What does the values "constrviolation" and "firstorderopt" mean to the problem feasibility?

The output of fmincon for my optimization problem is the following :

output = 

  struct with fields:

         iterations: 8
          funcCount: 189
    constrviolation: 2.2204e-16
           stepsize: 0.0200
          algorithm: 'interior-point'
      firstorderopt: 8.6207
       cgiterations: 0
      message: ['Local minimum found that satisfies the constraints.↵↵Optimization completed because ' ...
              ['the objective function is non-decreasing  ↵feasible directions, to within the default value of ' ...
             ['the optimality tolerance,↵and constraints are satisfied to within the default value of the' ...
             ' constraint tolerance.↵↵Stopping criteria details:↵↵' ...
             'Optimization completed: The relative first-order optimality measure, 1.403718e-07,↵is less ' ...
             'than options.OptimalityTolerance = 1.000000e-06, ' ...
             'and the relative maximum constraint↵violation, 2.220446e-16, is less than options.' ...
             'ConstraintTolerance = 1.000000e-06.↵↵Optimization Metric   ' ...
             '  Options↵relative first-order optimality =   1.40e-07       ' ...
             'OptimalityTolerance =   1e-06 (default)↵' ...
             'relative max(constraint violation) =   2.22e-16   ' ...
             ' ConstraintTolerance =   1e-06 (default)']

I would like to know if the program converged to a feasible point with the above values of constrviolation and firstorderopt. What are relative constrviolation and relative first-order optimality?

When I set Aeq and beq to [], the constraint violation becomes 0.

P.S : The problem has linear and non linear constraints.