diff --git a/.github/workflows/changelog.yaml b/.github/workflows/changelog.yaml index 23b488af86..cb24af71c1 100644 --- a/.github/workflows/changelog.yaml +++ b/.github/workflows/changelog.yaml @@ -11,6 +11,6 @@ jobs: name: Check changelog action runs-on: ubuntu-latest steps: - - uses: tarides/changelog-check-action@v2 + - uses: tarides/changelog-check-action@v3 with: changelog: CHANGELOG.md diff --git a/.github/workflows/nix-ci.yml b/.github/workflows/nix-ci.yml new file mode 100644 index 0000000000..d2f11d36be --- /dev/null +++ b/.github/workflows/nix-ci.yml @@ -0,0 +1,32 @@ +name: "NIX" + +# This determines when this workflow is run +on: + push: + branches: + - master + - devel + pull_request: + branches: + - master + - devel + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + +jobs: + nix: + runs-on: "${{ matrix.os }}-latest" + strategy: + matrix: + os: [ubuntu, macos] + name: (${{ matrix.os }}) + steps: + - uses: actions/checkout@v4 + - uses: cachix/install-nix-action@v30 + - uses: cachix/cachix-action@v15 + with: + name: gepetto + authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}' + - run: nix build -L diff --git a/.github/workflows/ros1-ci.yaml b/.github/workflows/ros1-ci.yaml index 96d9449a0a..11317b9cb4 100644 --- a/.github/workflows/ros1-ci.yaml +++ b/.github/workflows/ros1-ci.yaml @@ -30,6 +30,7 @@ concurrency: jobs: CI: + if: github.event_name == 'push' || (github.event_name == 'pull_request' && !contains(join(github.event.pull_request.labels.*.name, ','), 'no ros')) strategy: fail-fast: false matrix: diff --git a/.github/workflows/ros2-ci.yaml b/.github/workflows/ros2-ci.yaml index 9c67d80dcb..3531ef9014 100644 --- a/.github/workflows/ros2-ci.yaml +++ b/.github/workflows/ros2-ci.yaml @@ -30,6 +30,7 @@ concurrency: jobs: CI: + if: github.event_name == 'push' || (github.event_name == 'pull_request' && !contains(join(github.event.pull_request.labels.*.name, ','), 'no ros')) strategy: fail-fast: false matrix: @@ -50,7 +51,7 @@ jobs: BUILDER: colcon # This by-passes issues on importing example_robot_data module when running examples and unit tests. # It seems target_ws is unable to properly overlay upstream_ws. - AFTER_SETUP_UPSTREAM_WORKSPACE: 'pip install example-robot-data --break-system-packages' + AFTER_SETUP_UPSTREAM_WORKSPACE: 'pip install example-robot-data' runs-on: ubuntu-latest continue-on-error: true steps: diff --git a/.github/workflows/update-flake-lock.yml b/.github/workflows/update-flake-lock.yml new file mode 100644 index 0000000000..83f0269048 --- /dev/null +++ b/.github/workflows/update-flake-lock.yml @@ -0,0 +1,20 @@ +name: update-flake-lock + +on: + workflow_dispatch: + schedule: + - cron: '0 21 12 * *' + +jobs: + lockfile: + runs-on: ubuntu-latest + steps: + - name: Checkout repository + uses: actions/checkout@v4 + - name: Install Nix + uses: DeterminateSystems/nix-installer-action@main + - name: Update flake.lock + uses: DeterminateSystems/update-flake-lock@main + with: + pr-title: "Update flake.lock" + token: ${{ secrets.GH_TOKEN_FOR_UPDATES }} diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index 700c2adceb..9cc1b2fecb 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -1 +1 @@ -include: http://rainboard.laas.fr/project/crocoddyl/.gitlab-ci.yml +include: https://rainboard.laas.fr/project/crocoddyl/.gitlab-ci.yml diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index e974afb467..c7c3e18588 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -2,31 +2,30 @@ ci: autoupdate_branch: devel repos: - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.4.6 + rev: v0.9.6 hooks: - id: ruff args: - --fix - --exit-non-zero-on-fix - - --ignore - - UP036 - id: ruff-format - repo: https://github.com/cheshirekow/cmake-format-precommit rev: v0.6.13 hooks: - id: cmake-format - repo: https://github.com/pappasam/toml-sort - rev: v0.23.1 + rev: v0.24.2 hooks: - id: toml-sort-fix - repo: https://github.com/pre-commit/mirrors-clang-format - rev: v18.1.5 + rev: v19.1.7 hooks: - id: clang-format args: - --style=Google + exclude: '^.*\.ipynb$' - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.6.0 + rev: v5.0.0 hooks: - id: check-added-large-files - id: check-ast diff --git a/CHANGELOG.md b/CHANGELOG.md index 4bb45a6bcd..d8fadacc42 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -6,6 +6,23 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). ## [Unreleased] +## [2.2.0] - 1980-01-01 + +* Changed return policy in std::vector of Eigen's vector and matrices to be compliant with Pinocchio in https://github.com/loco-3d/crocoddyl/pull/1338 +* Prevent users to improperly setting residual references in https://github.com/loco-3d/crocoddyl/pull/1332 +* Fixed the inequality constraints' feasibility computation by incorporating bounds into the calculation in https://github.com/loco-3d/crocoddyl/pull/1307 +* Improved the action factory used for unit testing in https://github.com/loco-3d/crocoddyl/pull/1300 +* Ignore ruff issues in ipython notebook files in https://github.com/loco-3d/crocoddyl/pull/1297 +* Improved efficiency for computing impulse-dynamics derivatives in https://github.com/loco-3d/crocoddyl/pull/1294 +* Fixed bug of wrench cone fields not being updated with setters in https://github.com/loco-3d/crocoddyl/pull/1274 +* Replaced parent by parentJoint (which was introduced in Pinocchio 3) in https://github.com/loco-3d/crocoddyl/pull/1271 +* Introduced the notion of terminal dimension, residuals and constraints in https://github.com/loco-3d/crocoddyl/pull/1269 +* General clean ups about std::size_t in https://github.com/loco-3d/crocoddyl/pull/1265 +* Fixed issues in LQR extensions in https://github.com/loco-3d/crocoddyl/pull/1263 +* Computed dynamic feasibility everytime in https://github.com/loco-3d/crocoddyl/pull/1262 +* Extend LQR actions in https://github.com/loco-3d/crocoddyl/pull/1261 +* Print log with grad absolute + updated logs with Pinocchio 3 in https://github.com/loco-3d/crocoddyl/pull/1260 + ## [2.1.0] - 2024-05-31 * Updated black + isort + flake8 to ruff in https://github.com/loco-3d/crocoddyl/pull/1256 @@ -296,7 +313,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). Initial release -[Unreleased]: https://github.com/loco-3d/crocoddyl/compare/v2.1.0...HEAD +[Unreleased]: https://github.com/loco-3d/crocoddyl/compare/v2.2.0...HEAD +[2.2.0]: https://github.com/loco-3d/crocoddyl/compare/v2.1.0...v2.2.0 [2.1.0]: https://github.com/loco-3d/crocoddyl/compare/v2.0.2...v2.1.0 [2.0.2]: https://github.com/loco-3d/crocoddyl/compare/v2.0.1...v2.0.2 [2.0.1]: https://github.com/loco-3d/crocoddyl/compare/v2.0.0...v2.0.1 diff --git a/CMakeLists.txt b/CMakeLists.txt index a764a02a4b..c3908d0e90 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -91,8 +91,8 @@ if(APPLE) # Use the handmade approach set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake/find-external/OpenMP ${CMAKE_MODULE_PATH}) elseif(UNIX) - if(${CMAKE_VERSION} VERSION_GREATER "3.20.0" OR ${CMAKE_VERSION} - VERSION_EQUAL "3.20.0") + if(${CMAKE_VERSION} VERSION_GREATER "3.25.0" OR ${CMAKE_VERSION} + VERSION_EQUAL "3.25.0") set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake/find-external/OpenMP ${CMAKE_MODULE_PATH}) endif() diff --git a/README.md b/README.md index 1ba508aa55..10c7cd3b20 100644 --- a/README.md +++ b/README.md @@ -7,7 +7,10 @@ Documentation +AUR package +nixpkgs stable 24.05 package +nixpkgs unstable package @@ -52,6 +55,13 @@ If you want to learn more about **Crocoddyl** and its solvers, we suggest readin **Crocoddyl** can be easily installed on various Linux (Ubuntu, Fedora, etc.) and Unix distributions (Mac OS X, BSD, etc.). Below, there are different ways to install Crocoddyl. +### On ArchLinux + +With your favorite AUR helper, eg. paru: +```bash + paru -Syu crocoddyl +``` + ### :dragon: From Just run the following command in the terminal: @@ -60,6 +70,16 @@ Just run the following command in the terminal: ``` Conda installation supports [![conda install](https://anaconda.org/conda-forge/crocoddyl/badges/platforms.svg)](https://anaconda.org/conda-forge/crocoddyl). +### From Nix + +`crocoddyl` & `python3Packages.crocoddyl` are available in [nixpkgs](https://github.com/NixOS/nixpkgs/). + +This repository is also a flake, so you may: +- run a python shell with crocoddyl: `nix run github:loco-3d/crocoddyl` +- use it in your own flake: `crocoddyl.url = "github:loco-3d/crocoddyl";` + +The build cache use by CI and developers is [gepetto.cachix.org](https://app.cachix.org/cache/gepetto) + ### :snake: From Just run the following command in the terminal: diff --git a/bindings/python/crocoddyl/__init__.py b/bindings/python/crocoddyl/__init__.py index b2f6e17e09..4e0cf29f85 100644 --- a/bindings/python/crocoddyl/__init__.py +++ b/bindings/python/crocoddyl/__init__.py @@ -6,6 +6,7 @@ import numpy as np import pinocchio +from pinocchio.visualize import MeshcatVisualizer from .libcrocoddyl_pywrap import * # noqa: F403 from .libcrocoddyl_pywrap import __raw_version__, __version__ # noqa: F401 @@ -129,7 +130,10 @@ def init(self, solver): thrusters.append(model.differential.actuation.thrusters) for n in frameNames: frameId = self.robot.model.getFrameId(n) - parentId = self.robot.model.frames[frameId].parent + if tuple(int(i) for i in pinocchio.__version__.split(".")) >= (3, 0, 0): + parentId = self.robot.model.frames[frameId].parentJoint + else: + parentId = self.robot.model.frames[frameId].parent self.activeContacts[str(parentId)] = True self.frictionMu[str(parentId)] = 0.7 self.frameTrajNames.append(str(frameId)) @@ -339,7 +343,10 @@ def _getForceInformation(self, state, contact_model, contact_data, cost_model): fc = [] for key, contact in contact_data.todict().items(): if contact_model[key].active: - joint = state.pinocchio.frames[contact.frame].parent + if tuple(map(int, pinocchio.__version__.split("."))) >= (3, 0, 0): + joint = state.pinocchio.frames[contact.frame].parentJoint + else: + joint = state.pinocchio.frames[contact.frame].parent oMf = contact.pinocchio.oMi[joint] * contact.jMf fiMo = pinocchio.SE3( contact.pinocchio.oMi[joint].rotation.T, @@ -558,7 +565,7 @@ def __init__( if frameNames is not None: print("Deprecated. Do not pass frameNames") robot.setVisualizer( - pinocchio.visualize.MeshcatVisualizer( + MeshcatVisualizer( model=self.robot.model, collision_model=self.robot.collision_model, visual_model=self.robot.visual_model, diff --git a/bindings/python/crocoddyl/core/action-base.cpp b/bindings/python/crocoddyl/core/action-base.cpp index 6dc4718cff..ed19a05eb4 100644 --- a/bindings/python/crocoddyl/core/action-base.cpp +++ b/bindings/python/crocoddyl/core/action-base.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh, +// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh, // University of Oxford, Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -40,15 +40,18 @@ void exposeActionAbstract() { "and calcDiff(),\n" "respectively.", bp::init, std::size_t, - bp::optional >( - bp::args("self", "state", "nu", "nr", "ng", "nh"), + bp::optional >( + bp::args("self", "state", "nu", "nr", "ng", "nh", "ng_T", "nh_T"), "Initialize the action model.\n\n" "We can also describe autonomous systems by setting nu = 0.\n" ":param state: state description,\n" ":param nu: dimension of control vector,\n" ":param nr: dimension of the cost-residual vector (default 1)\n" ":param ng: number of inequality constraints (default 0)\n" - ":param nh: number of equality constraints (default 0)\n")) + ":param nh: number of equality constraints (default 0)\n" + ":param ng_T: number of inequality terminal constraints (default 0)\n" + ":param nh_T: number of equality terminal constraints (default 0)")) .def("calc", pure_virtual(&ActionModelAbstract_wrap::calc), bp::args("self", "data", "x", "u"), "Compute the next state and cost value.\n\n" @@ -130,6 +133,16 @@ void exposeActionAbstract() { bp::make_setter(&ActionModelAbstract_wrap::nh_, bp::return_internal_reference<>()), "number of equality constraints") + .add_property("ng_T", + bp::make_function(&ActionModelAbstract_wrap::get_ng_T), + bp::make_setter(&ActionModelAbstract_wrap::ng_T_, + bp::return_internal_reference<>()), + "number of inequality terminal constraints") + .add_property("nh_T", + bp::make_function(&ActionModelAbstract_wrap::get_nh_T), + bp::make_setter(&ActionModelAbstract_wrap::nh_T_, + bp::return_internal_reference<>()), + "number of equality terminal constraints") .add_property( "state", bp::make_function(&ActionModelAbstract_wrap::get_state, diff --git a/bindings/python/crocoddyl/core/action-base.hpp b/bindings/python/crocoddyl/core/action-base.hpp index 1f2abe826c..241677c223 100644 --- a/bindings/python/crocoddyl/core/action-base.hpp +++ b/bindings/python/crocoddyl/core/action-base.hpp @@ -22,14 +22,18 @@ class ActionModelAbstract_wrap : public ActionModelAbstract, public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW using ActionModelAbstract::ng_; + using ActionModelAbstract::ng_T_; using ActionModelAbstract::nh_; + using ActionModelAbstract::nh_T_; using ActionModelAbstract::nu_; using ActionModelAbstract::unone_; ActionModelAbstract_wrap(boost::shared_ptr state, const std::size_t nu, const std::size_t nr = 1, - const std::size_t ng = 0, const std::size_t nh = 0) - : ActionModelAbstract(state, nu, nr, ng, nh), + const std::size_t ng = 0, const std::size_t nh = 0, + const std::size_t ng_T = 0, + const std::size_t nh_T = 0) + : ActionModelAbstract(state, nu, nr, ng, nh, ng_T, nh_T), bp::wrapper() { unone_ = NAN * MathBase::VectorXs::Ones(nu); } @@ -38,14 +42,14 @@ class ActionModelAbstract_wrap : public ActionModelAbstract, const Eigen::Ref& x, const Eigen::Ref& u) { if (static_cast(x.size()) != state_->get_nx()) { - throw_pretty("Invalid argument: " - << "x has wrong dimension (it should be " + - std::to_string(state_->get_nx()) + ")"); + throw_pretty( + "Invalid argument: " << "x has wrong dimension (it should be " + + std::to_string(state_->get_nx()) + ")"); } if (static_cast(u.size()) != nu_) { - throw_pretty("Invalid argument: " - << "u has wrong dimension (it should be " + - std::to_string(nu_) + ")"); + throw_pretty( + "Invalid argument: " << "u has wrong dimension (it should be " + + std::to_string(nu_) + ")"); } if (std::isnan(u.lpNorm())) { return bp::call(this->get_override("calc").ptr(), data, @@ -60,14 +64,14 @@ class ActionModelAbstract_wrap : public ActionModelAbstract, const Eigen::Ref& x, const Eigen::Ref& u) { if (static_cast(x.size()) != state_->get_nx()) { - throw_pretty("Invalid argument: " - << "x has wrong dimension (it should be " + - std::to_string(state_->get_nx()) + ")"); + throw_pretty( + "Invalid argument: " << "x has wrong dimension (it should be " + + std::to_string(state_->get_nx()) + ")"); } if (static_cast(u.size()) != nu_) { - throw_pretty("Invalid argument: " - << "u has wrong dimension (it should be " + - std::to_string(nu_) + ")"); + throw_pretty( + "Invalid argument: " << "u has wrong dimension (it should be " + + std::to_string(nu_) + ")"); } if (std::isnan(u.lpNorm())) { return bp::call(this->get_override("calcDiff").ptr(), data, @@ -99,9 +103,9 @@ class ActionModelAbstract_wrap : public ActionModelAbstract, u = bp::call(quasiStatic.ptr(), data, (Eigen::VectorXd)x, maxiter, tol); if (static_cast(u.size()) != nu_) { - throw_pretty("Invalid argument: " - << "u has wrong dimension (it should be " + - std::to_string(nu_) + ")"); + throw_pretty( + "Invalid argument: " << "u has wrong dimension (it should be " + + std::to_string(nu_) + ")"); } return; } diff --git a/bindings/python/crocoddyl/core/actions/diff-lqr.cpp b/bindings/python/crocoddyl/core/actions/diff-lqr.cpp index 802f621a31..c9fcc613e0 100644 --- a/bindings/python/crocoddyl/core/actions/diff-lqr.cpp +++ b/bindings/python/crocoddyl/core/actions/diff-lqr.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh +// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh // Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -12,11 +12,20 @@ #include "python/crocoddyl/core/core.hpp" #include "python/crocoddyl/core/diff-action-base.hpp" #include "python/crocoddyl/utils/copyable.hpp" +#include "python/crocoddyl/utils/deprecate.hpp" namespace crocoddyl { namespace python { +BOOST_PYTHON_FUNCTION_OVERLOADS(DifferentialActionModelLQR_Random_wrap, + DifferentialActionModelLQR::Random, 2, 4) + void exposeDifferentialActionLQR() { +// TODO: Remove once the deprecated update call has been removed in a future +// release +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wdeprecated-declarations" + boost::python::register_ptr_to_python< boost::shared_ptr >(); @@ -24,18 +33,65 @@ void exposeDifferentialActionLQR() { bp::bases >( "DifferentialActionModelLQR", "Differential action model for linear dynamics and quadratic cost.\n\n" - "This class implements a linear dynamics, and quadratic costs (i.e.\n" - "LQR action). Since the DAM is a second order system, and the " - "integrated\n" - "action models are implemented as being second order integrators. This\n" - "class implements a second order linear system given by\n" + "This class implements a linear dynamics, quadratic costs, and linear " + "constraints (i.e. LQR action). Since the DAM is a second order system, " + "and the integrated action models are implemented as being second order " + "integrators. This class implements a second order linear system given " + "by\n" " x = [q, v]\n" " dv = Fq q + Fv v + Fu u + f0\n" - "where Fq, Fv, Fu and f0 are randomly chosen constant terms. On the " - "other\n" - "hand the cost function is given by\n" - " l(x,u) = 1/2 [x,u].T [Lxx Lxu; Lxu.T Luu] [x,u] + [lx,lu].T [x,u].", - bp::init >( + "where Fq, Fv, Fu and f are randomly chosen constant terms. On the other " + "hand, the cost function is given by\n" + " l(x,u) = 1/2 [x,u].T [Q N; N.T R] [x,u] + [q,r].T [x,u],\n" + "and the linear equality and inequality constraints has the form:\n" + " g(x,u) = G [x,u] + g<=0\n" + " h(x,u) = H [x,u] + h.", + bp::init( + bp::args("self", "Aq", "Av", "B", "Q", "R", "N"), + "Initialize the differential LQR action model.\n\n" + ":param Aq: position matrix\n" + ":param Av: velocity matrix\n" + ":param B: input matrix\n" + ":param Q: state weight matrix\n" + ":param R: input weight matrix\n" + ":param N: state-input weight matrix")) + .def(bp::init( + bp::args("self", "Aq", "Av", "B", "Q", "R", "N", "f", "q", "r"), + "Initialize the differential LQR action model.\n\n" + ":param Aq: position matrix\n" + ":param Av: velocity matrix\n" + ":param B: input matrix\n" + ":param Q: state weight matrix\n" + ":param R: input weight matrix\n" + ":param N: state-input weight matrix\n" + ":param f: dynamics drift\n" + ":param q: state weight vector\n" + ":param r: input weight vector")) + .def(bp::init( + bp::args("self", "Aq", "Av", "B", "Q", "R", "N", "G", "H", "f", "q", + "r", "g", "h"), + "Initialize the differential LQR action model.\n\n" + ":param Aq: position matrix\n" + ":param Av: velocity matrix\n" + ":param B: input matrix\n" + ":param Q: state weight matrix\n" + ":param R: input weight matrix\n" + ":param N: state-input weight matrix\n" + ":param G: state-input inequality constraint matrix\n" + ":param H: state-input equality constraint matrix\n" + ":param f: dynamics drift\n" + ":param q: state weight vector\n" + ":param r: input weight vector\n" + ":param g: state-input inequality constraint bias\n" + ":param h: state-input equality constraint bias")) + .def(bp::init >( bp::args("self", "nq", "nu", "driftFree"), "Initialize the differential LQR action model.\n\n" ":param nx: dimension of the state vector\n" @@ -84,46 +140,152 @@ void exposeDifferentialActionLQR() { bp::args("self", "data", "x")) .def("createData", &DifferentialActionModelLQR::createData, bp::args("self"), "Create the differential LQR action data.") - .add_property("Fq", - bp::make_function(&DifferentialActionModelLQR::get_Fq, + .def("Random", &DifferentialActionModelLQR::Random, + DifferentialActionModelLQR_Random_wrap( + bp::args("nq", "nu", "ng", "nh"), + "Create a random LQR model.\n\n" + ":param: nq: position dimension\n" + ":param nu: control dimension\n" + ":param ng: inequality constraint dimension (default 0)\n" + ":param nh: equality constraint dimension (default 0)")) + .staticmethod("Random") + .def("setLQR", &DifferentialActionModelLQR::set_LQR, + bp::args("self", "Aq", "Av", "B", "Q", "R", "N", "f", "q", "r"), + "Modify the LQR action model.\n\n" + ":param Aq: position matrix\n" + ":param Av: velocity matrix\n" + ":param B: input matrix\n" + ":param Q: state weight matrix\n" + ":param R: input weight matrix\n" + ":param N: state-input weight matrix\n" + ":param f: dynamics drift\n" + ":param q: state weight vector\n" + ":param r: input weight vector") + .add_property("Aq", + bp::make_function(&DifferentialActionModelLQR::get_Aq, + bp::return_internal_reference<>()), + "position matrix") + .add_property("Av", + bp::make_function(&DifferentialActionModelLQR::get_Av, + bp::return_internal_reference<>()), + "velocity matrix") + .add_property("B", + bp::make_function(&DifferentialActionModelLQR::get_B, + bp::return_internal_reference<>()), + "input matrix") + .add_property("f", + bp::make_function(&DifferentialActionModelLQR::get_f, + bp::return_internal_reference<>()), + "dynamics drift") + .add_property("Q", + bp::make_function(&DifferentialActionModelLQR::get_Q, + bp::return_internal_reference<>()), + "state weight matrix") + .add_property("R", + bp::make_function(&DifferentialActionModelLQR::get_R, bp::return_internal_reference<>()), - &DifferentialActionModelLQR::set_Fq, - "Jacobian of the dynamics") - .add_property("Fv", - bp::make_function(&DifferentialActionModelLQR::get_Fv, + "input weight matrix") + .add_property("N", + bp::make_function(&DifferentialActionModelLQR::get_N, bp::return_internal_reference<>()), - &DifferentialActionModelLQR::set_Fv, - "Jacobian of the dynamics") - .add_property("Fu", - bp::make_function(&DifferentialActionModelLQR::get_Fu, + "state-input weight matrix") + .add_property("G", + bp::make_function(&DifferentialActionModelLQR::get_G, bp::return_internal_reference<>()), - &DifferentialActionModelLQR::set_Fu, - "Jacobian of the dynamics") - .add_property("f0", - bp::make_function(&DifferentialActionModelLQR::get_f0, + "state-input inequality constraint matrix") + .add_property("H", + bp::make_function(&DifferentialActionModelLQR::get_H, bp::return_internal_reference<>()), - &DifferentialActionModelLQR::set_f0, "dynamics drift") - .add_property("lx", - bp::make_function(&DifferentialActionModelLQR::get_lx, + "state-input equality constraint matrix") + .add_property("q", + bp::make_function(&DifferentialActionModelLQR::get_q, bp::return_internal_reference<>()), - &DifferentialActionModelLQR::set_lx, "Jacobian of the cost") - .add_property("lu", - bp::make_function(&DifferentialActionModelLQR::get_lu, + "state weight vector") + .add_property("r", + bp::make_function(&DifferentialActionModelLQR::get_r, bp::return_internal_reference<>()), - &DifferentialActionModelLQR::set_lu, "Jacobian of the cost") - .add_property("Lxx", - bp::make_function(&DifferentialActionModelLQR::get_Lxx, + "input weight vector") + .add_property("g", + bp::make_function(&DifferentialActionModelLQR::get_g, bp::return_internal_reference<>()), - &DifferentialActionModelLQR::set_Lxx, "Hessian of the cost") - .add_property("Lxu", - bp::make_function(&DifferentialActionModelLQR::get_Lxu, + "state-input inequality constraint bias") + .add_property("h", + bp::make_function(&DifferentialActionModelLQR::get_h, bp::return_internal_reference<>()), - &DifferentialActionModelLQR::set_Lxu, "Hessian of the cost") + "state-input equality constraint bias") + // deprecated function + .add_property( + "Fq", + bp::make_function(&DifferentialActionModelLQR::get_Aq, + deprecated >( + "Deprecated. Use Aq.")), + bp::make_function(&DifferentialActionModelLQR::set_Fq, + deprecated<>("Deprecated. Use set_LQR.")), + "position matrix") + .add_property( + "Fv", + bp::make_function(&DifferentialActionModelLQR::get_Av, + deprecated >( + "Deprecated. Use Av.")), + bp::make_function(&DifferentialActionModelLQR::set_Fv, + deprecated<>("Deprecated. Use set_LQR.")), + "position matrix") + .add_property( + "Fu", + bp::make_function(&DifferentialActionModelLQR::get_B, + deprecated >( + "Deprecated. Use B.")), + bp::make_function(&DifferentialActionModelLQR::set_Fu, + deprecated<>("Deprecated. Use set_LQR.")), + "input matrix") + .add_property( + "f0", + bp::make_function(&DifferentialActionModelLQR::get_f, + deprecated >( + "Deprecated. Use f.")), + bp::make_function(&DifferentialActionModelLQR::set_f0, + deprecated<>("Deprecated. Use set_LQR.")), + "dynamics drift") + .add_property( + "lx", + bp::make_function(&DifferentialActionModelLQR::get_q, + deprecated >( + "Deprecated. Use q.")), + bp::make_function(&DifferentialActionModelLQR::set_lx, + deprecated<>("Deprecated. Use set_LQR.")), + "state weight vector") + .add_property( + "lu", + bp::make_function(&DifferentialActionModelLQR::get_r, + deprecated >( + "Deprecated. Use r.")), + bp::make_function(&DifferentialActionModelLQR::set_lu, + deprecated<>("Deprecated. Use set_LQR.")), + "input weight vector") + .add_property( + "Lxx", + bp::make_function(&DifferentialActionModelLQR::get_Q, + deprecated >( + "Deprecated. Use Q.")), + bp::make_function(&DifferentialActionModelLQR::set_Lxx, + deprecated<>("Deprecated. Use set_LQR.")), + "state weight matrix") + .add_property( + "Lxu", + bp::make_function(&DifferentialActionModelLQR::get_N, + deprecated >( + "Deprecated. Use N.")), + bp::make_function(&DifferentialActionModelLQR::set_Lxu, + deprecated<>("Deprecated. Use set_LQR.")), + "state-input weight matrix") .add_property( "Luu", - bp::make_function(&DifferentialActionModelLQR::get_Luu, - bp::return_value_policy()), - &DifferentialActionModelLQR::set_Luu, "Hessian of the cost") + bp::make_function(&DifferentialActionModelLQR::get_R, + deprecated >( + "Deprecated. Use R.")), + bp::make_function(&DifferentialActionModelLQR::set_Luu, + deprecated<>("Deprecated. Use set_LQR.")), + "input weight matrix") .def(CopyableVisitor()); boost::python::register_ptr_to_python< @@ -138,6 +300,8 @@ void exposeDifferentialActionLQR() { "Create differential LQR data.\n\n" ":param model: differential LQR action model")) .def(CopyableVisitor()); + +#pragma GCC diagnostic pop } } // namespace python diff --git a/bindings/python/crocoddyl/core/actions/lqr.cpp b/bindings/python/crocoddyl/core/actions/lqr.cpp index 02f211702d..b8c950e26f 100644 --- a/bindings/python/crocoddyl/core/actions/lqr.cpp +++ b/bindings/python/crocoddyl/core/actions/lqr.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh +// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh // Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -12,21 +12,75 @@ #include "python/crocoddyl/core/action-base.hpp" #include "python/crocoddyl/core/core.hpp" #include "python/crocoddyl/utils/copyable.hpp" +#include "python/crocoddyl/utils/deprecate.hpp" namespace crocoddyl { namespace python { +BOOST_PYTHON_FUNCTION_OVERLOADS(ActionModelLQR_Random_wrap, + ActionModelLQR::Random, 2, 4) + void exposeActionLQR() { +// TODO: Remove once the deprecated update call has been removed in a future +// release +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wdeprecated-declarations" + boost::python::register_ptr_to_python >(); bp::class_ >( "ActionModelLQR", "LQR action model.\n\n" - "A Linear-Quadratic Regulator problem has a transition model of the " + "A linear-quadratic regulator (LQR) action has a transition model of the " "form\n" - "xnext(x,u) = Fx*x + Fu*u + f0. Its cost function is quadratic of the\n" - "form: 1/2 [x,u].T [Lxx Lxu; Lxu.T Luu] [x,u] + [lx,lu].T [x,u].", - bp::init >( + " xnext(x,u) = A x + B u + f.\n" + "Its cost function is quadratic of the form:\n" + " 1/2 [x,u].T [Q N; N.T R] [x,u] + [q,r].T [x,u],\n" + "and the linear equality and inequality constraints has the form:\n" + " g(x,u) = G [x,u] + g<=0\n" + " h(x,u) = H [x,u] + h.", + bp::init( + bp::args("self", "A", "B", "Q", "R", "N"), + "Initialize the LQR action model.\n\n" + ":param A: state matrix\n" + ":param B: input matrix\n" + ":param Q: state weight matrix\n" + ":param R: input weight matrix\n" + ":param N: state-input weight matrix")) + .def(bp::init( + bp::args("self", "A", "B", "Q", "R", "N", "f", "q", "r"), + "Initialize the differential LQR action model.\n\n" + ":param A: state matrix\n" + ":param B: input matrix\n" + ":param Q: state weight matrix\n" + ":param R: input weight matrix\n" + ":param N: state-input weight matrix\n" + ":param f: dynamics drift\n" + ":param q: state weight vector\n" + ":param r: input weight vector")) + .def(bp::init( + bp::args("self", "A", "B", "Q", "R", "N", "G", "H", "f", "q", "r", + "g", "h"), + "Initialize the LQR action model.\n\n" + ":param A: state matrix\n" + ":param B: input matrix\n" + ":param Q: state weight matrix\n" + ":param R: input weight matrix\n" + ":param N: state-input weight matrix\n" + ":param G: state-input inequality constraint matrix\n" + ":param H: state-input equality constraint matrix\n" + ":param f: dynamics drift\n" + ":param q: state weight vector\n" + ":param r: input weight vector\n" + ":param g: state-input equality constraint bias\n" + ":param h: state-input inequality constraint bias")) + .def(bp::init >( bp::args("self", "nx", "nu", "driftFree"), "Initialize the LQR action model.\n\n" ":param nx: dimension of the state vector\n" @@ -71,38 +125,142 @@ void exposeActionLQR() { bp::args("self", "data", "x")) .def("createData", &ActionModelLQR::createData, bp::args("self"), "Create the LQR action data.") - .add_property("Fx", - bp::make_function(&ActionModelLQR::get_Fx, + .def("Random", &ActionModelLQR::Random, + ActionModelLQR_Random_wrap( + bp::args("nx", "nu", "ng", "nh"), + "Create a random LQR model.\n\n" + ":param nx: state dimension\n" + ":param nu: control dimension\n" + ":param ng: inequality constraint dimension (default 0)\n" + ":param nh: equality constraint dimension (default 0)")) + .staticmethod("Random") + .def("setLQR", &ActionModelLQR::set_LQR, + bp::args("self", "A", "B", "Q", "R", "N", "G", "H", "f", "q", "r", + "g", "h"), + "Modify the LQR action model.\n\n" + ":param A: state matrix\n" + ":param B: input matrix\n" + ":param Q: state weight matrix\n" + ":param R: input weight matrix\n" + ":param N: state-input weight matrix\n" + ":param G: state-input inequality constraint matrix\n" + ":param H: state-input equality constraint matrix\n" + ":param f: dynamics drift\n" + ":param q: state weight vector\n" + ":param r: input weight vector\n" + ":param g: state-input inequality constraint bias\n" + ":param h: state-input equality constraint bias") + .add_property("A", + bp::make_function(&ActionModelLQR::get_A, + bp::return_internal_reference<>()), + "state matrix") + .add_property("B", + bp::make_function(&ActionModelLQR::get_B, bp::return_internal_reference<>()), - &ActionModelLQR::set_Fx, "Jacobian of the dynamics") - .add_property("Fu", - bp::make_function(&ActionModelLQR::get_Fu, + "input matrix") + .add_property("f", + bp::make_function(&ActionModelLQR::get_f, bp::return_internal_reference<>()), - &ActionModelLQR::set_Fu, "Jacobian of the dynamics") - .add_property("f0", - bp::make_function(&ActionModelLQR::get_f0, + "dynamics drift") + .add_property("Q", + bp::make_function(&ActionModelLQR::get_Q, bp::return_internal_reference<>()), - &ActionModelLQR::set_f0, "dynamics drift") - .add_property("lx", - bp::make_function(&ActionModelLQR::get_lx, + "state weight matrix") + .add_property("R", + bp::make_function(&ActionModelLQR::get_R, bp::return_internal_reference<>()), - &ActionModelLQR::set_lx, "Jacobian of the cost") - .add_property("lu", - bp::make_function(&ActionModelLQR::get_lu, + "input weight matrix") + .add_property("N", + bp::make_function(&ActionModelLQR::get_N, bp::return_internal_reference<>()), - &ActionModelLQR::set_lu, "Jacobian of the cost") - .add_property("Lxx", - bp::make_function(&ActionModelLQR::get_Lxx, + "state-input weight matrix") + .add_property("G", + bp::make_function(&ActionModelLQR::get_G, bp::return_internal_reference<>()), - &ActionModelLQR::set_Lxx, "Hessian of the cost") - .add_property("Lxu", - bp::make_function(&ActionModelLQR::get_Lxu, + "state-input inequality constraint matrix") + .add_property("H", + bp::make_function(&ActionModelLQR::get_H, bp::return_internal_reference<>()), - &ActionModelLQR::set_Lxu, "Hessian of the cost") - .add_property("Luu", - bp::make_function(&ActionModelLQR::get_Luu, + "state-input equality constraint matrix") + .add_property("q", + bp::make_function(&ActionModelLQR::get_q, bp::return_internal_reference<>()), - &ActionModelLQR::set_Luu, "Hessian of the cost") + "state weight vector") + .add_property("r", + bp::make_function(&ActionModelLQR::get_r, + bp::return_internal_reference<>()), + "input weight vector") + .add_property("g", + bp::make_function(&ActionModelLQR::get_g, + bp::return_internal_reference<>()), + "state-input inequality constraint bias") + .add_property("h", + bp::make_function(&ActionModelLQR::get_h, + bp::return_internal_reference<>()), + "state-input equality constraint bias") + // deprecated function + .add_property( + "Fx", + bp::make_function(&ActionModelLQR::get_A, + deprecated >( + "Deprecated. Use set_LQR.")), + &ActionModelLQR::set_Fx, "state matrix") + .add_property( + "Fu", + bp::make_function(&ActionModelLQR::get_B, + deprecated >( + "Deprecated. Use B.")), + bp::make_function(&ActionModelLQR::set_Fu, + deprecated<>("Deprecated. Use set_LQR.")), + "input matrix") + .add_property( + "f0", + bp::make_function(&ActionModelLQR::get_f, + deprecated >( + "Deprecated. Use f.")), + bp::make_function(&ActionModelLQR::set_f0, + deprecated<>("Deprecated. Use set_LQR.")), + "dynamics drift") + .add_property( + "lx", + bp::make_function(&ActionModelLQR::get_q, + deprecated >( + "Deprecated. Use q.")), + bp::make_function(&ActionModelLQR::set_lx, + deprecated<>("Deprecated. Use set_LQR.")), + "state weight vector") + .add_property( + "lu", + bp::make_function(&ActionModelLQR::get_r, + deprecated >( + "Deprecated. Use r.")), + bp::make_function(&ActionModelLQR::set_lu, + deprecated<>("Deprecated. Use set_LQR.")), + "input weight vector") + .add_property( + "Lxx", + bp::make_function(&ActionModelLQR::get_Q, + deprecated >( + "Deprecated. Use Q.")), + bp::make_function(&ActionModelLQR::set_Lxx, + deprecated<>("Deprecated. Use set_LQR.")), + "state weight matrix") + .add_property( + "Lxu", + bp::make_function(&ActionModelLQR::get_N, + deprecated >( + "Deprecated. Use N.")), + bp::make_function(&ActionModelLQR::set_Lxu, + deprecated<>("Deprecated. Use set_LQR.")), + "state-input weight matrix") + .add_property( + "Luu", + bp::make_function(&ActionModelLQR::get_R, + deprecated >( + "Deprecated. Use R.")), + bp::make_function(&ActionModelLQR::set_Luu, + deprecated<>("Deprecated. Use set_LQR.")), + "input weight matrix") .def(CopyableVisitor()); boost::python::register_ptr_to_python >(); @@ -113,6 +271,8 @@ void exposeActionLQR() { "Create LQR data.\n\n" ":param model: LQR action model")) .def(CopyableVisitor()); + +#pragma GCC diagnostic pop } } // namespace python diff --git a/bindings/python/crocoddyl/core/activation-base.cpp b/bindings/python/crocoddyl/core/activation-base.cpp index 683a3a624b..2af98d1296 100644 --- a/bindings/python/crocoddyl/core/activation-base.cpp +++ b/bindings/python/crocoddyl/core/activation-base.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh, +// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh, // Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -26,9 +26,9 @@ void exposeActivationAbstract() { "value and its derivatives from it. Activation value and its derivatives " "are computed by\n" "calc() and calcDiff(), respectively.", - bp::init(bp::args("self", "nr"), - "Initialize the activation model.\n\n" - ":param nr: dimension of the cost-residual vector")) + bp::init(bp::args("self", "nr"), + "Initialize the activation model.\n\n" + ":param nr: dimension of the cost-residual vector")) .def("calc", pure_virtual(&ActivationModelAbstract_wrap::calc), bp::args("self", "data", "r"), "Compute the activation value.\n\n" diff --git a/bindings/python/crocoddyl/core/activation-base.hpp b/bindings/python/crocoddyl/core/activation-base.hpp index a586387785..05d18653dc 100644 --- a/bindings/python/crocoddyl/core/activation-base.hpp +++ b/bindings/python/crocoddyl/core/activation-base.hpp @@ -26,9 +26,9 @@ class ActivationModelAbstract_wrap void calc(const boost::shared_ptr& data, const Eigen::Ref& r) { if (static_cast(r.size()) != nr_) { - throw_pretty("Invalid argument: " - << "r has wrong dimension (it should be " + - std::to_string(nr_) + ")"); + throw_pretty( + "Invalid argument: " << "r has wrong dimension (it should be " + + std::to_string(nr_) + ")"); } return bp::call(this->get_override("calc").ptr(), data, (Eigen::VectorXd)r); @@ -37,9 +37,9 @@ class ActivationModelAbstract_wrap void calcDiff(const boost::shared_ptr& data, const Eigen::Ref& r) { if (static_cast(r.size()) != nr_) { - throw_pretty("Invalid argument: " - << "r has wrong dimension (it should be " + - std::to_string(nr_) + ")"); + throw_pretty( + "Invalid argument: " << "r has wrong dimension (it should be " + + std::to_string(nr_) + ")"); } return bp::call(this->get_override("calcDiff").ptr(), data, (Eigen::VectorXd)r); diff --git a/bindings/python/crocoddyl/core/activations/quadratic-flat-exp.cpp b/bindings/python/crocoddyl/core/activations/quadratic-flat-exp.cpp index 21c23179bb..b371ffcbb4 100644 --- a/bindings/python/crocoddyl/core/activations/quadratic-flat-exp.cpp +++ b/bindings/python/crocoddyl/core/activations/quadratic-flat-exp.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2020-2023, LAAS-CNRS, University of Edinburgh +// Copyright (C) 2020-2024, LAAS-CNRS, University of Edinburgh // Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -26,10 +26,11 @@ void exposeActivationQuadFlatExp() { "A quadratic flat action describes a quadratic flat function that " "depends on the residual, i.e.\n" "1 - exp(-||r||^2 / alpha).", - bp::init(bp::args("self", "nr", "alpha"), - "Initialize the activation model.\n\n" - ":param nr: dimension of the cost-residual vector" - "param alpha: width of quadratic basin near zero")) + bp::init( + bp::args("self", "nr", "alpha"), + "Initialize the activation model.\n\n" + ":param nr: dimension of the cost-residual vector" + "param alpha: width of quadratic basin near zero")) .def("calc", &ActivationModelQuadFlatExp::calc, bp::args("self", "data", "r"), "Compute the 1 - exp(-||r||^2 / alpha).\n\n" diff --git a/bindings/python/crocoddyl/core/activations/quadratic-flat-log.cpp b/bindings/python/crocoddyl/core/activations/quadratic-flat-log.cpp index 090b359c06..5c8979f459 100644 --- a/bindings/python/crocoddyl/core/activations/quadratic-flat-log.cpp +++ b/bindings/python/crocoddyl/core/activations/quadratic-flat-log.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2020-2023, LAAS-CNRS, University of Edinburgh +// Copyright (C) 2020-2024, LAAS-CNRS, University of Edinburgh // Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -25,10 +25,11 @@ void exposeActivationQuadFlatLog() { "A quadratic flat action describes a quadratic flat function that " "depends on the residual, i.e.\n" "log(1 + ||r||^2 / alpha).", - bp::init(bp::args("self", "nr", "alpha"), - "Initialize the activation model.\n\n" - ":param nr: dimension of the cost-residual vector" - "param alpha: width of quadratic basin near zero")) + bp::init( + bp::args("self", "nr", "alpha"), + "Initialize the activation model.\n\n" + ":param nr: dimension of the cost-residual vector" + "param alpha: width of quadratic basin near zero")) .def("calc", &ActivationModelQuadFlatLog::calc, bp::args("self", "data", "r"), "Compute the log(1 + ||r||^2 / alpha).\n" diff --git a/bindings/python/crocoddyl/core/activations/quadratic.cpp b/bindings/python/crocoddyl/core/activations/quadratic.cpp index 1dc8d5389e..62c2654c7a 100644 --- a/bindings/python/crocoddyl/core/activations/quadratic.cpp +++ b/bindings/python/crocoddyl/core/activations/quadratic.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh +// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh // Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -26,9 +26,9 @@ void exposeActivationQuad() { "A quadratic action describes a quadratic function that depends on the " "residual, i.e.\n" "0.5 *||r||^2.", - bp::init(bp::args("self", "nr"), - "Initialize the activation model.\n\n" - ":param nr: dimension of the cost-residual vector")) + bp::init(bp::args("self", "nr"), + "Initialize the activation model.\n\n" + ":param nr: dimension of the cost-residual vector")) .def("calc", &ActivationModelQuad::calc, bp::args("self", "data", "r"), "Compute the 0.5 * ||r||^2.\n\n" ":param data: activation data\n" diff --git a/bindings/python/crocoddyl/core/activations/smooth-1norm.cpp b/bindings/python/crocoddyl/core/activations/smooth-1norm.cpp index 07ba2fa581..7477f0c269 100644 --- a/bindings/python/crocoddyl/core/activations/smooth-1norm.cpp +++ b/bindings/python/crocoddyl/core/activations/smooth-1norm.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh +// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh // Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -28,7 +28,7 @@ void exposeActivationSmooth1Norm() { "sum^nr_{i=0} sqrt{eps + ||ri||^2}, where ri is the scalar residual for " "the i constraints,\n." "and nr is the dimension of the residual vector.", - bp::init >( + bp::init >( bp::args("self", "nr", "eps"), "Initialize the activation model.\n\n" ":param nr: dimension of the residual vector\n" diff --git a/bindings/python/crocoddyl/core/activations/smooth-2norm.cpp b/bindings/python/crocoddyl/core/activations/smooth-2norm.cpp index 0fd6f16706..90e1769e71 100644 --- a/bindings/python/crocoddyl/core/activations/smooth-2norm.cpp +++ b/bindings/python/crocoddyl/core/activations/smooth-2norm.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2020-2023, LAAS-CNRS, University of Edinburgh +// Copyright (C) 2020-2024, LAAS-CNRS, University of Edinburgh // Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -27,7 +27,7 @@ void exposeActivationSmooth2Norm() { "sqrt{eps + sum^nr_{i=0} ||ri||^2}, where ri is the scalar residual for " "the i constraints,\n." "and nr is the dimension of the residual vector.", - bp::init >( + bp::init >( bp::args("self", "nr", "eps"), "Initialize the activation model.\n\n" ":param nr: dimension of the residual vector\n" diff --git a/bindings/python/crocoddyl/core/actuation-base.cpp b/bindings/python/crocoddyl/core/actuation-base.cpp index 8726990351..6471fa08df 100644 --- a/bindings/python/crocoddyl/core/actuation-base.cpp +++ b/bindings/python/crocoddyl/core/actuation-base.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh, +// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh, // Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -28,7 +28,7 @@ void exposeActuationAbstract() { "The computation of the actuation signal and its partial derivatives are " "mainly carried out\n" "inside calc() and calcDiff(), respectively.", - bp::init, int>( + bp::init, std::size_t>( bp::args("self", "state", "nu"), "Initialize the actuation model.\n\n" ":param state: state description,\n" diff --git a/bindings/python/crocoddyl/core/actuation-base.hpp b/bindings/python/crocoddyl/core/actuation-base.hpp index 9bbd73c256..f0775e39c9 100644 --- a/bindings/python/crocoddyl/core/actuation-base.hpp +++ b/bindings/python/crocoddyl/core/actuation-base.hpp @@ -29,14 +29,14 @@ class ActuationModelAbstract_wrap : public ActuationModelAbstract, const Eigen::Ref& x, const Eigen::Ref& u) { if (static_cast(x.size()) != state_->get_nx()) { - throw_pretty("Invalid argument: " - << "x has wrong dimension (it should be " + - std::to_string(state_->get_nx()) + ")"); + throw_pretty( + "Invalid argument: " << "x has wrong dimension (it should be " + + std::to_string(state_->get_nx()) + ")"); } if (static_cast(u.size()) != nu_) { - throw_pretty("Invalid argument: " - << "u has wrong dimension (it should be " + - std::to_string(nu_) + ")"); + throw_pretty( + "Invalid argument: " << "u has wrong dimension (it should be " + + std::to_string(nu_) + ")"); } return bp::call(this->get_override("calc").ptr(), data, (Eigen::VectorXd)x, (Eigen::VectorXd)u); @@ -46,14 +46,14 @@ class ActuationModelAbstract_wrap : public ActuationModelAbstract, const Eigen::Ref& x, const Eigen::Ref& u) { if (static_cast(x.size()) != state_->get_nx()) { - throw_pretty("Invalid argument: " - << "x has wrong dimension (it should be " + - std::to_string(state_->get_nx()) + ")"); + throw_pretty( + "Invalid argument: " << "x has wrong dimension (it should be " + + std::to_string(state_->get_nx()) + ")"); } if (static_cast(u.size()) != nu_) { - throw_pretty("Invalid argument: " - << "u has wrong dimension (it should be " + - std::to_string(nu_) + ")"); + throw_pretty( + "Invalid argument: " << "u has wrong dimension (it should be " + + std::to_string(nu_) + ")"); } return bp::call(this->get_override("calcDiff").ptr(), data, (Eigen::VectorXd)x, (Eigen::VectorXd)u); @@ -63,14 +63,14 @@ class ActuationModelAbstract_wrap : public ActuationModelAbstract, const Eigen::Ref& x, const Eigen::Ref& tau) { if (static_cast(x.size()) != state_->get_nx()) { - throw_pretty("Invalid argument: " - << "x has wrong dimension (it should be " + - std::to_string(state_->get_nx()) + ")"); + throw_pretty( + "Invalid argument: " << "x has wrong dimension (it should be " + + std::to_string(state_->get_nx()) + ")"); } if (static_cast(tau.size()) != state_->get_nv()) { - throw_pretty("Invalid argument: " - << "tau has wrong dimension (it should be " + - std::to_string(state_->get_nv()) + ")"); + throw_pretty( + "Invalid argument: " << "tau has wrong dimension (it should be " + + std::to_string(state_->get_nv()) + ")"); } return bp::call(this->get_override("commands").ptr(), data, (Eigen::VectorXd)x, (Eigen::VectorXd)tau); @@ -82,14 +82,14 @@ class ActuationModelAbstract_wrap : public ActuationModelAbstract, if (boost::python::override torqueTransform = this->get_override("torqueTransform")) { if (static_cast(x.size()) != state_->get_nx()) { - throw_pretty("Invalid argument: " - << "x has wrong dimension (it should be " + - std::to_string(state_->get_nx()) + ")"); + throw_pretty( + "Invalid argument: " << "x has wrong dimension (it should be " + + std::to_string(state_->get_nx()) + ")"); } if (static_cast(u.size()) != nu_) { - throw_pretty("Invalid argument: " - << "u has wrong dimension (it should be " + - std::to_string(nu_) + ")"); + throw_pretty( + "Invalid argument: " << "u has wrong dimension (it should be " + + std::to_string(nu_) + ")"); } return bp::call(torqueTransform.ptr(), data, (Eigen::VectorXd)x, (Eigen::VectorXd)u); diff --git a/bindings/python/crocoddyl/core/actuation/actuation-squashing.cpp b/bindings/python/crocoddyl/core/actuation/actuation-squashing.cpp index a5991bdd0c..febb8d234b 100644 --- a/bindings/python/crocoddyl/core/actuation/actuation-squashing.cpp +++ b/bindings/python/crocoddyl/core/actuation/actuation-squashing.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2019-2023, University of Edinburgh, IRI: CSIC-UPC +// Copyright (C) 2019-2024, University of Edinburgh, IRI: CSIC-UPC // Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -22,7 +22,7 @@ void exposeActuationSquashing() { bp::class_ >( "ActuationSquashingModel", "Class for squashing an actuation model.\n\n", bp::init, - boost::shared_ptr, int>( + boost::shared_ptr, std::size_t>( bp::args("self", "actuation", "squashing", "nu"), "Initialize the actuation model with squashing function.\n\n" ":param actuation: actuation model to be squashed,\n" diff --git a/bindings/python/crocoddyl/core/actuation/squashing-base.cpp b/bindings/python/crocoddyl/core/actuation/squashing-base.cpp index 654a2deb25..4b7eb8e6e7 100644 --- a/bindings/python/crocoddyl/core/actuation/squashing-base.cpp +++ b/bindings/python/crocoddyl/core/actuation/squashing-base.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2019-2023, University of Edinburgh, IRI: CSIC-UPC, +// Copyright (C) 2019-2024, University of Edinburgh, IRI: CSIC-UPC, // Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -27,9 +27,9 @@ void exposeSquashingAbstract() { "The computation of the output value is done using calc() while its " "derivative is computed using calcDiff(), " "respectively.", - bp::init(bp::args("self", "ns"), - "Initialize the squashing model. \n\n" - ":param ns: dimension of the input vector")) + bp::init(bp::args("self", "ns"), + "Initialize the squashing model. \n\n" + ":param ns: dimension of the input vector")) .def("calc", pure_virtual(&SquashingModelAbstract_wrap::calc), bp::args("self", "data", "s"), "Compute the squashing value for a given value of u, " diff --git a/bindings/python/crocoddyl/core/actuation/squashing/smooth-sat.cpp b/bindings/python/crocoddyl/core/actuation/squashing/smooth-sat.cpp index 6dbb971f24..79ea76a5f9 100644 --- a/bindings/python/crocoddyl/core/actuation/squashing/smooth-sat.cpp +++ b/bindings/python/crocoddyl/core/actuation/squashing/smooth-sat.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2019-2023, University of Edinburgh, IRI: CSIC-UPC +// Copyright (C) 2019-2024, University of Edinburgh, IRI: CSIC-UPC // Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -21,7 +21,7 @@ void exposeSquashingSmoothSat() { bp::class_ >( "SquashingModelSmoothSat", "Smooth Sat squashing model", - bp::init( + bp::init( bp::args("self", "u_lb", "u_ub", "ns"), "Initialize the squashing model. \n\n" ":param u_lb: output lower bound" diff --git a/bindings/python/crocoddyl/core/constraint-base.cpp b/bindings/python/crocoddyl/core/constraint-base.cpp index dda1e0ceae..f7c1404a00 100644 --- a/bindings/python/crocoddyl/core/constraint-base.cpp +++ b/bindings/python/crocoddyl/core/constraint-base.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2020-2023, University of Edinburgh, Heriot-Watt University +// Copyright (C) 2020-2024, University of Edinburgh, Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. /////////////////////////////////////////////////////////////////////////////// @@ -42,19 +42,28 @@ void exposeConstraintAbstract() { ":param ng: number of inequality constraints\n" ":param nh: number of equality constraints")) .def(bp::init, std::size_t, std::size_t, - std::size_t>( - bp::args("self", "state", "nu", "ng", "nh"), + std::size_t, bp::optional >( + bp::args("self", "state", "nu", "ng", "nh", "T_const"), "Initialize the constraint model.\n\n" ":param state: state description\n" ":param nu: dimension of control vector (default state.nv)\n" ":param ng: number of inequality constraints\n" - ":param nh: number of equality constraints")) - .def(bp::init, std::size_t, std::size_t>( - bp::args("self", "state", "ng", "nh"), + ":param nh: number of equality constraints\n" + ":param T_const: True if this is a constraint in both running and " + "terminal nodes.\n" + " False if it is a constraint on running nodes only " + "(default true)")) + .def(bp::init, std::size_t, std::size_t, + bp::optional >( + bp::args("self", "state", "ng", "nh", "T_const"), "Initialize the constraint model.\n\n" ":param state: state description\n" ":param ng: number of inequality constraints\n" - ":param nh: number of equality constraints")) + ":param nh: number of equality constraints\n" + ":param T_const: True if this is a constraint in both running and " + "terminal nodes.\n" + " False if it is a constraint on running nodes only " + "(default true)")) .def("calc", pure_virtual(&ConstraintModelAbstract_wrap::calc), bp::args("self", "data", "x", "u"), "Compute the constraint value.\n\n" @@ -141,6 +150,10 @@ void exposeConstraintAbstract() { .add_property("nh", bp::make_function(&ConstraintModelAbstract_wrap::get_nh), "number of equality constraints") + .add_property( + "T_constraint", + bp::make_function(&ConstraintModelAbstract_wrap::get_T_constraint), + "True if the constraint is imposed in terminal nodes as well") .def(PrintableVisitor()); bp::register_ptr_to_python >(); diff --git a/bindings/python/crocoddyl/core/constraint-base.hpp b/bindings/python/crocoddyl/core/constraint-base.hpp index aba1010d14..0ffa0aaa83 100644 --- a/bindings/python/crocoddyl/core/constraint-base.hpp +++ b/bindings/python/crocoddyl/core/constraint-base.hpp @@ -35,15 +35,16 @@ class ConstraintModelAbstract_wrap ConstraintModelAbstract_wrap(boost::shared_ptr state, const std::size_t nu, const std::size_t ng, - const std::size_t nh) - : ConstraintModelAbstract(state, nu, ng, nh), + const std::size_t nh, const bool T_const = true) + : ConstraintModelAbstract(state, nu, ng, nh, T_const), bp::wrapper() { unone_ = NAN * MathBase::VectorXs::Ones(nu); } ConstraintModelAbstract_wrap(boost::shared_ptr state, - const std::size_t ng, const std::size_t nh) - : ConstraintModelAbstract(state, ng, nh) { + const std::size_t ng, const std::size_t nh, + const bool T_const = true) + : ConstraintModelAbstract(state, ng, nh, T_const) { unone_ = NAN * MathBase::VectorXs::Ones(nu_); } @@ -51,14 +52,14 @@ class ConstraintModelAbstract_wrap const Eigen::Ref& x, const Eigen::Ref& u) { if (static_cast(x.size()) != state_->get_nx()) { - throw_pretty("Invalid argument: " - << "x has wrong dimension (it should be " + - std::to_string(state_->get_nx()) + ")"); + throw_pretty( + "Invalid argument: " << "x has wrong dimension (it should be " + + std::to_string(state_->get_nx()) + ")"); } if (static_cast(u.size()) != nu_) { - throw_pretty("Invalid argument: " - << "u has wrong dimension (it should be " + - std::to_string(nu_) + ")"); + throw_pretty( + "Invalid argument: " << "u has wrong dimension (it should be " + + std::to_string(nu_) + ")"); } if (std::isnan(u.lpNorm())) { return bp::call(this->get_override("calc").ptr(), data, @@ -73,14 +74,14 @@ class ConstraintModelAbstract_wrap const Eigen::Ref& x, const Eigen::Ref& u) { if (static_cast(x.size()) != state_->get_nx()) { - throw_pretty("Invalid argument: " - << "x has wrong dimension (it should be " + - std::to_string(state_->get_nx()) + ")"); + throw_pretty( + "Invalid argument: " << "x has wrong dimension (it should be " + + std::to_string(state_->get_nx()) + ")"); } if (static_cast(u.size()) != nu_) { - throw_pretty("Invalid argument: " - << "u has wrong dimension (it should be " + - std::to_string(nu_) + ")"); + throw_pretty( + "Invalid argument: " << "u has wrong dimension (it should be " + + std::to_string(nu_) + ")"); } if (std::isnan(u.lpNorm())) { return bp::call(this->get_override("calcDiff").ptr(), data, diff --git a/bindings/python/crocoddyl/core/constraints/constraint-manager.cpp b/bindings/python/crocoddyl/core/constraints/constraint-manager.cpp index ae64765664..ed51ab6fc7 100644 --- a/bindings/python/crocoddyl/core/constraints/constraint-manager.cpp +++ b/bindings/python/crocoddyl/core/constraints/constraint-manager.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2020-2023, University of Edinburgh, Heriot-Watt University +// Copyright (C) 2020-2024, University of Edinburgh, Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. /////////////////////////////////////////////////////////////////////////////// @@ -28,6 +28,10 @@ namespace python { BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS( ConstraintModelManager_addConstraint_wrap, ConstraintModelManager::addConstraint, 2, 3) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(ConstraintDataManager_resizeConst_wrap, + ConstraintDataManager::resize, 1, 2) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(ConstraintDataManager_resize_wrap, + ConstraintDataManager::resize, 2, 3) void exposeConstraintManager() { // Register custom converters between std::map and Python dict @@ -169,6 +173,12 @@ void exposeConstraintManager() { "number of active inequality constraints") .add_property("nh", bp::make_function(&ConstraintModelManager::get_nh), "number of active equality constraints") + .add_property("ng_T", + bp::make_function(&ConstraintModelManager::get_ng_T), + "number of active inequality terminal constraints") + .add_property("nh_T", + bp::make_function(&ConstraintModelManager::get_nh_T), + "number of active equality terminal constraints") .add_property( "active_set", bp::make_function(&ConstraintModelManager::get_active_set, @@ -214,23 +224,41 @@ void exposeConstraintManager() { bp::args("self", "data"), "Share memory with a given action data\n\n" ":param model: action data that we want to share memory") + .def("resize", &ConstraintDataManager::resize, + bp::with_custodian_and_ward_postcall<0, 1>(), + ConstraintDataManager_resizeConst_wrap( + bp::args("self", "model", "running_node"), + "Resize the data given differential action data\n\n" + ":param model: constraint manager model that defines how to " + "resize " + "the data\n" + ":param running_node: true if we are resizing for a running " + "node, false for terminal ones (default true)")) .def("resize", &ConstraintDataManager::resize, bp::with_custodian_and_ward_postcall<0, 2>(), - bp::args("self", "model", "data"), - "Resize the data given differential action data\n\n" - ":param model: differential action model that defines how to resize " - "the data\n" - ":param data: differential action data that we want to resize") - .def("resize", - &ConstraintDataManager::resize, - bp::with_custodian_and_ward_postcall<0, 2>(), - bp::args("self", "model", "data"), - "Resize the data given action data\n\n" - ":param model: action model that defines how to resize the data\n" - ":param data: action data that we want to resize") + ConstraintDataManager_resize_wrap( + bp::args("self", "model", "data", "running_node"), + "Resize the data given differential action data\n\n" + ":param model: differential action model that defines how to " + "resize " + "the data\n" + ":param data: differential action data that we want to resize\n" + ":param running_node: true if we are resizing for a running " + "node, false for terminal ones (default true)")) + .def( + "resize", + &ConstraintDataManager::resize, + bp::with_custodian_and_ward_postcall<0, 2>(), + ConstraintDataManager_resize_wrap( + bp::args("self", "model", "data", "running_node"), + "Resize the data given action data\n\n" + ":param model: action model that defines how to resize the data\n" + ":param data: action data that we want to resize\n" + ":param running_node: true if we are resizing for a running " + "node, false for terminal ones (default true)")) .add_property( "constraints", bp::make_getter(&ConstraintDataManager::constraints, diff --git a/bindings/python/crocoddyl/core/constraints/residual.cpp b/bindings/python/crocoddyl/core/constraints/residual.cpp index ee80df1446..cfea9f6bce 100644 --- a/bindings/python/crocoddyl/core/constraints/residual.cpp +++ b/bindings/python/crocoddyl/core/constraints/residual.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2021-2023, University of Edinburgh, Heriot-Watt University +// Copyright (C) 2021-2024, University of Edinburgh, Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. /////////////////////////////////////////////////////////////////////////////// @@ -23,21 +23,26 @@ void exposeConstraintResidual() { "vector and its bounds.", bp::init, boost::shared_ptr, Eigen::VectorXd, - Eigen::VectorXd>( - bp::args("self", "state", "residual", "lower", "upper"), + Eigen::VectorXd, bp::optional >( + bp::args("self", "state", "residual", "lower", "upper", "T_act"), "Initialize the residual constraint model as an inequality " "constraint.\n\n" ":param state: state description\n" ":param residual: residual model\n" ":param lower: lower bound\n" - ":param upper: upper bound")) + ":param upper: upper bound\n" + ":param T_act: false if we want to deactivate the residual at the " + "terminal node (default true)")) .def(bp::init, - boost::shared_ptr >( - bp::args("self", "state", "residual"), + boost::shared_ptr, + bp::optional >( + bp::args("self", "state", "residual", "T_act"), "Initialize the residual constraint model as an equality " "constraint.\n\n" ":param state: state description\n" - ":param residual: residual model")) + ":param residual: residual model\n" + ":param T_act: false if we want to deactivate the residual at the " + "terminal node (default true)")) .def&, const Eigen::Ref&, diff --git a/bindings/python/crocoddyl/core/control-base.hpp b/bindings/python/crocoddyl/core/control-base.hpp index 3231009996..8b54b54200 100644 --- a/bindings/python/crocoddyl/core/control-base.hpp +++ b/bindings/python/crocoddyl/core/control-base.hpp @@ -17,6 +17,13 @@ namespace crocoddyl { namespace python { +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS( + ControlParametrizationModelAbstract_multiplyByJacobian_J_wrap, + ControlParametrizationModelAbstract::multiplyByJacobian_J, 2, 3) +BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS( + ControlParametrizationModelAbstract_multiplyJacobianTransposeBy_J_wrap, + ControlParametrizationModelAbstract::multiplyJacobianTransposeBy_J, 2, 3) + class ControlParametrizationModelAbstract_wrap : public ControlParametrizationModelAbstract, public bp::wrapper { @@ -28,9 +35,9 @@ class ControlParametrizationModelAbstract_wrap void calc(const boost::shared_ptr& data, double t, const Eigen::Ref& u) const { if (static_cast(u.size()) != nu_) { - throw_pretty("Invalid argument: " - << "u has wrong dimension (it should be " + - std::to_string(nu_) + ")"); + throw_pretty( + "Invalid argument: " << "u has wrong dimension (it should be " + + std::to_string(nu_) + ")"); } return bp::call(this->get_override("calc").ptr(), data, t, (Eigen::VectorXd)u); @@ -40,9 +47,9 @@ class ControlParametrizationModelAbstract_wrap const boost::shared_ptr& data, double t, const Eigen::Ref& u) const { if (static_cast(u.size()) != nu_) { - throw_pretty("Invalid argument: " - << "u has wrong dimension (it should be " + - std::to_string(nu_) + ")"); + throw_pretty( + "Invalid argument: " << "u has wrong dimension (it should be " + + std::to_string(nu_) + ")"); } return bp::call(this->get_override("calcDiff").ptr(), data, t, (Eigen::VectorXd)u); @@ -51,9 +58,9 @@ class ControlParametrizationModelAbstract_wrap void params(const boost::shared_ptr& data, double t, const Eigen::Ref& w) const { if (static_cast(w.size()) != nw_) { - throw_pretty("Invalid argument: " - << "w has wrong dimension (it should be " + - std::to_string(nw_) + ")"); + throw_pretty( + "Invalid argument: " << "w has wrong dimension (it should be " + + std::to_string(nw_) + ")"); } return bp::call(this->get_override("params").ptr(), data, t, (Eigen::VectorXd)w); diff --git a/bindings/python/crocoddyl/core/controls/poly-one.cpp b/bindings/python/crocoddyl/core/controls/poly-one.cpp index d335fafb25..033423e767 100644 --- a/bindings/python/crocoddyl/core/controls/poly-one.cpp +++ b/bindings/python/crocoddyl/core/controls/poly-one.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2021-2023, University of Edinburgh, University of Trento +// Copyright (C) 2021-2025, University of Edinburgh, University of Trento // Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -73,27 +73,37 @@ void exposeControlParametrizationPolyOne() { "parameters (dim control.nu).") .def("multiplyByJacobian", &ControlParametrizationModelPolyOne::multiplyByJacobian_J, - bp::args("self", "data", "A"), - "Compute the product between the given matrix A and the derivative " - "of the control with respect to the " - "parameters.\n\n" - "It assumes that calc has been run first.\n" - ":param data: control-parametrization data\n" - ":param A: matrix to multiply (dim na x control.nw)\n" - ":return Product between A and the partial derivative of the value " - "function (dim na x control.nu)") - .def("multiplyJacobianTransposeBy", - &ControlParametrizationModelPolyOne::multiplyJacobianTransposeBy_J, - bp::args("self", "data", "A"), - "Compute the product between the transpose of the derivative of the " - "control with respect to the parameters\n" - "and a given matrix A.\n\n" - "It assumes that calc has been run first.\n" - ":param data: control-parametrization data\n" - ":param A: matrix to multiply (dim control.nw x na)\n" - ":return Product between the partial derivative of the value " - "function (transposed) and A (dim control.nu x " - "na)") + ControlParametrizationModelAbstract_multiplyByJacobian_J_wrap( + bp::args("self", "data", "A", "op"), + "Compute the product between the given matrix A and the " + "derivative " + "of the control with respect to the " + "parameters.\n\n" + "It assumes that calc has been run first.\n" + ":param data: control-parametrization data\n" + ":param A: matrix to multiply (dim na x control.nw)\n" + ":op assignment operator which sets, adds, or removes the given " + "results\n" + ":return Product between A and the partial derivative of the " + "value " + "function (dim na x control.nu)")) + .def( + "multiplyJacobianTransposeBy", + &ControlParametrizationModelPolyOne::multiplyJacobianTransposeBy_J, + ControlParametrizationModelAbstract_multiplyJacobianTransposeBy_J_wrap( + bp::args("self", "data", "A", "op"), + "Compute the product between the transpose of the derivative of " + "the " + "control with respect to the parameters\n" + "and a given matrix A.\n\n" + "It assumes that calc has been run first.\n" + ":param data: control-parametrization data\n" + ":param A: matrix to multiply (dim control.nw x na)\n" + ":op assignment operator which sets, adds, or removes the given " + "results\n" + ":return Product between the partial derivative of the value " + "function (transposed) and A (dim control.nu x " + "na)")) .def(CopyableVisitor()); boost::python::register_ptr_to_python< diff --git a/bindings/python/crocoddyl/core/controls/poly-two-rk.cpp b/bindings/python/crocoddyl/core/controls/poly-two-rk.cpp index 29043c864d..b9e96f6886 100644 --- a/bindings/python/crocoddyl/core/controls/poly-two-rk.cpp +++ b/bindings/python/crocoddyl/core/controls/poly-two-rk.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2021-2023, University of Edinburgh, University of Trento +// Copyright (C) 2021-2025, University of Edinburgh, University of Trento // Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -79,27 +79,36 @@ void exposeControlParametrizationPolyTwoRK() { "parameters (dim control.nu)") .def("multiplyByJacobian", &ControlParametrizationModelPolyTwoRK::multiplyByJacobian_J, - bp::args("self", "data", "A"), - "Compute the product between the given matrix A and the derivative " - "of the control with respect to the " - "parameters.\n\n" - "It assumes that calc has been run first.\n" - ":param data: poly-two-rk data\n" - ":param A: matrix to multiply (dim na x control.nw)\n" - ":return Product between A and the partial derivative of the " - "control (dim na x control.nu)") - .def("multiplyJacobianTransposeBy", - &ControlParametrizationModelPolyTwoRK::multiplyJacobianTransposeBy_J, - bp::args("self", "data", "A"), - "Compute the product between the transpose of the derivative of the " - "control with respect to the parameters\n" - "and a given matrix A.\n\n" - "It assumes that calc has been run first.\n" - ":param data: poly-two-rk data\n" - ":param A: matrix to multiply (dim control.nw x na)\n" - ":return Product between the partial derivative of the control " - "(transposed) and A (dim control.nu x " - "na)") + ControlParametrizationModelAbstract_multiplyByJacobian_J_wrap( + bp::args("self", "data", "A", "op"), + "Compute the product between the given matrix A and the " + "derivative " + "of the control with respect to the " + "parameters.\n\n" + "It assumes that calc has been run first.\n" + ":param data: poly-two-rk data\n" + ":param A: matrix to multiply (dim na x control.nw)\n" + ":op assignment operator which sets, adds, or removes the given " + "results\n" + ":return Product between A and the partial derivative of the " + "control (dim na x control.nu)")) + .def( + "multiplyJacobianTransposeBy", + &ControlParametrizationModelPolyTwoRK::multiplyJacobianTransposeBy_J, + ControlParametrizationModelAbstract_multiplyJacobianTransposeBy_J_wrap( + bp::args("self", "data", "A", "op"), + "Compute the product between the transpose of the derivative of " + "the " + "control with respect to the parameters\n" + "and a given matrix A.\n\n" + "It assumes that calc has been run first.\n" + ":param data: poly-two-rk data\n" + ":param A: matrix to multiply (dim control.nw x na)\n" + ":op assignment operator which sets, adds, or removes the given " + "results\n" + ":return Product between the partial derivative of the control " + "(transposed) and A (dim control.nu x " + "na)")) .def(CopyableVisitor()); boost::python::register_ptr_to_python< diff --git a/bindings/python/crocoddyl/core/controls/poly-zero.cpp b/bindings/python/crocoddyl/core/controls/poly-zero.cpp index 0a22e1ca64..a5ae2fe306 100644 --- a/bindings/python/crocoddyl/core/controls/poly-zero.cpp +++ b/bindings/python/crocoddyl/core/controls/poly-zero.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2021-2023, University of Edinburgh, University of Trento +// Copyright (C) 2021-2025, University of Edinburgh, University of Trento // Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -72,27 +72,37 @@ void exposeControlParametrizationPolyZero() { "parameters (dim control.nu)") .def("multiplyByJacobian", &ControlParametrizationModelPolyZero::multiplyByJacobian_J, - bp::args("self", "data", "A"), - "Compute the product between the given matrix A and the derivative " - "of the control with respect to the " - "parameters.\n\n" - "It assumes that calc has been run first.\n" - ":param data: control-parametrization data\n" - ":param A: matrix to multiply (dim na x control.nw)\n" - ":return Product between A and the partial derivative of the value " - "function (dim na x control.nu)") - .def("multiplyJacobianTransposeBy", - &ControlParametrizationModelPolyZero::multiplyJacobianTransposeBy_J, - bp::args("self", "data", "A"), - "Compute the product between the transpose of the derivative of the " - "control with respect to the parameters\n" - "and a given matrix A.\n\n" - "It assumes that calc has been run first.\n" - ":param data: control-parametrization data\n" - ":param A: matrix to multiply (dim control.nw x na)\n" - ":return Product between the partial derivative of the value " - "function (transposed) and A (dim control.nu x " - "na)") + ControlParametrizationModelAbstract_multiplyByJacobian_J_wrap( + bp::args("self", "data", "A", "op"), + "Compute the product between the given matrix A and the " + "derivative " + "of the control with respect to the " + "parameters.\n\n" + "It assumes that calc has been run first.\n" + ":param data: control-parametrization data\n" + ":param A: matrix to multiply (dim na x control.nw)\n" + ":op assignment operator which sets, adds, or removes the given " + "results\n" + ":return Product between A and the partial derivative of the " + "value " + "function (dim na x control.nu)")) + .def( + "multiplyJacobianTransposeBy", + &ControlParametrizationModelPolyZero::multiplyJacobianTransposeBy_J, + ControlParametrizationModelAbstract_multiplyJacobianTransposeBy_J_wrap( + bp::args("self", "data", "A", "op"), + "Compute the product between the transpose of the derivative of " + "the " + "control with respect to the parameters\n" + "and a given matrix A.\n\n" + "It assumes that calc has been run first.\n" + ":param data: control-parametrization data\n" + ":param A: matrix to multiply (dim control.nw x na)\n" + ":op assignment operator which sets, adds, or removes the given " + "results\n" + ":return Product between the partial derivative of the value " + "function (transposed) and A (dim control.nu x " + "na)")) .def(CopyableVisitor()); } diff --git a/bindings/python/crocoddyl/core/cost-base.hpp b/bindings/python/crocoddyl/core/cost-base.hpp index 6cda2e1db7..540d71e81c 100644 --- a/bindings/python/crocoddyl/core/cost-base.hpp +++ b/bindings/python/crocoddyl/core/cost-base.hpp @@ -66,14 +66,14 @@ class CostModelAbstract_wrap : public CostModelAbstract, const Eigen::Ref& x, const Eigen::Ref& u) { if (static_cast(x.size()) != state_->get_nx()) { - throw_pretty("Invalid argument: " - << "x has wrong dimension (it should be " + - std::to_string(state_->get_nx()) + ")"); + throw_pretty( + "Invalid argument: " << "x has wrong dimension (it should be " + + std::to_string(state_->get_nx()) + ")"); } if (static_cast(u.size()) != nu_) { - throw_pretty("Invalid argument: " - << "u has wrong dimension (it should be " + - std::to_string(nu_) + ")"); + throw_pretty( + "Invalid argument: " << "u has wrong dimension (it should be " + + std::to_string(nu_) + ")"); } if (std::isnan(u.lpNorm())) { return bp::call(this->get_override("calc").ptr(), data, @@ -88,14 +88,14 @@ class CostModelAbstract_wrap : public CostModelAbstract, const Eigen::Ref& x, const Eigen::Ref& u) { if (static_cast(x.size()) != state_->get_nx()) { - throw_pretty("Invalid argument: " - << "x has wrong dimension (it should be " + - std::to_string(state_->get_nx()) + ")"); + throw_pretty( + "Invalid argument: " << "x has wrong dimension (it should be " + + std::to_string(state_->get_nx()) + ")"); } if (static_cast(u.size()) != nu_) { - throw_pretty("Invalid argument: " - << "u has wrong dimension (it should be " + - std::to_string(nu_) + ")"); + throw_pretty( + "Invalid argument: " << "u has wrong dimension (it should be " + + std::to_string(nu_) + ")"); } if (std::isnan(u.lpNorm())) { return bp::call(this->get_override("calcDiff").ptr(), data, diff --git a/bindings/python/crocoddyl/core/diff-action-base.cpp b/bindings/python/crocoddyl/core/diff-action-base.cpp index ce1ce07b39..0a3bddc050 100644 --- a/bindings/python/crocoddyl/core/diff-action-base.cpp +++ b/bindings/python/crocoddyl/core/diff-action-base.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh, +// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh, // University of Oxford, Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -44,15 +44,18 @@ void exposeDifferentialActionAbstract() { "computations are\n" "mainly carried out inside calc() and calcDiff(), respectively.", bp::init, std::size_t, - bp::optional >( - bp::args("self", "state", "nu", "nr", "ng", "nh"), + bp::optional >( + bp::args("self", "state", "nu", "nr", "ng", "nh", "ng_T", "nh_T"), "Initialize the differential action model.\n\n" "We can also describe autonomous systems by setting nu = 0.\n" ":param state: state\n" ":param nu: dimension of control vector\n" ":param nr: dimension of cost-residual vector (default 1)\n" ":param ng: number of inequality constraints (default 0)\n" - ":param nh: number of equality constraints (default 0)")) + ":param nh: number of equality constraints (default 0)\n" + ":param ng_T: number of inequality terminal constraints (default 0)\n" + ":param nh_T: number of equality terminal constraints (default 0)")) .def("calc", pure_virtual(&DifferentialActionModelAbstract_wrap::calc), bp::args("self", "data", "x", "u"), "Compute the system acceleration and cost value.\n\n" @@ -139,6 +142,14 @@ void exposeDifferentialActionAbstract() { "nh", bp::make_function(&DifferentialActionModelAbstract_wrap::get_nh), "number of equality constraints") + .add_property( + "ng_T", + bp::make_function(&DifferentialActionModelAbstract_wrap::get_ng_T), + "number of inequality terminal constraints") + .add_property( + "nh_T", + bp::make_function(&DifferentialActionModelAbstract_wrap::get_nh_T), + "number of equality terminal constraints") .add_property( "state", bp::make_function(&DifferentialActionModelAbstract_wrap::get_state, diff --git a/bindings/python/crocoddyl/core/diff-action-base.hpp b/bindings/python/crocoddyl/core/diff-action-base.hpp index f9e67beb42..3ed5acec4c 100644 --- a/bindings/python/crocoddyl/core/diff-action-base.hpp +++ b/bindings/python/crocoddyl/core/diff-action-base.hpp @@ -28,8 +28,10 @@ class DifferentialActionModelAbstract_wrap const std::size_t nu, const std::size_t nr = 1, const std::size_t ng = 0, - const std::size_t nh = 0) - : DifferentialActionModelAbstract(state, nu, nr, ng, nh), + const std::size_t nh = 0, + const std::size_t ng_T = 0, + const std::size_t nh_T = 0) + : DifferentialActionModelAbstract(state, nu, nr, ng, nh, ng_T, nh_T), bp::wrapper() { unone_ = NAN * MathBase::VectorXs::Ones(nu); } @@ -38,14 +40,14 @@ class DifferentialActionModelAbstract_wrap const Eigen::Ref& x, const Eigen::Ref& u) { if (static_cast(x.size()) != state_->get_nx()) { - throw_pretty("Invalid argument: " - << "x has wrong dimension (it should be " + - std::to_string(state_->get_nx()) + ")"); + throw_pretty( + "Invalid argument: " << "x has wrong dimension (it should be " + + std::to_string(state_->get_nx()) + ")"); } if (static_cast(u.size()) != nu_) { - throw_pretty("Invalid argument: " - << "u has wrong dimension (it should be " + - std::to_string(nu_) + ")"); + throw_pretty( + "Invalid argument: " << "u has wrong dimension (it should be " + + std::to_string(nu_) + ")"); } if (std::isnan(u.lpNorm())) { return bp::call(this->get_override("calc").ptr(), data, @@ -60,14 +62,14 @@ class DifferentialActionModelAbstract_wrap const Eigen::Ref& x, const Eigen::Ref& u) { if (static_cast(x.size()) != state_->get_nx()) { - throw_pretty("Invalid argument: " - << "x has wrong dimension (it should be " + - std::to_string(state_->get_nx()) + ")"); + throw_pretty( + "Invalid argument: " << "x has wrong dimension (it should be " + + std::to_string(state_->get_nx()) + ")"); } if (static_cast(u.size()) != nu_) { - throw_pretty("Invalid argument: " - << "u has wrong dimension (it should be " + - std::to_string(nu_) + ")"); + throw_pretty( + "Invalid argument: " << "u has wrong dimension (it should be " + + std::to_string(nu_) + ")"); } if (std::isnan(u.lpNorm())) { return bp::call(this->get_override("calcDiff").ptr(), data, @@ -100,9 +102,9 @@ class DifferentialActionModelAbstract_wrap u = bp::call(quasiStatic.ptr(), data, (Eigen::VectorXd)x, maxiter, tol); if (static_cast(u.size()) != nu_) { - throw_pretty("Invalid argument: " - << "u has wrong dimension (it should be " + - std::to_string(nu_) + ")"); + throw_pretty( + "Invalid argument: " << "u has wrong dimension (it should be " + + std::to_string(nu_) + ")"); } return; } diff --git a/bindings/python/crocoddyl/core/integ-action-base.hpp b/bindings/python/crocoddyl/core/integ-action-base.hpp index 65385235b3..c221d43bac 100644 --- a/bindings/python/crocoddyl/core/integ-action-base.hpp +++ b/bindings/python/crocoddyl/core/integ-action-base.hpp @@ -38,14 +38,14 @@ class IntegratedActionModelAbstract_wrap const Eigen::Ref& x, const Eigen::Ref& u) { if (static_cast(x.size()) != state_->get_nx()) { - throw_pretty("Invalid argument: " - << "x has wrong dimension (it should be " + - std::to_string(state_->get_nx()) + ")"); + throw_pretty( + "Invalid argument: " << "x has wrong dimension (it should be " + + std::to_string(state_->get_nx()) + ")"); } if (static_cast(u.size()) != nu_) { - throw_pretty("Invalid argument: " - << "u has wrong dimension (it should be " + - std::to_string(nu_) + ")"); + throw_pretty( + "Invalid argument: " << "u has wrong dimension (it should be " + + std::to_string(nu_) + ")"); } return bp::call(this->get_override("calc").ptr(), data, (Eigen::VectorXd)x, (Eigen::VectorXd)u); @@ -55,14 +55,14 @@ class IntegratedActionModelAbstract_wrap const Eigen::Ref& x, const Eigen::Ref& u) { if (static_cast(x.size()) != state_->get_nx()) { - throw_pretty("Invalid argument: " - << "x has wrong dimension (it should be " + - std::to_string(state_->get_nx()) + ")"); + throw_pretty( + "Invalid argument: " << "x has wrong dimension (it should be " + + std::to_string(state_->get_nx()) + ")"); } if (static_cast(u.size()) != nu_) { - throw_pretty("Invalid argument: " - << "u has wrong dimension (it should be " + - std::to_string(nu_) + ")"); + throw_pretty( + "Invalid argument: " << "u has wrong dimension (it should be " + + std::to_string(nu_) + ")"); } return bp::call(this->get_override("calcDiff").ptr(), data, (Eigen::VectorXd)x, (Eigen::VectorXd)u); diff --git a/bindings/python/crocoddyl/core/residual-base.hpp b/bindings/python/crocoddyl/core/residual-base.hpp index 26efacd239..ecab0b1d54 100644 --- a/bindings/python/crocoddyl/core/residual-base.hpp +++ b/bindings/python/crocoddyl/core/residual-base.hpp @@ -48,14 +48,14 @@ class ResidualModelAbstract_wrap : public ResidualModelAbstract, const Eigen::Ref& x, const Eigen::Ref& u) { if (static_cast(x.size()) != state_->get_nx()) { - throw_pretty("Invalid argument: " - << "x has wrong dimension (it should be " + - std::to_string(state_->get_nx()) + ")"); + throw_pretty( + "Invalid argument: " << "x has wrong dimension (it should be " + + std::to_string(state_->get_nx()) + ")"); } if (static_cast(u.size()) != nu_) { - throw_pretty("Invalid argument: " - << "u has wrong dimension (it should be " + - std::to_string(nu_) + ")"); + throw_pretty( + "Invalid argument: " << "u has wrong dimension (it should be " + + std::to_string(nu_) + ")"); } if (std::isnan(u.lpNorm())) { return bp::call(this->get_override("calc").ptr(), data, @@ -70,14 +70,14 @@ class ResidualModelAbstract_wrap : public ResidualModelAbstract, const Eigen::Ref& x, const Eigen::Ref& u) { if (static_cast(x.size()) != state_->get_nx()) { - throw_pretty("Invalid argument: " - << "x has wrong dimension (it should be " + - std::to_string(state_->get_nx()) + ")"); + throw_pretty( + "Invalid argument: " << "x has wrong dimension (it should be " + + std::to_string(state_->get_nx()) + ")"); } if (static_cast(u.size()) != nu_) { - throw_pretty("Invalid argument: " - << "u has wrong dimension (it should be " + - std::to_string(nu_) + ")"); + throw_pretty( + "Invalid argument: " << "u has wrong dimension (it should be " + + std::to_string(nu_) + ")"); } if (std::isnan(u.lpNorm())) { return bp::call(this->get_override("calcDiff").ptr(), data, diff --git a/bindings/python/crocoddyl/core/solvers/box-ddp.cpp b/bindings/python/crocoddyl/core/solvers/box-ddp.cpp index 1d66603dd8..8d21e38861 100644 --- a/bindings/python/crocoddyl/core/solvers/box-ddp.cpp +++ b/bindings/python/crocoddyl/core/solvers/box-ddp.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh +// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh // Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -27,10 +27,12 @@ void exposeSolverBoxDDP() { bp::args("self", "problem"), "Initialize the vector dimension.\n\n" ":param problem: shooting problem.")) - .add_property("Quu_inv", - make_function(&SolverBoxDDP::get_Quu_inv, - bp::return_internal_reference<>()), - "inverse of the Quu computed by the box QP") + .add_property( + "Quu_inv", + make_function( + &SolverBoxDDP::get_Quu_inv, + bp::return_value_policy()), + "inverse of the Quu computed by the box QP") .def(CopyableVisitor()); } diff --git a/bindings/python/crocoddyl/core/solvers/box-fddp.cpp b/bindings/python/crocoddyl/core/solvers/box-fddp.cpp index c69ba5b27e..bb557a579b 100644 --- a/bindings/python/crocoddyl/core/solvers/box-fddp.cpp +++ b/bindings/python/crocoddyl/core/solvers/box-fddp.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2019-2023, University of Edinburgh, Heriot-Watt University +// Copyright (C) 2019-2025, University of Edinburgh, Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. /////////////////////////////////////////////////////////////////////////////// @@ -26,10 +26,12 @@ void exposeSolverBoxFDDP() { bp::args("self", "problem"), "Initialize the vector dimension.\n\n" ":param problem: shooting problem.")) - .add_property("Quu_inv", - make_function(&SolverBoxFDDP::get_Quu_inv, - bp::return_internal_reference<>()), - "inverse of the Quu computed by the box QP") + .add_property( + "Quu_inv", + make_function( + &SolverBoxFDDP::get_Quu_inv, + bp::return_value_policy()), + "inverse of the Quu computed by the box QP") .def(CopyableVisitor()); } diff --git a/bindings/python/crocoddyl/core/solvers/ddp.cpp b/bindings/python/crocoddyl/core/solvers/ddp.cpp index f7458e2f26..986ad7a0ee 100644 --- a/bindings/python/crocoddyl/core/solvers/ddp.cpp +++ b/bindings/python/crocoddyl/core/solvers/ddp.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh, +// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, // Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -92,7 +92,7 @@ void exposeSolverDDP() { "Return a sum of positive parameters whose sum quantifies the DDP " "termination.") .def("expectedImprovement", &SolverDDP::expectedImprovement, - bp::return_value_policy(), + bp::return_value_policy(), bp::args("self"), "Return two scalars denoting the quadratic improvement model\n\n" "For computing the expected improvement, you need to compute first\n" @@ -131,48 +131,57 @@ void exposeSolverDDP() { ":param model: action model in the given time instance") .add_property( "Vxx", - make_function(&SolverDDP::get_Vxx, - bp::return_value_policy()), + make_function( + &SolverDDP::get_Vxx, + bp::return_value_policy()), "Vxx") .add_property( "Vx", - make_function(&SolverDDP::get_Vx, - bp::return_value_policy()), + make_function( + &SolverDDP::get_Vx, + bp::return_value_policy()), "Vx") .add_property( "Qxx", - make_function(&SolverDDP::get_Qxx, - bp::return_value_policy()), + make_function( + &SolverDDP::get_Qxx, + bp::return_value_policy()), "Qxx") .add_property( "Qxu", - make_function(&SolverDDP::get_Qxu, - bp::return_value_policy()), + make_function( + &SolverDDP::get_Qxu, + bp::return_value_policy()), "Qxu") .add_property( "Quu", - make_function(&SolverDDP::get_Quu, - bp::return_value_policy()), + make_function( + &SolverDDP::get_Quu, + bp::return_value_policy()), "Quu") .add_property( "Qx", - make_function(&SolverDDP::get_Qx, - bp::return_value_policy()), + make_function( + &SolverDDP::get_Qx, + bp::return_value_policy()), "Qx") .add_property( "Qu", - make_function(&SolverDDP::get_Qu, - bp::return_value_policy()), + make_function( + &SolverDDP::get_Qu, + bp::return_value_policy()), "Qu") .add_property( "K", - make_function(&SolverDDP::get_K, - bp::return_value_policy()), + make_function( + &SolverDDP::get_K, + bp::return_value_policy()), "K") .add_property( "k", - make_function(&SolverDDP::get_k, - bp::return_value_policy()), + make_function( + &SolverDDP::get_k, + bp::return_value_policy()), "k") .add_property( "reg_incFactor", bp::make_function(&SolverDDP::get_reg_incfactor), @@ -231,12 +240,13 @@ void exposeSolverDDP() { bp::make_function(&SolverDDP::set_th_gaptol, deprecated<>("Deprecated. Use th_gapTol")), "threshold for accepting a gap as non-zero") - .add_property("alphas", - bp::make_function( - &SolverDDP::get_alphas, - bp::return_value_policy()), - bp::make_function(&SolverDDP::set_alphas), - "list of step length (alpha) values") + .add_property( + "alphas", + bp::make_function( + &SolverDDP::get_alphas, + bp::return_value_policy()), + bp::make_function(&SolverDDP::set_alphas), + "list of step length (alpha) values") .def(CopyableVisitor()); } diff --git a/bindings/python/crocoddyl/core/solvers/fddp.cpp b/bindings/python/crocoddyl/core/solvers/fddp.cpp index 923d7655cf..d0c871ecb0 100644 --- a/bindings/python/crocoddyl/core/solvers/fddp.cpp +++ b/bindings/python/crocoddyl/core/solvers/fddp.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh, +// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, // Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -68,7 +68,7 @@ void exposeSolverFDDP() { ":returns the optimal trajectory xopt, uopt and a boolean that " "describes if convergence was reached.")) .def("updateExpectedImprovement", &SolverFDDP::updateExpectedImprovement, - bp::return_value_policy(), + bp::return_value_policy(), bp::args("self"), "Update the expected improvement model\n\n") .add_property("th_acceptNegStep", bp::make_function(&SolverFDDP::get_th_acceptnegstep), diff --git a/bindings/python/crocoddyl/core/solvers/intro.cpp b/bindings/python/crocoddyl/core/solvers/intro.cpp index 195e11190e..8e54cffa41 100644 --- a/bindings/python/crocoddyl/core/solvers/intro.cpp +++ b/bindings/python/crocoddyl/core/solvers/intro.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2021-2023, Heriot-Watt University, University of Edinburgh +// Copyright (C) 2021-2025, Heriot-Watt University, University of Edinburgh // Copyright note valid unless otherwise stated in individual files. // All rights reserved. /////////////////////////////////////////////////////////////////////////////// @@ -88,58 +88,69 @@ void exposeSolverIntro() { "zero when solve is called.") .add_property( "Hu_rank", - make_function(&SolverIntro::get_Hu_rank, - bp::return_value_policy()), + make_function( + &SolverIntro::get_Hu_rank, + bp::return_value_policy()), "rank of Hu") .add_property( "YZ", - make_function(&SolverIntro::get_YZ, - bp::return_value_policy()), + make_function( + &SolverIntro::get_YZ, + bp::return_value_policy()), "span and kernel of Hu") .add_property( "Qzz", - make_function(&SolverIntro::get_Qzz, - bp::return_value_policy()), + make_function( + &SolverIntro::get_Qzz, + bp::return_value_policy()), "Qzz") .add_property( "Qxz", - make_function(&SolverIntro::get_Qxz, - bp::return_value_policy()), + make_function( + &SolverIntro::get_Qxz, + bp::return_value_policy()), "Qxz") .add_property( "Quz", - make_function(&SolverIntro::get_Quz, - bp::return_value_policy()), + make_function( + &SolverIntro::get_Quz, + bp::return_value_policy()), "Quz") .add_property( "Qz", - make_function(&SolverIntro::get_Qz, - bp::return_value_policy()), + make_function( + &SolverIntro::get_Qz, + bp::return_value_policy()), "Qz") .add_property( "Hy", - make_function(&SolverIntro::get_Hy, - bp::return_value_policy()), + make_function( + &SolverIntro::get_Hy, + bp::return_value_policy()), "Hy") .add_property( "Kz", - make_function(&SolverIntro::get_Kz, - bp::return_value_policy()), + make_function( + &SolverIntro::get_Kz, + bp::return_value_policy()), "Kz") .add_property( "kz", - make_function(&SolverIntro::get_kz, - bp::return_value_policy()), + make_function( + &SolverIntro::get_kz, + bp::return_value_policy()), "kz") .add_property( "Ks", - make_function(&SolverIntro::get_Ks, - bp::return_value_policy()), + make_function( + &SolverIntro::get_Ks, + bp::return_value_policy()), "Ks") .add_property( "ks", - make_function(&SolverIntro::get_ks, - bp::return_value_policy()), + make_function( + &SolverIntro::get_ks, + bp::return_value_policy()), "ks") .def(CopyableVisitor()); } diff --git a/bindings/python/crocoddyl/core/solvers/kkt.cpp b/bindings/python/crocoddyl/core/solvers/kkt.cpp index b92e044d1b..67eb9d27fa 100644 --- a/bindings/python/crocoddyl/core/solvers/kkt.cpp +++ b/bindings/python/crocoddyl/core/solvers/kkt.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2020-2023, LAAS-CNRS, Heriot-Watt University +// Copyright (C) 2020-2025, LAAS-CNRS, Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. /////////////////////////////////////////////////////////////////////////////// @@ -77,7 +77,7 @@ void exposeSolverKKT() { "Return a sum of positive parameters whose sum quantifies the DDP " "termination.") .def("expectedImprovement", &SolverKKT::expectedImprovement, - bp::return_value_policy(), + bp::return_value_policy(), bp::args("self"), "Return two scalars denoting the quadratic improvement model\n\n" "For computing the expected improvement, you need to compute first\n" @@ -86,33 +86,39 @@ void exposeSolverKKT() { "d2*a**2/2.") .add_property( "kkt", - make_function(&SolverKKT::get_kkt, - bp::return_value_policy()), + make_function( + &SolverKKT::get_kkt, + bp::return_value_policy()), "kkt") .add_property( "kktref", - make_function(&SolverKKT::get_kktref, - bp::return_value_policy()), + make_function( + &SolverKKT::get_kktref, + bp::return_value_policy()), "kktref") .add_property( "primaldual", - make_function(&SolverKKT::get_primaldual, - bp::return_value_policy()), + make_function( + &SolverKKT::get_primaldual, + bp::return_value_policy()), "primaldual") .add_property( "lambdas", - make_function(&SolverKKT::get_lambdas, - bp::return_value_policy()), + make_function( + &SolverKKT::get_lambdas, + bp::return_value_policy()), "lambdas") .add_property( "dxs", - make_function(&SolverKKT::get_dxs, - bp::return_value_policy()), + make_function( + &SolverKKT::get_dxs, + bp::return_value_policy()), "dxs") .add_property( "dus", - make_function(&SolverKKT::get_dus, - bp::return_value_policy()), + make_function( + &SolverKKT::get_dus, + bp::return_value_policy()), "dus") .def(CopyableVisitor()); } diff --git a/bindings/python/crocoddyl/core/state-base.cpp b/bindings/python/crocoddyl/core/state-base.cpp index f58c9c44be..1703c011ed 100644 --- a/bindings/python/crocoddyl/core/state-base.cpp +++ b/bindings/python/crocoddyl/core/state-base.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh, +// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh, // Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -44,10 +44,11 @@ void exposeStateAbstract() { "Therefore the points x, x0 and x1 belong to the manifold M; and dx or " "x1 [-] x0 lie\n" "on its tangential space.", - bp::init(bp::args("self", "nx", "ndx"), - "Initialize the state dimensions.\n\n" - ":param nx: dimension of state configuration tuple\n" - ":param ndx: dimension of state tangent vector")) + bp::init( + bp::args("self", "nx", "ndx"), + "Initialize the state dimensions.\n\n" + ":param nx: dimension of state configuration tuple\n" + ":param ndx: dimension of state tangent vector")) .def("zero", pure_virtual(&StateAbstract_wrap::zero), bp::args("self"), "Generate a zero reference state.\n\n" ":return zero reference state") diff --git a/bindings/python/crocoddyl/core/state-base.hpp b/bindings/python/crocoddyl/core/state-base.hpp index 0dc7f283b7..af77a97a92 100644 --- a/bindings/python/crocoddyl/core/state-base.hpp +++ b/bindings/python/crocoddyl/core/state-base.hpp @@ -45,14 +45,14 @@ class StateAbstract_wrap : public StateAbstract, Eigen::VectorXd diff_wrap(const Eigen::Ref& x0, const Eigen::Ref& x1) const { if (static_cast(x0.size()) != nx_) { - throw_pretty("Invalid argument: " - << "x0 has wrong dimension (it should be " + - std::to_string(nx_) + ")"); + throw_pretty( + "Invalid argument: " << "x0 has wrong dimension (it should be " + + std::to_string(nx_) + ")"); } if (static_cast(x1.size()) != nx_) { - throw_pretty("Invalid argument: " - << "x1 has wrong dimension (it should be " + - std::to_string(nx_) + ")"); + throw_pretty( + "Invalid argument: " << "x1 has wrong dimension (it should be " + + std::to_string(nx_) + ")"); } return bp::call(this->get_override("diff").ptr(), (Eigen::VectorXd)x0, (Eigen::VectorXd)x1); @@ -68,14 +68,14 @@ class StateAbstract_wrap : public StateAbstract, const Eigen::Ref& x, const Eigen::Ref& dx) const { if (static_cast(x.size()) != nx_) { - throw_pretty("Invalid argument: " - << "x has wrong dimension (it should be " + - std::to_string(nx_) + ")"); + throw_pretty( + "Invalid argument: " << "x has wrong dimension (it should be " + + std::to_string(nx_) + ")"); } if (static_cast(dx.size()) != ndx_) { - throw_pretty("Invalid argument: " - << "dx has wrong dimension (it should be " + - std::to_string(ndx_) + ")"); + throw_pretty( + "Invalid argument: " << "dx has wrong dimension (it should be " + + std::to_string(ndx_) + ")"); } return bp::call(this->get_override("integrate").ptr(), (Eigen::VectorXd)x, (Eigen::VectorXd)dx); @@ -122,14 +122,14 @@ class StateAbstract_wrap : public StateAbstract, is_a_Jcomponent(firstsecond), ("firstsecond must be one of the Jcomponent {both, first, second}")); if (static_cast(x0.size()) != nx_) { - throw_pretty("Invalid argument: " - << "x0 has wrong dimension (it should be " + - std::to_string(nx_) + ")"); + throw_pretty( + "Invalid argument: " << "x0 has wrong dimension (it should be " + + std::to_string(nx_) + ")"); } if (static_cast(x1.size()) != nx_) { - throw_pretty("Invalid argument: " - << "x1 has wrong dimension (it should be " + - std::to_string(nx_) + ")"); + throw_pretty( + "Invalid argument: " << "x1 has wrong dimension (it should be " + + std::to_string(nx_) + ")"); } bp::list Jacs; @@ -235,14 +235,14 @@ class StateAbstract_wrap : public StateAbstract, is_a_Jcomponent(firstsecond), ("firstsecond must be one of the Jcomponent {both, first, second}")); if (static_cast(x.size()) != nx_) { - throw_pretty("Invalid argument: " - << "x has wrong dimension (it should be " + - std::to_string(nx_) + ")"); + throw_pretty( + "Invalid argument: " << "x has wrong dimension (it should be " + + std::to_string(nx_) + ")"); } if (static_cast(dx.size()) != ndx_) { - throw_pretty("Invalid argument: " - << "dx has wrong dimension (it should be " + - std::to_string(ndx_) + ")"); + throw_pretty( + "Invalid argument: " << "dx has wrong dimension (it should be " + + std::to_string(ndx_) + ")"); } bp::list Jacs; @@ -292,14 +292,14 @@ class StateAbstract_wrap : public StateAbstract, is_a_Jcomponent(firstsecond), ("firstsecond must be one of the Jcomponent {both, first, second}")); if (static_cast(x.size()) != nx_) { - throw_pretty("Invalid argument: " - << "x has wrong dimension (it should be " + - std::to_string(nx_) + ")"); + throw_pretty( + "Invalid argument: " << "x has wrong dimension (it should be " + + std::to_string(nx_) + ")"); } if (static_cast(dx.size()) != ndx_) { - throw_pretty("Invalid argument: " - << "dx has wrong dimension (it should be " + - std::to_string(ndx_) + ")"); + throw_pretty( + "Invalid argument: " << "dx has wrong dimension (it should be " + + std::to_string(ndx_) + ")"); } return bp::call( this->get_override("JintegrateTransport").ptr(), (Eigen::VectorXd)x, diff --git a/bindings/python/crocoddyl/core/states/euclidean.cpp b/bindings/python/crocoddyl/core/states/euclidean.cpp index 31c76bf89a..31710d2b0c 100644 --- a/bindings/python/crocoddyl/core/states/euclidean.cpp +++ b/bindings/python/crocoddyl/core/states/euclidean.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh +// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh // Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -29,9 +29,9 @@ void exposeStateEuclidean() { "point and its velocity lie in the same space, all Jacobians are " "described throught\n" "the identity matrix.", - bp::init(bp::args("self", "nx"), - "Initialize the vector dimension.\n\n" - ":param nx: dimension of state")) + bp::init(bp::args("self", "nx"), + "Initialize the vector dimension.\n\n" + ":param nx: dimension of state")) .def("zero", &StateVector::zero, bp::args("self"), "Return a zero reference state.\n\n" ":return zero reference state") diff --git a/bindings/python/crocoddyl/core/utils/callbacks.cpp b/bindings/python/crocoddyl/core/utils/callbacks.cpp index 222528a7a7..5eb9cbe693 100644 --- a/bindings/python/crocoddyl/core/utils/callbacks.cpp +++ b/bindings/python/crocoddyl/core/utils/callbacks.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh, +// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh, // University of Oxford, Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -27,7 +27,7 @@ void exposeCallbacks() { bp::class_ >( "CallbackVerbose", "Callback function for printing the solver values.", - bp::init >( + bp::init >( bp::args("self", "level", "precision"), "Initialize the differential verbose callback.\n\n" ":param level: verbose level (default _4)\n" diff --git a/bindings/python/crocoddyl/multibody/residuals/contact-cop-position.cpp b/bindings/python/crocoddyl/multibody/residuals/contact-cop-position.cpp index c363ea5b93..d2af7d5bbf 100644 --- a/bindings/python/crocoddyl/multibody/residuals/contact-cop-position.cpp +++ b/bindings/python/crocoddyl/multibody/residuals/contact-cop-position.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2020-2023, University of Duisburg-Essen, University of +// Copyright (C) 2020-2025, University of Duisburg-Essen, University of // Edinburgh, // Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. @@ -82,12 +82,12 @@ void exposeResidualContactCoPPosition() { deprecated<>( "Deprecated. Do not use set_id, instead create a new model")), "reference frame id") - .add_property( - "reference", - bp::make_function(&ResidualModelContactCoPPosition::get_reference, - bp::return_internal_reference<>()), - &ResidualModelContactCoPPosition::set_reference, - "reference support region of the CoP") + .add_property("reference", + bp::make_function( + &ResidualModelContactCoPPosition::get_reference, + bp::return_value_policy()), + &ResidualModelContactCoPPosition::set_reference, + "reference support region of the CoP") .def(CopyableVisitor()); bp::register_ptr_to_python< diff --git a/bindings/python/crocoddyl/multibody/residuals/contact-force.cpp b/bindings/python/crocoddyl/multibody/residuals/contact-force.cpp index 3b24ba3b12..2bac3445d4 100644 --- a/bindings/python/crocoddyl/multibody/residuals/contact-force.cpp +++ b/bindings/python/crocoddyl/multibody/residuals/contact-force.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh, +// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, // Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -96,8 +96,9 @@ void exposeResidualContactForce() { "Deprecated. Do not use set_id, instead create a new model")), "reference frame id") .add_property("reference", - bp::make_function(&ResidualModelContactForce::get_reference, - bp::return_internal_reference<>()), + bp::make_function( + &ResidualModelContactForce::get_reference, + bp::return_value_policy()), &ResidualModelContactForce::set_reference, "reference spatial force") .def(CopyableVisitor()); diff --git a/bindings/python/crocoddyl/multibody/residuals/frame-placement.cpp b/bindings/python/crocoddyl/multibody/residuals/frame-placement.cpp index b0670423d7..64ab521fe3 100644 --- a/bindings/python/crocoddyl/multibody/residuals/frame-placement.cpp +++ b/bindings/python/crocoddyl/multibody/residuals/frame-placement.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2021-2023, University of Edinburgh, Heriot-Watt University +// Copyright (C) 2021-2025, University of Edinburgh, Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. /////////////////////////////////////////////////////////////////////////////// @@ -80,12 +80,12 @@ void exposeResidualFramePlacement() { ":return residual data.") .add_property("id", &ResidualModelFramePlacement::get_id, &ResidualModelFramePlacement::set_id, "reference frame id") - .add_property( - "reference", - bp::make_function(&ResidualModelFramePlacement::get_reference, - bp::return_internal_reference<>()), - &ResidualModelFramePlacement::set_reference, - "reference frame placement") + .add_property("reference", + bp::make_function( + &ResidualModelFramePlacement::get_reference, + bp::return_value_policy()), + &ResidualModelFramePlacement::set_reference, + "reference frame placement") .def(CopyableVisitor()); bp::register_ptr_to_python >(); diff --git a/bindings/python/crocoddyl/multibody/residuals/frame-rotation.cpp b/bindings/python/crocoddyl/multibody/residuals/frame-rotation.cpp index bdc13db796..a365bee27b 100644 --- a/bindings/python/crocoddyl/multibody/residuals/frame-rotation.cpp +++ b/bindings/python/crocoddyl/multibody/residuals/frame-rotation.cpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2021-2023, University of Edinburgh, Heriot-Watt University +// Copyright (C) 2021-2025, University of Edinburgh, Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. /////////////////////////////////////////////////////////////////////////////// @@ -80,12 +80,12 @@ void exposeResidualFrameRotation() { ":return residual data.") .add_property("id", &ResidualModelFrameRotation::get_id, &ResidualModelFrameRotation::set_id, "reference frame id") - .add_property( - "reference", - bp::make_function(&ResidualModelFrameRotation::get_reference, - bp::return_internal_reference<>()), - &ResidualModelFrameRotation::set_reference, - "reference frame rotation") + .add_property("reference", + bp::make_function( + &ResidualModelFrameRotation::get_reference, + bp::return_value_policy()), + &ResidualModelFrameRotation::set_reference, + "reference frame rotation") .def(CopyableVisitor()); bp::register_ptr_to_python >(); diff --git a/bindings/python/crocoddyl/utils/biped.py b/bindings/python/crocoddyl/utils/biped.py index 0fc96639a7..a79cfb4a40 100644 --- a/bindings/python/crocoddyl/utils/biped.py +++ b/bindings/python/crocoddyl/utils/biped.py @@ -74,14 +74,12 @@ def createWalkingProblem( lfPos0 = self.rdata.oMf[self.lfId].translation comRef = (rfPos0 + lfPos0) / 2 comRef[2] = pinocchio.centerOfMass(self.rmodel, self.rdata, q0)[2] - # Defining the action models along the time instances loco3dModel = [] doubleSupport = [ self.createSwingFootModel(timeStep, [self.rfId, self.lfId]) - for k in range(supportKnots) + for _ in range(supportKnots) ] - # Creating the action models for three steps if self.firstStep is True: rStep = self.createFootstepModels( @@ -116,23 +114,13 @@ def createWalkingProblem( [self.rfId], [self.lfId], ) - # We defined the problem as: loco3dModel += doubleSupport + rStep loco3dModel += doubleSupport + lStep - - problem = crocoddyl.ShootingProblem(x0, loco3dModel[:-1], loco3dModel[-1]) - return problem + return crocoddyl.ShootingProblem(x0, loco3dModel[:-1], loco3dModel[-1]) def createJumpingProblem( - self, - x0, - jumpHeight, - jumpLength, - timeStep, - groundKnots, - flyingKnots, - final=False, + self, x0, jumpHeight, jumpLength, timeStep, groundKnots, flyingKnots ): q0 = x0[: self.rmodel.nq] pinocchio.forwardKinematics(self.rmodel, self.rdata, q0) @@ -144,21 +132,26 @@ def createJumpingProblem( lfFootPos0[2] = 0.0 comRef = (rfFootPos0 + lfFootPos0) / 2 comRef[2] = pinocchio.centerOfMass(self.rmodel, self.rdata, q0)[2] - - self.rWeight = 1e1 + # Create locomotion problem loco3dModel = [] takeOff = [ self.createSwingFootModel( timeStep, [self.lfId, self.rfId], ) - for k in range(groundKnots) + for _ in range(groundKnots) ] flyingUpPhase = [ self.createSwingFootModel( timeStep, [], - np.array([jumpLength[0], jumpLength[1], jumpLength[2] + jumpHeight]) + np.array( + [ + jumpLength[0] / 2.0, + jumpLength[1] / 2.0, + jumpLength[2] / 2.0 + jumpHeight, + ] + ) * (k + 1) / flyingKnots + comRef, @@ -166,39 +159,29 @@ def createJumpingProblem( for k in range(flyingKnots) ] flyingDownPhase = [] - for k in range(flyingKnots): + for _ in range(flyingKnots): flyingDownPhase += [self.createSwingFootModel(timeStep, [])] - f0 = jumpLength footTask = [ - [self.lfId, pinocchio.SE3(np.eye(3), self.lfId + f0)], - [self.rfId, pinocchio.SE3(np.eye(3), self.rfId + f0)], + [self.lfId, pinocchio.SE3(np.eye(3), lfFootPos0 + f0)], + [self.rfId, pinocchio.SE3(np.eye(3), rfFootPos0 + f0)], ] landingPhase = [ self.createFootSwitchModel([self.lfId, self.rfId], footTask, False) ] f0[2] = df - if final is True: - self.rWeight = 1e4 landed = [ self.createSwingFootModel( timeStep, [self.lfId, self.rfId], comTask=comRef + f0 ) - for k in range(groundKnots) + for _ in range(int(groundKnots / 2)) ] loco3dModel += takeOff loco3dModel += flyingUpPhase loco3dModel += flyingDownPhase loco3dModel += landingPhase loco3dModel += landed - - # Rescaling the terminal weights - costs = loco3dModel[-1].differential.costs.costs.todict() - for c in costs.values(): - c.weight *= timeStep - - problem = crocoddyl.ShootingProblem(x0, loco3dModel[:-1], loco3dModel[-1]) - return problem + return crocoddyl.ShootingProblem(x0, loco3dModel[:-1], loco3dModel[-1]) def createFootstepModels( self, @@ -225,7 +208,6 @@ def createFootstepModels( """ numLegs = len(supportFootIds) + len(swingFootIds) comPercentage = float(len(swingFootIds)) / numLegs - # Action models for the foot swing footSwingModel = [] for k in range(numKnots): @@ -252,9 +234,7 @@ def createFootstepModels( ] ) tref = p + dp - swingFootTask += [[i, pinocchio.SE3(np.eye(3), tref)]] - comTask = ( np.array([stepLength * (k + 1) / numKnots, 0.0, 0.0]) * comPercentage + comPos0 @@ -267,10 +247,8 @@ def createFootstepModels( swingFootTask=swingFootTask, ) ] - # Action model for the foot switch - footSwitchModel = self.createFootSwitchModel(supportFootIds, swingFootTask) - + footSwitchModel = self.createFootSwitchModel(swingFootIds, swingFootTask) # Updating the current foot position for next step comPos0 += [stepLength * comPercentage, 0.0, 0.0] for p in feetPos0: @@ -302,12 +280,11 @@ def createSwingFootModel( pinocchio.SE3.Identity(), pinocchio.LOCAL_WORLD_ALIGNED, nu, - np.array([0.0, 50.0]), + np.array([0.0, 30.0]), ) contactModel.addContact( self.rmodel.frames[i].name + "_contact", supportContactModel ) - # Creating the cost model for a contact phase costModel = crocoddyl.CostModelSum(self.state, nu) if isinstance(comTask, np.ndarray): @@ -328,7 +305,6 @@ def createSwingFootModel( costModel.addCost( self.rmodel.frames[i].name + "_wrenchCone", wrenchCone, 1e1 ) - if swingFootTask is not None: for i in swingFootTask: framePlacementResidual = crocoddyl.ResidualModelFramePlacement( @@ -340,7 +316,6 @@ def createSwingFootModel( costModel.addCost( self.rmodel.frames[i[0]].name + "_footTrack", footTrack, 1e6 ) - stateWeights = np.array( [0] * 3 + [500.0] * 3 + [0.01] * (self.state.nv - 6) + [10] * self.state.nv ) @@ -360,7 +335,6 @@ def createSwingFootModel( ctrlReg = crocoddyl.CostModelResidual(self.state, ctrlResidual) costModel.addCost("stateReg", stateReg, 1e1) costModel.addCost("ctrlReg", ctrlReg, 1e-1) - # Creating the action model for the KKT dynamics with simpletic Euler # integration scheme if self._fwddyn: @@ -423,7 +397,6 @@ def createPseudoImpulseModel(self, supportFootIds, swingFootTask): :param swingFootTask: swinging foot task :return pseudo-impulse differential action model """ - # Creating a 6D multi-contact model, and then including the supporting # foot if self._fwddyn: @@ -443,7 +416,6 @@ def createPseudoImpulseModel(self, supportFootIds, swingFootTask): contactModel.addContact( self.rmodel.frames[i].name + "_contact", supportContactModel ) - # Creating the cost model for a contact phase costModel = crocoddyl.CostModelSum(self.state, nu) for i in supportFootIds: @@ -460,7 +432,6 @@ def createPseudoImpulseModel(self, supportFootIds, swingFootTask): costModel.addCost( self.rmodel.frames[i].name + "_wrenchCone", wrenchCone, 1e1 ) - if swingFootTask is not None: for i in swingFootTask: framePlacementResidual = crocoddyl.ResidualModelFramePlacement( @@ -487,7 +458,6 @@ def createPseudoImpulseModel(self, supportFootIds, swingFootTask): impulseFootVelCost, 1e6, ) - stateWeights = np.array( [0.0] * 3 + [500.0] * 3 @@ -503,15 +473,13 @@ def createPseudoImpulseModel(self, supportFootIds, swingFootTask): ) if self._fwddyn: ctrlResidual = crocoddyl.ResidualModelControl(self.state, nu) - ctrlReg = crocoddyl.CostModelResidual(self.state, ctrlResidual) else: ctrlResidual = crocoddyl.ResidualModelJointEffort( self.state, self.actuation, nu ) - ctrlReg = crocoddyl.CostModelResidual(self.state, ctrlResidual) + ctrlReg = crocoddyl.CostModelResidual(self.state, ctrlResidual) costModel.addCost("stateReg", stateReg, 1e1) costModel.addCost("ctrlReg", ctrlReg, 1e-3) - # Creating the action model for the KKT dynamics with simpletic Euler # integration scheme if self._fwddyn: @@ -538,7 +506,9 @@ def createPseudoImpulseModel(self, supportFootIds, swingFootTask): model = crocoddyl.IntegratedActionModelEuler(dmodel, 0.0) return model - def createImpulseModel(self, supportFootIds, swingFootTask): + def createImpulseModel( + self, supportFootIds, swingFootTask, JMinvJt_damping=1e-12, r_coeff=0.0 + ): """Action model for impulse models. An impulse model consists of describing the impulse dynamics against a set of @@ -556,21 +526,19 @@ def createImpulseModel(self, supportFootIds, swingFootTask): impulseModel.addImpulse( self.rmodel.frames[i].name + "_impulse", supportContactModel ) - # Creating the cost model for a contact phase costModel = crocoddyl.CostModelSum(self.state, 0) if swingFootTask is not None: for i in swingFootTask: - frameTranslationResidual = crocoddyl.ResidualModelFrameTranslation( - self.state, i[0], i[1].translation, 0 + framePlacementResidual = crocoddyl.ResidualModelFramePlacement( + self.state, i[0], i[1], 0 ) footTrack = crocoddyl.CostModelResidual( - self.state, frameTranslationResidual + self.state, framePlacementResidual ) costModel.addCost( self.rmodel.frames[i[0]].name + "_footTrack", footTrack, 1e8 ) - stateWeights = np.array( [1.0] * 6 + [0.1] * (self.rmodel.nv - 6) + [10] * self.rmodel.nv ) @@ -582,12 +550,13 @@ def createImpulseModel(self, supportFootIds, swingFootTask): self.state, stateActivation, stateResidual ) costModel.addCost("stateReg", stateReg, 1e1) - # Creating the action model for the KKT dynamics with simpletic Euler # integration scheme model = crocoddyl.ActionModelImpulseFwdDynamics( self.state, impulseModel, costModel ) + model.JMinvJt_damping = JMinvJt_damping + model.r_coeff = r_coeff return model diff --git a/bindings/python/crocoddyl/utils/quadruped.py b/bindings/python/crocoddyl/utils/quadruped.py index bd35d1bc75..2e68c1477f 100644 --- a/bindings/python/crocoddyl/utils/quadruped.py +++ b/bindings/python/crocoddyl/utils/quadruped.py @@ -78,16 +78,13 @@ def createCoMProblem(self, x0, comGoTo, timeStep, numKnots): pinocchio.forwardKinematics(self.rmodel, self.rdata, q0) pinocchio.updateFramePlacements(self.rmodel, self.rdata) com0 = pinocchio.centerOfMass(self.rmodel, self.rdata, q0) - - # Defining the action models along the time instances - comModels = [] - # Creating the action model for the CoM task + comModels = [] comForwardModels = [ self.createSwingFootModel( timeStep, [self.lfFootId, self.rfFootId, self.lhFootId, self.rhFootId] ) - for k in range(numKnots) + for _ in range(numKnots) ] comForwardTermModel = self.createSwingFootModel( timeStep, @@ -95,12 +92,11 @@ def createCoMProblem(self, x0, comGoTo, timeStep, numKnots): com0 + np.array([comGoTo, 0.0, 0.0]), ) comForwardTermModel.differential.costs.costs["comTrack"].weight = 1e6 - comBackwardModels = [ self.createSwingFootModel( timeStep, [self.lfFootId, self.rfFootId, self.lhFootId, self.rhFootId] ) - for k in range(numKnots) + for _ in range(numKnots) ] comBackwardTermModel = self.createSwingFootModel( timeStep, @@ -108,14 +104,10 @@ def createCoMProblem(self, x0, comGoTo, timeStep, numKnots): com0 + np.array([-comGoTo, 0.0, 0.0]), ) comBackwardTermModel.differential.costs.costs["comTrack"].weight = 1e6 - # Adding the CoM tasks comModels += [*comForwardModels, comForwardTermModel] comModels += [*comBackwardModels, comBackwardTermModel] - - # Defining the shooting problem - problem = crocoddyl.ShootingProblem(x0, comModels[:-1], comModels[-1]) - return problem + return crocoddyl.ShootingProblem(x0, comModels[:-1], comModels[-1]) def createCoMGoalProblem(self, x0, comGoTo, timeStep, numKnots): """Create a shooting problem for a CoM position goal task. @@ -131,17 +123,14 @@ def createCoMGoalProblem(self, x0, comGoTo, timeStep, numKnots): pinocchio.forwardKinematics(self.rmodel, self.rdata, q0) pinocchio.updateFramePlacements(self.rmodel, self.rdata) com0 = pinocchio.centerOfMass(self.rmodel, self.rdata, q0) - - # Defining the action models along the time instances - comModels = [] - # Creating the action model for the CoM task + comModels = [] comForwardModels = [ self.createSwingFootModel( timeStep, [self.lfFootId, self.rfFootId, self.lhFootId, self.rhFootId], ) - for k in range(numKnots) + for _ in range(numKnots) ] comForwardTermModel = self.createSwingFootModel( timeStep, @@ -149,13 +138,9 @@ def createCoMGoalProblem(self, x0, comGoTo, timeStep, numKnots): com0 + np.array([comGoTo, 0.0, 0.0]), ) comForwardTermModel.differential.costs.costs["comTrack"].weight = 1e6 - # Adding the CoM tasks comModels += [*comForwardModels, comForwardTermModel] - - # Defining the shooting problem - problem = crocoddyl.ShootingProblem(x0, comModels[:-1], comModels[-1]) - return problem + return crocoddyl.ShootingProblem(x0, comModels[:-1], comModels[-1]) def createWalkingProblem( self, x0, stepLength, stepHeight, timeStep, stepKnots, supportKnots @@ -180,7 +165,6 @@ def createWalkingProblem( lhFootPos0 = self.rdata.oMf[self.lhFootId].translation comRef = (rfFootPos0 + rhFootPos0 + lfFootPos0 + lhFootPos0) / 4 comRef[2] = pinocchio.centerOfMass(self.rmodel, self.rdata, q0)[2].item() - # Defining the action models along the time instances loco3dModel = [] doubleSupport = [ @@ -188,7 +172,7 @@ def createWalkingProblem( timeStep, [self.lfFootId, self.rfFootId, self.lhFootId, self.rhFootId], ) - for k in range(supportKnots) + for _ in range(supportKnots) ] if self.firstStep is True: rhStep = self.createFootstepModels( @@ -255,9 +239,7 @@ def createWalkingProblem( ) loco3dModel += doubleSupport + rhStep + rfStep loco3dModel += doubleSupport + lhStep + lfStep + [doubleSupport[0]] - - problem = crocoddyl.ShootingProblem(x0, loco3dModel[:-1], loco3dModel[-1]) - return problem + return crocoddyl.ShootingProblem(x0, loco3dModel[:-1], loco3dModel[-1]) def createTrottingProblem( self, x0, stepLength, stepHeight, timeStep, stepKnots, supportKnots @@ -282,7 +264,6 @@ def createTrottingProblem( lhFootPos0 = self.rdata.oMf[self.lhFootId].translation comRef = (rfFootPos0 + rhFootPos0 + lfFootPos0 + lhFootPos0) / 4 comRef[2] = pinocchio.centerOfMass(self.rmodel, self.rdata, q0)[2].item() - # Defining the action models along the time instances loco3dModel = [] doubleSupport = [ @@ -290,7 +271,7 @@ def createTrottingProblem( timeStep, [self.lfFootId, self.rfFootId, self.lhFootId, self.rhFootId], ) - for k in range(supportKnots) + for _ in range(supportKnots) ] if self.firstStep is True: rflhStep = self.createFootstepModels( @@ -325,12 +306,9 @@ def createTrottingProblem( [self.rfFootId, self.lhFootId], [self.lfFootId, self.rhFootId], ) - loco3dModel += doubleSupport + rflhStep loco3dModel += doubleSupport + lfrhStep + [doubleSupport[0]] - - problem = crocoddyl.ShootingProblem(x0, loco3dModel[:-1], loco3dModel[-1]) - return problem + return crocoddyl.ShootingProblem(x0, loco3dModel[:-1], loco3dModel[-1]) def createPacingProblem( self, x0, stepLength, stepHeight, timeStep, stepKnots, supportKnots @@ -355,7 +333,6 @@ def createPacingProblem( lhFootPos0 = self.rdata.oMf[self.lhFootId].translation comRef = (rfFootPos0 + rhFootPos0 + lfFootPos0 + lhFootPos0) / 4 comRef[2] = pinocchio.centerOfMass(self.rmodel, self.rdata, q0)[2].item() - # Defining the action models along the time instances loco3dModel = [] doubleSupport = [ @@ -363,7 +340,7 @@ def createPacingProblem( timeStep, [self.lfFootId, self.rfFootId, self.lhFootId, self.rhFootId], ) - for k in range(supportKnots) + for _ in range(supportKnots) ] if self.firstStep is True: rightSteps = self.createFootstepModels( @@ -398,12 +375,9 @@ def createPacingProblem( [self.rfFootId, self.rhFootId], [self.lfFootId, self.lhFootId], ) - loco3dModel += doubleSupport + rightSteps loco3dModel += doubleSupport + leftSteps + [doubleSupport[0]] - - problem = crocoddyl.ShootingProblem(x0, loco3dModel[:-1], loco3dModel[-1]) - return problem + return crocoddyl.ShootingProblem(x0, loco3dModel[:-1], loco3dModel[-1]) def createBoundingProblem( self, x0, stepLength, stepHeight, timeStep, stepKnots, supportKnots @@ -428,14 +402,13 @@ def createBoundingProblem( lhFootPos0 = self.rdata.oMf[self.lhFootId].translation comRef = (rfFootPos0 + rhFootPos0 + lfFootPos0 + lhFootPos0) / 4 comRef[2] = pinocchio.centerOfMass(self.rmodel, self.rdata, q0)[2].item() - # Defining the action models along the time instances loco3dModel = [] doubleSupport = [ self.createSwingFootModel( timeStep, [self.lfFootId, self.rfFootId, self.lhFootId, self.rhFootId] ) - for k in range(supportKnots) + for _ in range(supportKnots) ] hindSteps = self.createFootstepModels( comRef, @@ -457,12 +430,9 @@ def createBoundingProblem( [self.lfFootId, self.rfFootId], [self.lhFootId, self.rhFootId], ) - loco3dModel += doubleSupport + hindSteps loco3dModel += doubleSupport + frontSteps + [doubleSupport[0]] - - problem = crocoddyl.ShootingProblem(x0, loco3dModel[:-1], loco3dModel[-1]) - return problem + return crocoddyl.ShootingProblem(x0, loco3dModel[:-1], loco3dModel[-1]) def createJumpingProblem( self, x0, jumpHeight, jumpLength, timeStep, groundKnots, flyingKnots @@ -481,20 +451,26 @@ def createJumpingProblem( lhFootPos0[2] = 0.0 comRef = (rfFootPos0 + rhFootPos0 + lfFootPos0 + lhFootPos0) / 4 comRef[2] = pinocchio.centerOfMass(self.rmodel, self.rdata, q0)[2].item() - + # Create locomotion problem loco3dModel = [] takeOff = [ self.createSwingFootModel( timeStep, [self.lfFootId, self.rfFootId, self.lhFootId, self.rhFootId], ) - for k in range(groundKnots) + for _ in range(groundKnots) ] flyingUpPhase = [ self.createSwingFootModel( timeStep, [], - np.array([jumpLength[0], jumpLength[1], jumpLength[2] + jumpHeight]) + np.array( + [ + jumpLength[0] / 2.0, + jumpLength[1] / 2.0, + jumpLength[2] / 2.0 + jumpHeight, + ] + ) * (k + 1) / flyingKnots + comRef, @@ -502,9 +478,8 @@ def createJumpingProblem( for k in range(flyingKnots) ] flyingDownPhase = [] - for k in range(flyingKnots): + for _ in range(flyingKnots): flyingDownPhase += [self.createSwingFootModel(timeStep, [])] - f0 = jumpLength footTask = [ [self.lfFootId, pinocchio.SE3(np.eye(3), lfFootPos0 + f0)], @@ -526,16 +501,14 @@ def createJumpingProblem( [self.lfFootId, self.rfFootId, self.lhFootId, self.rhFootId], comTask=comRef + f0, ) - for k in range(groundKnots) + for _ in range(groundKnots) ] loco3dModel += takeOff loco3dModel += flyingUpPhase loco3dModel += flyingDownPhase loco3dModel += landingPhase loco3dModel += landed - - problem = crocoddyl.ShootingProblem(x0, loco3dModel[:-1], loco3dModel[-1]) - return problem + return crocoddyl.ShootingProblem(x0, loco3dModel[:-1], loco3dModel[-1]) def createFootstepModels( self, @@ -562,7 +535,6 @@ def createFootstepModels( """ numLegs = len(supportFootIds) + len(swingFootIds) comPercentage = float(len(swingFootIds)) / numLegs - # Action models for the foot swing footSwingModel = [] for k in range(numKnots): @@ -586,9 +558,7 @@ def createFootstepModels( ] ) tref = p + dp - swingFootTask += [[i, pinocchio.SE3(np.eye(3), tref)]] - comTask = ( np.array([stepLength * (k + 1) / numKnots, 0.0, 0.0]) * comPercentage + comPos0 @@ -601,10 +571,8 @@ def createFootstepModels( swingFootTask=swingFootTask, ) ] - # Action model for the foot switch - footSwitchModel = self.createFootSwitchModel(supportFootIds, swingFootTask) - + footSwitchModel = self.createFootSwitchModel(swingFootIds, swingFootTask) # Updating the current foot position for next step comPos0 += [stepLength * comPercentage, 0.0, 0.0] for p in feetPos0: @@ -641,7 +609,6 @@ def createSwingFootModel( contactModel.addContact( self.rmodel.frames[i].name + "_contact", supportContactModel ) - # Creating the cost model for a contact phase costModel = crocoddyl.CostModelSum(self.state, nu) if isinstance(comTask, np.ndarray): @@ -673,7 +640,6 @@ def createSwingFootModel( costModel.addCost( self.rmodel.frames[i[0]].name + "_footTrack", footTrack, 1e6 ) - stateWeights = np.array( [0.0] * 3 + [500.0] * 3 @@ -698,7 +664,6 @@ def createSwingFootModel( ctrlReg = crocoddyl.CostModelResidual(self.state, ctrlResidual) costModel.addCost("stateReg", stateReg, 1e1) costModel.addCost("ctrlReg", ctrlReg, 1e-1) - lb = np.concatenate( [self.state.lb[1 : self.state.nv + 1], self.state.lb[-self.state.nv :]] ) @@ -713,7 +678,6 @@ def createSwingFootModel( self.state, stateBoundsActivation, stateBoundsResidual ) costModel.addCost("stateBounds", stateBounds, 1e3) - # Creating the action model for the KKT dynamics with simpletic Euler # integration scheme if self._fwddyn: @@ -796,7 +760,6 @@ def createPseudoImpulseModel(self, supportFootIds, swingFootTask): contactModel.addContact( self.rmodel.frames[i].name + "_contact", supportContactModel ) - # Creating the cost model for a contact phase costModel = crocoddyl.CostModelSum(self.state, nu) for i in supportFootIds: @@ -839,7 +802,6 @@ def createPseudoImpulseModel(self, supportFootIds, swingFootTask): impulseFootVelCost, 1e6, ) - stateWeights = np.array( [0.0] * 3 + [500.0] * 3 @@ -863,7 +825,6 @@ def createPseudoImpulseModel(self, supportFootIds, swingFootTask): ctrlReg = crocoddyl.CostModelResidual(self.state, ctrlResidual) costModel.addCost("stateReg", stateReg, 1e1) costModel.addCost("ctrlReg", ctrlReg, 1e-3) - # Creating the action model for the KKT dynamics with simpletic Euler # integration scheme if self._fwddyn: @@ -910,7 +871,6 @@ def createImpulseModel( impulseModel.addImpulse( self.rmodel.frames[i].name + "_impulse", supportContactModel ) - # Creating the cost model for a contact phase costModel = crocoddyl.CostModelSum(self.state, 0) if swingFootTask is not None: @@ -924,7 +884,6 @@ def createImpulseModel( costModel.addCost( self.rmodel.frames[i[0]].name + "_footTrack", footTrack, 1e7 ) - stateWeights = np.array( [1.0] * 6 + [10.0] * (self.rmodel.nv - 6) + [10.0] * self.rmodel.nv ) @@ -936,7 +895,6 @@ def createImpulseModel( self.state, stateActivation, stateResidual ) costModel.addCost("stateReg", stateReg, 1e1) - # Creating the action model for the KKT dynamics with simpletic Euler # integration scheme model = crocoddyl.ActionModelImpulseFwdDynamics( diff --git a/cmake b/cmake index dd3e4127f2..2ede15d1cb 160000 --- a/cmake +++ b/cmake @@ -1 +1 @@ -Subproject commit dd3e4127f2b223496859fe05be02726e9d1a071b +Subproject commit 2ede15d1cb9d66401ba96788444ad64c44ffccd8 diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index 6679e36ba2..1a85de3bef 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -9,8 +9,8 @@ set(${PROJECT_NAME}_EXAMPLES_PYTHON quadrupedal_gaits_fwddyn quadrupedal_gaits_invdyn quadrupedal_walk_ubound - bipedal_walk_fwddyn - bipedal_walk_invdyn + bipedal_gaits_fwddyn + bipedal_gaits_invdyn bipedal_walk_ubound humanoid_manipulation humanoid_manipulation_ubound diff --git a/examples/bipedal_walk_fwddyn.py b/examples/bipedal_gaits_fwddyn.py similarity index 82% rename from examples/bipedal_walk_fwddyn.py rename to examples/bipedal_gaits_fwddyn.py index ce64c9314b..a92e85c8e6 100644 --- a/examples/bipedal_walk_fwddyn.py +++ b/examples/bipedal_gaits_fwddyn.py @@ -34,17 +34,17 @@ "stepLength": 0.6, "stepHeight": 0.1, "timeStep": 0.03, - "stepKnots": 35, - "supportKnots": 10, + "stepKnots": 15, + "supportKnots": 4, } }, { - "walking": { - "stepLength": 0.6, - "stepHeight": 0.1, + "jumping": { + "jumpHeight": 0.1, + "jumpLength": [0.0, 0.3, 0.0], "timeStep": 0.03, - "stepKnots": 35, - "supportKnots": 10, + "groundKnots": 9, + "flyingKnots": 6, } }, { @@ -52,17 +52,8 @@ "stepLength": 0.6, "stepHeight": 0.1, "timeStep": 0.03, - "stepKnots": 35, - "supportKnots": 10, - } - }, - { - "walking": { - "stepLength": 0.6, - "stepHeight": 0.1, - "timeStep": 0.03, - "stepKnots": 35, - "supportKnots": 10, + "stepKnots": 15, + "supportKnots": 2, } }, ] @@ -82,7 +73,19 @@ value["supportKnots"], ) ) - solver[i].th_stop = 1e-7 + elif key == "jumping": + # Creating a jumping problem + solver[i] = crocoddyl.SolverFDDP( + gait.createJumpingProblem( + x0, + value["jumpHeight"], + value["jumpLength"], + value["timeStep"], + value["groundKnots"], + value["flyingKnots"], + ) + ) + solver[i].th_stop = 1e-7 # Added the callback functions print("*** SOLVE " + key + " ***") diff --git a/examples/bipedal_walk_invdyn.py b/examples/bipedal_gaits_invdyn.py similarity index 82% rename from examples/bipedal_walk_invdyn.py rename to examples/bipedal_gaits_invdyn.py index 7a6e9e64a9..7729faa191 100644 --- a/examples/bipedal_walk_invdyn.py +++ b/examples/bipedal_gaits_invdyn.py @@ -34,17 +34,17 @@ "stepLength": 0.6, "stepHeight": 0.1, "timeStep": 0.03, - "stepKnots": 35, - "supportKnots": 10, + "stepKnots": 15, + "supportKnots": 4, } }, { - "walking": { - "stepLength": 0.6, - "stepHeight": 0.1, + "jumping": { + "jumpHeight": 0.1, + "jumpLength": [0.0, 0.3, 0.0], "timeStep": 0.03, - "stepKnots": 35, - "supportKnots": 10, + "groundKnots": 9, + "flyingKnots": 6, } }, { @@ -52,17 +52,8 @@ "stepLength": 0.6, "stepHeight": 0.1, "timeStep": 0.03, - "stepKnots": 35, - "supportKnots": 10, - } - }, - { - "walking": { - "stepLength": 0.6, - "stepHeight": 0.1, - "timeStep": 0.03, - "stepKnots": 35, - "supportKnots": 10, + "stepKnots": 15, + "supportKnots": 2, } }, ] @@ -82,7 +73,19 @@ value["supportKnots"], ) ) - solver[i].th_stop = 1e-7 + elif key == "jumping": + # Creating a jumping problem + solver[i] = crocoddyl.SolverIntro( + gait.createJumpingProblem( + x0, + value["jumpHeight"], + value["jumpLength"], + value["timeStep"], + value["groundKnots"], + value["flyingKnots"], + ) + ) + solver[i].th_stop = 1e-7 # Added the callback functions print("*** SOLVE " + key + " ***") diff --git a/examples/log/arm_manipulation_fwddyn.log b/examples/log/arm_manipulation_fwddyn.log index 7c9a5fe89f..b029cb8b9a 100644 --- a/examples/log/arm_manipulation_fwddyn.log +++ b/examples/log/arm_manipulation_fwddyn.log @@ -1,82 +1,82 @@ -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 1.926e+03 0.000e+00 1.331e+03 2.708e+03 1.000e-09 1.000e-09 1.0000 3.142e+00 0.000e+00 0.000e+00 1.331e+03 8.047e+02 0.000e+00 0.000e+00 - 1 1.661e+03 0.000e+00 1.908e+03 3.817e+03 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 4.473e+02 2.650e+02 0.000e+00 0.000e+00 - 2 6.675e+02 0.000e+00 1.642e+03 3.283e+03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.231e+03 9.930e+02 0.000e+00 0.000e+00 - 3 4.681e+02 0.000e+00 6.493e+02 1.299e+03 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 2.841e+02 1.994e+02 0.000e+00 0.000e+00 - 4 4.193e+02 0.000e+00 4.510e+02 9.020e+02 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 1.057e+02 4.880e+01 0.000e+00 0.000e+00 - 5 2.507e+02 0.000e+00 3.997e+02 7.994e+02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 2.998e+02 1.686e+02 0.000e+00 0.000e+00 - 6 2.505e+02 0.000e+00 2.332e+02 4.664e+02 1.000e-08 1.000e-08 0.0020 0.000e+00 0.000e+00 0.000e+00 9.100e-01 2.159e-01 0.000e+00 0.000e+00 - 7 2.502e+02 0.000e+00 2.328e+02 4.656e+02 1.000e-07 1.000e-07 0.0020 0.000e+00 0.000e+00 0.000e+00 9.084e-01 2.471e-01 0.000e+00 0.000e+00 - 8 2.142e+02 0.000e+00 2.323e+02 4.646e+02 1.000e-07 1.000e-07 0.2500 0.000e+00 0.000e+00 0.000e+00 1.016e+02 3.607e+01 0.000e+00 0.000e+00 - 9 1.768e+02 0.000e+00 1.951e+02 3.901e+02 1.000e-07 1.000e-07 0.5000 0.000e+00 0.000e+00 0.000e+00 1.463e+02 3.738e+01 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 5.864e+01 0.000e+00 1.588e+02 3.177e+02 1.000e-07 1.000e-07 0.5000 0.000e+00 0.000e+00 0.000e+00 1.191e+02 1.182e+02 0.000e+00 0.000e+00 - 11 3.604e+01 0.000e+00 3.890e+01 7.781e+01 1.000e-07 1.000e-07 0.5000 0.000e+00 0.000e+00 0.000e+00 2.918e+01 2.260e+01 0.000e+00 0.000e+00 - 12 3.554e+01 0.000e+00 1.897e+01 3.795e+01 1.000e-07 1.000e-07 0.0625 0.000e+00 0.000e+00 0.000e+00 2.298e+00 5.036e-01 0.000e+00 0.000e+00 - 13 3.512e+01 0.000e+00 1.975e+01 3.951e+01 1.000e-07 1.000e-07 0.0625 0.000e+00 0.000e+00 0.000e+00 2.392e+00 4.159e-01 0.000e+00 0.000e+00 - 14 3.431e+01 0.000e+00 2.049e+01 4.099e+01 1.000e-07 1.000e-07 0.0625 0.000e+00 0.000e+00 0.000e+00 2.482e+00 8.048e-01 0.000e+00 0.000e+00 - 15 3.315e+01 0.000e+00 2.056e+01 4.112e+01 1.000e-07 1.000e-07 0.0625 0.000e+00 0.000e+00 0.000e+00 2.490e+00 1.162e+00 0.000e+00 0.000e+00 - 16 3.179e+01 0.000e+00 2.016e+01 4.032e+01 1.000e-07 1.000e-07 0.0625 0.000e+00 0.000e+00 0.000e+00 2.441e+00 1.365e+00 0.000e+00 0.000e+00 - 17 3.035e+01 0.000e+00 1.940e+01 3.881e+01 1.000e-07 1.000e-07 0.0625 0.000e+00 0.000e+00 0.000e+00 2.350e+00 1.441e+00 0.000e+00 0.000e+00 - 18 2.899e+01 0.000e+00 1.856e+01 3.711e+01 1.000e-07 1.000e-07 0.0625 0.000e+00 0.000e+00 0.000e+00 2.247e+00 1.357e+00 0.000e+00 0.000e+00 - 19 2.774e+01 0.000e+00 1.784e+01 3.568e+01 1.000e-07 1.000e-07 0.1250 0.000e+00 0.000e+00 0.000e+00 4.181e+00 1.248e+00 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 20 2.537e+01 0.000e+00 1.784e+01 3.568e+01 1.000e-07 1.000e-07 0.1250 0.000e+00 0.000e+00 0.000e+00 4.182e+00 2.374e+00 0.000e+00 0.000e+00 - 21 2.254e+01 0.000e+00 1.581e+01 3.162e+01 1.000e-07 1.000e-07 0.2500 0.000e+00 0.000e+00 0.000e+00 6.917e+00 2.831e+00 0.000e+00 0.000e+00 - 22 1.990e+01 0.000e+00 1.338e+01 2.677e+01 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 1.338e+01 2.640e+00 0.000e+00 0.000e+00 - 23 8.839e+00 0.000e+00 1.138e+01 2.276e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.138e+01 1.106e+01 0.000e+00 0.000e+00 - 24 8.359e+00 0.000e+00 4.403e-01 8.807e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.403e-01 4.799e-01 0.000e+00 0.000e+00 - 25 8.298e+00 0.000e+00 3.360e-02 6.719e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.360e-02 6.121e-02 0.000e+00 0.000e+00 - 26 8.249e+00 0.000e+00 2.801e-02 5.603e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.801e-02 4.864e-02 0.000e+00 0.000e+00 - 27 8.212e+00 0.000e+00 1.991e-02 3.982e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.991e-02 3.716e-02 0.000e+00 0.000e+00 - 28 8.183e+00 0.000e+00 1.601e-02 3.201e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.601e-02 2.922e-02 0.000e+00 0.000e+00 - 29 8.162e+00 0.000e+00 1.137e-02 2.275e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.137e-02 2.025e-02 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 30 8.150e+00 0.000e+00 7.142e-03 1.428e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.142e-03 1.258e-02 0.000e+00 0.000e+00 - 31 8.142e+00 0.000e+00 4.322e-03 8.644e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.322e-03 7.639e-03 0.000e+00 0.000e+00 - 32 8.137e+00 0.000e+00 2.722e-03 5.445e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.722e-03 4.799e-03 0.000e+00 0.000e+00 - 33 8.134e+00 0.000e+00 1.703e-03 3.407e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.703e-03 3.043e-03 0.000e+00 0.000e+00 - 34 8.132e+00 0.000e+00 1.112e-03 2.223e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.112e-03 1.997e-03 0.000e+00 0.000e+00 - 35 8.131e+00 0.000e+00 7.394e-04 1.479e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.394e-04 1.334e-03 0.000e+00 0.000e+00 - 36 8.130e+00 0.000e+00 4.973e-04 9.947e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.973e-04 9.001e-04 0.000e+00 0.000e+00 - 37 8.129e+00 0.000e+00 3.366e-04 6.732e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.366e-04 6.105e-04 0.000e+00 0.000e+00 - 38 8.129e+00 0.000e+00 2.286e-04 4.572e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.286e-04 4.153e-04 0.000e+00 0.000e+00 - 39 8.129e+00 0.000e+00 1.556e-04 3.112e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.556e-04 2.829e-04 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 40 8.129e+00 0.000e+00 1.060e-04 2.120e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.060e-04 1.929e-04 0.000e+00 0.000e+00 - 41 8.128e+00 0.000e+00 7.225e-05 1.445e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.225e-05 1.380e-04 0.000e+00 0.000e+00 - 42 8.126e+00 0.000e+00 2.635e-03 5.269e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.635e-03 2.761e-03 0.000e+00 0.000e+00 - 43 8.125e+00 0.000e+00 2.461e-04 4.923e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.461e-04 3.164e-04 0.000e+00 0.000e+00 - 44 8.125e+00 0.000e+00 6.607e-05 1.321e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 6.607e-05 1.031e-04 0.000e+00 0.000e+00 - 45 8.125e+00 0.000e+00 3.047e-05 6.094e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.047e-05 5.274e-05 0.000e+00 0.000e+00 - 46 8.125e+00 0.000e+00 1.811e-05 3.622e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.811e-05 3.249e-05 0.000e+00 0.000e+00 - 47 8.125e+00 0.000e+00 1.177e-05 2.353e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.177e-05 2.133e-05 0.000e+00 0.000e+00 - 48 8.125e+00 0.000e+00 7.858e-06 1.572e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.858e-06 1.429e-05 0.000e+00 0.000e+00 - 49 8.125e+00 0.000e+00 5.297e-06 1.059e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.297e-06 9.645e-06 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 50 8.125e+00 0.000e+00 3.582e-06 7.163e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.582e-06 6.525e-06 0.000e+00 0.000e+00 - 51 8.125e+00 0.000e+00 2.425e-06 4.850e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.425e-06 4.419e-06 0.000e+00 0.000e+00 - 52 8.125e+00 0.000e+00 1.643e-06 3.286e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.643e-06 2.994e-06 0.000e+00 0.000e+00 - 53 8.125e+00 0.000e+00 1.113e-06 2.226e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.113e-06 2.029e-06 0.000e+00 0.000e+00 - 54 8.125e+00 0.000e+00 7.544e-07 1.509e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.544e-07 1.375e-06 0.000e+00 0.000e+00 - 55 8.125e+00 0.000e+00 5.113e-07 1.023e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.113e-07 9.321e-07 0.000e+00 0.000e+00 - 56 8.125e+00 0.000e+00 3.465e-07 6.931e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.465e-07 6.317e-07 0.000e+00 0.000e+00 - 57 8.125e+00 0.000e+00 2.349e-07 4.698e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.349e-07 4.282e-07 0.000e+00 0.000e+00 - 58 8.125e+00 0.000e+00 1.592e-07 3.184e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.592e-07 2.902e-07 0.000e+00 0.000e+00 - 59 8.125e+00 0.000e+00 1.079e-07 2.158e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.079e-07 1.967e-07 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 60 8.125e+00 0.000e+00 7.314e-08 1.463e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.314e-08 1.333e-07 0.000e+00 0.000e+00 - 61 8.125e+00 0.000e+00 4.957e-08 9.914e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.957e-08 9.038e-08 0.000e+00 0.000e+00 - 62 8.125e+00 0.000e+00 3.360e-08 6.720e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.360e-08 6.126e-08 0.000e+00 0.000e+00 - 63 8.125e+00 0.000e+00 2.277e-08 4.555e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.277e-08 4.152e-08 0.000e+00 0.000e+00 - 64 8.125e+00 0.000e+00 1.544e-08 3.087e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.544e-08 2.814e-08 0.000e+00 0.000e+00 - 65 8.125e+00 0.000e+00 1.046e-08 2.093e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.046e-08 1.908e-08 0.000e+00 0.000e+00 - 66 8.125e+00 0.000e+00 7.092e-09 1.418e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.092e-09 1.293e-08 0.000e+00 0.000e+00 - 67 8.125e+00 0.000e+00 4.807e-09 9.614e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.807e-09 8.765e-09 0.000e+00 0.000e+00 - 68 8.125e+00 0.000e+00 3.258e-09 6.517e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.258e-09 5.941e-09 0.000e+00 0.000e+00 - 69 8.125e+00 0.000e+00 2.209e-09 4.417e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.209e-09 4.027e-09 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 70 8.125e+00 0.000e+00 1.497e-09 2.994e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.497e-09 2.729e-09 0.000e+00 0.000e+00 - 71 8.125e+00 0.000e+00 1.015e-09 2.029e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.015e-09 1.850e-09 0.000e+00 0.000e+00 - 72 8.125e+00 0.000e+00 6.878e-10 1.376e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 6.878e-10 1.254e-09 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 1.926e+03 0.000e+00 1.331e+03 2.685e+03 1.000e-09 1.000e-09 1.0000 3.142e+00 0.000e+00 0.000e+00 1.331e+03 8.047e+02 0.000e+00 0.000e+00 + 1 1.661e+03 0.000e+00 1.908e+03 3.817e+03 1.000e-09 1.000e-09 0.1250 2.771e-17 0.000e+00 0.000e+00 4.473e+02 2.650e+02 0.000e+00 0.000e+00 + 2 6.675e+02 0.000e+00 1.642e+03 3.283e+03 1.000e-09 1.000e-09 0.5000 2.767e-17 0.000e+00 0.000e+00 1.231e+03 9.930e+02 0.000e+00 0.000e+00 + 3 4.681e+02 0.000e+00 6.493e+02 1.299e+03 1.000e-09 1.000e-09 0.2500 2.775e-17 0.000e+00 0.000e+00 2.841e+02 1.994e+02 0.000e+00 0.000e+00 + 4 4.193e+02 0.000e+00 4.510e+02 9.020e+02 1.000e-09 1.000e-09 0.1250 2.723e-17 0.000e+00 0.000e+00 1.057e+02 4.880e+01 0.000e+00 0.000e+00 + 5 2.507e+02 0.000e+00 3.997e+02 7.994e+02 1.000e-09 1.000e-09 0.5000 2.760e-17 0.000e+00 0.000e+00 2.998e+02 1.686e+02 0.000e+00 0.000e+00 + 6 2.505e+02 0.000e+00 2.332e+02 4.664e+02 1.000e-08 1.000e-08 0.0020 2.741e-17 0.000e+00 0.000e+00 9.100e-01 2.159e-01 0.000e+00 0.000e+00 + 7 2.502e+02 0.000e+00 2.328e+02 4.656e+02 1.000e-07 1.000e-07 0.0020 2.762e-17 0.000e+00 0.000e+00 9.084e-01 2.471e-01 0.000e+00 0.000e+00 + 8 2.142e+02 0.000e+00 2.323e+02 4.646e+02 1.000e-07 1.000e-07 0.2500 2.764e-17 0.000e+00 0.000e+00 1.016e+02 3.607e+01 0.000e+00 0.000e+00 + 9 1.768e+02 0.000e+00 1.951e+02 3.901e+02 1.000e-07 1.000e-07 0.5000 2.767e-17 0.000e+00 0.000e+00 1.463e+02 3.738e+01 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 5.864e+01 0.000e+00 1.588e+02 3.177e+02 1.000e-07 1.000e-07 0.5000 2.767e-17 0.000e+00 0.000e+00 1.191e+02 1.182e+02 0.000e+00 0.000e+00 + 11 3.604e+01 0.000e+00 3.890e+01 7.781e+01 1.000e-07 1.000e-07 0.5000 2.761e-17 0.000e+00 0.000e+00 2.918e+01 2.260e+01 0.000e+00 0.000e+00 + 12 3.554e+01 0.000e+00 1.897e+01 3.795e+01 1.000e-07 1.000e-07 0.0625 2.767e-17 0.000e+00 0.000e+00 2.298e+00 5.036e-01 0.000e+00 0.000e+00 + 13 3.512e+01 0.000e+00 1.975e+01 3.951e+01 1.000e-07 1.000e-07 0.0625 2.770e-17 0.000e+00 0.000e+00 2.392e+00 4.159e-01 0.000e+00 0.000e+00 + 14 3.431e+01 0.000e+00 2.049e+01 4.099e+01 1.000e-07 1.000e-07 0.0625 2.769e-17 0.000e+00 0.000e+00 2.482e+00 8.048e-01 0.000e+00 0.000e+00 + 15 3.315e+01 0.000e+00 2.056e+01 4.112e+01 1.000e-07 1.000e-07 0.0625 2.753e-17 0.000e+00 0.000e+00 2.490e+00 1.162e+00 0.000e+00 0.000e+00 + 16 3.179e+01 0.000e+00 2.016e+01 4.032e+01 1.000e-07 1.000e-07 0.0625 2.771e-17 0.000e+00 0.000e+00 2.441e+00 1.365e+00 0.000e+00 0.000e+00 + 17 3.035e+01 0.000e+00 1.940e+01 3.881e+01 1.000e-07 1.000e-07 0.0625 2.762e-17 0.000e+00 0.000e+00 2.350e+00 1.441e+00 0.000e+00 0.000e+00 + 18 2.899e+01 0.000e+00 1.856e+01 3.711e+01 1.000e-07 1.000e-07 0.0625 2.766e-17 0.000e+00 0.000e+00 2.247e+00 1.357e+00 0.000e+00 0.000e+00 + 19 2.774e+01 0.000e+00 1.784e+01 3.568e+01 1.000e-07 1.000e-07 0.1250 2.769e-17 0.000e+00 0.000e+00 4.181e+00 1.248e+00 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 20 2.537e+01 0.000e+00 1.784e+01 3.568e+01 1.000e-07 1.000e-07 0.1250 2.772e-17 0.000e+00 0.000e+00 4.182e+00 2.374e+00 0.000e+00 0.000e+00 + 21 2.254e+01 0.000e+00 1.581e+01 3.162e+01 1.000e-07 1.000e-07 0.2500 2.761e-17 0.000e+00 0.000e+00 6.917e+00 2.831e+00 0.000e+00 0.000e+00 + 22 1.990e+01 0.000e+00 1.338e+01 2.677e+01 1.000e-08 1.000e-08 1.0000 2.745e-17 0.000e+00 0.000e+00 1.338e+01 2.640e+00 0.000e+00 0.000e+00 + 23 8.839e+00 0.000e+00 1.138e+01 2.276e+01 1.000e-09 1.000e-09 1.0000 2.764e-17 0.000e+00 0.000e+00 1.138e+01 1.106e+01 0.000e+00 0.000e+00 + 24 8.359e+00 0.000e+00 4.403e-01 8.807e-01 1.000e-09 1.000e-09 1.0000 2.774e-17 0.000e+00 0.000e+00 4.403e-01 4.799e-01 0.000e+00 0.000e+00 + 25 8.298e+00 0.000e+00 3.360e-02 6.719e-02 1.000e-09 1.000e-09 1.0000 2.763e-17 0.000e+00 0.000e+00 3.360e-02 6.121e-02 0.000e+00 0.000e+00 + 26 8.249e+00 0.000e+00 2.801e-02 5.603e-02 1.000e-09 1.000e-09 1.0000 2.728e-17 0.000e+00 0.000e+00 2.801e-02 4.864e-02 0.000e+00 0.000e+00 + 27 8.212e+00 0.000e+00 1.991e-02 3.982e-02 1.000e-09 1.000e-09 1.0000 2.775e-17 0.000e+00 0.000e+00 1.991e-02 3.716e-02 0.000e+00 0.000e+00 + 28 8.183e+00 0.000e+00 1.601e-02 3.201e-02 1.000e-09 1.000e-09 1.0000 2.727e-17 0.000e+00 0.000e+00 1.601e-02 2.922e-02 0.000e+00 0.000e+00 + 29 8.162e+00 0.000e+00 1.137e-02 2.275e-02 1.000e-09 1.000e-09 1.0000 2.767e-17 0.000e+00 0.000e+00 1.137e-02 2.025e-02 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 30 8.150e+00 0.000e+00 7.142e-03 1.428e-02 1.000e-09 1.000e-09 1.0000 2.759e-17 0.000e+00 0.000e+00 7.142e-03 1.258e-02 0.000e+00 0.000e+00 + 31 8.142e+00 0.000e+00 4.322e-03 8.644e-03 1.000e-09 1.000e-09 1.0000 2.763e-17 0.000e+00 0.000e+00 4.322e-03 7.639e-03 0.000e+00 0.000e+00 + 32 8.137e+00 0.000e+00 2.722e-03 5.445e-03 1.000e-09 1.000e-09 1.0000 2.775e-17 0.000e+00 0.000e+00 2.722e-03 4.799e-03 0.000e+00 0.000e+00 + 33 8.134e+00 0.000e+00 1.703e-03 3.407e-03 1.000e-09 1.000e-09 1.0000 2.753e-17 0.000e+00 0.000e+00 1.703e-03 3.043e-03 0.000e+00 0.000e+00 + 34 8.132e+00 0.000e+00 1.112e-03 2.223e-03 1.000e-09 1.000e-09 1.0000 2.755e-17 0.000e+00 0.000e+00 1.112e-03 1.997e-03 0.000e+00 0.000e+00 + 35 8.131e+00 0.000e+00 7.394e-04 1.479e-03 1.000e-09 1.000e-09 1.0000 2.710e-17 0.000e+00 0.000e+00 7.394e-04 1.334e-03 0.000e+00 0.000e+00 + 36 8.130e+00 0.000e+00 4.973e-04 9.947e-04 1.000e-09 1.000e-09 1.0000 2.753e-17 0.000e+00 0.000e+00 4.973e-04 9.001e-04 0.000e+00 0.000e+00 + 37 8.129e+00 0.000e+00 3.366e-04 6.732e-04 1.000e-09 1.000e-09 1.0000 2.730e-17 0.000e+00 0.000e+00 3.366e-04 6.105e-04 0.000e+00 0.000e+00 + 38 8.129e+00 0.000e+00 2.286e-04 4.572e-04 1.000e-09 1.000e-09 1.0000 2.747e-17 0.000e+00 0.000e+00 2.286e-04 4.153e-04 0.000e+00 0.000e+00 + 39 8.129e+00 0.000e+00 1.556e-04 3.112e-04 1.000e-09 1.000e-09 1.0000 2.774e-17 0.000e+00 0.000e+00 1.556e-04 2.829e-04 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 40 8.129e+00 0.000e+00 1.060e-04 2.120e-04 1.000e-09 1.000e-09 1.0000 2.759e-17 0.000e+00 0.000e+00 1.060e-04 1.929e-04 0.000e+00 0.000e+00 + 41 8.128e+00 0.000e+00 7.225e-05 1.445e-04 1.000e-09 1.000e-09 1.0000 2.762e-17 0.000e+00 0.000e+00 7.225e-05 1.380e-04 0.000e+00 0.000e+00 + 42 8.126e+00 0.000e+00 2.635e-03 5.269e-03 1.000e-09 1.000e-09 1.0000 2.762e-17 0.000e+00 0.000e+00 2.635e-03 2.761e-03 0.000e+00 0.000e+00 + 43 8.125e+00 0.000e+00 2.461e-04 4.923e-04 1.000e-09 1.000e-09 1.0000 2.740e-17 0.000e+00 0.000e+00 2.461e-04 3.164e-04 0.000e+00 0.000e+00 + 44 8.125e+00 0.000e+00 6.607e-05 1.321e-04 1.000e-09 1.000e-09 1.0000 2.747e-17 0.000e+00 0.000e+00 6.607e-05 1.031e-04 0.000e+00 0.000e+00 + 45 8.125e+00 0.000e+00 3.047e-05 6.094e-05 1.000e-09 1.000e-09 1.0000 2.719e-17 0.000e+00 0.000e+00 3.047e-05 5.274e-05 0.000e+00 0.000e+00 + 46 8.125e+00 0.000e+00 1.811e-05 3.622e-05 1.000e-09 1.000e-09 1.0000 2.769e-17 0.000e+00 0.000e+00 1.811e-05 3.249e-05 0.000e+00 0.000e+00 + 47 8.125e+00 0.000e+00 1.177e-05 2.353e-05 1.000e-09 1.000e-09 1.0000 2.753e-17 0.000e+00 0.000e+00 1.177e-05 2.133e-05 0.000e+00 0.000e+00 + 48 8.125e+00 0.000e+00 7.858e-06 1.572e-05 1.000e-09 1.000e-09 1.0000 2.699e-17 0.000e+00 0.000e+00 7.858e-06 1.429e-05 0.000e+00 0.000e+00 + 49 8.125e+00 0.000e+00 5.297e-06 1.059e-05 1.000e-09 1.000e-09 1.0000 2.753e-17 0.000e+00 0.000e+00 5.297e-06 9.645e-06 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 50 8.125e+00 0.000e+00 3.582e-06 7.163e-06 1.000e-09 1.000e-09 1.0000 2.774e-17 0.000e+00 0.000e+00 3.582e-06 6.525e-06 0.000e+00 0.000e+00 + 51 8.125e+00 0.000e+00 2.425e-06 4.850e-06 1.000e-09 1.000e-09 1.0000 2.763e-17 0.000e+00 0.000e+00 2.425e-06 4.419e-06 0.000e+00 0.000e+00 + 52 8.125e+00 0.000e+00 1.643e-06 3.286e-06 1.000e-09 1.000e-09 1.0000 2.745e-17 0.000e+00 0.000e+00 1.643e-06 2.994e-06 0.000e+00 0.000e+00 + 53 8.125e+00 0.000e+00 1.113e-06 2.226e-06 1.000e-09 1.000e-09 1.0000 2.760e-17 0.000e+00 0.000e+00 1.113e-06 2.029e-06 0.000e+00 0.000e+00 + 54 8.125e+00 0.000e+00 7.544e-07 1.509e-06 1.000e-09 1.000e-09 1.0000 2.772e-17 0.000e+00 0.000e+00 7.544e-07 1.375e-06 0.000e+00 0.000e+00 + 55 8.125e+00 0.000e+00 5.113e-07 1.023e-06 1.000e-09 1.000e-09 1.0000 2.714e-17 0.000e+00 0.000e+00 5.113e-07 9.321e-07 0.000e+00 0.000e+00 + 56 8.125e+00 0.000e+00 3.465e-07 6.931e-07 1.000e-09 1.000e-09 1.0000 2.746e-17 0.000e+00 0.000e+00 3.465e-07 6.317e-07 0.000e+00 0.000e+00 + 57 8.125e+00 0.000e+00 2.349e-07 4.698e-07 1.000e-09 1.000e-09 1.0000 2.703e-17 0.000e+00 0.000e+00 2.349e-07 4.282e-07 0.000e+00 0.000e+00 + 58 8.125e+00 0.000e+00 1.592e-07 3.184e-07 1.000e-09 1.000e-09 1.0000 2.764e-17 0.000e+00 0.000e+00 1.592e-07 2.902e-07 0.000e+00 0.000e+00 + 59 8.125e+00 0.000e+00 1.079e-07 2.158e-07 1.000e-09 1.000e-09 1.0000 2.770e-17 0.000e+00 0.000e+00 1.079e-07 1.967e-07 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 60 8.125e+00 0.000e+00 7.314e-08 1.463e-07 1.000e-09 1.000e-09 1.0000 2.764e-17 0.000e+00 0.000e+00 7.314e-08 1.333e-07 0.000e+00 0.000e+00 + 61 8.125e+00 0.000e+00 4.957e-08 9.914e-08 1.000e-09 1.000e-09 1.0000 2.772e-17 0.000e+00 0.000e+00 4.957e-08 9.038e-08 0.000e+00 0.000e+00 + 62 8.125e+00 0.000e+00 3.360e-08 6.720e-08 1.000e-09 1.000e-09 1.0000 2.751e-17 0.000e+00 0.000e+00 3.360e-08 6.126e-08 0.000e+00 0.000e+00 + 63 8.125e+00 0.000e+00 2.277e-08 4.555e-08 1.000e-09 1.000e-09 1.0000 2.754e-17 0.000e+00 0.000e+00 2.277e-08 4.152e-08 0.000e+00 0.000e+00 + 64 8.125e+00 0.000e+00 1.544e-08 3.087e-08 1.000e-09 1.000e-09 1.0000 2.746e-17 0.000e+00 0.000e+00 1.544e-08 2.814e-08 0.000e+00 0.000e+00 + 65 8.125e+00 0.000e+00 1.046e-08 2.093e-08 1.000e-09 1.000e-09 1.0000 2.750e-17 0.000e+00 0.000e+00 1.046e-08 1.908e-08 0.000e+00 0.000e+00 + 66 8.125e+00 0.000e+00 7.092e-09 1.418e-08 1.000e-09 1.000e-09 1.0000 2.764e-17 0.000e+00 0.000e+00 7.092e-09 1.293e-08 0.000e+00 0.000e+00 + 67 8.125e+00 0.000e+00 4.807e-09 9.614e-09 1.000e-09 1.000e-09 1.0000 2.760e-17 0.000e+00 0.000e+00 4.807e-09 8.765e-09 0.000e+00 0.000e+00 + 68 8.125e+00 0.000e+00 3.258e-09 6.517e-09 1.000e-09 1.000e-09 1.0000 2.773e-17 0.000e+00 0.000e+00 3.258e-09 5.941e-09 0.000e+00 0.000e+00 + 69 8.125e+00 0.000e+00 2.209e-09 4.417e-09 1.000e-09 1.000e-09 1.0000 2.761e-17 0.000e+00 0.000e+00 2.209e-09 4.027e-09 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 70 8.125e+00 0.000e+00 1.497e-09 2.994e-09 1.000e-09 1.000e-09 1.0000 2.770e-17 0.000e+00 0.000e+00 1.497e-09 2.729e-09 0.000e+00 0.000e+00 + 71 8.125e+00 0.000e+00 1.015e-09 2.029e-09 1.000e-09 1.000e-09 1.0000 2.752e-17 0.000e+00 0.000e+00 1.015e-09 1.850e-09 0.000e+00 0.000e+00 + 72 8.125e+00 0.000e+00 6.878e-10 1.376e-09 1.000e-09 1.000e-09 1.0000 2.770e-17 0.000e+00 0.000e+00 6.878e-10 1.254e-09 0.000e+00 0.000e+00 Finally reached = [0.60058469 0.1980805 0.49717409] diff --git a/examples/log/arm_manipulation_invdyn.log b/examples/log/arm_manipulation_invdyn.log index 55f5baf76a..89342dcd6c 100644 --- a/examples/log/arm_manipulation_invdyn.log +++ b/examples/log/arm_manipulation_invdyn.log @@ -1,111 +1,111 @@ -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 2.519e+03 2.519e+03 1.331e+03 2.687e+03 1.000e-09 1.000e-09 0.5000 3.142e+00 0.000e+00 0.000e+00 1.001e+03 2.114e+02 1.001e+03 2.114e+02 - 1 2.051e+03 2.051e+03 2.502e+03 5.020e+03 1.000e-09 1.000e-09 0.5000 1.571e+00 0.000e+00 0.000e+00 1.878e+03 4.678e+02 1.878e+03 4.678e+02 - 2 1.206e+03 1.206e+03 1.973e+03 3.957e+03 1.000e-09 1.000e-09 0.2500 7.854e-01 0.000e+00 0.000e+00 8.643e+02 8.454e+02 8.643e+02 8.454e+02 - 3 7.042e+02 7.042e+02 1.187e+03 2.381e+03 1.000e-09 1.000e-09 0.2500 5.890e-01 0.000e+00 0.000e+00 5.200e+02 5.015e+02 5.200e+02 5.015e+02 - 4 6.814e+02 6.814e+02 6.651e+02 1.335e+03 1.000e-09 1.000e-09 0.0312 4.418e-01 0.000e+00 0.000e+00 4.098e+01 2.280e+01 4.098e+01 2.280e+01 - 5 5.554e+02 5.554e+02 6.449e+02 1.294e+03 1.000e-09 1.000e-09 0.2500 4.280e-01 0.000e+00 0.000e+00 2.826e+02 1.260e+02 2.826e+02 1.260e+02 - 6 2.687e+02 2.687e+02 5.192e+02 1.042e+03 1.000e-09 1.000e-09 0.5000 3.210e-01 0.000e+00 0.000e+00 3.898e+02 2.868e+02 3.898e+02 2.868e+02 - 7 1.994e+02 1.994e+02 2.472e+02 4.959e+02 1.000e-09 1.000e-09 0.2500 1.605e-01 0.000e+00 0.000e+00 1.083e+02 6.927e+01 1.083e+02 6.927e+01 - 8 1.901e+02 1.901e+02 1.692e+02 3.394e+02 1.000e-09 1.000e-09 0.2500 1.204e-01 0.000e+00 0.000e+00 7.412e+01 9.280e+00 7.412e+01 9.280e+00 - 9 1.241e+02 1.241e+02 1.494e+02 2.997e+02 1.000e-09 1.000e-09 1.0000 9.027e-02 0.000e+00 0.000e+00 1.494e+02 6.601e+01 1.494e+02 6.601e+01 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 9.628e+01 9.628e+01 1.003e+02 2.007e+02 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 4.389e+01 2.784e+01 4.389e+01 2.784e+01 - 11 4.777e+01 4.777e+01 6.140e+01 1.228e+02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 4.605e+01 4.851e+01 4.605e+01 4.851e+01 - 12 4.347e+01 4.347e+01 1.804e+01 3.607e+01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 4.227e+00 4.303e+00 4.227e+00 4.303e+00 - 13 4.184e+01 4.184e+01 9.009e+00 1.802e+01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 2.112e+00 1.628e+00 2.112e+00 1.628e+00 - 14 3.943e+01 3.943e+01 5.535e+00 1.107e+01 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 4.151e+00 2.413e+00 4.151e+00 2.413e+00 - 15 3.892e+01 3.892e+01 2.660e+00 5.320e+00 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 1.164e+00 5.080e-01 1.164e+00 5.080e-01 - 16 3.856e+01 3.856e+01 2.291e+00 4.582e+00 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 1.002e+00 3.613e-01 1.002e+00 3.613e-01 - 17 3.832e+01 3.832e+01 2.260e+00 4.521e+00 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 5.298e-01 2.401e-01 5.298e-01 2.401e-01 - 18 3.657e+01 3.657e+01 1.541e+00 3.083e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.541e+00 1.746e+00 1.541e+00 1.746e+00 - 19 3.649e+01 3.649e+01 7.577e-01 1.515e+00 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 1.776e-01 7.999e-02 1.776e-01 7.999e-02 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 20 3.643e+01 3.643e+01 3.110e-01 6.220e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.110e-01 6.915e-02 3.110e-01 6.915e-02 - 21 3.635e+01 3.635e+01 1.979e+00 3.958e+00 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 0.000e+00 2.396e-01 8.027e-02 2.396e-01 8.027e-02 - 22 3.627e+01 3.627e+01 7.959e-01 1.592e+00 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 1.865e-01 7.254e-02 1.865e-01 7.254e-02 - 23 3.599e+01 3.599e+01 5.103e-01 1.021e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.103e-01 2.778e-01 5.103e-01 2.778e-01 - 24 3.592e+01 3.592e+01 1.706e+00 3.412e+00 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 0.000e+00 2.066e-01 7.781e-02 2.066e-01 7.781e-02 - 25 3.587e+01 3.587e+01 6.892e-01 1.378e+00 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 1.615e-01 5.138e-02 1.615e-01 5.138e-02 - 26 3.561e+01 3.561e+01 3.977e-01 7.953e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.977e-01 2.569e-01 3.977e-01 2.569e-01 - 27 3.555e+01 3.555e+01 1.075e+00 2.149e+00 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 0.000e+00 1.301e-01 5.735e-02 1.301e-01 5.735e-02 - 28 3.552e+01 3.552e+01 3.953e-01 7.905e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 9.264e-02 3.345e-02 9.264e-02 3.345e-02 - 29 3.537e+01 3.537e+01 2.117e-01 4.233e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.117e-01 1.492e-01 2.117e-01 1.492e-01 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 30 3.533e+01 3.533e+01 6.201e-01 1.240e+00 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 0.000e+00 7.509e-02 4.167e-02 7.509e-02 4.167e-02 - 31 3.531e+01 3.531e+01 2.043e-01 4.087e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 4.789e-02 2.121e-02 4.789e-02 2.121e-02 - 32 3.523e+01 3.523e+01 9.406e-02 1.881e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 9.406e-02 7.801e-02 9.406e-02 7.801e-02 - 33 3.521e+01 3.521e+01 3.033e-01 6.066e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 7.109e-02 1.692e-02 7.109e-02 1.692e-02 - 34 3.517e+01 3.517e+01 5.552e-02 1.110e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.552e-02 4.301e-02 5.552e-02 4.301e-02 - 35 3.515e+01 3.515e+01 2.454e-01 4.907e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 5.750e-02 1.810e-02 5.750e-02 1.810e-02 - 36 3.512e+01 3.512e+01 3.960e-02 7.921e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.960e-02 3.120e-02 3.960e-02 3.120e-02 - 37 3.510e+01 3.510e+01 1.836e-01 3.672e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 4.303e-02 1.474e-02 4.303e-02 1.474e-02 - 38 3.509e+01 3.509e+01 2.500e-02 5.000e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.500e-02 1.850e-02 2.500e-02 1.850e-02 - 39 3.507e+01 3.507e+01 1.617e-01 3.235e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 3.791e-02 1.477e-02 3.791e-02 1.477e-02 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 40 3.505e+01 3.505e+01 2.319e-02 4.638e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.319e-02 1.725e-02 2.319e-02 1.725e-02 - 41 3.504e+01 3.504e+01 1.382e-01 2.765e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 3.240e-02 1.258e-02 3.240e-02 1.258e-02 - 42 3.503e+01 3.503e+01 1.681e-02 3.361e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.681e-02 1.225e-02 1.681e-02 1.225e-02 - 43 3.502e+01 3.502e+01 1.252e-01 2.504e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 2.934e-02 1.265e-02 2.934e-02 1.265e-02 - 44 3.500e+01 3.500e+01 1.815e-02 3.630e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.815e-02 1.660e-02 1.815e-02 1.660e-02 - 45 3.499e+01 3.499e+01 9.948e-02 1.990e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 2.332e-02 1.034e-02 2.332e-02 1.034e-02 - 46 3.498e+01 3.498e+01 1.353e-02 2.706e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.353e-02 1.386e-02 1.353e-02 1.386e-02 - 47 3.497e+01 3.497e+01 8.532e-02 1.706e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 2.000e-02 9.354e-03 2.000e-02 9.354e-03 - 48 3.495e+01 3.495e+01 1.303e-02 2.607e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.303e-02 1.456e-02 1.303e-02 1.456e-02 - 49 3.494e+01 3.494e+01 8.254e-02 1.651e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 1.935e-02 9.353e-03 1.935e-02 9.353e-03 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 50 3.492e+01 3.492e+01 1.391e-02 2.782e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.391e-02 1.754e-02 1.391e-02 1.754e-02 - 51 3.492e+01 3.492e+01 7.670e-02 1.534e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 1.798e-02 9.117e-03 1.798e-02 9.117e-03 - 52 3.490e+01 3.490e+01 1.460e-02 2.920e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.460e-02 1.992e-02 1.460e-02 1.992e-02 - 53 3.489e+01 3.489e+01 6.989e-02 1.398e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 1.638e-02 8.666e-03 1.638e-02 8.666e-03 - 54 3.487e+01 3.487e+01 1.440e-02 2.879e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.440e-02 2.078e-02 1.440e-02 2.078e-02 - 55 3.486e+01 3.486e+01 5.434e-02 1.087e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 1.274e-02 6.955e-03 1.274e-02 6.955e-03 - 56 3.484e+01 3.484e+01 1.168e-02 2.335e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.168e-02 1.552e-02 1.168e-02 1.552e-02 - 57 3.484e+01 3.484e+01 4.656e-02 9.312e-02 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 1.091e-02 5.668e-03 1.091e-02 5.668e-03 - 58 3.483e+01 3.483e+01 7.752e-03 1.550e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.752e-03 8.482e-03 7.752e-03 8.482e-03 - 59 3.482e+01 3.482e+01 3.885e-02 7.769e-02 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 9.105e-03 4.448e-03 9.105e-03 4.448e-03 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 60 3.482e+01 3.482e+01 4.335e-03 8.669e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.335e-03 2.943e-03 4.335e-03 2.943e-03 - 61 3.482e+01 3.482e+01 3.210e-02 6.420e-02 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 7.523e-03 3.499e-03 7.523e-03 3.499e-03 - 62 3.482e+01 3.482e+01 2.229e-03 4.457e-03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.672e-03 1.101e-03 1.672e-03 1.101e-03 - 63 3.482e+01 3.482e+01 6.207e-03 1.241e-02 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 1.455e-03 8.011e-04 1.455e-03 8.011e-04 - 64 3.482e+01 3.482e+01 1.208e-03 2.416e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.208e-03 1.135e-03 1.208e-03 1.135e-03 - 65 3.481e+01 3.481e+01 6.474e-03 1.295e-02 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 1.517e-03 7.491e-04 1.517e-03 7.491e-04 - 66 3.481e+01 3.481e+01 5.259e-04 1.052e-03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 3.944e-04 2.533e-04 3.944e-04 2.533e-04 - 67 3.481e+01 3.481e+01 1.598e-03 3.195e-03 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 3.744e-04 2.097e-04 3.744e-04 2.097e-04 - 68 3.481e+01 3.481e+01 2.942e-04 5.884e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.942e-04 2.665e-04 2.942e-04 2.665e-04 - 69 3.481e+01 3.481e+01 1.773e-03 3.547e-03 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 4.156e-04 2.060e-04 4.156e-04 2.060e-04 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 70 3.481e+01 3.481e+01 1.396e-04 2.792e-04 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.047e-04 6.036e-05 1.047e-04 6.036e-05 - 71 3.481e+01 3.481e+01 4.668e-04 9.335e-04 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 1.094e-04 6.035e-05 1.094e-04 6.035e-05 - 72 3.481e+01 3.481e+01 7.754e-05 1.551e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.754e-05 6.171e-05 7.754e-05 6.171e-05 - 73 3.481e+01 3.481e+01 5.392e-04 1.078e-03 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 1.264e-04 6.212e-05 1.264e-04 6.212e-05 - 74 3.481e+01 3.481e+01 3.864e-05 7.727e-05 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 2.898e-05 1.389e-05 2.898e-05 1.389e-05 - 75 3.481e+01 3.481e+01 7.567e-05 1.513e-04 1.000e-08 1.000e-08 0.5000 0.000e+00 0.000e+00 0.000e+00 5.675e-05 1.324e-05 5.675e-05 1.324e-05 - 76 3.481e+01 3.481e+01 9.350e-05 1.870e-04 1.000e-08 1.000e-08 0.2500 0.000e+00 0.000e+00 0.000e+00 4.091e-05 2.458e-05 4.091e-05 2.458e-05 - 77 3.481e+01 3.481e+01 1.286e-05 2.571e-05 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 1.286e-05 1.805e-05 1.286e-05 1.805e-05 - 78 3.481e+01 3.481e+01 1.548e-05 3.096e-05 1.000e-08 1.000e-08 0.5000 0.000e+00 0.000e+00 0.000e+00 1.161e-05 4.046e-06 1.161e-05 4.046e-06 - 79 3.481e+01 3.481e+01 8.830e-06 1.766e-05 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 8.830e-06 5.405e-06 8.830e-06 5.405e-06 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 80 3.481e+01 3.481e+01 8.543e-06 1.709e-05 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 8.543e-06 1.694e-06 8.543e-06 1.694e-06 - 81 3.481e+01 3.481e+01 1.061e-05 2.121e-05 1.000e-07 1.000e-07 0.5000 0.000e+00 0.000e+00 0.000e+00 7.955e-06 5.229e-06 7.955e-06 5.229e-06 - 82 3.481e+01 3.481e+01 5.063e-07 1.013e-06 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 5.063e-07 7.633e-07 5.063e-07 7.633e-07 - 83 3.481e+01 3.481e+01 2.475e-07 4.951e-07 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 2.475e-07 4.044e-07 2.475e-07 4.044e-07 - 84 3.481e+01 3.481e+01 1.429e-07 2.858e-07 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 1.429e-07 2.473e-07 1.429e-07 2.473e-07 - 85 3.481e+01 3.481e+01 9.363e-08 1.873e-07 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 9.363e-08 1.695e-07 9.363e-08 1.695e-07 - 86 3.481e+01 3.481e+01 6.851e-08 1.370e-07 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 6.851e-08 1.280e-07 6.851e-08 1.280e-07 - 87 3.481e+01 3.481e+01 5.459e-08 1.092e-07 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 5.459e-08 1.041e-07 5.459e-08 1.041e-07 - 88 3.481e+01 3.481e+01 4.612e-08 9.224e-08 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 4.612e-08 8.903e-08 4.612e-08 8.903e-08 - 89 3.481e+01 3.481e+01 4.046e-08 8.092e-08 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 4.046e-08 7.867e-08 4.046e-08 7.867e-08 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 90 3.481e+01 3.481e+01 3.634e-08 7.268e-08 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 3.634e-08 7.096e-08 3.634e-08 7.096e-08 - 91 3.481e+01 3.481e+01 3.311e-08 6.623e-08 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 3.311e-08 6.484e-08 3.311e-08 6.484e-08 - 92 3.481e+01 3.481e+01 3.046e-08 6.091e-08 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 3.046e-08 5.974e-08 3.046e-08 5.974e-08 - 93 3.481e+01 3.481e+01 2.818e-08 5.637e-08 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 2.818e-08 5.534e-08 2.818e-08 5.534e-08 - 94 3.481e+01 3.481e+01 2.619e-08 5.239e-08 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 2.619e-08 5.147e-08 2.619e-08 5.147e-08 - 95 3.481e+01 3.481e+01 2.442e-08 4.883e-08 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 2.442e-08 4.801e-08 2.442e-08 4.801e-08 - 96 3.481e+01 3.481e+01 2.282e-08 4.563e-08 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 2.282e-08 4.489e-08 2.282e-08 4.489e-08 - 97 3.481e+01 3.481e+01 2.136e-08 4.272e-08 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 2.136e-08 4.204e-08 2.136e-08 4.204e-08 - 98 3.481e+01 3.481e+01 2.003e-08 4.006e-08 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 2.003e-08 3.944e-08 2.003e-08 3.944e-08 - 99 3.481e+01 3.481e+01 1.881e-08 3.762e-08 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 1.881e-08 3.705e-08 1.881e-08 3.705e-08 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 2.519e+03 2.519e+03 1.331e+03 2.674e+03 1.000e-09 1.000e-09 0.5000 3.142e+00 0.000e+00 0.000e+00 1.001e+03 2.114e+02 1.001e+03 2.114e+02 + 1 2.051e+03 2.051e+03 2.502e+03 5.012e+03 1.000e-09 1.000e-09 0.5000 1.571e+00 0.000e+00 0.000e+00 1.878e+03 4.678e+02 1.878e+03 4.678e+02 + 2 1.206e+03 1.206e+03 1.973e+03 3.952e+03 1.000e-09 1.000e-09 0.2500 7.854e-01 0.000e+00 0.000e+00 8.643e+02 8.454e+02 8.643e+02 8.454e+02 + 3 7.042e+02 7.042e+02 1.187e+03 2.377e+03 1.000e-09 1.000e-09 0.2500 5.890e-01 0.000e+00 0.000e+00 5.200e+02 5.015e+02 5.200e+02 5.015e+02 + 4 6.814e+02 6.814e+02 6.651e+02 1.332e+03 1.000e-09 1.000e-09 0.0312 4.418e-01 0.000e+00 0.000e+00 4.098e+01 2.280e+01 4.098e+01 2.280e+01 + 5 5.554e+02 5.554e+02 6.449e+02 1.292e+03 1.000e-09 1.000e-09 0.2500 4.280e-01 0.000e+00 0.000e+00 2.826e+02 1.260e+02 2.826e+02 1.260e+02 + 6 2.687e+02 2.687e+02 5.192e+02 1.040e+03 1.000e-09 1.000e-09 0.5000 3.210e-01 0.000e+00 0.000e+00 3.898e+02 2.868e+02 3.898e+02 2.868e+02 + 7 1.994e+02 1.994e+02 2.472e+02 4.952e+02 1.000e-09 1.000e-09 0.2500 1.605e-01 0.000e+00 0.000e+00 1.083e+02 6.927e+01 1.083e+02 6.927e+01 + 8 1.901e+02 1.901e+02 1.692e+02 3.389e+02 1.000e-09 1.000e-09 0.2500 1.204e-01 0.000e+00 0.000e+00 7.412e+01 9.280e+00 7.412e+01 9.280e+00 + 9 1.241e+02 1.241e+02 1.494e+02 2.993e+02 1.000e-09 1.000e-09 1.0000 9.027e-02 0.000e+00 0.000e+00 1.494e+02 6.601e+01 1.494e+02 6.601e+01 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 9.628e+01 9.628e+01 1.003e+02 2.007e+02 1.000e-09 1.000e-09 0.2500 2.770e-17 0.000e+00 0.000e+00 4.389e+01 2.784e+01 4.389e+01 2.784e+01 + 11 4.777e+01 4.777e+01 6.140e+01 1.228e+02 1.000e-09 1.000e-09 0.5000 2.764e-17 0.000e+00 0.000e+00 4.605e+01 4.851e+01 4.605e+01 4.851e+01 + 12 4.347e+01 4.347e+01 1.804e+01 3.607e+01 1.000e-09 1.000e-09 0.1250 2.775e-17 0.000e+00 0.000e+00 4.227e+00 4.303e+00 4.227e+00 4.303e+00 + 13 4.184e+01 4.184e+01 9.009e+00 1.802e+01 1.000e-09 1.000e-09 0.1250 2.774e-17 0.000e+00 0.000e+00 2.112e+00 1.628e+00 2.112e+00 1.628e+00 + 14 3.943e+01 3.943e+01 5.535e+00 1.107e+01 1.000e-09 1.000e-09 0.5000 2.765e-17 0.000e+00 0.000e+00 4.151e+00 2.413e+00 4.151e+00 2.413e+00 + 15 3.892e+01 3.892e+01 2.660e+00 5.320e+00 1.000e-09 1.000e-09 0.2500 2.758e-17 0.000e+00 0.000e+00 1.164e+00 5.080e-01 1.164e+00 5.080e-01 + 16 3.856e+01 3.856e+01 2.291e+00 4.582e+00 1.000e-09 1.000e-09 0.2500 2.747e-17 0.000e+00 0.000e+00 1.002e+00 3.613e-01 1.002e+00 3.613e-01 + 17 3.832e+01 3.832e+01 2.260e+00 4.521e+00 1.000e-09 1.000e-09 0.1250 2.732e-17 0.000e+00 0.000e+00 5.298e-01 2.401e-01 5.298e-01 2.401e-01 + 18 3.657e+01 3.657e+01 1.541e+00 3.083e+00 1.000e-09 1.000e-09 1.0000 2.755e-17 0.000e+00 0.000e+00 1.541e+00 1.746e+00 1.541e+00 1.746e+00 + 19 3.649e+01 3.649e+01 7.577e-01 1.515e+00 1.000e-09 1.000e-09 0.1250 2.759e-17 0.000e+00 0.000e+00 1.776e-01 7.999e-02 1.776e-01 7.999e-02 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 20 3.643e+01 3.643e+01 3.110e-01 6.220e-01 1.000e-09 1.000e-09 1.0000 2.773e-17 0.000e+00 0.000e+00 3.110e-01 6.915e-02 3.110e-01 6.915e-02 + 21 3.635e+01 3.635e+01 1.979e+00 3.958e+00 1.000e-09 1.000e-09 0.0625 2.747e-17 0.000e+00 0.000e+00 2.396e-01 8.027e-02 2.396e-01 8.027e-02 + 22 3.627e+01 3.627e+01 7.959e-01 1.592e+00 1.000e-09 1.000e-09 0.1250 2.760e-17 0.000e+00 0.000e+00 1.865e-01 7.254e-02 1.865e-01 7.254e-02 + 23 3.599e+01 3.599e+01 5.103e-01 1.021e+00 1.000e-09 1.000e-09 1.0000 2.772e-17 0.000e+00 0.000e+00 5.103e-01 2.778e-01 5.103e-01 2.778e-01 + 24 3.592e+01 3.592e+01 1.706e+00 3.412e+00 1.000e-09 1.000e-09 0.0625 2.775e-17 0.000e+00 0.000e+00 2.066e-01 7.781e-02 2.066e-01 7.781e-02 + 25 3.587e+01 3.587e+01 6.892e-01 1.378e+00 1.000e-09 1.000e-09 0.1250 2.772e-17 0.000e+00 0.000e+00 1.615e-01 5.138e-02 1.615e-01 5.138e-02 + 26 3.561e+01 3.561e+01 3.977e-01 7.953e-01 1.000e-09 1.000e-09 1.0000 2.755e-17 0.000e+00 0.000e+00 3.977e-01 2.569e-01 3.977e-01 2.569e-01 + 27 3.555e+01 3.555e+01 1.075e+00 2.149e+00 1.000e-09 1.000e-09 0.0625 2.772e-17 0.000e+00 0.000e+00 1.301e-01 5.735e-02 1.301e-01 5.735e-02 + 28 3.552e+01 3.552e+01 3.953e-01 7.905e-01 1.000e-09 1.000e-09 0.1250 2.772e-17 0.000e+00 0.000e+00 9.264e-02 3.345e-02 9.264e-02 3.345e-02 + 29 3.537e+01 3.537e+01 2.117e-01 4.233e-01 1.000e-09 1.000e-09 1.0000 2.757e-17 0.000e+00 0.000e+00 2.117e-01 1.492e-01 2.117e-01 1.492e-01 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 30 3.533e+01 3.533e+01 6.201e-01 1.240e+00 1.000e-09 1.000e-09 0.0625 2.770e-17 0.000e+00 0.000e+00 7.509e-02 4.167e-02 7.509e-02 4.167e-02 + 31 3.531e+01 3.531e+01 2.043e-01 4.087e-01 1.000e-09 1.000e-09 0.1250 2.702e-17 0.000e+00 0.000e+00 4.789e-02 2.121e-02 4.789e-02 2.121e-02 + 32 3.523e+01 3.523e+01 9.406e-02 1.881e-01 1.000e-09 1.000e-09 1.0000 2.744e-17 0.000e+00 0.000e+00 9.406e-02 7.801e-02 9.406e-02 7.801e-02 + 33 3.521e+01 3.521e+01 3.033e-01 6.066e-01 1.000e-09 1.000e-09 0.1250 2.736e-17 0.000e+00 0.000e+00 7.109e-02 1.692e-02 7.109e-02 1.692e-02 + 34 3.517e+01 3.517e+01 5.552e-02 1.110e-01 1.000e-09 1.000e-09 1.0000 2.757e-17 0.000e+00 0.000e+00 5.552e-02 4.301e-02 5.552e-02 4.301e-02 + 35 3.515e+01 3.515e+01 2.454e-01 4.907e-01 1.000e-09 1.000e-09 0.1250 2.744e-17 0.000e+00 0.000e+00 5.750e-02 1.810e-02 5.750e-02 1.810e-02 + 36 3.512e+01 3.512e+01 3.960e-02 7.921e-02 1.000e-09 1.000e-09 1.0000 2.775e-17 0.000e+00 0.000e+00 3.960e-02 3.120e-02 3.960e-02 3.120e-02 + 37 3.510e+01 3.510e+01 1.836e-01 3.672e-01 1.000e-09 1.000e-09 0.1250 2.769e-17 0.000e+00 0.000e+00 4.303e-02 1.474e-02 4.303e-02 1.474e-02 + 38 3.509e+01 3.509e+01 2.500e-02 5.000e-02 1.000e-09 1.000e-09 1.0000 2.759e-17 0.000e+00 0.000e+00 2.500e-02 1.850e-02 2.500e-02 1.850e-02 + 39 3.507e+01 3.507e+01 1.617e-01 3.235e-01 1.000e-09 1.000e-09 0.1250 2.766e-17 0.000e+00 0.000e+00 3.791e-02 1.477e-02 3.791e-02 1.477e-02 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 40 3.505e+01 3.505e+01 2.319e-02 4.638e-02 1.000e-09 1.000e-09 1.0000 2.767e-17 0.000e+00 0.000e+00 2.319e-02 1.725e-02 2.319e-02 1.725e-02 + 41 3.504e+01 3.504e+01 1.382e-01 2.765e-01 1.000e-09 1.000e-09 0.1250 2.775e-17 0.000e+00 0.000e+00 3.240e-02 1.258e-02 3.240e-02 1.258e-02 + 42 3.503e+01 3.503e+01 1.681e-02 3.361e-02 1.000e-09 1.000e-09 1.0000 2.768e-17 0.000e+00 0.000e+00 1.681e-02 1.225e-02 1.681e-02 1.225e-02 + 43 3.502e+01 3.502e+01 1.252e-01 2.504e-01 1.000e-09 1.000e-09 0.1250 2.772e-17 0.000e+00 0.000e+00 2.934e-02 1.265e-02 2.934e-02 1.265e-02 + 44 3.500e+01 3.500e+01 1.815e-02 3.630e-02 1.000e-09 1.000e-09 1.0000 2.767e-17 0.000e+00 0.000e+00 1.815e-02 1.660e-02 1.815e-02 1.660e-02 + 45 3.499e+01 3.499e+01 9.948e-02 1.990e-01 1.000e-09 1.000e-09 0.1250 2.773e-17 0.000e+00 0.000e+00 2.332e-02 1.034e-02 2.332e-02 1.034e-02 + 46 3.498e+01 3.498e+01 1.353e-02 2.706e-02 1.000e-09 1.000e-09 1.0000 2.753e-17 0.000e+00 0.000e+00 1.353e-02 1.386e-02 1.353e-02 1.386e-02 + 47 3.497e+01 3.497e+01 8.532e-02 1.706e-01 1.000e-09 1.000e-09 0.1250 2.746e-17 0.000e+00 0.000e+00 2.000e-02 9.354e-03 2.000e-02 9.354e-03 + 48 3.495e+01 3.495e+01 1.303e-02 2.607e-02 1.000e-09 1.000e-09 1.0000 2.767e-17 0.000e+00 0.000e+00 1.303e-02 1.456e-02 1.303e-02 1.456e-02 + 49 3.494e+01 3.494e+01 8.254e-02 1.651e-01 1.000e-09 1.000e-09 0.1250 2.754e-17 0.000e+00 0.000e+00 1.935e-02 9.353e-03 1.935e-02 9.353e-03 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 50 3.492e+01 3.492e+01 1.391e-02 2.782e-02 1.000e-09 1.000e-09 1.0000 2.774e-17 0.000e+00 0.000e+00 1.391e-02 1.754e-02 1.391e-02 1.754e-02 + 51 3.492e+01 3.492e+01 7.670e-02 1.534e-01 1.000e-09 1.000e-09 0.1250 2.766e-17 0.000e+00 0.000e+00 1.798e-02 9.117e-03 1.798e-02 9.117e-03 + 52 3.490e+01 3.490e+01 1.460e-02 2.920e-02 1.000e-09 1.000e-09 1.0000 2.762e-17 0.000e+00 0.000e+00 1.460e-02 1.992e-02 1.460e-02 1.992e-02 + 53 3.489e+01 3.489e+01 6.989e-02 1.398e-01 1.000e-09 1.000e-09 0.1250 2.770e-17 0.000e+00 0.000e+00 1.638e-02 8.666e-03 1.638e-02 8.666e-03 + 54 3.487e+01 3.487e+01 1.440e-02 2.879e-02 1.000e-09 1.000e-09 1.0000 2.775e-17 0.000e+00 0.000e+00 1.440e-02 2.078e-02 1.440e-02 2.078e-02 + 55 3.486e+01 3.486e+01 5.434e-02 1.087e-01 1.000e-09 1.000e-09 0.1250 2.740e-17 0.000e+00 0.000e+00 1.274e-02 6.955e-03 1.274e-02 6.955e-03 + 56 3.484e+01 3.484e+01 1.168e-02 2.335e-02 1.000e-09 1.000e-09 1.0000 2.763e-17 0.000e+00 0.000e+00 1.168e-02 1.552e-02 1.168e-02 1.552e-02 + 57 3.484e+01 3.484e+01 4.656e-02 9.312e-02 1.000e-09 1.000e-09 0.1250 2.774e-17 0.000e+00 0.000e+00 1.091e-02 5.668e-03 1.091e-02 5.668e-03 + 58 3.483e+01 3.483e+01 7.752e-03 1.550e-02 1.000e-09 1.000e-09 1.0000 2.760e-17 0.000e+00 0.000e+00 7.752e-03 8.482e-03 7.752e-03 8.482e-03 + 59 3.482e+01 3.482e+01 3.885e-02 7.769e-02 1.000e-09 1.000e-09 0.1250 2.765e-17 0.000e+00 0.000e+00 9.105e-03 4.448e-03 9.105e-03 4.448e-03 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 60 3.482e+01 3.482e+01 4.335e-03 8.669e-03 1.000e-09 1.000e-09 1.0000 2.774e-17 0.000e+00 0.000e+00 4.335e-03 2.943e-03 4.335e-03 2.943e-03 + 61 3.482e+01 3.482e+01 3.210e-02 6.420e-02 1.000e-09 1.000e-09 0.1250 2.769e-17 0.000e+00 0.000e+00 7.523e-03 3.499e-03 7.523e-03 3.499e-03 + 62 3.482e+01 3.482e+01 2.229e-03 4.457e-03 1.000e-09 1.000e-09 0.5000 2.770e-17 0.000e+00 0.000e+00 1.672e-03 1.101e-03 1.672e-03 1.101e-03 + 63 3.482e+01 3.482e+01 6.207e-03 1.241e-02 1.000e-09 1.000e-09 0.1250 2.758e-17 0.000e+00 0.000e+00 1.455e-03 8.011e-04 1.455e-03 8.011e-04 + 64 3.482e+01 3.482e+01 1.208e-03 2.416e-03 1.000e-09 1.000e-09 1.0000 2.759e-17 0.000e+00 0.000e+00 1.208e-03 1.135e-03 1.208e-03 1.135e-03 + 65 3.481e+01 3.481e+01 6.474e-03 1.295e-02 1.000e-09 1.000e-09 0.1250 2.771e-17 0.000e+00 0.000e+00 1.517e-03 7.491e-04 1.517e-03 7.491e-04 + 66 3.481e+01 3.481e+01 5.259e-04 1.052e-03 1.000e-09 1.000e-09 0.5000 2.766e-17 0.000e+00 0.000e+00 3.944e-04 2.533e-04 3.944e-04 2.533e-04 + 67 3.481e+01 3.481e+01 1.598e-03 3.195e-03 1.000e-09 1.000e-09 0.1250 2.749e-17 0.000e+00 0.000e+00 3.744e-04 2.097e-04 3.744e-04 2.097e-04 + 68 3.481e+01 3.481e+01 2.942e-04 5.884e-04 1.000e-09 1.000e-09 1.0000 2.770e-17 0.000e+00 0.000e+00 2.942e-04 2.665e-04 2.942e-04 2.665e-04 + 69 3.481e+01 3.481e+01 1.773e-03 3.547e-03 1.000e-09 1.000e-09 0.1250 2.766e-17 0.000e+00 0.000e+00 4.156e-04 2.060e-04 4.156e-04 2.060e-04 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 70 3.481e+01 3.481e+01 1.396e-04 2.792e-04 1.000e-09 1.000e-09 0.5000 2.768e-17 0.000e+00 0.000e+00 1.047e-04 6.036e-05 1.047e-04 6.036e-05 + 71 3.481e+01 3.481e+01 4.668e-04 9.335e-04 1.000e-09 1.000e-09 0.1250 2.764e-17 0.000e+00 0.000e+00 1.094e-04 6.035e-05 1.094e-04 6.035e-05 + 72 3.481e+01 3.481e+01 7.754e-05 1.551e-04 1.000e-09 1.000e-09 1.0000 2.773e-17 0.000e+00 0.000e+00 7.754e-05 6.171e-05 7.754e-05 6.171e-05 + 73 3.481e+01 3.481e+01 5.392e-04 1.078e-03 1.000e-09 1.000e-09 0.1250 2.748e-17 0.000e+00 0.000e+00 1.264e-04 6.212e-05 1.264e-04 6.212e-05 + 74 3.481e+01 3.481e+01 3.864e-05 7.727e-05 1.000e-09 1.000e-09 0.5000 2.745e-17 0.000e+00 0.000e+00 2.898e-05 1.389e-05 2.898e-05 1.389e-05 + 75 3.481e+01 3.481e+01 7.567e-05 1.513e-04 1.000e-08 1.000e-08 0.5000 2.774e-17 0.000e+00 0.000e+00 5.675e-05 1.324e-05 5.675e-05 1.324e-05 + 76 3.481e+01 3.481e+01 9.350e-05 1.870e-04 1.000e-08 1.000e-08 0.2500 2.771e-17 0.000e+00 0.000e+00 4.091e-05 2.458e-05 4.091e-05 2.458e-05 + 77 3.481e+01 3.481e+01 1.286e-05 2.571e-05 1.000e-08 1.000e-08 1.0000 2.761e-17 0.000e+00 0.000e+00 1.286e-05 1.805e-05 1.286e-05 1.805e-05 + 78 3.481e+01 3.481e+01 1.548e-05 3.096e-05 1.000e-08 1.000e-08 0.5000 2.772e-17 0.000e+00 0.000e+00 1.161e-05 4.046e-06 1.161e-05 4.046e-06 + 79 3.481e+01 3.481e+01 8.830e-06 1.766e-05 1.000e-07 1.000e-07 1.0000 2.743e-17 0.000e+00 0.000e+00 8.830e-06 5.405e-06 8.830e-06 5.405e-06 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 80 3.481e+01 3.481e+01 8.543e-06 1.709e-05 1.000e-07 1.000e-07 1.0000 2.774e-17 0.000e+00 0.000e+00 8.543e-06 1.694e-06 8.543e-06 1.694e-06 + 81 3.481e+01 3.481e+01 1.061e-05 2.121e-05 1.000e-07 1.000e-07 0.5000 2.768e-17 0.000e+00 0.000e+00 7.955e-06 5.229e-06 7.955e-06 5.229e-06 + 82 3.481e+01 3.481e+01 5.063e-07 1.013e-06 1.000e-06 1.000e-06 1.0000 2.760e-17 0.000e+00 0.000e+00 5.063e-07 7.633e-07 5.063e-07 7.633e-07 + 83 3.481e+01 3.481e+01 2.475e-07 4.951e-07 1.000e-06 1.000e-06 1.0000 2.760e-17 0.000e+00 0.000e+00 2.475e-07 4.044e-07 2.475e-07 4.044e-07 + 84 3.481e+01 3.481e+01 1.429e-07 2.858e-07 1.000e-06 1.000e-06 1.0000 2.769e-17 0.000e+00 0.000e+00 1.429e-07 2.473e-07 1.429e-07 2.473e-07 + 85 3.481e+01 3.481e+01 9.363e-08 1.873e-07 1.000e-06 1.000e-06 1.0000 2.766e-17 0.000e+00 0.000e+00 9.363e-08 1.695e-07 9.363e-08 1.695e-07 + 86 3.481e+01 3.481e+01 6.851e-08 1.370e-07 1.000e-06 1.000e-06 1.0000 2.771e-17 0.000e+00 0.000e+00 6.851e-08 1.280e-07 6.851e-08 1.280e-07 + 87 3.481e+01 3.481e+01 5.459e-08 1.092e-07 1.000e-06 1.000e-06 1.0000 2.725e-17 0.000e+00 0.000e+00 5.459e-08 1.041e-07 5.459e-08 1.041e-07 + 88 3.481e+01 3.481e+01 4.612e-08 9.224e-08 1.000e-06 1.000e-06 1.0000 2.764e-17 0.000e+00 0.000e+00 4.612e-08 8.903e-08 4.612e-08 8.903e-08 + 89 3.481e+01 3.481e+01 4.046e-08 8.092e-08 1.000e-06 1.000e-06 1.0000 2.721e-17 0.000e+00 0.000e+00 4.046e-08 7.867e-08 4.046e-08 7.867e-08 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 90 3.481e+01 3.481e+01 3.634e-08 7.268e-08 1.000e-06 1.000e-06 1.0000 2.769e-17 0.000e+00 0.000e+00 3.634e-08 7.096e-08 3.634e-08 7.096e-08 + 91 3.481e+01 3.481e+01 3.311e-08 6.623e-08 1.000e-06 1.000e-06 1.0000 2.740e-17 0.000e+00 0.000e+00 3.311e-08 6.484e-08 3.311e-08 6.484e-08 + 92 3.481e+01 3.481e+01 3.046e-08 6.091e-08 1.000e-06 1.000e-06 1.0000 2.771e-17 0.000e+00 0.000e+00 3.046e-08 5.974e-08 3.046e-08 5.974e-08 + 93 3.481e+01 3.481e+01 2.818e-08 5.637e-08 1.000e-06 1.000e-06 1.0000 2.756e-17 0.000e+00 0.000e+00 2.818e-08 5.534e-08 2.818e-08 5.534e-08 + 94 3.481e+01 3.481e+01 2.619e-08 5.239e-08 1.000e-06 1.000e-06 1.0000 2.745e-17 0.000e+00 0.000e+00 2.619e-08 5.147e-08 2.619e-08 5.147e-08 + 95 3.481e+01 3.481e+01 2.442e-08 4.883e-08 1.000e-06 1.000e-06 1.0000 2.774e-17 0.000e+00 0.000e+00 2.442e-08 4.801e-08 2.442e-08 4.801e-08 + 96 3.481e+01 3.481e+01 2.282e-08 4.563e-08 1.000e-06 1.000e-06 1.0000 2.769e-17 0.000e+00 0.000e+00 2.282e-08 4.489e-08 2.282e-08 4.489e-08 + 97 3.481e+01 3.481e+01 2.136e-08 4.272e-08 1.000e-06 1.000e-06 1.0000 2.766e-17 0.000e+00 0.000e+00 2.136e-08 4.204e-08 2.136e-08 4.204e-08 + 98 3.481e+01 3.481e+01 2.003e-08 4.006e-08 1.000e-06 1.000e-06 1.0000 2.772e-17 0.000e+00 0.000e+00 2.003e-08 3.944e-08 2.003e-08 3.944e-08 + 99 3.481e+01 3.481e+01 1.881e-08 3.762e-08 1.000e-06 1.000e-06 1.0000 2.756e-17 0.000e+00 0.000e+00 1.881e-08 3.705e-08 1.881e-08 3.705e-08 Finally reached = [0.56811372 0.17966068 0.4633623 ] diff --git a/examples/log/bipedal_gaits_fwddyn.log b/examples/log/bipedal_gaits_fwddyn.log new file mode 100644 index 0000000000..7890e857d8 --- /dev/null +++ b/examples/log/bipedal_gaits_fwddyn.log @@ -0,0 +1,79 @@ +*** SOLVE walking *** +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 1.708e+05 0.000e+00 2.258e+07 4.516e+07 1.000e-09 1.000e-09 1.0000 8.527e-15 0.000e+00 0.000e+00 2.258e+07 2.241e+07 0.000e+00 0.000e+00 + 1 3.086e+04 0.000e+00 1.661e+05 3.322e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.661e+05 1.400e+05 0.000e+00 0.000e+00 + 2 2.355e+04 0.000e+00 2.560e+04 5.121e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.560e+04 7.311e+03 0.000e+00 0.000e+00 + 3 1.039e+04 0.000e+00 1.845e+04 3.690e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.845e+04 1.315e+04 0.000e+00 0.000e+00 + 4 7.855e+03 0.000e+00 5.217e+03 1.043e+04 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 3.913e+03 2.538e+03 0.000e+00 0.000e+00 + 5 7.358e+03 0.000e+00 2.751e+03 5.503e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.751e+03 4.975e+02 0.000e+00 0.000e+00 + 6 7.065e+03 0.000e+00 2.214e+03 4.429e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.214e+03 2.925e+02 0.000e+00 0.000e+00 + 7 5.217e+03 0.000e+00 1.918e+03 3.835e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.918e+03 1.849e+03 0.000e+00 0.000e+00 + 8 5.183e+03 0.000e+00 1.388e+02 2.775e+02 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 6.071e+01 3.365e+01 0.000e+00 0.000e+00 + 9 5.156e+03 0.000e+00 7.492e+01 1.498e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.492e+01 2.743e+01 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 5.121e+03 0.000e+00 4.358e+01 8.715e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.358e+01 3.446e+01 0.000e+00 0.000e+00 + 11 5.112e+03 0.000e+00 9.223e+00 1.845e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 9.223e+00 9.244e+00 0.000e+00 0.000e+00 + 12 5.112e+03 0.000e+00 6.488e-03 1.298e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 6.488e-03 6.488e-03 0.000e+00 0.000e+00 + 13 5.112e+03 0.000e+00 1.654e-06 3.308e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.654e-06 1.604e-06 0.000e+00 0.000e+00 + 14 5.112e+03 0.000e+00 1.655e-08 3.310e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.655e-08 1.530e-08 0.000e+00 0.000e+00 +*** SOLVE jumping *** +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 7.049e+06 0.000e+00 9.014e+06 1.930e+07 1.000e-09 1.000e-09 0.1250 2.230e+00 0.000e+00 0.000e+00 2.252e+06 2.020e+06 0.000e+00 0.000e+00 + 1 4.206e+06 0.000e+00 6.972e+06 1.469e+07 1.000e-09 1.000e-09 0.2500 1.951e+00 0.000e+00 0.000e+00 3.190e+06 2.844e+06 0.000e+00 0.000e+00 + 2 2.572e+06 0.000e+00 4.125e+06 8.573e+06 1.000e-09 1.000e-09 0.2500 1.463e+00 0.000e+00 0.000e+00 1.865e+06 1.634e+06 0.000e+00 0.000e+00 + 3 1.964e+06 0.000e+00 2.516e+06 5.363e+06 1.000e-09 1.000e-09 0.1250 1.098e+00 0.000e+00 0.000e+00 6.259e+05 6.075e+05 0.000e+00 0.000e+00 + 4 1.134e+06 0.000e+00 1.915e+06 4.079e+06 1.000e-09 1.000e-09 0.2500 9.603e-01 0.000e+00 0.000e+00 8.845e+05 8.305e+05 0.000e+00 0.000e+00 + 5 3.613e+05 0.000e+00 1.093e+06 2.302e+06 1.000e-09 1.000e-09 0.5000 7.203e-01 0.000e+00 0.000e+00 8.488e+05 7.725e+05 0.000e+00 0.000e+00 + 6 1.302e+05 0.000e+00 3.330e+05 6.998e+05 1.000e-09 1.000e-09 0.5000 3.601e-01 0.000e+00 0.000e+00 2.582e+05 2.311e+05 0.000e+00 0.000e+00 + 7 7.256e+04 0.000e+00 1.049e+05 2.227e+05 1.000e-09 1.000e-09 0.5000 1.801e-01 0.000e+00 0.000e+00 8.189e+04 5.767e+04 0.000e+00 0.000e+00 + 8 6.121e+04 0.000e+00 4.844e+04 9.579e+04 1.000e-09 1.000e-09 1.0000 9.003e-02 0.000e+00 0.000e+00 4.844e+04 1.135e+04 0.000e+00 0.000e+00 + 9 2.853e+04 0.000e+00 3.796e+04 7.591e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.796e+04 3.268e+04 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 2.692e+04 0.000e+00 5.648e+03 1.130e+04 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 2.471e+03 1.618e+03 0.000e+00 0.000e+00 + 11 2.322e+04 0.000e+00 3.856e+03 7.712e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.856e+03 3.696e+03 0.000e+00 0.000e+00 + 12 2.306e+04 0.000e+00 4.580e+02 9.161e+02 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 2.004e+02 1.566e+02 0.000e+00 0.000e+00 + 13 2.301e+04 0.000e+00 2.494e+02 4.988e+02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.871e+02 5.198e+01 0.000e+00 0.000e+00 + 14 2.277e+04 0.000e+00 3.591e+02 7.182e+02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 2.693e+02 2.405e+02 0.000e+00 0.000e+00 + 15 2.275e+04 0.000e+00 1.363e+02 2.726e+02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.022e+02 1.808e+01 0.000e+00 0.000e+00 + 16 2.266e+04 0.000e+00 1.378e+02 2.755e+02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.033e+02 8.951e+01 0.000e+00 0.000e+00 + 17 2.266e+04 0.000e+00 6.781e+01 1.356e+02 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 0.000e+00 8.212e+00 6.137e+00 0.000e+00 0.000e+00 + 18 2.260e+04 0.000e+00 5.583e+01 1.117e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.583e+01 5.230e+01 0.000e+00 0.000e+00 + 19 2.260e+04 0.000e+00 4.908e+00 9.815e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.908e+00 4.844e+00 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 20 2.260e+04 0.000e+00 1.480e-01 2.960e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.480e-01 1.398e-01 0.000e+00 0.000e+00 + 21 2.260e+04 0.000e+00 9.312e-03 1.862e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 9.312e-03 2.302e-03 0.000e+00 0.000e+00 + 22 2.260e+04 0.000e+00 6.403e-03 1.281e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 6.403e-03 7.381e-04 0.000e+00 0.000e+00 + 23 2.260e+04 0.000e+00 5.227e-03 1.045e-02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 3.920e-03 2.705e-03 0.000e+00 0.000e+00 + 24 2.260e+04 0.000e+00 2.388e-05 4.776e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.388e-05 1.094e-05 0.000e+00 0.000e+00 + 25 2.260e+04 0.000e+00 1.092e-05 2.183e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.092e-05 3.400e-06 0.000e+00 0.000e+00 + 26 2.260e+04 0.000e+00 5.833e-06 1.167e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.833e-06 1.504e-06 0.000e+00 0.000e+00 + 27 2.260e+04 0.000e+00 3.329e-06 6.657e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.329e-06 7.841e-07 0.000e+00 0.000e+00 + 28 2.260e+04 0.000e+00 1.973e-06 3.947e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.973e-06 4.357e-07 0.000e+00 0.000e+00 + 29 2.260e+04 0.000e+00 1.211e-06 2.422e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.211e-06 2.483e-07 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 30 2.260e+04 0.000e+00 7.746e-07 1.549e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.746e-07 1.433e-07 0.000e+00 0.000e+00 + 31 2.260e+04 0.000e+00 5.221e-07 1.044e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.221e-07 8.345e-08 0.000e+00 0.000e+00 + 32 2.260e+04 0.000e+00 3.748e-07 7.495e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.748e-07 4.909e-08 0.000e+00 0.000e+00 + 33 2.260e+04 0.000e+00 2.878e-07 5.755e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.878e-07 2.941e-08 0.000e+00 0.000e+00 + 34 2.260e+04 0.000e+00 2.355e-07 4.710e-07 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.766e-07 1.221e-07 0.000e+00 0.000e+00 + 35 2.260e+04 0.000e+00 9.363e-10 1.873e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 9.363e-10 3.311e-10 0.000e+00 0.000e+00 +*** SOLVE walking *** +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 7.965e+05 0.000e+00 3.616e+07 7.231e+07 1.000e-09 1.000e-09 1.0000 3.615e-02 0.000e+00 0.000e+00 3.616e+07 3.537e+07 0.000e+00 0.000e+00 + 1 1.635e+05 0.000e+00 7.847e+05 1.569e+06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.847e+05 6.331e+05 0.000e+00 0.000e+00 + 2 8.055e+04 0.000e+00 1.513e+05 3.026e+05 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.135e+05 8.290e+04 0.000e+00 0.000e+00 + 3 4.555e+04 0.000e+00 6.670e+04 1.334e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 6.670e+04 3.500e+04 0.000e+00 0.000e+00 + 4 1.871e+04 0.000e+00 3.193e+04 6.385e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.193e+04 2.684e+04 0.000e+00 0.000e+00 + 5 1.369e+04 0.000e+00 5.379e+03 1.076e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.379e+03 5.010e+03 0.000e+00 0.000e+00 + 6 1.367e+04 0.000e+00 6.440e+02 1.288e+03 1.000e-09 1.000e-09 0.0312 0.000e+00 0.000e+00 0.000e+00 3.962e+01 2.715e+01 0.000e+00 0.000e+00 + 7 1.338e+04 0.000e+00 4.624e+02 9.248e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.624e+02 2.864e+02 0.000e+00 0.000e+00 + 8 1.329e+04 0.000e+00 1.752e+02 3.504e+02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.314e+02 9.566e+01 0.000e+00 0.000e+00 + 9 1.325e+04 0.000e+00 8.142e+01 1.628e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.142e+01 3.904e+01 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 1.321e+04 0.000e+00 4.635e+01 9.269e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.635e+01 3.988e+01 0.000e+00 0.000e+00 + 11 1.320e+04 0.000e+00 6.553e+00 1.311e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 6.553e+00 6.474e+00 0.000e+00 0.000e+00 + 12 1.320e+04 0.000e+00 1.095e-01 2.189e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.095e-01 1.092e-01 0.000e+00 0.000e+00 + 13 1.320e+04 0.000e+00 1.518e-04 3.036e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.518e-04 1.329e-04 0.000e+00 0.000e+00 + 14 1.320e+04 0.000e+00 7.185e-06 1.437e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.185e-06 5.383e-06 0.000e+00 0.000e+00 + 15 1.320e+04 0.000e+00 6.520e-07 1.304e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 6.520e-07 4.390e-07 0.000e+00 0.000e+00 + 16 1.320e+04 0.000e+00 7.760e-08 1.552e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.760e-08 4.996e-08 0.000e+00 0.000e+00 diff --git a/examples/log/bipedal_gaits_invdyn.log b/examples/log/bipedal_gaits_invdyn.log new file mode 100644 index 0000000000..d08d7aa740 --- /dev/null +++ b/examples/log/bipedal_gaits_invdyn.log @@ -0,0 +1,136 @@ +*** SOLVE walking *** +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 1.696e+05 1.696e+05 2.258e+07 4.516e+07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.738e+01 2.258e+07 2.241e+07 2.258e+07 2.241e+07 + 1 5.708e+04 8.200e+04 1.649e+05 3.285e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 8.184e+00 1.649e+05 1.126e+05 3.756e+05 3.232e+05 + 2 2.469e+04 5.480e+04 5.195e+04 1.040e+05 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 3.321e+00 3.899e+04 3.239e+04 6.104e+04 7.649e+04 + 3 7.539e+03 3.517e+04 1.926e+04 3.859e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.048e+00 1.926e+04 1.715e+04 2.174e+04 1.963e+04 + 4 6.006e+03 1.902e+04 2.394e+03 4.798e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.435e+00 2.394e+03 1.533e+03 1.702e+04 1.616e+04 + 5 5.214e+03 1.668e+04 8.665e+02 1.734e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.265e+00 8.665e+02 7.917e+02 2.409e+03 2.334e+03 + 6 5.133e+03 6.771e+03 1.030e+02 2.056e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.807e-01 1.030e+02 8.172e+01 9.933e+03 9.912e+03 + 7 5.115e+03 5.198e+03 2.176e+01 4.358e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 9.158e-03 2.176e+01 1.729e+01 1.577e+03 1.573e+03 + 8 5.112e+03 5.119e+03 3.390e+00 6.784e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 8.117e-04 3.390e+00 3.410e+00 7.908e+01 7.910e+01 + 9 5.112e+03 5.112e+03 5.038e-02 1.020e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.346e-05 5.038e-02 5.042e-02 7.198e+00 7.198e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 5.112e+03 5.112e+03 1.926e-05 1.094e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.831e-07 -1.926e-05 -1.900e-05 2.111e-01 2.111e-01 + 11 5.112e+03 5.112e+03 6.884e-07 2.840e-07 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 9.447e-09 -6.884e-07 -7.094e-07 1.574e-03 1.574e-03 + 12 5.112e+03 5.112e+03 5.562e-08 1.399e-08 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 8.170e-10 -5.562e-08 -5.812e-08 7.820e-05 7.820e-05 +*** SOLVE jumping *** +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 8.664e+05 8.664e+05 9.027e+06 2.347e+07 1.000e-09 1.000e-09 1.0000 1.483e+00 0.000e+00 6.530e+02 9.027e+06 8.203e+06 9.027e+06 8.203e+06 + 1 2.242e+05 1.227e+06 8.504e+05 3.909e+06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.390e+02 8.504e+05 6.422e+05 1.062e+06 8.542e+05 + 2 1.005e+05 8.141e+05 1.966e+05 2.716e+06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.836e+02 1.966e+05 1.237e+05 4.858e+05 4.129e+05 + 3 4.079e+04 4.701e+05 7.824e+04 4.584e+05 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 2.308e+02 1.342e+05 5.972e+04 2.763e+05 3.440e+05 + 4 3.630e+04 1.716e+05 8.304e+03 2.103e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.271e+01 8.304e+03 4.483e+03 3.024e+05 2.986e+05 + 5 3.340e+04 9.462e+04 8.635e+03 3.790e+04 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 3.290e+01 1.163e+04 2.902e+03 4.866e+04 7.695e+04 + 6 2.915e+04 4.506e+04 4.208e+03 1.296e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 8.550e+00 4.208e+03 4.252e+03 4.952e+04 4.956e+04 + 7 2.967e+04 4.250e+04 1.116e+03 2.904e+03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 6.892e+00 1.005e+03 -5.233e+02 2.548e+03 2.562e+03 + 8 2.837e+04 4.063e+04 1.652e+03 4.210e+03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 6.590e+00 1.465e+03 1.303e+03 1.746e+03 1.865e+03 + 9 2.779e+04 3.862e+04 7.473e+02 2.477e+03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 5.823e+00 8.060e+02 5.833e+02 1.520e+03 2.011e+03 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 2.752e+04 3.654e+04 7.480e+02 2.022e+03 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 4.852e+00 4.258e+02 2.699e+02 8.774e+02 2.076e+03 + 11 2.720e+04 3.447e+04 7.704e+02 1.880e+03 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 3.907e+00 4.006e+02 3.204e+02 8.400e+02 2.078e+03 + 12 2.702e+04 3.396e+04 8.029e+02 1.789e+03 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 3.728e+00 2.082e+02 1.770e+02 2.499e+02 5.105e+02 + 13 2.684e+04 3.350e+04 8.214e+02 1.768e+03 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 3.579e+00 2.063e+02 1.819e+02 2.410e+02 4.596e+02 + 14 2.665e+04 3.307e+04 8.266e+02 1.732e+03 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 3.449e+00 2.023e+02 1.836e+02 2.325e+02 4.247e+02 + 15 2.647e+04 3.268e+04 8.335e+02 1.708e+03 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 3.338e+00 1.998e+02 1.856e+02 2.256e+02 3.916e+02 + 16 2.628e+04 3.231e+04 8.347e+02 1.680e+03 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 3.237e+00 1.968e+02 1.863e+02 2.204e+02 3.749e+02 + 17 2.610e+04 3.193e+04 8.275e+02 1.644e+03 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 3.133e+00 1.927e+02 1.849e+02 2.169e+02 3.790e+02 + 18 2.592e+04 3.155e+04 8.173e+02 1.607e+03 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 3.030e+00 1.886e+02 1.829e+02 2.125e+02 3.748e+02 + 19 2.574e+04 3.117e+04 7.959e+02 1.554e+03 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 2.918e+00 1.824e+02 1.783e+02 2.085e+02 3.865e+02 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 20 2.556e+04 3.077e+04 7.723e+02 1.502e+03 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 2.798e+00 1.763e+02 1.731e+02 2.043e+02 3.967e+02 + 21 2.540e+04 3.036e+04 7.397e+02 1.435e+03 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 2.666e+00 1.685e+02 1.658e+02 1.991e+02 4.108e+02 + 22 2.524e+04 2.998e+04 7.194e+02 1.396e+03 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 2.548e+00 1.639e+02 1.614e+02 1.913e+02 3.804e+02 + 23 2.509e+04 2.958e+04 6.766e+02 1.314e+03 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 2.415e+00 1.543e+02 1.485e+02 1.853e+02 3.969e+02 + 24 2.495e+04 2.913e+04 6.189e+02 1.203e+03 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 2.246e+00 1.413e+02 1.385e+02 1.806e+02 4.530e+02 + 25 2.482e+04 2.899e+04 5.757e+02 1.123e+03 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 2.240e+00 1.318e+02 1.288e+02 1.332e+02 1.401e+02 + 26 2.474e+04 2.887e+04 6.656e+02 1.308e+03 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 2.216e+00 7.926e+01 7.746e+01 8.196e+01 1.207e+02 + 27 2.467e+04 2.874e+04 6.359e+02 1.251e+03 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 2.190e+00 7.578e+01 7.403e+01 7.889e+01 1.239e+02 + 28 2.460e+04 2.862e+04 6.071e+02 1.195e+03 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 2.159e+00 7.239e+01 7.069e+01 7.588e+01 1.266e+02 + 29 2.453e+04 2.849e+04 5.798e+02 1.142e+03 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 2.127e+00 6.918e+01 6.753e+01 7.300e+01 1.287e+02 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 30 2.447e+04 2.836e+04 5.525e+02 1.089e+03 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 2.091e+00 6.595e+01 6.436e+01 7.010e+01 1.307e+02 + 31 2.441e+04 2.822e+04 5.259e+02 1.037e+03 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 2.053e+00 6.280e+01 6.126e+01 6.725e+01 1.324e+02 + 32 2.435e+04 2.809e+04 4.997e+02 9.855e+02 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 2.012e+00 5.970e+01 5.778e+01 6.442e+01 1.334e+02 + 33 2.429e+04 2.795e+04 4.604e+02 9.080e+02 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 1.967e+00 5.500e+01 5.357e+01 6.018e+01 1.365e+02 + 34 2.424e+04 2.782e+04 4.374e+02 8.630e+02 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 1.922e+00 5.227e+01 5.091e+01 5.761e+01 1.363e+02 + 35 2.419e+04 2.768e+04 4.146e+02 8.180e+02 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 1.874e+00 4.955e+01 4.825e+01 5.503e+01 1.360e+02 + 36 2.411e+04 2.767e+04 3.925e+02 7.745e+02 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 1.916e+00 9.084e+01 8.863e+01 8.121e+01 1.153e+01 + 37 2.403e+04 2.760e+04 3.514e+02 6.958e+02 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 1.921e+00 8.159e+01 7.919e+01 8.047e+01 7.021e+01 + 38 2.396e+04 2.749e+04 3.178e+02 6.314e+02 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 1.897e+00 7.402e+01 7.154e+01 7.950e+01 1.153e+02 + 39 2.389e+04 2.733e+04 2.851e+02 5.679e+02 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 1.850e+00 6.657e+01 6.408e+01 7.749e+01 1.514e+02 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 40 2.383e+04 2.716e+04 2.558e+02 5.108e+02 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 1.785e+00 5.987e+01 5.742e+01 7.499e+01 1.784e+02 + 41 2.378e+04 2.696e+04 2.284e+02 4.568e+02 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 1.709e+00 5.353e+01 5.119e+01 7.130e+01 1.933e+02 + 42 2.374e+04 2.676e+04 2.010e+02 4.025e+02 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 1.622e+00 4.717e+01 4.495e+01 6.726e+01 2.057e+02 + 43 2.366e+04 2.675e+04 1.765e+02 3.537e+02 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 1.656e+00 7.735e+01 7.413e+01 6.165e+01 1.130e+01 + 44 2.361e+04 2.652e+04 1.363e+02 2.777e+02 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 1.568e+00 6.058e+01 5.668e+01 1.015e+02 2.205e+02 + 45 2.356e+04 2.621e+04 1.052e+02 2.163e+02 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 1.420e+00 4.713e+01 4.332e+01 1.161e+02 3.193e+02 + 46 2.351e+04 2.619e+04 8.155e+01 1.677e+02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 1.443e+00 6.232e+01 5.853e+01 4.036e+01 1.459e+01 + 47 2.347e+04 2.557e+04 5.168e+01 1.110e+02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 1.128e+00 4.067e+01 3.574e+01 3.343e+02 6.230e+02 + 48 2.344e+04 2.521e+04 3.369e+01 6.949e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 9.526e-01 3.369e+01 2.706e+01 3.594e+02 3.528e+02 + 49 2.342e+04 2.389e+04 2.650e+01 5.039e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.544e-01 2.650e+01 2.659e+01 1.326e+03 1.326e+03 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 50 2.341e+04 2.361e+04 8.481e+00 1.265e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.065e-01 8.481e+00 8.507e+00 2.837e+02 2.837e+02 + 51 2.340e+04 2.347e+04 4.304e+00 6.262e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.539e-02 4.304e+00 4.302e+00 1.365e+02 1.365e+02 + 52 2.340e+04 2.344e+04 2.319e+00 3.344e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.989e-02 2.319e+00 2.323e+00 3.115e+01 3.115e+01 + 53 2.340e+04 2.342e+04 1.268e+00 1.832e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.240e-02 1.268e+00 1.266e+00 1.521e+01 1.521e+01 + 54 2.340e+04 2.341e+04 7.042e-01 1.020e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.017e-03 7.042e-01 7.060e-01 1.257e+01 1.258e+01 + 55 2.340e+04 2.341e+04 3.877e-01 5.666e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.957e-03 3.877e-01 3.873e-01 4.221e+00 4.221e+00 + 56 2.340e+04 2.340e+04 2.160e-01 3.197e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.977e-03 2.160e-01 2.169e-01 3.899e+00 3.900e+00 + 57 2.340e+04 2.340e+04 1.186e-01 1.808e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.164e-03 1.186e-01 1.184e-01 1.631e+00 1.631e+00 + 58 2.340e+04 2.340e+04 6.652e-02 1.069e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.080e-04 6.652e-02 6.696e-02 1.102e+00 1.102e+00 + 59 2.340e+04 2.340e+04 3.693e-02 6.653e-02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 2.740e-04 2.587e-02 2.583e-02 3.365e-01 6.472e-01 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 60 2.340e+04 2.340e+04 1.448e-02 2.630e-02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 2.134e-04 1.019e-02 1.020e-02 6.657e-02 1.230e-01 + 61 2.340e+04 2.340e+04 1.235e-02 2.124e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.107e-04 1.235e-02 1.236e-02 1.754e-02 1.755e-02 + 62 2.340e+04 2.340e+04 1.145e-02 1.634e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.191e-04 1.145e-02 1.146e-02 1.818e-01 1.818e-01 + 63 2.340e+04 2.340e+04 6.292e-03 8.976e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.268e-05 6.292e-03 6.295e-03 1.112e-01 1.112e-01 + 64 2.340e+04 2.340e+04 3.455e-03 4.930e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.692e-05 3.455e-03 3.457e-03 5.138e-02 5.138e-02 + 65 2.340e+04 2.340e+04 1.896e-03 2.708e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.790e-05 1.896e-03 1.897e-03 3.729e-02 3.729e-02 + 66 2.340e+04 2.340e+04 1.041e-03 1.491e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.176e-05 1.041e-03 1.042e-03 1.246e-02 1.246e-02 + 67 2.340e+04 2.340e+04 5.719e-04 8.242e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.748e-06 5.719e-04 5.719e-04 1.176e-02 1.176e-02 + 68 2.340e+04 2.340e+04 3.154e-04 4.621e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.925e-06 3.154e-04 3.155e-04 3.706e-03 3.706e-03 + 69 2.340e+04 2.340e+04 1.750e-04 2.676e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.661e-06 1.750e-04 1.746e-04 2.527e-03 2.526e-03 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 70 2.340e+04 2.340e+04 9.939e-05 1.679e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.430e-06 9.939e-05 9.900e-05 2.390e-03 2.390e-03 + 71 2.340e+04 2.340e+04 5.905e-05 1.224e-04 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 3.702e-07 4.535e-05 4.514e-05 1.031e-03 2.017e-03 + 72 2.340e+04 2.340e+04 6.753e-06 2.382e-05 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 2.245e-07 7.642e-06 7.648e-06 1.431e-04 2.786e-04 + 73 2.340e+04 2.340e+04 1.038e-05 2.297e-05 1.000e-08 1.000e-08 0.5000 0.000e+00 0.000e+00 1.642e-07 8.338e-06 8.342e-06 6.450e-05 1.207e-04 + 74 2.340e+04 2.340e+04 1.075e-05 2.028e-05 1.000e-07 1.000e-07 0.5000 0.000e+00 0.000e+00 1.387e-07 7.759e-06 7.762e-06 3.140e-05 5.505e-05 + 75 2.340e+04 2.340e+04 9.588e-06 1.681e-05 1.000e-06 1.000e-06 0.5000 0.000e+00 0.000e+00 1.121e-07 6.599e-06 6.601e-06 3.135e-05 5.611e-05 + 76 2.340e+04 2.340e+04 7.975e-06 1.343e-05 1.000e-05 1.000e-05 0.5000 0.000e+00 0.000e+00 8.831e-08 5.352e-06 5.356e-06 2.751e-05 4.967e-05 + 77 2.340e+04 2.340e+04 6.337e-06 1.041e-05 1.000e-04 1.000e-04 0.5000 0.000e+00 0.000e+00 6.771e-08 4.186e-06 4.204e-06 2.336e-05 4.254e-05 + 78 2.340e+04 2.340e+04 4.671e-06 7.472e-06 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 5.863e-08 4.671e-06 4.936e-06 2.155e-05 2.182e-05 + 79 2.340e+04 2.340e+04 3.453e-06 5.061e-06 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 3.483e-08 3.453e-06 3.636e-06 4.774e-05 4.792e-05 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 80 2.340e+04 2.340e+04 1.990e-06 2.935e-06 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 1.993e-08 1.990e-06 2.111e-06 2.971e-05 2.984e-05 + 81 2.340e+04 2.340e+04 1.171e-06 1.734e-06 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 1.176e-08 1.171e-06 1.254e-06 1.638e-05 1.646e-05 + 82 2.340e+04 2.340e+04 6.967e-07 1.039e-06 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 6.885e-09 6.967e-07 7.562e-07 9.760e-06 9.820e-06 + 83 2.340e+04 2.340e+04 4.208e-07 6.325e-07 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 4.093e-09 4.208e-07 4.645e-07 5.616e-06 5.659e-06 + 84 2.340e+04 2.340e+04 2.578e-07 3.915e-07 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 2.439e-09 2.578e-07 2.904e-07 3.334e-06 3.367e-06 + 85 2.340e+04 2.340e+04 1.606e-07 2.468e-07 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 1.467e-09 1.606e-07 1.853e-07 1.970e-06 1.994e-06 + 86 2.340e+04 2.340e+04 1.017e-07 1.584e-07 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 8.889e-10 1.017e-07 1.205e-07 1.177e-06 1.196e-06 + 87 2.340e+04 2.340e+04 6.554e-08 1.035e-07 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 5.408e-10 6.554e-08 7.985e-08 7.131e-07 7.274e-07 +*** SOLVE walking *** +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 7.763e+05 7.763e+05 3.615e+07 7.231e+07 1.000e-09 1.000e-09 1.0000 3.942e-02 0.000e+00 2.092e+02 3.615e+07 3.539e+07 3.615e+07 3.539e+07 + 1 6.030e+04 2.676e+05 7.646e+05 1.520e+06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.971e+01 7.646e+05 7.160e+05 1.650e+06 1.601e+06 + 2 3.451e+04 1.750e+05 4.741e+04 9.503e+04 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 2.691e+01 3.561e+04 2.578e+04 6.902e+04 9.259e+04 + 3 1.730e+04 4.693e+04 2.151e+04 4.319e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.676e+00 2.151e+04 1.722e+04 1.323e+05 1.281e+05 + 4 3.414e+04 4.449e+04 4.515e+03 9.032e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.983e+00 4.515e+03 -1.684e+04 2.379e+04 2.433e+03 + 5 1.882e+04 3.947e+04 2.109e+04 4.220e+04 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 1.360e+00 1.582e+04 1.533e+04 2.055e+04 2.479e+04 + 6 1.309e+04 3.024e+04 5.706e+03 1.142e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.129e+00 5.706e+03 5.729e+03 9.213e+03 9.236e+03 + 7 1.353e+04 2.538e+04 2.338e+02 4.692e+02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 7.800e-01 1.757e+02 -4.436e+02 2.827e+03 4.859e+03 + 8 1.292e+04 1.744e+04 5.988e+02 1.197e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.975e-01 5.988e+02 6.064e+02 7.929e+03 7.937e+03 + 9 1.300e+04 1.520e+04 2.786e+01 5.568e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.449e-01 2.786e+01 -7.863e+01 2.346e+03 2.240e+03 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 1.291e+04 1.350e+04 9.657e+01 1.936e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.905e-02 9.657e+01 9.561e+01 1.704e+03 1.703e+03 + 11 1.291e+04 1.320e+04 7.911e+00 1.587e+01 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 1.945e-02 5.945e+00 6.537e-01 1.548e+02 2.983e+02 + 12 1.290e+04 1.305e+04 5.310e+00 1.064e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 9.668e-03 5.310e+00 5.317e+00 1.539e+02 1.539e+02 + 13 1.290e+04 1.292e+04 7.879e-02 1.751e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.327e-03 7.879e-02 7.825e-02 1.268e+02 1.268e+02 + 14 1.290e+04 1.290e+04 1.156e-03 2.569e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.780e-05 -1.156e-03 -1.207e-03 1.989e+01 1.989e+01 + 15 1.290e+04 1.290e+04 8.213e-05 1.681e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.477e-06 -8.213e-05 -8.912e-05 2.479e-01 2.479e-01 + 16 1.290e+04 1.290e+04 6.319e-06 7.274e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.921e-07 -6.319e-06 -7.482e-06 1.950e-02 1.950e-02 + 17 1.290e+04 1.290e+04 3.954e-07 4.604e-07 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.116e-08 -3.954e-07 -5.462e-07 2.596e-03 2.596e-03 + 18 1.290e+04 1.290e+04 4.359e-08 6.458e-08 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 2.677e-09 -4.359e-08 -6.497e-08 2.808e-04 2.808e-04 diff --git a/examples/log/bipedal_walk_fwddyn.log b/examples/log/bipedal_walk_fwddyn.log deleted file mode 100644 index be774bd3f9..0000000000 --- a/examples/log/bipedal_walk_fwddyn.log +++ /dev/null @@ -1,87 +0,0 @@ -*** SOLVE walking *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 2.392e+05 0.000e+00 2.264e+07 4.529e+07 1.000e-09 1.000e-09 1.0000 5.457e-14 0.000e+00 0.000e+00 2.264e+07 2.241e+07 0.000e+00 0.000e+00 - 1 4.291e+04 0.000e+00 2.343e+05 4.686e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.343e+05 1.963e+05 0.000e+00 0.000e+00 - 2 1.700e+04 0.000e+00 3.776e+04 7.552e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.776e+04 2.591e+04 0.000e+00 0.000e+00 - 3 1.377e+04 0.000e+00 1.197e+04 2.393e+04 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 5.235e+03 3.236e+03 0.000e+00 0.000e+00 - 4 6.509e+03 0.000e+00 8.672e+03 1.734e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.672e+03 7.257e+03 0.000e+00 0.000e+00 - 5 5.517e+03 0.000e+00 1.410e+03 2.820e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.410e+03 9.917e+02 0.000e+00 0.000e+00 - 6 5.273e+03 0.000e+00 4.727e+02 9.455e+02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 3.545e+02 2.448e+02 0.000e+00 0.000e+00 - 7 5.140e+03 0.000e+00 1.991e+02 3.982e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.991e+02 1.322e+02 0.000e+00 0.000e+00 - 8 5.130e+03 0.000e+00 7.402e+01 1.480e+02 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 1.735e+01 9.968e+00 0.000e+00 0.000e+00 - 9 5.074e+03 0.000e+00 5.947e+01 1.189e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.947e+01 5.652e+01 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 5.072e+03 0.000e+00 3.188e+00 6.375e+00 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 2.391e+00 1.394e+00 0.000e+00 0.000e+00 - 11 5.071e+03 0.000e+00 1.693e+00 3.386e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.693e+00 1.690e+00 0.000e+00 0.000e+00 - 12 5.071e+03 0.000e+00 8.239e-03 1.648e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.239e-03 8.630e-03 0.000e+00 0.000e+00 - 13 5.071e+03 0.000e+00 2.559e-02 5.119e-02 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 5.998e-03 5.998e-03 0.000e+00 0.000e+00 - 14 5.071e+03 0.000e+00 1.959e-02 3.918e-02 1.000e-09 1.000e-09 0.0312 0.000e+00 0.000e+00 0.000e+00 1.205e-03 7.148e-04 0.000e+00 0.000e+00 - 15 5.071e+03 0.000e+00 1.472e-03 2.943e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.472e-03 1.472e-03 0.000e+00 0.000e+00 - 16 5.071e+03 0.000e+00 9.997e-07 1.999e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 9.997e-07 9.716e-07 0.000e+00 0.000e+00 - 17 5.071e+03 0.000e+00 1.630e-08 3.260e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.630e-08 1.486e-08 0.000e+00 0.000e+00 -*** SOLVE walking *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 1.001e+07 0.000e+00 3.632e+07 7.220e+07 1.000e-09 1.000e-09 0.5000 2.098e+00 0.000e+00 0.000e+00 2.719e+07 2.633e+07 0.000e+00 0.000e+00 - 1 2.533e+06 0.000e+00 9.997e+06 1.983e+07 1.000e-09 1.000e-09 0.5000 1.049e+00 0.000e+00 0.000e+00 7.478e+06 7.476e+06 0.000e+00 0.000e+00 - 2 7.209e+04 0.000e+00 2.522e+06 5.044e+06 1.000e-09 1.000e-09 1.0000 5.245e-01 0.000e+00 0.000e+00 2.522e+06 2.461e+06 0.000e+00 0.000e+00 - 3 3.357e+04 0.000e+00 6.551e+04 1.310e+05 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 4.913e+04 3.852e+04 0.000e+00 0.000e+00 - 4 1.788e+04 0.000e+00 2.731e+04 5.461e+04 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 2.048e+04 1.568e+04 0.000e+00 0.000e+00 - 5 1.543e+04 0.000e+00 1.143e+04 2.286e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.143e+04 2.451e+03 0.000e+00 0.000e+00 - 6 1.102e+04 0.000e+00 9.157e+03 1.831e+04 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 6.868e+03 4.410e+03 0.000e+00 0.000e+00 - 7 7.132e+03 0.000e+00 4.658e+03 9.317e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.658e+03 3.890e+03 0.000e+00 0.000e+00 - 8 6.808e+03 0.000e+00 1.061e+03 2.123e+03 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 4.644e+02 3.241e+02 0.000e+00 0.000e+00 - 9 6.538e+03 0.000e+00 6.768e+02 1.354e+03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 5.076e+02 2.704e+02 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 6.334e+03 0.000e+00 3.832e+02 7.663e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.832e+02 2.034e+02 0.000e+00 0.000e+00 - 11 6.210e+03 0.000e+00 2.044e+02 4.089e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.044e+02 1.247e+02 0.000e+00 0.000e+00 - 12 6.134e+03 0.000e+00 7.658e+01 1.532e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.658e+01 7.553e+01 0.000e+00 0.000e+00 - 13 6.134e+03 0.000e+00 4.416e+00 8.832e+00 1.000e-09 1.000e-09 0.0312 0.000e+00 0.000e+00 0.000e+00 2.717e-01 1.470e-01 0.000e+00 0.000e+00 - 14 6.131e+03 0.000e+00 2.521e+00 5.042e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.521e+00 2.541e+00 0.000e+00 0.000e+00 - 15 6.131e+03 0.000e+00 1.880e-01 3.761e-01 1.000e-09 1.000e-09 0.0312 0.000e+00 0.000e+00 0.000e+00 1.157e-02 7.781e-03 0.000e+00 0.000e+00 - 16 6.131e+03 0.000e+00 1.243e-02 2.487e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.243e-02 1.244e-02 0.000e+00 0.000e+00 - 17 6.131e+03 0.000e+00 1.286e-06 2.572e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.286e-06 1.268e-06 0.000e+00 0.000e+00 - 18 6.131e+03 0.000e+00 1.515e-08 3.031e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.515e-08 1.326e-08 0.000e+00 0.000e+00 -*** SOLVE walking *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 1.001e+07 0.000e+00 3.633e+07 7.222e+07 1.000e-09 1.000e-09 0.5000 1.899e+00 0.000e+00 0.000e+00 2.719e+07 2.633e+07 0.000e+00 0.000e+00 - 1 2.495e+06 0.000e+00 1.000e+07 1.984e+07 1.000e-09 1.000e-09 0.5000 9.496e-01 0.000e+00 0.000e+00 7.481e+06 7.516e+06 0.000e+00 0.000e+00 - 2 6.294e+05 0.000e+00 2.485e+06 4.927e+06 1.000e-09 1.000e-09 0.5000 4.748e-01 0.000e+00 0.000e+00 1.859e+06 1.866e+06 0.000e+00 0.000e+00 - 3 1.805e+04 0.000e+00 6.206e+05 1.241e+06 1.000e-09 1.000e-09 1.0000 2.374e-01 0.000e+00 0.000e+00 6.206e+05 6.113e+05 0.000e+00 0.000e+00 - 4 1.281e+04 0.000e+00 1.189e+04 2.378e+04 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 8.917e+03 5.242e+03 0.000e+00 0.000e+00 - 5 9.565e+03 0.000e+00 6.355e+03 1.271e+04 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 4.766e+03 3.246e+03 0.000e+00 0.000e+00 - 6 8.527e+03 0.000e+00 3.104e+03 6.208e+03 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 1.358e+03 1.038e+03 0.000e+00 0.000e+00 - 7 7.866e+03 0.000e+00 1.967e+03 3.934e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.967e+03 6.611e+02 0.000e+00 0.000e+00 - 8 7.351e+03 0.000e+00 1.421e+03 2.843e+03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.066e+03 5.149e+02 0.000e+00 0.000e+00 - 9 7.074e+03 0.000e+00 1.010e+03 2.020e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.010e+03 2.766e+02 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 6.834e+03 0.000e+00 7.936e+02 1.587e+03 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 3.472e+02 2.401e+02 0.000e+00 0.000e+00 - 11 6.380e+03 0.000e+00 4.947e+02 9.895e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.947e+02 4.536e+02 0.000e+00 0.000e+00 - 12 6.337e+03 0.000e+00 7.185e+01 1.437e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.185e+01 4.325e+01 0.000e+00 0.000e+00 - 13 6.316e+03 0.000e+00 2.092e+01 4.184e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.092e+01 2.081e+01 0.000e+00 0.000e+00 - 14 6.316e+03 0.000e+00 1.008e-01 2.015e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.008e-01 1.008e-01 0.000e+00 0.000e+00 - 15 6.316e+03 0.000e+00 9.189e-06 1.838e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 9.189e-06 8.763e-06 0.000e+00 0.000e+00 - 16 6.316e+03 0.000e+00 1.254e-07 2.508e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.254e-07 1.085e-07 0.000e+00 0.000e+00 - 17 6.316e+03 0.000e+00 6.024e-09 1.205e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 6.024e-09 4.463e-09 0.000e+00 0.000e+00 -*** SOLVE walking *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 1.003e+07 0.000e+00 3.633e+07 7.224e+07 1.000e-09 1.000e-09 0.5000 1.768e+00 0.000e+00 0.000e+00 2.720e+07 2.632e+07 0.000e+00 0.000e+00 - 1 2.496e+06 0.000e+00 1.002e+07 1.988e+07 1.000e-09 1.000e-09 0.5000 8.838e-01 0.000e+00 0.000e+00 7.495e+06 7.535e+06 0.000e+00 0.000e+00 - 2 6.288e+05 0.000e+00 2.485e+06 4.928e+06 1.000e-09 1.000e-09 0.5000 4.419e-01 0.000e+00 0.000e+00 1.859e+06 1.867e+06 0.000e+00 0.000e+00 - 3 1.606e+04 0.000e+00 6.202e+05 1.240e+06 1.000e-09 1.000e-09 1.0000 2.209e-01 0.000e+00 0.000e+00 6.202e+05 6.127e+05 0.000e+00 0.000e+00 - 4 1.436e+04 0.000e+00 9.920e+03 1.984e+04 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 7.440e+03 1.706e+03 0.000e+00 0.000e+00 - 5 9.540e+03 0.000e+00 7.775e+03 1.555e+04 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 5.831e+03 4.816e+03 0.000e+00 0.000e+00 - 6 7.710e+03 0.000e+00 2.908e+03 5.815e+03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 2.181e+03 1.830e+03 0.000e+00 0.000e+00 - 7 7.167e+03 0.000e+00 1.059e+03 2.119e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.059e+03 5.430e+02 0.000e+00 0.000e+00 - 8 7.021e+03 0.000e+00 6.635e+02 1.327e+03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 4.976e+02 1.468e+02 0.000e+00 0.000e+00 - 9 6.586e+03 0.000e+00 4.761e+02 9.522e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.761e+02 4.347e+02 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 6.578e+03 0.000e+00 1.115e+02 2.231e+02 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 2.614e+01 8.007e+00 0.000e+00 0.000e+00 - 11 6.531e+03 0.000e+00 6.119e+01 1.224e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 6.119e+01 4.690e+01 0.000e+00 0.000e+00 - 12 6.521e+03 0.000e+00 1.545e+01 3.091e+01 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.159e+01 9.529e+00 0.000e+00 0.000e+00 - 13 6.518e+03 0.000e+00 5.229e+00 1.046e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.229e+00 3.303e+00 0.000e+00 0.000e+00 - 14 6.518e+03 0.000e+00 3.055e+00 6.109e+00 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 7.159e-01 4.434e-01 0.000e+00 0.000e+00 - 15 6.516e+03 0.000e+00 1.946e+00 3.892e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.946e+00 1.948e+00 0.000e+00 0.000e+00 - 16 6.516e+03 0.000e+00 7.068e-03 1.414e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.068e-03 7.329e-03 0.000e+00 0.000e+00 - 17 6.516e+03 0.000e+00 7.596e-03 1.519e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.596e-03 7.598e-03 0.000e+00 0.000e+00 - 18 6.516e+03 0.000e+00 1.081e-06 2.162e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.081e-06 1.084e-06 0.000e+00 0.000e+00 - 19 6.516e+03 0.000e+00 8.081e-09 1.616e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.081e-09 7.700e-09 0.000e+00 0.000e+00 diff --git a/examples/log/bipedal_walk_invdyn.log b/examples/log/bipedal_walk_invdyn.log deleted file mode 100644 index 1a77c778dc..0000000000 --- a/examples/log/bipedal_walk_invdyn.log +++ /dev/null @@ -1,112 +0,0 @@ -*** SOLVE walking *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 1.739e+05 1.739e+05 2.264e+07 4.529e+07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.244e+01 2.264e+07 2.248e+07 2.264e+07 2.248e+07 - 1 2.673e+04 6.358e+04 1.691e+05 3.351e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 9.521e+00 1.691e+05 1.471e+05 3.739e+05 3.519e+05 - 2 2.059e+04 3.070e+04 2.153e+04 4.312e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.611e+00 2.153e+04 6.140e+03 4.826e+04 3.288e+04 - 3 8.090e+03 1.818e+04 1.545e+04 3.089e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.195e+00 1.545e+04 1.250e+04 2.742e+04 2.448e+04 - 4 5.281e+03 1.204e+04 3.011e+03 6.027e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.996e-01 3.011e+03 2.809e+03 6.348e+03 6.146e+03 - 5 5.612e+03 1.130e+04 2.245e+02 4.506e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.731e-01 2.245e+02 -3.310e+02 1.294e+03 7.381e+02 - 6 5.240e+03 7.396e+03 5.212e+02 1.043e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.551e-01 5.212e+02 3.722e+02 4.052e+03 3.903e+03 - 7 5.229e+03 6.910e+03 1.863e+02 3.726e+02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 1.989e-01 1.397e+02 1.082e+01 3.773e+02 4.859e+02 - 8 5.072e+03 5.770e+03 1.571e+02 3.141e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 8.267e-02 1.571e+02 1.572e+02 1.139e+03 1.139e+03 - 9 5.139e+03 5.230e+03 1.857e+00 3.729e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.071e-02 1.857e+00 -6.733e+01 6.099e+02 5.407e+02 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 5.071e+03 5.098e+03 6.759e+01 1.352e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.905e-03 6.759e+01 6.788e+01 1.379e+02 1.382e+02 - 11 5.074e+03 5.089e+03 9.483e-01 1.903e+00 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 1.590e-03 7.120e-01 -2.737e+00 6.640e+00 9.120e+00 - 12 5.073e+03 5.082e+03 3.416e+00 6.836e+00 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 1.084e-03 2.563e+00 1.488e+00 4.846e+00 6.053e+00 - 13 5.071e+03 5.072e+03 1.846e+00 3.693e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.635e-04 1.846e+00 1.872e+00 1.014e+01 1.017e+01 - 14 5.071e+03 5.072e+03 4.485e-01 8.970e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 1.423e-04 1.051e-01 -1.532e-01 1.289e-01 3.749e-02 - 15 5.071e+03 5.072e+03 1.962e-01 3.924e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.215e-04 1.962e-01 1.961e-01 3.841e-01 3.841e-01 - 16 5.071e+03 5.071e+03 5.497e-05 2.499e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.985e-07 5.497e-05 5.478e-05 1.092e+00 1.092e+00 - 17 5.071e+03 5.071e+03 4.134e-08 3.647e-07 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.549e-09 -4.134e-08 -3.607e-08 2.669e-03 2.669e-03 -*** SOLVE walking *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 1.180e+06 1.180e+06 3.633e+07 7.262e+07 1.000e-09 1.000e-09 1.0000 1.412e+00 0.000e+00 6.597e+01 3.633e+07 3.517e+07 3.633e+07 3.517e+07 - 1 9.949e+04 2.159e+06 1.174e+06 2.336e+06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 8.103e+01 1.174e+06 1.080e+06 7.912e+05 6.976e+05 - 2 1.789e+04 4.081e+05 9.320e+04 1.889e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.535e+01 9.320e+04 8.160e+04 1.763e+06 1.751e+06 - 3 4.485e+04 1.260e+05 1.168e+04 2.326e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.194e+00 1.168e+04 -2.696e+04 3.207e+05 2.820e+05 - 4 1.562e+04 7.806e+04 3.874e+04 7.751e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.456e+00 3.874e+04 2.923e+04 5.749e+04 4.798e+04 - 5 7.156e+03 5.025e+04 9.250e+03 1.851e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.695e+00 9.250e+03 8.469e+03 2.859e+04 2.781e+04 - 6 9.267e+03 3.550e+04 1.035e+03 2.064e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.032e+00 1.035e+03 -2.112e+03 1.790e+04 1.476e+04 - 7 8.804e+03 1.788e+04 3.094e+03 6.186e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.571e-01 3.094e+03 4.637e+02 2.025e+04 1.762e+04 - 8 7.459e+03 1.215e+04 2.683e+03 5.366e+03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 1.844e-01 2.012e+03 1.345e+03 4.207e+03 5.734e+03 - 9 6.890e+03 1.063e+04 1.300e+03 2.601e+03 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 1.470e-01 5.689e+02 5.684e+02 8.062e+02 1.518e+03 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 6.571e+03 9.735e+03 7.299e+02 1.460e+03 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 1.245e-01 3.194e+02 3.194e+02 4.629e+02 8.935e+02 - 11 6.264e+03 9.312e+03 4.129e+02 8.261e+02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 1.199e-01 3.097e+02 3.072e+02 3.673e+02 4.223e+02 - 12 6.263e+03 7.087e+03 1.136e+02 2.275e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.243e-02 1.136e+02 8.437e-01 2.338e+03 2.225e+03 - 13 6.202e+03 7.040e+03 1.445e+02 2.890e+02 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 3.297e-02 6.322e+01 6.101e+01 5.980e+01 4.731e+01 - 14 6.150e+03 6.830e+03 6.971e+01 1.394e+02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 2.674e-02 5.229e+01 5.185e+01 1.315e+02 2.102e+02 - 15 6.132e+03 6.447e+03 1.777e+01 3.552e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.240e-02 1.777e+01 1.796e+01 3.822e+02 3.824e+02 - 16 6.161e+03 6.319e+03 3.219e+00 6.413e+00 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 6.204e-03 2.411e+00 -2.904e+01 8.118e+01 1.285e+02 - 17 6.132e+03 6.150e+03 2.876e+01 5.751e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.065e-04 2.876e+01 2.910e+01 1.685e+02 1.688e+02 - 18 6.132e+03 6.149e+03 1.744e+00 3.489e+00 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 6.580e-04 4.088e-01 -1.439e-02 5.630e-01 1.219e+00 - 19 6.132e+03 6.148e+03 8.402e-01 1.680e+00 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 6.479e-04 6.301e-01 6.217e-01 7.586e-01 8.785e-01 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 20 6.131e+03 6.139e+03 2.054e-01 4.109e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.205e-04 2.054e-01 2.053e-01 8.526e+00 8.526e+00 - 21 6.131e+03 6.132e+03 2.397e-03 4.955e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.195e-05 2.397e-03 2.425e-03 7.846e+00 7.846e+00 - 22 6.131e+03 6.131e+03 2.312e-04 4.538e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.212e-06 2.312e-04 -3.423e-04 2.731e-01 2.725e-01 - 23 6.131e+03 6.131e+03 5.661e-04 1.131e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.710e-08 5.661e-04 5.661e-04 3.067e-02 3.067e-02 - 24 6.131e+03 6.131e+03 2.112e-08 4.197e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.269e-11 -2.112e-08 -2.143e-08 6.871e-04 6.871e-04 -*** SOLVE walking *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 1.132e+06 1.132e+06 3.633e+07 7.263e+07 1.000e-09 1.000e-09 1.0000 1.279e+00 0.000e+00 6.904e+01 3.633e+07 3.522e+07 3.633e+07 3.522e+07 - 1 1.047e+05 1.796e+06 1.126e+06 2.243e+06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.258e+01 1.126e+06 1.028e+06 1.043e+06 9.449e+05 - 2 5.755e+04 4.041e+05 9.856e+04 1.988e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.487e+01 9.856e+04 4.714e+04 1.443e+06 1.392e+06 - 3 4.478e+04 2.985e+05 5.091e+04 1.019e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.089e+01 5.091e+04 1.277e+04 1.438e+05 1.056e+05 - 4 1.200e+04 7.559e+04 3.835e+04 7.673e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.729e+00 3.835e+04 3.278e+04 2.285e+05 2.229e+05 - 5 1.144e+04 3.718e+04 5.680e+03 1.137e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.104e+00 5.680e+03 5.581e+02 4.354e+04 3.842e+04 - 6 9.243e+03 3.153e+04 5.076e+03 1.015e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 9.566e-01 5.076e+03 2.201e+03 8.520e+03 5.645e+03 - 7 7.610e+03 2.647e+04 2.857e+03 5.714e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 8.095e-01 2.857e+03 1.633e+03 6.283e+03 5.059e+03 - 8 7.114e+03 2.252e+04 1.334e+03 2.669e+03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 6.613e-01 1.001e+03 4.959e+02 2.728e+03 3.951e+03 - 9 6.387e+03 2.198e+04 7.725e+02 1.547e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.690e-01 7.725e+02 7.275e+02 5.923e+02 5.473e+02 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 7.044e+03 1.920e+04 8.636e+01 1.725e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.216e-01 8.636e+01 -6.573e+02 3.521e+03 2.777e+03 - 11 6.331e+03 1.255e+04 7.118e+02 1.424e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.669e-01 7.118e+02 7.125e+02 6.647e+03 6.647e+03 - 12 6.467e+03 1.025e+04 3.479e+01 6.956e+01 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 1.623e-01 2.609e+01 -1.353e+02 1.245e+03 2.302e+03 - 13 6.326e+03 7.932e+03 1.493e+02 2.985e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.892e-02 1.493e+02 1.408e+02 2.325e+03 2.317e+03 - 14 6.463e+03 6.710e+03 1.174e+01 2.347e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.060e-02 1.174e+01 -1.373e+02 1.371e+03 1.222e+03 - 15 6.332e+03 6.644e+03 1.436e+02 2.872e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.339e-02 1.436e+02 1.318e+02 7.862e+01 6.678e+01 - 16 6.472e+03 6.542e+03 1.746e+01 3.494e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.034e-03 1.746e+01 -1.402e+02 2.588e+02 1.011e+02 - 17 6.328e+03 6.481e+03 1.542e+02 3.084e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.101e-03 1.542e+02 1.433e+02 2.219e+02 2.111e+02 - 18 6.328e+03 6.465e+03 1.321e+01 2.641e+01 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 1.884e-03 5.777e+00 1.208e-01 9.707e+00 1.584e+01 - 19 6.320e+03 6.415e+03 1.175e+01 2.350e+01 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 1.309e-03 8.812e+00 8.815e+00 2.970e+01 5.058e+01 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 20 6.317e+03 6.354e+03 3.032e+00 6.065e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.186e-04 3.032e+00 2.979e+00 6.041e+01 6.036e+01 - 21 6.316e+03 6.342e+03 2.783e-01 5.565e-01 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 3.540e-04 2.087e-01 2.057e-01 6.183e+00 1.215e+01 - 22 6.318e+03 6.332e+03 7.243e-02 1.448e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.860e-04 7.243e-02 -2.101e+00 1.227e+01 1.009e+01 - 23 6.316e+03 6.330e+03 2.123e+00 4.245e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.831e-04 2.123e+00 2.123e+00 2.334e+00 2.334e+00 - 24 6.316e+03 6.316e+03 5.196e-05 1.329e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.177e-07 5.196e-05 5.204e-05 1.328e+01 1.328e+01 - 25 6.316e+03 6.316e+03 3.915e-07 1.105e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.446e-10 -3.915e-07 -3.921e-07 8.492e-03 8.492e-03 - 26 6.316e+03 6.316e+03 3.032e-09 1.458e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 7.805e-12 -3.032e-09 -3.361e-09 5.348e-05 5.348e-05 -*** SOLVE walking *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 1.095e+06 1.095e+06 3.634e+07 7.264e+07 1.000e-09 1.000e-09 1.0000 1.190e+00 0.000e+00 7.174e+01 3.634e+07 3.526e+07 3.634e+07 3.526e+07 - 1 1.113e+05 1.636e+06 1.088e+06 2.168e+06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.037e+01 1.088e+06 9.832e+05 1.118e+06 1.013e+06 - 2 5.932e+04 3.512e+05 1.050e+05 2.113e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.347e+01 1.050e+05 5.201e+04 1.338e+06 1.285e+06 - 3 3.998e+04 2.740e+05 5.252e+04 1.051e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.080e+01 5.252e+04 1.935e+04 1.105e+05 7.729e+04 - 4 1.121e+04 5.417e+04 3.339e+04 6.682e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.983e+00 3.339e+04 2.877e+04 2.244e+05 2.198e+05 - 5 9.524e+03 4.244e+04 4.628e+03 9.267e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.519e+00 4.628e+03 1.683e+03 1.468e+04 1.173e+04 - 6 1.021e+04 2.588e+04 3.017e+03 6.036e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.231e-01 3.017e+03 -6.873e+02 2.026e+04 1.656e+04 - 7 8.675e+03 2.330e+04 3.661e+03 7.322e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.747e-01 3.661e+03 1.536e+03 4.710e+03 2.585e+03 - 8 7.744e+03 1.110e+04 2.218e+03 4.436e+03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 1.550e-01 1.664e+03 9.313e+02 7.294e+03 1.219e+04 - 9 7.231e+03 9.790e+03 1.180e+03 2.361e+03 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 1.181e-01 5.163e+02 5.135e+02 7.163e+02 1.314e+03 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 6.936e+03 9.179e+03 6.742e+02 1.349e+03 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 1.035e-01 2.950e+02 2.945e+02 3.742e+02 6.110e+02 - 11 6.642e+03 8.770e+03 3.941e+02 7.884e+02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 9.821e-02 2.956e+02 2.940e+02 3.529e+02 4.086e+02 - 12 6.602e+03 8.215e+03 1.331e+02 2.662e+02 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 7.443e-02 5.824e+01 4.072e+01 1.870e+02 5.558e+02 - 13 6.521e+03 8.165e+03 8.170e+01 1.634e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.589e-02 8.170e+01 8.068e+01 5.013e+01 4.910e+01 - 14 6.531e+03 6.681e+03 5.023e+00 9.902e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.896e-03 5.023e+00 -1.039e+01 1.500e+03 1.485e+03 - 15 6.555e+03 6.583e+03 1.556e+01 3.112e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.267e-03 1.556e+01 -2.388e+01 1.376e+02 9.811e+01 - 16 6.537e+03 6.568e+03 3.953e+01 7.905e+01 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 6.963e-04 2.965e+01 1.866e+01 4.236e+01 4.408e+01 - 17 6.516e+03 6.535e+03 2.046e+01 4.091e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 4.306e-04 2.046e+01 2.056e+01 3.230e+01 3.241e+01 - 18 6.518e+03 6.529e+03 4.028e-01 8.057e-01 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 2.431e-04 3.021e-01 -2.247e+00 4.480e+00 6.108e+00 - 19 6.516e+03 6.524e+03 2.426e+00 4.852e+00 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 1.609e-04 1.819e+00 1.819e+00 3.652e+00 5.485e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 20 6.516e+03 6.520e+03 6.113e-01 1.223e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 8.704e-05 6.113e-01 6.436e-01 3.905e+00 3.937e+00 - 21 6.516e+03 6.520e+03 3.838e-01 7.675e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 8.038e-05 8.994e-02 -2.556e-01 1.270e-01 4.112e-02 - 22 6.516e+03 6.519e+03 3.022e-01 6.043e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.430e-05 3.022e-01 3.071e-01 1.019e+00 1.024e+00 - 23 6.516e+03 6.518e+03 3.355e-02 6.713e-02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 5.408e-05 2.517e-02 2.516e-02 2.528e-01 4.804e-01 - 24 6.516e+03 6.517e+03 8.415e-03 1.682e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.140e-05 8.415e-03 8.411e-03 1.465e+00 1.465e+00 - 25 6.516e+03 6.516e+03 1.750e-05 4.223e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 4.122e-08 1.750e-05 1.748e-05 9.522e-01 9.522e-01 - 26 6.516e+03 6.516e+03 3.411e-08 1.276e-08 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.397e-10 3.411e-08 3.369e-08 1.831e-03 1.831e-03 diff --git a/examples/log/bipedal_walk_ubound.log b/examples/log/bipedal_walk_ubound.log index 961d8a3014..9b1b495997 100644 --- a/examples/log/bipedal_walk_ubound.log +++ b/examples/log/bipedal_walk_ubound.log @@ -1,87 +1,102 @@ *** SOLVE walking *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 1.532e+05 0.000e+00 2.264e+07 4.528e+07 1.000e-02 1.000e-02 1.0000 5.457e-14 0.000e+00 0.000e+00 2.264e+07 2.250e+07 0.000e+00 0.000e+00 - 1 8.625e+04 0.000e+00 5.223e+04 3.272e+05 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 0.000e+00 5.223e+04 6.693e+04 0.000e+00 0.000e+00 - 2 1.567e+04 0.000e+00 8.159e+04 1.622e+05 1.000e-04 1.000e-04 1.0000 0.000e+00 0.000e+00 0.000e+00 8.159e+04 7.058e+04 0.000e+00 0.000e+00 - 3 1.050e+04 0.000e+00 1.076e+04 2.150e+04 1.000e-04 1.000e-04 0.5000 0.000e+00 0.000e+00 0.000e+00 8.067e+03 5.167e+03 0.000e+00 0.000e+00 - 4 5.164e+03 0.000e+00 5.408e+03 1.081e+04 1.000e-05 1.000e-05 1.0000 0.000e+00 0.000e+00 0.000e+00 5.408e+03 5.340e+03 0.000e+00 0.000e+00 - 5 5.142e+03 0.000e+00 1.113e+02 2.225e+02 1.000e-05 1.000e-05 0.2500 0.000e+00 0.000e+00 0.000e+00 4.867e+01 2.205e+01 0.000e+00 0.000e+00 - 6 5.076e+03 0.000e+00 7.020e+01 1.404e+02 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 7.020e+01 6.657e+01 0.000e+00 0.000e+00 - 7 5.075e+03 0.000e+00 4.787e+00 9.575e+00 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 4.787e+00 1.058e+00 0.000e+00 0.000e+00 - 8 5.073e+03 0.000e+00 3.941e+00 7.881e+00 1.000e-07 1.000e-07 0.5000 0.000e+00 0.000e+00 0.000e+00 2.955e+00 1.968e+00 0.000e+00 0.000e+00 - 9 5.071e+03 0.000e+00 1.794e+00 3.588e+00 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 1.794e+00 1.815e+00 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 5.071e+03 0.000e+00 4.193e-01 8.386e-01 1.000e-08 1.000e-08 0.0312 0.000e+00 0.000e+00 0.000e+00 2.580e-02 1.051e-02 0.000e+00 0.000e+00 - 11 5.071e+03 0.000e+00 1.438e-02 2.876e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.438e-02 1.438e-02 0.000e+00 0.000e+00 - 12 5.071e+03 0.000e+00 1.109e-06 2.219e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.109e-06 1.196e-06 0.000e+00 0.000e+00 - 13 5.071e+03 0.000e+00 2.984e-08 5.968e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.984e-08 3.373e-08 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 1.447e+05 0.000e+00 2.264e+07 4.528e+07 1.000e-02 1.000e-02 1.0000 8.527e-15 0.000e+00 0.000e+00 2.264e+07 2.251e+07 0.000e+00 0.000e+00 + 1 5.028e+04 0.000e+00 1.601e+05 3.151e+05 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 0.000e+00 1.601e+05 9.438e+04 0.000e+00 0.000e+00 + 2 3.590e+04 0.000e+00 4.393e+04 8.889e+04 1.000e-04 1.000e-04 1.0000 0.000e+00 0.000e+00 0.000e+00 4.393e+04 1.438e+04 0.000e+00 0.000e+00 + 3 1.580e+04 0.000e+00 3.072e+04 6.148e+04 1.000e-04 1.000e-04 0.5000 0.000e+00 0.000e+00 0.000e+00 2.305e+04 2.010e+04 0.000e+00 0.000e+00 + 4 8.274e+03 0.000e+00 1.036e+04 2.077e+04 1.000e-05 1.000e-05 1.0000 0.000e+00 0.000e+00 0.000e+00 1.036e+04 7.525e+03 0.000e+00 0.000e+00 + 5 6.517e+03 0.000e+00 3.108e+03 6.217e+03 1.000e-05 1.000e-05 0.5000 0.000e+00 0.000e+00 0.000e+00 2.331e+03 1.757e+03 0.000e+00 0.000e+00 + 6 5.281e+03 0.000e+00 1.392e+03 2.781e+03 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 1.392e+03 1.236e+03 0.000e+00 0.000e+00 + 7 5.221e+03 0.000e+00 1.915e+02 3.830e+02 1.000e-06 1.000e-06 0.2500 0.000e+00 0.000e+00 0.000e+00 8.377e+01 6.033e+01 0.000e+00 0.000e+00 + 8 5.173e+03 0.000e+00 1.128e+02 2.255e+02 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 1.128e+02 4.831e+01 0.000e+00 0.000e+00 + 9 5.127e+03 0.000e+00 6.367e+01 1.273e+02 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 6.367e+01 4.580e+01 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 5.110e+03 0.000e+00 1.666e+01 3.332e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.666e+01 1.681e+01 0.000e+00 0.000e+00 + 11 5.110e+03 0.000e+00 2.781e+00 5.561e+00 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 0.000e+00 3.367e-01 5.846e-02 0.000e+00 0.000e+00 + 12 5.109e+03 0.000e+00 7.268e-01 1.454e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.268e-01 7.260e-01 0.000e+00 0.000e+00 + 13 5.109e+03 0.000e+00 1.245e-03 2.490e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.245e-03 1.229e-03 0.000e+00 0.000e+00 + 14 5.109e+03 0.000e+00 5.480e-06 1.096e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.480e-06 5.387e-06 0.000e+00 0.000e+00 + 15 5.109e+03 0.000e+00 1.308e-08 2.617e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.308e-08 1.116e-08 0.000e+00 0.000e+00 *** SOLVE walking *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 9.507e+06 0.000e+00 3.630e+07 7.216e+07 1.000e-01 1.000e-01 0.5000 2.098e+00 0.000e+00 0.000e+00 2.717e+07 2.683e+07 0.000e+00 0.000e+00 - 1 9.661e+04 0.000e+00 9.490e+06 1.897e+07 1.000e-02 1.000e-02 1.0000 1.049e+00 0.000e+00 0.000e+00 9.490e+06 9.410e+06 0.000e+00 0.000e+00 - 2 2.699e+04 0.000e+00 3.338e+04 2.145e+05 1.000e-02 1.000e-02 0.5000 0.000e+00 0.000e+00 0.000e+00 1.012e+04 6.962e+04 0.000e+00 0.000e+00 - 3 1.845e+04 0.000e+00 2.057e+04 4.094e+04 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 0.000e+00 2.057e+04 8.545e+03 0.000e+00 0.000e+00 - 4 1.170e+04 0.000e+00 1.150e+04 2.538e+04 1.000e-03 1.000e-03 0.5000 0.000e+00 0.000e+00 0.000e+00 8.922e+03 6.745e+03 0.000e+00 0.000e+00 - 5 8.390e+03 0.000e+00 5.481e+03 1.096e+04 1.000e-03 1.000e-03 0.5000 0.000e+00 0.000e+00 0.000e+00 4.111e+03 3.314e+03 0.000e+00 0.000e+00 - 6 6.592e+03 0.000e+00 2.227e+03 4.462e+03 1.000e-04 1.000e-04 1.0000 0.000e+00 0.000e+00 0.000e+00 2.227e+03 1.798e+03 0.000e+00 0.000e+00 - 7 6.363e+03 0.000e+00 4.596e+02 9.193e+02 1.000e-04 1.000e-04 0.5000 0.000e+00 0.000e+00 0.000e+00 3.447e+02 2.288e+02 0.000e+00 0.000e+00 - 8 6.161e+03 0.000e+00 2.265e+02 4.529e+02 1.000e-05 1.000e-05 1.0000 0.000e+00 0.000e+00 0.000e+00 2.265e+02 2.020e+02 0.000e+00 0.000e+00 - 9 6.145e+03 0.000e+00 2.758e+01 5.516e+01 1.000e-05 1.000e-05 0.5000 0.000e+00 0.000e+00 0.000e+00 2.069e+01 1.594e+01 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 6.141e+03 0.000e+00 1.453e+01 2.907e+01 1.000e-05 1.000e-05 0.5000 0.000e+00 0.000e+00 0.000e+00 1.090e+01 4.575e+00 0.000e+00 0.000e+00 - 11 6.135e+03 0.000e+00 9.343e+00 1.869e+01 1.000e-05 1.000e-05 0.5000 0.000e+00 0.000e+00 0.000e+00 7.008e+00 5.755e+00 0.000e+00 0.000e+00 - 12 6.132e+03 0.000e+00 3.381e+00 6.761e+00 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 3.381e+00 3.436e+00 0.000e+00 0.000e+00 - 13 6.132e+03 0.000e+00 1.746e+00 3.493e+00 1.000e-06 1.000e-06 0.0625 0.000e+00 0.000e+00 0.000e+00 2.115e-01 7.105e-02 0.000e+00 0.000e+00 - 14 6.131e+03 0.000e+00 2.173e-01 4.347e-01 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 2.173e-01 2.028e-01 0.000e+00 0.000e+00 - 15 6.131e+03 0.000e+00 1.896e-02 3.793e-02 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 1.896e-02 1.838e-02 0.000e+00 0.000e+00 - 16 6.131e+03 0.000e+00 1.344e-03 2.688e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.344e-03 1.346e-03 0.000e+00 0.000e+00 - 17 6.131e+03 0.000e+00 2.881e-07 5.763e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.881e-07 3.041e-07 0.000e+00 0.000e+00 - 18 6.131e+03 0.000e+00 2.997e-09 5.994e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.997e-09 2.843e-09 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 9.606e+06 0.000e+00 3.629e+07 7.235e+07 1.000e-01 1.000e-01 0.5000 1.006e+00 0.000e+00 0.000e+00 2.716e+07 2.673e+07 0.000e+00 0.000e+00 + 1 9.155e+04 0.000e+00 9.589e+06 1.918e+07 1.000e-02 1.000e-02 1.0000 5.030e-01 0.000e+00 0.000e+00 9.589e+06 9.515e+06 0.000e+00 0.000e+00 + 2 4.404e+04 0.000e+00 5.721e+04 1.638e+05 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 0.000e+00 5.721e+04 4.751e+04 0.000e+00 0.000e+00 + 3 3.958e+04 0.000e+00 3.211e+04 7.341e+04 1.000e-03 1.000e-03 0.0625 0.000e+00 0.000e+00 0.000e+00 4.427e+03 4.455e+03 0.000e+00 0.000e+00 + 4 3.055e+04 0.000e+00 3.151e+04 6.461e+04 1.000e-04 1.000e-04 1.0000 0.000e+00 0.000e+00 0.000e+00 3.151e+04 9.033e+03 0.000e+00 0.000e+00 + 5 2.784e+04 0.000e+00 2.338e+04 4.869e+04 1.000e-04 1.000e-04 0.1250 0.000e+00 0.000e+00 0.000e+00 5.691e+03 2.708e+03 0.000e+00 0.000e+00 + 6 1.059e+04 0.000e+00 2.140e+04 4.286e+04 1.000e-05 1.000e-05 1.0000 0.000e+00 0.000e+00 0.000e+00 2.140e+04 1.725e+04 0.000e+00 0.000e+00 + 7 9.149e+03 0.000e+00 4.508e+03 9.016e+03 1.000e-05 1.000e-05 0.5000 0.000e+00 0.000e+00 0.000e+00 3.381e+03 1.440e+03 0.000e+00 0.000e+00 + 8 7.026e+03 0.000e+00 2.944e+03 5.889e+03 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 2.944e+03 2.123e+03 0.000e+00 0.000e+00 + 9 6.792e+03 0.000e+00 8.894e+02 1.779e+03 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 8.894e+02 2.336e+02 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 6.303e+03 0.000e+00 6.600e+02 1.320e+03 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 6.600e+02 4.888e+02 0.000e+00 0.000e+00 + 11 6.278e+03 0.000e+00 1.926e+02 3.852e+02 1.000e-08 1.000e-08 0.5000 0.000e+00 0.000e+00 0.000e+00 1.445e+02 2.558e+01 0.000e+00 0.000e+00 + 12 6.130e+03 0.000e+00 1.500e+02 3.001e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.500e+02 1.482e+02 0.000e+00 0.000e+00 + 13 6.129e+03 0.000e+00 3.919e+00 7.839e+00 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 9.186e-01 1.285e-01 0.000e+00 0.000e+00 + 14 6.128e+03 0.000e+00 2.460e+00 4.920e+00 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.845e+00 1.266e+00 0.000e+00 0.000e+00 + 15 6.127e+03 0.000e+00 1.141e+00 2.281e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.141e+00 1.160e+00 0.000e+00 0.000e+00 + 16 6.127e+03 0.000e+00 2.500e-01 5.001e-01 1.000e-09 1.000e-09 0.0312 0.000e+00 0.000e+00 0.000e+00 1.538e-02 8.158e-03 0.000e+00 0.000e+00 + 17 6.127e+03 0.000e+00 1.367e-02 2.735e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.367e-02 1.368e-02 0.000e+00 0.000e+00 + 18 6.127e+03 0.000e+00 7.502e-07 1.500e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.502e-07 7.393e-07 0.000e+00 0.000e+00 + 19 6.127e+03 0.000e+00 3.820e-09 7.640e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.820e-09 3.446e-09 0.000e+00 0.000e+00 *** SOLVE walking *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 9.592e+06 0.000e+00 3.631e+07 7.218e+07 1.000e-01 1.000e-01 0.5000 1.899e+00 0.000e+00 0.000e+00 2.718e+07 2.675e+07 0.000e+00 0.000e+00 - 1 9.700e+04 0.000e+00 9.574e+06 1.914e+07 1.000e-02 1.000e-02 1.0000 9.496e-01 0.000e+00 0.000e+00 9.574e+06 9.495e+06 0.000e+00 0.000e+00 - 2 2.737e+04 0.000e+00 1.881e+04 2.192e+05 1.000e-02 1.000e-02 0.5000 0.000e+00 0.000e+00 0.000e+00 1.799e+04 6.963e+04 0.000e+00 0.000e+00 - 3 2.208e+04 0.000e+00 2.057e+04 4.141e+04 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 0.000e+00 2.057e+04 5.292e+03 0.000e+00 0.000e+00 - 4 1.592e+04 0.000e+00 1.458e+04 3.239e+04 1.000e-03 1.000e-03 0.5000 0.000e+00 0.000e+00 0.000e+00 1.134e+04 6.164e+03 0.000e+00 0.000e+00 - 5 1.428e+04 0.000e+00 9.311e+03 1.862e+04 1.000e-04 1.000e-04 1.0000 0.000e+00 0.000e+00 0.000e+00 9.311e+03 1.631e+03 0.000e+00 0.000e+00 - 6 1.168e+04 0.000e+00 7.902e+03 1.580e+04 1.000e-05 1.000e-05 1.0000 0.000e+00 0.000e+00 0.000e+00 7.902e+03 2.604e+03 0.000e+00 0.000e+00 - 7 9.126e+03 0.000e+00 5.344e+03 1.069e+04 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 5.344e+03 2.555e+03 0.000e+00 0.000e+00 - 8 7.582e+03 0.000e+00 2.817e+03 5.548e+03 1.000e-06 1.000e-06 0.5000 0.000e+00 0.000e+00 0.000e+00 2.102e+03 1.544e+03 0.000e+00 0.000e+00 - 9 7.151e+03 0.000e+00 1.269e+03 2.538e+03 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 1.269e+03 4.304e+02 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 6.579e+03 0.000e+00 8.217e+02 1.643e+03 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 8.217e+02 5.721e+02 0.000e+00 0.000e+00 - 11 6.320e+03 0.000e+00 2.590e+02 5.181e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.590e+02 2.592e+02 0.000e+00 0.000e+00 - 12 6.320e+03 0.000e+00 5.860e+00 1.172e+01 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 0.000e+00 7.096e-01 3.892e-01 0.000e+00 0.000e+00 - 13 6.319e+03 0.000e+00 4.121e+00 8.242e+00 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 9.658e-01 5.227e-01 0.000e+00 0.000e+00 - 14 6.318e+03 0.000e+00 2.608e+00 5.216e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.608e+00 1.074e+00 0.000e+00 0.000e+00 - 15 6.318e+03 0.000e+00 3.552e+00 7.104e+00 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 0.000e+00 4.301e-01 8.056e-02 0.000e+00 0.000e+00 - 16 6.318e+03 0.000e+00 1.975e+00 3.951e+00 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 8.643e-01 6.084e-01 0.000e+00 0.000e+00 - 17 6.316e+03 0.000e+00 1.208e+00 2.416e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.208e+00 1.197e+00 0.000e+00 0.000e+00 - 18 6.316e+03 0.000e+00 6.469e-03 1.294e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 6.469e-03 3.815e-03 0.000e+00 0.000e+00 - 19 6.316e+03 0.000e+00 1.650e-03 3.300e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.650e-03 1.650e-03 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 20 6.316e+03 0.000e+00 8.235e-09 1.647e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.235e-09 8.069e-09 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 2.973e+06 0.000e+00 3.630e+07 7.250e+07 1.000e-02 1.000e-02 1.0000 9.312e-01 0.000e+00 0.000e+00 3.630e+07 3.336e+07 0.000e+00 0.000e+00 + 1 7.174e+05 0.000e+00 5.394e+05 5.053e+06 1.000e-02 1.000e-02 0.2500 0.000e+00 0.000e+00 0.000e+00 9.138e+05 2.256e+06 0.000e+00 0.000e+00 + 2 4.054e+05 0.000e+00 5.093e+05 1.288e+06 1.000e-02 1.000e-02 0.2500 0.000e+00 0.000e+00 0.000e+00 2.734e+05 3.120e+05 0.000e+00 0.000e+00 + 3 2.275e+05 0.000e+00 3.131e+05 7.232e+05 1.000e-02 1.000e-02 0.5000 0.000e+00 0.000e+00 0.000e+00 2.591e+05 1.779e+05 0.000e+00 0.000e+00 + 4 1.009e+05 0.000e+00 2.204e+05 4.388e+05 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 0.000e+00 2.204e+05 1.267e+05 0.000e+00 0.000e+00 + 5 8.215e+04 0.000e+00 9.195e+04 1.870e+05 1.000e-03 1.000e-03 0.1250 0.000e+00 0.000e+00 0.000e+00 2.189e+04 1.871e+04 0.000e+00 0.000e+00 + 6 2.230e+04 0.000e+00 7.439e+04 1.487e+05 1.000e-04 1.000e-04 1.0000 0.000e+00 0.000e+00 0.000e+00 7.439e+04 5.985e+04 0.000e+00 0.000e+00 + 7 2.123e+04 0.000e+00 1.513e+04 3.104e+04 1.000e-04 1.000e-04 0.2500 0.000e+00 0.000e+00 0.000e+00 6.766e+03 1.070e+03 0.000e+00 0.000e+00 + 8 1.414e+04 0.000e+00 1.441e+04 2.883e+04 1.000e-05 1.000e-05 1.0000 0.000e+00 0.000e+00 0.000e+00 1.441e+04 7.092e+03 0.000e+00 0.000e+00 + 9 1.051e+04 0.000e+00 7.926e+03 1.582e+04 1.000e-05 1.000e-05 0.5000 0.000e+00 0.000e+00 0.000e+00 5.937e+03 3.630e+03 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 6.925e+03 0.000e+00 4.054e+03 8.102e+03 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 4.054e+03 3.587e+03 0.000e+00 0.000e+00 + 11 6.733e+03 0.000e+00 7.042e+02 1.408e+03 1.000e-06 1.000e-06 0.2500 0.000e+00 0.000e+00 0.000e+00 3.081e+02 1.925e+02 0.000e+00 0.000e+00 + 12 6.472e+03 0.000e+00 4.162e+02 8.323e+02 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 4.162e+02 2.603e+02 0.000e+00 0.000e+00 + 13 6.438e+03 0.000e+00 1.738e+02 3.477e+02 1.000e-07 1.000e-07 0.5000 0.000e+00 0.000e+00 0.000e+00 1.304e+02 3.466e+01 0.000e+00 0.000e+00 + 14 6.362e+03 0.000e+00 1.340e+02 2.679e+02 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 1.340e+02 7.529e+01 0.000e+00 0.000e+00 + 15 6.338e+03 0.000e+00 6.058e+01 1.212e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 6.058e+01 2.432e+01 0.000e+00 0.000e+00 + 16 6.303e+03 0.000e+00 3.476e+01 6.952e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.476e+01 3.515e+01 0.000e+00 0.000e+00 + 17 6.303e+03 0.000e+00 1.398e+00 2.796e+00 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 0.000e+00 1.693e-01 4.726e-02 0.000e+00 0.000e+00 + 18 6.303e+03 0.000e+00 4.131e-01 8.263e-01 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 3.098e-01 8.106e-02 0.000e+00 0.000e+00 + 19 6.303e+03 0.000e+00 2.925e-01 5.849e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.925e-01 2.281e-01 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 20 6.302e+03 0.000e+00 7.124e-02 1.425e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.124e-02 7.124e-02 0.000e+00 0.000e+00 + 21 6.302e+03 0.000e+00 9.099e-07 1.820e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 9.099e-07 9.222e-07 0.000e+00 0.000e+00 + 22 6.302e+03 0.000e+00 9.160e-09 1.832e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 9.160e-09 8.479e-09 0.000e+00 0.000e+00 *** SOLVE walking *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 9.672e+06 0.000e+00 3.631e+07 7.221e+07 1.000e-01 1.000e-01 0.5000 1.768e+00 0.000e+00 0.000e+00 2.718e+07 2.667e+07 0.000e+00 0.000e+00 - 1 1.003e+05 0.000e+00 9.655e+06 1.930e+07 1.000e-02 1.000e-02 1.0000 8.838e-01 0.000e+00 0.000e+00 9.655e+06 9.572e+06 0.000e+00 0.000e+00 - 2 2.703e+04 0.000e+00 1.510e+04 2.293e+05 1.000e-02 1.000e-02 0.5000 0.000e+00 0.000e+00 0.000e+00 2.112e+04 7.328e+04 0.000e+00 0.000e+00 - 3 2.178e+04 0.000e+00 2.005e+04 4.037e+04 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 0.000e+00 2.005e+04 5.259e+03 0.000e+00 0.000e+00 - 4 1.682e+04 0.000e+00 1.408e+04 3.147e+04 1.000e-03 1.000e-03 0.5000 0.000e+00 0.000e+00 0.000e+00 1.097e+04 4.960e+03 0.000e+00 0.000e+00 - 5 1.551e+04 0.000e+00 9.964e+03 1.993e+04 1.000e-04 1.000e-04 1.0000 0.000e+00 0.000e+00 0.000e+00 9.964e+03 1.304e+03 0.000e+00 0.000e+00 - 6 1.181e+04 0.000e+00 8.996e+03 1.799e+04 1.000e-04 1.000e-04 0.5000 0.000e+00 0.000e+00 0.000e+00 6.747e+03 3.699e+03 0.000e+00 0.000e+00 - 7 9.368e+03 0.000e+00 5.354e+03 1.071e+04 1.000e-04 1.000e-04 0.5000 0.000e+00 0.000e+00 0.000e+00 4.015e+03 2.446e+03 0.000e+00 0.000e+00 - 8 7.486e+03 0.000e+00 2.827e+03 5.655e+03 1.000e-05 1.000e-05 1.0000 0.000e+00 0.000e+00 0.000e+00 2.827e+03 1.881e+03 0.000e+00 0.000e+00 - 9 6.998e+03 0.000e+00 9.706e+02 1.941e+03 1.000e-05 1.000e-05 0.5000 0.000e+00 0.000e+00 0.000e+00 7.280e+02 4.887e+02 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 6.620e+03 0.000e+00 4.768e+02 9.536e+02 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 4.768e+02 3.776e+02 0.000e+00 0.000e+00 - 11 6.595e+03 0.000e+00 1.059e+02 2.119e+02 1.000e-06 1.000e-06 0.2500 0.000e+00 0.000e+00 0.000e+00 4.635e+01 2.499e+01 0.000e+00 0.000e+00 - 12 6.518e+03 0.000e+00 7.758e+01 1.552e+02 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 7.758e+01 7.697e+01 0.000e+00 0.000e+00 - 13 6.518e+03 0.000e+00 2.503e+00 5.005e+00 1.000e-07 1.000e-07 0.1250 0.000e+00 0.000e+00 0.000e+00 5.866e-01 4.290e-01 0.000e+00 0.000e+00 - 14 6.517e+03 0.000e+00 1.498e+00 2.996e+00 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 1.498e+00 5.439e-01 0.000e+00 0.000e+00 - 15 6.516e+03 0.000e+00 2.324e+00 4.648e+00 1.000e-08 1.000e-08 0.2500 0.000e+00 0.000e+00 0.000e+00 1.017e+00 8.880e-01 0.000e+00 0.000e+00 - 16 6.516e+03 0.000e+00 6.305e-01 1.261e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 6.305e-01 6.317e-01 0.000e+00 0.000e+00 - 17 6.516e+03 0.000e+00 2.414e-03 4.827e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.414e-03 2.413e-03 0.000e+00 0.000e+00 - 18 6.516e+03 0.000e+00 1.077e-06 2.153e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.077e-06 1.078e-06 0.000e+00 0.000e+00 - 19 6.516e+03 0.000e+00 2.005e-08 4.009e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.005e-08 1.971e-08 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 3.132e+06 0.000e+00 3.630e+07 7.256e+07 1.000e-02 1.000e-02 1.0000 8.984e-01 0.000e+00 0.000e+00 3.630e+07 3.321e+07 0.000e+00 0.000e+00 + 1 2.435e+06 0.000e+00 3.360e+05 5.403e+06 1.000e-02 1.000e-02 0.0625 0.000e+00 0.000e+00 0.000e+00 3.153e+05 6.973e+05 0.000e+00 0.000e+00 + 2 1.372e+06 0.000e+00 7.563e+04 4.455e+06 1.000e-02 1.000e-02 0.1250 0.000e+00 0.000e+00 0.000e+00 4.861e+05 1.062e+06 0.000e+00 0.000e+00 + 3 9.357e+05 0.000e+00 6.478e+05 2.511e+06 1.000e-02 1.000e-02 0.2500 0.000e+00 0.000e+00 0.000e+00 5.112e+05 4.366e+05 0.000e+00 0.000e+00 + 4 1.535e+05 0.000e+00 6.673e+05 1.879e+06 1.000e-02 1.000e-02 0.5000 0.000e+00 0.000e+00 0.000e+00 6.367e+05 7.822e+05 0.000e+00 0.000e+00 + 5 2.793e+04 0.000e+00 1.354e+05 2.785e+05 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 0.000e+00 1.354e+05 1.256e+05 0.000e+00 0.000e+00 + 6 2.675e+04 0.000e+00 1.860e+04 4.170e+04 1.000e-03 1.000e-03 0.0625 0.000e+00 0.000e+00 0.000e+00 2.516e+03 1.179e+03 0.000e+00 0.000e+00 + 7 2.136e+04 0.000e+00 1.919e+04 3.911e+04 1.000e-03 1.000e-03 0.5000 0.000e+00 0.000e+00 0.000e+00 1.458e+04 5.392e+03 0.000e+00 0.000e+00 + 8 1.541e+04 0.000e+00 1.392e+04 2.810e+04 1.000e-04 1.000e-04 1.0000 0.000e+00 0.000e+00 0.000e+00 1.392e+04 5.943e+03 0.000e+00 0.000e+00 + 9 1.157e+04 0.000e+00 8.788e+03 1.758e+04 1.000e-04 1.000e-04 0.5000 0.000e+00 0.000e+00 0.000e+00 6.591e+03 3.843e+03 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 9.792e+03 0.000e+00 5.021e+03 1.004e+04 1.000e-05 1.000e-05 1.0000 0.000e+00 0.000e+00 0.000e+00 5.021e+03 1.779e+03 0.000e+00 0.000e+00 + 11 7.480e+03 0.000e+00 3.200e+03 6.401e+03 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 3.200e+03 2.312e+03 0.000e+00 0.000e+00 + 12 7.248e+03 0.000e+00 1.007e+03 2.014e+03 1.000e-06 1.000e-06 0.2500 0.000e+00 0.000e+00 0.000e+00 4.405e+02 2.322e+02 0.000e+00 0.000e+00 + 13 6.624e+03 0.000e+00 6.537e+02 1.307e+03 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 6.537e+02 6.234e+02 0.000e+00 0.000e+00 + 14 6.601e+03 0.000e+00 9.893e+01 1.979e+02 1.000e-07 1.000e-07 0.2500 0.000e+00 0.000e+00 0.000e+00 4.328e+01 2.276e+01 0.000e+00 0.000e+00 + 15 6.526e+03 0.000e+00 7.267e+01 1.453e+02 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 7.267e+01 7.543e+01 0.000e+00 0.000e+00 + 16 6.522e+03 0.000e+00 1.459e+01 2.917e+01 1.000e-08 1.000e-08 0.2500 0.000e+00 0.000e+00 0.000e+00 6.382e+00 3.561e+00 0.000e+00 0.000e+00 + 17 6.515e+03 0.000e+00 9.077e+00 1.815e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 9.077e+00 7.442e+00 0.000e+00 0.000e+00 + 18 6.513e+03 0.000e+00 4.664e+00 9.328e+00 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 3.498e+00 2.468e+00 0.000e+00 0.000e+00 + 19 6.512e+03 0.000e+00 2.077e+00 4.153e+00 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.557e+00 2.250e-01 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 20 6.511e+03 0.000e+00 1.697e+00 3.394e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.697e+00 1.676e+00 0.000e+00 0.000e+00 + 21 6.510e+03 0.000e+00 5.770e-01 1.154e+00 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 2.524e-01 2.101e-01 0.000e+00 0.000e+00 + 22 6.510e+03 0.000e+00 4.266e-01 8.532e-01 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 1.866e-01 1.868e-01 0.000e+00 0.000e+00 + 23 6.510e+03 0.000e+00 2.406e-01 4.813e-01 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 1.053e-01 3.653e-02 0.000e+00 0.000e+00 + 24 6.510e+03 0.000e+00 7.397e-02 1.479e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.397e-02 7.410e-02 0.000e+00 0.000e+00 + 25 6.510e+03 0.000e+00 1.224e-02 2.447e-02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 9.177e-03 2.004e-03 0.000e+00 0.000e+00 + 26 6.510e+03 0.000e+00 9.883e-03 1.977e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 9.883e-03 9.894e-03 0.000e+00 0.000e+00 + 27 6.510e+03 0.000e+00 9.093e-07 1.819e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 9.093e-07 9.384e-07 0.000e+00 0.000e+00 + 28 6.510e+03 0.000e+00 3.585e-09 7.170e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.585e-09 3.388e-09 0.000e+00 0.000e+00 diff --git a/examples/log/boxfddp_vs_boxddp.log b/examples/log/boxfddp_vs_boxddp.log index fc2d815c45..30a9e49567 100644 --- a/examples/log/boxfddp_vs_boxddp.log +++ b/examples/log/boxfddp_vs_boxddp.log @@ -1,90 +1,90 @@ *** SOLVE with Box-FDDP *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 1.423e+06 0.000e+00 1.855e+06 3.841e+06 1.000e-09 1.000e-09 0.1250 5.130e-01 0.000e+00 0.000e+00 4.419e+05 4.354e+05 0.000e+00 0.000e+00 - 1 1.336e+06 0.000e+00 1.420e+06 2.961e+06 1.000e-09 1.000e-09 0.0312 4.489e-01 0.000e+00 0.000e+00 8.919e+04 8.646e+04 0.000e+00 0.000e+00 - 2 1.258e+06 0.000e+00 1.333e+06 2.788e+06 1.000e-09 1.000e-09 0.0312 4.349e-01 0.000e+00 0.000e+00 8.386e+04 7.841e+04 0.000e+00 0.000e+00 - 3 1.197e+06 0.000e+00 1.255e+06 2.634e+06 1.000e-09 1.000e-09 0.0312 4.213e-01 0.000e+00 0.000e+00 7.907e+04 6.026e+04 0.000e+00 0.000e+00 - 4 1.187e+06 0.000e+00 1.194e+06 2.520e+06 1.000e-09 1.000e-09 0.0312 4.081e-01 0.000e+00 0.000e+00 7.548e+04 1.029e+04 0.000e+00 0.000e+00 - 5 1.126e+06 0.000e+00 1.184e+06 2.508e+06 1.000e-09 1.000e-09 0.0312 3.954e-01 0.000e+00 0.000e+00 7.496e+04 6.116e+04 0.000e+00 0.000e+00 - 6 1.098e+06 0.000e+00 1.123e+06 2.388e+06 1.000e-09 1.000e-09 0.0156 3.830e-01 0.000e+00 0.000e+00 3.591e+04 2.764e+04 0.000e+00 0.000e+00 - 7 1.074e+06 0.000e+00 1.095e+06 2.335e+06 1.000e-09 1.000e-09 0.0156 3.770e-01 0.000e+00 0.000e+00 3.507e+04 2.466e+04 0.000e+00 0.000e+00 - 8 1.022e+06 0.000e+00 1.071e+06 2.285e+06 1.000e-09 1.000e-09 0.0312 3.711e-01 0.000e+00 0.000e+00 6.804e+04 5.149e+04 0.000e+00 0.000e+00 - 9 9.821e+05 0.000e+00 1.019e+06 2.204e+06 1.000e-09 1.000e-09 0.0625 3.595e-01 0.000e+00 0.000e+00 1.282e+05 4.018e+04 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 9.147e+05 0.000e+00 9.785e+05 2.133e+06 1.000e-09 1.000e-09 0.0625 3.371e-01 0.000e+00 0.000e+00 1.237e+05 6.736e+04 0.000e+00 0.000e+00 - 11 8.668e+05 0.000e+00 9.109e+05 1.996e+06 1.000e-09 1.000e-09 0.1250 3.160e-01 0.000e+00 0.000e+00 2.230e+05 4.791e+04 0.000e+00 0.000e+00 - 12 8.236e+05 0.000e+00 8.623e+05 1.849e+06 1.000e-09 1.000e-09 0.0312 2.765e-01 0.000e+00 0.000e+00 5.494e+04 4.321e+04 0.000e+00 0.000e+00 - 13 7.960e+05 0.000e+00 8.189e+05 1.759e+06 1.000e-09 1.000e-09 0.0156 2.679e-01 0.000e+00 0.000e+00 2.633e+04 2.753e+04 0.000e+00 0.000e+00 - 14 7.952e+05 0.000e+00 7.913e+05 1.705e+06 1.000e-08 1.000e-08 0.0020 2.637e-01 0.000e+00 0.000e+00 3.207e+03 8.337e+02 0.000e+00 0.000e+00 - 15 7.952e+05 0.000e+00 7.905e+05 1.703e+06 1.000e-07 1.000e-07 0.0020 2.632e-01 0.000e+00 0.000e+00 3.204e+03 -2.815e+03 0.000e+00 0.000e+00 - 16 7.952e+05 0.000e+00 7.905e+05 1.703e+06 1.000e-06 1.000e-06 0.0020 2.632e-01 0.000e+00 0.000e+00 3.204e+03 -2.815e+03 0.000e+00 0.000e+00 - 17 7.952e+05 0.000e+00 7.905e+05 1.703e+06 1.000e-05 1.000e-05 0.0020 2.632e-01 0.000e+00 0.000e+00 3.204e+03 -2.813e+03 0.000e+00 0.000e+00 - 18 7.952e+05 0.000e+00 7.905e+05 1.703e+06 1.000e-04 1.000e-04 0.0020 2.632e-01 0.000e+00 0.000e+00 3.204e+03 -2.794e+03 0.000e+00 0.000e+00 - 19 7.952e+05 0.000e+00 7.904e+05 1.704e+06 1.000e-03 1.000e-03 0.0020 2.632e-01 0.000e+00 0.000e+00 3.204e+03 -2.607e+03 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 20 7.952e+05 0.000e+00 7.902e+05 1.708e+06 1.000e-02 1.000e-02 0.0020 2.632e-01 0.000e+00 0.000e+00 3.208e+03 -1.293e+03 0.000e+00 0.000e+00 - 21 7.633e+05 0.000e+00 7.886e+05 1.735e+06 1.000e-02 1.000e-02 0.1250 2.632e-01 0.000e+00 0.000e+00 1.935e+05 3.188e+04 0.000e+00 0.000e+00 - 22 7.633e+05 0.000e+00 7.553e+05 1.674e+06 1.000e-01 1.000e-01 0.0020 2.303e-01 0.000e+00 0.000e+00 3.107e+03 2.678e+02 0.000e+00 0.000e+00 - 23 4.177e+05 0.000e+00 7.481e+05 1.705e+06 1.000e-01 1.000e-01 0.5000 2.303e-01 0.000e+00 0.000e+00 5.872e+05 3.456e+05 0.000e+00 0.000e+00 - 24 2.395e+05 0.000e+00 3.995e+05 9.469e+05 1.000e-01 1.000e-01 0.5000 1.151e-01 0.000e+00 0.000e+00 3.181e+05 1.782e+05 0.000e+00 0.000e+00 - 25 1.940e+05 0.000e+00 2.166e+05 6.141e+05 1.000e-01 1.000e-01 0.2500 5.757e-02 0.000e+00 0.000e+00 1.117e+05 4.551e+04 0.000e+00 0.000e+00 - 26 1.940e+05 0.000e+00 1.711e+05 4.791e+05 1.000e+00 1.000e+00 0.0020 4.318e-02 0.000e+00 0.000e+00 8.011e+02 -1.200e+01 0.000e+00 0.000e+00 - 27 1.021e+05 0.000e+00 1.630e+05 4.093e+05 1.000e-01 1.000e-01 1.0000 4.318e-02 0.000e+00 0.000e+00 1.630e+05 9.188e+04 0.000e+00 0.000e+00 - 28 5.343e+04 0.000e+00 4.039e+04 1.781e+05 1.000e-01 1.000e-01 0.5000 0.000e+00 0.000e+00 0.000e+00 4.246e+04 4.870e+04 0.000e+00 0.000e+00 - 29 4.020e+04 0.000e+00 2.530e+04 6.264e+04 1.000e-01 1.000e-01 0.2500 0.000e+00 0.000e+00 0.000e+00 1.220e+04 1.323e+04 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 30 2.944e+04 0.000e+00 1.459e+04 3.503e+04 1.000e-01 1.000e-01 0.5000 0.000e+00 0.000e+00 0.000e+00 1.167e+04 1.076e+04 0.000e+00 0.000e+00 - 31 2.558e+04 0.000e+00 5.712e+03 1.487e+04 1.000e-01 1.000e-01 0.5000 0.000e+00 0.000e+00 0.000e+00 4.715e+03 3.857e+03 0.000e+00 0.000e+00 - 32 2.400e+04 0.000e+00 3.050e+03 6.982e+03 1.000e-02 1.000e-02 1.0000 0.000e+00 0.000e+00 0.000e+00 3.050e+03 1.585e+03 0.000e+00 0.000e+00 - 33 2.345e+04 0.000e+00 2.856e+03 5.871e+03 1.000e-02 1.000e-02 0.1250 0.000e+00 0.000e+00 0.000e+00 6.781e+02 5.447e+02 0.000e+00 0.000e+00 - 34 2.337e+04 0.000e+00 2.357e+03 4.865e+03 1.000e-02 1.000e-02 0.0625 0.000e+00 0.000e+00 0.000e+00 2.899e+02 7.786e+01 0.000e+00 0.000e+00 - 35 2.191e+04 0.000e+00 2.389e+03 4.906e+03 1.000e-02 1.000e-02 0.5000 0.000e+00 0.000e+00 0.000e+00 1.808e+03 1.466e+03 0.000e+00 0.000e+00 - 36 2.112e+04 0.000e+00 1.183e+03 2.447e+03 1.000e-02 1.000e-02 0.5000 0.000e+00 0.000e+00 0.000e+00 8.971e+02 7.900e+02 0.000e+00 0.000e+00 - 37 2.107e+04 0.000e+00 5.844e+02 1.166e+03 1.000e-02 1.000e-02 0.0625 0.000e+00 0.000e+00 0.000e+00 7.069e+01 4.883e+01 0.000e+00 0.000e+00 - 38 2.088e+04 0.000e+00 5.256e+02 1.055e+03 1.000e-02 1.000e-02 0.2500 0.000e+00 0.000e+00 0.000e+00 2.303e+02 1.946e+02 0.000e+00 0.000e+00 - 39 2.087e+04 0.000e+00 3.720e+02 7.551e+02 1.000e-02 1.000e-02 0.0156 0.000e+00 0.000e+00 0.000e+00 1.162e+01 8.292e+00 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 40 2.087e+04 0.000e+00 3.588e+02 7.270e+02 1.000e-01 1.000e-01 0.0020 0.000e+00 0.000e+00 0.000e+00 1.409e+00 -9.502e-01 0.000e+00 0.000e+00 - 41 2.071e+04 0.000e+00 2.612e+02 5.347e+02 1.000e-02 1.000e-02 1.0000 0.000e+00 0.000e+00 0.000e+00 2.612e+02 1.561e+02 0.000e+00 0.000e+00 - 42 2.066e+04 0.000e+00 3.484e+02 8.321e+02 1.000e-02 1.000e-02 0.2500 0.000e+00 0.000e+00 0.000e+00 1.651e+02 5.066e+01 0.000e+00 0.000e+00 - 43 2.065e+04 0.000e+00 3.544e+02 8.038e+02 1.000e-02 1.000e-02 0.0312 0.000e+00 0.000e+00 0.000e+00 2.324e+01 1.060e+01 0.000e+00 0.000e+00 - 44 2.048e+04 0.000e+00 3.272e+02 7.685e+02 1.000e-02 1.000e-02 0.5000 0.000e+00 0.000e+00 0.000e+00 2.596e+02 1.674e+02 0.000e+00 0.000e+00 - 45 2.048e+04 0.000e+00 3.056e+02 5.971e+02 1.000e-02 1.000e-02 0.0156 0.000e+00 0.000e+00 0.000e+00 9.367e+00 1.185e+00 0.000e+00 0.000e+00 - 46 2.047e+04 0.000e+00 2.846e+02 5.619e+02 1.000e-02 1.000e-02 0.0312 0.000e+00 0.000e+00 0.000e+00 1.740e+01 9.065e+00 0.000e+00 0.000e+00 - 47 2.046e+04 0.000e+00 2.172e+02 5.258e+02 1.000e-02 1.000e-02 0.1250 0.000e+00 0.000e+00 0.000e+00 5.591e+01 9.292e+00 0.000e+00 0.000e+00 - 48 2.044e+04 0.000e+00 2.513e+02 4.995e+02 1.000e-02 1.000e-02 0.5000 0.000e+00 0.000e+00 0.000e+00 1.881e+02 2.491e+01 0.000e+00 0.000e+00 - 49 2.044e+04 0.000e+00 1.789e+02 6.932e+02 1.000e-01 1.000e-01 0.0078 0.000e+00 0.000e+00 0.000e+00 4.085e+00 2.132e+00 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 1.421e+06 0.000e+00 1.853e+06 3.771e+06 1.000e-09 1.000e-09 0.1250 5.130e-01 0.000e+00 0.000e+00 4.414e+05 4.350e+05 0.000e+00 0.000e+00 + 1 1.377e+06 0.000e+00 1.418e+06 2.895e+06 1.000e-09 1.000e-09 0.0156 4.489e-01 0.000e+00 0.000e+00 4.488e+04 4.406e+04 0.000e+00 0.000e+00 + 2 1.334e+06 0.000e+00 1.374e+06 2.805e+06 1.000e-09 1.000e-09 0.0156 4.419e-01 0.000e+00 0.000e+00 4.348e+04 4.261e+04 0.000e+00 0.000e+00 + 3 1.293e+06 0.000e+00 1.331e+06 2.718e+06 1.000e-09 1.000e-09 0.0156 4.350e-01 0.000e+00 0.000e+00 4.213e+04 4.129e+04 0.000e+00 0.000e+00 + 4 1.253e+06 0.000e+00 1.290e+06 2.633e+06 1.000e-09 1.000e-09 0.0156 4.282e-01 0.000e+00 0.000e+00 4.082e+04 4.000e+04 0.000e+00 0.000e+00 + 5 1.214e+06 0.000e+00 1.250e+06 2.552e+06 1.000e-09 1.000e-09 0.0156 4.215e-01 0.000e+00 0.000e+00 3.955e+04 3.876e+04 0.000e+00 0.000e+00 + 6 1.167e+06 0.000e+00 1.211e+06 2.477e+06 1.000e-09 1.000e-09 0.0312 4.149e-01 0.000e+00 0.000e+00 7.617e+04 4.675e+04 0.000e+00 0.000e+00 + 7 1.109e+06 0.000e+00 1.164e+06 2.384e+06 1.000e-09 1.000e-09 0.0312 4.020e-01 0.000e+00 0.000e+00 7.330e+04 5.794e+04 0.000e+00 0.000e+00 + 8 1.052e+06 0.000e+00 1.106e+06 2.270e+06 1.000e-09 1.000e-09 0.0312 3.894e-01 0.000e+00 0.000e+00 6.979e+04 5.745e+04 0.000e+00 0.000e+00 + 9 1.024e+06 0.000e+00 1.049e+06 2.164e+06 1.000e-09 1.000e-09 0.0312 3.772e-01 0.000e+00 0.000e+00 6.655e+04 2.781e+04 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 9.829e+05 0.000e+00 1.021e+06 2.118e+06 1.000e-09 1.000e-09 0.0312 3.654e-01 0.000e+00 0.000e+00 6.511e+04 4.106e+04 0.000e+00 0.000e+00 + 11 9.526e+05 0.000e+00 9.799e+05 2.041e+06 1.000e-09 1.000e-09 0.0312 3.540e-01 0.000e+00 0.000e+00 6.273e+04 3.023e+04 0.000e+00 0.000e+00 + 12 8.983e+05 0.000e+00 9.496e+05 1.979e+06 1.000e-09 1.000e-09 0.0625 3.430e-01 0.000e+00 0.000e+00 1.196e+05 5.430e+04 0.000e+00 0.000e+00 + 13 8.725e+05 0.000e+00 8.951e+05 1.869e+06 1.000e-09 1.000e-09 0.0312 3.215e-01 0.000e+00 0.000e+00 5.746e+04 2.580e+04 0.000e+00 0.000e+00 + 14 7.764e+05 0.000e+00 8.692e+05 1.817e+06 1.000e-09 1.000e-09 0.0625 3.115e-01 0.000e+00 0.000e+00 1.099e+05 9.610e+04 0.000e+00 0.000e+00 + 15 7.500e+05 0.000e+00 7.730e+05 1.617e+06 1.000e-09 1.000e-09 0.0625 2.920e-01 0.000e+00 0.000e+00 9.778e+04 2.642e+04 0.000e+00 0.000e+00 + 16 7.205e+05 0.000e+00 7.463e+05 1.563e+06 1.000e-09 1.000e-09 0.0156 2.738e-01 0.000e+00 0.000e+00 2.423e+04 2.947e+04 0.000e+00 0.000e+00 + 17 7.205e+05 0.000e+00 7.168e+05 1.505e+06 1.000e-08 1.000e-08 0.0020 2.695e-01 0.000e+00 0.000e+00 2.936e+03 -5.530e+03 0.000e+00 0.000e+00 + 18 7.205e+05 0.000e+00 7.168e+05 1.505e+06 1.000e-07 1.000e-07 0.0020 2.695e-01 0.000e+00 0.000e+00 2.936e+03 -5.530e+03 0.000e+00 0.000e+00 + 19 7.205e+05 0.000e+00 7.168e+05 1.505e+06 1.000e-06 1.000e-06 0.0020 2.695e-01 0.000e+00 0.000e+00 2.936e+03 -5.529e+03 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 20 7.205e+05 0.000e+00 7.168e+05 1.505e+06 1.000e-05 1.000e-05 0.0020 2.695e-01 0.000e+00 0.000e+00 2.936e+03 -5.525e+03 0.000e+00 0.000e+00 + 21 7.205e+05 0.000e+00 7.168e+05 1.505e+06 1.000e-04 1.000e-04 0.0020 2.695e-01 0.000e+00 0.000e+00 2.936e+03 -5.485e+03 0.000e+00 0.000e+00 + 22 7.191e+05 0.000e+00 7.168e+05 1.506e+06 1.000e-03 1.000e-03 0.0078 2.695e-01 0.000e+00 0.000e+00 1.172e+04 1.462e+03 0.000e+00 0.000e+00 + 23 7.191e+05 0.000e+00 7.152e+05 1.507e+06 1.000e-02 1.000e-02 0.0020 2.674e-01 0.000e+00 0.000e+00 2.939e+03 -1.621e+03 0.000e+00 0.000e+00 + 24 6.797e+05 0.000e+00 7.144e+05 1.520e+06 1.000e-02 1.000e-02 0.2500 2.674e-01 0.000e+00 0.000e+00 3.297e+05 3.937e+04 0.000e+00 0.000e+00 + 25 5.855e+05 0.000e+00 6.700e+05 1.462e+06 1.000e-02 1.000e-02 0.2500 2.005e-01 0.000e+00 0.000e+00 3.160e+05 9.424e+04 0.000e+00 0.000e+00 + 26 5.855e+05 0.000e+00 5.703e+05 1.305e+06 1.000e-01 1.000e-01 0.0020 1.504e-01 0.000e+00 0.000e+00 2.546e+03 -1.476e+03 0.000e+00 0.000e+00 + 27 5.646e+05 0.000e+00 5.635e+05 1.381e+06 1.000e-01 1.000e-01 0.0625 1.504e-01 0.000e+00 0.000e+00 8.312e+04 2.084e+04 0.000e+00 0.000e+00 + 28 5.561e+05 0.000e+00 5.426e+05 1.338e+06 1.000e-01 1.000e-01 0.0312 1.410e-01 0.000e+00 0.000e+00 4.103e+04 8.490e+03 0.000e+00 0.000e+00 + 29 5.479e+05 0.000e+00 5.326e+05 1.325e+06 1.000e-01 1.000e-01 0.0625 1.366e-01 0.000e+00 0.000e+00 7.972e+04 8.208e+03 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 30 5.479e+05 0.000e+00 5.226e+05 1.302e+06 1.000e+00 1.000e+00 0.0020 1.281e-01 0.000e+00 0.000e+00 2.539e+03 -9.310e+01 0.000e+00 0.000e+00 + 31 3.878e+05 0.000e+00 5.043e+05 1.342e+06 1.000e+00 1.000e+00 0.5000 1.281e-01 0.000e+00 0.000e+00 4.617e+05 1.602e+05 0.000e+00 0.000e+00 + 32 3.661e+05 0.000e+00 3.356e+05 8.221e+05 1.000e+00 1.000e+00 0.2500 6.403e-02 0.000e+00 0.000e+00 1.751e+05 2.167e+04 0.000e+00 0.000e+00 + 33 3.267e+05 0.000e+00 3.043e+05 7.095e+05 1.000e+00 1.000e+00 0.2500 4.802e-02 0.000e+00 0.000e+00 1.521e+05 3.934e+04 0.000e+00 0.000e+00 + 34 3.170e+05 0.000e+00 2.650e+05 6.002e+05 1.000e+00 1.000e+00 0.1250 3.602e-02 0.000e+00 0.000e+00 6.978e+04 9.705e+03 0.000e+00 0.000e+00 + 35 3.170e+05 0.000e+00 2.555e+05 5.715e+05 1.000e+01 1.000e+01 0.0020 3.151e-02 0.000e+00 0.000e+00 1.115e+03 -4.213e+01 0.000e+00 0.000e+00 + 36 1.449e+05 0.000e+00 2.165e+05 4.664e+05 1.000e+00 1.000e+00 1.0000 3.151e-02 0.000e+00 0.000e+00 2.165e+05 1.721e+05 0.000e+00 0.000e+00 + 37 1.194e+05 0.000e+00 6.811e+04 1.621e+05 1.000e-01 1.000e-01 1.0000 0.000e+00 0.000e+00 0.000e+00 6.811e+04 2.553e+04 0.000e+00 0.000e+00 + 38 1.174e+05 0.000e+00 3.256e+04 1.227e+05 1.000e-01 1.000e-01 0.0156 0.000e+00 0.000e+00 0.000e+00 1.896e+03 1.934e+03 0.000e+00 0.000e+00 + 39 1.174e+05 0.000e+00 3.286e+04 1.172e+05 1.000e+00 1.000e+00 0.0020 0.000e+00 0.000e+00 0.000e+00 2.285e+02 -3.716e+01 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 40 1.055e+05 0.000e+00 6.642e+04 1.368e+05 1.000e+00 1.000e+00 0.5000 0.000e+00 0.000e+00 0.000e+00 5.081e+04 1.195e+04 0.000e+00 0.000e+00 + 41 4.939e+04 0.000e+00 5.774e+04 1.168e+05 1.000e-01 1.000e-01 1.0000 0.000e+00 0.000e+00 0.000e+00 5.774e+04 5.610e+04 0.000e+00 0.000e+00 + 42 4.222e+04 0.000e+00 1.089e+04 2.668e+04 1.000e-01 1.000e-01 0.2500 0.000e+00 0.000e+00 0.000e+00 5.682e+03 7.168e+03 0.000e+00 0.000e+00 + 43 4.076e+04 0.000e+00 1.076e+04 2.270e+04 1.000e-01 1.000e-01 0.5000 0.000e+00 0.000e+00 0.000e+00 8.366e+03 1.459e+03 0.000e+00 0.000e+00 + 44 3.077e+04 0.000e+00 1.299e+04 2.611e+04 1.000e-02 1.000e-02 1.0000 0.000e+00 0.000e+00 0.000e+00 1.299e+04 9.990e+03 0.000e+00 0.000e+00 + 45 3.077e+04 0.000e+00 5.919e+03 1.553e+04 1.000e-01 1.000e-01 0.0020 0.000e+00 0.000e+00 0.000e+00 3.029e+01 -6.207e+01 0.000e+00 0.000e+00 + 46 2.717e+04 0.000e+00 5.817e+03 1.278e+04 1.000e-01 1.000e-01 0.5000 0.000e+00 0.000e+00 0.000e+00 4.649e+03 3.599e+03 0.000e+00 0.000e+00 + 47 2.279e+04 0.000e+00 3.848e+03 8.551e+03 1.000e-02 1.000e-02 1.0000 0.000e+00 0.000e+00 0.000e+00 3.848e+03 4.376e+03 0.000e+00 0.000e+00 + 48 2.279e+04 0.000e+00 1.951e+03 4.388e+03 1.000e-01 1.000e-01 0.0039 0.000e+00 0.000e+00 0.000e+00 1.710e+01 7.067e+00 0.000e+00 0.000e+00 + 49 2.267e+04 0.000e+00 1.638e+03 3.373e+03 1.000e-01 1.000e-01 0.0625 0.000e+00 0.000e+00 0.000e+00 2.040e+02 1.192e+02 0.000e+00 0.000e+00 *** SOLVE with Box-DDP *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 1.858e+06 0.000e+00 1.932e+06 3.864e+06 1.000e-08 1.000e-08 0.0020 5.130e-01 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 - 1 1.858e+06 0.000e+00 1.932e+06 3.864e+06 1.000e-07 1.000e-07 0.0020 5.130e-01 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 - 2 1.858e+06 0.000e+00 1.932e+06 3.864e+06 1.000e-06 1.000e-06 0.0020 5.130e-01 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 - 3 1.858e+06 0.000e+00 1.932e+06 3.864e+06 1.000e-05 1.000e-05 0.0020 5.130e-01 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 - 4 1.858e+06 0.000e+00 1.932e+06 3.864e+06 1.000e-04 1.000e-04 0.0020 5.130e-01 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 - 5 1.858e+06 0.000e+00 1.933e+06 3.865e+06 1.000e-03 1.000e-03 0.0020 5.130e-01 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 - 6 1.858e+06 0.000e+00 1.936e+06 3.873e+06 1.000e-02 1.000e-02 0.0020 5.130e-01 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 - 7 1.858e+06 0.000e+00 1.958e+06 3.916e+06 1.000e-01 1.000e-01 0.0020 5.130e-01 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 - 8 9.840e+07 0.000e+00 2.051e+06 4.102e+06 1.000e-01 1.000e-01 0.1250 5.130e-01 0.000e+00 0.000e+00 4.807e+05 -9.654e+07 0.000e+00 0.000e+00 - 9 5.016e+07 0.000e+00 1.084e+08 3.602e+08 1.000e-01 1.000e-01 0.0625 0.000e+00 0.000e+00 0.000e+00 3.776e+06 4.824e+07 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 5.016e+07 0.000e+00 2.574e+07 1.158e+08 1.000e+00 1.000e+00 0.0020 0.000e+00 0.000e+00 0.000e+00 1.248e+05 -3.727e+07 0.000e+00 0.000e+00 - 11 5.016e+07 0.000e+00 2.219e+07 1.041e+08 1.000e+01 1.000e+01 0.0020 0.000e+00 0.000e+00 0.000e+00 5.812e+04 -1.148e+06 0.000e+00 0.000e+00 - 12 4.976e+07 0.000e+00 2.407e+07 1.006e+08 1.000e+02 1.000e+02 0.0020 0.000e+00 0.000e+00 0.000e+00 5.106e+04 3.961e+05 0.000e+00 0.000e+00 - 13 4.940e+07 0.000e+00 7.002e+06 5.410e+07 1.000e+02 1.000e+02 0.0156 0.000e+00 0.000e+00 0.000e+00 5.255e+05 3.617e+05 0.000e+00 0.000e+00 - 14 4.725e+07 0.000e+00 2.023e+06 5.593e+07 1.000e+02 1.000e+02 0.0625 0.000e+00 0.000e+00 0.000e+00 1.765e+06 2.145e+06 0.000e+00 0.000e+00 - 15 4.724e+07 0.000e+00 1.950e+05 4.718e+07 1.000e+03 1.000e+03 0.0039 0.000e+00 0.000e+00 0.000e+00 9.102e+04 1.458e+04 0.000e+00 0.000e+00 - 16 4.550e+07 0.000e+00 7.568e+06 1.710e+07 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 3.495e+06 1.741e+06 0.000e+00 0.000e+00 - 17 4.035e+07 0.000e+00 5.350e+06 1.160e+07 1.000e+03 1.000e+03 0.5000 0.000e+00 0.000e+00 0.000e+00 4.125e+06 5.144e+06 0.000e+00 0.000e+00 - 18 3.837e+07 0.000e+00 2.819e+06 5.927e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 1.260e+06 1.984e+06 0.000e+00 0.000e+00 - 19 3.832e+07 0.000e+00 2.426e+06 5.147e+06 1.000e+03 1.000e+03 0.0312 0.000e+00 0.000e+00 0.000e+00 1.537e+05 5.032e+04 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 20 3.695e+07 0.000e+00 2.397e+06 5.041e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 1.072e+06 1.372e+06 0.000e+00 0.000e+00 - 21 3.582e+07 0.000e+00 2.016e+06 4.175e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 8.954e+05 1.131e+06 0.000e+00 0.000e+00 - 22 3.510e+07 0.000e+00 1.566e+06 3.233e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 6.946e+05 7.130e+05 0.000e+00 0.000e+00 - 23 3.448e+07 0.000e+00 1.489e+06 3.068e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 6.599e+05 6.264e+05 0.000e+00 0.000e+00 - 24 3.385e+07 0.000e+00 1.317e+06 2.766e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 5.886e+05 6.332e+05 0.000e+00 0.000e+00 - 25 3.376e+07 0.000e+00 1.155e+06 2.483e+06 1.000e+03 1.000e+03 0.1250 0.000e+00 0.000e+00 0.000e+00 2.802e+05 8.546e+04 0.000e+00 0.000e+00 - 26 3.376e+07 0.000e+00 1.059e+06 2.510e+06 1.000e+04 1.000e+04 0.0020 0.000e+00 0.000e+00 0.000e+00 4.515e+03 -1.722e+03 0.000e+00 0.000e+00 - 27 3.376e+07 0.000e+00 1.463e+05 4.023e+05 1.000e+05 1.000e+05 0.0020 0.000e+00 0.000e+00 0.000e+00 6.779e+02 -3.410e+02 0.000e+00 0.000e+00 - 28 3.376e+07 0.000e+00 2.240e+04 4.559e+04 1.000e+06 1.000e+06 0.0020 0.000e+00 0.000e+00 0.000e+00 8.819e+01 -1.492e+02 0.000e+00 0.000e+00 - 29 3.376e+07 0.000e+00 2.288e+03 4.578e+03 1.000e+07 1.000e+07 0.0020 0.000e+00 0.000e+00 0.000e+00 8.931e+00 -8.361e+00 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 1.856e+06 0.000e+00 1.930e+06 3.860e+06 1.000e-08 1.000e-08 0.0020 5.130e-01 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 + 1 1.856e+06 0.000e+00 1.930e+06 3.860e+06 1.000e-07 1.000e-07 0.0020 5.130e-01 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 + 2 1.856e+06 0.000e+00 1.930e+06 3.860e+06 1.000e-06 1.000e-06 0.0020 5.130e-01 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 + 3 1.856e+06 0.000e+00 1.930e+06 3.860e+06 1.000e-05 1.000e-05 0.0020 5.130e-01 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 + 4 1.545e+09 0.000e+00 1.930e+06 3.860e+06 1.000e-05 1.000e-05 0.0312 5.130e-01 0.000e+00 0.000e+00 1.187e+05 -1.543e+09 0.000e+00 0.000e+00 + 5 1.545e+09 0.000e+00 2.228e+09 3.272e+09 1.000e-04 1.000e-04 0.0020 0.000e+00 0.000e+00 0.000e+00 1.187e+05 -1.543e+09 0.000e+00 0.000e+00 + 6 1.545e+09 0.000e+00 2.804e+09 4.325e+09 1.000e-03 1.000e-03 0.0020 0.000e+00 0.000e+00 0.000e+00 1.187e+05 -1.543e+09 0.000e+00 0.000e+00 + 7 1.545e+09 0.000e+00 2.806e+09 4.295e+09 1.000e-02 1.000e-02 0.0020 0.000e+00 0.000e+00 0.000e+00 1.187e+05 -1.543e+09 0.000e+00 0.000e+00 + 8 1.545e+09 0.000e+00 4.355e+09 2.791e+09 1.000e-01 1.000e-01 0.0020 0.000e+00 0.000e+00 0.000e+00 1.187e+05 -1.543e+09 0.000e+00 0.000e+00 + 9 1.545e+09 0.000e+00 3.498e+09 5.295e+09 1.000e+00 1.000e+00 0.0020 0.000e+00 0.000e+00 0.000e+00 1.187e+05 -1.543e+09 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 1.545e+09 0.000e+00 4.627e+09 2.940e+09 1.000e+01 1.000e+01 0.0020 0.000e+00 0.000e+00 0.000e+00 1.187e+05 -1.543e+09 0.000e+00 0.000e+00 + 11 1.545e+09 0.000e+00 6.696e+08 2.127e+09 1.000e+02 1.000e+02 0.0020 0.000e+00 0.000e+00 0.000e+00 1.187e+05 -1.543e+09 0.000e+00 0.000e+00 + 12 1.545e+09 0.000e+00 2.815e+09 4.359e+09 1.000e+03 1.000e+03 0.0020 0.000e+00 0.000e+00 0.000e+00 8.508e+06 -1.377e+27 0.000e+00 0.000e+00 + 13 1.545e+09 0.000e+00 3.560e+08 1.528e+09 1.000e+04 1.000e+04 0.0020 0.000e+00 0.000e+00 0.000e+00 1.187e+07 -2.988e+22 0.000e+00 0.000e+00 + 14 4.069e+08 0.000e+00 3.336e+08 6.624e+08 1.000e+04 1.000e+04 0.0312 0.000e+00 0.000e+00 0.000e+00 2.038e+07 1.138e+09 0.000e+00 0.000e+00 + 15 3.739e+08 0.000e+00 3.683e+07 7.452e+07 1.000e+04 1.000e+04 0.0312 0.000e+00 0.000e+00 0.000e+00 2.292e+06 3.297e+07 0.000e+00 0.000e+00 + 16 3.664e+08 0.000e+00 2.143e+07 4.339e+07 1.000e+05 1.000e+05 0.0078 0.000e+00 0.000e+00 0.000e+00 3.377e+05 7.541e+06 0.000e+00 0.000e+00 + 17 2.469e+08 0.000e+00 2.981e+06 5.988e+06 1.000e+05 1.000e+05 0.0625 0.000e+00 0.000e+00 0.000e+00 3.625e+05 1.194e+08 0.000e+00 0.000e+00 + 18 2.445e+08 0.000e+00 1.364e+06 2.740e+06 1.000e+05 1.000e+05 0.0156 0.000e+00 0.000e+00 0.000e+00 4.247e+04 2.434e+06 0.000e+00 0.000e+00 + 19 2.191e+08 0.000e+00 1.361e+06 2.736e+06 1.000e+05 1.000e+05 0.5000 0.000e+00 0.000e+00 0.000e+00 1.024e+06 2.543e+07 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 20 2.144e+08 0.000e+00 1.581e+06 3.166e+06 1.000e+05 1.000e+05 0.5000 0.000e+00 0.000e+00 0.000e+00 1.187e+06 4.711e+06 0.000e+00 0.000e+00 + 21 2.093e+08 0.000e+00 1.519e+06 3.040e+06 1.000e+05 1.000e+05 0.5000 0.000e+00 0.000e+00 0.000e+00 1.140e+06 5.097e+06 0.000e+00 0.000e+00 + 22 2.071e+08 0.000e+00 1.430e+06 2.864e+06 1.000e+05 1.000e+05 0.2500 0.000e+00 0.000e+00 0.000e+00 6.263e+05 2.144e+06 0.000e+00 0.000e+00 + 23 2.041e+08 0.000e+00 1.379e+06 2.762e+06 1.000e+05 1.000e+05 0.1250 0.000e+00 0.000e+00 0.000e+00 3.236e+05 3.055e+06 0.000e+00 0.000e+00 + 24 2.019e+08 0.000e+00 1.312e+06 2.627e+06 1.000e+05 1.000e+05 0.1250 0.000e+00 0.000e+00 0.000e+00 3.078e+05 2.149e+06 0.000e+00 0.000e+00 + 25 2.018e+08 0.000e+00 1.203e+06 2.410e+06 1.000e+05 1.000e+05 0.0156 0.000e+00 0.000e+00 0.000e+00 3.736e+04 7.406e+04 0.000e+00 0.000e+00 + 26 2.018e+08 0.000e+00 1.207e+06 2.418e+06 1.000e+06 1.000e+06 0.0039 0.000e+00 0.000e+00 0.000e+00 9.425e+03 1.757e+04 0.000e+00 0.000e+00 + 27 2.018e+08 0.000e+00 1.287e+05 2.579e+05 1.000e+07 1.000e+07 0.0078 0.000e+00 0.000e+00 0.000e+00 2.007e+03 3.918e+03 0.000e+00 0.000e+00 + 28 2.018e+08 0.000e+00 1.321e+04 2.649e+04 1.000e+07 1.000e+07 0.0156 0.000e+00 0.000e+00 0.000e+00 4.106e+02 8.570e+02 0.000e+00 0.000e+00 + 29 2.018e+08 0.000e+00 1.321e+04 2.649e+04 1.000e+08 1.000e+08 0.0078 0.000e+00 0.000e+00 0.000e+00 2.061e+02 4.282e+02 0.000e+00 0.000e+00 diff --git a/examples/log/double_pendulum_fwddyn.log b/examples/log/double_pendulum_fwddyn.log index 49711cc39c..4d6fac6a33 100644 --- a/examples/log/double_pendulum_fwddyn.log +++ b/examples/log/double_pendulum_fwddyn.log @@ -1,37 +1,37 @@ -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 7.817e-04 0.000e+00 1.910e-01 -3.343e-01 1.000e-09 1.000e-09 0.0625 3.140e+00 0.000e+00 0.000e+00 -2.173e-02 -7.817e-04 0.000e+00 0.000e+00 - 1 1.718e-03 0.000e+00 1.572e-01 -2.575e-01 1.000e-09 1.000e-09 0.0312 2.944e+00 0.000e+00 0.000e+00 -8.809e-03 -9.359e-04 0.000e+00 0.000e+00 - 2 3.343e-03 0.000e+00 1.413e-01 -2.159e-01 1.000e-09 1.000e-09 0.0312 2.852e+00 0.000e+00 0.000e+00 -7.685e-03 -1.625e-03 0.000e+00 0.000e+00 - 3 4.019e-03 0.000e+00 1.516e-01 -2.285e-01 1.000e-09 1.000e-09 0.0156 2.763e+00 0.000e+00 0.000e+00 -4.126e-03 -6.766e-04 0.000e+00 0.000e+00 - 4 4.948e-03 0.000e+00 1.669e-01 -2.493e-01 1.000e-09 1.000e-09 0.0156 2.719e+00 0.000e+00 0.000e+00 -4.525e-03 -9.290e-04 0.000e+00 0.000e+00 - 5 6.891e-03 0.000e+00 2.130e-01 -3.256e-01 1.000e-09 1.000e-09 0.0156 2.677e+00 0.000e+00 0.000e+00 -5.831e-03 -1.943e-03 0.000e+00 0.000e+00 - 6 7.897e-03 0.000e+00 3.700e-01 -6.743e-01 1.000e-09 1.000e-09 0.0312 2.635e+00 0.000e+00 0.000e+00 -2.177e-02 -1.006e-03 0.000e+00 0.000e+00 - 7 9.199e-03 0.000e+00 2.487e-01 -4.238e-01 1.000e-09 1.000e-09 0.0312 2.553e+00 0.000e+00 0.000e+00 -1.419e-02 -1.302e-03 0.000e+00 0.000e+00 - 8 1.088e-02 0.000e+00 2.172e-01 -3.370e-01 1.000e-09 1.000e-09 0.0312 2.473e+00 0.000e+00 0.000e+00 -1.189e-02 -1.683e-03 0.000e+00 0.000e+00 - 9 1.491e-02 0.000e+00 1.879e-01 -2.575e-01 1.000e-09 1.000e-09 0.0625 2.396e+00 0.000e+00 0.000e+00 -1.929e-02 -4.033e-03 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 2.125e-02 0.000e+00 1.451e-01 -1.449e-01 1.000e-09 1.000e-09 0.1250 2.246e+00 0.000e+00 0.000e+00 -2.605e-02 -6.332e-03 0.000e+00 0.000e+00 - 11 2.406e-02 0.000e+00 6.778e-02 -3.826e-02 1.000e-09 1.000e-09 0.1250 1.965e+00 0.000e+00 0.000e+00 -1.056e-02 -2.817e-03 0.000e+00 0.000e+00 - 12 2.516e-02 0.000e+00 3.145e-02 -6.040e-03 1.000e-09 1.000e-09 0.1250 1.720e+00 0.000e+00 0.000e+00 -4.261e-03 -1.094e-03 0.000e+00 0.000e+00 - 13 2.757e-02 0.000e+00 1.528e-02 3.455e-03 1.000e-09 1.000e-09 0.2500 1.505e+00 0.000e+00 0.000e+00 -3.495e-03 -2.407e-03 0.000e+00 0.000e+00 - 14 2.663e-02 0.000e+00 6.187e-04 7.173e-03 1.000e-09 1.000e-09 0.2500 1.128e+00 0.000e+00 0.000e+00 5.178e-04 9.350e-04 0.000e+00 0.000e+00 - 15 2.601e-02 0.000e+00 1.775e-03 5.050e-03 1.000e-09 1.000e-09 0.1250 8.464e-01 0.000e+00 0.000e+00 4.981e-04 6.246e-04 0.000e+00 0.000e+00 - 16 2.552e-02 0.000e+00 2.062e-03 3.985e-03 1.000e-09 1.000e-09 0.1250 7.406e-01 0.000e+00 0.000e+00 4.757e-04 4.853e-04 0.000e+00 0.000e+00 - 17 2.543e-02 0.000e+00 2.215e-03 3.285e-03 1.000e-09 1.000e-09 0.2500 6.480e-01 0.000e+00 0.000e+00 8.617e-04 8.665e-05 0.000e+00 0.000e+00 - 18 2.471e-02 0.000e+00 3.039e-03 3.979e-03 1.000e-09 1.000e-09 0.5000 4.860e-01 0.000e+00 0.000e+00 2.017e-03 7.241e-04 0.000e+00 0.000e+00 - 19 2.340e-02 0.000e+00 3.295e-03 4.626e-03 1.000e-09 1.000e-09 0.2500 2.430e-01 0.000e+00 0.000e+00 1.258e-03 1.308e-03 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 20 2.269e-02 0.000e+00 2.276e-03 2.774e-03 1.000e-09 1.000e-09 0.2500 1.823e-01 0.000e+00 0.000e+00 8.289e-04 7.149e-04 0.000e+00 0.000e+00 - 21 2.218e-02 0.000e+00 1.739e-03 1.945e-03 1.000e-09 1.000e-09 0.2500 1.367e-01 0.000e+00 0.000e+00 6.171e-04 5.081e-04 0.000e+00 0.000e+00 - 22 2.174e-02 0.000e+00 1.341e-03 1.404e-03 1.000e-09 1.000e-09 0.2500 1.025e-01 0.000e+00 0.000e+00 4.669e-04 4.374e-04 0.000e+00 0.000e+00 - 23 2.139e-02 0.000e+00 9.745e-04 9.094e-04 1.000e-09 1.000e-09 0.2500 7.689e-02 0.000e+00 0.000e+00 3.289e-04 3.506e-04 0.000e+00 0.000e+00 - 24 2.099e-02 0.000e+00 6.736e-04 5.217e-04 1.000e-09 1.000e-09 0.5000 5.767e-02 0.000e+00 0.000e+00 4.020e-04 3.977e-04 0.000e+00 0.000e+00 - 25 2.064e-02 0.000e+00 3.395e-04 2.279e-04 1.000e-09 1.000e-09 1.0000 2.883e-02 0.000e+00 0.000e+00 3.395e-04 3.547e-04 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 7.817e-04 0.000e+00 1.910e-01 3.581e-01 1.000e-09 1.000e-09 0.0625 3.140e+00 0.000e+00 0.000e+00 -2.173e-02 -7.817e-04 0.000e+00 0.000e+00 + 1 1.718e-03 0.000e+00 1.572e-01 2.859e-01 1.000e-09 1.000e-09 0.0312 2.944e+00 0.000e+00 0.000e+00 -8.809e-03 -9.359e-04 0.000e+00 0.000e+00 + 2 3.343e-03 0.000e+00 1.413e-01 2.493e-01 1.000e-09 1.000e-09 0.0312 2.852e+00 0.000e+00 0.000e+00 -7.685e-03 -1.625e-03 0.000e+00 0.000e+00 + 3 4.019e-03 0.000e+00 1.516e-01 2.658e-01 1.000e-09 1.000e-09 0.0156 2.763e+00 0.000e+00 0.000e+00 -4.126e-03 -6.766e-04 0.000e+00 0.000e+00 + 4 4.948e-03 0.000e+00 1.669e-01 2.915e-01 1.000e-09 1.000e-09 0.0156 2.719e+00 0.000e+00 0.000e+00 -4.525e-03 -9.290e-04 0.000e+00 0.000e+00 + 5 6.891e-03 0.000e+00 2.130e-01 3.758e-01 1.000e-09 1.000e-09 0.0156 2.677e+00 0.000e+00 0.000e+00 -5.831e-03 -1.943e-03 0.000e+00 0.000e+00 + 6 7.897e-03 0.000e+00 3.700e-01 7.072e-01 1.000e-09 1.000e-09 0.0312 2.635e+00 0.000e+00 0.000e+00 -2.177e-02 -1.006e-03 0.000e+00 0.000e+00 + 7 9.199e-03 0.000e+00 2.487e-01 4.606e-01 1.000e-09 1.000e-09 0.0312 2.553e+00 0.000e+00 0.000e+00 -1.419e-02 -1.302e-03 0.000e+00 0.000e+00 + 8 1.088e-02 0.000e+00 2.172e-01 3.856e-01 1.000e-09 1.000e-09 0.0312 2.473e+00 0.000e+00 0.000e+00 -1.189e-02 -1.683e-03 0.000e+00 0.000e+00 + 9 1.491e-02 0.000e+00 1.879e-01 3.167e-01 1.000e-09 1.000e-09 0.0625 2.396e+00 0.000e+00 0.000e+00 -1.929e-02 -4.033e-03 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 2.125e-02 0.000e+00 1.451e-01 2.175e-01 1.000e-09 1.000e-09 0.1250 2.246e+00 0.000e+00 0.000e+00 -2.605e-02 -6.332e-03 0.000e+00 0.000e+00 + 11 2.406e-02 0.000e+00 6.778e-02 8.691e-02 1.000e-09 1.000e-09 0.1250 1.965e+00 0.000e+00 0.000e+00 -1.056e-02 -2.817e-03 0.000e+00 0.000e+00 + 12 2.516e-02 0.000e+00 3.145e-02 3.447e-02 1.000e-09 1.000e-09 0.1250 1.720e+00 0.000e+00 0.000e+00 -4.261e-03 -1.094e-03 0.000e+00 0.000e+00 + 13 2.757e-02 0.000e+00 1.528e-02 1.355e-02 1.000e-09 1.000e-09 0.2500 1.505e+00 0.000e+00 0.000e+00 -3.495e-03 -2.407e-03 0.000e+00 0.000e+00 + 14 2.663e-02 0.000e+00 6.187e-04 2.968e-03 1.000e-09 1.000e-09 0.2500 1.128e+00 0.000e+00 0.000e+00 5.178e-04 9.350e-04 0.000e+00 0.000e+00 + 15 2.601e-02 0.000e+00 1.775e-03 4.300e-03 1.000e-09 1.000e-09 0.1250 8.464e-01 0.000e+00 0.000e+00 4.981e-04 6.246e-04 0.000e+00 0.000e+00 + 16 2.552e-02 0.000e+00 2.062e-03 4.054e-03 1.000e-09 1.000e-09 0.1250 7.406e-01 0.000e+00 0.000e+00 4.757e-04 4.853e-04 0.000e+00 0.000e+00 + 17 2.543e-02 0.000e+00 2.215e-03 3.858e-03 1.000e-09 1.000e-09 0.2500 6.480e-01 0.000e+00 0.000e+00 8.617e-04 8.665e-05 0.000e+00 0.000e+00 + 18 2.471e-02 0.000e+00 3.039e-03 5.028e-03 1.000e-09 1.000e-09 0.5000 4.860e-01 0.000e+00 0.000e+00 2.017e-03 7.241e-04 0.000e+00 0.000e+00 + 19 2.340e-02 0.000e+00 3.295e-03 5.608e-03 1.000e-09 1.000e-09 0.2500 2.430e-01 0.000e+00 0.000e+00 1.258e-03 1.308e-03 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 20 2.269e-02 0.000e+00 2.276e-03 3.662e-03 1.000e-09 1.000e-09 0.2500 1.823e-01 0.000e+00 0.000e+00 8.289e-04 7.149e-04 0.000e+00 0.000e+00 + 21 2.218e-02 0.000e+00 1.739e-03 2.711e-03 1.000e-09 1.000e-09 0.2500 1.367e-01 0.000e+00 0.000e+00 6.171e-04 5.081e-04 0.000e+00 0.000e+00 + 22 2.174e-02 0.000e+00 1.341e-03 2.043e-03 1.000e-09 1.000e-09 0.2500 1.025e-01 0.000e+00 0.000e+00 4.669e-04 4.374e-04 0.000e+00 0.000e+00 + 23 2.139e-02 0.000e+00 9.745e-04 1.429e-03 1.000e-09 1.000e-09 0.2500 7.689e-02 0.000e+00 0.000e+00 3.289e-04 3.506e-04 0.000e+00 0.000e+00 + 24 2.099e-02 0.000e+00 6.736e-04 9.345e-04 1.000e-09 1.000e-09 0.5000 5.767e-02 0.000e+00 0.000e+00 4.020e-04 3.977e-04 0.000e+00 0.000e+00 + 25 2.064e-02 0.000e+00 3.395e-04 4.534e-04 1.000e-09 1.000e-09 1.0000 2.883e-02 0.000e+00 0.000e+00 3.395e-04 3.547e-04 0.000e+00 0.000e+00 26 2.060e-02 0.000e+00 3.624e-05 7.248e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.624e-05 3.677e-05 0.000e+00 0.000e+00 27 2.059e-02 0.000e+00 9.601e-06 1.920e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 9.601e-06 1.037e-05 0.000e+00 0.000e+00 28 2.059e-02 0.000e+00 2.735e-06 5.469e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.735e-06 2.059e-06 0.000e+00 0.000e+00 29 2.059e-02 0.000e+00 2.880e-06 5.761e-06 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 2.160e-06 9.531e-07 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi 30 2.059e-02 0.000e+00 1.393e-06 2.786e-06 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.045e-06 4.376e-07 0.000e+00 0.000e+00 31 2.059e-02 0.000e+00 8.413e-07 1.683e-06 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 6.310e-07 2.850e-07 0.000e+00 0.000e+00 32 2.059e-02 0.000e+00 5.220e-07 1.044e-06 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 3.915e-07 1.883e-07 0.000e+00 0.000e+00 @@ -42,7 +42,7 @@ iter cost merit stop grad preg dreg step 37 2.059e-02 0.000e+00 5.657e-08 1.131e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.657e-08 1.196e-08 0.000e+00 0.000e+00 38 2.059e-02 0.000e+00 1.845e-07 3.689e-07 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.383e-07 3.420e-08 0.000e+00 0.000e+00 39 2.059e-02 0.000e+00 1.106e-07 2.213e-07 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 8.297e-08 2.222e-08 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi 40 2.059e-02 0.000e+00 6.737e-08 1.347e-07 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 5.053e-08 1.482e-08 0.000e+00 0.000e+00 41 2.059e-02 0.000e+00 4.096e-08 8.191e-08 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 3.072e-08 9.940e-09 0.000e+00 0.000e+00 42 2.059e-02 0.000e+00 2.522e-08 5.045e-08 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.892e-08 6.803e-09 0.000e+00 0.000e+00 @@ -53,7 +53,7 @@ iter cost merit stop grad preg dreg step 47 2.059e-02 0.000e+00 2.581e-09 5.161e-09 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.935e-09 1.213e-09 0.000e+00 0.000e+00 48 2.059e-02 0.000e+00 1.703e-09 3.407e-09 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.277e-09 8.846e-10 0.000e+00 0.000e+00 49 2.059e-02 0.000e+00 1.141e-09 2.281e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.141e-09 3.140e-10 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi 50 2.059e-02 0.000e+00 3.617e-09 7.233e-09 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 2.712e-09 6.994e-10 0.000e+00 0.000e+00 51 2.059e-02 0.000e+00 2.187e-09 4.374e-09 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.640e-09 4.642e-10 0.000e+00 0.000e+00 52 2.059e-02 0.000e+00 1.332e-09 2.665e-09 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 9.993e-10 3.133e-10 0.000e+00 0.000e+00 diff --git a/examples/log/double_pendulum_invdyn.log b/examples/log/double_pendulum_invdyn.log index 663a8f4e17..f70d492329 100644 --- a/examples/log/double_pendulum_invdyn.log +++ b/examples/log/double_pendulum_invdyn.log @@ -1,110 +1,110 @@ -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 1.436e-01 1.436e-01 1.826e+01 4.993e-01 1.000e-09 1.000e-09 1.0000 3.140e+00 0.000e+00 1.826e+01 -2.496e-01 -1.436e-01 -2.496e-01 -1.436e-01 - 1 2.798e-01 2.798e-01 2.131e+01 2.693e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.131e+01 -2.018e-01 -1.362e-01 -2.018e-01 -1.362e-01 - 2 1.799e-01 2.159e-01 5.616e+00 4.227e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.616e+00 9.558e-02 9.993e-02 1.961e-01 2.005e-01 - 3 1.424e-01 1.575e-01 1.974e+00 1.696e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.974e+00 3.004e-02 3.755e-02 5.786e-02 6.537e-02 - 4 1.383e-01 1.429e-01 5.946e-01 3.464e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.946e-01 6.135e-04 4.055e-03 1.115e-02 1.460e-02 - 5 1.349e-01 1.402e-01 6.871e-01 3.032e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.871e-01 -3.234e-04 3.413e-03 -1.031e-03 2.706e-03 - 6 1.304e-01 1.356e-01 6.864e-01 2.333e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.864e-01 2.641e-03 4.544e-03 2.646e-03 4.549e-03 - 7 1.230e-01 1.316e-01 8.620e-01 7.964e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 8.620e-01 4.816e-03 7.399e-03 3.056e-03 5.639e-03 - 8 1.246e-01 1.311e-01 6.547e-01 1.362e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.547e-01 -2.819e-03 -1.621e-03 -7.411e-04 4.571e-04 - 9 1.191e-01 1.261e-01 6.993e-01 1.394e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.993e-01 3.263e-03 5.505e-03 2.816e-03 5.058e-03 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 1.213e-01 1.278e-01 6.511e-01 9.151e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.511e-01 -3.142e-03 -2.220e-03 -2.659e-03 -1.737e-03 - 11 1.162e-01 1.234e-01 7.219e-01 9.246e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.219e-01 2.535e-03 5.092e-03 1.825e-03 4.383e-03 - 12 1.183e-01 1.254e-01 7.072e-01 1.015e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.072e-01 -3.210e-03 -2.124e-03 -3.063e-03 -1.977e-03 - 13 1.134e-01 1.206e-01 7.215e-01 7.612e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.215e-01 2.106e-03 4.911e-03 1.963e-03 4.767e-03 - 14 1.158e-01 1.228e-01 7.001e-01 1.047e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.001e-01 -3.685e-03 -2.339e-03 -3.471e-03 -2.124e-03 - 15 1.102e-01 1.175e-01 7.260e-01 8.421e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.260e-01 2.065e-03 5.535e-03 1.806e-03 5.275e-03 - 16 1.130e-01 1.203e-01 7.299e-01 1.061e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.299e-01 -4.452e-03 -2.754e-03 -4.492e-03 -2.793e-03 - 17 1.067e-01 1.150e-01 8.290e-01 9.842e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 8.290e-01 2.192e-03 6.309e-03 1.199e-03 5.316e-03 - 18 1.099e-01 1.177e-01 7.780e-01 1.023e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.780e-01 -5.398e-03 -3.273e-03 -4.887e-03 -2.761e-03 - 19 1.023e-01 1.134e-01 1.100e+00 1.081e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.100e+00 2.688e-03 7.604e-03 -5.364e-04 4.380e-03 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 20 1.063e-01 1.143e-01 7.965e-01 9.535e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.965e-01 -6.590e-03 -4.005e-03 -3.551e-03 -9.661e-04 - 21 9.715e-02 1.082e-01 1.097e+00 9.567e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.097e+00 4.069e-03 9.187e-03 1.054e-03 6.172e-03 - 22 1.003e-01 1.160e-01 1.562e+00 7.475e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.562e+00 -5.668e-03 -3.196e-03 -1.033e-02 -7.853e-03 - 23 9.175e-02 9.754e-02 5.777e-01 2.348e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.777e-01 5.731e-03 8.598e-03 1.560e-02 1.846e-02 - 24 9.058e-02 9.461e-02 4.023e-01 7.129e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 4.023e-01 1.997e-04 1.171e-03 1.957e-03 2.928e-03 - 25 9.018e-02 9.137e-02 1.190e-01 4.641e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.190e-01 1.160e-04 4.010e-04 2.956e-03 3.241e-03 - 26 9.000e-02 9.021e-02 2.049e-02 5.603e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.049e-02 8.214e-05 1.750e-04 1.069e-03 1.162e-03 - 27 8.987e-02 8.992e-02 5.578e-03 1.827e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.578e-03 7.949e-05 1.361e-04 2.290e-04 2.856e-04 - 28 8.976e-02 8.981e-02 2.992e-03 1.192e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.992e-03 5.914e-05 1.032e-04 9.830e-05 1.423e-04 - 29 8.967e-02 8.974e-02 2.580e-03 9.448e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.580e-03 5.049e-05 8.956e-05 6.042e-05 9.949e-05 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 30 8.966e-02 8.966e-02 1.918e-04 1.486e-05 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.918e-04 9.757e-06 1.489e-05 6.733e-05 7.246e-05 - 31 8.965e-02 8.966e-02 1.454e-04 1.050e-05 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.454e-04 5.275e-06 1.015e-05 7.099e-06 1.197e-05 - 32 8.964e-02 8.965e-02 1.224e-04 9.928e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.224e-04 5.117e-06 9.874e-06 6.271e-06 1.103e-05 - 33 8.963e-02 8.964e-02 1.069e-04 9.676e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.069e-04 4.990e-06 9.667e-06 5.893e-06 1.057e-05 - 34 8.962e-02 8.963e-02 9.541e-05 9.499e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 9.541e-05 4.888e-06 9.498e-06 5.640e-06 1.025e-05 - 35 8.961e-02 8.962e-02 8.620e-05 9.354e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 8.620e-05 4.803e-06 9.354e-06 5.465e-06 1.002e-05 - 36 8.960e-02 8.961e-02 7.843e-05 9.230e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 7.843e-05 4.729e-06 9.229e-06 5.338e-06 9.838e-06 - 37 8.959e-02 8.960e-02 7.167e-05 9.119e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 7.167e-05 4.665e-06 9.119e-06 5.240e-06 9.693e-06 - 38 8.958e-02 8.959e-02 6.568e-05 9.020e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 6.568e-05 4.608e-06 9.019e-06 5.159e-06 9.570e-06 - 39 8.957e-02 8.958e-02 6.030e-05 8.930e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 6.030e-05 4.557e-06 8.929e-06 5.090e-06 9.463e-06 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 40 8.957e-02 8.957e-02 5.757e-05 8.848e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 5.757e-05 4.510e-06 8.847e-06 4.802e-06 9.139e-06 - 41 8.956e-02 8.956e-02 5.595e-05 8.772e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 5.595e-05 4.468e-06 8.772e-06 4.648e-06 8.951e-06 - 42 8.955e-02 8.955e-02 5.431e-05 8.702e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 5.431e-05 4.429e-06 8.701e-06 4.613e-06 8.886e-06 - 43 8.954e-02 8.955e-02 5.268e-05 8.637e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 5.268e-05 4.392e-06 8.636e-06 4.581e-06 8.825e-06 - 44 8.953e-02 8.954e-02 5.104e-05 8.576e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 5.104e-05 4.358e-06 8.575e-06 4.552e-06 8.768e-06 - 45 8.952e-02 8.953e-02 4.941e-05 8.519e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 4.941e-05 4.327e-06 8.518e-06 4.524e-06 8.715e-06 - 46 8.951e-02 8.952e-02 4.780e-05 8.465e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 4.780e-05 4.297e-06 8.464e-06 4.498e-06 8.665e-06 - 47 8.951e-02 8.951e-02 4.619e-05 8.414e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 4.619e-05 4.269e-06 8.413e-06 4.473e-06 8.617e-06 - 48 8.950e-02 8.950e-02 4.461e-05 8.366e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 4.461e-05 4.242e-06 8.364e-06 4.450e-06 8.572e-06 - 49 8.949e-02 8.949e-02 4.304e-05 8.320e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 4.304e-05 4.217e-06 8.318e-06 4.428e-06 8.530e-06 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 50 8.948e-02 8.949e-02 4.150e-05 8.276e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 4.150e-05 4.193e-06 8.274e-06 4.408e-06 8.489e-06 - 51 8.947e-02 8.948e-02 3.998e-05 8.234e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.998e-05 4.170e-06 8.232e-06 4.388e-06 8.450e-06 - 52 8.946e-02 8.947e-02 3.849e-05 8.194e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.849e-05 4.148e-06 8.192e-06 4.370e-06 8.413e-06 - 53 8.946e-02 8.946e-02 3.703e-05 8.156e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.703e-05 4.127e-06 8.153e-06 4.352e-06 8.378e-06 - 54 8.945e-02 8.945e-02 3.559e-05 8.118e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.559e-05 4.107e-06 8.116e-06 4.335e-06 8.344e-06 - 55 8.944e-02 8.945e-02 3.419e-05 8.083e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.419e-05 4.088e-06 8.081e-06 4.318e-06 8.311e-06 - 56 8.943e-02 8.944e-02 3.282e-05 8.048e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.282e-05 4.069e-06 8.046e-06 4.302e-06 8.279e-06 - 57 8.942e-02 8.943e-02 3.148e-05 8.015e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.148e-05 4.051e-06 8.013e-06 4.287e-06 8.249e-06 - 58 8.942e-02 8.942e-02 3.017e-05 7.983e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.017e-05 4.034e-06 7.980e-06 4.273e-06 8.219e-06 - 59 8.941e-02 8.941e-02 2.891e-05 7.952e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.891e-05 4.017e-06 7.949e-06 4.258e-06 8.190e-06 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 60 8.940e-02 8.941e-02 2.767e-05 7.921e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.767e-05 4.001e-06 7.918e-06 4.244e-06 8.162e-06 - 61 8.939e-02 8.940e-02 2.648e-05 7.892e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.648e-05 3.985e-06 7.889e-06 4.231e-06 8.135e-06 - 62 8.938e-02 8.939e-02 2.532e-05 7.863e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.532e-05 3.969e-06 7.860e-06 4.218e-06 8.108e-06 - 63 8.938e-02 8.938e-02 2.419e-05 7.835e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.419e-05 3.954e-06 7.832e-06 4.205e-06 8.082e-06 - 64 8.937e-02 8.937e-02 2.311e-05 7.807e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.311e-05 3.939e-06 7.804e-06 4.192e-06 8.057e-06 - 65 8.936e-02 8.937e-02 2.206e-05 7.780e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.206e-05 3.925e-06 7.777e-06 4.180e-06 8.032e-06 - 66 8.935e-02 8.936e-02 2.105e-05 7.754e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.105e-05 3.911e-06 7.751e-06 4.168e-06 8.007e-06 - 67 8.935e-02 8.935e-02 2.007e-05 7.728e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.007e-05 3.897e-06 7.725e-06 4.156e-06 7.983e-06 - 68 8.934e-02 8.934e-02 1.913e-05 7.702e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.913e-05 3.884e-06 7.699e-06 4.144e-06 7.959e-06 - 69 8.933e-02 8.934e-02 1.822e-05 7.677e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.822e-05 3.870e-06 7.674e-06 4.132e-06 7.936e-06 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 70 8.932e-02 8.933e-02 1.735e-05 7.653e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.735e-05 3.857e-06 7.649e-06 4.120e-06 7.912e-06 - 71 8.931e-02 8.932e-02 1.652e-05 7.629e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.652e-05 3.844e-06 7.625e-06 4.109e-06 7.889e-06 - 72 8.931e-02 8.931e-02 1.572e-05 7.605e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.572e-05 3.832e-06 7.601e-06 4.098e-06 7.867e-06 - 73 8.930e-02 8.930e-02 1.495e-05 7.581e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.495e-05 3.819e-06 7.577e-06 4.086e-06 7.844e-06 - 74 8.929e-02 8.930e-02 1.421e-05 7.557e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.421e-05 3.807e-06 7.554e-06 4.075e-06 7.822e-06 - 75 8.928e-02 8.929e-02 1.350e-05 7.534e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.350e-05 3.795e-06 7.530e-06 4.064e-06 7.800e-06 - 76 8.928e-02 8.928e-02 1.283e-05 7.511e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.283e-05 3.782e-06 7.507e-06 4.053e-06 7.777e-06 - 77 8.927e-02 8.927e-02 1.249e-05 7.488e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.249e-05 3.770e-06 7.484e-06 3.914e-06 7.628e-06 - 78 8.926e-02 8.927e-02 1.225e-05 7.465e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.225e-05 3.758e-06 7.462e-06 3.862e-06 7.565e-06 - 79 8.925e-02 8.926e-02 1.200e-05 7.443e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.200e-05 3.747e-06 7.439e-06 3.854e-06 7.546e-06 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 80 8.925e-02 8.925e-02 1.175e-05 7.420e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.175e-05 3.735e-06 7.416e-06 3.846e-06 7.527e-06 - 81 8.924e-02 8.925e-02 1.150e-05 7.398e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.150e-05 3.723e-06 7.394e-06 3.838e-06 7.509e-06 - 82 8.923e-02 8.924e-02 1.124e-05 7.376e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.124e-05 3.711e-06 7.371e-06 3.830e-06 7.490e-06 - 83 8.923e-02 8.923e-02 1.098e-05 7.353e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.098e-05 3.700e-06 7.349e-06 3.822e-06 7.471e-06 - 84 8.922e-02 8.922e-02 1.072e-05 7.331e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.072e-05 3.688e-06 7.327e-06 3.813e-06 7.452e-06 - 85 8.921e-02 8.922e-02 1.046e-05 7.309e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.046e-05 3.677e-06 7.305e-06 3.805e-06 7.433e-06 - 86 8.920e-02 8.921e-02 1.020e-05 7.287e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.020e-05 3.665e-06 7.282e-06 3.796e-06 7.414e-06 - 87 8.920e-02 8.920e-02 9.936e-06 7.265e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 9.936e-06 3.654e-06 7.260e-06 3.788e-06 7.394e-06 - 88 8.919e-02 8.919e-02 9.675e-06 7.243e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 9.675e-06 3.642e-06 7.238e-06 3.779e-06 7.375e-06 - 89 8.918e-02 8.919e-02 9.415e-06 7.220e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 9.415e-06 3.631e-06 7.216e-06 3.770e-06 7.355e-06 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 90 8.917e-02 8.918e-02 9.157e-06 7.198e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 9.157e-06 3.619e-06 7.194e-06 3.761e-06 7.335e-06 - 91 8.917e-02 8.917e-02 8.901e-06 7.176e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 8.901e-06 3.608e-06 7.171e-06 3.752e-06 7.315e-06 - 92 8.916e-02 8.917e-02 8.648e-06 7.154e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 8.648e-06 3.596e-06 7.149e-06 3.742e-06 7.295e-06 - 93 8.915e-02 8.916e-02 8.397e-06 7.131e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 8.397e-06 3.585e-06 7.126e-06 3.733e-06 7.275e-06 - 94 8.915e-02 8.915e-02 8.149e-06 7.109e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 8.149e-06 3.573e-06 7.104e-06 3.724e-06 7.255e-06 - 95 8.914e-02 8.914e-02 7.905e-06 7.086e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 7.905e-06 3.561e-06 7.081e-06 3.714e-06 7.234e-06 - 96 8.913e-02 8.914e-02 7.664e-06 7.064e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 7.664e-06 3.550e-06 7.059e-06 3.704e-06 7.213e-06 - 97 8.912e-02 8.913e-02 7.426e-06 7.041e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 7.426e-06 3.538e-06 7.036e-06 3.694e-06 7.193e-06 - 98 8.912e-02 8.912e-02 7.193e-06 7.018e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 7.193e-06 3.526e-06 7.013e-06 3.685e-06 7.172e-06 - 99 8.911e-02 8.912e-02 6.964e-06 6.996e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 6.964e-06 3.515e-06 6.990e-06 3.675e-06 7.150e-06 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 1.436e-01 1.436e-01 1.826e+01 1.182e-07 1.000e-09 1.000e-09 1.0000 3.140e+00 0.000e+00 1.826e+01 -2.496e-01 -1.436e-01 -2.496e-01 -1.436e-01 + 1 2.798e-01 2.798e-01 2.131e+01 1.145e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.131e+01 -2.018e-01 -1.362e-01 -2.018e-01 -1.362e-01 + 2 1.799e-01 2.159e-01 5.616e+00 2.123e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.616e+00 9.558e-02 9.993e-02 1.961e-01 2.005e-01 + 3 1.424e-01 1.575e-01 1.974e+00 8.779e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.974e+00 3.004e-02 3.755e-02 5.786e-02 6.537e-02 + 4 1.383e-01 1.429e-01 5.946e-01 1.738e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.946e-01 6.135e-04 4.055e-03 1.115e-02 1.460e-02 + 5 1.349e-01 1.402e-01 6.871e-01 1.484e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.871e-01 -3.234e-04 3.413e-03 -1.031e-03 2.706e-03 + 6 1.304e-01 1.356e-01 6.864e-01 1.193e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.864e-01 2.641e-03 4.544e-03 2.646e-03 4.549e-03 + 7 1.230e-01 1.316e-01 8.620e-01 4.464e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 8.620e-01 4.816e-03 7.399e-03 3.056e-03 5.639e-03 + 8 1.246e-01 1.311e-01 6.547e-01 6.530e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.547e-01 -2.819e-03 -1.621e-03 -7.411e-04 4.571e-04 + 9 1.191e-01 1.261e-01 6.993e-01 7.297e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.993e-01 3.263e-03 5.505e-03 2.816e-03 5.058e-03 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 1.213e-01 1.278e-01 6.511e-01 4.261e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.511e-01 -3.142e-03 -2.220e-03 -2.659e-03 -1.737e-03 + 11 1.162e-01 1.234e-01 7.219e-01 4.876e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.219e-01 2.535e-03 5.092e-03 1.825e-03 4.383e-03 + 12 1.183e-01 1.254e-01 7.072e-01 4.753e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.072e-01 -3.210e-03 -2.124e-03 -3.063e-03 -1.977e-03 + 13 1.134e-01 1.206e-01 7.215e-01 4.017e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.215e-01 2.106e-03 4.911e-03 1.963e-03 4.767e-03 + 14 1.158e-01 1.228e-01 7.001e-01 4.869e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.001e-01 -3.685e-03 -2.339e-03 -3.471e-03 -2.124e-03 + 15 1.102e-01 1.175e-01 7.260e-01 4.417e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.260e-01 2.065e-03 5.535e-03 1.806e-03 5.275e-03 + 16 1.130e-01 1.203e-01 7.299e-01 4.857e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.299e-01 -4.452e-03 -2.754e-03 -4.492e-03 -2.793e-03 + 17 1.067e-01 1.150e-01 8.290e-01 5.140e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 8.290e-01 2.192e-03 6.309e-03 1.199e-03 5.316e-03 + 18 1.099e-01 1.177e-01 7.780e-01 4.574e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.780e-01 -5.398e-03 -3.273e-03 -4.887e-03 -2.761e-03 + 19 1.023e-01 1.134e-01 1.100e+00 5.676e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.100e+00 2.688e-03 7.604e-03 -5.364e-04 4.380e-03 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 20 1.063e-01 1.143e-01 7.965e-01 4.109e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.965e-01 -6.590e-03 -4.005e-03 -3.551e-03 -9.661e-04 + 21 9.715e-02 1.082e-01 1.097e+00 5.190e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.097e+00 4.069e-03 9.187e-03 1.054e-03 6.172e-03 + 22 1.003e-01 1.160e-01 1.562e+00 3.171e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.562e+00 -5.668e-03 -3.196e-03 -1.033e-02 -7.853e-03 + 23 9.175e-02 9.754e-02 5.777e-01 1.747e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.777e-01 5.731e-03 8.598e-03 1.560e-02 1.846e-02 + 24 9.058e-02 9.461e-02 4.023e-01 3.584e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 4.023e-01 1.997e-04 1.171e-03 1.957e-03 2.928e-03 + 25 9.018e-02 9.137e-02 1.190e-01 2.437e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.190e-01 1.160e-04 4.010e-04 2.956e-03 3.241e-03 + 26 9.000e-02 9.021e-02 2.049e-02 3.623e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.049e-02 8.214e-05 1.750e-04 1.069e-03 1.162e-03 + 27 8.987e-02 8.992e-02 5.578e-03 1.708e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.578e-03 7.949e-05 1.361e-04 2.290e-04 2.856e-04 + 28 8.976e-02 8.981e-02 2.992e-03 1.188e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.992e-03 5.914e-05 1.032e-04 9.830e-05 1.423e-04 + 29 8.967e-02 8.974e-02 2.580e-03 9.773e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.580e-03 5.049e-05 8.956e-05 6.042e-05 9.949e-05 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 30 8.966e-02 8.966e-02 1.918e-04 1.719e-05 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.918e-04 9.757e-06 1.489e-05 6.733e-05 7.246e-05 + 31 8.965e-02 8.966e-02 1.454e-04 1.052e-05 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.454e-04 5.275e-06 1.015e-05 7.099e-06 1.197e-05 + 32 8.964e-02 8.965e-02 1.224e-04 1.008e-05 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.224e-04 5.117e-06 9.874e-06 6.271e-06 1.103e-05 + 33 8.963e-02 8.964e-02 1.069e-04 9.828e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.069e-04 4.990e-06 9.667e-06 5.893e-06 1.057e-05 + 34 8.962e-02 8.963e-02 9.541e-05 9.638e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 9.541e-05 4.888e-06 9.498e-06 5.640e-06 1.025e-05 + 35 8.961e-02 8.962e-02 8.620e-05 9.480e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 8.620e-05 4.803e-06 9.354e-06 5.465e-06 1.002e-05 + 36 8.960e-02 8.961e-02 7.843e-05 9.344e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 7.843e-05 4.729e-06 9.229e-06 5.338e-06 9.838e-06 + 37 8.959e-02 8.960e-02 7.167e-05 9.225e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 7.167e-05 4.665e-06 9.119e-06 5.240e-06 9.693e-06 + 38 8.958e-02 8.959e-02 6.568e-05 9.118e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 6.568e-05 4.608e-06 9.019e-06 5.159e-06 9.570e-06 + 39 8.957e-02 8.958e-02 6.030e-05 9.022e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 6.030e-05 4.557e-06 8.929e-06 5.090e-06 9.463e-06 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 40 8.957e-02 8.957e-02 5.757e-05 8.934e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 5.757e-05 4.510e-06 8.847e-06 4.802e-06 9.139e-06 + 41 8.956e-02 8.956e-02 5.595e-05 8.854e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 5.595e-05 4.468e-06 8.772e-06 4.648e-06 8.951e-06 + 42 8.955e-02 8.955e-02 5.431e-05 8.780e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 5.431e-05 4.429e-06 8.701e-06 4.613e-06 8.886e-06 + 43 8.954e-02 8.955e-02 5.268e-05 8.711e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 5.268e-05 4.392e-06 8.636e-06 4.581e-06 8.825e-06 + 44 8.953e-02 8.954e-02 5.104e-05 8.647e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 5.104e-05 4.358e-06 8.575e-06 4.552e-06 8.768e-06 + 45 8.952e-02 8.953e-02 4.941e-05 8.586e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 4.941e-05 4.327e-06 8.518e-06 4.524e-06 8.715e-06 + 46 8.951e-02 8.952e-02 4.780e-05 8.529e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 4.780e-05 4.297e-06 8.464e-06 4.498e-06 8.665e-06 + 47 8.951e-02 8.951e-02 4.619e-05 8.476e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 4.619e-05 4.269e-06 8.413e-06 4.473e-06 8.617e-06 + 48 8.950e-02 8.950e-02 4.461e-05 8.425e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 4.461e-05 4.242e-06 8.364e-06 4.450e-06 8.572e-06 + 49 8.949e-02 8.949e-02 4.304e-05 8.377e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 4.304e-05 4.217e-06 8.318e-06 4.428e-06 8.530e-06 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 50 8.948e-02 8.949e-02 4.150e-05 8.331e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 4.150e-05 4.193e-06 8.274e-06 4.408e-06 8.489e-06 + 51 8.947e-02 8.948e-02 3.998e-05 8.287e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.998e-05 4.170e-06 8.232e-06 4.388e-06 8.450e-06 + 52 8.946e-02 8.947e-02 3.849e-05 8.245e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.849e-05 4.148e-06 8.192e-06 4.370e-06 8.413e-06 + 53 8.946e-02 8.946e-02 3.703e-05 8.205e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.703e-05 4.127e-06 8.153e-06 4.352e-06 8.378e-06 + 54 8.945e-02 8.945e-02 3.559e-05 8.166e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.559e-05 4.107e-06 8.116e-06 4.335e-06 8.344e-06 + 55 8.944e-02 8.945e-02 3.419e-05 8.129e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.419e-05 4.088e-06 8.081e-06 4.318e-06 8.311e-06 + 56 8.943e-02 8.944e-02 3.282e-05 8.093e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.282e-05 4.069e-06 8.046e-06 4.302e-06 8.279e-06 + 57 8.942e-02 8.943e-02 3.148e-05 8.059e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.148e-05 4.051e-06 8.013e-06 4.287e-06 8.249e-06 + 58 8.942e-02 8.942e-02 3.017e-05 8.025e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.017e-05 4.034e-06 7.980e-06 4.273e-06 8.219e-06 + 59 8.941e-02 8.941e-02 2.891e-05 7.993e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.891e-05 4.017e-06 7.949e-06 4.258e-06 8.190e-06 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 60 8.940e-02 8.941e-02 2.767e-05 7.961e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.767e-05 4.001e-06 7.918e-06 4.244e-06 8.162e-06 + 61 8.939e-02 8.940e-02 2.648e-05 7.931e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.648e-05 3.985e-06 7.889e-06 4.231e-06 8.135e-06 + 62 8.938e-02 8.939e-02 2.532e-05 7.901e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.532e-05 3.969e-06 7.860e-06 4.218e-06 8.108e-06 + 63 8.938e-02 8.938e-02 2.419e-05 7.871e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.419e-05 3.954e-06 7.832e-06 4.205e-06 8.082e-06 + 64 8.937e-02 8.937e-02 2.311e-05 7.843e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.311e-05 3.939e-06 7.804e-06 4.192e-06 8.057e-06 + 65 8.936e-02 8.937e-02 2.206e-05 7.815e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.206e-05 3.925e-06 7.777e-06 4.180e-06 8.032e-06 + 66 8.935e-02 8.936e-02 2.105e-05 7.788e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.105e-05 3.911e-06 7.751e-06 4.168e-06 8.007e-06 + 67 8.935e-02 8.935e-02 2.007e-05 7.761e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.007e-05 3.897e-06 7.725e-06 4.156e-06 7.983e-06 + 68 8.934e-02 8.934e-02 1.913e-05 7.735e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.913e-05 3.884e-06 7.699e-06 4.144e-06 7.959e-06 + 69 8.933e-02 8.934e-02 1.822e-05 7.709e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.822e-05 3.870e-06 7.674e-06 4.132e-06 7.936e-06 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 70 8.932e-02 8.933e-02 1.735e-05 7.684e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.735e-05 3.857e-06 7.649e-06 4.120e-06 7.912e-06 + 71 8.931e-02 8.932e-02 1.652e-05 7.659e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.652e-05 3.844e-06 7.625e-06 4.109e-06 7.889e-06 + 72 8.931e-02 8.931e-02 1.572e-05 7.634e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.572e-05 3.832e-06 7.601e-06 4.098e-06 7.867e-06 + 73 8.930e-02 8.930e-02 1.495e-05 7.610e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.495e-05 3.819e-06 7.577e-06 4.086e-06 7.844e-06 + 74 8.929e-02 8.930e-02 1.421e-05 7.585e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.421e-05 3.807e-06 7.554e-06 4.075e-06 7.822e-06 + 75 8.928e-02 8.929e-02 1.350e-05 7.562e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.350e-05 3.795e-06 7.530e-06 4.064e-06 7.800e-06 + 76 8.928e-02 8.928e-02 1.283e-05 7.538e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.283e-05 3.782e-06 7.507e-06 4.053e-06 7.777e-06 + 77 8.927e-02 8.927e-02 1.249e-05 7.514e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.249e-05 3.770e-06 7.484e-06 3.914e-06 7.628e-06 + 78 8.926e-02 8.927e-02 1.225e-05 7.491e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.225e-05 3.758e-06 7.462e-06 3.862e-06 7.565e-06 + 79 8.925e-02 8.926e-02 1.200e-05 7.468e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.200e-05 3.747e-06 7.439e-06 3.854e-06 7.546e-06 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 80 8.925e-02 8.925e-02 1.175e-05 7.445e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.175e-05 3.735e-06 7.416e-06 3.846e-06 7.527e-06 + 81 8.924e-02 8.925e-02 1.150e-05 7.422e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.150e-05 3.723e-06 7.394e-06 3.838e-06 7.509e-06 + 82 8.923e-02 8.924e-02 1.124e-05 7.399e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.124e-05 3.711e-06 7.371e-06 3.830e-06 7.490e-06 + 83 8.923e-02 8.923e-02 1.098e-05 7.377e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.098e-05 3.700e-06 7.349e-06 3.822e-06 7.471e-06 + 84 8.922e-02 8.922e-02 1.072e-05 7.354e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.072e-05 3.688e-06 7.327e-06 3.813e-06 7.452e-06 + 85 8.921e-02 8.922e-02 1.046e-05 7.331e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.046e-05 3.677e-06 7.305e-06 3.805e-06 7.433e-06 + 86 8.920e-02 8.921e-02 1.020e-05 7.309e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.020e-05 3.665e-06 7.282e-06 3.796e-06 7.414e-06 + 87 8.920e-02 8.920e-02 9.936e-06 7.286e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 9.936e-06 3.654e-06 7.260e-06 3.788e-06 7.394e-06 + 88 8.919e-02 8.919e-02 9.675e-06 7.263e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 9.675e-06 3.642e-06 7.238e-06 3.779e-06 7.375e-06 + 89 8.918e-02 8.919e-02 9.415e-06 7.241e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 9.415e-06 3.631e-06 7.216e-06 3.770e-06 7.355e-06 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 90 8.917e-02 8.918e-02 9.157e-06 7.218e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 9.157e-06 3.619e-06 7.194e-06 3.761e-06 7.335e-06 + 91 8.917e-02 8.917e-02 8.901e-06 7.196e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 8.901e-06 3.608e-06 7.171e-06 3.752e-06 7.315e-06 + 92 8.916e-02 8.917e-02 8.648e-06 7.173e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 8.648e-06 3.596e-06 7.149e-06 3.742e-06 7.295e-06 + 93 8.915e-02 8.916e-02 8.397e-06 7.150e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 8.397e-06 3.585e-06 7.126e-06 3.733e-06 7.275e-06 + 94 8.915e-02 8.915e-02 8.149e-06 7.127e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 8.149e-06 3.573e-06 7.104e-06 3.724e-06 7.255e-06 + 95 8.914e-02 8.914e-02 7.905e-06 7.105e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 7.905e-06 3.561e-06 7.081e-06 3.714e-06 7.234e-06 + 96 8.913e-02 8.914e-02 7.664e-06 7.082e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 7.664e-06 3.550e-06 7.059e-06 3.704e-06 7.213e-06 + 97 8.912e-02 8.913e-02 7.426e-06 7.059e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 7.426e-06 3.538e-06 7.036e-06 3.694e-06 7.193e-06 + 98 8.912e-02 8.912e-02 7.193e-06 7.036e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 7.193e-06 3.526e-06 7.013e-06 3.685e-06 7.172e-06 + 99 8.911e-02 8.912e-02 6.964e-06 7.012e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 6.964e-06 3.515e-06 6.990e-06 3.675e-06 7.150e-06 diff --git a/examples/log/humanoid_manipulation.log b/examples/log/humanoid_manipulation.log index 5dbffb441c..d10adfa06b 100644 --- a/examples/log/humanoid_manipulation.log +++ b/examples/log/humanoid_manipulation.log @@ -1,86 +1,37 @@ -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 7.842e+01 0.000e+00 4.563e+01 9.125e+01 1.000e-01 1.000e-01 0.2500 5.334e-14 0.000e+00 0.000e+00 1.996e+01 2.032e+01 0.000e+00 0.000e+00 - 1 6.592e+01 0.000e+00 3.143e+01 6.287e+01 1.000e-01 1.000e-01 0.5000 4.000e-14 0.000e+00 0.000e+00 2.357e+01 1.250e+01 0.000e+00 0.000e+00 - 2 6.225e+01 0.000e+00 1.552e+01 3.103e+01 1.000e-01 1.000e-01 0.2500 2.001e-14 0.000e+00 0.000e+00 6.788e+00 3.676e+00 0.000e+00 0.000e+00 - 3 5.144e+01 0.000e+00 1.308e+01 2.615e+01 1.000e-01 1.000e-01 0.5000 1.502e-14 0.000e+00 0.000e+00 9.808e+00 1.080e+01 0.000e+00 0.000e+00 - 4 4.829e+01 0.000e+00 6.135e+00 1.227e+01 1.000e-01 1.000e-01 0.5000 7.522e-15 0.000e+00 0.000e+00 4.601e+00 3.153e+00 0.000e+00 0.000e+00 - 5 4.668e+01 0.000e+00 6.886e+00 1.377e+01 1.000e-01 1.000e-01 0.1250 3.775e-15 0.000e+00 0.000e+00 1.614e+00 1.611e+00 0.000e+00 0.000e+00 - 6 4.408e+01 0.000e+00 5.838e+00 1.168e+01 1.000e-01 1.000e-01 0.2500 3.303e-15 0.000e+00 0.000e+00 2.554e+00 2.596e+00 0.000e+00 0.000e+00 - 7 4.051e+01 0.000e+00 4.356e+00 8.713e+00 1.000e-01 1.000e-01 0.5000 2.470e-15 0.000e+00 0.000e+00 3.267e+00 3.570e+00 0.000e+00 0.000e+00 - 8 3.756e+01 0.000e+00 4.118e+00 8.237e+00 1.000e-01 1.000e-01 0.5000 1.249e-15 0.000e+00 0.000e+00 3.089e+00 2.955e+00 0.000e+00 0.000e+00 - 9 3.611e+01 0.000e+00 4.456e+00 8.912e+00 1.000e-01 1.000e-01 0.2500 6.661e-16 0.000e+00 0.000e+00 1.949e+00 1.447e+00 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 3.502e+01 0.000e+00 4.574e+00 9.148e+00 1.000e-01 1.000e-01 0.2500 6.661e-16 0.000e+00 0.000e+00 2.001e+00 1.096e+00 0.000e+00 0.000e+00 - 11 3.432e+01 0.000e+00 4.976e+00 9.952e+00 1.000e-01 1.000e-01 0.2500 4.441e-16 0.000e+00 0.000e+00 2.177e+00 6.977e-01 0.000e+00 0.000e+00 - 12 3.338e+01 0.000e+00 5.676e+00 1.135e+01 1.000e-01 1.000e-01 0.1250 4.441e-16 0.000e+00 0.000e+00 1.330e+00 9.332e-01 0.000e+00 0.000e+00 - 13 3.252e+01 0.000e+00 5.398e+00 1.080e+01 1.000e-01 1.000e-01 0.1250 6.661e-16 0.000e+00 0.000e+00 1.265e+00 8.611e-01 0.000e+00 0.000e+00 - 14 3.172e+01 0.000e+00 5.168e+00 1.034e+01 1.000e-01 1.000e-01 0.1250 8.882e-16 0.000e+00 0.000e+00 1.211e+00 8.028e-01 0.000e+00 0.000e+00 - 15 3.096e+01 0.000e+00 4.961e+00 9.923e+00 1.000e-01 1.000e-01 0.1250 8.882e-16 0.000e+00 0.000e+00 1.163e+00 7.611e-01 0.000e+00 0.000e+00 - 16 3.034e+01 0.000e+00 4.780e+00 9.560e+00 1.000e-01 1.000e-01 0.1250 8.882e-16 0.000e+00 0.000e+00 1.120e+00 6.159e-01 0.000e+00 0.000e+00 - 17 2.437e+01 0.000e+00 4.545e+00 9.090e+00 1.000e-02 1.000e-02 1.0000 6.661e-16 0.000e+00 0.000e+00 4.545e+00 5.970e+00 0.000e+00 0.000e+00 - 18 2.222e+01 0.000e+00 8.519e+00 1.704e+01 1.000e-02 1.000e-02 0.1250 0.000e+00 0.000e+00 0.000e+00 1.997e+00 2.156e+00 0.000e+00 0.000e+00 - 19 2.020e+01 0.000e+00 7.929e+00 1.586e+01 1.000e-02 1.000e-02 0.1250 0.000e+00 0.000e+00 0.000e+00 1.858e+00 2.019e+00 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 20 1.846e+01 0.000e+00 7.493e+00 1.499e+01 1.000e-02 1.000e-02 0.1250 0.000e+00 0.000e+00 0.000e+00 1.756e+00 1.738e+00 0.000e+00 0.000e+00 - 21 1.665e+01 0.000e+00 6.851e+00 1.370e+01 1.000e-02 1.000e-02 0.1250 0.000e+00 0.000e+00 0.000e+00 1.606e+00 1.806e+00 0.000e+00 0.000e+00 - 22 1.511e+01 0.000e+00 6.052e+00 1.210e+01 1.000e-02 1.000e-02 0.1250 0.000e+00 0.000e+00 0.000e+00 1.418e+00 1.544e+00 0.000e+00 0.000e+00 - 23 1.382e+01 0.000e+00 5.298e+00 1.060e+01 1.000e-02 1.000e-02 0.1250 0.000e+00 0.000e+00 0.000e+00 1.242e+00 1.291e+00 0.000e+00 0.000e+00 - 24 1.178e+01 0.000e+00 4.586e+00 9.173e+00 1.000e-02 1.000e-02 0.2500 0.000e+00 0.000e+00 0.000e+00 2.007e+00 2.035e+00 0.000e+00 0.000e+00 - 25 8.846e+00 0.000e+00 3.448e+00 6.897e+00 1.000e-02 1.000e-02 0.5000 0.000e+00 0.000e+00 0.000e+00 2.586e+00 2.939e+00 0.000e+00 0.000e+00 - 26 8.553e+00 0.000e+00 1.444e+00 2.888e+00 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 0.000e+00 1.444e+00 2.924e-01 0.000e+00 0.000e+00 - 27 7.130e+00 0.000e+00 2.722e+00 5.443e+00 1.000e-03 1.000e-03 0.5000 0.000e+00 0.000e+00 0.000e+00 2.041e+00 1.423e+00 0.000e+00 0.000e+00 - 28 6.058e+00 0.000e+00 1.596e+00 3.192e+00 1.000e-03 1.000e-03 0.5000 0.000e+00 0.000e+00 0.000e+00 1.197e+00 1.072e+00 0.000e+00 0.000e+00 - 29 5.384e+00 0.000e+00 8.262e-01 1.652e+00 1.000e-03 1.000e-03 0.5000 0.000e+00 0.000e+00 0.000e+00 6.197e-01 6.745e-01 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 30 5.235e+00 0.000e+00 3.664e-01 7.327e-01 1.000e-03 1.000e-03 0.2500 0.000e+00 0.000e+00 0.000e+00 1.603e-01 1.483e-01 0.000e+00 0.000e+00 - 31 4.806e+00 0.000e+00 2.979e-01 5.958e-01 1.000e-04 1.000e-04 1.0000 0.000e+00 0.000e+00 0.000e+00 2.979e-01 4.290e-01 0.000e+00 0.000e+00 - 32 4.756e+00 0.000e+00 4.459e-01 8.919e-01 1.000e-04 1.000e-04 0.0625 0.000e+00 0.000e+00 0.000e+00 5.400e-02 5.059e-02 0.000e+00 0.000e+00 - 33 4.724e+00 0.000e+00 4.166e-01 8.332e-01 1.000e-04 1.000e-04 0.0625 0.000e+00 0.000e+00 0.000e+00 5.045e-02 3.198e-02 0.000e+00 0.000e+00 - 34 4.699e+00 0.000e+00 4.095e-01 8.190e-01 1.000e-04 1.000e-04 0.0625 0.000e+00 0.000e+00 0.000e+00 4.959e-02 2.508e-02 0.000e+00 0.000e+00 - 35 4.676e+00 0.000e+00 4.083e-01 8.166e-01 1.000e-04 1.000e-04 0.0625 0.000e+00 0.000e+00 0.000e+00 4.944e-02 2.247e-02 0.000e+00 0.000e+00 - 36 4.653e+00 0.000e+00 4.082e-01 8.164e-01 1.000e-04 1.000e-04 0.0625 0.000e+00 0.000e+00 0.000e+00 4.943e-02 2.281e-02 0.000e+00 0.000e+00 - 37 4.628e+00 0.000e+00 4.076e-01 8.151e-01 1.000e-04 1.000e-04 0.0625 0.000e+00 0.000e+00 0.000e+00 4.935e-02 2.504e-02 0.000e+00 0.000e+00 - 38 4.615e+00 0.000e+00 4.026e-01 8.051e-01 1.000e-04 1.000e-04 0.1250 0.000e+00 0.000e+00 0.000e+00 9.435e-02 1.319e-02 0.000e+00 0.000e+00 - 39 4.528e+00 0.000e+00 4.267e-01 8.535e-01 1.000e-04 1.000e-04 0.2500 0.000e+00 0.000e+00 0.000e+00 1.867e-01 8.674e-02 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 40 4.433e+00 0.000e+00 4.086e-01 8.172e-01 1.000e-04 1.000e-04 0.2500 0.000e+00 0.000e+00 0.000e+00 1.788e-01 9.559e-02 0.000e+00 0.000e+00 - 41 4.328e+00 0.000e+00 3.711e-01 7.421e-01 1.000e-04 1.000e-04 0.2500 0.000e+00 0.000e+00 0.000e+00 1.623e-01 1.047e-01 0.000e+00 0.000e+00 - 42 4.239e+00 0.000e+00 3.140e-01 6.281e-01 1.000e-04 1.000e-04 0.2500 0.000e+00 0.000e+00 0.000e+00 1.374e-01 8.952e-02 0.000e+00 0.000e+00 - 43 4.152e+00 0.000e+00 2.654e-01 5.307e-01 1.000e-04 1.000e-04 0.2500 0.000e+00 0.000e+00 0.000e+00 1.161e-01 8.601e-02 0.000e+00 0.000e+00 - 44 4.073e+00 0.000e+00 2.151e-01 4.302e-01 1.000e-04 1.000e-04 0.2500 0.000e+00 0.000e+00 0.000e+00 9.410e-02 7.957e-02 0.000e+00 0.000e+00 - 45 4.004e+00 0.000e+00 1.655e-01 3.311e-01 1.000e-04 1.000e-04 0.5000 0.000e+00 0.000e+00 0.000e+00 1.242e-01 6.872e-02 0.000e+00 0.000e+00 - 46 3.927e+00 0.000e+00 1.489e-01 2.978e-01 1.000e-05 1.000e-05 1.0000 0.000e+00 0.000e+00 0.000e+00 1.489e-01 7.672e-02 0.000e+00 0.000e+00 - 47 3.847e+00 0.000e+00 2.733e-01 5.466e-01 1.000e-05 1.000e-05 0.2500 0.000e+00 0.000e+00 0.000e+00 1.196e-01 8.060e-02 0.000e+00 0.000e+00 - 48 3.668e+00 0.000e+00 2.288e-01 4.575e-01 1.000e-05 1.000e-05 0.5000 0.000e+00 0.000e+00 0.000e+00 1.716e-01 1.789e-01 0.000e+00 0.000e+00 - 49 3.553e+00 0.000e+00 1.072e-01 2.143e-01 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 1.072e-01 1.149e-01 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 50 3.552e+00 0.000e+00 8.170e-02 1.634e-01 1.000e-06 1.000e-06 0.0156 0.000e+00 0.000e+00 0.000e+00 2.533e-03 1.246e-03 0.000e+00 0.000e+00 - 51 3.497e+00 0.000e+00 7.868e-02 1.574e-01 1.000e-06 1.000e-06 0.5000 0.000e+00 0.000e+00 0.000e+00 5.901e-02 5.499e-02 0.000e+00 0.000e+00 - 52 3.496e+00 0.000e+00 2.828e-02 5.656e-02 1.000e-06 1.000e-06 0.0312 0.000e+00 0.000e+00 0.000e+00 1.740e-03 6.920e-04 0.000e+00 0.000e+00 - 53 3.476e+00 0.000e+00 2.768e-02 5.536e-02 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 2.768e-02 1.989e-02 0.000e+00 0.000e+00 - 54 3.476e+00 0.000e+00 2.128e-02 4.256e-02 1.000e-06 1.000e-06 0.0020 0.000e+00 0.000e+00 0.000e+00 8.304e-05 6.455e-05 0.000e+00 0.000e+00 - 55 3.475e+00 0.000e+00 2.032e-02 4.064e-02 1.000e-06 1.000e-06 0.0625 0.000e+00 0.000e+00 0.000e+00 2.461e-03 1.549e-03 0.000e+00 0.000e+00 - 56 3.471e+00 0.000e+00 1.870e-02 3.740e-02 1.000e-06 1.000e-06 0.1250 0.000e+00 0.000e+00 0.000e+00 4.383e-03 3.447e-03 0.000e+00 0.000e+00 - 57 3.469e+00 0.000e+00 1.541e-02 3.083e-02 1.000e-06 1.000e-06 0.1250 0.000e+00 0.000e+00 0.000e+00 3.612e-03 1.850e-03 0.000e+00 0.000e+00 - 58 3.467e+00 0.000e+00 1.339e-02 2.678e-02 1.000e-06 1.000e-06 0.2500 0.000e+00 0.000e+00 0.000e+00 5.859e-03 2.278e-03 0.000e+00 0.000e+00 - 59 3.464e+00 0.000e+00 1.124e-02 2.248e-02 1.000e-06 1.000e-06 0.2500 0.000e+00 0.000e+00 0.000e+00 4.916e-03 2.982e-03 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 60 3.461e+00 0.000e+00 8.310e-03 1.662e-02 1.000e-06 1.000e-06 0.5000 0.000e+00 0.000e+00 0.000e+00 6.232e-03 2.945e-03 0.000e+00 0.000e+00 - 61 3.456e+00 0.000e+00 5.517e-03 1.103e-02 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 5.517e-03 4.832e-03 0.000e+00 0.000e+00 - 62 3.456e+00 0.000e+00 7.806e-04 1.561e-03 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 7.806e-04 7.760e-04 0.000e+00 0.000e+00 - 63 3.456e+00 0.000e+00 8.950e-06 1.790e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.950e-06 7.085e-06 0.000e+00 0.000e+00 - 64 3.456e+00 0.000e+00 3.372e-06 6.744e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.372e-06 6.829e-07 0.000e+00 0.000e+00 - 65 3.456e+00 0.000e+00 3.777e-06 7.555e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.777e-06 3.813e-06 0.000e+00 0.000e+00 - 66 3.456e+00 0.000e+00 7.620e-07 1.524e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.620e-07 7.867e-07 0.000e+00 0.000e+00 - 67 3.456e+00 0.000e+00 5.337e-07 1.067e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.337e-07 5.498e-07 0.000e+00 0.000e+00 - 68 3.456e+00 0.000e+00 3.490e-07 6.980e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.490e-07 3.585e-07 0.000e+00 0.000e+00 - 69 3.456e+00 0.000e+00 2.057e-07 4.113e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.057e-07 2.104e-07 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 70 3.456e+00 0.000e+00 1.016e-07 2.032e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.016e-07 1.033e-07 0.000e+00 0.000e+00 - 71 3.456e+00 0.000e+00 3.482e-08 6.964e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.482e-08 3.501e-08 0.000e+00 0.000e+00 - 72 3.456e+00 0.000e+00 3.248e-09 6.495e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.248e-09 3.254e-09 0.000e+00 0.000e+00 - 73 3.456e+00 0.000e+00 7.353e-13 1.471e-12 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.353e-13 7.976e-13 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 7.066e+01 0.000e+00 4.521e+01 9.041e+01 1.000e-02 1.000e-02 1.0000 2.753e-14 0.000e+00 0.000e+00 4.521e+01 2.808e+01 0.000e+00 0.000e+00 + 1 5.719e+01 0.000e+00 3.809e+01 7.617e+01 1.000e-02 1.000e-02 0.5000 0.000e+00 0.000e+00 0.000e+00 2.856e+01 1.347e+01 0.000e+00 0.000e+00 + 2 3.036e+01 0.000e+00 3.373e+01 6.747e+01 1.000e-02 1.000e-02 0.5000 0.000e+00 0.000e+00 0.000e+00 2.530e+01 2.683e+01 0.000e+00 0.000e+00 + 3 2.426e+01 0.000e+00 1.478e+01 2.955e+01 1.000e-02 1.000e-02 0.2500 0.000e+00 0.000e+00 0.000e+00 6.464e+00 6.098e+00 0.000e+00 0.000e+00 + 4 1.911e+01 0.000e+00 1.104e+01 2.208e+01 1.000e-02 1.000e-02 0.2500 0.000e+00 0.000e+00 0.000e+00 4.829e+00 5.155e+00 0.000e+00 0.000e+00 + 5 1.551e+01 0.000e+00 7.685e+00 1.537e+01 1.000e-02 1.000e-02 0.2500 0.000e+00 0.000e+00 0.000e+00 3.362e+00 3.597e+00 0.000e+00 0.000e+00 + 6 1.497e+01 0.000e+00 5.287e+00 1.057e+01 1.000e-02 1.000e-02 0.1250 0.000e+00 0.000e+00 0.000e+00 1.239e+00 5.415e-01 0.000e+00 0.000e+00 + 7 9.069e+00 0.000e+00 5.136e+00 1.027e+01 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 0.000e+00 5.136e+00 5.898e+00 0.000e+00 0.000e+00 + 8 7.418e+00 0.000e+00 2.491e+00 4.983e+00 1.000e-04 1.000e-04 1.0000 0.000e+00 0.000e+00 0.000e+00 2.491e+00 1.652e+00 0.000e+00 0.000e+00 + 9 6.336e+00 0.000e+00 2.504e+00 5.007e+00 1.000e-05 1.000e-05 1.0000 0.000e+00 0.000e+00 0.000e+00 2.504e+00 1.081e+00 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 5.019e+00 0.000e+00 2.449e+00 4.897e+00 1.000e-05 1.000e-05 0.5000 0.000e+00 0.000e+00 0.000e+00 1.836e+00 1.317e+00 0.000e+00 0.000e+00 + 11 4.219e+00 0.000e+00 1.286e+00 2.571e+00 1.000e-05 1.000e-05 0.5000 0.000e+00 0.000e+00 0.000e+00 9.641e-01 8.005e-01 0.000e+00 0.000e+00 + 12 3.663e+00 0.000e+00 5.626e-01 1.125e+00 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 5.626e-01 5.552e-01 0.000e+00 0.000e+00 + 13 3.661e+00 0.000e+00 1.659e-01 3.319e-01 1.000e-06 1.000e-06 0.0156 0.000e+00 0.000e+00 0.000e+00 5.145e-03 2.429e-03 0.000e+00 0.000e+00 + 14 3.498e+00 0.000e+00 1.609e-01 3.217e-01 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 1.609e-01 1.629e-01 0.000e+00 0.000e+00 + 15 3.498e+00 0.000e+00 1.911e-02 3.823e-02 1.000e-07 1.000e-07 0.0156 0.000e+00 0.000e+00 0.000e+00 5.926e-04 9.898e-05 0.000e+00 0.000e+00 + 16 3.491e+00 0.000e+00 1.076e-02 2.152e-02 1.000e-07 1.000e-07 0.5000 0.000e+00 0.000e+00 0.000e+00 8.069e-03 6.405e-03 0.000e+00 0.000e+00 + 17 3.488e+00 0.000e+00 4.023e-03 8.045e-03 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 4.023e-03 3.095e-03 0.000e+00 0.000e+00 + 18 3.488e+00 0.000e+00 1.233e-03 2.465e-03 1.000e-07 1.000e-07 0.0020 0.000e+00 0.000e+00 0.000e+00 4.811e-06 6.047e-07 0.000e+00 0.000e+00 + 19 3.487e+00 0.000e+00 9.713e-04 1.943e-03 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 9.713e-04 9.723e-04 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 20 3.486e+00 0.000e+00 7.578e-03 1.516e-02 1.000e-08 1.000e-08 0.1250 0.000e+00 0.000e+00 0.000e+00 1.776e-03 1.669e-03 0.000e+00 0.000e+00 + 21 3.484e+00 0.000e+00 5.791e-03 1.158e-02 1.000e-08 1.000e-08 0.2500 0.000e+00 0.000e+00 0.000e+00 2.533e-03 1.724e-03 0.000e+00 0.000e+00 + 22 3.483e+00 0.000e+00 4.047e-03 8.094e-03 1.000e-08 1.000e-08 0.2500 0.000e+00 0.000e+00 0.000e+00 1.771e-03 1.438e-03 0.000e+00 0.000e+00 + 23 3.482e+00 0.000e+00 2.627e-03 5.255e-03 1.000e-08 1.000e-08 0.2500 0.000e+00 0.000e+00 0.000e+00 1.149e-03 1.019e-03 0.000e+00 0.000e+00 + 24 3.481e+00 0.000e+00 1.637e-03 3.274e-03 1.000e-08 1.000e-08 0.5000 0.000e+00 0.000e+00 0.000e+00 1.228e-03 8.408e-04 0.000e+00 0.000e+00 + 25 3.480e+00 0.000e+00 8.442e-04 1.688e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.442e-04 8.282e-04 0.000e+00 0.000e+00 + 26 3.480e+00 0.000e+00 4.321e-05 8.642e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.321e-05 4.359e-05 0.000e+00 0.000e+00 + 27 3.480e+00 0.000e+00 9.473e-08 1.895e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 9.473e-08 1.029e-07 0.000e+00 0.000e+00 + 28 3.480e+00 0.000e+00 4.314e-09 8.629e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.314e-09 4.522e-09 0.000e+00 0.000e+00 + 29 3.480e+00 0.000e+00 7.104e-11 1.421e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.104e-11 7.843e-11 0.000e+00 0.000e+00 Finally reached = (0.400, 0.000, 1.200) -Distance between hand and target = 1.523E-05 -Distance to default state = 1.615E+00 -XY distance to CoM reference = 4.200E-02 +Distance between hand and target = 1.539E-05 +Distance to default state = 1.616E+00 +XY distance to CoM reference = 4.197E-02 diff --git a/examples/log/humanoid_manipulation_ubound.log b/examples/log/humanoid_manipulation_ubound.log index 82a764a6ee..f71e51ef65 100644 --- a/examples/log/humanoid_manipulation_ubound.log +++ b/examples/log/humanoid_manipulation_ubound.log @@ -1,150 +1,65 @@ -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 8.788e+01 0.000e+00 9.459e+01 1.892e+02 1.000e-09 1.000e-09 0.0625 5.334e-14 0.000e+00 0.000e+00 1.145e+01 1.086e+01 0.000e+00 0.000e+00 - 1 7.826e+01 0.000e+00 8.392e+01 1.678e+02 1.000e-09 1.000e-09 0.0625 5.000e-14 0.000e+00 0.000e+00 1.016e+01 9.623e+00 0.000e+00 0.000e+00 - 2 7.374e+01 0.000e+00 7.433e+01 1.487e+02 1.000e-09 1.000e-09 0.0312 4.688e-14 0.000e+00 0.000e+00 4.573e+00 4.513e+00 0.000e+00 0.000e+00 - 3 7.160e+01 0.000e+00 6.983e+01 1.397e+02 1.000e-09 1.000e-09 0.0156 4.542e-14 0.000e+00 0.000e+00 2.165e+00 2.147e+00 0.000e+00 0.000e+00 - 4 6.983e+01 0.000e+00 6.748e+01 1.350e+02 1.000e-09 1.000e-09 0.0312 4.471e-14 0.000e+00 0.000e+00 4.152e+00 1.769e+00 0.000e+00 0.000e+00 - 5 6.802e+01 0.000e+00 6.580e+01 1.316e+02 1.000e-09 1.000e-09 0.0156 4.331e-14 0.000e+00 0.000e+00 2.040e+00 1.806e+00 0.000e+00 0.000e+00 - 6 6.722e+01 0.000e+00 6.388e+01 1.278e+02 1.000e-08 1.000e-08 0.0078 4.263e-14 0.000e+00 0.000e+00 9.943e-01 7.968e-01 0.000e+00 0.000e+00 - 7 6.687e+01 0.000e+00 6.310e+01 1.262e+02 1.000e-07 1.000e-07 0.0039 4.230e-14 0.000e+00 0.000e+00 4.920e-01 3.578e-01 0.000e+00 0.000e+00 - 8 6.611e+01 0.000e+00 6.272e+01 1.254e+02 1.000e-06 1.000e-06 0.0078 4.213e-14 0.000e+00 0.000e+00 9.761e-01 7.593e-01 0.000e+00 0.000e+00 - 9 6.559e+01 0.000e+00 6.190e+01 1.238e+02 1.000e-05 1.000e-05 0.0078 4.181e-14 0.000e+00 0.000e+00 9.634e-01 5.201e-01 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 6.536e+01 0.000e+00 6.103e+01 1.221e+02 1.000e-05 1.000e-05 0.0156 4.148e-14 0.000e+00 0.000e+00 1.892e+00 2.309e-01 0.000e+00 0.000e+00 - 11 6.536e+01 0.000e+00 6.074e+01 1.215e+02 1.000e-04 1.000e-04 0.0020 4.084e-14 0.000e+00 0.000e+00 2.370e-01 6.295e-03 0.000e+00 0.000e+00 - 12 6.263e+01 0.000e+00 5.971e+01 1.194e+02 1.000e-04 1.000e-04 0.0625 4.084e-14 0.000e+00 0.000e+00 7.230e+00 2.725e+00 0.000e+00 0.000e+00 - 13 6.199e+01 0.000e+00 5.695e+01 1.139e+02 1.000e-04 1.000e-04 0.0312 3.828e-14 0.000e+00 0.000e+00 3.504e+00 6.387e-01 0.000e+00 0.000e+00 - 14 6.180e+01 0.000e+00 5.627e+01 1.125e+02 1.000e-04 1.000e-04 0.0156 3.708e-14 0.000e+00 0.000e+00 1.745e+00 1.951e-01 0.000e+00 0.000e+00 - 15 6.175e+01 0.000e+00 5.586e+01 1.117e+02 1.000e-03 1.000e-03 0.0039 3.651e-14 0.000e+00 0.000e+00 4.356e-01 4.403e-02 0.000e+00 0.000e+00 - 16 5.625e+01 0.000e+00 5.286e+01 1.057e+02 1.000e-03 1.000e-03 0.1250 3.636e-14 0.000e+00 0.000e+00 1.239e+01 5.507e+00 0.000e+00 0.000e+00 - 17 5.409e+01 0.000e+00 4.695e+01 9.391e+01 1.000e-03 1.000e-03 0.0625 3.182e-14 0.000e+00 0.000e+00 5.686e+00 2.153e+00 0.000e+00 0.000e+00 - 18 5.335e+01 0.000e+00 4.449e+01 8.899e+01 1.000e-03 1.000e-03 0.0312 2.984e-14 0.000e+00 0.000e+00 2.737e+00 7.418e-01 0.000e+00 0.000e+00 - 19 5.271e+01 0.000e+00 4.298e+01 8.596e+01 1.000e-03 1.000e-03 0.0312 2.891e-14 0.000e+00 0.000e+00 2.644e+00 6.426e-01 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 20 5.221e+01 0.000e+00 4.202e+01 8.405e+01 1.000e-03 1.000e-03 0.0312 2.801e-14 0.000e+00 0.000e+00 2.585e+00 5.017e-01 0.000e+00 0.000e+00 - 21 5.180e+01 0.000e+00 4.127e+01 8.253e+01 1.000e-03 1.000e-03 0.0312 2.713e-14 0.000e+00 0.000e+00 2.539e+00 4.124e-01 0.000e+00 0.000e+00 - 22 5.109e+01 0.000e+00 4.061e+01 8.123e+01 1.000e-03 1.000e-03 0.0312 2.628e-14 0.000e+00 0.000e+00 2.499e+00 7.104e-01 0.000e+00 0.000e+00 - 23 5.043e+01 0.000e+00 3.971e+01 7.943e+01 1.000e-03 1.000e-03 0.0312 2.547e-14 0.000e+00 0.000e+00 2.443e+00 6.576e-01 0.000e+00 0.000e+00 - 24 5.006e+01 0.000e+00 3.798e+01 7.595e+01 1.000e-03 1.000e-03 0.0312 2.467e-14 0.000e+00 0.000e+00 2.336e+00 3.644e-01 0.000e+00 0.000e+00 - 25 4.995e+01 0.000e+00 3.568e+01 7.137e+01 1.000e-03 1.000e-03 0.0156 2.390e-14 0.000e+00 0.000e+00 1.106e+00 1.182e-01 0.000e+00 0.000e+00 - 26 4.989e+01 0.000e+00 3.479e+01 6.958e+01 1.000e-02 1.000e-02 0.0078 2.352e-14 0.000e+00 0.000e+00 5.415e-01 5.724e-02 0.000e+00 0.000e+00 - 27 4.954e+01 0.000e+00 2.655e+01 5.309e+01 1.000e-02 1.000e-02 0.0312 2.334e-14 0.000e+00 0.000e+00 1.633e+00 3.532e-01 0.000e+00 0.000e+00 - 28 4.751e+01 0.000e+00 2.592e+01 5.184e+01 1.000e-02 1.000e-02 0.1250 2.261e-14 0.000e+00 0.000e+00 6.076e+00 2.029e+00 0.000e+00 0.000e+00 - 29 4.526e+01 0.000e+00 2.409e+01 4.819e+01 1.000e-02 1.000e-02 0.2500 1.978e-14 0.000e+00 0.000e+00 1.054e+01 2.244e+00 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 30 4.144e+01 0.000e+00 2.319e+01 4.639e+01 1.000e-02 1.000e-02 0.2500 1.484e-14 0.000e+00 0.000e+00 1.015e+01 3.823e+00 0.000e+00 0.000e+00 - 31 3.745e+01 0.000e+00 2.495e+01 4.990e+01 1.000e-02 1.000e-02 0.2500 1.113e-14 0.000e+00 0.000e+00 1.092e+01 3.994e+00 0.000e+00 0.000e+00 - 32 3.254e+01 0.000e+00 2.418e+01 4.835e+01 1.000e-02 1.000e-02 0.2500 8.354e-15 0.000e+00 0.000e+00 1.058e+01 4.908e+00 0.000e+00 0.000e+00 - 33 2.861e+01 0.000e+00 2.131e+01 4.262e+01 1.000e-02 1.000e-02 0.2500 6.273e-15 0.000e+00 0.000e+00 9.322e+00 3.924e+00 0.000e+00 0.000e+00 - 34 2.584e+01 0.000e+00 1.864e+01 3.728e+01 1.000e-02 1.000e-02 0.2500 4.718e-15 0.000e+00 0.000e+00 8.156e+00 2.772e+00 0.000e+00 0.000e+00 - 35 2.245e+01 0.000e+00 1.649e+01 3.298e+01 1.000e-02 1.000e-02 0.5000 3.553e-15 0.000e+00 0.000e+00 1.237e+01 3.394e+00 0.000e+00 0.000e+00 - 36 2.106e+01 0.000e+00 1.361e+01 2.722e+01 1.000e-02 1.000e-02 0.5000 1.776e-15 0.000e+00 0.000e+00 1.021e+01 1.383e+00 0.000e+00 0.000e+00 - 37 2.106e+01 0.000e+00 1.240e+01 2.480e+01 1.000e-01 1.000e-01 0.0020 8.882e-16 0.000e+00 0.000e+00 4.839e-02 2.979e-03 0.000e+00 0.000e+00 - 38 1.935e+01 0.000e+00 7.457e+00 1.491e+01 1.000e-02 1.000e-02 1.0000 8.882e-16 0.000e+00 0.000e+00 7.457e+00 1.713e+00 0.000e+00 0.000e+00 - 39 1.461e+01 0.000e+00 9.709e+00 1.942e+01 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 0.000e+00 9.709e+00 4.743e+00 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 40 8.279e+00 0.000e+00 8.341e+00 1.668e+01 1.000e-04 1.000e-04 1.0000 0.000e+00 0.000e+00 0.000e+00 8.341e+00 6.329e+00 0.000e+00 0.000e+00 - 41 6.316e+00 0.000e+00 5.176e+00 5.658e+00 1.000e-04 1.000e-04 0.5000 0.000e+00 0.000e+00 0.000e+00 3.295e+00 1.963e+00 0.000e+00 0.000e+00 - 42 5.819e+00 0.000e+00 1.485e+00 1.814e+00 1.000e-04 1.000e-04 0.5000 0.000e+00 0.000e+00 0.000e+00 9.691e-01 4.967e-01 0.000e+00 0.000e+00 - 43 5.544e+00 0.000e+00 6.680e-01 1.049e+00 1.000e-05 1.000e-05 1.0000 0.000e+00 0.000e+00 0.000e+00 6.680e-01 2.746e-01 0.000e+00 0.000e+00 - 44 5.425e+00 0.000e+00 7.750e-01 1.210e+00 1.000e-05 1.000e-05 0.2500 0.000e+00 0.000e+00 0.000e+00 3.072e-01 1.197e-01 0.000e+00 0.000e+00 - 45 5.115e+00 0.000e+00 6.225e-01 1.040e+00 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 6.225e-01 3.099e-01 0.000e+00 0.000e+00 - 46 5.108e+00 0.000e+00 3.792e-01 7.585e-01 1.000e-06 1.000e-06 0.0156 0.000e+00 0.000e+00 0.000e+00 1.176e-02 6.312e-03 0.000e+00 0.000e+00 - 47 4.858e+00 0.000e+00 3.708e-01 7.416e-01 1.000e-06 1.000e-06 0.5000 0.000e+00 0.000e+00 0.000e+00 2.781e-01 2.507e-01 0.000e+00 0.000e+00 - 48 4.824e+00 0.000e+00 1.351e-01 2.701e-01 1.000e-06 1.000e-06 0.2500 0.000e+00 0.000e+00 0.000e+00 5.909e-02 3.416e-02 0.000e+00 0.000e+00 - 49 4.723e+00 0.000e+00 1.011e-01 2.022e-01 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 1.011e-01 1.001e-01 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 50 4.723e+00 0.000e+00 2.325e-02 4.650e-02 1.000e-06 1.000e-06 0.0039 0.000e+00 0.000e+00 0.000e+00 1.813e-04 7.460e-05 0.000e+00 0.000e+00 - 51 4.721e+00 0.000e+00 2.176e-02 4.352e-02 1.000e-06 1.000e-06 0.1250 0.000e+00 0.000e+00 0.000e+00 5.100e-03 2.446e-03 0.000e+00 0.000e+00 - 52 4.704e+00 0.000e+00 1.806e-02 3.613e-02 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 1.806e-02 1.681e-02 0.000e+00 0.000e+00 - 53 4.695e+00 0.000e+00 1.191e-02 2.382e-02 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 1.191e-02 9.604e-03 0.000e+00 0.000e+00 - 54 4.690e+00 0.000e+00 5.204e-03 1.041e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.204e-03 4.996e-03 0.000e+00 0.000e+00 - 55 4.688e+00 0.000e+00 5.348e-02 1.070e-01 1.000e-09 1.000e-09 0.0156 0.000e+00 0.000e+00 0.000e+00 1.658e-03 1.935e-03 0.000e+00 0.000e+00 - 56 4.686e+00 0.000e+00 5.157e-02 1.031e-01 1.000e-09 1.000e-09 0.0156 0.000e+00 0.000e+00 0.000e+00 1.599e-03 1.263e-03 0.000e+00 0.000e+00 - 57 4.686e+00 0.000e+00 5.033e-02 1.007e-01 1.000e-09 1.000e-09 0.0156 0.000e+00 0.000e+00 0.000e+00 1.560e-03 7.578e-04 0.000e+00 0.000e+00 - 58 4.685e+00 0.000e+00 4.958e-02 9.917e-02 1.000e-09 1.000e-09 0.0156 0.000e+00 0.000e+00 0.000e+00 1.537e-03 3.082e-04 0.000e+00 0.000e+00 - 59 4.685e+00 0.000e+00 4.929e-02 9.858e-02 1.000e-08 1.000e-08 0.0078 0.000e+00 0.000e+00 0.000e+00 7.671e-04 4.403e-04 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 60 4.684e+00 0.000e+00 4.885e-02 9.771e-02 1.000e-07 1.000e-07 0.0078 0.000e+00 0.000e+00 0.000e+00 7.604e-04 4.240e-04 0.000e+00 0.000e+00 - 61 4.684e+00 0.000e+00 4.841e-02 9.683e-02 1.000e-06 1.000e-06 0.0078 0.000e+00 0.000e+00 0.000e+00 7.535e-04 4.097e-04 0.000e+00 0.000e+00 - 62 4.684e+00 0.000e+00 4.777e-02 9.553e-02 1.000e-05 1.000e-05 0.0078 0.000e+00 0.000e+00 0.000e+00 7.434e-04 3.991e-04 0.000e+00 0.000e+00 - 63 4.683e+00 0.000e+00 4.547e-02 9.094e-02 1.000e-04 1.000e-04 0.0078 0.000e+00 0.000e+00 0.000e+00 7.077e-04 4.052e-04 0.000e+00 0.000e+00 - 64 4.683e+00 0.000e+00 3.515e-02 7.030e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 1.090e-03 5.443e-04 0.000e+00 0.000e+00 - 65 4.682e+00 0.000e+00 3.490e-02 6.981e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 1.082e-03 5.267e-04 0.000e+00 0.000e+00 - 66 4.682e+00 0.000e+00 3.467e-02 6.934e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 1.075e-03 5.132e-04 0.000e+00 0.000e+00 - 67 4.681e+00 0.000e+00 3.444e-02 6.888e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 1.068e-03 5.007e-04 0.000e+00 0.000e+00 - 68 4.681e+00 0.000e+00 3.422e-02 6.844e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 1.061e-03 4.914e-04 0.000e+00 0.000e+00 - 69 4.680e+00 0.000e+00 3.401e-02 6.801e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 1.054e-03 4.852e-04 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 70 4.680e+00 0.000e+00 3.379e-02 6.758e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 1.048e-03 4.805e-04 0.000e+00 0.000e+00 - 71 4.679e+00 0.000e+00 3.357e-02 6.715e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 1.041e-03 4.770e-04 0.000e+00 0.000e+00 - 72 4.679e+00 0.000e+00 3.458e-02 6.916e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 1.072e-03 5.141e-04 0.000e+00 0.000e+00 - 73 4.678e+00 0.000e+00 3.433e-02 6.865e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 1.064e-03 5.149e-04 0.000e+00 0.000e+00 - 74 4.678e+00 0.000e+00 3.406e-02 6.811e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 1.056e-03 5.113e-04 0.000e+00 0.000e+00 - 75 4.677e+00 0.000e+00 3.379e-02 6.758e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 1.048e-03 5.118e-04 0.000e+00 0.000e+00 - 76 4.677e+00 0.000e+00 3.352e-02 6.704e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 1.039e-03 5.137e-04 0.000e+00 0.000e+00 - 77 4.676e+00 0.000e+00 3.324e-02 6.647e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 1.031e-03 5.150e-04 0.000e+00 0.000e+00 - 78 4.676e+00 0.000e+00 3.295e-02 6.591e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 1.022e-03 5.180e-04 0.000e+00 0.000e+00 - 79 4.675e+00 0.000e+00 3.266e-02 6.532e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 1.013e-03 5.200e-04 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 80 4.675e+00 0.000e+00 3.236e-02 6.472e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 1.003e-03 5.236e-04 0.000e+00 0.000e+00 - 81 4.674e+00 0.000e+00 3.205e-02 6.410e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 9.938e-04 5.254e-04 0.000e+00 0.000e+00 - 82 4.673e+00 0.000e+00 3.174e-02 6.347e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 9.840e-04 5.285e-04 0.000e+00 0.000e+00 - 83 4.673e+00 0.000e+00 3.142e-02 6.284e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 9.742e-04 5.338e-04 0.000e+00 0.000e+00 - 84 4.672e+00 0.000e+00 3.108e-02 6.216e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 9.637e-04 5.339e-04 0.000e+00 0.000e+00 - 85 4.672e+00 0.000e+00 3.074e-02 6.149e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 9.533e-04 5.367e-04 0.000e+00 0.000e+00 - 86 4.671e+00 0.000e+00 3.040e-02 6.080e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 9.425e-04 5.387e-04 0.000e+00 0.000e+00 - 87 4.671e+00 0.000e+00 3.005e-02 6.010e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 9.318e-04 5.419e-04 0.000e+00 0.000e+00 - 88 4.671e+00 0.000e+00 2.969e-02 5.938e-02 1.000e-04 1.000e-04 0.0312 0.000e+00 0.000e+00 0.000e+00 1.827e-03 1.846e-04 0.000e+00 0.000e+00 - 89 4.670e+00 0.000e+00 2.989e-02 5.978e-02 1.000e-04 1.000e-04 0.0312 0.000e+00 0.000e+00 0.000e+00 1.839e-03 2.721e-04 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 90 4.670e+00 0.000e+00 2.993e-02 5.985e-02 1.000e-04 1.000e-04 0.0312 0.000e+00 0.000e+00 0.000e+00 1.841e-03 3.181e-04 0.000e+00 0.000e+00 - 91 4.670e+00 0.000e+00 2.993e-02 5.986e-02 1.000e-04 1.000e-04 0.0312 0.000e+00 0.000e+00 0.000e+00 1.841e-03 3.913e-04 0.000e+00 0.000e+00 - 92 4.669e+00 0.000e+00 3.087e-02 6.174e-02 1.000e-04 1.000e-04 0.0312 0.000e+00 0.000e+00 0.000e+00 1.899e-03 5.294e-04 0.000e+00 0.000e+00 - 93 4.668e+00 0.000e+00 3.064e-02 6.128e-02 1.000e-04 1.000e-04 0.0312 0.000e+00 0.000e+00 0.000e+00 1.885e-03 5.969e-04 0.000e+00 0.000e+00 - 94 4.668e+00 0.000e+00 3.033e-02 6.066e-02 1.000e-04 1.000e-04 0.0312 0.000e+00 0.000e+00 0.000e+00 1.866e-03 6.609e-04 0.000e+00 0.000e+00 - 95 4.667e+00 0.000e+00 2.994e-02 5.989e-02 1.000e-04 1.000e-04 0.0312 0.000e+00 0.000e+00 0.000e+00 1.842e-03 7.201e-04 0.000e+00 0.000e+00 - 96 4.666e+00 0.000e+00 2.949e-02 5.898e-02 1.000e-04 1.000e-04 0.0312 0.000e+00 0.000e+00 0.000e+00 1.814e-03 7.772e-04 0.000e+00 0.000e+00 - 97 4.666e+00 0.000e+00 2.896e-02 5.793e-02 1.000e-04 1.000e-04 0.0312 0.000e+00 0.000e+00 0.000e+00 1.782e-03 8.207e-04 0.000e+00 0.000e+00 - 98 4.665e+00 0.000e+00 2.839e-02 5.677e-02 1.000e-04 1.000e-04 0.0312 0.000e+00 0.000e+00 0.000e+00 1.746e-03 8.652e-04 0.000e+00 0.000e+00 - 99 4.664e+00 0.000e+00 2.775e-02 5.549e-02 1.000e-04 1.000e-04 0.0312 0.000e+00 0.000e+00 0.000e+00 1.707e-03 8.917e-04 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 100 4.663e+00 0.000e+00 2.708e-02 5.415e-02 1.000e-04 1.000e-04 0.0312 0.000e+00 0.000e+00 0.000e+00 1.666e-03 9.195e-04 0.000e+00 0.000e+00 - 101 4.662e+00 0.000e+00 2.638e-02 5.275e-02 1.000e-04 1.000e-04 0.0312 0.000e+00 0.000e+00 0.000e+00 1.623e-03 9.485e-04 0.000e+00 0.000e+00 - 102 4.662e+00 0.000e+00 2.648e-02 5.297e-02 1.000e-04 1.000e-04 0.0625 0.000e+00 0.000e+00 0.000e+00 3.207e-03 3.759e-04 0.000e+00 0.000e+00 - 103 4.661e+00 0.000e+00 2.650e-02 5.300e-02 1.000e-04 1.000e-04 0.0625 0.000e+00 0.000e+00 0.000e+00 3.209e-03 8.163e-04 0.000e+00 0.000e+00 - 104 4.660e+00 0.000e+00 2.602e-02 5.203e-02 1.000e-04 1.000e-04 0.0625 0.000e+00 0.000e+00 0.000e+00 3.150e-03 1.077e-03 0.000e+00 0.000e+00 - 105 4.658e+00 0.000e+00 2.600e-02 5.200e-02 1.000e-04 1.000e-04 0.0625 0.000e+00 0.000e+00 0.000e+00 3.148e-03 1.422e-03 0.000e+00 0.000e+00 - 106 4.656e+00 0.000e+00 2.658e-02 5.316e-02 1.000e-04 1.000e-04 0.0625 0.000e+00 0.000e+00 0.000e+00 3.219e-03 1.798e-03 0.000e+00 0.000e+00 - 107 4.654e+00 0.000e+00 2.551e-02 5.102e-02 1.000e-04 1.000e-04 0.0625 0.000e+00 0.000e+00 0.000e+00 3.089e-03 1.946e-03 0.000e+00 0.000e+00 - 108 4.654e+00 0.000e+00 2.422e-02 4.843e-02 1.000e-04 1.000e-04 0.1250 0.000e+00 0.000e+00 0.000e+00 5.676e-03 8.869e-04 0.000e+00 0.000e+00 - 109 4.653e+00 0.000e+00 2.982e-02 5.963e-02 1.000e-04 1.000e-04 0.0625 0.000e+00 0.000e+00 0.000e+00 3.610e-03 9.011e-04 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 110 4.652e+00 0.000e+00 2.916e-02 5.832e-02 1.000e-04 1.000e-04 0.0625 0.000e+00 0.000e+00 0.000e+00 3.531e-03 1.032e-03 0.000e+00 0.000e+00 - 111 4.650e+00 0.000e+00 2.835e-02 5.670e-02 1.000e-04 1.000e-04 0.0625 0.000e+00 0.000e+00 0.000e+00 3.433e-03 1.157e-03 0.000e+00 0.000e+00 - 112 4.649e+00 0.000e+00 2.740e-02 5.480e-02 1.000e-04 1.000e-04 0.0625 0.000e+00 0.000e+00 0.000e+00 3.318e-03 1.265e-03 0.000e+00 0.000e+00 - 113 4.648e+00 0.000e+00 2.632e-02 5.265e-02 1.000e-04 1.000e-04 0.0625 0.000e+00 0.000e+00 0.000e+00 3.188e-03 1.352e-03 0.000e+00 0.000e+00 - 114 4.646e+00 0.000e+00 2.515e-02 5.030e-02 1.000e-04 1.000e-04 0.0625 0.000e+00 0.000e+00 0.000e+00 3.045e-03 1.415e-03 0.000e+00 0.000e+00 - 115 4.645e+00 0.000e+00 2.390e-02 4.779e-02 1.000e-04 1.000e-04 0.0625 0.000e+00 0.000e+00 0.000e+00 2.894e-03 1.454e-03 0.000e+00 0.000e+00 - 116 4.644e+00 0.000e+00 2.259e-02 4.519e-02 1.000e-04 1.000e-04 0.0625 0.000e+00 0.000e+00 0.000e+00 2.736e-03 1.472e-03 0.000e+00 0.000e+00 - 117 4.643e+00 0.000e+00 2.126e-02 4.252e-02 1.000e-04 1.000e-04 0.1250 0.000e+00 0.000e+00 0.000e+00 4.983e-03 6.274e-04 0.000e+00 0.000e+00 - 118 4.641e+00 0.000e+00 2.089e-02 4.178e-02 1.000e-04 1.000e-04 0.1250 0.000e+00 0.000e+00 0.000e+00 4.896e-03 1.400e-03 0.000e+00 0.000e+00 - 119 4.640e+00 0.000e+00 1.971e-02 3.943e-02 1.000e-04 1.000e-04 0.1250 0.000e+00 0.000e+00 0.000e+00 4.620e-03 1.905e-03 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 120 4.637e+00 0.000e+00 1.800e-02 3.600e-02 1.000e-04 1.000e-04 0.1250 0.000e+00 0.000e+00 0.000e+00 4.219e-03 2.157e-03 0.000e+00 0.000e+00 - 121 4.637e+00 0.000e+00 1.601e-02 3.202e-02 1.000e-04 1.000e-04 0.2500 0.000e+00 0.000e+00 0.000e+00 7.005e-03 7.096e-04 0.000e+00 0.000e+00 - 122 4.633e+00 0.000e+00 1.559e-02 3.118e-02 1.000e-04 1.000e-04 0.2500 0.000e+00 0.000e+00 0.000e+00 6.821e-03 3.336e-03 0.000e+00 0.000e+00 - 123 4.632e+00 0.000e+00 1.248e-02 2.495e-02 1.000e-04 1.000e-04 0.5000 0.000e+00 0.000e+00 0.000e+00 9.358e-03 1.872e-03 0.000e+00 0.000e+00 - 124 4.624e+00 0.000e+00 1.094e-02 2.188e-02 1.000e-05 1.000e-05 1.0000 0.000e+00 0.000e+00 0.000e+00 1.094e-02 7.775e-03 0.000e+00 0.000e+00 - 125 4.621e+00 0.000e+00 3.844e-03 7.687e-03 1.000e-05 1.000e-05 0.5000 0.000e+00 0.000e+00 0.000e+00 2.883e-03 2.794e-03 0.000e+00 0.000e+00 - 126 4.620e+00 0.000e+00 1.249e-03 2.498e-03 1.000e-05 1.000e-05 0.5000 0.000e+00 0.000e+00 0.000e+00 9.369e-04 9.163e-04 0.000e+00 0.000e+00 - 127 4.620e+00 0.000e+00 4.564e-04 9.129e-04 1.000e-05 1.000e-05 0.5000 0.000e+00 0.000e+00 0.000e+00 3.423e-04 3.393e-04 0.000e+00 0.000e+00 - 128 4.619e+00 0.000e+00 1.950e-04 3.901e-04 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 1.950e-04 2.213e-04 0.000e+00 0.000e+00 - 129 4.619e+00 0.000e+00 7.994e-05 1.599e-04 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 7.994e-05 4.822e-05 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 130 4.619e+00 0.000e+00 6.156e-05 1.231e-04 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 6.156e-05 6.845e-05 0.000e+00 0.000e+00 - 131 4.619e+00 0.000e+00 5.080e-06 1.016e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.080e-06 8.626e-06 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 5.902e+01 0.000e+00 9.456e+01 1.891e+02 1.000e-09 1.000e-09 0.2500 2.753e-14 0.000e+00 0.000e+00 4.137e+01 3.971e+01 0.000e+00 0.000e+00 + 1 4.924e+01 0.000e+00 5.505e+01 1.101e+02 1.000e-09 1.000e-09 0.1250 2.065e-14 0.000e+00 0.000e+00 1.290e+01 9.786e+00 0.000e+00 0.000e+00 + 2 3.964e+01 0.000e+00 4.474e+01 8.948e+01 1.000e-09 1.000e-09 0.2500 1.807e-14 0.000e+00 0.000e+00 1.957e+01 9.598e+00 0.000e+00 0.000e+00 + 3 3.861e+01 0.000e+00 3.457e+01 6.914e+01 1.000e-09 1.000e-09 0.0625 1.355e-14 0.000e+00 0.000e+00 4.186e+00 1.026e+00 0.000e+00 0.000e+00 + 4 3.849e+01 0.000e+00 3.332e+01 6.663e+01 1.000e-09 1.000e-09 0.0156 1.271e-14 0.000e+00 0.000e+00 1.033e+00 1.253e-01 0.000e+00 0.000e+00 + 5 3.849e+01 0.000e+00 3.317e+01 6.634e+01 1.000e-08 1.000e-08 0.0020 1.252e-14 0.000e+00 0.000e+00 1.294e-01 1.266e-02 0.000e+00 0.000e+00 + 6 3.849e+01 0.000e+00 3.317e+01 6.634e+01 1.000e-07 1.000e-07 0.0020 1.252e-14 0.000e+00 0.000e+00 1.294e-01 1.271e-02 0.000e+00 0.000e+00 + 7 3.847e+01 0.000e+00 3.316e+01 6.632e+01 1.000e-06 1.000e-06 0.0020 1.252e-14 0.000e+00 0.000e+00 1.294e-01 1.315e-02 0.000e+00 0.000e+00 + 8 3.837e+01 0.000e+00 3.307e+01 6.614e+01 1.000e-06 1.000e-06 0.0156 1.249e-14 0.000e+00 0.000e+00 1.025e+00 1.071e-01 0.000e+00 0.000e+00 + 9 3.837e+01 0.000e+00 3.294e+01 6.587e+01 1.000e-05 1.000e-05 0.0020 1.230e-14 0.000e+00 0.000e+00 1.285e-01 1.088e-02 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 3.772e+01 0.000e+00 3.246e+01 6.491e+01 1.000e-05 1.000e-05 0.0625 1.230e-14 0.000e+00 0.000e+00 3.930e+00 6.467e-01 0.000e+00 0.000e+00 + 11 3.726e+01 0.000e+00 3.161e+01 6.323e+01 1.000e-05 1.000e-05 0.0625 1.155e-14 0.000e+00 0.000e+00 3.828e+00 4.573e-01 0.000e+00 0.000e+00 + 12 3.717e+01 0.000e+00 3.115e+01 6.230e+01 1.000e-05 1.000e-05 0.0156 1.080e-14 0.000e+00 0.000e+00 9.658e-01 9.770e-02 0.000e+00 0.000e+00 + 13 3.717e+01 0.000e+00 3.106e+01 6.212e+01 1.000e-04 1.000e-04 0.0020 1.066e-14 0.000e+00 0.000e+00 1.212e-01 1.146e-02 0.000e+00 0.000e+00 + 14 3.676e+01 0.000e+00 2.908e+01 5.816e+01 1.000e-04 1.000e-04 0.0625 1.066e-14 0.000e+00 0.000e+00 3.521e+00 4.098e-01 0.000e+00 0.000e+00 + 15 3.282e+01 0.000e+00 2.860e+01 5.720e+01 1.000e-04 1.000e-04 0.2500 9.968e-15 0.000e+00 0.000e+00 1.251e+01 3.934e+00 0.000e+00 0.000e+00 + 16 3.112e+01 0.000e+00 2.507e+01 5.014e+01 1.000e-04 1.000e-04 0.1250 7.476e-15 0.000e+00 0.000e+00 5.876e+00 1.704e+00 0.000e+00 0.000e+00 + 17 2.869e+01 0.000e+00 2.317e+01 4.635e+01 1.000e-04 1.000e-04 0.2500 6.542e-15 0.000e+00 0.000e+00 1.014e+01 2.429e+00 0.000e+00 0.000e+00 + 18 2.654e+01 0.000e+00 2.128e+01 4.256e+01 1.000e-04 1.000e-04 0.2500 4.906e-15 0.000e+00 0.000e+00 9.311e+00 2.151e+00 0.000e+00 0.000e+00 + 19 2.510e+01 0.000e+00 2.027e+01 4.053e+01 1.000e-04 1.000e-04 0.2500 3.681e-15 0.000e+00 0.000e+00 8.867e+00 1.437e+00 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 20 2.178e+01 0.000e+00 1.918e+01 3.837e+01 1.000e-05 1.000e-05 1.0000 2.762e-15 0.000e+00 0.000e+00 1.918e+01 3.324e+00 0.000e+00 0.000e+00 + 21 1.217e+01 0.000e+00 1.077e+01 2.872e+01 1.000e-05 1.000e-05 0.5000 0.000e+00 0.000e+00 0.000e+00 9.874e+00 9.605e+00 0.000e+00 0.000e+00 + 22 6.282e+00 0.000e+00 5.571e+00 1.163e+01 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 5.571e+00 5.888e+00 0.000e+00 0.000e+00 + 23 6.221e+00 0.000e+00 7.702e-01 1.643e+00 1.000e-06 1.000e-06 0.2500 0.000e+00 0.000e+00 0.000e+00 3.562e-01 6.078e-02 0.000e+00 0.000e+00 + 24 5.663e+00 0.000e+00 7.827e-01 1.579e+00 1.000e-06 1.000e-06 0.5000 0.000e+00 0.000e+00 0.000e+00 5.905e-01 5.585e-01 0.000e+00 0.000e+00 + 25 5.396e+00 0.000e+00 2.904e-01 5.808e-01 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 2.904e-01 2.664e-01 0.000e+00 0.000e+00 + 26 5.392e+00 0.000e+00 1.463e-01 2.925e-01 1.000e-07 1.000e-07 0.0312 0.000e+00 0.000e+00 0.000e+00 8.999e-03 4.410e-03 0.000e+00 0.000e+00 + 27 5.246e+00 0.000e+00 1.408e-01 2.815e-01 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 1.408e-01 1.456e-01 0.000e+00 0.000e+00 + 28 5.165e+00 0.000e+00 7.720e-02 1.544e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.720e-02 8.121e-02 0.000e+00 0.000e+00 + 29 5.124e+00 0.000e+00 1.937e-02 5.646e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.937e-02 4.060e-02 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 30 5.106e+00 0.000e+00 2.196e-02 4.392e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.196e-02 1.816e-02 0.000e+00 0.000e+00 + 31 5.087e+00 0.000e+00 1.923e-02 3.846e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.923e-02 1.965e-02 0.000e+00 0.000e+00 + 32 5.076e+00 0.000e+00 1.096e-02 2.191e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.096e-02 1.098e-02 0.000e+00 0.000e+00 + 33 5.067e+00 0.000e+00 8.298e-03 1.660e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.298e-03 8.329e-03 0.000e+00 0.000e+00 + 34 5.059e+00 0.000e+00 3.159e-02 6.319e-02 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 1.382e-02 8.171e-03 0.000e+00 0.000e+00 + 35 5.054e+00 0.000e+00 2.427e-02 4.853e-02 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 1.062e-02 4.641e-03 0.000e+00 0.000e+00 + 36 5.049e+00 0.000e+00 2.030e-02 4.061e-02 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 8.883e-03 5.505e-03 0.000e+00 0.000e+00 + 37 5.043e+00 0.000e+00 1.533e-02 3.065e-02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.149e-02 5.400e-03 0.000e+00 0.000e+00 + 38 5.037e+00 0.000e+00 1.057e-02 2.113e-02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 7.925e-03 6.765e-03 0.000e+00 0.000e+00 + 39 5.034e+00 0.000e+00 4.193e-03 8.386e-03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 3.145e-03 2.970e-03 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 40 5.033e+00 0.000e+00 1.490e-03 2.981e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.490e-03 9.261e-04 0.000e+00 0.000e+00 + 41 5.032e+00 0.000e+00 8.428e-04 1.686e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.428e-04 8.891e-04 0.000e+00 0.000e+00 + 42 5.032e+00 0.000e+00 2.185e-04 4.369e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.185e-04 2.382e-04 0.000e+00 0.000e+00 + 43 5.032e+00 0.000e+00 1.484e-04 2.968e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.484e-04 1.364e-04 0.000e+00 0.000e+00 + 44 5.031e+00 0.000e+00 1.945e-04 3.889e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.945e-04 1.986e-04 0.000e+00 0.000e+00 + 45 5.031e+00 0.000e+00 1.388e-04 2.775e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.388e-04 1.412e-04 0.000e+00 0.000e+00 + 46 5.031e+00 0.000e+00 1.131e-04 2.262e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.131e-04 1.148e-04 0.000e+00 0.000e+00 + 47 5.031e+00 0.000e+00 9.357e-05 1.871e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 9.357e-05 8.598e-05 0.000e+00 0.000e+00 + 48 5.031e+00 0.000e+00 8.710e-05 1.742e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.710e-05 8.810e-05 0.000e+00 0.000e+00 + 49 5.031e+00 0.000e+00 6.614e-05 1.323e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 6.614e-05 6.459e-05 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 50 5.030e+00 0.000e+00 9.914e-04 1.983e-03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 7.436e-04 6.419e-04 0.000e+00 0.000e+00 + 51 5.030e+00 0.000e+00 3.559e-04 7.117e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.559e-04 1.828e-04 0.000e+00 0.000e+00 + 52 5.030e+00 0.000e+00 1.833e-04 3.665e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.833e-04 1.312e-04 0.000e+00 0.000e+00 + 53 5.030e+00 0.000e+00 5.197e-05 1.039e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.197e-05 5.196e-05 0.000e+00 0.000e+00 + 54 5.030e+00 0.000e+00 2.499e-08 4.997e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.499e-08 2.000e-08 0.000e+00 0.000e+00 Finally reached = (0.400, 0.000, 1.200) -Distance between hand and target = 1.933E-05 -Distance to default state = 1.638E+00 -XY distance to CoM reference = 4.162E-02 +Distance between hand and target = 1.814E-05 +Distance to default state = 1.616E+00 +XY distance to CoM reference = 4.191E-02 diff --git a/examples/log/humanoid_taichi.log b/examples/log/humanoid_taichi.log index a5d431c220..bb6d2eb764 100644 --- a/examples/log/humanoid_taichi.log +++ b/examples/log/humanoid_taichi.log @@ -1,118 +1,88 @@ -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 1.631e+02 0.000e+00 1.726e+02 3.451e+02 1.000e-09 1.000e-09 0.0625 9.095e-14 0.000e+00 0.000e+00 2.090e+01 1.585e+01 0.000e+00 0.000e+00 - 1 1.415e+02 0.000e+00 1.573e+02 3.146e+02 1.000e-09 1.000e-09 0.0625 8.527e-14 0.000e+00 0.000e+00 1.905e+01 2.165e+01 0.000e+00 0.000e+00 - 2 1.304e+02 0.000e+00 1.353e+02 2.706e+02 1.000e-09 1.000e-09 0.0625 7.994e-14 0.000e+00 0.000e+00 1.638e+01 1.108e+01 0.000e+00 0.000e+00 - 3 1.269e+02 0.000e+00 1.240e+02 2.479e+02 1.000e-09 1.000e-09 0.0312 7.494e-14 0.000e+00 0.000e+00 7.627e+00 3.552e+00 0.000e+00 0.000e+00 - 4 1.252e+02 0.000e+00 1.205e+02 2.409e+02 1.000e-08 1.000e-08 0.0078 7.260e-14 0.000e+00 0.000e+00 1.875e+00 1.666e+00 0.000e+00 0.000e+00 - 5 1.218e+02 0.000e+00 1.188e+02 2.376e+02 1.000e-08 1.000e-08 0.0156 7.203e-14 0.000e+00 0.000e+00 3.683e+00 3.409e+00 0.000e+00 0.000e+00 - 6 1.207e+02 0.000e+00 1.154e+02 2.307e+02 1.000e-07 1.000e-07 0.0078 7.091e-14 0.000e+00 0.000e+00 1.796e+00 1.093e+00 0.000e+00 0.000e+00 - 7 1.184e+02 0.000e+00 1.142e+02 2.283e+02 1.000e-07 1.000e-07 0.0156 7.035e-14 0.000e+00 0.000e+00 3.540e+00 2.290e+00 0.000e+00 0.000e+00 - 8 1.182e+02 0.000e+00 1.119e+02 2.237e+02 1.000e-06 1.000e-06 0.0078 6.926e-14 0.000e+00 0.000e+00 1.741e+00 1.891e-01 0.000e+00 0.000e+00 - 9 1.182e+02 0.000e+00 1.114e+02 2.227e+02 1.000e-05 1.000e-05 0.0020 6.872e-14 0.000e+00 0.000e+00 4.346e-01 3.978e-02 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 1.170e+02 0.000e+00 1.101e+02 2.202e+02 1.000e-05 1.000e-05 0.0312 6.872e-14 0.000e+00 0.000e+00 6.773e+00 1.243e+00 0.000e+00 0.000e+00 - 11 1.170e+02 0.000e+00 1.086e+02 2.173e+02 1.000e-04 1.000e-04 0.0020 6.657e-14 0.000e+00 0.000e+00 4.240e-01 3.129e-02 0.000e+00 0.000e+00 - 12 1.117e+02 0.000e+00 1.067e+02 2.135e+02 1.000e-04 1.000e-04 0.0625 6.657e-14 0.000e+00 0.000e+00 1.293e+01 5.245e+00 0.000e+00 0.000e+00 - 13 1.103e+02 0.000e+00 1.015e+02 2.030e+02 1.000e-04 1.000e-04 0.0625 6.241e-14 0.000e+00 0.000e+00 1.229e+01 1.429e+00 0.000e+00 0.000e+00 - 14 1.103e+02 0.000e+00 9.997e+01 1.999e+02 1.000e-03 1.000e-03 0.0020 5.851e-14 0.000e+00 0.000e+00 3.901e-01 3.297e-02 0.000e+00 0.000e+00 - 15 1.048e+02 0.000e+00 9.575e+01 1.915e+02 1.000e-03 1.000e-03 0.0625 5.851e-14 0.000e+00 0.000e+00 1.159e+01 5.504e+00 0.000e+00 0.000e+00 - 16 9.940e+01 0.000e+00 8.981e+01 1.796e+02 1.000e-03 1.000e-03 0.0625 5.486e-14 0.000e+00 0.000e+00 1.088e+01 5.396e+00 0.000e+00 0.000e+00 - 17 9.671e+01 0.000e+00 8.375e+01 1.675e+02 1.000e-03 1.000e-03 0.0625 5.143e-14 0.000e+00 0.000e+00 1.014e+01 2.684e+00 0.000e+00 0.000e+00 - 18 9.319e+01 0.000e+00 7.943e+01 1.589e+02 1.000e-03 1.000e-03 0.0312 4.821e-14 0.000e+00 0.000e+00 4.887e+00 3.526e+00 0.000e+00 0.000e+00 - 19 9.090e+01 0.000e+00 7.553e+01 1.511e+02 1.000e-03 1.000e-03 0.0312 4.671e-14 0.000e+00 0.000e+00 4.647e+00 2.293e+00 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 20 8.986e+01 0.000e+00 7.270e+01 1.454e+02 1.000e-03 1.000e-03 0.0156 4.525e-14 0.000e+00 0.000e+00 2.254e+00 1.033e+00 0.000e+00 0.000e+00 - 21 8.893e+01 0.000e+00 7.115e+01 1.423e+02 1.000e-03 1.000e-03 0.0156 4.454e-14 0.000e+00 0.000e+00 2.206e+00 9.368e-01 0.000e+00 0.000e+00 - 22 8.814e+01 0.000e+00 6.960e+01 1.392e+02 1.000e-03 1.000e-03 0.0156 4.385e-14 0.000e+00 0.000e+00 2.158e+00 7.831e-01 0.000e+00 0.000e+00 - 23 8.750e+01 0.000e+00 6.805e+01 1.361e+02 1.000e-03 1.000e-03 0.0156 4.316e-14 0.000e+00 0.000e+00 2.110e+00 6.419e-01 0.000e+00 0.000e+00 - 24 8.726e+01 0.000e+00 6.652e+01 1.330e+02 1.000e-02 1.000e-02 0.0078 4.249e-14 0.000e+00 0.000e+00 1.035e+00 2.406e-01 0.000e+00 0.000e+00 - 25 8.420e+01 0.000e+00 4.579e+01 9.158e+01 1.000e-02 1.000e-02 0.0625 4.215e-14 0.000e+00 0.000e+00 5.545e+00 3.057e+00 0.000e+00 0.000e+00 - 26 8.258e+01 0.000e+00 4.341e+01 8.682e+01 1.000e-02 1.000e-02 0.0625 3.952e-14 0.000e+00 0.000e+00 5.256e+00 1.619e+00 0.000e+00 0.000e+00 - 27 8.123e+01 0.000e+00 4.084e+01 8.168e+01 1.000e-02 1.000e-02 0.0625 3.705e-14 0.000e+00 0.000e+00 4.946e+00 1.354e+00 0.000e+00 0.000e+00 - 28 7.506e+01 0.000e+00 3.922e+01 7.843e+01 1.000e-02 1.000e-02 0.2500 3.474e-14 0.000e+00 0.000e+00 1.716e+01 6.171e+00 0.000e+00 0.000e+00 - 29 6.702e+01 0.000e+00 3.500e+01 7.001e+01 1.000e-02 1.000e-02 0.5000 2.605e-14 0.000e+00 0.000e+00 2.625e+01 8.041e+00 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 30 6.311e+01 0.000e+00 3.609e+01 7.217e+01 1.000e-02 1.000e-02 0.1250 1.303e-14 0.000e+00 0.000e+00 8.458e+00 3.909e+00 0.000e+00 0.000e+00 - 31 5.946e+01 0.000e+00 3.525e+01 7.049e+01 1.000e-02 1.000e-02 0.1250 1.141e-14 0.000e+00 0.000e+00 8.261e+00 3.650e+00 0.000e+00 0.000e+00 - 32 5.586e+01 0.000e+00 3.402e+01 6.805e+01 1.000e-02 1.000e-02 0.1250 9.978e-15 0.000e+00 0.000e+00 7.975e+00 3.604e+00 0.000e+00 0.000e+00 - 33 4.989e+01 0.000e+00 3.246e+01 6.493e+01 1.000e-02 1.000e-02 0.2500 8.729e-15 0.000e+00 0.000e+00 1.420e+01 5.969e+00 0.000e+00 0.000e+00 - 34 4.901e+01 0.000e+00 3.091e+01 6.181e+01 1.000e-02 1.000e-02 0.0625 6.545e-15 0.000e+00 0.000e+00 3.742e+00 8.757e-01 0.000e+00 0.000e+00 - 35 3.999e+01 0.000e+00 3.019e+01 6.039e+01 1.000e-02 1.000e-02 0.5000 6.136e-15 0.000e+00 0.000e+00 2.265e+01 9.023e+00 0.000e+00 0.000e+00 - 36 3.484e+01 0.000e+00 2.454e+01 4.909e+01 1.000e-02 1.000e-02 0.5000 3.069e-15 0.000e+00 0.000e+00 1.841e+01 5.148e+00 0.000e+00 0.000e+00 - 37 3.164e+01 0.000e+00 2.024e+01 4.049e+01 1.000e-03 1.000e-03 1.0000 1.535e-15 0.000e+00 0.000e+00 2.024e+01 3.202e+00 0.000e+00 0.000e+00 - 38 2.348e+01 0.000e+00 1.919e+01 3.837e+01 1.000e-03 1.000e-03 0.2500 0.000e+00 0.000e+00 0.000e+00 8.393e+00 8.154e+00 0.000e+00 0.000e+00 - 39 1.497e+01 0.000e+00 1.157e+01 2.314e+01 1.000e-03 1.000e-03 0.5000 0.000e+00 0.000e+00 0.000e+00 8.676e+00 8.517e+00 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 40 1.107e+01 0.000e+00 3.701e+00 7.403e+00 1.000e-04 1.000e-04 1.0000 0.000e+00 0.000e+00 0.000e+00 3.701e+00 3.894e+00 0.000e+00 0.000e+00 - 41 1.017e+01 0.000e+00 1.862e+00 2.799e+00 1.000e-04 1.000e-04 0.5000 0.000e+00 0.000e+00 0.000e+00 1.281e+00 8.992e-01 0.000e+00 0.000e+00 - 42 9.820e+00 0.000e+00 1.053e+00 1.683e+00 1.000e-04 1.000e-04 0.2500 0.000e+00 0.000e+00 0.000e+00 4.210e-01 3.538e-01 0.000e+00 0.000e+00 - 43 9.554e+00 0.000e+00 7.144e-01 1.185e+00 1.000e-04 1.000e-04 0.2500 0.000e+00 0.000e+00 0.000e+00 2.897e-01 2.660e-01 0.000e+00 0.000e+00 - 44 9.358e+00 0.000e+00 5.010e-01 8.635e-01 1.000e-04 1.000e-04 0.2500 0.000e+00 0.000e+00 0.000e+00 2.062e-01 1.957e-01 0.000e+00 0.000e+00 - 45 9.213e+00 0.000e+00 3.564e-01 6.347e-01 1.000e-04 1.000e-04 0.2500 0.000e+00 0.000e+00 0.000e+00 1.486e-01 1.455e-01 0.000e+00 0.000e+00 - 46 8.946e+00 0.000e+00 3.496e-01 6.565e-01 1.000e-04 1.000e-04 0.5000 0.000e+00 0.000e+00 0.000e+00 2.569e-01 2.672e-01 0.000e+00 0.000e+00 - 47 8.659e+00 0.000e+00 2.858e-01 5.518e-01 1.000e-05 1.000e-05 1.0000 0.000e+00 0.000e+00 0.000e+00 2.858e-01 2.865e-01 0.000e+00 0.000e+00 - 48 8.581e+00 0.000e+00 7.762e-01 1.526e+00 1.000e-05 1.000e-05 0.0625 0.000e+00 0.000e+00 0.000e+00 9.323e-02 7.863e-02 0.000e+00 0.000e+00 - 49 8.516e+00 0.000e+00 7.295e-01 1.444e+00 1.000e-05 1.000e-05 0.1250 0.000e+00 0.000e+00 0.000e+00 1.702e-01 6.482e-02 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 50 8.365e+00 0.000e+00 7.554e-01 1.516e+00 1.000e-05 1.000e-05 0.1250 0.000e+00 0.000e+00 0.000e+00 1.773e-01 1.513e-01 0.000e+00 0.000e+00 - 51 8.230e+00 0.000e+00 6.777e-01 1.367e+00 1.000e-05 1.000e-05 0.1250 0.000e+00 0.000e+00 0.000e+00 1.595e-01 1.342e-01 0.000e+00 0.000e+00 - 52 8.045e+00 0.000e+00 6.171e-01 1.242e+00 1.000e-05 1.000e-05 0.2500 0.000e+00 0.000e+00 0.000e+00 2.707e-01 1.858e-01 0.000e+00 0.000e+00 - 53 7.632e+00 0.000e+00 5.659e-01 1.133e+00 1.000e-05 1.000e-05 0.5000 0.000e+00 0.000e+00 0.000e+00 4.246e-01 4.131e-01 0.000e+00 0.000e+00 - 54 7.587e+00 0.000e+00 3.660e-01 7.247e-01 1.000e-05 1.000e-05 0.0625 0.000e+00 0.000e+00 0.000e+00 4.411e-02 4.479e-02 0.000e+00 0.000e+00 - 55 7.556e+00 0.000e+00 3.357e-01 6.665e-01 1.000e-05 1.000e-05 0.0625 0.000e+00 0.000e+00 0.000e+00 4.051e-02 3.032e-02 0.000e+00 0.000e+00 - 56 7.533e+00 0.000e+00 3.229e-01 6.415e-01 1.000e-05 1.000e-05 0.0625 0.000e+00 0.000e+00 0.000e+00 3.898e-02 2.345e-02 0.000e+00 0.000e+00 - 57 7.512e+00 0.000e+00 3.162e-01 6.285e-01 1.000e-05 1.000e-05 0.0625 0.000e+00 0.000e+00 0.000e+00 3.818e-02 2.070e-02 0.000e+00 0.000e+00 - 58 7.492e+00 0.000e+00 3.115e-01 6.197e-01 1.000e-05 1.000e-05 0.0625 0.000e+00 0.000e+00 0.000e+00 3.763e-02 1.981e-02 0.000e+00 0.000e+00 - 59 7.473e+00 0.000e+00 3.071e-01 6.112e-01 1.000e-05 1.000e-05 0.0625 0.000e+00 0.000e+00 0.000e+00 3.710e-02 1.929e-02 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 60 7.454e+00 0.000e+00 3.025e-01 6.024e-01 1.000e-05 1.000e-05 0.0625 0.000e+00 0.000e+00 0.000e+00 3.655e-02 1.947e-02 0.000e+00 0.000e+00 - 61 7.432e+00 0.000e+00 2.971e-01 5.919e-01 1.000e-05 1.000e-05 0.0625 0.000e+00 0.000e+00 0.000e+00 3.591e-02 2.123e-02 0.000e+00 0.000e+00 - 62 7.418e+00 0.000e+00 2.894e-01 5.766e-01 1.000e-05 1.000e-05 0.0312 0.000e+00 0.000e+00 0.000e+00 1.777e-02 1.470e-02 0.000e+00 0.000e+00 - 63 7.396e+00 0.000e+00 2.812e-01 5.604e-01 1.000e-05 1.000e-05 0.0625 0.000e+00 0.000e+00 0.000e+00 3.399e-02 2.160e-02 0.000e+00 0.000e+00 - 64 7.374e+00 0.000e+00 2.722e-01 5.427e-01 1.000e-05 1.000e-05 0.0625 0.000e+00 0.000e+00 0.000e+00 3.291e-02 2.198e-02 0.000e+00 0.000e+00 - 65 7.352e+00 0.000e+00 2.639e-01 5.266e-01 1.000e-05 1.000e-05 0.0625 0.000e+00 0.000e+00 0.000e+00 3.192e-02 2.263e-02 0.000e+00 0.000e+00 - 66 7.338e+00 0.000e+00 2.528e-01 5.047e-01 1.000e-05 1.000e-05 0.0625 0.000e+00 0.000e+00 0.000e+00 3.059e-02 1.357e-02 0.000e+00 0.000e+00 - 67 7.299e+00 0.000e+00 2.504e-01 4.998e-01 1.000e-05 1.000e-05 0.1250 0.000e+00 0.000e+00 0.000e+00 5.863e-02 3.862e-02 0.000e+00 0.000e+00 - 68 7.262e+00 0.000e+00 2.328e-01 4.649e-01 1.000e-05 1.000e-05 0.1250 0.000e+00 0.000e+00 0.000e+00 5.453e-02 3.710e-02 0.000e+00 0.000e+00 - 69 7.222e+00 0.000e+00 2.164e-01 4.324e-01 1.000e-05 1.000e-05 0.1250 0.000e+00 0.000e+00 0.000e+00 5.069e-02 3.996e-02 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 70 7.184e+00 0.000e+00 1.941e-01 3.879e-01 1.000e-05 1.000e-05 0.1250 0.000e+00 0.000e+00 0.000e+00 4.548e-02 3.795e-02 0.000e+00 0.000e+00 - 71 7.149e+00 0.000e+00 1.724e-01 3.445e-01 1.000e-05 1.000e-05 0.1250 0.000e+00 0.000e+00 0.000e+00 4.039e-02 3.495e-02 0.000e+00 0.000e+00 - 72 7.125e+00 0.000e+00 1.534e-01 3.067e-01 1.000e-05 1.000e-05 0.2500 0.000e+00 0.000e+00 0.000e+00 6.710e-02 2.493e-02 0.000e+00 0.000e+00 - 73 7.068e+00 0.000e+00 1.561e-01 3.122e-01 1.000e-05 1.000e-05 0.2500 0.000e+00 0.000e+00 0.000e+00 6.828e-02 5.694e-02 0.000e+00 0.000e+00 - 74 6.993e+00 0.000e+00 1.214e-01 2.428e-01 1.000e-05 1.000e-05 0.5000 0.000e+00 0.000e+00 0.000e+00 9.106e-02 7.428e-02 0.000e+00 0.000e+00 - 75 6.932e+00 0.000e+00 8.368e-02 1.674e-01 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 8.368e-02 6.165e-02 0.000e+00 0.000e+00 - 76 6.851e+00 0.000e+00 9.097e-02 1.819e-01 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 9.097e-02 8.105e-02 0.000e+00 0.000e+00 - 77 6.830e+00 0.000e+00 2.118e-02 4.236e-02 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 2.118e-02 2.092e-02 0.000e+00 0.000e+00 - 78 6.827e+00 0.000e+00 2.245e-03 4.490e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.245e-03 2.182e-03 0.000e+00 0.000e+00 - 79 6.827e+00 0.000e+00 1.304e-03 2.607e-03 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 3.055e-04 1.689e-04 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 80 6.826e+00 0.000e+00 1.474e-03 2.949e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.474e-03 1.610e-03 0.000e+00 0.000e+00 - 81 6.825e+00 0.000e+00 6.363e-04 1.273e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 6.363e-04 7.049e-04 0.000e+00 0.000e+00 - 82 6.824e+00 0.000e+00 5.079e-04 1.016e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.079e-04 5.484e-04 0.000e+00 0.000e+00 - 83 6.824e+00 0.000e+00 4.138e-04 8.276e-04 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 3.104e-04 3.831e-05 0.000e+00 0.000e+00 - 84 6.823e+00 0.000e+00 1.520e-03 3.040e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.520e-03 1.513e-03 0.000e+00 0.000e+00 - 85 6.823e+00 0.000e+00 2.524e-04 5.048e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.524e-04 2.069e-04 0.000e+00 0.000e+00 - 86 6.822e+00 0.000e+00 4.341e-04 8.683e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.341e-04 4.297e-04 0.000e+00 0.000e+00 - 87 6.821e+00 0.000e+00 1.180e-03 2.359e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.180e-03 1.124e-03 0.000e+00 0.000e+00 - 88 6.821e+00 0.000e+00 2.339e-03 4.677e-03 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 1.023e-03 2.617e-04 0.000e+00 0.000e+00 - 89 6.820e+00 0.000e+00 2.152e-03 4.304e-03 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 9.415e-04 5.512e-04 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 90 6.820e+00 0.000e+00 1.674e-03 3.348e-03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.256e-03 1.524e-04 0.000e+00 0.000e+00 - 91 6.820e+00 0.000e+00 1.625e-03 3.250e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.625e-03 5.540e-04 0.000e+00 0.000e+00 - 92 6.819e+00 0.000e+00 1.167e-03 2.335e-03 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 2.736e-04 1.268e-04 0.000e+00 0.000e+00 - 93 6.819e+00 0.000e+00 1.045e-03 2.089e-03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 7.834e-04 1.032e-04 0.000e+00 0.000e+00 - 94 6.819e+00 0.000e+00 9.544e-04 1.909e-03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 7.158e-04 7.588e-05 0.000e+00 0.000e+00 - 95 6.819e+00 0.000e+00 8.862e-04 1.772e-03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 6.646e-04 2.517e-04 0.000e+00 0.000e+00 - 96 6.819e+00 0.000e+00 6.385e-04 1.277e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 6.385e-04 2.462e-04 0.000e+00 0.000e+00 - 97 6.818e+00 0.000e+00 3.953e-04 7.905e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.953e-04 3.569e-04 0.000e+00 0.000e+00 - 98 6.818e+00 0.000e+00 3.893e-05 7.786e-05 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 0.000e+00 4.714e-06 2.415e-06 0.000e+00 0.000e+00 - 99 6.818e+00 0.000e+00 3.650e-05 7.300e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.650e-05 3.639e-05 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 100 6.818e+00 0.000e+00 1.968e-07 3.936e-07 1.000e-08 1.000e-08 0.0078 0.000e+00 0.000e+00 0.000e+00 3.063e-09 1.233e-09 0.000e+00 0.000e+00 - 101 6.818e+00 0.000e+00 1.914e-07 3.829e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.914e-07 2.053e-07 0.000e+00 0.000e+00 - 102 6.818e+00 0.000e+00 1.109e-08 2.219e-08 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 0.000e+00 1.343e-09 6.185e-10 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 1.055e+02 0.000e+00 1.725e+02 3.451e+02 1.000e-09 1.000e-09 0.2500 2.753e-14 0.000e+00 0.000e+00 7.548e+01 7.348e+01 0.000e+00 0.000e+00 + 1 1.001e+02 0.000e+00 1.006e+02 2.012e+02 1.000e-09 1.000e-09 0.0625 2.065e-14 0.000e+00 0.000e+00 1.218e+01 5.451e+00 0.000e+00 0.000e+00 + 2 6.965e+01 0.000e+00 9.340e+01 1.868e+02 1.000e-09 1.000e-09 0.2500 1.936e-14 0.000e+00 0.000e+00 4.086e+01 3.041e+01 0.000e+00 0.000e+00 + 3 6.151e+01 0.000e+00 6.263e+01 1.253e+02 1.000e-09 1.000e-09 0.1250 1.452e-14 0.000e+00 0.000e+00 1.468e+01 8.140e+00 0.000e+00 0.000e+00 + 4 6.078e+01 0.000e+00 5.429e+01 1.086e+02 1.000e-09 1.000e-09 0.0312 1.271e-14 0.000e+00 0.000e+00 3.340e+00 7.327e-01 0.000e+00 0.000e+00 + 5 5.778e+01 0.000e+00 5.316e+01 1.063e+02 1.000e-09 1.000e-09 0.1250 1.232e-14 0.000e+00 0.000e+00 1.246e+01 3.001e+00 0.000e+00 0.000e+00 + 6 5.728e+01 0.000e+00 4.997e+01 9.994e+01 1.000e-09 1.000e-09 0.0312 1.078e-14 0.000e+00 0.000e+00 3.074e+00 4.965e-01 0.000e+00 0.000e+00 + 7 5.717e+01 0.000e+00 4.947e+01 9.895e+01 1.000e-08 1.000e-08 0.0078 1.044e-14 0.000e+00 0.000e+00 7.700e-01 1.049e-01 0.000e+00 0.000e+00 + 8 5.680e+01 0.000e+00 4.934e+01 9.869e+01 1.000e-08 1.000e-08 0.0312 1.038e-14 0.000e+00 0.000e+00 3.036e+00 3.711e-01 0.000e+00 0.000e+00 + 9 5.680e+01 0.000e+00 4.897e+01 9.793e+01 1.000e-07 1.000e-07 0.0020 1.005e-14 0.000e+00 0.000e+00 1.911e-01 1.743e-02 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 5.680e+01 0.000e+00 4.895e+01 9.790e+01 1.000e-06 1.000e-06 0.0020 1.005e-14 0.000e+00 0.000e+00 1.910e-01 1.816e-02 0.000e+00 0.000e+00 + 11 5.672e+01 0.000e+00 4.881e+01 9.763e+01 1.000e-05 1.000e-05 0.0078 1.005e-14 0.000e+00 0.000e+00 7.598e-01 8.771e-02 0.000e+00 0.000e+00 + 12 5.606e+01 0.000e+00 4.804e+01 9.608e+01 1.000e-05 1.000e-05 0.0625 9.992e-15 0.000e+00 0.000e+00 5.817e+00 6.534e-01 0.000e+00 0.000e+00 + 13 5.231e+01 0.000e+00 4.732e+01 9.465e+01 1.000e-05 1.000e-05 0.1250 9.381e-15 0.000e+00 0.000e+00 1.109e+01 3.756e+00 0.000e+00 0.000e+00 + 14 5.123e+01 0.000e+00 4.342e+01 8.685e+01 1.000e-05 1.000e-05 0.0625 8.216e-15 0.000e+00 0.000e+00 5.258e+00 1.072e+00 0.000e+00 0.000e+00 + 15 5.071e+01 0.000e+00 4.235e+01 8.469e+01 1.000e-05 1.000e-05 0.0625 7.716e-15 0.000e+00 0.000e+00 5.128e+00 5.236e-01 0.000e+00 0.000e+00 + 16 5.071e+01 0.000e+00 4.183e+01 8.366e+01 1.000e-04 1.000e-04 0.0020 7.216e-15 0.000e+00 0.000e+00 1.632e-01 1.218e-02 0.000e+00 0.000e+00 + 17 4.718e+01 0.000e+00 3.996e+01 7.993e+01 1.000e-04 1.000e-04 0.2500 7.216e-15 0.000e+00 0.000e+00 1.748e+01 3.530e+00 0.000e+00 0.000e+00 + 18 4.477e+01 0.000e+00 3.677e+01 7.355e+01 1.000e-04 1.000e-04 0.1250 5.440e-15 0.000e+00 0.000e+00 8.619e+00 2.407e+00 0.000e+00 0.000e+00 + 19 4.238e+01 0.000e+00 3.428e+01 6.857e+01 1.000e-04 1.000e-04 0.2500 4.774e-15 0.000e+00 0.000e+00 1.500e+01 2.391e+00 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 20 3.555e+01 0.000e+00 3.290e+01 6.580e+01 1.000e-04 1.000e-04 0.5000 3.553e-15 0.000e+00 0.000e+00 2.467e+01 6.836e+00 0.000e+00 0.000e+00 + 21 3.526e+01 0.000e+00 2.692e+01 5.385e+01 1.000e-04 1.000e-04 0.0312 1.776e-15 0.000e+00 0.000e+00 1.656e+00 2.824e-01 0.000e+00 0.000e+00 + 22 3.095e+01 0.000e+00 2.665e+01 5.329e+01 1.000e-05 1.000e-05 1.0000 1.776e-15 0.000e+00 0.000e+00 2.665e+01 4.311e+00 0.000e+00 0.000e+00 + 23 2.697e+01 0.000e+00 1.663e+01 3.930e+01 1.000e-05 1.000e-05 0.5000 0.000e+00 0.000e+00 0.000e+00 1.398e+01 3.979e+00 0.000e+00 0.000e+00 + 24 9.770e+00 0.000e+00 1.716e+01 3.537e+01 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 1.716e+01 1.720e+01 0.000e+00 0.000e+00 + 25 9.731e+00 0.000e+00 1.906e+00 3.805e+00 1.000e-06 1.000e-06 0.0156 0.000e+00 0.000e+00 0.000e+00 5.899e-02 3.911e-02 0.000e+00 0.000e+00 + 26 8.359e+00 0.000e+00 1.863e+00 3.720e+00 1.000e-06 1.000e-06 0.5000 0.000e+00 0.000e+00 0.000e+00 1.396e+00 1.372e+00 0.000e+00 0.000e+00 + 27 8.281e+00 0.000e+00 6.000e-01 1.200e+00 1.000e-06 1.000e-06 0.1250 0.000e+00 0.000e+00 0.000e+00 1.407e-01 7.802e-02 0.000e+00 0.000e+00 + 28 7.989e+00 0.000e+00 5.909e-01 1.182e+00 1.000e-06 1.000e-06 0.5000 0.000e+00 0.000e+00 0.000e+00 4.432e-01 2.924e-01 0.000e+00 0.000e+00 + 29 7.984e+00 0.000e+00 3.984e-01 7.968e-01 1.000e-05 1.000e-05 0.0078 0.000e+00 0.000e+00 0.000e+00 6.201e-03 5.340e-03 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 30 7.870e+00 0.000e+00 3.474e-01 6.948e-01 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 3.474e-01 1.139e-01 0.000e+00 0.000e+00 + 31 7.863e+00 0.000e+00 4.394e-01 8.789e-01 1.000e-06 1.000e-06 0.0156 0.000e+00 0.000e+00 0.000e+00 1.363e-02 6.615e-03 0.000e+00 0.000e+00 + 32 7.562e+00 0.000e+00 4.312e-01 8.624e-01 1.000e-06 1.000e-06 0.5000 0.000e+00 0.000e+00 0.000e+00 3.234e-01 3.011e-01 0.000e+00 0.000e+00 + 33 7.400e+00 0.000e+00 1.715e-01 3.431e-01 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 1.715e-01 1.618e-01 0.000e+00 0.000e+00 + 34 7.387e+00 0.000e+00 6.371e-02 1.366e-01 1.000e-07 1.000e-07 0.2500 0.000e+00 0.000e+00 0.000e+00 2.960e-02 1.294e-02 0.000e+00 0.000e+00 + 35 7.314e+00 0.000e+00 5.877e-02 1.226e-01 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 5.877e-02 7.341e-02 0.000e+00 0.000e+00 + 36 7.314e+00 0.000e+00 1.460e-02 2.921e-02 1.000e-08 1.000e-08 0.0156 0.000e+00 0.000e+00 0.000e+00 4.528e-04 1.849e-04 0.000e+00 0.000e+00 + 37 7.306e+00 0.000e+00 1.467e-02 2.933e-02 1.000e-08 1.000e-08 0.5000 0.000e+00 0.000e+00 0.000e+00 1.100e-02 7.555e-03 0.000e+00 0.000e+00 + 38 7.306e+00 0.000e+00 1.103e-02 2.205e-02 1.000e-08 1.000e-08 0.0312 0.000e+00 0.000e+00 0.000e+00 6.784e-04 2.826e-04 0.000e+00 0.000e+00 + 39 7.297e+00 0.000e+00 1.189e-02 2.379e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.189e-02 9.425e-03 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 40 7.297e+00 0.000e+00 1.684e-02 3.367e-02 1.000e-08 1.000e-08 0.0020 0.000e+00 0.000e+00 0.000e+00 6.570e-05 -2.673e-04 0.000e+00 0.000e+00 + 41 7.297e+00 0.000e+00 1.683e-02 3.366e-02 1.000e-07 1.000e-07 0.0020 0.000e+00 0.000e+00 0.000e+00 6.568e-05 -2.666e-04 0.000e+00 0.000e+00 + 42 7.297e+00 0.000e+00 1.678e-02 3.356e-02 1.000e-06 1.000e-06 0.0020 0.000e+00 0.000e+00 0.000e+00 6.547e-05 -2.591e-04 0.000e+00 0.000e+00 + 43 7.297e+00 0.000e+00 1.629e-02 3.258e-02 1.000e-05 1.000e-05 0.0020 0.000e+00 0.000e+00 0.000e+00 6.357e-05 -1.955e-04 0.000e+00 0.000e+00 + 44 7.297e+00 0.000e+00 1.378e-02 2.755e-02 1.000e-04 1.000e-04 0.0020 0.000e+00 0.000e+00 0.000e+00 5.376e-05 -7.435e-07 0.000e+00 0.000e+00 + 45 7.296e+00 0.000e+00 1.032e-02 2.063e-02 1.000e-03 1.000e-03 0.0078 0.000e+00 0.000e+00 0.000e+00 1.606e-04 6.553e-05 0.000e+00 0.000e+00 + 46 7.288e+00 0.000e+00 7.017e-03 1.403e-02 1.000e-04 1.000e-04 1.0000 0.000e+00 0.000e+00 0.000e+00 7.017e-03 8.025e-03 0.000e+00 0.000e+00 + 47 7.286e+00 0.000e+00 4.059e-03 8.119e-03 1.000e-05 1.000e-05 1.0000 0.000e+00 0.000e+00 0.000e+00 4.059e-03 2.934e-03 0.000e+00 0.000e+00 + 48 7.275e+00 0.000e+00 1.202e-02 2.405e-02 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 1.202e-02 1.019e-02 0.000e+00 0.000e+00 + 49 7.271e+00 0.000e+00 3.876e-02 7.751e-02 1.000e-06 1.000e-06 0.1250 0.000e+00 0.000e+00 0.000e+00 9.084e-03 3.955e-03 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 50 7.263e+00 0.000e+00 3.556e-02 7.113e-02 1.000e-06 1.000e-06 0.2500 0.000e+00 0.000e+00 0.000e+00 1.556e-02 8.779e-03 0.000e+00 0.000e+00 + 51 7.260e+00 0.000e+00 2.820e-02 5.641e-02 1.000e-06 1.000e-06 0.1250 0.000e+00 0.000e+00 0.000e+00 6.610e-03 2.598e-03 0.000e+00 0.000e+00 + 52 7.254e+00 0.000e+00 2.619e-02 5.237e-02 1.000e-06 1.000e-06 0.2500 0.000e+00 0.000e+00 0.000e+00 1.146e-02 5.714e-03 0.000e+00 0.000e+00 + 53 7.249e+00 0.000e+00 2.150e-02 4.300e-02 1.000e-06 1.000e-06 0.2500 0.000e+00 0.000e+00 0.000e+00 9.406e-03 5.050e-03 0.000e+00 0.000e+00 + 54 7.245e+00 0.000e+00 1.704e-02 3.407e-02 1.000e-06 1.000e-06 0.2500 0.000e+00 0.000e+00 0.000e+00 7.454e-03 4.601e-03 0.000e+00 0.000e+00 + 55 7.241e+00 0.000e+00 1.293e-02 2.585e-02 1.000e-06 1.000e-06 0.5000 0.000e+00 0.000e+00 0.000e+00 9.694e-03 3.341e-03 0.000e+00 0.000e+00 + 56 7.239e+00 0.000e+00 1.009e-02 2.017e-02 1.000e-06 1.000e-06 0.5000 0.000e+00 0.000e+00 0.000e+00 7.564e-03 2.480e-03 0.000e+00 0.000e+00 + 57 7.231e+00 0.000e+00 7.835e-03 1.567e-02 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 7.835e-03 7.576e-03 0.000e+00 0.000e+00 + 58 7.231e+00 0.000e+00 7.593e-04 1.519e-03 1.000e-06 1.000e-06 0.0039 0.000e+00 0.000e+00 0.000e+00 5.920e-06 3.293e-06 0.000e+00 0.000e+00 + 59 7.231e+00 0.000e+00 6.707e-04 1.341e-03 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 6.707e-04 3.401e-04 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 60 7.231e+00 0.000e+00 5.429e-04 1.086e-03 1.000e-07 1.000e-07 0.0625 0.000e+00 0.000e+00 0.000e+00 6.574e-05 3.029e-05 0.000e+00 0.000e+00 + 61 7.230e+00 0.000e+00 5.092e-04 1.018e-03 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 5.092e-04 5.218e-04 0.000e+00 0.000e+00 + 62 7.230e+00 0.000e+00 6.022e-05 1.204e-04 1.000e-08 1.000e-08 0.2500 0.000e+00 0.000e+00 0.000e+00 2.634e-05 2.902e-06 0.000e+00 0.000e+00 + 63 7.230e+00 0.000e+00 2.234e-04 4.468e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.234e-04 2.242e-04 0.000e+00 0.000e+00 + 64 7.230e+00 0.000e+00 5.221e-04 1.044e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.221e-04 5.098e-04 0.000e+00 0.000e+00 + 65 7.230e+00 0.000e+00 5.787e-05 1.157e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.787e-05 3.374e-05 0.000e+00 0.000e+00 + 66 7.230e+00 0.000e+00 3.718e-05 7.436e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.718e-05 3.634e-05 0.000e+00 0.000e+00 + 67 7.229e+00 0.000e+00 2.315e-04 4.631e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.315e-04 2.331e-04 0.000e+00 0.000e+00 + 68 7.229e+00 0.000e+00 6.169e-04 1.234e-03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 4.627e-04 3.574e-04 0.000e+00 0.000e+00 + 69 7.229e+00 0.000e+00 3.095e-04 6.190e-04 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 2.321e-04 1.448e-04 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 70 7.229e+00 0.000e+00 1.941e-04 3.881e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.941e-04 1.692e-04 0.000e+00 0.000e+00 + 71 7.229e+00 0.000e+00 4.659e-05 9.318e-05 1.000e-09 1.000e-09 0.0156 0.000e+00 0.000e+00 0.000e+00 1.445e-06 7.439e-07 0.000e+00 0.000e+00 + 72 7.229e+00 0.000e+00 4.492e-05 8.984e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.492e-05 1.748e-05 0.000e+00 0.000e+00 + 73 7.229e+00 0.000e+00 2.958e-05 5.916e-05 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 2.218e-05 1.239e-05 0.000e+00 0.000e+00 + 74 7.229e+00 0.000e+00 1.738e-05 3.475e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.738e-05 1.749e-05 0.000e+00 0.000e+00 + 75 7.229e+00 0.000e+00 6.808e-08 1.362e-07 1.000e-08 1.000e-08 0.0020 0.000e+00 0.000e+00 0.000e+00 2.657e-10 -3.110e-09 0.000e+00 0.000e+00 Finally reached = (0.400, 0.000, 1.200) -Distance between hand and target = 4.678E-05 -Distance to default state = 1.605E+00 -XY distance to CoM reference = 9.818E-02 +Distance between hand and target = 5.046E-05 +Distance to default state = 1.619E+00 +XY distance to CoM reference = 9.811E-02 diff --git a/examples/log/quadrotor_fwddyn.log b/examples/log/quadrotor_fwddyn.log index 3aaab8397c..af75ea47c5 100644 --- a/examples/log/quadrotor_fwddyn.log +++ b/examples/log/quadrotor_fwddyn.log @@ -1,6 +1,6 @@ -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 7.489e-01 0.000e+00 3.004e+00 6.032e+00 1.000e-09 1.000e-09 0.5000 2.943e-01 0.000e+00 0.000e+00 2.256e+00 2.261e+00 0.000e+00 0.000e+00 - 1 1.319e-01 0.000e+00 7.432e-01 1.491e+00 1.000e-09 1.000e-09 1.0000 1.472e-01 0.000e+00 0.000e+00 7.432e-01 6.170e-01 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 7.489e-01 0.000e+00 3.004e+00 6.020e+00 1.000e-09 1.000e-09 0.5000 2.943e-01 0.000e+00 0.000e+00 2.256e+00 2.261e+00 0.000e+00 0.000e+00 + 1 1.319e-01 0.000e+00 7.432e-01 1.489e+00 1.000e-09 1.000e-09 1.0000 1.472e-01 0.000e+00 0.000e+00 7.432e-01 6.170e-01 0.000e+00 0.000e+00 2 1.796e-02 0.000e+00 1.263e-01 2.526e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.263e-01 1.140e-01 0.000e+00 0.000e+00 3 5.249e-03 0.000e+00 1.271e-02 2.542e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.271e-02 1.271e-02 0.000e+00 0.000e+00 4 5.223e-03 0.000e+00 2.317e-05 4.633e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.317e-05 2.597e-05 0.000e+00 0.000e+00 @@ -9,7 +9,7 @@ iter cost merit stop grad preg dreg step 7 5.211e-03 0.000e+00 2.116e-06 4.231e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.116e-06 1.744e-06 0.000e+00 0.000e+00 8 5.210e-03 0.000e+00 1.231e-06 2.462e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.231e-06 8.967e-07 0.000e+00 0.000e+00 9 5.209e-03 0.000e+00 7.463e-07 1.493e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.463e-07 4.864e-07 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi 10 5.209e-03 0.000e+00 4.544e-07 9.087e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.544e-07 2.641e-07 0.000e+00 0.000e+00 11 5.209e-03 0.000e+00 2.853e-07 5.707e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.853e-07 1.507e-07 0.000e+00 0.000e+00 12 5.209e-03 0.000e+00 1.783e-07 3.567e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.783e-07 8.491e-08 0.000e+00 0.000e+00 @@ -20,7 +20,7 @@ iter cost merit stop grad preg dreg step 17 5.209e-03 0.000e+00 1.950e-08 3.900e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.950e-08 6.331e-09 0.000e+00 0.000e+00 18 5.209e-03 0.000e+00 1.261e-08 2.522e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.261e-08 3.828e-09 0.000e+00 0.000e+00 19 5.209e-03 0.000e+00 8.221e-09 1.644e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.221e-09 2.375e-09 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi 20 5.209e-03 0.000e+00 5.344e-09 1.069e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.344e-09 1.460e-09 0.000e+00 0.000e+00 21 5.209e-03 0.000e+00 3.493e-09 6.985e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.493e-09 9.162e-10 0.000e+00 0.000e+00 22 5.209e-03 0.000e+00 2.278e-09 4.557e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.278e-09 5.715e-10 0.000e+00 0.000e+00 diff --git a/examples/log/quadrotor_invdyn.log b/examples/log/quadrotor_invdyn.log index 48643ad41e..dc8ba51a26 100644 --- a/examples/log/quadrotor_invdyn.log +++ b/examples/log/quadrotor_invdyn.log @@ -1,54 +1,54 @@ -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi 0 7.253e-01 7.253e-01 3.005e+00 6.009e+00 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 2.177e+00 2.253e+00 2.285e+00 2.253e+00 2.285e+00 - 1 1.329e-02 7.534e-01 1.568e+00 1.435e+00 1.000e-09 1.000e-09 1.0000 3.263e-17 0.000e+00 1.568e+00 7.196e-01 7.120e-01 1.007e+00 9.998e-01 - 2 5.351e-03 3.186e-01 6.635e-01 1.567e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.635e-01 7.964e-03 7.936e-03 4.349e-01 4.349e-01 - 3 5.249e-03 8.657e-02 1.722e-01 1.404e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.722e-01 9.435e-05 1.018e-04 2.320e-01 2.320e-01 - 4 5.229e-03 4.345e-02 8.096e-02 2.710e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 8.096e-02 1.972e-05 2.047e-05 4.312e-02 4.312e-02 - 5 5.218e-03 2.185e-02 3.524e-02 9.187e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.524e-02 9.496e-06 1.083e-05 2.159e-02 2.159e-02 - 6 5.214e-03 1.359e-02 1.775e-02 4.275e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.775e-02 3.279e-06 3.666e-06 8.262e-03 8.262e-03 - 7 5.212e-03 9.895e-03 9.920e-03 2.167e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 9.920e-03 2.045e-06 2.351e-06 3.697e-03 3.698e-03 - 8 5.211e-03 8.150e-03 6.226e-03 1.205e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 6.226e-03 1.053e-06 1.193e-06 1.745e-03 1.745e-03 - 9 5.210e-03 7.102e-03 4.009e-03 6.946e-07 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 4.009e-03 6.502e-07 7.491e-07 1.047e-03 1.047e-03 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 5.209e-03 6.387e-03 2.494e-03 4.178e-07 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.494e-03 3.754e-07 4.311e-07 7.157e-04 7.157e-04 - 11 5.209e-03 5.956e-03 1.583e-03 2.571e-07 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.583e-03 2.359e-07 2.736e-07 4.302e-04 4.302e-04 - 12 5.209e-03 5.676e-03 9.893e-04 1.617e-07 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 9.893e-04 1.450e-07 1.684e-07 2.805e-04 2.805e-04 - 13 5.209e-03 5.505e-03 6.267e-04 1.032e-07 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 6.267e-04 9.288e-08 1.086e-07 1.713e-04 1.713e-04 - 14 5.209e-03 5.395e-03 3.944e-04 6.669e-08 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.944e-04 5.921e-08 6.940e-08 1.097e-04 1.097e-04 - 15 5.209e-03 5.327e-03 2.504e-04 4.351e-08 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.504e-04 3.855e-08 4.539e-08 6.802e-05 6.803e-05 - 16 5.209e-03 5.284e-03 1.586e-04 2.862e-08 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.586e-04 2.514e-08 2.969e-08 4.334e-05 4.334e-05 - 17 5.209e-03 5.256e-03 1.011e-04 1.895e-08 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.011e-04 1.658e-08 1.965e-08 2.718e-05 2.718e-05 - 18 5.209e-03 5.239e-03 6.445e-05 1.262e-08 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 6.445e-05 1.097e-08 1.304e-08 1.731e-05 1.732e-05 - 19 5.209e-03 5.228e-03 4.126e-05 8.439e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 4.126e-05 7.314e-09 8.718e-09 1.095e-05 1.096e-05 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 20 5.209e-03 5.221e-03 2.646e-05 5.668e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.646e-05 4.891e-09 5.843e-09 6.996e-06 6.996e-06 - 21 5.209e-03 5.217e-03 1.702e-05 3.820e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.702e-05 3.285e-09 3.934e-09 4.458e-06 4.459e-06 - 22 5.209e-03 5.214e-03 1.097e-05 2.582e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.097e-05 2.213e-09 2.656e-09 2.858e-06 2.858e-06 - 23 5.209e-03 5.212e-03 7.103e-06 1.750e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 7.103e-06 1.495e-09 1.798e-09 1.827e-06 1.827e-06 - 24 5.209e-03 5.211e-03 4.993e-06 1.188e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 4.993e-06 1.013e-09 1.220e-09 9.970e-07 9.972e-07 - 25 5.209e-03 5.210e-03 3.507e-06 8.087e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.507e-06 6.876e-10 8.295e-10 7.024e-07 7.026e-07 - 26 5.209e-03 5.210e-03 2.458e-06 5.512e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.458e-06 4.676e-10 5.649e-10 4.954e-07 4.955e-07 - 27 5.209e-03 5.209e-03 1.722e-06 3.763e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.722e-06 3.186e-10 3.854e-10 3.481e-07 3.481e-07 - 28 5.209e-03 5.209e-03 1.204e-06 2.572e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.204e-06 2.173e-10 2.633e-10 2.445e-07 2.446e-07 - 29 5.209e-03 5.209e-03 8.416e-07 1.760e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 8.416e-07 1.485e-10 1.800e-10 1.714e-07 1.714e-07 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 30 5.209e-03 5.209e-03 5.875e-07 1.205e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 5.875e-07 1.015e-10 1.233e-10 1.200e-07 1.201e-07 - 31 5.209e-03 5.209e-03 4.098e-07 8.264e-11 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 4.098e-07 6.950e-11 8.446e-11 8.395e-08 8.397e-08 - 32 5.209e-03 5.209e-03 2.857e-07 5.670e-11 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.857e-07 4.762e-11 5.792e-11 5.867e-08 5.868e-08 - 33 5.209e-03 5.209e-03 1.990e-07 3.893e-11 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.990e-07 3.265e-11 3.975e-11 4.096e-08 4.096e-08 - 34 5.209e-03 5.209e-03 1.385e-07 2.674e-11 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.385e-07 2.241e-11 2.730e-11 2.857e-08 2.858e-08 - 35 5.209e-03 5.209e-03 9.635e-08 1.838e-11 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 9.635e-08 1.538e-11 1.875e-11 1.991e-08 1.992e-08 - 36 5.209e-03 5.209e-03 6.699e-08 1.264e-11 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 6.699e-08 1.057e-11 1.289e-11 1.387e-08 1.387e-08 - 37 5.209e-03 5.209e-03 4.655e-08 8.694e-12 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 4.655e-08 7.264e-12 8.866e-12 9.655e-09 9.656e-09 - 38 5.209e-03 5.209e-03 3.234e-08 5.983e-12 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.234e-08 4.994e-12 6.100e-12 6.717e-09 6.718e-09 - 39 5.209e-03 5.209e-03 2.245e-08 4.118e-12 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.245e-08 3.435e-12 4.198e-12 4.670e-09 4.671e-09 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 40 5.209e-03 5.209e-03 1.558e-08 2.836e-12 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.558e-08 2.364e-12 2.890e-12 3.245e-09 3.246e-09 - 41 5.209e-03 5.209e-03 1.081e-08 1.953e-12 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.081e-08 1.627e-12 1.990e-12 2.254e-09 2.255e-09 - 42 5.209e-03 5.209e-03 7.499e-09 1.346e-12 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 7.499e-09 1.120e-12 1.371e-12 1.565e-09 1.565e-09 - 43 5.209e-03 5.209e-03 5.199e-09 9.272e-13 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 5.199e-09 7.715e-13 9.444e-13 1.086e-09 1.087e-09 - 44 5.209e-03 5.209e-03 3.604e-09 6.390e-13 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.604e-09 5.314e-13 6.507e-13 7.537e-10 7.538e-10 - 45 5.209e-03 5.209e-03 2.497e-09 4.404e-13 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.497e-09 3.661e-13 4.485e-13 5.228e-10 5.228e-10 - 46 5.209e-03 5.209e-03 1.730e-09 3.036e-13 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.730e-09 2.523e-13 3.091e-13 3.625e-10 3.625e-10 - 47 5.209e-03 5.209e-03 1.198e-09 2.093e-13 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.198e-09 1.739e-13 2.131e-13 2.512e-10 2.513e-10 - 48 5.209e-03 5.209e-03 8.299e-10 1.443e-13 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 8.299e-10 1.198e-13 1.469e-13 1.741e-10 1.741e-10 + 1 1.329e-02 7.534e-01 1.568e+00 1.437e+00 1.000e-09 1.000e-09 1.0000 2.776e-17 0.000e+00 1.568e+00 7.196e-01 7.120e-01 1.007e+00 9.998e-01 + 2 5.351e-03 3.186e-01 6.635e-01 1.580e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.635e-01 7.964e-03 7.936e-03 4.349e-01 4.349e-01 + 3 5.249e-03 8.657e-02 1.722e-01 1.646e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.722e-01 9.435e-05 1.018e-04 2.320e-01 2.320e-01 + 4 5.229e-03 4.345e-02 8.096e-02 3.327e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 8.096e-02 1.972e-05 2.047e-05 4.312e-02 4.312e-02 + 5 5.218e-03 2.185e-02 3.524e-02 1.409e-05 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.524e-02 9.496e-06 1.083e-05 2.159e-02 2.159e-02 + 6 5.214e-03 1.359e-02 1.775e-02 5.416e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.775e-02 3.279e-06 3.666e-06 8.262e-03 8.262e-03 + 7 5.212e-03 9.895e-03 9.920e-03 3.128e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 9.920e-03 2.045e-06 2.351e-06 3.697e-03 3.698e-03 + 8 5.211e-03 8.150e-03 6.226e-03 1.655e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 6.226e-03 1.053e-06 1.193e-06 1.745e-03 1.745e-03 + 9 5.210e-03 7.102e-03 4.009e-03 9.975e-07 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 4.009e-03 6.502e-07 7.491e-07 1.047e-03 1.047e-03 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 5.209e-03 6.387e-03 2.494e-03 5.844e-07 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.494e-03 3.754e-07 4.311e-07 7.157e-04 7.157e-04 + 11 5.209e-03 5.956e-03 1.583e-03 3.645e-07 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.583e-03 2.359e-07 2.736e-07 4.302e-04 4.302e-04 + 12 5.209e-03 5.676e-03 9.893e-04 2.259e-07 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 9.893e-04 1.450e-07 1.684e-07 2.805e-04 2.805e-04 + 13 5.209e-03 5.505e-03 6.267e-04 1.445e-07 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 6.267e-04 9.288e-08 1.086e-07 1.713e-04 1.713e-04 + 14 5.209e-03 5.395e-03 3.944e-04 9.256e-08 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.944e-04 5.921e-08 6.940e-08 1.097e-04 1.097e-04 + 15 5.209e-03 5.327e-03 2.504e-04 6.030e-08 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.504e-04 3.855e-08 4.539e-08 6.802e-05 6.803e-05 + 16 5.209e-03 5.284e-03 1.586e-04 3.945e-08 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.586e-04 2.514e-08 2.969e-08 4.334e-05 4.334e-05 + 17 5.209e-03 5.256e-03 1.011e-04 2.606e-08 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.011e-04 1.658e-08 1.965e-08 2.718e-05 2.718e-05 + 18 5.209e-03 5.239e-03 6.445e-05 1.728e-08 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 6.445e-05 1.097e-08 1.304e-08 1.731e-05 1.732e-05 + 19 5.209e-03 5.228e-03 4.126e-05 1.153e-08 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 4.126e-05 7.314e-09 8.718e-09 1.095e-05 1.096e-05 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 20 5.209e-03 5.221e-03 2.646e-05 7.725e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.646e-05 4.891e-09 5.843e-09 6.996e-06 6.996e-06 + 21 5.209e-03 5.217e-03 1.702e-05 5.195e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.702e-05 3.285e-09 3.934e-09 4.458e-06 4.459e-06 + 22 5.209e-03 5.214e-03 1.097e-05 3.504e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.097e-05 2.213e-09 2.656e-09 2.858e-06 2.858e-06 + 23 5.209e-03 5.212e-03 7.103e-06 2.370e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 7.103e-06 1.495e-09 1.798e-09 1.827e-06 1.827e-06 + 24 5.209e-03 5.211e-03 4.993e-06 1.607e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 4.993e-06 1.013e-09 1.220e-09 9.970e-07 9.972e-07 + 25 5.209e-03 5.210e-03 3.507e-06 1.092e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.507e-06 6.876e-10 8.295e-10 7.024e-07 7.026e-07 + 26 5.209e-03 5.210e-03 2.458e-06 7.432e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.458e-06 4.676e-10 5.649e-10 4.954e-07 4.955e-07 + 27 5.209e-03 5.209e-03 1.722e-06 5.067e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.722e-06 3.186e-10 3.854e-10 3.481e-07 3.481e-07 + 28 5.209e-03 5.209e-03 1.204e-06 3.459e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.204e-06 2.173e-10 2.633e-10 2.445e-07 2.446e-07 + 29 5.209e-03 5.209e-03 8.416e-07 2.365e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 8.416e-07 1.485e-10 1.800e-10 1.714e-07 1.714e-07 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 30 5.209e-03 5.209e-03 5.875e-07 1.618e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 5.875e-07 1.015e-10 1.233e-10 1.200e-07 1.201e-07 + 31 5.209e-03 5.209e-03 4.098e-07 1.108e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 4.098e-07 6.950e-11 8.446e-11 8.395e-08 8.397e-08 + 32 5.209e-03 5.209e-03 2.857e-07 7.597e-11 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.857e-07 4.762e-11 5.792e-11 5.867e-08 5.868e-08 + 33 5.209e-03 5.209e-03 1.990e-07 5.212e-11 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.990e-07 3.265e-11 3.975e-11 4.096e-08 4.096e-08 + 34 5.209e-03 5.209e-03 1.385e-07 3.578e-11 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.385e-07 2.241e-11 2.730e-11 2.857e-08 2.858e-08 + 35 5.209e-03 5.209e-03 9.635e-08 2.457e-11 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 9.635e-08 1.538e-11 1.875e-11 1.991e-08 1.992e-08 + 36 5.209e-03 5.209e-03 6.699e-08 1.689e-11 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 6.699e-08 1.057e-11 1.289e-11 1.387e-08 1.387e-08 + 37 5.209e-03 5.209e-03 4.655e-08 1.161e-11 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 4.655e-08 7.264e-12 8.866e-12 9.655e-09 9.656e-09 + 38 5.209e-03 5.209e-03 3.234e-08 7.986e-12 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.234e-08 4.994e-12 6.100e-12 6.717e-09 6.718e-09 + 39 5.209e-03 5.209e-03 2.245e-08 5.495e-12 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.245e-08 3.435e-12 4.198e-12 4.670e-09 4.671e-09 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 40 5.209e-03 5.209e-03 1.558e-08 3.782e-12 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.558e-08 2.364e-12 2.890e-12 3.245e-09 3.246e-09 + 41 5.209e-03 5.209e-03 1.081e-08 2.604e-12 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.081e-08 1.627e-12 1.990e-12 2.254e-09 2.255e-09 + 42 5.209e-03 5.209e-03 7.499e-09 1.793e-12 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 7.499e-09 1.120e-12 1.371e-12 1.565e-09 1.565e-09 + 43 5.209e-03 5.209e-03 5.199e-09 1.235e-12 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 5.199e-09 7.715e-13 9.444e-13 1.086e-09 1.087e-09 + 44 5.209e-03 5.209e-03 3.604e-09 8.509e-13 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.604e-09 5.314e-13 6.507e-13 7.537e-10 7.538e-10 + 45 5.209e-03 5.209e-03 2.497e-09 5.863e-13 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.497e-09 3.661e-13 4.485e-13 5.228e-10 5.228e-10 + 46 5.209e-03 5.209e-03 1.730e-09 4.041e-13 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.730e-09 2.523e-13 3.091e-13 3.625e-10 3.625e-10 + 47 5.209e-03 5.209e-03 1.198e-09 2.785e-13 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.198e-09 1.739e-13 2.131e-13 2.512e-10 2.513e-10 + 48 5.209e-03 5.209e-03 8.299e-10 1.920e-13 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 8.299e-10 1.198e-13 1.469e-13 1.741e-10 1.741e-10 diff --git a/examples/log/quadrotor_ubound.log b/examples/log/quadrotor_ubound.log index a60c522c38..97e0c768fc 100644 --- a/examples/log/quadrotor_ubound.log +++ b/examples/log/quadrotor_ubound.log @@ -1,66 +1,66 @@ -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi 0 5.248e+00 0.000e+00 3.034e+00 6.067e+00 1.000e-09 1.000e-09 1.0000 2.943e-01 0.000e+00 0.000e+00 3.034e+00 -2.238e+00 0.000e+00 0.000e+00 - 1 1.604e+00 0.000e+00 1.868e+01 4.384e+01 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 0.000e+00 1.168e-01 3.644e+00 0.000e+00 0.000e+00 - 2 1.311e+00 0.000e+00 2.806e+00 7.618e+00 1.000e-09 1.000e-09 0.0156 0.000e+00 0.000e+00 0.000e+00 1.475e-02 2.936e-01 0.000e+00 0.000e+00 - 3 1.249e+00 0.000e+00 2.585e+00 7.465e+00 1.000e-09 1.000e-09 0.0156 0.000e+00 0.000e+00 0.000e+00 1.702e-02 6.185e-02 0.000e+00 0.000e+00 - 4 1.249e+00 0.000e+00 2.302e+00 7.175e+00 1.000e-08 1.000e-08 0.0020 0.000e+00 0.000e+00 0.000e+00 2.498e-03 -8.035e-02 0.000e+00 0.000e+00 - 5 1.249e+00 0.000e+00 4.980e-01 9.851e-01 1.000e-07 1.000e-07 0.0020 0.000e+00 0.000e+00 0.000e+00 -1.253e-05 -2.085e-02 0.000e+00 0.000e+00 - 6 1.211e+00 0.000e+00 1.496e+00 5.316e+00 1.000e-07 1.000e-07 0.0312 0.000e+00 0.000e+00 0.000e+00 3.372e-02 3.734e-02 0.000e+00 0.000e+00 - 7 1.196e+00 0.000e+00 6.237e-01 1.339e+00 1.000e-06 1.000e-06 0.0078 0.000e+00 0.000e+00 0.000e+00 3.178e-04 1.520e-02 0.000e+00 0.000e+00 - 8 1.053e+00 0.000e+00 1.471e+00 4.098e+00 1.000e-06 1.000e-06 0.0156 0.000e+00 0.000e+00 0.000e+00 8.536e-03 1.433e-01 0.000e+00 0.000e+00 - 9 1.053e+00 0.000e+00 1.733e+00 5.483e+00 1.000e-05 1.000e-05 0.0020 0.000e+00 0.000e+00 0.000e+00 1.959e-03 -1.409e-02 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 1.051e+00 0.000e+00 2.063e+00 6.344e+00 1.000e-04 1.000e-04 0.0020 0.000e+00 0.000e+00 0.000e+00 2.154e-03 1.487e-03 0.000e+00 0.000e+00 - 11 1.023e+00 0.000e+00 1.367e+00 4.776e+00 1.000e-03 1.000e-03 0.0039 0.000e+00 0.000e+00 0.000e+00 3.952e-03 2.836e-02 0.000e+00 0.000e+00 - 12 7.008e-01 0.000e+00 2.327e-02 1.699e+00 1.000e-03 1.000e-03 0.1250 0.000e+00 0.000e+00 0.000e+00 9.582e-02 3.224e-01 0.000e+00 0.000e+00 - 13 5.735e-01 0.000e+00 3.475e-03 9.642e-01 1.000e-03 1.000e-03 0.5000 0.000e+00 0.000e+00 0.000e+00 1.223e-01 1.273e-01 0.000e+00 0.000e+00 - 14 4.051e-01 0.000e+00 3.265e-01 8.792e-01 1.000e-03 1.000e-03 0.2500 0.000e+00 0.000e+00 0.000e+00 1.641e-01 1.684e-01 0.000e+00 0.000e+00 - 15 3.511e-01 0.000e+00 3.147e-02 8.605e-01 1.000e-03 1.000e-03 0.0625 0.000e+00 0.000e+00 0.000e+00 2.718e-02 5.403e-02 0.000e+00 0.000e+00 - 16 2.012e-01 0.000e+00 1.234e-01 4.413e-01 1.000e-03 1.000e-03 0.2500 0.000e+00 0.000e+00 0.000e+00 7.223e-02 1.499e-01 0.000e+00 0.000e+00 - 17 1.215e-01 0.000e+00 2.260e-02 1.181e-01 1.000e-03 1.000e-03 0.5000 0.000e+00 0.000e+00 0.000e+00 2.606e-02 7.968e-02 0.000e+00 0.000e+00 - 18 1.174e-01 0.000e+00 3.466e-02 8.646e-02 1.000e-03 1.000e-03 0.0312 0.000e+00 0.000e+00 0.000e+00 2.392e-03 4.109e-03 0.000e+00 0.000e+00 - 19 9.891e-02 0.000e+00 8.996e-03 3.690e-02 1.000e-03 1.000e-03 0.5000 0.000e+00 0.000e+00 0.000e+00 9.111e-03 1.845e-02 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 20 9.663e-02 0.000e+00 2.649e-02 5.498e-02 1.000e-03 1.000e-03 0.0312 0.000e+00 0.000e+00 0.000e+00 1.660e-03 2.286e-03 0.000e+00 0.000e+00 - 21 9.527e-02 0.000e+00 1.948e-02 4.438e-02 1.000e-03 1.000e-03 0.1250 0.000e+00 0.000e+00 0.000e+00 4.862e-03 1.355e-03 0.000e+00 0.000e+00 - 22 9.447e-02 0.000e+00 1.621e-02 3.955e-02 1.000e-03 1.000e-03 0.2500 0.000e+00 0.000e+00 0.000e+00 7.761e-03 8.078e-04 0.000e+00 0.000e+00 - 23 8.734e-02 0.000e+00 5.536e-03 2.467e-02 1.000e-03 1.000e-03 0.2500 0.000e+00 0.000e+00 0.000e+00 3.697e-03 7.129e-03 0.000e+00 0.000e+00 - 24 8.606e-02 0.000e+00 1.317e-02 2.917e-02 1.000e-03 1.000e-03 0.1250 0.000e+00 0.000e+00 0.000e+00 3.241e-03 1.277e-03 0.000e+00 0.000e+00 - 25 8.148e-02 0.000e+00 1.019e-02 2.197e-02 1.000e-03 1.000e-03 0.2500 0.000e+00 0.000e+00 0.000e+00 4.607e-03 4.579e-03 0.000e+00 0.000e+00 - 26 8.050e-02 0.000e+00 7.093e-03 1.501e-02 1.000e-03 1.000e-03 0.1250 0.000e+00 0.000e+00 0.000e+00 1.707e-03 9.782e-04 0.000e+00 0.000e+00 - 27 7.996e-02 0.000e+00 1.864e-03 4.804e-03 1.000e-03 1.000e-03 0.5000 0.000e+00 0.000e+00 0.000e+00 1.532e-03 5.425e-04 0.000e+00 0.000e+00 - 28 7.757e-02 0.000e+00 9.495e-03 2.019e-02 1.000e-03 1.000e-03 0.2500 0.000e+00 0.000e+00 0.000e+00 4.267e-03 2.388e-03 0.000e+00 0.000e+00 - 29 7.704e-02 0.000e+00 5.970e-03 1.377e-02 1.000e-03 1.000e-03 0.0625 0.000e+00 0.000e+00 0.000e+00 7.765e-04 5.349e-04 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 30 7.592e-02 0.000e+00 1.731e-03 3.829e-03 1.000e-03 1.000e-03 0.2500 0.000e+00 0.000e+00 0.000e+00 7.918e-04 1.121e-03 0.000e+00 0.000e+00 - 31 7.579e-02 0.000e+00 6.280e-03 1.263e-02 1.000e-03 1.000e-03 0.0156 0.000e+00 0.000e+00 0.000e+00 1.952e-04 1.232e-04 0.000e+00 0.000e+00 - 32 7.558e-02 0.000e+00 3.915e-03 7.853e-03 1.000e-03 1.000e-03 0.0625 0.000e+00 0.000e+00 0.000e+00 4.747e-04 2.151e-04 0.000e+00 0.000e+00 - 33 7.549e-02 0.000e+00 2.006e-03 5.046e-03 1.000e-03 1.000e-03 0.0312 0.000e+00 0.000e+00 0.000e+00 1.391e-04 8.582e-05 0.000e+00 0.000e+00 - 34 7.522e-02 0.000e+00 1.694e-03 3.465e-03 1.000e-03 1.000e-03 0.1250 0.000e+00 0.000e+00 0.000e+00 4.012e-04 2.691e-04 0.000e+00 0.000e+00 - 35 7.514e-02 0.000e+00 4.358e-03 8.737e-03 1.000e-03 1.000e-03 0.0156 0.000e+00 0.000e+00 0.000e+00 1.353e-04 8.499e-05 0.000e+00 0.000e+00 - 36 7.365e-02 0.000e+00 1.223e-03 2.441e-03 1.000e-04 1.000e-04 1.0000 0.000e+00 0.000e+00 0.000e+00 1.223e-03 1.491e-03 0.000e+00 0.000e+00 - 37 7.251e-02 0.000e+00 5.684e-03 1.234e-02 1.000e-04 1.000e-04 0.1250 0.000e+00 0.000e+00 0.000e+00 1.385e-03 1.131e-03 0.000e+00 0.000e+00 - 38 7.142e-02 0.000e+00 9.791e-03 2.003e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 3.071e-04 1.099e-03 0.000e+00 0.000e+00 - 39 7.125e-02 0.000e+00 8.848e-03 1.790e-02 1.000e-04 1.000e-04 0.0312 0.000e+00 0.000e+00 0.000e+00 5.475e-04 1.675e-04 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 40 7.107e-02 0.000e+00 4.659e-03 1.094e-02 1.000e-04 1.000e-04 0.0625 0.000e+00 0.000e+00 0.000e+00 6.117e-04 1.800e-04 0.000e+00 0.000e+00 - 41 7.091e-02 0.000e+00 8.216e-03 1.748e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 2.628e-04 1.601e-04 0.000e+00 0.000e+00 - 42 7.061e-02 0.000e+00 3.295e-03 6.596e-03 1.000e-04 1.000e-04 0.2500 0.000e+00 0.000e+00 0.000e+00 1.442e-03 3.004e-04 0.000e+00 0.000e+00 + 1 1.604e+00 0.000e+00 1.868e+01 3.238e+00 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 0.000e+00 1.168e-01 3.644e+00 0.000e+00 0.000e+00 + 2 1.311e+00 0.000e+00 2.806e+00 1.003e+00 1.000e-09 1.000e-09 0.0156 0.000e+00 0.000e+00 0.000e+00 1.475e-02 2.936e-01 0.000e+00 0.000e+00 + 3 1.249e+00 0.000e+00 2.585e+00 1.147e+00 1.000e-09 1.000e-09 0.0156 0.000e+00 0.000e+00 0.000e+00 1.702e-02 6.185e-02 0.000e+00 0.000e+00 + 4 1.249e+00 0.000e+00 2.302e+00 1.286e+00 1.000e-08 1.000e-08 0.0020 0.000e+00 0.000e+00 0.000e+00 2.498e-03 -8.035e-02 0.000e+00 0.000e+00 + 5 1.249e+00 0.000e+00 4.980e-01 5.454e-03 1.000e-07 1.000e-07 0.0020 0.000e+00 0.000e+00 0.000e+00 -1.253e-05 -2.085e-02 0.000e+00 0.000e+00 + 6 1.211e+00 0.000e+00 1.496e+00 1.162e+00 1.000e-07 1.000e-07 0.0312 0.000e+00 0.000e+00 0.000e+00 3.372e-02 3.734e-02 0.000e+00 0.000e+00 + 7 1.196e+00 0.000e+00 6.237e-01 4.591e-02 1.000e-06 1.000e-06 0.0078 0.000e+00 0.000e+00 0.000e+00 3.178e-04 1.520e-02 0.000e+00 0.000e+00 + 8 1.053e+00 0.000e+00 1.471e+00 5.783e-01 1.000e-06 1.000e-06 0.0156 0.000e+00 0.000e+00 0.000e+00 8.536e-03 1.433e-01 0.000e+00 0.000e+00 + 9 1.053e+00 0.000e+00 1.733e+00 1.008e+00 1.000e-05 1.000e-05 0.0020 0.000e+00 0.000e+00 0.000e+00 1.959e-03 -1.409e-02 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 1.051e+00 0.000e+00 2.063e+00 1.109e+00 1.000e-04 1.000e-04 0.0020 0.000e+00 0.000e+00 0.000e+00 2.154e-03 1.487e-03 0.000e+00 0.000e+00 + 11 1.023e+00 0.000e+00 1.367e+00 1.021e+00 1.000e-03 1.000e-03 0.0039 0.000e+00 0.000e+00 0.000e+00 3.952e-03 2.836e-02 0.000e+00 0.000e+00 + 12 7.008e-01 0.000e+00 2.327e-02 8.728e-01 1.000e-03 1.000e-03 0.1250 0.000e+00 0.000e+00 0.000e+00 9.582e-02 3.224e-01 0.000e+00 0.000e+00 + 13 5.735e-01 0.000e+00 3.475e-03 4.856e-01 1.000e-03 1.000e-03 0.5000 0.000e+00 0.000e+00 0.000e+00 1.223e-01 1.273e-01 0.000e+00 0.000e+00 + 14 4.051e-01 0.000e+00 3.265e-01 7.662e-01 1.000e-03 1.000e-03 0.2500 0.000e+00 0.000e+00 0.000e+00 1.641e-01 1.684e-01 0.000e+00 0.000e+00 + 15 3.511e-01 0.000e+00 3.147e-02 4.617e-01 1.000e-03 1.000e-03 0.0625 0.000e+00 0.000e+00 0.000e+00 2.718e-02 5.403e-02 0.000e+00 0.000e+00 + 16 2.012e-01 0.000e+00 1.234e-01 3.441e-01 1.000e-03 1.000e-03 0.2500 0.000e+00 0.000e+00 0.000e+00 7.223e-02 1.499e-01 0.000e+00 0.000e+00 + 17 1.215e-01 0.000e+00 2.260e-02 8.166e-02 1.000e-03 1.000e-03 0.5000 0.000e+00 0.000e+00 0.000e+00 2.606e-02 7.968e-02 0.000e+00 0.000e+00 + 18 1.174e-01 0.000e+00 3.466e-02 7.789e-02 1.000e-03 1.000e-03 0.0312 0.000e+00 0.000e+00 0.000e+00 2.392e-03 4.109e-03 0.000e+00 0.000e+00 + 19 9.891e-02 0.000e+00 8.996e-03 2.745e-02 1.000e-03 1.000e-03 0.5000 0.000e+00 0.000e+00 0.000e+00 9.111e-03 1.845e-02 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 20 9.663e-02 0.000e+00 2.649e-02 5.398e-02 1.000e-03 1.000e-03 0.0312 0.000e+00 0.000e+00 0.000e+00 1.660e-03 2.286e-03 0.000e+00 0.000e+00 + 21 9.527e-02 0.000e+00 1.948e-02 4.167e-02 1.000e-03 1.000e-03 0.1250 0.000e+00 0.000e+00 0.000e+00 4.862e-03 1.355e-03 0.000e+00 0.000e+00 + 22 9.447e-02 0.000e+00 1.621e-02 3.599e-02 1.000e-03 1.000e-03 0.2500 0.000e+00 0.000e+00 0.000e+00 7.761e-03 8.078e-04 0.000e+00 0.000e+00 + 23 8.734e-02 0.000e+00 5.536e-03 1.787e-02 1.000e-03 1.000e-03 0.2500 0.000e+00 0.000e+00 0.000e+00 3.697e-03 7.129e-03 0.000e+00 0.000e+00 + 24 8.606e-02 0.000e+00 1.317e-02 2.775e-02 1.000e-03 1.000e-03 0.1250 0.000e+00 0.000e+00 0.000e+00 3.241e-03 1.277e-03 0.000e+00 0.000e+00 + 25 8.148e-02 0.000e+00 1.019e-02 2.117e-02 1.000e-03 1.000e-03 0.2500 0.000e+00 0.000e+00 0.000e+00 4.607e-03 4.579e-03 0.000e+00 0.000e+00 + 26 8.050e-02 0.000e+00 7.093e-03 1.460e-02 1.000e-03 1.000e-03 0.1250 0.000e+00 0.000e+00 0.000e+00 1.707e-03 9.782e-04 0.000e+00 0.000e+00 + 27 7.996e-02 0.000e+00 1.864e-03 4.266e-03 1.000e-03 1.000e-03 0.5000 0.000e+00 0.000e+00 0.000e+00 1.532e-03 5.425e-04 0.000e+00 0.000e+00 + 28 7.757e-02 0.000e+00 9.495e-03 1.959e-02 1.000e-03 1.000e-03 0.2500 0.000e+00 0.000e+00 0.000e+00 4.267e-03 2.388e-03 0.000e+00 0.000e+00 + 29 7.704e-02 0.000e+00 5.970e-03 1.285e-02 1.000e-03 1.000e-03 0.0625 0.000e+00 0.000e+00 0.000e+00 7.765e-04 5.349e-04 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 30 7.592e-02 0.000e+00 1.731e-03 3.646e-03 1.000e-03 1.000e-03 0.2500 0.000e+00 0.000e+00 0.000e+00 7.918e-04 1.121e-03 0.000e+00 0.000e+00 + 31 7.579e-02 0.000e+00 6.280e-03 1.259e-02 1.000e-03 1.000e-03 0.0156 0.000e+00 0.000e+00 0.000e+00 1.952e-04 1.232e-04 0.000e+00 0.000e+00 + 32 7.558e-02 0.000e+00 3.915e-03 7.841e-03 1.000e-03 1.000e-03 0.0625 0.000e+00 0.000e+00 0.000e+00 4.747e-04 2.151e-04 0.000e+00 0.000e+00 + 33 7.549e-02 0.000e+00 2.006e-03 4.529e-03 1.000e-03 1.000e-03 0.0312 0.000e+00 0.000e+00 0.000e+00 1.391e-04 8.582e-05 0.000e+00 0.000e+00 + 34 7.522e-02 0.000e+00 1.694e-03 3.426e-03 1.000e-03 1.000e-03 0.1250 0.000e+00 0.000e+00 0.000e+00 4.012e-04 2.691e-04 0.000e+00 0.000e+00 + 35 7.514e-02 0.000e+00 4.358e-03 8.727e-03 1.000e-03 1.000e-03 0.0156 0.000e+00 0.000e+00 0.000e+00 1.353e-04 8.499e-05 0.000e+00 0.000e+00 + 36 7.365e-02 0.000e+00 1.223e-03 2.443e-03 1.000e-04 1.000e-04 1.0000 0.000e+00 0.000e+00 0.000e+00 1.223e-03 1.491e-03 0.000e+00 0.000e+00 + 37 7.251e-02 0.000e+00 5.684e-03 1.185e-02 1.000e-04 1.000e-04 0.1250 0.000e+00 0.000e+00 0.000e+00 1.385e-03 1.131e-03 0.000e+00 0.000e+00 + 38 7.142e-02 0.000e+00 9.791e-03 1.981e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 3.071e-04 1.099e-03 0.000e+00 0.000e+00 + 39 7.125e-02 0.000e+00 8.848e-03 1.780e-02 1.000e-04 1.000e-04 0.0312 0.000e+00 0.000e+00 0.000e+00 5.475e-04 1.675e-04 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 40 7.107e-02 0.000e+00 4.659e-03 1.013e-02 1.000e-04 1.000e-04 0.0625 0.000e+00 0.000e+00 0.000e+00 6.117e-04 1.800e-04 0.000e+00 0.000e+00 + 41 7.091e-02 0.000e+00 8.216e-03 1.696e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 2.628e-04 1.601e-04 0.000e+00 0.000e+00 + 42 7.061e-02 0.000e+00 3.295e-03 6.593e-03 1.000e-04 1.000e-04 0.2500 0.000e+00 0.000e+00 0.000e+00 1.442e-03 3.004e-04 0.000e+00 0.000e+00 43 6.954e-02 0.000e+00 8.126e-03 1.625e-02 1.000e-04 1.000e-04 0.0312 0.000e+00 0.000e+00 0.000e+00 5.000e-04 1.071e-03 0.000e+00 0.000e+00 - 44 6.948e-02 0.000e+00 4.946e-03 1.017e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 1.555e-04 6.231e-05 0.000e+00 0.000e+00 - 45 6.943e-02 0.000e+00 6.747e-03 1.354e-02 1.000e-03 1.000e-03 0.0078 0.000e+00 0.000e+00 0.000e+00 1.052e-04 4.930e-05 0.000e+00 0.000e+00 - 46 6.937e-02 0.000e+00 1.206e-03 2.456e-03 1.000e-03 1.000e-03 0.1250 0.000e+00 0.000e+00 0.000e+00 2.851e-04 5.799e-05 0.000e+00 0.000e+00 - 47 6.927e-02 0.000e+00 3.972e-03 7.946e-03 1.000e-03 1.000e-03 0.0156 0.000e+00 0.000e+00 0.000e+00 1.232e-04 1.017e-04 0.000e+00 0.000e+00 - 48 6.923e-02 0.000e+00 4.746e-04 9.939e-04 1.000e-03 1.000e-03 0.1250 0.000e+00 0.000e+00 0.000e+00 1.137e-04 3.280e-05 0.000e+00 0.000e+00 - 49 6.912e-02 0.000e+00 3.904e-03 7.810e-03 1.000e-03 1.000e-03 0.0156 0.000e+00 0.000e+00 0.000e+00 1.211e-04 1.164e-04 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 50 6.909e-02 0.000e+00 4.348e-04 9.223e-04 1.000e-03 1.000e-03 0.1250 0.000e+00 0.000e+00 0.000e+00 1.048e-04 2.749e-05 0.000e+00 0.000e+00 - 51 6.898e-02 0.000e+00 3.819e-03 7.640e-03 1.000e-03 1.000e-03 0.0156 0.000e+00 0.000e+00 0.000e+00 1.184e-04 1.050e-04 0.000e+00 0.000e+00 - 52 6.897e-02 0.000e+00 3.897e-04 8.234e-04 1.000e-03 1.000e-03 0.1250 0.000e+00 0.000e+00 0.000e+00 9.374e-05 1.168e-05 0.000e+00 0.000e+00 - 53 6.886e-02 0.000e+00 3.798e-03 7.598e-03 1.000e-03 1.000e-03 0.0156 0.000e+00 0.000e+00 0.000e+00 1.178e-04 1.151e-04 0.000e+00 0.000e+00 + 44 6.948e-02 0.000e+00 4.946e-03 1.003e-02 1.000e-04 1.000e-04 0.0156 0.000e+00 0.000e+00 0.000e+00 1.555e-04 6.231e-05 0.000e+00 0.000e+00 + 45 6.943e-02 0.000e+00 6.747e-03 1.352e-02 1.000e-03 1.000e-03 0.0078 0.000e+00 0.000e+00 0.000e+00 1.052e-04 4.930e-05 0.000e+00 0.000e+00 + 46 6.937e-02 0.000e+00 1.206e-03 2.434e-03 1.000e-03 1.000e-03 0.1250 0.000e+00 0.000e+00 0.000e+00 2.851e-04 5.799e-05 0.000e+00 0.000e+00 + 47 6.927e-02 0.000e+00 3.972e-03 7.945e-03 1.000e-03 1.000e-03 0.0156 0.000e+00 0.000e+00 0.000e+00 1.232e-04 1.017e-04 0.000e+00 0.000e+00 + 48 6.923e-02 0.000e+00 4.746e-04 9.716e-04 1.000e-03 1.000e-03 0.1250 0.000e+00 0.000e+00 0.000e+00 1.137e-04 3.280e-05 0.000e+00 0.000e+00 + 49 6.912e-02 0.000e+00 3.904e-03 7.809e-03 1.000e-03 1.000e-03 0.0156 0.000e+00 0.000e+00 0.000e+00 1.211e-04 1.164e-04 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 50 6.909e-02 0.000e+00 4.348e-04 8.959e-04 1.000e-03 1.000e-03 0.1250 0.000e+00 0.000e+00 0.000e+00 1.048e-04 2.749e-05 0.000e+00 0.000e+00 + 51 6.898e-02 0.000e+00 3.819e-03 7.639e-03 1.000e-03 1.000e-03 0.0156 0.000e+00 0.000e+00 0.000e+00 1.184e-04 1.050e-04 0.000e+00 0.000e+00 + 52 6.897e-02 0.000e+00 3.897e-04 8.014e-04 1.000e-03 1.000e-03 0.1250 0.000e+00 0.000e+00 0.000e+00 9.374e-05 1.168e-05 0.000e+00 0.000e+00 + 53 6.886e-02 0.000e+00 3.798e-03 7.597e-03 1.000e-03 1.000e-03 0.0156 0.000e+00 0.000e+00 0.000e+00 1.178e-04 1.151e-04 0.000e+00 0.000e+00 54 6.881e-02 0.000e+00 7.363e-04 1.473e-03 1.000e-03 1.000e-03 0.0312 0.000e+00 0.000e+00 0.000e+00 4.531e-05 4.616e-05 0.000e+00 0.000e+00 - 55 6.881e-02 0.000e+00 7.291e-04 1.459e-03 1.000e-03 1.000e-03 0.0156 0.000e+00 0.000e+00 0.000e+00 2.261e-05 6.136e-06 0.000e+00 0.000e+00 - 56 6.874e-02 0.000e+00 3.881e-04 7.767e-04 1.000e-03 1.000e-03 0.1250 0.000e+00 0.000e+00 0.000e+00 9.099e-05 6.820e-05 0.000e+00 0.000e+00 - 57 6.869e-02 0.000e+00 3.310e-03 6.622e-03 1.000e-02 1.000e-02 0.0078 0.000e+00 0.000e+00 0.000e+00 5.153e-05 4.252e-05 0.000e+00 0.000e+00 - 58 6.869e-02 0.000e+00 9.564e-05 1.920e-04 1.000e-02 1.000e-02 0.0625 0.000e+00 0.000e+00 0.000e+00 1.160e-05 5.360e-06 0.000e+00 0.000e+00 - 59 6.863e-02 0.000e+00 3.549e-05 7.160e-05 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 0.000e+00 3.549e-05 6.121e-05 0.000e+00 0.000e+00 + 55 6.881e-02 0.000e+00 7.291e-04 1.458e-03 1.000e-03 1.000e-03 0.0156 0.000e+00 0.000e+00 0.000e+00 2.261e-05 6.136e-06 0.000e+00 0.000e+00 + 56 6.874e-02 0.000e+00 3.881e-04 7.764e-04 1.000e-03 1.000e-03 0.1250 0.000e+00 0.000e+00 0.000e+00 9.099e-05 6.820e-05 0.000e+00 0.000e+00 + 57 6.869e-02 0.000e+00 3.310e-03 6.621e-03 1.000e-02 1.000e-02 0.0078 0.000e+00 0.000e+00 0.000e+00 5.153e-05 4.252e-05 0.000e+00 0.000e+00 + 58 6.869e-02 0.000e+00 9.564e-05 1.916e-04 1.000e-02 1.000e-02 0.0625 0.000e+00 0.000e+00 0.000e+00 1.160e-05 5.360e-06 0.000e+00 0.000e+00 + 59 6.863e-02 0.000e+00 3.549e-05 7.129e-05 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 0.000e+00 3.549e-05 6.121e-05 0.000e+00 0.000e+00 diff --git a/examples/log/quadrupedal_gaits_fwddyn.log b/examples/log/quadrupedal_gaits_fwddyn.log index 39275b6418..45163799da 100644 --- a/examples/log/quadrupedal_gaits_fwddyn.log +++ b/examples/log/quadrupedal_gaits_fwddyn.log @@ -1,80 +1,80 @@ *** SOLVE walking *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi 0 2.047e+05 0.000e+00 7.989e+05 1.598e+06 1.000e-09 1.000e-09 0.5000 1.364e-14 0.000e+00 0.000e+00 5.992e+05 5.949e+05 0.000e+00 0.000e+00 - 1 1.233e+04 0.000e+00 2.040e+05 4.081e+05 1.000e-09 1.000e-09 1.0000 6.828e-15 0.000e+00 0.000e+00 2.040e+05 1.923e+05 0.000e+00 0.000e+00 - 2 6.406e+03 0.000e+00 1.173e+04 2.346e+04 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 8.797e+03 5.926e+03 0.000e+00 0.000e+00 - 3 2.832e+03 0.000e+00 5.812e+03 1.162e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.812e+03 3.574e+03 0.000e+00 0.000e+00 - 4 1.705e+03 0.000e+00 2.244e+03 4.488e+03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.683e+03 1.127e+03 0.000e+00 0.000e+00 - 5 6.454e+02 0.000e+00 1.115e+03 2.229e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.115e+03 1.059e+03 0.000e+00 0.000e+00 - 6 6.160e+02 0.000e+00 5.701e+01 1.140e+02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 4.276e+01 2.938e+01 0.000e+00 0.000e+00 - 7 6.062e+02 0.000e+00 2.758e+01 5.517e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.758e+01 9.772e+00 0.000e+00 0.000e+00 - 8 5.884e+02 0.000e+00 1.782e+01 3.565e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.782e+01 1.779e+01 0.000e+00 0.000e+00 - 9 5.884e+02 0.000e+00 3.371e-02 6.742e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.371e-02 3.372e-02 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 5.884e+02 0.000e+00 4.226e-05 8.452e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.226e-05 4.229e-05 0.000e+00 0.000e+00 - 11 5.884e+02 0.000e+00 3.828e-10 7.655e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.828e-10 3.862e-10 0.000e+00 0.000e+00 + 1 1.214e+04 0.000e+00 2.040e+05 4.081e+05 1.000e-09 1.000e-09 1.0000 6.828e-15 0.000e+00 0.000e+00 2.040e+05 1.925e+05 0.000e+00 0.000e+00 + 2 6.408e+03 0.000e+00 1.154e+04 2.308e+04 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 8.654e+03 5.733e+03 0.000e+00 0.000e+00 + 3 2.927e+03 0.000e+00 5.814e+03 1.163e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.814e+03 3.481e+03 0.000e+00 0.000e+00 + 4 1.720e+03 0.000e+00 2.339e+03 4.678e+03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.754e+03 1.207e+03 0.000e+00 0.000e+00 + 5 6.497e+02 0.000e+00 1.130e+03 2.260e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.130e+03 1.071e+03 0.000e+00 0.000e+00 + 6 6.172e+02 0.000e+00 6.106e+01 1.221e+02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 4.580e+01 3.251e+01 0.000e+00 0.000e+00 + 7 6.081e+02 0.000e+00 2.851e+01 5.703e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.851e+01 9.028e+00 0.000e+00 0.000e+00 + 8 5.887e+02 0.000e+00 1.950e+01 3.901e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.950e+01 1.946e+01 0.000e+00 0.000e+00 + 9 5.886e+02 0.000e+00 4.425e-02 8.850e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.425e-02 4.425e-02 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 5.886e+02 0.000e+00 2.948e-05 5.897e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.948e-05 2.950e-05 0.000e+00 0.000e+00 + 11 5.886e+02 0.000e+00 2.786e-10 5.572e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.786e-10 2.808e-10 0.000e+00 0.000e+00 *** SOLVE trotting *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 1.780e+04 0.000e+00 4.592e+05 9.184e+05 1.000e-09 1.000e-09 1.0000 1.182e-01 0.000e+00 0.000e+00 4.592e+05 4.418e+05 0.000e+00 0.000e+00 - 1 1.717e+03 0.000e+00 1.737e+04 3.474e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.737e+04 1.608e+04 0.000e+00 0.000e+00 - 2 1.040e+03 0.000e+00 1.287e+03 2.574e+03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 9.653e+02 6.763e+02 0.000e+00 0.000e+00 - 3 4.999e+02 0.000e+00 6.109e+02 1.222e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 6.109e+02 5.404e+02 0.000e+00 0.000e+00 - 4 4.272e+02 0.000e+00 7.274e+01 1.455e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.274e+01 7.274e+01 0.000e+00 0.000e+00 - 5 4.271e+02 0.000e+00 1.018e-01 2.036e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.018e-01 1.021e-01 0.000e+00 0.000e+00 - 6 4.270e+02 0.000e+00 7.044e-02 1.409e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.044e-02 7.050e-02 0.000e+00 0.000e+00 - 7 4.270e+02 0.000e+00 9.280e-07 1.856e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 9.280e-07 9.354e-07 0.000e+00 0.000e+00 - 8 4.270e+02 0.000e+00 5.830e-10 1.166e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.830e-10 6.121e-10 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 1.806e+04 0.000e+00 4.592e+05 9.184e+05 1.000e-09 1.000e-09 1.0000 1.181e-01 0.000e+00 0.000e+00 4.592e+05 4.416e+05 0.000e+00 0.000e+00 + 1 1.708e+03 0.000e+00 1.763e+04 3.527e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.763e+04 1.635e+04 0.000e+00 0.000e+00 + 2 1.355e+03 0.000e+00 1.279e+03 2.557e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.279e+03 3.531e+02 0.000e+00 0.000e+00 + 3 6.240e+02 0.000e+00 9.265e+02 1.853e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 9.265e+02 7.314e+02 0.000e+00 0.000e+00 + 4 4.273e+02 0.000e+00 1.966e+02 3.932e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.966e+02 1.966e+02 0.000e+00 0.000e+00 + 5 4.273e+02 0.000e+00 1.196e-02 2.392e-02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 8.969e-03 7.742e-03 0.000e+00 0.000e+00 + 6 4.273e+02 0.000e+00 4.212e-03 8.425e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.212e-03 4.213e-03 0.000e+00 0.000e+00 + 7 4.273e+02 0.000e+00 2.318e-08 4.636e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.318e-08 2.341e-08 0.000e+00 0.000e+00 + 8 4.273e+02 0.000e+00 4.150e-11 8.299e-11 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.150e-11 4.400e-11 0.000e+00 0.000e+00 *** SOLVE pacing *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 7.843e+04 0.000e+00 4.588e+05 9.249e+05 1.000e-09 1.000e-09 1.0000 1.622e+00 0.000e+00 0.000e+00 4.588e+05 3.812e+05 0.000e+00 0.000e+00 - 1 6.287e+03 0.000e+00 7.763e+04 1.553e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.763e+04 7.215e+04 0.000e+00 0.000e+00 - 2 5.218e+03 0.000e+00 5.497e+03 1.099e+04 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 2.405e+03 1.069e+03 0.000e+00 0.000e+00 - 3 1.826e+03 0.000e+00 4.419e+03 8.837e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.419e+03 3.393e+03 0.000e+00 0.000e+00 - 4 1.230e+03 0.000e+00 1.025e+03 2.051e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.025e+03 5.960e+02 0.000e+00 0.000e+00 - 5 8.139e+02 0.000e+00 4.299e+02 8.598e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.299e+02 4.157e+02 0.000e+00 0.000e+00 - 6 8.010e+02 0.000e+00 1.419e+01 2.837e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.419e+01 1.292e+01 0.000e+00 0.000e+00 - 7 7.998e+02 0.000e+00 1.265e+00 2.529e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.265e+00 1.197e+00 0.000e+00 0.000e+00 - 8 7.998e+02 0.000e+00 6.908e-02 1.382e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 6.908e-02 5.716e-02 0.000e+00 0.000e+00 - 9 7.997e+02 0.000e+00 1.177e-02 2.353e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.177e-02 1.181e-02 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 7.997e+02 0.000e+00 8.176e-05 1.635e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.176e-05 8.767e-05 0.000e+00 0.000e+00 - 11 7.997e+02 0.000e+00 1.734e-05 3.468e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.734e-05 1.734e-05 0.000e+00 0.000e+00 - 12 7.997e+02 0.000e+00 3.185e-12 6.370e-12 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.185e-12 2.274e-12 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 7.920e+04 0.000e+00 4.589e+05 9.214e+05 1.000e-09 1.000e-09 1.0000 1.620e+00 0.000e+00 0.000e+00 4.589e+05 3.805e+05 0.000e+00 0.000e+00 + 1 6.617e+03 0.000e+00 7.839e+04 1.568e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.839e+04 7.258e+04 0.000e+00 0.000e+00 + 2 5.469e+03 0.000e+00 5.823e+03 1.165e+04 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 2.548e+03 1.148e+03 0.000e+00 0.000e+00 + 3 1.938e+03 0.000e+00 4.667e+03 9.334e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.667e+03 3.531e+03 0.000e+00 0.000e+00 + 4 1.279e+03 0.000e+00 1.136e+03 2.272e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.136e+03 6.593e+02 0.000e+00 0.000e+00 + 5 8.210e+02 0.000e+00 4.770e+02 9.540e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.770e+02 4.578e+02 0.000e+00 0.000e+00 + 6 8.035e+02 0.000e+00 1.912e+01 3.823e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.912e+01 1.744e+01 0.000e+00 0.000e+00 + 7 8.019e+02 0.000e+00 1.679e+00 3.358e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.679e+00 1.583e+00 0.000e+00 0.000e+00 + 8 8.018e+02 0.000e+00 9.734e-02 1.947e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 9.734e-02 8.845e-02 0.000e+00 0.000e+00 + 9 8.018e+02 0.000e+00 8.738e-03 1.748e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.738e-03 8.777e-03 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 8.018e+02 0.000e+00 7.758e-05 1.552e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.758e-05 8.384e-05 0.000e+00 0.000e+00 + 11 8.018e+02 0.000e+00 1.835e-05 3.670e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.835e-05 1.835e-05 0.000e+00 0.000e+00 + 12 8.018e+02 0.000e+00 3.688e-12 7.376e-12 1.000e-08 1.000e-08 0.0020 0.000e+00 0.000e+00 0.000e+00 1.439e-14 -1.569e-11 0.000e+00 0.000e+00 *** SOLVE bounding *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 2.045e+05 0.000e+00 4.579e+05 9.258e+05 1.000e-09 1.000e-09 1.0000 1.175e+00 0.000e+00 0.000e+00 4.579e+05 2.553e+05 0.000e+00 0.000e+00 - 1 7.609e+04 0.000e+00 2.025e+05 4.049e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.025e+05 1.284e+05 0.000e+00 0.000e+00 - 2 6.123e+04 0.000e+00 7.410e+04 1.482e+05 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 5.557e+04 1.485e+04 0.000e+00 0.000e+00 - 3 1.057e+04 0.000e+00 5.920e+04 1.184e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.920e+04 5.067e+04 0.000e+00 0.000e+00 - 4 4.912e+03 0.000e+00 8.530e+03 1.706e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.530e+03 5.653e+03 0.000e+00 0.000e+00 - 5 2.217e+03 0.000e+00 2.873e+03 5.745e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.873e+03 2.696e+03 0.000e+00 0.000e+00 - 6 2.197e+03 0.000e+00 1.771e+02 3.542e+02 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 7.748e+01 2.014e+01 0.000e+00 0.000e+00 - 7 2.047e+03 0.000e+00 1.566e+02 3.132e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.566e+02 1.492e+02 0.000e+00 0.000e+00 - 8 2.041e+03 0.000e+00 7.340e+00 1.468e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.340e+00 6.319e+00 0.000e+00 0.000e+00 - 9 2.040e+03 0.000e+00 1.073e+00 2.147e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.073e+00 1.073e+00 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 2.040e+03 0.000e+00 7.440e-05 1.488e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.440e-05 7.440e-05 0.000e+00 0.000e+00 - 11 2.040e+03 0.000e+00 4.599e-07 9.198e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.599e-07 4.614e-07 0.000e+00 0.000e+00 - 12 2.040e+03 0.000e+00 3.098e-10 6.195e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.098e-10 3.663e-10 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 2.077e+05 0.000e+00 4.589e+05 9.228e+05 1.000e-09 1.000e-09 1.0000 1.168e+00 0.000e+00 0.000e+00 4.589e+05 2.531e+05 0.000e+00 0.000e+00 + 1 7.963e+04 0.000e+00 2.056e+05 4.113e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.056e+05 1.281e+05 0.000e+00 0.000e+00 + 2 6.230e+04 0.000e+00 7.761e+04 1.552e+05 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 5.821e+04 1.733e+04 0.000e+00 0.000e+00 + 3 1.145e+04 0.000e+00 6.023e+04 1.205e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 6.023e+04 5.085e+04 0.000e+00 0.000e+00 + 4 6.229e+03 0.000e+00 9.381e+03 1.876e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 9.381e+03 5.217e+03 0.000e+00 0.000e+00 + 5 2.881e+03 0.000e+00 4.161e+03 8.321e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.161e+03 3.348e+03 0.000e+00 0.000e+00 + 6 2.221e+03 0.000e+00 8.128e+02 1.626e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.128e+02 6.601e+02 0.000e+00 0.000e+00 + 7 2.071e+03 0.000e+00 1.523e+02 3.046e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.523e+02 1.496e+02 0.000e+00 0.000e+00 + 8 2.068e+03 0.000e+00 2.684e+00 5.368e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.684e+00 2.680e+00 0.000e+00 0.000e+00 + 9 2.068e+03 0.000e+00 6.719e-03 1.344e-02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 5.039e-03 5.042e-03 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 2.068e+03 0.000e+00 1.686e-03 3.371e-03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.264e-03 8.594e-04 0.000e+00 0.000e+00 + 11 2.068e+03 0.000e+00 8.180e-04 1.636e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.180e-04 8.189e-04 0.000e+00 0.000e+00 + 12 2.068e+03 0.000e+00 8.116e-08 1.623e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.116e-08 9.757e-08 0.000e+00 0.000e+00 + 13 2.068e+03 0.000e+00 4.496e-09 8.992e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.496e-09 5.768e-09 0.000e+00 0.000e+00 + 14 2.068e+03 0.000e+00 3.685e-10 7.371e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.685e-10 4.857e-10 0.000e+00 0.000e+00 *** SOLVE jumping *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 1.436e+06 0.000e+00 1.871e+06 3.878e+06 1.000e-09 1.000e-09 0.1250 1.162e+00 0.000e+00 0.000e+00 4.460e+05 4.381e+05 0.000e+00 0.000e+00 - 1 1.105e+06 0.000e+00 1.433e+06 2.979e+06 1.000e-09 1.000e-09 0.1250 1.017e+00 0.000e+00 0.000e+00 3.420e+05 3.317e+05 0.000e+00 0.000e+00 - 2 8.491e+05 0.000e+00 1.101e+06 2.293e+06 1.000e-09 1.000e-09 0.1250 8.900e-01 0.000e+00 0.000e+00 2.630e+05 2.556e+05 0.000e+00 0.000e+00 - 3 4.955e+05 0.000e+00 8.453e+05 1.756e+06 1.000e-09 1.000e-09 0.2500 7.788e-01 0.000e+00 0.000e+00 3.760e+05 3.536e+05 0.000e+00 0.000e+00 - 4 1.666e+05 0.000e+00 4.916e+05 1.015e+06 1.000e-09 1.000e-09 0.5000 5.841e-01 0.000e+00 0.000e+00 3.726e+05 3.289e+05 0.000e+00 0.000e+00 - 5 4.591e+04 0.000e+00 1.627e+05 3.362e+05 1.000e-09 1.000e-09 0.5000 2.920e-01 0.000e+00 0.000e+00 1.234e+05 1.207e+05 0.000e+00 0.000e+00 - 6 2.025e+04 0.000e+00 4.199e+04 8.557e+04 1.000e-09 1.000e-09 1.0000 1.460e-01 0.000e+00 0.000e+00 4.199e+04 2.566e+04 0.000e+00 0.000e+00 - 7 4.725e+03 0.000e+00 1.636e+04 3.272e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.636e+04 1.552e+04 0.000e+00 0.000e+00 - 8 4.154e+03 0.000e+00 8.370e+02 1.674e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.370e+02 5.708e+02 0.000e+00 0.000e+00 - 9 3.888e+03 0.000e+00 2.662e+02 5.325e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.662e+02 2.662e+02 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 3.888e+03 0.000e+00 5.344e-01 1.069e+00 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 2.338e-01 1.154e-01 0.000e+00 0.000e+00 - 11 3.888e+03 0.000e+00 4.128e-01 8.255e-01 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 3.096e-01 3.083e-01 0.000e+00 0.000e+00 - 12 3.887e+03 0.000e+00 1.452e-01 2.904e-01 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.089e-01 1.088e-01 0.000e+00 0.000e+00 - 13 3.887e+03 0.000e+00 3.611e-02 7.222e-02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 2.708e-02 9.561e-03 0.000e+00 0.000e+00 - 14 3.887e+03 0.000e+00 2.634e-02 5.269e-02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.976e-02 1.049e-02 0.000e+00 0.000e+00 - 15 3.887e+03 0.000e+00 1.369e-02 2.737e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.369e-02 1.413e-02 0.000e+00 0.000e+00 - 16 3.887e+03 0.000e+00 1.320e-03 2.640e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.320e-03 1.320e-03 0.000e+00 0.000e+00 - 17 3.887e+03 0.000e+00 1.372e-09 2.744e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.372e-09 1.446e-09 0.000e+00 0.000e+00 - 18 3.887e+03 0.000e+00 1.610e-11 3.220e-11 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.208e-11 1.182e-11 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 1.439e+06 0.000e+00 1.877e+06 3.824e+06 1.000e-09 1.000e-09 0.1250 5.278e-01 0.000e+00 0.000e+00 4.475e+05 4.407e+05 0.000e+00 0.000e+00 + 1 1.102e+06 0.000e+00 1.436e+06 2.929e+06 1.000e-09 1.000e-09 0.1250 4.618e-01 0.000e+00 0.000e+00 3.427e+05 3.371e+05 0.000e+00 0.000e+00 + 2 6.200e+05 0.000e+00 1.099e+06 2.238e+06 1.000e-09 1.000e-09 0.2500 4.041e-01 0.000e+00 0.000e+00 4.884e+05 4.820e+05 0.000e+00 0.000e+00 + 3 1.813e+05 0.000e+00 6.169e+05 1.253e+06 1.000e-09 1.000e-09 0.5000 3.031e-01 0.000e+00 0.000e+00 4.675e+05 4.387e+05 0.000e+00 0.000e+00 + 4 5.394e+04 0.000e+00 1.781e+05 3.579e+05 1.000e-09 1.000e-09 1.0000 1.515e-01 0.000e+00 0.000e+00 1.781e+05 1.273e+05 0.000e+00 0.000e+00 + 5 3.547e+04 0.000e+00 5.088e+04 1.018e+05 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 3.816e+04 1.847e+04 0.000e+00 0.000e+00 + 6 1.143e+04 0.000e+00 3.237e+04 6.473e+04 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 2.427e+04 2.404e+04 0.000e+00 0.000e+00 + 7 3.339e+03 0.000e+00 8.345e+03 1.669e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.345e+03 8.090e+03 0.000e+00 0.000e+00 + 8 3.334e+03 0.000e+00 2.862e+02 5.724e+02 1.000e-09 1.000e-09 0.0156 0.000e+00 0.000e+00 0.000e+00 8.873e+00 4.980e+00 0.000e+00 0.000e+00 + 9 3.111e+03 0.000e+00 2.766e+02 5.531e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.766e+02 2.236e+02 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 3.099e+03 0.000e+00 5.263e+01 1.053e+02 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 2.302e+01 1.152e+01 0.000e+00 0.000e+00 + 11 3.059e+03 0.000e+00 4.037e+01 8.074e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.037e+01 4.027e+01 0.000e+00 0.000e+00 + 12 3.059e+03 0.000e+00 1.630e-01 3.260e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.630e-01 7.876e-02 0.000e+00 0.000e+00 + 13 3.059e+03 0.000e+00 8.440e-02 1.688e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.440e-02 8.440e-02 0.000e+00 0.000e+00 + 14 3.059e+03 0.000e+00 1.498e-05 2.996e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.498e-05 1.500e-05 0.000e+00 0.000e+00 + 15 3.059e+03 0.000e+00 1.472e-08 2.944e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.472e-08 1.536e-08 0.000e+00 0.000e+00 + 16 3.059e+03 0.000e+00 3.217e-10 6.433e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.217e-10 3.452e-10 0.000e+00 0.000e+00 diff --git a/examples/log/quadrupedal_gaits_invdyn.log b/examples/log/quadrupedal_gaits_invdyn.log index 890e16521e..8c3a84b962 100644 --- a/examples/log/quadrupedal_gaits_invdyn.log +++ b/examples/log/quadrupedal_gaits_invdyn.log @@ -1,66 +1,64 @@ *** SOLVE walking *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 2.060e+04 2.060e+04 7.989e+05 1.598e+06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.266e+01 7.989e+05 7.790e+05 7.989e+05 7.790e+05 - 1 1.731e+04 1.866e+04 2.002e+04 4.012e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.542e+00 2.002e+04 3.285e+03 4.726e+04 3.053e+04 - 2 8.099e+03 1.318e+04 1.673e+04 3.345e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.281e-01 1.673e+04 9.212e+03 3.554e+04 2.802e+04 - 3 2.638e+03 5.014e+03 7.512e+03 1.502e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.266e-02 7.512e+03 5.461e+03 1.587e+04 1.382e+04 - 4 7.607e+02 2.244e+03 2.050e+03 4.099e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.681e-02 2.050e+03 1.877e+03 3.494e+03 3.322e+03 - 5 5.897e+02 7.343e+02 1.723e+02 3.446e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.589e-03 1.723e+02 1.710e+02 1.511e+03 1.510e+03 - 6 5.884e+02 5.921e+02 1.284e+00 2.567e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 9.107e-05 1.284e+00 1.284e+00 1.423e+02 1.423e+02 - 7 5.884e+02 5.884e+02 8.294e-06 1.439e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.054e-09 8.294e-06 8.296e-06 3.670e+00 3.670e+00 - 8 5.884e+02 5.884e+02 3.365e-10 2.077e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 7.041e-12 3.365e-10 3.365e-10 8.250e-05 8.250e-05 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 2.061e+04 2.061e+04 7.989e+05 1.598e+06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.260e+01 7.989e+05 7.790e+05 7.989e+05 7.790e+05 + 1 1.745e+04 1.885e+04 2.003e+04 4.010e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.597e+00 2.003e+04 3.156e+03 4.724e+04 3.037e+04 + 2 8.200e+03 1.325e+04 1.687e+04 3.373e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.351e-01 1.687e+04 9.251e+03 3.591e+04 2.829e+04 + 3 2.709e+03 5.121e+03 7.612e+03 1.522e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.435e-02 7.612e+03 5.491e+03 1.607e+04 1.395e+04 + 4 7.740e+02 2.331e+03 2.120e+03 4.240e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.822e-02 2.120e+03 1.935e+03 3.592e+03 3.406e+03 + 5 5.898e+02 7.431e+02 1.854e+02 3.708e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.762e-03 1.854e+02 1.842e+02 1.589e+03 1.588e+03 + 6 5.886e+02 5.921e+02 1.196e+00 2.392e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 8.419e-05 1.196e+00 1.196e+00 1.510e+02 1.510e+02 + 7 5.886e+02 5.886e+02 7.895e-06 1.480e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.900e-09 7.895e-06 7.897e-06 3.429e+00 3.429e+00 + 8 5.886e+02 5.886e+02 3.208e-10 4.203e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 6.427e-12 3.208e-10 3.220e-10 7.713e-05 7.713e-05 *** SOLVE trotting *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 1.931e+04 1.931e+04 4.592e+05 9.188e+05 1.000e-09 1.000e-09 1.0000 5.387e-02 0.000e+00 4.159e+01 4.592e+05 4.403e+05 4.592e+05 4.403e+05 - 1 1.711e+03 2.261e+03 1.888e+04 3.780e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 8.482e-01 1.888e+04 1.760e+04 4.530e+04 4.402e+04 - 2 8.959e+02 1.306e+03 1.284e+03 2.568e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.898e-01 1.284e+03 8.151e+02 2.707e+03 2.239e+03 - 3 4.338e+02 5.450e+02 4.682e+02 9.365e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.155e-02 4.682e+02 4.621e+02 1.026e+03 1.020e+03 - 4 4.270e+02 4.942e+02 6.812e+00 1.363e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.906e-02 6.812e+00 6.775e+00 5.084e+01 5.080e+01 - 5 4.270e+02 4.329e+02 6.583e-02 1.321e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.693e-03 6.583e-02 6.587e-02 6.125e+01 6.125e+01 - 6 4.270e+02 4.270e+02 5.160e-05 4.184e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.705e-07 5.160e-05 5.160e-05 5.964e+00 5.964e+00 - 7 4.270e+02 4.270e+02 3.306e-08 2.762e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.117e-10 -3.306e-08 -3.306e-08 2.715e-03 2.715e-03 - 8 4.270e+02 4.270e+02 2.019e-11 4.888e-12 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 2.274e-13 -2.019e-11 -2.512e-11 3.929e-07 3.929e-07 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 1.939e+04 1.939e+04 4.592e+05 9.185e+05 1.000e-09 1.000e-09 1.0000 1.281e-03 0.000e+00 4.157e+01 4.592e+05 4.402e+05 4.592e+05 4.402e+05 + 1 1.706e+03 2.271e+03 1.896e+04 3.794e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 8.671e-01 1.896e+04 1.768e+04 4.547e+04 4.420e+04 + 2 5.745e+02 9.986e+02 1.278e+03 2.556e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.014e-01 1.278e+03 1.131e+03 2.680e+03 2.533e+03 + 3 4.274e+02 5.402e+02 1.471e+02 2.942e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.357e-02 1.471e+02 1.471e+02 4.584e+02 4.584e+02 + 4 4.273e+02 4.347e+02 8.646e-02 1.709e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.473e-03 8.646e-02 7.645e-02 1.056e+02 1.056e+02 + 5 4.273e+02 4.273e+02 1.020e-02 2.031e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 9.073e-07 1.020e-02 1.020e-02 7.320e+00 7.320e+00 + 6 4.273e+02 4.273e+02 3.699e-08 3.186e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.882e-10 -3.699e-08 -3.700e-08 1.909e-03 1.909e-03 + 7 4.273e+02 4.273e+02 5.852e-11 8.699e-11 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.364e-12 5.852e-11 6.082e-11 1.657e-06 1.657e-06 *** SOLVE pacing *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 6.268e+04 6.268e+04 4.588e+05 9.388e+05 1.000e-09 1.000e-09 1.0000 1.267e-01 0.000e+00 1.409e+02 4.588e+05 3.970e+05 4.588e+05 3.970e+05 - 1 5.167e+03 8.029e+03 6.188e+04 1.238e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 4.563e+00 6.188e+04 5.751e+04 1.474e+05 1.431e+05 - 2 2.075e+03 2.607e+03 4.366e+03 8.731e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.899e-01 4.366e+03 3.092e+03 1.007e+04 8.796e+03 - 3 8.975e+02 1.659e+03 1.275e+03 2.549e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.631e-01 1.275e+03 1.177e+03 2.334e+03 2.236e+03 - 4 8.063e+02 9.422e+02 9.778e+01 1.956e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.910e-02 9.778e+01 9.124e+01 7.235e+02 7.169e+02 - 5 7.998e+02 8.046e+02 6.529e+00 1.306e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.038e-03 6.529e+00 6.479e+00 1.376e+02 1.375e+02 - 6 7.997e+02 7.998e+02 4.978e-02 9.923e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.503e-05 4.978e-02 5.033e-02 4.827e+00 4.827e+00 - 7 7.997e+02 7.997e+02 1.079e-03 2.158e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.965e-07 1.079e-03 1.102e-03 7.035e-02 7.038e-02 - 8 7.997e+02 7.997e+02 6.751e-05 1.350e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.036e-07 6.751e-05 6.751e-05 5.016e-04 5.016e-04 - 9 7.997e+02 7.997e+02 1.911e-09 1.298e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.098e-12 1.911e-09 1.921e-09 4.836e-04 4.836e-04 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 7.997e+02 7.997e+02 4.756e-12 1.505e-12 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.411e-13 4.756e-12 -6.253e-12 1.288e-08 1.287e-08 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 6.239e+04 6.239e+04 4.589e+05 9.281e+05 1.000e-09 1.000e-09 1.0000 2.081e-03 0.000e+00 1.423e+02 4.589e+05 3.973e+05 4.589e+05 3.973e+05 + 1 5.430e+03 8.161e+03 6.159e+04 1.232e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 4.417e+00 6.159e+04 5.696e+04 1.469e+05 1.422e+05 + 2 2.128e+03 2.709e+03 4.627e+03 9.253e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.884e-01 4.627e+03 3.302e+03 1.066e+04 9.330e+03 + 3 9.444e+02 1.588e+03 1.326e+03 2.652e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.320e-01 1.326e+03 1.184e+03 2.577e+03 2.434e+03 + 4 8.086e+02 9.612e+02 1.426e+02 2.851e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.129e-02 1.426e+02 1.358e+02 6.339e+02 6.271e+02 + 5 8.021e+02 8.067e+02 6.718e+00 1.343e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 9.447e-04 6.718e+00 6.425e+00 1.547e+02 1.545e+02 + 6 8.018e+02 8.023e+02 2.920e-01 5.840e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 9.939e-05 2.920e-01 2.926e-01 4.416e+00 4.416e+00 + 7 8.018e+02 8.018e+02 1.049e-03 2.097e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.812e-07 1.049e-03 1.055e-03 4.850e-01 4.850e-01 + 8 8.018e+02 8.018e+02 1.894e-05 3.785e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.910e-08 1.894e-05 1.894e-05 7.119e-04 7.119e-04 + 9 8.018e+02 8.018e+02 6.631e-10 7.047e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.865e-12 6.631e-10 6.619e-10 1.907e-04 1.907e-04 *** SOLVE bounding *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 2.123e+05 2.123e+05 4.578e+05 9.573e+05 1.000e-09 1.000e-09 1.0000 5.695e-01 0.000e+00 8.227e+01 4.578e+05 2.475e+05 4.578e+05 2.475e+05 - 1 9.090e+04 1.386e+05 2.103e+05 4.205e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.307e+01 2.103e+05 1.214e+05 4.629e+05 3.740e+05 - 2 1.132e+04 2.412e+04 8.886e+04 1.777e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.318e+00 8.886e+04 7.958e+04 2.030e+05 1.937e+05 - 3 2.361e+03 3.760e+03 9.278e+03 1.856e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.391e-01 9.278e+03 8.957e+03 2.113e+04 2.081e+04 - 4 2.040e+03 2.074e+03 3.214e+02 6.427e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.411e-03 3.214e+02 3.214e+02 1.685e+03 1.685e+03 - 5 2.041e+03 2.069e+03 1.529e-01 3.063e-01 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 2.804e-03 1.147e-01 -5.590e-01 3.168e+00 5.547e+00 - 6 2.040e+03 2.049e+03 7.120e-01 1.424e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 8.908e-04 7.120e-01 7.119e-01 1.995e+01 1.995e+01 - 7 2.040e+03 2.040e+03 1.918e-04 1.443e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.509e-06 1.918e-04 1.917e-04 8.941e+00 8.941e+00 - 8 2.040e+03 2.040e+03 1.499e-06 7.499e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.475e-08 1.499e-06 1.499e-06 1.462e-02 1.462e-02 - 9 2.040e+03 2.040e+03 1.240e-07 5.877e-08 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 6.102e-09 1.240e-07 1.240e-07 4.892e-04 4.892e-04 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 2.040e+03 2.040e+03 1.069e-08 4.901e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.812e-10 1.069e-08 1.069e-08 5.752e-05 5.752e-05 - 11 2.040e+03 2.040e+03 9.141e-10 4.149e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.794e-11 9.141e-10 9.195e-10 3.452e-06 3.452e-06 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 2.146e+05 2.146e+05 4.588e+05 9.387e+05 1.000e-09 1.000e-09 1.0000 5.699e-03 0.000e+00 8.844e+01 4.588e+05 2.462e+05 4.588e+05 2.462e+05 + 1 9.702e+04 1.336e+05 2.125e+05 4.251e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.066e+01 2.125e+05 1.175e+05 4.795e+05 3.845e+05 + 2 1.229e+04 2.983e+04 9.495e+04 1.899e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.378e+00 9.495e+04 8.473e+04 2.131e+05 2.028e+05 + 3 2.450e+03 6.095e+03 1.022e+04 2.044e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.863e-01 1.022e+04 9.841e+03 2.412e+04 2.374e+04 + 4 2.071e+03 2.120e+03 3.811e+02 7.621e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.911e-03 3.811e+02 3.789e+02 3.976e+03 3.974e+03 + 5 2.069e+03 2.095e+03 2.314e+00 4.627e+00 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 2.009e-03 1.735e+00 1.735e+00 1.384e+01 2.594e+01 + 6 2.068e+03 2.083e+03 5.851e-01 1.170e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.133e-03 5.851e-01 5.779e-01 1.174e+01 1.174e+01 + 7 2.068e+03 2.069e+03 7.683e-03 1.523e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.574e-05 7.683e-03 7.683e-03 1.422e+01 1.422e+01 + 8 2.068e+03 2.068e+03 2.419e-06 3.101e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 9.616e-08 2.419e-06 2.419e-06 1.991e-01 1.991e-01 + 9 2.068e+03 2.068e+03 2.033e-07 2.529e-07 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.077e-08 2.033e-07 2.033e-07 1.087e-03 1.087e-03 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 2.068e+03 2.068e+03 1.803e-08 2.222e-08 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 6.589e-10 1.803e-08 1.800e-08 1.288e-04 1.288e-04 + 11 2.068e+03 2.068e+03 1.580e-09 1.943e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 6.747e-11 1.580e-09 1.577e-09 7.530e-06 7.530e-06 + 12 2.068e+03 2.068e+03 1.383e-10 1.703e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 5.219e-12 1.383e-10 1.396e-10 7.926e-07 7.926e-07 *** SOLVE jumping *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 4.572e+05 4.572e+05 1.871e+06 4.002e+06 1.000e-09 1.000e-09 1.0000 1.162e+00 0.000e+00 2.481e+02 1.871e+06 1.417e+06 1.871e+06 1.417e+06 - 1 5.382e+05 6.251e+05 4.535e+05 9.103e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.328e+01 4.535e+05 -8.099e+04 1.014e+06 4.799e+05 - 2 2.107e+05 4.865e+05 5.343e+05 1.069e+06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.202e+01 5.343e+05 3.275e+05 1.022e+06 8.150e+05 - 3 1.491e+04 1.148e+05 2.068e+05 4.136e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 4.066e+00 2.068e+05 1.958e+05 4.024e+05 3.914e+05 - 4 3.898e+03 1.155e+04 1.102e+04 2.204e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.113e-01 1.102e+04 1.101e+04 1.033e+05 1.033e+05 - 5 3.888e+03 6.923e+03 1.041e+01 2.085e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.235e-01 1.041e+01 1.040e+01 4.624e+03 4.624e+03 - 6 3.888e+03 4.229e+03 1.493e-01 3.159e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.386e-02 1.493e-01 -3.437e-01 2.695e+03 2.695e+03 - 7 3.887e+03 3.892e+03 4.751e-01 9.512e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.743e-04 4.751e-01 4.803e-01 3.368e+02 3.369e+02 - 8 3.887e+03 3.888e+03 1.026e-02 2.054e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.095e-05 1.026e-02 1.072e-02 4.025e+00 4.025e+00 - 9 3.887e+03 3.887e+03 1.315e-03 2.639e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.266e-07 1.315e-03 1.315e-03 2.672e-01 2.672e-01 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 3.887e+03 3.887e+03 2.490e-08 7.715e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.909e-11 2.490e-08 2.493e-08 3.110e-03 3.110e-03 - 11 3.887e+03 3.887e+03 4.634e-11 1.704e-11 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 5.684e-13 4.634e-11 2.865e-11 7.009e-07 7.009e-07 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 1.219e+05 1.219e+05 1.877e+06 3.885e+06 1.000e-09 1.000e-09 1.0000 1.532e-02 0.000e+00 2.390e+02 1.877e+06 1.758e+06 1.877e+06 1.758e+06 + 1 1.284e+05 1.365e+05 1.189e+05 2.394e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.147e+01 1.189e+05 -6.438e+03 2.807e+05 1.553e+05 + 2 3.758e+04 1.660e+05 1.253e+05 2.506e+05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 8.229e+00 1.253e+05 9.078e+04 1.759e+05 1.414e+05 + 3 3.254e+03 1.789e+04 3.453e+04 6.905e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 9.377e-01 3.453e+04 3.433e+04 1.483e+05 1.481e+05 + 4 3.061e+03 3.894e+03 1.954e+02 3.907e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.337e-02 1.954e+02 1.928e+02 1.399e+04 1.399e+04 + 5 3.059e+03 3.152e+03 2.647e+00 5.292e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.963e-03 2.647e+00 2.647e+00 7.424e+02 7.424e+02 + 6 3.072e+03 3.081e+03 6.871e-02 1.373e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.210e-04 6.871e-02 -1.365e+01 8.498e+01 7.127e+01 + 7 3.059e+03 3.083e+03 1.366e+01 2.732e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.394e-04 1.366e+01 1.357e+01 9.226e+00 9.138e+00 + 8 3.059e+03 3.074e+03 1.100e-01 2.200e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 4.051e-04 1.100e-01 1.100e-01 8.884e+00 8.884e+00 + 9 3.059e+03 3.059e+03 4.498e-05 8.045e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.499e-09 4.498e-05 4.498e-05 1.517e+01 1.517e+01 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 3.059e+03 3.059e+03 1.596e-09 1.672e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 2.376e-11 1.596e-09 1.579e-09 1.302e-04 1.302e-04 + 11 3.059e+03 3.059e+03 2.128e-11 2.669e-11 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 4.326e-12 2.128e-11 3.183e-12 7.279e-07 7.279e-07 diff --git a/examples/log/quadrupedal_walk_ubound.log b/examples/log/quadrupedal_walk_ubound.log index ca04f73771..545fd17c4f 100644 --- a/examples/log/quadrupedal_walk_ubound.log +++ b/examples/log/quadrupedal_walk_ubound.log @@ -1,15 +1,16 @@ *** SOLVE *** -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 6.114e+03 0.000e+00 8.075e+05 1.615e+06 1.000e-02 1.000e-02 1.0000 1.364e-14 0.000e+00 0.000e+00 8.075e+05 8.052e+05 0.000e+00 0.000e+00 - 1 3.764e+03 0.000e+00 3.518e+03 1.224e+04 1.000e-02 1.000e-02 0.2500 0.000e+00 0.000e+00 0.000e+00 2.027e+03 2.350e+03 0.000e+00 0.000e+00 - 2 2.857e+03 0.000e+00 2.519e+03 5.307e+03 1.000e-02 1.000e-02 0.2500 0.000e+00 0.000e+00 0.000e+00 1.127e+03 9.068e+02 0.000e+00 0.000e+00 - 3 2.222e+03 0.000e+00 1.699e+03 3.408e+03 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 0.000e+00 1.699e+03 6.348e+02 0.000e+00 0.000e+00 - 4 1.906e+03 0.000e+00 1.313e+03 2.343e+03 1.000e-03 1.000e-03 0.5000 0.000e+00 0.000e+00 0.000e+00 9.494e+02 3.163e+02 0.000e+00 0.000e+00 - 5 1.626e+03 0.000e+00 8.973e+02 1.724e+03 1.000e-03 1.000e-03 0.5000 0.000e+00 0.000e+00 0.000e+00 6.642e+02 2.798e+02 0.000e+00 0.000e+00 - 6 1.198e+03 0.000e+00 5.929e+02 1.168e+03 1.000e-04 1.000e-04 1.0000 0.000e+00 0.000e+00 0.000e+00 5.929e+02 4.283e+02 0.000e+00 0.000e+00 - 7 1.153e+03 0.000e+00 1.626e+02 3.251e+02 1.000e-04 1.000e-04 0.2500 0.000e+00 0.000e+00 0.000e+00 7.112e+01 4.511e+01 0.000e+00 0.000e+00 - 8 1.049e+03 0.000e+00 1.173e+02 2.346e+02 1.000e-05 1.000e-05 1.0000 0.000e+00 0.000e+00 0.000e+00 1.173e+02 1.037e+02 0.000e+00 0.000e+00 - 9 1.035e+03 0.000e+00 1.385e+01 2.770e+01 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 1.385e+01 1.384e+01 0.000e+00 0.000e+00 -iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 1.035e+03 0.000e+00 8.091e-03 1.618e-02 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 8.091e-03 8.089e-03 0.000e+00 0.000e+00 - 11 1.035e+03 0.000e+00 2.038e-06 4.075e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 2.038e-06 2.105e-06 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 0 6.139e+03 0.000e+00 8.075e+05 1.615e+06 1.000e-02 1.000e-02 1.0000 1.364e-14 0.000e+00 0.000e+00 8.075e+05 8.052e+05 0.000e+00 0.000e+00 + 1 3.774e+03 0.000e+00 3.566e+03 9.722e+03 1.000e-02 1.000e-02 0.2500 0.000e+00 0.000e+00 0.000e+00 2.046e+03 2.365e+03 0.000e+00 0.000e+00 + 2 2.866e+03 0.000e+00 2.494e+03 5.193e+03 1.000e-02 1.000e-02 0.2500 0.000e+00 0.000e+00 0.000e+00 1.130e+03 9.084e+02 0.000e+00 0.000e+00 + 3 2.257e+03 0.000e+00 1.706e+03 3.416e+03 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 0.000e+00 1.706e+03 6.088e+02 0.000e+00 0.000e+00 + 4 1.884e+03 0.000e+00 1.346e+03 2.552e+03 1.000e-03 1.000e-03 0.5000 0.000e+00 0.000e+00 0.000e+00 9.746e+02 3.726e+02 0.000e+00 0.000e+00 + 5 1.614e+03 0.000e+00 8.755e+02 1.716e+03 1.000e-03 1.000e-03 0.5000 0.000e+00 0.000e+00 0.000e+00 6.478e+02 2.697e+02 0.000e+00 0.000e+00 + 6 1.181e+03 0.000e+00 5.810e+02 1.153e+03 1.000e-04 1.000e-04 1.0000 0.000e+00 0.000e+00 0.000e+00 5.810e+02 4.339e+02 0.000e+00 0.000e+00 + 7 1.144e+03 0.000e+00 1.446e+02 2.892e+02 1.000e-04 1.000e-04 0.2500 0.000e+00 0.000e+00 0.000e+00 6.326e+01 3.669e+01 0.000e+00 0.000e+00 + 8 1.044e+03 0.000e+00 1.077e+02 2.155e+02 1.000e-05 1.000e-05 1.0000 0.000e+00 0.000e+00 0.000e+00 1.077e+02 9.960e+01 0.000e+00 0.000e+00 + 9 1.044e+03 0.000e+00 8.405e+00 1.681e+01 1.000e-05 1.000e-05 0.0312 0.000e+00 0.000e+00 0.000e+00 5.171e-01 2.444e-01 0.000e+00 0.000e+00 +iter cost merit stop |grad| preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi + 10 1.036e+03 0.000e+00 8.117e+00 1.623e+01 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 8.117e+00 8.109e+00 0.000e+00 0.000e+00 + 11 1.036e+03 0.000e+00 8.277e-03 1.655e-02 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 8.277e-03 8.277e-03 0.000e+00 0.000e+00 + 12 1.036e+03 0.000e+00 3.048e-07 6.097e-07 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 3.048e-07 3.077e-07 0.000e+00 0.000e+00 diff --git a/examples/log/update_logfiles.sh b/examples/log/update_logfiles.sh index 83ac718214..00ad8f8e71 100755 --- a/examples/log/update_logfiles.sh +++ b/examples/log/update_logfiles.sh @@ -1,5 +1,16 @@ #!/bin/bash +# Run Python code to get the version of pinocchio +VERSION=$(python -c "import pinocchio; print(pinocchio.__version__)" 2>/dev/null) +# Check if the version matches +EXPECTED_VERSION="3.2.0" +if [ "$VERSION" != "$EXPECTED_VERSION" ]; then + # Print warning message in yellow + echo -e "\033[33mWarning: Pinocchio version is $VERSION, but it is expected $EXPECTED_VERSION.\033[0m" +else + echo "pinocchio version: $VERSION" +fi + LOGPATH="$( cd "$(dirname "$0")" ; pwd -P )" EXAMPLEPATH=${LOGPATH}/.. @@ -31,8 +42,8 @@ update_logfile() { update_logfile "arm_manipulation_fwddyn" update_logfile "arm_manipulation_invdyn" -update_logfile "bipedal_walk_fwddyn" -update_logfile "bipedal_walk_invdyn" +update_logfile "bipedal_gaits_fwddyn" +update_logfile "bipedal_gaits_invdyn" update_logfile "bipedal_walk_ubound" update_logfile "boxfddp_vs_boxddp" update_logfile "double_pendulum_fwddyn" diff --git a/examples/notebooks/acrobot_urdf.ipynb b/examples/notebooks/acrobot_urdf.ipynb index 1b5966c86d..a65d181ed6 100644 --- a/examples/notebooks/acrobot_urdf.ipynb +++ b/examples/notebooks/acrobot_urdf.ipynb @@ -28,15 +28,16 @@ "outputs": [], "source": [ "import os\n", - "import sys\n", - "import numpy as np\n", "import pathlib\n", - "import crocoddyl\n", + "\n", + "import numpy as np\n", "import pinocchio\n", "\n", "# Get the path to the urdf\n", "from example_robot_data.path import EXAMPLE_ROBOT_DATA_MODEL_DIR\n", "\n", + "import crocoddyl\n", + "\n", "urdf_model_path = pathlib.Path(\n", " \"double_pendulum_description\", \"urdf\", \"double_pendulum_simple.urdf\"\n", ")\n", diff --git a/examples/notebooks/arm_manipulation.ipynb b/examples/notebooks/arm_manipulation.ipynb index e0d9e441d4..b5817ffae2 100644 --- a/examples/notebooks/arm_manipulation.ipynb +++ b/examples/notebooks/arm_manipulation.ipynb @@ -17,10 +17,11 @@ "outputs": [], "source": [ "# %load arm_example.py\n", - "import crocoddyl\n", - "import pinocchio\n", - "import numpy as np\n", "import example_robot_data\n", + "import numpy as np\n", + "import pinocchio\n", + "\n", + "import crocoddyl\n", "\n", "robot = example_robot_data.load(\"talos_arm\")\n", "robot_model = robot.model\n", diff --git a/examples/notebooks/bipedal_walking.ipynb b/examples/notebooks/bipedal_walking.ipynb index 792cb20890..bbd22425c2 100644 --- a/examples/notebooks/bipedal_walking.ipynb +++ b/examples/notebooks/bipedal_walking.ipynb @@ -66,10 +66,11 @@ "metadata": {}, "outputs": [], "source": [ - "import crocoddyl\n", - "import pinocchio\n", - "import numpy as np\n", "import example_robot_data\n", + "import numpy as np\n", + "import pinocchio\n", + "\n", + "import crocoddyl\n", "from crocoddyl.utils.biped import SimpleBipedGaitProblem\n", "\n", "# Creating the lower-body part of Talos\n", diff --git a/examples/notebooks/cartpole_swing_up.ipynb b/examples/notebooks/cartpole_swing_up.ipynb index 8bb6a24a6f..4bc1d70b24 100644 --- a/examples/notebooks/cartpole_swing_up.ipynb +++ b/examples/notebooks/cartpole_swing_up.ipynb @@ -48,11 +48,11 @@ "metadata": {}, "outputs": [], "source": [ - "import crocoddyl\n", - "import pinocchio\n", "import numpy as np\n", - "from IPython.display import HTML\n", "from cartpole_utils import animateCartpole\n", + "from IPython.display import HTML\n", + "\n", + "import crocoddyl\n", "\n", "\n", "class DifferentialActionModelCartpole(crocoddyl.DifferentialActionModelAbstract):\n", diff --git a/examples/notebooks/p2p.py b/examples/notebooks/p2p.py index 21b2c60626..c1cff3731e 100644 --- a/examples/notebooks/p2p.py +++ b/examples/notebooks/p2p.py @@ -30,8 +30,8 @@ display = crocoddyl.GepettoDisplay(robot, cameraTF=cameraTF, floor=False) gv = display.robot.viewer.gui for i, p in enumerate(ps): - gv.addSphere("world/point%d" % i, 0.05, colors[i]) - gv.applyConfiguration("world/point%d" % i, [*p.tolist(), 0.0, 0.0, 0.0, 1.0]) + gv.addSphere(f"world/point{i}", 0.05, colors[i]) + gv.applyConfiguration(f"world/point{i}", [*p.tolist(), 0.0, 0.0, 0.0, 1.0]) gv.refresh() # State and control regularization costs diff --git a/examples/notebooks/unicycle_towards_origin.ipynb b/examples/notebooks/unicycle_towards_origin.ipynb index 2a2dc38613..7a3a962d14 100644 --- a/examples/notebooks/unicycle_towards_origin.ipynb +++ b/examples/notebooks/unicycle_towards_origin.ipynb @@ -33,8 +33,8 @@ "metadata": {}, "outputs": [], "source": [ - "import numpy as np\n", "import matplotlib.pylab as plt\n", + "import numpy as np\n", "\n", "x = np.random.rand(3)\n", "u = np.random.rand(2)\n", diff --git a/flake.lock b/flake.lock new file mode 100644 index 0000000000..6d21403fc8 --- /dev/null +++ b/flake.lock @@ -0,0 +1,58 @@ +{ + "nodes": { + "flake-parts": { + "inputs": { + "nixpkgs-lib": "nixpkgs-lib" + }, + "locked": { + "lastModified": 1736143030, + "narHash": "sha256-+hu54pAoLDEZT9pjHlqL9DNzWz0NbUn8NEAHP7PQPzU=", + "owner": "hercules-ci", + "repo": "flake-parts", + "rev": "b905f6fc23a9051a6e1b741e1438dbfc0634c6de", + "type": "github" + }, + "original": { + "owner": "hercules-ci", + "repo": "flake-parts", + "type": "github" + } + }, + "nixpkgs": { + "locked": { + "lastModified": 1737885589, + "narHash": "sha256-Zf0hSrtzaM1DEz8//+Xs51k/wdSajticVrATqDrfQjg=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "852ff1d9e153d8875a83602e03fdef8a63f0ecf8", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "nixpkgs-lib": { + "locked": { + "lastModified": 1735774519, + "narHash": "sha256-CewEm1o2eVAnoqb6Ml+Qi9Gg/EfNAxbRx1lANGVyoLI=", + "type": "tarball", + "url": "https://github.com/NixOS/nixpkgs/archive/e9b51731911566bbf7e4895475a87fe06961de0b.tar.gz" + }, + "original": { + "type": "tarball", + "url": "https://github.com/NixOS/nixpkgs/archive/e9b51731911566bbf7e4895475a87fe06961de0b.tar.gz" + } + }, + "root": { + "inputs": { + "flake-parts": "flake-parts", + "nixpkgs": "nixpkgs" + } + } + }, + "root": "root", + "version": 7 +} diff --git a/flake.nix b/flake.nix new file mode 100644 index 0000000000..e7edfd99d8 --- /dev/null +++ b/flake.nix @@ -0,0 +1,45 @@ +{ + description = "optimal control library for robot control under contact sequence."; + + inputs = { + flake-parts.url = "github:hercules-ci/flake-parts"; + nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; + }; + + outputs = + inputs: + inputs.flake-parts.lib.mkFlake { inherit inputs; } { + systems = inputs.nixpkgs.lib.systems.flakeExposed; + perSystem = + { pkgs, self', ... }: + { + apps.default = { + type = "app"; + program = pkgs.python3.withPackages (_: [ self'.packages.default ]); + }; + devShells.default = pkgs.mkShell { + inputsFrom = [ self'.packages.default ]; + packages = [ (pkgs.python3.withPackages (p: [p.tomlkit])) ]; # for "make release" + }; + packages = { + default = self'.packages.crocoddyl; + crocoddyl = pkgs.python3Packages.crocoddyl.overrideAttrs (_: { + src = pkgs.lib.fileset.toSource { + root = ./.; + fileset = pkgs.lib.fileset.unions [ + ./benchmark + ./bindings + ./CMakeLists.txt + ./doc + ./examples + ./include + ./package.xml + ./src + ./unittest + ]; + }; + }); + }; + }; + }; +} diff --git a/include/crocoddyl/core/action-base.hpp b/include/crocoddyl/core/action-base.hpp index b91ff9bbcf..e5705a1de3 100644 --- a/include/crocoddyl/core/action-base.hpp +++ b/include/crocoddyl/core/action-base.hpp @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh, +// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh, // University of Oxford, Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -108,12 +108,16 @@ class ActionModelAbstractTpl { * @param[in] state State description * @param[in] nu Dimension of control vector * @param[in] nr Dimension of cost-residual vector - * @param[in] ng Number of inequality constraints - * @param[in] nh Number of equality constraints + * @param[in] ng Number of inequality constraints (default 0) + * @param[in] nh Number of equality constraints (default 0) + * @param[in] ng_T Number of inequality terminal constraints (default 0) + * @param[in] nh_T Number of equality terminal constraints (default 0) */ ActionModelAbstractTpl(boost::shared_ptr state, const std::size_t nu, const std::size_t nr = 0, - const std::size_t ng = 0, const std::size_t nh = 0); + const std::size_t ng = 0, const std::size_t nh = 0, + const std::size_t ng_T = 0, + const std::size_t nh_T = 0); virtual ~ActionModelAbstractTpl(); /** @@ -237,6 +241,16 @@ class ActionModelAbstractTpl { */ virtual std::size_t get_nh() const; + /** + * @brief Return the number of inequality terminal constraints + */ + virtual std::size_t get_ng_T() const; + + /** + * @brief Return the number of equality terminal constraints + */ + virtual std::size_t get_nh_T() const; + /** * @brief Return the state */ @@ -302,10 +316,12 @@ class ActionModelAbstractTpl { virtual void print(std::ostream& os) const; protected: - std::size_t nu_; //!< Control dimension - std::size_t nr_; //!< Dimension of the cost residual - std::size_t ng_; //!< Number of inequality constraints - std::size_t nh_; //!< Number of equality constraints + std::size_t nu_; //!< Control dimension + std::size_t nr_; //!< Dimension of the cost residual + std::size_t ng_; //!< Number of inequality constraints + std::size_t nh_; //!< Number of equality constraints + std::size_t ng_T_; //!< Number of inequality terminal constraints + std::size_t nh_T_; //!< Number of equality terminal constraints boost::shared_ptr state_; //!< Model of the state VectorXs unone_; //!< Neutral state VectorXs g_lb_; //!< Lower bound of the inequality constraints @@ -346,12 +362,22 @@ struct ActionDataAbstractTpl { Lxx(model->get_state()->get_ndx(), model->get_state()->get_ndx()), Lxu(model->get_state()->get_ndx(), model->get_nu()), Luu(model->get_nu(), model->get_nu()), - g(model->get_ng()), - Gx(model->get_ng(), model->get_state()->get_ndx()), - Gu(model->get_ng(), model->get_nu()), - h(model->get_nh()), - Hx(model->get_nh(), model->get_state()->get_ndx()), - Hu(model->get_nh(), model->get_nu()) { + g(model->get_ng() > model->get_ng_T() ? model->get_ng() + : model->get_ng_T()), + Gx(model->get_ng() > model->get_ng_T() ? model->get_ng() + : model->get_ng_T(), + model->get_state()->get_ndx()), + Gu(model->get_ng() > model->get_ng_T() ? model->get_ng() + : model->get_ng_T(), + model->get_nu()), + h(model->get_nh() > model->get_nh_T() ? model->get_nh() + : model->get_nh_T()), + Hx(model->get_nh() > model->get_nh_T() ? model->get_nh() + : model->get_nh_T(), + model->get_state()->get_ndx()), + Hu(model->get_nh() > model->get_nh_T() ? model->get_nh() + : model->get_nh_T(), + model->get_nu()) { xnext.setZero(); Fx.setZero(); Fu.setZero(); diff --git a/include/crocoddyl/core/action-base.hxx b/include/crocoddyl/core/action-base.hxx index eb68384a57..1bd8d373a3 100644 --- a/include/crocoddyl/core/action-base.hxx +++ b/include/crocoddyl/core/action-base.hxx @@ -1,7 +1,7 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh, +// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh, // University of Oxford, Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. @@ -18,15 +18,20 @@ namespace crocoddyl { template ActionModelAbstractTpl::ActionModelAbstractTpl( boost::shared_ptr > state, const std::size_t nu, - const std::size_t nr, const std::size_t ng, const std::size_t nh) + const std::size_t nr, const std::size_t ng, const std::size_t nh, + const std::size_t ng_T, const std::size_t nh_T) : nu_(nu), nr_(nr), ng_(ng), nh_(nh), + ng_T_(ng_T), + nh_T_(nh_T), state_(state), unone_(MathBase::VectorXs::Zero(nu)), - g_lb_(VectorXs::Constant(ng, -std::numeric_limits::infinity())), - g_ub_(VectorXs::Constant(ng, std::numeric_limits::infinity())), + g_lb_(VectorXs::Constant(ng > ng_T ? ng : ng_T, + -std::numeric_limits::infinity())), + g_ub_(VectorXs::Constant(ng > ng_T ? ng : ng_T, + std::numeric_limits::infinity())), u_lb_(MathBase::VectorXs::Constant( nu, -std::numeric_limits::infinity())), u_ub_(MathBase::VectorXs::Constant( @@ -56,14 +61,14 @@ void ActionModelAbstractTpl::quasiStatic( const Eigen::Ref& x, const std::size_t maxiter, const Scalar tol) { if (static_cast(u.size()) != nu_) { - throw_pretty("Invalid argument: " - << "u has wrong dimension (it should be " + - std::to_string(nu_) + ")"); + throw_pretty( + "Invalid argument: " << "u has wrong dimension (it should be " + + std::to_string(nu_) + ")"); } if (static_cast(x.size()) != state_->get_nx()) { - throw_pretty("Invalid argument: " - << "x has wrong dimension (it should be " + - std::to_string(state_->get_nx()) + ")"); + throw_pretty( + "Invalid argument: " << "x has wrong dimension (it should be " + + std::to_string(state_->get_nx()) + ")"); } // Check the velocity input is zero assert_pretty(x.tail(state_->get_nv()).isZero(), @@ -135,6 +140,16 @@ std::size_t ActionModelAbstractTpl::get_nh() const { return nh_; } +template +std::size_t ActionModelAbstractTpl::get_ng_T() const { + return ng_T_; +} + +template +std::size_t ActionModelAbstractTpl::get_nh_T() const { + return nh_T_; +} + template const boost::shared_ptr >& ActionModelAbstractTpl::get_state() const { @@ -172,18 +187,20 @@ bool ActionModelAbstractTpl::get_has_control_limits() const { template void ActionModelAbstractTpl::set_g_lb(const VectorXs& g_lb) { - if (static_cast(g_lb.size()) != ng_) { + const std::size_t ng = ng_ > ng_T_ ? ng_ : ng_T_; + if (static_cast(g_lb.size()) != ng) { throw_pretty( "Invalid argument: " << "inequality lower bound has wrong dimension (it should be " + - std::to_string(ng_) + ")"); + std::to_string(ng) + ")"); } g_lb_ = g_lb; } template void ActionModelAbstractTpl::set_g_ub(const VectorXs& g_ub) { - if (static_cast(g_ub.size()) != ng_) { + const std::size_t ng = ng_ > ng_T_ ? ng_ : ng_T_; + if (static_cast(g_ub.size()) != ng) { throw_pretty( "Invalid argument: " << "inequality upper bound has wrong dimension (it should be " + diff --git a/include/crocoddyl/core/actions/diff-lqr.hpp b/include/crocoddyl/core/actions/diff-lqr.hpp index 07c524804e..f3a89aa2be 100644 --- a/include/crocoddyl/core/actions/diff-lqr.hpp +++ b/include/crocoddyl/core/actions/diff-lqr.hpp @@ -1,7 +1,8 @@ /////////////////////////////////////////////////////////////////////////////// // BSD 3-Clause License // -// Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh +// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh, +// Heriot-Watt University // Copyright note valid unless otherwise stated in individual files. // All rights reserved. /////////////////////////////////////////////////////////////////////////////// @@ -17,6 +18,31 @@ namespace crocoddyl { +/** + * @brief Linear-quadratic regulator (LQR) differential action model + * + * A linear-quadratic regulator (LQR) action has a transition model of the form + * \f[ \begin{equation} + * \mathbf{\dot{v}} = \mathbf{A_q q + A_v v + B u + f}. + * \end{equation} \f] + * Its cost function is quadratic of the form: + * \f[ \begin{equation} + * \ell(\mathbf{x},\mathbf{u}) = \begin{bmatrix}1 + * \\ \mathbf{x} \\ \mathbf{u}\end{bmatrix}^T \begin{bmatrix}0 & + * \mathbf{q}^T & \mathbf{r}^T \\ \mathbf{q} & \mathbf{Q} + * & + * \mathbf{N}^T \\ + * \mathbf{r} & \mathbf{N} & \mathbf{R}\end{bmatrix} + * \begin{bmatrix}1 \\ \mathbf{x} \\ + * \mathbf{u}\end{bmatrix} + * \end{equation} \f] + * and the linear equality and inequality constraints has the form: + * \f[ \begin{aligned} + * \mathbf{g(x,u)} = \mathbf{G}\begin{bmatrix} \mathbf{x} \\ \mathbf{u} + * \end{bmatrix} [x,u] + \mathbf{g} \leq \mathbf{0} + * &\mathbf{h(x,u)} = \mathbf{H}\begin{bmatrix} \mathbf{x} \\ \mathbf{u} + * \end{bmatrix} [x,u] + \mathbf{h} \end{aligned} \f] + */ template class DifferentialActionModelLQRTpl : public DifferentialActionModelAbstractTpl<_Scalar> { @@ -31,8 +57,78 @@ class DifferentialActionModelLQRTpl typedef typename MathBase::VectorXs VectorXs; typedef typename MathBase::MatrixXs MatrixXs; + /** + * @brief Initialize the LQR action model + * + * @param[in] Aq Position matrix + * @param[in] Av Velocity matrix + * @param[in] B Input matrix + * @param[in] Q State weight matrix + * @param[in] R Input weight matrix + * @param[in] N State-input weight matrix + */ + DifferentialActionModelLQRTpl(const MatrixXs& Aq, const MatrixXs& Av, + const MatrixXs& B, const MatrixXs& Q, + const MatrixXs& R, const MatrixXs& N); + + /** + * @brief Initialize the LQR action model + * + * @param[in] Aq Position matrix + * @param[in] Av Velocity matrix + * @param[in] B Input matrix + * @param[in] Q State weight matrix + * @param[in] R Input weight matrix + * @param[in] N State-input weight matrix + * @param[in] f Dynamics drift + * @param[in] q State weight vector + * @param[in] r Input weight vector + */ + DifferentialActionModelLQRTpl(const MatrixXs& Aq, const MatrixXs& Av, + const MatrixXs& B, const MatrixXs& Q, + const MatrixXs& R, const MatrixXs& N, + const VectorXs& f, const VectorXs& q, + const VectorXs& r); + + /** + * @brief Initialize the LQR action model + * + * @param[in] Aq Position matrix + * @param[in] Av Velocity matrix + * @param[in] B Input matrix + * @param[in] Q State weight matrix + * @param[in] R Input weight matrix + * @param[in] N State-input weight matrix + * @param[in] G State-input inequality constraint matrix + * @param[in] H State-input equality constraint matrix + * @param[in] f Dynamics drift + * @param[in] q State weight vector + * @param[in] r Input weight vector + * @param[in] g State-input inequality constraint bias + * @param[in] h State-input equality constraint bias + */ + DifferentialActionModelLQRTpl(const MatrixXs& Aq, const MatrixXs& Av, + const MatrixXs& B, const MatrixXs& Q, + const MatrixXs& R, const MatrixXs& N, + const MatrixXs& G, const MatrixXs& H, + const VectorXs& f, const VectorXs& q, + const VectorXs& r, const VectorXs& g, + const VectorXs& h); + + /** + * @brief Initialize the LQR action model + * + * @param[in] nq Dimension of position vector + * @param[in] nu Dimension of control vector + * @param[in] drif_free Enable / disable the bias term of the linear dynamics + * (default true) + */ DifferentialActionModelLQRTpl(const std::size_t nq, const std::size_t nu, const bool drift_free = true); + + /** @brief Copy constructor */ + DifferentialActionModelLQRTpl(const DifferentialActionModelLQRTpl& copy); + virtual ~DifferentialActionModelLQRTpl(); virtual void calc( @@ -51,25 +147,126 @@ class DifferentialActionModelLQRTpl virtual bool checkData( const boost::shared_ptr& data); - const MatrixXs& get_Fq() const; - const MatrixXs& get_Fv() const; - const MatrixXs& get_Fu() const; - const VectorXs& get_f0() const; - const VectorXs& get_lx() const; - const VectorXs& get_lu() const; - const MatrixXs& get_Lxx() const; - const MatrixXs& get_Lxu() const; - const MatrixXs& get_Luu() const; - - void set_Fq(const MatrixXs& Fq); - void set_Fv(const MatrixXs& Fv); - void set_Fu(const MatrixXs& Fu); - void set_f0(const VectorXs& f0); - void set_lx(const VectorXs& lx); - void set_lu(const VectorXs& lu); - void set_Lxx(const MatrixXs& Lxx); - void set_Lxu(const MatrixXs& Lxu); - void set_Luu(const MatrixXs& Luu); + /** + * @brief Create a random LQR model + * + * @param[in] nq Position dimension + * @param[in] nu Control dimension + * @param[in] ng Inequality constraint dimension (default 0) + * @param[in] nh Equality constraint dimension (default 0) + */ + static DifferentialActionModelLQRTpl Random(const std::size_t nq, + const std::size_t nu, + const std::size_t ng = 0, + const std::size_t nh = 0); + + /** @brief Return the position matrix */ + const MatrixXs& get_Aq() const; + + /** @brief Return the velocity matrix */ + const MatrixXs& get_Av() const; + + /** @brief Return the input matrix */ + const MatrixXs& get_B() const; + + /** @brief Return the dynamics drift */ + const VectorXs& get_f() const; + + /** @brief Return the state weight matrix */ + const MatrixXs& get_Q() const; + + /** @brief Return the input weight matrix */ + const MatrixXs& get_R() const; + + /** @brief Return the state-input weight matrix */ + const MatrixXs& get_N() const; + + /** @brief Return the state-input inequality constraint matrix */ + const MatrixXs& get_G() const; + + /** @brief Return the state-input equality constraint matrix */ + const MatrixXs& get_H() const; + + /** @brief Return the state weight vector */ + const VectorXs& get_q() const; + + /** @brief Return the input weight vector */ + const VectorXs& get_r() const; + + /** @brief Return the state-input inequality constraint bias */ + const VectorXs& get_g() const; + + /** @brief Return the state-input equality constraint bias */ + const VectorXs& get_h() const; + + /** + * @brief Modify the LQR action model + * + * @param[in] Aq Position matrix + * @param[in] Av Velocity matrix + * @param[in] B Input matrix + * @param[in] Q State weight matrix + * @param[in] R Input weight matrix + * @param[in] N State-input weight matrix + * @param[in] G State-input inequality constraint matrix + * @param[in] H State-input equality constraint matrix + * @param[in] f Dynamics drift + * @param[in] q State weight vector + * @param[in] r Input weight vector + * @param[in] g State-input inequality constraint bias + * @param[in] h State-input equality constraint bias + */ + void set_LQR(const MatrixXs& Aq, const MatrixXs& Av, const MatrixXs& B, + const MatrixXs& Q, const MatrixXs& R, const MatrixXs& N, + const MatrixXs& G, const MatrixXs& H, const VectorXs& f, + const VectorXs& q, const VectorXs& r, const VectorXs& g, + const VectorXs& h); + + DEPRECATED("Use get_Aq", const MatrixXs& get_Fq() const { return get_Aq(); }) + DEPRECATED("Use get_Av", const MatrixXs& get_Fv() const { return get_Av(); }) + DEPRECATED("Use get_B", const MatrixXs& get_Fu() const { return get_B(); }) + DEPRECATED("Use get_f", const VectorXs& get_f0() const { return get_f(); }) + DEPRECATED("Use get_q", const VectorXs& get_lx() const { return get_q(); }) + DEPRECATED("Use get_r", const VectorXs& get_lu() const { return get_r(); }) + DEPRECATED("Use get_Q", const MatrixXs& get_Lxx() const { return get_Q(); }) + DEPRECATED("Use get_N", const MatrixXs& get_Lxu() const { return get_N(); }) + DEPRECATED("Use get_R", const MatrixXs& get_Luu() const { return get_R(); }) + DEPRECATED( + "Use set_LQR", void set_Fq(const MatrixXs& Aq) { + set_LQR(Aq, Av_, B_, Q_, R_, N_, G_, H_, f_, q_, r_, g_, h_); + }) + DEPRECATED( + "Use set_LQR", void set_Fv(const MatrixXs& Av) { + set_LQR(Aq_, Av, B_, Q_, R_, N_, G_, H_, f_, q_, r_, g_, h_); + }) + DEPRECATED( + "Use set_LQR", void set_Fu(const MatrixXs& B) { + set_LQR(Aq_, Av_, B, Q_, R_, N_, G_, H_, f_, q_, r_, g_, h_); + }) + DEPRECATED( + "Use set_LQR", void set_f0(const VectorXs& f) { + set_LQR(Aq_, Av_, B_, Q_, R_, N_, G_, H_, f, q_, r_, g_, h_); + }) + DEPRECATED( + "Use set_LQR", void set_lx(const VectorXs& q) { + set_LQR(Aq_, Av_, B_, Q_, R_, N_, G_, H_, f_, q, r_, g_, h_); + }) + DEPRECATED( + "Use set_LQR", void set_lu(const VectorXs& r) { + set_LQR(Aq_, Av_, B_, Q_, R_, N_, G_, H_, f_, q_, r, g_, h_); + }) + DEPRECATED( + "Use set_LQR", void set_Lxx(const MatrixXs& Q) { + set_LQR(Aq_, Av_, B_, Q, R_, N_, G_, H_, f_, q_, r_, g_, h_); + }) + DEPRECATED( + "Use set_LQR", void set_Lxu(const MatrixXs& N) { + set_LQR(Aq_, Av_, B_, Q_, R_, N, G_, H_, f_, q_, r_, g_, h_); + }) + DEPRECATED( + "Use set_LQR", void set_Luu(const MatrixXs& R) { + set_LQR(Aq_, Av_, B_, Q_, R, N_, G_, H_, f_, q_, r_, g_, h_); + }) /** * @brief Print relevant information of the LQR model @@ -79,20 +276,28 @@ class DifferentialActionModelLQRTpl virtual void print(std::ostream& os) const; protected: + using Base::ng_; //!< Equality constraint dimension + using Base::nh_; //!< Inequality constraint dimension using Base::nu_; //!< Control dimension using Base::state_; //!< Model of the state private: + MatrixXs Aq_; + MatrixXs Av_; + MatrixXs B_; + MatrixXs Q_; + MatrixXs R_; + MatrixXs N_; + MatrixXs G_; + MatrixXs H_; + VectorXs f_; + VectorXs q_; + VectorXs r_; + VectorXs g_; + VectorXs h_; + MatrixXs L_; bool drift_free_; - MatrixXs Fq_; - MatrixXs Fv_; - MatrixXs Fu_; - VectorXs f0_; - MatrixXs Lxx_; - MatrixXs Lxu_; - MatrixXs Luu_; - VectorXs lx_; - VectorXs lu_; + bool updated_lqr_; }; template @@ -107,19 +312,28 @@ struct DifferentialActionDataLQRTpl template