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<body class='hmmessage'><div dir='ltr'>Hi,<div><br></div><div>I am trying to solve an optimal control problem with Ipopt in C++, but I am facing a particular issue, that seems to be undiscussed on this mail list.</div><div><br></div><div>I want to generate a trajectory with starting and ending condition. This works in some cases with Ipopt, and this makes me thinking that I have no bugs in the code.</div><div>The problem is that for particular trajectory requirements, even if the program seems to find the optimal solution (i.e. inf_pr = 1e-10), this is not the case, since the optimized trajectory doesn't satisfy one or more constraints (usually not that much error, but definitely more than 1e-10 in my measurement unit). </div><div>Could this be related to some of the Ipopt options? I am using CppAD for the automatic gradient.</div><div><br></div><div>Thank you in advance for your answers.</div><div><br></div><div>Best,</div><div>Carlo</div> </div></body>
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