robotcxx.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 16:55:45 2000
robotc

     n=        21    nh=         0    ng=      1458

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

startvalue
  1.9204265e+00   1.9204265e+00   1.9204265e+00   1.9204265e+00   1.9204265e+00 
  1.9204265e+00   1.9204265e+00   1.9204265e+00   1.9204265e+00   1.9204265e+00 
  1.9204265e+00   1.9204265e+00   1.9204265e+00   1.9204265e+00   1.9204265e+00 
  1.9204265e+00   1.9204265e+00   1.9204265e+00   1.9204265e+00   1.9204265e+00 
  1.9204265e+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                           63
 evaluations of grad f                      28
 evaluations of constraints              94372
 evaluations of grads of constraints      1277
 final scaling of objective           1.000000e+04
 norm of grad(f)                      2.198682e-01
 lagrangian violation                 1.000180e-11
 feasibility violation                4.030639e-07
 dual feasibility violation           0.000000e+00
 optimizer runtime sec's              7.690000e+00


 optimal value of f =   1.46760799843757e+00

 optimal solution  x =
  1.90216121306643e+00  1.58706833645694e+00  1.46912233737337e+00
  1.36295752803630e+00  1.27516801704995e+00  1.21232795320059e+00
  1.24878776681628e+00  1.44052336538924e+00  1.70461204738987e+00
  1.85520031610164e+00  1.82751189026140e+00  1.61617393678424e+00
  1.37987501160575e+00  1.26868153469865e+00  1.26977067659365e+00
  1.32663100741439e+00  1.31866811774472e+00  1.36298319269871e+00
  1.46912185128285e+00  1.58706980889789e+00  1.90216084495619e+00

  multipliers are relativ to scf=1
  nr.    constraint      normgrad (or 1)   multiplier
    1   3.0652377e+00    1.0000000e+00    0.0000000e+00
    2   3.0652377e+00    1.0000000e+00    0.0000000e+00
    3   2.8800000e+01    1.0000000e+00    0.0000000e+00
    4   2.8800000e+01    1.0000000e+00    0.0000000e+00
    5  -8.5265128e-14    2.8436173e+02    2.3047559e-04
    6   4.2280571e+02    1.0000000e+00    0.0000000e+00
    7   4.5978566e+00    1.0000000e+00    0.0000000e+00
    8   4.5978566e+00    1.0000000e+00    0.0000000e+00
    9   6.4800000e+01    1.0000000e+00    0.0000000e+00
   10   6.4800000e+01    1.0000000e+00    0.0000000e+00
   11   8.8084522e+02    1.0000000e+00    0.0000000e+00
   12   2.1844961e+02    1.0000000e+00    0.0000000e+00
   13   6.1304755e+00    1.0000000e+00    0.0000000e+00
   14   6.1304755e+00    1.0000000e+00    0.0000000e+00
   15   1.8000000e+02    1.0000000e+00    0.0000000e+00
   16   1.8000000e+02    1.0000000e+00    0.0000000e+00
   17   1.0288272e+03    1.0000000e+00    0.0000000e+00
   18   6.6239560e+02    1.0000000e+00    0.0000000e+00
   19   3.3291449e+00    1.0000000e+00    0.0000000e+00
   20   3.3428580e+00    1.0000000e+00    0.0000000e+00
   21   3.5362478e+01    1.0000000e+00    0.0000000e+00
   22   3.8889612e+01    1.0000000e+00    0.0000000e+00
   23   1.3161428e+02    1.0000000e+00    0.0000000e+00
   24   5.1396736e+02    1.0000000e+00    0.0000000e+00
   25   5.0147441e+00    1.0000000e+00    0.0000000e+00
   26   4.9932602e+00    1.0000000e+00    0.0000000e+00
   27   8.6296523e+01    1.0000000e+00    0.0000000e+00
   28   8.0770679e+01    1.0000000e+00    0.0000000e+00
   29   1.1387660e+03    1.0000000e+00    0.0000000e+00
   30   5.3974627e+02    1.0000000e+00    0.0000000e+00
   31   6.6779452e+00    1.0000000e+00    0.0000000e+00
   32   6.6660605e+00    1.0000000e+00    0.0000000e+00
   33   2.3356621e+02    1.0000000e+00    0.0000000e+00
   34   2.3050936e+02    1.0000000e+00    0.0000000e+00
   35   1.4568496e+03    1.0000000e+00    0.0000000e+00
   36   1.1254770e+03    1.0000000e+00    0.0000000e+00
   37   3.3783221e+00    1.0000000e+00    0.0000000e+00
   38   3.4317947e+00    1.0000000e+00    0.0000000e+00
   39   3.5924402e+01    1.0000000e+00    0.0000000e+00
   40   4.3034972e+01    1.0000000e+00    0.0000000e+00
   41   1.5044626e+02    1.0000000e+00    0.0000000e+00
   42   5.6477903e+02    1.0000000e+00    0.0000000e+00
   43   5.1494745e+00    1.0000000e+00    0.0000000e+00
   44   5.0657007e+00    1.0000000e+00    0.0000000e+00
   45   9.4399237e+01    1.0000000e+00    0.0000000e+00
   46   8.3259354e+01    1.0000000e+00    0.0000000e+00
   47   1.2543509e+03    1.0000000e+00    0.0000000e+00
   48   6.0523482e+02    1.0000000e+00    0.0000000e+00
   49   6.8332883e+00    1.0000000e+00    0.0000000e+00
   50   6.7869453e+00    1.0000000e+00    0.0000000e+00
   51   2.4982929e+02    1.0000000e+00    0.0000000e+00
   52   2.4366680e+02    1.0000000e+00    0.0000000e+00
   53   1.6099948e+03    1.0000000e+00    0.0000000e+00
   54   1.2509064e+03    1.0000000e+00    0.0000000e+00
   55   3.2892345e+00    1.0000000e+00    0.0000000e+00
   56   3.4064828e+00    1.0000000e+00    0.0000000e+00
   57   3.2270309e+01    1.0000000e+00    0.0000000e+00
   58   4.2776349e+01    1.0000000e+00    0.0000000e+00
   59   8.6956092e+01    1.0000000e+00    0.0000000e+00
   60   5.7018045e+02    1.0000000e+00    0.0000000e+00
   61   5.1136323e+00    1.0000000e+00    0.0000000e+00
   62   4.9299438e+00    1.0000000e+00    0.0000000e+00
   63   9.2657132e+01    1.0000000e+00    0.0000000e+00
   64   7.6197847e+01    1.0000000e+00    0.0000000e+00
   65   1.2327758e+03    1.0000000e+00    0.0000000e+00
   66   4.7577925e+02    1.0000000e+00    0.0000000e+00
   67   6.7465250e+00    1.0000000e+00    0.0000000e+00
   68   6.6449098e+00    1.0000000e+00    0.0000000e+00
   69   2.3907342e+02    1.0000000e+00    0.0000000e+00
   70   2.2996819e+02    1.0000000e+00    0.0000000e+00
   71   1.5236703e+03    1.0000000e+00    0.0000000e+00
   72   1.1048759e+03    1.0000000e+00    0.0000000e+00
   73   3.1383210e+00    1.0000000e+00    0.0000000e+00
   74   3.3413835e+00    1.0000000e+00    0.0000000e+00
   75   2.7335237e+01    1.0000000e+00    0.0000000e+00
   76   4.0679908e+01    1.0000000e+00    0.0000000e+00
   77   1.0362867e+01    6.0976213e+02    0.0000000e+00
   78   5.4739549e+02    1.0000000e+00    0.0000000e+00
   79   5.0188417e+00    1.0000000e+00    0.0000000e+00
   80   4.7007152e+00    1.0000000e+00    0.0000000e+00
   81   8.6969763e+01    1.0000000e+00    0.0000000e+00
   82   6.6064314e+01    1.0000000e+00    0.0000000e+00
   83   1.1456250e+03    1.0000000e+00    0.0000000e+00
   84   3.0454675e+02    1.0000000e+00    0.0000000e+00
   85   6.5676983e+00    1.0000000e+00    0.0000000e+00
   86   6.3917108e+00    1.0000000e+00    0.0000000e+00
   87   2.1833002e+02    1.0000000e+00    0.0000000e+00
   88   2.0676464e+02    1.0000000e+00    0.0000000e+00
   89   1.3482308e+03    1.0000000e+00    0.0000000e+00
   90   8.8280257e+02    1.0000000e+00    0.0000000e+00
   91   2.9884536e+00    1.0000000e+00    0.0000000e+00
   92   3.2974441e+00    1.0000000e+00    0.0000000e+00
   93   2.3260628e+01    1.0000000e+00    0.0000000e+00
   94   3.8832268e+01    1.0000000e+00    0.0000000e+00
   95   8.5265128e-14    5.5367871e+02    1.5568148e-04
   96   4.7918870e+02    1.0000000e+00    0.0000000e+00
   97   4.9564526e+00    1.0000000e+00    0.0000000e+00
   98   4.4723938e+00    1.0000000e+00    0.0000000e+00
   99   8.2049711e+01    1.0000000e+00    0.0000000e+00
  100   5.7659306e+01    1.0000000e+00    0.0000000e+00
  101   9.9785910e+02    1.0000000e+00    0.0000000e+00
  102   2.4803151e+02    1.0000000e+00    0.0000000e+00
  103   6.4197935e+00    1.0000000e+00    0.0000000e+00
  104   6.1520018e+00    1.0000000e+00    0.0000000e+00
  105   2.0078801e+02    1.0000000e+00    0.0000000e+00
  106   1.8729259e+02    1.0000000e+00    0.0000000e+00
  107   1.1660258e+03    1.0000000e+00    0.0000000e+00
  108   7.5072896e+02    1.0000000e+00    0.0000000e+00
  109   2.8483159e+00    1.0000000e+00    0.0000000e+00
  110   3.2814761e+00    1.0000000e+00    0.0000000e+00
  111   2.0046119e+01    1.0000000e+00    0.0000000e+00
  112   3.7534619e+01    1.0000000e+00    0.0000000e+00
  113  -2.8421709e-14    6.5946217e+02    8.7587323e-05
  114   4.2257008e+02    1.0000000e+00    0.0000000e+00
  115   4.9365999e+00    1.0000000e+00    0.0000000e+00
  116   4.2580882e+00    1.0000000e+00    0.0000000e+00
  117   7.8469286e+01    1.0000000e+00    0.0000000e+00
  118   5.1087375e+01    1.0000000e+00    0.0000000e+00
  119   8.7918086e+02    1.0000000e+00    0.0000000e+00
  120   2.1950135e+02    1.0000000e+00    0.0000000e+00
  121   6.3174948e+00    1.0000000e+00    0.0000000e+00
  122   5.9420893e+00    1.0000000e+00    0.0000000e+00
  123   1.8751816e+02    1.0000000e+00    0.0000000e+00
  124   1.7236146e+02    1.0000000e+00    0.0000000e+00
  125   1.0282539e+03    1.0000000e+00    0.0000000e+00
  126   6.6202646e+02    1.0000000e+00    0.0000000e+00
  127   2.7130251e+00    1.0000000e+00    0.0000000e+00
  128   3.2867773e+00    1.0000000e+00    0.0000000e+00
  129   1.7411973e+01    1.0000000e+00    0.0000000e+00
  130   3.6582692e+01    1.0000000e+00    0.0000000e+00
  131   4.8546568e+00    1.0000000e+00    0.0000000e+00
  132   3.7477033e+02    1.0000000e+00    0.0000000e+00
  133   4.9491211e+00    1.0000000e+00    0.0000000e+00
  134   4.0505825e+00    1.0000000e+00    0.0000000e+00
  135   7.5738724e+01    1.0000000e+00    0.0000000e+00
  136   4.5749274e+01    1.0000000e+00    0.0000000e+00
  137   7.8068344e+02    1.0000000e+00    0.0000000e+00
  138   2.0634153e+02    1.0000000e+00    0.0000000e+00
  139   6.2484284e+00    1.0000000e+00    0.0000000e+00
  140   5.7511765e+00    1.0000000e+00    0.0000000e+00
  141   1.7704064e+02    1.0000000e+00    0.0000000e+00
  142   1.6042602e+02    1.0000000e+00    0.0000000e+00
  143   9.1954677e+02    1.0000000e+00    0.0000000e+00
  144   5.9895319e+02    1.0000000e+00    0.0000000e+00
  145   2.5776717e+00    1.0000000e+00    0.0000000e+00
  146   3.3066717e+00    1.0000000e+00    0.0000000e+00
  147   1.5119020e+01    1.0000000e+00    0.0000000e+00
  148   3.5818061e+01    1.0000000e+00    0.0000000e+00
  149   1.0534920e+01    1.0000000e+00    0.0000000e+00
  150   3.3394200e+02    1.0000000e+00    0.0000000e+00
  151   4.9838455e+00    1.0000000e+00    0.0000000e+00
  152   3.8426697e+00    1.0000000e+00    0.0000000e+00
  153   7.3466754e+01    1.0000000e+00    0.0000000e+00
  154   4.1141678e+01    1.0000000e+00    0.0000000e+00
  155   6.9605275e+02    1.0000000e+00    0.0000000e+00
  156   1.9958723e+02    1.0000000e+00    0.0000000e+00
  157   6.2002435e+00    1.0000000e+00    0.0000000e+00
  158   5.5684435e+00    1.0000000e+00    0.0000000e+00
  159   1.6814796e+02    1.0000000e+00    0.0000000e+00
  160   1.5020879e+02    1.0000000e+00    0.0000000e+00
  161   8.2909690e+02    1.0000000e+00    0.0000000e+00
  162   5.4881076e+02    1.0000000e+00    0.0000000e+00
  163   2.4383199e+00    1.0000000e+00    0.0000000e+00
  164   3.3355096e+00    1.0000000e+00    0.0000000e+00
  165   1.3030886e+01    1.0000000e+00    0.0000000e+00
  166   3.5089805e+01    1.0000000e+00    0.0000000e+00
  167   5.9287064e+00    1.0000000e+00    0.0000000e+00
  168   3.0739250e+02    1.0000000e+00    0.0000000e+00
  169   5.0320636e+00    1.0000000e+00    0.0000000e+00
  170   3.6286805e+00    1.0000000e+00    0.0000000e+00
  171   7.1308043e+01    1.0000000e+00    0.0000000e+00
  172   3.6963512e+01    1.0000000e+00    0.0000000e+00
  173   6.3430271e+02    1.0000000e+00    0.0000000e+00
  174   1.8033242e+02    1.0000000e+00    0.0000000e+00
  175   6.1626116e+00    1.0000000e+00    0.0000000e+00
  176   5.3850472e+00    1.0000000e+00    0.0000000e+00
  177   1.5993602e+02    1.0000000e+00    0.0000000e+00
  178   1.4081829e+02    1.0000000e+00    0.0000000e+00
  179   7.5727672e+02    1.0000000e+00    0.0000000e+00
  180   4.9600810e+02    1.0000000e+00    0.0000000e+00
  181   2.2950063e+00    1.0000000e+00    0.0000000e+00
  182   3.3716665e+00    1.0000000e+00    0.0000000e+00
  183   1.1152289e+01    1.0000000e+00    0.0000000e+00
  184   3.4338599e+01    1.0000000e+00    0.0000000e+00
  185   2.6895240e+00    1.0000000e+00    0.0000000e+00
  186   2.8261635e+02    1.0000000e+00    0.0000000e+00
  187   5.0909892e+00    1.0000000e+00    0.0000000e+00
  188   3.4090199e+00    1.0000000e+00    0.0000000e+00
  189   6.9136288e+01    1.0000000e+00    0.0000000e+00
  190   3.3218210e+01    1.0000000e+00    0.0000000e+00