ctest failed due to undefined symbol in ctrajoptpy.so

[lakshmip001]

output of ctest is as follows
lakshmi@lakshmi-Nitro-AN515-51:~/trajopt/build$ ctest
Test project /home/lakshmi/trajopt/build
Start 1: arm_to_joint_target.py
1/10 Test #1: arm_to_joint_target.py .............***Failed 0.27 sec
Start 2: arm_to_cart_target.py
2/10 Test #2: arm_to_cart_target.py ..............***Failed 0.22 sec
Start 3: fullbody_plan.py
3/10 Test #3: fullbody_plan.py ...................***Failed 0.22 sec
Start 4: position_base.py
4/10 Test #4: position_base.py ...................***Failed 0.04 sec
Start 5: this_side_up.py
5/10 Test #5: this_side_up.py ....................***Failed 0.21 sec
Start 6: arm_to_cart_target_position_only
6/10 Test #6: arm_to_cart_target_position_only ...***Failed 0.21 sec
Start 7: sco-unit
7/10 Test #7: sco-unit ........................... Passed 0.11 sec
Start 8: collision-checker-unit
8/10 Test #8: collision-checker-unit .............***Failed 0.10 sec
Start 9: planning-unit
9/10 Test #9: planning-unit ......................***Failed 1.23 sec
Start 10: cast-cost-unit
10/10 Test #10: cast-cost-unit .....................***Exception: SegFault 0.11 sec

10% tests passed, 9 tests failed out of 10

Total Test time (real) = 2.79 sec

The following tests FAILED:
1 - arm_to_joint_target.py (Failed)
2 - arm_to_cart_target.py (Failed)
3 - fullbody_plan.py (Failed)
4 - position_base.py (Failed)
5 - this_side_up.py (Failed)
6 - arm_to_cart_target_position_only (Failed)
8 - collision-checker-unit (Failed)
9 - planning-unit (Failed)
10 - cast-cost-unit (SEGFAULT)
Errors while running CTest

output of ctest -V command
lakshmi@lakshmi-Nitro-AN515-51:~/trajopt/build$ ctest -V
UpdateCTestConfiguration from :/home/lakshmi/trajopt/build/DartConfiguration.tcl
UpdateCTestConfiguration from :/home/lakshmi/trajopt/build/DartConfiguration.tcl
Test project /home/lakshmi/trajopt/build
Constructing a list of tests
Done constructing a list of tests
Checking test dependency graph...
Checking test dependency graph end
test 1
Start 1: arm_to_joint_target.py

1: Test command: /usr/bin/python "/home/lakshmi/trajopt/python_examples/arm_to_joint_target.py"
1: Test timeout computed to be: 9.99988e+06
1: Traceback (most recent call last):
1: File "/home/lakshmi/trajopt/python_examples/arm_to_joint_target.py", line 7, in
1: import trajoptpy
1: File "/home/lakshmi/trajopt/trajoptpy/init.py", line 1, in
1: from ctrajoptpy import *
1: ImportError: /home/lakshmi/trajopt/build/lib/ctrajoptpy.so: undefined symbol: _ZTIN7trajopt11RobotAndDOFE
1/10 Test #1: arm_to_joint_target.py .............***Failed 0.22 sec
test 2
Start 2: arm_to_cart_target.py

2: Test command: /usr/bin/python "/home/lakshmi/trajopt/python_examples/arm_to_cart_target.py"
2: Test timeout computed to be: 9.99988e+06
2: Traceback (most recent call last):
2: File "/home/lakshmi/trajopt/python_examples/arm_to_cart_target.py", line 8, in
2: import trajoptpy
2: File "/home/lakshmi/trajopt/trajoptpy/init.py", line 1, in
2: from ctrajoptpy import *
2: ImportError: /home/lakshmi/trajopt/build/lib/ctrajoptpy.so: undefined symbol: _ZTIN7trajopt11RobotAndDOFE
2/10 Test #2: arm_to_cart_target.py ..............***Failed 0.20 sec
test 3
Start 3: fullbody_plan.py

3: Test command: /usr/bin/python "/home/lakshmi/trajopt/python_examples/fullbody_plan.py"
3: Test timeout computed to be: 9.99988e+06
3: Traceback (most recent call last):
3: File "/home/lakshmi/trajopt/python_examples/fullbody_plan.py", line 7, in
3: import openravepy, trajoptpy
3: File "/home/lakshmi/trajopt/trajoptpy/init.py", line 1, in
3: from ctrajoptpy import *
3: ImportError: /home/lakshmi/trajopt/build/lib/ctrajoptpy.so: undefined symbol: _ZTIN7trajopt11RobotAndDOFE
3/10 Test #3: fullbody_plan.py ...................***Failed 0.21 sec
test 4
Start 4: position_base.py

4: Test command: /usr/bin/python "/home/lakshmi/trajopt/python_examples/position_base.py"
4: Test timeout computed to be: 9.99988e+06
4: Traceback (most recent call last):
4: File "/home/lakshmi/trajopt/python_examples/position_base.py", line 7, in
4: import trajoptpy
4: File "/home/lakshmi/trajopt/trajoptpy/init.py", line 1, in
4: from ctrajoptpy import *
4: ImportError: /home/lakshmi/trajopt/build/lib/ctrajoptpy.so: undefined symbol: _ZTIN7trajopt11RobotAndDOFE
4/10 Test #4: position_base.py ...................***Failed 0.04 sec
test 5
Start 5: this_side_up.py

5: Test command: /usr/bin/python "/home/lakshmi/trajopt/python_examples/this_side_up.py"
5: Test timeout computed to be: 9.99988e+06
5: Traceback (most recent call last):
5: File "/home/lakshmi/trajopt/python_examples/this_side_up.py", line 9, in
5: import trajoptpy
5: File "/home/lakshmi/trajopt/trajoptpy/init.py", line 1, in
5: from ctrajoptpy import *
5: ImportError: /home/lakshmi/trajopt/build/lib/ctrajoptpy.so: undefined symbol: _ZTIN7trajopt11RobotAndDOFE
5/10 Test #5: this_side_up.py ....................***Failed 0.21 sec
test 6
Start 6: arm_to_cart_target_position_only

6: Test command: /usr/bin/python "/home/lakshmi/trajopt/python_examples/arm_to_cart_target.py" "--position_only"
6: Test timeout computed to be: 9.99988e+06
6: Traceback (most recent call last):
6: File "/home/lakshmi/trajopt/python_examples/arm_to_cart_target.py", line 8, in
6: import trajoptpy
6: File "/home/lakshmi/trajopt/trajoptpy/init.py", line 1, in
6: from ctrajoptpy import *
6: ImportError: /home/lakshmi/trajopt/build/lib/ctrajoptpy.so: undefined symbol: _ZTIN7trajopt11RobotAndDOFE
6/10 Test #6: arm_to_cart_target_position_only ...***Failed 0.21 sec
test 7
Start 7: sco-unit

7: Test command: /home/lakshmi/trajopt/build/bin/sco-unit
7: Test timeout computed to be: 9.99988e+06
7: You can set logging level with TRAJOPT_LOG_THRESH. Valid values: FATAL ERROR WARN INFO DEBUG TRACE. Defaulting to INFO
7: [==========] Running 7 tests from 2 test cases.
7: [----------] Global test environment set-up.
7: [----------] 6 tests from SQP
7: [ RUN ] SQP.QuadraticSeparable
7: [INFO] iteration 1
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 2.700e+01 | 2.700e+01 | 2.700e+01 | 1.000e+00
7: TOTAL | 2.700e+01 | 2.700e+01 | 2.700e+01 | 1.000e+00
7: [INFO] expanded trust region. new box size: 150.0000
7: [INFO] iteration 2
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 8.599e-09 | 8.599e-09 | 8.599e-09 | ------
7: TOTAL | 8.599e-09 | 8.599e-09 | 8.599e-09 | 1.000e+00
7: [INFO] converged because improvement was small (8.599e-09 < 1.000e-04)
7: [INFO]
7: ==================
7: Optimization results:
7: status: CONVERGED
7: cost values: (8.59892e-09)
7: constraint violations: ()
7: n func evals: 3
7: n qp solves: 2
7: ==================
7: [INFO] checking (5.35379e-05, 1.00005, 2.00005) ?= (0, 1, 2)
7: [ OK ] SQP.QuadraticSeparable (3 ms)
7: [ RUN ] SQP.QuadraticNonseparable
7: [INFO] iteration 1
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 2.090e+02 | 2.090e+02 | 2.090e+02 | 1.000e+00
7: TOTAL | 2.090e+02 | 2.090e+02 | 2.090e+02 | 1.000e+00
7: [INFO] expanded trust region. new box size: 150.0000
7: [INFO] iteration 2
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 1.655e-06 | 1.822e-06 | 1.650e-06 | 9.056e-01
7: TOTAL | 1.655e-06 | 1.822e-06 | 1.650e-06 | 9.056e-01
7: [INFO] expanded trust region. new box size: 225.0000
7: [INFO] iteration 3
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 4.475e-09 | 9.495e-15 | -6.077e-16 | ------
7: TOTAL | 4.475e-09 | 9.495e-15 | -6.077e-16 | -6.399e-02
7: [INFO] converged because improvement was small (9.495e-15 < 1.000e-06)
7: [INFO]
7: ==================
7: Optimization results:
7: status: CONVERGED
7: cost values: (4.475e-09)
7: constraint violations: ()
7: n func evals: 4
7: n qp solves: 3
7: ==================
7: [INFO] checking (0.999985, 6.99978, 1.99993) ?= (1, 7, 2)
7: [ OK ] SQP.QuadraticNonseparable (2 ms)
7: [ RUN ] SQP.TP1
7: [INFO] iteration 1
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 1.800e+01 | 3.280e+00 | 3.290e+00 | 1.003e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------
7: TOTAL | 1.800e+01 | 3.280e+00 | 3.290e+00 | 1.003e+00
7: [INFO] expanded trust region. new box size: 0.1500
7: [INFO] iteration 2
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 1.471e+01 | 3.831e+00 | 3.862e+00 | 1.008e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------
7: TOTAL | 1.471e+01 | 3.831e+00 | 3.862e+00 | 1.008e+00
7: [INFO] expanded trust region. new box size: 0.2250
7: [INFO] iteration 3
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 1.085e+01 | 3.648e+00 | 3.748e+00 | 1.027e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------
7: TOTAL | 1.085e+01 | 3.648e+00 | 3.748e+00 | 1.027e+00
7: [INFO] expanded trust region. new box size: 0.3375
7: [INFO] iteration 4
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 7.099e+00 | 2.120e+00 | 2.301e+00 | 1.085e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------
7: TOTAL | 7.099e+00 | 2.120e+00 | 2.301e+00 | 1.085e+00
7: [INFO] expanded trust region. new box size: 0.5063
7: [INFO] iteration 5
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 4.798e+00 | 1.574e+00 | 1.865e+00 | 1.185e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------
7: TOTAL | 4.798e+00 | 1.574e+00 | 1.865e+00 | 1.185e+00
7: [INFO] expanded trust region. new box size: 0.7594
7: [INFO] iteration 6
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 2.933e+00 | 2.097e+00 | 2.082e+00 | 9.928e-01
7: CONSTRAINTS | -------------------------------------------------
7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------
7: TOTAL | 2.933e+00 | 2.097e+00 | 2.082e+00 | 9.928e-01
7: [INFO] expanded trust region. new box size: 1.1391
7: [INFO] iteration 7
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 8.505e-01 | 8.943e-01 | -3.491e-02 | -3.904e-02
7: CONSTRAINTS | -------------------------------------------------
7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------
7: TOTAL | 8.505e-01 | 8.943e-01 | -3.491e-02 | -3.904e-02
7: [INFO] shrunk trust region. new box size: 0.1139
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 8.505e-01 | 1.983e-01 | 1.975e-01 | 9.959e-01
7: CONSTRAINTS | -------------------------------------------------
7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------
7: TOTAL | 8.505e-01 | 1.983e-01 | 1.975e-01 | 9.959e-01
7: [INFO] expanded trust region. new box size: 0.1709
7: [INFO] iteration 8
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 6.530e-01 | 2.463e-01 | 2.462e-01 | 9.996e-01
7: CONSTRAINTS | -------------------------------------------------
7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------
7: TOTAL | 6.530e-01 | 2.463e-01 | 2.462e-01 | 9.996e-01
7: [INFO] expanded trust region. new box size: 0.2563
7: [INFO] iteration 9
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 4.068e-01 | 2.579e-01 | 2.574e-01 | 9.982e-01
7: CONSTRAINTS | -------------------------------------------------
7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------
7: TOTAL | 4.068e-01 | 2.579e-01 | 2.574e-01 | 9.982e-01
7: [INFO] expanded trust region. new box size: 0.3844
7: [INFO] iteration 10
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 1.493e-01 | 1.284e-01 | 1.253e-01 | 9.760e-01
7: CONSTRAINTS | -------------------------------------------------
7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------
7: TOTAL | 1.493e-01 | 1.284e-01 | 1.253e-01 | 9.760e-01
7: [INFO] expanded trust region. new box size: 0.5767
7: [INFO] iteration 11
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 2.402e-02 | 2.239e-02 | 2.367e-02 | 1.057e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------
7: TOTAL | 2.402e-02 | 2.239e-02 | 2.367e-02 | 1.057e+00
7: [INFO] expanded trust region. new box size: 0.8650
7: [INFO] iteration 12
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 3.555e-04 | 3.509e-04 | 3.554e-04 | 1.013e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------
7: TOTAL | 3.555e-04 | 3.509e-04 | 3.554e-04 | 1.013e+00
7: [INFO] expanded trust region. new box size: 1.2975
7: [INFO] iteration 13
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 1.546e-07 | 1.372e-07 | 1.533e-07 | 1.118e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------
7: TOTAL | 1.546e-07 | 1.372e-07 | 1.533e-07 | 1.118e+00
7: [INFO] expanded trust region. new box size: 1.9462
7: [INFO] iteration 14
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 1.259e-09 | 1.666e-14 | 9.153e-12 | ------
7: CONSTRAINTS | -------------------------------------------------
7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------
7: TOTAL | 1.259e-09 | 1.666e-14 | 9.153e-12 | 5.496e+02
7: [INFO] converged because improvement was small (1.666e-14 < 1.000e-10)
7: [INFO] woo-hoo! constraints are satisfied (to tolerance 1.00e-04)
7: [INFO]
7: ==================
7: Optimization results:
7: status: CONVERGED
7: cost values: (1.25905e-09)
7: constraint violations: (0)
7: n func evals: 16
7: n qp solves: 15
7: ==================
7: [INFO] checking (0.999965, 0.999925) ?= (1, 1)
7: [ OK ] SQP.TP1 (6 ms)
7: [ RUN ] SQP.TP3
7: [INFO] iteration 1
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 1.001e+00 | 1.000e-01 | 1.000e-01 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------
7: TOTAL | 1.001e+00 | 1.000e-01 | 1.000e-01 | 1.000e+00
7: [INFO] expanded trust region. new box size: 0.1500
7: [INFO] iteration 2
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 9.008e-01 | 1.500e-01 | 1.500e-01 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------
7: TOTAL | 9.008e-01 | 1.500e-01 | 1.500e-01 | 1.000e+00
7: [INFO] expanded trust region. new box size: 0.2250
7: [INFO] iteration 3
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 7.508e-01 | 2.250e-01 | 2.250e-01 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------
7: TOTAL | 7.508e-01 | 2.250e-01 | 2.250e-01 | 1.000e+00
7: [INFO] expanded trust region. new box size: 0.3375
7: [INFO] iteration 4
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 5.258e-01 | 3.375e-01 | 3.375e-01 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------
7: TOTAL | 5.258e-01 | 3.375e-01 | 3.375e-01 | 1.000e+00
7: [INFO] expanded trust region. new box size: 0.5063
7: [INFO] iteration 5
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 1.883e-01 | 1.876e-01 | 1.876e-01 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 0.000e+00 | -5.024e-08 | -5.023e-08 | 1.000e+00
7: TOTAL | 1.883e-01 | 1.876e-01 | 1.876e-01 | 1.000e+00
7: [INFO] expanded trust region. new box size: 0.7594
7: [INFO] iteration 6
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 7.536e-04 | 1.261e-04 | 1.261e-04 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 5.023e-08 | -4.513e-08 | -4.513e-08 | 1.000e+00
7: TOTAL | 7.537e-04 | 1.261e-04 | 1.261e-04 | 1.000e+00
7: [INFO] expanded trust region. new box size: 1.1391
7: [INFO] iteration 7
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 6.275e-04 | 1.679e-04 | 1.679e-04 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 9.537e-08 | -3.714e-07 | -3.714e-07 | 1.000e+00
7: TOTAL | 6.276e-04 | 1.675e-04 | 1.675e-04 | 1.000e+00
7: [INFO] expanded trust region. new box size: 1.7086
7: [INFO] iteration 8
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 4.596e-04 | 2.070e-04 | 2.070e-04 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 4.668e-07 | -4.437e-06 | -4.437e-06 | 1.000e+00
7: TOTAL | 4.601e-04 | 2.026e-04 | 2.026e-04 | 1.000e+00
7: [INFO] expanded trust region. new box size: 2.5629
7: [INFO] iteration 9
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 2.526e-04 | 5.609e-04 | 5.609e-04 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 4.903e-06 | -3.666e-04 | -3.666e-04 | 1.000e+00
7: TOTAL | 2.575e-04 | 1.944e-04 | 1.944e-04 | 1.000e+00
7: [INFO] expanded trust region. new box size: 3.8443
7: [INFO] iteration 10
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | -3.083e-04 | 3.333e-01 | 3.333e-01 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 3.715e-04 | -3.332e-01 | -3.332e-01 | 1.000e+00
7: TOTAL | 6.314e-05 | 6.314e-05 | 6.314e-05 | 1.000e+00
7: [INFO] expanded trust region. new box size: 5.7665
7: [INFO] iteration 11
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | -3.336e-01 | 1.084e+00 | 1.084e+00 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 3.336e-01 | -1.084e+00 | -1.084e+00 | 1.000e+00
7: TOTAL | 4.996e-16 | 2.264e-10 | -2.174e-09 | -9.601e+00
7: [INFO] shrunk trust region. new box size: 0.5767
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | -3.336e-01 | 4.823e-02 | 4.823e-02 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 3.336e-01 | -4.823e-02 | -4.823e-02 | 1.000e+00
7: TOTAL | 4.996e-16 | -2.416e-11 | -1.429e-11 | 5.916e-01
7: [INFO] converged because improvement was small (-2.416e-11 < 1.000e-10)
7: [INFO] not all constraints are satisfied. increasing penalties
7: [INFO] iteration 1
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | -3.336e-01 | -3.336e-01 | -3.336e-01 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 3.336e+00 | 3.336e+00 | 3.336e+00 | 1.000e+00
7: TOTAL | 3.002e+00 | 3.002e+00 | 3.002e+00 | 1.000e+00
7: [INFO] expanded trust region. new box size: 0.8650
7: [INFO] iteration 2
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 1.603e-10 | -2.792e-08 | -2.792e-08 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------
7: TOTAL | 1.603e-10 | -2.792e-08 | -2.792e-08 | 1.000e+00
7: [INFO] converged because improvement was small (-2.792e-08 < 1.000e-10)
7: [INFO] woo-hoo! constraints are satisfied (to tolerance 1.00e-04)
7: [INFO]
7: ==================
7: Optimization results:
7: status: CONVERGED
7: cost values: (1.60254e-10)
7: constraint violations: (0)
7: n func evals: 15
7: n qp solves: 14
7: ==================
7: [INFO] checking (0.00258134, 9.36204e-11) ?= (0, 0)
7: [ OK ] SQP.TP3 (5 ms)
7: [ RUN ] SQP.TP6
7: [INFO] iteration 1
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 8.100e+01 | 1.790e+00 | 1.790e+00 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 9.900e+02 | 2.100e+01 | 2.090e+01 | 9.952e-01
7: TOTAL | 1.071e+03 | 2.279e+01 | 2.269e+01 | 9.956e-01
7: [INFO] expanded trust region. new box size: 0.1500
7: [INFO] iteration 2
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 7.921e+01 | 2.648e+00 | 2.647e+00 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 9.691e+02 | 3.120e+01 | 3.097e+01 | 9.928e-01
7: TOTAL | 1.048e+03 | 3.385e+01 | 3.362e+01 | 9.934e-01
7: [INFO] expanded trust region. new box size: 0.2250
7: [INFO] iteration 3
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 7.656e+01 | 3.887e+00 | 3.887e+00 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 9.381e+02 | 4.613e+01 | 4.562e+01 | 9.890e-01
7: TOTAL | 1.015e+03 | 5.001e+01 | 4.951e+01 | 9.899e-01
7: [INFO] expanded trust region. new box size: 0.3375
7: [INFO] iteration 4
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 7.268e+01 | 5.640e+00 | 5.640e+00 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 8.925e+02 | 6.767e+01 | 6.653e+01 | 9.832e-01
7: TOTAL | 9.652e+02 | 7.331e+01 | 7.217e+01 | 9.845e-01
7: [INFO] expanded trust region. new box size: 0.5063
7: [INFO] iteration 5
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 6.704e+01 | 8.034e+00 | 8.034e+00 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 8.260e+02 | 9.809e+01 | 9.552e+01 | 9.739e-01
7: TOTAL | 8.930e+02 | 1.061e+02 | 1.036e+02 | 9.758e-01
7: [INFO] expanded trust region. new box size: 0.7594
7: [INFO] iteration 6
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 5.900e+01 | 1.109e+01 | 1.109e+01 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 7.305e+02 | 1.394e+02 | 1.337e+02 | 9.586e-01
7: TOTAL | 7.895e+02 | 1.505e+02 | 1.448e+02 | 9.617e-01
7: [INFO] expanded trust region. new box size: 1.1391
7: [INFO] iteration 7
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 4.791e+01 | 1.447e+01 | 1.447e+01 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 5.968e+02 | 1.919e+02 | 1.789e+02 | 9.324e-01
7: TOTAL | 6.447e+02 | 2.063e+02 | 1.934e+02 | 9.371e-01
7: [INFO] expanded trust region. new box size: 1.7086
7: [INFO] iteration 8
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 3.344e+01 | 1.684e+01 | 1.684e+01 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 4.179e+02 | 2.489e+02 | 2.197e+02 | 8.827e-01
7: TOTAL | 4.513e+02 | 2.657e+02 | 2.365e+02 | 8.901e-01
7: [INFO] expanded trust region. new box size: 2.5629
7: [INFO] iteration 9
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 1.660e+01 | 1.311e+01 | 1.311e+01 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 1.982e+02 | 1.982e+02 | 1.496e+02 | 7.545e-01
7: TOTAL | 2.148e+02 | 2.113e+02 | 1.627e+02 | 7.698e-01
7: [INFO] expanded trust region. new box size: 3.8443
7: [INFO] iteration 10
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 3.491e+00 | 3.369e+00 | 3.368e+00 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 4.865e+01 | 4.865e+01 | 2.560e+01 | 5.263e-01
7: TOTAL | 5.214e+01 | 5.202e+01 | 2.897e+01 | 5.569e-01
7: [INFO] expanded trust region. new box size: 5.7665
7: [INFO] iteration 11
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 1.227e-01 | 1.227e-01 | 1.227e-01 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 2.305e+01 | 2.305e+01 | 2.182e+01 | 9.467e-01
7: TOTAL | 2.317e+01 | 2.317e+01 | 2.194e+01 | 9.470e-01
7: [INFO] expanded trust region. new box size: 8.6498
7: [INFO] iteration 12
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 2.495e-11 | 1.743e-17 | -4.640e-14 | ------
7: CONSTRAINTS | -------------------------------------------------
7: g | 1.227e+00 | 1.227e+00 | 1.227e+00 | 1.000e+00
7: TOTAL | 1.227e+00 | 1.227e+00 | 1.227e+00 | 1.000e+00
7: [INFO] expanded trust region. new box size: 12.9746
7: [INFO] iteration 13
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | 2.500e-11 | 5.311e-18 | -2.191e-17 | ------
7: CONSTRAINTS | -------------------------------------------------
7: g | 3.152e-11 | -2.404e-11 | -2.404e-11 | ------
7: TOTAL | 5.652e-11 | -2.404e-11 | -2.404e-11 | 1.000e+00
7: [INFO] converged because improvement was small (-2.404e-11 < 1.000e-10)
7: [INFO] woo-hoo! constraints are satisfied (to tolerance 1.00e-04)
7: [INFO]
7: ==================
7: Optimization results:
7: status: CONVERGED
7: cost values: (2.50001e-11)
7: constraint violations: (3.15248e-11)
7: n func evals: 14
7: n qp solves: 13
7: ==================
7: [INFO] checking (0.999995, 0.99999) ?= (1, 1)
7: [ OK ] SQP.TP6 (5 ms)
7: [ RUN ] SQP.TP7
7: [INFO] iteration 1
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | -3.906e-01 | -2.000e-02 | -1.879e-02 | 9.395e-01
7: CONSTRAINTS | -------------------------------------------------
7: g | 2.500e+01 | 4.400e+00 | 4.138e+00 | 9.404e-01
7: TOTAL | 2.461e+01 | 4.380e+00 | 4.119e+00 | 9.404e-01
7: [INFO] expanded trust region. new box size: 0.1500
7: [INFO] iteration 2
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | -3.718e-01 | -2.636e-02 | -2.357e-02 | 8.943e-01
7: CONSTRAINTS | -------------------------------------------------
7: g | 2.086e+01 | 5.825e+00 | 5.296e+00 | 9.091e-01
7: TOTAL | 2.049e+01 | 5.799e+00 | 5.272e+00 | 9.091e-01
7: [INFO] expanded trust region. new box size: 0.2250
7: [INFO] iteration 3
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | -3.482e-01 | -3.115e-02 | -2.486e-02 | 7.979e-01
7: CONSTRAINTS | -------------------------------------------------
7: g | 1.557e+01 | 7.186e+00 | 6.181e+00 | 8.601e-01
7: TOTAL | 1.522e+01 | 7.155e+00 | 6.156e+00 | 8.604e-01
7: [INFO] expanded trust region. new box size: 0.3375
7: [INFO] iteration 4
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | -3.233e-01 | -2.797e-02 | -1.553e-02 | 5.553e-01
7: CONSTRAINTS | -------------------------------------------------
7: g | 9.385e+00 | 7.876e+00 | 6.166e+00 | 7.829e-01
7: TOTAL | 9.062e+00 | 7.848e+00 | 6.151e+00 | 7.837e-01
7: [INFO] expanded trust region. new box size: 0.5063
7: [INFO] iteration 5
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | -3.078e-01 | 8.868e-01 | 8.900e-01 | 1.004e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 3.219e+00 | 3.219e+00 | 1.654e+00 | 5.138e-01
7: TOTAL | 2.911e+00 | 4.106e+00 | 2.544e+00 | 6.196e-01
7: [INFO] expanded trust region. new box size: 0.7594
7: [INFO] iteration 6
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | -1.198e+00 | 1.382e+00 | 1.212e+00 | 8.768e-01
7: CONSTRAINTS | -------------------------------------------------
7: g | 1.565e+00 | 1.565e+00 | -1.254e+00 | -8.011e-01
7: TOTAL | 3.674e-01 | 2.948e+00 | -4.188e-02 | -1.421e-02
7: [INFO] shrunk trust region. new box size: 0.0759
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | -1.198e+00 | -2.591e-03 | -2.721e-03 | 1.050e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 1.565e+00 | 6.569e-01 | 6.188e-01 | 9.419e-01
7: TOTAL | 3.674e-01 | 6.543e-01 | 6.160e-01 | 9.415e-01
7: [INFO] expanded trust region. new box size: 0.1139
7: [INFO] iteration 7
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | -1.195e+00 | -8.269e-03 | -8.796e-03 | 1.064e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 9.465e-01 | 8.729e-01 | 7.972e-01 | 9.132e-01
7: TOTAL | -2.486e-01 | 8.647e-01 | 7.884e-01 | 9.118e-01
7: [INFO] expanded trust region. new box size: 0.1709
7: [INFO] iteration 8
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | -1.186e+00 | 2.837e-01 | 2.815e-01 | 9.923e-01
7: CONSTRAINTS | -------------------------------------------------
7: g | 1.493e-01 | 1.493e-01 | 1.679e-02 | 1.125e-01
7: TOTAL | -1.037e+00 | 4.329e-01 | 2.983e-01 | 6.890e-01
7: [INFO] expanded trust region. new box size: 0.2563
7: [INFO] iteration 9
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | -1.468e+00 | 2.757e-01 | 2.677e-01 | 9.710e-01
7: CONSTRAINTS | -------------------------------------------------
7: g | 1.325e-01 | 1.325e-01 | -6.533e-02 | -4.931e-01
7: TOTAL | -1.335e+00 | 4.082e-01 | 2.023e-01 | 4.957e-01
7: [INFO] expanded trust region. new box size: 0.3844
7: [INFO] iteration 10
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | -1.735e+00 | 3.460e-02 | 2.836e-02 | 8.196e-01
7: CONSTRAINTS | -------------------------------------------------
7: g | 1.978e-01 | 1.978e-01 | -9.776e-03 | -4.942e-02
7: TOTAL | -1.538e+00 | 2.324e-01 | 1.859e-02 | 7.997e-02
7: [INFO] shrunk trust region. new box size: 0.0384
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | -1.735e+00 | -2.607e-02 | -2.609e-02 | 1.001e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 1.978e-01 | 1.653e-01 | 1.606e-01 | 9.716e-01
7: TOTAL | -1.538e+00 | 1.392e-01 | 1.345e-01 | 9.661e-01
7: [INFO] expanded trust region. new box size: 0.0577
7: [INFO] iteration 11
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | -1.709e+00 | 1.253e-02 | 1.248e-02 | 9.962e-01
7: CONSTRAINTS | -------------------------------------------------
7: g | 3.721e-02 | 3.721e-02 | 3.023e-02 | 8.125e-01
7: TOTAL | -1.672e+00 | 4.974e-02 | 4.272e-02 | 8.588e-01
7: [INFO] expanded trust region. new box size: 0.0865
7: [INFO] iteration 12
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | -1.722e+00 | 1.471e-02 | 1.462e-02 | 9.942e-01
7: CONSTRAINTS | -------------------------------------------------
7: g | 6.976e-03 | 6.976e-03 | -8.213e-03 | -1.177e+00
7: TOTAL | -1.715e+00 | 2.168e-02 | 6.407e-03 | 2.955e-01
7: [INFO] expanded trust region. new box size: 0.1297
7: [INFO] iteration 13
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | -1.736e+00 | -4.367e-03 | -4.367e-03 | 1.000e+00
7: CONSTRAINTS | -------------------------------------------------
7: g | 1.519e-02 | 1.519e-02 | 1.516e-02 | 9.978e-01
7: TOTAL | -1.721e+00 | 1.082e-02 | 1.079e-02 | 9.969e-01
7: [INFO] expanded trust region. new box size: 0.1946
7: [INFO] iteration 14
7: [INFO]
7: | oldexact | dapprox | dexact | ratio
7: COSTS | -------------------------------------------------
7: f | -1.732e+00 | -7.308e-06 | -7.292e-06 | 9.979e-01
7: CONSTRAINTS | -------------------------------------------------
7: g | 3.365e-05 | 3.364e-05 | 2.887e-05 | 8.580e-01
7: TOTAL | -1.732e+00 | 2.634e-05 | 2.157e-05 | 8.192e-01
7: [INF