scratch.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 35,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "from casadi import *\n",
    "import casadi as cs\n",
    "from time import perf_counter\n",
    "import sys\n",
    "\n",
    "import logging\n",
    "from pathlib import Path\n",
    "import multiprocessing as mp\n",
    "from os import getpid\n",
    "import os\n",
    "from time import strftime\n",
    "\n",
    "from dynamics import *\n",
    "import util\n",
    "from admm_mpc import *\n",
    "from mpc import *\n",
    "from logger import *\n",
    "from util import *"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 36,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The autoreload extension is already loaded. To reload it, use:\n",
      "  %reload_ext autoreload\n"
     ]
    }
   ],
   "source": [
    "%load_ext autoreload\n",
    "%autoreload 2"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 39,
   "metadata": {},
   "outputs": [],
   "source": [
    "X_full = np.random.rand(10,18)\n",
    "U_full = np.random.rand(9,9)\n",
    "xr = np.random.rand(18)\n",
    "u_ref = np.array([0,0,0]*3)\n",
    "Q = np.eye(18)\n",
    "R = np.eye(9)\n",
    "Qf = Q*10"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 40,
   "metadata": {},
   "outputs": [],
   "source": [
    "nx = 6*3\n",
    "nu = 3*3\n",
    "x0,xr = util.setup_n_quads(3,1)\n",
    "X_full = np.zeros((0, nx))\n",
    "U_full = np.zeros((0, nu))\n",
    "\n",
    "X_full = np.r_[X_full, x0.reshape(1,-1)]\n",
    "U_full = np.r_[U_full, np.random.rand(9,1).reshape(1,-1)]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "%load_ext autoreload\n",
    "%autoreload 2"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "radius = 0.3    \n",
    "n_states = 12\n",
    "n_inputs = 4\n",
    "# setup_logger_admm()\n",
    "n_agents = 3\n",
    "x_dims = [n_states]*n_agents\n",
    "ids = [n for n in range(n_agents)]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 63,
   "metadata": {},
   "outputs": [],
   "source": [
    "# x_curr = np.random.rand(12,1)\n",
    "# xr = np.zeros((12,1))\n",
    "T = 10\n",
    "Q = np.eye(18)\n",
    "R = np.eye(9)\n",
    "Qf = Q*10\n",
    "r_min = 0.6\n",
    "mpc_iter = 100\n",
    "convex_problem=False\n",
    "ADMM_ITER = 50\n",
    "n_agents = 3\n",
    "radius = 0.3\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 64,
   "metadata": {},
   "outputs": [],
   "source": [
    "# state_curr, input_curr, solve_time_i, obj_val_i, _ = solve_mpc_single_nonlinear(1, x_curr, xr, T,  Q, R, Qf)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 65,
   "metadata": {},
   "outputs": [],
   "source": [
    "x0,xr = util.setup_n_quads(3,1.5)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 66,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "((18, 1), (18, 1))"
      ]
     },
     "execution_count": 66,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "x0.shape, xr.shape"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 68,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\n",
      "******************************************************************************\n",
      "This program contains Ipopt, a library for large-scale nonlinear optimization.\n",
      " Ipopt is released as open source code under the Eclipse Public License (EPL).\n",
      "         For more information visit https://github.com/coin-or/Ipopt\n",
      "******************************************************************************\n",
      "\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  3.1629199e+04 2.84e+00 3.41e+00  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  3.6605238e+03 3.19e-02 8.68e+06  -1.0 8.68e+00   6.0 5.66e-03 1.00e+00f  1\n",
      "   2  3.6607556e+03 1.72e-03 6.89e+04  -1.0 5.62e-02   5.5 9.95e-01 1.00e+00h  1\n",
      "   3  3.6607002e+03 3.27e-07 9.24e+01  -1.0 8.32e-04   5.0 1.00e+00 1.00e+00f  1\n",
      "   4  3.2914166e+03 3.20e-02 8.14e+01  -1.0 6.27e+00    -  1.04e-01 1.20e-01f  1\n",
      "   5  2.8078472e+03 2.57e-02 6.44e+01  -1.0 5.47e+00    -  3.55e-01 2.09e-01f  1\n",
      "   6  2.5109333e+03 2.41e-02 5.15e+01  -1.0 4.32e+00    -  5.88e-01 2.04e-01f  1\n",
      "   7  2.0768725e+03 4.59e-02 2.03e+01  -1.0 3.45e+00    -  1.00e+00 6.10e-01f  1\n",
      "   8  2.0050190e+03 1.83e-02 6.61e+00  -1.0 1.34e+00    -  1.00e+00 7.08e-01f  1\n",
      "   9  1.9984625e+03 5.78e-03 3.10e+00  -1.0 3.92e-01    -  1.00e+00 7.25e-01f  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "  10  1.9978461e+03 1.56e-03 1.20e-01  -1.0 1.08e-01    -  1.00e+00 1.00e+00f  1\n",
      "  11  1.9967818e+03 7.72e-04 6.60e-02  -2.5 8.56e-02    -  9.30e-01 1.00e+00f  1\n",
      "  12  1.9965930e+03 4.33e-04 2.14e-03  -2.5 3.28e-02    -  1.00e+00 1.00e+00f  1\n",
      "  13  1.9965446e+03 1.83e-04 8.36e-04  -3.8 1.81e-02    -  1.00e+00 1.00e+00f  1\n",
      "  14  1.9965425e+03 1.83e-05 7.03e-05  -3.8 5.66e-03    -  1.00e+00 1.00e+00h  1\n",
      "  15  1.9965403e+03 8.90e-07 4.40e-06  -5.7 1.23e-03    -  1.00e+00 1.00e+00h  1\n",
      "  16  1.9965402e+03 1.04e-09 4.44e-09  -8.6 4.23e-05    -  1.00e+00 1.00e+00h  1\n",
      "  17  1.9965402e+03 1.11e-15 1.87e-14  -9.0 4.38e-08    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 17\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   1.9965402175022277e+03    1.9965402175022277e+03\n",
      "Dual infeasibility......:   1.8651746813702630e-14    1.8651746813702630e-14\n",
      "Constraint violation....:   1.1102230246251565e-15    1.1102230246251565e-15\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   9.0909935758324143e-10    9.0909935758324143e-10\n",
      "Overall NLP error.......:   9.0909935758324143e-10    9.0909935758324143e-10\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 18\n",
      "Number of objective gradient evaluations             = 18\n",
      "Number of equality constraint evaluations            = 18\n",
      "Number of inequality constraint evaluations          = 18\n",
      "Number of equality constraint Jacobian evaluations   = 18\n",
      "Number of inequality constraint Jacobian evaluations = 18\n",
      "Number of Lagrangian Hessian evaluations             = 17\n",
      "Total seconds in IPOPT                               = 0.183\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  | 125.00ms (  6.94ms)   6.00ms (333.18us)        18\n",
      "       nlp_g  |        0 (       0)   1.95ms (108.07us)        18\n",
      "  nlp_grad_f  |  62.50ms (  3.29ms)  11.49ms (604.57us)        19\n",
      "  nlp_hess_l  | 703.12ms ( 41.36ms)  98.01ms (  5.77ms)        17\n",
      "   nlp_jac_g  |  78.12ms (  4.11ms)   4.71ms (247.81us)        19\n",
      "       total  |   1.31 s (  1.31 s) 184.32ms (184.32ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  1.9965402e+03 5.66e-01 1.87e+00  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.0941297e+03 1.39e-02 3.40e+00  -1.0 5.66e-01    -  4.91e-01 1.00e+00h  1\n",
      "   2  2.0923740e+03 1.16e-02 1.95e-01  -1.0 2.19e-01    -  1.00e+00 8.70e-01f  1\n",
      "   3  2.0918863e+03 1.15e-03 5.84e-02  -2.5 6.01e-02    -  9.02e-01 1.00e+00f  1\n",
      "   4  2.0918167e+03 4.80e-04 1.21e-03  -2.5 3.60e-02    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.0917891e+03 1.04e-04 7.35e-04  -3.8 1.73e-02    -  1.00e+00 1.00e+00h  1\n",
      "   6  2.0917871e+03 1.02e-05 4.98e-05  -5.7 4.35e-03    -  1.00e+00 1.00e+00h  1\n",
      "   7  2.0917871e+03 8.24e-08 3.75e-07  -5.7 3.85e-04    -  1.00e+00 1.00e+00h  1\n",
      "   8  2.0917871e+03 4.87e-11 2.86e-10  -8.6 9.50e-06    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 8\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.0917871044684607e+03    2.0917871044684607e+03\n",
      "Dual infeasibility......:   2.8619917546990337e-10    2.8619917546990337e-10\n",
      "Constraint violation....:   4.8718473699693732e-11    4.8718473699693732e-11\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   3.0025407594938675e-09    3.0025407594938675e-09\n",
      "Overall NLP error.......:   3.0025407594938675e-09    3.0025407594938675e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 9\n",
      "Number of objective gradient evaluations             = 9\n",
      "Number of equality constraint evaluations            = 9\n",
      "Number of inequality constraint evaluations          = 9\n",
      "Number of equality constraint Jacobian evaluations   = 9\n",
      "Number of inequality constraint Jacobian evaluations = 9\n",
      "Number of Lagrangian Hessian evaluations             = 8\n",
      "Total seconds in IPOPT                               = 0.074\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   2.76ms (306.97us)         9\n",
      "       nlp_g  |        0 (       0) 749.90us ( 83.32us)         9\n",
      "  nlp_grad_f  |        0 (       0)   5.30ms (530.06us)        10\n",
      "  nlp_hess_l  |  31.25ms (  3.91ms)  41.22ms (  5.15ms)         8\n",
      "   nlp_jac_g  |        0 (       0)   2.25ms (225.00us)        10\n",
      "       total  |  62.50ms ( 62.50ms)  74.63ms ( 74.63ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.0917871e+03 5.66e-01 1.11e+00  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.1805253e+03 1.92e-02 1.77e+00  -1.0 5.66e-01    -  3.64e-01 1.00e+00h  1\n",
      "   2  2.1795624e+03 8.56e-03 1.73e-01  -1.0 1.74e-01    -  1.00e+00 9.31e-01f  1\n",
      "   3  2.1792831e+03 1.40e-03 7.61e-02  -2.5 5.23e-02    -  8.93e-01 1.00e+00f  1\n",
      "   4  2.1792336e+03 5.09e-04 1.36e-03  -2.5 3.86e-02    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.1792174e+03 1.23e-04 8.01e-04  -3.8 1.78e-02    -  1.00e+00 1.00e+00h  1\n",
      "   6  2.1792164e+03 9.55e-06 6.48e-05  -5.7 4.92e-03    -  1.00e+00 1.00e+00h  1\n",
      "   7  2.1792164e+03 6.00e-08 4.18e-07  -5.7 3.90e-04    -  1.00e+00 1.00e+00h  1\n",
      "   8  2.1792163e+03 3.33e-11 2.30e-10  -8.6 9.02e-06    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 8\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.1792163438695316e+03    2.1792163438695316e+03\n",
      "Dual infeasibility......:   2.2974788738139296e-10    2.2974788738139296e-10\n",
      "Constraint violation....:   3.3311131630853197e-11    3.3311131630853197e-11\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.8850066353227611e-09    2.8850066353227611e-09\n",
      "Overall NLP error.......:   2.8850066353227611e-09    2.8850066353227611e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 9\n",
      "Number of objective gradient evaluations             = 9\n",
      "Number of equality constraint evaluations            = 9\n",
      "Number of inequality constraint evaluations          = 9\n",
      "Number of equality constraint Jacobian evaluations   = 9\n",
      "Number of inequality constraint Jacobian evaluations = 9\n",
      "Number of Lagrangian Hessian evaluations             = 8\n",
      "Total seconds in IPOPT                               = 0.072\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   2.44ms (271.53us)         9\n",
      "       nlp_g  |        0 (       0) 797.50us ( 88.61us)         9\n",
      "  nlp_grad_f  |        0 (       0)   5.31ms (530.69us)        10\n",
      "  nlp_hess_l  |        0 (       0)  41.53ms (  5.19ms)         8\n",
      "   nlp_jac_g  |        0 (       0)   2.32ms (231.68us)        10\n",
      "       total  |        0 (       0)  73.02ms ( 73.02ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.1792163e+03 5.66e-01 7.46e-01  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.2626024e+03 2.21e-02 1.95e+02  -1.0 5.66e-01    -  3.10e-01 1.00e+00h  1\n",
      "   2  2.2581370e+03 1.53e-04 4.15e+00  -1.0 2.51e-02   2.0 9.99e-01 1.00e+00f  1\n",
      "   3  2.2579358e+03 5.72e-05 3.42e-01  -1.0 9.91e-03   1.5 1.00e+00 1.00e+00f  1\n",
      "   4  2.2573648e+03 2.91e-03 3.65e-01  -1.7 1.66e-01    -  7.24e-01 6.27e-01f  1\n",
      "   5  2.2572253e+03 1.20e-03 5.16e-03  -1.7 1.07e-01    -  1.00e+00 1.00e+00f  1\n",
      "   6  2.2571522e+03 2.28e-04 2.97e-03  -3.8 2.10e-02    -  9.75e-01 1.00e+00f  1\n",
      "   7  2.2571480e+03 2.40e-06 1.27e-05  -3.8 2.70e-03    -  1.00e+00 1.00e+00h  1\n",
      "   8  2.2571473e+03 1.97e-08 1.08e-07  -5.7 2.26e-04    -  1.00e+00 1.00e+00h  1\n",
      "   9  2.2571473e+03 3.21e-12 1.40e-11  -8.6 2.58e-06    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 9\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.2571473394700511e+03    2.2571473394700511e+03\n",
      "Dual infeasibility......:   1.4001577675060162e-11    1.4001577675060162e-11\n",
      "Constraint violation....:   3.2080033074421976e-12    3.2080033074421976e-12\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5415105011700077e-09    2.5415105011700077e-09\n",
      "Overall NLP error.......:   2.5415105011700077e-09    2.5415105011700077e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 10\n",
      "Number of objective gradient evaluations             = 10\n",
      "Number of equality constraint evaluations            = 10\n",
      "Number of inequality constraint evaluations          = 10\n",
      "Number of equality constraint Jacobian evaluations   = 10\n",
      "Number of inequality constraint Jacobian evaluations = 10\n",
      "Number of Lagrangian Hessian evaluations             = 9\n",
      "Total seconds in IPOPT                               = 0.081\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   2.84ms (283.86us)        10\n",
      "       nlp_g  |        0 (       0) 909.90us ( 90.99us)        10\n",
      "  nlp_grad_f  |        0 (       0)   5.88ms (534.76us)        11\n",
      "  nlp_hess_l  |  31.25ms (  3.47ms)  42.74ms (  4.75ms)         9\n",
      "   nlp_jac_g  |        0 (       0)   2.65ms (240.75us)        11\n",
      "       total  |  46.88ms ( 46.88ms)  81.94ms ( 81.94ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.2571473e+03 4.04e-01 6.40e-01  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.4030918e+03 2.25e-02 7.67e+02  -1.0 4.04e-01    -  4.56e-01 1.00e+00h  1\n",
      "   2  2.3982443e+03 1.48e-05 1.20e+02  -1.0 1.20e-02   4.0 1.00e+00 1.00e+00f  1\n",
      "   3  2.3858256e+03 2.25e-06 4.19e+01  -1.0 1.26e-02   3.5 1.00e+00 1.00e+00f  1\n",
      "   4  2.3603900e+03 1.59e-05 3.47e+01  -1.0 3.12e-02   3.0 1.00e+00 1.00e+00f  1\n",
      "   5  2.3338833e+03 5.24e-05 1.86e+01  -1.0 5.03e-02   2.6 1.00e+00 1.00e+00f  1\n",
      "   6  2.3268748e+03 3.06e-05 7.40e+00  -1.0 3.37e-02   2.1 1.00e+00 1.00e+00f  1\n",
      "   7  2.3265441e+03 2.18e-05 3.31e-01  -1.0 7.58e-03   1.6 1.00e+00 1.00e+00f  1\n",
      "   8  2.3260936e+03 3.73e-03 6.12e+00  -1.7 1.38e-01    -  8.85e-01 6.69e-01f  1\n",
      "   9  2.3924353e+03 7.74e-04 7.01e+02  -1.7 1.21e-01    -  1.00e+00 1.00e+00h  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "  10  2.3589258e+03 3.12e-05 3.44e+01  -1.7 3.92e-02   2.9 1.00e+00 1.00e+00f  1\n",
      "  11  2.3311193e+03 7.87e-05 2.47e+01  -1.7 5.50e-02   2.5 1.00e+00 1.00e+00f  1\n",
      "  12  2.3262107e+03 2.66e-05 5.24e+00  -1.7 2.86e-02   2.0 1.00e+00 1.00e+00f  1\n",
      "  13  2.3260612e+03 1.92e-06 1.70e-01  -1.7 5.23e-03   1.5 1.00e+00 1.00e+00f  1\n",
      "  14  2.3259312e+03 1.02e-03 9.34e-01  -2.5 9.16e-02    -  1.00e+00 6.94e-01f  1\n",
      "  15  2.3259195e+03 1.09e-05 1.12e-01  -2.5 1.15e-02    -  1.00e+00 1.00e+00f  1\n",
      "  16  2.3259194e+03 2.15e-08 3.99e-06  -2.5 2.07e-04    -  1.00e+00 1.00e+00h  1\n",
      "  17  2.3259089e+03 9.59e-06 5.82e-05  -3.8 4.30e-03    -  1.00e+00 1.00e+00f  1\n",
      "  18  2.3259082e+03 5.12e-08 1.72e-07  -5.7 3.25e-04    -  1.00e+00 1.00e+00h  1\n",
      "  19  2.3259082e+03 5.93e-12 2.70e-11  -8.6 3.44e-06    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 19\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.3259081611025799e+03    2.3259081611025799e+03\n",
      "Dual infeasibility......:   2.6958879573157901e-11    2.6958879573157901e-11\n",
      "Constraint violation....:   5.9314914091501691e-12    5.9314914091501691e-12\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5291300757573214e-09    2.5291300757573214e-09\n",
      "Overall NLP error.......:   2.5291300757573214e-09    2.5291300757573214e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 20\n",
      "Number of objective gradient evaluations             = 20\n",
      "Number of equality constraint evaluations            = 20\n",
      "Number of inequality constraint evaluations          = 20\n",
      "Number of equality constraint Jacobian evaluations   = 20\n",
      "Number of inequality constraint Jacobian evaluations = 20\n",
      "Number of Lagrangian Hessian evaluations             = 19\n",
      "Total seconds in IPOPT                               = 0.173\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   5.28ms (264.18us)        20\n",
      "       nlp_g  |        0 (       0)   1.75ms ( 87.33us)        20\n",
      "  nlp_grad_f  |        0 (       0)  10.27ms (489.24us)        21\n",
      "  nlp_hess_l  |  93.75ms (  4.93ms)  91.89ms (  4.84ms)        19\n",
      "   nlp_jac_g  |        0 (       0)   4.58ms (218.28us)        21\n",
      "       total  | 125.00ms (125.00ms) 173.92ms (173.92ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.3259082e+03 2.09e-01 5.44e-01  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.3890190e+03 6.78e-03 8.21e+00  -1.0 3.22e-01    -  9.63e-01 1.00e+00h  1\n",
      "   2  2.5243116e+03 1.75e-03 9.77e+02  -1.0 2.14e-01    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.5145061e+03 3.79e-07 6.52e+01  -1.0 6.52e-03   4.0 1.00e+00 1.00e+00f  1\n",
      "   4  2.4893137e+03 6.52e-06 6.03e+01  -1.0 1.81e-02   3.5 1.00e+00 1.00e+00f  1\n",
      "   5  2.4384674e+03 4.54e-05 4.91e+01  -1.0 4.42e-02   3.0 1.00e+00 1.00e+00f  1\n",
      "   6  2.3962465e+03 1.10e-04 4.17e+01  -1.0 6.18e-02   2.6 1.00e+00 1.00e+00f  1\n",
      "   7  2.3892994e+03 1.86e-05 4.26e+01  -1.0 2.86e-02   2.1 1.00e+00 1.00e+00f  1\n",
      "   8  2.3884410e+03 6.59e-06 1.37e+00  -1.0 1.28e-02   1.6 1.00e+00 1.00e+00f  1\n",
      "   9  2.3884103e+03 2.26e-06 1.68e-01  -1.0 1.22e-02   1.1 1.00e+00 1.00e+00f  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "  10  2.3881138e+03 4.60e-03 6.74e+00  -2.5 1.14e-01    -  9.21e-01 1.00e+00f  1\n",
      "  11  2.5201866e+03 7.69e-04 9.74e+02  -2.5 1.46e-01    -  1.00e+00 1.00e+00h  1\n",
      "  12  2.4902475e+03 6.87e-04 8.47e+02  -2.5 2.81e-01   2.5 3.03e-01 1.19e-01f  1\n",
      "  13  2.4236347e+03 7.86e-05 4.63e+01  -2.5 5.93e-02   2.9 1.00e+00 1.00e+00f  1\n",
      "  14  2.3909826e+03 9.57e-05 3.64e+01  -2.5 5.68e-02   2.4 1.00e+00 1.00e+00f  1\n",
      "  15  2.3884188e+03 9.91e-06 2.78e+01  -2.5 2.15e-02   1.9 1.00e+00 1.00e+00f  1\n",
      "  16  2.3881644e+03 2.44e-06 2.55e-01  -2.5 6.62e-03   1.5 1.00e+00 1.00e+00f  1\n",
      "  17  2.3880678e+03 3.25e-04 2.11e+00  -2.5 1.15e-01    -  1.00e+00 2.97e-01f  1\n",
      "  18  2.3880203e+03 1.31e-05 5.90e+00  -2.5 6.71e-02    -  1.00e+00 1.00e+00f  1\n",
      "  19  2.3880159e+03 5.70e-07 3.59e-03  -2.5 1.74e-03    -  1.00e+00 1.00e+00h  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "  20  2.3880056e+03 1.91e-05 3.53e-05  -3.8 6.09e-03    -  1.00e+00 1.00e+00f  1\n",
      "  21  2.3880047e+03 1.56e-07 3.22e-06  -5.7 5.71e-04    -  1.00e+00 1.00e+00h  1\n",
      "  22  2.3880047e+03 1.77e-11 3.12e-10  -8.6 6.03e-06    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 22\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.3880047384938407e+03    2.3880047384938407e+03\n",
      "Dual infeasibility......:   3.1204194783640560e-10    3.1204194783640560e-10\n",
      "Constraint violation....:   1.7716689226787707e-11    1.7716689226787707e-11\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5726864110172738e-09    2.5726864110172738e-09\n",
      "Overall NLP error.......:   2.5726864110172738e-09    2.5726864110172738e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 23\n",
      "Number of objective gradient evaluations             = 23\n",
      "Number of equality constraint evaluations            = 23\n",
      "Number of inequality constraint evaluations          = 23\n",
      "Number of equality constraint Jacobian evaluations   = 23\n",
      "Number of inequality constraint Jacobian evaluations = 23\n",
      "Number of Lagrangian Hessian evaluations             = 22\n",
      "Total seconds in IPOPT                               = 0.242\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   7.45ms (324.05us)        23\n",
      "       nlp_g  |        0 (       0)   2.44ms (106.01us)        23\n",
      "  nlp_grad_f  |  15.62ms (651.04us)  14.44ms (601.86us)        24\n",
      "  nlp_hess_l  |  93.75ms (  4.26ms) 133.78ms (  6.08ms)        22\n",
      "   nlp_jac_g  |        0 (       0)   6.34ms (264.32us)        24\n",
      "       total  | 171.88ms (171.88ms) 242.72ms (242.72ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.3880047e+03 2.04e-01 4.32e-01  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.4560039e+03 6.72e-03 2.71e+02  -1.0 2.90e-01    -  9.68e-01 1.00e+00h  1\n",
      "   2  2.4481587e+03 7.52e-05 5.33e+01  -1.0 5.34e-02   2.0 1.00e+00 1.00e+00f  1\n",
      "   3  2.4467792e+03 2.71e-05 4.31e+00  -1.0 2.77e-02   1.5 1.00e+00 1.00e+00f  1\n",
      "   4  2.4465339e+03 3.12e-04 2.30e+01  -1.0 1.19e+00    -  7.44e-01 6.92e-02f  4\n",
      "   5  2.4464902e+03 1.52e-05 1.14e-01  -1.0 7.05e-03   1.0 1.00e+00 1.00e+00f  1\n",
      "   6  2.4462564e+03 2.54e-03 8.12e-01  -2.5 7.22e-02    -  8.12e-01 1.00e+00f  1\n",
      "   7  2.4461840e+03 7.23e-04 7.16e-02  -2.5 4.08e-02    -  1.00e+00 1.00e+00h  1\n",
      "   8  2.4461712e+03 7.91e-05 9.41e-03  -2.5 1.32e-02    -  1.00e+00 1.00e+00h  1\n",
      "   9  2.4461605e+03 3.36e-05 4.14e-03  -3.8 8.15e-03    -  1.00e+00 1.00e+00h  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "  10  2.4461601e+03 9.79e-08 6.35e-06  -3.8 4.69e-04    -  1.00e+00 1.00e+00h  1\n",
      "  11  2.4461595e+03 1.08e-07 1.31e-05  -5.7 4.57e-04    -  1.00e+00 1.00e+00f  1\n",
      "  12  2.4461595e+03 2.57e-11 2.79e-09  -8.6 7.17e-06    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 12\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.4461595081734049e+03    2.4461595081734049e+03\n",
      "Dual infeasibility......:   2.7861517537530744e-09    2.7861517537530744e-09\n",
      "Constraint violation....:   2.5699845029869550e-11    2.5699845029869550e-11\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.6085585230807676e-09    2.6085585230807676e-09\n",
      "Overall NLP error.......:   2.7861517537530744e-09    2.7861517537530744e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 19\n",
      "Number of objective gradient evaluations             = 13\n",
      "Number of equality constraint evaluations            = 19\n",
      "Number of inequality constraint evaluations          = 19\n",
      "Number of equality constraint Jacobian evaluations   = 13\n",
      "Number of inequality constraint Jacobian evaluations = 13\n",
      "Number of Lagrangian Hessian evaluations             = 12\n",
      "Total seconds in IPOPT                               = 0.113\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   5.18ms (272.48us)        19\n",
      "       nlp_g  |        0 (       0)   1.57ms ( 82.84us)        19\n",
      "  nlp_grad_f  |        0 (       0)   7.39ms (527.64us)        14\n",
      "  nlp_hess_l  |  62.50ms (  5.21ms)  60.28ms (  5.02ms)        12\n",
      "   nlp_jac_g  |        0 (       0)   3.66ms (261.72us)        14\n",
      "       total  |  78.12ms ( 78.12ms) 114.33ms (114.33ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.4461595e+03 1.93e-01 3.29e-01  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.5115406e+03 7.02e-03 2.75e+02  -1.0 2.60e-01    -  9.72e-01 1.00e+00h  1\n",
      "   2  2.5025795e+03 8.80e-05 2.03e+01  -1.0 6.10e-02   2.0 1.00e+00 1.00e+00f  1\n",
      "   3  2.5012629e+03 3.47e-05 3.25e+00  -1.0 3.08e-02   1.5 1.00e+00 1.00e+00f  1\n",
      "   4  2.5010849e+03 3.40e-04 2.33e+01  -1.0 2.50e+00    -  3.49e-01 2.96e-02f  4\n",
      "   5  2.5010297e+03 3.67e-04 2.11e+00  -1.0 6.76e-02    -  1.00e+00 1.00e+00f  1\n",
      "   6  2.5010272e+03 1.26e-04 1.25e+00  -1.0 2.52e-02    -  1.00e+00 1.00e+00h  1\n",
      "   7  2.5010259e+03 6.61e-07 3.10e-02  -1.0 2.29e-03    -  1.00e+00 1.00e+00h  1\n",
      "   8  2.5008693e+03 2.32e-03 6.86e-01  -2.5 6.71e-02    -  9.37e-01 1.00e+00f  1\n",
      "   9  2.5007979e+03 1.15e-03 1.83e-01  -2.5 5.15e-02    -  1.00e+00 1.00e+00h  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "  10  2.5007844e+03 1.47e-04 1.70e-02  -2.5 1.82e-02    -  1.00e+00 1.00e+00h  1\n",
      "  11  2.5007742e+03 1.07e-04 1.06e-02  -3.8 1.46e-02    -  1.00e+00 1.00e+00h  1\n",
      "  12  2.5007730e+03 4.56e-06 2.26e-04  -3.8 3.08e-03    -  1.00e+00 1.00e+00h  1\n",
      "  13  2.5007724e+03 6.64e-07 5.02e-05  -5.7 1.14e-03    -  1.00e+00 1.00e+00h  1\n",
      "  14  2.5007724e+03 2.01e-10 8.06e-09  -5.7 2.03e-05    -  1.00e+00 1.00e+00h  1\n",
      "  15  2.5007724e+03 8.69e-11 6.91e-09  -8.6 1.30e-05    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 15\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.5007723956601135e+03    2.5007723956601135e+03\n",
      "Dual infeasibility......:   6.9142354064410938e-09    6.9142354064410938e-09\n",
      "Constraint violation....:   8.6865153958726182e-11    8.6865153958726182e-11\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.8716164737174868e-09    2.8716164737174868e-09\n",
      "Overall NLP error.......:   6.9142354064410938e-09    6.9142354064410938e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 21\n",
      "Number of objective gradient evaluations             = 16\n",
      "Number of equality constraint evaluations            = 21\n",
      "Number of inequality constraint evaluations          = 21\n",
      "Number of equality constraint Jacobian evaluations   = 16\n",
      "Number of inequality constraint Jacobian evaluations = 16\n",
      "Number of Lagrangian Hessian evaluations             = 15\n",
      "Total seconds in IPOPT                               = 0.134\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |  15.62ms (744.05us)   5.45ms (259.62us)        21\n",
      "       nlp_g  |        0 (       0)   1.92ms ( 91.60us)        21\n",
      "  nlp_grad_f  |  15.62ms (919.12us)   9.15ms (538.26us)        17\n",
      "  nlp_hess_l  |  62.50ms (  4.17ms)  74.10ms (  4.94ms)        15\n",
      "   nlp_jac_g  |        0 (       0)   4.02ms (236.74us)        17\n",
      "       total  |  93.75ms ( 93.75ms) 135.20ms (135.20ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.5007724e+03 1.79e-01 2.44e-01  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.5612975e+03 7.33e-03 2.35e+02  -1.0 2.33e-01    -  9.75e-01 1.00e+00h  1\n",
      "   2  2.5536324e+03 7.37e-05 9.84e+00  -1.0 5.73e-02   2.0 1.00e+00 1.00e+00f  1\n",
      "   3  2.5524219e+03 4.44e-05 1.24e+01  -1.0 3.23e-02   1.5 1.00e+00 1.00e+00f  1\n",
      "   4  2.5522640e+03 3.20e-05 8.76e-01  -1.0 1.87e-02   1.0 1.00e+00 1.00e+00f  1\n",
      "   5  2.5522520e+03 3.81e-05 2.02e+01  -1.7 1.23e-01    -  1.00e+00 1.25e-01f  4\n",
      "   6  2.5521207e+03 2.06e-03 9.39e-01  -1.7 6.51e-02    -  1.00e+00 1.00e+00f  1\n",
      "   7  2.5521065e+03 2.15e-05 1.05e-01  -1.7 9.63e-03    -  1.00e+00 1.00e+00h  1\n",
      "   8  2.5520727e+03 5.89e-04 7.05e-02  -2.5 3.47e-02    -  1.00e+00 1.00e+00f  1\n",
      "   9  2.5520642e+03 1.14e-04 7.82e-03  -2.5 1.57e-02    -  1.00e+00 1.00e+00h  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "  10  2.5520572e+03 1.57e-04 1.06e-02  -3.8 1.77e-02    -  1.00e+00 1.00e+00h  1\n",
      "  11  2.5520562e+03 3.54e-05 1.17e-03  -3.8 8.45e-03    -  1.00e+00 1.00e+00h  1\n",
      "  12  2.5520557e+03 1.71e-05 4.56e-04  -5.7 5.78e-03    -  1.00e+00 1.00e+00h  1\n",
      "  13  2.5520556e+03 4.20e-06 4.33e-05  -5.7 2.86e-03    -  1.00e+00 1.00e+00h  1\n",
      "  14  2.5520556e+03 9.42e-07 5.00e-06  -5.7 1.35e-03    -  1.00e+00 1.00e+00h  1\n",
      "  15  2.5520556e+03 3.22e-07 1.91e-06  -8.6 7.88e-04    -  1.00e+00 1.00e+00h  1\n",
      "  16  2.5520556e+03 6.45e-08 3.15e-07  -8.6 3.52e-04    -  1.00e+00 1.00e+00h  1\n",
      "  17  2.5520556e+03 7.16e-09 3.49e-08  -8.6 1.17e-04    -  1.00e+00 1.00e+00h  1\n",
      "  18  2.5520556e+03 1.46e-10 7.10e-10  -8.6 1.67e-05    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 18\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.5520556137660028e+03    2.5520556137660028e+03\n",
      "Dual infeasibility......:   7.1002226320615591e-10    7.1002226320615591e-10\n",
      "Constraint violation....:   1.4573178774845985e-10    1.4573178774845985e-10\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   3.1447392416270899e-09    3.1447392416270899e-09\n",
      "Overall NLP error.......:   3.1447392416270899e-09    3.1447392416270899e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 26\n",
      "Number of objective gradient evaluations             = 19\n",
      "Number of equality constraint evaluations            = 26\n",
      "Number of inequality constraint evaluations          = 26\n",
      "Number of equality constraint Jacobian evaluations   = 19\n",
      "Number of inequality constraint Jacobian evaluations = 19\n",
      "Number of Lagrangian Hessian evaluations             = 18\n",
      "Total seconds in IPOPT                               = 0.155\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   6.34ms (243.69us)        26\n",
      "       nlp_g  |        0 (       0)   2.09ms ( 80.45us)        26\n",
      "  nlp_grad_f  |        0 (       0)   9.59ms (479.71us)        20\n",
      "  nlp_hess_l  |        0 (       0)  86.40ms (  4.80ms)        18\n",
      "   nlp_jac_g  |        0 (       0)   4.36ms (218.19us)        20\n",
      "       total  |        0 (       0) 156.02ms (156.02ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.5520556e+03 1.77e-01 1.72e-01  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.6068571e+03 7.54e-03 1.77e+02  -1.0 2.09e-01    -  9.78e-01 1.00e+00h  1\n",
      "   2  2.6015632e+03 4.07e-05 5.17e+00  -1.0 5.17e-02   2.0 1.00e+00 1.00e+00f  1\n",
      "   3  2.6002541e+03 5.29e-05 2.46e+00  -1.0 3.73e-02   1.5 1.00e+00 1.00e+00f  1\n",
      "   4  2.6001416e+03 1.43e-03 3.56e+00  -1.0 6.00e-02    -  1.00e+00 1.00e+00f  1\n",
      "   5  2.6001554e+03 1.65e-04 4.91e-02  -1.0 2.04e-02    -  1.00e+00 1.00e+00h  1\n",
      "   6  2.6000593e+03 2.21e-03 1.62e-01  -2.5 6.44e-02    -  9.38e-01 1.00e+00f  1\n",
      "   7  2.6000149e+03 1.10e-03 6.41e-02  -2.5 5.05e-02    -  1.00e+00 1.00e+00h  1\n",
      "   8  2.6000053e+03 1.92e-04 6.49e-03  -2.5 2.07e-02    -  1.00e+00 1.00e+00h  1\n",
      "   9  2.6000006e+03 1.77e-04 4.51e-03  -3.8 1.88e-02    -  1.00e+00 1.00e+00h  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "  10  2.5999998e+03 3.97e-05 2.50e-04  -3.8 8.95e-03    -  1.00e+00 1.00e+00h  1\n",
      "  11  2.5999995e+03 1.70e-05 8.92e-05  -5.7 5.76e-03    -  1.00e+00 1.00e+00h  1\n",
      "  12  2.5999994e+03 3.19e-06 7.99e-06  -5.7 2.49e-03    -  1.00e+00 1.00e+00h  1\n",
      "  13  2.5999994e+03 3.57e-07 9.38e-07  -8.6 8.31e-04    -  1.00e+00 1.00e+00h  1\n",
      "  14  2.5999994e+03 5.35e-09 1.30e-08  -8.6 1.02e-04    -  1.00e+00 1.00e+00h  1\n",
      "  15  2.5999994e+03 1.45e-12 3.42e-12  -9.0 1.68e-06    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 15\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.5999994177001727e+03    2.5999994177001727e+03\n",
      "Dual infeasibility......:   3.4248159863636829e-12    3.4248159863636829e-12\n",
      "Constraint violation....:   1.4540174619881441e-12    1.4540174619881441e-12\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   9.1544310711629328e-10    9.1544310711629328e-10\n",
      "Overall NLP error.......:   9.1544310711629328e-10    9.1544310711629328e-10\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 16\n",
      "Number of objective gradient evaluations             = 16\n",
      "Number of equality constraint evaluations            = 16\n",
      "Number of inequality constraint evaluations          = 16\n",
      "Number of equality constraint Jacobian evaluations   = 16\n",
      "Number of inequality constraint Jacobian evaluations = 16\n",
      "Number of Lagrangian Hessian evaluations             = 15\n",
      "Total seconds in IPOPT                               = 0.123\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   4.18ms (261.02us)        16\n",
      "       nlp_g  |        0 (       0)   1.36ms ( 84.84us)        16\n",
      "  nlp_grad_f  |        0 (       0)   8.41ms (494.59us)        17\n",
      "  nlp_hess_l  |  62.50ms (  4.17ms)  67.39ms (  4.49ms)        15\n",
      "   nlp_jac_g  |        0 (       0)   3.73ms (219.66us)        17\n",
      "       total  |  62.50ms ( 62.50ms) 123.78ms (123.78ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.5999994e+03 1.83e-01 1.07e-01  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.6489550e+03 7.54e-03 1.62e+02  -1.0 2.09e-01    -  9.57e-01 1.00e+00h  1\n",
      "   2  2.6463251e+03 1.85e-05 3.66e+00  -1.0 3.66e-02   2.0 1.00e+00 1.00e+00f  1\n",
      "   3  2.6448405e+03 4.17e-05 2.21e+00  -1.0 4.08e-02   1.5 1.00e+00 1.00e+00f  1\n",
      "   4  2.6446664e+03 1.17e-03 3.87e+00  -1.0 5.73e-02    -  1.00e+00 1.00e+00f  1\n",
      "   5  2.6446741e+03 1.46e-04 2.43e-01  -1.0 2.43e-02    -  1.00e+00 1.00e+00h  1\n",
      "   6  2.6446108e+03 1.42e-03 3.30e-02  -1.7 5.34e-02    -  1.00e+00 1.00e+00f  1\n",
      "   7  2.6445748e+03 1.39e-03 2.76e-02  -2.5 5.49e-02    -  1.00e+00 1.00e+00h  1\n",
      "   8  2.6445632e+03 4.03e-04 6.67e-03  -3.8 2.95e-02    -  1.00e+00 1.00e+00h  1\n",
      "   9  2.6445608e+03 3.90e-05 3.87e-04  -3.8 9.31e-03    -  1.00e+00 1.00e+00h  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "  10  2.6445604e+03 2.18e-06 1.62e-05  -5.7 2.16e-03    -  1.00e+00 1.00e+00h  1\n",
      "  11  2.6445604e+03 3.74e-09 1.47e-08  -8.6 8.99e-05    -  1.00e+00 1.00e+00h  1\n",
      "  12  2.6445604e+03 9.31e-15 5.61e-13  -9.0 1.42e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 12\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.6445604055960907e+03    2.6445604055960907e+03\n",
      "Dual infeasibility......:   5.6132876125047915e-13    5.6132876125047915e-13\n",
      "Constraint violation....:   9.3119956190435005e-15    9.3119956190435005e-15\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   9.0914061580118437e-10    9.0914061580118437e-10\n",
      "Overall NLP error.......:   9.0914061580118437e-10    9.0914061580118437e-10\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 13\n",
      "Number of objective gradient evaluations             = 13\n",
      "Number of equality constraint evaluations            = 13\n",
      "Number of inequality constraint evaluations          = 13\n",
      "Number of equality constraint Jacobian evaluations   = 13\n",
      "Number of inequality constraint Jacobian evaluations = 13\n",
      "Number of Lagrangian Hessian evaluations             = 12\n",
      "Total seconds in IPOPT                               = 0.108\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   3.44ms (264.53us)        13\n",
      "       nlp_g  |        0 (       0)   1.14ms ( 88.02us)        13\n",
      "  nlp_grad_f  |        0 (       0)   7.71ms (550.53us)        14\n",
      "  nlp_hess_l  |  62.50ms (  5.21ms)  59.73ms (  4.98ms)        12\n",
      "   nlp_jac_g  |        0 (       0)   3.11ms (222.04us)        14\n",
      "       total  |  78.12ms ( 78.12ms) 109.15ms (109.15ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.6445604e+03 1.87e-01 4.96e-02  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.6878284e+03 7.17e-03 1.35e+02  -1.0 2.21e-01    -  8.93e-01 1.00e+00h  1\n",
      "   2  2.6861251e+03 3.17e-03 3.53e+01  -1.0 2.79e-01    -  1.00e+00 1.00e+00f  1\n",
      "   3  2.6869560e+03 2.89e-03 1.04e+02  -1.0 2.23e-01    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.6858501e+03 1.55e-03 5.81e+00  -1.0 1.07e-01    -  1.00e+00 1.00e+00f  1\n",
      "   5  2.6867480e+03 1.06e-03 9.53e+01  -1.0 1.04e-01    -  1.00e+00 1.00e+00h  1\n",
      "   6  2.6858416e+03 1.33e-03 5.63e+00  -1.0 9.95e-02    -  1.00e+00 1.00e+00f  1\n",
      "   7  2.6867505e+03 9.99e-04 9.54e+01  -1.0 9.96e-02    -  1.00e+00 1.00e+00h  1\n",
      "   8  2.6858408e+03 1.49e-05 5.64e+00  -1.0 9.99e-02    -  1.00e+00 1.00e+00F  1\n",
      "   9  2.6858334e+03 2.42e-05 1.13e+01  -1.0 1.00e-01    -  1.00e+00 1.25e-01f  4\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "  10  2.6858113e+03 8.24e-05 4.13e+00  -1.0 4.11e-02    -  1.00e+00 1.00e+00f  1\n",
      "  11  2.6858079e+03 1.17e-05 6.30e-02  -1.0 1.56e-02    -  1.00e+00 1.00e+00h  1\n",
      "  12  2.6857550e+03 1.82e-03 2.02e-02  -2.5 6.26e-02    -  9.44e-01 1.00e+00f  1\n",
      "  13  2.6857351e+03 1.31e-03 4.50e-03  -3.8 5.50e-02    -  1.00e+00 1.00e+00h  1\n",
      "  14  2.6857305e+03 3.50e-04 5.86e-04  -3.8 2.77e-02    -  1.00e+00 1.00e+00h  1\n",
      "  15  2.6857296e+03 8.15e-05 7.39e-05  -3.8 1.30e-02    -  1.00e+00 1.00e+00h  1\n",
      "  16  2.6857294e+03 2.87e-05 2.73e-05  -5.7 7.55e-03    -  1.00e+00 1.00e+00h  1\n",
      "  17  2.6857293e+03 6.90e-06 6.95e-06  -5.7 3.68e-03    -  1.00e+00 1.00e+00h  1\n",
      "  18  2.6857293e+03 1.39e-06 1.42e-06  -5.7 1.64e-03    -  1.00e+00 1.00e+00h  1\n",
      "  19  2.6857293e+03 2.59e-07 2.67e-07  -8.6 7.08e-04    -  1.00e+00 1.00e+00h  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "  20  2.6857293e+03 1.04e-08 1.08e-08  -8.6 1.42e-04    -  1.00e+00 1.00e+00h  1\n",
      "  21  2.6857293e+03 1.97e-11 2.04e-11  -8.6 6.17e-06    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 21\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.6857293322530495e+03    2.6857293322530495e+03\n",
      "Dual infeasibility......:   2.0412338486153203e-11    2.0412338486153203e-11\n",
      "Constraint violation....:   1.9671958506606302e-11    1.9671958506606302e-11\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5924192642053598e-09    2.5924192642053598e-09\n",
      "Overall NLP error.......:   2.5924192642053598e-09    2.5924192642053598e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 30\n",
      "Number of objective gradient evaluations             = 22\n",
      "Number of equality constraint evaluations            = 30\n",
      "Number of inequality constraint evaluations          = 30\n",
      "Number of equality constraint Jacobian evaluations   = 22\n",
      "Number of inequality constraint Jacobian evaluations = 22\n",
      "Number of Lagrangian Hessian evaluations             = 21\n",
      "Total seconds in IPOPT                               = 0.177\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   7.08ms (236.00us)        30\n",
      "       nlp_g  |        0 (       0)   2.31ms ( 76.97us)        30\n",
      "  nlp_grad_f  |        0 (       0)  11.22ms (487.72us)        23\n",
      "  nlp_hess_l  |  62.50ms (  2.98ms) 102.63ms (  4.89ms)        21\n",
      "   nlp_jac_g  |        0 (       0)   5.07ms (220.40us)        23\n",
      "       total  |  93.75ms ( 93.75ms) 177.85ms (177.85ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.6857293e+03 1.89e-01 2.29e-07  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.7242951e+03 6.94e-03 7.13e+01  -1.0 2.52e-01    -  7.97e-01 1.00e+00h  1\n",
      "   2  2.7236074e+03 2.70e-03 1.98e+00  -1.0 1.60e-01    -  9.84e-01 1.00e+00f  1\n",
      "   3  2.7236110e+03 4.55e-05 2.16e-04  -1.0 1.07e-02    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.7235718e+03 1.44e-03 1.72e-02  -2.5 5.87e-02    -  9.51e-01 1.00e+00f  1\n",
      "   5  2.7235597e+03 9.74e-04 3.56e-04  -3.8 4.87e-02    -  1.00e+00 1.00e+00h  1\n",
      "   6  2.7235577e+03 1.70e-04 1.33e-04  -3.8 1.99e-02    -  1.00e+00 1.00e+00h  1\n",
      "   7  2.7235576e+03 1.28e-05 1.25e-05  -5.7 5.34e-03    -  1.00e+00 1.00e+00h  1\n",
      "   8  2.7235575e+03 7.44e-08 7.52e-08  -5.7 4.06e-04    -  1.00e+00 1.00e+00h  1\n",
      "   9  2.7235575e+03 7.22e-11 6.45e-11  -8.6 1.24e-05    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 9\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.7235575467337385e+03    2.7235575467337385e+03\n",
      "Dual infeasibility......:   6.4506400221375770e-11    6.4506400221375770e-11\n",
      "Constraint violation....:   7.2191322364467680e-11    7.2191322364467680e-11\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.9100108328323447e-09    2.9100108328323447e-09\n",
      "Overall NLP error.......:   2.9100108328323447e-09    2.9100108328323447e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 10\n",
      "Number of objective gradient evaluations             = 10\n",
      "Number of equality constraint evaluations            = 10\n",
      "Number of inequality constraint evaluations          = 10\n",
      "Number of equality constraint Jacobian evaluations   = 10\n",
      "Number of inequality constraint Jacobian evaluations = 10\n",
      "Number of Lagrangian Hessian evaluations             = 9\n",
      "Total seconds in IPOPT                               = 0.079\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   2.83ms (283.07us)        10\n",
      "       nlp_g  |        0 (       0) 925.00us ( 92.50us)        10\n",
      "  nlp_grad_f  |        0 (       0)   5.76ms (523.19us)        11\n",
      "  nlp_hess_l  |        0 (       0)  45.88ms (  5.10ms)         9\n",
      "   nlp_jac_g  |        0 (       0)   2.51ms (228.01us)        11\n",
      "       total  |        0 (       0)  80.20ms ( 80.20ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.7235575e+03 1.89e-01 1.12e-08  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.7587796e+03 6.05e-03 9.25e+01  -1.0 2.86e-01    -  7.42e-01 1.00e+00h  1\n",
      "   2  2.7581884e+03 9.27e-03 2.67e-01  -1.0 2.22e-01    -  7.42e-01 1.00e+00f  1\n",
      "   3  2.7581801e+03 1.29e-04 4.99e-04  -1.0 5.33e-02    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.7581509e+03 1.07e-03 1.36e-02  -2.5 5.33e-02    -  9.60e-01 1.00e+00f  1\n",
      "   5  2.7581436e+03 6.09e-04 1.95e-04  -3.8 3.99e-02    -  1.00e+00 1.00e+00h  1\n",
      "   6  2.7581427e+03 4.59e-05 3.66e-05  -3.8 1.08e-02    -  1.00e+00 1.00e+00h  1\n",
      "   7  2.7581426e+03 6.61e-07 6.18e-07  -5.7 1.27e-03    -  1.00e+00 1.00e+00h  1\n",
      "   8  2.7581426e+03 1.45e-10 1.27e-10  -8.6 1.88e-05    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 8\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.7581426443059754e+03    2.7581426443059754e+03\n",
      "Dual infeasibility......:   1.2720136055577314e-10    1.2720136055577314e-10\n",
      "Constraint violation....:   1.4541086390540414e-10    1.4541086390540414e-10\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   3.4747318164880408e-09    3.4747318164880408e-09\n",
      "Overall NLP error.......:   3.4747318164880408e-09    3.4747318164880408e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 9\n",
      "Number of objective gradient evaluations             = 9\n",
      "Number of equality constraint evaluations            = 9\n",
      "Number of inequality constraint evaluations          = 9\n",
      "Number of equality constraint Jacobian evaluations   = 9\n",
      "Number of inequality constraint Jacobian evaluations = 9\n",
      "Number of Lagrangian Hessian evaluations             = 8\n",
      "Total seconds in IPOPT                               = 0.084\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   3.54ms (393.81us)         9\n",
      "       nlp_g  |        0 (       0)   1.05ms (116.81us)         9\n",
      "  nlp_grad_f  |        0 (       0)   6.14ms (613.96us)        10\n",
      "  nlp_hess_l  |        0 (       0)  47.47ms (  5.93ms)         8\n",
      "   nlp_jac_g  |        0 (       0)   2.55ms (254.67us)        10\n",
      "       total  |  15.62ms ( 15.62ms)  85.21ms ( 85.21ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.7581426e+03 1.88e-01 7.25e-09  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.7896235e+03 2.05e-03 2.04e+02  -1.0 1.88e-01    -  9.90e-01 1.00e+00h  1\n",
      "   2  2.7896488e+03 1.63e-03 1.05e-03  -1.0 6.75e-02    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.7896228e+03 8.45e-04 1.29e-02  -2.5 5.06e-02    -  9.62e-01 1.00e+00h  1\n",
      "   4  2.7896177e+03 4.07e-04 1.52e-04  -3.8 3.41e-02    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.7896172e+03 1.47e-05 1.11e-05  -3.8 6.46e-03    -  1.00e+00 1.00e+00h  1\n",
      "   6  2.7896171e+03 8.95e-08 7.88e-08  -5.7 4.85e-04    -  1.00e+00 1.00e+00h  1\n",
      "   7  2.7896171e+03 9.29e-12 6.88e-12  -8.6 4.90e-06    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 7\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.7896171422565781e+03    2.7896171422565781e+03\n",
      "Dual infeasibility......:   6.8778316375528448e-12    6.8778316375528448e-12\n",
      "Constraint violation....:   9.2913871041488960e-12    9.2913871041488960e-12\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5839585435341225e-09    2.5839585435341225e-09\n",
      "Overall NLP error.......:   2.5839585435341225e-09    2.5839585435341225e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 8\n",
      "Number of objective gradient evaluations             = 8\n",
      "Number of equality constraint evaluations            = 8\n",
      "Number of inequality constraint evaluations          = 8\n",
      "Number of equality constraint Jacobian evaluations   = 8\n",
      "Number of inequality constraint Jacobian evaluations = 8\n",
      "Number of Lagrangian Hessian evaluations             = 7\n",
      "Total seconds in IPOPT                               = 0.076\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   2.43ms (303.83us)         8\n",
      "       nlp_g  |        0 (       0) 787.30us ( 98.41us)         8\n",
      "  nlp_grad_f  |        0 (       0)   5.42ms (602.44us)         9\n",
      "  nlp_hess_l  |        0 (       0)  44.82ms (  6.40ms)         7\n",
      "   nlp_jac_g  |        0 (       0)   2.32ms (257.93us)         9\n",
      "       total  |  31.25ms ( 31.25ms)  77.01ms ( 77.01ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.7896171e+03 1.86e-01 3.58e-09  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.8181509e+03 1.31e-03 8.81e-03  -1.0 1.86e-01    -  9.91e-01 1.00e+00h  1\n",
      "   2  2.8181482e+03 5.97e-07 3.65e-05  -1.7 9.25e-03    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.8181468e+03 1.06e-04 1.27e-03  -3.8 1.72e-02    -  9.85e-01 1.00e+00f  1\n",
      "   4  2.8181467e+03 2.77e-06 2.63e-07  -3.8 2.91e-03    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.8181467e+03 1.82e-08 1.47e-08  -5.7 2.25e-04    -  1.00e+00 1.00e+00h  1\n",
      "   6  2.8181467e+03 2.61e-12 1.89e-12  -8.6 2.68e-06    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 6\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.8181466777421570e+03    2.8181466777421570e+03\n",
      "Dual infeasibility......:   1.8882673202824662e-12    1.8882673202824662e-12\n",
      "Constraint violation....:   2.6100371863790883e-12    2.6100371863790883e-12\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5338781523404080e-09    2.5338781523404080e-09\n",
      "Overall NLP error.......:   2.5338781523404080e-09    2.5338781523404080e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 7\n",
      "Number of objective gradient evaluations             = 7\n",
      "Number of equality constraint evaluations            = 7\n",
      "Number of inequality constraint evaluations          = 7\n",
      "Number of equality constraint Jacobian evaluations   = 7\n",
      "Number of inequality constraint Jacobian evaluations = 7\n",
      "Number of Lagrangian Hessian evaluations             = 6\n",
      "Total seconds in IPOPT                               = 0.051\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.93ms (276.31us)         7\n",
      "       nlp_g  |        0 (       0) 630.80us ( 90.11us)         7\n",
      "  nlp_grad_f  |        0 (       0)   4.08ms (509.64us)         8\n",
      "  nlp_hess_l  |  46.88ms (  7.81ms)  27.96ms (  4.66ms)         6\n",
      "   nlp_jac_g  |        0 (       0)   1.81ms (226.48us)         8\n",
      "       total  |  46.88ms ( 46.88ms)  53.82ms ( 53.82ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.8181467e+03 1.83e-01 2.66e-09  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.8439024e+03 8.71e-04 7.41e-03  -1.0 1.83e-01    -  9.93e-01 1.00e+00h  1\n",
      "   2  2.8439004e+03 7.66e-08 9.56e-06  -1.7 9.35e-03    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.8438993e+03 6.68e-05 8.77e-04  -3.8 1.46e-02    -  9.89e-01 1.00e+00f  1\n",
      "   4  2.8438993e+03 1.36e-06 1.74e-07  -5.7 2.12e-03    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.8438993e+03 1.28e-10 8.99e-11  -8.6 2.09e-05    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.8438992593683352e+03    2.8438992593683352e+03\n",
      "Dual infeasibility......:   8.9936058600414981e-11    8.9936058600414981e-11\n",
      "Constraint violation....:   1.2795590281777791e-10    1.2795590281777791e-10\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   3.8066203373280053e-09    3.8066203373280053e-09\n",
      "Overall NLP error.......:   3.8066203373280053e-09    3.8066203373280053e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.044\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.43ms (237.83us)         6\n",
      "       nlp_g  |        0 (       0) 448.40us ( 74.73us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.55ms (507.44us)         7\n",
      "  nlp_hess_l  |  31.25ms (  6.25ms)  24.75ms (  4.95ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.48ms (211.96us)         7\n",
      "       total  |  31.25ms ( 31.25ms)  45.14ms ( 45.14ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.8438993e+03 1.79e-01 3.63e-09  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.8670491e+03 5.93e-04 6.16e-03  -1.0 1.79e-01    -  9.94e-01 1.00e+00h  1\n",
      "   2  2.8670467e+03 1.98e-05 1.55e-04  -2.5 1.05e-02    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.8670466e+03 8.19e-06 8.58e-07  -3.8 5.35e-03    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.8670466e+03 1.74e-08 8.51e-09  -5.7 2.48e-04    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.8670466e+03 9.36e-13 6.60e-13  -8.6 1.79e-06    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.8670465822770084e+03    2.8670465822770084e+03\n",
      "Dual infeasibility......:   6.5991656583719305e-13    6.5991656583719305e-13\n",
      "Constraint violation....:   9.3640373233228047e-13    9.3640373233228047e-13\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5205341662933875e-09    2.5205341662933875e-09\n",
      "Overall NLP error.......:   2.5205341662933875e-09    2.5205341662933875e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.052\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.92ms (319.98us)         6\n",
      "       nlp_g  |        0 (       0) 550.20us ( 91.70us)         6\n",
      "  nlp_grad_f  |        0 (       0)   4.06ms (580.16us)         7\n",
      "  nlp_hess_l  |  15.62ms (  3.12ms)  28.36ms (  5.67ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.69ms (241.30us)         7\n",
      "       total  |  46.88ms ( 46.88ms)  54.88ms ( 54.88ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.8670466e+03 1.74e-01 1.76e-09  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.8877535e+03 4.12e-04 5.73e-03  -1.0 1.74e-01    -  9.94e-01 1.00e+00h  1\n",
      "   2  2.8877515e+03 1.44e-05 1.07e-04  -2.5 1.05e-02    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.8877514e+03 5.16e-06 3.16e-07  -3.8 4.51e-03    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.8877514e+03 8.98e-09 3.98e-09  -5.7 1.87e-04    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.8877514e+03 5.24e-13 3.82e-13  -8.6 1.43e-06    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.8877514428523932e+03    2.8877514428523932e+03\n",
      "Dual infeasibility......:   3.8197223162228511e-13    3.8197223162228511e-13\n",
      "Constraint violation....:   5.2426812890971064e-13    5.2426812890971064e-13\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5159947945157164e-09    2.5159947945157164e-09\n",
      "Overall NLP error.......:   2.5159947945157164e-09    2.5159947945157164e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.046\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.81ms (302.12us)         6\n",
      "       nlp_g  |        0 (       0) 539.50us ( 89.92us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.60ms (514.11us)         7\n",
      "  nlp_hess_l  |  15.62ms (  3.12ms)  24.86ms (  4.97ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.54ms (220.39us)         7\n",
      "       total  |  46.88ms ( 46.88ms)  47.47ms ( 47.47ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.8877514e+03 1.69e-01 1.49e-09  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9061711e+03 2.90e-04 5.78e-03  -1.0 1.69e-01    -  9.94e-01 1.00e+00h  1\n",
      "   2  2.9061695e+03 1.05e-05 7.49e-05  -2.5 1.06e-02    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.9061694e+03 3.37e-06 9.12e-08  -3.8 3.86e-03    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9061694e+03 5.08e-09 2.09e-09  -5.7 1.49e-04    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9061694e+03 3.20e-13 2.41e-13  -8.6 1.18e-06    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9061693731249111e+03    2.9061693731249111e+03\n",
      "Dual infeasibility......:   2.4136248555350903e-13    2.4136248555350903e-13\n",
      "Constraint violation....:   3.1979280334937243e-13    3.1979280334937243e-13\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5134343037050592e-09    2.5134343037050592e-09\n",
      "Overall NLP error.......:   2.5134343037050592e-09    2.5134343037050592e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.058\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   2.19ms (365.32us)         6\n",
      "       nlp_g  |        0 (       0) 598.30us ( 99.72us)         6\n",
      "  nlp_grad_f  |        0 (       0)   4.46ms (637.20us)         7\n",
      "  nlp_hess_l  |  31.25ms (  6.25ms)  30.99ms (  6.20ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.85ms (264.84us)         7\n",
      "       total  |  62.50ms ( 62.50ms)  58.94ms ( 58.94ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9061694e+03 1.63e-01 1.29e-09  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9224510e+03 2.06e-04 5.81e-03  -1.0 1.63e-01    -  9.94e-01 1.00e+00h  1\n",
      "   2  2.9224495e+03 7.67e-06 5.32e-05  -2.5 1.06e-02    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.9224495e+03 2.26e-06 4.72e-08  -3.8 3.35e-03    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9224495e+03 3.06e-09 1.19e-09  -5.7 1.22e-04    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9224495e+03 2.06e-13 1.60e-13  -8.6 1.00e-06    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9224494661507279e+03    2.9224494661507279e+03\n",
      "Dual infeasibility......:   1.6031620475587260e-13    1.6031620475587260e-13\n",
      "Constraint violation....:   2.0569310144047392e-13    2.0569310144047392e-13\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5117976572761566e-09    2.5117976572761566e-09\n",
      "Overall NLP error.......:   2.5117976572761566e-09    2.5117976572761566e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.048\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.95ms (324.87us)         6\n",
      "       nlp_g  |        0 (       0) 594.40us ( 99.07us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.63ms (517.93us)         7\n",
      "  nlp_hess_l  |        0 (       0)  24.86ms (  4.97ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.69ms (241.23us)         7\n",
      "       total  |        0 (       0)  49.39ms ( 49.39ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9224495e+03 1.57e-01 1.12e-09  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9367359e+03 1.48e-04 5.82e-03  -1.0 1.57e-01    -  9.94e-01 1.00e+00h  1\n",
      "   2  2.9367346e+03 5.63e-06 3.81e-05  -2.5 1.06e-02    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.9367345e+03 1.55e-06 3.94e-08  -3.8 2.93e-03    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9367345e+03 1.94e-09 7.22e-10  -5.7 1.03e-04    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9367345e+03 1.37e-13 1.10e-13  -8.6 8.65e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9367345178163428e+03    2.9367345178163428e+03\n",
      "Dual infeasibility......:   1.1007861289158427e-13    1.1007861289158427e-13\n",
      "Constraint violation....:   1.3709172685949511e-13    1.3709172685949511e-13\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5106653441719411e-09    2.5106653441719411e-09\n",
      "Overall NLP error.......:   2.5106653441719411e-09    2.5106653441719411e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.044\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.35ms (224.87us)         6\n",
      "       nlp_g  |        0 (       0) 467.20us ( 77.87us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.27ms (467.56us)         7\n",
      "  nlp_hess_l  |        0 (       0)  24.61ms (  4.92ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.66ms (237.53us)         7\n",
      "       total  |        0 (       0)  44.51ms ( 44.51ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9367345e+03 1.50e-01 9.84e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9491624e+03 1.07e-04 5.80e-03  -1.0 1.50e-01    -  9.94e-01 1.00e+00h  1\n",
      "   2  2.9491611e+03 4.14e-06 2.75e-05  -2.5 1.06e-02    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.9491610e+03 1.08e-06 4.03e-08  -3.8 2.58e-03    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9491610e+03 1.27e-09 4.59e-10  -5.7 8.79e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9491610e+03 9.37e-14 7.71e-14  -8.6 7.55e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9491610312922057e+03    2.9491610312922057e+03\n",
      "Dual infeasibility......:   7.7104989060217122e-14    7.7104989060217122e-14\n",
      "Constraint violation....:   9.3740987194834702e-14    9.3740987194834702e-14\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5098382654419412e-09    2.5098382654419412e-09\n",
      "Overall NLP error.......:   2.5098382654419412e-09    2.5098382654419412e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.047\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.74ms (289.87us)         6\n",
      "       nlp_g  |        0 (       0) 488.30us ( 81.38us)         6\n",
      "  nlp_grad_f  |  15.62ms (  2.23ms)   3.77ms (538.10us)         7\n",
      "  nlp_hess_l  |        0 (       0)  25.29ms (  5.06ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.71ms (243.83us)         7\n",
      "       total  |  15.62ms ( 15.62ms)  51.79ms ( 51.79ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9491610e+03 1.43e-01 8.70e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9598605e+03 7.82e-05 5.78e-03  -1.0 1.43e-01    -  9.94e-01 1.00e+00h  1\n",
      "   2  2.9598593e+03 3.05e-06 2.00e-05  -2.5 1.05e-02    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.9598593e+03 7.62e-07 3.86e-08  -3.8 2.28e-03    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9598593e+03 8.55e-10 3.03e-10  -5.7 7.61e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9598593e+03 6.52e-14 5.48e-14  -8.6 6.64e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9598592916045131e+03    2.9598592916045131e+03\n",
      "Dual infeasibility......:   5.4845017416482733e-14    5.4845017416482733e-14\n",
      "Constraint violation....:   6.5232541590631854e-14    6.5232541590631854e-14\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5092098533463830e-09    2.5092098533463830e-09\n",
      "Overall NLP error.......:   2.5092098533463830e-09    2.5092098533463830e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.064\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   2.49ms (414.93us)         6\n",
      "       nlp_g  |        0 (       0) 742.30us (123.72us)         6\n",
      "  nlp_grad_f  |        0 (       0)   5.37ms (767.31us)         7\n",
      "  nlp_hess_l  |        0 (       0)  34.24ms (  6.85ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   2.02ms (288.47us)         7\n",
      "       total  |        0 (       0)  64.94ms ( 64.94ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9598593e+03 1.37e-01 7.74e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9689547e+03 5.72e-05 5.73e-03  -1.0 1.37e-01    -  9.94e-01 1.00e+00h  1\n",
      "   2  2.9689536e+03 2.26e-06 1.46e-05  -2.5 1.05e-02    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.9689535e+03 5.44e-07 3.33e-08  -3.8 2.03e-03    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9689535e+03 5.88e-10 2.05e-10  -5.7 6.64e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9689535e+03 4.60e-14 3.94e-14  -8.6 5.88e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9689535410464341e+03    2.9689535410464341e+03\n",
      "Dual infeasibility......:   3.9357406222961799e-14    3.9357406222961799e-14\n",
      "Constraint violation....:   4.6008336029856878e-14    4.6008336029856878e-14\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5087178932904284e-09    2.5087178932904284e-09\n",
      "Overall NLP error.......:   2.5087178932904284e-09    2.5087178932904284e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.046\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.70ms (282.85us)         6\n",
      "       nlp_g  |        0 (       0) 503.00us ( 83.83us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.66ms (522.34us)         7\n",
      "  nlp_hess_l  |        0 (       0)  25.95ms (  5.19ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.49ms (213.57us)         7\n",
      "       total  |  15.62ms ( 15.62ms)  46.69ms ( 46.69ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9689535e+03 1.30e-01 6.91e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9765634e+03 4.19e-05 5.68e-03  -1.0 1.30e-01    -  9.94e-01 1.00e+00h  1\n",
      "   2  2.9765622e+03 1.67e-06 1.07e-05  -2.5 1.04e-02    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.9765622e+03 3.91e-07 2.73e-08  -3.8 1.81e-03    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9765622e+03 4.11e-10 1.42e-10  -5.7 5.85e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9765622e+03 3.29e-14 2.85e-14  -8.6 5.23e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9765622277756443e+03    2.9765622277756443e+03\n",
      "Dual infeasibility......:   2.8532731732866523e-14    2.8532731732866523e-14\n",
      "Constraint violation....:   3.2900765445376123e-14    3.2900765445376123e-14\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5083236241123779e-09    2.5083236241123779e-09\n",
      "Overall NLP error.......:   2.5083236241123779e-09    2.5083236241123779e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.045\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.59ms (265.53us)         6\n",
      "       nlp_g  |        0 (       0) 502.00us ( 83.67us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.55ms (507.56us)         7\n",
      "  nlp_hess_l  |        0 (       0)  25.42ms (  5.08ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.51ms (216.23us)         7\n",
      "       total  |        0 (       0)  46.31ms ( 46.31ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9765622e+03 1.23e-01 6.18e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9827994e+03 3.09e-05 5.62e-03  -1.0 1.23e-01    -  9.94e-01 1.00e+00h  1\n",
      "   2  2.9827983e+03 1.24e-06 7.88e-06  -2.5 1.03e-02    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.9827983e+03 2.83e-07 2.17e-08  -3.8 1.62e-03    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9827983e+03 2.90e-10 9.97e-11  -5.7 5.18e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9827983e+03 2.37e-14 2.84e-14  -8.6 4.67e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9827982899711310e+03    2.9827982899711310e+03\n",
      "Dual infeasibility......:   2.8421709430404007e-14    2.8421709430404007e-14\n",
      "Constraint violation....:   2.3654689318419742e-14    2.3654689318419742e-14\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5080016486522367e-09    2.5080016486522367e-09\n",
      "Overall NLP error.......:   2.5080016486522367e-09    2.5080016486522367e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.046\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.68ms (280.20us)         6\n",
      "       nlp_g  |        0 (       0) 495.30us ( 82.55us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.72ms (531.76us)         7\n",
      "  nlp_hess_l  |        0 (       0)  24.75ms (  4.95ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.56ms (222.39us)         7\n",
      "       total  |        0 (       0)  47.46ms ( 47.46ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9827983e+03 1.16e-01 5.55e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9877705e+03 2.28e-05 5.55e-03  -1.0 1.16e-01    -  9.94e-01 1.00e+00h  1\n",
      "   2  2.9877695e+03 9.18e-07 5.81e-06  -2.5 1.02e-02    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.9877694e+03 2.06e-07 1.69e-08  -3.8 1.46e-03    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9877694e+03 2.08e-10 7.09e-11  -5.7 4.60e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9877694e+03 1.72e-14 2.60e-14  -8.6 4.18e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9877694438480216e+03    2.9877694438480216e+03\n",
      "Dual infeasibility......:   2.5979218776228663e-14    2.5979218776228663e-14\n",
      "Constraint violation....:   1.7172027688694413e-14    1.7172027688694413e-14\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5077346422582303e-09    2.5077346422582303e-09\n",
      "Overall NLP error.......:   2.5077346422582303e-09    2.5077346422582303e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.046\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.44ms (239.37us)         6\n",
      "       nlp_g  |        0 (       0) 491.30us ( 81.88us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.50ms (500.57us)         7\n",
      "  nlp_hess_l  |        0 (       0)  25.16ms (  5.03ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.49ms (212.19us)         7\n",
      "       total  |        0 (       0)  46.66ms ( 46.66ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9877694e+03 1.09e-01 4.99e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9915795e+03 1.68e-05 5.48e-03  -1.0 1.09e-01    -  9.95e-01 1.00e+00h  1\n",
      "   2  2.9915785e+03 6.82e-07 4.30e-06  -2.5 1.01e-02    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.9915785e+03 1.51e-07 1.31e-08  -3.8 1.31e-03    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9915785e+03 1.50e-10 5.09e-11  -5.7 4.11e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9915785e+03 1.25e-14 2.80e-14  -8.6 3.76e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9915784533240185e+03    2.9915784533240185e+03\n",
      "Dual infeasibility......:   2.7977620220553945e-14    2.7977620220553945e-14\n",
      "Constraint violation....:   1.2502152091364849e-14    1.2502152091364849e-14\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5075103895587823e-09    2.5075103895587823e-09\n",
      "Overall NLP error.......:   2.5075103895587823e-09    2.5075103895587823e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.047\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.58ms (263.25us)         6\n",
      "       nlp_g  |        0 (       0) 560.80us ( 93.47us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.60ms (513.91us)         7\n",
      "  nlp_hess_l  |        0 (       0)  26.88ms (  5.38ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.50ms (214.87us)         7\n",
      "       total  |        0 (       0)  48.08ms ( 48.08ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9915785e+03 1.02e-01 4.49e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9943244e+03 1.25e-05 5.40e-03  -1.0 1.02e-01    -  9.95e-01 1.00e+00h  1\n",
      "   2  2.9943234e+03 5.07e-07 3.18e-06  -2.5 1.00e-02    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.9943234e+03 1.10e-07 9.98e-09  -3.8 1.18e-03    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9943234e+03 1.08e-10 3.68e-11  -5.7 3.68e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9943234e+03 9.16e-15 2.84e-14  -8.6 3.38e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9943233680178055e+03    2.9943233680178055e+03\n",
      "Dual infeasibility......:   2.8421709430404007e-14    2.8421709430404007e-14\n",
      "Constraint violation....:   9.1593399531575415e-15    9.1593399531575415e-15\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5073200350049385e-09    2.5073200350049385e-09\n",
      "Overall NLP error.......:   2.5073200350049385e-09    2.5073200350049385e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.075\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   2.56ms (426.12us)         6\n",
      "       nlp_g  |        0 (       0) 729.50us (121.58us)         6\n",
      "  nlp_grad_f  |        0 (       0)   5.38ms (767.90us)         7\n",
      "  nlp_hess_l  |        0 (       0)  41.10ms (  8.22ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   2.19ms (312.69us)         7\n",
      "       total  |        0 (       0)  76.10ms ( 76.10ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9943234e+03 9.56e-02 4.05e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9960987e+03 9.25e-06 5.31e-03  -1.0 9.56e-02    -  9.95e-01 1.00e+00h  1\n",
      "   2  2.9960977e+03 3.77e-07 2.36e-06  -2.5 9.94e-03    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.9960977e+03 8.13e-08 7.58e-09  -3.8 1.06e-03    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9960977e+03 7.90e-11 2.68e-11  -5.7 3.30e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9960977e+03 6.73e-15 4.11e-14  -8.6 3.04e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9960977233770554e+03    2.9960977233770554e+03\n",
      "Dual infeasibility......:   4.1078251911130792e-14    4.1078251911130792e-14\n",
      "Constraint violation....:   6.7307270867900115e-15    6.7307270867900115e-15\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5071570041449881e-09    2.5071570041449881e-09\n",
      "Overall NLP error.......:   2.5071570041449881e-09    2.5071570041449881e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.056\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   2.14ms (356.08us)         6\n",
      "       nlp_g  |        0 (       0) 603.70us (100.62us)         6\n",
      "  nlp_grad_f  |        0 (       0)   4.54ms (648.49us)         7\n",
      "  nlp_hess_l  |        0 (       0)  31.80ms (  6.36ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.86ms (265.17us)         7\n",
      "       total  |        0 (       0)  57.51ms ( 57.51ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9960977e+03 8.92e-02 3.66e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9969917e+03 6.87e-06 5.23e-03  -1.0 8.92e-02    -  9.95e-01 1.00e+00h  1\n",
      "   2  2.9969907e+03 2.81e-07 1.75e-06  -2.5 9.83e-03    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.9969907e+03 6.00e-08 5.73e-09  -3.8 9.60e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9969907e+03 5.79e-11 1.96e-11  -5.7 2.97e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9969907e+03 4.96e-15 2.84e-14  -8.6 2.74e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9969907019752027e+03    2.9969907019752027e+03\n",
      "Dual infeasibility......:   2.8421709430404007e-14    2.8421709430404007e-14\n",
      "Constraint violation....:   4.9561049708657379e-15    4.9561049708657379e-15\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5070163139436876e-09    2.5070163139436876e-09\n",
      "Overall NLP error.......:   2.5070163139436876e-09    2.5070163139436876e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.054\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   2.15ms (357.63us)         6\n",
      "       nlp_g  |        0 (       0) 583.80us ( 97.30us)         6\n",
      "  nlp_grad_f  |        0 (       0)   4.30ms (614.46us)         7\n",
      "  nlp_hess_l  |        0 (       0)  27.66ms (  5.53ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.77ms (252.41us)         7\n",
      "       total  |  15.62ms ( 15.62ms)  55.76ms ( 55.76ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9969907e+03 8.30e-02 3.31e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9970882e+03 5.10e-06 5.14e-03  -1.0 8.30e-02    -  9.95e-01 1.00e+00h  1\n",
      "   2  2.9970873e+03 2.09e-07 1.30e-06  -2.5 9.72e-03    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.9970873e+03 4.43e-08 4.32e-09  -3.8 8.68e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9970873e+03 4.25e-11 1.84e-11  -5.7 2.67e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9970873e+03 3.65e-15 2.84e-14  -8.6 2.48e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9970872586129403e+03    2.9970872586129403e+03\n",
      "Dual infeasibility......:   2.8421709430404007e-14    2.8421709430404007e-14\n",
      "Constraint violation....:   3.6481234699792253e-15    3.6481234699792253e-15\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5068941180716984e-09    2.5068941180716984e-09\n",
      "Overall NLP error.......:   2.5068941180716984e-09    2.5068941180716984e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.056\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   2.57ms (428.68us)         6\n",
      "       nlp_g  |        0 (       0) 626.40us (104.40us)         6\n",
      "  nlp_grad_f  |  15.62ms (  2.23ms)   4.23ms (604.23us)         7\n",
      "  nlp_hess_l  |  31.25ms (  6.25ms)  30.63ms (  6.13ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   2.12ms (302.34us)         7\n",
      "       total  |  62.50ms ( 62.50ms)  57.22ms ( 57.22ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9970873e+03 7.71e-02 2.99e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9964691e+03 3.79e-06 5.05e-03  -1.0 7.71e-02    -  9.95e-01 1.00e+00f  1\n",
      "   2  2.9964682e+03 1.56e-07 9.67e-07  -2.5 9.61e-03    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.9964682e+03 3.28e-08 3.25e-09  -3.8 7.84e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9964682e+03 3.13e-11 1.84e-11  -5.7 2.41e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9964682e+03 2.71e-15 3.95e-14  -8.6 2.24e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9964682141224853e+03    2.9964682141224853e+03\n",
      "Dual infeasibility......:   3.9523939676655573e-14    3.9523939676655573e-14\n",
      "Constraint violation....:   2.7079033459997959e-15    2.7079033459997959e-15\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5067873990705284e-09    2.5067873990705284e-09\n",
      "Overall NLP error.......:   2.5067873990705284e-09    2.5067873990705284e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.044\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.73ms (288.75us)         6\n",
      "       nlp_g  |        0 (       0) 545.30us ( 90.88us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.78ms (540.39us)         7\n",
      "  nlp_hess_l  |  31.25ms (  6.25ms)  23.01ms (  4.60ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.64ms (233.80us)         7\n",
      "       total  |  46.88ms ( 46.88ms)  45.08ms ( 45.08ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9964682e+03 7.13e-02 2.70e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9952112e+03 2.82e-06 4.97e-03  -1.0 7.13e-02    -  9.95e-01 1.00e+00f  1\n",
      "   2  2.9952103e+03 1.16e-07 7.19e-07  -2.5 9.50e-03    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.9952103e+03 2.43e-08 2.44e-09  -3.8 7.09e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9952103e+03 2.31e-11 1.84e-11  -5.7 2.18e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9952103e+03 2.00e-15 4.80e-14  -8.6 2.02e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9952103240006454e+03    2.9952103240006454e+03\n",
      "Dual infeasibility......:   4.7961634663806763e-14    4.7961634663806763e-14\n",
      "Constraint violation....:   1.9984014443252818e-15    1.9984014443252818e-15\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5066937551163719e-09    2.5066937551163719e-09\n",
      "Overall NLP error.......:   2.5066937551163719e-09    2.5066937551163719e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.058\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   2.38ms (396.03us)         6\n",
      "       nlp_g  |        0 (       0) 714.60us (119.10us)         6\n",
      "  nlp_grad_f  |  15.62ms (  2.23ms)   5.04ms (720.67us)         7\n",
      "  nlp_hess_l  |  31.25ms (  6.25ms)  30.82ms (  6.16ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   2.05ms (292.46us)         7\n",
      "       total  |  46.88ms ( 46.88ms)  59.66ms ( 59.66ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9952103e+03 6.58e-02 2.45e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9933872e+03 2.10e-06 4.88e-03  -1.0 6.58e-02    -  9.95e-01 1.00e+00f  1\n",
      "   2  2.9933863e+03 8.65e-08 5.35e-07  -2.5 9.39e-03    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.9933863e+03 1.80e-08 1.83e-09  -3.8 6.42e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9933863e+03 1.71e-11 1.84e-11  -5.7 1.97e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9933863e+03 1.49e-15 2.51e-14  -8.6 1.83e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9933863284524250e+03    2.9933863284524250e+03\n",
      "Dual infeasibility......:   2.5059035640133008e-14    2.5059035640133008e-14\n",
      "Constraint violation....:   1.4935969128160309e-15    1.4935969128160309e-15\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5066112492766486e-09    2.5066112492766486e-09\n",
      "Overall NLP error.......:   2.5066112492766486e-09    2.5066112492766486e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.046\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.47ms (245.80us)         6\n",
      "       nlp_g  |        0 (       0) 494.40us ( 82.40us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.68ms (526.37us)         7\n",
      "  nlp_hess_l  |  31.25ms (  6.25ms)  25.06ms (  5.01ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.47ms (210.07us)         7\n",
      "       total  |  46.88ms ( 46.88ms)  47.20ms ( 47.20ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9933863e+03 6.06e-02 2.22e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9910659e+03 1.57e-06 4.79e-03  -1.0 6.06e-02    -  9.95e-01 1.00e+00f  1\n",
      "   2  2.9910650e+03 6.45e-08 3.99e-07  -2.5 9.28e-03    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.9910650e+03 1.34e-08 1.50e-09  -3.8 5.81e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9910650e+03 1.27e-11 1.84e-11  -5.7 1.78e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9910650e+03 1.10e-15 3.06e-14  -8.6 1.66e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9910649903285957e+03    2.9910649903285957e+03\n",
      "Dual infeasibility......:   3.0642155479654321e-14    3.0642155479654321e-14\n",
      "Constraint violation....:   1.0989473220313073e-15    1.0989473220313073e-15\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5065383010024426e-09    2.5065383010024426e-09\n",
      "Overall NLP error.......:   2.5065383010024426e-09    2.5065383010024426e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.043\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.39ms (232.03us)         6\n",
      "       nlp_g  |        0 (       0) 451.90us ( 75.32us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.40ms (486.29us)         7\n",
      "  nlp_hess_l  |  15.62ms (  3.12ms)  23.33ms (  4.67ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.51ms (215.09us)         7\n",
      "       total  |  46.88ms ( 46.88ms)  44.40ms ( 44.40ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9910650e+03 5.56e-02 2.01e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9883120e+03 1.17e-06 4.71e-03  -1.0 5.56e-02    -  9.95e-01 1.00e+00f  1\n",
      "   2  2.9883111e+03 4.81e-08 2.97e-07  -2.5 9.17e-03    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.9883111e+03 9.96e-09 1.50e-09  -3.8 5.26e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9883111e+03 9.39e-12 1.84e-11  -5.7 1.61e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9883111e+03 8.16e-16 2.80e-14  -8.6 1.57e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9883111269645183e+03    2.9883111269645183e+03\n",
      "Dual infeasibility......:   2.7977620220553945e-14    2.7977620220553945e-14\n",
      "Constraint violation....:   8.1618739544708774e-16    8.1618739544708774e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5064736067323951e-09    2.5064736067323951e-09\n",
      "Overall NLP error.......:   2.5064736067323951e-09    2.5064736067323951e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.045\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.56ms (259.83us)         6\n",
      "       nlp_g  |        0 (       0) 569.30us ( 94.88us)         6\n",
      "  nlp_grad_f  |        0 (       0)   4.48ms (640.21us)         7\n",
      "  nlp_hess_l  |        0 (       0)  24.60ms (  4.92ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.83ms (262.01us)         7\n",
      "       total  |  15.62ms ( 15.62ms)  46.57ms ( 46.57ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9883111e+03 5.08e-02 1.82e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9851865e+03 8.69e-07 4.63e-03  -1.0 5.08e-02    -  9.95e-01 1.00e+00f  1\n",
      "   2  2.9851856e+03 3.58e-08 2.21e-07  -2.5 9.06e-03    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.9851856e+03 7.41e-09 1.50e-09  -3.8 4.76e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9851856e+03 6.97e-12 1.84e-11  -5.7 1.45e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9851856e+03 8.88e-16 2.51e-14  -8.6 1.58e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9851856412126626e+03    2.9851856412126626e+03\n",
      "Dual infeasibility......:   2.5059035640133008e-14    2.5059035640133008e-14\n",
      "Constraint violation....:   8.8817841970012523e-16    8.8817841970012523e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5064160809414784e-09    2.5064160809414784e-09\n",
      "Overall NLP error.......:   2.5064160809414784e-09    2.5064160809414784e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.044\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.46ms (242.72us)         6\n",
      "       nlp_g  |        0 (       0) 449.80us ( 74.97us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.47ms (495.57us)         7\n",
      "  nlp_hess_l  |        0 (       0)  24.67ms (  4.93ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.45ms (207.14us)         7\n",
      "       total  |  15.62ms ( 15.62ms)  45.54ms ( 45.54ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9851856e+03 4.64e-02 1.78e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9817464e+03 6.47e-07 4.55e-03  -1.0 4.64e-02    -  9.95e-01 1.00e+00f  1\n",
      "   2  2.9817456e+03 2.67e-08 1.65e-07  -2.5 8.96e-03    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.9817456e+03 5.51e-09 1.50e-09  -3.8 4.32e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9817456e+03 5.18e-12 1.84e-11  -5.7 1.32e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9817456e+03 8.88e-16 3.15e-14  -8.6 1.58e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9817455561151742e+03    2.9817455561151742e+03\n",
      "Dual infeasibility......:   3.1530333899354446e-14    3.1530333899354446e-14\n",
      "Constraint violation....:   8.8817841970012523e-16    8.8817841970012523e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5063648117618299e-09    2.5063648117618299e-09\n",
      "Overall NLP error.......:   2.5063648117618299e-09    2.5063648117618299e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.046\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.81ms (301.58us)         6\n",
      "       nlp_g  |        0 (       0) 514.20us ( 85.70us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.77ms (538.43us)         7\n",
      "  nlp_hess_l  |        0 (       0)  24.63ms (  4.93ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.48ms (210.79us)         7\n",
      "       total  |        0 (       0)  46.63ms ( 46.63ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9817456e+03 4.21e-02 1.78e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9780449e+03 4.83e-07 4.48e-03  -1.0 4.21e-02    -  9.96e-01 1.00e+00f  1\n",
      "   2  2.9780441e+03 1.99e-08 1.23e-07  -2.5 8.86e-03    -  1.00e+00 1.00e+00h  1\n",
      "   3  2.9780441e+03 4.10e-09 1.50e-09  -3.8 3.91e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9780441e+03 3.85e-12 1.84e-11  -5.7 1.28e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9780441e+03 8.88e-16 2.84e-14  -8.6 1.59e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9780440567662604e+03    2.9780440567662604e+03\n",
      "Dual infeasibility......:   2.8421709430404007e-14    2.8421709430404007e-14\n",
      "Constraint violation....:   8.8817841970012523e-16    8.8817841970012523e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5063190271483686e-09    2.5063190271483686e-09\n",
      "Overall NLP error.......:   2.5063190271483686e-09    2.5063190271483686e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.048\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.54ms (256.18us)         6\n",
      "       nlp_g  |        0 (       0) 514.30us ( 85.72us)         6\n",
      "  nlp_grad_f  |        0 (       0)   4.02ms (574.30us)         7\n",
      "  nlp_hess_l  |        0 (       0)  25.74ms (  5.15ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.72ms (245.93us)         7\n",
      "       total  |        0 (       0)  48.81ms ( 48.81ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9780441e+03 3.85e-02 1.79e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9741313e+03 3.60e-07 4.40e-03  -1.0 3.85e-02    -  9.96e-01 1.00e+00f  1\n",
      "   2  2.9741305e+03 1.49e-08 9.16e-08  -2.5 8.76e-03    -  1.00e+00 1.00e+00f  1\n",
      "   3  2.9741305e+03 3.06e-09 1.50e-09  -3.8 3.54e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9741305e+03 2.87e-12 1.84e-11  -5.7 1.29e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9741305e+03 8.88e-16 3.16e-14  -8.6 1.59e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9741305420260906e+03    2.9741305420260906e+03\n",
      "Dual infeasibility......:   3.1641356201816961e-14    3.1641356201816961e-14\n",
      "Constraint violation....:   8.8817841970012523e-16    8.8817841970012523e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5062780687819034e-09    2.5062780687819034e-09\n",
      "Overall NLP error.......:   2.5062780687819034e-09    2.5062780687819034e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.047\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.73ms (288.68us)         6\n",
      "       nlp_g  |        0 (       0) 524.60us ( 87.43us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.93ms (561.64us)         7\n",
      "  nlp_hess_l  |        0 (       0)  25.55ms (  5.11ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.50ms (213.71us)         7\n",
      "       total  |        0 (       0)  48.11ms ( 48.11ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9741305e+03 3.60e-02 1.79e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9700515e+03 2.68e-07 4.33e-03  -1.0 3.60e-02    -  9.96e-01 1.00e+00f  1\n",
      "   2  2.9700507e+03 1.11e-08 6.83e-08  -2.5 8.66e-03    -  1.00e+00 1.00e+00f  1\n",
      "   3  2.9700507e+03 2.28e-09 1.50e-09  -3.8 3.21e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9700507e+03 2.13e-12 1.84e-11  -5.7 1.29e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9700507e+03 8.88e-16 2.74e-14  -8.6 1.60e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9700506879096652e+03    2.9700506879096652e+03\n",
      "Dual infeasibility......:   2.7422508708241367e-14    2.7422508708241367e-14\n",
      "Constraint violation....:   8.8817841970012523e-16    8.8817841970012523e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5062413717235858e-09    2.5062413717235858e-09\n",
      "Overall NLP error.......:   2.5062413717235858e-09    2.5062413717235858e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.045\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.73ms (288.37us)         6\n",
      "       nlp_g  |        0 (       0) 511.70us ( 85.28us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.72ms (530.74us)         7\n",
      "  nlp_hess_l  |        0 (       0)  24.10ms (  4.82ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.52ms (216.93us)         7\n",
      "       total  |        0 (       0)  45.58ms ( 45.58ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9700507e+03 3.37e-02 1.80e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9658473e+03 2.00e-07 4.27e-03  -1.0 3.37e-02    -  9.96e-01 1.00e+00f  1\n",
      "   2  2.9658465e+03 8.27e-09 5.09e-08  -2.5 8.57e-03    -  1.00e+00 1.00e+00f  1\n",
      "   3  2.9658465e+03 1.70e-09 1.50e-09  -3.8 2.91e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9658465e+03 1.59e-12 1.84e-11  -5.7 1.29e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9658465e+03 4.44e-16 2.90e-14  -8.6 1.60e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9658465237126375e+03    2.9658465237126375e+03\n",
      "Dual infeasibility......:   2.9032332093947844e-14    2.9032332093947844e-14\n",
      "Constraint violation....:   4.4408920985006262e-16    4.4408920985006262e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5062084483714651e-09    2.5062084483714651e-09\n",
      "Overall NLP error.......:   2.5062084483714651e-09    2.5062084483714651e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.044\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.60ms (266.77us)         6\n",
      "       nlp_g  |        0 (       0) 501.10us ( 83.52us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.63ms (518.27us)         7\n",
      "  nlp_hess_l  |        0 (       0)  23.15ms (  4.63ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.45ms (207.71us)         7\n",
      "       total  |        0 (       0)  44.88ms ( 44.88ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9658465e+03 3.13e-02 1.81e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9615573e+03 1.49e-07 4.20e-03  -1.0 3.13e-02    -  9.96e-01 1.00e+00f  1\n",
      "   2  2.9615565e+03 6.17e-09 3.80e-08  -2.5 8.48e-03    -  1.00e+00 1.00e+00f  1\n",
      "   3  2.9615565e+03 1.26e-09 1.50e-09  -3.8 2.66e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9615565e+03 1.18e-12 1.84e-11  -5.7 1.30e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9615565e+03 8.88e-16 3.55e-14  -8.6 1.61e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9615565212679053e+03    2.9615565212679053e+03\n",
      "Dual infeasibility......:   3.5527136788005009e-14    3.5527136788005009e-14\n",
      "Constraint violation....:   8.8817841970012523e-16    8.8817841970012523e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5061788756883782e-09    2.5061788756883782e-09\n",
      "Overall NLP error.......:   2.5061788756883782e-09    2.5061788756883782e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.045\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.56ms (259.58us)         6\n",
      "       nlp_g  |        0 (       0) 513.00us ( 85.50us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.73ms (533.53us)         7\n",
      "  nlp_hess_l  |        0 (       0)  24.68ms (  4.94ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.55ms (221.90us)         7\n",
      "       total  |        0 (       0)  46.04ms ( 46.04ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9615565e+03 2.91e-02 1.81e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9572164e+03 1.11e-07 4.14e-03  -1.0 2.91e-02    -  9.96e-01 1.00e+00f  1\n",
      "   2  2.9572157e+03 4.60e-09 2.83e-08  -2.5 8.39e-03    -  1.00e+00 1.00e+00f  1\n",
      "   3  2.9572157e+03 9.42e-10 1.50e-09  -3.8 2.66e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9572157e+03 8.82e-13 1.84e-11  -5.7 1.30e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9572157e+03 8.88e-16 3.25e-14  -8.6 1.61e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9572156971589916e+03    2.9572156971589916e+03\n",
      "Dual infeasibility......:   3.2474023470285829e-14    3.2474023470285829e-14\n",
      "Constraint violation....:   8.8817841970012523e-16    8.8817841970012523e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5061522849637577e-09    2.5061522849637577e-09\n",
      "Overall NLP error.......:   2.5061522849637577e-09    2.5061522849637577e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.060\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   2.06ms (342.55us)         6\n",
      "       nlp_g  |        0 (       0) 577.90us ( 96.32us)         6\n",
      "  nlp_grad_f  |        0 (       0)   4.52ms (645.20us)         7\n",
      "  nlp_hess_l  |        0 (       0)  32.89ms (  6.58ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.84ms (262.44us)         7\n",
      "       total  |        0 (       0)  61.23ms ( 61.23ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9572157e+03 2.70e-02 1.81e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9528564e+03 8.30e-08 4.08e-03  -1.0 2.70e-02    -  9.96e-01 1.00e+00f  1\n",
      "   2  2.9528557e+03 3.43e-09 2.83e-08  -2.5 8.31e-03    -  1.00e+00 1.00e+00f  1\n",
      "   3  2.9528557e+03 7.02e-10 1.50e-09  -3.8 2.66e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9528557e+03 6.57e-13 1.84e-11  -5.7 1.30e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9528557e+03 4.44e-16 3.82e-14  -8.6 1.61e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9528557272507469e+03    2.9528557272507469e+03\n",
      "Dual infeasibility......:   3.8191672047105385e-14    3.8191672047105385e-14\n",
      "Constraint violation....:   4.4408920985006262e-16    4.4408920985006262e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5061283534907930e-09    2.5061283534907930e-09\n",
      "Overall NLP error.......:   2.5061283534907930e-09    2.5061283534907930e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.042\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.52ms (253.28us)         6\n",
      "       nlp_g  |        0 (       0) 502.70us ( 83.78us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.46ms (493.74us)         7\n",
      "  nlp_hess_l  |        0 (       0)  23.52ms (  4.70ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.38ms (196.91us)         7\n",
      "       total  |        0 (       0)  43.54ms ( 43.54ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9528557e+03 2.49e-02 1.82e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9485058e+03 6.19e-08 4.03e-03  -1.0 2.49e-02    -  9.96e-01 1.00e+00f  1\n",
      "   2  2.9485051e+03 2.56e-09 2.83e-08  -2.5 8.23e-03    -  1.00e+00 1.00e+00f  1\n",
      "   3  2.9485051e+03 5.24e-10 1.50e-09  -3.8 2.67e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9485051e+03 4.90e-13 1.84e-11  -5.7 1.30e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9485051e+03 8.88e-16 3.37e-14  -8.6 1.62e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9485050725307615e+03    2.9485050725307615e+03\n",
      "Dual infeasibility......:   3.3695268797373501e-14    3.3695268797373501e-14\n",
      "Constraint violation....:   8.8817841970012523e-16    8.8817841970012523e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5061067977815772e-09    2.5061067977815772e-09\n",
      "Overall NLP error.......:   2.5061067977815772e-09    2.5061067977815772e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.043\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.58ms (262.92us)         6\n",
      "       nlp_g  |        0 (       0) 507.80us ( 84.63us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.50ms (500.54us)         7\n",
      "  nlp_hess_l  |  15.62ms (  3.12ms)  23.05ms (  4.61ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.48ms (210.79us)         7\n",
      "       total  |  15.62ms ( 15.62ms)  44.22ms ( 44.22ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9485051e+03 2.30e-02 1.82e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9441898e+03 4.62e-08 3.98e-03  -1.0 2.30e-02    -  9.96e-01 1.00e+00f  1\n",
      "   2  2.9441891e+03 1.91e-09 2.83e-08  -2.5 8.16e-03    -  1.00e+00 1.00e+00f  1\n",
      "   3  2.9441891e+03 3.90e-10 1.50e-09  -3.8 2.67e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9441891e+03 3.65e-13 1.84e-11  -5.7 1.31e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9441891e+03 8.88e-16 2.99e-14  -8.6 1.62e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9441891149801950e+03    2.9441891149801950e+03\n",
      "Dual infeasibility......:   2.9892754938032340e-14    2.9892754938032340e-14\n",
      "Constraint violation....:   8.8817841970012523e-16    8.8817841970012523e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5060873679769371e-09    2.5060873679769371e-09\n",
      "Overall NLP error.......:   2.5060873679769371e-09    2.5060873679769371e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.044\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.60ms (266.27us)         6\n",
      "       nlp_g  |        0 (       0) 524.90us ( 87.48us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.48ms (496.54us)         7\n",
      "  nlp_hess_l  |  62.50ms ( 12.50ms)  23.43ms (  4.69ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.45ms (206.79us)         7\n",
      "       total  |  62.50ms ( 62.50ms)  45.38ms ( 45.38ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9441891e+03 2.11e-02 1.83e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9399310e+03 3.44e-08 3.93e-03  -1.0 2.11e-02    -  9.96e-01 1.00e+00f  1\n",
      "   2  2.9399303e+03 1.43e-09 2.83e-08  -2.5 8.09e-03    -  1.00e+00 1.00e+00f  1\n",
      "   3  2.9399303e+03 2.91e-10 1.50e-09  -3.8 2.67e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9399303e+03 2.72e-13 1.84e-11  -5.7 1.31e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9399303e+03 8.88e-16 3.27e-14  -8.6 1.62e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9399303020015473e+03    2.9399303020015473e+03\n",
      "Dual infeasibility......:   3.2723823650826489e-14    3.2723823650826489e-14\n",
      "Constraint violation....:   8.8817841970012523e-16    8.8817841970012523e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5060698431890860e-09    2.5060698431890860e-09\n",
      "Overall NLP error.......:   2.5060698431890860e-09    2.5060698431890860e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.045\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.68ms (280.65us)         6\n",
      "       nlp_g  |        0 (       0) 493.80us ( 82.30us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.68ms (525.47us)         7\n",
      "  nlp_hess_l  |        0 (       0)  24.28ms (  4.86ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.46ms (208.90us)         7\n",
      "       total  |        0 (       0)  46.36ms ( 46.36ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9399303e+03 1.93e-02 1.83e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9357490e+03 2.57e-08 3.89e-03  -1.0 1.93e-02    -  9.96e-01 1.00e+00f  1\n",
      "   2  2.9357483e+03 1.06e-09 2.83e-08  -2.5 8.02e-03    -  1.00e+00 1.00e+00f  1\n",
      "   3  2.9357483e+03 2.17e-10 1.50e-09  -3.8 2.68e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9357483e+03 2.03e-13 1.84e-11  -5.7 1.31e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9357483e+03 8.88e-16 2.82e-14  -8.6 1.62e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9357482978137241e+03    2.9357482978137241e+03\n",
      "Dual infeasibility......:   2.8199664825478976e-14    2.8199664825478976e-14\n",
      "Constraint violation....:   8.8817841970012523e-16    8.8817841970012523e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5060540276439853e-09    2.5060540276439853e-09\n",
      "Overall NLP error.......:   2.5060540276439853e-09    2.5060540276439853e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.053\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.97ms (329.15us)         6\n",
      "       nlp_g  |        0 (       0) 611.30us (101.88us)         6\n",
      "  nlp_grad_f  |        0 (       0)   4.79ms (684.46us)         7\n",
      "  nlp_hess_l  |  31.25ms (  6.25ms)  28.22ms (  5.64ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.84ms (263.17us)         7\n",
      "       total  |  46.88ms ( 46.88ms)  54.57ms ( 54.57ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9357483e+03 1.76e-02 1.83e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9316608e+03 1.92e-08 3.84e-03  -1.0 1.76e-02    -  9.96e-01 1.00e+00f  1\n",
      "   2  2.9316601e+03 7.94e-10 2.83e-08  -2.5 7.96e-03    -  1.00e+00 1.00e+00f  1\n",
      "   3  2.9316601e+03 1.62e-10 1.50e-09  -3.8 2.68e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9316601e+03 1.51e-13 1.84e-11  -5.7 1.31e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9316601e+03 8.88e-16 3.20e-14  -8.6 1.63e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9316601401713401e+03    2.9316601401713401e+03\n",
      "Dual infeasibility......:   3.1974423109204508e-14    3.1974423109204508e-14\n",
      "Constraint violation....:   8.8817841970012523e-16    8.8817841970012523e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5060397474006189e-09    2.5060397474006189e-09\n",
      "Overall NLP error.......:   2.5060397474006189e-09    2.5060397474006189e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.046\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   2.23ms (371.37us)         6\n",
      "       nlp_g  |        0 (       0) 545.60us ( 90.93us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.79ms (540.97us)         7\n",
      "  nlp_hess_l  |  15.62ms (  3.12ms)  25.36ms (  5.07ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.55ms (222.13us)         7\n",
      "       total  |  31.25ms ( 31.25ms)  47.73ms ( 47.73ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9316601e+03 1.60e-02 1.83e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9276810e+03 1.43e-08 3.80e-03  -1.0 1.63e-02    -  9.96e-01 1.00e+00f  1\n",
      "   2  2.9276804e+03 5.92e-10 2.83e-08  -2.5 7.90e-03    -  1.00e+00 1.00e+00f  1\n",
      "   3  2.9276804e+03 1.21e-10 1.50e-09  -3.8 2.68e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9276804e+03 1.13e-13 1.84e-11  -5.7 1.32e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9276804e+03 8.88e-16 2.83e-14  -8.6 1.63e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9276804007653691e+03    2.9276804007653691e+03\n",
      "Dual infeasibility......:   2.8310687127941492e-14    2.8310687127941492e-14\n",
      "Constraint violation....:   8.8817841970012523e-16    8.8817841970012523e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5060268475935133e-09    2.5060268475935133e-09\n",
      "Overall NLP error.......:   2.5060268475935133e-09    2.5060268475935133e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.046\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.84ms (306.08us)         6\n",
      "       nlp_g  |        0 (       0) 506.10us ( 84.35us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.81ms (544.74us)         7\n",
      "  nlp_hess_l  |  31.25ms (  6.25ms)  26.01ms (  5.20ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.52ms (216.63us)         7\n",
      "       total  |  31.25ms ( 31.25ms)  47.52ms ( 47.52ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9276804e+03 1.45e-02 1.84e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9238220e+03 1.07e-08 3.77e-03  -1.0 1.54e-02    -  9.96e-01 1.00e+00f  1\n",
      "   2  2.9238213e+03 4.42e-10 2.83e-08  -2.5 7.85e-03    -  1.00e+00 1.00e+00f  1\n",
      "   3  2.9238213e+03 9.01e-11 1.50e-09  -3.8 2.68e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9238213e+03 8.43e-14 1.84e-11  -5.7 1.32e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9238213e+03 8.88e-16 3.50e-14  -8.6 1.63e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9238213477062245e+03    2.9238213477062245e+03\n",
      "Dual infeasibility......:   3.4972025275692431e-14    3.4972025275692431e-14\n",
      "Constraint violation....:   8.8817841970012523e-16    8.8817841970012523e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5060151900816484e-09    2.5060151900816484e-09\n",
      "Overall NLP error.......:   2.5060151900816484e-09    2.5060151900816484e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.047\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.72ms (286.82us)         6\n",
      "       nlp_g  |        0 (       0) 503.00us ( 83.83us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.83ms (547.66us)         7\n",
      "  nlp_hess_l  |  15.62ms (  3.12ms)  26.39ms (  5.28ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.60ms (228.07us)         7\n",
      "       total  |  15.62ms ( 15.62ms)  47.74ms ( 47.74ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9238213e+03 1.31e-02 1.84e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9200937e+03 7.96e-09 3.73e-03  -1.0 1.45e-02    -  9.96e-01 1.00e+00f  1\n",
      "   2  2.9200931e+03 3.30e-10 2.83e-08  -2.5 7.80e-03    -  1.00e+00 1.00e+00f  1\n",
      "   3  2.9200931e+03 6.72e-11 1.50e-09  -3.8 2.68e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9200931e+03 6.28e-14 1.84e-11  -5.7 1.32e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9200931e+03 8.88e-16 2.79e-14  -8.6 1.63e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9200931085690322e+03    2.9200931085690322e+03\n",
      "Dual infeasibility......:   2.7852720130283615e-14    2.7852720130283615e-14\n",
      "Constraint violation....:   8.8817841970012523e-16    8.8817841970012523e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5060046514289145e-09    2.5060046514289145e-09\n",
      "Overall NLP error.......:   2.5060046514289145e-09    2.5060046514289145e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.051\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |  15.62ms (  2.60ms)   2.00ms (333.02us)         6\n",
      "       nlp_g  |        0 (       0) 553.90us ( 92.32us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.94ms (563.00us)         7\n",
      "  nlp_hess_l  |  15.62ms (  3.12ms)  27.56ms (  5.51ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.55ms (221.86us)         7\n",
      "       total  |  31.25ms ( 31.25ms)  52.44ms ( 52.44ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9200931e+03 1.18e-02 1.84e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9165044e+03 5.94e-09 3.70e-03  -1.0 1.37e-02    -  9.96e-01 1.00e+00f  1\n",
      "   2  2.9165038e+03 2.46e-10 2.83e-08  -2.5 7.76e-03    -  1.00e+00 1.00e+00f  1\n",
      "   3  2.9165038e+03 5.01e-11 1.50e-09  -3.8 2.68e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9165038e+03 4.69e-14 1.84e-11  -5.7 1.32e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9165038e+03 8.88e-16 3.41e-14  -8.6 1.63e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9165038325857590e+03    2.9165038325857590e+03\n",
      "Dual infeasibility......:   3.4097724643800120e-14    3.4097724643800120e-14\n",
      "Constraint violation....:   8.8817841970012523e-16    8.8817841970012523e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5059951211817305e-09    2.5059951211817305e-09\n",
      "Overall NLP error.......:   2.5059951211817305e-09    2.5059951211817305e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.062\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   2.13ms (355.63us)         6\n",
      "       nlp_g  |        0 (       0) 662.10us (110.35us)         6\n",
      "  nlp_grad_f  |        0 (       0)   4.49ms (641.97us)         7\n",
      "  nlp_hess_l  |        0 (       0)  34.03ms (  6.81ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.91ms (273.54us)         7\n",
      "       total  |  15.62ms ( 15.62ms)  62.69ms ( 62.69ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9165038e+03 1.06e-02 1.84e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9130605e+03 4.43e-09 3.67e-03  -1.0 1.29e-02    -  9.96e-01 1.00e+00f  1\n",
      "   2  2.9130599e+03 1.83e-10 2.83e-08  -2.5 7.71e-03    -  1.00e+00 1.00e+00f  1\n",
      "   3  2.9130599e+03 3.74e-11 1.50e-09  -3.8 2.68e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9130599e+03 3.50e-14 1.84e-11  -5.7 1.32e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9130599e+03 8.88e-16 3.15e-14  -8.6 1.64e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9130598506927845e+03    2.9130598506927845e+03\n",
      "Dual infeasibility......:   3.1530333899354446e-14    3.1530333899354446e-14\n",
      "Constraint violation....:   8.8817841970012523e-16    8.8817841970012523e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5059893077741177e-09    2.5059893077741177e-09\n",
      "Overall NLP error.......:   2.5059893077741177e-09    2.5059893077741177e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.047\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.81ms (302.18us)         6\n",
      "       nlp_g  |        0 (       0) 494.00us ( 82.33us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.82ms (546.00us)         7\n",
      "  nlp_hess_l  |  15.62ms (  3.12ms)  26.02ms (  5.20ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.52ms (217.53us)         7\n",
      "       total  |  46.88ms ( 46.88ms)  48.22ms ( 48.22ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9130599e+03 9.45e-03 1.85e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9097664e+03 3.30e-09 3.65e-03  -1.0 1.21e-02    -  9.96e-01 1.00e+00f  1\n",
      "   2  2.9097658e+03 1.37e-10 2.83e-08  -2.5 7.68e-03    -  1.00e+00 1.00e+00f  1\n",
      "   3  2.9097658e+03 2.79e-11 1.50e-09  -3.8 2.68e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9097658e+03 2.61e-14 1.84e-11  -5.7 1.32e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9097658e+03 8.88e-16 3.06e-14  -8.6 1.64e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9097658322787042e+03    2.9097658322787042e+03\n",
      "Dual infeasibility......:   3.0586644328423063e-14    3.0586644328423063e-14\n",
      "Constraint violation....:   8.8817841970012523e-16    8.8817841970012523e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5059894495853651e-09    2.5059894495853651e-09\n",
      "Overall NLP error.......:   2.5059894495853651e-09    2.5059894495853651e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.046\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.60ms (267.45us)         6\n",
      "       nlp_g  |        0 (       0) 510.70us ( 85.12us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.49ms (499.03us)         7\n",
      "  nlp_hess_l  |        0 (       0)  25.72ms (  5.14ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.57ms (224.63us)         7\n",
      "       total  |        0 (       0)  47.00ms ( 47.00ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9097658e+03 8.39e-03 1.85e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9066255e+03 2.46e-09 3.62e-03  -1.0 1.13e-02    -  9.96e-01 1.00e+00f  1\n",
      "   2  2.9066249e+03 1.02e-10 2.83e-08  -2.5 7.64e-03    -  1.00e+00 1.00e+00f  1\n",
      "   3  2.9066249e+03 2.08e-11 1.50e-09  -3.8 2.68e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9066249e+03 1.95e-14 1.84e-11  -5.7 1.32e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9066249e+03 8.88e-16 3.16e-14  -8.6 1.64e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9066249376203191e+03    2.9066249376203191e+03\n",
      "Dual infeasibility......:   3.1641356201816961e-14    3.1641356201816961e-14\n",
      "Constraint violation....:   8.8817841970012523e-16    8.8817841970012523e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5059895927096377e-09    2.5059895927096377e-09\n",
      "Overall NLP error.......:   2.5059895927096377e-09    2.5059895927096377e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.044\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.62ms (269.52us)         6\n",
      "       nlp_g  |        0 (       0) 492.80us ( 82.13us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.54ms (505.70us)         7\n",
      "  nlp_hess_l  |        0 (       0)  24.08ms (  4.82ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.48ms (210.96us)         7\n",
      "       total  |        0 (       0)  44.84ms ( 44.84ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9066249e+03 7.41e-03 1.85e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9036396e+03 1.84e-09 3.60e-03  -1.0 1.06e-02    -  9.96e-01 1.00e+00f  1\n",
      "   2  2.9036390e+03 7.62e-11 2.83e-08  -2.5 7.61e-03    -  1.00e+00 1.00e+00f  1\n",
      "   3  2.9036390e+03 1.55e-11 1.50e-09  -3.8 2.68e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9036390e+03 1.45e-14 1.84e-11  -5.7 1.32e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9036390e+03 8.88e-16 3.12e-14  -8.6 1.64e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9036389651398954e+03    2.9036389651398954e+03\n",
      "Dual infeasibility......:   3.1158235713757421e-14    3.1158235713757421e-14\n",
      "Constraint violation....:   8.8817841970012523e-16    8.8817841970012523e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5059897129418977e-09    2.5059897129418977e-09\n",
      "Overall NLP error.......:   2.5059897129418977e-09    2.5059897129418977e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.042\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.44ms (239.87us)         6\n",
      "       nlp_g  |        0 (       0) 492.80us ( 82.13us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.64ms (520.07us)         7\n",
      "  nlp_hess_l  |        0 (       0)  22.61ms (  4.52ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.55ms (221.66us)         7\n",
      "       total  |  15.62ms ( 15.62ms)  43.97ms ( 43.97ms)         1\n",
      "This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:      648\n",
      "Number of nonzeros in inequality constraint Jacobian.:      180\n",
      "Number of nonzeros in Lagrangian Hessian.............:      594\n",
      "\n",
      "Total number of variables............................:      288\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:        0\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:      198\n",
      "Total number of inequality constraints...............:      180\n",
      "        inequality constraints with only lower bounds:       90\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:       90\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0  2.9036390e+03 6.51e-03 1.85e-10  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
      "   1  2.9008091e+03 1.37e-09 3.58e-03  -1.0 9.88e-03    -  9.96e-01 1.00e+00f  1\n",
      "   2  2.9008085e+03 5.68e-11 2.83e-08  -2.5 7.58e-03    -  1.00e+00 1.00e+00f  1\n",
      "   3  2.9008085e+03 1.16e-11 1.50e-09  -3.8 2.68e-04    -  1.00e+00 1.00e+00h  1\n",
      "   4  2.9008085e+03 1.08e-14 1.84e-11  -5.7 1.33e-05    -  1.00e+00 1.00e+00h  1\n",
      "   5  2.9008085e+03 8.88e-16 2.51e-14  -8.6 1.64e-07    -  1.00e+00 1.00e+00h  1\n",
      "\n",
      "Number of Iterations....: 5\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:   2.9008084927605296e+03    2.9008084927605296e+03\n",
      "Dual infeasibility......:   2.5059035640133008e-14    2.5059035640133008e-14\n",
      "Constraint violation....:   8.8817841970012523e-16    8.8817841970012523e-16\n",
      "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
      "Complementarity.........:   2.5059898123172395e-09    2.5059898123172395e-09\n",
      "Overall NLP error.......:   2.5059898123172395e-09    2.5059898123172395e-09\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 6\n",
      "Number of objective gradient evaluations             = 6\n",
      "Number of equality constraint evaluations            = 6\n",
      "Number of inequality constraint evaluations          = 6\n",
      "Number of equality constraint Jacobian evaluations   = 6\n",
      "Number of inequality constraint Jacobian evaluations = 6\n",
      "Number of Lagrangian Hessian evaluations             = 5\n",
      "Total seconds in IPOPT                               = 0.046\n",
      "\n",
      "EXIT: Optimal Solution Found.\n",
      "      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "       nlp_f  |        0 (       0)   1.77ms (294.20us)         6\n",
      "       nlp_g  |        0 (       0) 589.70us ( 98.28us)         6\n",
      "  nlp_grad_f  |        0 (       0)   3.90ms (557.49us)         7\n",
      "  nlp_hess_l  |        0 (       0)  23.92ms (  4.78ms)         5\n",
      "   nlp_jac_g  |        0 (       0)   1.46ms (208.44us)         7\n",
      "       total  |        0 (       0)  47.31ms ( 47.31ms)         1\n",
      "Max MPC iters reached; exiting MPC loops.....\n"
     ]
    }
   ],
   "source": [
    "X_trj, U_trj, obj_hist = solve_mpc_centralized(n_agents, x0, xr, T, radius, Q, R, Qf, convex = False, n_trial = None)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
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