Hyper-Sensitive Problem
Contents
Hyper-Sensitive Problem#
This example is based on the Hyper-Sensitive problem given in Patterson [PHR15]. In this problem we seek to minimize both the distance traveled when moving between fixed boundary conditions and also to minimize the control \(u\) used. The cost function to be minimized is:
(48)#\[\begin{align}
J &= \frac{1}{2} \int_{0}^{t_f} (x^2 + u^2) dt
\end{align}\]
The system is subject to the dynamic constraints:
(49)#\[\begin{align}
\frac{dx}{dt} &= -x + u
\end{align}\]
The boundary conditions are:
(50)#\[\begin{align}
x(t_0) &= 1.5 \\
x(t_f) &= 1
\end{align}\]
The control \(u\) is unconstrained while the final time \(t_f\) is fixed.
Due to the nature of dynamics, for sufficiently large values of \(t_f\), the problem exhibits a dive, cruise, and resurface type structure, where the all interesting behavior occurs at the beginning and end while remaining relatively constant in the middle.
This problem has a known analytic optimal solution:
(51)#\[\begin{align}
x^*(t) &= c_1 e^{\sqrt{2} t} + c_2 e^{-\sqrt{2} t} \\
u^*(t) &= \dot{x}^*(t) + x^*(t)
\end{align}\]
where:
(52)#\[\begin{align}
c_1 &= \frac{1.5 e^{-\sqrt{2} t_f} - 1}{e^{-\sqrt{2} t_f} - e^{\sqrt{2} t_f}} \\
c_2 &= \frac{1 - 1.5 e^{\sqrt{2} t_f}}{e^{-\sqrt{2} t_f} - e^{\sqrt{2} t_f}}
\end{align}\]
The ODE System: hyper_sensitive_ode.py#
import numpy as np
import openmdao.api as om
class HyperSensitiveODE(om.ExplicitComponent):
states = {'x': {'rate_source': 'x_dot'},
'xL': {'rate_source': 'L'}}
parameters = {'u': {'targets': 'u'}}
def initialize(self):
self.options.declare('num_nodes', types=int)
def setup(self):
nn = self.options['num_nodes']
# inputs
self.add_input('x', val=np.zeros(nn), desc='state')
self.add_input('xL', val=np.zeros(nn), desc='cost_state')
self.add_input('u', val=np.zeros(nn), desc='control')
self.add_output('x_dot', val=np.zeros(nn), desc='state rate', units='1/s')
self.add_output('L', val=np.zeros(nn), desc='Lagrangian', units='1/s')
# Setup partials
self.declare_partials(of='x_dot', wrt='x', rows=np.arange(nn), cols=np.arange(nn), val=-1)
self.declare_partials(of='x_dot', wrt='u', rows=np.arange(nn), cols=np.arange(nn), val=1)
self.declare_partials(of='L', wrt='x', rows=np.arange(nn), cols=np.arange(nn))
self.declare_partials(of='L', wrt='u', rows=np.arange(nn), cols=np.arange(nn))
def compute(self, inputs, outputs):
x = inputs['x']
u = inputs['u']
outputs['x_dot'] = -x + u
outputs['L'] = (x ** 2 + u ** 2) / 2
def compute_partials(self, inputs, jacobian):
x = inputs['x']
u = inputs['u']
jacobian['L', 'x'] = x
jacobian['L', 'u'] = u
Building and running the problem with grid refinement#
The hypersenstive problem is notorious for being stiff near the endpoints, where the stiffness is more and more pronounced as the time duration is increased.
The accuracy of a pseudospectral method can suffer when the state interpolating polynomials don’t have a high enough degree to accurately capture rapidly changing states in these stiff regions. To counter this, grid refinement algorithms are used to assess error in the interpolating polynomials and change the grid (the number of interpolating segments, the polynomial order of the segments, and their positions in time).
In the example below, we tell Dymos to use, at most, ten passes of its default grid refinement algorithm by providing run_problem with the refine_iteration_limit option.
import matplotlib.pyplot as plt
import openmdao.api as om
import dymos as dm
from dymos.examples.plotting import plot_results
# Initialize the problem and assign the driver
p = om.Problem(model=om.Group())
p.driver = om.pyOptSparseDriver()
p.driver.options['optimizer'] = 'SLSQP'
p.driver.declare_coloring()
# Setup the trajectory and its phase
traj = p.model.add_subsystem('traj', dm.Trajectory())
transcription = dm.Radau(num_segments=10, order=3, compressed=False)
phase = traj.add_phase('phase0',
dm.Phase(ode_class=HyperSensitiveODE, transcription=transcription))
phase.set_time_options(fix_initial=True, fix_duration=True)
phase.add_state('x', fix_initial=True, fix_final=False, rate_source='x_dot', targets=['x'])
phase.add_state('xL', fix_initial=True, fix_final=False, rate_source='L', targets=['xL'])
phase.add_control('u', opt=True, targets=['u'])
phase.add_boundary_constraint('x', loc='final', equals=1)
phase.add_objective('xL', loc='final')
p.setup(check=True)
p.set_val('traj.phase0.states:x', phase.interp('x', [1.5, 1]))
p.set_val('traj.phase0.states:xL', phase.interp('xL', [0, 1]))
p.set_val('traj.phase0.t_initial', 0)
p.set_val('traj.phase0.t_duration', tf)
p.set_val('traj.phase0.controls:u', phase.interp('u', [-0.6, 2.4]))
#
# Solve the problem.
#
phase.set_refine_options(tol=1.0E-7)
dm.run_problem(p, simulate=True, refine_iteration_limit=10)
--- Constraint Report [traj] ---
--- phase0 ---
[final] 1.0000e+00 == x [None]
INFO: checking out_of_order
INFO:check_config:checking out_of_order
INFO: checking system
INFO:check_config:checking system
INFO: checking solvers
INFO:check_config:checking solvers
INFO: checking dup_inputs
INFO:check_config:checking dup_inputs
INFO: checking missing_recorders
INFO:check_config:checking missing_recorders
WARNING: The Problem has no recorder of any kind attached
WARNING:check_config:The Problem has no recorder of any kind attached
INFO: checking unserializable_options
INFO:check_config:checking unserializable_options
INFO: checking comp_has_no_outputs
INFO:check_config:checking comp_has_no_outputs
INFO: checking auto_ivc_warnings
INFO:check_config:checking auto_ivc_warnings
Model viewer data has already been recorded for Driver.
INFO: checking out_of_order
INFO:check_config:checking out_of_order
INFO: checking system
INFO:check_config:checking system
INFO: checking solvers
INFO:check_config:checking solvers
INFO: checking dup_inputs
INFO:check_config:checking dup_inputs
INFO: checking missing_recorders
INFO:check_config:checking missing_recorders
WARNING: The Problem has no recorder of any kind attached
WARNING:check_config:The Problem has no recorder of any kind attached
INFO: checking unserializable_options
INFO:check_config:checking unserializable_options
INFO: checking comp_has_no_outputs
INFO:check_config:checking comp_has_no_outputs
INFO: checking auto_ivc_warnings
INFO:check_config:checking auto_ivc_warnings
Full total jacobian was computed 3 times, taking 0.214013 seconds.
Total jacobian shape: (80, 108)
Jacobian shape: (80, 108) ( 4.80% nonzero)
FWD solves: 0 REV solves: 9
Total colors vs. total size: 9 vs 80 (88.8% improvement)
Sparsity computed using tolerance: 1e-25
Time to compute sparsity: 0.214013 sec.
Time to compute coloring: 0.081086 sec.
Memory to compute coloring: 0.000000 MB.
Optimization Problem -- Optimization using pyOpt_sparse
================================================================================
Objective Function: _objfunc
Solution:
--------------------------------------------------------------------------------
Total Time: 0.2887
User Objective Time : 0.0265
User Sensitivity Time : 0.1411
Interface Time : 0.0597
Opt Solver Time: 0.0614
Calls to Objective Function : 16
Calls to Sens Function : 14
Objectives
Index Name Value
0 traj.phases.phase0.indep_states.states:xL 1.672900E+00
Variables (c - continuous, i - integer, d - discrete)
Index Name Type Lower Bound Value Upper Bound Status
0 traj.phases.phase0.indep_states.states:x_0 c -1.000000E+21 9.070636E-01 1.000000E+21
1 traj.phases.phase0.indep_states.states:x_1 c -1.000000E+21 4.567318E-01 1.000000E+21
2 traj.phases.phase0.indep_states.states:x_2 c -1.000000E+21 3.647086E-01 1.000000E+21
3 traj.phases.phase0.indep_states.states:x_3 c -1.000000E+21 3.647086E-01 1.000000E+21
4 traj.phases.phase0.indep_states.states:x_4 c -1.000000E+21 2.198995E-01 1.000000E+21
5 traj.phases.phase0.indep_states.states:x_5 c -1.000000E+21 1.110688E-01 1.000000E+21
6 traj.phases.phase0.indep_states.states:x_6 c -1.000000E+21 8.883385E-02 1.000000E+21
7 traj.phases.phase0.indep_states.states:x_7 c -1.000000E+21 8.883385E-02 1.000000E+21
8 traj.phases.phase0.indep_states.states:x_8 c -1.000000E+21 5.367288E-02 1.000000E+21
9 traj.phases.phase0.indep_states.states:x_9 c -1.000000E+21 2.695144E-02 1.000000E+21
10 traj.phases.phase0.indep_states.states:x_10 c -1.000000E+21 2.150934E-02 1.000000E+21
11 traj.phases.phase0.indep_states.states:x_11 c -1.000000E+21 2.150934E-02 1.000000E+21
12 traj.phases.phase0.indep_states.states:x_12 c -1.000000E+21 1.300003E-02 1.000000E+21
13 traj.phases.phase0.indep_states.states:x_13 c -1.000000E+21 6.733488E-03 1.000000E+21
14 traj.phases.phase0.indep_states.states:x_14 c -1.000000E+21 5.485528E-03 1.000000E+21
15 traj.phases.phase0.indep_states.states:x_15 c -1.000000E+21 5.485528E-03 1.000000E+21
16 traj.phases.phase0.indep_states.states:x_16 c -1.000000E+21 3.585691E-03 1.000000E+21
17 traj.phases.phase0.indep_states.states:x_17 c -1.000000E+21 2.352192E-03 1.000000E+21
18 traj.phases.phase0.indep_states.states:x_18 c -1.000000E+21 2.174695E-03 1.000000E+21
19 traj.phases.phase0.indep_states.states:x_19 c -1.000000E+21 2.174695E-03 1.000000E+21
20 traj.phases.phase0.indep_states.states:x_20 c -1.000000E+21 2.138404E-03 1.000000E+21
21 traj.phases.phase0.indep_states.states:x_21 c -1.000000E+21 3.173179E-03 1.000000E+21
22 traj.phases.phase0.indep_states.states:x_22 c -1.000000E+21 3.835452E-03 1.000000E+21
23 traj.phases.phase0.indep_states.states:x_23 c -1.000000E+21 3.835452E-03 1.000000E+21
24 traj.phases.phase0.indep_states.states:x_24 c -1.000000E+21 6.125970E-03 1.000000E+21
25 traj.phases.phase0.indep_states.states:x_25 c -1.000000E+21 1.194246E-02 1.000000E+21
26 traj.phases.phase0.indep_states.states:x_26 c -1.000000E+21 1.463080E-02 1.000000E+21
27 traj.phases.phase0.indep_states.states:x_27 c -1.000000E+21 1.463080E-02 1.000000E+21
28 traj.phases.phase0.indep_states.states:x_28 c -1.000000E+21 2.334327E-02 1.000000E+21
29 traj.phases.phase0.indep_states.states:x_29 c -1.000000E+21 4.726974E-02 1.000000E+21
30 traj.phases.phase0.indep_states.states:x_30 c -1.000000E+21 5.916012E-02 1.000000E+21
31 traj.phases.phase0.indep_states.states:x_31 c -1.000000E+21 5.916012E-02 1.000000E+21
32 traj.phases.phase0.indep_states.states:x_32 c -1.000000E+21 9.790350E-02 1.000000E+21
33 traj.phases.phase0.indep_states.states:x_33 c -1.000000E+21 1.976781E-01 1.000000E+21
34 traj.phases.phase0.indep_states.states:x_34 c -1.000000E+21 2.451085E-01 1.000000E+21
35 traj.phases.phase0.indep_states.states:x_35 c -1.000000E+21 2.451085E-01 1.000000E+21
36 traj.phases.phase0.indep_states.states:x_36 c -1.000000E+21 3.984685E-01 1.000000E+21
37 traj.phases.phase0.indep_states.states:x_37 c -1.000000E+21 8.035525E-01 1.000000E+21
38 traj.phases.phase0.indep_states.states:x_38 c -1.000000E+21 1.000000E+00 1.000000E+21
39 traj.phases.phase0.indep_states.states:xL_0 c -1.000000E+21 3.037293E-01 1.000000E+21
40 traj.phases.phase0.indep_states.states:xL_1 c -1.000000E+21 4.155307E-01 1.000000E+21
41 traj.phases.phase0.indep_states.states:xL_2 c -1.000000E+21 4.387795E-01 1.000000E+21
42 traj.phases.phase0.indep_states.states:xL_3 c -1.000000E+21 4.387795E-01 1.000000E+21
43 traj.phases.phase0.indep_states.states:xL_4 c -1.000000E+21 4.568133E-01 1.000000E+21
44 traj.phases.phase0.indep_states.states:xL_5 c -1.000000E+21 4.633287E-01 1.000000E+21
45 traj.phases.phase0.indep_states.states:xL_6 c -1.000000E+21 4.647145E-01 1.000000E+21
46 traj.phases.phase0.indep_states.states:xL_7 c -1.000000E+21 4.647145E-01 1.000000E+21
47 traj.phases.phase0.indep_states.states:xL_8 c -1.000000E+21 4.657806E-01 1.000000E+21
48 traj.phases.phase0.indep_states.states:xL_9 c -1.000000E+21 4.661730E-01 1.000000E+21
49 traj.phases.phase0.indep_states.states:xL_10 c -1.000000E+21 4.662542E-01 1.000000E+21
50 traj.phases.phase0.indep_states.states:xL_11 c -1.000000E+21 4.662542E-01 1.000000E+21
51 traj.phases.phase0.indep_states.states:xL_12 c -1.000000E+21 4.663168E-01 1.000000E+21
52 traj.phases.phase0.indep_states.states:xL_13 c -1.000000E+21 4.663391E-01 1.000000E+21
53 traj.phases.phase0.indep_states.states:xL_14 c -1.000000E+21 4.663440E-01 1.000000E+21
54 traj.phases.phase0.indep_states.states:xL_15 c -1.000000E+21 4.663440E-01 1.000000E+21
55 traj.phases.phase0.indep_states.states:xL_16 c -1.000000E+21 4.663478E-01 1.000000E+21
56 traj.phases.phase0.indep_states.states:xL_17 c -1.000000E+21 4.663497E-01 1.000000E+21
57 traj.phases.phase0.indep_states.states:xL_18 c -1.000000E+21 4.663503E-01 1.000000E+21
58 traj.phases.phase0.indep_states.states:xL_19 c -1.000000E+21 4.663503E-01 1.000000E+21
59 traj.phases.phase0.indep_states.states:xL_20 c -1.000000E+21 4.663517E-01 1.000000E+21
60 traj.phases.phase0.indep_states.states:xL_21 c -1.000000E+21 4.663594E-01 1.000000E+21
61 traj.phases.phase0.indep_states.states:xL_22 c -1.000000E+21 4.663647E-01 1.000000E+21
62 traj.phases.phase0.indep_states.states:xL_23 c -1.000000E+21 4.663647E-01 1.000000E+21
63 traj.phases.phase0.indep_states.states:xL_24 c -1.000000E+21 4.663905E-01 1.000000E+21
64 traj.phases.phase0.indep_states.states:xL_25 c -1.000000E+21 4.665224E-01 1.000000E+21
65 traj.phases.phase0.indep_states.states:xL_26 c -1.000000E+21 4.666055E-01 1.000000E+21
66 traj.phases.phase0.indep_states.states:xL_27 c -1.000000E+21 4.666055E-01 1.000000E+21
67 traj.phases.phase0.indep_states.states:xL_28 c -1.000000E+21 4.669652E-01 1.000000E+21
68 traj.phases.phase0.indep_states.states:xL_29 c -1.000000E+21 4.691260E-01 1.000000E+21
69 traj.phases.phase0.indep_states.states:xL_30 c -1.000000E+21 4.705705E-01 1.000000E+21
70 traj.phases.phase0.indep_states.states:xL_31 c -1.000000E+21 4.705705E-01 1.000000E+21
71 traj.phases.phase0.indep_states.states:xL_32 c -1.000000E+21 4.773320E-01 1.000000E+21
72 traj.phases.phase0.indep_states.states:xL_33 c -1.000000E+21 5.146476E-01 1.000000E+21
73 traj.phases.phase0.indep_states.states:xL_34 c -1.000000E+21 5.388422E-01 1.000000E+21
74 traj.phases.phase0.indep_states.states:xL_35 c -1.000000E+21 5.388422E-01 1.000000E+21
75 traj.phases.phase0.indep_states.states:xL_36 c -1.000000E+21 6.475368E-01 1.000000E+21
76 traj.phases.phase0.indep_states.states:xL_37 c -1.000000E+21 1.266461E+00 1.000000E+21
77 traj.phases.phase0.indep_states.states:xL_38 c -1.000000E+21 1.672900E+00 1.000000E+21
78 traj.phases.phase0.control_group.indep_controls.controls:u_0 c -1.000000E+21 -6.005241E-01 1.000000E+21
79 traj.phases.phase0.control_group.indep_controls.controls:u_1 c -1.000000E+21 -3.807615E-01 1.000000E+21
80 traj.phases.phase0.control_group.indep_controls.controls:u_2 c -1.000000E+21 -1.859509E-01 1.000000E+21
81 traj.phases.phase0.control_group.indep_controls.controls:u_3 c -1.000000E+21 -1.504855E-01 1.000000E+21
82 traj.phases.phase0.control_group.indep_controls.controls:u_4 c -1.000000E+21 -9.292949E-02 1.000000E+21
83 traj.phases.phase0.control_group.indep_controls.controls:u_5 c -1.000000E+21 -4.384628E-02 1.000000E+21
84 traj.phases.phase0.control_group.indep_controls.controls:u_6 c -1.000000E+21 -3.563934E-02 1.000000E+21
85 traj.phases.phase0.control_group.indep_controls.controls:u_7 c -1.000000E+21 -2.275153E-02 1.000000E+21
86 traj.phases.phase0.control_group.indep_controls.controls:u_8 c -1.000000E+21 -1.111342E-02 1.000000E+21
87 traj.phases.phase0.control_group.indep_controls.controls:u_9 c -1.000000E+21 -8.914378E-03 1.000000E+21
88 traj.phases.phase0.control_group.indep_controls.controls:u_10 c -1.000000E+21 -5.249345E-03 1.000000E+21
89 traj.phases.phase0.control_group.indep_controls.controls:u_11 c -1.000000E+21 -2.009416E-03 1.000000E+21
90 traj.phases.phase0.control_group.indep_controls.controls:u_12 c -1.000000E+21 -1.422960E-03 1.000000E+21
91 traj.phases.phase0.control_group.indep_controls.controls:u_13 c -1.000000E+21 -3.618707E-04 1.000000E+21
92 traj.phases.phase0.control_group.indep_controls.controls:u_14 c -1.000000E+21 9.702862E-04 1.000000E+21
93 traj.phases.phase0.control_group.indep_controls.controls:u_15 c -1.000000E+21 1.360038E-03 1.000000E+21
94 traj.phases.phase0.control_group.indep_controls.controls:u_16 c -1.000000E+21 2.840269E-03 1.000000E+21
95 traj.phases.phase0.control_group.indep_controls.controls:u_17 c -1.000000E+21 6.870222E-03 1.000000E+21
96 traj.phases.phase0.control_group.indep_controls.controls:u_18 c -1.000000E+21 8.625841E-03 1.000000E+21
97 traj.phases.phase0.control_group.indep_controls.controls:u_19 c -1.000000E+21 1.449747E-02 1.000000E+21
98 traj.phases.phase0.control_group.indep_controls.controls:u_20 c -1.000000E+21 2.781058E-02 1.000000E+21
99 traj.phases.phase0.control_group.indep_controls.controls:u_21 c -1.000000E+21 3.328314E-02 1.000000E+21
100 traj.phases.phase0.control_group.indep_controls.controls:u_22 c -1.000000E+21 5.558565E-02 1.000000E+21
101 traj.phases.phase0.control_group.indep_controls.controls:u_23 c -1.000000E+21 1.161668E-01 1.000000E+21
102 traj.phases.phase0.control_group.indep_controls.controls:u_24 c -1.000000E+21 1.425417E-01 1.000000E+21
103 traj.phases.phase0.control_group.indep_controls.controls:u_25 c -1.000000E+21 2.386412E-01 1.000000E+21
104 traj.phases.phase0.control_group.indep_controls.controls:u_26 c -1.000000E+21 4.754595E-01 1.000000E+21
105 traj.phases.phase0.control_group.indep_controls.controls:u_27 c -1.000000E+21 5.755894E-01 1.000000E+21
106 traj.phases.phase0.control_group.indep_controls.controls:u_28 c -1.000000E+21 9.589652E-01 1.000000E+21
107 traj.phases.phase0.control_group.indep_controls.controls:u_29 c -1.000000E+21 1.948402E+00 1.000000E+21
Constraints (i - inequality, e - equality)
Index Name Type Lower Value Upper Status Lagrange Multiplier (N/A)
0 traj.phases.phase0->final_boundary_constraint->x e 1.000000E+00 1.000000E+00 1.000000E+00 9.00000E+100
1 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.220446E-16 0.000000E+00 9.00000E+100
2 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.110223E-16 0.000000E+00 9.00000E+100
3 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.110223E-16 0.000000E+00 9.00000E+100
4 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
5 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.775558E-17 0.000000E+00 9.00000E+100
6 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.387779E-17 0.000000E+00 9.00000E+100
7 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
8 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.387779E-17 0.000000E+00 9.00000E+100
9 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
10 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 3.469447E-18 0.000000E+00 9.00000E+100
11 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -3.469447E-18 0.000000E+00 9.00000E+100
12 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
13 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.336809E-19 0.000000E+00 9.00000E+100
14 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.301043E-18 0.000000E+00 9.00000E+100
15 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.336809E-19 0.000000E+00 9.00000E+100
16 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.355253E-18 0.000000E+00 9.00000E+100
17 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.084202E-19 0.000000E+00 9.00000E+100
18 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
19 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -5.637851E-18 0.000000E+00 9.00000E+100
20 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -8.673617E-19 0.000000E+00 9.00000E+100
21 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
22 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.561251E-17 0.000000E+00 9.00000E+100
23 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -3.469447E-18 0.000000E+00 9.00000E+100
24 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
25 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 5.551115E-17 0.000000E+00 9.00000E+100
26 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 4.163336E-17 0.000000E+00 9.00000E+100
27 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.775558E-17 0.000000E+00 9.00000E+100
28 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.665335E-16 0.000000E+00 9.00000E+100
29 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -5.551115E-17 0.000000E+00 9.00000E+100
30 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.110223E-16 0.000000E+00 9.00000E+100
31 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -8.188402E-08 0.000000E+00 9.00000E+100
32 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.354608E-09 0.000000E+00 9.00000E+100
33 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.676048E-08 0.000000E+00 9.00000E+100
34 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.054425E-08 0.000000E+00 9.00000E+100
35 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.362774E-09 0.000000E+00 9.00000E+100
36 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -4.359271E-09 0.000000E+00 9.00000E+100
37 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -5.787191E-09 0.000000E+00 9.00000E+100
38 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -8.150626E-09 0.000000E+00 9.00000E+100
39 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -8.571466E-09 0.000000E+00 9.00000E+100
40 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -7.794056E-09 0.000000E+00 9.00000E+100
41 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -5.372798E-09 0.000000E+00 9.00000E+100
42 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -2.204287E-09 0.000000E+00 9.00000E+100
43 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.569982E-09 0.000000E+00 9.00000E+100
44 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.096162E-09 0.000000E+00 9.00000E+100
45 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.213433E-09 0.000000E+00 9.00000E+100
46 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.139686E-09 0.000000E+00 9.00000E+100
47 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -7.522308E-10 0.000000E+00 9.00000E+100
48 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.555753E-10 0.000000E+00 9.00000E+100
49 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.463996E-10 0.000000E+00 9.00000E+100
50 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.095710E-09 0.000000E+00 9.00000E+100
51 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -6.769952E-09 0.000000E+00 9.00000E+100
52 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.027142E-08 0.000000E+00 9.00000E+100
53 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.960795E-08 0.000000E+00 9.00000E+100
54 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -2.873312E-08 0.000000E+00 9.00000E+100
55 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -2.971338E-08 0.000000E+00 9.00000E+100
56 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -2.609252E-08 0.000000E+00 9.00000E+100
57 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.127303E-08 0.000000E+00 9.00000E+100
58 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -7.579282E-09 0.000000E+00 9.00000E+100
59 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -6.037460E-09 0.000000E+00 9.00000E+100
60 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -2.662031E-09 0.000000E+00 9.00000E+100
61 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
62 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
63 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
64 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
65 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
66 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 -4.336809E-19 0.000000E+00 9.00000E+100
67 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
68 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
69 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
70 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
71 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
72 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
73 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
74 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
75 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
76 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
77 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
78 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
79 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 -8.326673E-17 0.000000E+00 9.00000E+100
80 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 -1.387779E-17 0.000000E+00 9.00000E+100
81 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
82 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 6.505213E-19 0.000000E+00 9.00000E+100
83 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 4.336809E-19 0.000000E+00 9.00000E+100
84 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
85 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
86 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
87 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
88 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -4.163336E-16 0.000000E+00 9.00000E+100
89 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -2.081668E-16 0.000000E+00 9.00000E+100
90 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 7.806256E-17 0.000000E+00 9.00000E+100
91 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -4.336809E-18 0.000000E+00 9.00000E+100
92 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 1.084202E-17 0.000000E+00 9.00000E+100
93 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 3.469447E-17 0.000000E+00 9.00000E+100
94 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -1.387779E-16 0.000000E+00 9.00000E+100
95 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 2.775558E-16 0.000000E+00 9.00000E+100
96 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 1.110223E-15 0.000000E+00 9.00000E+100
--------------------------------------------------------------------------------
/usr/share/miniconda/envs/test/lib/python3.10/site-packages/openmdao/visualization/opt_report/opt_report.py:666: UserWarning: Attempting to set identical low and high ylims makes transformation singular; automatically expanding.
ax.set_ylim([ymin_plot, ymax_plot])
==================================================
Grid Refinement - Iteration 1
--------------------------------------------------
Phase: traj.phases.phase0
Refinement Options:
Allow Refinement = True
Tolerance = 1e-07
Min Order = 3
Max Order = 14
Original Grid:
Number of Segments = 10
Segment Ends = [-1.0, -0.8, -0.6, -0.4, -0.2, 0.0, 0.2, 0.4, 0.6, 0.8, 1.0]
Segment Order = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
Error = [0.008845, 0.0005371, 0.0001184, 3.293e-05, 6.973e-06, 4.149e-06, 1.162e-05, 7.798e-05, 0.0007691, 0.008176]
Phase: traj.phases.phase0
New Grid:
Number of Segments = 10
Segment Ends = [-1.0, -0.8, -0.6, -0.4, -0.2, 0.0, 0.2, 0.4, 0.6, 0.8, 1.0]
Segment Order = [6, 6, 6, 6, 6, 6, 6, 6, 6, 6]
Refined: True
--- Constraint Report [traj] ---
--- phase0 ---
[final] 1.0000e+00 == x [None]
Model viewer data has already been recorded for Driver.
Model viewer data has already been recorded for Driver.
Full total jacobian was computed 3 times, taking 0.412157 seconds.
Total jacobian shape: (140, 198)
Jacobian shape: (140, 198) ( 4.26% nonzero)
FWD solves: 0 REV solves: 15
Total colors vs. total size: 15 vs 140 (89.3% improvement)
Sparsity computed using tolerance: 1e-25
Time to compute sparsity: 0.412157 sec.
Time to compute coloring: 0.157121 sec.
Memory to compute coloring: 0.000000 MB.
Optimization Problem -- Optimization using pyOpt_sparse
================================================================================
Objective Function: _objfunc
Solution:
--------------------------------------------------------------------------------
Total Time: 0.4275
User Objective Time : 0.0168
User Sensitivity Time : 0.1423
Interface Time : 0.0568
Opt Solver Time: 0.2117
Calls to Objective Function : 9
Calls to Sens Function : 8
Objectives
Index Name Value
0 traj.phases.phase0.indep_states.states:xL 1.673096E+00
Variables (c - continuous, i - integer, d - discrete)
Index Name Type Lower Bound Value Upper Bound Status
0 traj.phases.phase0.indep_states.states:x_0 c -1.000000E+21 1.305319E+00 1.000000E+21
1 traj.phases.phase0.indep_states.states:x_1 c -1.000000E+21 9.751518E-01 1.000000E+21
2 traj.phases.phase0.indep_states.states:x_2 c -1.000000E+21 6.777097E-01 1.000000E+21
3 traj.phases.phase0.indep_states.states:x_3 c -1.000000E+21 4.825270E-01 1.000000E+21
4 traj.phases.phase0.indep_states.states:x_4 c -1.000000E+21 3.858456E-01 1.000000E+21
5 traj.phases.phase0.indep_states.states:x_5 c -1.000000E+21 3.647539E-01 1.000000E+21
6 traj.phases.phase0.indep_states.states:x_6 c -1.000000E+21 3.647539E-01 1.000000E+21
7 traj.phases.phase0.indep_states.states:x_7 c -1.000000E+21 3.173100E-01 1.000000E+21
8 traj.phases.phase0.indep_states.states:x_8 c -1.000000E+21 2.370751E-01 1.000000E+21
9 traj.phases.phase0.indep_states.states:x_9 c -1.000000E+21 1.647571E-01 1.000000E+21
10 traj.phases.phase0.indep_states.states:x_10 c -1.000000E+21 1.173241E-01 1.000000E+21
11 traj.phases.phase0.indep_states.states:x_11 c -1.000000E+21 9.382039E-02 1.000000E+21
12 traj.phases.phase0.indep_states.states:x_12 c -1.000000E+21 8.869238E-02 1.000000E+21
13 traj.phases.phase0.indep_states.states:x_13 c -1.000000E+21 8.869238E-02 1.000000E+21
14 traj.phases.phase0.indep_states.states:x_14 c -1.000000E+21 7.716440E-02 1.000000E+21
15 traj.phases.phase0.indep_states.states:x_15 c -1.000000E+21 5.766906E-02 1.000000E+21
16 traj.phases.phase0.indep_states.states:x_16 c -1.000000E+21 4.008827E-02 1.000000E+21
17 traj.phases.phase0.indep_states.states:x_17 c -1.000000E+21 2.857029E-02 1.000000E+21
18 traj.phases.phase0.indep_states.states:x_18 c -1.000000E+21 2.286017E-02 1.000000E+21
19 traj.phases.phase0.indep_states.states:x_19 c -1.000000E+21 2.161402E-02 1.000000E+21
20 traj.phases.phase0.indep_states.states:x_20 c -1.000000E+21 2.161402E-02 1.000000E+21
21 traj.phases.phase0.indep_states.states:x_21 c -1.000000E+21 1.881500E-02 1.000000E+21
22 traj.phases.phase0.indep_states.states:x_22 c -1.000000E+21 1.409304E-02 1.000000E+21
23 traj.phases.phase0.indep_states.states:x_23 c -1.000000E+21 9.851288E-03 1.000000E+21
24 traj.phases.phase0.indep_states.states:x_24 c -1.000000E+21 7.092631E-03 1.000000E+21
25 traj.phases.phase0.indep_states.states:x_25 c -1.000000E+21 5.743022E-03 1.000000E+21
26 traj.phases.phase0.indep_states.states:x_26 c -1.000000E+21 5.451247E-03 1.000000E+21
27 traj.phases.phase0.indep_states.states:x_27 c -1.000000E+21 5.451247E-03 1.000000E+21
28 traj.phases.phase0.indep_states.states:x_28 c -1.000000E+21 4.800640E-03 1.000000E+21
29 traj.phases.phase0.indep_states.states:x_29 c -1.000000E+21 3.728444E-03 1.000000E+21
30 traj.phases.phase0.indep_states.states:x_30 c -1.000000E+21 2.826181E-03 1.000000E+21
31 traj.phases.phase0.indep_states.states:x_31 c -1.000000E+21 2.327765E-03 1.000000E+21
32 traj.phases.phase0.indep_states.states:x_32 c -1.000000E+21 2.151518E-03 1.000000E+21
33 traj.phases.phase0.indep_states.states:x_33 c -1.000000E+21 2.124018E-03 1.000000E+21
34 traj.phases.phase0.indep_states.states:x_34 c -1.000000E+21 2.124018E-03 1.000000E+21
35 traj.phases.phase0.indep_states.states:x_35 c -1.000000E+21 2.083727E-03 1.000000E+21
36 traj.phases.phase0.indep_states.states:x_36 c -1.000000E+21 2.134815E-03 1.000000E+21
37 traj.phases.phase0.indep_states.states:x_37 c -1.000000E+21 2.450583E-03 1.000000E+21
38 traj.phases.phase0.indep_states.states:x_38 c -1.000000E+21 3.040142E-03 1.000000E+21
39 traj.phases.phase0.indep_states.states:x_39 c -1.000000E+21 3.631595E-03 1.000000E+21
40 traj.phases.phase0.indep_states.states:x_40 c -1.000000E+21 3.807210E-03 1.000000E+21
41 traj.phases.phase0.indep_states.states:x_41 c -1.000000E+21 3.807210E-03 1.000000E+21
42 traj.phases.phase0.indep_states.states:x_42 c -1.000000E+21 4.289870E-03 1.000000E+21
43 traj.phases.phase0.indep_states.states:x_43 c -1.000000E+21 5.581487E-03 1.000000E+21
44 traj.phases.phase0.indep_states.states:x_44 c -1.000000E+21 7.866960E-03 1.000000E+21
45 traj.phases.phase0.indep_states.states:x_45 c -1.000000E+21 1.093927E-02 1.000000E+21
46 traj.phases.phase0.indep_states.states:x_46 c -1.000000E+21 1.365971E-02 1.000000E+21
47 traj.phases.phase0.indep_states.states:x_47 c -1.000000E+21 1.444439E-02 1.000000E+21
48 traj.phases.phase0.indep_states.states:x_48 c -1.000000E+21 1.444439E-02 1.000000E+21
49 traj.phases.phase0.indep_states.states:x_49 c -1.000000E+21 1.657920E-02 1.000000E+21
50 traj.phases.phase0.indep_states.states:x_50 c -1.000000E+21 2.215215E-02 1.000000E+21
51 traj.phases.phase0.indep_states.states:x_51 c -1.000000E+21 3.180389E-02 1.000000E+21
52 traj.phases.phase0.indep_states.states:x_52 c -1.000000E+21 4.461675E-02 1.000000E+21
53 traj.phases.phase0.indep_states.states:x_53 c -1.000000E+21 5.589021E-02 1.000000E+21
54 traj.phases.phase0.indep_states.states:x_54 c -1.000000E+21 5.914436E-02 1.000000E+21
55 traj.phases.phase0.indep_states.states:x_55 c -1.000000E+21 5.914436E-02 1.000000E+21
56 traj.phases.phase0.indep_states.states:x_56 c -1.000000E+21 6.799628E-02 1.000000E+21
57 traj.phases.phase0.indep_states.states:x_57 c -1.000000E+21 9.094201E-02 1.000000E+21
58 traj.phases.phase0.indep_states.states:x_58 c -1.000000E+21 1.308027E-01 1.000000E+21
59 traj.phases.phase0.indep_states.states:x_59 c -1.000000E+21 1.836171E-01 1.000000E+21
60 traj.phases.phase0.indep_states.states:x_60 c -1.000000E+21 2.297347E-01 1.000000E+21
61 traj.phases.phase0.indep_states.states:x_61 c -1.000000E+21 2.430719E-01 1.000000E+21
62 traj.phases.phase0.indep_states.states:x_62 c -1.000000E+21 2.430719E-01 1.000000E+21
63 traj.phases.phase0.indep_states.states:x_63 c -1.000000E+21 2.794856E-01 1.000000E+21
64 traj.phases.phase0.indep_states.states:x_64 c -1.000000E+21 3.738787E-01 1.000000E+21
65 traj.phases.phase0.indep_states.states:x_65 c -1.000000E+21 5.381029E-01 1.000000E+21
66 traj.phases.phase0.indep_states.states:x_66 c -1.000000E+21 7.557624E-01 1.000000E+21
67 traj.phases.phase0.indep_states.states:x_67 c -1.000000E+21 9.452268E-01 1.000000E+21
68 traj.phases.phase0.indep_states.states:x_68 c -1.000000E+21 1.000000E+00 1.000000E+21
69 traj.phases.phase0.indep_states.states:xL_0 c -1.000000E+21 1.131023E-01 1.000000E+21
70 traj.phases.phase0.indep_states.states:xL_1 c -1.000000E+21 2.690683E-01 1.000000E+21
71 traj.phases.phase0.indep_states.states:xL_2 c -1.000000E+21 3.708501E-01 1.000000E+21
72 traj.phases.phase0.indep_states.states:xL_3 c -1.000000E+21 4.177888E-01 1.000000E+21
73 traj.phases.phase0.indep_states.states:xL_4 c -1.000000E+21 4.351473E-01 1.000000E+21
74 traj.phases.phase0.indep_states.states:xL_5 c -1.000000E+21 4.384379E-01 1.000000E+21
75 traj.phases.phase0.indep_states.states:xL_6 c -1.000000E+21 4.384379E-01 1.000000E+21
76 traj.phases.phase0.indep_states.states:xL_7 c -1.000000E+21 4.451397E-01 1.000000E+21
77 traj.phases.phase0.indep_states.states:xL_8 c -1.000000E+21 4.543525E-01 1.000000E+21
78 traj.phases.phase0.indep_states.states:xL_9 c -1.000000E+21 4.603704E-01 1.000000E+21
79 traj.phases.phase0.indep_states.states:xL_10 c -1.000000E+21 4.631419E-01 1.000000E+21
80 traj.phases.phase0.indep_states.states:xL_11 c -1.000000E+21 4.641695E-01 1.000000E+21
81 traj.phases.phase0.indep_states.states:xL_12 c -1.000000E+21 4.643634E-01 1.000000E+21
82 traj.phases.phase0.indep_states.states:xL_13 c -1.000000E+21 4.643634E-01 1.000000E+21
83 traj.phases.phase0.indep_states.states:xL_14 c -1.000000E+21 4.647594E-01 1.000000E+21
84 traj.phases.phase0.indep_states.states:xL_15 c -1.000000E+21 4.653038E-01 1.000000E+21
85 traj.phases.phase0.indep_states.states:xL_16 c -1.000000E+21 4.656597E-01 1.000000E+21
86 traj.phases.phase0.indep_states.states:xL_17 c -1.000000E+21 4.658235E-01 1.000000E+21
87 traj.phases.phase0.indep_states.states:xL_18 c -1.000000E+21 4.658843E-01 1.000000E+21
88 traj.phases.phase0.indep_states.states:xL_19 c -1.000000E+21 4.658958E-01 1.000000E+21
89 traj.phases.phase0.indep_states.states:xL_20 c -1.000000E+21 4.658958E-01 1.000000E+21
90 traj.phases.phase0.indep_states.states:xL_21 c -1.000000E+21 4.659192E-01 1.000000E+21
91 traj.phases.phase0.indep_states.states:xL_22 c -1.000000E+21 4.659514E-01 1.000000E+21
92 traj.phases.phase0.indep_states.states:xL_23 c -1.000000E+21 4.659725E-01 1.000000E+21
93 traj.phases.phase0.indep_states.states:xL_24 c -1.000000E+21 4.659822E-01 1.000000E+21
94 traj.phases.phase0.indep_states.states:xL_25 c -1.000000E+21 4.659858E-01 1.000000E+21
95 traj.phases.phase0.indep_states.states:xL_26 c -1.000000E+21 4.659865E-01 1.000000E+21
96 traj.phases.phase0.indep_states.states:xL_27 c -1.000000E+21 4.659865E-01 1.000000E+21
97 traj.phases.phase0.indep_states.states:xL_28 c -1.000000E+21 4.659879E-01 1.000000E+21
98 traj.phases.phase0.indep_states.states:xL_29 c -1.000000E+21 4.659898E-01 1.000000E+21
99 traj.phases.phase0.indep_states.states:xL_30 c -1.000000E+21 4.659912E-01 1.000000E+21
100 traj.phases.phase0.indep_states.states:xL_31 c -1.000000E+21 4.659920E-01 1.000000E+21
101 traj.phases.phase0.indep_states.states:xL_32 c -1.000000E+21 4.659925E-01 1.000000E+21
102 traj.phases.phase0.indep_states.states:xL_33 c -1.000000E+21 4.659926E-01 1.000000E+21
103 traj.phases.phase0.indep_states.states:xL_34 c -1.000000E+21 4.659926E-01 1.000000E+21
104 traj.phases.phase0.indep_states.states:xL_35 c -1.000000E+21 4.659930E-01 1.000000E+21
105 traj.phases.phase0.indep_states.states:xL_36 c -1.000000E+21 4.659940E-01 1.000000E+21
106 traj.phases.phase0.indep_states.states:xL_37 c -1.000000E+21 4.659963E-01 1.000000E+21
107 traj.phases.phase0.indep_states.states:xL_38 c -1.000000E+21 4.660004E-01 1.000000E+21
108 traj.phases.phase0.indep_states.states:xL_39 c -1.000000E+21 4.660053E-01 1.000000E+21
109 traj.phases.phase0.indep_states.states:xL_40 c -1.000000E+21 4.660069E-01 1.000000E+21
110 traj.phases.phase0.indep_states.states:xL_41 c -1.000000E+21 4.660069E-01 1.000000E+21
111 traj.phases.phase0.indep_states.states:xL_42 c -1.000000E+21 4.660116E-01 1.000000E+21
112 traj.phases.phase0.indep_states.states:xL_43 c -1.000000E+21 4.660271E-01 1.000000E+21
113 traj.phases.phase0.indep_states.states:xL_44 c -1.000000E+21 4.660642E-01 1.000000E+21
114 traj.phases.phase0.indep_states.states:xL_45 c -1.000000E+21 4.661340E-01 1.000000E+21
115 traj.phases.phase0.indep_states.states:xL_46 c -1.000000E+21 4.662147E-01 1.000000E+21
116 traj.phases.phase0.indep_states.states:xL_47 c -1.000000E+21 4.662413E-01 1.000000E+21
117 traj.phases.phase0.indep_states.states:xL_48 c -1.000000E+21 4.662413E-01 1.000000E+21
118 traj.phases.phase0.indep_states.states:xL_49 c -1.000000E+21 4.663212E-01 1.000000E+21
119 traj.phases.phase0.indep_states.states:xL_50 c -1.000000E+21 4.665820E-01 1.000000E+21
120 traj.phases.phase0.indep_states.states:xL_51 c -1.000000E+21 4.672102E-01 1.000000E+21
121 traj.phases.phase0.indep_states.states:xL_52 c -1.000000E+21 4.683928E-01 1.000000E+21
122 traj.phases.phase0.indep_states.states:xL_53 c -1.000000E+21 4.697598E-01 1.000000E+21
123 traj.phases.phase0.indep_states.states:xL_54 c -1.000000E+21 4.702121E-01 1.000000E+21
124 traj.phases.phase0.indep_states.states:xL_55 c -1.000000E+21 4.702121E-01 1.000000E+21
125 traj.phases.phase0.indep_states.states:xL_56 c -1.000000E+21 4.715709E-01 1.000000E+21
126 traj.phases.phase0.indep_states.states:xL_57 c -1.000000E+21 4.759721E-01 1.000000E+21
127 traj.phases.phase0.indep_states.states:xL_58 c -1.000000E+21 4.866435E-01 1.000000E+21
128 traj.phases.phase0.indep_states.states:xL_59 c -1.000000E+21 5.066861E-01 1.000000E+21
129 traj.phases.phase0.indep_states.states:xL_60 c -1.000000E+21 5.296992E-01 1.000000E+21
130 traj.phases.phase0.indep_states.states:xL_61 c -1.000000E+21 5.373102E-01 1.000000E+21
131 traj.phases.phase0.indep_states.states:xL_62 c -1.000000E+21 5.373102E-01 1.000000E+21
132 traj.phases.phase0.indep_states.states:xL_63 c -1.000000E+21 5.602915E-01 1.000000E+21
133 traj.phases.phase0.indep_states.states:xL_64 c -1.000000E+21 6.346953E-01 1.000000E+21
134 traj.phases.phase0.indep_states.states:xL_65 c -1.000000E+21 8.155631E-01 1.000000E+21
135 traj.phases.phase0.indep_states.states:xL_66 c -1.000000E+21 1.155398E+00 1.000000E+21
136 traj.phases.phase0.indep_states.states:xL_67 c -1.000000E+21 1.544539E+00 1.000000E+21
137 traj.phases.phase0.indep_states.states:xL_68 c -1.000000E+21 1.673096E+00 1.000000E+21
138 traj.phases.phase0.control_group.indep_controls.controls:u_0 c -1.000000E+21 -6.089324E-01 1.000000E+21
139 traj.phases.phase0.control_group.indep_controls.controls:u_1 c -1.000000E+21 -5.408590E-01 1.000000E+21
140 traj.phases.phase0.control_group.indep_controls.controls:u_2 c -1.000000E+21 -4.042506E-01 1.000000E+21
141 traj.phases.phase0.control_group.indep_controls.controls:u_3 c -1.000000E+21 -2.803373E-01 1.000000E+21
142 traj.phases.phase0.control_group.indep_controls.controls:u_4 c -1.000000E+21 -2.006359E-01 1.000000E+21
143 traj.phases.phase0.control_group.indep_controls.controls:u_5 c -1.000000E+21 -1.587665E-01 1.000000E+21
144 traj.phases.phase0.control_group.indep_controls.controls:u_6 c -1.000000E+21 -1.503988E-01 1.000000E+21
145 traj.phases.phase0.control_group.indep_controls.controls:u_7 c -1.000000E+21 -1.317852E-01 1.000000E+21
146 traj.phases.phase0.control_group.indep_controls.controls:u_8 c -1.000000E+21 -9.813708E-02 1.000000E+21
147 traj.phases.phase0.control_group.indep_controls.controls:u_9 c -1.000000E+21 -6.818092E-02 1.000000E+21
148 traj.phases.phase0.control_group.indep_controls.controls:u_10 c -1.000000E+21 -4.867231E-02 1.000000E+21
149 traj.phases.phase0.control_group.indep_controls.controls:u_11 c -1.000000E+21 -3.862176E-02 1.000000E+21
150 traj.phases.phase0.control_group.indep_controls.controls:u_12 c -1.000000E+21 -3.654477E-02 1.000000E+21
151 traj.phases.phase0.control_group.indep_controls.controls:u_13 c -1.000000E+21 -3.192580E-02 1.000000E+21
152 traj.phases.phase0.control_group.indep_controls.controls:u_14 c -1.000000E+21 -2.382100E-02 1.000000E+21
153 traj.phases.phase0.control_group.indep_controls.controls:u_15 c -1.000000E+21 -1.650876E-02 1.000000E+21
154 traj.phases.phase0.control_group.indep_controls.controls:u_16 c -1.000000E+21 -1.173461E-02 1.000000E+21
155 traj.phases.phase0.control_group.indep_controls.controls:u_17 c -1.000000E+21 -9.329798E-03 1.000000E+21
156 traj.phases.phase0.control_group.indep_controls.controls:u_18 c -1.000000E+21 -8.816562E-03 1.000000E+21
157 traj.phases.phase0.control_group.indep_controls.controls:u_19 c -1.000000E+21 -7.650811E-03 1.000000E+21
158 traj.phases.phase0.control_group.indep_controls.controls:u_20 c -1.000000E+21 -5.609716E-03 1.000000E+21
159 traj.phases.phase0.control_group.indep_controls.controls:u_21 c -1.000000E+21 -3.764864E-03 1.000000E+21
160 traj.phases.phase0.control_group.indep_controls.controls:u_22 c -1.000000E+21 -2.494037E-03 1.000000E+21
161 traj.phases.phase0.control_group.indep_controls.controls:u_23 c -1.000000E+21 -1.808161E-03 1.000000E+21
162 traj.phases.phase0.control_group.indep_controls.controls:u_24 c -1.000000E+21 -1.659707E-03 1.000000E+21
163 traj.phases.phase0.control_group.indep_controls.controls:u_25 c -1.000000E+21 -1.312324E-03 1.000000E+21
164 traj.phases.phase0.control_group.indep_controls.controls:u_26 c -1.000000E+21 -6.423134E-04 1.000000E+21
165 traj.phases.phase0.control_group.indep_controls.controls:u_27 c -1.000000E+21 1.122740E-04 1.000000E+21
166 traj.phases.phase0.control_group.indep_controls.controls:u_28 c -1.000000E+21 8.529387E-04 1.000000E+21
167 traj.phases.phase0.control_group.indep_controls.controls:u_29 c -1.000000E+21 1.380940E-03 1.000000E+21
168 traj.phases.phase0.control_group.indep_controls.controls:u_30 c -1.000000E+21 1.512284E-03 1.000000E+21
169 traj.phases.phase0.control_group.indep_controls.controls:u_31 c -1.000000E+21 1.885206E-03 1.000000E+21
170 traj.phases.phase0.control_group.indep_controls.controls:u_32 c -1.000000E+21 2.819934E-03 1.000000E+21
171 traj.phases.phase0.control_group.indep_controls.controls:u_33 c -1.000000E+21 4.248668E-03 1.000000E+21
172 traj.phases.phase0.control_group.indep_controls.controls:u_34 c -1.000000E+21 6.233661E-03 1.000000E+21
173 traj.phases.phase0.control_group.indep_controls.controls:u_35 c -1.000000E+21 7.913703E-03 1.000000E+21
174 traj.phases.phase0.control_group.indep_controls.controls:u_36 c -1.000000E+21 8.348716E-03 1.000000E+21
175 traj.phases.phase0.control_group.indep_controls.controls:u_37 c -1.000000E+21 9.582583E-03 1.000000E+21
176 traj.phases.phase0.control_group.indep_controls.controls:u_38 c -1.000000E+21 1.290146E-02 1.000000E+21
177 traj.phases.phase0.control_group.indep_controls.controls:u_39 c -1.000000E+21 1.850313E-02 1.000000E+21
178 traj.phases.phase0.control_group.indep_controls.controls:u_40 c -1.000000E+21 2.621136E-02 1.000000E+21
179 traj.phases.phase0.control_group.indep_controls.controls:u_41 c -1.000000E+21 3.285546E-02 1.000000E+21
180 traj.phases.phase0.control_group.indep_controls.controls:u_42 c -1.000000E+21 3.467710E-02 1.000000E+21
181 traj.phases.phase0.control_group.indep_controls.controls:u_43 c -1.000000E+21 3.980220E-02 1.000000E+21
182 traj.phases.phase0.control_group.indep_controls.controls:u_44 c -1.000000E+21 5.335425E-02 1.000000E+21
183 traj.phases.phase0.control_group.indep_controls.controls:u_45 c -1.000000E+21 7.642847E-02 1.000000E+21
184 traj.phases.phase0.control_group.indep_controls.controls:u_46 c -1.000000E+21 1.079996E-01 1.000000E+21
185 traj.phases.phase0.control_group.indep_controls.controls:u_47 c -1.000000E+21 1.354447E-01 1.000000E+21
186 traj.phases.phase0.control_group.indep_controls.controls:u_48 c -1.000000E+21 1.431097E-01 1.000000E+21
187 traj.phases.phase0.control_group.indep_controls.controls:u_49 c -1.000000E+21 1.640563E-01 1.000000E+21
188 traj.phases.phase0.control_group.indep_controls.controls:u_50 c -1.000000E+21 2.192882E-01 1.000000E+21
189 traj.phases.phase0.control_group.indep_controls.controls:u_51 c -1.000000E+21 3.155065E-01 1.000000E+21
190 traj.phases.phase0.control_group.indep_controls.controls:u_52 c -1.000000E+21 4.434606E-01 1.000000E+21
191 traj.phases.phase0.control_group.indep_controls.controls:u_53 c -1.000000E+21 5.553571E-01 1.000000E+21
192 traj.phases.phase0.control_group.indep_controls.controls:u_54 c -1.000000E+21 5.876747E-01 1.000000E+21
193 traj.phases.phase0.control_group.indep_controls.controls:u_55 c -1.000000E+21 6.749671E-01 1.000000E+21
194 traj.phases.phase0.control_group.indep_controls.controls:u_56 c -1.000000E+21 9.017564E-01 1.000000E+21
195 traj.phases.phase0.control_group.indep_controls.controls:u_57 c -1.000000E+21 1.300062E+00 1.000000E+21
196 traj.phases.phase0.control_group.indep_controls.controls:u_58 c -1.000000E+21 1.824658E+00 1.000000E+21
197 traj.phases.phase0.control_group.indep_controls.controls:u_59 c -1.000000E+21 2.282236E+00 1.000000E+21
Constraints (i - inequality, e - equality)
Index Name Type Lower Value Upper Status Lagrange Multiplier (N/A)
0 traj.phases.phase0->final_boundary_constraint->x e 1.000000E+00 1.000000E+00 1.000000E+00 9.00000E+100
1 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.442491E-15 0.000000E+00 9.00000E+100
2 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.110223E-16 0.000000E+00 9.00000E+100
3 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.110223E-16 0.000000E+00 9.00000E+100
4 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 4.996004E-16 0.000000E+00 9.00000E+100
5 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 4.440892E-16 0.000000E+00 9.00000E+100
6 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 4.440892E-16 0.000000E+00 9.00000E+100
7 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.220446E-16 0.000000E+00 9.00000E+100
8 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.220446E-16 0.000000E+00 9.00000E+100
9 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 5.551115E-17 0.000000E+00 9.00000E+100
10 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.387779E-17 0.000000E+00 9.00000E+100
11 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
12 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.387779E-16 0.000000E+00 9.00000E+100
13 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -6.938894E-17 0.000000E+00 9.00000E+100
14 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.857226E-17 0.000000E+00 9.00000E+100
15 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.775558E-17 0.000000E+00 9.00000E+100
16 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.734723E-17 0.000000E+00 9.00000E+100
17 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 6.938894E-18 0.000000E+00 9.00000E+100
18 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -3.122502E-17 0.000000E+00 9.00000E+100
19 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.387779E-17 0.000000E+00 9.00000E+100
20 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
21 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 8.673617E-18 0.000000E+00 9.00000E+100
22 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.602085E-18 0.000000E+00 9.00000E+100
23 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
24 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 3.469447E-18 0.000000E+00 9.00000E+100
25 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -9.974660E-18 0.000000E+00 9.00000E+100
26 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.301043E-18 0.000000E+00 9.00000E+100
27 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.734723E-18 0.000000E+00 9.00000E+100
28 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 8.673617E-19 0.000000E+00 9.00000E+100
29 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -3.252607E-19 0.000000E+00 9.00000E+100
30 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.843144E-18 0.000000E+00 9.00000E+100
31 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -5.800482E-18 0.000000E+00 9.00000E+100
32 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.097755E-18 0.000000E+00 9.00000E+100
33 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 7.589415E-19 0.000000E+00 9.00000E+100
34 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 5.421011E-19 0.000000E+00 9.00000E+100
35 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.336809E-19 0.000000E+00 9.00000E+100
36 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.602085E-18 0.000000E+00 9.00000E+100
37 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -6.505213E-18 0.000000E+00 9.00000E+100
38 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 8.673617E-19 0.000000E+00 9.00000E+100
39 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -3.903128E-18 0.000000E+00 9.00000E+100
40 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 8.673617E-19 0.000000E+00 9.00000E+100
41 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 4.336809E-18 0.000000E+00 9.00000E+100
42 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -3.469447E-18 0.000000E+00 9.00000E+100
43 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.734723E-18 0.000000E+00 9.00000E+100
44 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.949030E-17 0.000000E+00 9.00000E+100
45 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 3.469447E-18 0.000000E+00 9.00000E+100
46 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.081668E-17 0.000000E+00 9.00000E+100
47 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -6.938894E-18 0.000000E+00 9.00000E+100
48 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 7.632783E-17 0.000000E+00 9.00000E+100
49 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -3.469447E-17 0.000000E+00 9.00000E+100
50 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -6.938894E-17 0.000000E+00 9.00000E+100
51 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.387779E-17 0.000000E+00 9.00000E+100
52 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.387779E-17 0.000000E+00 9.00000E+100
53 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 8.326673E-17 0.000000E+00 9.00000E+100
54 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -8.326673E-17 0.000000E+00 9.00000E+100
55 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 6.938894E-16 0.000000E+00 9.00000E+100
56 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.220446E-16 0.000000E+00 9.00000E+100
57 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 5.551115E-17 0.000000E+00 9.00000E+100
58 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.665335E-16 0.000000E+00 9.00000E+100
59 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -5.551115E-16 0.000000E+00 9.00000E+100
60 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 3.330669E-16 0.000000E+00 9.00000E+100
61 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.261347E-07 0.000000E+00 9.00000E+100
62 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -2.572605E-08 0.000000E+00 9.00000E+100
63 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -8.515470E-09 0.000000E+00 9.00000E+100
64 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -6.271907E-09 0.000000E+00 9.00000E+100
65 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.863180E-10 0.000000E+00 9.00000E+100
66 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -8.465997E-11 0.000000E+00 9.00000E+100
67 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -9.660677E-11 0.000000E+00 9.00000E+100
68 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -2.658775E-11 0.000000E+00 9.00000E+100
69 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -9.938603E-11 0.000000E+00 9.00000E+100
70 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.211104E-10 0.000000E+00 9.00000E+100
71 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -2.888613E-12 0.000000E+00 9.00000E+100
72 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -8.804418E-12 0.000000E+00 9.00000E+100
73 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -6.097038E-11 0.000000E+00 9.00000E+100
74 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.236727E-10 0.000000E+00 9.00000E+100
75 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -9.679367E-12 0.000000E+00 9.00000E+100
76 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -7.876272E-11 0.000000E+00 9.00000E+100
77 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -6.280024E-11 0.000000E+00 9.00000E+100
78 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -3.084444E-11 0.000000E+00 9.00000E+100
79 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.810107E-11 0.000000E+00 9.00000E+100
80 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.304810E-11 0.000000E+00 9.00000E+100
81 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -7.804361E-12 0.000000E+00 9.00000E+100
82 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -8.400210E-12 0.000000E+00 9.00000E+100
83 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.548010E-12 0.000000E+00 9.00000E+100
84 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -2.662600E-12 0.000000E+00 9.00000E+100
85 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -5.088796E-12 0.000000E+00 9.00000E+100
86 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -4.443309E-12 0.000000E+00 9.00000E+100
87 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -8.457768E-12 0.000000E+00 9.00000E+100
88 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -4.457247E-12 0.000000E+00 9.00000E+100
89 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -6.723978E-13 0.000000E+00 9.00000E+100
90 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -3.002134E-13 0.000000E+00 9.00000E+100
91 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -2.416800E-13 0.000000E+00 9.00000E+100
92 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -7.706709E-12 0.000000E+00 9.00000E+100
93 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.897511E-11 0.000000E+00 9.00000E+100
94 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -4.241819E-11 0.000000E+00 9.00000E+100
95 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.075900E-12 0.000000E+00 9.00000E+100
96 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.188029E-10 0.000000E+00 9.00000E+100
97 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.033563E-10 0.000000E+00 9.00000E+100
98 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -4.058501E-11 0.000000E+00 9.00000E+100
99 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -5.018259E-11 0.000000E+00 9.00000E+100
100 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -4.682959E-10 0.000000E+00 9.00000E+100
101 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -3.173646E-11 0.000000E+00 9.00000E+100
102 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -3.011641E-10 0.000000E+00 9.00000E+100
103 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.658889E-10 0.000000E+00 9.00000E+100
104 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -4.905684E-10 0.000000E+00 9.00000E+100
105 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -9.178395E-10 0.000000E+00 9.00000E+100
106 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -4.892973E-09 0.000000E+00 9.00000E+100
107 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.980397E-10 0.000000E+00 9.00000E+100
108 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -8.168097E-09 0.000000E+00 9.00000E+100
109 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -4.974987E-09 0.000000E+00 9.00000E+100
110 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.222259E-09 0.000000E+00 9.00000E+100
111 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -2.036976E-09 0.000000E+00 9.00000E+100
112 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -6.175598E-08 0.000000E+00 9.00000E+100
113 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -3.963899E-09 0.000000E+00 9.00000E+100
114 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -2.204528E-08 0.000000E+00 9.00000E+100
115 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -7.992230E-09 0.000000E+00 9.00000E+100
116 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -3.210407E-09 0.000000E+00 9.00000E+100
117 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -2.882562E-10 0.000000E+00 9.00000E+100
118 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.803809E-07 0.000000E+00 9.00000E+100
119 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -2.392705E-07 0.000000E+00 9.00000E+100
120 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.467760E-09 0.000000E+00 9.00000E+100
121 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
122 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
123 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
124 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
125 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
126 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
127 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
128 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
129 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
130 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
131 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
132 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
133 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
134 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
135 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
136 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
137 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
138 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
139 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 5.551115E-17 0.000000E+00 9.00000E+100
140 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
141 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 3.469447E-18 0.000000E+00 9.00000E+100
142 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 -4.336809E-19 0.000000E+00 9.00000E+100
143 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
144 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 3.469447E-18 0.000000E+00 9.00000E+100
145 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
146 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 2.775558E-17 0.000000E+00 9.00000E+100
147 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 1.110223E-16 0.000000E+00 9.00000E+100
148 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -1.179612E-14 0.000000E+00 9.00000E+100
149 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
150 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -9.540979E-17 0.000000E+00 9.00000E+100
151 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 8.673617E-17 0.000000E+00 9.00000E+100
152 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -3.686287E-17 0.000000E+00 9.00000E+100
153 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 3.729655E-16 0.000000E+00 9.00000E+100
154 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -3.469447E-16 0.000000E+00 9.00000E+100
155 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -4.302114E-15 0.000000E+00 9.00000E+100
156 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -1.221245E-14 0.000000E+00 9.00000E+100
--------------------------------------------------------------------------------
==================================================
Grid Refinement - Iteration 2
--------------------------------------------------
Phase: traj.phases.phase0
Refinement Options:
Allow Refinement = True
Tolerance = 1e-07
Min Order = 3
Max Order = 14
Original Grid:
Number of Segments = 10
Segment Ends = [-1.0, -0.8, -0.6, -0.4, -0.2, 0.0, 0.2, 0.4, 0.6, 0.8, 1.0]
Segment Order = [6, 6, 6, 6, 6, 6, 6, 6, 6, 6]
Error = [3.422e-05, 7.772e-07, 5.429e-08, 2.339e-08, 1.426e-08, 6.796e-08, 1.33e-07, 4.985e-07, 9.639e-07, 3.83e-05]
Phase: traj.phases.phase0
New Grid:
Number of Segments = 16
Segment Ends = [-1.0, -0.9, -0.8, -0.7, -0.6, -0.4, -0.2, 0.0, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0]
Segment Order = [6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6]
Refined: True
--- Constraint Report [traj] ---
--- phase0 ---
[final] 1.0000e+00 == x [None]
Model viewer data has already been recorded for Driver.
Model viewer data has already been recorded for Driver.
Full total jacobian was computed 3 times, taking 0.696755 seconds.
Total jacobian shape: (224, 318)
Jacobian shape: (224, 318) ( 2.68% nonzero)
FWD solves: 0 REV solves: 15
Total colors vs. total size: 15 vs 224 (93.3% improvement)
Sparsity computed using tolerance: 1e-25
Time to compute sparsity: 0.696755 sec.
Time to compute coloring: 0.264137 sec.
Memory to compute coloring: 0.000000 MB.
Optimization Problem -- Optimization using pyOpt_sparse
================================================================================
Objective Function: _objfunc
Solution:
--------------------------------------------------------------------------------
Total Time: 1.3578
User Objective Time : 0.0183
User Sensitivity Time : 0.1719
Interface Time : 0.0978
Opt Solver Time: 1.0696
Calls to Objective Function : 9
Calls to Sens Function : 9
Objectives
Index Name Value
0 traj.phases.phase0.indep_states.states:xL 1.673095E+00
Variables (c - continuous, i - integer, d - discrete)
Index Name Type Lower Bound Value Upper Bound Status
0 traj.phases.phase0.indep_states.states:x_0 c -1.000000E+21 1.399170E+00 1.000000E+21
1 traj.phases.phase0.indep_states.states:x_1 c -1.000000E+21 1.209400E+00 1.000000E+21
2 traj.phases.phase0.indep_states.states:x_2 c -1.000000E+21 1.008160E+00 1.000000E+21
3 traj.phases.phase0.indep_states.states:x_3 c -1.000000E+21 8.507747E-01 1.000000E+21
4 traj.phases.phase0.indep_states.states:x_4 c -1.000000E+21 7.607352E-01 1.000000E+21
5 traj.phases.phase0.indep_states.states:x_5 c -1.000000E+21 7.396249E-01 1.000000E+21
6 traj.phases.phase0.indep_states.states:x_6 c -1.000000E+21 7.396249E-01 1.000000E+21
7 traj.phases.phase0.indep_states.states:x_7 c -1.000000E+21 6.898317E-01 1.000000E+21
8 traj.phases.phase0.indep_states.states:x_8 c -1.000000E+21 5.962894E-01 1.000000E+21
9 traj.phases.phase0.indep_states.states:x_9 c -1.000000E+21 4.970271E-01 1.000000E+21
10 traj.phases.phase0.indep_states.states:x_10 c -1.000000E+21 4.194330E-01 1.000000E+21
11 traj.phases.phase0.indep_states.states:x_11 c -1.000000E+21 3.750489E-01 1.000000E+21
12 traj.phases.phase0.indep_states.states:x_12 c -1.000000E+21 3.646426E-01 1.000000E+21
13 traj.phases.phase0.indep_states.states:x_13 c -1.000000E+21 3.646426E-01 1.000000E+21
14 traj.phases.phase0.indep_states.states:x_14 c -1.000000E+21 3.401032E-01 1.000000E+21
15 traj.phases.phase0.indep_states.states:x_15 c -1.000000E+21 2.939974E-01 1.000000E+21
16 traj.phases.phase0.indep_states.states:x_16 c -1.000000E+21 2.450612E-01 1.000000E+21
17 traj.phases.phase0.indep_states.states:x_17 c -1.000000E+21 2.068151E-01 1.000000E+21
18 traj.phases.phase0.indep_states.states:x_18 c -1.000000E+21 1.849249E-01 1.000000E+21
19 traj.phases.phase0.indep_states.states:x_19 c -1.000000E+21 1.797913E-01 1.000000E+21
20 traj.phases.phase0.indep_states.states:x_20 c -1.000000E+21 1.797913E-01 1.000000E+21
21 traj.phases.phase0.indep_states.states:x_21 c -1.000000E+21 1.676886E-01 1.000000E+21
22 traj.phases.phase0.indep_states.states:x_22 c -1.000000E+21 1.449550E-01 1.000000E+21
23 traj.phases.phase0.indep_states.states:x_23 c -1.000000E+21 1.208254E-01 1.000000E+21
24 traj.phases.phase0.indep_states.states:x_24 c -1.000000E+21 1.019683E-01 1.000000E+21
25 traj.phases.phase0.indep_states.states:x_25 c -1.000000E+21 9.117793E-02 1.000000E+21
26 traj.phases.phase0.indep_states.states:x_26 c -1.000000E+21 8.864798E-02 1.000000E+21
27 traj.phases.phase0.indep_states.states:x_27 c -1.000000E+21 8.864798E-02 1.000000E+21
28 traj.phases.phase0.indep_states.states:x_28 c -1.000000E+21 7.712260E-02 1.000000E+21
29 traj.phases.phase0.indep_states.states:x_29 c -1.000000E+21 5.764152E-02 1.000000E+21
30 traj.phases.phase0.indep_states.states:x_30 c -1.000000E+21 4.005766E-02 1.000000E+21
31 traj.phases.phase0.indep_states.states:x_31 c -1.000000E+21 2.854595E-02 1.000000E+21
32 traj.phases.phase0.indep_states.states:x_32 c -1.000000E+21 2.284064E-02 1.000000E+21
33 traj.phases.phase0.indep_states.states:x_33 c -1.000000E+21 2.159583E-02 1.000000E+21
34 traj.phases.phase0.indep_states.states:x_34 c -1.000000E+21 2.159583E-02 1.000000E+21
35 traj.phases.phase0.indep_states.states:x_35 c -1.000000E+21 1.880122E-02 1.000000E+21
36 traj.phases.phase0.indep_states.states:x_36 c -1.000000E+21 1.408404E-02 1.000000E+21
37 traj.phases.phase0.indep_states.states:x_37 c -1.000000E+21 9.842082E-03 1.000000E+21
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222 traj.phases.phase0.control_group.indep_controls.controls:u_0 c -1.000000E+21 -6.137984E-01 1.000000E+21
223 traj.phases.phase0.control_group.indep_controls.controls:u_1 c -1.000000E+21 -5.800643E-01 1.000000E+21
224 traj.phases.phase0.control_group.indep_controls.controls:u_2 c -1.000000E+21 -5.011309E-01 1.000000E+21
225 traj.phases.phase0.control_group.indep_controls.controls:u_3 c -1.000000E+21 -4.172324E-01 1.000000E+21
226 traj.phases.phase0.control_group.indep_controls.controls:u_4 c -1.000000E+21 -3.529616E-01 1.000000E+21
227 traj.phases.phase0.control_group.indep_controls.controls:u_5 c -1.000000E+21 -3.146682E-01 1.000000E+21
228 traj.phases.phase0.control_group.indep_controls.controls:u_6 c -1.000000E+21 -3.062149E-01 1.000000E+21
229 traj.phases.phase0.control_group.indep_controls.controls:u_7 c -1.000000E+21 -2.862676E-01 1.000000E+21
230 traj.phases.phase0.control_group.indep_controls.controls:u_8 c -1.000000E+21 -2.470806E-01 1.000000E+21
231 traj.phases.phase0.control_group.indep_controls.controls:u_9 c -1.000000E+21 -2.060416E-01 1.000000E+21
232 traj.phases.phase0.control_group.indep_controls.controls:u_10 c -1.000000E+21 -1.738555E-01 1.000000E+21
233 traj.phases.phase0.control_group.indep_controls.controls:u_11 c -1.000000E+21 -1.551151E-01 1.000000E+21
234 traj.phases.phase0.control_group.indep_controls.controls:u_12 c -1.000000E+21 -1.508724E-01 1.000000E+21
235 traj.phases.phase0.control_group.indep_controls.controls:u_13 c -1.000000E+21 -1.409082E-01 1.000000E+21
236 traj.phases.phase0.control_group.indep_controls.controls:u_14 c -1.000000E+21 -1.217883E-01 1.000000E+21
237 traj.phases.phase0.control_group.indep_controls.controls:u_15 c -1.000000E+21 -1.014892E-01 1.000000E+21
238 traj.phases.phase0.control_group.indep_controls.controls:u_16 c -1.000000E+21 -8.568955E-02 1.000000E+21
239 traj.phases.phase0.control_group.indep_controls.controls:u_17 c -1.000000E+21 -7.662157E-02 1.000000E+21
240 traj.phases.phase0.control_group.indep_controls.controls:u_18 c -1.000000E+21 -7.450653E-02 1.000000E+21
241 traj.phases.phase0.control_group.indep_controls.controls:u_19 c -1.000000E+21 -6.950814E-02 1.000000E+21
242 traj.phases.phase0.control_group.indep_controls.controls:u_20 c -1.000000E+21 -6.005510E-02 1.000000E+21
243 traj.phases.phase0.control_group.indep_controls.controls:u_21 c -1.000000E+21 -5.005348E-02 1.000000E+21
244 traj.phases.phase0.control_group.indep_controls.controls:u_22 c -1.000000E+21 -4.223306E-02 1.000000E+21
245 traj.phases.phase0.control_group.indep_controls.controls:u_23 c -1.000000E+21 -3.772557E-02 1.000000E+21
246 traj.phases.phase0.control_group.indep_controls.controls:u_24 c -1.000000E+21 -3.666902E-02 1.000000E+21
247 traj.phases.phase0.control_group.indep_controls.controls:u_25 c -1.000000E+21 -3.187922E-02 1.000000E+21
248 traj.phases.phase0.control_group.indep_controls.controls:u_26 c -1.000000E+21 -2.383141E-02 1.000000E+21
249 traj.phases.phase0.control_group.indep_controls.controls:u_27 c -1.000000E+21 -1.654228E-02 1.000000E+21
250 traj.phases.phase0.control_group.indep_controls.controls:u_28 c -1.000000E+21 -1.172000E-02 1.000000E+21
251 traj.phases.phase0.control_group.indep_controls.controls:u_29 c -1.000000E+21 -9.321710E-03 1.000000E+21
252 traj.phases.phase0.control_group.indep_controls.controls:u_30 c -1.000000E+21 -8.798050E-03 1.000000E+21
253 traj.phases.phase0.control_group.indep_controls.controls:u_31 c -1.000000E+21 -7.619986E-03 1.000000E+21
254 traj.phases.phase0.control_group.indep_controls.controls:u_32 c -1.000000E+21 -5.616237E-03 1.000000E+21
255 traj.phases.phase0.control_group.indep_controls.controls:u_33 c -1.000000E+21 -3.767791E-03 1.000000E+21
256 traj.phases.phase0.control_group.indep_controls.controls:u_34 c -1.000000E+21 -2.495014E-03 1.000000E+21
257 traj.phases.phase0.control_group.indep_controls.controls:u_35 c -1.000000E+21 -1.822475E-03 1.000000E+21
258 traj.phases.phase0.control_group.indep_controls.controls:u_36 c -1.000000E+21 -1.669991E-03 1.000000E+21
259 traj.phases.phase0.control_group.indep_controls.controls:u_37 c -1.000000E+21 -1.312952E-03 1.000000E+21
260 traj.phases.phase0.control_group.indep_controls.controls:u_38 c -1.000000E+21 -6.439528E-04 1.000000E+21
261 traj.phases.phase0.control_group.indep_controls.controls:u_39 c -1.000000E+21 1.117805E-04 1.000000E+21
262 traj.phases.phase0.control_group.indep_controls.controls:u_40 c -1.000000E+21 8.488767E-04 1.000000E+21
263 traj.phases.phase0.control_group.indep_controls.controls:u_41 c -1.000000E+21 1.385976E-03 1.000000E+21
264 traj.phases.phase0.control_group.indep_controls.controls:u_42 c -1.000000E+21 1.526500E-03 1.000000E+21
265 traj.phases.phase0.control_group.indep_controls.controls:u_43 c -1.000000E+21 1.899275E-03 1.000000E+21
266 traj.phases.phase0.control_group.indep_controls.controls:u_44 c -1.000000E+21 2.799648E-03 1.000000E+21
267 traj.phases.phase0.control_group.indep_controls.controls:u_45 c -1.000000E+21 4.252048E-03 1.000000E+21
268 traj.phases.phase0.control_group.indep_controls.controls:u_46 c -1.000000E+21 6.194674E-03 1.000000E+21
269 traj.phases.phase0.control_group.indep_controls.controls:u_47 c -1.000000E+21 7.851812E-03 1.000000E+21
270 traj.phases.phase0.control_group.indep_controls.controls:u_48 c -1.000000E+21 8.308382E-03 1.000000E+21
271 traj.phases.phase0.control_group.indep_controls.controls:u_49 c -1.000000E+21 8.916054E-03 1.000000E+21
272 traj.phases.phase0.control_group.indep_controls.controls:u_50 c -1.000000E+21 1.035865E-02 1.000000E+21
273 traj.phases.phase0.control_group.indep_controls.controls:u_51 c -1.000000E+21 1.245320E-02 1.000000E+21
274 traj.phases.phase0.control_group.indep_controls.controls:u_52 c -1.000000E+21 1.479288E-02 1.000000E+21
275 traj.phases.phase0.control_group.indep_controls.controls:u_53 c -1.000000E+21 1.657752E-02 1.000000E+21
276 traj.phases.phase0.control_group.indep_controls.controls:u_54 c -1.000000E+21 1.705402E-02 1.000000E+21
277 traj.phases.phase0.control_group.indep_controls.controls:u_55 c -1.000000E+21 1.828991E-02 1.000000E+21
278 traj.phases.phase0.control_group.indep_controls.controls:u_56 c -1.000000E+21 2.115760E-02 1.000000E+21
279 traj.phases.phase0.control_group.indep_controls.controls:u_57 c -1.000000E+21 2.537683E-02 1.000000E+21
280 traj.phases.phase0.control_group.indep_controls.controls:u_58 c -1.000000E+21 3.012391E-02 1.000000E+21
281 traj.phases.phase0.control_group.indep_controls.controls:u_59 c -1.000000E+21 3.371112E-02 1.000000E+21
282 traj.phases.phase0.control_group.indep_controls.controls:u_60 c -1.000000E+21 3.466328E-02 1.000000E+21
283 traj.phases.phase0.control_group.indep_controls.controls:u_61 c -1.000000E+21 3.715089E-02 1.000000E+21
284 traj.phases.phase0.control_group.indep_controls.controls:u_62 c -1.000000E+21 4.298098E-02 1.000000E+21
285 traj.phases.phase0.control_group.indep_controls.controls:u_63 c -1.000000E+21 5.153187E-02 1.000000E+21
286 traj.phases.phase0.control_group.indep_controls.controls:u_64 c -1.000000E+21 6.113138E-02 1.000000E+21
287 traj.phases.phase0.control_group.indep_controls.controls:u_65 c -1.000000E+21 6.843048E-02 1.000000E+21
288 traj.phases.phase0.control_group.indep_controls.controls:u_66 c -1.000000E+21 7.037906E-02 1.000000E+21
289 traj.phases.phase0.control_group.indep_controls.controls:u_67 c -1.000000E+21 7.544485E-02 1.000000E+21
290 traj.phases.phase0.control_group.indep_controls.controls:u_68 c -1.000000E+21 8.722816E-02 1.000000E+21
291 traj.phases.phase0.control_group.indep_controls.controls:u_69 c -1.000000E+21 1.045612E-01 1.000000E+21
292 traj.phases.phase0.control_group.indep_controls.controls:u_70 c -1.000000E+21 1.240534E-01 1.000000E+21
293 traj.phases.phase0.control_group.indep_controls.controls:u_71 c -1.000000E+21 1.387834E-01 1.000000E+21
294 traj.phases.phase0.control_group.indep_controls.controls:u_72 c -1.000000E+21 1.426925E-01 1.000000E+21
295 traj.phases.phase0.control_group.indep_controls.controls:u_73 c -1.000000E+21 1.529117E-01 1.000000E+21
296 traj.phases.phase0.control_group.indep_controls.controls:u_74 c -1.000000E+21 1.769112E-01 1.000000E+21
297 traj.phases.phase0.control_group.indep_controls.controls:u_75 c -1.000000E+21 2.121074E-01 1.000000E+21
298 traj.phases.phase0.control_group.indep_controls.controls:u_76 c -1.000000E+21 2.515209E-01 1.000000E+21
299 traj.phases.phase0.control_group.indep_controls.controls:u_77 c -1.000000E+21 2.815495E-01 1.000000E+21
300 traj.phases.phase0.control_group.indep_controls.controls:u_78 c -1.000000E+21 2.896000E-01 1.000000E+21
301 traj.phases.phase0.control_group.indep_controls.controls:u_79 c -1.000000E+21 3.104516E-01 1.000000E+21
302 traj.phases.phase0.control_group.indep_controls.controls:u_80 c -1.000000E+21 3.588603E-01 1.000000E+21
303 traj.phases.phase0.control_group.indep_controls.controls:u_81 c -1.000000E+21 4.303047E-01 1.000000E+21
304 traj.phases.phase0.control_group.indep_controls.controls:u_82 c -1.000000E+21 5.102426E-01 1.000000E+21
305 traj.phases.phase0.control_group.indep_controls.controls:u_83 c -1.000000E+21 5.706781E-01 1.000000E+21
306 traj.phases.phase0.control_group.indep_controls.controls:u_84 c -1.000000E+21 5.868384E-01 1.000000E+21
307 traj.phases.phase0.control_group.indep_controls.controls:u_85 c -1.000000E+21 6.289814E-01 1.000000E+21
308 traj.phases.phase0.control_group.indep_controls.controls:u_86 c -1.000000E+21 7.277887E-01 1.000000E+21
309 traj.phases.phase0.control_group.indep_controls.controls:u_87 c -1.000000E+21 8.729722E-01 1.000000E+21
310 traj.phases.phase0.control_group.indep_controls.controls:u_88 c -1.000000E+21 1.034394E+00 1.000000E+21
311 traj.phases.phase0.control_group.indep_controls.controls:u_89 c -1.000000E+21 1.157708E+00 1.000000E+21
312 traj.phases.phase0.control_group.indep_controls.controls:u_90 c -1.000000E+21 1.191139E+00 1.000000E+21
313 traj.phases.phase0.control_group.indep_controls.controls:u_91 c -1.000000E+21 1.277576E+00 1.000000E+21
314 traj.phases.phase0.control_group.indep_controls.controls:u_92 c -1.000000E+21 1.476783E+00 1.000000E+21
315 traj.phases.phase0.control_group.indep_controls.controls:u_93 c -1.000000E+21 1.770813E+00 1.000000E+21
316 traj.phases.phase0.control_group.indep_controls.controls:u_94 c -1.000000E+21 2.099404E+00 1.000000E+21
317 traj.phases.phase0.control_group.indep_controls.controls:u_95 c -1.000000E+21 2.346264E+00 1.000000E+21
Constraints (i - inequality, e - equality)
Index Name Type Lower Value Upper Status Lagrange Multiplier (N/A)
0 traj.phases.phase0->final_boundary_constraint->x e 1.000000E+00 1.000000E+00 1.000000E+00 9.00000E+100
1 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.220446E-16 0.000000E+00 9.00000E+100
2 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -5.551115E-17 0.000000E+00 9.00000E+100
3 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.220446E-16 0.000000E+00 9.00000E+100
4 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.775558E-16 0.000000E+00 9.00000E+100
5 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
6 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 9.992007E-16 0.000000E+00 9.00000E+100
7 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.942890E-15 0.000000E+00 9.00000E+100
8 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 8.326673E-17 0.000000E+00 9.00000E+100
9 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.775558E-16 0.000000E+00 9.00000E+100
10 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.775558E-17 0.000000E+00 9.00000E+100
11 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.387779E-16 0.000000E+00 9.00000E+100
12 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.220446E-16 0.000000E+00 9.00000E+100
13 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -9.992007E-16 0.000000E+00 9.00000E+100
14 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.220446E-16 0.000000E+00 9.00000E+100
15 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 9.714451E-17 0.000000E+00 9.00000E+100
16 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.387779E-17 0.000000E+00 9.00000E+100
17 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.249001E-16 0.000000E+00 9.00000E+100
18 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 4.163336E-17 0.000000E+00 9.00000E+100
19 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.498002E-16 0.000000E+00 9.00000E+100
20 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 4.163336E-17 0.000000E+00 9.00000E+100
21 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
22 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -6.938894E-18 0.000000E+00 9.00000E+100
23 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.387779E-17 0.000000E+00 9.00000E+100
24 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.081668E-17 0.000000E+00 9.00000E+100
25 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 8.326673E-17 0.000000E+00 9.00000E+100
26 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
27 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.387779E-17 0.000000E+00 9.00000E+100
28 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 3.469447E-17 0.000000E+00 9.00000E+100
29 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.081668E-17 0.000000E+00 9.00000E+100
30 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.428613E-17 0.000000E+00 9.00000E+100
31 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.040834E-17 0.000000E+00 9.00000E+100
32 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
33 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 8.673617E-18 0.000000E+00 9.00000E+100
34 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 8.673617E-19 0.000000E+00 9.00000E+100
35 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.336809E-18 0.000000E+00 9.00000E+100
36 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 6.071532E-18 0.000000E+00 9.00000E+100
37 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 9.540979E-18 0.000000E+00 9.00000E+100
38 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.336809E-19 0.000000E+00 9.00000E+100
39 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 8.673617E-19 0.000000E+00 9.00000E+100
40 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.951564E-18 0.000000E+00 9.00000E+100
41 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.168404E-18 0.000000E+00 9.00000E+100
42 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.951564E-18 0.000000E+00 9.00000E+100
43 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.222614E-18 0.000000E+00 9.00000E+100
44 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.273938E-18 0.000000E+00 9.00000E+100
45 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 3.794708E-19 0.000000E+00 9.00000E+100
46 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 7.589415E-19 0.000000E+00 9.00000E+100
47 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.385245E-18 0.000000E+00 9.00000E+100
48 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.734723E-18 0.000000E+00 9.00000E+100
49 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 9.974660E-18 0.000000E+00 9.00000E+100
50 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.553649E-18 0.000000E+00 9.00000E+100
51 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.818926E-18 0.000000E+00 9.00000E+100
52 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.517883E-18 0.000000E+00 9.00000E+100
53 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 4.770490E-18 0.000000E+00 9.00000E+100
54 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.336809E-19 0.000000E+00 9.00000E+100
55 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.821460E-17 0.000000E+00 9.00000E+100
56 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.734723E-18 0.000000E+00 9.00000E+100
57 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.168404E-18 0.000000E+00 9.00000E+100
58 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.336809E-18 0.000000E+00 9.00000E+100
59 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -6.071532E-18 0.000000E+00 9.00000E+100
60 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.081668E-17 0.000000E+00 9.00000E+100
61 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -3.816392E-17 0.000000E+00 9.00000E+100
62 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 6.938894E-18 0.000000E+00 9.00000E+100
63 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -5.204170E-18 0.000000E+00 9.00000E+100
64 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.602085E-18 0.000000E+00 9.00000E+100
65 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.734723E-18 0.000000E+00 9.00000E+100
66 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.081668E-17 0.000000E+00 9.00000E+100
67 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.370432E-16 0.000000E+00 9.00000E+100
68 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.081668E-17 0.000000E+00 9.00000E+100
69 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
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230 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 1.734723E-18 0.000000E+00 9.00000E+100
231 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
232 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 -6.938894E-18 0.000000E+00 9.00000E+100
233 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
234 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 2.775558E-17 0.000000E+00 9.00000E+100
235 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
236 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
237 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 -4.440892E-16 0.000000E+00 9.00000E+100
238 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -4.440892E-14 0.000000E+00 9.00000E+100
239 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -7.910339E-15 0.000000E+00 9.00000E+100
240 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 2.844947E-15 0.000000E+00 9.00000E+100
241 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -2.949030E-15 0.000000E+00 9.00000E+100
242 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 3.209238E-16 0.000000E+00 9.00000E+100
243 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 1.040834E-16 0.000000E+00 9.00000E+100
244 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 3.252607E-17 0.000000E+00 9.00000E+100
245 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 2.255141E-16 0.000000E+00 9.00000E+100
246 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 2.602085E-16 0.000000E+00 9.00000E+100
247 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -2.636780E-15 0.000000E+00 9.00000E+100
248 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 2.012279E-15 0.000000E+00 9.00000E+100
249 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -5.551115E-15 0.000000E+00 9.00000E+100
250 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -1.193490E-14 0.000000E+00 9.00000E+100
251 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 1.776357E-14 0.000000E+00 9.00000E+100
252 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -1.110223E-15 0.000000E+00 9.00000E+100
--------------------------------------------------------------------------------
==================================================
Grid Refinement - Iteration 3
--------------------------------------------------
Phase: traj.phases.phase0
Refinement Options:
Allow Refinement = True
Tolerance = 1e-07
Min Order = 3
Max Order = 14
Original Grid:
Number of Segments = 16
Segment Ends = [-1.0, -0.9, -0.8, -0.7, -0.6, -0.4, -0.2, 0.0, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0]
Segment Order = [6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6]
Error = [5.653e-06, 4.416e-07, 2.576e-08, 4.471e-09, 4.179e-08, 3.975e-09, 5.604e-09, 2.305e-08, 3.724e-09, 3.883e-09, 9.311e-09, 2.286e-08, 7.666e-08, 1.383e-07, 6.392e-08, 1.171e-06]
Phase: traj.phases.phase0
New Grid:
Number of Segments = 19
Segment Ends = [-1.0, -0.9667, -0.9333, -0.9, -0.8, -0.7, -0.6, -0.4, -0.2, 0.0, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 0.95, 1.0]
Segment Order = [6, 6, 6, 9, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 12, 6, 6, 6]
Refined: True
--- Constraint Report [traj] ---
--- phase0 ---
[final] 1.0000e+00 == x [None]
Model viewer data has already been recorded for Driver.
Model viewer data has already been recorded for Driver.
Full total jacobian was computed 3 times, taking 0.945931 seconds.
Total jacobian shape: (284, 405)
Jacobian shape: (284, 405) ( 2.30% nonzero)
FWD solves: 0 REV solves: 27
Total colors vs. total size: 27 vs 284 (90.5% improvement)
Sparsity computed using tolerance: 1e-25
Time to compute sparsity: 0.945931 sec.
Time to compute coloring: 0.330230 sec.
Memory to compute coloring: 0.000000 MB.
Optimization Problem -- Optimization using pyOpt_sparse
================================================================================
Objective Function: _objfunc
Solution:
--------------------------------------------------------------------------------
Total Time: 2.1864
User Objective Time : 0.0195
User Sensitivity Time : 0.1920
Interface Time : 0.0858
Opt Solver Time: 1.8891
Calls to Objective Function : 6
Calls to Sens Function : 6
Objectives
Index Name Value
0 traj.phases.phase0.indep_states.states:xL 1.673094E+00
Variables (c - continuous, i - integer, d - discrete)
Index Name Type Lower Bound Value Upper Bound Status
0 traj.phases.phase0.indep_states.states:x_0 c -1.000000E+21 1.465634E+00 1.000000E+21
1 traj.phases.phase0.indep_states.states:x_1 c -1.000000E+21 1.396197E+00 1.000000E+21
2 traj.phases.phase0.indep_states.states:x_2 c -1.000000E+21 1.313988E+00 1.000000E+21
3 traj.phases.phase0.indep_states.states:x_3 c -1.000000E+21 1.241736E+00 1.000000E+21
4 traj.phases.phase0.indep_states.states:x_4 c -1.000000E+21 1.196285E+00 1.000000E+21
5 traj.phases.phase0.indep_states.states:x_5 c -1.000000E+21 1.185112E+00 1.000000E+21
6 traj.phases.phase0.indep_states.states:x_6 c -1.000000E+21 1.185112E+00 1.000000E+21
7 traj.phases.phase0.indep_states.states:x_7 c -1.000000E+21 1.157901E+00 1.000000E+21
8 traj.phases.phase0.indep_states.states:x_8 c -1.000000E+21 1.103015E+00 1.000000E+21
9 traj.phases.phase0.indep_states.states:x_9 c -1.000000E+21 1.038066E+00 1.000000E+21
10 traj.phases.phase0.indep_states.states:x_10 c -1.000000E+21 9.809873E-01 1.000000E+21
11 traj.phases.phase0.indep_states.states:x_11 c -1.000000E+21 9.450727E-01 1.000000E+21
12 traj.phases.phase0.indep_states.states:x_12 c -1.000000E+21 9.362419E-01 1.000000E+21
13 traj.phases.phase0.indep_states.states:x_13 c -1.000000E+21 9.362419E-01 1.000000E+21
14 traj.phases.phase0.indep_states.states:x_14 c -1.000000E+21 9.147354E-01 1.000000E+21
15 traj.phases.phase0.indep_states.states:x_15 c -1.000000E+21 8.713690E-01 1.000000E+21
16 traj.phases.phase0.indep_states.states:x_16 c -1.000000E+21 8.200587E-01 1.000000E+21
17 traj.phases.phase0.indep_states.states:x_17 c -1.000000E+21 7.749607E-01 1.000000E+21
18 traj.phases.phase0.indep_states.states:x_18 c -1.000000E+21 7.465997E-01 1.000000E+21
19 traj.phases.phase0.indep_states.states:x_19 c -1.000000E+21 7.396283E-01 1.000000E+21
20 traj.phases.phase0.indep_states.states:x_20 c -1.000000E+21 7.396283E-01 1.000000E+21
21 traj.phases.phase0.indep_states.states:x_21 c -1.000000E+21 7.166504E-01 1.000000E+21
22 traj.phases.phase0.indep_states.states:x_22 c -1.000000E+21 6.678537E-01 1.000000E+21
23 traj.phases.phase0.indep_states.states:x_23 c -1.000000E+21 6.038590E-01 1.000000E+21
24 traj.phases.phase0.indep_states.states:x_24 c -1.000000E+21 5.362364E-01 1.000000E+21
25 traj.phases.phase0.indep_states.states:x_25 c -1.000000E+21 4.744399E-01 1.000000E+21
26 traj.phases.phase0.indep_states.states:x_26 c -1.000000E+21 4.244122E-01 1.000000E+21
27 traj.phases.phase0.indep_states.states:x_27 c -1.000000E+21 3.890646E-01 1.000000E+21
28 traj.phases.phase0.indep_states.states:x_28 c -1.000000E+21 3.693528E-01 1.000000E+21
29 traj.phases.phase0.indep_states.states:x_29 c -1.000000E+21 3.647393E-01 1.000000E+21
30 traj.phases.phase0.indep_states.states:x_30 c -1.000000E+21 3.647393E-01 1.000000E+21
31 traj.phases.phase0.indep_states.states:x_31 c -1.000000E+21 3.401956E-01 1.000000E+21
32 traj.phases.phase0.indep_states.states:x_32 c -1.000000E+21 2.940841E-01 1.000000E+21
33 traj.phases.phase0.indep_states.states:x_33 c -1.000000E+21 2.451297E-01 1.000000E+21
34 traj.phases.phase0.indep_states.states:x_34 c -1.000000E+21 2.068747E-01 1.000000E+21
35 traj.phases.phase0.indep_states.states:x_35 c -1.000000E+21 1.849815E-01 1.000000E+21
36 traj.phases.phase0.indep_states.states:x_36 c -1.000000E+21 1.798474E-01 1.000000E+21
37 traj.phases.phase0.indep_states.states:x_37 c -1.000000E+21 1.798474E-01 1.000000E+21
38 traj.phases.phase0.indep_states.states:x_38 c -1.000000E+21 1.677448E-01 1.000000E+21
39 traj.phases.phase0.indep_states.states:x_39 c -1.000000E+21 1.450113E-01 1.000000E+21
40 traj.phases.phase0.indep_states.states:x_40 c -1.000000E+21 1.208784E-01 1.000000E+21
41 traj.phases.phase0.indep_states.states:x_41 c -1.000000E+21 1.020186E-01 1.000000E+21
42 traj.phases.phase0.indep_states.states:x_42 c -1.000000E+21 9.122530E-02 1.000000E+21
43 traj.phases.phase0.indep_states.states:x_43 c -1.000000E+21 8.869403E-02 1.000000E+21
44 traj.phases.phase0.indep_states.states:x_44 c -1.000000E+21 8.869403E-02 1.000000E+21
45 traj.phases.phase0.indep_states.states:x_45 c -1.000000E+21 7.715902E-02 1.000000E+21
46 traj.phases.phase0.indep_states.states:x_46 c -1.000000E+21 5.766480E-02 1.000000E+21
47 traj.phases.phase0.indep_states.states:x_47 c -1.000000E+21 4.008484E-02 1.000000E+21
48 traj.phases.phase0.indep_states.states:x_48 c -1.000000E+21 2.857142E-02 1.000000E+21
49 traj.phases.phase0.indep_states.states:x_49 c -1.000000E+21 2.286043E-02 1.000000E+21
50 traj.phases.phase0.indep_states.states:x_50 c -1.000000E+21 2.161418E-02 1.000000E+21
51 traj.phases.phase0.indep_states.states:x_51 c -1.000000E+21 2.161418E-02 1.000000E+21
52 traj.phases.phase0.indep_states.states:x_52 c -1.000000E+21 1.881653E-02 1.000000E+21
53 traj.phases.phase0.indep_states.states:x_53 c -1.000000E+21 1.409498E-02 1.000000E+21
54 traj.phases.phase0.indep_states.states:x_54 c -1.000000E+21 9.851227E-03 1.000000E+21
55 traj.phases.phase0.indep_states.states:x_55 c -1.000000E+21 7.094111E-03 1.000000E+21
56 traj.phases.phase0.indep_states.states:x_56 c -1.000000E+21 5.742142E-03 1.000000E+21
57 traj.phases.phase0.indep_states.states:x_57 c -1.000000E+21 5.449688E-03 1.000000E+21
58 traj.phases.phase0.indep_states.states:x_58 c -1.000000E+21 5.449688E-03 1.000000E+21
59 traj.phases.phase0.indep_states.states:x_59 c -1.000000E+21 4.798406E-03 1.000000E+21
60 traj.phases.phase0.indep_states.states:x_60 c -1.000000E+21 3.725609E-03 1.000000E+21
61 traj.phases.phase0.indep_states.states:x_61 c -1.000000E+21 2.826762E-03 1.000000E+21
62 traj.phases.phase0.indep_states.states:x_62 c -1.000000E+21 2.332146E-03 1.000000E+21
63 traj.phases.phase0.indep_states.states:x_63 c -1.000000E+21 2.153783E-03 1.000000E+21
64 traj.phases.phase0.indep_states.states:x_64 c -1.000000E+21 2.126082E-03 1.000000E+21
65 traj.phases.phase0.indep_states.states:x_65 c -1.000000E+21 2.126082E-03 1.000000E+21
66 traj.phases.phase0.indep_states.states:x_66 c -1.000000E+21 2.086728E-03 1.000000E+21
67 traj.phases.phase0.indep_states.states:x_67 c -1.000000E+21 2.136691E-03 1.000000E+21
68 traj.phases.phase0.indep_states.states:x_68 c -1.000000E+21 2.467247E-03 1.000000E+21
69 traj.phases.phase0.indep_states.states:x_69 c -1.000000E+21 3.068698E-03 1.000000E+21
70 traj.phases.phase0.indep_states.states:x_70 c -1.000000E+21 3.643304E-03 1.000000E+21
71 traj.phases.phase0.indep_states.states:x_71 c -1.000000E+21 3.815384E-03 1.000000E+21
72 traj.phases.phase0.indep_states.states:x_72 c -1.000000E+21 3.815384E-03 1.000000E+21
73 traj.phases.phase0.indep_states.states:x_73 c -1.000000E+21 4.046037E-03 1.000000E+21
74 traj.phases.phase0.indep_states.states:x_74 c -1.000000E+21 4.593050E-03 1.000000E+21
75 traj.phases.phase0.indep_states.states:x_75 c -1.000000E+21 5.414635E-03 1.000000E+21
76 traj.phases.phase0.indep_states.states:x_76 c -1.000000E+21 6.342676E-03 1.000000E+21
77 traj.phases.phase0.indep_states.states:x_77 c -1.000000E+21 7.052331E-03 1.000000E+21
78 traj.phases.phase0.indep_states.states:x_78 c -1.000000E+21 7.244347E-03 1.000000E+21
79 traj.phases.phase0.indep_states.states:x_79 c -1.000000E+21 7.244347E-03 1.000000E+21
80 traj.phases.phase0.indep_states.states:x_80 c -1.000000E+21 7.744636E-03 1.000000E+21
81 traj.phases.phase0.indep_states.states:x_81 c -1.000000E+21 8.915516E-03 1.000000E+21
82 traj.phases.phase0.indep_states.states:x_82 c -1.000000E+21 1.065055E-02 1.000000E+21
83 traj.phases.phase0.indep_states.states:x_83 c -1.000000E+21 1.258454E-02 1.000000E+21
84 traj.phases.phase0.indep_states.states:x_84 c -1.000000E+21 1.405274E-02 1.000000E+21
85 traj.phases.phase0.indep_states.states:x_85 c -1.000000E+21 1.444909E-02 1.000000E+21
86 traj.phases.phase0.indep_states.states:x_86 c -1.000000E+21 1.444909E-02 1.000000E+21
87 traj.phases.phase0.indep_states.states:x_87 c -1.000000E+21 1.548038E-02 1.000000E+21
88 traj.phases.phase0.indep_states.states:x_88 c -1.000000E+21 1.788683E-02 1.000000E+21
89 traj.phases.phase0.indep_states.states:x_89 c -1.000000E+21 2.143901E-02 1.000000E+21
90 traj.phases.phase0.indep_states.states:x_90 c -1.000000E+21 2.538770E-02 1.000000E+21
91 traj.phases.phase0.indep_states.states:x_91 c -1.000000E+21 2.838089E-02 1.000000E+21
92 traj.phases.phase0.indep_states.states:x_92 c -1.000000E+21 2.918828E-02 1.000000E+21
93 traj.phases.phase0.indep_states.states:x_93 c -1.000000E+21 2.918828E-02 1.000000E+21
94 traj.phases.phase0.indep_states.states:x_94 c -1.000000E+21 3.128763E-02 1.000000E+21
95 traj.phases.phase0.indep_states.states:x_95 c -1.000000E+21 3.618104E-02 1.000000E+21
96 traj.phases.phase0.indep_states.states:x_96 c -1.000000E+21 4.340062E-02 1.000000E+21
97 traj.phases.phase0.indep_states.states:x_97 c -1.000000E+21 5.142021E-02 1.000000E+21
98 traj.phases.phase0.indep_states.states:x_98 c -1.000000E+21 5.749509E-02 1.000000E+21
99 traj.phases.phase0.indep_states.states:x_99 c -1.000000E+21 5.913429E-02 1.000000E+21
100 traj.phases.phase0.indep_states.states:x_100 c -1.000000E+21 5.913429E-02 1.000000E+21
101 traj.phases.phase0.indep_states.states:x_101 c -1.000000E+21 6.339850E-02 1.000000E+21
102 traj.phases.phase0.indep_states.states:x_102 c -1.000000E+21 7.333414E-02 1.000000E+21
103 traj.phases.phase0.indep_states.states:x_103 c -1.000000E+21 8.798458E-02 1.000000E+21
104 traj.phases.phase0.indep_states.states:x_104 c -1.000000E+21 1.042580E-01 1.000000E+21
105 traj.phases.phase0.indep_states.states:x_105 c -1.000000E+21 1.165857E-01 1.000000E+21
106 traj.phases.phase0.indep_states.states:x_106 c -1.000000E+21 1.199136E-01 1.000000E+21
107 traj.phases.phase0.indep_states.states:x_107 c -1.000000E+21 1.199136E-01 1.000000E+21
108 traj.phases.phase0.indep_states.states:x_108 c -1.000000E+21 1.220767E-01 1.000000E+21
109 traj.phases.phase0.indep_states.states:x_109 c -1.000000E+21 1.271657E-01 1.000000E+21
110 traj.phases.phase0.indep_states.states:x_110 c -1.000000E+21 1.351472E-01 1.000000E+21
111 traj.phases.phase0.indep_states.states:x_111 c -1.000000E+21 1.459275E-01 1.000000E+21
112 traj.phases.phase0.indep_states.states:x_112 c -1.000000E+21 1.592483E-01 1.000000E+21
113 traj.phases.phase0.indep_states.states:x_113 c -1.000000E+21 1.746072E-01 1.000000E+21
114 traj.phases.phase0.indep_states.states:x_114 c -1.000000E+21 1.911522E-01 1.000000E+21
115 traj.phases.phase0.indep_states.states:x_115 c -1.000000E+21 2.076539E-01 1.000000E+21
116 traj.phases.phase0.indep_states.states:x_116 c -1.000000E+21 2.225878E-01 1.000000E+21
117 traj.phases.phase0.indep_states.states:x_117 c -1.000000E+21 2.343165E-01 1.000000E+21
118 traj.phases.phase0.indep_states.states:x_118 c -1.000000E+21 2.413827E-01 1.000000E+21
119 traj.phases.phase0.indep_states.states:x_119 c -1.000000E+21 2.430983E-01 1.000000E+21
120 traj.phases.phase0.indep_states.states:x_120 c -1.000000E+21 2.430983E-01 1.000000E+21
121 traj.phases.phase0.indep_states.states:x_121 c -1.000000E+21 2.606412E-01 1.000000E+21
122 traj.phases.phase0.indep_states.states:x_122 c -1.000000E+21 3.015355E-01 1.000000E+21
123 traj.phases.phase0.indep_states.states:x_123 c -1.000000E+21 3.618131E-01 1.000000E+21
124 traj.phases.phase0.indep_states.states:x_124 c -1.000000E+21 4.287658E-01 1.000000E+21
125 traj.phases.phase0.indep_states.states:x_125 c -1.000000E+21 4.795089E-01 1.000000E+21
126 traj.phases.phase0.indep_states.states:x_126 c -1.000000E+21 4.931937E-01 1.000000E+21
127 traj.phases.phase0.indep_states.states:x_127 c -1.000000E+21 4.931937E-01 1.000000E+21
128 traj.phases.phase0.indep_states.states:x_128 c -1.000000E+21 5.106727E-01 1.000000E+21
129 traj.phases.phase0.indep_states.states:x_129 c -1.000000E+21 5.492413E-01 1.000000E+21
130 traj.phases.phase0.indep_states.states:x_130 c -1.000000E+21 6.015223E-01 1.000000E+21
131 traj.phases.phase0.indep_states.states:x_131 c -1.000000E+21 6.547457E-01 1.000000E+21
132 traj.phases.phase0.indep_states.states:x_132 c -1.000000E+21 6.924610E-01 1.000000E+21
133 traj.phases.phase0.indep_states.states:x_133 c -1.000000E+21 7.022911E-01 1.000000E+21
134 traj.phases.phase0.indep_states.states:x_134 c -1.000000E+21 7.022911E-01 1.000000E+21
135 traj.phases.phase0.indep_states.states:x_135 c -1.000000E+21 7.272064E-01 1.000000E+21
136 traj.phases.phase0.indep_states.states:x_136 c -1.000000E+21 7.821037E-01 1.000000E+21
137 traj.phases.phase0.indep_states.states:x_137 c -1.000000E+21 8.566134E-01 1.000000E+21
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318 traj.phases.phase0.control_group.indep_controls.controls:u_36 c -1.000000E+21 -5.002804E-02 1.000000E+21
319 traj.phases.phase0.control_group.indep_controls.controls:u_37 c -1.000000E+21 -4.220633E-02 1.000000E+21
320 traj.phases.phase0.control_group.indep_controls.controls:u_38 c -1.000000E+21 -3.773625E-02 1.000000E+21
321 traj.phases.phase0.control_group.indep_controls.controls:u_39 c -1.000000E+21 -3.669738E-02 1.000000E+21
322 traj.phases.phase0.control_group.indep_controls.controls:u_40 c -1.000000E+21 -3.194703E-02 1.000000E+21
323 traj.phases.phase0.control_group.indep_controls.controls:u_41 c -1.000000E+21 -2.382271E-02 1.000000E+21
324 traj.phases.phase0.control_group.indep_controls.controls:u_42 c -1.000000E+21 -1.649720E-02 1.000000E+21
325 traj.phases.phase0.control_group.indep_controls.controls:u_43 c -1.000000E+21 -1.172525E-02 1.000000E+21
326 traj.phases.phase0.control_group.indep_controls.controls:u_44 c -1.000000E+21 -9.338595E-03 1.000000E+21
327 traj.phases.phase0.control_group.indep_controls.controls:u_45 c -1.000000E+21 -8.813733E-03 1.000000E+21
328 traj.phases.phase0.control_group.indep_controls.controls:u_46 c -1.000000E+21 -7.632434E-03 1.000000E+21
329 traj.phases.phase0.control_group.indep_controls.controls:u_47 c -1.000000E+21 -5.619634E-03 1.000000E+21
330 traj.phases.phase0.control_group.indep_controls.controls:u_48 c -1.000000E+21 -3.760718E-03 1.000000E+21
331 traj.phases.phase0.control_group.indep_controls.controls:u_49 c -1.000000E+21 -2.495681E-03 1.000000E+21
332 traj.phases.phase0.control_group.indep_controls.controls:u_50 c -1.000000E+21 -1.829348E-03 1.000000E+21
333 traj.phases.phase0.control_group.indep_controls.controls:u_51 c -1.000000E+21 -1.675410E-03 1.000000E+21
334 traj.phases.phase0.control_group.indep_controls.controls:u_52 c -1.000000E+21 -1.317985E-03 1.000000E+21
335 traj.phases.phase0.control_group.indep_controls.controls:u_53 c -1.000000E+21 -6.448885E-04 1.000000E+21
336 traj.phases.phase0.control_group.indep_controls.controls:u_54 c -1.000000E+21 1.372558E-04 1.000000E+21
337 traj.phases.phase0.control_group.indep_controls.controls:u_55 c -1.000000E+21 8.541884E-04 1.000000E+21
338 traj.phases.phase0.control_group.indep_controls.controls:u_56 c -1.000000E+21 1.371276E-03 1.000000E+21
339 traj.phases.phase0.control_group.indep_controls.controls:u_57 c -1.000000E+21 1.516643E-03 1.000000E+21
340 traj.phases.phase0.control_group.indep_controls.controls:u_58 c -1.000000E+21 1.894283E-03 1.000000E+21
341 traj.phases.phase0.control_group.indep_controls.controls:u_59 c -1.000000E+21 2.824977E-03 1.000000E+21
342 traj.phases.phase0.control_group.indep_controls.controls:u_60 c -1.000000E+21 4.365323E-03 1.000000E+21
343 traj.phases.phase0.control_group.indep_controls.controls:u_61 c -1.000000E+21 6.213306E-03 1.000000E+21
344 traj.phases.phase0.control_group.indep_controls.controls:u_62 c -1.000000E+21 7.810910E-03 1.000000E+21
345 traj.phases.phase0.control_group.indep_controls.controls:u_63 c -1.000000E+21 8.296114E-03 1.000000E+21
346 traj.phases.phase0.control_group.indep_controls.controls:u_64 c -1.000000E+21 8.927479E-03 1.000000E+21
347 traj.phases.phase0.control_group.indep_controls.controls:u_65 c -1.000000E+21 1.035026E-02 1.000000E+21
348 traj.phases.phase0.control_group.indep_controls.controls:u_66 c -1.000000E+21 1.246066E-02 1.000000E+21
349 traj.phases.phase0.control_group.indep_controls.controls:u_67 c -1.000000E+21 1.479913E-02 1.000000E+21
350 traj.phases.phase0.control_group.indep_controls.controls:u_68 c -1.000000E+21 1.655770E-02 1.000000E+21
351 traj.phases.phase0.control_group.indep_controls.controls:u_69 c -1.000000E+21 1.703363E-02 1.000000E+21
352 traj.phases.phase0.control_group.indep_controls.controls:u_70 c -1.000000E+21 1.827267E-02 1.000000E+21
353 traj.phases.phase0.control_group.indep_controls.controls:u_71 c -1.000000E+21 2.116530E-02 1.000000E+21
354 traj.phases.phase0.control_group.indep_controls.controls:u_72 c -1.000000E+21 2.542496E-02 1.000000E+21
355 traj.phases.phase0.control_group.indep_controls.controls:u_73 c -1.000000E+21 3.012048E-02 1.000000E+21
356 traj.phases.phase0.control_group.indep_controls.controls:u_74 c -1.000000E+21 3.368135E-02 1.000000E+21
357 traj.phases.phase0.control_group.indep_controls.controls:u_75 c -1.000000E+21 3.464814E-02 1.000000E+21
358 traj.phases.phase0.control_group.indep_controls.controls:u_76 c -1.000000E+21 3.716210E-02 1.000000E+21
359 traj.phases.phase0.control_group.indep_controls.controls:u_77 c -1.000000E+21 4.301664E-02 1.000000E+21
360 traj.phases.phase0.control_group.indep_controls.controls:u_78 c -1.000000E+21 5.163812E-02 1.000000E+21
361 traj.phases.phase0.control_group.indep_controls.controls:u_79 c -1.000000E+21 6.115905E-02 1.000000E+21
362 traj.phases.phase0.control_group.indep_controls.controls:u_80 c -1.000000E+21 6.837282E-02 1.000000E+21
363 traj.phases.phase0.control_group.indep_controls.controls:u_81 c -1.000000E+21 7.032702E-02 1.000000E+21
364 traj.phases.phase0.control_group.indep_controls.controls:u_82 c -1.000000E+21 7.540391E-02 1.000000E+21
365 traj.phases.phase0.control_group.indep_controls.controls:u_83 c -1.000000E+21 8.726329E-02 1.000000E+21
366 traj.phases.phase0.control_group.indep_controls.controls:u_84 c -1.000000E+21 1.047657E-01 1.000000E+21
367 traj.phases.phase0.control_group.indep_controls.controls:u_85 c -1.000000E+21 1.240296E-01 1.000000E+21
368 traj.phases.phase0.control_group.indep_controls.controls:u_86 c -1.000000E+21 1.386746E-01 1.000000E+21
369 traj.phases.phase0.control_group.indep_controls.controls:u_87 c -1.000000E+21 1.426722E-01 1.000000E+21
370 traj.phases.phase0.control_group.indep_controls.controls:u_88 c -1.000000E+21 1.530124E-01 1.000000E+21
371 traj.phases.phase0.control_group.indep_controls.controls:u_89 c -1.000000E+21 1.770091E-01 1.000000E+21
372 traj.phases.phase0.control_group.indep_controls.controls:u_90 c -1.000000E+21 2.125103E-01 1.000000E+21
373 traj.phases.phase0.control_group.indep_controls.controls:u_91 c -1.000000E+21 2.515885E-01 1.000000E+21
374 traj.phases.phase0.control_group.indep_controls.controls:u_92 c -1.000000E+21 2.813695E-01 1.000000E+21
375 traj.phases.phase0.control_group.indep_controls.controls:u_93 c -1.000000E+21 2.895430E-01 1.000000E+21
376 traj.phases.phase0.control_group.indep_controls.controls:u_94 c -1.000000E+21 2.947694E-01 1.000000E+21
377 traj.phases.phase0.control_group.indep_controls.controls:u_95 c -1.000000E+21 3.069155E-01 1.000000E+21
378 traj.phases.phase0.control_group.indep_controls.controls:u_96 c -1.000000E+21 3.261771E-01 1.000000E+21
379 traj.phases.phase0.control_group.indep_controls.controls:u_97 c -1.000000E+21 3.520549E-01 1.000000E+21
380 traj.phases.phase0.control_group.indep_controls.controls:u_98 c -1.000000E+21 3.841607E-01 1.000000E+21
381 traj.phases.phase0.control_group.indep_controls.controls:u_99 c -1.000000E+21 4.213085E-01 1.000000E+21
382 traj.phases.phase0.control_group.indep_controls.controls:u_100 c -1.000000E+21 4.613088E-01 1.000000E+21
383 traj.phases.phase0.control_group.indep_controls.controls:u_101 c -1.000000E+21 5.011917E-01 1.000000E+21
384 traj.phases.phase0.control_group.indep_controls.controls:u_102 c -1.000000E+21 5.375049E-01 1.000000E+21
385 traj.phases.phase0.control_group.indep_controls.controls:u_103 c -1.000000E+21 5.657999E-01 1.000000E+21
386 traj.phases.phase0.control_group.indep_controls.controls:u_104 c -1.000000E+21 5.826618E-01 1.000000E+21
387 traj.phases.phase0.control_group.indep_controls.controls:u_105 c -1.000000E+21 5.868059E-01 1.000000E+21
388 traj.phases.phase0.control_group.indep_controls.controls:u_106 c -1.000000E+21 6.293472E-01 1.000000E+21
389 traj.phases.phase0.control_group.indep_controls.controls:u_107 c -1.000000E+21 7.282952E-01 1.000000E+21
390 traj.phases.phase0.control_group.indep_controls.controls:u_108 c -1.000000E+21 8.739748E-01 1.000000E+21
391 traj.phases.phase0.control_group.indep_controls.controls:u_109 c -1.000000E+21 1.035232E+00 1.000000E+21
392 traj.phases.phase0.control_group.indep_controls.controls:u_110 c -1.000000E+21 1.157397E+00 1.000000E+21
393 traj.phases.phase0.control_group.indep_controls.controls:u_111 c -1.000000E+21 1.190419E+00 1.000000E+21
394 traj.phases.phase0.control_group.indep_controls.controls:u_112 c -1.000000E+21 1.232713E+00 1.000000E+21
395 traj.phases.phase0.control_group.indep_controls.controls:u_113 c -1.000000E+21 1.325479E+00 1.000000E+21
396 traj.phases.phase0.control_group.indep_controls.controls:u_114 c -1.000000E+21 1.450965E+00 1.000000E+21
397 traj.phases.phase0.control_group.indep_controls.controls:u_115 c -1.000000E+21 1.581212E+00 1.000000E+21
398 traj.phases.phase0.control_group.indep_controls.controls:u_116 c -1.000000E+21 1.673336E+00 1.000000E+21
399 traj.phases.phase0.control_group.indep_controls.controls:u_117 c -1.000000E+21 1.696820E+00 1.000000E+21
400 traj.phases.phase0.control_group.indep_controls.controls:u_118 c -1.000000E+21 1.755702E+00 1.000000E+21
401 traj.phases.phase0.control_group.indep_controls.controls:u_119 c -1.000000E+21 1.886997E+00 1.000000E+21
402 traj.phases.phase0.control_group.indep_controls.controls:u_120 c -1.000000E+21 2.068409E+00 1.000000E+21
403 traj.phases.phase0.control_group.indep_controls.controls:u_121 c -1.000000E+21 2.250514E+00 1.000000E+21
404 traj.phases.phase0.control_group.indep_controls.controls:u_122 c -1.000000E+21 2.378090E+00 1.000000E+21
Constraints (i - inequality, e - equality)
Index Name Type Lower Value Upper Status Lagrange Multiplier (N/A)
0 traj.phases.phase0->final_boundary_constraint->x e 1.000000E+00 1.000000E+00 1.000000E+00 9.00000E+100
1 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.221245E-15 0.000000E+00 9.00000E+100
2 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.220446E-16 0.000000E+00 9.00000E+100
3 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.590520E-16 0.000000E+00 9.00000E+100
4 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.128727E-15 0.000000E+00 9.00000E+100
5 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 3.330669E-16 0.000000E+00 9.00000E+100
6 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -8.881784E-16 0.000000E+00 9.00000E+100
7 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.720846E-15 0.000000E+00 9.00000E+100
8 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.017704E-15 0.000000E+00 9.00000E+100
9 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.220446E-16 0.000000E+00 9.00000E+100
10 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.665335E-16 0.000000E+00 9.00000E+100
11 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.665335E-16 0.000000E+00 9.00000E+100
12 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.625929E-16 0.000000E+00 9.00000E+100
13 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -3.885781E-16 0.000000E+00 9.00000E+100
14 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.665335E-16 0.000000E+00 9.00000E+100
15 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.850372E-17 0.000000E+00 9.00000E+100
16 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -3.145632E-16 0.000000E+00 9.00000E+100
17 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.850372E-17 0.000000E+00 9.00000E+100
18 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -9.251859E-17 0.000000E+00 9.00000E+100
19 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -3.108624E-15 0.000000E+00 9.00000E+100
20 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -5.551115E-17 0.000000E+00 9.00000E+100
21 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -3.053113E-16 0.000000E+00 9.00000E+100
22 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -7.216450E-16 0.000000E+00 9.00000E+100
23 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 3.053113E-16 0.000000E+00 9.00000E+100
24 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.110223E-16 0.000000E+00 9.00000E+100
25 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -8.326673E-17 0.000000E+00 9.00000E+100
26 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.775558E-17 0.000000E+00 9.00000E+100
27 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -5.273559E-16 0.000000E+00 9.00000E+100
28 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 5.273559E-16 0.000000E+00 9.00000E+100
29 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -5.551115E-17 0.000000E+00 9.00000E+100
30 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.163336E-17 0.000000E+00 9.00000E+100
31 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -6.938894E-17 0.000000E+00 9.00000E+100
32 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -6.938894E-17 0.000000E+00 9.00000E+100
33 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 5.551115E-17 0.000000E+00 9.00000E+100
34 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.110223E-16 0.000000E+00 9.00000E+100
35 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
36 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.775558E-17 0.000000E+00 9.00000E+100
37 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.857226E-17 0.000000E+00 9.00000E+100
38 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 6.938894E-18 0.000000E+00 9.00000E+100
39 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 9.020562E-17 0.000000E+00 9.00000E+100
40 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
41 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
42 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -6.938894E-18 0.000000E+00 9.00000E+100
43 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -6.938894E-18 0.000000E+00 9.00000E+100
44 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.734723E-17 0.000000E+00 9.00000E+100
45 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 3.469447E-17 0.000000E+00 9.00000E+100
46 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.387779E-17 0.000000E+00 9.00000E+100
47 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -6.938894E-18 0.000000E+00 9.00000E+100
48 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.734723E-18 0.000000E+00 9.00000E+100
49 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -8.673617E-19 0.000000E+00 9.00000E+100
50 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 8.673617E-19 0.000000E+00 9.00000E+100
51 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.770490E-18 0.000000E+00 9.00000E+100
52 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 8.673617E-19 0.000000E+00 9.00000E+100
53 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.336809E-19 0.000000E+00 9.00000E+100
54 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
55 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.168404E-19 0.000000E+00 9.00000E+100
56 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.084202E-19 0.000000E+00 9.00000E+100
57 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 4.987330E-18 0.000000E+00 9.00000E+100
58 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.824700E-18 0.000000E+00 9.00000E+100
59 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 4.065758E-19 0.000000E+00 9.00000E+100
60 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -5.421011E-19 0.000000E+00 9.00000E+100
61 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.336809E-19 0.000000E+00 9.00000E+100
62 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.517883E-18 0.000000E+00 9.00000E+100
63 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -3.903128E-18 0.000000E+00 9.00000E+100
64 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.818926E-18 0.000000E+00 9.00000E+100
65 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.385245E-18 0.000000E+00 9.00000E+100
66 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 4.336809E-19 0.000000E+00 9.00000E+100
67 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.818926E-18 0.000000E+00 9.00000E+100
68 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.168404E-18 0.000000E+00 9.00000E+100
69 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 8.239937E-18 0.000000E+00 9.00000E+100
70 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.336809E-18 0.000000E+00 9.00000E+100
71 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 3.035766E-18 0.000000E+00 9.00000E+100
72 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 8.673617E-19 0.000000E+00 9.00000E+100
73 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 5.637851E-18 0.000000E+00 9.00000E+100
74 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 7.806256E-18 0.000000E+00 9.00000E+100
75 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.734723E-18 0.000000E+00 9.00000E+100
76 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -3.469447E-18 0.000000E+00 9.00000E+100
77 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -3.469447E-18 0.000000E+00 9.00000E+100
78 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.387779E-17 0.000000E+00 9.00000E+100
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239 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -3.742810E-10 0.000000E+00 9.00000E+100
240 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -6.258437E-10 0.000000E+00 9.00000E+100
241 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -2.073733E-10 0.000000E+00 9.00000E+100
242 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -5.936507E-11 0.000000E+00 9.00000E+100
243 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -4.603085E-11 0.000000E+00 9.00000E+100
244 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -7.506590E-11 0.000000E+00 9.00000E+100
245 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -2.834607E-10 0.000000E+00 9.00000E+100
246 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -5.511785E-10 0.000000E+00 9.00000E+100
247 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
248 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
249 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
250 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
251 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
252 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
253 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
254 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
255 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
256 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
257 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
258 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
259 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
260 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
261 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
262 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
263 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
264 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
265 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
266 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
267 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
268 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
269 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
270 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
271 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
272 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
273 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
274 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
275 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
276 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
277 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
278 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
279 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
280 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
281 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
282 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
283 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 -1.665335E-16 0.000000E+00 9.00000E+100
284 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 -1.110223E-16 0.000000E+00 9.00000E+100
285 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 5.551115E-17 0.000000E+00 9.00000E+100
286 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 2.775558E-17 0.000000E+00 9.00000E+100
287 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 -1.387779E-17 0.000000E+00 9.00000E+100
288 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 6.938894E-18 0.000000E+00 9.00000E+100
289 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 1.734723E-18 0.000000E+00 9.00000E+100
290 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 4.336809E-19 0.000000E+00 9.00000E+100
291 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 -2.168404E-19 0.000000E+00 9.00000E+100
292 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 -3.469447E-18 0.000000E+00 9.00000E+100
293 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
294 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 -6.938894E-18 0.000000E+00 9.00000E+100
295 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 4.163336E-17 0.000000E+00 9.00000E+100
296 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
297 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 5.551115E-17 0.000000E+00 9.00000E+100
298 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 2.220446E-16 0.000000E+00 9.00000E+100
299 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 -6.661338E-16 0.000000E+00 9.00000E+100
300 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 6.661338E-16 0.000000E+00 9.00000E+100
301 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -3.996803E-14 0.000000E+00 9.00000E+100
302 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 2.664535E-14 0.000000E+00 9.00000E+100
303 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -1.776357E-14 0.000000E+00 9.00000E+100
304 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -5.689893E-15 0.000000E+00 9.00000E+100
305 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -2.706169E-15 0.000000E+00 9.00000E+100
306 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -2.393918E-15 0.000000E+00 9.00000E+100
307 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 4.336809E-17 0.000000E+00 9.00000E+100
308 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 8.673617E-17 0.000000E+00 9.00000E+100
309 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 2.168404E-17 0.000000E+00 9.00000E+100
310 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 2.949030E-16 0.000000E+00 9.00000E+100
311 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -1.752071E-15 0.000000E+00 9.00000E+100
312 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 1.387779E-15 0.000000E+00 9.00000E+100
313 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 2.775558E-16 0.000000E+00 9.00000E+100
314 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -5.551115E-16 0.000000E+00 9.00000E+100
315 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 5.356826E-14 0.000000E+00 9.00000E+100
316 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 1.687539E-13 0.000000E+00 9.00000E+100
317 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -9.992007E-15 0.000000E+00 9.00000E+100
318 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 1.421085E-13 0.000000E+00 9.00000E+100
--------------------------------------------------------------------------------
==================================================
Grid Refinement - Iteration 4
--------------------------------------------------
Phase: traj.phases.phase0
Refinement Options:
Allow Refinement = True
Tolerance = 1e-07
Min Order = 3
Max Order = 14
Original Grid:
Number of Segments = 19
Segment Ends = [-1.0, -0.9667, -0.9333, -0.9, -0.8, -0.7, -0.6, -0.4, -0.2, 0.0, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 0.95, 1.0]
Segment Order = [6, 6, 6, 9, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 12, 6, 6, 6]
Error = [8.481e-08, 7.484e-10, 4.086e-08, 7.863e-08, 1.268e-08, 2.032e-09, 2.7e-08, 7.404e-09, 1.024e-08, 3.235e-08, 3.147e-09, 1.813e-09, 3.052e-09, 1.875e-08, 1.162e-07, 5.135e-08, 3.478e-07, 3.969e-07, 6.409e-07]
/usr/share/miniconda/envs/test/lib/python3.10/site-packages/dymos/grid_refinement/hp_adaptive/hp_adaptive.py:380: RuntimeWarning: divide by zero encountered in true_divide
q_smooth = (np.log(self.error[phase_path][smooth_need_refine_idxs] /
/usr/share/miniconda/envs/test/lib/python3.10/site-packages/dymos/grid_refinement/hp_adaptive/hp_adaptive.py:412: RuntimeWarning: divide by zero encountered in true_divide
q_split = np.log((self.error[phase_path][split_seg_idxs] /
Phase: traj.phases.phase0
New Grid:
Number of Segments = 22
Segment Ends = [-1.0, -0.9667, -0.9333, -0.9, -0.8, -0.7, -0.6, -0.4, -0.2, 0.0, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.85, 0.9, 0.925, 0.95, 0.975, 1.0]
Segment Order = [6, 6, 6, 9, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 9, 12, 6, 6, 6, 6, 6, 6]
Refined: True
--- Constraint Report [traj] ---
--- phase0 ---
[final] 1.0000e+00 == x [None]
Model viewer data has already been recorded for Driver.
Model viewer data has already been recorded for Driver.
Full total jacobian was computed 3 times, taking 1.131117 seconds.
Total jacobian shape: (332, 474)
Jacobian shape: (332, 474) ( 1.99% nonzero)
FWD solves: 0 REV solves: 27
Total colors vs. total size: 27 vs 332 (91.9% improvement)
Sparsity computed using tolerance: 1e-25
Time to compute sparsity: 1.131117 sec.
Time to compute coloring: 0.378831 sec.
Memory to compute coloring: 0.000000 MB.
Optimization Problem -- Optimization using pyOpt_sparse
================================================================================
Objective Function: _objfunc
Solution:
--------------------------------------------------------------------------------
Total Time: 1.1806
User Objective Time : 0.0067
User Sensitivity Time : 0.0749
Interface Time : 0.0359
Opt Solver Time: 1.0631
Calls to Objective Function : 3
Calls to Sens Function : 2
Objectives
Index Name Value
0 traj.phases.phase0.indep_states.states:xL 1.673095E+00
Variables (c - continuous, i - integer, d - discrete)
Index Name Type Lower Bound Value Upper Bound Status
0 traj.phases.phase0.indep_states.states:x_0 c -1.000000E+21 1.465633E+00 1.000000E+21
1 traj.phases.phase0.indep_states.states:x_1 c -1.000000E+21 1.396193E+00 1.000000E+21
2 traj.phases.phase0.indep_states.states:x_2 c -1.000000E+21 1.313984E+00 1.000000E+21
3 traj.phases.phase0.indep_states.states:x_3 c -1.000000E+21 1.241732E+00 1.000000E+21
4 traj.phases.phase0.indep_states.states:x_4 c -1.000000E+21 1.196281E+00 1.000000E+21
5 traj.phases.phase0.indep_states.states:x_5 c -1.000000E+21 1.185108E+00 1.000000E+21
6 traj.phases.phase0.indep_states.states:x_6 c -1.000000E+21 1.185108E+00 1.000000E+21
7 traj.phases.phase0.indep_states.states:x_7 c -1.000000E+21 1.157898E+00 1.000000E+21
8 traj.phases.phase0.indep_states.states:x_8 c -1.000000E+21 1.103012E+00 1.000000E+21
9 traj.phases.phase0.indep_states.states:x_9 c -1.000000E+21 1.038063E+00 1.000000E+21
10 traj.phases.phase0.indep_states.states:x_10 c -1.000000E+21 9.809842E-01 1.000000E+21
11 traj.phases.phase0.indep_states.states:x_11 c -1.000000E+21 9.450699E-01 1.000000E+21
12 traj.phases.phase0.indep_states.states:x_12 c -1.000000E+21 9.362392E-01 1.000000E+21
13 traj.phases.phase0.indep_states.states:x_13 c -1.000000E+21 9.362392E-01 1.000000E+21
14 traj.phases.phase0.indep_states.states:x_14 c -1.000000E+21 9.147332E-01 1.000000E+21
15 traj.phases.phase0.indep_states.states:x_15 c -1.000000E+21 8.713674E-01 1.000000E+21
16 traj.phases.phase0.indep_states.states:x_16 c -1.000000E+21 8.200574E-01 1.000000E+21
17 traj.phases.phase0.indep_states.states:x_17 c -1.000000E+21 7.749596E-01 1.000000E+21
18 traj.phases.phase0.indep_states.states:x_18 c -1.000000E+21 7.465985E-01 1.000000E+21
19 traj.phases.phase0.indep_states.states:x_19 c -1.000000E+21 7.396271E-01 1.000000E+21
20 traj.phases.phase0.indep_states.states:x_20 c -1.000000E+21 7.396271E-01 1.000000E+21
21 traj.phases.phase0.indep_states.states:x_21 c -1.000000E+21 7.166493E-01 1.000000E+21
22 traj.phases.phase0.indep_states.states:x_22 c -1.000000E+21 6.678523E-01 1.000000E+21
23 traj.phases.phase0.indep_states.states:x_23 c -1.000000E+21 6.038577E-01 1.000000E+21
24 traj.phases.phase0.indep_states.states:x_24 c -1.000000E+21 5.362335E-01 1.000000E+21
25 traj.phases.phase0.indep_states.states:x_25 c -1.000000E+21 4.744323E-01 1.000000E+21
26 traj.phases.phase0.indep_states.states:x_26 c -1.000000E+21 4.244036E-01 1.000000E+21
27 traj.phases.phase0.indep_states.states:x_27 c -1.000000E+21 3.890567E-01 1.000000E+21
28 traj.phases.phase0.indep_states.states:x_28 c -1.000000E+21 3.693451E-01 1.000000E+21
29 traj.phases.phase0.indep_states.states:x_29 c -1.000000E+21 3.647316E-01 1.000000E+21
30 traj.phases.phase0.indep_states.states:x_30 c -1.000000E+21 3.647316E-01 1.000000E+21
31 traj.phases.phase0.indep_states.states:x_31 c -1.000000E+21 3.401880E-01 1.000000E+21
32 traj.phases.phase0.indep_states.states:x_32 c -1.000000E+21 2.940773E-01 1.000000E+21
33 traj.phases.phase0.indep_states.states:x_33 c -1.000000E+21 2.451248E-01 1.000000E+21
34 traj.phases.phase0.indep_states.states:x_34 c -1.000000E+21 2.068709E-01 1.000000E+21
35 traj.phases.phase0.indep_states.states:x_35 c -1.000000E+21 1.849780E-01 1.000000E+21
36 traj.phases.phase0.indep_states.states:x_36 c -1.000000E+21 1.798440E-01 1.000000E+21
37 traj.phases.phase0.indep_states.states:x_37 c -1.000000E+21 1.798440E-01 1.000000E+21
38 traj.phases.phase0.indep_states.states:x_38 c -1.000000E+21 1.677415E-01 1.000000E+21
39 traj.phases.phase0.indep_states.states:x_39 c -1.000000E+21 1.450079E-01 1.000000E+21
40 traj.phases.phase0.indep_states.states:x_40 c -1.000000E+21 1.208750E-01 1.000000E+21
41 traj.phases.phase0.indep_states.states:x_41 c -1.000000E+21 1.020153E-01 1.000000E+21
42 traj.phases.phase0.indep_states.states:x_42 c -1.000000E+21 9.122210E-02 1.000000E+21
43 traj.phases.phase0.indep_states.states:x_43 c -1.000000E+21 8.869089E-02 1.000000E+21
44 traj.phases.phase0.indep_states.states:x_44 c -1.000000E+21 8.869089E-02 1.000000E+21
45 traj.phases.phase0.indep_states.states:x_45 c -1.000000E+21 7.715679E-02 1.000000E+21
46 traj.phases.phase0.indep_states.states:x_46 c -1.000000E+21 5.766367E-02 1.000000E+21
47 traj.phases.phase0.indep_states.states:x_47 c -1.000000E+21 4.008187E-02 1.000000E+21
48 traj.phases.phase0.indep_states.states:x_48 c -1.000000E+21 2.856809E-02 1.000000E+21
49 traj.phases.phase0.indep_states.states:x_49 c -1.000000E+21 2.285788E-02 1.000000E+21
50 traj.phases.phase0.indep_states.states:x_50 c -1.000000E+21 2.161181E-02 1.000000E+21
51 traj.phases.phase0.indep_states.states:x_51 c -1.000000E+21 2.161181E-02 1.000000E+21
52 traj.phases.phase0.indep_states.states:x_52 c -1.000000E+21 1.881446E-02 1.000000E+21
53 traj.phases.phase0.indep_states.states:x_53 c -1.000000E+21 1.409340E-02 1.000000E+21
54 traj.phases.phase0.indep_states.states:x_54 c -1.000000E+21 9.850010E-03 1.000000E+21
55 traj.phases.phase0.indep_states.states:x_55 c -1.000000E+21 7.092952E-03 1.000000E+21
56 traj.phases.phase0.indep_states.states:x_56 c -1.000000E+21 5.741251E-03 1.000000E+21
57 traj.phases.phase0.indep_states.states:x_57 c -1.000000E+21 5.448872E-03 1.000000E+21
58 traj.phases.phase0.indep_states.states:x_58 c -1.000000E+21 5.448872E-03 1.000000E+21
59 traj.phases.phase0.indep_states.states:x_59 c -1.000000E+21 4.797730E-03 1.000000E+21
60 traj.phases.phase0.indep_states.states:x_60 c -1.000000E+21 3.725192E-03 1.000000E+21
61 traj.phases.phase0.indep_states.states:x_61 c -1.000000E+21 2.825846E-03 1.000000E+21
62 traj.phases.phase0.indep_states.states:x_62 c -1.000000E+21 2.330538E-03 1.000000E+21
63 traj.phases.phase0.indep_states.states:x_63 c -1.000000E+21 2.152516E-03 1.000000E+21
64 traj.phases.phase0.indep_states.states:x_64 c -1.000000E+21 2.124933E-03 1.000000E+21
65 traj.phases.phase0.indep_states.states:x_65 c -1.000000E+21 2.124933E-03 1.000000E+21
66 traj.phases.phase0.indep_states.states:x_66 c -1.000000E+21 2.085775E-03 1.000000E+21
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425 traj.phases.phase0.control_group.indep_controls.controls:u_95 c -1.000000E+21 2.858881E-01 1.000000E+21
426 traj.phases.phase0.control_group.indep_controls.controls:u_96 c -1.000000E+21 2.895111E-01 1.000000E+21
427 traj.phases.phase0.control_group.indep_controls.controls:u_97 c -1.000000E+21 2.947046E-01 1.000000E+21
428 traj.phases.phase0.control_group.indep_controls.controls:u_98 c -1.000000E+21 3.068453E-01 1.000000E+21
429 traj.phases.phase0.control_group.indep_controls.controls:u_99 c -1.000000E+21 3.260655E-01 1.000000E+21
430 traj.phases.phase0.control_group.indep_controls.controls:u_100 c -1.000000E+21 3.519542E-01 1.000000E+21
431 traj.phases.phase0.control_group.indep_controls.controls:u_101 c -1.000000E+21 3.840415E-01 1.000000E+21
432 traj.phases.phase0.control_group.indep_controls.controls:u_102 c -1.000000E+21 4.211932E-01 1.000000E+21
433 traj.phases.phase0.control_group.indep_controls.controls:u_103 c -1.000000E+21 4.611709E-01 1.000000E+21
434 traj.phases.phase0.control_group.indep_controls.controls:u_104 c -1.000000E+21 5.010790E-01 1.000000E+21
435 traj.phases.phase0.control_group.indep_controls.controls:u_105 c -1.000000E+21 5.373678E-01 1.000000E+21
436 traj.phases.phase0.control_group.indep_controls.controls:u_106 c -1.000000E+21 5.657238E-01 1.000000E+21
437 traj.phases.phase0.control_group.indep_controls.controls:u_107 c -1.000000E+21 5.826413E-01 1.000000E+21
438 traj.phases.phase0.control_group.indep_controls.controls:u_108 c -1.000000E+21 5.867517E-01 1.000000E+21
439 traj.phases.phase0.control_group.indep_controls.controls:u_109 c -1.000000E+21 6.079509E-01 1.000000E+21
440 traj.phases.phase0.control_group.indep_controls.controls:u_110 c -1.000000E+21 6.547306E-01 1.000000E+21
441 traj.phases.phase0.control_group.indep_controls.controls:u_111 c -1.000000E+21 7.165830E-01 1.000000E+21
442 traj.phases.phase0.control_group.indep_controls.controls:u_112 c -1.000000E+21 7.821332E-01 1.000000E+21
443 traj.phases.phase0.control_group.indep_controls.controls:u_113 c -1.000000E+21 8.274993E-01 1.000000E+21
444 traj.phases.phase0.control_group.indep_controls.controls:u_114 c -1.000000E+21 8.382529E-01 1.000000E+21
445 traj.phases.phase0.control_group.indep_controls.controls:u_115 c -1.000000E+21 8.664761E-01 1.000000E+21
446 traj.phases.phase0.control_group.indep_controls.controls:u_116 c -1.000000E+21 9.327844E-01 1.000000E+21
447 traj.phases.phase0.control_group.indep_controls.controls:u_117 c -1.000000E+21 1.020110E+00 1.000000E+21
448 traj.phases.phase0.control_group.indep_controls.controls:u_118 c -1.000000E+21 1.109796E+00 1.000000E+21
449 traj.phases.phase0.control_group.indep_controls.controls:u_119 c -1.000000E+21 1.173985E+00 1.000000E+21
450 traj.phases.phase0.control_group.indep_controls.controls:u_120 c -1.000000E+21 1.190142E+00 1.000000E+21
451 traj.phases.phase0.control_group.indep_controls.controls:u_121 c -1.000000E+21 1.210841E+00 1.000000E+21
452 traj.phases.phase0.control_group.indep_controls.controls:u_122 c -1.000000E+21 1.256247E+00 1.000000E+21
453 traj.phases.phase0.control_group.indep_controls.controls:u_123 c -1.000000E+21 1.314041E+00 1.000000E+21
454 traj.phases.phase0.control_group.indep_controls.controls:u_124 c -1.000000E+21 1.371770E+00 1.000000E+21
455 traj.phases.phase0.control_group.indep_controls.controls:u_125 c -1.000000E+21 1.410893E+00 1.000000E+21
456 traj.phases.phase0.control_group.indep_controls.controls:u_126 c -1.000000E+21 1.420258E+00 1.000000E+21
457 traj.phases.phase0.control_group.indep_controls.controls:u_127 c -1.000000E+21 1.444321E+00 1.000000E+21
458 traj.phases.phase0.control_group.indep_controls.controls:u_128 c -1.000000E+21 1.498752E+00 1.000000E+21
459 traj.phases.phase0.control_group.indep_controls.controls:u_129 c -1.000000E+21 1.568675E+00 1.000000E+21
460 traj.phases.phase0.control_group.indep_controls.controls:u_130 c -1.000000E+21 1.637656E+00 1.000000E+21
461 traj.phases.phase0.control_group.indep_controls.controls:u_131 c -1.000000E+21 1.684823E+00 1.000000E+21
462 traj.phases.phase0.control_group.indep_controls.controls:u_132 c -1.000000E+21 1.696394E+00 1.000000E+21
463 traj.phases.phase0.control_group.indep_controls.controls:u_133 c -1.000000E+21 1.725504E+00 1.000000E+21
464 traj.phases.phase0.control_group.indep_controls.controls:u_134 c -1.000000E+21 1.788703E+00 1.000000E+21
465 traj.phases.phase0.control_group.indep_controls.controls:u_135 c -1.000000E+21 1.870591E+00 1.000000E+21
466 traj.phases.phase0.control_group.indep_controls.controls:u_136 c -1.000000E+21 1.953696E+00 1.000000E+21
467 traj.phases.phase0.control_group.indep_controls.controls:u_137 c -1.000000E+21 2.010262E+00 1.000000E+21
468 traj.phases.phase0.control_group.indep_controls.controls:u_138 c -1.000000E+21 2.023883E+00 1.000000E+21
469 traj.phases.phase0.control_group.indep_controls.controls:u_139 c -1.000000E+21 2.058329E+00 1.000000E+21
470 traj.phases.phase0.control_group.indep_controls.controls:u_140 c -1.000000E+21 2.134442E+00 1.000000E+21
471 traj.phases.phase0.control_group.indep_controls.controls:u_141 c -1.000000E+21 2.232017E+00 1.000000E+21
472 traj.phases.phase0.control_group.indep_controls.controls:u_142 c -1.000000E+21 2.328133E+00 1.000000E+21
473 traj.phases.phase0.control_group.indep_controls.controls:u_143 c -1.000000E+21 2.393836E+00 1.000000E+21
Constraints (i - inequality, e - equality)
Index Name Type Lower Value Upper Status Lagrange Multiplier (N/A)
0 traj.phases.phase0->final_boundary_constraint->x e 1.000000E+00 1.000000E+00 1.000000E+00 9.00000E+100
1 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.184238E-15 0.000000E+00 9.00000E+100
2 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 4.440892E-16 0.000000E+00 9.00000E+100
3 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.070818E-16 0.000000E+00 9.00000E+100
4 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.220446E-16 0.000000E+00 9.00000E+100
5 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -6.291264E-16 0.000000E+00 9.00000E+100
6 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.220446E-16 0.000000E+00 9.00000E+100
7 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.591320E-15 0.000000E+00 9.00000E+100
8 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
9 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.590520E-16 0.000000E+00 9.00000E+100
10 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 4.625929E-16 0.000000E+00 9.00000E+100
11 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -9.251859E-17 0.000000E+00 9.00000E+100
12 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -8.141636E-16 0.000000E+00 9.00000E+100
13 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.035409E-15 0.000000E+00 9.00000E+100
14 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.996004E-16 0.000000E+00 9.00000E+100
15 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.405483E-16 0.000000E+00 9.00000E+100
16 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.255855E-16 0.000000E+00 9.00000E+100
17 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 4.996004E-16 0.000000E+00 9.00000E+100
18 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.035409E-16 0.000000E+00 9.00000E+100
19 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.665335E-16 0.000000E+00 9.00000E+100
20 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 6.661338E-16 0.000000E+00 9.00000E+100
21 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
22 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.110223E-16 0.000000E+00 9.00000E+100
23 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.665335E-16 0.000000E+00 9.00000E+100
24 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -3.608225E-16 0.000000E+00 9.00000E+100
25 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 4.163336E-16 0.000000E+00 9.00000E+100
26 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -8.326673E-17 0.000000E+00 9.00000E+100
27 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 5.273559E-16 0.000000E+00 9.00000E+100
28 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.387779E-16 0.000000E+00 9.00000E+100
29 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -5.551115E-17 0.000000E+00 9.00000E+100
30 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.387779E-17 0.000000E+00 9.00000E+100
31 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.387779E-17 0.000000E+00 9.00000E+100
32 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 4.163336E-17 0.000000E+00 9.00000E+100
33 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -5.551115E-17 0.000000E+00 9.00000E+100
34 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.110223E-16 0.000000E+00 9.00000E+100
35 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.110223E-16 0.000000E+00 9.00000E+100
36 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.387779E-17 0.000000E+00 9.00000E+100
37 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.163336E-17 0.000000E+00 9.00000E+100
38 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
39 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.249001E-16 0.000000E+00 9.00000E+100
40 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 9.714451E-17 0.000000E+00 9.00000E+100
41 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 6.938894E-18 0.000000E+00 9.00000E+100
42 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.857226E-17 0.000000E+00 9.00000E+100
43 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.081668E-17 0.000000E+00 9.00000E+100
44 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -3.469447E-18 0.000000E+00 9.00000E+100
45 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 3.469447E-17 0.000000E+00 9.00000E+100
46 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.387779E-17 0.000000E+00 9.00000E+100
47 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.734723E-18 0.000000E+00 9.00000E+100
48 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 3.469447E-18 0.000000E+00 9.00000E+100
49 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.336809E-18 0.000000E+00 9.00000E+100
50 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 8.673617E-19 0.000000E+00 9.00000E+100
51 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
52 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 4.336809E-18 0.000000E+00 9.00000E+100
53 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.734723E-18 0.000000E+00 9.00000E+100
54 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 8.673617E-19 0.000000E+00 9.00000E+100
55 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -6.505213E-19 0.000000E+00 9.00000E+100
56 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.168404E-19 0.000000E+00 9.00000E+100
57 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.927346E-18 0.000000E+00 9.00000E+100
58 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 6.451003E-18 0.000000E+00 9.00000E+100
59 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.897354E-19 0.000000E+00 9.00000E+100
60 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.409463E-18 0.000000E+00 9.00000E+100
61 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 4.336809E-19 0.000000E+00 9.00000E+100
62 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.336809E-19 0.000000E+00 9.00000E+100
63 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
64 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 5.421011E-18 0.000000E+00 9.00000E+100
65 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.734723E-18 0.000000E+00 9.00000E+100
66 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.951564E-18 0.000000E+00 9.00000E+100
67 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.602085E-18 0.000000E+00 9.00000E+100
68 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 8.673617E-19 0.000000E+00 9.00000E+100
69 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 8.239937E-18 0.000000E+00 9.00000E+100
70 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 4.336809E-18 0.000000E+00 9.00000E+100
71 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.168404E-18 0.000000E+00 9.00000E+100
72 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.336809E-19 0.000000E+00 9.00000E+100
73 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 5.637851E-18 0.000000E+00 9.00000E+100
74 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.127570E-17 0.000000E+00 9.00000E+100
75 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.734723E-18 0.000000E+00 9.00000E+100
76 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 3.642919E-17 0.000000E+00 9.00000E+100
77 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.734723E-18 0.000000E+00 9.00000E+100
78 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -8.673617E-18 0.000000E+00 9.00000E+100
79 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -6.071532E-18 0.000000E+00 9.00000E+100
80 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.255141E-17 0.000000E+00 9.00000E+100
81 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.734723E-17 0.000000E+00 9.00000E+100
82 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
83 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 6.938894E-18 0.000000E+00 9.00000E+100
84 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 3.469447E-18 0.000000E+00 9.00000E+100
85 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.908196E-17 0.000000E+00 9.00000E+100
86 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 3.469447E-18 0.000000E+00 9.00000E+100
87 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.428613E-17 0.000000E+00 9.00000E+100
88 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.838807E-16 0.000000E+00 9.00000E+100
89 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.942890E-16 0.000000E+00 9.00000E+100
90 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 6.938894E-17 0.000000E+00 9.00000E+100
91 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.040834E-17 0.000000E+00 9.00000E+100
92 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.775558E-17 0.000000E+00 9.00000E+100
93 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -5.551115E-17 0.000000E+00 9.00000E+100
94 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 3.469447E-17 0.000000E+00 9.00000E+100
95 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -7.632783E-17 0.000000E+00 9.00000E+100
96 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.040834E-16 0.000000E+00 9.00000E+100
97 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.304512E-15 0.000000E+00 9.00000E+100
98 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -9.020562E-17 0.000000E+00 9.00000E+100
99 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -7.632783E-17 0.000000E+00 9.00000E+100
100 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 1.665335E-16 0.000000E+00 9.00000E+100
101 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -7.632783E-17 0.000000E+00 9.00000E+100
102 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 9.714451E-17 0.000000E+00 9.00000E+100
103 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.012279E-16 0.000000E+00 9.00000E+100
104 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.220446E-16 0.000000E+00 9.00000E+100
105 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.775558E-17 0.000000E+00 9.00000E+100
106 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
107 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -6.106227E-16 0.000000E+00 9.00000E+100
108 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.387779E-17 0.000000E+00 9.00000E+100
109 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -4.371503E-16 0.000000E+00 9.00000E+100
110 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -3.469447E-17 0.000000E+00 9.00000E+100
111 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -2.081668E-17 0.000000E+00 9.00000E+100
112 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 2.081668E-17 0.000000E+00 9.00000E+100
113 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.387779E-17 0.000000E+00 9.00000E+100
114 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 4.579670E-16 0.000000E+00 9.00000E+100
115 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 8.465451E-16 0.000000E+00 9.00000E+100
116 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 8.326673E-17 0.000000E+00 9.00000E+100
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276 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.118548E-11 0.000000E+00 9.00000E+100
277 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -7.512727E-12 0.000000E+00 9.00000E+100
278 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -3.315181E-12 0.000000E+00 9.00000E+100
279 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -5.719328E-12 0.000000E+00 9.00000E+100
280 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -7.122711E-11 0.000000E+00 9.00000E+100
281 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -8.421874E-13 0.000000E+00 9.00000E+100
282 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.991793E-11 0.000000E+00 9.00000E+100
283 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -4.566153E-12 0.000000E+00 9.00000E+100
284 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -3.659739E-12 0.000000E+00 9.00000E+100
285 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.526640E-12 0.000000E+00 9.00000E+100
286 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.582773E-10 0.000000E+00 9.00000E+100
287 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -1.674187E-10 0.000000E+00 9.00000E+100
288 traj.phases.phase0.collocation_constraint.defects:xL e 0.000000E+00 -5.125358E-11 0.000000E+00 9.00000E+100
289 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
290 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
291 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
292 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
293 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
294 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
295 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
296 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
297 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
298 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
299 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
300 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
301 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
302 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
303 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
304 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
305 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
306 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
307 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
308 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
309 traj.phases.phase0.continuity_comp.defect_states:x e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
310 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
311 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
312 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
313 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
314 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
315 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
316 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
317 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
318 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
319 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
320 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
321 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
322 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
323 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
324 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
325 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
326 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
327 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
328 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
329 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
330 traj.phases.phase0.continuity_comp.defect_states:xL e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
331 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 5.551115E-17 0.000000E+00 9.00000E+100
332 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 5.551115E-17 0.000000E+00 9.00000E+100
333 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
334 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
335 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 -1.387779E-17 0.000000E+00 9.00000E+100
336 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 6.938894E-18 0.000000E+00 9.00000E+100
337 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 3.469447E-18 0.000000E+00 9.00000E+100
338 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 -2.168404E-19 0.000000E+00 9.00000E+100
339 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 -2.168404E-19 0.000000E+00 9.00000E+100
340 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 1.734723E-18 0.000000E+00 9.00000E+100
341 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 3.469447E-18 0.000000E+00 9.00000E+100
342 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 6.938894E-18 0.000000E+00 9.00000E+100
343 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
344 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 -5.551115E-17 0.000000E+00 9.00000E+100
345 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 5.551115E-17 0.000000E+00 9.00000E+100
346 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 2.220446E-16 0.000000E+00 9.00000E+100
347 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 2.220446E-16 0.000000E+00 9.00000E+100
348 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 -2.220446E-16 0.000000E+00 9.00000E+100
349 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
350 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 4.440892E-16 0.000000E+00 9.00000E+100
351 traj.phases.phase0.continuity_comp.defect_controls:u e 0.000000E+00 0.000000E+00 0.000000E+00 9.00000E+100
352 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -3.996803E-14 0.000000E+00 9.00000E+100
353 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 1.332268E-14 0.000000E+00 9.00000E+100
354 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -4.440892E-14 0.000000E+00 9.00000E+100
355 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -5.689893E-15 0.000000E+00 9.00000E+100
356 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -1.595946E-15 0.000000E+00 9.00000E+100
357 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 1.491862E-15 0.000000E+00 9.00000E+100
358 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 4.597017E-16 0.000000E+00 9.00000E+100
359 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -8.673617E-17 0.000000E+00 9.00000E+100
360 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 2.168404E-17 0.000000E+00 9.00000E+100
361 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 1.647987E-16 0.000000E+00 9.00000E+100
362 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -2.255141E-16 0.000000E+00 9.00000E+100
363 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 1.942890E-15 0.000000E+00 9.00000E+100
364 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -4.440892E-15 0.000000E+00 9.00000E+100
365 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 3.885781E-15 0.000000E+00 9.00000E+100
366 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 2.775558E-16 0.000000E+00 9.00000E+100
367 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -2.275957E-14 0.000000E+00 9.00000E+100
368 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -1.276756E-13 0.000000E+00 9.00000E+100
369 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 4.440892E-13 0.000000E+00 9.00000E+100
370 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -1.165734E-13 0.000000E+00 9.00000E+100
371 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 2.842171E-13 0.000000E+00 9.00000E+100
372 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -5.928591E-13 0.000000E+00 9.00000E+100
--------------------------------------------------------------------------------
==================================================
Grid Refinement - Iteration 5
--------------------------------------------------
Phase: traj.phases.phase0
Refinement Options:
Allow Refinement = True
Tolerance = 1e-07
Min Order = 3
Max Order = 14
Original Grid:
Number of Segments = 22
Segment Ends = [-1.0, -0.9667, -0.9333, -0.9, -0.8, -0.7, -0.6, -0.4, -0.2, 0.0, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.85, 0.9, 0.925, 0.95, 0.975, 1.0]
Segment Order = [6, 6, 6, 9, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 9, 12, 6, 6, 6, 6, 6, 6]
Error = [9.392e-08, 1.204e-09, 3.961e-08, 6.868e-08, 1.103e-08, 1.276e-09, 2.957e-08, 5.773e-09, 7.419e-09, 2.077e-08, 1.619e-09, 4.878e-10, 5.592e-10, 9.102e-09, 9.29e-08, 2.239e-08, 4.743e-07, 7.315e-07, 1.189e-07, 1.379e-07, 1.705e-07, 1.605e-07]
Phase: traj.phases.phase0
New Grid:
Number of Segments = 26
Segment Ends = [-1.0, -0.9667, -0.9333, -0.9, -0.8, -0.7, -0.6, -0.4, -0.2, 0.0, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.825, 0.85, 0.875, 0.9, 0.925, 0.95, 0.9625, 0.975, 0.9875, 1.0]
Segment Order = [6, 6, 6, 9, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 9, 12, 6, 6, 6, 6, 9, 12, 6, 6, 6, 6]
Refined: True
--- Constraint Report [traj] ---
--- phase0 ---
[final] 1.0000e+00 == x [None]
Model viewer data has already been recorded for Driver.
Model viewer data has already been recorded for Driver.
Full total jacobian was computed 3 times, taking 1.519374 seconds.
Total jacobian shape: (406, 581)
Jacobian shape: (406, 581) ( 1.69% nonzero)
FWD solves: 0 REV solves: 27
Total colors vs. total size: 27 vs 406 (93.3% improvement)
Sparsity computed using tolerance: 1e-25
Time to compute sparsity: 1.519374 sec.
Time to compute coloring: 0.482305 sec.
Memory to compute coloring: 0.000000 MB.
Optimization Problem -- Optimization using pyOpt_sparse
================================================================================
Objective Function: _objfunc
Solution:
--------------------------------------------------------------------------------
Total Time: 1.2336
User Objective Time : 0.0045
User Sensitivity Time : 0.0405
Interface Time : 0.0262
Opt Solver Time: 1.1624
Calls to Objective Function : 2
Calls to Sens Function : 1
Objectives
Index Name Value
0 traj.phases.phase0.indep_states.states:xL 1.673095E+00
Variables (c - continuous, i - integer, d - discrete)
Index Name Type Lower Bound Value Upper Bound Status
0 traj.phases.phase0.indep_states.states:x_0 c -1.000000E+21 1.465632E+00 1.000000E+21
1 traj.phases.phase0.indep_states.states:x_1 c -1.000000E+21 1.396191E+00 1.000000E+21
2 traj.phases.phase0.indep_states.states:x_2 c -1.000000E+21 1.313983E+00 1.000000E+21
3 traj.phases.phase0.indep_states.states:x_3 c -1.000000E+21 1.241730E+00 1.000000E+21
4 traj.phases.phase0.indep_states.states:x_4 c -1.000000E+21 1.196280E+00 1.000000E+21
5 traj.phases.phase0.indep_states.states:x_5 c -1.000000E+21 1.185107E+00 1.000000E+21
6 traj.phases.phase0.indep_states.states:x_6 c -1.000000E+21 1.185107E+00 1.000000E+21
7 traj.phases.phase0.indep_states.states:x_7 c -1.000000E+21 1.157896E+00 1.000000E+21
8 traj.phases.phase0.indep_states.states:x_8 c -1.000000E+21 1.103010E+00 1.000000E+21
9 traj.phases.phase0.indep_states.states:x_9 c -1.000000E+21 1.038062E+00 1.000000E+21
10 traj.phases.phase0.indep_states.states:x_10 c -1.000000E+21 9.809827E-01 1.000000E+21
11 traj.phases.phase0.indep_states.states:x_11 c -1.000000E+21 9.450685E-01 1.000000E+21
12 traj.phases.phase0.indep_states.states:x_12 c -1.000000E+21 9.362380E-01 1.000000E+21
13 traj.phases.phase0.indep_states.states:x_13 c -1.000000E+21 9.362380E-01 1.000000E+21
14 traj.phases.phase0.indep_states.states:x_14 c -1.000000E+21 9.147322E-01 1.000000E+21
15 traj.phases.phase0.indep_states.states:x_15 c -1.000000E+21 8.713667E-01 1.000000E+21
16 traj.phases.phase0.indep_states.states:x_16 c -1.000000E+21 8.200568E-01 1.000000E+21
17 traj.phases.phase0.indep_states.states:x_17 c -1.000000E+21 7.749591E-01 1.000000E+21
18 traj.phases.phase0.indep_states.states:x_18 c -1.000000E+21 7.465979E-01 1.000000E+21
19 traj.phases.phase0.indep_states.states:x_19 c -1.000000E+21 7.396265E-01 1.000000E+21
20 traj.phases.phase0.indep_states.states:x_20 c -1.000000E+21 7.396265E-01 1.000000E+21
21 traj.phases.phase0.indep_states.states:x_21 c -1.000000E+21 7.166487E-01 1.000000E+21
22 traj.phases.phase0.indep_states.states:x_22 c -1.000000E+21 6.678517E-01 1.000000E+21
23 traj.phases.phase0.indep_states.states:x_23 c -1.000000E+21 6.038570E-01 1.000000E+21
24 traj.phases.phase0.indep_states.states:x_24 c -1.000000E+21 5.362321E-01 1.000000E+21
25 traj.phases.phase0.indep_states.states:x_25 c -1.000000E+21 4.744289E-01 1.000000E+21
26 traj.phases.phase0.indep_states.states:x_26 c -1.000000E+21 4.243998E-01 1.000000E+21
27 traj.phases.phase0.indep_states.states:x_27 c -1.000000E+21 3.890532E-01 1.000000E+21
28 traj.phases.phase0.indep_states.states:x_28 c -1.000000E+21 3.693416E-01 1.000000E+21
29 traj.phases.phase0.indep_states.states:x_29 c -1.000000E+21 3.647281E-01 1.000000E+21
30 traj.phases.phase0.indep_states.states:x_30 c -1.000000E+21 3.647281E-01 1.000000E+21
31 traj.phases.phase0.indep_states.states:x_31 c -1.000000E+21 3.401846E-01 1.000000E+21
32 traj.phases.phase0.indep_states.states:x_32 c -1.000000E+21 2.940742E-01 1.000000E+21
33 traj.phases.phase0.indep_states.states:x_33 c -1.000000E+21 2.451226E-01 1.000000E+21
34 traj.phases.phase0.indep_states.states:x_34 c -1.000000E+21 2.068691E-01 1.000000E+21
35 traj.phases.phase0.indep_states.states:x_35 c -1.000000E+21 1.849763E-01 1.000000E+21
36 traj.phases.phase0.indep_states.states:x_36 c -1.000000E+21 1.798424E-01 1.000000E+21
37 traj.phases.phase0.indep_states.states:x_37 c -1.000000E+21 1.798424E-01 1.000000E+21
38 traj.phases.phase0.indep_states.states:x_38 c -1.000000E+21 1.677400E-01 1.000000E+21
39 traj.phases.phase0.indep_states.states:x_39 c -1.000000E+21 1.450064E-01 1.000000E+21
40 traj.phases.phase0.indep_states.states:x_40 c -1.000000E+21 1.208735E-01 1.000000E+21
41 traj.phases.phase0.indep_states.states:x_41 c -1.000000E+21 1.020139E-01 1.000000E+21
42 traj.phases.phase0.indep_states.states:x_42 c -1.000000E+21 9.122068E-02 1.000000E+21
43 traj.phases.phase0.indep_states.states:x_43 c -1.000000E+21 8.868950E-02 1.000000E+21
44 traj.phases.phase0.indep_states.states:x_44 c -1.000000E+21 8.868950E-02 1.000000E+21
45 traj.phases.phase0.indep_states.states:x_45 c -1.000000E+21 7.715576E-02 1.000000E+21
46 traj.phases.phase0.indep_states.states:x_46 c -1.000000E+21 5.766312E-02 1.000000E+21
47 traj.phases.phase0.indep_states.states:x_47 c -1.000000E+21 4.008074E-02 1.000000E+21
48 traj.phases.phase0.indep_states.states:x_48 c -1.000000E+21 2.856687E-02 1.000000E+21
49 traj.phases.phase0.indep_states.states:x_49 c -1.000000E+21 2.285694E-02 1.000000E+21
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416 traj.phases.phase0.control_group.indep_controls.controls:u_12 c -1.000000E+21 -3.885094E-01 1.000000E+21
417 traj.phases.phase0.control_group.indep_controls.controls:u_13 c -1.000000E+21 -3.795991E-01 1.000000E+21
418 traj.phases.phase0.control_group.indep_controls.controls:u_14 c -1.000000E+21 -3.609683E-01 1.000000E+21
419 traj.phases.phase0.control_group.indep_controls.controls:u_15 c -1.000000E+21 -3.397233E-01 1.000000E+21
420 traj.phases.phase0.control_group.indep_controls.controls:u_16 c -1.000000E+21 -3.209835E-01 1.000000E+21
421 traj.phases.phase0.control_group.indep_controls.controls:u_17 c -1.000000E+21 -3.090135E-01 1.000000E+21
422 traj.phases.phase0.control_group.indep_controls.controls:u_18 c -1.000000E+21 -3.061943E-01 1.000000E+21
423 traj.phases.phase0.control_group.indep_controls.controls:u_19 c -1.000000E+21 -2.968591E-01 1.000000E+21
424 traj.phases.phase0.control_group.indep_controls.controls:u_20 c -1.000000E+21 -2.765665E-01 1.000000E+21
425 traj.phases.phase0.control_group.indep_controls.controls:u_21 c -1.000000E+21 -2.501131E-01 1.000000E+21
426 traj.phases.phase0.control_group.indep_controls.controls:u_22 c -1.000000E+21 -2.218671E-01 1.000000E+21
427 traj.phases.phase0.control_group.indep_controls.controls:u_23 c -1.000000E+21 -1.962445E-01 1.000000E+21
428 traj.phases.phase0.control_group.indep_controls.controls:u_24 c -1.000000E+21 -1.757846E-01 1.000000E+21
429 traj.phases.phase0.control_group.indep_controls.controls:u_25 c -1.000000E+21 -1.610799E-01 1.000000E+21
430 traj.phases.phase0.control_group.indep_controls.controls:u_26 c -1.000000E+21 -1.528824E-01 1.000000E+21
431 traj.phases.phase0.control_group.indep_controls.controls:u_27 c -1.000000E+21 -1.509770E-01 1.000000E+21
432 traj.phases.phase0.control_group.indep_controls.controls:u_28 c -1.000000E+21 -1.408503E-01 1.000000E+21
433 traj.phases.phase0.control_group.indep_controls.controls:u_29 c -1.000000E+21 -1.218069E-01 1.000000E+21
434 traj.phases.phase0.control_group.indep_controls.controls:u_30 c -1.000000E+21 -1.015316E-01 1.000000E+21
435 traj.phases.phase0.control_group.indep_controls.controls:u_31 c -1.000000E+21 -8.566906E-02 1.000000E+21
436 traj.phases.phase0.control_group.indep_controls.controls:u_32 c -1.000000E+21 -7.659584E-02 1.000000E+21
437 traj.phases.phase0.control_group.indep_controls.controls:u_33 c -1.000000E+21 -7.446651E-02 1.000000E+21
438 traj.phases.phase0.control_group.indep_controls.controls:u_34 c -1.000000E+21 -6.944451E-02 1.000000E+21
439 traj.phases.phase0.control_group.indep_controls.controls:u_35 c -1.000000E+21 -6.002041E-02 1.000000E+21
440 traj.phases.phase0.control_group.indep_controls.controls:u_36 c -1.000000E+21 -5.003020E-02 1.000000E+21
441 traj.phases.phase0.control_group.indep_controls.controls:u_37 c -1.000000E+21 -4.220999E-02 1.000000E+21
442 traj.phases.phase0.control_group.indep_controls.controls:u_38 c -1.000000E+21 -3.773866E-02 1.000000E+21
443 traj.phases.phase0.control_group.indep_controls.controls:u_39 c -1.000000E+21 -3.669595E-02 1.000000E+21
444 traj.phases.phase0.control_group.indep_controls.controls:u_40 c -1.000000E+21 -3.193452E-02 1.000000E+21
445 traj.phases.phase0.control_group.indep_controls.controls:u_41 c -1.000000E+21 -2.382747E-02 1.000000E+21
446 traj.phases.phase0.control_group.indep_controls.controls:u_42 c -1.000000E+21 -1.651046E-02 1.000000E+21
447 traj.phases.phase0.control_group.indep_controls.controls:u_43 c -1.000000E+21 -1.172471E-02 1.000000E+21
448 traj.phases.phase0.control_group.indep_controls.controls:u_44 c -1.000000E+21 -9.335399E-03 1.000000E+21
449 traj.phases.phase0.control_group.indep_controls.controls:u_45 c -1.000000E+21 -8.811586E-03 1.000000E+21
450 traj.phases.phase0.control_group.indep_controls.controls:u_46 c -1.000000E+21 -7.631784E-03 1.000000E+21
451 traj.phases.phase0.control_group.indep_controls.controls:u_47 c -1.000000E+21 -5.618657E-03 1.000000E+21
452 traj.phases.phase0.control_group.indep_controls.controls:u_48 c -1.000000E+21 -3.761991E-03 1.000000E+21
453 traj.phases.phase0.control_group.indep_controls.controls:u_49 c -1.000000E+21 -2.495973E-03 1.000000E+21
454 traj.phases.phase0.control_group.indep_controls.controls:u_50 c -1.000000E+21 -1.827717E-03 1.000000E+21
455 traj.phases.phase0.control_group.indep_controls.controls:u_51 c -1.000000E+21 -1.674158E-03 1.000000E+21
456 traj.phases.phase0.control_group.indep_controls.controls:u_52 c -1.000000E+21 -1.316985E-03 1.000000E+21
457 traj.phases.phase0.control_group.indep_controls.controls:u_53 c -1.000000E+21 -6.448328E-04 1.000000E+21
458 traj.phases.phase0.control_group.indep_controls.controls:u_54 c -1.000000E+21 1.306604E-04 1.000000E+21
459 traj.phases.phase0.control_group.indep_controls.controls:u_55 c -1.000000E+21 8.519692E-04 1.000000E+21
460 traj.phases.phase0.control_group.indep_controls.controls:u_56 c -1.000000E+21 1.374172E-03 1.000000E+21
461 traj.phases.phase0.control_group.indep_controls.controls:u_57 c -1.000000E+21 1.518622E-03 1.000000E+21
462 traj.phases.phase0.control_group.indep_controls.controls:u_58 c -1.000000E+21 1.895615E-03 1.000000E+21
463 traj.phases.phase0.control_group.indep_controls.controls:u_59 c -1.000000E+21 2.816108E-03 1.000000E+21
464 traj.phases.phase0.control_group.indep_controls.controls:u_60 c -1.000000E+21 4.329931E-03 1.000000E+21
465 traj.phases.phase0.control_group.indep_controls.controls:u_61 c -1.000000E+21 6.205908E-03 1.000000E+21
466 traj.phases.phase0.control_group.indep_controls.controls:u_62 c -1.000000E+21 7.820489E-03 1.000000E+21
467 traj.phases.phase0.control_group.indep_controls.controls:u_63 c -1.000000E+21 8.297124E-03 1.000000E+21
468 traj.phases.phase0.control_group.indep_controls.controls:u_64 c -1.000000E+21 8.921322E-03 1.000000E+21
469 traj.phases.phase0.control_group.indep_controls.controls:u_65 c -1.000000E+21 1.034978E-02 1.000000E+21
470 traj.phases.phase0.control_group.indep_controls.controls:u_66 c -1.000000E+21 1.245598E-02 1.000000E+21
471 traj.phases.phase0.control_group.indep_controls.controls:u_67 c -1.000000E+21 1.479371E-02 1.000000E+21
472 traj.phases.phase0.control_group.indep_controls.controls:u_68 c -1.000000E+21 1.655656E-02 1.000000E+21
473 traj.phases.phase0.control_group.indep_controls.controls:u_69 c -1.000000E+21 1.703129E-02 1.000000E+21
474 traj.phases.phase0.control_group.indep_controls.controls:u_70 c -1.000000E+21 1.826750E-02 1.000000E+21
475 traj.phases.phase0.control_group.indep_controls.controls:u_71 c -1.000000E+21 2.115517E-02 1.000000E+21
476 traj.phases.phase0.control_group.indep_controls.controls:u_72 c -1.000000E+21 2.540431E-02 1.000000E+21
477 traj.phases.phase0.control_group.indep_controls.controls:u_73 c -1.000000E+21 3.010929E-02 1.000000E+21
478 traj.phases.phase0.control_group.indep_controls.controls:u_74 c -1.000000E+21 3.367699E-02 1.000000E+21
479 traj.phases.phase0.control_group.indep_controls.controls:u_75 c -1.000000E+21 3.464095E-02 1.000000E+21
480 traj.phases.phase0.control_group.indep_controls.controls:u_76 c -1.000000E+21 3.714823E-02 1.000000E+21
481 traj.phases.phase0.control_group.indep_controls.controls:u_77 c -1.000000E+21 4.298963E-02 1.000000E+21
482 traj.phases.phase0.control_group.indep_controls.controls:u_78 c -1.000000E+21 5.158948E-02 1.000000E+21
483 traj.phases.phase0.control_group.indep_controls.controls:u_79 c -1.000000E+21 6.113017E-02 1.000000E+21
484 traj.phases.phase0.control_group.indep_controls.controls:u_80 c -1.000000E+21 6.835989E-02 1.000000E+21
485 traj.phases.phase0.control_group.indep_controls.controls:u_81 c -1.000000E+21 7.030989E-02 1.000000E+21
486 traj.phases.phase0.control_group.indep_controls.controls:u_82 c -1.000000E+21 7.537711E-02 1.000000E+21
487 traj.phases.phase0.control_group.indep_controls.controls:u_83 c -1.000000E+21 8.720872E-02 1.000000E+21
488 traj.phases.phase0.control_group.indep_controls.controls:u_84 c -1.000000E+21 1.046613E-01 1.000000E+21
489 traj.phases.phase0.control_group.indep_controls.controls:u_85 c -1.000000E+21 1.239745E-01 1.000000E+21
490 traj.phases.phase0.control_group.indep_controls.controls:u_86 c -1.000000E+21 1.386467E-01 1.000000E+21
491 traj.phases.phase0.control_group.indep_controls.controls:u_87 c -1.000000E+21 1.426275E-01 1.000000E+21
492 traj.phases.phase0.control_group.indep_controls.controls:u_88 c -1.000000E+21 1.473395E-01 1.000000E+21
493 traj.phases.phase0.control_group.indep_controls.controls:u_89 c -1.000000E+21 1.582271E-01 1.000000E+21
494 traj.phases.phase0.control_group.indep_controls.controls:u_90 c -1.000000E+21 1.748025E-01 1.000000E+21
495 traj.phases.phase0.control_group.indep_controls.controls:u_91 c -1.000000E+21 1.974011E-01 1.000000E+21
496 traj.phases.phase0.control_group.indep_controls.controls:u_92 c -1.000000E+21 2.229031E-01 1.000000E+21
497 traj.phases.phase0.control_group.indep_controls.controls:u_93 c -1.000000E+21 2.487599E-01 1.000000E+21
498 traj.phases.phase0.control_group.indep_controls.controls:u_94 c -1.000000E+21 2.714579E-01 1.000000E+21
499 traj.phases.phase0.control_group.indep_controls.controls:u_95 c -1.000000E+21 2.858777E-01 1.000000E+21
500 traj.phases.phase0.control_group.indep_controls.controls:u_96 c -1.000000E+21 2.895052E-01 1.000000E+21
501 traj.phases.phase0.control_group.indep_controls.controls:u_97 c -1.000000E+21 2.946947E-01 1.000000E+21
502 traj.phases.phase0.control_group.indep_controls.controls:u_98 c -1.000000E+21 3.068237E-01 1.000000E+21
503 traj.phases.phase0.control_group.indep_controls.controls:u_99 c -1.000000E+21 3.260435E-01 1.000000E+21
504 traj.phases.phase0.control_group.indep_controls.controls:u_100 c -1.000000E+21 3.519265E-01 1.000000E+21
505 traj.phases.phase0.control_group.indep_controls.controls:u_101 c -1.000000E+21 3.840216E-01 1.000000E+21
506 traj.phases.phase0.control_group.indep_controls.controls:u_102 c -1.000000E+21 4.211580E-01 1.000000E+21
507 traj.phases.phase0.control_group.indep_controls.controls:u_103 c -1.000000E+21 4.611412E-01 1.000000E+21
508 traj.phases.phase0.control_group.indep_controls.controls:u_104 c -1.000000E+21 5.010365E-01 1.000000E+21
509 traj.phases.phase0.control_group.indep_controls.controls:u_105 c -1.000000E+21 5.373313E-01 1.000000E+21
510 traj.phases.phase0.control_group.indep_controls.controls:u_106 c -1.000000E+21 5.656851E-01 1.000000E+21
511 traj.phases.phase0.control_group.indep_controls.controls:u_107 c -1.000000E+21 5.826258E-01 1.000000E+21
512 traj.phases.phase0.control_group.indep_controls.controls:u_108 c -1.000000E+21 5.867667E-01 1.000000E+21
513 traj.phases.phase0.control_group.indep_controls.controls:u_109 c -1.000000E+21 5.972987E-01 1.000000E+21
514 traj.phases.phase0.control_group.indep_controls.controls:u_110 c -1.000000E+21 6.201079E-01 1.000000E+21
515 traj.phases.phase0.control_group.indep_controls.controls:u_111 c -1.000000E+21 6.492660E-01 1.000000E+21
516 traj.phases.phase0.control_group.indep_controls.controls:u_112 c -1.000000E+21 6.778309E-01 1.000000E+21
517 traj.phases.phase0.control_group.indep_controls.controls:u_113 c -1.000000E+21 6.969090E-01 1.000000E+21
518 traj.phases.phase0.control_group.indep_controls.controls:u_114 c -1.000000E+21 7.015271E-01 1.000000E+21
519 traj.phases.phase0.control_group.indep_controls.controls:u_115 c -1.000000E+21 7.135298E-01 1.000000E+21
520 traj.phases.phase0.control_group.indep_controls.controls:u_116 c -1.000000E+21 7.409714E-01 1.000000E+21
521 traj.phases.phase0.control_group.indep_controls.controls:u_117 c -1.000000E+21 7.762234E-01 1.000000E+21
522 traj.phases.phase0.control_group.indep_controls.controls:u_118 c -1.000000E+21 8.102290E-01 1.000000E+21
523 traj.phases.phase0.control_group.indep_controls.controls:u_119 c -1.000000E+21 8.328182E-01 1.000000E+21
524 traj.phases.phase0.control_group.indep_controls.controls:u_120 c -1.000000E+21 8.382625E-01 1.000000E+21
525 traj.phases.phase0.control_group.indep_controls.controls:u_121 c -1.000000E+21 8.521543E-01 1.000000E+21
526 traj.phases.phase0.control_group.indep_controls.controls:u_122 c -1.000000E+21 8.835923E-01 1.000000E+21
527 traj.phases.phase0.control_group.indep_controls.controls:u_123 c -1.000000E+21 9.248979E-01 1.000000E+21
528 traj.phases.phase0.control_group.indep_controls.controls:u_124 c -1.000000E+21 9.652971E-01 1.000000E+21
529 traj.phases.phase0.control_group.indep_controls.controls:u_125 c -1.000000E+21 9.922629E-01 1.000000E+21
530 traj.phases.phase0.control_group.indep_controls.controls:u_126 c -1.000000E+21 9.988488E-01 1.000000E+21
531 traj.phases.phase0.control_group.indep_controls.controls:u_127 c -1.000000E+21 1.015723E+00 1.000000E+21
532 traj.phases.phase0.control_group.indep_controls.controls:u_128 c -1.000000E+21 1.053328E+00 1.000000E+21
533 traj.phases.phase0.control_group.indep_controls.controls:u_129 c -1.000000E+21 1.101682E+00 1.000000E+21
534 traj.phases.phase0.control_group.indep_controls.controls:u_130 c -1.000000E+21 1.149445E+00 1.000000E+21
535 traj.phases.phase0.control_group.indep_controls.controls:u_131 c -1.000000E+21 1.182076E+00 1.000000E+21
536 traj.phases.phase0.control_group.indep_controls.controls:u_132 c -1.000000E+21 1.190108E+00 1.000000E+21
537 traj.phases.phase0.control_group.indep_controls.controls:u_133 c -1.000000E+21 1.199293E+00 1.000000E+21
538 traj.phases.phase0.control_group.indep_controls.controls:u_134 c -1.000000E+21 1.220775E+00 1.000000E+21
539 traj.phases.phase0.control_group.indep_controls.controls:u_135 c -1.000000E+21 1.252053E+00 1.000000E+21
540 traj.phases.phase0.control_group.indep_controls.controls:u_136 c -1.000000E+21 1.289677E+00 1.000000E+21
541 traj.phases.phase0.control_group.indep_controls.controls:u_137 c -1.000000E+21 1.329616E+00 1.000000E+21
542 traj.phases.phase0.control_group.indep_controls.controls:u_138 c -1.000000E+21 1.367570E+00 1.000000E+21
543 traj.phases.phase0.control_group.indep_controls.controls:u_139 c -1.000000E+21 1.397960E+00 1.000000E+21
544 traj.phases.phase0.control_group.indep_controls.controls:u_140 c -1.000000E+21 1.415962E+00 1.000000E+21
545 traj.phases.phase0.control_group.indep_controls.controls:u_141 c -1.000000E+21 1.420281E+00 1.000000E+21
546 traj.phases.phase0.control_group.indep_controls.controls:u_142 c -1.000000E+21 1.426316E+00 1.000000E+21
547 traj.phases.phase0.control_group.indep_controls.controls:u_143 c -1.000000E+21 1.440438E+00 1.000000E+21
548 traj.phases.phase0.control_group.indep_controls.controls:u_144 c -1.000000E+21 1.462762E+00 1.000000E+21
549 traj.phases.phase0.control_group.indep_controls.controls:u_145 c -1.000000E+21 1.491495E+00 1.000000E+21
550 traj.phases.phase0.control_group.indep_controls.controls:u_146 c -1.000000E+21 1.524764E+00 1.000000E+21
551 traj.phases.phase0.control_group.indep_controls.controls:u_147 c -1.000000E+21 1.560248E+00 1.000000E+21
552 traj.phases.phase0.control_group.indep_controls.controls:u_148 c -1.000000E+21 1.596484E+00 1.000000E+21
553 traj.phases.phase0.control_group.indep_controls.controls:u_149 c -1.000000E+21 1.630312E+00 1.000000E+21
554 traj.phases.phase0.control_group.indep_controls.controls:u_150 c -1.000000E+21 1.659236E+00 1.000000E+21
555 traj.phases.phase0.control_group.indep_controls.controls:u_151 c -1.000000E+21 1.681106E+00 1.000000E+21
556 traj.phases.phase0.control_group.indep_controls.controls:u_152 c -1.000000E+21 1.693411E+00 1.000000E+21
557 traj.phases.phase0.control_group.indep_controls.controls:u_153 c -1.000000E+21 1.696298E+00 1.000000E+21
558 traj.phases.phase0.control_group.indep_controls.controls:u_154 c -1.000000E+21 1.710750E+00 1.000000E+21
559 traj.phases.phase0.control_group.indep_controls.controls:u_155 c -1.000000E+21 1.741706E+00 1.000000E+21
560 traj.phases.phase0.control_group.indep_controls.controls:u_156 c -1.000000E+21 1.781088E+00 1.000000E+21
561 traj.phases.phase0.control_group.indep_controls.controls:u_157 c -1.000000E+21 1.819162E+00 1.000000E+21
562 traj.phases.phase0.control_group.indep_controls.controls:u_158 c -1.000000E+21 1.844455E+00 1.000000E+21
563 traj.phases.phase0.control_group.indep_controls.controls:u_159 c -1.000000E+21 1.850632E+00 1.000000E+21
564 traj.phases.phase0.control_group.indep_controls.controls:u_160 c -1.000000E+21 1.866406E+00 1.000000E+21
565 traj.phases.phase0.control_group.indep_controls.controls:u_161 c -1.000000E+21 1.901401E+00 1.000000E+21
566 traj.phases.phase0.control_group.indep_controls.controls:u_162 c -1.000000E+21 1.945973E+00 1.000000E+21
567 traj.phases.phase0.control_group.indep_controls.controls:u_163 c -1.000000E+21 1.988694E+00 1.000000E+21
568 traj.phases.phase0.control_group.indep_controls.controls:u_164 c -1.000000E+21 2.016929E+00 1.000000E+21
569 traj.phases.phase0.control_group.indep_controls.controls:u_165 c -1.000000E+21 2.023763E+00 1.000000E+21
570 traj.phases.phase0.control_group.indep_controls.controls:u_166 c -1.000000E+21 2.040800E+00 1.000000E+21
571 traj.phases.phase0.control_group.indep_controls.controls:u_167 c -1.000000E+21 2.077763E+00 1.000000E+21
572 traj.phases.phase0.control_group.indep_controls.controls:u_168 c -1.000000E+21 2.125160E+00 1.000000E+21
573 traj.phases.phase0.control_group.indep_controls.controls:u_169 c -1.000000E+21 2.170650E+00 1.000000E+21
574 traj.phases.phase0.control_group.indep_controls.controls:u_170 c -1.000000E+21 2.200806E+00 1.000000E+21
575 traj.phases.phase0.control_group.indep_controls.controls:u_171 c -1.000000E+21 2.208232E+00 1.000000E+21
576 traj.phases.phase0.control_group.indep_controls.controls:u_172 c -1.000000E+21 2.226937E+00 1.000000E+21
577 traj.phases.phase0.control_group.indep_controls.controls:u_173 c -1.000000E+21 2.267491E+00 1.000000E+21
578 traj.phases.phase0.control_group.indep_controls.controls:u_174 c -1.000000E+21 2.319063E+00 1.000000E+21
579 traj.phases.phase0.control_group.indep_controls.controls:u_175 c -1.000000E+21 2.368672E+00 1.000000E+21
580 traj.phases.phase0.control_group.indep_controls.controls:u_176 c -1.000000E+21 2.401684E+00 1.000000E+21
Constraints (i - inequality, e - equality)
Index Name Type Lower Value Upper Status Lagrange Multiplier (N/A)
0 traj.phases.phase0->final_boundary_constraint->x e 1.000000E+00 1.000000E+00 1.000000E+00 9.00000E+100
1 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -3.996803E-15 0.000000E+00 9.00000E+100
2 traj.phases.phase0.collocation_constraint.defects:x e 0.000000E+00 -1.073216E-15 0.000000E+00 9.00000E+100
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453 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 1.378897E-12 0.000000E+00 9.00000E+100
454 traj.phases.phase0.continuity_comp.defect_control_rates:u_rate e 0.000000E+00 -2.842171E-13 0.000000E+00 9.00000E+100
--------------------------------------------------------------------------------
==================================================
Grid Refinement - Iteration 6
--------------------------------------------------
Phase: traj.phases.phase0
Refinement Options:
Allow Refinement = True
Tolerance = 1e-07
Min Order = 3
Max Order = 14
Original Grid:
Number of Segments = 26
Segment Ends = [-1.0, -0.9667, -0.9333, -0.9, -0.8, -0.7, -0.6, -0.4, -0.2, 0.0, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.825, 0.85, 0.875, 0.9, 0.925, 0.95, 0.9625, 0.975, 0.9875, 1.0]
Segment Order = [6, 6, 6, 9, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 9, 12, 6, 6, 6, 6, 9, 12, 6, 6, 6, 6]
Error = [9.835e-08, 1.634e-09, 3.901e-08, 6.427e-08, 1.031e-08, 9.982e-10, 3.055e-08, 5.255e-09, 6.38e-09, 1.673e-08, 1.149e-09, 2.298e-10, 3.92e-10, 9.178e-09, 8.53e-08, 3.366e-08, 1.97e-08, 3.616e-08, 3.178e-08, 6.121e-08, 6.562e-09, 1.322e-08, 8.813e-09, 1.563e-08, 9.61e-09, 1.52e-08]
Successfully completed grid refinement.
==================================================
Simulating trajectory traj
Done simulating trajectory traj
False
sol = om.CaseReader('dymos_solution.db').get_case('final')
sim = om.CaseReader('dymos_simulation.db').get_case('final')
plot_results([('traj.phase0.timeseries.time', 'traj.phase0.timeseries.states:x',
'time (s)', 'x $(m)$'),
('traj.phase0.timeseries.time', 'traj.phase0.timeseries.controls:u',
'time (s)', 'u $(m/s^2)$')],
title='Hyper Sensitive Problem Solution\nRadau Pseudospectral Method',
p_sol=sol, p_sim=sim)
plt.show()
References#
- PHR15
Michael A Patterson, William W Hager, and Anil V Rao. A ph mesh refinement method for optimal control. Optimal Control Applications and Methods, 36(4):398–421, 2015.