robotcxx.mes~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 16:55:45 2000
robotc
step=1
no update since dg=0
step=2
rankdeficiency of grad's of active constr.!
 del= 1.000000000000000e+00
step=2
rankdeficiency of grad's of active constr.!
 del= 1.000000000000000e+00
step=2
no update since dg=0
step=3
rankdeficiency of grad's of active constr.!
 del= 8.068344409868689e-01
step=3
rankdeficiency of grad's of active constr.!
 del= 8.068344409868689e-01
step=3
no update since dg=0
step=4
no update since dg=0
step=5
no update since dg=0
step=6
no update since dg=0
step=7
no update since dg=0
step=8
rescaling of objective function scf= 1.000000000000000e+04
step=10
rankdeficiency of grad's of active constr.!
on the basis of delmin!
step=10
rankdeficiency of grad's of active constr.!
 del= 1.139820916365906e-05
step=10
rankdeficiency of grad's of active constr.!
 del= 1.464890126023067e-02
step=11
rankdeficiency of grad's of active constr.!
on the basis of delmin!
step=11
rankdeficiency of grad's of active constr.!
 del= 5.699236973113475e-06
step=11
rankdeficiency of grad's of active constr.!
 del= 6.473159075499711e-02
step=12
rankdeficiency of grad's of active constr.!
on the basis of delmin!
step=12
rankdeficiency of grad's of active constr.!
 del= 4.986842695087863e-06
step=12
rankdeficiency of grad's of active constr.!
 del= 1.000000000000000e-01
step=13
rankdeficiency of grad's of active constr.!
on the basis of delmin!
step=13
rankdeficiency of grad's of active constr.!
 del= 4.924508000492503e-06
step=13
rankdeficiency of grad's of active constr.!
 del= 7.296567728185036e-02
step=14
rankdeficiency of grad's of active constr.!
on the basis of delmin!
step=14
rankdeficiency of grad's of active constr.!
 del= 2.462278712555570e-06
step=14
rankdeficiency of grad's of active constr.!
 del= 7.580858874913440e-02
step=15
rankdeficiency of grad's of active constr.!
on the basis of delmin!
step=15
rankdeficiency of grad's of active constr.!
 del= 2.057903150576432e-04
step=15
rankdeficiency of grad's of active constr.!
 del= 1.000000000000000e-01
step=16
rankdeficiency of grad's of active constr.!
on the basis of delmin!
step=16
rankdeficiency of grad's of active constr.!
 del= 9.167918880300254e-06
step=16
rankdeficiency of grad's of active constr.!
 del= 3.379567093311184e-02
step=17
rankdeficiency of grad's of active constr.!
 del= 7.864352753420169e-02
step=18
rankdeficiency of grad's of active constr.!
 del= 4.654790043025006e-02
step=19
rankdeficiency of grad's of active constr.!
 del= 7.299428177518873e-02
step=20
rankdeficiency of grad's of active constr.!
 del= 2.423847452541213e-02
step=21
rankdeficiency of grad's of active constr.!
 del= 4.800347779969838e-02
step=22
rankdeficiency of grad's of active constr.!
 del= 2.547970289426909e-02
step=23
rankdeficiency of grad's of active constr.!
 del= 3.241279845162848e-02
step=24
rankdeficiency of grad's of active constr.!
 del= 1.000000000000000e-01
step=25
rankdeficiency of grad's of active constr.!
 del= 2.400065805312909e-02
step=26
rankdeficiency of grad's of active constr.!
 del= 2.182339637296738e-02
step=27
rankdeficiency of grad's of active constr.!
 del= 1.000000000000000e-01
step=27
rankdeficiency of grad's of active constr.!
 del= 1.000000000000000e-01
step=28
rankdeficiency of grad's of active constr.!
 del= 9.428475259385195e-02