0.5000 6.7528e-03 1\n", + " 10 2.2297e-01 1.7201e-01 8.5240e-06 5.0870e-03 6.69611e-03 1.0000 5.0870e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7296e+02 1.8111e-01 4.6897e+01 3.8112e-01 1.07643e+00 1.0000 ---- 3\n", + " 2 5.2937e+01 1.7198e-01 2.2050e+00 3.0715e+00 2.76844e-01 1.0000 3.0715e+00 3\n", + " 3 1.1206e+00 1.7202e-01 5.3186e-03 8.9544e-02 2.40221e-01 0.1250 8.9544e-02 3\n", + " 4 1.0311e+00 1.7202e-01 4.6626e-03 8.1247e-02 1.68373e-01 0.2500 8.1247e-02 3\n", + " 5 8.8597e-01 1.7201e-01 3.5204e-03 6.7875e-02 7.14826e-02 1.0000 6.7875e-02 3\n", + " 6 3.8496e-01 1.7201e-01 1.5457e-04 2.1140e-02 8.64233e-02 0.5000 2.1140e-02 3\n", + " 7 3.6427e-01 1.7201e-01 8.2029e-05 1.9144e-02 2.39630e-02 1.0000 1.9144e-02 3\n", + " 8 1.9283e-01 1.7201e-01 2.2356e-06 2.0794e-03 4.31072e-02 0.0156 3.4941e-03 1\n", + " 9 1.9281e-01 1.7201e-01 2.2017e-06 2.0776e-03 4.11985e-02 0.1250 2.0776e-03 1\n", + " 10 1.9168e-01 1.7201e-01 1.9863e-06 1.9649e-03 2.66542e-02 0.2500 2.4065e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7243e+02 1.8111e-01 4.6926e+01 2.9844e-01 1.07384e+00 1.0000 ---- 3\n", + " 2 5.3206e+01 1.7198e-01 2.1943e+00 3.1091e+00 2.63661e-01 1.0000 3.1091e+00 3\n", + " 3 1.1391e+00 1.7202e-01 5.4121e-03 9.1297e-02 2.23512e-01 0.2500 9.1297e-02 3\n", + " 4 1.0825e+00 1.7201e-01 4.0981e-03 8.6952e-02 9.17614e-02 1.0000 8.6952e-02 3\n", + " 5 5.2869e-01 1.7201e-01 2.3783e-04 3.5430e-02 1.14218e-01 0.2500 3.5430e-02 3\n", + " 6 4.8294e-01 1.7201e-01 1.8039e-04 3.0912e-02 4.59049e-02 1.0000 3.0912e-02 3\n", + " 7 2.3307e-01 1.7201e-01 1.7712e-05 6.0884e-03 5.98545e-02 0.2500 6.0884e-03 2\n", + " 8 2.1822e-01 1.7201e-01 1.4281e-05 4.6073e-03 2.41200e-02 0.0020 9.4172e-03 1\n", + " 9 2.1822e-01 1.7201e-01 1.4281e-05 4.6073e-03 2.41029e-02 1.0000 4.6073e-03 1\n", + " 10 2.1466e-01 1.7201e-01 7.0748e-06 4.2585e-03 3.19471e-02 0.1250 4.4757e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7328e+02 1.8111e-01 4.6924e+01 3.8611e-01 1.07280e+00 1.0000 ---- 3\n", + " 2 5.3465e+01 1.7198e-01 2.2075e+00 3.1218e+00 2.64346e-01 1.0000 3.1218e+00 3\n", + " 3 2.6752e-01 1.7202e-01 5.2397e-03 4.3107e-03 2.37757e-01 0.0625 9.7890e-03 1\n", + " 4 2.6495e-01 1.7201e-01 4.9148e-03 4.3790e-03 2.00753e-01 0.0625 4.3790e-03 1\n", + " 5 2.6356e-01 1.7201e-01 4.6097e-03 4.5446e-03 1.69715e-01 0.0312 6.5713e-03 1\n", + " 6 2.6279e-01 1.7201e-01 4.4661e-03 4.6114e-03 1.56693e-01 0.0625 4.6114e-03 1\n", + " 7 2.6150e-01 1.7201e-01 4.1885e-03 4.7607e-03 1.32960e-01 0.0625 5.3370e-03 1\n", + " 8 2.6005e-01 1.7201e-01 3.9280e-03 4.8757e-03 1.13250e-01 0.1250 4.8757e-03 1\n", + " 9 2.5852e-01 1.7201e-01 3.4411e-03 5.2096e-03 8.04460e-02 0.2500 5.2096e-03 1\n", + " 10 2.5680e-01 1.7201e-01 2.5918e-03 5.8875e-03 3.54228e-02 1.0000 6.3829e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7223e+02 1.8111e-01 4.6900e+01 3.0468e-01 1.07043e+00 1.0000 ---- 3\n", + " 2 5.6371e+01 1.7198e-01 2.2265e+00 3.3934e+00 2.67787e-01 1.0000 3.3934e+00 3\n", + " 3 1.2577e+00 1.7202e-01 4.9529e-03 1.0361e-01 2.39160e-01 0.2500 1.0361e-01 3\n", + " 4 1.1877e+00 1.7202e-01 3.7566e-03 9.7813e-02 9.63925e-02 1.0000 9.7813e-02 3\n", + " 5 4.7582e-01 1.7202e-01 2.4584e-04 3.0134e-02 1.22328e-01 0.2500 3.0134e-02 3\n", + " 6 4.5829e-01 1.7201e-01 1.8726e-04 2.8441e-02 4.91711e-02 1.0000 2.8441e-02 3\n", + " 7 2.5104e-01 1.7201e-01 2.2351e-05 7.8805e-03 6.50233e-02 0.2500 7.8805e-03 2\n", + " 8 2.3102e-01 1.7201e-01 1.8114e-05 5.8829e-03 2.55480e-02 1.0000 5.8829e-03 2\n", + " 9 1.9807e-01 1.7201e-01 5.0038e-06 2.6010e-03 3.62686e-02 0.0020 5.5949e-03 1\n", + " 10 1.9807e-01 1.7201e-01 5.0038e-06 2.6010e-03 3.62472e-02 0.2500 2.6010e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7287e+02 1.8111e-01 4.6954e+01 3.1444e-01 1.07427e+00 1.0000 ---- 3\n", + " 2 5.5852e+01 1.7199e-01 2.2083e+00 3.3596e+00 2.68962e-01 1.0000 3.3596e+00 3\n", + " 3 1.1495e+00 1.7203e-01 5.1815e-03 9.2563e-02 2.49468e-01 0.2500 9.2563e-02 3\n", + " 4 1.1355e+00 1.7202e-01 3.9290e-03 9.2416e-02 9.70381e-02 1.0000 9.2416e-02 3\n", + " 5 5.0950e-01 1.7202e-01 2.3908e-04 3.3508e-02 1.28900e-01 0.2500 3.3508e-02 3\n", + " 6 4.8256e-01 1.7202e-01 1.8245e-04 3.0872e-02 4.89843e-02 1.0000 3.0872e-02 3\n", + " 7 2.5049e-01 1.7202e-01 2.0398e-05 7.8266e-03 6.68604e-02 0.2500 7.8266e-03 3\n", + " 8 2.3884e-01 1.7202e-01 1.6540e-05 6.6660e-03 2.55696e-02 1.0000 6.6660e-03 2\n", + " 9 2.0260e-01 1.7202e-01 4.5523e-06 3.0534e-03 3.71712e-02 0.0020 6.5623e-03 1\n", + " 10 2.0260e-01 1.7202e-01 4.5523e-06 3.0534e-03 3.71498e-02 0.2500 3.0534e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7257e+02 1.8112e-01 4.6931e+01 3.0846e-01 1.07324e+00 1.0000 ---- 3\n", + " 2 5.4593e+01 1.7199e-01 2.2080e+00 3.2341e+00 2.69103e-01 1.0000 3.2341e+00 3\n", + " 3 1.8013e+00 1.7203e-01 5.2616e-03 1.5766e-01 2.49274e-01 0.2500 1.5766e-01 3\n", + " 4 1.5221e+00 1.7203e-01 3.9896e-03 1.3102e-01 9.64882e-02 1.0000 1.3102e-01 3\n", + " 5 4.8604e-01 1.7203e-01 2.4436e-04 3.1157e-02 1.28416e-01 0.5000 3.1157e-02 3\n", + " 6 4.5812e-01 1.7202e-01 1.3520e-04 2.8475e-02 4.00967e-02 1.0000 2.8475e-02 3\n", + " 7 2.4285e-01 1.7202e-01 8.0346e-06 7.0743e-03 7.42063e-02 0.2500 7.0743e-03 2\n", + " 8 2.2494e-01 1.7202e-01 7.3342e-06 5.2839e-03 1.96512e-02 1.0000 5.2839e-03 2\n", + " 9 1.7204e-01 1.7202e-01 1.7103e-06 0.0000e+00 3.48567e-02 0.2500 1.6882e-03 1\n", + " 10 1.7204e-01 1.7202e-01 1.5899e-06 0.0000e+00 1.13222e-02 1.0000 1.6931e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7277e+02 1.8112e-01 4.6943e+01 3.1649e-01 1.07317e+00 1.0000 ---- 3\n", + " 2 5.3870e+01 1.7200e-01 2.1819e+00 3.1879e+00 2.63914e-01 1.0000 3.1879e+00 3\n", + " 3 1.2793e+00 1.7204e-01 5.5741e-03 1.0515e-01 2.36288e-01 0.2500 1.0515e-01 3\n", + " 4 1.0510e+00 1.7203e-01 4.2236e-03 8.3669e-02 9.32011e-02 1.0000 8.3669e-02 3\n", + " 5 3.3201e-01 1.7203e-01 2.4326e-04 1.5754e-02 1.19633e-01 0.2500 1.5754e-02 3\n", + " 6 3.0230e-01 1.7203e-01 1.8566e-04 1.2842e-02 4.71547e-02 1.0000 1.2842e-02 3\n", + " 7 2.5025e-01 1.7203e-01 2.2152e-05 7.8005e-03 6.26155e-02 0.2500 7.8005e-03 2\n", + " 8 2.2790e-01 1.7203e-01 1.8003e-05 5.5693e-03 2.42146e-02 1.0000 5.5693e-03 2\n", + " 9 1.8409e-01 1.7203e-01 5.0023e-06 1.2014e-03 3.48269e-02 0.0020 3.9047e-03 1\n", + " 10 1.8409e-01 1.7203e-01 5.0023e-06 1.2014e-03 3.48080e-02 0.2500 1.7643e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7258e+02 1.8113e-01 4.6915e+01 3.2473e-01 1.07299e+00 1.0000 ---- 3\n", + " 2 5.3197e+01 1.7200e-01 2.2145e+00 3.0880e+00 2.71978e-01 1.0000 3.0880e+00 3\n", + " 3 1.5463e+00 1.7204e-01 5.2377e-03 1.3218e-01 2.52060e-01 0.2500 1.3218e-01 3\n", + " 4 1.3535e+00 1.7203e-01 3.9703e-03 1.1418e-01 9.66659e-02 1.0000 1.1418e-01 3\n", + " 5 5.1187e-01 1.7203e-01 2.3009e-04 3.3753e-02 1.30573e-01 0.5000 3.3753e-02 3\n", + " 6 4.7916e-01 1.7203e-01 1.2812e-04 3.0584e-02 4.12746e-02 1.0000 3.0584e-02 3\n", + " 7 2.5745e-01 1.7203e-01 9.7140e-06 8.5318e-03 7.67688e-02 0.2500 8.5318e-03 3\n", + " 8 2.4850e-01 1.7203e-01 8.9087e-06 7.6386e-03 2.01008e-02 1.0000 7.6386e-03 2\n", + " 9 1.8233e-01 1.7203e-01 2.0019e-06 1.0285e-03 3.55644e-02 0.0156 2.2789e-03 1\n", + " 10 1.8233e-01 1.7203e-01 1.9718e-06 1.0285e-03 3.40448e-02 0.2500 1.7091e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7293e+02 1.8113e-01 4.6893e+01 3.8213e-01 1.07787e+00 1.0000 ---- 3\n", + " 2 5.3083e+01 1.7201e-01 2.2071e+00 3.0840e+00 2.82496e-01 1.0000 3.0840e+00 3\n", + " 3 1.3923e+00 1.7204e-01 5.2809e-03 1.1675e-01 2.63821e-01 0.2500 1.1675e-01 3\n", + " 4 1.2914e+00 1.7204e-01 3.9949e-03 1.0794e-01 1.04581e-01 1.0000 1.0794e-01 3\n", + " 5 6.5800e-01 1.7204e-01 2.3121e-04 4.8365e-02 1.40222e-01 0.5000 4.8365e-02 3\n", + " 6 6.3444e-01 1.7203e-01 1.3229e-04 4.6109e-02 4.45788e-02 1.0000 4.6109e-02 3\n", + " 7 2.6565e-01 1.7203e-01 1.3043e-05 9.3485e-03 8.08528e-02 0.2500 9.3485e-03 3\n", + " 8 2.6063e-01 1.7203e-01 1.1723e-05 8.8481e-03 2.17585e-02 1.0000 8.8481e-03 3\n", + " 9 1.7917e-01 1.7203e-01 2.6737e-06 7.1146e-04 3.79648e-02 0.0020 1.9115e-03 1\n", + " 10 1.7917e-01 1.7203e-01 2.6737e-06 7.1146e-04 3.79488e-02 0.0625 1.7271e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7259e+02 1.8113e-01 4.6856e+01 3.8483e-01 1.08351e+00 1.0000 ---- 3\n", + " 2 5.2100e+01 1.7200e-01 2.2305e+00 2.9624e+00 2.97045e-01 1.0000 2.9624e+00 3\n", + " 3 2.5618e+00 1.7204e-01 5.2953e-03 2.3368e-01 2.88071e-01 0.5000 2.3368e-01 3\n", + " 4 2.5103e+00 1.7203e-01 2.7656e-03 2.3107e-01 9.46369e-02 1.0000 2.3107e-01 3\n", + " 5 3.9548e-01 1.7203e-01 4.7820e-05 2.2297e-02 1.79504e-01 0.2500 2.2297e-02 3\n", + " 6 3.6278e-01 1.7203e-01 3.7159e-05 1.9038e-02 4.29883e-02 1.0000 1.9038e-02 3\n", + " 7 2.2489e-01 1.7203e-01 4.0363e-06 5.2827e-03 7.90942e-02 0.2500 5.2827e-03 2\n", + " 8 2.1626e-01 1.7203e-01 3.5332e-06 4.4194e-03 2.21914e-02 0.0020 6.5909e-03 1\n", + " 9 2.1626e-01 1.7203e-01 3.5332e-06 4.4194e-03 2.21844e-02 1.0000 4.4194e-03 1\n", + " 10 2.0794e-01 1.7203e-01 3.0732e-06 3.5883e-03 3.84639e-02 0.1250 3.5883e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7258e+02 1.8112e-01 4.6875e+01 3.6495e-01 1.07912e+00 1.0000 ---- 3\n", + " 2 5.3456e+01 1.7200e-01 2.2136e+00 3.1148e+00 2.90157e-01 1.0000 3.1148e+00 3\n", + " 3 1.7368e+00 1.7203e-01 5.3043e-03 1.5117e-01 2.76026e-01 0.2500 1.5117e-01 3\n", + " 4 1.5466e+00 1.7203e-01 4.0099e-03 1.3345e-01 1.06401e-01 1.0000 1.3345e-01 3\n", + " 5 6.1855e-01 1.7203e-01 2.2151e-04 4.4430e-02 1.40257e-01 0.2500 4.4430e-02 3\n", + " 6 5.3672e-01 1.7203e-01 1.6879e-04 3.6301e-02 5.28366e-02 1.0000 3.6301e-02 3\n", + " 7 2.5339e-01 1.7203e-01 1.9094e-05 8.1178e-03 7.13714e-02 0.2500 8.1178e-03 3\n", + " 8 2.4717e-01 1.7203e-01 1.5876e-05 7.4990e-03 2.77299e-02 1.0000 7.4990e-03 2\n", + " 9 2.1800e-01 1.7202e-01 4.8896e-06 4.5922e-03 3.92896e-02 0.0020 9.7677e-03 1\n", + " 10 2.1800e-01 1.7202e-01 4.8896e-06 4.5922e-03 3.92656e-02 0.2500 4.5922e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7200e+02 1.8111e-01 4.6804e+01 3.7827e-01 1.07131e+00 1.0000 ---- 3\n", + " 2 5.1338e+01 1.7199e-01 2.2105e+00 2.9061e+00 2.66533e-01 1.0000 2.9061e+00 3\n", + " 3 1.1633e+00 1.7203e-01 5.4146e-03 9.3714e-02 2.27349e-01 0.2500 9.3714e-02 3\n", + " 4 9.9001e-01 1.7202e-01 4.0997e-03 7.7699e-02 9.19353e-02 1.0000 7.7699e-02 3\n", + " 5 6.1202e-01 1.7202e-01 2.3456e-04 4.3765e-02 1.16135e-01 0.2500 4.3765e-02 3\n", + " 6 5.0937e-01 1.7202e-01 1.7827e-04 3.3556e-02 4.68027e-02 1.0000 3.3556e-02 3\n", + " 7 2.5750e-01 1.7202e-01 1.9737e-05 8.5279e-03 6.14123e-02 0.5000 8.5279e-03 3\n", + " 8 2.5265e-01 1.7202e-01 1.4406e-05 8.0491e-03 1.60370e-02 1.0000 8.0491e-03 2\n", + " 9 1.7800e-01 1.7202e-01 7.0109e-07 5.9800e-04 2.80705e-02 0.0156 1.9140e-03 1\n", + " 10 1.7800e-01 1.7202e-01 6.9032e-07 5.9789e-04 2.68841e-02 0.2500 1.7527e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7176e+02 1.8111e-01 4.6840e+01 3.1759e-01 1.07543e+00 1.0000 ---- 3\n", + " 2 5.3312e+01 1.7199e-01 2.2006e+00 3.1134e+00 2.75378e-01 1.0000 3.1134e+00 3\n", + " 3 1.4711e+00 1.7203e-01 5.2924e-03 1.2462e-01 2.43458e-01 0.2500 1.2462e-01 3\n", + " 4 1.3324e+00 1.7202e-01 4.0060e-03 1.1204e-01 9.88143e-02 1.0000 1.1204e-01 3\n", + " 5 5.5488e-01 1.7202e-01 2.2833e-04 3.8058e-02 1.26163e-01 0.2500 3.8058e-02 3\n", + " 6 5.1449e-01 1.7202e-01 1.7354e-04 3.4074e-02 4.94909e-02 1.0000 3.4074e-02 3\n", + " 7 2.2583e-01 1.7202e-01 1.7375e-05 5.3642e-03 6.54092e-02 0.2500 5.3642e-03 2\n", + " 8 2.1970e-01 1.7202e-01 1.4410e-05 4.7543e-03 2.61456e-02 0.0020 9.3128e-03 1\n", + " 9 2.1970e-01 1.7202e-01 1.4410e-05 4.7543e-03 2.61361e-02 0.5000 4.7543e-03 1\n", + " 10 2.1071e-01 1.7202e-01 8.1953e-06 3.8607e-03 6.29973e-03 1.0000 3.8607e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7177e+02 1.8111e-01 4.6781e+01 3.7753e-01 1.07496e+00 1.0000 ---- 3\n", + " 2 5.0901e+01 1.7199e-01 2.1973e+00 2.8756e+00 2.78535e-01 1.0000 2.8756e+00 3\n", + " 3 1.9918e+00 1.7202e-01 5.4355e-03 1.7654e-01 2.44195e-01 0.2500 1.7654e-01 3\n", + " 4 1.6418e+00 1.7202e-01 4.1143e-03 1.4286e-01 9.97738e-02 1.0000 1.4286e-01 3\n", + " 5 6.0934e-01 1.7202e-01 2.3840e-04 4.3494e-02 1.27015e-01 0.5000 4.3494e-02 3\n", + " 6 5.3090e-01 1.7201e-01 1.3145e-04 3.5757e-02 3.67509e-02 1.0000 3.5757e-02 3\n", + " 7 1.7207e-01 1.7201e-01 6.1496e-06 0.0000e+00 6.73824e-02 0.2500 1.8356e-03 1\n", + " 8 1.7207e-01 1.7201e-01 5.4164e-06 0.0000e+00 1.89798e-02 1.0000 1.7454e-03 1\n", + " 9 1.7203e-01 1.7201e-01 1.5663e-06 0.0000e+00 3.19681e-02 0.2500 1.7612e-03 1\n", + " 10 1.7203e-01 1.7201e-01 1.3806e-06 0.0000e+00 9.92074e-03 0.5000 1.7595e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7017e+02 1.8110e-01 4.6733e+01 2.6596e-01 1.07155e+00 1.0000 ---- 3\n", + " 2 5.0586e+01 1.7198e-01 2.1822e+00 2.8591e+00 2.68585e-01 1.0000 2.8591e+00 3\n", + " 3 1.6663e+00 1.7201e-01 5.5106e-03 1.4392e-01 2.28315e-01 0.2500 1.4392e-01 3\n", + " 4 1.3963e+00 1.7201e-01 4.1730e-03 1.1826e-01 9.35094e-02 1.0000 1.1826e-01 3\n", + " 5 3.9778e-01 1.7201e-01 2.3850e-04 2.2339e-02 1.17315e-01 0.2500 2.2339e-02 3\n", + " 6 3.5378e-01 1.7201e-01 1.8150e-04 1.7996e-02 4.71536e-02 1.0000 1.7996e-02 3\n", + " 7 2.0059e-01 1.7201e-01 1.8494e-05 2.8399e-03 6.12407e-02 0.0020 6.3485e-03 1\n", + " 8 2.0059e-01 1.7201e-01 1.8494e-05 2.8399e-03 6.12193e-02 0.1250 2.8399e-03 1\n", + " 9 1.9985e-01 1.7201e-01 1.6485e-05 2.7680e-03 4.25454e-02 0.0625 4.5564e-03 1\n", + " 10 1.9955e-01 1.7200e-01 1.5494e-05 2.7392e-03 3.62409e-02 0.2500 3.2831e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7011e+02 1.8109e-01 4.6776e+01 2.1715e-01 1.07519e+00 1.0000 ---- 3\n", + " 2 5.0118e+01 1.7197e-01 2.1806e+00 2.8140e+00 2.75774e-01 1.0000 2.8140e+00 3\n", + " 3 2.0837e+00 1.7201e-01 5.6137e-03 1.8556e-01 2.38758e-01 0.5000 1.8556e-01 3\n", + " 4 1.8676e+00 1.7200e-01 2.9600e-03 1.6660e-01 6.93583e-02 1.0000 1.6660e-01 3\n", + " 5 1.7242e-01 1.7200e-01 4.2081e-05 0.0000e+00 1.24334e-01 0.5000 1.7277e-03 1\n", + " 6 1.7225e-01 1.7200e-01 2.5617e-05 0.0000e+00 6.17476e-02 0.5000 1.7597e-03 1\n", + " 7 1.7213e-01 1.7200e-01 1.2818e-05 0.0000e+00 3.83677e-02 0.5000 1.7474e-03 1\n", + " 8 1.7206e-01 1.7200e-01 6.5014e-06 0.0000e+00 2.69503e-02 1.0000 1.7628e-03 1\n", + " 9 1.7200e-01 1.7200e-01 2.9377e-07 0.0000e+00 6.61490e-02 0.2500 1.7449e-03 1\n", + " 10 1.7200e-01 1.7200e-01 2.3817e-07 0.0000e+00 8.11367e-03 0.2500 1.7581e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7085e+02 1.8108e-01 4.6773e+01 2.9430e-01 1.07277e+00 1.0000 ---- 3\n", + " 2 5.0652e+01 1.7196e-01 2.1845e+00 2.8635e+00 2.71417e-01 1.0000 2.8635e+00 3\n", + " 3 2.1094e+00 1.7200e-01 5.3415e-03 1.8840e-01 2.36272e-01 0.5000 1.8840e-01 3\n", + " 4 1.8823e+00 1.7199e-01 2.8332e-03 1.6820e-01 7.18683e-02 1.0000 1.6820e-01 3\n", + " 5 1.7241e-01 1.7199e-01 4.1381e-05 0.0000e+00 1.30972e-01 0.5000 1.7420e-03 1\n", + " 6 1.7224e-01 1.7199e-01 2.5321e-05 0.0000e+00 6.65130e-02 0.5000 1.7699e-03 1\n", + " 7 1.7212e-01 1.7199e-01 1.2683e-05 0.0000e+00 4.17906e-02 1.0000 1.7594e-03 1\n", + " 8 1.7200e-01 1.7199e-01 7.3300e-07 0.0000e+00 1.00540e-01 0.5000 1.7871e-03 1\n", + " 9 1.7200e-01 1.7199e-01 7.7840e-07 0.0000e+00 7.36181e-02 0.5000 1.7539e-03 1\n", + " 10 1.7199e-01 1.7199e-01 5.1284e-07 0.0000e+00 5.71132e-02 1.0000 1.7835e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7125e+02 1.8107e-01 4.6792e+01 3.1473e-01 1.17116e+00 1.0000 ---- 3\n", + " 2 5.1552e+01 1.7195e-01 2.1671e+00 2.9709e+00 6.12543e-01 1.0000 2.9709e+00 3\n", + " 3 1.8743e+00 1.7197e-01 8.3609e-03 1.6187e-01 1.07444e+00 0.2500 1.6187e-01 3\n", + " 4 1.6903e+00 1.7192e-01 6.3189e-03 1.4552e-01 2.07187e-01 1.0000 1.4552e-01 3\n", + " 5 9.0127e-01 1.7192e-01 2.6684e-04 7.2668e-02 4.11251e-01 0.1250 7.2668e-02 3\n", + " 6 8.5088e-01 1.7191e-01 2.3345e-04 6.7664e-02 2.46379e-01 0.5000 6.7664e-02 3\n", + " 7 8.3508e-01 1.7191e-01 1.1918e-04 6.6198e-02 1.46168e-01 1.0000 6.6198e-02 3\n", + " 8 7.8042e-01 1.7191e-01 5.9275e-06 6.0845e-02 3.47330e-01 0.1250 6.0845e-02 3\n", + " 9 7.4303e-01 1.7190e-01 5.4391e-06 5.7107e-02 2.00342e-01 0.2500 5.7107e-02 3\n", + " 10 6.2523e-01 1.7190e-01 4.4787e-06 4.5328e-02 3.22202e-02 1.0000 4.5328e-02 3\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7276e+02 1.8099e-01 4.6912e+01 3.4519e-01 1.10750e+00 1.0000 ---- 3\n", + " 2 5.4711e+01 1.7187e-01 2.1874e+00 3.2665e+00 3.91413e-01 1.0000 3.2665e+00 3\n", + " 3 2.6288e+00 1.7191e-01 5.7675e-03 2.3992e-01 5.46004e-01 0.1250 2.3992e-01 3\n", + " 4 2.3961e+00 1.7190e-01 5.0546e-03 2.1737e-01 3.40043e-01 0.5000 2.1737e-01 3\n", + " 5 2.3041e+00 1.7190e-01 2.6107e-03 2.1061e-01 1.76362e-01 1.0000 2.1061e-01 3\n", + " 6 1.5600e+00 1.7190e-01 7.0146e-05 1.3874e-01 3.93615e-01 0.1250 1.3874e-01 3\n", + " 7 1.4852e+00 1.7189e-01 6.1721e-05 1.3127e-01 2.31275e-01 0.2500 1.3127e-01 3\n", + " 8 1.2277e+00 1.7189e-01 4.6905e-05 1.0553e-01 4.06897e-02 1.0000 1.0553e-01 3\n", + " 9 1.7191e-01 1.7189e-01 1.4241e-06 0.0000e+00 8.92821e-02 0.5000 1.7168e-03 1\n", + " 10 1.7190e-01 1.7189e-01 1.3015e-06 0.0000e+00 5.71160e-02 0.2500 1.6527e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7332e+02 1.8097e-01 4.6990e+01 3.2371e-01 1.07595e+00 1.0000 ---- 3\n", + " 2 5.5385e+01 1.7186e-01 2.2166e+00 3.3047e+00 2.76281e-01 1.0000 3.3047e+00 3\n", + " 3 1.1104e+00 1.7190e-01 5.1694e-03 8.8684e-02 2.72582e-01 0.1250 8.8684e-02 3\n", + " 4 1.0203e+00 1.7190e-01 4.5337e-03 8.0309e-02 1.83404e-01 0.2500 8.0309e-02 3\n", + " 5 8.6796e-01 1.7190e-01 3.4271e-03 6.6179e-02 7.04198e-02 1.0000 6.6179e-02 3\n", + " 6 3.4069e-01 1.7190e-01 1.6000e-04 1.6719e-02 8.93285e-02 0.5000 1.6719e-02 3\n", + " 7 3.2955e-01 1.7190e-01 8.6030e-05 1.5679e-02 2.89042e-02 1.0000 1.5679e-02 3\n", + " 8 2.0032e-01 1.7189e-01 2.9447e-06 2.8392e-03 5.57379e-02 0.0020 6.2321e-03 1\n", + " 9 2.0032e-01 1.7189e-01 2.9447e-06 2.8392e-03 5.57120e-02 0.2500 2.8392e-03 1\n", + " 10 1.9986e-01 1.7189e-01 2.6491e-06 2.7938e-03 1.40829e-02 1.0000 4.4928e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7279e+02 1.8098e-01 4.6943e+01 3.1818e-01 1.07908e+00 1.0000 ---- 3\n", + " 2 5.5824e+01 1.7186e-01 2.2107e+00 3.3545e+00 2.88537e-01 1.0000 3.3545e+00 3\n", + " 3 1.6854e+00 1.7191e-01 5.0871e-03 1.4626e-01 2.89946e-01 0.2500 1.4626e-01 3\n", + " 4 1.5320e+00 1.7190e-01 3.8473e-03 1.3216e-01 1.08601e-01 1.0000 1.3216e-01 3\n", + " 5 5.0907e-01 1.7190e-01 2.2964e-04 3.3487e-02 1.46880e-01 0.1250 3.3487e-02 3\n", + " 6 4.7806e-01 1.7190e-01 2.0195e-04 3.0415e-02 9.83773e-02 0.2500 3.0415e-02 3\n", + " 7 4.2436e-01 1.7190e-01 1.5334e-04 2.5093e-02 3.75642e-02 1.0000 2.5093e-02 3\n", + " 8 2.1129e-01 1.7190e-01 1.0239e-05 3.9286e-03 4.93567e-02 0.0020 8.1111e-03 1\n", + " 9 2.1129e-01 1.7190e-01 1.0239e-05 3.9286e-03 4.93396e-02 0.2500 3.9286e-03 1\n", + " 10 2.0759e-01 1.7190e-01 8.4935e-06 3.5612e-03 1.95665e-02 0.5000 5.2203e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7263e+02 1.8098e-01 4.6931e+01 3.1409e-01 1.07374e+00 1.0000 ---- 3\n", + " 2 5.5091e+01 1.7186e-01 2.2013e+00 3.2906e+00 2.61839e-01 1.0000 3.2906e+00 3\n", + " 3 1.0626e+00 1.7191e-01 5.2288e-03 8.3844e-02 2.29838e-01 0.2500 8.3844e-02 3\n", + " 4 1.0612e+00 1.7190e-01 3.9628e-03 8.4969e-02 9.28452e-02 1.0000 8.4969e-02 3\n", + " 5 4.9298e-01 1.7190e-01 2.4022e-04 3.1867e-02 1.17412e-01 0.2500 3.1867e-02 3\n", + " 6 4.6608e-01 1.7190e-01 1.8265e-04 2.9235e-02 4.66823e-02 1.0000 2.9235e-02 3\n", + " 7 2.4984e-01 1.7190e-01 1.8713e-05 7.7758e-03 6.09934e-02 0.2500 7.7758e-03 3\n", + " 8 2.3375e-01 1.7190e-01 1.5113e-05 6.1704e-03 2.40917e-02 1.0000 6.1704e-03 2\n", + " 9 1.9737e-01 1.7190e-01 4.1149e-06 2.5432e-03 3.38236e-02 0.0020 5.3913e-03 1\n", + " 10 1.9737e-01 1.7190e-01 4.1149e-06 2.5432e-03 3.38061e-02 0.2500 2.5432e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7189e+02 1.8098e-01 4.6864e+01 3.0699e-01 1.07187e+00 1.0000 ---- 3\n", + " 2 5.3793e+01 1.7187e-01 2.2085e+00 3.1536e+00 2.63709e-01 1.0000 3.1536e+00 3\n", + " 3 1.4563e+00 1.7191e-01 5.1575e-03 1.2328e-01 2.31908e-01 0.2500 1.2328e-01 3\n", + " 4 1.3008e+00 1.7190e-01 3.9044e-03 1.0899e-01 9.24757e-02 1.0000 1.0899e-01 3\n", + " 5 4.7974e-01 1.7190e-01 2.1566e-04 3.0569e-02 1.19045e-01 0.2500 3.0569e-02 3\n", + " 6 4.0914e-01 1.7190e-01 1.6368e-04 2.3560e-02 4.67623e-02 1.0000 2.3560e-02 3\n", + " 7 2.1794e-01 1.7190e-01 1.8934e-05 4.5850e-03 6.22590e-02 0.2500 4.5850e-03 2\n", + " 8 2.1117e-01 1.7190e-01 1.5274e-05 3.9116e-03 2.46096e-02 0.0020 9.0586e-03 1\n", + " 9 2.1117e-01 1.7190e-01 1.5274e-05 3.9116e-03 2.46006e-02 0.5000 3.9116e-03 1\n", + " 10 2.0081e-01 1.7190e-01 8.7916e-06 2.8822e-03 5.91549e-03 1.0000 3.3798e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7313e+02 1.8098e-01 4.6935e+01 3.6031e-01 1.07603e+00 1.0000 ---- 3\n", + " 2 5.3914e+01 1.7187e-01 2.2090e+00 3.1653e+00 2.75026e-01 1.0000 3.1653e+00 3\n", + " 3 1.4949e+00 1.7191e-01 5.1986e-03 1.2710e-01 2.48562e-01 0.2500 1.2710e-01 3\n", + " 4 1.3735e+00 1.7190e-01 3.9349e-03 1.1623e-01 9.99827e-02 1.0000 1.1623e-01 3\n", + " 5 5.7822e-01 1.7190e-01 2.1988e-04 4.0412e-02 1.29423e-01 0.2500 4.0412e-02 3\n", + " 6 4.8480e-01 1.7190e-01 1.6737e-04 3.1122e-02 4.97642e-02 1.0000 3.1122e-02 3\n", + " 7 2.1537e-01 1.7190e-01 1.7611e-05 4.3296e-03 6.61894e-02 0.2500 4.3296e-03 2\n", + " 8 2.0706e-01 1.7190e-01 1.4581e-05 3.5015e-03 2.61572e-02 0.0020 8.8663e-03 1\n", + " 9 2.0706e-01 1.7190e-01 1.4581e-05 3.5015e-03 2.61459e-02 0.5000 3.5015e-03 1\n", + " 10 1.9835e-01 1.7190e-01 8.2909e-06 2.6364e-03 6.42422e-03 1.0000 3.3698e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7277e+02 1.8098e-01 4.6905e+01 3.5330e-01 1.07576e+00 1.0000 ---- 3\n", + " 2 5.3699e+01 1.7187e-01 2.2092e+00 3.1435e+00 2.75392e-01 1.0000 3.1435e+00 3\n", + " 3 1.7425e+00 1.7191e-01 5.2385e-03 1.5182e-01 2.49260e-01 0.2500 1.5182e-01 3\n", + " 4 1.5219e+00 1.7190e-01 3.9645e-03 1.3103e-01 1.00458e-01 1.0000 1.3103e-01 3\n", + " 5 5.6581e-01 1.7190e-01 2.2373e-04 3.9167e-02 1.29891e-01 0.5000 3.9167e-02 3\n", + " 6 5.4180e-01 1.7190e-01 1.2346e-04 3.6867e-02 3.87199e-02 1.0000 3.6867e-02 3\n", + " 7 2.4027e-01 1.7190e-01 7.0877e-06 6.8299e-03 6.94012e-02 0.2500 6.8299e-03 2\n", + " 8 2.2342e-01 1.7190e-01 6.3277e-06 5.1459e-03 1.91080e-02 1.0000 5.1459e-03 2\n", + " 9 1.7191e-01 1.7190e-01 1.6021e-06 0.0000e+00 3.35232e-02 0.2500 1.7137e-03 1\n", + " 10 1.7191e-01 1.7190e-01 1.4775e-06 0.0000e+00 1.11797e-02 1.0000 1.7187e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7210e+02 1.8097e-01 4.6837e+01 3.5493e-01 1.07124e+00 1.0000 ---- 3\n", + " 2 5.0363e+01 1.7187e-01 2.1897e+00 2.8293e+00 2.60601e-01 1.0000 2.8293e+00 3\n", + " 3 2.0816e+00 1.7190e-01 5.5832e-03 1.8538e-01 2.19098e-01 0.5000 1.8538e-01 3\n", + " 4 1.3506e+00 1.7189e-01 2.9527e-03 1.1492e-01 6.06990e-02 1.0000 1.1492e-01 3\n", + " 5 4.1754e-01 1.7190e-01 3.5426e-05 2.4529e-02 1.03317e-01 0.2500 2.4529e-02 3\n", + " 6 3.7404e-01 1.7189e-01 2.7437e-05 2.0187e-02 2.98897e-02 1.0000 2.0187e-02 3\n", + " 7 1.8251e-01 1.7189e-01 2.5629e-06 1.0586e-03 5.20463e-02 0.0020 2.3072e-03 1\n", + " 8 1.8251e-01 1.7189e-01 2.5629e-06 1.0586e-03 5.20210e-02 0.2500 1.7414e-03 1\n", + " 9 1.8192e-01 1.7189e-01 2.1445e-06 1.0002e-03 1.66518e-02 0.5000 1.7405e-03 1\n", + " 10 1.8111e-01 1.7189e-01 1.1342e-06 9.2061e-04 5.94081e-03 1.0000 1.7464e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7175e+02 1.8097e-01 4.6792e+01 3.6445e-01 1.07223e+00 1.0000 ---- 3\n", + " 2 5.0305e+01 1.7186e-01 2.1840e+00 2.8293e+00 2.64889e-01 1.0000 2.8293e+00 3\n", + " 3 1.4145e+00 1.7190e-01 5.4522e-03 1.1881e-01 2.25758e-01 0.5000 1.1881e-01 3\n", + " 4 1.2372e+00 1.7189e-01 2.8879e-03 1.0364e-01 6.49167e-02 1.0000 1.0364e-01 3\n", + " 5 3.3686e-01 1.7189e-01 3.7441e-05 1.6460e-02 1.11175e-01 0.2500 1.6460e-02 3\n", + " 6 3.2953e-01 1.7189e-01 2.9174e-05 1.5735e-02 3.24936e-02 1.0000 1.5735e-02 3\n", + " 7 1.9144e-01 1.7189e-01 3.5685e-06 1.9511e-03 5.64374e-02 0.0020 3.9308e-03 1\n", + " 8 1.9144e-01 1.7189e-01 3.5685e-06 1.9511e-03 5.64064e-02 0.1250 1.9511e-03 1\n", + " 9 1.9116e-01 1.7189e-01 3.2126e-06 1.9242e-03 3.68953e-02 0.0625 2.9879e-03 1\n", + " 10 1.9097e-01 1.7189e-01 3.0196e-06 1.9050e-03 3.06019e-02 0.2500 2.1133e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7203e+02 1.8097e-01 4.6818e+01 3.6690e-01 1.07215e+00 1.0000 ---- 3\n", + " 2 5.1225e+01 1.7186e-01 2.1959e+00 2.9094e+00 2.65211e-01 1.0000 2.9094e+00 3\n", + " 3 1.7657e+00 1.7190e-01 5.3977e-03 1.5398e-01 2.30842e-01 0.5000 1.5398e-01 3\n", + " 4 1.2933e+00 1.7189e-01 2.8577e-03 1.0928e-01 6.83639e-02 1.0000 1.0928e-01 3\n", + " 5 4.2775e-01 1.7189e-01 4.0007e-05 2.5547e-02 1.19163e-01 0.2500 2.5547e-02 3\n", + " 6 3.8789e-01 1.7189e-01 3.1116e-05 2.1569e-02 3.35814e-02 1.0000 2.1569e-02 3\n", + " 7 1.8143e-01 1.7189e-01 3.3599e-06 9.5091e-04 5.88705e-02 0.0020 2.2329e-03 1\n", + " 8 1.8143e-01 1.7189e-01 3.3599e-06 9.5091e-04 5.88428e-02 0.1250 1.7453e-03 1\n", + " 9 1.8086e-01 1.7189e-01 3.0217e-06 8.9401e-04 3.84830e-02 0.0625 1.7397e-03 1\n", + " 10 1.8077e-01 1.7189e-01 2.8413e-06 8.8515e-04 3.19123e-02 0.2500 1.7401e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7125e+02 1.8096e-01 4.6745e+01 3.6194e-01 1.07156e+00 1.0000 ---- 3\n", + " 2 5.0287e+01 1.7186e-01 2.1879e+00 2.8236e+00 2.66665e-01 1.0000 2.8236e+00 3\n", + " 3 1.5897e+00 1.7189e-01 5.4736e-03 1.3631e-01 2.31742e-01 0.5000 1.3631e-01 3\n", + " 4 1.2918e+00 1.7188e-01 2.9008e-03 1.0909e-01 6.80668e-02 1.0000 1.0909e-01 3\n", + " 5 1.9153e-01 1.7188e-01 3.5582e-05 1.9291e-03 1.18601e-01 0.0020 3.7096e-03 1\n", + " 6 1.9153e-01 1.7188e-01 3.5582e-05 1.9291e-03 1.18552e-01 0.1250 1.9291e-03 1\n", + " 7 1.9120e-01 1.7188e-01 3.1437e-05 1.9004e-03 7.61949e-02 0.0625 2.5660e-03 1\n", + " 8 1.9102e-01 1.7188e-01 2.9502e-05 1.8844e-03 6.28125e-02 0.2500 1.8844e-03 1\n", + " 9 1.9019e-01 1.7188e-01 2.2435e-05 1.8080e-03 1.93401e-02 1.0000 2.1272e-03 1\n", + " 10 1.8572e-01 1.7188e-01 1.8815e-06 1.3818e-03 3.10999e-02 0.5000 1.7703e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7043e+02 1.8096e-01 4.6712e+01 3.1291e-01 1.07470e+00 1.0000 ---- 3\n", + " 2 5.0934e+01 1.7185e-01 2.1794e+00 2.8968e+00 2.85651e-01 1.0000 2.8968e+00 3\n", + " 3 1.8912e+00 1.7189e-01 5.3211e-03 1.6661e-01 2.66891e-01 0.2500 1.6661e-01 3\n", + " 4 1.6076e+00 1.7188e-01 4.0255e-03 1.3955e-01 1.03286e-01 1.0000 1.3955e-01 3\n", + " 5 5.4016e-01 1.7188e-01 2.2114e-04 3.6607e-02 1.37870e-01 0.2500 3.6607e-02 3\n", + " 6 4.6512e-01 1.7188e-01 1.6908e-04 2.9155e-02 5.14329e-02 1.0000 2.9155e-02 3\n", + " 7 1.7574e-01 1.7188e-01 1.7889e-05 3.6789e-04 6.97438e-02 0.0020 1.8851e-03 1\n", + " 8 1.7574e-01 1.7188e-01 1.7889e-05 3.6789e-04 6.97146e-02 0.0156 1.7599e-03 1\n", + " 9 1.7570e-01 1.7188e-01 1.7615e-05 3.6466e-04 6.70023e-02 0.0078 1.7596e-03 1\n", + " 10 1.7570e-01 1.7188e-01 1.7479e-05 3.6474e-04 6.54179e-02 0.0156 1.7592e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7092e+02 1.8096e-01 4.6798e+01 2.7587e-01 1.09117e+00 1.0000 ---- 3\n", + " 2 5.0166e+01 1.7185e-01 2.1785e+00 2.8209e+00 3.05654e-01 1.0000 2.8209e+00 3\n", + " 3 2.6107e+00 1.7188e-01 5.9600e-03 2.3792e-01 2.94991e-01 0.5000 2.3792e-01 3\n", + " 4 2.2334e+00 1.7187e-01 3.1038e-03 2.0305e-01 8.94103e-02 1.0000 2.0305e-01 3\n", + " 5 2.2071e-01 1.7187e-01 4.7492e-05 4.8357e-03 1.75948e-01 0.1250 4.8357e-03 2\n", + " 6 2.1536e-01 1.7187e-01 4.1778e-05 4.3068e-03 1.06624e-01 0.2500 4.3068e-03 2\n", + " 7 2.0544e-01 1.7187e-01 3.1728e-05 3.3252e-03 2.71140e-02 0.0020 8.0132e-03 1\n", + " 8 2.0544e-01 1.7187e-01 3.1728e-05 3.3252e-03 2.71122e-02 1.0000 3.3252e-03 1\n", + " 9 1.8931e-01 1.7187e-01 3.9330e-06 1.7397e-03 4.58592e-02 0.1250 2.3732e-03 1\n", + " 10 1.8856e-01 1.7187e-01 3.4557e-06 1.6652e-03 2.92590e-02 0.2500 2.6704e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7051e+02 1.8094e-01 4.6688e+01 3.4479e-01 1.07053e+00 1.0000 ---- 3\n", + " 2 5.0096e+01 1.7184e-01 2.1857e+00 2.8067e+00 2.61945e-01 1.0000 2.8067e+00 3\n", + " 3 1.2016e+00 1.7187e-01 5.3853e-03 9.7584e-02 2.16721e-01 0.2500 9.7584e-02 3\n", + " 4 9.9888e-01 1.7187e-01 4.0771e-03 7.8624e-02 9.04755e-02 1.0000 7.8624e-02 3\n", + " 5 2.3472e-01 1.7186e-01 2.2958e-04 6.0563e-03 1.11495e-01 0.1250 6.0563e-03 3\n", + " 6 2.2811e-01 1.7186e-01 2.0151e-04 5.4232e-03 7.77469e-02 0.2500 5.4232e-03 3\n", + " 7 2.2381e-01 1.7186e-01 1.5244e-04 5.0424e-03 3.32035e-02 1.0000 5.0424e-03 2\n", + " 8 2.1121e-01 1.7186e-01 1.0724e-05 3.9240e-03 4.10510e-02 0.0020 7.3161e-03 1\n", + " 9 2.1121e-01 1.7186e-01 1.0724e-05 3.9240e-03 4.10361e-02 0.2500 3.9240e-03 1\n", + " 10 2.0633e-01 1.7186e-01 8.7496e-06 3.4384e-03 1.71932e-02 1.0000 4.6225e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6950e+02 1.8093e-01 4.6675e+01 2.5662e-01 1.06797e+00 1.0000 ---- 3\n", + " 2 5.0654e+01 1.7183e-01 2.1902e+00 2.8580e+00 2.63200e-01 1.0000 2.8580e+00 3\n", + " 3 1.9457e+00 1.7186e-01 5.2127e-03 1.7217e-01 2.24635e-01 0.5000 1.7217e-01 3\n", + " 4 1.7609e+00 1.7185e-01 2.7529e-03 1.5616e-01 6.78776e-02 1.0000 1.5616e-01 3\n", + " 5 1.7223e-01 1.7186e-01 3.7016e-05 0.0000e+00 1.23728e-01 0.5000 1.7427e-03 1\n", + " 6 1.7208e-01 1.7185e-01 2.2550e-05 0.0000e+00 6.19368e-02 0.5000 1.7816e-03 1\n", + " 7 1.7197e-01 1.7185e-01 1.1253e-05 0.0000e+00 3.89253e-02 1.0000 1.7618e-03 1\n", + " 8 1.7186e-01 1.7185e-01 8.7057e-07 0.0000e+00 9.26774e-02 0.1250 1.8088e-03 1\n", + " 9 1.7186e-01 1.7185e-01 7.8305e-07 0.0000e+00 5.29179e-02 0.2500 1.7948e-03 1\n", + " 10 1.7186e-01 1.7185e-01 6.1919e-07 0.0000e+00 7.82894e-03 0.2500 1.7797e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7067e+02 1.8092e-01 4.6732e+01 3.1637e-01 1.07230e+00 1.0000 ---- 3\n", + " 2 5.0785e+01 1.7182e-01 2.1780e+00 2.8833e+00 2.68785e-01 1.0000 2.8833e+00 3\n", + " 3 7.0660e-01 1.7186e-01 5.3506e-03 4.8124e-02 2.37588e-01 0.1250 4.8124e-02 3\n", + " 4 6.8502e-01 1.7185e-01 4.6909e-03 4.6625e-02 1.63911e-01 0.2500 4.6625e-02 3\n", + " 5 6.5228e-01 1.7185e-01 3.5418e-03 4.4502e-02 6.86667e-02 1.0000 4.4502e-02 3\n", + " 6 3.5922e-01 1.7185e-01 1.4438e-04 1.8593e-02 8.49563e-02 0.2500 1.8593e-02 3\n", + " 7 3.3577e-01 1.7185e-01 1.0904e-04 1.6283e-02 3.44447e-02 1.0000 1.6283e-02 3\n", + " 8 2.1078e-01 1.7185e-01 1.0387e-05 3.8823e-03 4.47335e-02 0.0020 9.6599e-03 1\n", + " 9 2.1078e-01 1.7185e-01 1.0387e-05 3.8823e-03 4.47221e-02 0.2500 3.8823e-03 1\n", + " 10 2.1074e-01 1.7185e-01 8.5048e-06 3.8806e-03 1.79984e-02 0.5000 6.4531e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7122e+02 1.8092e-01 4.6718e+01 3.8651e-01 1.07187e+00 1.0000 ---- 3\n", + " 2 5.0373e+01 1.7182e-01 2.1886e+00 2.8315e+00 2.69423e-01 1.0000 2.8315e+00 3\n", + " 3 1.7417e+00 1.7185e-01 5.4316e-03 1.5155e-01 2.35773e-01 0.5000 1.5155e-01 3\n", + " 4 1.3968e+00 1.7184e-01 2.8917e-03 1.1961e-01 7.10914e-02 1.0000 1.1961e-01 3\n", + " 5 1.7220e-01 1.7185e-01 3.4962e-05 0.0000e+00 1.30240e-01 0.2500 1.7637e-03 1\n", + " 6 1.7212e-01 1.7184e-01 2.7473e-05 0.0000e+00 3.39657e-02 0.5000 1.7643e-03 1\n", + " 7 1.7198e-01 1.7184e-01 1.4042e-05 0.0000e+00 1.32224e-02 1.0000 1.7667e-03 1\n", + " 8 1.7185e-01 1.7184e-01 6.7333e-07 0.0000e+00 2.53029e-02 0.5000 1.7821e-03 1\n", + " 9 1.7185e-01 1.7184e-01 3.7352e-07 0.0000e+00 1.35414e-02 1.0000 1.7778e-03 1\n", + " 10 1.7185e-01 1.7184e-01 1.4234e-07 0.0000e+00 3.09278e-02 0.2500 1.7788e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6867e+02 1.8091e-01 4.6644e+01 2.0470e-01 1.07117e+00 1.0000 ---- 3\n", + " 2 5.2042e+01 1.7181e-01 2.1764e+00 3.0106e+00 2.76905e-01 1.0000 3.0106e+00 3\n", + " 3 1.7281e+00 1.7185e-01 5.3627e-03 1.5026e-01 2.50376e-01 0.2500 1.5026e-01 3\n", + " 4 1.4213e+00 1.7184e-01 4.0633e-03 1.2089e-01 9.80516e-02 1.0000 1.2089e-01 3\n", + " 5 3.2611e-01 1.7184e-01 2.3500e-04 1.5192e-02 1.26951e-01 0.2500 1.5192e-02 3\n", + " 6 3.2066e-01 1.7184e-01 1.7919e-04 1.4703e-02 4.94017e-02 1.0000 1.4703e-02 3\n", + " 7 2.7224e-01 1.7184e-01 1.8767e-05 1.0022e-02 6.46077e-02 0.5000 1.0022e-02 2\n", + " 8 2.6708e-01 1.7184e-01 1.4884e-05 9.5089e-03 1.75522e-02 1.0000 9.5089e-03 2\n", + " 9 1.7185e-01 1.7184e-01 9.6390e-07 0.0000e+00 3.11656e-02 0.2500 1.7388e-03 1\n", + " 10 1.7185e-01 1.7184e-01 8.6237e-07 0.0000e+00 1.02064e-02 0.5000 1.7435e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6781e+02 1.8091e-01 4.6625e+01 1.3802e-01 1.06871e+00 1.0000 ---- 3\n", + " 2 5.0857e+01 1.7181e-01 2.1813e+00 2.8872e+00 2.67587e-01 1.0000 2.8872e+00 3\n", + " 3 2.2927e+00 1.7184e-01 5.4262e-03 2.0666e-01 2.27659e-01 0.5000 2.0666e-01 3\n", + " 4 1.6954e+00 1.7183e-01 2.8871e-03 1.4947e-01 6.41002e-02 1.0000 1.4947e-01 3\n", + " 5 1.7221e-01 1.7184e-01 3.7258e-05 0.0000e+00 1.13281e-01 0.5000 1.7667e-03 1\n", + " 6 1.7207e-01 1.7183e-01 2.3254e-05 0.0000e+00 5.35744e-02 1.0000 1.7801e-03 1\n", + " 7 1.7186e-01 1.7183e-01 2.9657e-06 0.0000e+00 1.14497e-01 0.1250 1.7516e-03 1\n", + " 8 1.7186e-01 1.7183e-01 2.6833e-06 0.0000e+00 6.81579e-02 0.2500 1.7642e-03 1\n", + " 9 1.7185e-01 1.7183e-01 2.1689e-06 0.0000e+00 1.37042e-02 0.5000 1.7777e-03 1\n", + " 10 1.7184e-01 1.7183e-01 1.1405e-06 0.0000e+00 6.74937e-03 0.1250 1.7800e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6850e+02 1.8090e-01 4.6699e+01 1.3295e-01 1.06957e+00 1.0000 ---- 3\n", + " 2 5.1449e+01 1.7180e-01 2.1856e+00 2.9420e+00 2.65300e-01 1.0000 2.9420e+00 3\n", + " 3 1.7733e+00 1.7184e-01 5.3546e-03 1.5479e-01 2.24585e-01 0.5000 1.5479e-01 3\n", + " 4 1.6619e+00 1.7183e-01 2.8547e-03 1.4615e-01 6.08461e-02 1.0000 1.4615e-01 3\n", + " 5 1.7219e-01 1.7183e-01 3.6441e-05 0.0000e+00 1.02163e-01 0.5000 1.7525e-03 1\n", + " 6 1.7205e-01 1.7183e-01 2.2509e-05 0.0000e+00 4.24148e-02 0.5000 1.7724e-03 1\n", + " 7 1.7194e-01 1.7183e-01 1.1268e-05 0.0000e+00 2.19894e-02 0.5000 1.7692e-03 1\n", + " 8 1.7189e-01 1.7183e-01 5.7011e-06 0.0000e+00 1.35137e-02 1.0000 1.7779e-03 1\n", + " 9 1.7183e-01 1.7183e-01 1.7126e-07 0.0000e+00 3.15076e-02 0.2500 1.7717e-03 1\n", + " 10 1.7183e-01 1.7183e-01 1.3691e-07 0.0000e+00 4.71615e-03 0.2500 1.7771e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7035e+02 1.8089e-01 4.6690e+01 3.2658e-01 1.07201e+00 1.0000 ---- 3\n", + " 2 5.0938e+01 1.7180e-01 2.1757e+00 2.9009e+00 2.72339e-01 1.0000 2.9009e+00 3\n", + " 3 1.5226e+00 1.7183e-01 5.3089e-03 1.2977e-01 2.40830e-01 0.2500 1.2977e-01 3\n", + " 4 1.2693e+00 1.7183e-01 4.0239e-03 1.0573e-01 9.66102e-02 1.0000 1.0573e-01 3\n", + " 5 5.2846e-01 1.7183e-01 2.3272e-04 3.5430e-02 1.24422e-01 0.5000 3.5430e-02 3\n", + " 6 4.6743e-01 1.7183e-01 1.2804e-04 2.9432e-02 3.61860e-02 1.0000 2.9432e-02 3\n", + " 7 2.1234e-01 1.7182e-01 6.6214e-06 4.0450e-03 6.68705e-02 0.0020 9.8154e-03 1\n", + " 8 2.1234e-01 1.7182e-01 6.6214e-06 4.0450e-03 6.68400e-02 0.1250 4.0450e-03 1\n", + " 9 2.1037e-01 1.7182e-01 6.0235e-06 3.8488e-03 4.25195e-02 0.1250 6.8027e-03 1\n", + " 10 2.0983e-01 1.7182e-01 5.3702e-06 3.7952e-03 2.73658e-02 0.5000 4.6114e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6940e+02 1.8089e-01 4.6642e+01 2.7974e-01 1.07225e+00 1.0000 ---- 3\n", + " 2 5.0391e+01 1.7179e-01 2.1815e+00 2.8405e+00 2.82573e-01 1.0000 2.8405e+00 3\n", + " 3 2.0602e+00 1.7183e-01 5.2978e-03 1.8354e-01 2.62164e-01 0.5000 1.8354e-01 3\n", + " 4 2.0087e+00 1.7182e-01 2.7869e-03 1.8090e-01 8.73564e-02 1.0000 1.8090e-01 3\n", + " 5 1.7230e-01 1.7182e-01 4.7539e-05 0.0000e+00 1.73883e-01 0.5000 1.8323e-03 1\n", + " 6 1.7212e-01 1.7182e-01 3.0089e-05 0.0000e+00 1.06152e-01 0.5000 1.7726e-03 1\n", + " 7 1.7197e-01 1.7182e-01 1.5360e-05 0.0000e+00 7.22228e-02 1.0000 1.7519e-03 1\n", + " 8 1.7183e-01 1.7182e-01 1.0903e-06 0.0000e+00 1.75436e-01 0.2500 1.7993e-03 1\n", + " 9 1.7182e-01 1.7181e-01 9.3775e-07 0.0000e+00 2.37638e-02 0.5000 1.7702e-03 1\n", + " 10 1.7182e-01 1.7181e-01 4.9055e-07 0.0000e+00 1.58628e-02 0.2500 1.7658e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6896e+02 1.8088e-01 4.6648e+01 2.2977e-01 1.07002e+00 1.0000 ---- 3\n", + " 2 5.0391e+01 1.7178e-01 2.1799e+00 2.8420e+00 2.69745e-01 1.0000 2.8420e+00 3\n", + " 3 2.0759e+00 1.7181e-01 5.3509e-03 1.8506e-01 2.29824e-01 0.5000 1.8506e-01 3\n", + " 4 1.8599e+00 1.7181e-01 2.8243e-03 1.6599e-01 7.13186e-02 1.0000 1.6599e-01 3\n", + " 5 1.7221e-01 1.7181e-01 4.0451e-05 0.0000e+00 1.39288e-01 0.5000 1.7388e-03 1\n", + " 6 1.7206e-01 1.7181e-01 2.5709e-05 0.0000e+00 8.07104e-02 0.5000 1.7688e-03 1\n", + " 7 1.7193e-01 1.7181e-01 1.2831e-05 0.0000e+00 5.31381e-02 1.0000 1.7570e-03 1\n", + " 8 1.7181e-01 1.7181e-01 8.6882e-07 0.0000e+00 1.28062e-01 0.2500 1.7883e-03 1\n", + " 9 1.7181e-01 1.7180e-01 7.4186e-07 0.0000e+00 1.79872e-02 0.2500 1.7706e-03 1\n", + " 10 1.7181e-01 1.7180e-01 5.6216e-07 0.0000e+00 3.19894e-03 0.5000 1.7689e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6951e+02 1.8087e-01 4.6693e+01 2.3989e-01 1.07093e+00 1.0000 ---- 3\n", + " 2 5.0844e+01 1.7177e-01 2.1814e+00 2.8858e+00 2.68916e-01 1.0000 2.8858e+00 3\n", + " 3 2.1854e+00 1.7181e-01 5.3071e-03 1.9605e-01 2.30865e-01 0.5000 1.9605e-01 3\n", + " 4 1.8810e+00 1.7180e-01 2.8105e-03 1.6810e-01 6.99153e-02 1.0000 1.6810e-01 3\n", + " 5 1.7217e-01 1.7180e-01 3.6683e-05 0.0000e+00 1.33217e-01 0.2500 1.7484e-03 1\n", + " 6 1.7209e-01 1.7180e-01 2.8771e-05 0.0000e+00 3.30891e-02 0.5000 1.7620e-03 1\n", + " 7 1.7195e-01 1.7180e-01 1.4700e-05 0.0000e+00 1.35190e-02 1.0000 1.7707e-03 1\n", + " 8 1.7181e-01 1.7180e-01 7.0066e-07 0.0000e+00 2.74490e-02 0.5000 1.7751e-03 1\n", + " 9 1.7180e-01 1.7180e-01 3.6412e-07 0.0000e+00 1.63899e-02 1.0000 1.7787e-03 1\n", + " 10 1.7180e-01 1.7180e-01 1.2148e-07 0.0000e+00 3.78310e-02 0.2500 1.7730e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7017e+02 1.8086e-01 4.6653e+01 3.4656e-01 1.07235e+00 1.0000 ---- 3\n", + " 2 5.0306e+01 1.7177e-01 2.1745e+00 2.8390e+00 2.76313e-01 1.0000 2.8390e+00 3\n", + " 3 1.9264e+00 1.7180e-01 5.3214e-03 1.7013e-01 2.45667e-01 0.5000 1.7013e-01 3\n", + " 4 1.8048e+00 1.7179e-01 2.8188e-03 1.6048e-01 7.85161e-02 1.0000 1.6048e-01 3\n", + " 5 1.7217e-01 1.7180e-01 3.7680e-05 0.0000e+00 1.52951e-01 0.5000 1.7538e-03 1\n", + " 6 1.7203e-01 1.7179e-01 2.4161e-05 0.0000e+00 8.63728e-02 0.5000 1.7918e-03 1\n", + " 7 1.7191e-01 1.7179e-01 1.2100e-05 0.0000e+00 5.73275e-02 1.0000 1.7723e-03 1\n", + " 8 1.7180e-01 1.7179e-01 8.1459e-07 0.0000e+00 1.40942e-01 0.5000 1.8188e-03 1\n", + " 9 1.7180e-01 1.7179e-01 9.4190e-07 0.0000e+00 1.03306e-01 1.0000 1.7609e-03 1\n", + " 10 1.7180e-01 1.7179e-01 1.0023e-06 0.0000e+00 2.63106e-01 0.2500 1.8709e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6943e+02 1.8084e-01 4.6648e+01 2.7720e-01 1.07775e+00 1.0000 ---- 3\n", + " 2 5.0253e+01 1.7175e-01 2.1979e+00 2.8102e+00 2.90454e-01 1.0000 2.8102e+00 3\n", + " 3 1.9588e+00 1.7178e-01 5.2234e-03 1.7348e-01 3.11847e-01 0.5000 1.7348e-01 3\n", + " 4 1.7587e+00 1.7177e-01 2.7458e-03 1.5595e-01 1.63646e-01 1.0000 1.5595e-01 3\n", + " 5 6.8091e-01 1.7177e-01 5.7452e-05 5.0856e-02 3.81351e-01 0.2500 5.0856e-02 3\n", + " 6 6.1731e-01 1.7176e-01 4.5113e-05 4.4509e-02 6.14589e-02 1.0000 4.4509e-02 3\n", + " 7 1.7180e-01 1.7176e-01 3.9649e-06 0.0000e+00 1.33789e-01 0.2500 1.7668e-03 1\n", + " 8 1.7180e-01 1.7176e-01 3.4800e-06 0.0000e+00 2.55036e-02 1.0000 1.7747e-03 1\n", + " 9 1.7178e-01 1.7176e-01 1.8244e-06 0.0000e+00 5.20101e-02 0.5000 1.7941e-03 1\n", + " 10 1.7177e-01 1.7176e-01 1.1015e-06 0.0000e+00 2.99726e-02 0.5000 1.7929e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6935e+02 1.8081e-01 4.6643e+01 2.7415e-01 1.07224e+00 1.0000 ---- 3\n", + " 2 5.0600e+01 1.7172e-01 2.1917e+00 2.8512e+00 2.71463e-01 1.0000 2.8512e+00 3\n", + " 3 2.4105e+00 1.7175e-01 5.3162e-03 2.1856e-01 2.47054e-01 0.5000 2.1856e-01 3\n", + " 4 2.1120e+00 1.7175e-01 2.7981e-03 1.9123e-01 9.88030e-02 1.0000 1.9123e-01 3\n", + " 5 1.7214e-01 1.7175e-01 3.9329e-05 0.0000e+00 2.05857e-01 0.1250 1.7498e-03 1\n", + " 6 1.7210e-01 1.7175e-01 3.4672e-05 0.0000e+00 1.23902e-01 0.1250 1.7552e-03 1\n", + " 7 1.7205e-01 1.7175e-01 3.0440e-05 0.0000e+00 7.52197e-02 0.0625 1.7594e-03 1\n", + " 8 1.7205e-01 1.7175e-01 2.8547e-05 1.4319e-06 6.06316e-02 0.1250 1.7609e-03 1\n", + " 9 1.7204e-01 1.7175e-01 2.5000e-05 3.9097e-06 3.72500e-02 0.1250 1.7638e-03 1\n", + " 10 1.7203e-01 1.7175e-01 2.1880e-05 5.8375e-06 2.31330e-02 1.0000 1.7660e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6859e+02 1.8080e-01 4.6614e+01 2.2692e-01 1.07742e+00 1.0000 ---- 3\n", + " 2 4.9456e+01 1.7171e-01 2.1730e+00 2.7554e+00 2.99405e-01 1.0000 2.7554e+00 3\n", + " 3 1.6432e+00 1.7174e-01 5.5101e-03 1.4164e-01 3.36131e-01 0.2500 1.4164e-01 3\n", + " 4 1.3684e+00 1.7174e-01 4.1685e-03 1.1549e-01 9.95673e-02 1.0000 1.1549e-01 3\n", + " 5 3.2022e-01 1.7174e-01 2.0800e-04 1.4640e-02 1.39174e-01 0.2500 1.4640e-02 3\n", + " 6 2.9840e-01 1.7173e-01 1.5795e-04 1.2509e-02 4.74533e-02 1.0000 1.2509e-02 2\n", + " 7 2.4933e-01 1.7173e-01 1.6475e-05 7.7432e-03 6.54143e-02 0.0020 9.4525e-03 1\n", + " 8 2.4933e-01 1.7173e-01 1.6475e-05 7.7432e-03 6.53897e-02 0.2500 7.7432e-03 1\n", + " 9 2.4533e-01 1.7173e-01 1.3366e-05 7.3465e-03 2.38335e-02 0.5000 7.3465e-03 1\n", + " 10 2.3990e-01 1.7173e-01 7.7210e-06 6.8090e-03 6.02758e-03 1.0000 6.8090e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6932e+02 1.8079e-01 4.6635e+01 2.7917e-01 1.07146e+00 1.0000 ---- 3\n", + " 2 5.0288e+01 1.7169e-01 2.1825e+00 2.8292e+00 2.74534e-01 1.0000 2.8292e+00 3\n", + " 3 6.9752e-01 1.7173e-01 5.2461e-03 4.7333e-02 2.40546e-01 0.2500 4.7333e-02 3\n", + " 4 6.7223e-01 1.7172e-01 3.9672e-03 4.6084e-02 9.47899e-02 1.0000 4.6084e-02 3\n", + " 5 5.3796e-01 1.7172e-01 2.1176e-04 3.6412e-02 1.19969e-01 0.2500 3.6412e-02 3\n", + " 6 5.0795e-01 1.7172e-01 1.6077e-04 3.3462e-02 4.78691e-02 1.0000 3.3462e-02 3\n", + " 7 2.4702e-01 1.7172e-01 1.6892e-05 7.5132e-03 6.19406e-02 0.2500 7.5132e-03 2\n", + " 8 2.4062e-01 1.7172e-01 1.3739e-05 6.8761e-03 2.48607e-02 0.0020 1.0128e-02 1\n", + " 9 2.4062e-01 1.7172e-01 1.3739e-05 6.8761e-03 2.48553e-02 1.0000 6.8761e-03 1\n", + " 10 2.3842e-01 1.7172e-01 6.4215e-06 6.6636e-03 3.26745e-02 0.1250 6.7057e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6954e+02 1.8077e-01 4.6704e+01 2.3206e-01 1.06876e+00 1.0000 ---- 3\n", + " 2 5.2749e+01 1.7168e-01 2.1943e+00 3.0634e+00 2.56103e-01 1.0000 3.0634e+00 3\n", + " 3 1.1985e+00 1.7172e-01 4.9993e-03 9.7676e-02 2.10765e-01 0.2500 9.7676e-02 3\n", + " 4 1.0985e+00 1.7172e-01 3.7837e-03 8.8895e-02 8.76440e-02 1.0000 8.8895e-02 3\n", + " 5 3.7427e-01 1.7172e-01 2.1779e-04 2.0038e-02 1.08057e-01 0.1250 2.0038e-02 3\n", + " 6 3.5680e-01 1.7172e-01 1.9103e-04 1.8317e-02 7.56978e-02 0.2500 1.8317e-02 3\n", + " 7 3.2624e-01 1.7171e-01 1.4430e-04 1.5308e-02 3.22634e-02 1.0000 1.5308e-02 3\n", + " 8 1.9553e-01 1.7171e-01 1.0259e-05 2.3713e-03 4.00611e-02 0.0020 4.3602e-03 1\n", + " 9 1.9553e-01 1.7171e-01 1.0259e-05 2.3713e-03 4.00505e-02 0.1250 2.3713e-03 1\n", + " 10 1.9420e-01 1.7171e-01 9.1101e-06 2.2395e-03 2.82382e-02 0.1250 2.8046e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7155e+02 1.8077e-01 4.6760e+01 3.7711e-01 1.07771e+00 1.0000 ---- 3\n", + " 2 5.1389e+01 1.7168e-01 2.1767e+00 2.9450e+00 2.73081e-01 1.0000 2.9450e+00 3\n", + " 3 1.0368e+00 1.7172e-01 5.3339e-03 8.1179e-02 2.33661e-01 0.2500 8.1179e-02 3\n", + " 4 8.9635e-01 1.7171e-01 4.0373e-03 6.8427e-02 9.72416e-02 1.0000 6.8427e-02 3\n", + " 5 5.2017e-01 1.7171e-01 2.2419e-04 3.4622e-02 1.21353e-01 0.2500 3.4622e-02 3\n", + " 6 4.6367e-01 1.7171e-01 1.7117e-04 2.9024e-02 4.89307e-02 1.0000 2.9024e-02 3\n", + " 7 2.6526e-01 1.7171e-01 1.9929e-05 9.3348e-03 6.33229e-02 0.2500 9.3348e-03 3\n", + " 8 2.4948e-01 1.7171e-01 1.6300e-05 7.7604e-03 2.53452e-02 1.0000 7.7604e-03 2\n", + " 9 1.7794e-01 1.7171e-01 4.6704e-06 6.1798e-04 3.50158e-02 0.0020 1.7414e-03 1\n", + " 10 1.7794e-01 1.7171e-01 4.6704e-06 6.1798e-04 3.49998e-02 0.0625 1.7414e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7021e+02 1.8076e-01 4.6626e+01 3.7657e-01 1.06932e+00 1.0000 ---- 3\n", + " 2 5.0589e+01 1.7168e-01 2.1960e+00 2.8457e+00 2.61002e-01 1.0000 2.8457e+00 3\n", + " 3 1.8625e+00 1.7171e-01 5.2710e-03 1.6380e-01 2.16635e-01 0.5000 1.6380e-01 3\n", + " 4 1.3320e+00 1.7170e-01 2.7937e-03 1.1324e-01 6.49525e-02 1.0000 1.1324e-01 3\n", + " 5 1.9819e-01 1.7171e-01 2.9429e-05 2.6188e-03 1.24598e-01 0.0156 7.3208e-03 1\n", + " 6 1.9817e-01 1.7170e-01 2.8974e-05 2.6177e-03 1.18700e-01 0.2500 3.2410e-03 1\n", + " 7 1.9544e-01 1.7170e-01 2.2770e-05 2.3513e-03 2.98072e-02 1.0000 4.9712e-03 1\n", + " 8 1.9058e-01 1.7170e-01 2.9273e-06 1.8844e-03 5.30771e-02 0.5000 3.0657e-03 1\n", + " 9 1.8716e-01 1.7170e-01 2.4308e-06 1.5435e-03 2.58258e-02 1.0000 3.4495e-03 1\n", + " 10 1.8084e-01 1.7170e-01 4.9648e-07 9.1298e-04 5.50750e-02 1.0000 1.7719e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7024e+02 1.8076e-01 4.6679e+01 3.2749e-01 1.13582e+00 1.0000 ---- 3\n", + " 2 5.3291e+01 1.7167e-01 2.1932e+00 3.1187e+00 5.04481e-01 1.0000 3.1187e+00 3\n", + " 3 1.5065e+01 1.7169e-01 5.8049e-03 1.4835e+00 7.72204e-01 0.2500 1.4835e+00 3\n", + " 4 1.3494e+01 1.7165e-01 4.3911e-03 1.3278e+00 2.07446e-01 1.0000 1.3278e+00 3\n", + " 5 2.9940e+00 1.7167e-01 2.2772e-04 2.8201e-01 3.71155e-01 0.1250 2.8201e-01 3\n", + " 6 2.8448e+00 1.7166e-01 2.0000e-04 2.6711e-01 2.31698e-01 0.2500 2.6711e-01 3\n", + " 7 2.4110e+00 1.7166e-01 1.5233e-04 2.2378e-01 6.42641e-02 1.0000 2.2378e-01 3\n", + " 8 2.7031e-01 1.7166e-01 1.8611e-05 9.8456e-03 1.07311e-01 0.2500 9.8456e-03 2\n", + " 9 2.6993e-01 1.7166e-01 1.5153e-05 9.8116e-03 3.10404e-02 1.0000 9.8116e-03 2\n", + " 10 2.0444e-01 1.7166e-01 3.4509e-06 3.2741e-03 5.36216e-02 0.0020 5.1895e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6892e+02 1.8070e-01 4.6604e+01 2.7031e-01 1.08194e+00 1.0000 ---- 3\n", + " 2 5.3549e+01 1.7161e-01 2.1911e+00 3.1466e+00 3.04265e-01 1.0000 3.1466e+00 3\n", + " 3 4.6539e+00 1.7165e-01 5.4274e-03 4.4279e-01 3.27965e-01 0.2500 4.4279e-01 3\n", + " 4 3.8325e+00 1.7164e-01 4.1048e-03 3.6198e-01 1.12173e-01 1.0000 3.6198e-01 3\n", + " 5 5.1239e-01 1.7165e-01 2.5078e-04 3.3823e-02 1.63922e-01 0.2500 3.3823e-02 3\n", + " 6 4.4693e-01 1.7165e-01 1.9016e-04 2.7338e-02 5.40898e-02 1.0000 2.7338e-02 3\n", + " 7 1.9529e-01 1.7164e-01 1.8895e-05 2.3452e-03 8.26616e-02 0.0312 4.6272e-03 1\n", + " 8 1.9528e-01 1.7164e-01 1.8324e-05 2.3454e-03 7.56517e-02 0.1250 2.3454e-03 1\n", + " 9 1.9345e-01 1.7164e-01 1.6301e-05 2.1642e-03 5.00306e-02 0.1250 3.0849e-03 1\n", + " 10 1.9322e-01 1.7164e-01 1.4410e-05 2.1428e-03 3.34914e-02 0.2500 2.1428e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6946e+02 1.8068e-01 4.6661e+01 2.6729e-01 1.07215e+00 1.0000 ---- 3\n", + " 2 5.0512e+01 1.7159e-01 2.1879e+00 2.8462e+00 2.60034e-01 1.0000 2.8462e+00 3\n", + " 3 2.7679e+00 1.7163e-01 5.3796e-03 2.5424e-01 2.02280e-01 0.5000 2.5424e-01 3\n", + " 4 2.5117e+00 1.7163e-01 2.8305e-03 2.3118e-01 5.60767e-02 1.0000 2.3118e-01 3\n", + " 5 1.9505e-01 1.7163e-01 3.3148e-05 2.3090e-03 1.05170e-01 0.0020 3.0886e-03 1\n", + " 6 1.9505e-01 1.7163e-01 3.3083e-05 2.3090e-03 1.04508e-01 0.2500 2.3090e-03 1\n", + " 7 1.9437e-01 1.7163e-01 2.5288e-05 2.2489e-03 2.69007e-02 1.0000 2.2489e-03 1\n", + " 8 1.8950e-01 1.7163e-01 2.7039e-06 1.7843e-03 4.82356e-02 0.5000 1.7843e-03 1\n", + " 9 1.8640e-01 1.7163e-01 1.7649e-06 1.4754e-03 2.29394e-02 1.0000 1.7719e-03 1\n", + " 10 1.8403e-01 1.7163e-01 2.4889e-07 1.2398e-03 4.70041e-02 0.2500 1.7828e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6966e+02 1.8067e-01 4.6623e+01 3.2485e-01 1.07141e+00 1.0000 ---- 3\n", + " 2 4.9774e+01 1.7158e-01 2.1837e+00 2.7765e+00 2.52334e-01 1.0000 2.7765e+00 3\n", + " 3 1.9580e+00 1.7162e-01 5.1980e-03 1.7344e-01 1.94915e-01 0.5000 1.7344e-01 3\n", + " 4 1.7685e+00 1.7161e-01 2.7319e-03 1.5696e-01 4.97985e-02 1.0000 1.5696e-01 3\n", + " 5 1.8499e-01 1.7161e-01 2.6299e-05 1.3117e-03 8.92636e-02 0.0156 1.7406e-03 1\n", + " 6 1.8499e-01 1.7161e-01 2.5890e-05 1.3118e-03 8.52387e-02 0.1250 1.7411e-03 1\n", + " 7 1.8380e-01 1.7161e-01 2.2772e-05 1.1958e-03 5.45276e-02 0.2500 1.7449e-03 1\n", + " 8 1.8310e-01 1.7161e-01 1.7261e-05 1.1310e-03 1.64059e-02 1.0000 1.7497e-03 1\n", + " 9 1.8298e-01 1.7161e-01 1.7959e-06 1.1348e-03 2.72987e-02 0.1250 2.0794e-03 1\n", + " 10 1.8271e-01 1.7161e-01 1.5786e-06 1.1080e-03 1.76568e-02 0.5000 1.7594e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6926e+02 1.8065e-01 4.6617e+01 2.9108e-01 1.07106e+00 1.0000 ---- 3\n", + " 2 5.0587e+01 1.7157e-01 2.1849e+00 2.8567e+00 2.67802e-01 1.0000 2.8567e+00 3\n", + " 3 1.8422e+00 1.7160e-01 5.2074e-03 1.6186e-01 2.20290e-01 0.2500 1.6186e-01 3\n", + " 4 1.5735e+00 1.7160e-01 3.9389e-03 1.3626e-01 9.20806e-02 1.0000 1.3626e-01 3\n", + " 5 5.9186e-01 1.7160e-01 2.1627e-04 4.1810e-02 1.12453e-01 0.5000 4.1810e-02 3\n", + " 6 5.7862e-01 1.7160e-01 1.1414e-04 4.0588e-02 3.15162e-02 1.0000 4.0588e-02 3\n", + " 7 2.3544e-01 1.7160e-01 1.9874e-06 6.3821e-03 5.91857e-02 0.0078 9.7224e-03 1\n", + " 8 2.3542e-01 1.7160e-01 1.9720e-06 6.3805e-03 5.78154e-02 0.1250 6.3805e-03 1\n", + " 9 2.3193e-01 1.7160e-01 1.7466e-06 6.0312e-03 3.68395e-02 0.2500 6.8401e-03 1\n", + " 10 2.3191e-01 1.7160e-01 1.3675e-06 6.0297e-03 1.09449e-02 1.0000 6.0297e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6902e+02 1.8064e-01 4.6626e+01 2.5838e-01 1.07100e+00 1.0000 ---- 3\n", + " 2 5.0677e+01 1.7155e-01 2.1914e+00 2.8592e+00 2.75503e-01 1.0000 2.8592e+00 3\n", + " 3 2.8065e+00 1.7159e-01 5.1317e-03 2.5836e-01 2.34854e-01 0.5000 2.5836e-01 3\n", + " 4 2.3110e+00 1.7158e-01 2.6925e-03 2.1125e-01 7.33581e-02 1.0000 2.1125e-01 3\n", + " 5 2.3359e-01 1.7159e-01 3.4058e-05 6.1660e-03 1.40648e-01 0.0020 6.1660e-03 1\n", + " 6 2.3359e-01 1.7159e-01 3.4058e-05 6.1660e-03 1.40592e-01 0.1250 6.1660e-03 1\n", + " 7 2.2940e-01 1.7159e-01 2.9969e-05 5.7519e-03 8.73917e-02 0.1250 5.7519e-03 1\n", + " 8 2.2831e-01 1.7159e-01 2.6291e-05 5.6460e-03 5.49346e-02 1.0000 5.6460e-03 1\n", + " 9 2.2193e-01 1.7158e-01 3.8222e-06 5.0305e-03 1.08410e-01 0.1250 5.0305e-03 1\n", + " 10 2.2117e-01 1.7158e-01 3.4136e-06 4.9551e-03 6.64841e-02 0.2500 4.9551e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6871e+02 1.8062e-01 4.6659e+01 1.9427e-01 1.06983e+00 1.0000 ---- 3\n", + " 2 5.0081e+01 1.7154e-01 2.1822e+00 2.8087e+00 2.52338e-01 1.0000 2.8087e+00 3\n", + " 3 2.0644e+00 1.7158e-01 5.2387e-03 1.8405e-01 2.00560e-01 0.5000 1.8405e-01 3\n", + " 4 1.9087e+00 1.7157e-01 2.7420e-03 1.7097e-01 5.45012e-02 1.0000 1.7097e-01 3\n", + " 5 4.9181e-01 1.7157e-01 2.6556e-05 3.1997e-02 9.56129e-02 0.2500 3.1997e-02 3\n", + " 6 4.5212e-01 1.7157e-01 2.0578e-05 2.8034e-02 2.70132e-02 1.0000 2.8034e-02 3\n", + " 7 1.9675e-01 1.7157e-01 1.5608e-06 2.5163e-03 4.91886e-02 0.0039 3.4124e-03 1\n", + " 8 1.9675e-01 1.7157e-01 1.5548e-06 2.5162e-03 4.86266e-02 0.2500 2.5162e-03 1\n", + " 9 1.9648e-01 1.7157e-01 1.3295e-06 2.4897e-03 1.49403e-02 1.0000 2.4897e-03 1\n", + " 10 1.9567e-01 1.7157e-01 1.7015e-06 2.4079e-03 2.47663e-02 0.2500 2.4079e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7104e+02 1.8061e-01 4.6712e+01 3.7475e-01 1.07298e+00 1.0000 ---- 3\n", + " 2 5.0336e+01 1.7153e-01 2.1954e+00 2.8210e+00 2.68887e-01 1.0000 2.8210e+00 3\n", + " 3 1.6788e+00 1.7157e-01 5.1658e-03 1.4556e-01 2.23148e-01 0.2500 1.4556e-01 3\n", + " 4 1.4418e+00 1.7156e-01 3.9071e-03 1.2312e-01 9.40022e-02 1.0000 1.2312e-01 3\n", + " 5 6.8570e-01 1.7156e-01 2.0735e-04 5.1207e-02 1.16130e-01 0.5000 5.1207e-02 3\n", + " 6 5.8046e-01 1.7156e-01 1.1142e-04 4.0779e-02 3.22760e-02 1.0000 4.0779e-02 3\n", + " 7 2.7861e-01 1.7156e-01 2.7887e-06 1.0703e-02 5.64286e-02 0.2500 1.0703e-02 3\n", + " 8 2.7330e-01 1.7156e-01 2.3968e-06 1.0171e-02 1.67357e-02 1.0000 1.0171e-02 3\n", + " 9 1.9275e-01 1.7156e-01 7.5474e-07 2.1189e-03 2.93542e-02 0.0312 3.0649e-03 1\n", + " 10 1.9270e-01 1.7156e-01 7.3138e-07 2.1134e-03 2.68835e-02 0.2500 2.1134e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7124e+02 1.8060e-01 4.6718e+01 3.8828e-01 1.07299e+00 1.0000 ---- 3\n", + " 2 5.0517e+01 1.7152e-01 2.2058e+00 2.8287e+00 2.69523e-01 1.0000 2.8287e+00 3\n", + " 3 1.5768e+00 1.7156e-01 5.1422e-03 1.3538e-01 2.25495e-01 0.2500 1.3538e-01 3\n", + " 4 1.3601e+00 1.7155e-01 3.8884e-03 1.1497e-01 9.43221e-02 1.0000 1.1497e-01 3\n", + " 5 6.9040e-01 1.7155e-01 2.1508e-04 5.1670e-02 1.16945e-01 0.5000 5.1670e-02 3\n", + " 6 5.9613e-01 1.7155e-01 1.1524e-04 4.2343e-02 3.27704e-02 1.0000 4.2343e-02 3\n", + " 7 2.4884e-01 1.7155e-01 3.0244e-06 7.7259e-03 5.71528e-02 0.2500 7.7259e-03 2\n", + " 8 2.3529e-01 1.7155e-01 2.6114e-06 6.3716e-03 1.69310e-02 1.0000 6.3716e-03 2\n", + " 9 1.7552e-01 1.7155e-01 7.9334e-07 3.9635e-04 2.97640e-02 0.0020 1.6572e-03 1\n", + " 10 1.7552e-01 1.7155e-01 7.9334e-07 3.9635e-04 2.97511e-02 0.1250 1.6572e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7108e+02 1.8059e-01 4.6712e+01 3.7768e-01 1.07435e+00 1.0000 ---- 3\n", + " 2 5.3061e+01 1.7151e-01 2.2008e+00 3.0881e+00 2.77826e-01 1.0000 3.0881e+00 3\n", + " 3 1.1379e+00 1.7155e-01 5.0042e-03 9.1628e-02 2.43330e-01 0.1250 9.1628e-02 3\n", + " 4 1.0623e+00 1.7155e-01 4.3864e-03 8.4688e-02 1.70594e-01 0.2500 8.4688e-02 3\n", + " 5 9.3617e-01 1.7155e-01 3.3108e-03 7.3152e-02 7.22681e-02 1.0000 7.3152e-02 3\n", + " 6 3.6997e-01 1.7155e-01 1.4246e-04 1.9700e-02 8.76394e-02 0.2500 1.9700e-02 3\n", + " 7 3.4413e-01 1.7155e-01 1.0760e-04 1.7150e-02 3.56139e-02 1.0000 1.7150e-02 3\n", + " 8 2.5002e-01 1.7155e-01 9.0054e-06 7.8389e-03 4.51373e-02 0.5000 7.8389e-03 2\n", + " 9 2.3824e-01 1.7154e-01 6.8257e-06 6.6625e-03 1.36109e-02 0.0020 8.8959e-03 1\n", + " 10 2.3824e-01 1.7154e-01 6.8257e-06 6.6625e-03 1.35924e-02 1.0000 6.6625e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7109e+02 1.8058e-01 4.6793e+01 2.9815e-01 1.07507e+00 1.0000 ---- 3\n", + " 2 5.5365e+01 1.7151e-01 2.1987e+00 3.3206e+00 2.77047e-01 1.0000 3.3206e+00 3\n", + " 3 1.7253e+00 1.7155e-01 4.9462e-03 1.5042e-01 2.55368e-01 0.2500 1.5042e-01 3\n", + " 4 1.5723e+00 1.7155e-01 3.7422e-03 1.3633e-01 1.01993e-01 1.0000 1.3633e-01 3\n", + " 5 4.8757e-01 1.7155e-01 2.2073e-04 3.1382e-02 1.31195e-01 0.1250 3.1382e-02 3\n", + " 6 4.5933e-01 1.7155e-01 1.9370e-04 2.8585e-02 8.99921e-02 0.2500 2.8585e-02 3\n", + " 7 4.1480e-01 1.7155e-01 1.4645e-04 2.4179e-02 3.61283e-02 1.0000 2.4179e-02 3\n", + " 8 2.1998e-01 1.7155e-01 9.5439e-06 4.8338e-03 4.66132e-02 0.0020 9.4648e-03 1\n", + " 9 2.1998e-01 1.7155e-01 9.5439e-06 4.8338e-03 4.65975e-02 0.2500 4.8338e-03 1\n", + " 10 2.1448e-01 1.7155e-01 7.8349e-06 4.2854e-03 1.86955e-02 0.5000 5.9938e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7111e+02 1.8058e-01 4.6779e+01 3.1383e-01 1.07196e+00 1.0000 ---- 3\n", + " 2 5.2519e+01 1.7151e-01 2.1929e+00 3.0419e+00 2.60142e-01 1.0000 3.0419e+00 3\n", + " 3 1.9723e+00 1.7155e-01 5.2303e-03 1.7485e-01 2.21704e-01 0.2500 1.7485e-01 3\n", + " 4 1.6127e+00 1.7154e-01 3.9595e-03 1.4016e-01 9.19608e-02 1.0000 1.4016e-01 3\n", + " 5 5.1835e-01 1.7154e-01 2.2840e-04 3.4452e-02 1.14170e-01 0.5000 3.4452e-02 3\n", + " 6 4.4084e-01 1.7154e-01 1.2354e-04 2.6806e-02 3.26302e-02 1.0000 2.6806e-02 3\n", + " 7 2.3294e-01 1.7154e-01 3.3133e-06 6.1362e-03 5.80442e-02 0.2500 6.1362e-03 2\n", + " 8 2.2365e-01 1.7154e-01 2.8989e-06 5.2078e-03 1.80093e-02 0.0020 1.0608e-02 1\n", + " 9 2.2365e-01 1.7154e-01 2.8989e-06 5.2078e-03 1.79993e-02 1.0000 5.2078e-03 1\n", + " 10 1.9543e-01 1.7154e-01 2.1050e-06 2.3866e-03 3.04091e-02 0.1250 3.1619e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7124e+02 1.8058e-01 4.6788e+01 3.1885e-01 1.07515e+00 1.0000 ---- 3\n", + " 2 5.3168e+01 1.7151e-01 2.2039e+00 3.0957e+00 2.78619e-01 1.0000 3.0957e+00 3\n", + " 3 2.4807e+00 1.7154e-01 5.0928e-03 2.2582e-01 2.57052e-01 0.2500 2.2582e-01 3\n", + " 4 2.0653e+00 1.7154e-01 3.8495e-03 1.8553e-01 1.03130e-01 1.0000 1.8553e-01 3\n", + " 5 5.1940e-01 1.7154e-01 2.1680e-04 3.4569e-02 1.34636e-01 0.2500 3.4569e-02 3\n", + " 6 4.7534e-01 1.7154e-01 1.6526e-04 3.0215e-02 5.08827e-02 1.0000 3.0215e-02 3\n", + " 7 2.1417e-01 1.7154e-01 1.7469e-05 4.2454e-03 6.89932e-02 0.0020 6.1632e-03 1\n", + " 8 2.1417e-01 1.7154e-01 1.7469e-05 4.2454e-03 6.89738e-02 0.0625 4.2454e-03 1\n", + " 9 2.1348e-01 1.7154e-01 1.6458e-05 4.1775e-03 5.82661e-02 0.0312 4.4192e-03 1\n", + " 10 2.1328e-01 1.7154e-01 1.5958e-05 4.1587e-03 5.37701e-02 0.0625 4.1587e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7171e+02 1.8058e-01 4.6857e+01 2.9640e-01 1.08397e+00 1.0000 ---- 3\n", + " 2 5.3527e+01 1.7150e-01 2.1942e+00 3.1414e+00 2.84074e-01 1.0000 3.1414e+00 3\n", + " 3 2.2695e+00 1.7154e-01 5.4852e-03 2.0431e-01 2.61838e-01 0.2500 2.0431e-01 3\n", + " 4 1.8706e+00 1.7154e-01 4.1464e-03 1.6576e-01 1.07658e-01 1.0000 1.6576e-01 3\n", + " 5 4.9291e-01 1.7154e-01 2.3831e-04 3.1899e-02 1.36946e-01 0.2500 3.1899e-02 3\n", + " 6 4.4025e-01 1.7154e-01 1.8271e-04 2.6689e-02 5.26079e-02 1.0000 2.6689e-02 3\n", + " 7 1.9111e-01 1.7154e-01 2.0017e-05 1.9376e-03 6.97715e-02 0.0156 2.8289e-03 1\n", + " 8 1.9109e-01 1.7154e-01 1.9711e-05 1.9359e-03 6.71112e-02 0.0625 1.9359e-03 1\n", + " 9 1.9055e-01 1.7154e-01 1.8574e-05 1.8825e-03 5.68813e-02 0.0625 2.1132e-03 1\n", + " 10 1.9037e-01 1.7154e-01 1.7484e-05 1.8656e-03 4.82606e-02 0.1250 1.8656e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7116e+02 1.8057e-01 4.6809e+01 2.8928e-01 1.08085e+00 1.0000 ---- 3\n", + " 2 5.1729e+01 1.7150e-01 2.1946e+00 2.9611e+00 2.75343e-01 1.0000 2.9611e+00 3\n", + " 3 2.5064e+00 1.7154e-01 5.4324e-03 2.2806e-01 2.40908e-01 0.5000 2.2806e-01 3\n", + " 4 2.2160e+00 1.7153e-01 2.8363e-03 2.0161e-01 6.81336e-02 1.0000 2.0161e-01 3\n", + " 5 1.9918e-01 1.7153e-01 3.4707e-05 2.7297e-03 1.21288e-01 0.0020 2.7297e-03 1\n", + " 6 1.9918e-01 1.7153e-01 3.4707e-05 2.7297e-03 1.21238e-01 0.0625 2.7297e-03 1\n", + " 7 1.9780e-01 1.7153e-01 3.2583e-05 2.5944e-03 9.91987e-02 0.0625 2.5944e-03 1\n", + " 8 1.9778e-01 1.7153e-01 3.0577e-05 2.5946e-03 8.12588e-02 0.0625 2.5946e-03 1\n", + " 9 1.9759e-01 1.7153e-01 2.8687e-05 2.5771e-03 6.66389e-02 0.0625 2.5771e-03 1\n", + " 10 1.9736e-01 1.7153e-01 2.6909e-05 2.5560e-03 5.47292e-02 0.1250 2.5560e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7184e+02 1.8056e-01 4.6820e+01 3.4502e-01 1.07818e+00 1.0000 ---- 3\n", + " 2 5.6105e+01 1.7149e-01 2.2197e+00 3.3736e+00 2.96952e-01 1.0000 3.3736e+00 3\n", + " 3 2.0809e+00 1.7154e-01 5.0829e-03 1.8586e-01 2.99307e-01 0.2500 1.8586e-01 3\n", + " 4 1.8929e+00 1.7153e-01 3.8480e-03 1.6829e-01 1.09938e-01 1.0000 1.6829e-01 3\n", + " 5 6.2706e-01 1.7153e-01 2.3132e-04 4.5321e-02 1.47174e-01 0.2500 4.5321e-02 3\n", + " 6 6.1262e-01 1.7153e-01 1.7578e-04 4.3934e-02 5.38257e-02 1.0000 4.3934e-02 3\n", + " 7 3.0069e-01 1.7153e-01 1.8652e-05 1.2898e-02 7.38812e-02 0.2500 1.2898e-02 3\n", + " 8 2.9992e-01 1.7153e-01 1.5300e-05 1.2824e-02 2.75942e-02 1.0000 1.2824e-02 2\n", + " 9 1.9902e-01 1.7153e-01 4.4923e-06 2.7452e-03 3.96299e-02 0.0020 5.8579e-03 1\n", + " 10 1.9902e-01 1.7153e-01 4.4923e-06 2.7452e-03 3.96090e-02 0.1250 2.7452e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7059e+02 1.8056e-01 4.6733e+01 3.0788e-01 1.07036e+00 1.0000 ---- 3\n", + " 2 5.3423e+01 1.7149e-01 2.1982e+00 3.1270e+00 2.53760e-01 1.0000 3.1270e+00 3\n", + " 3 2.3505e+00 1.7153e-01 5.2036e-03 2.1269e-01 2.10476e-01 0.5000 2.1269e-01 3\n", + " 4 2.0334e+00 1.7152e-01 2.7525e-03 1.8343e-01 5.31186e-02 1.0000 1.8343e-01 3\n", + " 5 2.0681e-01 1.7153e-01 3.2019e-05 3.4965e-03 8.55228e-02 0.0156 5.3401e-03 1\n", + " 6 2.0679e-01 1.7153e-01 3.1522e-05 3.4954e-03 8.18731e-02 0.2500 3.4954e-03 1\n", + " 7 2.0348e-01 1.7152e-01 2.4348e-05 3.1716e-03 2.62598e-02 1.0000 3.7662e-03 1\n", + " 8 1.9649e-01 1.7152e-01 2.5363e-06 2.4939e-03 4.23824e-02 0.5000 3.0015e-03 1\n", + " 9 1.9164e-01 1.7152e-01 2.0081e-06 2.0097e-03 1.61943e-02 1.0000 2.3108e-03 1\n", + " 10 1.8703e-01 1.7152e-01 3.9781e-07 1.5499e-03 3.14767e-02 0.5000 1.6133e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7198e+02 1.8056e-01 4.6829e+01 3.5148e-01 1.07537e+00 1.0000 ---- 3\n", + " 2 5.5499e+01 1.7149e-01 2.1931e+00 3.3397e+00 2.75094e-01 1.0000 3.3397e+00 3\n", + " 3 1.6597e+00 1.7153e-01 5.0444e-03 1.4377e-01 2.54400e-01 0.2500 1.4377e-01 3\n", + " 4 1.5794e+00 1.7153e-01 3.8184e-03 1.3697e-01 1.02484e-01 1.0000 1.3697e-01 3\n", + " 5 6.1275e-01 1.7153e-01 2.2679e-04 4.3896e-02 1.33607e-01 0.2500 4.3896e-02 3\n", + " 6 5.6433e-01 1.7152e-01 1.7270e-04 3.9107e-02 5.05227e-02 1.0000 3.9107e-02 3\n", + " 7 2.9248e-01 1.7152e-01 1.8698e-05 1.2077e-02 6.79330e-02 0.2500 1.2077e-02 3\n", + " 8 2.8396e-01 1.7152e-01 1.5320e-05 1.1229e-02 2.63081e-02 1.0000 1.1229e-02 3\n", + " 9 2.3108e-01 1.7152e-01 4.3226e-06 5.9514e-03 3.75259e-02 0.0039 1.0718e-02 1\n", + " 10 2.3108e-01 1.7152e-01 4.3058e-06 5.9513e-03 3.71358e-02 0.2500 5.9513e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7111e+02 1.8056e-01 4.6783e+01 3.1061e-01 1.07073e+00 1.0000 ---- 3\n", + " 2 5.5219e+01 1.7149e-01 2.2014e+00 3.3034e+00 2.57208e-01 1.0000 3.3034e+00 3\n", + " 3 1.1406e+00 1.7153e-01 5.0127e-03 9.1899e-02 2.21463e-01 0.2500 9.1899e-02 3\n", + " 4 1.1315e+00 1.7153e-01 3.7972e-03 9.2202e-02 9.07896e-02 1.0000 9.2202e-02 3\n", + " 5 5.1063e-01 1.7153e-01 2.3062e-04 3.3680e-02 1.12811e-01 0.2500 3.3680e-02 3\n", + " 6 4.8348e-01 1.7153e-01 1.7528e-04 3.1020e-02 4.56456e-02 1.0000 3.1020e-02 3\n", + " 7 2.6347e-01 1.7153e-01 1.9367e-05 9.1753e-03 5.96209e-02 0.2500 9.1753e-03 3\n", + " 8 2.4623e-01 1.7152e-01 1.5583e-05 7.4554e-03 2.36821e-02 1.0000 7.4554e-03 2\n", + " 9 1.9918e-01 1.7152e-01 4.1895e-06 2.7612e-03 3.29863e-02 0.0020 5.8376e-03 1\n", + " 10 1.9918e-01 1.7152e-01 4.1895e-06 2.7612e-03 3.29672e-02 0.2500 2.7612e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7105e+02 1.8056e-01 4.6776e+01 3.1040e-01 1.07102e+00 1.0000 ---- 3\n", + " 2 5.5047e+01 1.7149e-01 2.1999e+00 3.2876e+00 2.58472e-01 1.0000 3.2876e+00 3\n", + " 3 1.1261e+00 1.7154e-01 4.9656e-03 9.0488e-02 2.24969e-01 0.2500 9.0488e-02 3\n", + " 4 1.1217e+00 1.7153e-01 3.7622e-03 9.1250e-02 9.17116e-02 1.0000 9.1250e-02 3\n", + " 5 5.1357e-01 1.7153e-01 2.2773e-04 3.3976e-02 1.16003e-01 0.2500 3.3976e-02 3\n", + " 6 4.8438e-01 1.7153e-01 1.7329e-04 3.1112e-02 4.62982e-02 1.0000 3.1112e-02 3\n", + " 7 2.6027e-01 1.7153e-01 1.9241e-05 8.8551e-03 6.11285e-02 0.2500 8.8551e-03 3\n", + " 8 2.4322e-01 1.7153e-01 1.5476e-05 7.1538e-03 2.40627e-02 1.0000 7.1538e-03 2\n", + " 9 1.9913e-01 1.7153e-01 4.2038e-06 2.7561e-03 3.38772e-02 0.0020 5.8060e-03 1\n", + " 10 1.9913e-01 1.7153e-01 4.2038e-06 2.7561e-03 3.38583e-02 0.2500 2.7561e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7096e+02 1.8056e-01 4.6768e+01 3.1039e-01 1.07078e+00 1.0000 ---- 3\n", + " 2 5.4890e+01 1.7150e-01 2.1981e+00 3.2738e+00 2.60062e-01 1.0000 3.2738e+00 3\n", + " 3 1.1029e+00 1.7154e-01 4.9844e-03 8.8149e-02 2.29190e-01 0.2500 8.8149e-02 3\n", + " 4 1.1005e+00 1.7153e-01 3.7763e-03 8.9119e-02 9.25135e-02 1.0000 8.9119e-02 3\n", + " 5 5.0411e-01 1.7153e-01 2.2683e-04 3.3031e-02 1.18326e-01 0.2500 3.3031e-02 3\n", + " 6 4.7551e-01 1.7153e-01 1.7272e-04 3.0225e-02 4.67952e-02 1.0000 3.0225e-02 3\n", + " 7 2.5520e-01 1.7153e-01 1.9453e-05 8.3478e-03 6.23096e-02 0.2500 8.3478e-03 3\n", + " 8 2.3848e-01 1.7153e-01 1.5656e-05 6.6791e-03 2.43318e-02 1.0000 6.6791e-03 2\n", + " 9 1.9892e-01 1.7153e-01 4.1966e-06 2.7344e-03 3.46012e-02 0.0020 5.7602e-03 1\n", + " 10 1.9892e-01 1.7153e-01 4.1966e-06 2.7344e-03 3.45820e-02 0.2500 2.7344e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7080e+02 1.8056e-01 4.6752e+01 3.1030e-01 1.07054e+00 1.0000 ---- 3\n", + " 2 5.4530e+01 1.7150e-01 2.1961e+00 3.2397e+00 2.61455e-01 1.0000 3.2397e+00 3\n", + " 3 1.3243e+00 1.7154e-01 4.9892e-03 1.1029e-01 2.33456e-01 0.2500 1.1029e-01 3\n", + " 4 1.2327e+00 1.7154e-01 3.7812e-03 1.0233e-01 9.33219e-02 1.0000 1.0233e-01 3\n", + " 5 4.9827e-01 1.7154e-01 2.2901e-04 3.2445e-02 1.20730e-01 0.2500 3.2445e-02 3\n", + " 6 4.2043e-01 1.7154e-01 1.7451e-04 2.4715e-02 4.72697e-02 1.0000 2.4715e-02 3\n", + " 7 2.7505e-01 1.7153e-01 1.9965e-05 1.0331e-02 6.34722e-02 0.2500 1.0331e-02 3\n", + " 8 2.5099e-01 1.7153e-01 1.6072e-05 7.9298e-03 2.46291e-02 1.0000 7.9298e-03 3\n", + " 9 2.0524e-01 1.7153e-01 4.2199e-06 3.3669e-03 3.53656e-02 0.0078 6.1864e-03 1\n", + " 10 2.0524e-01 1.7153e-01 4.1871e-06 3.3669e-03 3.46668e-02 0.2500 3.3669e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7053e+02 1.8057e-01 4.6723e+01 3.1177e-01 1.07019e+00 1.0000 ---- 3\n", + " 2 5.3771e+01 1.7151e-01 2.1940e+00 3.1659e+00 2.63648e-01 1.0000 3.1659e+00 3\n", + " 3 9.6621e-01 1.7155e-01 5.0052e-03 7.4461e-02 2.35284e-01 0.1250 7.4461e-02 3\n", + " 4 8.9802e-01 1.7154e-01 4.3884e-03 6.8259e-02 1.62869e-01 0.2500 6.8259e-02 3\n", + " 5 7.8025e-01 1.7154e-01 3.3142e-03 5.7557e-02 6.71761e-02 1.0000 5.7557e-02 3\n", + " 6 3.1263e-01 1.7154e-01 1.3757e-04 1.3971e-02 8.42083e-02 0.2500 1.3971e-02 3\n", + " 7 2.8165e-01 1.7154e-01 1.0423e-04 1.0907e-02 3.38355e-02 1.0000 1.0907e-02 3\n", + " 8 1.8598e-01 1.7154e-01 1.0235e-05 1.4341e-03 4.45460e-02 0.0020 3.1209e-03 1\n", + " 9 1.8598e-01 1.7154e-01 1.0235e-05 1.4341e-03 4.45309e-02 0.0625 1.7124e-03 1\n", + " 10 1.8551e-01 1.7154e-01 9.6342e-06 1.3870e-03 3.76977e-02 0.0312 1.9876e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7211e+02 1.8058e-01 4.6828e+01 3.6475e-01 1.08263e+00 1.0000 ---- 3\n", + " 2 5.2758e+01 1.7151e-01 2.1835e+00 3.0752e+00 2.87406e-01 1.0000 3.0752e+00 3\n", + " 3 1.1338e+00 1.7155e-01 5.4934e-03 9.0732e-02 2.68511e-01 0.2500 9.0732e-02 3\n", + " 4 9.9245e-01 1.7155e-01 4.1514e-03 7.7938e-02 1.09079e-01 1.0000 7.7938e-02 3\n", + " 5 6.3130e-01 1.7155e-01 2.2975e-04 4.5746e-02 1.42871e-01 0.2500 4.5746e-02 3\n", + " 6 5.2621e-01 1.7154e-01 1.7712e-04 3.5290e-02 5.39303e-02 1.0000 3.5290e-02 3\n", + " 7 2.7009e-01 1.7154e-01 2.1115e-05 9.8341e-03 7.25602e-02 0.5000 9.8341e-03 3\n", + " 8 2.5361e-01 1.7154e-01 1.8162e-05 8.1883e-03 1.96328e-02 1.0000 8.1883e-03 3\n", + " 9 1.8641e-01 1.7154e-01 1.3302e-06 1.4854e-03 3.50642e-02 0.0312 2.4100e-03 1\n", + " 10 1.8641e-01 1.7154e-01 1.2903e-06 1.4853e-03 3.20731e-02 0.2500 1.7048e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7124e+02 1.8057e-01 4.6736e+01 3.6974e-01 1.07410e+00 1.0000 ---- 3\n", + " 2 5.2735e+01 1.7151e-01 2.2030e+00 3.0534e+00 2.74593e-01 1.0000 3.0534e+00 3\n", + " 3 1.2358e+00 1.7155e-01 5.1246e-03 1.0130e-01 2.46580e-01 0.2500 1.0130e-01 3\n", + " 4 1.1825e+00 1.7155e-01 3.8791e-03 9.7212e-02 9.96144e-02 1.0000 9.7212e-02 3\n", + " 5 6.3100e-01 1.7155e-01 2.1522e-04 4.5730e-02 1.28838e-01 0.2500 4.5730e-02 3\n", + " 6 5.1290e-01 1.7154e-01 1.6386e-04 3.3971e-02 4.98854e-02 1.0000 3.3971e-02 3\n", + " 7 2.4864e-01 1.7154e-01 1.8537e-05 7.6908e-03 6.65463e-02 0.2500 7.6908e-03 3\n", + " 8 2.3252e-01 1.7154e-01 1.5258e-05 6.0823e-03 2.60200e-02 1.0000 6.0823e-03 2\n", + " 9 1.9432e-01 1.7154e-01 4.3171e-06 2.2734e-03 3.69105e-02 0.0020 4.9545e-03 1\n", + " 10 1.9432e-01 1.7154e-01 4.3171e-06 2.2734e-03 3.68916e-02 0.2500 2.2734e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7073e+02 1.8057e-01 4.6671e+01 3.8386e-01 1.06936e+00 1.0000 ---- 3\n", + " 2 5.1345e+01 1.7151e-01 2.1948e+00 2.9225e+00 2.65345e-01 1.0000 2.9225e+00 3\n", + " 3 1.8506e+00 1.7155e-01 5.1810e-03 1.6272e-01 2.32333e-01 0.5000 1.6272e-01 3\n", + " 4 1.5541e+00 1.7154e-01 2.7430e-03 1.3551e-01 6.90328e-02 1.0000 1.3551e-01 3\n", + " 5 4.1161e-01 1.7154e-01 3.5428e-05 2.3972e-02 1.20735e-01 0.2500 2.3972e-02 3\n", + " 6 3.6921e-01 1.7154e-01 2.7650e-05 1.9739e-02 3.40270e-02 1.0000 1.9739e-02 3\n", + " 7 1.7245e-01 1.7154e-01 3.0093e-06 8.8392e-05 6.00589e-02 0.2500 1.7364e-03 1\n", + " 8 1.7240e-01 1.7154e-01 2.5975e-06 8.3075e-05 1.83844e-02 0.5000 1.7245e-03 1\n", + " 9 1.7204e-01 1.7154e-01 1.4139e-06 4.8624e-05 6.80792e-03 1.0000 1.7298e-03 1\n", + " 10 1.7162e-01 1.7154e-01 4.0575e-07 7.6468e-06 1.15876e-02 0.5000 1.7386e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7074e+02 1.8057e-01 4.6685e+01 3.7127e-01 1.07279e+00 1.0000 ---- 3\n", + " 2 5.0880e+01 1.7151e-01 2.1800e+00 2.8909e+00 2.76976e-01 1.0000 2.8909e+00 3\n", + " 3 2.1293e+00 1.7155e-01 5.2311e-03 1.9054e-01 2.52220e-01 0.5000 1.9054e-01 3\n", + " 4 1.8357e+00 1.7154e-01 2.7659e-03 1.6365e-01 8.09666e-02 1.0000 1.6365e-01 3\n", + " 5 4.2302e-01 1.7154e-01 4.1035e-05 2.5107e-02 1.46073e-01 0.2500 2.5107e-02 3\n", + " 6 3.7888e-01 1.7154e-01 3.2037e-05 2.0702e-02 3.85985e-02 1.0000 2.0702e-02 3\n", + " 7 1.7332e-01 1.7154e-01 3.6022e-06 1.7428e-04 6.98846e-02 0.2500 1.7461e-03 1\n", + " 8 1.7320e-01 1.7154e-01 3.1350e-06 1.6250e-04 2.02463e-02 0.5000 1.7350e-03 1\n", + " 9 1.7254e-01 1.7154e-01 1.7710e-06 9.8622e-05 7.81157e-03 1.0000 1.7403e-03 1\n", + " 10 1.7169e-01 1.7154e-01 4.0756e-07 1.4602e-05 1.36769e-02 0.2500 1.7491e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7065e+02 1.8057e-01 4.6680e+01 3.6723e-01 1.07154e+00 1.0000 ---- 3\n", + " 2 5.1560e+01 1.7151e-01 2.1760e+00 2.9629e+00 2.67472e-01 1.0000 2.9629e+00 3\n", + " 3 1.5137e+00 1.7155e-01 5.2749e-03 1.2894e-01 2.33077e-01 0.5000 1.2894e-01 3\n", + " 4 1.3258e+00 1.7154e-01 2.7926e-03 1.1263e-01 6.73102e-02 1.0000 1.1263e-01 3\n", + " 5 4.2200e-01 1.7154e-01 3.4681e-05 2.5011e-02 1.15779e-01 0.2500 2.5011e-02 3\n", + " 6 3.8009e-01 1.7154e-01 2.7144e-05 2.0828e-02 3.35575e-02 1.0000 2.0828e-02 3\n", + " 7 1.8514e-01 1.7154e-01 3.3676e-06 1.3565e-03 5.87175e-02 0.0020 3.8609e-03 1\n", + " 8 1.8514e-01 1.7154e-01 3.3676e-06 1.3565e-03 5.86878e-02 0.1250 1.7437e-03 1\n", + " 9 1.8426e-01 1.7154e-01 3.0258e-06 1.2695e-03 3.84383e-02 0.1250 2.5888e-03 1\n", + " 10 1.8406e-01 1.7154e-01 2.6716e-06 1.2498e-03 2.53488e-02 0.5000 1.8066e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7042e+02 1.8057e-01 4.6651e+01 3.7290e-01 1.07330e+00 1.0000 ---- 3\n", + " 2 5.0913e+01 1.7151e-01 2.1863e+00 2.8879e+00 2.80441e-01 1.0000 2.8879e+00 3\n", + " 3 1.7354e+00 1.7155e-01 5.2275e-03 1.5116e-01 2.57213e-01 0.2500 1.5116e-01 3\n", + " 4 1.4152e+00 1.7154e-01 3.9580e-03 1.2040e-01 1.00620e-01 1.0000 1.2040e-01 3\n", + " 5 6.4941e-01 1.7154e-01 2.2058e-04 4.7567e-02 1.32275e-01 0.5000 4.7567e-02 3\n", + " 6 5.2579e-01 1.7154e-01 1.2249e-04 3.5303e-02 4.16598e-02 1.0000 3.5303e-02 3\n", + " 7 1.8355e-01 1.7154e-01 7.5576e-06 1.1936e-03 7.77938e-02 0.0020 4.0267e-03 1\n", + " 8 1.8355e-01 1.7154e-01 7.5576e-06 1.1936e-03 7.77594e-02 0.0625 1.8532e-03 1\n", + " 9 1.8325e-01 1.7154e-01 7.1512e-06 1.1638e-03 6.33741e-02 0.0312 2.9712e-03 1\n", + " 10 1.8319e-01 1.7154e-01 6.9387e-06 1.1585e-03 5.75575e-02 0.1250 2.1352e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6976e+02 1.8057e-01 4.6587e+01 3.7154e-01 1.07221e+00 1.0000 ---- 3\n", + " 2 4.8865e+01 1.7151e-01 2.1521e+00 2.7172e+00 2.66825e-01 1.0000 2.7172e+00 3\n", + " 3 1.7470e+00 1.7154e-01 5.7967e-03 1.5175e-01 2.48034e-01 0.5000 1.5175e-01 3\n", + " 4 1.2607e+00 1.7153e-01 3.0706e-03 1.0584e-01 9.45770e-02 1.0000 1.0584e-01 3\n", + " 5 1.7643e-01 1.7153e-01 3.5110e-05 4.5443e-04 1.97162e-01 0.0625 1.6985e-03 1\n", + " 6 1.7638e-01 1.7153e-01 3.2958e-05 4.5182e-04 1.57638e-01 0.2500 1.6965e-03 1\n", + " 7 1.7588e-01 1.7153e-01 2.5240e-05 4.0988e-04 3.33416e-02 1.0000 1.6905e-03 1\n", + " 8 1.7349e-01 1.7153e-01 3.2364e-06 1.9295e-04 6.24295e-02 0.5000 1.6911e-03 1\n", + " 9 1.7227e-01 1.7153e-01 2.5814e-06 7.1179e-05 3.47932e-02 0.5000 1.7023e-03 1\n", + " 10 1.7222e-01 1.7153e-01 1.3900e-06 6.7472e-05 2.26253e-02 1.0000 1.6998e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7025e+02 1.8055e-01 4.6656e+01 3.5086e-01 1.09881e+00 1.0000 ---- 3\n", + " 2 5.1004e+01 1.7150e-01 2.1705e+00 2.9127e+00 3.63146e-01 1.0000 2.9127e+00 3\n", + " 3 4.0818e+00 1.7153e-01 5.4139e-03 3.8561e-01 4.80704e-01 0.0625 3.8561e-01 3\n", + " 4 3.8890e+00 1.7152e-01 5.0778e-03 3.6667e-01 3.94575e-01 0.1250 3.6667e-01 3\n", + " 5 3.6865e+00 1.7151e-01 4.4504e-03 3.4705e-01 2.50742e-01 0.2500 3.4705e-01 3\n", + " 6 3.2068e+00 1.7151e-01 3.3568e-03 3.0018e-01 7.47219e-02 1.0000 3.0018e-01 3\n", + " 7 3.3270e-01 1.7151e-01 1.1509e-04 1.6003e-02 1.14116e-01 0.0625 1.6003e-02 3\n", + " 8 3.2697e-01 1.7151e-01 1.0795e-04 1.5438e-02 9.39089e-02 0.1250 1.5438e-02 3\n", + " 9 3.2315e-01 1.7151e-01 9.4629e-05 1.5069e-02 6.11183e-02 0.2500 1.5069e-02 3\n", + " 10 3.0754e-01 1.7151e-01 7.1343e-05 1.3532e-02 2.09080e-02 1.0000 1.3532e-02 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7056e+02 1.8053e-01 4.6691e+01 3.4661e-01 1.07951e+00 1.0000 ---- 3\n", + " 2 5.2031e+01 1.7147e-01 2.1856e+00 3.0004e+00 2.75122e-01 1.0000 3.0004e+00 3\n", + " 3 1.9014e+00 1.7151e-01 5.1254e-03 1.6786e-01 2.47447e-01 0.2500 1.6786e-01 3\n", + " 4 1.6539e+00 1.7151e-01 3.8757e-03 1.4437e-01 9.70706e-02 1.0000 1.4437e-01 3\n", + " 5 7.5338e-01 1.7151e-01 2.0830e-04 5.7979e-02 1.23853e-01 0.2500 5.7979e-02 3\n", + " 6 6.3344e-01 1.7150e-01 1.5803e-04 4.6036e-02 4.80246e-02 1.0000 4.6036e-02 3\n", + " 7 2.7130e-01 1.7150e-01 1.6199e-05 9.9632e-03 6.44070e-02 0.2500 9.9632e-03 3\n", + " 8 2.7034e-01 1.7150e-01 1.3190e-05 9.8705e-03 2.46466e-02 1.0000 9.8705e-03 2\n", + " 9 2.0234e-01 1.7150e-01 3.7461e-06 3.0802e-03 3.50472e-02 0.0020 5.3972e-03 1\n", + " 10 2.0234e-01 1.7150e-01 3.7461e-06 3.0802e-03 3.50291e-02 0.1250 3.0802e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7063e+02 1.8052e-01 4.6659e+01 3.8637e-01 1.06903e+00 1.0000 ---- 3\n", + " 2 5.3518e+01 1.7147e-01 2.1922e+00 3.1425e+00 2.56354e-01 1.0000 3.1425e+00 3\n", + " 3 1.7048e+00 1.7151e-01 4.9763e-03 1.4836e-01 2.19270e-01 0.2500 1.4836e-01 3\n", + " 4 1.4051e+00 1.7150e-01 3.7705e-03 1.1959e-01 8.79765e-02 1.0000 1.1959e-01 3\n", + " 5 3.7403e-01 1.7150e-01 2.2982e-04 2.0023e-02 1.09589e-01 0.1250 2.0023e-02 3\n", + " 6 3.6682e-01 1.7150e-01 2.0159e-04 1.9330e-02 7.61746e-02 0.2500 1.9330e-02 3\n", + " 7 3.5321e-01 1.7150e-01 1.5227e-04 1.8019e-02 3.20111e-02 1.0000 1.8019e-02 2\n", + " 8 1.7997e-01 1.7150e-01 1.0410e-05 8.3615e-04 4.02875e-02 0.0020 3.3364e-03 1\n", + " 9 1.7997e-01 1.7150e-01 1.0410e-05 8.3615e-04 4.02702e-02 0.1250 1.7326e-03 1\n", + " 10 1.7947e-01 1.7150e-01 9.2705e-06 7.8740e-04 2.82767e-02 0.1250 2.3812e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7089e+02 1.8052e-01 4.6690e+01 3.8118e-01 1.07567e+00 1.0000 ---- 3\n", + " 2 5.1529e+01 1.7147e-01 2.1713e+00 2.9645e+00 2.73754e-01 1.0000 2.9645e+00 3\n", + " 3 7.7964e-01 1.7151e-01 5.3310e-03 5.5483e-02 2.35983e-01 0.2500 5.5483e-02 3\n", + " 4 7.7929e-01 1.7150e-01 4.0356e-03 5.6744e-02 9.67529e-02 1.0000 5.6744e-02 3\n", + " 5 6.7393e-01 1.7150e-01 2.2209e-04 5.0021e-02 1.20287e-01 0.2500 5.0021e-02 3\n", + " 6 5.9136e-01 1.7150e-01 1.6920e-04 4.1817e-02 4.80075e-02 1.0000 4.1817e-02 3\n", + " 7 2.3267e-01 1.7150e-01 1.7922e-05 6.0994e-03 6.10688e-02 0.2500 6.0994e-03 2\n", + " 8 2.2364e-01 1.7150e-01 1.4755e-05 5.1993e-03 2.50412e-02 0.0020 8.3378e-03 1\n", + " 9 2.2364e-01 1.7150e-01 1.4755e-05 5.1993e-03 2.50357e-02 0.5000 5.1993e-03 1\n", + " 10 2.1002e-01 1.7150e-01 8.5274e-06 3.8434e-03 5.49315e-03 1.0000 3.8434e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6971e+02 1.8051e-01 4.6653e+01 2.9970e-01 1.07153e+00 1.0000 ---- 3\n", + " 2 5.1713e+01 1.7146e-01 2.1812e+00 2.9729e+00 2.69789e-01 1.0000 2.9729e+00 3\n", + " 3 1.9046e+00 1.7150e-01 5.0064e-03 1.6830e-01 2.38461e-01 0.2500 1.6830e-01 3\n", + " 4 1.5894e+00 1.7149e-01 3.7896e-03 1.3800e-01 9.49644e-02 1.0000 1.3800e-01 3\n", + " 5 4.6731e-01 1.7149e-01 2.1272e-04 2.9369e-02 1.22093e-01 0.2500 2.9369e-02 3\n", + " 6 4.1254e-01 1.7149e-01 1.6148e-04 2.3943e-02 4.68684e-02 1.0000 2.3943e-02 3\n", + " 7 2.0809e-01 1.7149e-01 1.5756e-05 3.6440e-03 6.23526e-02 0.0020 6.0345e-03 1\n", + " 8 2.0809e-01 1.7149e-01 1.5756e-05 3.6440e-03 6.23330e-02 0.1250 3.6440e-03 1\n", + " 9 2.0774e-01 1.7149e-01 1.4064e-05 3.6103e-03 4.31217e-02 0.0625 4.3819e-03 1\n", + " 10 2.0739e-01 1.7149e-01 1.3221e-05 3.5762e-03 3.65502e-02 0.2500 3.5762e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7069e+02 1.8051e-01 4.6665e+01 3.8631e-01 1.07407e+00 1.0000 ---- 3\n", + " 2 4.9962e+01 1.7146e-01 2.1769e+00 2.8021e+00 2.70929e-01 1.0000 2.8021e+00 3\n", + " 3 1.8576e+00 1.7149e-01 5.2454e-03 1.6336e-01 2.35415e-01 0.5000 1.6336e-01 3\n", + " 4 1.5180e+00 1.7149e-01 2.7662e-03 1.3189e-01 6.88611e-02 1.0000 1.3189e-01 3\n", + " 5 4.5894e-01 1.7149e-01 3.5668e-05 2.8710e-02 1.28488e-01 0.2500 2.8710e-02 3\n", + " 6 4.1495e-01 1.7149e-01 2.7808e-05 2.4319e-02 3.22489e-02 1.0000 2.4319e-02 3\n", + " 7 1.9219e-01 1.7149e-01 2.5402e-06 2.0676e-03 5.89224e-02 0.0039 3.5615e-03 1\n", + " 8 1.9219e-01 1.7149e-01 2.5303e-06 2.0676e-03 5.82303e-02 0.2500 2.0676e-03 1\n", + " 9 1.8994e-01 1.7148e-01 2.1817e-06 1.8437e-03 1.69706e-02 1.0000 2.5345e-03 1\n", + " 10 1.8774e-01 1.7148e-01 2.0516e-06 1.6236e-03 2.81822e-02 0.1250 1.7870e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7004e+02 1.8050e-01 4.6617e+01 3.6927e-01 1.07408e+00 1.0000 ---- 3\n", + " 2 5.0846e+01 1.7145e-01 2.1884e+00 2.8791e+00 2.82816e-01 1.0000 2.8791e+00 3\n", + " 3 2.2732e+00 1.7148e-01 5.1081e-03 2.0507e-01 2.61136e-01 0.2500 2.0507e-01 3\n", + " 4 1.8670e+00 1.7148e-01 3.8636e-03 1.6569e-01 1.02143e-01 1.0000 1.6569e-01 3\n", + " 5 6.4318e-01 1.7148e-01 2.1740e-04 4.6952e-02 1.34736e-01 0.5000 4.6952e-02 3\n", + " 6 6.0554e-01 1.7148e-01 1.1958e-04 4.3287e-02 4.08721e-02 1.0000 4.3287e-02 3\n", + " 7 1.8696e-01 1.7148e-01 5.3059e-06 1.5429e-03 7.76528e-02 0.1250 1.7983e-03 1\n", + " 8 1.8677e-01 1.7148e-01 4.8316e-06 1.5249e-03 4.84399e-02 0.5000 1.7991e-03 1\n", + " 9 1.8301e-01 1.7148e-01 3.9113e-06 1.1498e-03 2.56179e-02 1.0000 1.8038e-03 1\n", + " 10 1.7870e-01 1.7148e-01 9.4166e-07 7.2154e-04 5.46056e-02 0.2500 1.8166e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6901e+02 1.8049e-01 4.6528e+01 3.5468e-01 1.06882e+00 1.0000 ---- 3\n", + " 2 4.9460e+01 1.7144e-01 2.1654e+00 2.7635e+00 2.58627e-01 1.0000 2.7635e+00 3\n", + " 3 1.7844e+00 1.7147e-01 5.2255e-03 1.5607e-01 2.09703e-01 0.5000 1.5607e-01 3\n", + " 4 1.3772e+00 1.7147e-01 2.7626e-03 1.1781e-01 5.39172e-02 1.0000 1.1781e-01 3\n", + " 5 1.8241e-01 1.7147e-01 2.6112e-05 1.0685e-03 9.79908e-02 0.0156 2.4233e-03 1\n", + " 6 1.8241e-01 1.7147e-01 2.5707e-05 1.0680e-03 9.34627e-02 0.1250 1.7754e-03 1\n", + " 7 1.8194e-01 1.7147e-01 2.2685e-05 1.0241e-03 5.90208e-02 0.1250 1.8567e-03 1\n", + " 8 1.8169e-01 1.7147e-01 1.9933e-05 1.0027e-03 3.77991e-02 0.5000 1.7849e-03 1\n", + " 9 1.8058e-01 1.7147e-01 1.0515e-05 9.0036e-04 1.82611e-02 1.0000 1.8128e-03 1\n", + " 10 1.7612e-01 1.7147e-01 1.0152e-06 4.6434e-04 3.76317e-02 1.0000 1.7948e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6796e+02 1.8048e-01 4.6463e+01 3.1524e-01 1.09565e+00 1.0000 ---- 3\n", + " 2 4.8509e+01 1.7143e-01 2.1719e+00 2.6619e+00 3.68493e-01 1.0000 2.6619e+00 3\n", + " 3 1.3678e+01 1.7145e-01 5.5545e-03 1.3451e+00 5.13297e-01 0.2500 1.3451e+00 3\n", + " 4 1.1426e+01 1.7143e-01 4.1939e-03 1.1213e+00 1.46499e-01 1.0000 1.1213e+00 3\n", + " 5 3.1445e+00 1.7144e-01 2.6068e-04 2.9705e-01 2.41588e-01 0.1250 2.9705e-01 3\n", + " 6 2.8828e+00 1.7144e-01 2.2985e-04 2.7090e-01 1.54871e-01 0.5000 2.7090e-01 3\n", + " 7 2.5859e+00 1.7144e-01 1.3003e-04 2.4132e-01 7.59378e-02 1.0000 2.4132e-01 3\n", + " 8 3.1539e-01 1.7144e-01 1.1056e-06 1.4394e-02 1.60808e-01 0.0312 1.4394e-02 3\n", + " 9 3.1535e-01 1.7144e-01 1.0741e-06 1.4390e-02 1.45175e-01 0.0312 1.4390e-02 3\n", + " 10 3.1420e-01 1.7144e-01 1.0430e-06 1.4275e-02 1.31034e-01 0.0312 1.4275e-02 3\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6798e+02 1.8044e-01 4.6464e+01 3.1596e-01 1.15815e+00 1.0000 ---- 3\n", + " 2 5.9846e+01 1.7138e-01 2.1758e+00 3.7917e+00 4.84764e-01 1.0000 3.7917e+00 3\n", + " 3 3.7332e+01 1.7140e-01 5.7309e-03 3.7103e+00 6.52956e-01 0.2500 3.7103e+00 3\n", + " 4 3.0743e+01 1.7138e-01 4.3242e-03 3.0529e+00 2.22445e-01 1.0000 3.0529e+00 3\n", + " 5 3.3627e+00 1.7142e-01 2.4513e-04 3.1888e-01 3.84254e-01 0.0625 3.1888e-01 3\n", + " 6 3.2388e+00 1.7142e-01 2.2974e-04 3.0651e-01 3.14888e-01 0.1250 3.0651e-01 3\n", + " 7 3.1137e+00 1.7141e-01 2.0094e-04 2.9403e-01 1.99933e-01 0.2500 2.9403e-01 3\n", + " 8 2.6357e+00 1.7141e-01 1.5123e-04 2.4628e-01 5.68193e-02 1.0000 2.4628e-01 3\n", + " 9 1.9810e-01 1.7141e-01 1.6375e-05 2.6524e-03 9.50259e-02 0.0020 5.0574e-03 1\n", + " 10 1.9810e-01 1.7141e-01 1.6375e-05 2.6524e-03 9.49883e-02 0.0625 2.6524e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6769e+02 1.8041e-01 4.6548e+01 2.0233e-01 1.11602e+00 1.0000 ---- 3\n", + " 2 5.1036e+01 1.7136e-01 2.2025e+00 2.8840e+00 3.80339e-01 1.0000 2.8840e+00 3\n", + " 3 1.5849e+01 1.7139e-01 5.1535e-03 1.5627e+00 4.72052e-01 0.2500 1.5627e+00 3\n", + " 4 1.2940e+01 1.7137e-01 3.8938e-03 1.2730e+00 1.53848e-01 1.0000 1.2730e+00 3\n", + " 5 5.5578e-01 1.7139e-01 1.9008e-04 3.8249e-02 2.57786e-01 0.1250 3.8249e-02 3\n", + " 6 5.1588e-01 1.7139e-01 1.6686e-04 3.4282e-02 1.64180e-01 0.1250 3.4282e-02 3\n", + " 7 4.6271e-01 1.7139e-01 1.4632e-04 2.8986e-02 1.06156e-01 0.2500 2.8986e-02 3\n", + " 8 4.1706e-01 1.7139e-01 1.1043e-04 2.4457e-02 3.34129e-02 1.0000 2.4457e-02 3\n", + " 9 2.5621e-01 1.7139e-01 5.6072e-06 8.4769e-03 5.25704e-02 0.2500 8.4769e-03 2\n", + " 10 2.3149e-01 1.7139e-01 4.5761e-06 6.0053e-03 1.65444e-02 1.0000 6.0053e-03 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6855e+02 1.8039e-01 4.6502e+01 3.3485e-01 1.06933e+00 1.0000 ---- 3\n", + " 2 5.1012e+01 1.7134e-01 2.1853e+00 2.8988e+00 2.64441e-01 1.0000 2.8988e+00 3\n", + " 3 3.4237e+00 1.7138e-01 5.1474e-03 3.2009e-01 2.30252e-01 0.5000 3.2009e-01 3\n", + " 4 2.9787e+00 1.7137e-01 2.7229e-03 2.7801e-01 8.05342e-02 1.0000 2.7801e-01 3\n", + " 5 3.2513e-01 1.7138e-01 2.7774e-05 1.5347e-02 1.53796e-01 0.1250 1.5347e-02 3\n", + " 6 3.1552e-01 1.7138e-01 2.4434e-05 1.4390e-02 9.61684e-02 0.2500 1.4390e-02 3\n", + " 7 2.9427e-01 1.7137e-01 1.8568e-05 1.2271e-02 2.46909e-02 1.0000 1.2271e-02 2\n", + " 8 1.7369e-01 1.7137e-01 7.0582e-07 2.3076e-04 4.74934e-02 0.0625 1.7503e-03 1\n", + " 9 1.7368e-01 1.7137e-01 6.6348e-07 2.3012e-04 3.89474e-02 0.2500 1.7513e-03 1\n", + " 10 1.7350e-01 1.7137e-01 5.8097e-07 2.1244e-04 1.11546e-02 0.5000 1.7552e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6818e+02 1.8038e-01 4.6493e+01 3.0643e-01 1.06909e+00 1.0000 ---- 3\n", + " 2 5.0097e+01 1.7133e-01 2.1806e+00 2.8120e+00 2.56641e-01 1.0000 2.8120e+00 3\n", + " 3 2.2190e+00 1.7136e-01 5.1333e-03 1.9964e-01 1.97555e-01 0.2500 1.9964e-01 3\n", + " 4 1.8204e+00 1.7136e-01 3.8819e-03 1.6103e-01 8.64717e-02 1.0000 1.6103e-01 3\n", + " 5 6.2878e-01 1.7136e-01 2.0351e-04 4.5538e-02 1.00499e-01 0.2500 4.5538e-02 3\n", + " 6 5.2813e-01 1.7136e-01 1.5381e-04 3.5523e-02 4.27265e-02 1.0000 3.5523e-02 3\n", + " 7 2.7652e-01 1.7136e-01 1.5239e-05 1.0501e-02 5.23105e-02 0.5000 1.0501e-02 2\n", + " 8 2.6547e-01 1.7136e-01 1.1514e-05 9.3998e-03 1.32510e-02 1.0000 9.3998e-03 2\n", + " 9 1.7672e-01 1.7136e-01 3.5685e-07 5.3624e-04 2.49995e-02 0.0020 1.8533e-03 1\n", + " 10 1.7672e-01 1.7136e-01 3.5685e-07 5.3624e-04 2.49859e-02 0.2500 1.7349e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6782e+02 1.8036e-01 4.6516e+01 2.4830e-01 1.06840e+00 1.0000 ---- 3\n", + " 2 5.0001e+01 1.7131e-01 2.1884e+00 2.7946e+00 2.61160e-01 1.0000 2.7946e+00 3\n", + " 3 2.1927e+00 1.7135e-01 5.0840e-03 1.9705e-01 2.06328e-01 0.2500 1.9705e-01 3\n", + " 4 1.8081e+00 1.7134e-01 3.8435e-03 1.5983e-01 8.86275e-02 1.0000 1.5983e-01 3\n", + " 5 5.2569e-01 1.7134e-01 2.0911e-04 3.5225e-02 1.05404e-01 0.2500 3.5225e-02 3\n", + " 6 4.6167e-01 1.7134e-01 1.5842e-04 2.8874e-02 4.38611e-02 1.0000 2.8874e-02 3\n", + " 7 2.2887e-01 1.7134e-01 1.5202e-05 5.7374e-03 5.48001e-02 0.0039 7.9101e-03 1\n", + " 8 2.2887e-01 1.7134e-01 1.5143e-05 5.7374e-03 5.42670e-02 0.1250 5.7374e-03 1\n", + " 9 2.2752e-01 1.7134e-01 1.3463e-05 5.6044e-03 3.80384e-02 0.1250 5.6044e-03 1\n", + " 10 2.2736e-01 1.7134e-01 1.1891e-05 5.5900e-03 2.69827e-02 0.2500 5.5900e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6830e+02 1.8035e-01 4.6561e+01 2.5184e-01 1.07099e+00 1.0000 ---- 3\n", + " 2 4.9382e+01 1.7130e-01 2.1738e+00 2.7473e+00 2.60295e-01 1.0000 2.7473e+00 3\n", + " 3 2.1125e+00 1.7133e-01 5.1840e-03 1.8893e-01 2.04082e-01 0.5000 1.8893e-01 3\n", + " 4 1.8610e+00 1.7133e-01 2.7217e-03 1.6625e-01 5.69851e-02 1.0000 1.6625e-01 3\n", + " 5 2.1315e-01 1.7133e-01 3.0590e-05 4.1518e-03 1.05088e-01 0.0625 4.1518e-03 1\n", + " 6 2.1293e-01 1.7133e-01 2.8718e-05 4.1312e-03 8.56352e-02 0.5000 4.1312e-03 1\n", + " 7 2.0878e-01 1.7133e-01 1.6076e-05 3.7294e-03 4.34485e-02 0.5000 3.7294e-03 1\n", + " 8 2.0427e-01 1.7133e-01 7.9338e-06 3.2863e-03 2.46365e-02 1.0000 3.2863e-03 1\n", + " 9 1.8709e-01 1.7133e-01 5.0969e-07 1.5754e-03 5.41935e-02 0.2500 1.6018e-03 1\n", + " 10 1.8587e-01 1.7133e-01 4.1655e-07 1.4536e-03 1.01457e-02 1.0000 1.6006e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6899e+02 1.8033e-01 4.6617e+01 2.6404e-01 1.07162e+00 1.0000 ---- 3\n", + " 2 5.1223e+01 1.7129e-01 2.1772e+00 2.9279e+00 2.80671e-01 1.0000 2.9279e+00 3\n", + " 3 2.9720e+00 1.7132e-01 5.0864e-03 2.7498e-01 2.79913e-01 0.5000 2.7498e-01 3\n", + " 4 2.7233e+00 1.7131e-01 2.6608e-03 2.5254e-01 1.10542e-01 1.0000 2.5254e-01 3\n", + " 5 6.3289e-01 1.7132e-01 4.2989e-05 4.6114e-02 2.30675e-01 0.2500 4.6114e-02 3\n", + " 6 6.2896e-01 1.7132e-01 3.3485e-05 4.5730e-02 4.64453e-02 1.0000 4.5730e-02 3\n", + " 7 2.1685e-01 1.7132e-01 2.4335e-06 4.5511e-03 9.44349e-02 0.0020 4.5511e-03 1\n", + " 8 2.1685e-01 1.7132e-01 2.4335e-06 4.5511e-03 9.43879e-02 0.1250 4.5511e-03 1\n", + " 9 2.1521e-01 1.7132e-01 2.1317e-06 4.3871e-03 5.78182e-02 0.0625 4.3871e-03 1\n", + " 10 2.1476e-01 1.7132e-01 1.9995e-06 4.3429e-03 4.67530e-02 0.2500 4.3429e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7047e+02 1.8032e-01 4.6660e+01 3.6969e-01 1.07070e+00 1.0000 ---- 3\n", + " 2 5.1858e+01 1.7127e-01 2.1877e+00 2.9810e+00 2.50223e-01 1.0000 2.9810e+00 3\n", + " 3 1.5298e+00 1.7131e-01 5.0652e-03 1.3078e-01 2.05107e-01 0.2500 1.3078e-01 3\n", + " 4 1.3951e+00 1.7131e-01 3.8340e-03 1.1855e-01 8.76861e-02 1.0000 1.1855e-01 3\n", + " 5 3.2547e-01 1.7131e-01 2.2568e-04 1.5191e-02 1.05708e-01 0.1250 1.5191e-02 3\n", + " 6 3.1540e-01 1.7131e-01 1.9801e-04 1.4211e-02 7.40130e-02 0.2500 1.4211e-02 3\n", + " 7 3.1245e-01 1.7131e-01 1.4966e-04 1.3964e-02 3.16031e-02 1.0000 1.3964e-02 2\n", + " 8 1.8698e-01 1.7131e-01 9.6355e-06 1.5578e-03 3.91486e-02 0.0020 5.1228e-03 1\n", + " 9 1.8698e-01 1.7131e-01 9.6355e-06 1.5578e-03 3.91351e-02 0.1250 2.0476e-03 1\n", + " 10 1.8584e-01 1.7131e-01 8.5775e-06 1.4443e-03 2.75180e-02 0.1250 3.4515e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6997e+02 1.8031e-01 4.6678e+01 3.0033e-01 1.07476e+00 1.0000 ---- 3\n", + " 2 5.1511e+01 1.7127e-01 2.1801e+00 2.9539e+00 2.66562e-01 1.0000 2.9539e+00 3\n", + " 3 1.2499e+00 1.7131e-01 5.1932e-03 1.0267e-01 2.21100e-01 0.2500 1.0267e-01 3\n", + " 4 1.1872e+00 1.7130e-01 3.9246e-03 9.7663e-02 9.41071e-02 1.0000 9.7663e-02 3\n", + " 5 5.6251e-01 1.7130e-01 2.0609e-04 3.8915e-02 1.14185e-01 0.2500 3.8915e-02 3\n", + " 6 5.1629e-01 1.7130e-01 1.5613e-04 3.4343e-02 4.66037e-02 1.0000 3.4343e-02 3\n", + " 7 2.5122e-01 1.7130e-01 1.7150e-05 7.9748e-03 5.93783e-02 0.2500 7.9748e-03 2\n", + " 8 2.2806e-01 1.7130e-01 1.4032e-05 5.6621e-03 2.43331e-02 0.0020 1.0006e-02 1\n", + " 9 2.2806e-01 1.7130e-01 1.4032e-05 5.6621e-03 2.43247e-02 1.0000 5.6621e-03 1\n", + " 10 2.2080e-01 1.7130e-01 7.2290e-06 4.9424e-03 3.14504e-02 0.0625 5.6992e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6999e+02 1.8030e-01 4.6593e+01 3.8755e-01 1.06755e+00 1.0000 ---- 3\n", + " 2 5.1932e+01 1.7126e-01 2.1949e+00 2.9812e+00 2.53640e-01 1.0000 2.9812e+00 3\n", + " 3 7.8050e-01 1.7130e-01 4.9787e-03 5.5941e-02 2.06086e-01 0.2500 5.5941e-02 3\n", + " 4 7.3709e-01 1.7130e-01 3.7693e-03 5.2810e-02 8.72273e-02 1.0000 5.2810e-02 3\n", + " 5 2.8419e-01 1.7130e-01 2.1740e-04 1.1071e-02 1.04869e-01 0.1250 1.1071e-02 2\n", + " 6 2.7173e-01 1.7130e-01 1.9070e-04 9.8523e-03 7.41262e-02 0.2500 9.8523e-03 2\n", + " 7 2.4781e-01 1.7130e-01 1.4407e-04 7.5077e-03 3.20959e-02 1.0000 7.5077e-03 2\n", + " 8 2.0026e-01 1.7130e-01 1.0640e-05 2.8860e-03 3.92813e-02 0.0020 7.1458e-03 1\n", + " 9 2.0026e-01 1.7130e-01 1.0640e-05 2.8860e-03 3.92676e-02 0.2500 2.8860e-03 1\n", + " 10 1.9783e-01 1.7130e-01 8.6425e-06 2.6451e-03 1.67120e-02 0.5000 4.3124e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6899e+02 1.8030e-01 4.6551e+01 3.2991e-01 1.06994e+00 1.0000 ---- 3\n", + " 2 5.1633e+01 1.7126e-01 2.1708e+00 2.9754e+00 2.61783e-01 1.0000 2.9754e+00 3\n", + " 3 7.6862e-01 1.7130e-01 5.1028e-03 5.4629e-02 2.17722e-01 0.1250 5.4629e-02 3\n", + " 4 7.0469e-01 1.7130e-01 4.4740e-03 4.8866e-02 1.53671e-01 0.2500 4.8866e-02 3\n", + " 5 6.2667e-01 1.7129e-01 3.3789e-03 4.2158e-02 6.64965e-02 1.0000 4.2158e-02 3\n", + " 6 3.0241e-01 1.7129e-01 1.4025e-04 1.2971e-02 7.85114e-02 0.2500 1.2971e-02 3\n", + " 7 2.8365e-01 1.7129e-01 1.0625e-04 1.1130e-02 3.31350e-02 1.0000 1.1130e-02 3\n", + " 8 2.4739e-01 1.7129e-01 9.5203e-06 7.6002e-03 4.08719e-02 0.5000 7.6002e-03 2\n", + " 9 2.1304e-01 1.7129e-01 7.1919e-06 4.1678e-03 1.16119e-02 0.0020 4.8756e-03 1\n", + " 10 2.1304e-01 1.7129e-01 7.1919e-06 4.1678e-03 1.15966e-02 1.0000 4.1678e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6797e+02 1.8030e-01 4.6557e+01 2.2215e-01 1.07137e+00 1.0000 ---- 3\n", + " 2 5.2400e+01 1.7126e-01 2.1833e+00 3.0395e+00 2.76699e-01 1.0000 3.0395e+00 3\n", + " 3 1.6457e+00 1.7130e-01 4.9812e-03 1.4245e-01 2.43679e-01 0.2500 1.4245e-01 3\n", + " 4 1.4478e+00 1.7129e-01 3.7652e-03 1.2389e-01 9.97514e-02 1.0000 1.2389e-01 3\n", + " 5 4.2484e-01 1.7129e-01 2.0606e-04 2.5148e-02 1.26601e-01 0.1250 2.5148e-02 3\n", + " 6 4.0849e-01 1.7129e-01 1.8086e-04 2.3539e-02 8.77987e-02 0.2500 2.3539e-02 3\n", + " 7 3.7834e-01 1.7129e-01 1.3683e-04 2.0568e-02 3.56588e-02 1.0000 2.0568e-02 3\n", + " 8 2.1569e-01 1.7129e-01 9.0833e-06 4.4311e-03 4.53910e-02 0.0078 4.7505e-03 1\n", + " 9 2.1569e-01 1.7129e-01 9.0129e-06 4.4311e-03 4.45289e-02 0.1250 4.4311e-03 1\n", + " 10 2.1364e-01 1.7129e-01 8.0352e-06 4.2271e-03 3.12894e-02 0.1250 4.2271e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6886e+02 1.8029e-01 4.6614e+01 2.5327e-01 1.07442e+00 1.0000 ---- 3\n", + " 2 5.1462e+01 1.7125e-01 2.1721e+00 2.9570e+00 2.71239e-01 1.0000 2.9570e+00 3\n", + " 3 1.1030e+00 1.7129e-01 5.2625e-03 8.7905e-02 2.30855e-01 0.2500 8.7905e-02 3\n", + " 4 1.0730e+00 1.7129e-01 3.9787e-03 8.6189e-02 9.67840e-02 1.0000 8.6189e-02 3\n", + " 5 4.7162e-01 1.7129e-01 2.1628e-04 2.9817e-02 1.20152e-01 0.2500 2.9817e-02 3\n", + " 6 4.5374e-01 1.7129e-01 1.6503e-04 2.8081e-02 4.80609e-02 1.0000 2.8081e-02 3\n", + " 7 2.5238e-01 1.7129e-01 1.7386e-05 8.0922e-03 6.19513e-02 0.2500 8.0922e-03 2\n", + " 8 2.3539e-01 1.7129e-01 1.4329e-05 6.3957e-03 2.52348e-02 0.0020 8.2360e-03 1\n", + " 9 2.3539e-01 1.7129e-01 1.4329e-05 6.3957e-03 2.52210e-02 1.0000 6.3957e-03 1\n", + " 10 2.2036e-01 1.7129e-01 6.5806e-06 4.9012e-03 3.29126e-02 0.1250 4.9242e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6905e+02 1.8029e-01 4.6561e+01 3.2522e-01 1.06664e+00 1.0000 ---- 3\n", + " 2 5.1797e+01 1.7125e-01 2.1761e+00 2.9864e+00 2.57555e-01 1.0000 2.9864e+00 3\n", + " 3 7.7343e-01 1.7129e-01 5.0581e-03 5.5156e-02 2.10836e-01 0.1250 5.5156e-02 3\n", + " 4 7.2464e-01 1.7129e-01 4.4346e-03 5.0901e-02 1.48700e-01 0.2500 5.0901e-02 3\n", + " 5 6.3783e-01 1.7129e-01 3.3488e-03 4.3306e-02 6.44070e-02 1.0000 4.3306e-02 3\n", + " 6 3.1650e-01 1.7129e-01 1.4058e-04 1.4381e-02 7.55124e-02 0.2500 1.4381e-02 3\n", + " 7 2.8865e-01 1.7128e-01 1.0642e-04 1.1630e-02 3.22537e-02 1.0000 1.1630e-02 3\n", + " 8 2.3099e-01 1.7128e-01 1.0427e-05 5.9599e-03 3.99329e-02 0.0312 1.0064e-02 1\n", + " 9 2.3098e-01 1.7128e-01 1.0111e-05 5.9593e-03 3.70231e-02 0.2500 5.9593e-03 1\n", + " 10 2.2416e-01 1.7128e-01 8.1544e-06 5.2793e-03 1.56685e-02 1.0000 5.9148e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6974e+02 1.8029e-01 4.6666e+01 2.9000e-01 1.06853e+00 1.0000 ---- 3\n", + " 2 5.4234e+01 1.7125e-01 2.1811e+00 3.2251e+00 2.58700e-01 1.0000 3.2251e+00 3\n", + " 3 1.1775e+00 1.7130e-01 4.8646e-03 9.5756e-02 2.27543e-01 0.2500 9.5756e-02 3\n", + " 4 1.1433e+00 1.7129e-01 3.6819e-03 9.3521e-02 9.21803e-02 1.0000 9.3521e-02 3\n", + " 5 4.8491e-01 1.7129e-01 2.0372e-04 3.1158e-02 1.16986e-01 0.2500 3.1158e-02 3\n", + " 6 4.6708e-01 1.7129e-01 1.5486e-04 2.9425e-02 4.65458e-02 1.0000 2.9425e-02 3\n", + " 7 2.6625e-01 1.7129e-01 1.7926e-05 9.4783e-03 6.16823e-02 0.2500 9.4783e-03 3\n", + " 8 2.5523e-01 1.7129e-01 1.4445e-05 8.3794e-03 2.42389e-02 1.0000 8.3794e-03 2\n", + " 9 1.9502e-01 1.7129e-01 3.9348e-06 2.3693e-03 3.41303e-02 0.0020 5.0962e-03 1\n", + " 10 1.9502e-01 1.7129e-01 3.9348e-06 2.3693e-03 3.41096e-02 0.2500 2.3693e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7074e+02 1.8029e-01 4.6728e+01 3.2790e-01 1.06945e+00 1.0000 ---- 3\n", + " 2 5.4641e+01 1.7126e-01 2.1993e+00 3.2477e+00 2.60910e-01 1.0000 3.2477e+00 3\n", + " 3 1.1023e+00 1.7130e-01 4.9637e-03 8.8133e-02 2.33170e-01 0.2500 8.8133e-02 3\n", + " 4 1.0458e+00 1.7130e-01 3.7623e-03 8.3689e-02 9.35445e-02 1.0000 8.3689e-02 3\n", + " 5 5.7944e-01 1.7130e-01 2.2901e-04 4.0586e-02 1.19955e-01 0.2500 4.0586e-02 3\n", + " 6 5.2692e-01 1.7129e-01 1.7470e-04 3.5388e-02 4.70787e-02 1.0000 3.5388e-02 3\n", + " 7 2.7234e-01 1.7129e-01 2.0639e-05 1.0084e-02 6.30842e-02 0.2500 1.0084e-02 3\n", + " 8 2.5365e-01 1.7129e-01 1.6662e-05 8.2191e-03 2.45809e-02 1.0000 8.2191e-03 2\n", + " 9 1.8104e-01 1.7129e-01 4.6703e-06 9.7012e-04 3.49137e-02 0.0020 2.3135e-03 1\n", + " 10 1.8104e-01 1.7129e-01 4.6703e-06 9.7012e-04 3.48955e-02 0.1250 1.5608e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6987e+02 1.8030e-01 4.6658e+01 3.1142e-01 1.06775e+00 1.0000 ---- 3\n", + " 2 5.4533e+01 1.7127e-01 2.1868e+00 3.2493e+00 2.60177e-01 1.0000 3.2493e+00 3\n", + " 3 1.0860e+00 1.7131e-01 5.0208e-03 8.6450e-02 2.32649e-01 0.2500 8.6450e-02 3\n", + " 4 1.0149e+00 1.7130e-01 3.8050e-03 8.0557e-02 9.30606e-02 1.0000 8.0557e-02 3\n", + " 5 5.2373e-01 1.7130e-01 2.2504e-04 3.5017e-02 1.18410e-01 0.2500 3.5017e-02 3\n", + " 6 4.8542e-01 1.7130e-01 1.7172e-04 3.1240e-02 4.71472e-02 1.0000 3.1240e-02 3\n", + " 7 2.6696e-01 1.7130e-01 2.1832e-05 9.5444e-03 6.27355e-02 0.2500 9.5444e-03 3\n", + " 8 2.4919e-01 1.7130e-01 1.7698e-05 7.7712e-03 2.45277e-02 1.0000 7.7712e-03 2\n", + " 9 1.8360e-01 1.7130e-01 4.9065e-06 1.2253e-03 3.47058e-02 0.0020 3.4428e-03 1\n", + " 10 1.8360e-01 1.7130e-01 4.9065e-06 1.2253e-03 3.46897e-02 0.2500 1.5560e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7006e+02 1.8031e-01 4.6675e+01 3.1211e-01 1.06951e+00 1.0000 ---- 3\n", + " 2 5.4555e+01 1.7127e-01 2.1873e+00 3.2511e+00 2.63868e-01 1.0000 3.2511e+00 3\n", + " 3 1.1224e+00 1.7132e-01 4.9355e-03 9.0169e-02 2.42487e-01 0.2500 9.0169e-02 3\n", + " 4 1.0958e+00 1.7131e-01 3.7412e-03 8.8706e-02 9.51956e-02 1.0000 8.8706e-02 3\n", + " 5 5.3383e-01 1.7131e-01 2.2055e-04 3.6031e-02 1.24951e-01 0.2500 3.6031e-02 3\n", + " 6 4.9756e-01 1.7131e-01 1.6854e-04 3.2457e-02 4.78851e-02 1.0000 3.2457e-02 3\n", + " 7 2.6744e-01 1.7131e-01 2.0216e-05 9.5926e-03 6.53370e-02 0.2500 9.5926e-03 3\n", + " 8 2.4938e-01 1.7131e-01 1.6317e-05 7.7908e-03 2.50521e-02 1.0000 7.7908e-03 2\n", + " 9 1.9430e-01 1.7131e-01 4.5968e-06 2.2945e-03 3.62244e-02 0.0020 5.3747e-03 1\n", + " 10 1.9430e-01 1.7131e-01 4.5968e-06 2.2945e-03 3.62063e-02 0.2500 2.2945e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6999e+02 1.8031e-01 4.6669e+01 3.1143e-01 1.06906e+00 1.0000 ---- 3\n", + " 2 5.4538e+01 1.7128e-01 2.1855e+00 3.2512e+00 2.64112e-01 1.0000 3.2512e+00 3\n", + " 3 1.1190e+00 1.7133e-01 4.9706e-03 8.9801e-02 2.43870e-01 0.2500 8.9801e-02 3\n", + " 4 1.0920e+00 1.7132e-01 3.7681e-03 8.8303e-02 9.50972e-02 1.0000 8.8303e-02 3\n", + " 5 5.2760e-01 1.7132e-01 2.2250e-04 3.5406e-02 1.25313e-01 0.2500 3.5406e-02 3\n", + " 6 4.9247e-01 1.7132e-01 1.7010e-04 3.1945e-02 4.79491e-02 1.0000 3.1945e-02 3\n", + " 7 2.6522e-01 1.7132e-01 2.0883e-05 9.3692e-03 6.56002e-02 0.2500 9.3692e-03 3\n", + " 8 2.4739e-01 1.7132e-01 1.6882e-05 7.5906e-03 2.50568e-02 1.0000 7.5906e-03 2\n", + " 9 1.9473e-01 1.7132e-01 4.6858e-06 2.3368e-03 3.63741e-02 0.0020 5.4068e-03 1\n", + " 10 1.9473e-01 1.7132e-01 4.6858e-06 2.3368e-03 3.63560e-02 0.2500 2.3368e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6995e+02 1.8032e-01 4.6666e+01 3.1142e-01 1.06909e+00 1.0000 ---- 3\n", + " 2 5.4528e+01 1.7129e-01 2.1850e+00 3.2506e+00 2.64826e-01 1.0000 3.2506e+00 3\n", + " 3 1.1156e+00 1.7134e-01 4.9546e-03 8.9470e-02 2.46661e-01 0.2500 8.9470e-02 3\n", + " 4 1.0884e+00 1.7133e-01 3.7563e-03 8.7947e-02 9.54949e-02 1.0000 8.7947e-02 3\n", + " 5 5.2438e-01 1.7133e-01 2.2196e-04 3.5084e-02 1.26741e-01 0.2500 3.5084e-02 3\n", + " 6 4.8956e-01 1.7133e-01 1.6980e-04 3.1654e-02 4.81868e-02 1.0000 3.1654e-02 3\n", + " 7 2.6353e-01 1.7133e-01 2.0934e-05 9.1991e-03 6.62204e-02 0.2500 9.1991e-03 3\n", + " 8 2.4588e-01 1.7133e-01 1.6938e-05 7.4383e-03 2.51777e-02 1.0000 7.4383e-03 2\n", + " 9 1.9464e-01 1.7132e-01 4.7010e-06 2.3269e-03 3.67220e-02 0.0020 5.3976e-03 1\n", + " 10 1.9464e-01 1.7132e-01 4.7010e-06 2.3269e-03 3.67031e-02 0.2500 2.3269e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6991e+02 1.8033e-01 4.6661e+01 3.1143e-01 1.06902e+00 1.0000 ---- 3\n", + " 2 5.4509e+01 1.7130e-01 2.1838e+00 3.2500e+00 2.65450e-01 1.0000 3.2500e+00 3\n", + " 3 1.1078e+00 1.7135e-01 4.9509e-03 8.8698e-02 2.48982e-01 0.2500 8.8698e-02 3\n", + " 4 1.0804e+00 1.7134e-01 3.7539e-03 8.7148e-02 9.58600e-02 1.0000 8.7148e-02 3\n", + " 5 5.2048e-01 1.7134e-01 2.2178e-04 3.4692e-02 1.27866e-01 0.2500 3.4692e-02 3\n", + " 6 4.8596e-01 1.7134e-01 1.6975e-04 3.1293e-02 4.84271e-02 1.0000 3.1293e-02 3\n", + " 7 2.6156e-01 1.7134e-01 2.1143e-05 9.0015e-03 6.67390e-02 0.2500 9.0015e-03 3\n", + " 8 2.4414e-01 1.7133e-01 1.7116e-05 7.2633e-03 2.52978e-02 1.0000 7.2633e-03 2\n", + " 9 1.9444e-01 1.7133e-01 4.7471e-06 2.3056e-03 3.70266e-02 0.0020 5.3917e-03 1\n", + " 10 1.9444e-01 1.7133e-01 4.7471e-06 2.3056e-03 3.70077e-02 0.2500 2.3056e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6983e+02 1.8034e-01 4.6653e+01 3.1142e-01 1.06894e+00 1.0000 ---- 3\n", + " 2 5.4403e+01 1.7131e-01 2.1830e+00 3.2402e+00 2.66291e-01 1.0000 3.2402e+00 3\n", + " 3 1.0672e+00 1.7136e-01 4.9636e-03 8.4618e-02 2.51121e-01 0.2500 8.4618e-02 3\n", + " 4 1.0476e+00 1.7135e-01 3.7637e-03 8.3865e-02 9.61823e-02 1.0000 8.3865e-02 3\n", + " 5 5.1818e-01 1.7135e-01 2.2120e-04 3.4463e-02 1.29000e-01 0.2500 3.4463e-02 3\n", + " 6 4.8242e-01 1.7135e-01 1.6938e-04 3.0938e-02 4.86581e-02 1.0000 3.0938e-02 3\n", + " 7 2.5633e-01 1.7135e-01 2.1295e-05 8.4769e-03 6.72041e-02 0.2500 8.4769e-03 3\n", + " 8 2.3934e-01 1.7134e-01 1.7247e-05 6.7823e-03 2.54100e-02 1.0000 6.7823e-03 2\n", + " 9 1.9412e-01 1.7134e-01 4.7680e-06 2.2732e-03 3.73089e-02 0.0020 5.3896e-03 1\n", + " 10 1.9412e-01 1.7134e-01 4.7680e-06 2.2732e-03 3.72903e-02 0.2500 2.2732e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6966e+02 1.8035e-01 4.6637e+01 3.1134e-01 1.06874e+00 1.0000 ---- 3\n", + " 2 5.4007e+01 1.7132e-01 2.1818e+00 3.2018e+00 2.67164e-01 1.0000 3.2018e+00 3\n", + " 3 1.3185e+00 1.7137e-01 4.9923e-03 1.0973e-01 2.53109e-01 0.2500 1.0973e-01 3\n", + " 4 1.1987e+00 1.7136e-01 3.7856e-03 9.8948e-02 9.64991e-02 1.0000 9.8948e-02 3\n", + " 5 5.0788e-01 1.7136e-01 2.2252e-04 3.3430e-02 1.30005e-01 0.2500 3.3430e-02 3\n", + " 6 4.2426e-01 1.7136e-01 1.7039e-04 2.5120e-02 4.88021e-02 1.0000 2.5120e-02 3\n", + " 7 2.7280e-01 1.7136e-01 2.1322e-05 1.0123e-02 6.76091e-02 0.2500 1.0123e-02 3\n", + " 8 2.4991e-01 1.7135e-01 1.7258e-05 7.8380e-03 2.54923e-02 1.0000 7.8380e-03 2\n", + " 9 1.9365e-01 1.7135e-01 4.7033e-06 2.2253e-03 3.75450e-02 0.0020 5.3921e-03 1\n", + " 10 1.9365e-01 1.7135e-01 4.7033e-06 2.2253e-03 3.75271e-02 0.2500 2.2253e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6935e+02 1.8036e-01 4.6608e+01 3.0875e-01 1.06841e+00 1.0000 ---- 3\n", + " 2 5.3328e+01 1.7133e-01 2.1799e+00 3.1358e+00 2.68625e-01 1.0000 3.1358e+00 3\n", + " 3 9.7291e-01 1.7137e-01 5.0063e-03 7.5147e-02 2.52861e-01 0.1250 7.5147e-02 3\n", + " 4 8.8752e-01 1.7137e-01 4.3902e-03 6.7224e-02 1.72892e-01 0.2500 6.7224e-02 3\n", + " 5 7.6778e-01 1.7137e-01 3.3168e-03 5.6324e-02 6.86194e-02 1.0000 5.6324e-02 3\n", + " 6 3.2580e-01 1.7137e-01 1.3730e-04 1.5306e-02 8.88628e-02 0.5000 1.5306e-02 3\n", + " 7 3.2270e-01 1.7137e-01 7.4862e-05 1.5059e-02 2.70017e-02 1.0000 1.5059e-02 3\n", + " 8 1.9428e-01 1.7137e-01 3.8967e-06 2.2878e-03 5.04500e-02 0.0020 4.8539e-03 1\n", + " 9 1.9428e-01 1.7137e-01 3.8967e-06 2.2878e-03 5.04263e-02 0.1250 2.2878e-03 1\n", + " 10 1.9300e-01 1.7136e-01 3.5674e-06 2.1597e-03 3.20442e-02 0.1250 3.2143e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7034e+02 1.8037e-01 4.6643e+01 3.7360e-01 1.06871e+00 1.0000 ---- 3\n", + " 2 5.1637e+01 1.7135e-01 2.1631e+00 2.9834e+00 2.67233e-01 1.0000 2.9834e+00 3\n", + " 3 9.9273e-01 1.7139e-01 5.4927e-03 7.6642e-02 2.43335e-01 0.2500 7.6642e-02 3\n", + " 4 8.7609e-01 1.7138e-01 4.1635e-03 6.6308e-02 9.25948e-02 1.0000 6.6308e-02 3\n", + " 5 2.2814e-01 1.7138e-01 2.3353e-04 5.4427e-03 1.20137e-01 0.1250 5.4427e-03 2\n", + " 6 2.2557e-01 1.7138e-01 2.0524e-04 5.2137e-03 8.28522e-02 0.2500 5.2137e-03 2\n", + " 7 2.1970e-01 1.7138e-01 1.5581e-04 4.6769e-03 3.37385e-02 1.0000 4.6769e-03 2\n", + " 8 1.7549e-01 1.7138e-01 1.3171e-05 3.9873e-04 4.42791e-02 0.0020 1.7401e-03 1\n", + " 9 1.7549e-01 1.7138e-01 1.3171e-05 3.9873e-04 4.42627e-02 0.1250 1.7401e-03 1\n", + " 10 1.7545e-01 1.7137e-01 1.1759e-05 3.9585e-04 3.06657e-02 0.0156 1.7390e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.7084e+02 1.8038e-01 4.6677e+01 3.8859e-01 1.08017e+00 1.0000 ---- 3\n", + " 2 5.2190e+01 1.7136e-01 2.1516e+00 3.0503e+00 2.93347e-01 1.0000 3.0503e+00 3\n", + " 3 9.6232e-01 1.7140e-01 5.5982e-03 7.3494e-02 2.89504e-01 0.2500 7.3494e-02 3\n", + " 4 8.7366e-01 1.7139e-01 4.2354e-03 6.5992e-02 1.12707e-01 1.0000 6.5992e-02 3\n", + " 5 4.2705e-01 1.7139e-01 2.3029e-04 2.5335e-02 1.53903e-01 0.1250 2.5335e-02 3\n", + " 6 4.0363e-01 1.7139e-01 2.0313e-04 2.3021e-02 1.03707e-01 0.2500 2.3021e-02 3\n", + " 7 3.6258e-01 1.7139e-01 1.5519e-04 1.8964e-02 3.97380e-02 1.0000 1.8964e-02 3\n", + " 8 1.9945e-01 1.7139e-01 1.2312e-05 2.7947e-03 5.33022e-02 0.0020 7.2186e-03 1\n", + " 9 1.9945e-01 1.7139e-01 1.2312e-05 2.7947e-03 5.32842e-02 0.2500 2.7947e-03 1\n", + " 10 1.9826e-01 1.7138e-01 1.0426e-05 2.6769e-03 2.10164e-02 0.5000 4.8307e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6970e+02 1.8039e-01 4.6580e+01 3.7248e-01 1.06864e+00 1.0000 ---- 3\n", + " 2 5.0634e+01 1.7137e-01 2.1706e+00 2.8757e+00 2.71230e-01 1.0000 2.8757e+00 3\n", + " 3 1.2710e+00 1.7140e-01 5.2876e-03 1.0467e-01 2.49635e-01 0.2500 1.0467e-01 3\n", + " 4 1.0295e+00 1.7140e-01 4.0069e-03 8.1801e-02 9.59850e-02 1.0000 8.1801e-02 3\n", + " 5 3.3306e-01 1.7139e-01 2.1200e-04 1.5954e-02 1.27512e-01 0.2500 1.5954e-02 3\n", + " 6 3.1474e-01 1.7139e-01 1.6270e-04 1.4172e-02 4.84711e-02 1.0000 1.4172e-02 3\n", + " 7 2.7537e-01 1.7139e-01 2.0656e-05 1.0377e-02 6.61568e-02 0.2500 1.0377e-02 3\n", + " 8 2.6053e-01 1.7139e-01 1.6830e-05 8.8973e-03 2.52266e-02 1.0000 8.8973e-03 2\n", + " 9 1.7293e-01 1.7139e-01 5.0184e-06 1.4889e-04 3.68083e-02 0.0020 1.7047e-03 1\n", + " 10 1.7293e-01 1.7139e-01 5.0184e-06 1.4889e-04 3.67906e-02 0.0625 1.7047e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6891e+02 1.8039e-01 4.6486e+01 3.8623e-01 1.06582e+00 1.0000 ---- 3\n", + " 2 4.9945e+01 1.7137e-01 2.1781e+00 2.7992e+00 2.71230e-01 1.0000 2.7992e+00 3\n", + " 3 1.7946e+00 1.7140e-01 5.2582e-03 1.5706e-01 2.47542e-01 0.5000 1.5706e-01 3\n", + " 4 1.2361e+00 1.7139e-01 2.7989e-03 1.0367e-01 7.95392e-02 1.0000 1.0367e-01 3\n", + " 5 1.9823e-01 1.7139e-01 3.7163e-05 2.6461e-03 1.43603e-01 0.0020 9.3710e-03 1\n", + " 6 1.9823e-01 1.7139e-01 3.7163e-05 2.6461e-03 1.43550e-01 0.2500 3.7431e-03 1\n", + " 7 1.9602e-01 1.7139e-01 3.0261e-05 2.4322e-03 3.94529e-02 1.0000 6.3611e-03 1\n", + " 8 1.9467e-01 1.7139e-01 6.2228e-06 2.3217e-03 6.79763e-02 0.5000 4.3549e-03 1\n", + " 9 1.9174e-01 1.7139e-01 5.7697e-06 2.0290e-03 2.96187e-02 1.0000 4.6172e-03 1\n", + " 10 1.8176e-01 1.7139e-01 2.4171e-06 1.0341e-03 6.14692e-02 0.5000 1.7511e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6894e+02 1.8039e-01 4.6515e+01 3.6058e-01 1.07831e+00 1.0000 ---- 3\n", + " 2 5.0627e+01 1.7137e-01 2.1642e+00 2.8814e+00 3.30892e-01 1.0000 2.8814e+00 3\n", + " 3 2.0360e+00 1.7141e-01 5.2090e-03 1.8125e-01 4.04963e-01 0.2500 1.8125e-01 3\n", + " 4 1.6980e+00 1.7139e-01 3.9324e-03 1.4872e-01 1.23756e-01 1.0000 1.4872e-01 3\n", + " 5 6.0086e-01 1.7139e-01 2.1227e-04 4.2734e-02 1.88668e-01 0.5000 4.2734e-02 3\n", + " 6 5.6556e-01 1.7139e-01 1.3229e-04 3.9285e-02 8.27506e-02 1.0000 3.9285e-02 3\n", + " 7 1.7160e-01 1.7139e-01 2.1455e-05 0.0000e+00 1.81208e-01 0.1250 1.8678e-03 1\n", + " 8 1.7158e-01 1.7138e-01 1.9309e-05 0.0000e+00 1.06244e-01 0.1250 1.7501e-03 1\n", + " 9 1.7156e-01 1.7138e-01 1.7150e-05 0.0000e+00 6.27984e-02 0.0625 1.7499e-03 1\n", + " 10 1.7155e-01 1.7138e-01 1.6107e-05 0.0000e+00 5.02131e-02 0.0625 1.7501e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6859e+02 1.8038e-01 4.6515e+01 3.2638e-01 1.07903e+00 1.0000 ---- 3\n", + " 2 5.0864e+01 1.7136e-01 2.1586e+00 2.9107e+00 3.02755e-01 1.0000 2.9107e+00 3\n", + " 3 2.8292e+00 1.7139e-01 5.4745e-03 2.6030e-01 3.42931e-01 0.5000 2.6030e-01 3\n", + " 4 2.4112e+00 1.7138e-01 2.8837e-03 2.2110e-01 1.70682e-01 1.0000 2.2110e-01 3\n", + " 5 4.3759e-01 1.7138e-01 4.6790e-05 2.6574e-02 3.77070e-01 0.0625 2.6574e-02 3\n", + " 6 4.1459e-01 1.7137e-01 4.3942e-05 2.4278e-02 3.02058e-01 0.0625 2.4278e-02 3\n", + " 7 4.1037e-01 1.7137e-01 4.1279e-05 2.3859e-02 2.41599e-01 0.0625 2.3859e-02 3\n", + " 8 4.0126e-01 1.7137e-01 3.8771e-05 2.2950e-02 1.93075e-01 0.1250 2.2950e-02 3\n", + " 9 3.9205e-01 1.7137e-01 3.4120e-05 2.2034e-02 1.15296e-01 0.2500 2.2034e-02 3\n", + " 10 3.8904e-01 1.7137e-01 2.5906e-05 2.1741e-02 2.29039e-02 1.0000 2.1741e-02 3\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6887e+02 1.8035e-01 4.6511e+01 3.5831e-01 1.08213e+00 1.0000 ---- 3\n", + " 2 5.0448e+01 1.7132e-01 2.1831e+00 2.8445e+00 3.14199e-01 1.0000 2.8445e+00 3\n", + " 3 8.3783e+00 1.7136e-01 5.5239e-03 8.1517e-01 3.79680e-01 0.5000 8.1517e-01 3\n", + " 4 8.2519e+00 1.7134e-01 2.9223e-03 8.0513e-01 1.95171e-01 1.0000 8.0513e-01 3\n", + " 5 2.3697e+00 1.7135e-01 5.8476e-05 2.1977e-01 4.26389e-01 0.1250 2.1977e-01 3\n", + " 6 2.2892e+00 1.7135e-01 5.1452e-05 2.1173e-01 2.51926e-01 0.2500 2.1173e-01 3\n", + " 7 1.9958e+00 1.7135e-01 3.9156e-05 1.8241e-01 4.70031e-02 1.0000 1.8241e-01 3\n", + " 8 1.7926e-01 1.7135e-01 1.9971e-06 7.8889e-04 9.92694e-02 0.0020 1.7718e-03 1\n", + " 9 1.7926e-01 1.7135e-01 1.9971e-06 7.8889e-04 9.92272e-02 0.0078 1.7718e-03 1\n", + " 10 1.7924e-01 1.7135e-01 1.9814e-06 7.8695e-04 9.63725e-02 0.0020 1.7717e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6795e+02 1.8032e-01 4.6438e+01 3.3855e-01 1.12354e+00 1.0000 ---- 3\n", + " 2 5.2523e+01 1.7130e-01 2.1827e+00 3.0524e+00 4.04393e-01 1.0000 3.0524e+00 3\n", + " 3 1.6111e+01 1.7133e-01 5.1364e-03 1.5888e+00 5.71982e-01 0.2500 1.5888e+00 3\n", + " 4 1.3684e+01 1.7131e-01 3.8863e-03 1.3473e+00 1.55445e-01 1.0000 1.3473e+00 3\n", + " 5 2.3796e-01 1.7134e-01 2.2843e-04 6.4338e-03 2.68773e-01 0.0156 6.4338e-03 2\n", + " 6 2.3766e-01 1.7134e-01 2.2487e-04 6.4080e-03 2.56190e-01 0.0078 6.4080e-03 2\n", + " 7 2.3723e-01 1.7134e-01 2.2311e-04 6.3665e-03 2.50085e-01 0.0078 6.3665e-03 2\n", + " 8 2.3677e-01 1.7134e-01 2.2137e-04 6.3223e-03 2.43153e-01 0.0078 6.3223e-03 2\n", + " 9 2.3628e-01 1.7133e-01 2.1964e-04 6.2751e-03 2.27373e-01 0.0156 6.2751e-03 2\n", + " 10 2.3612e-01 1.7133e-01 2.1622e-04 6.2623e-03 2.17249e-01 0.0156 6.2623e-03 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6467e+02 1.8031e-01 4.6203e+01 2.4526e-01 1.22498e+00 1.0000 ---- 3\n", + " 2 6.9241e+01 1.7127e-01 2.1916e+00 4.7154e+00 6.55624e-01 1.0000 4.7154e+00 3\n", + " 3 6.3547e+01 1.7129e-01 7.0663e-03 6.3305e+00 1.01264e+00 0.2500 6.3305e+00 3\n", + " 4 5.1134e+01 1.7125e-01 5.3426e-03 5.0910e+00 3.00245e-01 1.0000 5.0910e+00 3\n", + " 5 4.8222e+00 1.7133e-01 4.5867e-04 4.6463e-01 5.31539e-01 0.0625 4.6463e-01 3\n", + " 6 4.6619e+00 1.7132e-01 4.3031e-04 4.4863e-01 4.40444e-01 0.1250 4.4863e-01 3\n", + " 7 4.5351e+00 1.7131e-01 3.7727e-04 4.3600e-01 2.83303e-01 0.2500 4.3600e-01 3\n", + " 8 3.8887e+00 1.7131e-01 2.8415e-04 3.7146e-01 7.77030e-02 1.0000 3.7146e-01 3\n", + " 9 1.7144e-01 1.7131e-01 1.2734e-05 0.0000e+00 1.36363e-01 0.0625 1.8047e-03 1\n", + " 10 1.7143e-01 1.7131e-01 1.1944e-05 0.0000e+00 1.11110e-01 0.0625 1.8036e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6681e+02 1.8029e-01 4.6418e+01 2.4444e-01 1.11385e+00 1.0000 ---- 3\n", + " 2 4.9831e+01 1.7126e-01 2.1770e+00 2.7890e+00 4.03390e-01 1.0000 2.7890e+00 3\n", + " 3 1.5632e+01 1.7129e-01 5.8686e-03 1.5402e+00 5.34837e-01 0.2500 1.5402e+00 3\n", + " 4 1.2636e+01 1.7127e-01 4.4378e-03 1.2421e+00 1.62420e-01 1.0000 1.2421e+00 3\n", + " 5 7.9239e-01 1.7129e-01 2.7778e-04 6.1832e-02 2.72124e-01 0.0625 6.1832e-02 3\n", + " 6 7.7786e-01 1.7129e-01 2.6047e-04 6.0397e-02 2.23332e-01 0.1250 6.0397e-02 3\n", + " 7 7.7663e-01 1.7129e-01 2.2805e-04 6.0306e-02 1.43687e-01 0.2500 6.0306e-02 3\n", + " 8 7.1267e-01 1.7129e-01 1.7130e-04 5.3967e-02 4.40667e-02 1.0000 5.3967e-02 3\n", + " 9 1.7198e-01 1.7129e-01 7.6575e-06 6.1903e-05 7.04944e-02 0.0020 1.8083e-03 1\n", + " 10 1.7198e-01 1.7129e-01 7.6575e-06 6.1903e-05 7.04610e-02 0.0312 1.8083e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6663e+02 1.8027e-01 4.6441e+01 2.0437e-01 1.08920e+00 1.0000 ---- 3\n", + " 2 4.9223e+01 1.7124e-01 2.1767e+00 2.7285e+00 3.21435e-01 1.0000 2.7285e+00 3\n", + " 3 4.7499e+00 1.7127e-01 5.5434e-03 4.5232e-01 3.51028e-01 0.2500 4.5232e-01 3\n", + " 4 4.4155e+00 1.7127e-01 4.1901e-03 4.2023e-01 1.21246e-01 1.0000 4.2023e-01 3\n", + " 5 5.3568e-01 1.7127e-01 2.2952e-04 3.6212e-02 1.79458e-01 0.1250 3.6212e-02 3\n", + " 6 5.3193e-01 1.7127e-01 2.0155e-04 3.5865e-02 1.19049e-01 0.2500 3.5865e-02 3\n", + " 7 5.1910e-01 1.7127e-01 1.5263e-04 3.4631e-02 4.17115e-02 1.0000 3.4631e-02 3\n", + " 8 2.3750e-01 1.7127e-01 9.8254e-06 6.6128e-03 6.02438e-02 0.0020 7.8853e-03 1\n", + " 9 2.3750e-01 1.7127e-01 9.8254e-06 6.6128e-03 6.02250e-02 0.1250 6.6128e-03 1\n", + " 10 2.3603e-01 1.7127e-01 8.7485e-06 6.4677e-03 4.05860e-02 0.0625 6.4677e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6632e+02 1.8025e-01 4.6410e+01 2.0420e-01 1.07274e+00 1.0000 ---- 3\n", + " 2 4.9326e+01 1.7122e-01 2.1672e+00 2.7483e+00 2.73461e-01 1.0000 2.7483e+00 3\n", + " 3 1.7765e+00 1.7126e-01 5.3099e-03 1.5521e-01 2.41086e-01 0.2500 1.5521e-01 3\n", + " 4 1.5604e+00 1.7125e-01 4.0141e-03 1.3490e-01 9.64444e-02 1.0000 1.3490e-01 3\n", + " 5 3.8097e-01 1.7125e-01 2.1671e-04 2.0755e-02 1.23002e-01 0.1250 2.0755e-02 3\n", + " 6 3.6693e-01 1.7125e-01 1.9021e-04 1.9377e-02 8.47443e-02 0.2500 1.9377e-02 2\n", + " 7 3.1760e-01 1.7125e-01 1.4388e-04 1.4491e-02 3.45659e-02 1.0000 1.4491e-02 2\n", + " 8 1.9746e-01 1.7125e-01 9.4025e-06 2.6110e-03 4.37566e-02 0.0020 3.7991e-03 1\n", + " 9 1.9746e-01 1.7125e-01 9.4025e-06 2.6110e-03 4.37465e-02 0.1250 2.6110e-03 1\n", + " 10 1.9590e-01 1.7125e-01 8.3678e-06 2.4568e-03 3.06866e-02 0.1250 2.6992e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6582e+02 1.8023e-01 4.6386e+01 1.7788e-01 1.06960e+00 1.0000 ---- 3\n", + " 2 4.9138e+01 1.7121e-01 2.1639e+00 2.7328e+00 2.60258e-01 1.0000 2.7328e+00 3\n", + " 3 1.6651e+00 1.7124e-01 5.2823e-03 1.4410e-01 2.05527e-01 0.2500 1.4410e-01 3\n", + " 4 1.4503e+00 1.7124e-01 3.9944e-03 1.2391e-01 8.89797e-02 1.0000 1.2391e-01 3\n", + " 5 3.7201e-01 1.7124e-01 2.1739e-04 1.9860e-02 1.04754e-01 0.1250 1.9860e-02 3\n", + " 6 3.6021e-01 1.7124e-01 1.9078e-04 1.8706e-02 7.41232e-02 0.2500 1.8706e-02 3\n", + " 7 3.3956e-01 1.7124e-01 1.4430e-04 1.6689e-02 3.25732e-02 1.0000 1.6689e-02 3\n", + " 8 2.2848e-01 1.7124e-01 9.6333e-06 5.7148e-03 3.86066e-02 0.0020 5.7148e-03 1\n", + " 9 2.2848e-01 1.7124e-01 9.6333e-06 5.7148e-03 3.85906e-02 0.2500 5.7148e-03 1\n", + " 10 2.2345e-01 1.7124e-01 7.8217e-06 5.2140e-03 1.68649e-02 0.5000 5.2140e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6515e+02 1.8021e-01 4.6329e+01 1.6736e-01 1.06458e+00 1.0000 ---- 3\n", + " 2 4.9056e+01 1.7119e-01 2.1687e+00 2.7198e+00 2.56398e-01 1.0000 2.7198e+00 3\n", + " 3 1.5450e+00 1.7123e-01 5.1267e-03 1.3226e-01 2.05226e-01 0.2500 1.3226e-01 3\n", + " 4 1.3713e+00 1.7122e-01 3.8792e-03 1.1613e-01 8.67649e-02 1.0000 1.1613e-01 3\n", + " 5 4.8450e-01 1.7122e-01 2.1384e-04 3.1114e-02 1.04058e-01 0.2500 3.1114e-02 3\n", + " 6 4.5636e-01 1.7122e-01 1.6252e-04 2.8352e-02 4.35365e-02 1.0000 2.8352e-02 3\n", + " 7 2.6254e-01 1.7122e-01 1.7166e-05 9.1151e-03 5.43820e-02 0.5000 9.1151e-03 2\n", + " 8 2.6122e-01 1.7122e-01 1.2835e-05 8.9873e-03 1.61682e-02 0.0020 1.0317e-02 1\n", + " 9 2.6122e-01 1.7122e-01 1.2835e-05 8.9873e-03 1.61509e-02 1.0000 8.9873e-03 1\n", + " 10 1.9439e-01 1.7122e-01 2.9933e-06 2.3145e-03 2.79584e-02 0.2500 2.3145e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6492e+02 1.8020e-01 4.6323e+01 1.5035e-01 1.06512e+00 1.0000 ---- 3\n", + " 2 4.9509e+01 1.7118e-01 2.1676e+00 2.7662e+00 2.66078e-01 1.0000 2.7662e+00 3\n", + " 3 1.2012e+00 1.7121e-01 5.1152e-03 9.7884e-02 2.21685e-01 0.2500 9.7884e-02 3\n", + " 4 1.1212e+00 1.7121e-01 3.8696e-03 9.1128e-02 9.17101e-02 1.0000 9.1128e-02 3\n", + " 5 5.4361e-01 1.7121e-01 2.0999e-04 3.7030e-02 1.13102e-01 0.2500 3.7030e-02 3\n", + " 6 5.0936e-01 1.7120e-01 1.5964e-04 3.3656e-02 4.65831e-02 1.0000 3.3656e-02 3\n", + " 7 2.7139e-01 1.7120e-01 1.7254e-05 1.0001e-02 5.89516e-02 0.5000 1.0001e-02 2\n", + " 8 2.5777e-01 1.7120e-01 1.3192e-05 8.6435e-03 1.60082e-02 1.0000 8.6435e-03 2\n", + " 9 1.7766e-01 1.7120e-01 4.6750e-07 6.4478e-04 3.11924e-02 0.0020 2.5561e-03 1\n", + " 10 1.7766e-01 1.7120e-01 4.6750e-07 6.4478e-04 3.11777e-02 0.1250 1.8266e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6473e+02 1.8018e-01 4.6309e+01 1.4555e-01 1.06551e+00 1.0000 ---- 3\n", + " 2 4.9837e+01 1.7116e-01 2.1766e+00 2.7900e+00 2.78330e-01 1.0000 2.7900e+00 3\n", + " 3 1.5034e+00 1.7119e-01 5.1740e-03 1.2804e-01 2.47528e-01 0.2500 1.2804e-01 3\n", + " 4 1.2404e+00 1.7119e-01 3.9135e-03 1.0301e-01 9.78133e-02 1.0000 1.0301e-01 3\n", + " 5 5.8948e-01 1.7119e-01 2.0920e-04 4.1620e-02 1.24007e-01 0.2500 4.1620e-02 3\n", + " 6 5.5679e-01 1.7119e-01 1.5902e-04 3.8401e-02 4.97651e-02 1.0000 3.8401e-02 3\n", + " 7 3.0829e-01 1.7119e-01 1.7630e-05 1.3693e-02 6.44971e-02 0.2500 1.3693e-02 3\n", + " 8 2.7898e-01 1.7119e-01 1.4367e-05 1.0766e-02 2.56566e-02 1.0000 1.0766e-02 2\n", + " 9 1.8498e-01 1.7119e-01 4.1378e-06 1.3750e-03 3.51965e-02 0.0020 4.4505e-03 1\n", + " 10 1.8498e-01 1.7119e-01 4.1378e-06 1.3750e-03 3.51793e-02 0.2500 1.7952e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6450e+02 1.8016e-01 4.6297e+01 1.3506e-01 1.06203e+00 1.0000 ---- 3\n", + " 2 4.9689e+01 1.7114e-01 2.1806e+00 2.7711e+00 2.60098e-01 1.0000 2.7711e+00 3\n", + " 3 9.3424e-01 1.7118e-01 5.1908e-03 7.1115e-02 2.16011e-01 0.2500 7.1115e-02 3\n", + " 4 8.5551e-01 1.7117e-01 3.9278e-03 6.4506e-02 8.93121e-02 1.0000 6.4506e-02 3\n", + " 5 5.9836e-01 1.7117e-01 2.1088e-04 4.2508e-02 1.10791e-01 0.2500 4.2508e-02 3\n", + " 6 5.3151e-01 1.7117e-01 1.6046e-04 3.5874e-02 4.56619e-02 1.0000 3.5874e-02 3\n", + " 7 2.4847e-01 1.7117e-01 1.8961e-05 7.7113e-03 5.89672e-02 0.5000 7.7113e-03 2\n", + " 8 2.3081e-01 1.7117e-01 1.4360e-05 5.9494e-03 1.72320e-02 0.0020 8.5462e-03 1\n", + " 9 2.3081e-01 1.7117e-01 1.4360e-05 5.9494e-03 1.72183e-02 1.0000 5.9494e-03 1\n", + " 10 1.9720e-01 1.7117e-01 3.2060e-06 2.6003e-03 2.84395e-02 0.1250 4.0028e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6549e+02 1.8015e-01 4.6301e+01 2.2942e-01 1.06699e+00 1.0000 ---- 3\n", + " 2 4.9642e+01 1.7113e-01 2.1658e+00 2.7813e+00 2.81802e-01 1.0000 2.7813e+00 3\n", + " 3 1.2132e+00 1.7116e-01 5.1728e-03 9.9030e-02 2.50796e-01 0.2500 9.9030e-02 3\n", + " 4 1.0302e+00 1.7116e-01 3.9098e-03 8.1991e-02 1.00732e-01 1.0000 8.1991e-02 3\n", + " 5 3.5082e-01 1.7116e-01 2.0809e-04 1.7759e-02 1.28740e-01 0.1250 1.7759e-02 3\n", + " 6 3.3982e-01 1.7116e-01 1.8267e-04 1.6683e-02 8.96655e-02 0.2500 1.6683e-02 3\n", + " 7 3.1915e-01 1.7115e-01 1.3825e-04 1.4661e-02 3.69946e-02 1.0000 1.4661e-02 3\n", + " 8 2.0506e-01 1.7115e-01 1.0627e-05 3.3802e-03 4.64127e-02 0.0312 5.0634e-03 1\n", + " 9 2.0506e-01 1.7115e-01 1.0305e-05 3.3805e-03 4.29674e-02 0.1250 3.3805e-03 1\n", + " 10 2.0329e-01 1.7115e-01 9.1590e-06 3.2040e-03 3.02619e-02 0.1250 3.4573e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6517e+02 1.8013e-01 4.6443e+01 5.5736e-02 1.07085e+00 1.0000 ---- 3\n", + " 2 4.9828e+01 1.7111e-01 2.1692e+00 2.7965e+00 2.68174e-01 1.0000 2.7965e+00 3\n", + " 3 2.0641e+00 1.7115e-01 5.3553e-03 1.8394e-01 2.24360e-01 0.5000 1.8394e-01 3\n", + " 4 1.4600e+00 1.7114e-01 2.8155e-03 1.2607e-01 6.22343e-02 1.0000 1.2607e-01 3\n", + " 5 2.8832e-01 1.7114e-01 2.9715e-05 1.1688e-02 1.11332e-01 0.2500 1.1688e-02 2\n", + " 6 2.6528e-01 1.7114e-01 2.3014e-05 9.3905e-03 3.04918e-02 1.0000 9.3905e-03 2\n", + " 7 1.7541e-01 1.7114e-01 2.1453e-06 4.2424e-04 5.38445e-02 0.0020 2.0307e-03 1\n", + " 8 1.7541e-01 1.7114e-01 2.1453e-06 4.2424e-04 5.38206e-02 0.0312 1.7142e-03 1\n", + " 9 1.7527e-01 1.7114e-01 2.0806e-06 4.1073e-04 4.91164e-02 0.0156 1.7154e-03 1\n", + " 10 1.7526e-01 1.7114e-01 2.0485e-06 4.0924e-04 4.69921e-02 0.0312 1.7159e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6812e+02 1.8012e-01 4.6438e+01 3.5595e-01 1.06759e+00 1.0000 ---- 3\n", + " 2 4.7602e+01 1.7111e-01 2.1629e+00 2.5803e+00 2.56380e-01 1.0000 2.5803e+00 3\n", + " 3 1.8960e+00 1.7114e-01 5.5276e-03 1.6696e-01 2.26253e-01 0.5000 1.6696e-01 3\n", + " 4 1.3850e+00 1.7113e-01 2.9185e-03 1.1847e-01 8.41866e-02 1.0000 1.1847e-01 3\n", + " 5 5.2415e-01 1.7113e-01 3.1799e-05 3.5269e-02 1.74689e-01 0.2500 3.5269e-02 3\n", + " 6 4.9834e-01 1.7113e-01 2.5026e-05 3.2696e-02 3.74442e-02 1.0000 3.2696e-02 3\n", + " 7 1.9839e-01 1.7113e-01 2.4075e-06 2.7232e-03 7.60433e-02 0.0078 2.7232e-03 1\n", + " 8 1.9838e-01 1.7113e-01 2.3890e-06 2.7228e-03 7.41704e-02 0.2500 2.7228e-03 1\n", + " 9 1.9520e-01 1.7113e-01 2.1064e-06 2.4051e-03 1.85841e-02 1.0000 2.4051e-03 1\n", + " 10 1.8772e-01 1.7113e-01 1.8397e-06 1.6574e-03 3.37249e-02 0.5000 1.6574e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6704e+02 1.8011e-01 4.6427e+01 2.5867e-01 1.06786e+00 1.0000 ---- 3\n", + " 2 4.9755e+01 1.7110e-01 2.1543e+00 2.8041e+00 2.72499e-01 1.0000 2.8041e+00 3\n", + " 3 1.4147e+00 1.7113e-01 5.1278e-03 1.1923e-01 2.55194e-01 0.2500 1.1923e-01 3\n", + " 4 1.1897e+00 1.7113e-01 3.8828e-03 9.7969e-02 9.48010e-02 1.0000 9.7969e-02 3\n", + " 5 3.7016e-01 1.7113e-01 2.1309e-04 1.9690e-02 1.22592e-01 0.2500 1.9690e-02 3\n", + " 6 3.2972e-01 1.7113e-01 1.6206e-04 1.5697e-02 4.70750e-02 1.0000 1.5697e-02 3\n", + " 7 2.1846e-01 1.7113e-01 1.6794e-05 4.7165e-03 6.28175e-02 0.0020 8.3818e-03 1\n", + " 8 2.1846e-01 1.7113e-01 1.6794e-05 4.7165e-03 6.27970e-02 0.1250 4.7165e-03 1\n", + " 9 2.1542e-01 1.7113e-01 1.4961e-05 4.4147e-03 4.30661e-02 0.1250 5.6503e-03 1\n", + " 10 2.1467e-01 1.7113e-01 1.3234e-05 4.3414e-03 3.00064e-02 0.2500 4.3414e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6768e+02 1.8011e-01 4.6501e+01 2.4887e-01 1.07053e+00 1.0000 ---- 3\n", + " 2 5.1149e+01 1.7109e-01 2.1530e+00 2.9448e+00 2.68192e-01 1.0000 2.9448e+00 3\n", + " 3 5.9518e-01 1.7113e-01 5.2254e-03 3.7180e-02 2.43183e-01 0.2500 3.7180e-02 3\n", + " 4 5.7932e-01 1.7112e-01 3.9518e-03 3.6868e-02 9.66298e-02 1.0000 3.6868e-02 3\n", + " 5 3.9114e-01 1.7112e-01 2.1026e-04 2.1791e-02 1.24183e-01 0.2500 2.1791e-02 3\n", + " 6 3.6106e-01 1.7112e-01 1.6068e-04 1.8833e-02 4.84762e-02 1.0000 1.8833e-02 3\n", + " 7 2.1550e-01 1.7112e-01 1.8935e-05 4.4189e-03 6.41109e-02 0.0312 5.5848e-03 1\n", + " 8 2.1544e-01 1.7112e-01 1.8365e-05 4.4136e-03 5.91890e-02 0.1250 4.4136e-03 1\n", + " 9 2.1294e-01 1.7112e-01 1.6367e-05 4.1656e-03 4.10636e-02 0.2500 4.1656e-03 1\n", + " 10 2.1280e-01 1.7112e-01 1.2906e-05 4.1553e-03 1.67438e-02 1.0000 4.1553e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6837e+02 1.8010e-01 4.6584e+01 2.3516e-01 1.06628e+00 1.0000 ---- 3\n", + " 2 5.4411e+01 1.7109e-01 2.1802e+00 3.2437e+00 2.53727e-01 1.0000 3.2437e+00 3\n", + " 3 1.1033e+00 1.7113e-01 4.9096e-03 8.8311e-02 2.17798e-01 0.2500 8.8311e-02 3\n", + " 4 1.0187e+00 1.7112e-01 3.7199e-03 8.1040e-02 8.94382e-02 1.0000 8.1040e-02 3\n", + " 5 5.0464e-01 1.7112e-01 2.2386e-04 3.3128e-02 1.10768e-01 0.2500 3.3128e-02 3\n", + " 6 4.7065e-01 1.7112e-01 1.7064e-04 2.9782e-02 4.49996e-02 1.0000 2.9782e-02 3\n", + " 7 2.7150e-01 1.7112e-01 2.0882e-05 1.0017e-02 5.87603e-02 0.5000 1.0017e-02 3\n", + " 8 2.7052e-01 1.7112e-01 1.5334e-05 9.9240e-03 1.58010e-02 1.0000 9.9240e-03 2\n", + " 9 1.7318e-01 1.7112e-01 6.2362e-07 2.0544e-04 2.79501e-02 0.0020 1.4784e-03 1\n", + " 10 1.7318e-01 1.7112e-01 6.2362e-07 2.0544e-04 2.79372e-02 0.2500 1.4778e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6956e+02 1.8010e-01 4.6624e+01 3.1374e-01 1.07134e+00 1.0000 ---- 3\n", + " 2 5.4145e+01 1.7109e-01 2.1810e+00 3.2164e+00 2.68673e-01 1.0000 3.2164e+00 3\n", + " 3 1.2951e+00 1.7114e-01 4.8776e-03 1.0752e-01 2.42428e-01 0.2500 1.0752e-01 3\n", + " 4 1.2694e+00 1.7113e-01 3.6937e-03 1.0614e-01 9.84725e-02 1.0000 1.0614e-01 3\n", + " 5 5.5031e-01 1.7113e-01 2.1620e-04 3.7702e-02 1.25885e-01 0.2500 3.7702e-02 3\n", + " 6 5.2269e-01 1.7113e-01 1.6512e-04 3.4991e-02 4.89271e-02 1.0000 3.4991e-02 3\n", + " 7 2.7647e-01 1.7113e-01 1.8522e-05 1.0516e-02 6.51340e-02 0.2500 1.0516e-02 3\n", + " 8 2.6247e-01 1.7113e-01 1.5272e-05 9.1189e-03 2.54151e-02 1.0000 9.1189e-03 2\n", + " 9 2.0610e-01 1.7113e-01 4.4071e-06 3.4928e-03 3.59615e-02 0.0020 7.2753e-03 1\n", + " 10 2.0610e-01 1.7113e-01 4.4071e-06 3.4928e-03 3.59387e-02 0.2500 3.4928e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6920e+02 1.8010e-01 4.6592e+01 3.1046e-01 1.06736e+00 1.0000 ---- 3\n", + " 2 5.4252e+01 1.7110e-01 2.1812e+00 3.2269e+00 2.58875e-01 1.0000 3.2269e+00 3\n", + " 3 1.1236e+00 1.7114e-01 4.9122e-03 9.0333e-02 2.30028e-01 0.2500 9.0333e-02 3\n", + " 4 1.0848e+00 1.7114e-01 3.7217e-03 8.7643e-02 9.23847e-02 1.0000 8.7643e-02 3\n", + " 5 5.3597e-01 1.7114e-01 2.1779e-04 3.6266e-02 1.18030e-01 0.2500 3.6266e-02 3\n", + " 6 4.9801e-01 1.7113e-01 1.6610e-04 3.2522e-02 4.66610e-02 1.0000 3.2522e-02 3\n", + " 7 2.7048e-01 1.7113e-01 2.0210e-05 9.9149e-03 6.23328e-02 0.2500 9.9149e-03 3\n", + " 8 2.5180e-01 1.7113e-01 1.6313e-05 8.0502e-03 2.42609e-02 1.0000 8.0502e-03 2\n", + " 9 1.9007e-01 1.7113e-01 4.4147e-06 1.8897e-03 3.44862e-02 0.0020 5.0492e-03 1\n", + " 10 1.9007e-01 1.7113e-01 4.4147e-06 1.8897e-03 3.44700e-02 0.2500 1.8897e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6921e+02 1.8011e-01 4.6591e+01 3.1213e-01 1.06792e+00 1.0000 ---- 3\n", + " 2 5.4227e+01 1.7111e-01 2.1819e+00 3.2237e+00 2.60519e-01 1.0000 3.2237e+00 3\n", + " 3 1.1097e+00 1.7115e-01 4.8622e-03 8.8993e-02 2.35471e-01 0.2500 8.8993e-02 3\n", + " 4 1.0678e+00 1.7114e-01 3.6846e-03 8.5976e-02 9.35290e-02 1.0000 8.5976e-02 3\n", + " 5 5.3569e-01 1.7114e-01 2.1560e-04 3.6239e-02 1.21200e-01 0.2500 3.6239e-02 3\n", + " 6 4.9632e-01 1.7114e-01 1.6461e-04 3.2353e-02 4.72000e-02 1.0000 3.2353e-02 3\n", + " 7 2.6751e-01 1.7114e-01 2.0018e-05 9.6167e-03 6.37527e-02 0.2500 9.6167e-03 3\n", + " 8 2.4919e-01 1.7114e-01 1.6153e-05 7.7887e-03 2.46219e-02 1.0000 7.7887e-03 2\n", + " 9 1.8847e-01 1.7114e-01 4.4518e-06 1.7290e-03 3.53020e-02 0.0020 4.9097e-03 1\n", + " 10 1.8847e-01 1.7114e-01 4.4518e-06 1.7290e-03 3.52858e-02 0.2500 1.7290e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6914e+02 1.8012e-01 4.6584e+01 3.1216e-01 1.06778e+00 1.0000 ---- 3\n", + " 2 5.4113e+01 1.7111e-01 2.1800e+00 3.2142e+00 2.61688e-01 1.0000 3.2142e+00 3\n", + " 3 1.0669e+00 1.7116e-01 4.8845e-03 8.4695e-02 2.38737e-01 0.2500 8.4695e-02 3\n", + " 4 1.0328e+00 1.7115e-01 3.7019e-03 8.2465e-02 9.40969e-02 1.0000 8.2465e-02 3\n", + " 5 5.3036e-01 1.7115e-01 2.1589e-04 3.5705e-02 1.22812e-01 0.2500 3.5705e-02 3\n", + " 6 4.9016e-01 1.7115e-01 1.6497e-04 3.1736e-02 4.75780e-02 1.0000 3.1736e-02 3\n", + " 7 2.6076e-01 1.7115e-01 2.0491e-05 8.9407e-03 6.45232e-02 0.2500 8.9407e-03 3\n", + " 8 2.4307e-01 1.7115e-01 1.6552e-05 7.1761e-03 2.48114e-02 1.0000 7.1761e-03 2\n", + " 9 1.8821e-01 1.7115e-01 4.5528e-06 1.7020e-03 3.57650e-02 0.0020 4.8796e-03 1\n", + " 10 1.8821e-01 1.7115e-01 4.5528e-06 1.7020e-03 3.57488e-02 0.2500 1.7020e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6905e+02 1.8013e-01 4.6575e+01 3.1213e-01 1.06768e+00 1.0000 ---- 3\n", + " 2 5.3907e+01 1.7112e-01 2.1789e+00 3.1946e+00 2.62996e-01 1.0000 3.1946e+00 3\n", + " 3 1.1727e+00 1.7116e-01 4.9014e-03 9.5253e-02 2.42436e-01 0.2500 9.5253e-02 3\n", + " 4 1.0933e+00 1.7116e-01 3.7153e-03 8.8499e-02 9.47256e-02 1.0000 8.8499e-02 3\n", + " 5 5.2650e-01 1.7116e-01 2.1688e-04 3.5317e-02 1.24716e-01 0.2500 3.5317e-02 3\n", + " 6 4.5121e-01 1.7116e-01 1.6586e-04 2.7839e-02 4.78778e-02 1.0000 2.7839e-02 3\n", + " 7 2.7880e-01 1.7115e-01 2.0880e-05 1.0744e-02 6.53672e-02 0.5000 1.0744e-02 3\n", + " 8 2.7403e-01 1.7115e-01 1.5864e-05 1.0271e-02 1.88354e-02 1.0000 1.0271e-02 3\n", + " 9 1.7870e-01 1.7115e-01 1.0831e-06 7.5363e-04 3.28184e-02 0.0625 1.7290e-03 1\n", + " 10 1.7868e-01 1.7115e-01 1.0202e-06 7.5144e-04 2.72874e-02 0.5000 1.6217e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6918e+02 1.8013e-01 4.6582e+01 3.1730e-01 1.06865e+00 1.0000 ---- 3\n", + " 2 5.2385e+01 1.7113e-01 2.1638e+00 3.0577e+00 2.60538e-01 1.0000 3.0577e+00 3\n", + " 3 1.7043e+00 1.7117e-01 5.1125e-03 1.4820e-01 2.35650e-01 0.5000 1.4820e-01 3\n", + " 4 1.5053e+00 1.7116e-01 2.7190e-03 1.3069e-01 6.96504e-02 1.0000 1.3069e-01 3\n", + " 5 1.8776e-01 1.7116e-01 3.7705e-05 1.6218e-03 1.20097e-01 0.0625 1.9819e-03 1\n", + " 6 1.8775e-01 1.7116e-01 3.5459e-05 1.6239e-03 9.91028e-02 0.2500 1.8671e-03 1\n", + " 7 1.8576e-01 1.7116e-01 2.7782e-05 1.4322e-03 3.02650e-02 1.0000 1.6528e-03 1\n", + " 8 1.8327e-01 1.7116e-01 4.1893e-06 1.2070e-03 5.07241e-02 0.5000 1.8877e-03 1\n", + " 9 1.8285e-01 1.7116e-01 3.7496e-06 1.1654e-03 2.15162e-02 1.0000 1.9793e-03 1\n", + " 10 1.7932e-01 1.7116e-01 1.2970e-06 8.1456e-04 4.46315e-02 0.5000 1.6663e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6958e+02 1.8014e-01 4.6598e+01 3.4157e-01 1.07605e+00 1.0000 ---- 3\n", + " 2 5.3811e+01 1.7114e-01 2.1763e+00 3.1877e+00 2.98172e-01 1.0000 3.1877e+00 3\n", + " 3 1.8455e+00 1.7117e-01 5.0424e-03 1.6239e-01 3.34344e-01 0.2500 1.6239e-01 3\n", + " 4 1.6525e+00 1.7116e-01 3.8103e-03 1.4432e-01 1.16779e-01 1.0000 1.4432e-01 3\n", + " 5 5.9496e-01 1.7116e-01 2.1863e-04 4.2161e-02 1.67252e-01 0.2500 4.2161e-02 3\n", + " 6 5.0250e-01 1.7116e-01 1.6936e-04 3.2965e-02 5.65458e-02 1.0000 3.2965e-02 3\n", + " 7 1.9618e-01 1.7116e-01 2.1784e-05 2.4807e-03 8.05393e-02 0.0020 5.5609e-03 1\n", + " 8 1.9618e-01 1.7116e-01 2.1784e-05 2.4807e-03 8.05143e-02 0.0625 2.4807e-03 1\n", + " 9 1.9558e-01 1.7116e-01 2.0537e-05 2.4213e-03 6.76031e-02 0.0312 3.8611e-03 1\n", + " 10 1.9549e-01 1.7116e-01 1.9916e-05 2.4138e-03 6.22126e-02 0.0625 2.5324e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6959e+02 1.8013e-01 4.6634e+01 3.0706e-01 1.08534e+00 1.0000 ---- 3\n", + " 2 5.2658e+01 1.7113e-01 2.1797e+00 3.0691e+00 2.89067e-01 1.0000 3.0691e+00 3\n", + " 3 2.2568e+00 1.7117e-01 5.3910e-03 2.0317e-01 2.89427e-01 0.2500 2.0317e-01 3\n", + " 4 1.8452e+00 1.7116e-01 4.0726e-03 1.6333e-01 1.10417e-01 1.0000 1.6333e-01 3\n", + " 5 5.0138e-01 1.7116e-01 2.3574e-04 3.2786e-02 1.45600e-01 0.5000 3.2786e-02 3\n", + " 6 4.9825e-01 1.7116e-01 1.3819e-04 3.2571e-02 5.25089e-02 1.0000 3.2571e-02 3\n", + " 7 1.8989e-01 1.7116e-01 6.0058e-06 1.8673e-03 1.02484e-01 0.0020 4.6296e-03 1\n", + " 8 1.8989e-01 1.7116e-01 6.0058e-06 1.8673e-03 1.02439e-01 0.0312 1.8673e-03 1\n", + " 9 1.8959e-01 1.7116e-01 5.8247e-06 1.8373e-03 9.27470e-02 0.0156 3.3071e-03 1\n", + " 10 1.8956e-01 1.7116e-01 5.7350e-06 1.8343e-03 8.83675e-02 0.0312 2.2728e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6857e+02 1.8012e-01 4.6530e+01 3.0876e-01 1.08639e+00 1.0000 ---- 3\n", + " 2 5.0713e+01 1.7112e-01 2.1565e+00 2.8977e+00 3.18096e-01 1.0000 2.8977e+00 3\n", + " 3 2.5484e+00 1.7116e-01 5.7331e-03 2.3199e-01 3.87520e-01 0.5000 2.3199e-01 3\n", + " 4 1.4407e+00 1.7114e-01 3.0208e-03 1.2393e-01 1.97598e-01 1.0000 1.2393e-01 3\n", + " 5 1.2788e+00 1.7114e-01 5.9042e-05 1.1071e-01 4.19568e-01 0.2500 1.1071e-01 3\n", + " 6 1.2616e+00 1.7113e-01 4.5558e-05 1.0900e-01 8.83562e-02 1.0000 1.0900e-01 3\n", + " 7 2.6549e-01 1.7113e-01 4.9104e-06 9.4317e-03 1.83401e-01 0.1250 9.4317e-03 3\n", + " 8 2.6063e-01 1.7113e-01 4.4340e-06 8.9458e-03 1.11805e-01 0.2500 8.9458e-03 3\n", + " 9 2.4821e-01 1.7113e-01 3.5867e-06 7.7048e-03 2.48939e-02 1.0000 7.7048e-03 3\n", + " 10 1.7188e-01 1.7113e-01 5.0182e-07 7.4952e-05 5.11986e-02 0.0020 1.7063e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6895e+02 1.8010e-01 4.6560e+01 3.1758e-01 1.08877e+00 1.0000 ---- 3\n", + " 2 5.4244e+01 1.7110e-01 2.1923e+00 3.2150e+00 3.33644e-01 1.0000 3.2150e+00 3\n", + " 3 2.6400e+00 1.7114e-01 4.9793e-03 2.4190e-01 3.94882e-01 0.2500 2.4190e-01 3\n", + " 4 2.4306e+00 1.7113e-01 3.7702e-03 2.2217e-01 1.27943e-01 1.0000 2.2217e-01 3\n", + " 5 5.5629e-01 1.7113e-01 2.1898e-04 3.8297e-02 1.93336e-01 0.2500 3.8297e-02 3\n", + " 6 4.8640e-01 1.7113e-01 1.6669e-04 3.1361e-02 6.32523e-02 1.0000 3.1361e-02 3\n", + " 7 2.9037e-01 1.7113e-01 1.8065e-05 1.1906e-02 9.62169e-02 0.2500 1.1906e-02 3\n", + " 8 2.7597e-01 1.7112e-01 1.4856e-05 1.0470e-02 3.23588e-02 1.0000 1.0470e-02 3\n", + " 9 2.2764e-01 1.7112e-01 4.1213e-06 5.6471e-03 5.08739e-02 0.0020 9.6841e-03 1\n", + " 10 2.2764e-01 1.7112e-01 4.1213e-06 5.6471e-03 5.08458e-02 0.2500 5.6471e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6839e+02 1.8009e-01 4.6490e+01 3.3064e-01 1.06693e+00 1.0000 ---- 3\n", + " 2 5.0541e+01 1.7110e-01 2.1848e+00 2.8523e+00 2.62088e-01 1.0000 2.8523e+00 3\n", + " 3 2.1471e+00 1.7113e-01 4.9532e-03 1.9264e-01 2.34366e-01 0.5000 1.9264e-01 3\n", + " 4 1.8460e+00 1.7112e-01 2.6081e-03 1.6488e-01 9.00465e-02 1.0000 1.6488e-01 3\n", + " 5 4.0058e-01 1.7112e-01 3.3392e-05 2.2912e-02 1.84372e-01 0.2500 2.2912e-02 3\n", + " 6 3.7956e-01 1.7112e-01 2.7512e-05 2.0817e-02 4.05201e-02 1.0000 2.0817e-02 3\n", + " 7 1.8480e-01 1.7112e-01 3.7566e-06 1.3644e-03 8.03500e-02 0.0156 1.8848e-03 1\n", + " 8 1.8480e-01 1.7112e-01 3.6989e-06 1.3643e-03 7.65192e-02 0.1250 1.7099e-03 1\n", + " 9 1.8358e-01 1.7112e-01 3.3012e-06 1.2432e-03 4.73623e-02 0.1250 1.7099e-03 1\n", + " 10 1.8305e-01 1.7112e-01 2.9143e-06 1.1902e-03 2.96224e-02 0.2500 1.7104e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6878e+02 1.8008e-01 4.6495e+01 3.6468e-01 1.06895e+00 1.0000 ---- 3\n", + " 2 4.9757e+01 1.7109e-01 2.1701e+00 2.7885e+00 2.58035e-01 1.0000 2.7885e+00 3\n", + " 3 2.2420e+00 1.7112e-01 5.0003e-03 2.0209e-01 2.19169e-01 0.5000 2.0209e-01 3\n", + " 4 1.4129e+00 1.7112e-01 2.6348e-03 1.2155e-01 7.28284e-02 1.0000 1.2155e-01 3\n", + " 5 4.3277e-01 1.7112e-01 3.2338e-05 2.6133e-02 1.41348e-01 0.2500 2.6133e-02 3\n", + " 6 3.9452e-01 1.7111e-01 2.5654e-05 2.2315e-02 3.34454e-02 1.0000 2.2315e-02 3\n", + " 7 1.8770e-01 1.7111e-01 2.4273e-06 1.6559e-03 6.41212e-02 0.0312 3.0514e-03 1\n", + " 8 1.8767e-01 1.7111e-01 2.3531e-06 1.6529e-03 5.81618e-02 0.2500 1.7288e-03 1\n", + " 9 1.8563e-01 1.7111e-01 1.9152e-06 1.4501e-03 1.62363e-02 1.0000 2.1222e-03 1\n", + " 10 1.8144e-01 1.7111e-01 1.4122e-06 1.0309e-03 2.80767e-02 0.1250 1.7400e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6923e+02 1.8008e-01 4.6531e+01 3.7340e-01 1.07268e+00 1.0000 ---- 3\n", + " 2 5.2130e+01 1.7108e-01 2.1788e+00 3.0171e+00 2.79220e-01 1.0000 3.0171e+00 3\n", + " 3 1.2740e+00 1.7112e-01 4.7822e-03 1.0551e-01 2.59202e-01 0.2500 1.0551e-01 3\n", + " 4 1.2439e+00 1.7112e-01 3.6154e-03 1.0367e-01 1.00913e-01 1.0000 1.0367e-01 3\n", + " 5 7.1345e-01 1.7112e-01 1.9537e-04 5.4038e-02 1.32263e-01 0.2500 5.4038e-02 3\n", + " 6 6.2335e-01 1.7111e-01 1.4872e-04 4.5075e-02 5.04781e-02 1.0000 4.5075e-02 3\n", + " 7 2.3172e-01 1.7111e-01 1.6405e-05 6.0444e-03 6.87309e-02 0.2500 6.0444e-03 2\n", + " 8 2.1409e-01 1.7111e-01 1.3546e-05 4.2838e-03 2.64919e-02 0.0020 9.6628e-03 1\n", + " 9 2.1409e-01 1.7111e-01 1.3546e-05 4.2838e-03 2.64804e-02 0.5000 4.2838e-03 1\n", + " 10 1.9614e-01 1.7111e-01 7.6923e-06 2.4952e-03 6.64658e-03 1.0000 3.4442e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6913e+02 1.8008e-01 4.6510e+01 3.8490e-01 1.07010e+00 1.0000 ---- 3\n", + " 2 5.0899e+01 1.7108e-01 2.1746e+00 2.8981e+00 2.69725e-01 1.0000 2.8981e+00 3\n", + " 3 1.8833e+00 1.7112e-01 4.9033e-03 1.6632e-01 2.40329e-01 0.2500 1.6632e-01 3\n", + " 4 1.4541e+00 1.7111e-01 3.7098e-03 1.2459e-01 9.70022e-02 1.0000 1.2459e-01 3\n", + " 5 6.4598e-01 1.7111e-01 2.0110e-04 4.7285e-02 1.24159e-01 0.5000 4.7285e-02 3\n", + " 6 5.1127e-01 1.7111e-01 1.1047e-04 3.3905e-02 3.64348e-02 1.0000 3.3905e-02 3\n", + " 7 2.3694e-01 1.7111e-01 4.3780e-06 6.5780e-03 6.54576e-02 0.2500 6.5780e-03 2\n", + " 8 2.2500e-01 1.7111e-01 3.8138e-06 5.3848e-03 1.85316e-02 1.0000 5.3848e-03 2\n", + " 9 1.7112e-01 1.7111e-01 1.1518e-06 0.0000e+00 3.28916e-02 0.2500 1.7416e-03 1\n", + " 10 1.7112e-01 1.7111e-01 1.0543e-06 0.0000e+00 1.07449e-02 0.2500 1.7486e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6866e+02 1.8008e-01 4.6482e+01 3.6574e-01 1.06882e+00 1.0000 ---- 3\n", + " 2 4.9325e+01 1.7108e-01 2.1816e+00 2.7338e+00 2.66347e-01 1.0000 2.7338e+00 3\n", + " 3 2.0430e+00 1.7111e-01 4.9864e-03 1.8220e-01 2.27708e-01 0.5000 1.8220e-01 3\n", + " 4 1.6786e+00 1.7111e-01 2.6351e-03 1.4811e-01 6.77638e-02 1.0000 1.4811e-01 3\n", + " 5 3.5734e-01 1.7111e-01 3.2042e-05 1.8591e-02 1.25851e-01 0.2500 1.8591e-02 3\n", + " 6 3.4245e-01 1.7111e-01 2.5066e-05 1.7110e-02 3.22172e-02 1.0000 1.7110e-02 3\n", + " 7 1.8749e-01 1.7111e-01 2.5113e-06 1.6357e-03 5.80206e-02 0.0156 2.0030e-03 1\n", + " 8 1.8747e-01 1.7111e-01 2.4725e-06 1.6344e-03 5.54292e-02 0.0625 1.7433e-03 1\n", + " 9 1.8703e-01 1.7111e-01 2.3235e-06 1.5900e-03 4.56217e-02 0.0625 1.7432e-03 1\n", + " 10 1.8687e-01 1.7111e-01 2.1807e-06 1.5743e-03 3.76555e-02 0.1250 1.7434e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6850e+02 1.8007e-01 4.6470e+01 3.6238e-01 1.06639e+00 1.0000 ---- 3\n", + " 2 4.9736e+01 1.7108e-01 2.1660e+00 2.7904e+00 2.51886e-01 1.0000 2.7904e+00 3\n", + " 3 1.8239e+00 1.7111e-01 5.1666e-03 1.6011e-01 2.11192e-01 0.5000 1.6011e-01 3\n", + " 4 1.2820e+00 1.7110e-01 2.7288e-03 1.0836e-01 6.05376e-02 1.0000 1.0836e-01 3\n", + " 5 4.0819e-01 1.7111e-01 2.7587e-05 2.3681e-02 1.08206e-01 0.2500 2.3681e-02 3\n", + " 6 3.6819e-01 1.7110e-01 2.1735e-05 1.9687e-02 3.00292e-02 1.0000 1.9687e-02 3\n", + " 7 1.7401e-01 1.7110e-01 2.2602e-06 2.8805e-04 5.54430e-02 0.2500 1.7509e-03 1\n", + " 8 1.7378e-01 1.7110e-01 1.9799e-06 2.6615e-04 1.65225e-02 0.5000 1.7535e-03 1\n", + " 9 1.7263e-01 1.7110e-01 1.0788e-06 1.5120e-04 6.71961e-03 1.0000 1.7606e-03 1\n", + " 10 1.7135e-01 1.7110e-01 4.4636e-07 2.3864e-05 1.16637e-02 0.5000 1.7689e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6809e+02 1.8007e-01 4.6416e+01 3.7448e-01 1.06825e+00 1.0000 ---- 3\n", + " 2 4.8748e+01 1.7108e-01 2.1637e+00 2.6941e+00 2.72149e-01 1.0000 2.6941e+00 3\n", + " 3 1.5222e+00 1.7111e-01 5.0837e-03 1.3002e-01 2.40699e-01 0.2500 1.3002e-01 3\n", + " 4 1.2044e+00 1.7110e-01 3.8489e-03 9.9477e-02 9.70532e-02 1.0000 9.9477e-02 3\n", + " 5 4.7747e-01 1.7110e-01 2.1312e-04 3.0424e-02 1.25285e-01 0.2500 3.0424e-02 3\n", + " 6 4.1218e-01 1.7110e-01 1.6276e-04 2.3945e-02 4.87983e-02 1.0000 2.3945e-02 3\n", + " 7 1.9486e-01 1.7110e-01 1.8927e-05 2.3572e-03 6.52190e-02 0.0020 5.0126e-03 1\n", + " 8 1.9486e-01 1.7110e-01 1.8927e-05 2.3572e-03 6.51929e-02 0.0625 2.3572e-03 1\n", + " 9 1.9420e-01 1.7110e-01 1.7828e-05 2.2927e-03 5.51176e-02 0.0312 3.6612e-03 1\n", + " 10 1.9406e-01 1.7110e-01 1.7286e-05 2.2790e-03 5.08857e-02 0.1250 2.6505e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6770e+02 1.8006e-01 4.6452e+01 3.0002e-01 1.07699e+00 1.0000 ---- 3\n", + " 2 4.8767e+01 1.7107e-01 2.1485e+00 2.7111e+00 2.84440e-01 1.0000 2.7111e+00 3\n", + " 3 2.1564e+00 1.7110e-01 5.4538e-03 1.9307e-01 2.55829e-01 0.5000 1.9307e-01 3\n", + " 4 1.9565e+00 1.7109e-01 2.8516e-03 1.7569e-01 7.47366e-02 1.0000 1.7569e-01 3\n", + " 5 2.3087e-01 1.7110e-01 3.3223e-05 5.9443e-03 1.39365e-01 0.1250 5.9443e-03 2\n", + " 6 2.2343e-01 1.7110e-01 2.9357e-05 5.2043e-03 8.77359e-02 0.0020 9.7157e-03 1\n", + " 7 2.2343e-01 1.7110e-01 2.9357e-05 5.2043e-03 8.76939e-02 0.2500 5.2043e-03 1\n", + " 8 2.2159e-01 1.7110e-01 2.2463e-05 5.0269e-03 2.42266e-02 0.5000 7.5938e-03 1\n", + " 9 2.1757e-01 1.7110e-01 1.1205e-05 4.6361e-03 9.53239e-03 1.0000 4.6361e-03 1\n", + " 10 1.7994e-01 1.7110e-01 7.5654e-07 8.8411e-04 1.84365e-02 1.0000 1.7646e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6734e+02 1.8006e-01 4.6365e+01 3.5111e-01 1.07061e+00 1.0000 ---- 3\n", + " 2 4.8111e+01 1.7106e-01 2.1549e+00 2.6391e+00 2.79797e-01 1.0000 2.6391e+00 3\n", + " 3 1.6372e+00 1.7110e-01 5.3270e-03 1.4128e-01 2.90449e-01 0.5000 1.4128e-01 3\n", + " 4 1.2986e+00 1.7109e-01 2.8076e-03 1.0995e-01 1.40006e-01 1.0000 1.0995e-01 3\n", + " 5 5.1702e-01 1.7108e-01 4.3605e-05 3.4550e-02 3.11218e-01 0.1250 3.4550e-02 3\n", + " 6 5.0128e-01 1.7108e-01 3.8652e-05 3.2981e-02 1.84472e-01 0.2500 3.2981e-02 3\n", + " 7 4.5089e-01 1.7108e-01 2.9864e-05 2.7951e-02 3.51432e-02 1.0000 2.7951e-02 3\n", + " 8 1.7921e-01 1.7108e-01 1.9163e-06 8.1135e-04 7.49992e-02 0.1250 1.7496e-03 1\n", + " 9 1.7899e-01 1.7108e-01 1.7378e-06 7.8908e-04 4.53563e-02 0.5000 1.7518e-03 1\n", + " 10 1.7622e-01 1.7108e-01 1.4543e-06 5.1308e-04 2.69796e-02 0.5000 1.7602e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6668e+02 1.8004e-01 4.6346e+01 3.0397e-01 1.06820e+00 1.0000 ---- 3\n", + " 2 4.8455e+01 1.7104e-01 2.1601e+00 2.6683e+00 2.75314e-01 1.0000 2.6683e+00 3\n", + " 3 1.3910e+00 1.7108e-01 5.0717e-03 1.1692e-01 2.69228e-01 0.2500 1.1692e-01 3\n", + " 4 1.1272e+00 1.7107e-01 3.8382e-03 9.1777e-02 9.43593e-02 1.0000 9.1777e-02 3\n", + " 5 3.9375e-01 1.7107e-01 2.0554e-04 2.2062e-02 1.23587e-01 0.2500 2.2062e-02 3\n", + " 6 3.4881e-01 1.7107e-01 1.5641e-04 1.7618e-02 4.67370e-02 1.0000 1.7618e-02 3\n", + " 7 2.7432e-01 1.7107e-01 1.7053e-05 1.0308e-02 6.18683e-02 0.5000 1.0308e-02 2\n", + " 8 2.5613e-01 1.7107e-01 1.2986e-05 8.4933e-03 1.91836e-02 1.0000 8.4933e-03 2\n", + " 9 1.7115e-01 1.7107e-01 6.4655e-07 7.3549e-06 3.92147e-02 0.0020 1.7335e-03 1\n", + " 10 1.7115e-01 1.7107e-01 6.4655e-07 7.3549e-06 3.91989e-02 0.1250 1.7334e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6680e+02 1.8003e-01 4.6388e+01 2.7419e-01 1.06904e+00 1.0000 ---- 3\n", + " 2 4.9911e+01 1.7103e-01 2.1742e+00 2.7998e+00 2.86574e-01 1.0000 2.7998e+00 3\n", + " 3 2.6821e+00 1.7107e-01 4.9703e-03 2.4613e-01 2.81733e-01 0.5000 2.4613e-01 3\n", + " 4 2.3323e+00 1.7106e-01 2.6096e-03 2.1351e-01 1.10386e-01 1.0000 2.1351e-01 3\n", + " 5 4.7548e-01 1.7106e-01 3.1614e-05 3.0410e-02 2.31870e-01 0.2500 3.0410e-02 3\n", + " 6 4.6202e-01 1.7106e-01 2.4992e-05 2.9071e-02 4.79056e-02 1.0000 2.9071e-02 3\n", + " 7 1.8719e-01 1.7106e-01 3.5761e-06 1.6092e-03 9.76668e-02 0.0020 1.7438e-03 1\n", + " 8 1.8719e-01 1.7106e-01 3.5761e-06 1.6092e-03 9.76208e-02 0.1250 1.7433e-03 1\n", + " 9 1.8606e-01 1.7106e-01 3.1777e-06 1.4975e-03 5.93300e-02 0.2500 1.6574e-03 1\n", + " 10 1.8595e-01 1.7106e-01 2.5336e-06 1.4865e-03 1.42730e-02 1.0000 1.6382e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6812e+02 1.8001e-01 4.6427e+01 3.6731e-01 1.07089e+00 1.0000 ---- 3\n", + " 2 5.0007e+01 1.7102e-01 2.1810e+00 2.8026e+00 2.85706e-01 1.0000 2.8026e+00 3\n", + " 3 2.1186e+00 1.7105e-01 4.9151e-03 1.8984e-01 2.76047e-01 0.2500 1.8984e-01 3\n", + " 4 1.7621e+00 1.7105e-01 3.7176e-03 1.5539e-01 9.92262e-02 1.0000 1.5539e-01 3\n", + " 5 6.5892e-01 1.7105e-01 1.9784e-04 4.8590e-02 1.28876e-01 0.5000 4.8590e-02 3\n", + " 6 5.8761e-01 1.7104e-01 1.0535e-04 4.1551e-02 4.63696e-02 1.0000 4.1551e-02 3\n", + " 7 1.9228e-01 1.7104e-01 2.6450e-06 2.1211e-03 9.56388e-02 0.0312 2.1211e-03 1\n", + " 8 1.9225e-01 1.7104e-01 2.5634e-06 2.1182e-03 8.62762e-02 0.2500 2.1182e-03 1\n", + " 9 1.9077e-01 1.7104e-01 2.0471e-06 1.9703e-03 1.93038e-02 1.0000 1.9703e-03 1\n", + " 10 1.8293e-01 1.7104e-01 1.2968e-06 1.1872e-03 3.73522e-02 0.5000 1.6177e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6700e+02 1.7999e-01 4.6461e+01 2.2109e-01 1.06793e+00 1.0000 ---- 3\n", + " 2 5.1493e+01 1.7100e-01 2.1640e+00 2.9682e+00 2.55729e-01 1.0000 2.9682e+00 3\n", + " 3 2.3507e+00 1.7104e-01 4.8950e-03 2.1307e-01 2.17834e-01 0.2500 2.1307e-01 3\n", + " 4 1.9230e+00 1.7104e-01 3.7048e-03 1.7149e-01 8.86201e-02 1.0000 1.7149e-01 3\n", + " 5 3.6788e-01 1.7104e-01 2.1294e-04 1.9471e-02 1.10100e-01 0.1250 1.9471e-02 3\n", + " 6 3.5078e-01 1.7104e-01 1.8683e-04 1.7787e-02 7.56402e-02 0.2500 1.7787e-02 3\n", + " 7 3.2075e-01 1.7104e-01 1.4119e-04 1.4830e-02 3.12653e-02 1.0000 1.4830e-02 2\n", + " 8 1.7113e-01 1.7104e-01 8.5751e-06 0.0000e+00 3.85729e-02 0.2500 1.6491e-03 1\n", + " 9 1.7111e-01 1.7104e-01 6.9491e-06 3.2449e-07 1.61763e-02 0.5000 1.6495e-03 1\n", + " 10 1.7108e-01 1.7104e-01 3.9978e-06 0.0000e+00 3.62911e-03 0.5000 1.6513e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6892e+02 1.7999e-01 4.6537e+01 3.3713e-01 1.06901e+00 1.0000 ---- 3\n", + " 2 5.3548e+01 1.7100e-01 2.1662e+00 3.1715e+00 2.54791e-01 1.0000 3.1715e+00 3\n", + " 3 1.1037e+00 1.7104e-01 4.7619e-03 8.8506e-02 2.16414e-01 0.2500 8.8506e-02 3\n", + " 4 1.0299e+00 1.7104e-01 3.6060e-03 8.2277e-02 9.02006e-02 1.0000 8.2277e-02 3\n", + " 5 4.9912e-01 1.7104e-01 2.0548e-04 3.2603e-02 1.10325e-01 0.2500 3.2603e-02 3\n", + " 6 4.7418e-01 1.7104e-01 1.5620e-04 3.0158e-02 4.46423e-02 1.0000 3.0158e-02 3\n", + " 7 2.9670e-01 1.7104e-01 1.6876e-05 1.2550e-02 5.72569e-02 0.2500 1.2550e-02 3\n", + " 8 2.7031e-01 1.7104e-01 1.3711e-05 9.9137e-03 2.29066e-02 1.0000 9.9137e-03 2\n", + " 9 1.9805e-01 1.7104e-01 3.9260e-06 2.6970e-03 3.14535e-02 0.0020 5.6885e-03 1\n", + " 10 1.9805e-01 1.7104e-01 3.9260e-06 2.6970e-03 3.14342e-02 0.2500 2.6970e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6851e+02 1.7999e-01 4.6521e+01 3.1114e-01 1.06625e+00 1.0000 ---- 3\n", + " 2 5.3899e+01 1.7100e-01 2.1841e+00 3.1887e+00 2.53199e-01 1.0000 3.1887e+00 3\n", + " 3 1.0508e+00 1.7104e-01 4.7669e-03 8.3204e-02 2.18629e-01 0.2500 8.3204e-02 3\n", + " 4 1.0106e+00 1.7104e-01 3.6113e-03 8.0348e-02 8.91424e-02 1.0000 8.0348e-02 3\n", + " 5 5.3042e-01 1.7104e-01 2.1221e-04 3.5726e-02 1.11102e-01 0.2500 3.5726e-02 3\n", + " 6 4.8829e-01 1.7104e-01 1.6150e-04 3.1563e-02 4.50097e-02 1.0000 3.1563e-02 3\n", + " 7 2.6045e-01 1.7104e-01 1.8863e-05 8.9222e-03 5.83058e-02 0.2500 8.9222e-03 3\n", + " 8 2.4287e-01 1.7104e-01 1.5198e-05 7.1683e-03 2.32108e-02 1.0000 7.1683e-03 2\n", + " 9 1.8585e-01 1.7104e-01 4.1316e-06 1.4771e-03 3.21364e-02 0.0020 4.1268e-03 1\n", + " 10 1.8585e-01 1.7104e-01 4.1316e-06 1.4771e-03 3.21207e-02 0.2500 1.6951e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6766e+02 1.7999e-01 4.6436e+01 3.1181e-01 1.06541e+00 1.0000 ---- 3\n", + " 2 5.1643e+01 1.7100e-01 2.1780e+00 2.9692e+00 2.57859e-01 1.0000 2.9692e+00 3\n", + " 3 2.3823e-01 1.7104e-01 4.8916e-03 1.8273e-03 2.30179e-01 0.0312 3.1908e-03 1\n", + " 4 2.3769e-01 1.7104e-01 4.7393e-03 1.9263e-03 2.12326e-01 0.0625 3.0813e-03 1\n", + " 5 2.3720e-01 1.7104e-01 4.4451e-03 2.1710e-03 1.79491e-01 0.0625 2.8683e-03 1\n", + " 6 2.3650e-01 1.7104e-01 4.1690e-03 2.3775e-03 1.51923e-01 0.0625 2.6692e-03 1\n", + " 7 2.3479e-01 1.7103e-01 3.9098e-03 2.4662e-03 1.28741e-01 0.1250 2.9246e-03 1\n", + " 8 2.3385e-01 1.7103e-01 3.4256e-03 2.8558e-03 9.06657e-02 0.2500 4.1644e-03 1\n", + " 9 2.3274e-01 1.7103e-01 2.5810e-03 3.5894e-03 3.97250e-02 1.0000 6.3841e-03 1\n", + " 10 2.2857e-01 1.7103e-01 7.3742e-05 5.6799e-03 4.58021e-02 0.5000 5.6799e-03 2\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6714e+02 1.7999e-01 4.6453e+01 2.4313e-01 1.06847e+00 1.0000 ---- 3\n", + " 2 5.2156e+01 1.7100e-01 2.1761e+00 3.0224e+00 2.70915e-01 1.0000 3.0224e+00 3\n", + " 3 1.5650e+00 1.7104e-01 4.9164e-03 1.3448e-01 2.46844e-01 0.2500 1.3448e-01 3\n", + " 4 1.4850e+00 1.7103e-01 3.7215e-03 1.2767e-01 9.80363e-02 1.0000 1.2767e-01 3\n", + " 5 4.8907e-01 1.7103e-01 2.1111e-04 3.1593e-02 1.27082e-01 0.2500 3.1593e-02 3\n", + " 6 4.6982e-01 1.7103e-01 1.6126e-04 2.9717e-02 4.89872e-02 1.0000 2.9717e-02 3\n", + " 7 2.8978e-01 1.7103e-01 1.8298e-05 1.1857e-02 6.54675e-02 0.2500 1.1857e-02 3\n", + " 8 2.7952e-01 1.7103e-01 1.5021e-05 1.0834e-02 2.53278e-02 1.0000 1.0834e-02 3\n", + " 9 2.1170e-01 1.7103e-01 4.2667e-06 4.0629e-03 3.62229e-02 0.0020 7.5304e-03 1\n", + " 10 2.1170e-01 1.7103e-01 4.2667e-06 4.0629e-03 3.62013e-02 0.2500 4.0629e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6761e+02 1.7998e-01 4.6441e+01 3.0253e-01 1.06495e+00 1.0000 ---- 3\n", + " 2 5.0941e+01 1.7100e-01 2.1746e+00 2.9024e+00 2.58102e-01 1.0000 2.9024e+00 3\n", + " 3 2.1389e+00 1.7103e-01 4.9257e-03 1.9187e-01 2.26726e-01 0.5000 1.9187e-01 3\n", + " 4 1.9511e+00 1.7102e-01 2.5982e-03 1.7540e-01 6.81457e-02 1.0000 1.7540e-01 3\n", + " 5 1.8462e-01 1.7103e-01 3.1563e-05 1.3276e-03 1.20559e-01 0.1250 1.7059e-03 1\n", + " 6 1.8433e-01 1.7103e-01 2.7855e-05 1.3023e-03 7.68725e-02 0.5000 1.7097e-03 1\n", + " 7 1.8088e-01 1.7102e-01 1.5594e-05 9.7029e-04 3.43853e-02 1.0000 1.7315e-03 1\n", + " 8 1.7712e-01 1.7102e-01 1.3852e-06 6.0768e-04 7.13810e-02 0.2500 1.7179e-03 1\n", + " 9 1.7674e-01 1.7102e-01 1.1809e-06 5.7056e-04 1.50867e-02 0.5000 1.7312e-03 1\n", + " 10 1.7595e-01 1.7102e-01 6.3926e-07 4.9220e-04 7.43555e-03 1.0000 1.7350e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6867e+02 1.7998e-01 4.6475e+01 3.7388e-01 1.06992e+00 1.0000 ---- 3\n", + " 2 5.0418e+01 1.7100e-01 2.1687e+00 2.8560e+00 2.84951e-01 1.0000 2.8560e+00 3\n", + " 3 1.1629e+00 1.7103e-01 5.0293e-03 9.4162e-02 2.88158e-01 0.1250 9.4162e-02 3\n", + " 4 1.0573e+00 1.7103e-01 4.4089e-03 8.4215e-02 1.93330e-01 0.2500 8.4215e-02 3\n", + " 5 9.2649e-01 1.7102e-01 3.3282e-03 7.2218e-02 7.30952e-02 1.0000 7.2218e-02 3\n", + " 6 4.1859e-01 1.7102e-01 1.2842e-04 2.4628e-02 9.61279e-02 0.5000 2.4628e-02 3\n", + " 7 4.0499e-01 1.7102e-01 6.9616e-05 2.3327e-02 3.12442e-02 1.0000 2.3327e-02 3\n", + " 8 2.0766e-01 1.7102e-01 2.7880e-06 3.6608e-03 6.00998e-02 0.0020 7.4591e-03 1\n", + " 9 2.0766e-01 1.7102e-01 2.7880e-06 3.6608e-03 6.00719e-02 0.1250 3.6608e-03 1\n", + " 10 2.0625e-01 1.7102e-01 2.5187e-06 3.5203e-03 3.78464e-02 0.1250 5.2393e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6851e+02 1.7998e-01 4.6462e+01 3.7144e-01 1.06726e+00 1.0000 ---- 3\n", + " 2 4.8752e+01 1.7099e-01 2.1620e+00 2.6961e+00 2.57380e-01 1.0000 2.6961e+00 3\n", + " 3 1.3725e+00 1.7103e-01 5.2842e-03 1.1486e-01 2.26656e-01 0.5000 1.1486e-01 3\n", + " 4 1.3703e+00 1.7102e-01 2.7918e-03 1.1714e-01 7.68524e-02 1.0000 1.1714e-01 3\n", + " 5 5.0680e-01 1.7102e-01 2.9868e-05 3.3549e-02 1.49021e-01 0.2500 3.3549e-02 3\n", + " 6 4.4297e-01 1.7102e-01 2.3487e-05 2.7172e-02 3.48708e-02 1.0000 2.7172e-02 3\n", + " 7 1.7885e-01 1.7102e-01 2.9191e-06 7.8064e-04 6.39317e-02 0.2500 1.7400e-03 1\n", + " 8 1.7817e-01 1.7102e-01 2.3689e-06 7.1340e-04 1.84298e-02 1.0000 1.7413e-03 1\n", + " 9 1.7257e-01 1.7102e-01 1.7145e-06 1.5355e-04 3.07381e-02 0.2500 1.7520e-03 1\n", + " 10 1.7166e-01 1.7102e-01 1.1877e-06 6.2798e-05 9.48251e-03 0.0020 1.7536e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6861e+02 1.7997e-01 4.6460e+01 3.8281e-01 1.07062e+00 1.0000 ---- 3\n", + " 2 4.9484e+01 1.7099e-01 2.1644e+00 2.7669e+00 2.74074e-01 1.0000 2.7669e+00 3\n", + " 3 2.3518e+00 1.7102e-01 4.9694e-03 2.1311e-01 2.45956e-01 0.5000 2.1311e-01 3\n", + " 4 1.9135e+00 1.7101e-01 2.6206e-03 1.7163e-01 7.13622e-02 1.0000 1.7163e-01 3\n", + " 5 4.5283e-01 1.7102e-01 3.4794e-05 2.8147e-02 1.23427e-01 0.2500 2.8147e-02 3\n", + " 6 4.0221e-01 1.7101e-01 2.7282e-05 2.3092e-02 3.53235e-02 1.0000 2.3092e-02 3\n", + " 7 1.7701e-01 1.7101e-01 3.4090e-06 5.9622e-04 6.23808e-02 0.2500 1.7616e-03 1\n", + " 8 1.7655e-01 1.7101e-01 2.9398e-06 5.5064e-04 1.91650e-02 1.0000 1.7618e-03 1\n", + " 9 1.7406e-01 1.7101e-01 1.9345e-06 3.0290e-04 3.15686e-02 0.0078 1.7731e-03 1\n", + " 10 1.7406e-01 1.7101e-01 1.9193e-06 3.0264e-04 3.08802e-02 0.0312 1.7731e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6838e+02 1.7997e-01 4.6448e+01 3.7129e-01 1.07374e+00 1.0000 ---- 3\n", + " 2 5.1800e+01 1.7099e-01 2.1747e+00 2.9882e+00 2.91896e-01 1.0000 2.9882e+00 3\n", + " 3 1.5499e+00 1.7102e-01 4.9597e-03 1.3293e-01 2.79278e-01 0.2500 1.3293e-01 3\n", + " 4 1.4532e+00 1.7102e-01 3.7464e-03 1.2447e-01 1.09126e-01 1.0000 1.2447e-01 3\n", + " 5 6.5915e-01 1.7102e-01 1.9085e-04 4.8623e-02 1.45429e-01 0.2500 4.8623e-02 3\n", + " 6 5.6355e-01 1.7101e-01 1.4686e-04 3.9106e-02 5.39222e-02 1.0000 3.9106e-02 3\n", + " 7 2.5884e-01 1.7101e-01 1.9631e-05 8.7630e-03 7.35071e-02 0.2500 8.7630e-03 3\n", + " 8 2.4830e-01 1.7101e-01 1.6286e-05 7.7120e-03 2.82595e-02 1.0000 7.7120e-03 2\n", + " 9 2.2233e-01 1.7101e-01 4.6830e-06 5.1270e-03 4.04055e-02 0.0020 1.0625e-02 1\n", + " 10 2.2233e-01 1.7101e-01 4.6830e-06 5.1270e-03 4.03802e-02 0.2500 5.1270e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6775e+02 1.7996e-01 4.6369e+01 3.8844e-01 1.06445e+00 1.0000 ---- 3\n", + " 2 4.9303e+01 1.7098e-01 2.1714e+00 2.7418e+00 2.62794e-01 1.0000 2.7418e+00 3\n", + " 3 1.4550e+00 1.7101e-01 5.1305e-03 1.2327e-01 2.26010e-01 0.5000 1.2327e-01 3\n", + " 4 1.3886e+00 1.7101e-01 2.7075e-03 1.1905e-01 6.52851e-02 1.0000 1.1905e-01 3\n", + " 5 4.0481e-01 1.7101e-01 2.8347e-05 2.3352e-02 1.14061e-01 0.2500 2.3352e-02 3\n", + " 6 3.8616e-01 1.7101e-01 2.2134e-05 2.1494e-02 3.24709e-02 1.0000 2.1494e-02 3\n", + " 7 2.0289e-01 1.7101e-01 2.8128e-06 3.1854e-03 5.69832e-02 0.0078 4.1998e-03 1\n", + " 8 2.0288e-01 1.7101e-01 2.7911e-06 3.1850e-03 5.57121e-02 0.1250 3.1850e-03 1\n", + " 9 2.0170e-01 1.7101e-01 2.5034e-06 3.0668e-03 3.64513e-02 0.1250 3.0668e-03 1\n", + " 10 2.0135e-01 1.7101e-01 2.2151e-06 3.0319e-03 2.40318e-02 0.5000 3.0319e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6785e+02 1.7996e-01 4.6393e+01 3.7419e-01 1.06865e+00 1.0000 ---- 3\n", + " 2 4.9504e+01 1.7098e-01 2.1687e+00 2.7646e+00 2.76858e-01 1.0000 2.7646e+00 3\n", + " 3 4.3631e-01 1.7101e-01 5.0663e-03 2.1464e-02 2.51750e-01 0.0625 2.1464e-02 3\n", + " 4 4.2953e-01 1.7101e-01 4.7518e-03 2.1100e-02 2.12212e-01 0.0625 2.1100e-02 3\n", + " 5 4.1828e-01 1.7101e-01 4.4565e-03 2.0271e-02 1.79352e-01 0.1250 2.0271e-02 3\n", + " 6 4.0675e-01 1.7101e-01 3.9050e-03 1.9670e-02 1.25420e-01 0.2500 1.9670e-02 3\n", + " 7 3.8189e-01 1.7100e-01 2.9433e-03 1.8145e-02 5.26234e-02 1.0000 1.8145e-02 3\n", + " 8 2.3184e-01 1.7100e-01 8.9056e-05 5.9941e-03 6.46547e-02 0.0020 8.3421e-03 1\n", + " 9 2.3184e-01 1.7100e-01 8.9056e-05 5.9941e-03 6.46252e-02 0.1250 5.9941e-03 1\n", + " 10 2.2958e-01 1.7100e-01 7.7892e-05 5.7798e-03 4.53967e-02 0.1250 5.7798e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6625e+02 1.7995e-01 4.6305e+01 3.0211e-01 1.06211e+00 1.0000 ---- 3\n", + " 2 5.1615e+01 1.7097e-01 2.1764e+00 2.9680e+00 2.62776e-01 1.0000 2.9680e+00 3\n", + " 3 8.7184e-01 1.7101e-01 4.8449e-03 6.5238e-02 2.26300e-01 0.1250 6.5238e-02 3\n", + " 4 8.1490e-01 1.7101e-01 4.2481e-03 6.0141e-02 1.57985e-01 0.2500 6.0141e-02 3\n", + " 5 7.1753e-01 1.7101e-01 3.2089e-03 5.1444e-02 6.64668e-02 1.0000 5.1444e-02 3\n", + " 6 2.9924e-01 1.7101e-01 1.3631e-04 1.2687e-02 8.03428e-02 0.2500 1.2687e-02 3\n", + " 7 2.7465e-01 1.7101e-01 1.0352e-04 1.0261e-02 3.37635e-02 1.0000 1.0261e-02 3\n", + " 8 2.2905e-01 1.7100e-01 1.1492e-05 5.7930e-03 4.26670e-02 0.5000 5.7930e-03 2\n", + " 9 2.1398e-01 1.7100e-01 8.4963e-06 4.2887e-03 1.23039e-02 0.0020 5.0457e-03 1\n", + " 10 2.1398e-01 1.7100e-01 8.4963e-06 4.2887e-03 1.22932e-02 1.0000 4.2887e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6779e+02 1.7996e-01 4.6448e+01 3.1299e-01 1.07160e+00 1.0000 ---- 3\n", + " 2 5.1891e+01 1.7098e-01 2.1621e+00 3.0099e+00 2.81225e-01 1.0000 3.0099e+00 3\n", + " 3 1.4293e+00 1.7102e-01 4.8774e-03 1.2095e-01 2.73105e-01 0.2500 1.2095e-01 3\n", + " 4 1.4271e+00 1.7101e-01 3.6840e-03 1.2193e-01 1.05509e-01 1.0000 1.2193e-01 3\n", + " 5 5.5511e-01 1.7101e-01 1.9841e-04 3.8212e-02 1.43151e-01 0.2500 3.8212e-02 3\n", + " 6 5.4563e-01 1.7101e-01 1.5314e-04 3.7310e-02 5.23214e-02 1.0000 3.7310e-02 3\n", + " 7 2.6631e-01 1.7101e-01 1.8832e-05 9.5110e-03 7.25140e-02 0.1250 9.5110e-03 3\n", + " 8 2.5613e-01 1.7101e-01 1.6898e-05 8.4955e-03 4.98463e-02 0.5000 8.4955e-03 2\n", + " 9 2.4080e-01 1.7101e-01 1.1832e-05 6.9681e-03 1.55299e-02 0.0020 8.0557e-03 1\n", + " 10 2.4080e-01 1.7101e-01 1.1832e-05 6.9681e-03 1.55127e-02 1.0000 6.9681e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6818e+02 1.7996e-01 4.6493e+01 3.0718e-01 1.07307e+00 1.0000 ---- 3\n", + " 2 5.2219e+01 1.7098e-01 2.1785e+00 3.0263e+00 2.85184e-01 1.0000 3.0263e+00 3\n", + " 3 1.9682e+00 1.7102e-01 4.8559e-03 1.7486e-01 2.79130e-01 0.2500 1.7486e-01 3\n", + " 4 1.7622e+00 1.7101e-01 3.6687e-03 1.5545e-01 1.06838e-01 1.0000 1.5545e-01 3\n", + " 5 4.8290e-01 1.7101e-01 2.0036e-04 3.0989e-02 1.43570e-01 0.2500 3.0989e-02 3\n", + " 6 4.6526e-01 1.7101e-01 1.5413e-04 2.9271e-02 5.29802e-02 1.0000 2.9271e-02 3\n", + " 7 3.1036e-01 1.7101e-01 1.8813e-05 1.3916e-02 7.31528e-02 0.2500 1.3916e-02 3\n", + " 8 2.9776e-01 1.7101e-01 1.5754e-05 1.2659e-02 2.78427e-02 1.0000 1.2659e-02 3\n", + " 9 2.0873e-01 1.7100e-01 4.8129e-06 3.7677e-03 4.05365e-02 0.0020 7.5895e-03 1\n", + " 10 2.0873e-01 1.7100e-01 4.8129e-06 3.7677e-03 4.05129e-02 0.2500 3.7677e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6797e+02 1.7995e-01 4.6474e+01 3.0492e-01 1.06473e+00 1.0000 ---- 3\n", + " 2 5.3397e+01 1.7098e-01 2.1726e+00 3.1500e+00 2.57194e-01 1.0000 3.1500e+00 3\n", + " 3 1.1909e+00 1.7102e-01 4.9078e-03 9.7076e-02 2.28774e-01 0.2500 9.7076e-02 3\n", + " 4 1.0998e+00 1.7101e-01 3.7160e-03 8.9159e-02 9.10127e-02 1.0000 8.9159e-02 3\n", + " 5 4.9042e-01 1.7101e-01 2.0245e-04 3.1738e-02 1.16077e-01 0.2500 3.1738e-02 3\n", + " 6 4.2713e-01 1.7101e-01 1.5417e-04 2.5458e-02 4.62914e-02 1.0000 2.5458e-02 3\n", + " 7 2.7523e-01 1.7101e-01 2.0115e-05 1.0402e-02 6.13150e-02 0.5000 1.0402e-02 3\n", + " 8 2.7408e-01 1.7101e-01 1.4865e-05 1.0293e-02 1.62709e-02 1.0000 1.0293e-02 3\n", + " 9 1.7795e-01 1.7101e-01 7.2049e-07 6.9339e-04 2.80977e-02 0.0625 1.6872e-03 1\n", + " 10 1.7792e-01 1.7101e-01 6.7532e-07 6.9032e-04 2.34294e-02 0.5000 1.6883e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6821e+02 1.7996e-01 4.6470e+01 3.3302e-01 1.06692e+00 1.0000 ---- 3\n", + " 2 5.0853e+01 1.7098e-01 2.1672e+00 2.9010e+00 2.58653e-01 1.0000 2.9010e+00 3\n", + " 3 7.8771e-01 1.7102e-01 4.9800e-03 5.6689e-02 2.20532e-01 0.2500 5.6689e-02 3\n", + " 4 7.4434e-01 1.7101e-01 3.7723e-03 5.3560e-02 9.03140e-02 1.0000 5.3560e-02 3\n", + " 5 2.6983e-01 1.7101e-01 2.0779e-04 9.6737e-03 1.14040e-01 0.1250 9.6737e-03 2\n", + " 6 2.6395e-01 1.7101e-01 1.8255e-04 9.1118e-03 7.90286e-02 0.2500 9.1118e-03 2\n", + " 7 2.5248e-01 1.7101e-01 1.3839e-04 8.0087e-03 3.27955e-02 1.0000 8.0087e-03 2\n", + " 8 1.8119e-01 1.7101e-01 1.0262e-05 1.0079e-03 4.16414e-02 0.0020 2.6424e-03 1\n", + " 9 1.8119e-01 1.7101e-01 1.0262e-05 1.0079e-03 4.16260e-02 0.1250 1.7224e-03 1\n", + " 10 1.8076e-01 1.7101e-01 9.1384e-06 9.6602e-04 2.92112e-02 0.0625 1.7376e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6871e+02 1.7996e-01 4.6494e+01 3.5894e-01 1.07565e+00 1.0000 ---- 3\n", + " 2 5.1172e+01 1.7099e-01 2.1448e+00 2.9554e+00 2.76973e-01 1.0000 2.9554e+00 3\n", + " 3 1.0361e+00 1.7102e-01 5.1834e-03 8.1322e-02 2.52512e-01 0.2500 8.1322e-02 3\n", + " 4 9.1371e-01 1.7102e-01 3.9178e-03 7.0351e-02 1.02206e-01 1.0000 7.0351e-02 3\n", + " 5 4.4980e-01 1.7102e-01 2.0856e-04 2.7670e-02 1.32079e-01 0.2500 2.7670e-02 3\n", + " 6 4.4020e-01 1.7101e-01 1.6040e-04 2.6758e-02 5.08517e-02 1.0000 2.6758e-02 3\n", + " 7 2.5464e-01 1.7101e-01 1.9435e-05 8.3433e-03 6.74684e-02 0.2500 8.3433e-03 2\n", + " 8 2.3205e-01 1.7101e-01 1.6190e-05 6.0879e-03 2.67690e-02 1.0000 6.0879e-03 2\n", + " 9 1.8850e-01 1.7101e-01 4.8816e-06 1.7435e-03 3.76149e-02 0.0020 5.6429e-03 1\n", + " 10 1.8850e-01 1.7101e-01 4.8816e-06 1.7435e-03 3.75912e-02 0.2500 2.0709e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6846e+02 1.7996e-01 4.6436e+01 3.9187e-01 1.06502e+00 1.0000 ---- 3\n", + " 2 5.1384e+01 1.7099e-01 2.1719e+00 2.9494e+00 2.60638e-01 1.0000 2.9494e+00 3\n", + " 3 1.0741e+00 1.7103e-01 4.8893e-03 8.5416e-02 2.29956e-01 0.2500 8.5416e-02 3\n", + " 4 9.1757e-01 1.7102e-01 3.7031e-03 7.0952e-02 9.10689e-02 1.0000 7.0952e-02 3\n", + " 5 2.7103e-01 1.7102e-01 2.0879e-04 9.7926e-03 1.17044e-01 0.1250 9.7926e-03 2\n", + " 6 2.6899e-01 1.7102e-01 1.8336e-04 9.6143e-03 8.09446e-02 0.2500 9.6143e-03 2\n", + " 7 2.6298e-01 1.7102e-01 1.3891e-04 9.0575e-03 3.32354e-02 1.0000 9.0575e-03 2\n", + " 8 1.8253e-01 1.7102e-01 1.0842e-05 1.1406e-03 4.31769e-02 0.0020 4.1163e-03 1\n", + " 9 1.8253e-01 1.7102e-01 1.0842e-05 1.1406e-03 4.31591e-02 0.1250 1.7399e-03 1\n", + " 10 1.8231e-01 1.7102e-01 9.6688e-06 1.1193e-03 3.00659e-02 0.0312 2.8952e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6874e+02 1.7996e-01 4.6469e+01 3.8681e-01 1.07504e+00 1.0000 ---- 3\n", + " 2 5.0293e+01 1.7099e-01 2.1467e+00 2.8655e+00 2.81144e-01 1.0000 2.8655e+00 3\n", + " 3 9.6906e-01 1.7103e-01 5.3052e-03 7.4497e-02 2.55249e-01 0.2500 7.4497e-02 3\n", + " 4 8.5805e-01 1.7102e-01 4.0138e-03 6.4689e-02 1.03347e-01 1.0000 6.4689e-02 3\n", + " 5 3.3736e-01 1.7102e-01 2.0706e-04 1.6427e-02 1.33556e-01 0.1250 1.6427e-02 3\n", + " 6 3.2702e-01 1.7102e-01 1.8231e-04 1.5418e-02 9.17456e-02 0.2500 1.5418e-02 3\n", + " 7 3.1319e-01 1.7102e-01 1.3893e-04 1.4078e-02 3.69928e-02 1.0000 1.4078e-02 3\n", + " 8 2.1062e-01 1.7102e-01 1.1920e-05 3.9486e-03 4.77158e-02 0.0020 7.7307e-03 1\n", + " 9 2.1062e-01 1.7102e-01 1.1920e-05 3.9486e-03 4.76990e-02 0.2500 3.9486e-03 1\n", + " 10 2.0881e-01 1.7102e-01 9.8912e-06 3.7695e-03 1.94764e-02 0.5000 5.0036e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6800e+02 1.7996e-01 4.6389e+01 3.9275e-01 1.06637e+00 1.0000 ---- 3\n", + " 2 4.9447e+01 1.7099e-01 2.1561e+00 2.7715e+00 2.64301e-01 1.0000 2.7715e+00 3\n", + " 3 1.4250e+00 1.7103e-01 5.0589e-03 1.2034e-01 2.30704e-01 0.5000 1.2034e-01 3\n", + " 4 1.1910e+00 1.7102e-01 2.6815e-03 9.9312e-02 6.92329e-02 1.0000 9.9312e-02 3\n", + " 5 1.9971e-01 1.7102e-01 3.2494e-05 2.8365e-03 1.22891e-01 0.2500 2.8365e-03 2\n", + " 6 1.9085e-01 1.7102e-01 2.5511e-05 1.9571e-03 3.40441e-02 0.0020 7.0673e-03 1\n", + " 7 1.9085e-01 1.7102e-01 2.5511e-05 1.9571e-03 3.40420e-02 1.0000 2.8196e-03 1\n", + " 8 1.8450e-01 1.7102e-01 4.7860e-06 1.3429e-03 5.71841e-02 0.0625 1.9601e-03 1\n", + " 9 1.8432e-01 1.7102e-01 4.5056e-06 1.3258e-03 4.70881e-02 0.2500 2.1209e-03 1\n", + " 10 1.8421e-01 1.7102e-01 3.6029e-06 1.3156e-03 1.42143e-02 1.0000 1.9639e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6704e+02 1.7996e-01 4.6364e+01 3.2122e-01 1.07169e+00 1.0000 ---- 3\n", + " 2 5.1200e+01 1.7099e-01 2.1566e+00 2.9463e+00 2.87597e-01 1.0000 2.9463e+00 3\n", + " 3 1.6261e+00 1.7103e-01 4.9278e-03 1.4058e-01 2.72429e-01 0.2500 1.4058e-01 3\n", + " 4 1.4575e+00 1.7102e-01 3.7241e-03 1.2492e-01 1.06147e-01 1.0000 1.2492e-01 3\n", + " 5 5.4374e-01 1.7102e-01 2.0046e-04 3.7072e-02 1.40678e-01 0.2500 3.7072e-02 3\n", + " 6 4.7461e-01 1.7102e-01 1.5401e-04 3.0205e-02 5.28433e-02 1.0000 3.0205e-02 3\n", + " 7 2.3481e-01 1.7102e-01 1.8371e-05 6.3606e-03 7.13866e-02 0.2500 6.3606e-03 2\n", + " 8 2.2803e-01 1.7102e-01 1.5301e-05 5.6860e-03 2.79396e-02 0.0020 1.0142e-02 1\n", + " 9 2.2803e-01 1.7102e-01 1.5301e-05 5.6860e-03 2.79340e-02 0.5000 5.6860e-03 1\n", + " 10 2.1682e-01 1.7102e-01 8.7421e-06 4.5716e-03 6.85295e-03 1.0000 4.5716e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6703e+02 1.7996e-01 4.6316e+01 3.6877e-01 1.06804e+00 1.0000 ---- 3\n", + " 2 4.9283e+01 1.7099e-01 2.1510e+00 2.7603e+00 2.73588e-01 1.0000 2.7603e+00 3\n", + " 3 1.8520e+00 1.7103e-01 4.9569e-03 1.6314e-01 2.42537e-01 0.5000 1.6314e-01 3\n", + " 4 1.7378e+00 1.7102e-01 2.6177e-03 1.5407e-01 7.43550e-02 1.0000 1.5407e-01 3\n", + " 5 1.7137e-01 1.7102e-01 3.4910e-05 0.0000e+00 1.36264e-01 0.5000 1.7475e-03 1\n", + " 6 1.7124e-01 1.7102e-01 2.2432e-05 0.0000e+00 6.86000e-02 0.5000 1.7902e-03 1\n", + " 7 1.7113e-01 1.7102e-01 1.1134e-05 0.0000e+00 4.18726e-02 1.0000 1.7702e-03 1\n", + " 8 1.7102e-01 1.7102e-01 7.4727e-07 0.0000e+00 9.91210e-02 0.5000 1.8179e-03 1\n", + " 9 1.7102e-01 1.7101e-01 7.6640e-07 0.0000e+00 7.05661e-02 1.0000 1.7599e-03 1\n", + " 10 1.7102e-01 1.7101e-01 4.5163e-07 0.0000e+00 1.77284e-01 0.1250 1.8599e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6643e+02 1.7996e-01 4.6340e+01 2.8526e-01 1.11391e+00 1.0000 ---- 3\n", + " 2 4.9238e+01 1.7098e-01 2.1714e+00 2.7353e+00 4.24052e-01 1.0000 2.7353e+00 3\n", + " 3 1.2700e+00 1.7101e-01 5.2936e-03 1.0461e-01 6.96666e-01 0.5000 1.0461e-01 3\n", + " 4 9.4770e-01 1.7098e-01 2.8198e-03 7.4853e-02 4.37846e-01 0.5000 7.4853e-02 3\n", + " 5 6.4205e-01 1.7096e-01 1.3864e-03 4.5722e-02 3.24360e-01 0.2500 4.5722e-02 3\n", + " 6 6.1218e-01 1.7096e-01 1.0415e-03 4.3081e-02 4.85493e-02 1.0000 4.3081e-02 3\n", + " 7 1.7113e-01 1.7096e-01 1.7077e-05 0.0000e+00 1.10887e-01 0.2500 1.7136e-03 1\n", + " 8 1.7108e-01 1.7096e-01 1.2449e-05 0.0000e+00 1.78710e-02 0.2500 1.6976e-03 1\n", + " 9 1.7105e-01 1.7096e-01 9.3022e-06 0.0000e+00 5.23910e-03 1.0000 1.6958e-03 1\n", + " 10 1.7097e-01 1.7096e-01 1.3013e-06 0.0000e+00 6.84626e-03 0.5000 1.6997e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6866e+02 1.7990e-01 4.6460e+01 3.8761e-01 1.06798e+00 1.0000 ---- 3\n", + " 2 5.0784e+01 1.7093e-01 2.1587e+00 2.9025e+00 2.66360e-01 1.0000 2.9025e+00 3\n", + " 3 1.1201e+00 1.7097e-01 4.9254e-03 8.9983e-02 2.37155e-01 0.2500 8.9983e-02 3\n", + " 4 9.3675e-01 1.7096e-01 3.7268e-03 7.2852e-02 9.32955e-02 1.0000 7.2852e-02 3\n", + " 5 2.7962e-01 1.7096e-01 1.8941e-04 1.0676e-02 1.18895e-01 0.1250 1.0676e-02 2\n", + " 6 2.6919e-01 1.7096e-01 1.6624e-04 9.6565e-03 8.17635e-02 0.2500 9.6565e-03 2\n", + " 7 2.6152e-01 1.7096e-01 1.2572e-04 8.9304e-03 3.34309e-02 1.0000 8.9304e-03 2\n", + " 8 1.8815e-01 1.7096e-01 9.9861e-06 1.7087e-03 4.29726e-02 0.0020 5.7930e-03 1\n", + " 9 1.8815e-01 1.7096e-01 9.9861e-06 1.7087e-03 4.29541e-02 0.1250 2.3263e-03 1\n", + " 10 1.8665e-01 1.7096e-01 8.9040e-06 1.5602e-03 2.99866e-02 0.1250 3.9541e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6950e+02 1.7990e-01 4.6545e+01 3.8726e-01 1.07393e+00 1.0000 ---- 3\n", + " 2 5.2261e+01 1.7094e-01 2.1600e+00 3.0490e+00 2.71333e-01 1.0000 3.0490e+00 3\n", + " 3 1.0145e+00 1.7098e-01 5.1007e-03 7.9250e-02 2.44997e-01 0.2500 7.9250e-02 3\n", + " 4 9.1067e-01 1.7097e-01 3.8577e-03 7.0113e-02 1.00093e-01 1.0000 7.0113e-02 3\n", + " 5 2.5858e-01 1.7097e-01 2.0062e-04 8.5601e-03 1.27662e-01 0.0625 8.5601e-03 2\n", + " 6 2.5373e-01 1.7097e-01 1.8827e-04 8.0875e-03 1.07807e-01 0.1250 8.0875e-03 2\n", + " 7 2.5051e-01 1.7097e-01 1.6530e-04 7.7888e-03 7.46677e-02 0.2500 7.7888e-03 2\n", + " 8 2.4346e-01 1.7097e-01 1.2513e-04 7.1241e-03 3.19243e-02 0.0020 8.6142e-03 1\n", + " 9 2.4346e-01 1.7097e-01 1.2513e-04 7.1241e-03 3.19021e-02 0.5000 7.1241e-03 1\n", + " 10 2.2413e-01 1.7097e-01 6.1326e-05 5.2554e-03 7.44723e-03 1.0000 5.2554e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6858e+02 1.7991e-01 4.6485e+01 3.5501e-01 1.06544e+00 1.0000 ---- 3\n", + " 2 5.0973e+01 1.7094e-01 2.1594e+00 2.9208e+00 2.57180e-01 1.0000 2.9208e+00 3\n", + " 3 1.0385e+00 1.7098e-01 5.0563e-03 8.1695e-02 2.20374e-01 0.2500 8.1695e-02 3\n", + " 4 8.9904e-01 1.7098e-01 3.8282e-03 6.8978e-02 8.93923e-02 1.0000 6.8978e-02 3\n", + " 5 2.1874e-01 1.7097e-01 2.1223e-04 4.5640e-03 1.13369e-01 0.0020 1.0278e-02 1\n", + " 6 2.1874e-01 1.7097e-01 2.1223e-04 4.5640e-03 1.13316e-01 0.0625 4.5640e-03 1\n", + " 7 2.1856e-01 1.7097e-01 1.9904e-04 4.5598e-03 9.52864e-02 0.1250 4.5598e-03 2\n", + " 8 2.1641e-01 1.7097e-01 1.7465e-04 4.3688e-03 6.71812e-02 0.0020 1.0205e-02 1\n", + " 9 2.1641e-01 1.7097e-01 1.7465e-04 4.3688e-03 6.68934e-02 0.1250 4.3688e-03 1\n", + " 10 2.1429e-01 1.7097e-01 1.5286e-04 4.1788e-03 4.74852e-02 0.1250 7.1436e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6734e+02 1.7991e-01 4.6319e+01 3.9716e-01 1.06228e+00 1.0000 ---- 3\n", + " 2 5.0692e+01 1.7095e-01 2.1885e+00 2.8637e+00 2.64780e-01 1.0000 2.8637e+00 3\n", + " 3 1.4656e+00 1.7098e-01 4.6507e-03 1.2482e-01 2.34187e-01 0.5000 1.2482e-01 3\n", + " 4 1.3765e+00 1.7097e-01 2.4556e-03 1.1810e-01 6.89644e-02 1.0000 1.1810e-01 3\n", + " 5 3.9702e-01 1.7098e-01 3.5326e-05 2.2569e-02 1.20504e-01 0.2500 2.2569e-02 3\n", + " 6 3.5670e-01 1.7097e-01 2.7659e-05 1.8544e-02 3.40755e-02 1.0000 1.8544e-02 3\n", + " 7 1.7956e-01 1.7097e-01 3.3934e-06 8.5547e-04 5.99170e-02 0.0078 3.1414e-03 1\n", + " 8 1.7956e-01 1.7097e-01 3.3671e-06 8.5547e-04 5.85821e-02 0.2500 1.7347e-03 1\n", + " 9 1.7890e-01 1.7097e-01 2.8446e-06 7.9033e-04 1.81182e-02 0.5000 2.3047e-03 1\n", + " 10 1.7781e-01 1.7097e-01 1.5178e-06 6.8202e-04 6.69332e-03 1.0000 1.7419e-03 1\n", + "iter merit cost ||gaps|| ||Constraint|| ||(dx,du)|| step KKT criteria QP iters \n", + " 1 4.6800e+02 1.7992e-01 4.6405e+01 3.7723e-01 1.06648e+00 1.0000 ---- 3\n", + " 2 4.9978e+01 1.7095e-01 2.1461e+00 2.8346e+00 2.62251e-01 1.0000 2.8346e+00 3\n", + " 3 1.5611e+00 1.7099e-01 5.0850e-03 1.3392e-01 2.31042e-01 0.5000 1.3392e-01 3\n", + " 4 1.2326e+00 1.7098e-01 2.6846e-03 1.0347e-01 6.67349e-02 1.0000 1.0347e-01 3\n", + " 5 4.1550e-01 1.7098e-01 3.5002e-05 2.4418e-02 1.13619e-01 0.2500 2.4418e-02 3\n", + " 6 3.7027e-01 1.7098e-01 2.7638e-05 1.9902e-02 3.39722e-02 1.0000 1.9902e-02 3\n", + " 7 1.7102e-01 1.7098e-01 3.9317e-06 0.0000e+00 5.93579e-02 0.2500 1.7590e-03 1\n", + " 8 1.7101e-01 1.7098e-01 3.4434e-06 0.0000e+00 1.86288e-02 0.5000 1.7292e-03 1\n", + " 9 1.7099e-01 1.7098e-01 1.8670e-06 0.0000e+00 6.78267e-03 1.0000 1.7348e-03 1\n", + " 10 1.7098e-01 1.7098e-01 3.7221e-07 0.0000e+00 1.14578e-02 0.5000 1.7434e-03 1\n" ] } ], @@ -12964,6 +12433,7 @@ "ee_x0 = np.array([ 0.28038019, -0.00128244, 0.55])\n", "ee_x_offset = np.linspace(0, 0.25, 100)\n", "body_center = np.array([0.00060515, 0. , 0.29477433])\n", + "efs = []\n", "for i in range(1000):\n", " tim = i/20.\n", " state = robot.getJointStates()\n", @@ -12976,25 +12446,129 @@ " dq = np.hstack([dq, np.zeros(2)])\n", " solution = mpc.updateAndSolve(t, quat, q, v, omega, dq)\n", " solution=mpc.getSolution()\n", - " q = solution['q'][:-2]\n", - " dq = solution['dq'][:-2]\n", - " tau = solution['tau'].squeeze()[:-2]\n", + " q = solution['q']\n", + " dq = solution['dq']\n", + " tau = solution['tau'].squeeze()\n", " kp = np.ones(18)*0\n", " kv = np.ones(18)*0.0\n", " if i < 100:\n", " m[-1].differential.costs.costs['efTrack'].cost.residual.reference = ee_x0 + np.array([ee_x_offset[i], 0., 0.0])\n", " else:\n", - " for i in range(10, len(m)):\n", - " m[i].differential.contacts.changeContactStatus('Link6_contact', True)\n", - " x = 0.05*np.cos(tim)\n", - " y = 0.05*np.sin(tim)\n", + " for i in range(2, len(m)):\n", + " m[i].differential.contacts.changeContactStatus('ef_tip_contact', True)\n", + " x = 0.0*np.cos(tim)\n", + " y = 0.0*np.sin(tim)\n", " ref = body_center + np.array([x, y, 0.])\n", " m[-1].differential.costs.costs['comTrack'].cost.residual.reference = ref\n", "\n", " # print(solution['constraint_norm'])\n", " for i in range(20):\n", " robot.setCommands(q, dq, kp, kv, tau)\n", - " robot.step()" + " robot.step()\n", + " site_Fs = robot.data.sensordata[10:].reshape(-1,3)\n", + " # force_in_body = site_Fs[:,force_site_to_sensor_idx[force_sensor_site]].copy()\n", + " # ef = getForceInWorld(robot, force_in_body, force_sensor_site).squeeze()\n", + " efs.append(site_Fs.copy())" + ] + }, + { + "cell_type": "code", + "execution_count": 9, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "array([[-3.10405382e+01, 3.21859361e+00, -2.38426564e+01],\n", + " [-3.10024083e+01, -3.19126241e+00, -2.38293045e+01],\n", + " [-3.32855227e+01, 3.37385749e+00, -2.59976039e+01],\n", + " [-3.32518765e+01, -3.33639257e+00, -2.59930836e+01],\n", + " [-3.92244007e-01, 1.02946092e-04, 1.12723836e-02]])" + ] + }, + "execution_count": 9, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "site_Fs = robot.data.sensordata[10:].reshape(-1,3)\n", + "site_Fs\n" + ] + }, + { + "cell_type": "code", + "execution_count": 10, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "array([ 0.39744448, 0.15238397, -0.12040213])" + ] + }, + "execution_count": 10, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "getForceInWorld(robot, force_in_body, force_sensor_site).squeeze()" + ] + }, + { + "cell_type": "code", + "execution_count": 11, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "(1000, 5, 3)" + ] + }, + "execution_count": 11, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "f = np.array(efs)\n", + "f.shape" + ] + }, + { + "cell_type": "code", + "execution_count": 14, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "[,\n", + " ,\n", + " ]" + ] + }, + "execution_count": 14, + "metadata": {}, + "output_type": "execute_result" + }, + { + "data": { + "image/png": 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", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "f = np.array(efs)\n", + "import matplotlib.pyplot as plt\n", + "plt.plot(f[:,0,...])" ] }, {