Automatic Sparse AD
This section will describe how to create explicit components that are differentiated automatically by Julia AD packages supported by DifferentiationInterface.jl, with the derivative calculation accelerated by sparse matrix coloring algorithms. This can yield significant speedups when the Jacobian of the component is sparse. The sparsity pattern of the Jacobian can be specified by the user or generated by one of the detection algorithms supported by DifferentiationInterface.jl and dependent packages. The sparsity pattern of the component will also be communicated to OpenMDAO via the rows and cols arguments to add_input and add_output.
The User-Defined Function for Sparse AD
Like the Automatic Dense AD functionality described previously, the first step in creating a sparse AD component is to define a Julia function that performs the desired computation. The form of the user-defined function for the sparse AD is identical to the one for dense AD, so go ahead and read The User-Defined Function if you haven't yet before proceeding further.
SparseADExplicitComp Paraboloid
Let's try implementing the Paraboloid optimization problem from previous examples with a sparse AD algorithm. We'll start fresh, first with importing the stuff we'll need:
using ADTypes: ADTypes
using ComponentArrays: ComponentVector
using OpenMDAOCore: OpenMDAOCore
using OpenMDAO: make_component
using SparseMatrixColorings: SparseMatrixColoringsNext, we need to define the function that implements our paraboloid equation, which, again, is
\[f(x,y) = (x - 3.0)^2 + xy + (y + 4.0)^2 - 3.0\]
That would look like this:
function f_paraboloid!(Y_ca, X_ca, params)
# Get the inputs:
x = @view(X_ca[:x])
y = @view(X_ca[:y])
# Could also do this:
# x = X_ca.x
# y = X_ca.y
# or even this
# (; x, y) = X_ca
# Get the output:
f_xy = @view(Y_ca[:f_xy])
# Again, could also do this:
# f_xy = Y_ca.f_xy
# or
# (; f_xy) = Y_ca
# Do the calculation:
@. f_xy = (x - 3.0)^2 + x*y + (y + 4.0)^2 - 3.0
# Return value doesn't matter.
return nothing
endNotice that it's identical to the function we used in the dense AD example.
Our next step is to create the ComponentVectors that will be used to hold the inputs and outputs:
X_ca = ComponentVector(x=1.0, y=1.0)
Y_ca = ComponentVector(f_xy=0.0)
@show X_ca Y_caX_ca = (x = 1.0, y = 1.0)
Y_ca = (f_xy = 0.0)Again, no different from the dense AD case.
Now we're almost ready to create the SparseADExplicitComp. The last step is to decide what AD library to use. OpenMDAOCore.jl relies on the ADTypes.jl and DifferentiationInterface.jl packages for implementing the interface for calling the AD. Theoretically we can use any AD that those packages support. We'll use ForwardDiff.jl for this example, which is a popular and very robust forward-mode AD.
using ForwardDiff: ForwardDiff
sparse_atol = 1e-10
sparsity_detector = OpenMDAOCore.PerturbedDenseSparsityDetector(ADTypes.AutoForwardDiff(); atol=sparse_atol, method=:direct)
coloring_algorithm = SparseMatrixColorings.GreedyColoringAlgorithm()
ad_backend = ADTypes.AutoSparse(ADTypes.AutoForwardDiff(); sparsity_detector=sparsity_detector, coloring_algorithm=coloring_algorithm)That says that we'll use ForwardDiff.jl to both detect the Jacobian sparsity and perform the derivative calculation itself, with a tolerance of 1e-10 for detecting zero entries in the Jacobian. The PerturbedDenseSparsityDetector evaluates the Jacobian multiple times, perturbing the input vector by a small amount, to guard against "unluckily" detecting a zero entry in the Jacobian that just happens to be zero for a particular input.
Now we are finally ready to create the component:
comp = OpenMDAOCore.SparseADExplicitComp(ad_backend, f_paraboloid!, Y_ca, X_ca; params=nothing)
parab_comp = make_component(comp)make_component will convert the SparseADExplicitComp into a OpenMDAO Python component that we can use with OpenMDAO. So now we just need to proceed with the paraboloid example as usual:
using OpenMDAO: om
model = om.Group()
model.add_subsystem("parab_comp", parab_comp)
prob = om.Problem(model)
prob.driver = om.ScipyOptimizeDriver()
prob.driver.options["optimizer"] = "SLSQP"
prob.model.add_design_var("parab_comp.x")
prob.model.add_design_var("parab_comp.y")
prob.model.add_objective("parab_comp.f_xy")
prob.setup(force_alloc_complex=true)
prob.set_val("parab_comp.x", 3.0)
prob.set_val("parab_comp.y", -4.0)
prob.run_model()
println(prob["parab_comp.f_xy"]) # Should print `[-15.]`
prob.set_val("parab_comp.x", 5.0)
prob.set_val("parab_comp.y", -2.0)
prob.run_model()
println(prob.get_val("parab_comp.f_xy")) # Should print `[-5.]`/home/runner/work/OpenMDAO.jl/OpenMDAO.jl/docs/.CondaPkg/.pixi/envs/default/lib/python3.14/site-packages/openmdao/visualization/n2_viewer/n2_viewer.py:115: OpenMDAOWarning:'float' object has no attribute 'shape'
-15.0
-5.0Looks OK so far. But we should check our derivatives, again, just to be safe. We can do that with the finite difference method:
println(prob.check_partials(method="fd")){'parab_comp': {('f_xy', 'x'): {'J_fwd': array([[2.]]), 'J_fd': array([[2.000001]]), 'rows': array([0], dtype=int32), 'cols': array([0], dtype=int32), 'tol violation': _ErrorData(forward=-9.99632543852158e-07, reverse=None, fwd_rev=None), 'magnitude': _MagnitudeData(forward=2.0, reverse=0.0, fd=2.0000010003684565), 'vals_at_max_error': _ErrorData(forward=(np.float64(2.0), np.float64(2.0000010003684565)), reverse=None, fwd_rev=None), 'abs error': _ErrorData(forward=1.0003684565162985e-06, reverse=None, fwd_rev=None), 'rel error': _ErrorData(forward=5.001839780740122e-07, reverse=None, fwd_rev=None)}, ('f_xy', 'y'): {'J_fwd': array([[9.]]), 'J_fd': array([[9.000001]]), 'rows': array([0], dtype=int32), 'cols': array([0], dtype=int32), 'tol violation': _ErrorData(forward=-7.999542276593274e-06, reverse=None, fwd_rev=None), 'magnitude': _MagnitudeData(forward=9.0, reverse=0.0, fd=9.000001000458724), 'vals_at_max_error': _ErrorData(forward=(np.float64(9.0), np.float64(9.000001000458724)), reverse=None, fwd_rev=None), 'abs error': _ErrorData(forward=1.0004587238654494e-06, reverse=None, fwd_rev=None), 'rel error': _ErrorData(forward=1.1116206807248763e-07, reverse=None, fwd_rev=None)}}}or the complex-step method:
println(prob.check_partials(method="cs")){'parab_comp': {('f_xy', 'x'): {'J_fwd': array([[2.]]), 'J_fd': array([[2.]]), 'rows': array([0], dtype=int32), 'cols': array([0], dtype=int32), 'tol violation': _ErrorData(forward=-2e-06, reverse=None, fwd_rev=None), 'magnitude': _MagnitudeData(forward=2.0, reverse=0.0, fd=2.0), 'vals_at_max_error': _ErrorData(forward=(np.float64(2.0), np.float64(2.0)), reverse=None, fwd_rev=None), 'abs error': _ErrorData(forward=0.0, reverse=None, fwd_rev=None), 'rel error': _ErrorData(forward=0.0, reverse=None, fwd_rev=None)}, ('f_xy', 'y'): {'J_fwd': array([[9.]]), 'J_fd': array([[9.]]), 'rows': array([0], dtype=int32), 'cols': array([0], dtype=int32), 'tol violation': _ErrorData(forward=-9e-06, reverse=None, fwd_rev=None), 'magnitude': _MagnitudeData(forward=9.0, reverse=0.0, fd=9.0), 'vals_at_max_error': _ErrorData(forward=(np.float64(9.0), np.float64(9.0)), reverse=None, fwd_rev=None), 'abs error': _ErrorData(forward=0.0, reverse=None, fwd_rev=None), 'rel error': _ErrorData(forward=0.0, reverse=None, fwd_rev=None)}}}Derivatives look great, so let's go ahead and perform the optimization:
prob.run_driver()
println("f_xy = $(prob.get_val("parab_comp.f_xy"))") # Should print `[-27.333333]`
println("x = $(prob.get_val("parab_comp.x"))") # Should print `[6.666666]`
println("y = $(prob.get_val("parab_comp.y"))") # Should print `[-7.333333]`Optimization terminated successfully (Exit mode 0)
Current function value: -27.333333333333336
Iterations: 4
Function evaluations: 5
Gradient evaluations: 4
Optimization Complete
-----------------------------------
-----------------------------------------
Component: JuliaExplicitComp 'parab_comp'
-----------------------------------------
parab_comp: 'f_xy' wrt 'x'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (-9.996325e-07)
abs error: 1.000368e-06
rel error: 5.001840e-07
fwd value @ max viol: 2.000000e+00
fd value @ max viol: 2.000001e+00 (fd:forward)
Raw Forward Derivative (Jfwd)
[[ 2.000000000000e+00]]
Raw FD Derivative (Jfd)
[[ 2.000001000368e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
parab_comp: 'f_xy' wrt 'y'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (-7.999542e-06)
abs error: 1.000459e-06
rel error: 1.111621e-07
fwd value @ max viol: 9.000000e+00
fd value @ max viol: 9.000001e+00 (fd:forward)
Raw Forward Derivative (Jfwd)
[[ 9.000000000000e+00]]
Raw FD Derivative (Jfd)
[[ 9.000001000459e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-----------------------------------------
Component: JuliaExplicitComp 'parab_comp'
-----------------------------------------
parab_comp: 'f_xy' wrt 'x'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (-2.000000e-06)
abs error: 0.000000e+00
rel error: 0.000000e+00
fwd value @ max viol: 2.000000e+00
fd value @ max viol: 2.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 2.000000000000e+00]]
Raw CS Derivative (Jfd)
[[ 2.000000000000e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
parab_comp: 'f_xy' wrt 'y'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (-9.000000e-06)
abs error: 0.000000e+00
rel error: 0.000000e+00
fwd value @ max viol: 9.000000e+00
fd value @ max viol: 9.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 9.000000000000e+00]]
Raw CS Derivative (Jfd)
[[ 9.000000000000e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
f_xy = -27.333333333333336
x = [6.66666667]
y = [-7.33333333]Victory!
SparseADExplicitComp with Actual Sparsity
The Paraboloid example does a nice job of showing how to use SparseADExplicitComp, but careful readers will realize that it's not actually sparse! So let's try an example with some sparse components: the Simple Optimization using Simultaneous Derivatives example from the OpenMDAO docs. That example makes heavy use of ExecComps with has_diag_partials, but we'll use SparseADExplicitComp to implement each component, and allow it to find the sparsity pattern for us.
Let's start with a fresh Julia script and load what we'll need:
using ADTypes: ADTypes
using ComponentArrays: ComponentVector
using OpenMDAOCore: OpenMDAOCore
using OpenMDAO: make_component, om
using SparseMatrixColorings: SparseMatrixColorings
# Use the same value of `SIZE` that the official version uses:
SIZE = 10
# Use the same AD as the previous example: ForwardDiff.jl, with `PerturbedDenseSparsityDetector`.
sparse_atol = 1e-10
sparsity_detector = OpenMDAOCore.PerturbedDenseSparsityDetector(ADTypes.AutoForwardDiff(); atol=sparse_atol, method=:direct)
coloring_algorithm = SparseMatrixColorings.GreedyColoringAlgorithm()
ad_backend = ADTypes.AutoSparse(ADTypes.AutoForwardDiff(); sparsity_detector=sparsity_detector, coloring_algorithm=coloring_algorithm)ADTypes.AutoSparse(dense_ad=ADTypes.AutoForwardDiff(), sparsity_detector=OpenMDAOCore.PerturbedDenseSparsityDetector(ADTypes.AutoForwardDiff(); atol=1.0e-10, method=:directnevals=3, rel_x_perturb=0.001abs_x_perturb=0.0001), coloring_algorithm=SparseMatrixColorings.GreedyColoringAlgorithm{:direct, 1, Tuple{SparseMatrixColorings.NaturalOrder}}((SparseMatrixColorings.NaturalOrder(),), false))Now we'll need to create some functions that will implement the various calculations we need. Here are the functions for arctan_yox, circle, and r_con, respectively:
function f_arctan_yox!(Y, X, params)
# Get views of inputs.
x = @view(X[:x])
y = @view(X[:y])
# Get views of outputs.
g = @view(Y[:g])
# Perform the calculation.
@. g = atan(y/x)
return nothing
end
Y_ca = ComponentVector(g=ones(SIZE))
X_ca = ComponentVector(x=ones(SIZE), y=ones(SIZE))
comp = OpenMDAOCore.SparseADExplicitComp(ad_backend, f_arctan_yox!, Y_ca, X_ca)
arctan_yox_comp = make_component(comp)
function f_circle!(Y, X, params)
# Get views of inputs.
r = X.r
# Get views of outputs.
# area = Y.area
area = @view(Y[:area])
# Perform the calculation.
@. area = pi*r^2
return nothing
end
Y_ca = ComponentVector(area=[1.0]) # OpenMDAO currently doesn't handle scalar variables correctly sometimes. Fix will be in next release.
X_ca = ComponentVector(r=[1.0]) # OpenMDAO currently doesn't handle scalar variables correctly sometimes. Fix will be in next release.
comp = OpenMDAOCore.SparseADExplicitComp(ad_backend, f_circle!, Y_ca, X_ca)
circle_comp = make_component(comp)
function f_r_con!(Y, X, params)
# Get views of inputs.
(; x, y, r) = X
# Get views of outputs.
g = Y.g
# Perform the calculation.
@. g = x^2 + y^2 - r
return nothing
end
Y_ca = ComponentVector(g=ones(SIZE))
X_ca = ComponentVector(x=ones(SIZE), y=ones(SIZE), r=[1.0]) # OpenMDAO currently doesn't handle scalar variables correctly sometimes. Fix will be in next release.
comp = OpenMDAOCore.SparseADExplicitComp(ad_backend, f_r_con!, Y_ca, X_ca)
r_con_comp = make_component(comp)We can check that SparseADExplicitComp has detected the diagonal partials by getting the rows and columns Dict that it constructs. For that last component:
rcdict = OpenMDAOCore.get_rows_cols_dict(comp)
@show rcdict[:g, :x] rcdict[:g, :y] rcdict[:g, :r]rcdict[:g, :x] = ([1, 2, 3, 4, 5, 6, 7, 8, 9, 10], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10])
rcdict[:g, :y] = ([1, 2, 3, 4, 5, 6, 7, 8, 9, 10], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10])
rcdict[:g, :r] = ([1, 2, 3, 4, 5, 6, 7, 8, 9, 10], [1, 1, 1, 1, 1, 1, 1, 1, 1, 1])The rcdict maps the partials to a tuple of two vectors containing the non-zero rows and non-zero columns of the partial. For example, that output above shows that the derivative of
g[1]with respect tox[1]g[2]with respect tox[2]g[3]with respect tox[3]
etc are all non-zero, and similar for the derivatives of g with respect to y. All entries of g depend on the single value of r, and so rcdict[:g, :r] shows that all indices of g (1 through 10) depend on the single 1 index of r.
Next, let's think about the calculation for the theta_con component, which in the Python example looks like this:
thetas = np.linspace(0, np.pi/4, SIZE)
p.model.add_subsystem('theta_con', om.ExecComp('g = x - theta', has_diag_partials=True,
g=np.ones(SIZE), x=np.ones(SIZE),
theta=thetas))The theta array is hard-coded to go from 0 to pi/4, but what if we wanted to be able to change that? We could use the params argument to the user-defined function to set the starting and ending value for theta, like so:
function f_theta_con!(Y, X, params)
# Get views of inputs.
x = @view(X[:x])
# Get views of outputs.
g = @view(Y[:g])
# Create the theta parameter.
theta_min = params.theta_min
theta_max = params.theta_max
theta = range(theta_min, theta_max; length=length(x))
# Perform the calculation.
@. g = x - theta
return nothing
end
Y_ca = ComponentVector(g=ones(SIZE))
X_ca = ComponentVector(x=ones(SIZE))
params_theta_con = (theta_min=0.0, theta_max=pi/4)
comp = OpenMDAOCore.SparseADExplicitComp(ad_backend, f_theta_con!, Y_ca, X_ca; params=params_theta_con)
theta_con_comp = make_component(comp)Notice that we decided to use a NamedTuple for the params argument. It could be anything, as long as it's consistent with the definition of f_theta_con!. For example, we could have passed a Vector [0.0, pi/4] to SparseADExplicitComp, then done something like
theta_min = params[1]
theta_max = params[2]in the definition of f_theta_con!. But then we would have had to remember that theta_min is the first entry in params, theta_max the second. Much easier to use a NamedTuple.
Finally, let's create the functions for the delta_theta_con and l_conx components:
function f_delta_theta_con!(Y, X, params)
# Get views of inputs.
# even = @view(X[:even])
# odd = @view(X[:odd])
(; even, odd) = X
# Get views of outputs.
# g = @view(Y[:g])
(; g) = Y
# Perform the calculation.
@. g = even - odd
return nothing
end
Y_ca = ComponentVector(g=ones(SIZE÷2))
X_ca = ComponentVector(even=ones(SIZE÷2), odd=ones(SIZE÷2))
comp = OpenMDAOCore.SparseADExplicitComp(ad_backend, f_delta_theta_con!, Y_ca, X_ca)
delta_theta_con_comp = make_component(comp)
function f_l_conx!(Y, X, params)
# Get views of inputs.
x = @view(X[:x])
# Get views of outputs.
g = @view(Y[:g])
# Perform the calculation.
@. g = x - 1
return nothing
end
Y_ca = ComponentVector(g=ones(SIZE))
X_ca = ComponentVector(x=ones(SIZE))
comp = OpenMDAOCore.SparseADExplicitComp(ad_backend, f_l_conx!, Y_ca, X_ca)
l_conx_comp = make_component(comp)Excellent. Now we're finally ready to start creating the OpenMDAO Problem. The rest of the example will closely follow the official version.
p = om.Problem()
p.model.add_subsystem("arctan_yox", arctan_yox_comp, promotes_inputs=["x", "y"])
p.model.add_subsystem("circle", circle_comp, promotes_inputs=["r"])
p.model.add_subsystem("r_con", r_con_comp, promotes_inputs=["r", "x", "y"])
p.model.add_subsystem("theta_con", theta_con_comp)
p.model.add_subsystem("delta_theta_con", delta_theta_con_comp)
p.model.add_subsystem("l_conx", l_conx_comp, promotes_inputs=["x"])
# OpenMDAO uses 0-based indices, so need to go from 0 to SIZE-1.
IND = 0:SIZE-1
# Julia arrays are 1-based, so 1 will give us the first index, 2 the second, etc..
# Could also use the popular OffsetArrays.jl package to create a 0-based array.
ODD_IND = IND[2:2:end] # all odd indicies
EVEN_IND = IND[1:2:end-1] # all even indices
p.model.connect("arctan_yox.g", "theta_con.x")
p.model.connect("arctan_yox.g", "delta_theta_con.even", src_indices=EVEN_IND)
p.model.connect("arctan_yox.g", "delta_theta_con.odd", src_indices=ODD_IND)
p.driver = om.ScipyOptimizeDriver()
p.driver.options["optimizer"] = "SLSQP"
p.driver.options["disp"] = false
# set up dynamic total coloring here
p.driver.declare_coloring()
p.model.add_design_var("x")
p.model.add_design_var("y")
p.model.add_design_var("r", lower=.5, upper=10)
# nonlinear constraints
p.model.add_constraint("r_con.g", equals=0)
p.model.add_constraint("theta_con.g", lower=-1e-5, upper=1e-5, indices=EVEN_IND)
p.model.add_constraint("delta_theta_con.g", lower=-1e-5, upper=1e-5)
# this constrains x[0] to be 1 (see definition of l_conx)
p.model.add_constraint("l_conx.g", equals=0, linear=false, indices=[0,])
# linear constraint
p.model.add_constraint("y", equals=0, indices=[0,], linear=true)
p.model.add_objective("circle.area", ref=-1)
p.setup(mode="fwd", force_alloc_complex=true)
# the following were randomly generated using np.random.random(10)*2-1 to randomly
# disperse them within a unit circle centered at the origin.
p.set_val("x", [ 0.55994437, -0.95923447, 0.21798656, -0.02158783, 0.62183717,
0.04007379, 0.46044942, -0.10129622, 0.27720413, -0.37107886])
p.set_val("y", [ 0.52577864, 0.30894559, 0.8420792 , 0.35039912, -0.67290778,
-0.86236787, -0.97500023, 0.47739414, 0.51174103, 0.10052582])
p.set_val("r", .7)Let's check our derivatives:
println(p.check_partials(method="cs")){'arctan_yox': {('g', 'x'): {'J_fwd': array([[-0.89117912, 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , -0.30420661, 0. , 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , -1.11295523, 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , -2.8430969 , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0.80157084,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
1.15709928, 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0.83860952, 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , -2.00445891, 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , 0. , -1.51080391, 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. , -0.6801248 ]]), 'J_fd': array([[-0.89117912, 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , -0.30420661, 0. , 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , -1.11295523, 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , -2.8430969 , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0.80157084,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
1.15709928, 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0.83860952, 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , -2.00445891, 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , 0. , -1.51080391, 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. , -0.6801248 ]]), 'rows': array([0, 1, 2, 3, 4, 5, 6, 7, 8, 9], dtype=int32), 'cols': array([0, 1, 2, 3, 4, 5, 6, 7, 8, 9], dtype=int32), 'tol violation': _ErrorData(forward=0.0, reverse=None, fwd_rev=None), 'magnitude': _MagnitudeData(forward=2.843096900810654, reverse=0.0, fd=2.8430969008106537), 'vals_at_max_error': _ErrorData(forward=(np.float64(0.0), np.float64(0.0)), reverse=None, fwd_rev=None), 'abs error': _ErrorData(forward=0.0, reverse=None, fwd_rev=None), 'rel error': _ErrorData(forward=inf, reverse=None, fwd_rev=None)}, ('g', 'y'): {'J_fwd': array([[ 0.94908902, 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , -0.94452059, 0. , 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0.28810744, 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , -0.17516109, 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0.7407353 ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0.05376981, 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0.39603813, 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , -0.42531756, 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0.81838481, 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. , -2.51059814]]), 'J_fd': array([[ 0.94908902, 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , -0.94452059, 0. , 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0.28810744, 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , -0.17516109, 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0.7407353 ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0.05376981, 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0.39603813, 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , -0.42531756, 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0.81838481, 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. , -2.51059814]]), 'rows': array([0, 1, 2, 3, 4, 5, 6, 7, 8, 9], dtype=int32), 'cols': array([0, 1, 2, 3, 4, 5, 6, 7, 8, 9], dtype=int32), 'tol violation': _ErrorData(forward=0.0, reverse=None, fwd_rev=None), 'magnitude': _MagnitudeData(forward=2.5105981418168946, reverse=0.0, fd=2.510598141816894), 'vals_at_max_error': _ErrorData(forward=(np.float64(0.0), np.float64(0.0)), reverse=None, fwd_rev=None), 'abs error': _ErrorData(forward=0.0, reverse=None, fwd_rev=None), 'rel error': _ErrorData(forward=inf, reverse=None, fwd_rev=None)}}, 'circle': {('area', 'r'): {'J_fwd': array([[4.39822972]]), 'J_fd': array([[4.39822972]]), 'rows': array([0], dtype=int32), 'cols': array([0], dtype=int32), 'tol violation': _ErrorData(forward=-4.398229714137531e-06, reverse=None, fwd_rev=None), 'magnitude': _MagnitudeData(forward=4.39822971502571, reverse=0.0, fd=4.3982297150257095), 'vals_at_max_error': _ErrorData(forward=(np.float64(4.39822971502571), np.float64(4.3982297150257095)), reverse=None, fwd_rev=None), 'abs error': _ErrorData(forward=8.881784197001252e-16, reverse=None, fwd_rev=None), 'rel error': _ErrorData(forward=2.0193997977546143e-16, reverse=None, fwd_rev=None)}}, 'r_con': {('g', 'x'): {'J_fwd': array([[ 1.11988874, 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , -1.91846894, 0. , 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0.43597312, 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , -0.04317566, 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 1.24367434,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0.08014758, 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0.92089884, 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , -0.20259244, 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0.55440826, 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. , -0.74215772]]), 'J_fd': array([[ 1.11988874, 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , -1.91846894, 0. , 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0.43597312, 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , -0.04317566, 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 1.24367434,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0.08014758, 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0.92089884, 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , -0.20259244, 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0.55440826, 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. , -0.74215772]]), 'rows': array([0, 1, 2, 3, 4, 5, 6, 7, 8, 9], dtype=int32), 'cols': array([0, 1, 2, 3, 4, 5, 6, 7, 8, 9], dtype=int32), 'tol violation': _ErrorData(forward=0.0, reverse=None, fwd_rev=None), 'magnitude': _MagnitudeData(forward=1.91846894, reverse=0.0, fd=1.91846894), 'vals_at_max_error': _ErrorData(forward=(np.float64(0.0), np.float64(0.0)), reverse=None, fwd_rev=None), 'abs error': _ErrorData(forward=0.0, reverse=None, fwd_rev=None), 'rel error': _ErrorData(forward=inf, reverse=None, fwd_rev=None)}, ('g', 'y'): {'J_fwd': array([[ 1.05155728, 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0.61789118, 0. , 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 1.6841584 , 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0.70079824, 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , -1.34581556,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
-1.72473574, 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , -1.95000046, 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , 0.95478828, 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 1.02348206, 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. , 0.20105164]]), 'J_fd': array([[ 1.05155728, 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0.61789118, 0. , 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 1.6841584 , 0. , 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0.70079824, 0. ,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , -1.34581556,
0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
-1.72473574, 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , -1.95000046, 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , 0.95478828, 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 1.02348206, 0. ],
[ 0. , 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. , 0.20105164]]), 'rows': array([0, 1, 2, 3, 4, 5, 6, 7, 8, 9], dtype=int32), 'cols': array([0, 1, 2, 3, 4, 5, 6, 7, 8, 9], dtype=int32), 'tol violation': _ErrorData(forward=0.0, reverse=None, fwd_rev=None), 'magnitude': _MagnitudeData(forward=1.95000046, reverse=0.0, fd=1.9500004599999998), 'vals_at_max_error': _ErrorData(forward=(np.float64(0.0), np.float64(0.0)), reverse=None, fwd_rev=None), 'abs error': _ErrorData(forward=0.0, reverse=None, fwd_rev=None), 'rel error': _ErrorData(forward=inf, reverse=None, fwd_rev=None)}, ('g', 'r'): {'J_fwd': array([[-1.],
[-1.],
[-1.],
[-1.],
[-1.],
[-1.],
[-1.],
[-1.],
[-1.],
[-1.]]), 'J_fd': array([[-1.],
[-1.],
[-1.],
[-1.],
[-1.],
[-1.],
[-1.],
[-1.],
[-1.],
[-1.]]), 'rows': array([0, 1, 2, 3, 4, 5, 6, 7, 8, 9], dtype=int32), 'cols': array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0], dtype=int32), 'tol violation': _ErrorData(forward=-1e-06, reverse=None, fwd_rev=None), 'magnitude': _MagnitudeData(forward=1.0, reverse=0.0, fd=1.0), 'vals_at_max_error': _ErrorData(forward=(np.float64(-1.0), np.float64(-1.0)), reverse=None, fwd_rev=None), 'abs error': _ErrorData(forward=0.0, reverse=None, fwd_rev=None), 'rel error': _ErrorData(forward=0.0, reverse=None, fwd_rev=None)}}, 'theta_con': {('g', 'x'): {'J_fwd': array([[1., 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 1., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 1., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 1., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 1., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 1., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 1., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 1., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 1., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., 1.]]), 'J_fd': array([[1., 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 1., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 1., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 1., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 1., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 1., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 1., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 1., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 1., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., 1.]]), 'rows': array([0, 1, 2, 3, 4, 5, 6, 7, 8, 9], dtype=int32), 'cols': array([0, 1, 2, 3, 4, 5, 6, 7, 8, 9], dtype=int32), 'tol violation': _ErrorData(forward=0.0, reverse=None, fwd_rev=None), 'magnitude': _MagnitudeData(forward=1.0, reverse=0.0, fd=1.0), 'vals_at_max_error': _ErrorData(forward=(np.float64(0.0), np.float64(0.0)), reverse=None, fwd_rev=None), 'abs error': _ErrorData(forward=0.0, reverse=None, fwd_rev=None), 'rel error': _ErrorData(forward=inf, reverse=None, fwd_rev=None)}}, 'delta_theta_con': {('g', 'even'): {'J_fwd': array([[1., 0., 0., 0., 0.],
[0., 1., 0., 0., 0.],
[0., 0., 1., 0., 0.],
[0., 0., 0., 1., 0.],
[0., 0., 0., 0., 1.]]), 'J_fd': array([[1., 0., 0., 0., 0.],
[0., 1., 0., 0., 0.],
[0., 0., 1., 0., 0.],
[0., 0., 0., 1., 0.],
[0., 0., 0., 0., 1.]]), 'rows': array([0, 1, 2, 3, 4], dtype=int32), 'cols': array([0, 1, 2, 3, 4], dtype=int32), 'tol violation': _ErrorData(forward=0.0, reverse=None, fwd_rev=None), 'magnitude': _MagnitudeData(forward=1.0, reverse=0.0, fd=1.0), 'vals_at_max_error': _ErrorData(forward=(np.float64(0.0), np.float64(0.0)), reverse=None, fwd_rev=None), 'abs error': _ErrorData(forward=0.0, reverse=None, fwd_rev=None), 'rel error': _ErrorData(forward=inf, reverse=None, fwd_rev=None)}, ('g', 'odd'): {'J_fwd': array([[-1., 0., 0., 0., 0.],
[ 0., -1., 0., 0., 0.],
[ 0., 0., -1., 0., 0.],
[ 0., 0., 0., -1., 0.],
[ 0., 0., 0., 0., -1.]]), 'J_fd': array([[-1., 0., 0., 0., 0.],
[ 0., -1., 0., 0., 0.],
[ 0., 0., -1., 0., 0.],
[ 0., 0., 0., -1., 0.],
[ 0., 0., 0., 0., -1.]]), 'rows': array([0, 1, 2, 3, 4], dtype=int32), 'cols': array([0, 1, 2, 3, 4], dtype=int32), 'tol violation': _ErrorData(forward=0.0, reverse=None, fwd_rev=None), 'magnitude': _MagnitudeData(forward=1.0, reverse=0.0, fd=1.0), 'vals_at_max_error': _ErrorData(forward=(np.float64(0.0), np.float64(0.0)), reverse=None, fwd_rev=None), 'abs error': _ErrorData(forward=0.0, reverse=None, fwd_rev=None), 'rel error': _ErrorData(forward=inf, reverse=None, fwd_rev=None)}}, 'l_conx': {('g', 'x'): {'J_fwd': array([[1., 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 1., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 1., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 1., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 1., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 1., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 1., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 1., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 1., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., 1.]]), 'J_fd': array([[1., 0., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 1., 0., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 1., 0., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 1., 0., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 1., 0., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 1., 0., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 1., 0., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 1., 0., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 1., 0.],
[0., 0., 0., 0., 0., 0., 0., 0., 0., 1.]]), 'rows': array([0, 1, 2, 3, 4, 5, 6, 7, 8, 9], dtype=int32), 'cols': array([0, 1, 2, 3, 4, 5, 6, 7, 8, 9], dtype=int32), 'tol violation': _ErrorData(forward=0.0, reverse=None, fwd_rev=None), 'magnitude': _MagnitudeData(forward=1.0, reverse=0.0, fd=1.0), 'vals_at_max_error': _ErrorData(forward=(np.float64(0.0), np.float64(0.0)), reverse=None, fwd_rev=None), 'abs error': _ErrorData(forward=0.0, reverse=None, fwd_rev=None), 'rel error': _ErrorData(forward=inf, reverse=None, fwd_rev=None)}}}Essentially zero error in the derivatives, so that's great.
Finally, let's do the optimization:
p.run_driver()
println("circle.area = $(p["circle.area"]) (should be about equal to π ≈ $(float(pi)))")Optimization terminated successfully (Exit mode 0)
Current function value: -27.333333333333336
Iterations: 4
Function evaluations: 5
Gradient evaluations: 4
Optimization Complete
-----------------------------------
-----------------------------------------
Component: JuliaExplicitComp 'arctan_yox'
-----------------------------------------
arctan_yox: 'g' wrt 'x'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[-8.911791239155e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 -3.042066149333e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 -1.112955230753e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -2.843096900811e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.015708449615e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.157099278370e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.386095185046e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -2.004458912765e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.510803914326e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -6.801248039207e-01]]
Raw CS Derivative (Jfd)
[[-8.911791239155e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 -3.042066149333e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 -1.112955230753e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -2.843096900811e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.015708449615e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.157099278370e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.386095185046e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -2.004458912765e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.510803914326e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -6.801248039207e-01]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
arctan_yox: 'g' wrt 'y'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 9.490890179525e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 -9.445205903282e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 2.881074395210e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.751610922089e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 7.407352992492e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 5.376980648705e-02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 3.960381285263e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -4.253175604719e-01 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.183848081738e-01 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -2.510598141817e+00]]
Raw CS Derivative (Jfd)
[[ 9.490890179525e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 -9.445205903282e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 2.881074395210e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.751610922089e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 7.407352992492e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 5.376980648705e-02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 3.960381285263e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -4.253175604719e-01 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.183848081738e-01 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -2.510598141817e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-------------------------------------
Component: JuliaExplicitComp 'circle'
-------------------------------------
circle: 'area' wrt 'r'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (-4.398230e-06)
abs error: 8.881784e-16
rel error: 2.019400e-16
fwd value @ max viol: 4.398230e+00
fd value @ max viol: 4.398230e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 4.398229715026e+00]]
Raw CS Derivative (Jfd)
[[ 4.398229715026e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
------------------------------------
Component: JuliaExplicitComp 'r_con'
------------------------------------
r_con: 'g' wrt 'r'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (-1.000000e-06)
abs error: 0.000000e+00
rel error: 0.000000e+00
fwd value @ max viol: -1.000000e+00
fd value @ max viol: -1.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[-1.000000000000e+00]
[-1.000000000000e+00]
[-1.000000000000e+00]
[-1.000000000000e+00]
[-1.000000000000e+00]
[-1.000000000000e+00]
[-1.000000000000e+00]
[-1.000000000000e+00]
[-1.000000000000e+00]
[-1.000000000000e+00]]
Raw CS Derivative (Jfd)
[[-1.000000000000e+00]
[-1.000000000000e+00]
[-1.000000000000e+00]
[-1.000000000000e+00]
[-1.000000000000e+00]
[-1.000000000000e+00]
[-1.000000000000e+00]
[-1.000000000000e+00]
[-1.000000000000e+00]
[-1.000000000000e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
r_con: 'g' wrt 'x'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 1.119888740000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 -1.918468940000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 4.359731200000e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -4.317566000000e-02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.243674340000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.014758000000e-02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.208988400000e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -2.025924400000e-01 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 5.544082600000e-01 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -7.421577200000e-01]]
Raw CS Derivative (Jfd)
[[ 1.119888740000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 -1.918468940000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 4.359731200000e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -4.317566000000e-02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.243674340000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.014758000000e-02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.208988400000e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -2.025924400000e-01 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 5.544082600000e-01 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -7.421577200000e-01]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
r_con: 'g' wrt 'y'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 1.051557280000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 6.178911800000e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 1.684158400000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 7.007982400000e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.345815560000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.724735740000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.950000460000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.547882800000e-01 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.023482060000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.010516400000e-01]]
Raw CS Derivative (Jfd)
[[ 1.051557280000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 6.178911800000e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 1.684158400000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 7.007982400000e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.345815560000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.724735740000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.950000460000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.547882800000e-01 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.023482060000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.010516400000e-01]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
----------------------------------------
Component: JuliaExplicitComp 'theta_con'
----------------------------------------
theta_con: 'g' wrt 'x'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00]]
Raw CS Derivative (Jfd)
[[ 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
----------------------------------------------
Component: JuliaExplicitComp 'delta_theta_con'
----------------------------------------------
delta_theta_con: 'g' wrt 'even'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00]]
Raw CS Derivative (Jfd)
[[ 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
delta_theta_con: 'g' wrt 'odd'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[-1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 -1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 -1.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.000000000000e+00]]
Raw CS Derivative (Jfd)
[[-1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 -1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 -1.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.000000000000e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-------------------------------------
Component: JuliaExplicitComp 'l_conx'
-------------------------------------
l_conx: 'g' wrt 'x'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00]]
Raw CS Derivative (Jfd)
[[ 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
Jacobian shape: (22, 21) (13.42% nonzero)
FWD solves: 5 REV solves: 0
Total colors vs. total size: 5 vs 21 (76.19% improvement)
Sparsity computed using tolerance: 1e-25.
Dense total jacobian for Problem 'problem3' was computed 3 times.
Time to compute sparsity: 0.0173 sec
Time to compute coloring: 0.0022 sec
Coloring created on: 2026-01-12 13:51:19
circle.area = [3.14159265] (should be about equal to π ≈ 3.141592653589793)We got the right answer! Yay!
The Brachistochrone with SparseADExplicitComp
Finally, let's implement the Brachistochrone problem from A Simple Dymos Example using SparseADExplicitComp. This will demonstrate how to add units and tags to variables used in a SparseADExplicitComp component.
First, let's start a new Julia script, and import Dymos:
using ADTypes: ADTypes
using ComponentArrays: ComponentVector
using OpenMDAOCore: OpenMDAOCore
using OpenMDAO: om, make_component
using PythonCall: pyimport, pydict
using SparseMatrixColorings: SparseMatrixColorings
dm = pyimport("dymos")Next, let's define the Brachistochrone ODE that takes in ComponentVectors.
function brachistochrone_ode!(Y, X, params)
theta = @view X[:theta]
g = X.g
v = X.v
cos_theta = cos.(theta)
sin_theta = sin.(theta)
# @view(Y[:vdot]) .= g .* cos_theta
# @view(Y[:xdot]) .= v .* sin_theta
# @view(Y[:ydot]) .= -v .* cos_theta
# @view(Y[:check]) .= v ./ sin_theta
(; vdot, xdot, ydot, check) = Y
vdot .= g .* cos_theta
xdot .= v .* sin_theta
ydot .= -v .* cos_theta
check .= v ./ sin_theta
return nothing
endNow, for the tricky part: we need to give Dymos a function that, when passed the num_nodes keyword argument, returns a component that implements the ODE. The component this yet-to-be-written function will return will be a SparseADExplicitComp, and that means we will need to also create the required ComponentVectors for the inputs and outputs. How will we do that? Like this:
function brachistochrone_ode_factory(; num_nodes, static_gravity)
v = rand(Float64, num_nodes) .+ 1
theta = rand(Float64, num_nodes) .+ 2
if static_gravity
g = 9.81
else
g = fill(9.81, num_nodes)
end
X_ca = ComponentVector(v=v, theta=theta, g=g)
xdot = zeros(num_nodes)
ydot = zeros(num_nodes)
vdot = zeros(num_nodes)
check = zeros(num_nodes)
Y_ca = ComponentVector(xdot=xdot, ydot=ydot, vdot=vdot, check=check)
units_dict = Dict(:v=>"m/s", :theta=>"rad", :g=>"m/s**2", :xdot=>"m/s", :ydot=>"m/s", :vdot=>"m/s**2", :check=>"m/s")
tags_dict = Dict(
:xdot=>["dymos.state_rate_source:x", "dymos.state_units:m"],
:ydot=>["dymos.state_rate_source:y", "dymos.state_units:m"],
:vdot=>["dymos.state_rate_source:v", "dymos.state_units:m/s"],
)
if static_gravity
tags_dict[:g] = ["dymos.static_target"]
end
# Use the same AD as the previous example: ForwardDiff.jl, with `PerturbedDenseSparsityDetector`.
sparse_atol = 1e-10
sparsity_detector = OpenMDAOCore.PerturbedDenseSparsityDetector(ADTypes.AutoForwardDiff(); atol=sparse_atol, method=:direct)
coloring_algorithm = SparseMatrixColorings.GreedyColoringAlgorithm()
ad_backend = ADTypes.AutoSparse(ADTypes.AutoForwardDiff(); sparsity_detector=sparsity_detector, coloring_algorithm=coloring_algorithm)
return make_component(OpenMDAOCore.SparseADExplicitComp(ad_backend, brachistochrone_ode!, Y_ca, X_ca; units_dict=units_dict, tags_dict=tags_dict))
endbrachistochrone_ode_factory takes to keyword arguments: the num_nodes argument that Dymos requires, and the static_gravity argument from the original Dymos example. Once we know the value of num_nodes, we can create the X_ca and Y_ca ComponentVectors as usual, with the static_gravity parameter influencing the size of g. We also create two dictionaries: units_dict and tags_dict. units_dict maps variable names (expressed as Symbols, just like the component names for the ComponentVectors) to Strings defining the units of the variable. The tags_dict similarly maps Symbol variable names to Vectors of String specifying the tags for each variable. Both Dicts are passed to the SparseADExplicitComp constructor as keyword arguments. Finally, the resulting SparseADExplicitComp is passed to make_component to actually create the Python OpenMDAO component.
Now, let's actually define the problem and run the optimization. We'll define a driver function called doit that allows us to try the example with the static_gravity argument set to true and false.
function doit(; static_gravity)
# Initialize the Problem and the optimization driver
#
p = om.Problem(model=om.Group())
p.driver = om.ScipyOptimizeDriver()
p.driver.declare_coloring()
#
# Create a trajectory and add a phase to it
#
traj = p.model.add_subsystem("traj", dm.Trajectory())
phase = traj.add_phase("phase0",
dm.Phase(ode_class=brachistochrone_ode_factory, ode_init_kwargs=pydict(Dict("static_gravity"=>static_gravity)),
transcription = dm.GaussLobatto(num_segments=10)))
#
# Set the variables
#
phase.set_time_options(fix_initial=true, duration_bounds=(.5, 10))
phase.add_state("x", fix_initial=true, fix_final=true)
phase.add_state("y", fix_initial=true, fix_final=true)
phase.add_state("v", fix_initial=true, fix_final=false)
phase.add_control("theta", continuity=true, rate_continuity=true,
units="deg", lower=0.01, upper=179.9)
phase.add_parameter("g", units="m/s**2", val=9.80665)
#
# Minimize time at the end of the phase
#
phase.add_objective("time", loc="final", scaler=10)
#
p.model.linear_solver = om.DirectSolver()
#
# Setup the Problem
#
p.setup()
#
# Set the initial values
#
p["traj.phase0.t_initial"] = 0.0
p["traj.phase0.t_duration"] = 2.0
p.set_val("traj.phase0.states:x", phase.interp("x", ys=[0, 10]))
p.set_val("traj.phase0.states:y", phase.interp("y", ys=[10, 5]))
p.set_val("traj.phase0.states:v", phase.interp("v", ys=[0, 9.9]))
p.set_val("traj.phase0.controls:theta", phase.interp("theta", ys=[5, 100.5]))
#
# Solve for the optimal trajectory
#
dm.run_problem(p)
# Check the results
println("static_gravity = $static_gravity, elapsed time = $(p.get_val("traj.phase0.timeseries.time")[-1]) (should be 1.80164719)")
endThe doit function is essentially identical to the previous version from A Simple Dymos Example. The only difference is in the ode_class argument in the call to dm.Phase: we assign that argument to our brachistochrone_ode_factory function. We also need to tell Dymos about the value of the static_gravity option we would like to use, which can be done via the ode_init_kwargs argument. In Python, this would normally be a dict with string keys. To do this in Julia, we first create a Dict with String keys, then use the pydict function from PythonCall to convert the Julia Dict to a Python dict.
With all that in place, we can run the optimization! Let's try with static_gravity=true:
doit(; static_gravity=true)/home/runner/work/OpenMDAO.jl/OpenMDAO.jl/docs/.CondaPkg/.pixi/envs/default/lib/python3.14/site-packages/openmdao/utils/relevance.py:1234: OpenMDAOWarning:The top level group has a nonlinear solver that computes gradients, so the entire model will be included in the optimization iteration.
Jacobian shape: (40, 50) (13.40% nonzero)
FWD solves: 8 REV solves: 0
Total colors vs. total size: 8 vs 50 (84.00% improvement)
Sparsity computed using tolerance: 1e-25.
Dense total jacobian for Problem 'problem4' was computed 3 times.
Time to compute sparsity: 2.1323 sec
Time to compute coloring: 0.0404 sec
Coloring created on: 2026-01-12 13:51:33
static_gravity = true, elapsed time = [1.80161673] (should be 1.80164719)Got the right answer!
And now, static_gravity=false:
doit(; static_gravity=false)/home/runner/work/OpenMDAO.jl/OpenMDAO.jl/docs/.CondaPkg/.pixi/envs/default/lib/python3.14/site-packages/openmdao/utils/relevance.py:1234: OpenMDAOWarning:The top level group has a nonlinear solver that computes gradients, so the entire model will be included in the optimization iteration.
Optimization terminated successfully (Exit mode 0)
Current function value: 18.016167304638333
Iterations: 24
Function evaluations: 24
Gradient evaluations: 24
Optimization Complete
-----------------------------------
Jacobian shape: (40, 50) (13.40% nonzero)
FWD solves: 8 REV solves: 0
Total colors vs. total size: 8 vs 50 (84.00% improvement)
Sparsity computed using tolerance: 1e-25.
Dense total jacobian for Problem 'problem5' was computed 3 times.
Time to compute sparsity: 1.5186 sec
Time to compute coloring: 0.0383 sec
Coloring created on: 2026-01-12 13:51:42
static_gravity = false, elapsed time = [1.80161673] (should be 1.80164719)Also looks good!
The Brachistochrone with SparseADExplicitComp and User-Defined Sparsity
Having OpenMDAOCore.jl determine the sparsity pattern of your component is quite convent, but involves evaluating the full Jacobian multiple times, which may be expensive depending on the complexity of your component. Often it's quite easy to figure out the sparsity pattern yourself, and DifferentiationInterface.jl supports a user-defined sparsity pattern. So let's learn how to do that with the previous Brachistochrone example.
We'll start fresh again:
using ADTypes: ADTypes
using ComponentArrays: ComponentVector, ComponentMatrix, getdata, getaxes
using OpenMDAOCore: OpenMDAOCore
using OpenMDAO: om, make_component
using PythonCall: pyimport, pydict
using SparseArrays: sparse
using SparseMatrixColorings: SparseMatrixColorings
dm = pyimport("dymos")We'll implement the same ODE, but this time let's try doing an out-of-place callback function, just for fun:
function brachistochrone_ode(X, params)
theta = @view X[:theta]
g = X.g
v = X.v
cos_theta = cos.(theta)
sin_theta = sin.(theta)
vdot = g .* cos_theta
xdot = v .* sin_theta
ydot = -v .* cos_theta
check = v ./ sin_theta
return ComponentVector(vdot=vdot, xdot=xdot, ydot=ydot, check=check)
endWe also need a "factory function" like last time that will take num_nodes as a keyword argument, and define units and takes, and finally returns an OpenMDAO Python component. Now, to use user-defined sparsity, we need to be able to create a sparse matrix representing the Jacobian of our component, with zeros for all the zero entries, of course. The easiest way to do that is to create a ComponentMatrix inside the factory function, like so:
function brachistochrone_ode_factory(; num_nodes, static_gravity)
v = rand(Float64, num_nodes) .+ 1
theta = rand(Float64, num_nodes) .+ 2
if static_gravity
g = 9.81
else
g = fill(9.81, num_nodes)
end
X_ca = ComponentVector(v=v, theta=theta, g=g)
# Get the output ComponentVector by calling the ODE function.
Y_ca = brachistochrone_ode(X_ca, nothing)
# Create a Matrix representing the Jacobian, with the number of rows equal to the number of outputs, and the number of columns equal to the number of inputs:
J = zeros(length(Y_ca), length(X_ca))
# Now create a ComponentMatrix from J, with the appropriate names for the inputs and outputs:
J_ca = ComponentMatrix(J, only(getaxes(Y_ca)), only(getaxes(X_ca)))
# Fill the ComponentMatrix with zeros first...
J_ca .= 0.0
# Now mark all the non-zero entries with 1.0.
for n in 1:num_nodes
# vdot are functions of theta and g.
@view(J_ca[:vdot, :theta])[n, n] = 1.0
if static_gravity
@view(J_ca[:vdot, :g])[n, 1] = 1.0
else
@view(J_ca[:vdot, :g])[n, n] = 1.0
end
# xdot, ydot, and check depend on v and theta.
@view(J_ca[:xdot, :theta])[n, n] = 1.0
@view(J_ca[:xdot, :v])[n, n] = 1.0
@view(J_ca[:ydot, :theta])[n, n] = 1.0
@view(J_ca[:ydot, :v])[n, n] = 1.0
@view(J_ca[:check, :theta])[n, n] = 1.0
@view(J_ca[:check, :v])[n, n] = 1.0
end
units_dict = Dict(:v=>"m/s", :theta=>"rad", :g=>"m/s**2", :xdot=>"m/s", :ydot=>"m/s", :vdot=>"m/s**2", :check=>"m/s")
tags_dict = Dict(
:xdot=>["dymos.state_rate_source:x", "dymos.state_units:m"],
:ydot=>["dymos.state_rate_source:y", "dymos.state_units:m"],
:vdot=>["dymos.state_rate_source:v", "dymos.state_units:m/s"],
)
if static_gravity
tags_dict[:g] = ["dymos.static_target"]
end
# Use the same AD as the previous example: ForwardDiff.jl, with `PerturbedDenseSparsityDetector`.
sparsity_detector = ADTypes.KnownJacobianSparsityDetector(sparse(getdata(J_ca)))
coloring_algorithm = SparseMatrixColorings.GreedyColoringAlgorithm()
ad_backend = ADTypes.AutoSparse(ADTypes.AutoForwardDiff(); sparsity_detector=sparsity_detector, coloring_algorithm=coloring_algorithm)
return make_component(OpenMDAOCore.SparseADExplicitComp(ad_backend, brachistochrone_ode, X_ca; units_dict=units_dict, tags_dict=tags_dict))
endLet's break down the portion of the code that creates and sets J_ca. We start by creating some examples of X_ca and Y_ca to play around with:
nn = 4
X_ca_test = ComponentVector(v=range(1.0, 2.0; length=nn), theta=range(2.0, 3.0, length=nn), g=9.81)
Y_ca_test = brachistochrone_ode(X_ca_test, nothing)
@show X_ca_test Y_ca_testX_ca_test = (v = [1.0, 1.3333333333333333, 1.6666666666666667, 2.0], theta = [2.0, 2.3333333333333335, 2.6666666666666665, 3.0], g = 9.81)
Y_ca_test = (vdot = [-4.082400466527467, -6.776337350946288, -8.724293634169936, -9.71182639165037], xdot = [0.9092974268256817, 0.9641145089844327, 0.76212104439302, 0.2822400161197344], ydot = [0.4161468365471424, 0.9210108529998352, 1.4822109470217357, 1.9799849932008908], check = [1.0997501702946164, 1.8439487853475327, 3.644798681540277, 14.172334791474373])Now we create a Matrix representing the Jacobian, with the number of rows equal to the number of outputs, and the number of columns equal to the number of inputs:
J_test = zeros(length(Y_ca_test), length(X_ca_test))16×9 Matrix{Float64}:
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0The size of J_test is (16, 9) which is what we expect: there are 4 + 4 + 1 = 9 inputs and 4 + 4 + 4 + 4=16 outputs. But we want to create a ComponentMatrix so we can easily pull out the sub-Jacobians. The easiest way to do that is to get the "axes" for the input and output ComponentVectors, and then use those when constructing the ComponentMatrix like so. To get the axes, we use the getaxes function from ComponentArrays.jl. For the input ComponentVector:
X_axes = getaxes(X_ca_test)(Axis(v = ViewAxis(1:4, Shaped1DAxis((4,))), theta = ViewAxis(5:8, Shaped1DAxis((4,))), g = 9),)and for the output ComponentVector:
Y_axes = getaxes(Y_ca_test)(Axis(vdot = ViewAxis(1:4, Shaped1DAxis((4,))), xdot = ViewAxis(5:8, Shaped1DAxis((4,))), ydot = ViewAxis(9:12, Shaped1DAxis((4,))), check = ViewAxis(13:16, Shaped1DAxis((4,)))),)Now we create a ComponentMatrix like so:
J_ca_test = ComponentMatrix(J_test, only(Y_axes), only(X_axes))16×9 ComponentMatrix{Float64} with axes Axis(vdot = ViewAxis(1:4, Shaped1DAxis((4,))), xdot = ViewAxis(5:8, Shaped1DAxis((4,))), ydot = ViewAxis(9:12, Shaped1DAxis((4,))), check = ViewAxis(13:16, Shaped1DAxis((4,)))) × Axis(v = ViewAxis(1:4, Shaped1DAxis((4,))), theta = ViewAxis(5:8, Shaped1DAxis((4,))), g = 9)
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0(only is a small Julia function that returns the single value of a length-1 collection [Array, Tuple, etc.] or throws an error if called on something with more than one value.) Now that we have a ComponentMatrix, it's relatively easy to set the non-zero entries to something other than zero. For example, the, say, second entry of vdot depends on the second entry of theta, and we can communicate that by doing this:
@view(J_ca_test[:vdot, :theta])[2, 2] = 1.0
J_ca_test16×9 ComponentMatrix{Float64} with axes Axis(vdot = ViewAxis(1:4, Shaped1DAxis((4,))), xdot = ViewAxis(5:8, Shaped1DAxis((4,))), ydot = ViewAxis(9:12, Shaped1DAxis((4,))), check = ViewAxis(13:16, Shaped1DAxis((4,)))) × Axis(v = ViewAxis(1:4, Shaped1DAxis((4,))), theta = ViewAxis(5:8, Shaped1DAxis((4,))), g = 9)
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0As explained in the ComponentArrays.jl docs, the @view macro is necessary to modify elements of J_ca_test—otherwise we would be modifying a copy of a portion of J_ca_test, since slicing operations in Julia create copies.
Now, we're ready to start creating an OpenMDAO Problem, like last time:
# Initialize the Problem and the optimization driver
#
p = om.Problem(model=om.Group())
p.driver = om.ScipyOptimizeDriver()
p.driver.declare_coloring()
#
# Create a trajectory and add a phase to it
#
traj = p.model.add_subsystem("traj", dm.Trajectory())
static_gravity = false
phase = traj.add_phase("phase0",
dm.Phase(ode_class=brachistochrone_ode_factory, ode_init_kwargs=pydict(Dict("static_gravity"=>static_gravity)),
transcription = dm.GaussLobatto(num_segments=10)))
#
# Set the variables
#
phase.set_time_options(fix_initial=true, duration_bounds=(.5, 10))
phase.add_state("x", fix_initial=true, fix_final=true)
phase.add_state("y", fix_initial=true, fix_final=true)
phase.add_state("v", fix_initial=true, fix_final=false)
phase.add_control("theta", continuity=true, rate_continuity=true,
units="deg", lower=0.01, upper=179.9)
phase.add_parameter("g", units="m/s**2", val=9.80665)
#
# Minimize time at the end of the phase
#
phase.add_objective("time", loc="final", scaler=10)
#
p.model.linear_solver = om.DirectSolver()
#
# Setup the Problem
#
p.setup(force_alloc_complex=true)
#
# Set the initial values
#
p["traj.phase0.t_initial"] = 0.0
p["traj.phase0.t_duration"] = 2.0
p.set_val("traj.phase0.states:x", phase.interp("x", ys=[0, 10]))
p.set_val("traj.phase0.states:y", phase.interp("y", ys=[10, 5]))
p.set_val("traj.phase0.states:v", phase.interp("v", ys=[0, 9.9]))
p.set_val("traj.phase0.controls:theta", phase.interp("theta", ys=[5, 100.5]))But it would be a good idea to check our derivatives first, since that should reveal any bugs in our sparsity pattern.
# Not sure why I have to do this song and dance.
using PythonCall: PyIO
foo = pyimport("io").StringIO()
bar = PyIO(foo)
p.check_partials(out_stream=bar, method="cs")
flush(bar)
foo.seek(0)
println(foo.read())/home/runner/work/OpenMDAO.jl/OpenMDAO.jl/docs/.CondaPkg/.pixi/envs/default/lib/python3.14/site-packages/openmdao/utils/relevance.py:1234: OpenMDAOWarning:The top level group has a nonlinear solver that computes gradients, so the entire model will be included in the optimization iteration.
/home/runner/work/OpenMDAO.jl/OpenMDAO.jl/docs/.CondaPkg/.pixi/envs/default/lib/python3.14/site-packages/openmdao/core/component.py:2601: DerivativesWarning:
Component 'traj.phases.phase0.rhs_disc' has zero derivatives for the following variable pairs that were declared as 'dependent': [('check', 'g'), ('vdot', 'v'), ('xdot', 'g'), ('ydot', 'g')].
/home/runner/work/OpenMDAO.jl/OpenMDAO.jl/docs/.CondaPkg/.pixi/envs/default/lib/python3.14/site-packages/openmdao/core/component.py:2601: DerivativesWarning:
Component 'traj.phases.phase0.rhs_col' has zero derivatives for the following variable pairs that were declared as 'dependent': [('check', 'g'), ('vdot', 'v'), ('xdot', 'g'), ('ydot', 'g')].
----------------------------------------------------------
Component: JuliaExplicitComp 'traj.phases.phase0.rhs_disc'
----------------------------------------------------------
traj.phases.phase0.rhs_disc: 'check' wrt 'g'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]]
Raw CS Derivative (Jfd)
[[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
traj.phases.phase0.rhs_disc: 'check' wrt 'theta'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 -1.518286243002e+01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 -1.518286243002e+01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.084010591540e+01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.084010591540e+01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -8.051995380556e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -8.051995380556e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -6.160235944560e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -6.160235944560e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -4.728716076426e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -4.728716076426e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -3.522240989022e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -3.522240989022e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -2.390720788328e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -2.390720788328e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.211407994909e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.211407994909e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.477672455904e-01 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.477672455904e-01 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.866104639506e+00]]
Raw CS Derivative (Jfd)
[[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 -1.518286243002e+01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 -1.518286243002e+01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.084010591540e+01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.084010591540e+01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -8.051995380556e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -8.051995380556e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -6.160235944560e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -6.160235944560e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -4.728716076426e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -4.728716076426e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -3.522240989022e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -3.522240989022e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -2.390720788328e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -2.390720788328e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.211407994909e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.211407994909e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.477672455904e-01 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.477672455904e-01 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.866104639506e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
traj.phases.phase0.rhs_disc: 'check' wrt 'v'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 1.147371324567e+01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 3.980499108032e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 3.980499108032e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.448996822490e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.448996822490e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.804669114269e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.804669114269e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.460819849123e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.460819849123e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.256278246557e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.256278246557e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.129441155789e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.129441155789e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.052361007625e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.052361007625e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.011371475490e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.011371475490e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000137474358e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000137474358e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.017030265811e+00]]
Raw CS Derivative (Jfd)
[[ 1.147371324567e+01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 3.980499108032e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 3.980499108032e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.448996822490e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.448996822490e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.804669114269e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.804669114269e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.460819849123e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.460819849123e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.256278246557e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.256278246557e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.129441155789e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.129441155789e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.052361007625e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.052361007625e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.011371475490e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.011371475490e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000137474358e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000137474358e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.017030265811e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
traj.phases.phase0.rhs_disc: 'vdot' wrt 'g'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 9.961946980917e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 9.679287739900e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 9.679287739900e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.128341772330e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.128341772330e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.324379983892e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.324379983892e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 7.289686274214e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 7.289686274214e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 6.052939880429e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 6.052939880429e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 4.648420457246e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 4.648420457246e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 3.115057926841e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 3.115057926841e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.495353434437e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.495353434437e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.657986818770e-02 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.657986818770e-02 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.822355254921e-01]]
Raw CS Derivative (Jfd)
[[ 9.961946980917e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 9.679287739900e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 9.679287739900e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.128341772330e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.128341772330e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.324379983892e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.324379983892e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 7.289686274214e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 7.289686274214e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 6.052939880429e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 6.052939880429e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 4.648420457246e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 4.648420457246e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 3.115057926841e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 3.115057926841e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.495353434437e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.495353434437e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.657986818770e-02 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.657986818770e-02 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.822355254921e-01]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
traj.phases.phase0.rhs_disc: 'vdot' wrt 'theta'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[-8.547058646163e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 -2.463673457485e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 -2.463673457485e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -4.004353909299e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -4.004353909299e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -5.434043239540e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -5.434043239540e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -6.713113876356e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -6.713113876356e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -7.806113038156e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -7.806113038156e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -8.682745400005e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -8.682745400005e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.318712807629e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.318712807629e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.696387764195e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.696387764195e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.805302022398e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.805302022398e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.642436739262e+00]]
Raw CS Derivative (Jfd)
[[-8.547058646163e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 -2.463673457485e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 -2.463673457485e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -4.004353909299e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -4.004353909299e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -5.434043239540e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -5.434043239540e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -6.713113876356e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -6.713113876356e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -7.806113038156e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -7.806113038156e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -8.682745400005e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -8.682745400005e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.318712807629e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.318712807629e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.696387764195e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.696387764195e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.805302022398e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.805302022398e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.642436739262e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
traj.phases.phase0.rhs_disc: 'vdot' wrt 'v'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]]
Raw CS Derivative (Jfd)
[[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
traj.phases.phase0.rhs_disc: 'xdot' wrt 'g'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]]
Raw CS Derivative (Jfd)
[[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
traj.phases.phase0.rhs_disc: 'xdot' wrt 'theta'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 9.582494862501e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 9.582494862501e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.807411670921e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.807411670921e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.472340855216e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.472340855216e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.886715764589e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.886715764589e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.996205240812e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.996205240812e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.761161751604e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.761161751604e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.158735143301e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.158735143301e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.184319920074e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.184319920074e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.477266255524e-01 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.477266255524e-01 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.804131702372e+00]]
Raw CS Derivative (Jfd)
[[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 9.582494862501e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 9.582494862501e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.807411670921e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.807411670921e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.472340855216e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.472340855216e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.886715764589e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.886715764589e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.996205240812e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.996205240812e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.761161751604e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.761161751604e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.158735143301e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.158735143301e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.184319920074e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.184319920074e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.477266255524e-01 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.477266255524e-01 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.804131702372e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
traj.phases.phase0.rhs_disc: 'xdot' wrt 'v'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 8.715574274766e-02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 2.512247768081e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 2.512247768081e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 4.083304603814e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 4.083304603814e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 5.541181993382e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 5.541181993382e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 6.845471059287e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 6.845471059287e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 7.960020025346e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 7.960020025346e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.853936257544e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.853936257544e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.502442534024e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.502442534024e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.887563810470e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.887563810470e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.998625445384e-01 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.998625445384e-01 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.832549075640e-01]]
Raw CS Derivative (Jfd)
[[ 8.715574274766e-02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 2.512247768081e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 2.512247768081e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 4.083304603814e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 4.083304603814e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 5.541181993382e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 5.541181993382e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 6.845471059287e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 6.845471059287e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 7.960020025346e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 7.960020025346e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.853936257544e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.853936257544e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.502442534024e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.502442534024e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.887563810470e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.887563810470e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.998625445384e-01 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.998625445384e-01 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.832549075640e-01]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
traj.phases.phase0.rhs_disc: 'ydot' wrt 'g'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]]
Raw CS Derivative (Jfd)
[[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
traj.phases.phase0.rhs_disc: 'ydot' wrt 'theta'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 2.487125290400e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 2.487125290400e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.084943115551e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.084943115551e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.645731052035e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.645731052035e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.710806539478e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.710806539478e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 3.940209912546e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 3.940209912546e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 5.259238136981e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 5.259238136981e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 6.585192676079e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 6.585192676079e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 7.830950537892e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 7.830950537892e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.908775271837e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.908775271837e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.734223584883e+00]]
Raw CS Derivative (Jfd)
[[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 2.487125290400e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 2.487125290400e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.084943115551e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.084943115551e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.645731052035e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.645731052035e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.710806539478e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.710806539478e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 3.940209912546e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 3.940209912546e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 5.259238136981e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 5.259238136981e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 6.585192676079e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 6.585192676079e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 7.830950537892e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 7.830950537892e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.908775271837e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.908775271837e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.734223584883e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
traj.phases.phase0.rhs_disc: 'ydot' wrt 'v'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[-9.961946980917e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 -9.679287739900e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 -9.679287739900e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.128341772330e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.128341772330e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -8.324379983892e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -8.324379983892e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -7.289686274214e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -7.289686274214e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -6.052939880429e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -6.052939880429e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -4.648420457246e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -4.648420457246e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -3.115057926841e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -3.115057926841e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.495353434437e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.495353434437e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.657986818770e-02 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.657986818770e-02 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.822355254921e-01]]
Raw CS Derivative (Jfd)
[[-9.961946980917e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 -9.679287739900e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 -9.679287739900e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.128341772330e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.128341772330e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -8.324379983892e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -8.324379983892e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -7.289686274214e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -7.289686274214e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -6.052939880429e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -6.052939880429e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -4.648420457246e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -4.648420457246e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -3.115057926841e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -3.115057926841e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.495353434437e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.495353434437e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.657986818770e-02 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.657986818770e-02 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.822355254921e-01]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
---------------------------------------------------------
Component: JuliaExplicitComp 'traj.phases.phase0.rhs_col'
---------------------------------------------------------
traj.phases.phase0.rhs_col: 'check' wrt 'g'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]]
Raw CS Derivative (Jfd)
[[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
traj.phases.phase0.rhs_col: 'check' wrt 'theta'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[-1.716015324828e+01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 -1.291250924537e+01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 -9.368028880960e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -7.079445575380e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -5.441382502771e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -4.133851998561e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -2.972218098960e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.824386097078e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -5.665967007072e-01 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.517071848945e-01]]
Raw CS Derivative (Jfd)
[[-1.716015324828e+01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 -1.291250924537e+01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 -9.368028880960e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -7.079445575380e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -5.441382502771e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -4.133851998561e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -2.972218098960e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -1.824386097078e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -5.665967007072e-01 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.517071848945e-01]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
traj.phases.phase0.rhs_col: 'check' wrt 'v'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 5.889991995074e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 3.021822038690e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 2.070820642062e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.609037197536e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.346161731536e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.185359660713e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.085758021287e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.027879267321e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.002232517165e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.005012864649e+00]]
Raw CS Derivative (Jfd)
[[ 5.889991995074e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 3.021822038690e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 2.070820642062e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.609037197536e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.346161731536e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.185359660713e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.085758021287e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.027879267321e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.002232517165e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.005012864649e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
traj.phases.phase0.rhs_col: 'vdot' wrt 'g'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 9.854820725817e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 9.436566476352e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 8.756753153754e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 7.834223558847e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 6.694548007527e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 5.369315582711e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 3.895258560443e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.313234278979e-01 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 6.670926709995e-02 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.975391517373e-02]]
Raw CS Derivative (Jfd)
[[ 9.854820725817e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 9.436566476352e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 8.756753153754e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 7.834223558847e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 6.694548007527e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 5.369315582711e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 3.895258560443e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.313234278979e-01 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 6.670926709995e-02 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.975391517373e-02]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
traj.phases.phase0.rhs_col: 'vdot' wrt 'theta'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[-1.664968306952e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 -3.245277145524e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 -4.735634656527e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -6.094731691110e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -7.284897327169e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -8.273143017288e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.032076952448e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.540663297511e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.784805254309e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.757735791200e+00]]
Raw CS Derivative (Jfd)
[[-1.664968306952e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 -3.245277145524e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 -4.735634656527e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -6.094731691110e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -7.284897327169e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -8.273143017288e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.032076952448e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.540663297511e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.784805254309e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.757735791200e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
traj.phases.phase0.rhs_col: 'vdot' wrt 'v'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]]
Raw CS Derivative (Jfd)
[[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
traj.phases.phase0.rhs_col: 'xdot' wrt 'g'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]]
Raw CS Derivative (Jfd)
[[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
traj.phases.phase0.rhs_col: 'xdot' wrt 'theta'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 4.946428694745e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 1.414076408847e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 2.184556342282e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.734431692901e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 3.002719574313e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.942081076872e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.521242280128e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.726762233210e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 5.640752738182e-01 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.422368955517e-01]]
Raw CS Derivative (Jfd)
[[ 4.946428694745e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 1.414076408847e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 2.184556342282e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.734431692901e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 3.002719574313e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.942081076872e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.521242280128e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.726762233210e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 5.640752738182e-01 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -9.422368955517e-01]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
traj.phases.phase0.rhs_col: 'xdot' wrt 'v'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 1.697795176693e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 3.309261720897e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 4.829003438000e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 6.214896719175e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 7.428527914393e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.436258067014e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.210155305276e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.728769047036e-01 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.977724558651e-01 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.950121388242e-01]]
Raw CS Derivative (Jfd)
[[ 1.697795176693e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 3.309261720897e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 4.829003438000e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 6.214896719175e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 7.428527914393e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.436258067014e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.210155305276e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.728769047036e-01 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.977724558651e-01 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.950121388242e-01]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
traj.phases.phase0.rhs_col: 'ydot' wrt 'g'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]]
Raw CS Derivative (Jfd)
[[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]]
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traj.phases.phase0.rhs_col: 'ydot' wrt 'theta'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[ 8.521740794123e-02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 4.958952964457e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 1.204696524175e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.169227164552e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 3.331933112108e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 4.622591992636e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 5.961358559871e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 7.262243655433e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.436890340994e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.398499769049e+00]]
Raw CS Derivative (Jfd)
[[ 8.521740794123e-02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 4.958952964457e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 1.204696524175e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 2.169227164552e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 3.331933112108e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 4.622591992636e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 5.961358559871e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 7.262243655433e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 8.436890340994e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.398499769049e+00]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
traj.phases.phase0.rhs_col: 'ydot' wrt 'v'
Max Tolerance Violation (Jfwd - Jfd) - (atol + rtol * Jfd) : (0.000000e+00)
abs error: 0.000000e+00
rel error: inf
fwd value @ max viol: 0.000000e+00
fd value @ max viol: 0.000000e+00 (cs:None)
Raw Forward Derivative (Jfwd)
[[-9.854820725817e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 -9.436566476352e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 -8.756753153754e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -7.834223558847e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -6.694548007527e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -5.369315582711e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -3.895258560443e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -2.313234278979e-01 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -6.670926709995e-02 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.975391517373e-02]]
Raw CS Derivative (Jfd)
[[-9.854820725817e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 -9.436566476352e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 -8.756753153754e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -7.834223558847e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -6.694548007527e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -5.369315582711e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -3.895258560443e-01 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -2.313234278979e-01 0.000000000000e+00 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 -6.670926709995e-02 0.000000000000e+00]
[ 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 9.975391517373e-02]]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -Derivatives look good. So now let's run the optimization:
#
# Solve for the optimal trajectory
#
dm.run_problem(p)
# Check the results
println("elapsed time = $(p.get_val("traj.phase0.timeseries.time")[-1]) (should be 1.80164719)")Optimization terminated successfully (Exit mode 0)
Current function value: 18.016167304638333
Iterations: 24
Function evaluations: 24
Gradient evaluations: 24
Optimization Complete
-----------------------------------
Jacobian shape: (40, 50) (13.40% nonzero)
FWD solves: 8 REV solves: 0
Total colors vs. total size: 8 vs 50 (84.00% improvement)
Sparsity computed using tolerance: 1e-25.
Dense total jacobian for Problem 'problem6' was computed 3 times.
Time to compute sparsity: 0.0215 sec
Time to compute coloring: 0.0379 sec
Coloring created on: 2026-01-12 13:51:53
elapsed time = [1.80161673] (should be 1.80164719)Again, looks good!