[ADOL-C] Again optimization using ipopt

[Christian]

Hello,

vom Thursday 25 August 2011 15:46:06:
> tf        0.5000      0.5000      0.5000
> a 0       0.0000      7.0524     -1.4913
> a 1       0.0000     38.1276      3.9746
> a 2       0.0000    -50.6196    147.7050
> a 3      -0.0000   -879.8557   -602.3558
> a 4     121.3494   1860.5780    789.8496
> a 5     -54.0932    -89.3045    -34.6974
> a 6     699.5690  -1040.0536   -631.4350
> a 7   -1250.8540   -283.5472    314.5087
> a 8      -0.4000    159.4038    129.5313
> a 9       0.0000    291.8155   -383.3504
> a10    1369.6381   -592.9467   -330.4081
> a11   -1330.3376   -482.1689   1512.4684
> a12    -565.1536    525.0474   -256.4353
> a13     378.2663    -94.2044   -768.5017
> a14     522.5413   -202.8789   -421.0349
> a15    -125.0485    771.3141    244.3483
> 
> Is this the function value that you expect?
> And do you get the same behaviour?

Yes I get the same behaviour.
This function value I do NOT expect.

Thes is an optimization over a piecewise continous polynom. The background is 
a optimal control problem. If I use instead of flatness based control (with the 
polynoms) any optimal trajectory, I get a overall optimal solution that needs 
at least 7sec.
This solutiopn here needs only 1.5sec=0.5+0.5+0.5 (in the first row). Therefore 
the Problem cannot be solved correctly in the sense of th OC problem.

The discrepances of the 1st derivative are little. If I turn on the 2nd order 
checker, I got relative errors in the range of 1e+3 which is not that good.

What suprised me was that i was basically the same code as in the other 
example I posted and you helped me with. Only the content of the virtual 
methods have been exchanged by the new equations. Afterwards everything seems 
to be broken.

Thanks again for looking at it

Christian Wolf

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