robotcxx.pro~orig

sqp程序包。用sqp算法实现非线性约束的优化求解

  665   1.5879651e+03    1.0000000e+00    0.0000000e+00
  666   2.4664139e+03    1.0000000e+00    0.0000000e+00
  667   8.8958139e-01    1.3838494e+00    0.0000000e+00
  668   6.4514781e+00    1.0000000e+00    0.0000000e+00
  669   4.7302234e+01    1.0000000e+00    0.0000000e+00
  670   5.1602309e+01    1.0000000e+00    0.0000000e+00
  671   1.0383787e+03    1.0000000e+00    0.0000000e+00
  672   2.6525243e+00    2.6568115e+03    0.0000000e+00
  673   3.6108380e+00    1.0000000e+00    0.0000000e+00
  674   7.4007513e+00    1.0000000e+00    0.0000000e+00
  675   4.7064389e+01    1.0000000e+00    0.0000000e+00
  676   1.7547083e+02    1.0000000e+00    0.0000000e+00
  677   2.0453154e+03    1.0000000e+00    0.0000000e+00
  678   6.6136590e+02    1.0000000e+00    0.0000000e+00
  679   9.7512148e+00    1.0000000e+00    0.0000000e+00
  680   4.9309043e+00    1.0000000e+00    0.0000000e+00
  681   3.1094006e+02    1.0000000e+00    0.0000000e+00
  682   3.0721333e+02    1.0000000e+00    0.0000000e+00
  683   1.6332478e+03    1.0000000e+00    0.0000000e+00
  684   2.5308772e+03    1.0000000e+00    0.0000000e+00
  685   8.6917687e-01    1.3565684e+00    0.0000000e+00
  686   6.4660870e+00    1.0000000e+00    0.0000000e+00
  687   4.5690069e+01    1.0000000e+00    0.0000000e+00
  688   5.2980410e+01    1.0000000e+00    0.0000000e+00
  689   1.0339266e+03    1.0000000e+00    0.0000000e+00
  690   3.0018113e+00    1.6810893e+03    0.0000000e+00
  691   3.1753533e+00    1.0000000e+00    0.0000000e+00
  692   7.8275425e+00    1.0000000e+00    0.0000000e+00
  693   4.8217001e+01    1.0000000e+00    0.0000000e+00
  694   1.7379158e+02    1.0000000e+00    0.0000000e+00
  695   2.1443840e+03    1.0000000e+00    0.0000000e+00
  696   5.5162980e+02    1.0000000e+00    0.0000000e+00
  697   9.7605916e+00    1.0000000e+00    0.0000000e+00
  698   4.9099362e+00    1.0000000e+00    0.0000000e+00
  699   3.1150440e+02    1.0000000e+00    0.0000000e+00
  700   3.0518610e+02    1.0000000e+00    0.0000000e+00
  701   1.6271227e+03    1.0000000e+00    0.0000000e+00
  702   2.5205908e+03    1.0000000e+00    0.0000000e+00
  703   8.3312828e-01    1.3838494e+00    0.0000000e+00
  704   6.4510992e+00    1.0000000e+00    0.0000000e+00
  705   4.3144603e+01    1.0000000e+00    0.0000000e+00
  706   5.3480621e+01    1.0000000e+00    0.0000000e+00
  707   9.9977626e+02    1.0000000e+00    0.0000000e+00
  708   1.5775556e+00    2.9168904e+03    0.0000000e+00
  709   2.7334990e+00    1.0000000e+00    0.0000000e+00
  710   8.1928423e+00    1.0000000e+00    0.0000000e+00
  711   4.8354607e+01    1.0000000e+00    0.0000000e+00
  712   1.6905215e+02    1.0000000e+00    0.0000000e+00
  713   2.1826393e+03    1.0000000e+00    0.0000000e+00
  714   4.2088062e+02    1.0000000e+00    0.0000000e+00
  715   9.7186816e+00    1.0000000e+00    0.0000000e+00
  716   4.8497734e+00    1.0000000e+00    0.0000000e+00
  717   3.0643277e+02    1.0000000e+00    0.0000000e+00
  718   2.9747488e+02    1.0000000e+00    0.0000000e+00
  719   1.5701549e+03    1.0000000e+00    0.0000000e+00
  720   2.4352604e+03    1.0000000e+00    0.0000000e+00
  721   7.8130727e-01    1.4142136e+00    0.0000000e+00
  722   6.4063073e+00    1.0000000e+00    0.0000000e+00
  723   3.9693024e+01    1.0000000e+00    0.0000000e+00
  724   5.3138258e+01    1.0000000e+00    0.0000000e+00
  725   9.3668581e+02    1.0000000e+00    0.0000000e+00
  726   1.3648684e-06    4.6370097e+03    5.0184961e-05
  727   2.2943814e+00    1.0000000e+00    0.0000000e+00
  728   8.4870404e+00    1.0000000e+00    0.0000000e+00
  729   4.7391871e+01    1.0000000e+00    0.0000000e+00
  730   1.6147851e+02    1.0000000e+00    0.0000000e+00
  731   2.1537408e+03    1.0000000e+00    0.0000000e+00
  732   2.8164228e+02    5.4373673e+03    0.0000000e+00
  733   9.6251145e+00    1.0000000e+00    0.0000000e+00
  734   4.7501145e+00    1.0000000e+00    0.0000000e+00
  735   2.9592402e+02    1.0000000e+00    0.0000000e+00
  736   2.8427149e+02    1.0000000e+00    0.0000000e+00
  737   1.4674744e+03    1.0000000e+00    0.0000000e+00
  738   2.2792688e+03    1.0000000e+00    0.0000000e+00
  739   7.1441361e-01    1.3838494e+00    0.0000000e+00
  740   6.3323846e+00    1.0000000e+00    0.0000000e+00
  741   3.5716050e+01    1.0000000e+00    0.0000000e+00
  742   5.1765306e+01    1.0000000e+00    0.0000000e+00
  743   7.7136023e+02    1.0000000e+00    0.0000000e+00
  744   7.7095543e+01    1.0000000e+00    0.0000000e+00
  745   1.8673057e+00    1.0000000e+00    0.0000000e+00
  746   8.7028915e+00    1.0000000e+00    0.0000000e+00
  747   4.5667706e+01    1.0000000e+00    0.0000000e+00
  748   1.5116535e+02    1.0000000e+00    0.0000000e+00
  749   1.9786820e+03    1.0000000e+00    0.0000000e+00
  750   2.2730305e+02    1.0000000e+00    0.0000000e+00
  751   9.4812522e+00    1.0000000e+00    0.0000000e+00
  752   4.6123441e+00    1.0000000e+00    0.0000000e+00
  753   2.8033392e+02    1.0000000e+00    0.0000000e+00
  754   2.6642456e+02    1.0000000e+00    0.0000000e+00
  755   1.3960635e+03    1.0000000e+00    0.0000000e+00
  756   1.9977596e+03    1.0000000e+00    0.0000000e+00
  757   6.3653864e-01    1.3565684e+00    0.0000000e+00
  758   6.2334488e+00    1.0000000e+00    0.0000000e+00
  759   3.1739281e+01    1.0000000e+00    0.0000000e+00
  760   4.9320951e+01    1.0000000e+00    0.0000000e+00
  761   6.0487916e+02    1.0000000e+00    0.0000000e+00
  762   1.4234304e+02    1.0000000e+00    0.0000000e+00
  763   1.4652911e+00    1.0000000e+00    0.0000000e+00
  764   8.8396900e+00    1.0000000e+00    0.0000000e+00
  765   4.3888775e+01    1.0000000e+00    0.0000000e+00
  766   1.3849675e+02    1.0000000e+00    0.0000000e+00
  767   1.7757223e+03    1.0000000e+00    0.0000000e+00
  768   1.6705539e+02    1.0000000e+00    0.0000000e+00
  769   9.2953152e+00    1.0000000e+00    0.0000000e+00
  770   4.4446597e+00    1.0000000e+00    0.0000000e+00
  771   2.6093195e+02    1.0000000e+00    0.0000000e+00
  772   2.4569450e+02    1.0000000e+00    0.0000000e+00
  773   1.2940121e+03    1.0000000e+00    0.0000000e+00
  774   1.6948767e+03    1.0000000e+00    0.0000000e+00
  775   5.5260184e-01    1.3838494e+00    0.0000000e+00
  776   6.1144986e+00    1.0000000e+00    0.0000000e+00
  777   2.8015469e+01    1.0000000e+00    0.0000000e+00
  778   4.6073064e+01    1.0000000e+00    0.0000000e+00
  779   4.4916690e+02    1.0000000e+00    0.0000000e+00
  780   1.9404641e+02    1.0000000e+00    0.0000000e+00
  781   1.1009643e+00    1.0000000e+00    0.0000000e+00
  782   8.8996863e+00    1.0000000e+00    0.0000000e+00
  783   4.2464186e+01    1.0000000e+00    0.0000000e+00
  784   1.2423501e+02    1.0000000e+00    0.0000000e+00
  785   1.5626425e+03    1.0000000e+00    0.0000000e+00
  786   1.0971217e+02    5.2565167e+03    0.0000000e+00
  787   9.0772557e+00    1.0000000e+00    0.0000000e+00
  788   4.2569452e+00    1.0000000e+00    0.0000000e+00
  789   2.3935162e+02    1.0000000e+00    0.0000000e+00
  790   2.2370171e+02    1.0000000e+00    0.0000000e+00
  791   1.1758744e+03    1.0000000e+00    0.0000000e+00
  792   1.3969788e+03    1.0000000e+00    0.0000000e+00
  793   4.6749630e-01    1.4142136e+00    0.0000000e+00
  794   5.9805588e+00    1.0000000e+00    0.0000000e+00
  795   2.4763193e+01    1.0000000e+00    0.0000000e+00
  796   4.2260172e+01    1.0000000e+00    0.0000000e+00
  797   3.1244487e+02    4.8993972e+03    0.0000000e+00
  798   2.3182431e+02    1.0000000e+00    0.0000000e+00
  799   7.8509920e-01    2.1213203e+00    0.0000000e+00
  800   8.8869834e+00    1.0000000e+00    0.0000000e+00
  801   4.1706956e+01    1.0000000e+00    0.0000000e+00
  802   1.0909562e+02    1.0000000e+00    0.0000000e+00
  803   1.3536836e+03    1.0000000e+00    0.0000000e+00
  804   6.1416295e+01    6.4063523e+03    0.0000000e+00
  805   8.8370488e+00    1.0000000e+00    0.0000000e+00
  806   4.0590613e+00    1.0000000e+00    0.0000000e+00
  807   2.1703004e+02    1.0000000e+00    0.0000000e+00
  808   2.0186599e+02    1.0000000e+00    0.0000000e+00
  809   1.0536028e+03    1.0000000e+00    0.0000000e+00
  810   1.1234739e+03    1.0000000e+00    0.0000000e+00
  811   3.8604384e-01    1.3838494e+00    0.0000000e+00
  812   5.8366359e+00    1.0000000e+00    0.0000000e+00
  813   2.2142132e+01    1.0000000e+00    0.0000000e+00
  814   3.8096119e+01    1.0000000e+00    0.0000000e+00
  815   2.0242740e+02    2.7733044e+03    0.0000000e+00
  816   2.5314488e+02    1.0000000e+00    0.0000000e+00
  817   5.2646278e-01    2.0757740e+00    0.0000000e+00
  818   8.8075568e+00    1.0000000e+00    0.0000000e+00
  819   4.1807316e+01    1.0000000e+00    0.0000000e+00
  820   9.3728750e+01    1.0000000e+00    0.0000000e+00
  821   1.1628656e+03    1.0000000e+00    0.0000000e+00
  822   2.1622354e+01    3.3704073e+03    0.0000000e+00
  823   8.5846029e+00    1.0000000e+00    0.0000000e+00
  824   3.8607565e+00    1.0000000e+00    0.0000000e+00
  825   1.9515793e+02    1.0000000e+00    0.0000000e+00
  826   1.8133114e+02    1.0000000e+00    0.0000000e+00
  827   9.3312214e+02    1.0000000e+00    0.0000000e+00
  828   8.8916699e+02    1.0000000e+00    0.0000000e+00
  829   3.1286031e-01    1.3565684e+00    0.0000000e+00
  830   5.6875830e+00    1.0000000e+00    0.0000000e+00
  831   2.0262739e+01    1.0000000e+00    0.0000000e+00
  832   3.3749230e+01    1.0000000e+00    0.0000000e+00
  833   1.1558439e+02    2.2265981e+03    0.0000000e+00
  834   2.6424339e+02    1.0000000e+00    0.0000000e+00
  835   3.3162127e-01    2.0348526e+00    0.0000000e+00
  836   8.6690436e+00    1.0000000e+00    0.0000000e+00
  837   4.2855621e+01    1.0000000e+00    0.0000000e+00
  838   7.8671310e+01    1.0000000e+00    0.0000000e+00
  839   9.8755221e+02    1.0000000e+00    0.0000000e+00
  840   5.4003681e-07    2.9772551e+03    2.8604725e-05
  841   8.3294898e+00    1.0000000e+00    0.0000000e+00
  842   3.6713968e+00    1.0000000e+00    0.0000000e+00
  843   1.7463155e+02    1.0000000e+00    0.0000000e+00
  844   1.6294326e+02    1.0000000e+00    0.0000000e+00
  845   8.2407445e+02    1.0000000e+00    0.0000000e+00
  846   6.9523665e+02    1.0000000e+00    0.0000000e+00
  847   2.5249024e-01    1.3838494e+00    0.0000000e+00
  848   5.5382346e+00    1.0000000e+00    0.0000000e+00
  849   1.9208766e+01    1.0000000e+00    0.0000000e+00
  850   2.9335596e+01    1.0000000e+00    0.0000000e+00
  851   4.9702182e+01    2.9447683e+03    0.0000000e+00
  852   2.6823016e+02    1.0000000e+00    0.0000000e+00
  853   2.0524118e-01    2.0757740e+00    0.0000000e+00
  854   8.4808461e+00    1.0000000e+00    0.0000000e+00
  855   4.4893501e+01    1.0000000e+00    0.0000000e+00
  856   6.4331314e+01    1.0000000e+00    0.0000000e+00
  857   8.2662408e+02    1.0000000e+00    0.0000000e+00
  858   7.7359766e-07    4.0828587e+03    1.9072042e-04
  859   8.0812141e+00    1.0000000e+00    0.0000000e+00
  860   3.5002356e+00    1.0000000e+00    0.0000000e+00
  861   1.5608943e+02    1.0000000e+00    0.0000000e+00
  862   1.4731284e+02    1.0000000e+00    0.0000000e+00
  863   7.3056013e+02    1.0000000e+00    0.0000000e+00
  864   5.4116922e+02    1.0000000e+00    0.0000000e+00
  865   2.0945184e-01    1.4142136e+00    0.0000000e+00
  866   5.3934518e+00    1.0000000e+00    0.0000000e+00
  867   1.9030298e+01    1.0000000e+00    0.0000000e+00
  868   2.4942032e+01    1.0000000e+00    0.0000000e+00
  869  -3.4088248e-07    3.8098388e+03    2.4451330e-04
  870   2.6960990e+02    1.0000000e+00    0.0000000e+00
  871   1.5033703e-01    2.1213203e+00    0.0000000e+00
  872   8.2540185e+00    1.0000000e+00    0.0000000e+00
  873   4.7915218e+01    1.0000000e+00    0.0000000e+00
  874   5.1022524e+01    1.0000000e+00    0.0000000e+00
  875   6.7463190e+02    6.4708839e+03    0.0000000e+00
  876   2.6353834e+01    1.0000000e+00    0.0000000e+00
  877   7.8493037e+00    1.0000000e+00    0.0000000e+00
  878   3.3565037e+00    1.0000000e+00    0.0000000e+00
  879   1.3997528e+02    1.0000000e+00    0.0000000e+00
  880   1.3485178e+02    1.0000000e+00    0.0000000e+00
  881   6.5605075e+02    1.0000000e+00    0.0000000e+00
  882   4.2238884e+02    4.0093685e+03    0.0000000e+00
  883   1.8738854e-01    1.3838494e+00    0.0000000e+00
  884   5.2572735e+00    1.0000000e+00    0.0000000e+00
  885   1.9474106e+01    1.0000000e+00    0.0000000e+00
  886   2.0876754e+01    1.0000000e+00    0.0000000e+00
  887   1.3269353e+01    2.1634960e+03    0.0000000e+00
  888   2.2035855e+02    1.0000000e+00    0.0000000e+00
  889   1.6724619e-01    2.0757740e+00    0.0000000e+00
  890   7.9997469e+00    1.0000000e+00    0.0000000e+00
  891   5.1442561e+01    1.0000000e+00    0.0000000e+00
  892   3.9346876e+01    1.0000000e+00    0.0000000e+00
  893   6.0743254e+02    1.0000000e+00    0.0000000e+00
  894   1.1698181e-06    2.9301477e+03    1.7932098e-05
  895   7.6416123e+00    1.0000000e+00    0.0000000e+00
  896   3.2477119e+00    1.0000000e+00    0.0000000e+00
  897   1.2670425e+02    1.0000000e+00    0.0000000e+00
  898   1.2548863e+02    1.0000000e+00    0.0000000e+00
  899   5.5699445e+02    1.0000000e+00    0.0000000e+00
  900   3.7751715e+02    1.0000000e+00    0.0000000e+00
  901   1.8652389e-01    1.3565684e+00    0.0000000e+00