This is MadNLP version v0.12.0, running with cuDSS v1.0.0 Number of nonzeros in constraint Jacobian............: 82 Number of nonzeros in Lagrangian Hessian.............: 0 Total number of variables............................: 20 variables with only lower bounds: 0 variables with lower and upper bounds: 20 variables with only upper bounds: 0 Total number of equality constraints.................: 0 Total number of inequality constraints...............: 15 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 15 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 -5.2803532e+02 9.87e+01 1.00e+02 9.90e-01 -1.0 - 0.00e+00 0 0 1 -5.2803530e+02 9.87e+01 2.47e-01 2.01e-03 -1.0 - 3.96e-08 2 1h 2 -5.2774906e+02 9.78e+01 8.50e-02 7.08e-04 -1.0 - 8.88e-03 4 1h 3 -5.1728263e+02 9.37e+01 4.53e-02 3.70e-04 -1.0 - 4.26e-02 3 1h 4 -5.1346120e+02 8.78e+01 3.27e-03 4.24e-05 -1.0 - 6.26e-02 4 1h 5 -4.5174616e+02 6.39e+01 2.66e-03 2.45e-05 -1.0 - 2.72e-01 5 1h 6 -4.5115802e+02 6.37e+01 8.31e-04 1.08e-05 -1.0 - 3.40e-03 4 1h 7 -4.4953785e+02 6.32e+01 8.25e-04 1.07e-05 -1.0 - 7.69e-03 4 1h 8 -4.0223731e+02 5.17e+01 6.75e-04 8.80e-06 -1.0 - 1.82e-01 5 1h 9 -4.0175710e+02 5.16e+01 6.74e-04 9.05e-06 -1.0 - 2.26e-03 5 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 -2.9094228e+02 3.14e+01 5.66e-04 5.51e-06 -1.0 - 3.91e-01 5 1h 11 -2.6895063e+02 2.74e+01 4.77e-04 6.03e-06 -1.0 - 1.27e-01 6 1h 12 -2.6865269e+02 2.74e+01 3.61e-04 6.06e-06 -1.0 - 1.90e-03 5 1h 13 -1.0625899e+02 3.82e+00 4.38e-04 2.09e-06 -1.0 - 8.60e-01 6 1h 14 -1.0463346e+02 3.59e+00 2.25e-04 2.11e-06 -1.0 - 6.17e-02 5 1h 15 -1.0347232e+02 3.41e+00 1.80e-04 2.07e-06 -1.0 - 4.90e-02 4 1h 16 -7.0509357e+01 4.12e-02 3.64e-06 1.60e-05 -1.0 - 9.88e-01 5 1h 17 -7.0771097e+01 7.29e-03 1.06e-03 1.81e-05 -2.5 - 8.23e-01 4 1h 18 -7.0771351e+01 7.19e-03 1.59e+01 1.54e-04 -3.8 - 1.32e-02 2 1h 19 -7.0771094e+01 7.19e-03 1.60e+03 9.60e-05 -3.8 - 1.31e-05 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 -6.5507748e+01 5.03e-03 3.42e+03 3.07e-04 -3.8 - 3.01e-01 2 1h 21 -6.1416329e+01 3.33e-03 2.27e+03 1.06e-04 -3.8 - 3.38e-01 2 1h 22 -6.1415381e+01 3.33e-03 2.25e+03 9.87e-05 -3.8 - 1.13e-04 2 1h 23 -6.1415093e+01 3.33e-03 2.27e+03 1.06e-04 -3.8 - 3.52e-05 2 15f 24 -6.1413723e+01 3.33e-03 2.25e+03 9.87e-05 -3.8 - 8.01e-05 2 7f 25 -5.6700119e+01 1.41e-03 9.57e+02 4.93e-04 -3.8 - 5.77e-01 2 1h 26 -5.6699425e+01 1.41e-03 1.67e+03 8.07e-05 -3.8 - 2.05e-04 2 1h 27 -5.6682059e+01 1.41e-03 5.71e+02 6.12e-05 -3.8 - 2.11e-03 2 1h 28 -5.4480712e+01 1.23e-03 7.07e+03 6.01e-05 -3.8 - 1.28e-01 2 1h 29 -4.4921334e+01 4.38e-04 2.60e+03 1.82e-05 -3.8 - 6.43e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 -4.4919700e+01 4.38e-04 1.81e+03 1.02e-04 -3.8 - 3.10e-04 2 1h 31 -4.4827753e+01 4.30e-04 1.73e+03 3.10e-06 -3.8 - 1.85e-02 2 1h 32 -4.4781306e+01 4.29e-04 1.64e+03 6.65e-06 -3.8 - 3.39e-03 2 1h 33 -4.4229322e+01 4.12e-04 3.70e+03 2.61e-06 -3.8 - 4.01e-02 2 1h 34 -4.4229108e+01 4.12e-04 3.60e+03 2.57e-06 -3.8 - 1.61e-05 2 1h 35 -4.4228355e+01 4.12e-04 3.71e+03 2.63e-06 -3.8 - 5.60e-05 2 14f 36 -4.4226966e+01 4.12e-04 3.69e+03 2.60e-06 -3.8 - 1.03e-04 2 3f 37 -3.2808205e+01 6.22e-05 4.82e+02 3.24e-04 -3.8 - 8.49e-01 2 1h 38 -3.2804804e+01 6.21e-05 4.78e+02 3.09e-04 -3.8 - 1.68e-03 2 1h 39 -3.2803999e+01 6.21e-05 4.06e+02 7.17e-07 -3.8 - 3.94e-04 2 11f iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 -3.2803732e+01 6.21e-05 4.06e+02 7.19e-07 -3.8 - 1.31e-04 2 11f 41 -3.0763148e+01 1.92e-16 1.78e+00 1.82e-05 -3.8 - 1.00e+00 2 1h 42 -3.0763083e+01 4.33e-17 3.84e+01 3.99e-07 -3.8 - 2.50e-01 2 3f 43 -3.0763054e+01 3.59e-17 2.35e-10 3.31e-07 -3.8 - 1.00e+00 1 1f 44 -3.0764145e+01 1.27e-16 4.24e-02 1.32e-07 -8.6 - 8.39e-01 2 1f 45 -3.0764616e+01 5.04e-17 6.44e+00 5.22e-08 -8.6 - 9.97e-01 1 1f 46 -3.0764663e+01 1.70e-16 1.85e+00 1.24e-08 -8.6 - 9.07e-01 2 1f 47 -3.0764673e+01 8.98e-17 7.17e-01 3.80e-09 -8.6 - 1.00e+00 2 1f 48 -3.0764675e+01 9.40e-17 1.43e-01 7.62e-10 -8.6 - 1.00e+00 2 1f 49 -3.0764676e+01 4.71e-17 3.10e-02 1.71e-10 -8.6 - 1.00e+00 2 1f iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 -3.0764676e+01 2.29e-16 5.45e-03 3.57e-11 -8.6 - 1.00e+00 2 1f 51 -3.0764676e+01 1.85e-16 8.64e-13 1.00e-11 -8.6 - 1.00e+00 2 1h Number of Iterations....: 51 (scaled) (unscaled) Objective...............: -2.3074083629764470e+01 -3.0764675703564972e+01 Dual infeasibility......: 8.6355029349806066e-13 1.1513716063209644e-12 Constraint violation....: 1.8522607621316313e-16 1.8522607621316313e-16 Complementarity.........: 7.5226284393436540e-12 1.0029920498176895e-11 Overall NLP error.......: 1.0029920498176895e-11 1.0029920498176895e-11 Number of objective function evaluations = 109 Number of objective gradient evaluations = 52 Number of constraint evaluations = 109 Number of constraint Jacobian evaluations = 52 Number of Lagrangian Hessian evaluations = 51 Number of KKT factorizations = 51 Number of KKT backsolves = 142 Total wall secs in initialization = 0.014 s Total wall secs in linear solver = 0.062 s Total wall secs in NLP function evaluations = 0.011 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.082 s Total wall secs = 0.168 s EXIT: Optimal Solution Found (tol = 1.0e-08).