diff --git a/notebooks/MPC_racecar.ipynb b/notebooks/MPC_racecar.ipynb index e88e274..e446be3 100644 --- a/notebooks/MPC_racecar.ipynb +++ b/notebooks/MPC_racecar.ipynb @@ -302,8 +302,8 @@ "name": "stdout", "output_type": "stream", "text": [ - "CPU times: user 4.28 ms, sys: 163 µs, total: 4.45 ms\n", - "Wall time: 3.86 ms\n" + "CPU times: user 3.66 ms, sys: 83 µs, total: 3.74 ms\n", + "Wall time: 3.22 ms\n" ] } ], @@ -381,8 +381,8 @@ "name": "stdout", "output_type": "stream", "text": [ - "CPU times: user 4.49 ms, sys: 267 µs, total: 4.75 ms\n", - "Wall time: 1.92 ms\n" + "CPU times: user 1.95 ms, sys: 4.06 ms, total: 6.01 ms\n", + "Wall time: 1.77 ms\n" ] } ], @@ -420,7 +420,7 @@ "outputs": [ { "data": { - "image/png": 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\n", 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" ] @@ -673,7 +673,7 @@ " University of Oxford - Stanford University 2019\n", "-----------------------------------------------------------------\n", "problem: variables n = 282, constraints m = 343\n", - " nnz(P) + nnz(A) = 948\n", + " nnz(P) + nnz(A) = 910\n", "settings: linear system solver = qdldl,\n", " eps_abs = 1.0e-04, eps_rel = 1.0e-04,\n", " eps_prim_inf = 1.0e-04, eps_dual_inf = 1.0e-04,\n", @@ -684,19 +684,18 @@ " warm start: on, polish: on, time_limit: off\n", "\n", "iter objective pri res dua res rho time\n", - " 1 0.0000e+00 1.06e+00 1.06e+02 1.00e-01 3.10e-04s\n", - " 200 5.3723e+00 4.66e-04 2.38e-05 1.11e+00 1.71e-03s\n", - " 350 5.3725e+00 2.13e-04 9.37e-06 1.11e+00 2.73e-03s\n", + " 1 0.0000e+00 1.04e+00 1.04e+02 1.00e-01 3.23e-04s\n", + " 50 3.3426e+00 2.85e-07 4.93e-08 1.00e-01 6.84e-04s\n", "\n", "status: solved\n", "solution polish: unsuccessful\n", - "number of iterations: 350\n", - "optimal objective: 5.3725\n", - "run time: 2.95e-03s\n", - "optimal rho estimate: 4.64e+00\n", + "number of iterations: 50\n", + "optimal objective: 3.3426\n", + "run time: 9.06e-04s\n", + "optimal rho estimate: 1.76e-01\n", "\n", - "CPU times: user 234 ms, sys: 568 µs, total: 235 ms\n", - "Wall time: 231 ms\n" + "CPU times: user 226 ms, sys: 5.12 ms, total: 231 ms\n", + "Wall time: 234 ms\n" ] } ], @@ -780,7 +779,7 @@ "outputs": [ { "data": { - "image/png": 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\n", 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wn/kNAdcMp+y+6VbHqWSXz+dcte1BNapAffDBB1x33XVERkbWukxxcTEBtTQT1eXzzz/nyy+/rFKgUlNTGT9+fJ3rteUmPl1WBscPow+lwMEU1/XxI2CargW7XIi6pL/r7Paefen8o26t2mwmTXzNUzEW35EjR8jPzyc0NJSuXbvSs2fPBjUBNqSZ/Ntvv6VTp06Ehoayc+dO3n77bZ566ql6X1sKVNOY/1znGuF/whyMgXFWxwHs9flUaJEmvptvvrneZZpSnAAcDgcZGRmV9zMyMoiKimrSa3kbXVQIPxxDnzwGJ79nxZWZlD+eAiePQVmpa6GQMPhRT9QVV6N+1Au6X4QKr/2HhLAfX19f+vTpwwUXXEBqaiq5ubkcP368sjhcf/31da7fkGbyiy66qPJ2r169qmxzouWpG36O79e7KP3Ly+hefVHRMVZH8ii2OQayR48enDhxgrS0NKKjo9m6dSvTpzd+t3jBgqZNlDd7ds1HKbXWehXr6pJiyM2B7AzIziC/uBDz6GHISkdnpUPmKcjOPLuSMhjarQNEdUT17QfdeqAu7A3O9vWepzRoUHGzsnrCes1Zt6nfnZa0fft2XnzxRTp06MDRo0fp0qULR48e5eKLL663QGVmZlY52s/hcJCSklLr8hs3bqRfv341Pnd+U7rT6axxOV9f31qfs4rtMs15grTpd+P755VELvyD5SOw2O7zqUOzjuJracnJyaxduxbTNBk+fDi33nprveuc3/Tgrt1XrbVr76W4CEqKobjYdV1SDMWF6MICKMyHwkLXdVEhFOShc3Mg9zTk5bguxUXVX9w/AKKdEOVERTmhfUfXSX8dOkPMBSiLjuSqjx2bDhqjpvzubOIDmDNnDrfddhvXXHMN999/P2vWrOE///kPR48e5d57761z3cY0k+/Zs4fVq1fzxBNPNOhQemniazqn00nae2+iX38RdfsDGCN/ZnkeO30+0IJH8bWm/v37079//yavb/7tT5xWYBYWnnlEg6lBa9Cm69o0XSematPVV2OaYJafvV1eDuVl1a/LylwFqbTEdV3DgQy1UgoCgyEoGMIiIDQMdUFnCHXdJizCNQtttBNHz4vIKCqWURvaqPT0dK655poqj8XFxTFx4sR6C1RDm8kPHz7MH//4R+bNmycjVLiJGjIS/eV29Luvo/teKTMANJCtClRz6X27KCkuRJvaVRQAKnanDQOUAYY6c22cvfbxcV1X3PYPcF37+KLOXOPnC37+4Ot39uLnBwGBruX9A1znEPkHgH8gBIW4ClJwMPgHNni33ggLRxXb69eNcJ/w8HCys7OJjIwkJiaG/fv3ExYWhllx4EsdGtJMnp6ezvPPP8/UqVPdvnfYlimlMO6demaUid9jzH/eti0hduJVBcrniRW23H0VoqFGjBjBN998w6BBg7jpppt4/PHHUUoxevToetf18fFh/PjxLF68uLKZvEuXLmzYsAGAUaNG8fe//528vDxWrVpVuc6SJUta9d8kXFR4JMZ90zBffBL9wZuon99ndSTbs1UfVFNY1QfVWjw5vydnB3v0QZ0vPT2doqIiy09Ylz6opjs/j/n6i+hP/+2aJr73pZbnsYPatjOZbkMIG3M6nZYXJ9Gy1O0PgLM95qvLXAdTiVpJgRJCCDdSgUEYD8yGzHT0X1+xOo6tSYESQgg3Uz0uRt14G/rzjZhJW+pfoY2SAiWEEBZQo++E7heh31iBPnXS6ji2JAVKCCEsoHx9MR6cC4D5p+ddY2uKKqRACSGERZSzPeqeqXBwP/qDv1gdx3akQAkhhIWM2CGooaPQ//cuet8uq+PYihQoIYSwmLrjQejQGfPVpeicbKvj2IYUKCGEsJgKCMCYOBfy8zDX/ME1XqiQAiWEEHagOl+Iun087PkC/cmHVsexBSlQQghhE2rYjXDlIPQ7a9GHU62OYzkpUEIIYRNKKYxx0yA8EvOV59BFbXsoJNsUqM8//5zZs2dzxx13cODAAavjCCGEJVRIGMaE2XDqB8zVy9p0f5RtClSXLl2YO3cuffr0sTqKEEJYSvW+1NUftWsb+v03rY5jGdvMByUjNgshxFlqxE/h+BH0R+swO3bBGBhndSS3s02BaqjExEQSExMBWLJkCU6ns8rzvr6+1R7zJJ6c35Ozg+fnF95FKQV3/Qr9wzH0a8vR7S5AXdjb6lhu5dYCtWjRIrKzq5+EdueddxIbG9ug14iPjyc+Pr7y/vkTb9lxMq7G8OT8npwd7DlhoWjblK8fxqR5mItnY65YjDE/ARXddn5EubVAPfLII+58OyGE8HgqLBxj2iOYT//GVaR+swQVEGB1LLewzUESQgghaqY6dXONfH70O/SatnNkn20K1Pbt25k0aRL79+9nyZIlLF682OpIQghhG+qKWNTP70N/8Rn6H29ZHcctbHOQxNVXX83VV19tdQwhhLAtNeoWOHYE/eFfMdt39Poj+2xToIQQQtRNKQX3TEGnn0SvXopZVoZx7QirY7Ua2zTxCSGEqJ/y88OYsRD6XI5+7Q+YiR9YHanVSIESQggPowICMaY+Av2vQb+1CvPDv6G1tjpWi5MCJYQQHkj5+WFM/A1q8Aj0B2+i1632uqP7pA9KCCE8lPLxgfumQVAwOvEDKMyHe6a6HvcCUqCEEMKDKcOAOyZAcAj6w7+hCwswJsxF+flZHa3ZpIlPCCE8nFIK4+a7UHc8AMmfY/5hIfrUSatjNZsUKCGE8BJG/M9Q98+EQymYj07BfP8v6OJiq2M1mTTxCeFFdu3axZo1azBNkxEjRjBmzJgqz2utWbNmDTt37iQgIIDJkyfTvXt3i9KK1mAMvh7d5wr0319D/+Mt9NaNGHc8AP2ucZ1H5UFkD0oIL2GaJqtXr2b+/PksXbqUzz77jO+//77KMjt37uTkyZMsX76ciRMnsmrVKovSitakohwYD87BmPsUBAVjvrQEc9lj6BPf17+yjUiBEsJLpKam0qFDB9q3b4+vry+DBw8mKSmpyjI7duzguuuuQylF7969yc/PJysry6LEorWpiy7FeGQZ6s6JcDAF8/Fp5K5Zjj6Ugi4vb7X31WY5uqgQnZOFPnUSfewIOjen0a8jTXxCeInMzEwcDkflfYfDQUpKSrVlzp2U0eFwkJmZSVRUVJXl6psYtIIdJ3m0WyZb5LljHOaPbyb3L3+k4IO/wQd/QwUG4dv7Evz6XoFfnyvw69UXIyi4zpfRxUWUp52kPO0E5afOXptpJyjPTHcVpZIiKCmptm7Yg3MIvvHnjYotBUoIL1HTSALn9zk0ZBmof2LQCnacpNJumWyV544HcY6dQMb/PoOUvZSk7qPkrVdBazAM6NIdgkOgpBhKS1zXlZcz98/l4wvRTnC0Q/XsC4FBrrmq/AOh4to/ABUQQH7XHhTU8jnUNjGoFCghvITD4SAjI6PyfkZGRrU9I4fDUeWPZU3LCO/mEx2DETsEYocAoAvy4btv0Clfow987SpC/gEQEobyD3Dd9vd3XQeHuoqRsx1Et4PIKJTReicFS4ESwkv06NGDEydOkJaWRnR0NFu3bmX69OlVlhkwYAD/93//x7XXXktKSgrBwcFSoNo4FRwCl16FuvQqq6NUIwVKCC/h4+PD+PHjWbx4MaZpMnz4cLp06cKGDRsAGDVqFP369SM5OZnp06fj7+/P5MmTLU4tRO2kQAnhRfr370///v2rPDZq1KjK20opJkyY4O5YQjSJHGYuhBDClpT2xklEhBBCeDyv24N6+OGHrY7QLJ6c35Ozg+fnt4IdPzO7ZZI8Ted1BUoIIYR3kAIlhBDClnwWLly40OoQLc3TR2f25PyenB08P78V7PiZ2S2T5GkaOUhCCCGELUkTnxBCCFvymhN165uozc7S09NZsWIF2dnZKKWIj4/nxhtvtDpWo5mmycMPP0x0dLRHHSkEkJ+fz8svv8zRo0dRSvHrX/+a3r17Wx3L1uy2zU2ZMoXAwEAMw8DHx4clS5a4PcPKlStJTk4mIiKChIQEAPLy8li6dCmnTp0iJiaGWbNmERoaalmedevW8cknnxAeHg7A2LFjq53cbRvaC5SXl+upU6fqkydP6tLSUj137lx99OhRq2M1WGZmpj5w4IDWWuuCggI9ffp0j8pf4cMPP9TLli3TTz/9tNVRGu2FF17QiYmJWmutS0tLdV5ensWJ7M2O29zkyZP16dOnLc2wd+9efeDAAT179uzKx9544w393nvvaa21fu+99/Qbb7xhaZ633npLv//++27L0Bxe0cTXkIna7CwqKqqy0zIoKIhOnTqRmZlpcarGycjIIDk5mREjRlgdpdEKCgr4+uuvuf766wHX/D0hISEWp7I3T9/mWkvfvn2r7R0lJSURFxcHQFxcnFs/p5ryeBKvaOJryERtniItLY2DBw/Ss2dPq6M0ymuvvcYvf/lLCgsLrY7SaGlpaYSHh7Ny5UoOHz5M9+7dGTduHIGBgVZHsy27bnOLFy8GYOTIkVXms7LS6dOnK0eMj4qKIien8TPLtrSPP/6YzZs30717d+69917bFjGv2IPSDZyEze6KiopISEhg3LhxBAfXPbOlnXzxxRdERER4zKGr5ysvL+fgwYOMGjWKZ599loCAANavX291LFuz4za3aNEinnnmGebPn8/HH3/Mvn37LM1jV6NGjeKFF17g2WefJSoqitdff93qSLXyigLVkIna7K6srIyEhASGDh3KwIEDrY7TKN9++y07duxgypQpLFu2jD179rB8+XKrYzWYw+HA4XDQq1cvAAYNGsTBgwctTmVvdtzmoqOjAYiIiCA2NpbU1FRL81SIiIggKysLgKysrMqDE6wSGRmJYRgYhsGIESM4cOCApXnq4hUF6tyJ2srKyti6dSsDBgywOlaDaa15+eWX6dSpE6NHj7Y6TqPdddddvPzyy6xYsYKZM2dy6aWXVpsoz84iIyNxOBwcP34cgK+++orOnTtbnMre7LbNFRUVVTYvFxUVsXv3brp27WpZnnMNGDCATZs2AbBp0yZiY2MtzVNRLAG2b99Oly5dLExTN685UTc5OZm1a9dWTtR26623Wh2pwb755hseffRRunbtWtlMYutDP+uwd+9ePvzwQ487zPzQoUO8/PLLlJWV0a5dOyZPnmzbdnm7sNM298MPP/D8888DribbIUOGWJJn2bJl7Nu3j9zcXCIiIrj99tuJjY1l6dKlpKen43Q6mT17ttu+WzXl2bt3L4cOHUIpRUxMDBMnTrR877c2XlOghBBCeBevaOITQgjhfaRACSGEsCUpUEIIIWxJCpQQQghbkgIlhBDClqRACSGEsCUpUEIIIWxJCpQQQghbkgLl5U6ePMn999/Pd999B7hGoX7ggQfYu3evxcmEEKJuUqC8XIcOHbj77rt54YUXKC4u5qWXXiIuLo5LLrnE6mhCCFEnGeqojXjmmWdIS0tDKcXTTz+Nn5+f1ZGEEKJOsgfVRowYMYKjR49yww03SHESQngEKVBtQFFREWvXruX666/n7bffJi8vz+pIQghRLylQbcCaNWu48MILmTRpEv379+eVV16xOpIQQtRLCpSXS0pKYteuXUycOBGA++67j4MHD7JlyxaLkwkhRN3kIAkhhBC2JHtQQgghbEkKlBBCCFuSAiWEEMKWpEAJIYSwJSlQQgghbEkKlBBCCFuSAiWEEMKWpEAJIYSwJSlQQgghbEkKlBBCCFuSAiWEEMKWpEAJIYSwJSlQQgghbEkKlBBCCFvytTpAcx0/frzGx51OJ+np6W5OUzO7ZLFLDvCcLB07dnRzGnuS7czzcoDnZKltO5M9KCGEELbk8XtQwp50QR5knIKCfCjIQ5+5rrif42NgFhWdXUGps7cNH/D1BV+/Mxdf8PM7e9/HF3x9Ub6+lbfx8XWtpxQYCpQBhnHmvgEo123FmduG67ZSmAH+7v1wRKvQZWXo/DwoKoTiwjPXRVBciC4pgdJSKCuF0pIz12ful5eDNsE876LNs9+jcy/KAB8f13fSL+DMtT/4B6D8/Ch2tkOXlEJQCAQFQ3Aw+AeiDNkfaCwpUKJZdEE+nDiKPn4Ejh+pvCY7s+YVlIKgYIoDAtFmxWTO50zqrLXrjxeAJGgAAB8eSURBVEPZmT8eZWW1v3cL/RsKx02Da0e20KuJlqJNE3KyISMNnZHm+sGTdxryc12FKD/X9YMnPxfy80grLWn8mxiG64dNTUXIMM4WqvOLl1nuuj4/M5Bd0/soBYHBEBwCoeEQFo4KDYfQCAgNg7AIVFgERERBRDRERKJ8/Rr/7/EyUqBEo2jThEMp6C+T0Lu3w/eHzj7p7w8XdEX1uQI6dkXFdIDg0DOXENd1UBDK8Glw27jW2lWkykuh9Mx1WdmZx85cl5W6blf+8tWuPyoVxa7iMfSZqqZBa9dra03A5f0pbKXPqzXs2rWLNWvWYJomI0aMYMyYMVWe11qzZs0adu7cSUBAAJMnT6Z79+4NWtcKOj8Pjh1CHzsMxw6j0064ilHmKdf/7bn8AyAkDEJCXdftO6LOfMeCnU4KyjUEBEJgMCowEAKCIDDQtafj6+va0/HzA19/8PNFGT5Nz11eDqXFrj2xkpLK2xFBgZw+eRxdWACVl3zXdUE+Oi8H8nLQJ76HvFzX3h41/OAKDa8sWCoyGiIdEBWNinRA1JlLaIRX75lJgRL10sVFsG8X+svt6K92uH7VGgb07IMa80tU5x9Bx67gaNfiG4tS6kwTih8EtuhLU9Go6Ot0gk06kutjmiarV69mwYIFOBwO5s2bx4ABA+jcuXPlMjt37uTkyZMsX76clJQUVq1axVNPPdWgdVuLLiqAzHTIykBnnoIfjrkK0veHITvj7IJBIdChE6rLhdBvoOs75WgHjnbgiEEFBtf6HqFOJ0Vu/H9UPj7gE1zte+nvdKKcF6BqXq0aXVoCuTmQexpOZ6KzM+F0luv26SzIznS1TJzOAm1WLWQ+vhAReWavKxoVGXW2qEVEUdqlG7q03FXMg4I9rphJgRK10ke+Q/97PXrHZ65fskEhqEv7wxVXoy7tjwoJszpim5OamkqHDh1o3749AIMHDyYpKalKkdmxYwfXXXcdSil69+5Nfn4+WVlZnDp1qt51G8P85EOyj36HWVxc/Umtzxal7AzX3sO5fH2hQxfUxZdBp26oTj+CTt0gyuH6UdKGKD9/iHa6LvSotbBps9z14zArE7Iz0FlnPtvsM4Xs1Al06l7XXhmuPbIqDe1KuX4AhJxp1QgIPNt/63OmT9fX19W/Vl6OLnL137n68YrO9ukFh4Cz/dkfDs72KGd713VEVIt+NlKgRBVaa9ibjLlhPXz9JQQEooaORPUfDD37ur7EwjKZmZk4HI7K+w6Hg5SUlGrLOJ3OKstkZmY2aN0KiYmJJCYmArBkyZIqr1chtzCPksMHMHTNvYEqKBifbj0w+g/Cx9EOH2c7jMrrGJRPy36XfH19a8zpbq2ao137ehfRpSWY2ZmYWRmQl0PZ6Wx0Xg5mXi5mXo7rdm6Oq2WkrPTs9Zk+X11WivL1QwUGuS5h4ah2F7huBwRi5uVQnnYCc3cS5uks13ueee/wKfMIiv9pjbma8rnIXxsBgC4tRW/fhP73+3DsMERGo269D3Xdj1EhoVbHE2foGorB+XsctS3TkHUrxMfHEx8fX3m/xv7C0WNxjptWa1+iBmo9xCWrxkMJmsUu5/zYIofyhej2OHtfwulGZqn4Rpzpta1zOaO4CDLSICMN8+Ul5H67l/wrr6lx+aacByUFqo3Tpon+LBH9/l9cbdyduqHun4m6eqgcRWRDDoeDjIyzfTYZGRlERUVVW+bcPwQVy5SVldW7rhCNoQICXf3PHbtCWCTk5bTo63tWj5loUfrId5jP/Bb9+osQcwHGzMcxHluOMfh6KU421aNHD06cOEFaWhplZWVs3bqVAQMGVFlmwIABbN68Ga01+/fvJzg4mKioqAatK0SThYa7jlBsQbIH1QbpwgL0+39Bb/wnhIahxs9CDRrW5jqnPZGPjw/jx49n8eLFmKbJ8OHD6dKlCxs2bABg1KhR9OvXj+TkZKZPn46/vz+TJ0+uc10hWkRYuOtoxBYkBaoN0Vpjbt+MXvcq5GSh4n7iOkxc+pg8Sv/+/enfv3+Vx0aNGlV5WynFhAkTGryuEC1BhUa4zu1qQW4pUCtXriQ5OZmIiAgSEhKqPV/XiYWiZeiMNLJfXIT+Mgm69cSY8jvUhb2sjiWE8Bah4ZWHuLcUt/RBDRs2jPnz59f6/LknFk6cOJFVq1a5I1abob/agfnETEpT9qHumoQx/zkpTkKIlhUa5hr3sClDTtXCLXtQffv2JS0trdbnazuxUI4wah5dXo7+4E30R29DlwuJnvcM2X4tPByDEEKAqw8KXHtRUY66l20gW/RB1XZiYU0FqiEnEIJ9TtoDa7KUZ2dy+g8LKd2TTFD8TwmbMBu/kBCcdQy+6k5t/f9HCG+jQsNd503l5XhXgWrxEwixyclyZ7g7i96/B/OV56EwD3X/DEoGjyAjNxdnQECb/UzqIhMWCtECQiv2oFruSD5bFKjaTiwUjaO1Rm94D/3u6+DsgDFzoWsgVyGEaG1nCpTOy2nwQLn1scWJurWdWCgaTpeXo9cuR//9Neg3CGPB76U4CSHcx1P3oJYtW8a+ffvIzc1l0qRJ3H777ZSd6Qup68RC0TC6uBjzlWdhdxLqp3eifjpWTroVQrhXxewGLXiyrlsK1MyZM+t8vq4TC0XddH4e5ouL4MA3qLsnYQy70epIQog2SPn4uKbx8LQ9KNE6dFYG5rLHIO04xq9+g7rqWqsjCSHastBwKVAC9InvXcWpIA9j+mOuadaFEMJKYS07YKwUKA+kD+7HXP44KAPjoadQXXtYHUkIIVx7UBmnWuzlbHEUn2g4vX8PZsICCArBePgZKU5CCNtQoWHSxNdW6QPfYC5fBFFOjLmLURFyKL4QwkbO9EFprVvkSGLZg/IQ+vABzD88DuERGHMWSXESQthPaDiUlUJxUYu8nBQoD6CPHcZc9igEBWPMeRIV2TLjXAkhRItq4ZN1pUDZnD55DPP3j4Cvn6s4OdpZHUkIIWqkWrhASR+UjelTJ10HRGiNMftJVLsLrI4k6pCTk8PmzZtJTk7m8OHDFBQUEBwcTLdu3bjyyisZNmwY4eHhVscUovWERbiupUB5N515ylWcSksw5j6JuqCz1ZFEHd588022bNlCv379uP766+nUqRNBQUEUFhZy7Ngx9u3bx29/+1uGDBnC3XffbXVcIVpHCw8YKwXKhnRONmbCI66TcOc8iep8odWRRD2ioqJYvnw5fn5+1Z678MILGTJkCCUlJWzcuNGCdEK4ifRBeTddXIz54pOQne4aIaJbT6sjiQb4yU9+UlmcsrOza1ymoKCAG264wZ2xhHCvoGAwDMjNbZGXkwJlI9osx1z1PBxKwZgwF9Wzj9WRRBPMmDGjxsdnzZrl5iRCuJcyDNeo5rIH5V201ui3VsOu/6HueBDVb5DVkUQT1TRDdEFBAYYhm5toA0Jbbjw+6YOyCZ34AXrjP1DxP8MYMdrqOKIJfv3rXwNQUlJSebtCXl4e114ro82LNiCs5UY0lwJlA/qLz9Bvvwr9B6N+cb/VcUQTTZs2Da01Tz/9NNOmTavyXGRkJB07dmz2e+Tl5bF06VJOnTpFTEwMs2bNIjQ0tNpyu3btYs2aNZimyYgRIxgzZgwA69at45NPPqk83H3s2LH079+/2bmEqBQaDiePtchLSYGymE79GnPV76H7RRgPzHK14QqP1LdvXwBWr15NQEBAq7zH+vXrueyyyxgzZgzr169n/fr1/PKXv6yyjGmarF69mgULFuBwOJg3bx4DBgygc2fXqQo33XQTN998c6vkE0KFhqPzvm6R15K/hhbSPxzHXPEkRDsxpixA+bfOHzXR+j766CNKS0sBai1OpaWlfPTRR816n6SkJOLi4gCIi4sjKSmp2jKpqal06NCB9u3b4+vry+DBg2tcTohWcc6Asc0le1AW0Xk5mH9YCCiMGY+hwmSEAU+WnZ3N9OnT6devH3379qVjx44EBgZSVFTE8ePH2bdvHzt37qwsLk11+vRpoqJcAwVHRUWRk1O9rT8zMxOH4+x4jQ6Hg5SUlMr7H3/8MZs3b6Z79+7ce++9NTYRJiYmkpiYCMCSJUtwOp015vH19a31OXezSxa75ABrsuS3v4A808QRHIgREtasLFKgLKDLyzFfeQ6y0jHmLEa1a37fhLDWXXfdxejRo/nvf//Lxo0bOXLkCPn5+YSGhtK1a1f69evH2LFjCQsLq/e1Fi1aVOO5VHfeeWeDstT0y7Vi6oNRo0Zx2223AfDWW2/x+uuvM3ny5GrLx8fHEx8fX3k/PT29xvdyOp21PududslilxxgTRZT+QCQcfhglb9tdWWprX+2UQWqqKiI/Px8QkJCCAwMbMyq4hz67Vfh6y9R46bLuU5eJDw8nJtvvrnZ/TuPPPJIrc9FRESQlZVFVFQUWVlZNY7t53A4yMjIqLyfkZFRudcVGRlZ+fiIESN45plnmpVViPOp0HA0QG4ONPPHd70F6siRIyQmJpKcnMypU2en8m3Xrh1XXnklI0eOpGvXrs0K0ZaYnyWiP/kQNeKnGNfG17+CEOcYMGAAmzZtYsyYMWzatInY2Nhqy/To0YMTJ06QlpZGdHQ0W7duZfr06QCVxQ1g+/btdOnSxa35RRtQOdxR80eTqLNALVu2jO+//57Bgwczbdq0GgfAXL58OZ07d2bmzJnNDuPt9IFv0H9eCX2uQP1ivNVxRCspKCjg7bffZt++feTm5lZpcnvppZea9dpjxoxh6dKlbNy4EafTyezZswFXv9Mf//hH5s2bh4+PD+PHj2fx4sWYpsnw4cMrC9Gf//xnDh06hFKKmJgYJk6c2Kw8QlQT6mrGbokBY+ssUEOGDGHAgAHV3z80lIsuuoiLLrqIW265hS+++KKZMbyfzs7AfGmJa7r2iQ+hfHysjiRayapVq8jMzOS2227jhRdeYNq0aXzwwQcMHDiw2a8dFhbGo48+Wu3x6Oho5s2bV3m/f//+NZ7fdP75WUK0uIoDvvJON/ul6jzM/NzidO5RQOdKTU3lqquuanYQb6ZLijFXPg1FBRhTfnd2Ui/hlXbv3s2cOXOIjY3FMAxiY2OZNWsWW7ZssTqaEK0vIAh8fV19UM3U4POgnnzyyRofX7x4cbNDeDOtNTkvPQsH92OMn4Xq1M3qSKKVaa0JDg4GIDAwkPz8fCIjIzl58qTFyYRofUopCI1okeGO6j1IwjRN4MxgpmcuFX744Qd8pKmqTjrxA4r++y/UzXeh+l9jdRzhBt26dWPfvn1cdtllXHzxxaxevZrAwEAuuEBmRBZtRAsNGFtvgRo7dmzl7fPPwzAMg1tuuaXZIbyV/vYr9NtrCBg0jNKbbrc6jnCTX/3qV5U/5MaPH8+bb75Jfn4+U6dOtTiZEG7SQgPG1lugXnzxRbTWLFy4kMcff7zycaUU4eHh+Pv7NzuEN9LZGZh/fBbaX0D49N+RmV9odSThJjk5OfTq1QtwnRs1adIkwNVfK0RboELD0Ue+a/br1NsHFRMTQ7t27Vi5ciUxMTGVF6fTKcWpFrqszFWcSooxfj0PIyjE6kjCjaS/VrR5oS0zaWGdBWrt2rW1Tl9dITs7m7Vr1zY7iDfR76yF1K9R905FdZSTmNsK0zQxTbOyr7bivmmanDhxQvprRdsRGg4Feejy8ma9TJ1NfB07dmTevHl07tyZPn360LFjx8oTdU+cOMG+ffs4fvw4t956a71vVNv8NBX27t3Ls88+S7t27QAYOHBg5ZhhnkTv+BSd+L5rpIirr7M6jnAj6a8V4ozQcNAaCvIgLKLJL1NngRo5ciTDhw9nx44d7Ny5k6SkJAoKCggJCaFr166MHDmSq666qt5fhvXNT1OhT58+PPzww03+x1hNn/ge87UXoMfFqNvGWR1HuNn5/bVaa5RS0l8r2p7K4Y5yWq9AgWuI9EGDBvH111/zwAMP0LNnz0a/ybnz0wCV89OcX6A8mS4qxHzpafD3x5j4G5Svn9WRhJvFxMQAsHLlSsD1w+zc6TGEaCuqDBjbjLMrGjyauVKK5557joCAAIYMGcKQIUMaPIV1ffPTVNi/fz8PPfQQUVFR3HPPPTUOZGnHeWq01uQsXUjRD8eIfGwZAb0vtixLXeySA7w7S35+PqtWrWLbtm34+vryxhtvsGPHDlJTUxs8ZYYQHu3cPahmaHCBGjduHPfeey979uzh008/5Xe/+x3t2rVj6NChjB49us5165qfpsKFF17IypUrCQwMJDk5meeee47ly5dXW8+O89SYG/+B3vJv1C33kNvxR+Se9752mR/GLjnAc7I09EfYuf70pz8REhLCypUrKwdz7d27N6+//roUKNE2nClQzR0wtlFTvhuGweWXX87kyZNJSEggLCyMN954o9716pqfpkJwcHDlHFP9+/envLy8xtlC7UYf3I9e9ypccTXqhp9bHUfYwFdffcX9999f5TseHh7O6dPNHzxTCI9wZkTz5u5BNapAFRUVsXnzZp5++mlmzJiBj48PU6ZMqXe9c+enKSsrY+vWrdVGSc/Ozq7c00pNTcU0zQbNPmolXZDnOt8pMhrj/hkoo1Efp/BSwcHB5OZWnQsnPT1d+qJEm6H8AyAg0H1NfL///e/ZuXMn3bt359prr2XKlCk1zuZZk9rmp9mwYQPgmoZ627ZtbNiwAR8fH/z9/Zk5c2a1ZkA70VpjvrYcsjMwfrMEFWLvYircZ8SIESQkJHDnnXeitWb//v389a9/ZeTIkVZHE8J9Qps/3FGDC1T37t259957m9yZXNP8NKNGjaq8fcMNN3DDDTc06bWtoDf+A3ZuQ/1iPKr7RVbHETbys5/9DD8/P1avXk15eTkvvfQS8fHx3HjjjVZHE8J9QsPRzZxVt8EF6vwTa9syfTAF/fYaV7/TyJ9ZHUfYjFKKm266iZtuusnqKEJYpwWGO2pwgRIuuiAP85VnISLK1e9k42ZIYZ3jx49z6NAhioqKqjx+/fXXW5RICPdSoeHotBPNeg0pUI2gtcZc+wJkpWM89LT0O4kavfvuu7zzzjt069aNgICAKs9JgRJthjv7oATojf+E5M9Rv7gf1ePi+lcQbdJHH33EU089RbduMnuyaMPCIqCwAF1W2uSRdeS46AbSh1LQf38VLo9FjZT+OFE7f39/OnXqZHUMIaxVOZpE0w+UkALVALogH/OV5yA8UvqdRI3OnVrjjjvu4NVXXyUrK6vK46ZpWh1TCLdRLTDckTTx1UNrjf7zSshIw3joqbMfuhDnOHeqjQqffPJJtcfeeustd8QRwnpSoFqf/vTf6KQtqDG/RPXsa3UcYVMvvvgi4PpBs23bNq655poqz2ut+d///tfs98nLy2Pp0qWcOnWKmJgYZs2aRWhoaLXlVq5cSXJyMhERESQkJDR6fSGarWI8vtymj8cnTXx10MePoP/2CvS5AvUTGWdP1C4mJoaYmBjatWvHO++8U3n/3MfffffdZr/P+vXrueyyy1i+fDmXXXYZ69evr3G5YcOGMX/+/CavL0SzhTV/PD4pULXQJcWufqeAIIzxs1CGTNct6rZnzx727NlDeXl55e2KyyeffEJQUFCz3yMpKYm4uDgA4uLiSEpKqnG5vn371rhn1ND1hWi24OYXKGniq4VetxqOHcaY8RgqMtrqOMIDvPTSSwCUlpZW3gbXyBKRkZGMHz++2e9x7gSIUVFRjR7xv7nrC9FQytcXgkOkQLU0/cVn6E3/h/rxLahLr7I6jvAQK1asAFz9UVOnTm3y6yxatIjs7Oxqj7tzLik7TgxaH7tksUsOsD5LekQUfqXFRDidTcoiBeo8Ov0HzLUvwoW9UWN+aXUc4YGaU5wAHnnkkVqfi4iIICsri6ioKLKysho8o0Bj17fjxKD1sUsWu+QA67OUB4VQnnGK0vT0Jk0MKn1Q59BlZZh/eh7QGA/ObfLZz0K0lgEDBrBp0yYANm3aRGxsrFvXF6JRmjnckRSoc+gP/gLffYtx71RUTAer4whRzZgxY9i9ezfTp09n9+7dlbMMZGZm8vTTT1cut2zZMhYsWMDx48eZNGkSGzdurHN9IVqDamaBkia+M/S+neh/vYMaOgo1YIjVcYSoUVhYGI8++mi1x6Ojo5k3b17l/ZkzZzZqfSFahexBNZ/OycZ8dRlc0AV1x4NWxxFCCO8QGg4lJeji4iat3uYLlDZNzDV/gPw8jIlzUedNjyCEEKKJQpt3LpQUqE8+hD1foG4fj+p8odVxhBDCa6iw5o3H16YLlD58AP3OWrhyIGrYjVbHEUII79LMAWPbbIHSRYWuoYzCIjDumyZTaAghREsLjQBAS4FqHP3mH+HUCYwJc2QKDSGEaA3SxNd45rb/oj/fiLrpdtRFl1odRwghvFNQCChDClRD6bQT6L+8BD37oEa7b2wzIYRoa5RhuI7kkwJVP11W6hrKyDBcTXs+MoWGEEK0qtBwyJUCVS/9/ptwKMU1lJGjndVxhBDC+4WGyUES9dH7dqE/ftc1lNFV11odRwgh2oZmDHfUJgqUzj2N+epS6NBZhjISQgg3cg0Ym9ukdb2+QGmtzwxllOuaQkOGMhJCCPc5sweltW70qt5foDb+A77agbptPKqLDGUkhBBuFRoO5WXowoJGr+rVBUof+Q799zVweSzq+pusjiOEEG3PmYEQzNNZjV7VbfNB7dq1izVr1mCaJiNGjKg2UZrWmjVr1rBz504CAgKYPHky3bt3b/L76aJC1yHlIeEY46bLUEZCCGEBFRaOxnUsANGBjVrXLXtQpmmyevVq5s+fz9KlS/nss8/4/vvvqyyzc+dOTp48yfLly5k4cSKrVq1q1nvmrl4GPxzDeGAWKiyiWa8lhBCiiSr2oHKyG72qWwpUamoqHTp0oH379vj6+jJ48GCSkpKqLLNjxw6uu+46lFL07t2b/Px8srIav0sIoHd8SmHih6gbbkX1uaIl/glCCCGaorJAnW70qm5p4svMzMThcFTedzgcpKSkVFvG6XRWWSYzM5OoqKgqyyUmJpKYmAjAkiVLqqxTIffYIUovupSo8TNQvtbPau/r61tjzraaAySLEG1GaDiERYBpNnpVt/z1runwwvP7hBqyDEB8fDzx8fGV99PT06u/4c9+iSM0hIzsxu9Stgan01lzzjaaAzwnS8eOHd2cRgjvooKC8fn9GwQ5neQ3cpt3SxOfw+EgIyOj8n5GRka1PSOHw1Hlj0RNyzSGCgxq8rpCCCGs55YC1aNHD06cOEFaWhplZWVs3bqVAQMGVFlmwIABbN68Ga01+/fvJzg4uFkFSgghhGdzSxOfj48P48ePZ/HixZimyfDhw+nSpQsbNmwAYNSoUfTr14/k5GSmT5+Ov78/kydPdkc0IYQQNqV0U8afEEIIIVqZ144k8fDDD1sdoZJdstglB0gWb2Gnz84uWeySAzw/i9cWKCGEEJ5NCpQQQghb8lm4cOFCq0O0luaM5dfS7JLFLjlAsngLO312dslilxzg2VnkIAkhhBC2JE18QgghbEkKlBBCCFuyfiTVVlDf3FPuMmXKFAIDAzEMAx8fH5YsWeK29165ciXJyclERESQkJAAQF5eHkuXLuXUqVPExMQwa9YsQkNDLcmybt06PvnkE8LDXSMdjx07lv79+7dqjvT0dFasWEF2djZKKeLj47nxxhst+1w8nWxnsp3VpEW3M+1lysvL9dSpU/XJkyd1aWmpnjt3rj569KglWSZPnqxPnz5tyXvv3btXHzhwQM+ePbvysTfeeEO/9957Wmut33vvPf3GG29YluWtt97S77//vlvev0JmZqY+cOCA1lrrgoICPX36dH306FHLPhdPJtuZi2xn1bXkduZ1TXwNmXuqLejbt2+1XydJSUnExcUBEBcX57bPpaYsVoiKiqo8iigoKIhOnTqRmZlp2efiyWQ7c5HtrLqW3M68romvIXNPudPixYsBGDlyZJVpQqxw+vTpygF4o6KiyMnJsTTPxx9/zObNm+nevTv33nuvWzeutLQ0Dh48SM+ePW33uXgC2c5qZ7fvkydvZ15XoHQD55Vyh0WLFhEdHc3p06d58skn6dixI3379rUki92MGjWK2267DYC33nqL119/3W0DBBcVFZGQkMC4ceMIDg52y3t6G9nOPIOnb2de18TXkLmn3CU6OhqAiIgIYmNjSU1NtSRHhYiICLKysgDIysqq7Di1QmRkJIZhYBgGI0aM4MCBA25537KyMhISEhg6dCgDBw4E7PW5eArZzmpnp++Tp29nXlegGjL3lDsUFRVRWFhYeXv37t107drV7TnONWDAADZt2gTApk2biI2NtSxLxRcVYPv27XTp0qXV31Nrzcsvv0ynTp0YPXp05eN2+lw8hWxntbPT98nTtzOvHEkiOTmZtWvXVs49deutt7o9ww8//MDzzz8PQHl5OUOGDHFrjmXLlrFv3z5yc3OJiIjg9ttvJzY2lqVLl5Keno7T6WT27NluaY+uKcvevXs5dOgQSiliYmKYOHFiq/8C/+abb3j00Ufp2rVrZXPU2LFj6dWrlyWfi6eT7Uy2s5q05HbmlQVKCCGE5/O6Jj4hhBDeQQqUEEIIW5ICJYQQwpakQAkhhLAlKVBCCCFsSQqUEEIIW5ICJYQQwpb+H7UcV3Yo6amuAAAAAElFTkSuQmCC\n", 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" ] @@ -837,14 +836,38 @@ }, { "cell_type": "code", - "execution_count": 18, + "execution_count": 29, "metadata": {}, "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + ":29: RuntimeWarning: invalid value encountered in true_divide\n", + " v /= np.linalg.norm(v)\n", + ":34: RankWarning: Polyfit may be poorly conditioned\n", + " K=road_curve(x_sim[:,sim_time],track)\n", + ":34: RankWarning: Polyfit may be poorly conditioned\n", + " K=road_curve(x_sim[:,sim_time],track)\n", + ":34: RankWarning: Polyfit may be poorly conditioned\n", + " K=road_curve(x_sim[:,sim_time],track)\n", + ":34: RankWarning: Polyfit may be poorly conditioned\n", + " K=road_curve(x_sim[:,sim_time],track)\n" + ] + }, { "name": "stdout", "output_type": "stream", "text": [ - "CVXPY Optimization Time: Avrg: 0.1990s Max: 0.3323s Min: 0.1631s\n" + "CVXPY Optimization Time: Avrg: 0.2116s Max: 0.2973s Min: 0.1930s\n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + ":34: RankWarning: Polyfit may be poorly conditioned\n", + " K=road_curve(x_sim[:,sim_time],track)\n" ] } ], @@ -863,7 +886,7 @@ "\n", "MAX_SPEED = 1.25\n", "MIN_SPEED = 0.75\n", - "MAX_STEER = 1.57\n", + "MAX_STEER = 1.57/2\n", "MAX_ACC = 1.0\n", "\n", "# Starting Condition\n", @@ -908,13 +931,14 @@ " #cost += 30*cp.sum_squares(x[2,t]-np.arctan(df(x_bar[0,t],K))) # psi\n", " cost += 50*cp.sum_squares(x[3,t]-np.arctan(df(x_bar[0,t],K))) # psi\n", " cost += 20*cp.sum_squares(f(x_bar[0,t],K)-x[1,t]) # cte\n", + " cost += 10*cp.sum_squares(1.-x[2,t]) # desired v\n", "\n", " # Actuation rate of change\n", " if t < (T - 1):\n", - " cost += cp.quad_form(u[:, t + 1] - u[:, t], 100*np.eye(M))\n", + " cost += cp.quad_form(u[:, t + 1] - u[:, t], 10*np.eye(M))\n", " \n", " # Actuation effort\n", - " cost += cp.quad_form( u[:, t],1*np.eye(M))\n", + " cost += cp.quad_form( u[:, t],10*np.eye(M))\n", " \n", " # Kinrmatics Constrains (Linearized model)\n", " A,B,C=get_linear_model(x_bar[:,t],u_bar[:,t])\n", @@ -954,14 +978,14 @@ }, { "cell_type": "code", - "execution_count": 19, + "execution_count": 34, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", "text/plain": [ - "
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" ] }, "metadata": {}, @@ -970,24 +994,32 @@ ], "source": [ "#plot trajectory\n", - "grid = plt.GridSpec(2, 3)\n", + "grid = plt.GridSpec(4, 5)\n", "\n", "plt.figure(figsize=(15,10))\n", "\n", - "plt.subplot(grid[0:2, 0:2])\n", + "plt.subplot(grid[0:4, 0:4])\n", "plt.plot(track[0,:],track[1,:],\"b+\")\n", "plt.plot(x_sim[0,:],x_sim[1,:])\n", "plt.axis(\"equal\")\n", "plt.ylabel('y')\n", "plt.xlabel('x')\n", "\n", - "plt.subplot(grid[0, 2])\n", + "plt.subplot(grid[0, 4])\n", "plt.plot(u_sim[0,:])\n", + "plt.ylabel('a(t) [m/ss]')\n", + "\n", + "plt.subplot(grid[1, 4])\n", + "plt.plot(x_sim[2,:])\n", "plt.ylabel('v(t) [m/s]')\n", "\n", - "plt.subplot(grid[1, 2])\n", + "plt.subplot(grid[2, 4])\n", "plt.plot(np.degrees(u_sim[1,:]))\n", - "plt.ylabel('w(t) [deg/s]')\n", + "plt.ylabel('delta(t) [deg/s]')\n", + "\n", + "plt.subplot(grid[3, 4])\n", + "plt.plot(x_sim[3,:])\n", + "plt.ylabel('theta(t) [m/s]')\n", "\n", "plt.tight_layout()\n", "plt.show()" @@ -1002,10 +1034,8 @@ ] }, { - "cell_type": "code", - "execution_count": null, + "cell_type": "markdown", "metadata": {}, - "outputs": [], "source": [ "import dccp\n", "track = compute_path_from_wp([0,3,4,6,10,13],\n", @@ -1129,10 +1159,8 @@ ] }, { - "cell_type": "code", - "execution_count": null, + "cell_type": "markdown", "metadata": {}, - "outputs": [], "source": [ "#plot trajectory\n", "grid = plt.GridSpec(2, 3)\n", diff --git a/notebooks/dccp.log b/notebooks/dccp.log deleted file mode 100644 index 62a4461..0000000 --- a/notebooks/dccp.log +++ /dev/null @@ -1,168 +0,0 @@ -iteration=1, cost value=4354.13968, tau=0.00500, solver status=optimal -max slack = 4.46768 -iteration=2, cost value=4354.41655, tau=0.00600, solver status=optimal -max slack = 0.00000 -iteration=3, cost value=4354.39255, tau=0.00720, solver status=optimal -max slack = 0.00000 -iteration=4, cost value=4354.24514, tau=0.00864, solver status=optimal -max slack = 0.00000 -iteration=5, cost value=4354.10478, tau=0.01037, solver status=optimal -max slack = 0.00000 -iteration=6, cost value=4354.03640, tau=0.01244, solver status=optimal -max slack = 0.00000 -iteration=7, cost value=4354.04423, tau=0.01493, solver status=optimal -max slack = 0.00000 -iteration=8, cost value=4354.02733, tau=0.01792, solver status=optimal -max slack = 0.00000 -iteration=9, cost value=4353.88139, tau=0.02150, solver status=optimal -max slack = 0.00000 -iteration=10, cost value=4354.34435, tau=0.02580, solver status=optimal -max slack = 0.00000 -iteration=11, cost value=4353.88682, tau=0.03096, solver status=optimal -max slack = 0.00000 -iteration=12, cost value=4354.52298, tau=0.03715, solver status=optimal -max slack = 0.00000 -iteration=13, cost value=4355.24015, tau=0.04458, solver status=optimal -max slack = 0.00000 -iteration=14, cost value=4355.65803, tau=0.05350, solver status=optimal -max slack = 0.00000 -iteration=15, cost value=4354.20411, tau=0.06420, solver status=optimal -max slack = 0.00000 -iteration=16, cost value=4354.19785, tau=0.07704, solver status=optimal -max slack = 0.00000 -iteration=17, cost value=4354.05386, tau=0.09244, solver status=optimal -max slack = 0.00000 -iteration=18, cost value=4356.59811, tau=0.11093, solver status=optimal -max slack = 0.00000 -iteration=19, cost value=4356.44028, tau=0.13312, solver status=optimal -max slack = 0.00000 -iteration=20, cost value=4356.05028, tau=0.15974, solver status=optimal -max slack = 0.00000 -iteration=21, cost value=4355.41624, tau=0.19169, solver status=optimal -max slack = 0.00000 -iteration=22, cost value=4354.50254, tau=0.23003, solver status=optimal -max slack = 0.00000 -iteration=23, cost value=4357.11535, tau=0.27603, solver status=optimal -max slack = 0.00000 -iteration=24, cost value=4356.91178, tau=0.33124, solver status=optimal -max slack = 0.00000 -iteration=25, cost value=4356.31558, tau=0.39748, solver status=optimal -max slack = 0.00000 -iteration=26, cost value=4354.13985, tau=0.47698, solver status=optimal -max slack = 0.00000 -iteration=27, cost value=4354.19438, tau=0.57238, solver status=optimal -max slack = 0.00000 -iteration=28, cost value=4354.74661, tau=0.68685, solver status=optimal -max slack = 0.00000 -iteration=29, cost value=4354.27041, tau=0.82422, solver status=optimal -max slack = 0.00000 -iteration=30, cost value=4355.12306, tau=0.98907, solver status=optimal -max slack = 0.00000 -iteration=31, cost value=4355.16683, tau=1.18688, solver status=optimal -max slack = 0.00000 -iteration=32, cost value=4353.80967, tau=1.42426, solver status=optimal -max slack = 0.00000 -iteration=33, cost value=4354.72154, tau=1.70911, solver status=optimal -max slack = 0.00000 -iteration=34, cost value=4355.64773, tau=2.05093, solver status=optimal -max slack = 0.00000 -iteration=35, cost value=4356.45000, tau=2.46112, solver status=optimal -max slack = 0.00000 -iteration=36, cost value=4354.52654, tau=2.95334, solver status=optimal -max slack = 0.00000 -iteration=37, cost value=4354.38817, tau=3.54401, solver status=optimal -max slack = 0.00000 -iteration=38, cost value=4357.97745, tau=4.25281, solver status=optimal -max slack = 0.00000 -iteration=39, cost value=4356.67965, tau=5.10337, solver status=optimal -max slack = 0.00000 -iteration=40, cost value=4353.76458, tau=6.12405, solver status=optimal -max slack = 0.00001 -iteration=41, cost value=4358.16778, tau=7.34886, solver status=optimal -max slack = 0.00000 -iteration=42, cost value=4354.92917, tau=8.81863, solver status=optimal -max slack = 0.00001 -iteration=43, cost value=4360.97583, tau=10.58236, solver status=optimal -max slack = 0.00000 -iteration=44, cost value=4354.25994, tau=12.69883, solver status=optimal -max slack = 0.00000 -iteration=45, cost value=4355.09077, tau=15.23859, solver status=optimal -max slack = 0.00000 -iteration=46, cost value=4360.91002, tau=18.28631, solver status=optimal -max slack = 0.00001 -iteration=47, cost value=4354.77138, tau=21.94357, solver status=optimal -max slack = 0.00000 -iteration=48, cost value=4357.73514, tau=26.33229, solver status=optimal -max slack = 0.00000 -iteration=49, cost value=4355.33807, tau=31.59874, solver status=optimal -max slack = 0.00000 -iteration=50, cost value=4354.56279, tau=37.91849, solver status=optimal -max slack = 0.00000 -iteration=51, cost value=4356.98000, tau=45.50219, solver status=optimal -max slack = 0.00001 -iteration=52, cost value=4355.93092, tau=54.60263, solver status=optimal -max slack = 0.00001 -iteration=53, cost value=4360.03683, tau=65.52315, solver status=optimal -max slack = 0.00000 -iteration=54, cost value=4359.27978, tau=78.62779, solver status=optimal -max slack = 0.00001 -iteration=55, cost value=4361.01283, tau=94.35334, solver status=optimal -max slack = 0.00000 -iteration=56, cost value=4360.47882, tau=113.22401, solver status=optimal -max slack = 0.00002 -iteration=57, cost value=4361.33513, tau=135.86881, solver status=optimal -max slack = 0.00001 -iteration=58, cost value=4361.09011, tau=163.04258, solver status=optimal -max slack = 0.00000 -iteration=59, cost value=4360.87294, tau=195.65109, solver status=optimal -max slack = 0.00001 -iteration=60, cost value=4356.36156, tau=234.78131, solver status=optimal -max slack = 0.00000 -iteration=61, cost value=4358.00971, tau=281.73757, solver status=optimal -max slack = 0.00000 -iteration=62, cost value=4358.79986, tau=338.08509, solver status=optimal -max slack = 0.00000 -iteration=63, cost value=4358.99626, tau=405.70210, solver status=optimal -max slack = 0.00000 -iteration=64, cost value=4358.47632, tau=486.84252, solver status=optimal -max slack = 0.00001 -iteration=65, cost value=4355.99423, tau=584.21103, solver status=optimal -max slack = 0.00002 -iteration=66, cost value=4360.53710, tau=701.05323, solver status=optimal -max slack = 0.00000 -iteration=67, cost value=4357.99816, tau=841.26388, solver status=optimal -max slack = 0.00014 -iteration=68, cost value=4360.10137, tau=1009.51666, solver status=optimal -max slack = 0.00015 -iteration=69, cost value=4358.81058, tau=1211.41999, solver status=optimal -max slack = 0.00015 -iteration=70, cost value=4358.38600, tau=1453.70399, solver status=optimal -max slack = 0.00016 -iteration=71, cost value=4358.86641, tau=1744.44478, solver status=optimal -max slack = 0.00016 -iteration=72, cost value=4359.08341, tau=2093.33374, solver status=optimal -max slack = 0.00017 -iteration=73, cost value=4358.57809, tau=2512.00049, solver status=optimal -max slack = 0.00017 -iteration=74, cost value=4357.76316, tau=3014.40059, solver status=optimal -max slack = 0.00017 -iteration=75, cost value=4357.14113, tau=3617.28071, solver status=optimal -max slack = 0.00018 -iteration=76, cost value=4361.12210, tau=4340.73685, solver status=optimal -max slack = 0.00000 -iteration=77, cost value=4360.92981, tau=5208.88422, solver status=optimal -max slack = 0.00000 -iteration=78, cost value=4360.61046, tau=6250.66106, solver status=optimal -max slack = 0.00000 -iteration=79, cost value=4360.77674, tau=7500.79327, solver status=optimal -max slack = 0.00000 -iteration=80, cost value=4360.39821, tau=9000.95193, solver status=optimal -max slack = 0.00000 -iteration=81, cost value=4360.47158, tau=10801.14231, solver status=optimal -max slack = 0.00000 -iteration=82, cost value=4358.04345, tau=12961.37077, solver status=optimal -max slack = 0.00000 -iteration=83, cost value=4359.94640, tau=15553.64493, solver status=optimal -max slack = 0.00000 -iteration=84, cost value=4357.06076, tau=18664.37391, solver status=optimal -max slack = 0.00000