robotaxx.pro~orig

sqp程序包。用sqp算法实现非线性约束的优化求解

donlp2, v3, 05/29/98, copyright P. Spellucci
Thu Feb 24 16:55:28 2000
robota

     n=        21    nh=         0    ng=      1458

  epsx= 1.000e-07 sigsm= 1.490e-08

startvalue
  1.4914006e+00   1.4914006e+00   1.4914006e+00   1.4914006e+00   1.4914006e+00 
  1.4914006e+00   1.4914006e+00   1.4914006e+00   1.4914006e+00   1.4914006e+00 
  1.4914006e+00   1.4914006e+00   1.4914006e+00   1.4914006e+00   1.4914006e+00 
  1.4914006e+00   1.4914006e+00   1.4914006e+00   1.4914006e+00   1.4914006e+00 
  1.4914006e+00 

  eps=  2.22e-16  tol= 1.98e-323 del0=  1.00e+00 delm=  1.00e-06 tau0=  1.00e+04
  tau=  1.00e-01   sd=  1.00e-01   sw=  3.67e-11  rho=  1.00e-06 rho1=  1.00e-10
 scfm=  1.00e+04  c1d=  1.00e-02 epdi=  0.00e+00
  nre=        21 anal=         1

 termination reason:
 KT-conditions satisfied, no further correction computed
 evaluations of f                           49
 evaluations of grad f                      19
 evaluations of constraints              71589
 evaluations of grads of constraints      1182
 final scaling of objective           2.455328e+02
 norm of grad(f)                      2.198682e-01
 lagrangian violation                 4.819562e-15
 feasibility violation                1.021405e-14
 dual feasibility violation           0.000000e+00
 optimizer runtime sec's              5.920000e+00


 optimal value of f =   1.05589317620549e+00

 optimal solution  x =
  9.01267899204982e-01  6.63200368568263e-01  8.45499593276994e-01
  9.34706942730922e-01  9.88972713543665e-01  1.01180895619489e+00
  1.00911023001488e+00  1.18496977203681e+00  1.37969460718948e+00
  1.43219371625692e+00  1.41084615702455e+00  1.38597823623077e+00
  1.40376711387073e+00  1.13478638216575e+00  1.04432595477522e+00
  1.00963352623656e+00  9.91696097830833e-01  9.31894914917373e-01
  8.45875282475587e-01  6.62842034620843e-01  9.01357482691809e-01

  multipliers are relativ to scf=1
  nr.    constraint      normgrad (or 1)   multiplier
    1   1.4227573e+00    1.0000000e+00    0.0000000e+00
    2   1.4227573e+00    1.0000000e+00    0.0000000e+00
    3   2.8800000e+00    1.0000000e+00    0.0000000e+00
    4   2.8800000e+00    1.0000000e+00    0.0000000e+00
    5   3.7019277e-12    1.3198902e+02    2.3276365e-04
    6   9.1090728e+01    1.0000000e+00    0.0000000e+00
    7   2.1341360e+00    1.0000000e+00    0.0000000e+00
    8   2.1341360e+00    1.0000000e+00    0.0000000e+00
    9   6.4800000e+00    1.0000000e+00    0.0000000e+00
   10   6.4800000e+00    1.0000000e+00    0.0000000e+00
   11   1.8977235e+02    1.0000000e+00    0.0000000e+00
   12   4.7063543e+01    1.0000000e+00    0.0000000e+00
   13   2.8455146e+00    1.0000000e+00    0.0000000e+00
   14   2.8455146e+00    1.0000000e+00    0.0000000e+00
   15   1.8000000e+01    1.0000000e+00    0.0000000e+00
   16   1.8000000e+01    1.0000000e+00    0.0000000e+00
   17   2.2165410e+02    1.0000000e+00    0.0000000e+00
   18   1.4270881e+02    1.0000000e+00    0.0000000e+00
   19   1.5186158e+00    1.0000000e+00    0.0000000e+00
   20   1.5323290e+00    1.0000000e+00    0.0000000e+00
   21   2.7368036e+00    1.0000000e+00    0.0000000e+00
   22   4.3629464e+00    1.0000000e+00    0.0000000e+00
   23   2.2283234e+01    1.0000000e+00    0.0000000e+00
   24   1.0679167e+02    1.0000000e+00    0.0000000e+00
   25   2.2989506e+00    1.0000000e+00    0.0000000e+00
   26   2.2774666e+00    1.0000000e+00    0.0000000e+00
   27   9.2610307e+00    1.0000000e+00    0.0000000e+00
   28   6.7134069e+00    1.0000000e+00    0.0000000e+00
   29   2.3399563e+02    1.0000000e+00    0.0000000e+00
   30   1.0159911e+02    1.0000000e+00    0.0000000e+00
   31   3.0568872e+00    1.0000000e+00    0.0000000e+00
   32   3.0450024e+00    1.0000000e+00    0.0000000e+00
   33   2.2891381e+01    1.0000000e+00    0.0000000e+00
   34   2.1482057e+01    1.0000000e+00    0.0000000e+00
   35   2.9477012e+02    1.0000000e+00    0.0000000e+00
   36   2.2152948e+02    1.0000000e+00    0.0000000e+00
   37   1.5077749e+00    1.0000000e+00    0.0000000e+00
   38   1.5612476e+00    1.0000000e+00    0.0000000e+00
   39   1.9912937e+00    1.0000000e+00    0.0000000e+00
   40   5.2354095e+00    1.0000000e+00    0.0000000e+00
   41   1.9994084e+01    1.0000000e+00    0.0000000e+00
   42   1.1295042e+02    1.0000000e+00    0.0000000e+00
   43   2.3436538e+00    1.0000000e+00    0.0000000e+00
   44   2.2598800e+00    1.0000000e+00    0.0000000e+00
   45   1.0671263e+01    1.0000000e+00    0.0000000e+00
   46   5.5888195e+00    1.0000000e+00    0.0000000e+00
   47   2.4564312e+02    1.0000000e+00    0.0000000e+00
   48   1.0001260e+02    1.0000000e+00    0.0000000e+00
   49   3.0921940e+00    1.0000000e+00    0.0000000e+00
   50   3.0458510e+00    1.0000000e+00    0.0000000e+00
   51   2.3989231e+01    1.0000000e+00    0.0000000e+00
   52   2.1177664e+01    1.0000000e+00    0.0000000e+00
   53   3.0617009e+02    1.0000000e+00    0.0000000e+00
   54   2.2560793e+02    1.0000000e+00    0.0000000e+00
   55   1.4399904e+00    1.0000000e+00    0.0000000e+00
   56   1.5572387e+00    1.0000000e+00    0.0000000e+00
   57   1.0153705e+00    1.0000000e+00    0.0000000e+00
   58   5.7159430e+00    1.0000000e+00    0.0000000e+00
   59   7.0509206e+00    1.0000000e+00    0.0000000e+00
   60   1.1105447e+02    1.0000000e+00    0.0000000e+00
   61   2.3397661e+00    1.0000000e+00    0.0000000e+00
   62   2.1560776e+00    1.0000000e+00    0.0000000e+00
   63   1.1254803e+01    1.0000000e+00    0.0000000e+00
   64   3.8906523e+00    1.0000000e+00    0.0000000e+00
   65   2.3500094e+02    1.0000000e+00    0.0000000e+00
   66   7.2073086e+01    1.0000000e+00    0.0000000e+00
   67   3.0480367e+00    1.0000000e+00    0.0000000e+00
   68   2.9464215e+00    1.0000000e+00    0.0000000e+00
   69   2.3072270e+01    1.0000000e+00    0.0000000e+00
   70   1.8998440e+01    1.0000000e+00    0.0000000e+00
   71   2.8127899e+02    1.0000000e+00    0.0000000e+00
   72   1.9114258e+02    1.0000000e+00    0.0000000e+00
   73   1.3649917e+00    1.0000000e+00    0.0000000e+00
   74   1.5680542e+00    1.0000000e+00    0.0000000e+00
   75   2.7619000e-01    1.0000000e+00    0.0000000e+00
   76   6.0318817e+00    1.0000000e+00    0.0000000e+00
   77   1.0625960e+00    2.5488240e+02    0.0000000e+00
   78   1.0492728e+02    1.0000000e+00    0.0000000e+00
   79   2.3588478e+00    1.0000000e+00    0.0000000e+00
   80   2.0407212e+00    1.0000000e+00    0.0000000e+00
   81   1.1604937e+01    1.0000000e+00    0.0000000e+00
   82   2.5882243e+00    1.0000000e+00    0.0000000e+00
   83   2.1912048e+02    1.0000000e+00    0.0000000e+00
   84   5.6453207e+01    1.0000000e+00    0.0000000e+00
   85   3.0210397e+00    1.0000000e+00    0.0000000e+00
   86   2.8450522e+00    1.0000000e+00    0.0000000e+00
   87   2.2206857e+01    1.0000000e+00    0.0000000e+00
   88   1.7218591e+01    1.0000000e+00    0.0000000e+00
   89   2.5698779e+02    1.0000000e+00    0.0000000e+00
   90   1.6697173e+02    1.0000000e+00    0.0000000e+00
   91   1.3216843e+00    1.0000000e+00    0.0000000e+00
   92   1.6306748e+00    1.0000000e+00    0.0000000e+00
   93   1.7763568e-15    6.1240541e+00    7.6163944e-03
   94   6.4335039e+00    1.0000000e+00    0.0000000e+00
   95   2.1455637e+01    1.0000000e+00    0.0000000e+00
   96   8.8070049e+01    1.0000000e+00    0.0000000e+00
   97   2.4562987e+00    1.0000000e+00    0.0000000e+00
   98   1.9722400e+00    1.0000000e+00    0.0000000e+00
   99   1.2276094e+01    1.0000000e+00    0.0000000e+00
  100   2.1992893e+00    1.0000000e+00    0.0000000e+00
  101   1.9447463e+02    1.0000000e+00    0.0000000e+00
  102   9.0292153e+01    1.0000000e+00    0.0000000e+00
  103   3.0862550e+00    1.0000000e+00    0.0000000e+00
  104   2.8184633e+00    1.0000000e+00    0.0000000e+00
  105   2.2892551e+01    1.0000000e+00    0.0000000e+00
  106   1.7316848e+01    1.0000000e+00    0.0000000e+00
  107   2.4791762e+02    1.0000000e+00    0.0000000e+00
  108   1.9018513e+02    1.0000000e+00    0.0000000e+00
  109   1.3057563e+00    1.0000000e+00    0.0000000e+00
  110   1.7389165e+00    1.0000000e+00    0.0000000e+00
  111   0.0000000e+00    7.0181599e+00    7.4981930e-03
  112   7.0560541e+00    1.0000000e+00    0.0000000e+00
  113   4.7650458e+01    1.0000000e+00    0.0000000e+00
  114   8.0103160e+01    1.0000000e+00    0.0000000e+00
  115   2.6227605e+00    1.0000000e+00    0.0000000e+00
  116   1.9442488e+00    1.0000000e+00    0.0000000e+00
  117   1.3461345e+01    1.0000000e+00    0.0000000e+00
  118   2.4147766e+00    1.0000000e+00    0.0000000e+00
  119   1.9125521e+02    1.0000000e+00    0.0000000e+00
  120   1.4090419e+02    1.0000000e+00    0.0000000e+00
  121   3.2323756e+00    1.0000000e+00    0.0000000e+00
  122   2.8569701e+00    1.0000000e+00    0.0000000e+00
  123   2.5107793e+01    1.0000000e+00    0.0000000e+00
  124   1.8992546e+01    1.0000000e+00    0.0000000e+00
  125   2.6957007e+02    1.0000000e+00    0.0000000e+00
  126   2.4144440e+02    1.0000000e+00    0.0000000e+00
  127   1.3020718e+00    1.0000000e+00    0.0000000e+00
  128   1.8758240e+00    1.0000000e+00    0.0000000e+00
  129   1.2210165e-01    8.3339793e+00    0.0000000e+00
  130   7.9013086e+00    1.0000000e+00    0.0000000e+00
  131   7.9689195e+01    1.0000000e+00    0.0000000e+00
  132   7.8569787e+01    1.0000000e+00    0.0000000e+00
  133   2.8326912e+00    1.0000000e+00    0.0000000e+00
  134   1.9341526e+00    1.0000000e+00    0.0000000e+00
  135   1.5108920e+01    1.0000000e+00    0.0000000e+00
  136   2.9437530e+00    1.0000000e+00    0.0000000e+00
  137   2.0427206e+02    1.0000000e+00    0.0000000e+00
  138   2.0720129e+02    1.0000000e+00    0.0000000e+00
  139   3.4265218e+00    1.0000000e+00    0.0000000e+00
  140   2.9292699e+00    1.0000000e+00    0.0000000e+00
  141   2.8444147e+01    1.0000000e+00    0.0000000e+00
  142   2.1702167e+01    1.0000000e+00    0.0000000e+00
  143   3.1603289e+02    1.0000000e+00    0.0000000e+00
  144   3.1700304e+02    1.0000000e+00    0.0000000e+00
  145   1.2954686e+00    1.0000000e+00    0.0000000e+00
  146   2.0244686e+00    1.0000000e+00    0.0000000e+00
  147   1.8537943e-01    8.7808422e+00    0.0000000e+00
  148   8.9626928e+00    1.0000000e+00    0.0000000e+00
  149   1.1695899e+02    1.0000000e+00    0.0000000e+00
  150   7.9974390e+01    1.0000000e+00    0.0000000e+00
  151   3.0605407e+00    1.0000000e+00    0.0000000e+00
  152   1.9193649e+00    1.0000000e+00    0.0000000e+00
  153   1.7139807e+01    1.0000000e+00    0.0000000e+00
  154   3.4433550e+00    1.0000000e+00    0.0000000e+00
  155   2.2576643e+02    1.0000000e+00    0.0000000e+00
  156   2.8626036e+02    1.0000000e+00    0.0000000e+00
  157   3.6358371e+00    1.0000000e+00    0.0000000e+00
  158   3.0040371e+00    1.0000000e+00    0.0000000e+00
  159   3.2391228e+01    1.0000000e+00    0.0000000e+00
  160   2.4784223e+01    1.0000000e+00    0.0000000e+00
  161   3.7784010e+02    1.0000000e+00    0.0000000e+00
  162   4.0989343e+02    1.0000000e+00    0.0000000e+00
  163   1.2737350e+00    1.0000000e+00    0.0000000e+00
  164   2.1709247e+00    1.0000000e+00    0.0000000e+00
  165   1.3737932e-01    9.9315255e+00    0.0000000e+00
  166   1.0080928e+01    1.0000000e+00    0.0000000e+00
  167   1.3787943e+02    1.0000000e+00    0.0000000e+00
  168   9.8931448e+01    1.0000000e+00    0.0000000e+00
  169   3.2851863e+00    1.0000000e+00    0.0000000e+00
  170   1.8818032e+00    1.0000000e+00    0.0000000e+00
  171   1.9224710e+01    1.0000000e+00    0.0000000e+00
  172   3.7664813e+00    1.0000000e+00    0.0000000e+00
  173   2.7477788e+02    1.0000000e+00    0.0000000e+00
  174   3.4093040e+02    1.0000000e+00    0.0000000e+00
  175   3.8334419e+00    1.0000000e+00    0.0000000e+00
  176   3.0558775e+00    1.0000000e+00    0.0000000e+00
  177   3.6241082e+01    1.0000000e+00    0.0000000e+00
  178   2.7623340e+01    1.0000000e+00    0.0000000e+00
  179   4.5674429e+02    1.0000000e+00    0.0000000e+00
  180   4.9049921e+02    1.0000000e+00    0.0000000e+00
  181   1.2365417e+00    1.0000000e+00    0.0000000e+00
  182   2.3132019e+00    1.0000000e+00    0.0000000e+00
  183   7.8095049e-02    1.2458803e+01    0.0000000e+00
  184   1.1104201e+01    1.0000000e+00    0.0000000e+00
  185   1.5738334e+02    1.0000000e+00    0.0000000e+00
  186   1.1782082e+02    1.0000000e+00    0.0000000e+00
  187   3.5032924e+00    1.0000000e+00    0.0000000e+00
  188   1.8213231e+00    1.0000000e+00    0.0000000e+00
  189   2.1097472e+01    1.0000000e+00    0.0000000e+00
  190   4.0626929e+00    1.0000000e+00    0.0000000e+00