rm -f libacados_ocp_solver_rockit_model.so
rm -f rockit_model_cost/rockit_model_cost_ext_cost_0_fun.o rockit_model_cost/rockit_model_cost_ext_cost_0_fun_jac.o rockit_model_cost/rockit_model_cost_ext_cost_0_fun_jac_hess.o rockit_model_cost/rockit_model_cost_ext_cost_fun.o rockit_model_cost/rockit_model_cost_ext_cost_fun_jac.o rockit_model_cost/rockit_model_cost_ext_cost_fun_jac_hess.o rockit_model_cost/rockit_model_cost_ext_cost_e_fun.o rockit_model_cost/rockit_model_cost_ext_cost_e_fun_jac.o rockit_model_cost/rockit_model_cost_ext_cost_e_fun_jac_hess.o acados_solver_rockit_model.o
cc -fPIC -std=c99   -O2 -I/home/jgillis/programs/acados/include -I/home/jgillis/programs/acados/include/acados -I/home/jgillis/programs/acados/include/blasfeo/include -I/home/jgillis/programs/acados/include/hpipm/include  -c -o rockit_model_cost/rockit_model_cost_ext_cost_0_fun.o rockit_model_cost/rockit_model_cost_ext_cost_0_fun.c
cc -fPIC -std=c99   -O2 -I/home/jgillis/programs/acados/include -I/home/jgillis/programs/acados/include/acados -I/home/jgillis/programs/acados/include/blasfeo/include -I/home/jgillis/programs/acados/include/hpipm/include  -c -o rockit_model_cost/rockit_model_cost_ext_cost_0_fun_jac.o rockit_model_cost/rockit_model_cost_ext_cost_0_fun_jac.c
cc -fPIC -std=c99   -O2 -I/home/jgillis/programs/acados/include -I/home/jgillis/programs/acados/include/acados -I/home/jgillis/programs/acados/include/blasfeo/include -I/home/jgillis/programs/acados/include/hpipm/include  -c -o rockit_model_cost/rockit_model_cost_ext_cost_0_fun_jac_hess.o rockit_model_cost/rockit_model_cost_ext_cost_0_fun_jac_hess.c
cc -fPIC -std=c99   -O2 -I/home/jgillis/programs/acados/include -I/home/jgillis/programs/acados/include/acados -I/home/jgillis/programs/acados/include/blasfeo/include -I/home/jgillis/programs/acados/include/hpipm/include  -c -o rockit_model_cost/rockit_model_cost_ext_cost_fun.o rockit_model_cost/rockit_model_cost_ext_cost_fun.c
cc -fPIC -std=c99   -O2 -I/home/jgillis/programs/acados/include -I/home/jgillis/programs/acados/include/acados -I/home/jgillis/programs/acados/include/blasfeo/include -I/home/jgillis/programs/acados/include/hpipm/include  -c -o rockit_model_cost/rockit_model_cost_ext_cost_fun_jac.o rockit_model_cost/rockit_model_cost_ext_cost_fun_jac.c
cc -fPIC -std=c99   -O2 -I/home/jgillis/programs/acados/include -I/home/jgillis/programs/acados/include/acados -I/home/jgillis/programs/acados/include/blasfeo/include -I/home/jgillis/programs/acados/include/hpipm/include  -c -o rockit_model_cost/rockit_model_cost_ext_cost_fun_jac_hess.o rockit_model_cost/rockit_model_cost_ext_cost_fun_jac_hess.c
cc -fPIC -std=c99   -O2 -I/home/jgillis/programs/acados/include -I/home/jgillis/programs/acados/include/acados -I/home/jgillis/programs/acados/include/blasfeo/include -I/home/jgillis/programs/acados/include/hpipm/include  -c -o rockit_model_cost/rockit_model_cost_ext_cost_e_fun.o rockit_model_cost/rockit_model_cost_ext_cost_e_fun.c
cc -fPIC -std=c99   -O2 -I/home/jgillis/programs/acados/include -I/home/jgillis/programs/acados/include/acados -I/home/jgillis/programs/acados/include/blasfeo/include -I/home/jgillis/programs/acados/include/hpipm/include  -c -o rockit_model_cost/rockit_model_cost_ext_cost_e_fun_jac.o rockit_model_cost/rockit_model_cost_ext_cost_e_fun_jac.c
cc -fPIC -std=c99   -O2 -I/home/jgillis/programs/acados/include -I/home/jgillis/programs/acados/include/acados -I/home/jgillis/programs/acados/include/blasfeo/include -I/home/jgillis/programs/acados/include/hpipm/include  -c -o rockit_model_cost/rockit_model_cost_ext_cost_e_fun_jac_hess.o rockit_model_cost/rockit_model_cost_ext_cost_e_fun_jac_hess.c
cc -fPIC -std=c99   -O2 -I/home/jgillis/programs/acados/include -I/home/jgillis/programs/acados/include/acados -I/home/jgillis/programs/acados/include/blasfeo/include -I/home/jgillis/programs/acados/include/hpipm/include  -c -o acados_solver_rockit_model.o acados_solver_rockit_model.c
cc -fPIC -std=c99   -O2 -I/home/jgillis/programs/acados/include -I/home/jgillis/programs/acados/include/acados -I/home/jgillis/programs/acados/include/blasfeo/include -I/home/jgillis/programs/acados/include/hpipm/include  -c -o rockit_model_model/rockit_model_expl_ode_fun.o rockit_model_model/rockit_model_expl_ode_fun.c
cc -fPIC -std=c99   -O2 -I/home/jgillis/programs/acados/include -I/home/jgillis/programs/acados/include/acados -I/home/jgillis/programs/acados/include/blasfeo/include -I/home/jgillis/programs/acados/include/hpipm/include  -c -o rockit_model_model/rockit_model_expl_vde_forw.o rockit_model_model/rockit_model_expl_vde_forw.c
cc -fPIC -std=c99   -O2 -I/home/jgillis/programs/acados/include -I/home/jgillis/programs/acados/include/acados -I/home/jgillis/programs/acados/include/blasfeo/include -I/home/jgillis/programs/acados/include/hpipm/include  -c -o rockit_model_model/rockit_model_expl_vde_adj.o rockit_model_model/rockit_model_expl_vde_adj.c
cc -fPIC -std=c99   -O2 -I/home/jgillis/programs/acados/include -I/home/jgillis/programs/acados/include/acados -I/home/jgillis/programs/acados/include/blasfeo/include -I/home/jgillis/programs/acados/include/hpipm/include  -c -o rockit_model_model/rockit_model_expl_ode_hess.o rockit_model_model/rockit_model_expl_ode_hess.c
cc -shared rockit_model_cost/rockit_model_cost_ext_cost_0_fun.o rockit_model_cost/rockit_model_cost_ext_cost_0_fun_jac.o rockit_model_cost/rockit_model_cost_ext_cost_0_fun_jac_hess.o rockit_model_cost/rockit_model_cost_ext_cost_fun.o rockit_model_cost/rockit_model_cost_ext_cost_fun_jac.o rockit_model_cost/rockit_model_cost_ext_cost_fun_jac_hess.o rockit_model_cost/rockit_model_cost_ext_cost_e_fun.o rockit_model_cost/rockit_model_cost_ext_cost_e_fun_jac.o rockit_model_cost/rockit_model_cost_ext_cost_e_fun_jac_hess.o acados_solver_rockit_model.o rockit_model_model/rockit_model_expl_ode_fun.o rockit_model_model/rockit_model_expl_vde_forw.o rockit_model_model/rockit_model_expl_vde_adj.o rockit_model_model/rockit_model_expl_ode_hess.o -o libacados_ocp_solver_rockit_model.so -L/home/jgillis/programs/acados/lib -lacados -lhpipm -lblasfeo -lm  \
-L -l


SQP: ocp_qp_in at iteration 0
BAbt =
  0.02000   0.20000   0.00000   0.00000 
  1.00000   0.00000   0.00000   0.00000 
  0.20000   1.00000   0.00000   0.00000 
  0.02000   0.20000   1.00000   0.00000 
  0.04400   0.24000   0.20000   1.00000 
  0.00000   0.00000   0.00000   0.00000 

  0.02000   0.20000   0.00000   0.00000 
  1.00000   0.00000   0.00000   0.00000 
  0.20000   1.00000   0.00000   0.00000 
  0.02000   0.20000   1.00000   0.00000 
  0.04400   0.24000   0.20000   1.00000 
  0.00000   0.00000   0.00000   0.00000 

  0.02000   0.20000   0.00000   0.00000 
  1.00000   0.00000   0.00000   0.00000 
  0.20000   1.00000   0.00000   0.00000 
  0.02000   0.20000   1.00000   0.00000 
  0.04400   0.24000   0.20000   1.00000 
  0.00000   0.00000   0.00000   0.00000 

  0.02000   0.20000   0.00000   0.00000 
  1.00000   0.00000   0.00000   0.00000 
  0.20000   1.00000   0.00000   0.00000 
  0.02000   0.20000   1.00000   0.00000 
  0.04400   0.24000   0.20000   1.00000 
  0.00000   0.00000   0.00000   0.00000 

  0.02000   0.20000   0.00000   0.00000 
  1.00000   0.00000   0.00000   0.00000 
  0.20000   1.00000   0.00000   0.00000 
  0.02000   0.20000   1.00000   0.00000 
  0.04400   0.24000   0.20000   1.00000 
  0.00000   0.00000   0.00000   0.00000 

b =
 -0.17867   0.22000   0.20000   0.00000 

 -0.17867   0.22000   0.20000   0.00000 

 -0.17867   0.22000   0.20000   0.00000 

 -0.17867   0.22000   0.20000   0.00000 

 -0.17867   0.22000   0.20000   0.00000 

RSQrq =
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000 
  0.00000   2.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000 

rq =
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000  -2.00000   0.00000   1.00000 

d =
  0.03000   0.00000   0.00000 -99999.00000 -100001.00000  -0.03000   0.00000   0.00000  -2.30000   0.00000 

-99999.00000 -100001.00000  -2.30000   0.00000 

-99999.00000 -100001.00000  -2.30000   0.00000 

-99999.00000 -100001.00000  -2.30000   0.00000 

-99999.00000 -100001.00000  -2.30000   0.00000 

  0.00000   0.00000 

idxb =
3 1 2 









0 

DCt =
 -1.00000   1.00000 
  0.00000   0.00000 
  0.00000   0.00000 
  0.00000  -1.00000 
  0.00000   0.00000 

 -1.00000   1.00000 
  0.00000   0.00000 
  0.00000   0.00000 
  0.00000  -1.00000 
  0.00000   0.00000 

 -1.00000   1.00000 
  0.00000   0.00000 
  0.00000   0.00000 
  0.00000  -1.00000 
  0.00000   0.00000 

 -1.00000   1.00000 
  0.00000   0.00000 
  0.00000   0.00000 
  0.00000  -1.00000 
  0.00000   0.00000 

 -1.00000   1.00000 
  0.00000   0.00000 
  0.00000   0.00000 
  0.00000  -1.00000 
  0.00000   0.00000 

d_s =
idxs_rev =
-1 -1 -1 -1 -1 

-1 -1 

-1 -1 

-1 -1 

-1 -1 

-1 

Z =
z =


SQP: ocp_qp_out at iteration 0
ux =
  0.03000  -0.00000   0.00000   0.03000   0.47492 

  0.32498  -0.15657   0.34598   0.32498   0.47492 

  0.61997  -0.23214   0.80996   0.61997   0.47492 

 -2.30000  -0.20312   1.39193   0.91495   0.47492 

 -2.30000  -0.11021   1.44890   1.20994   0.47492 

  0.00000   1.56487   1.50492   0.47492 

pi =
 -3.31547  -1.52222  -0.50019   0.61120 

 -3.31545  -0.85917  -0.02397   0.96803 

 -3.31543  -0.19616   0.18699   1.12354 

 -3.31544   0.46665   0.15964   1.12526 

 -3.31544   1.12974   0.00000   1.00000 

lam =
 16.00502  14.90154  15.81618   0.00000   0.00000  17.24671  18.21701  18.00150   0.00000   0.37075 

  0.00000   0.00000   0.00000   0.23811 

  0.00000   0.00000   0.00000   0.10548 

  0.00000   0.00000   0.02682   0.00000 

  0.00000   0.00000   0.15964   0.00000 

 18.21701  14.90157 

t =
1.00000e-16 1.00000e-16 1.00000e-16 9.99990e+04 1.00001e+05 1.00000e-16 1.00000e-16 1.00000e-16 2.33000e+00 6.12218e-14 

9.99987e+04 1.00001e+05 2.62498e+00 1.13554e-13 

9.99984e+04 1.00001e+05 2.91997e+00 3.10108e-13 

1.00001e+05 9.99978e+04 4.72851e-12 3.21495e+00 

1.00001e+05 9.99975e+04 9.10825e-14 3.50994e+00 

1.00000e-16 1.00000e-16 

backtracking 0, merit_fun1 = 1.794004e+00, merit_fun0 2.480151e+00
# it	stat		eq		ineq		comp		qp_stat	qp_iter	alpha
0	2.000000e+00	2.200000e-01	1.000010e+05	0.000000e+00	0	7	1.000000e+00


SQP: ocp_qp_in at iteration 1
BAbt =
  0.04351   0.29498   0.00000   0.00000 
  1.00000   0.00000   0.00000   0.00000 
  0.29498   1.00000   0.00000   0.00000 
  0.04351   0.29498   1.00000   0.00000 
  0.07124   0.27100   0.20000   1.00000 
 -0.17867   0.22000   0.20000   0.00000 

  0.04351   0.29498   0.00000   0.00000 
  1.00000   0.00000   0.00000   0.00000 
  0.29498   1.00000   0.00000   0.00000 
  0.04351   0.29498   1.00000   0.00000 
  0.17524   0.38899   0.20000   1.00000 
 -0.17867   0.22000   0.20000   0.00000 

  0.04351   0.29498   0.00000   0.00000 
  1.00000   0.00000   0.00000   0.00000 
  0.29498   1.00000   0.00000   0.00000 
  0.04351   0.29498   1.00000   0.00000 
  0.30284   0.50698   0.20000   1.00000 
 -0.17867   0.22000   0.20000   0.00000 

  0.04351   0.29498   0.00000   0.00000 
  1.00000   0.00000   0.00000   0.00000 
  0.29498   1.00000   0.00000   0.00000 
  0.04351   0.29498   1.00000   0.00000 
  0.26437  -0.01801   0.20000   1.00000 
 -0.17867   0.22000   0.20000   0.00000 

  0.04351   0.29498   0.00000   0.00000 
  1.00000   0.00000   0.00000   0.00000 
  0.29498   1.00000   0.00000   0.00000 
  0.04351   0.29498   1.00000   0.00000 
  0.29317   0.04098   0.20000   1.00000 
 -0.17867   0.22000   0.20000   0.00000 

b =
  0.00697   0.01021   0.00000   0.00000 

  0.05370   0.06625   0.00000   0.00000 

  0.11164   0.12229  -0.00000   0.00000 

  0.10521  -0.12705   0.00000   0.00000 

  0.11755  -0.09903   0.00000   0.00000 

RSQrq =
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000  -0.66309 
  0.00000   0.00000   0.00000   0.00000  -0.50005 
 -0.50005   0.00000  -0.66309  -0.50005  -0.24059 
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000  -0.66309 
  0.00000   0.00000   0.00000   0.00000  -0.36744 
 -0.36744   0.00000  -0.66309  -0.36744  -0.29230 
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000  -0.66309 
  0.00000   0.00000   0.00000   0.00000  -0.23483 
 -0.23483   0.00000  -0.66309  -0.23483  -0.34402 
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000  -0.66309 
  0.00000   0.00000   0.00000   0.00000  -0.10227 
 -0.10227   0.00000  -0.66309  -0.10227   0.03061 
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000  -0.66309 
  0.00000   0.00000   0.00000   0.00000   0.03035 
  0.03035   0.00000  -0.66309   0.03035   0.01801 
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000 
  0.00000   2.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000 
  0.00000  -2.00000   0.00000   1.00000 

rq =
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   1.12974   0.00000   1.00000 

d =
  0.00000   0.00000  -0.00000 -99998.97000 -100001.00000  -0.00000  -0.00000   0.00000  -2.33000  -0.00000 

-99998.67502 -100001.00000  -2.62498  -0.00000 

-99998.38003 -100001.00000  -2.91997  -0.00000 

-100001.30000 -99997.78505  -0.00000  -3.21495 

-100001.30000 -99997.49006  -0.00000  -3.50994 

  0.00000   0.00000 

idxb =
3 1 2 









0 

DCt =
 -1.00000   1.00000 
  0.00000   0.00000 
  0.00000   0.00000 
  0.00000  -1.00000 
  0.00000   0.00000 

 -1.00000   1.00000 
  0.00000   0.00000 
  0.00000   0.00000 
  0.00000  -1.00000 
  0.00000   0.00000 

 -1.00000   1.00000 
  0.00000   0.00000 
  0.00000   0.00000 
  0.00000  -1.00000 
  0.00000   0.00000 

 -1.00000   1.00000 
  0.00000   0.00000 
  0.00000   0.00000 
  0.00000  -1.00000 
  0.00000   0.00000 

 -1.00000   1.00000 
  0.00000   0.00000 
  0.00000   0.00000 
  0.00000  -1.00000 
  0.00000   0.00000 

d_s =
idxs_rev =
-1 -1 -1 -1 -1 

-1 -1 

-1 -1 

-1 -1 

-1 -1 

-1 

Z =
z =


SQP: ocp_qp_out at iteration 1
ux =
 -0.51529   0.00000   0.00000   0.00000  -0.05828 

 -0.01166  -0.01960  -0.15759  -0.01166  -0.05828 

 -0.73336  -0.02362  -0.12089  -0.02331  -0.05828 

  0.00000   0.00179  -0.25136  -0.03497  -0.05828 

  0.00000   0.01592  -0.38767  -0.04663  -0.05828 

 -0.00000  -0.50284  -0.05828  -0.05828 

pi =
 -0.13645  -0.07868   0.00932   1.11456 

 -0.13644  -0.02788   0.03605   1.28668 

 -0.13644  -0.02628   0.03605   1.05621 

 -0.13641   0.12246   0.02889   1.21969 

 -0.13641   0.12406   0.00000   1.00000 

lam =
 27.25116  28.30773  27.94413   0.00000   0.00000  27.18709  28.44417  27.96426   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.01188 

  0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.01701   0.00000 

  0.00000   0.00000   0.02889   0.00000 

 28.44417  28.30775 

t =
1.00000e-16 1.00000e-16 1.00000e-16 9.99995e+04 1.00000e+05 1.00000e-16 1.00000e-16 1.00000e-16 1.81471e+00 5.15286e-01 

9.99987e+04 1.00001e+05 2.61333e+00 8.03334e-12 

9.99991e+04 1.00000e+05 2.18661e+00 7.10047e-01 

1.00001e+05 9.99978e+04 6.14092e-12 3.17998e+00 

1.00001e+05 9.99975e+04 3.94389e-12 3.46331e+00 

1.00000e-16 1.00000e-16 

backtracking 0, merit_fun1 = 1.423490e+00, merit_fun0 1.881608e+00
1	1.050938e+00	1.270474e-01	4.440892e-16	1.000013e-11	0	7	1.000000e+00


SQP: ocp_qp_in at iteration 2
BAbt =
  0.04014   0.28333   0.00000   0.00000 
  1.00000   0.00000   0.00000   0.00000 
  0.28333   1.00000   0.00000   0.00000 
  0.04014   0.28333   1.00000   0.00000 
  0.03889   0.16561   0.20000   1.00000 
  0.00697   0.01021   0.00000   0.00000 

  0.04014   0.28333   0.00000   0.00000 
  1.00000   0.00000   0.00000   0.00000 
  0.28333   1.00000   0.00000   0.00000 
  0.04014   0.28333   1.00000   0.00000 
  0.13788   0.38200   0.20000   1.00000 
  0.05370   0.06625   0.00000   0.00000 

  0.04014   0.28333   0.00000   0.00000 
  1.00000   0.00000   0.00000   0.00000 
  0.28333   1.00000   0.00000   0.00000 
  0.04014   0.28333   1.00000   0.00000 
  0.22989   0.35332   0.20000   1.00000 
  0.11164   0.12229  -0.00000   0.00000 

  0.04014   0.28333   0.00000   0.00000 
  1.00000   0.00000   0.00000   0.00000 
  0.28333   1.00000   0.00000   0.00000 
  0.04014   0.28333   1.00000   0.00000 
  0.21234  -0.02734   0.20000   1.00000 
  0.10521  -0.12705   0.00000   0.00000 

  0.04014   0.28333   0.00000   0.00000 
  1.00000   0.00000   0.00000   0.00000 
  0.28333   1.00000   0.00000   0.00000 
  0.04014   0.28333   1.00000   0.00000 
  0.21253   0.02933   0.20000   1.00000 
  0.11755  -0.09903   0.00000   0.00000 

b =
  0.00183   0.00607   0.00000   0.00000 

  0.00205   0.00034   0.00000   0.00000 

  0.00413   0.00889   0.00000   0.00000 

  0.00304   0.00048   0.00000   0.00000 

  0.00469   0.00061   0.00000   0.00000 

RSQrq =
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000  -0.02729 
  0.00000   0.00000   0.00000   0.00000  -0.02347 
 -0.02347   0.00000  -0.02729  -0.02347  -0.00767 
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000  -0.02729 
  0.00000   0.00000   0.00000   0.00000  -0.01331 
 -0.01331   0.00000  -0.02729  -0.01331  -0.01154 
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000  -0.02729 
  0.00000   0.00000   0.00000   0.00000  -0.01299 
 -0.01299   0.00000  -0.02729  -0.01299  -0.01069 
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000  -0.02728 
  0.00000   0.00000   0.00000   0.00000   0.01676 
  0.01676   0.00000  -0.02728   0.01676   0.00564 
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000  -0.02728 
  0.00000   0.00000   0.00000   0.00000   0.01708 
  0.01708   0.00000  -0.02728   0.01708   0.00416 
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000 
  0.00000   2.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000 
  0.00000   1.12974   0.00000   1.00000 

rq =
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.12406   0.00000   1.00000 

d =
 -0.00000  -0.00000  -0.00000 -99999.48529 -100000.48471   0.00000   0.00000   0.00000  -1.81471  -0.51529 

-99998.68667 -100001.00000  -2.61333  -0.00000 

-99999.11339 -100000.28995  -2.18661  -0.71005 

-100001.30000 -99997.82002  -0.00000  -3.17998 

-100001.30000 -99997.53669  -0.00000  -3.46331 

  0.00000   0.00000 

idxb =
3 1 2 









0 

DCt =
 -1.00000   1.00000 
  0.00000   0.00000 
  0.00000   0.00000 
  0.00000  -1.00000 
  0.00000   0.00000 

 -1.00000   1.00000 
  0.00000   0.00000 
  0.00000   0.00000 
  0.00000  -1.00000 
  0.00000   0.00000 

 -1.00000   1.00000 
  0.00000   0.00000 
  0.00000   0.00000 
  0.00000  -1.00000 
  0.00000   0.00000 

 -1.00000   1.00000 
  0.00000   0.00000 
  0.00000   0.00000 
  0.00000  -1.00000 
  0.00000   0.00000 

 -1.00000   1.00000 
  0.00000   0.00000 
  0.00000   0.00000 
  0.00000  -1.00000 
  0.00000   0.00000 

d_s =
idxs_rev =
-1 -1 -1 -1 -1 

-1 -1 

-1 -1 

-1 -1 

-1 -1 

-1 

Z =
z =


SQP: ocp_qp_out at iteration 2
ux =
  0.51529   0.00000   0.00000   0.00000  -0.18641 

 -0.03728   0.01526   0.12120  -0.03728  -0.18641 

  0.63548   0.02295   0.02921  -0.07456  -0.18641 

  0.00000   0.01502   0.13116  -0.11184  -0.18641 

  0.00000   0.01115   0.10504  -0.14913  -0.18641 

 -0.00000   0.05793  -0.18641  -0.18641 

pi =
 -0.38358  -0.19201  -0.03509   0.63655 

 -0.38359  -0.08707   0.04820   0.77087 

 -0.38359   0.01652   0.06479   0.84635 

 -0.38359   0.13633   0.04940   0.91932 

 -0.38359   0.23993   0.00000   1.00000 

lam =
 14.65396  14.49509  14.56046   0.00000   0.00000  14.81237  14.87868  14.84570   0.00000   0.06542 

  0.00000   0.00000   0.00000   0.03909 

  0.00000   0.00000   0.00000   0.00830 

  0.00000   0.00000   0.01861   0.00000 

  0.00000   0.00000   0.04940   0.00000 

 14.87868  14.49509 

t =
1.28596e-13 9.26324e-14 1.11225e-13 9.99990e+04 1.00001e+05 1.64988e-15 3.76139e-14 1.90212e-14 2.33000e+00 2.77921e-09 

9.99987e+04 1.00001e+05 2.57605e+00 3.11402e-09 

9.99985e+04 1.00001e+05 2.82209e+00 5.69579e-07 

1.00001e+05 9.99979e+04 6.66830e-11 3.06814e+00 

1.00001e+05 9.99977e+04 1.32807e-10 3.31419e+00 

3.76146e-14 9.26317e-14 

backtracking 0, merit_fun1 = 1.258224e+00, merit_fun0 1.428123e+00
2	1.098086e+00	8.888417e-03	1.455192e-11	1.000013e-11	0	6	1.000000e+00


SQP: ocp_qp_in at iteration 3
BAbt =
  0.03027   0.24605   0.00000   0.00000 
  1.00000   0.00000   0.00000   0.00000 
  0.24605   1.00000   0.00000   0.00000 
  0.03027   0.24605   1.00000   0.00000 
  0.05822   0.26121   0.20000   1.00000 
  0.00183   0.00607   0.00000   0.00000 

  0.03027   0.24605   0.00000   0.00000 
  1.00000   0.00000   0.00000   0.00000 
  0.24605   1.00000   0.00000   0.00000 
  0.03027   0.24605   1.00000   0.00000 
  0.14435   0.35963   0.20000   1.00000 
  0.00205   0.00034   0.00000   0.00000 

  0.03027   0.24605   0.00000   0.00000 
  1.00000   0.00000   0.00000   0.00000 
  0.24605   1.00000   0.00000   0.00000 
  0.03027   0.24605   1.00000   0.00000 
  0.25030   0.45805   0.20000   1.00000 
  0.00413   0.00889   0.00000   0.00000 

  0.03027   0.24605   0.00000   0.00000 
  1.00000   0.00000   0.00000   0.00000 
  0.24605   1.00000   0.00000   0.00000 
  0.03027   0.24605   1.00000   0.00000 
  0.23423  -0.05716   0.20000   1.00000 
  0.00304   0.00048   0.00000   0.00000 

  0.03027   0.24605   0.00000   0.00000 
  1.00000   0.00000   0.00000   0.00000 
  0.24605   1.00000   0.00000   0.00000 
  0.03027   0.24605   1.00000   0.00000 
  0.22524  -0.00795   0.20000   1.00000 
  0.00469   0.00061   0.00000   0.00000 

b =
 -0.00452  -0.01852   0.00000   0.00000 

 -0.00246   0.00347   0.00000   0.00000 

 -0.00540  -0.02022   0.00000   0.00000 

 -0.00389   0.00486   0.00000   0.00000 

 -0.00235   0.00625   0.00000   0.00000 

RSQrq =
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000  -0.07672 
  0.00000   0.00000   0.00000   0.00000  -0.05728 
 -0.05728   0.00000  -0.07672  -0.05728  -0.02772 
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000  -0.07672 
  0.00000   0.00000   0.00000   0.00000  -0.03629 
 -0.03629   0.00000  -0.07672  -0.03629  -0.03107 
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000  -0.07672 
  0.00000   0.00000   0.00000   0.00000  -0.01557 
 -0.01557   0.00000  -0.07672  -0.01557  -0.03448 
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000  -0.07672 
  0.00000   0.00000   0.00000   0.00000   0.00839 
  0.00839   0.00000  -0.07672   0.00839   0.00984 
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000  -0.07672 
  0.00000   0.00000   0.00000   0.00000   0.02911 
  0.02911   0.00000  -0.07672   0.02911   0.01021 
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000 
  0.00000   2.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000 
  0.00000   0.00000   0.00000   0.00000 
  0.00000   0.12406   0.00000   1.00000 

rq =
  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.00000   0.00000   0.00000 

  0.00000   0.23993   0.00000   1.00000 

d =
 -0.00000  -0.00000  -0.00000 -99998.97000 -100001.00000   0.00000   0.00000   0.00000  -2.33000  -0.00000 

-99998.72395 -100001.00000  -2.57605  -0.00000 

-99998.47791 -100001.00000  -2.82209  -0.00000 

-100001.30000 -99997.93186  -0.00000  -3.06814 

-100001.30000 -99997.68581  -0.00000  -3.31419 

  0.00000  -0.00000 

idxb =
3 1 2 









0 

DCt =
 -1.00000   1.00000 
  0.00000   0.00000 
  0.00000   0.00000 
  0.00000  -1.00000 
  0.00000   0.00000 

 -1.00000   1.00000 
  0.00000   0.00000 
  0.00000   0.00000 
  0.00000  -1.00000 
  0.00000   0.00000 

 -1.00000   1.00000 
  0.00000   0.00000 
  0.00000   0.00000 
  0.00000  -1.00000 
  0.00000   0.00000 

 -1.00000   1.00000 
  0.00000   0.00000 
  0.00000   0.00000 
  0.00000  -1.00000 
  0.00000   0.00000 

 -1.00000   1.00000 
  0.00000   0.00000 
  0.00000   0.00000 
  0.00000  -1.00000 
  0.00000   0.00000 

d_s =
idxs_rev =
-1 -1 -1 -1 -1 

-1 -1 

-1 -1 

-1 -1 

-1 -1 

-1 

Z =
z =


SQP: ocp_qp_out at iteration 3
ux =
  0.00000  -0.00000  -0.00000  -0.00000   0.01823 

  0.00365  -0.00346  -0.01375   0.00365   0.01823 

  0.00729  -0.00645  -0.00193   0.00729   0.01823 

  0.08627  -0.00733  -0.01020   0.01094   0.01823 

 -0.00000  -0.00651   0.01754   0.01459   0.01823 

  0.00000   0.02724   0.01823   0.01823 

pi =
 -0.80362  -0.49710  -0.24557   0.16893 

 -0.80362  -0.29931  -0.04974   0.39779 

 -0.80362  -0.10018   0.04878   0.63578 

 -0.80362   0.09527   0.04864   0.81591 

 -0.80362   0.29440   0.00000   1.00000 

lam =
  9.79474   9.61072   9.65181   0.00000   0.00000  10.33768  10.41435  10.35089   0.00000   0.14768 

  0.00000   0.00000   0.00000   0.09791 

  0.00000   0.00000   0.00000   0.04926 

  0.00000   0.00000   0.00000   0.00000 

  0.00000   0.00000   0.04864   0.00000 

 10.41435   9.61073 

t =
1.00000e-16 1.04114e-16 1.05866e-16 9.99990e+04 1.00001e+05 1.00000e-16 1.00000e-16 1.00000e-16 2.33000e+00 4.47384e-13 

9.99987e+04 1.00001e+05 2.57969e+00 3.67018e-13 

9.99985e+04 1.00001e+05 2.82939e+00 6.37096e-15 

1.00001e+05 9.99980e+04 8.62744e-02 2.99281e+00 

1.00001e+05 9.99977e+04 5.58289e-12 3.32877e+00 

1.00000e-16 1.04113e-16 

backtracking 0, merit_fun1 = 1.270364e+00, merit_fun0 1.274269e+00
3	5.570461e-01	2.021693e-02	1.455192e-11	4.724682e-09	0	4	1.000000e+00
backtracking 0, merit_fun1 = 1.270036e+00, merit_fun0 1.270355e+00
4	5.794590e-02	3.611467e-04	1.455192e-11	1.000013e-11	0	4	1.000000e+00
backtracking 0, merit_fun1 = 1.270030e+00, merit_fun0 1.270036e+00
5	1.689594e-02	6.410333e-06	1.455192e-11	9.516490e-11	0	4	1.000000e+00
backtracking 0, merit_fun1 = 1.270029e+00, merit_fun0 1.270030e+00
6	5.548484e-03	6.536033e-07	1.455192e-11	1.679727e-09	0	4	1.000000e+00
backtracking 0, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
7	1.825866e-03	7.213377e-08	1.455192e-11	9.103191e-09	0	5	1.000000e+00
backtracking 0, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
8	6.011225e-04	7.868080e-09	1.052341e-16	1.000013e-11	0	5	1.000000e+00
backtracking 0, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
9	1.972873e-04	8.492416e-10	4.440892e-16	1.000013e-11	0	5	1.000000e+00
backtracking 0, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
# it	stat		eq		ineq		comp		qp_stat	qp_iter	alpha
10	6.473674e-05	9.149237e-11	1.455192e-11	1.000013e-11	0	5	1.000000e+00
backtracking 0, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
11	2
******************************************************************************
This program contains Ipopt, a library for large-scale nonlinear optimization.
 Ipopt is released as open source code under the Eclipse Public License (EPL).
         For more information visit https://github.com/coin-or/Ipopt
******************************************************************************

This is Ipopt version 3.14.11, running with linear solver MUMPS 5.4.1.

Number of nonzeros in equality constraint Jacobian...:       59
Number of nonzeros in inequality constraint Jacobian.:       20
Number of nonzeros in Lagrangian Hessian.............:       22

Total number of variables............................:       19
                     variables with only lower bounds:        0
                variables with lower and upper bounds:        0
                     variables with only upper bounds:        0
Total number of equality constraints.................:       14
Total number of inequality constraints...............:       11
        inequality constraints with only lower bounds:        1
   inequality constraints with lower and upper bounds:        0
        inequality constraints with only upper bounds:       10

iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
   0  2.0000000e+00 3.80e-01 2.18e-01  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0
   1  2.7070836e+00 9.92e-02 1.66e+01  -1.0 2.19e+00    -  8.39e-01 1.00e+00h  1
   2  1.4523800e+00 1.93e-02 1.88e+00  -1.0 2.05e+00    -  1.00e+00 1.00e+00f  1
   3  1.4371601e+00 4.54e-02 1.75e-01  -1.0 1.75e+00    -  1.00e+00 1.00e+00f  1
   4  1.3867042e+00 1.94e-03 1.18e-02  -1.7 2.18e-01    -  1.00e+00 1.00e+00h  1
   5  1.2958897e+00 6.06e-03 1.04e-02  -2.5 4.53e-01    -  1.00e+00 1.00e+00h  1
   6  1.2720018e+00 8.12e-04 2.31e-03  -3.8 2.15e-01    -  1.00e+00 9.76e-01h  1
   7  1.2708264e+00 3.42e-05 2.16e-04  -3.8 6.18e-02    -  1.00e+00 1.00e+00h  1
   8  1.2700758e+00 9.97e-06 7.63e-05  -5.7 3.91e-02    -  9.99e-01 9.74e-01h  1
   9  1.2700380e+00 2.84e-06 9.75e-06  -5.7 1.80e-02    -  1.00e+00 1.00e+00f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  10  1.2700293e+00 2.92e-07 1.45e-06  -8.6 5.76e-03    -  9.99e-01 9.96e-01h  1
  11  1.2700293e+00 4.41e-09 1.42e-08  -8.6 7.11e-04    -  1.00e+00 1.00e+00f  1
  12  1.2700293e+00 9.47e-13 3.03e-12  -8.6 1.04e-05    -  1.00e+00 1.00e+00h  1
  13  1.2700293e+00 6.00e-15 2.74e-14 -11.0 9.12e-07    -  1.00e+00 1.00e+00h  1

Number of Iterations....: 13

                                   (scaled)                 (unscaled)
Objective...............:   1.2700292739976384e+00    1.2700292739976384e+00
Dual infeasibility......:   2.7422508708241367e-14    2.7422508708241367e-14
Constraint violation....:   5.9952043329758453e-15    5.9952043329758453e-15
Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00
Complementarity.........:   9.1396419917856510e-12    9.1396419917856510e-12
Overall NLP error.......:   9.1396419917856510e-12    9.1396419917856510e-12


Number of objective function evaluations             = 14
Number of objective gradient evaluations             = 14
Number of equality constraint evaluations            = 14
Number of inequality constraint evaluations          = 14
Number of equality constraint Jacobian evaluations   = 14
Number of inequality constraint Jacobian evaluations = 14
Number of Lagrangian Hessian evaluations             = 13
Total seconds in IPOPT                               = 0.014

EXIT: Optimal Solution Found.
      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval
       nlp_f  | 344.00us ( 24.57us)  21.09us (  1.51us)        14
       nlp_g  |   6.54ms (467.50us) 409.62us ( 29.26us)        14
  nlp_grad_f  | 830.00us ( 55.33us)  52.07us (  3.47us)        15
  nlp_hess_l  |  45.37ms (  3.49ms)   2.88ms (221.32us)        13
   nlp_jac_g  |  39.84ms (  2.66ms)   2.52ms (167.93us)        15
       total  | 234.29ms (234.29ms)  14.79ms ( 14.79ms)         1
(0.03==r_t0)
(0==r_at_t0)
(0==r_at_t0)
(1==r_at_tf)
Warning: Please note that the following versions of CasADi are officially supported: 3.4.03.4.5 or 3.5.1 or 3.5.2 or 3.5.3 or 3.5.4 or 3.5.6 or 3.5.5 or 3.6.0 or 3.6.1 or 3.6.2 or 3.6.3 or 3.6.4.
 If there is an incompatibility with the CasADi generated code, please consider changing your CasADi version.
Version 3.6.5 currently in use.
acados was compiled without OpenMP.
0 C [[ 0.  0.  0.  0.]
 [ 0.  0. -1.  0.]] (2, 4)
1 C [[ 0.  0.  0.  0.]
 [ 0.  0. -1.  0.]] (2, 4)
2 C [[ 0.  0.  0.  0.]
 [ 0.  0. -1.  0.]] (2, 4)
3 C [[ 0.  0.  0.  0.]
 [ 0.  0. -1.  0.]] (2, 4)
4 C [[ 0.  0.  0.  0.]
 [ 0.  0. -1.  0.]] (2, 4)
0 D [[-1.]
 [ 1.]] (2, 1)
1 D [[-1.]
 [ 1.]] (2, 1)
2 D [[-1.]
 [ 1.]] (2, 1)
3 D [[-1.]
 [ 1.]] (2, 1)
4 D [[-1.]
 [ 1.]] (2, 1)
0 lg [-100000. -100000.] (2,)
1 lg [-100000. -100000.] (2,)
2 lg [-100000. -100000.] (2,)
3 lg [-100000. -100000.] (2,)
4 lg [-100000. -100000.] (2,)
0 ug [1.3 1. ] (2,)
1 ug [1.3 1. ] (2,)
2 ug [1.3 1. ] (2,)
3 ug [1.3 1. ] (2,)
4 ug [1.3 1. ] (2,)

iter	res_stat	res_eq		res_ineq	res_comp	qp_stat	qp_iter	alpha
0	2.000000e+00	2.200000e-01	1.000010e+05	0.000000e+00	0	0	0.000000e+00	
1	1.050938e+00	1.270474e-01	4.440892e-16	1.000013e-11	0	7	1.000000e+00	
2	1.098086e+00	8.888417e-03	1.455192e-11	1.000013e-11	0	7	1.000000e+00	
3	5.570461e-01	2.021693e-02	1.455192e-11	4.724682e-09	0	6	1.000000e+00	
4	5.794590e-02	3.611467e-04	1.455192e-11	1.000013e-11	0	4	1.000000e+00	
5	1.689594e-02	6.410333e-06	1.455192e-11	9.516490e-11	0	4	1.000000e+00	
6	5.548484e-03	6.536033e-07	1.455192e-11	1.679727e-09	0	4	1.000000e+00	
7	1.825866e-03	7.213377e-08	1.455192e-11	9.103191e-09	0	4	1.000000e+00	
8	6.011225e-04	7.868080e-09	1.052341e-16	1.000013e-11	0	5	1.000000e+00	
9	1.972873e-04	8.492416e-10	4.440892e-16	1.000013e-11	0	5	1.000000e+00	
10	6.473674e-05	9.149237e-11	1.455192e-11	1.000013e-11	0	5	1.000000e+00	
11	2.123970e-05	9.850787e-12	1.455192e-11	1.000013e-11	0	5	1.000000e+00	
12	6.969398e-06	1.060707e-12	1.455192e-11	1.000013e-11	0	5	1.000000e+00	
13	2.284450e-06	1.141309e-13	1.034694e-16	1.000013e-11	0	5	1.000000e+00	
14	7.499536e-07	1.221245e-14	1.455192e-11	1.000013e-11	0	5	1.000000e+00	
15	2.446238e-07	1.110223e-15	1.455192e-11	1.000013e-11	0	5	1.000000e+00	
16	8.025967e-08	2.220446e-16	1.455192e-11	1.000013e-11	0	5	1.000000e+00	
17	7.708081e-08	4.440892e-16	1.455192e-11	1.000013e-11	0	5	5.764801e-02	
18	2.562224e-08	4.440892e-16	1.455192e-11	1.000013e-11	0	5	1.000000e+00	
19	2.434065e-08	2.220446e-16	1.455192e-11	1.000013e-11	0	5	8.235430e-02	
20	2.337715e-08	2.220446e-16	1.455192e-11	1.000013e-11	0	5	5.764801e-02	
21	1.085775e-08	4.440892e-16	1.455192e-11	1.000013e-11	0	5	7.000000e-01	
22	1.044411e-08	4.440892e-16	2.910383e-11	1.000013e-11	0	5	5.764801e-02	
23	2.988031e-09	4.440892e-16	1.455192e-11	1.000013e-11	0	5	1.000000e+00	


analysis here
r_T
1.2502526249541546
pref [0.         0.03574414 0.16121677 0.40768684 0.7115619  1.        ]
psol [-1.79299047e-18  3.57441364e-02  1.61216767e-01  4.07686842e-01
  7.11561897e-01  1.00000000e+00]
vref [0.         0.29631619 0.71768291 1.26410016 1.17682996 1.14062949]
vsol [-6.32923072e-19  2.96316189e-01  7.17682908e-01  1.26410016e+00
  1.17682996e+00  1.14062949e+00]
uref [ 1.03000001  1.28005053  1.53010106 -1.25418709 -1.30000001 -1.30000001]
usol [ 1.03        1.28005052  1.53010105 -1.25418709 -1.3        -1.3       ]
tref [0.03       0.28005052 0.53010105 0.78015157 1.0302021  1.28025262]
tsol [0.03       0.28005052 0.53010105 0.78015157 1.0302021  1.28025262]
Tref 1.2502526219075683
Tsol 1.2502526249541546
ref_t [0.03       0.28005052 0.53010105 0.78015157 1.0302021  1.28025262]
sol_t [0.03       0.28005052 0.53010105 0.78015157 1.0302021  1.28025262]
.123970e-05	9.850787e-12	1.455192e-11	1.000013e-11	0	5	1.000000e+00
backtracking 0, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
12	6.969398e-06	1.060707e-12	1.455192e-11	1.000013e-11	0	5	1.000000e+00
backtracking 0, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
13	2.284450e-06	1.141309e-13	1.034694e-16	1.000013e-11	0	5	1.000000e+00
backtracking 0, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
14	7.499536e-07	1.221245e-14	1.455192e-11	1.000013e-11	0	5	1.000000e+00
backtracking 0, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
15	2.446238e-07	1.110223e-15	1.455192e-11	1.000013e-11	0	5	1.000000e+00
backtracking 0, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 1, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 2, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 3, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 4, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 5, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 6, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 7, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
16	8.025967e-08	2.220446e-16	1.455192e-11	1.000013e-11	0	5	5.764801e-02
backtracking 0, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
17	7.708081e-08	4.440892e-16	1.455192e-11	1.000013e-11	0	5	1.000000e+00
backtracking 0, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 1, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 2, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 3, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 4, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 5, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 6, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 7, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
18	2.562224e-08	4.440892e-16	1.455192e-11	1.000013e-11	0	5	8.235430e-02
backtracking 0, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 1, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 2, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 3, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 4, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 5, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 6, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 7, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
19	2.434065e-08	2.220446e-16	1.455192e-11	1.000013e-11	0	5	5.764801e-02
backtracking 0, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 1, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
# it	stat		eq		ineq		comp		qp_stat	qp_iter	alpha
20	2.337715e-08	2.220446e-16	1.455192e-11	1.000013e-11	0	5	7.000000e-01
backtracking 0, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 1, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 2, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 3, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 4, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 5, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 6, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
backtracking 7, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
21	1.085775e-08	4.440892e-16	1.455192e-11	1.000013e-11	0	5	5.764801e-02
backtracking 0, merit_fun1 = 1.270029e+00, merit_fun0 1.270029e+00
22	1.044411e-08	4.440892e-16	2.910383e-11	1.000013e-11	0	5	1.000000e+00
23	2.988031e-09	4.440892e-16	1.455192e-11	1.000013e-11	0	5	1.000000e+00


