qoro-divi 0.2.0b1__py3-none-any.whl

divi/exp/scipy/pyprima/cobyla/cobylb.py

@@ -0,0 +1,849 @@
+"""
+This module performs the major calculations of COBYLA.
+
+Translated from Zaikun Zhang's modern-Fortran reference implementation in PRIMA.
+
+Dedicated to late Professor M. J. D. Powell FRS (1936--2015).
+
+Python translation by Nickolai Belakovski.
+"""
+
+import numpy as np
+
+from ..common.checkbreak import checkbreak_con
+from ..common.consts import DEBUGGING, EPS, MIN_MAXFILT, REALMAX
+from ..common.evaluate import evaluate
+from ..common.history import savehist
+from ..common.infos import (
+    CALLBACK_TERMINATE,
+    DAMAGING_ROUNDING,
+    INFO_DEFAULT,
+    MAXTR_REACHED,
+    SMALL_TR_RADIUS,
+)
+from ..common.linalg import inprod, isinv, matprod, norm, primapow2, primasum
+from ..common.message import fmsg, retmsg, rhomsg
+from ..common.ratio import redrat
+from ..common.redrho import redrho
+from ..common.selectx import savefilt, selectx
+from .geometry import geostep, setdrop_tr
+from .initialize import initfilt, initxfc
+from .trustregion import trrad, trstlp
+from .update import findpole, updatepole, updatexfc
+
+
+def cobylb(
+    calcfc,
+    iprint,
+    maxfilt,
+    maxfun,
+    amat,
+    bvec,
+    ctol,
+    cweight,
+    eta1,
+    eta2,
+    ftarget,
+    gamma1,
+    gamma2,
+    rhobeg,
+    rhoend,
+    constr,
+    f,
+    x,
+    maxhist,
+    callback,
+):
+    """
+    This subroutine performs the actual computations of COBYLA.
+    """
+
+    # Outputs
+    xhist = []
+    fhist = []
+    chist = []
+    conhist = []
+
+    # Local variables
+    solver = "COBYLA"
+    A = np.zeros(
+        (np.size(x), np.size(constr))
+    )  # A contains the approximate gradient for the constraints
+    distsq = np.zeros(np.size(x) + 1)
+    # CPENMIN is the minimum of the penalty parameter CPEN for the L-infinity
+    # constraint violation in the merit function. Note that CPENMIN = 0 in Powell's
+    # implementation, which allows CPEN to be 0. Here, we take CPENMIN > 0 so that CPEN
+    # is always positive. This avoids the situation where PREREM becomes 0 when
+    # PREREF = 0 = CPEN. It brings two advantages as follows.
+    # 1. If the trust-region subproblem solver works correctly and the trust-region
+    #    center is not optimal for the subproblem, then PREREM > 0 is guaranteed. This
+    #    is because, in theory, PREREC >= 0 and MAX(PREREC, PREREF) > 0, and the
+    #    definition of CPEN in GETCPEN ensures that PREREM > 0.
+    # 2. There is no need to revise ACTREM and PREREM when CPEN = 0 and F = FVAL(N+1)
+    #    as in lines 312--314 of Powell's cobylb.f code. Powell's code revises ACTREM
+    #    to CVAL(N + 1) - CSTRV and PREREM to PREREC in this case, which is crucial for
+    #    feasibility problems.
+    cpenmin = EPS
+
+    # Sizes
+    m_lcon = np.size(bvec) if bvec is not None else 0
+    num_constraints = np.size(constr)
+    m_nlcon = num_constraints - m_lcon
+    num_vars = np.size(x)
+
+    # Preconditions
+    if DEBUGGING:
+        assert abs(iprint) <= 3
+        assert num_constraints >= m_lcon and m_lcon >= 0
+        assert num_vars >= 1
+        assert maxfun >= num_vars + 2
+        assert rhobeg >= rhoend and rhoend > 0
+        assert all(np.isfinite(x))
+        assert 0 <= eta1 <= eta2 < 1
+        assert 0 < gamma1 < 1 < gamma2
+        assert 0 <= ctol
+        assert 0 <= cweight
+        assert 0 <= maxhist <= maxfun
+        assert amat is None or np.shape(amat) == (m_lcon, num_vars)
+        assert min(MIN_MAXFILT, maxfun) <= maxfilt <= maxfun
+
+    # ====================#
+    # Calculation starts #
+    # ====================#
+
+    # Initialize SIM, FVAL, CONMAT, and CVAL, together with the history.
+    # After the initialization, SIM[:, NUM_VARS] holds the vertex of the initial
+    # simplex with the smallest function value (regardless of the constraint
+    # violation), and SIM[:, :NUM_VARS] holds the displacements from the other vertices
+    # to SIM[:, NUM_VARS]. FVAL, CONMAT, and CVAL hold the function values, constraint
+    # values, and constraint violations on the vertices in the order corresponding to
+    # SIM.
+    evaluated, conmat, cval, sim, simi, fval, nf, subinfo = initxfc(
+        calcfc,
+        iprint,
+        maxfun,
+        constr,
+        amat,
+        bvec,
+        ctol,
+        f,
+        ftarget,
+        rhobeg,
+        x,
+        xhist,
+        fhist,
+        chist,
+        conhist,
+        maxhist,
+    )
+
+    # Initialize the filter, including xfilt, ffilt, confilt, cfilt, and nfilt.
+    # N.B.: The filter is used only when selecting which iterate to return. It does not
+    # interfere with the iterations. COBYLA is NOT a filter method but a trust-region
+    # method based on an L-infinity merit function. Powell's implementation does not
+    # use a filter to select the iterate, possibly returning a suboptimal iterate.
+    cfilt = np.zeros(np.minimum(np.maximum(maxfilt, 1), maxfun))
+    confilt = np.zeros((np.size(constr), np.size(cfilt)))
+    ffilt = np.zeros(np.size(cfilt))
+    xfilt = np.zeros((np.size(x), np.size(cfilt)))
+    nfilt = initfilt(
+        conmat, ctol, cweight, cval, fval, sim, evaluated, cfilt, confilt, ffilt, xfilt
+    )
+
+    # Check whether to return due to abnormal cases that may occur during the initialization.
+    if subinfo != INFO_DEFAULT:
+        info = subinfo
+        # Return the best calculated values of the variables
+        # N.B: Selectx and findpole choose X by different standards, one cannot replace the other
+        kopt = selectx(ffilt[:nfilt], cfilt[:nfilt], cweight, ctol)
+        x = xfilt[:, kopt]
+        f = ffilt[kopt]
+        constr = confilt[:, kopt]
+        cstrv = cfilt[kopt]
+        # print a return message according to IPRINT.
+        retmsg(solver, info, iprint, nf, f, x, cstrv, constr)
+        # Postconditions
+        if DEBUGGING:
+            assert nf <= maxfun
+            assert np.size(x) == num_vars and not any(np.isnan(x))
+            assert not (np.isnan(f) or np.isposinf(f))
+            # assert np.size(xhist, 0) == n and np.size(xhist, 1) == maxxhist
+            # assert not any(np.isnan(xhist(:, 1:min(nf, maxxhist))))
+            # The last calculated X can be Inf (finite + finite can be Inf numerically).
+            # assert np.size(fhist) == maxfhist
+            # assert not any(np.isnan(fhist(1:min(nf, maxfhist))) or np.isposinf(fhist(1:min(nf, maxfhist))))
+            # assert np.size(conhist, 0) == m and np.size(conhist, 1) == maxconhist
+            # assert not any(np.isnan(conhist(:, 1:min(nf, maxconhist))) or np.isneginf(conhist(:, 1:min(nf, maxconhist))))
+            # assert np.size(chist) == maxchist
+            # assert not any(chist(1:min(nf, maxchist)) < 0 or np.isnan(chist(1:min(nf, maxchist))) or np.isposinf(chist(1:min(nf, maxchist))))
+            # nhist = minval([nf, maxfhist, maxchist])
+            # assert not any(isbetter(fhist(1:nhist), chist(1:nhist), f, cstrv, ctol))
+        return x, f, constr, cstrv, nf, xhist, fhist, chist, conhist, info
+
+    # Set some more initial values.
+    # We must initialize shortd, ratio, and jdrop_tr because these get defined on
+    # branches that are not guaranteed to be executed, but their values are used later.
+    # Our initialization of CPEN differs from Powell's in two ways. First, we use the
+    # ratio defined in (13) of Powell's COBYLA paper to initialize CPEN. Second, we
+    # impose CPEN >= CPENMIN > 0. Powell's code simply initializes CPEN to 0.
+    rho = rhobeg
+    delta = rhobeg
+    cpen = np.maximum(
+        cpenmin, np.minimum(1.0e3, fcratio(conmat, fval))
+    )  # Powell's code: CPEN = ZERO
+    shortd = False
+    ratio = -1
+    jdrop_tr = 0
+
+    # If DELTA <= GAMMA3*RHO after an update, we set DELTA to RHO. GAMMA3 must be less
+    # than GAMMA2. The reason is as follows. Imagine a very successful step with
+    # DNORM = the un-updated DELTA = RHO. The TRRAD will update DELTA to GAMMA2*RHO.
+    # If GAMMA3 >= GAMMA2, then DELTA will be reset to RHO, which is not reasonable as
+    # D is very successful. See paragraph two of Sec 5.2.5 in T. M. Ragonneau's thesis:
+    # "Model-Based Derivative-Free Optimization Methods and Software." According to
+    # test on 20230613, for COBYLA, this Powellful updating scheme of DELTA works
+    # slightly better than setting directly DELTA = max(NEW_DELTA, RHO).
+    gamma3 = np.maximum(1, np.minimum(0.75 * gamma2, 1.5))
+
+    # MAXTR is the maximal number of trust region iterations. Each trust-region
+    # iteration takes 1 or 2 function evaluations unless the trust-region step is short
+    # or the trust-region subproblem solver fails but the geometry step is not invoked.
+    # Thus the following MAXTR is unlikely to be reached.
+    maxtr = 10 * maxfun
+    info = MAXTR_REACHED
+
+    # Begin the iterative procedure
+    # After solving a trust-region subproblem, we use three boolean variables to
+    # control the workflow.
+    # SHORTD - Is the trust-region trial step too short to invoke # a function
+    #          evaluation?
+    # IMPROVE_GEO - Will we improve the model after the trust-region iteration? If yes,
+    #               a geometry step will be taken, corresponding to the "Branch (Delta)"
+    #               in the COBYLA paper.
+    # REDUCE_RHO - Will we reduce rho after the trust-region iteration?
+    # COBYLA never sets IMPROVE_GEO and REDUCE_RHO to True simultaneously.
+    for tr in range(maxtr):
+        # Increase the penalty parameter CPEN, if needed, so that
+        # PREREM = PREREF + CPEN * PREREC > 0.
+        # This is the first (out of two) update of CPEN, where CPEN increases or
+        # remains the same.
+        # N.B.: CPEN and the merit function PHI = FVAL + CPEN*CVAL are used in three
+        # places only.
+        # 1. In FINDPOLE/UPDATEPOLE, deciding the optimal vertex of the current simplex.
+        # 2. After the trust-region trial step, calculating the reduction ratio.
+        # 3. In GEOSTEP, deciding the direction of the geometry step.
+        # They do not appear explicitly in the trust-region subproblem, though the
+        # trust-region center (i.e. the current optimal vertex) is defined by them.
+        cpen = getcpen(amat, bvec, conmat, cpen, cval, delta, fval, rho, sim, simi)
+
+        # Switch the best vertex of the current simplex to SIM[:, NUM_VARS].
+        conmat, cval, fval, sim, simi, subinfo = updatepole(
+            cpen, conmat, cval, fval, sim, simi
+        )
+        # Check whether to exit due to damaging rounding in UPDATEPOLE.
+        if subinfo == DAMAGING_ROUNDING:
+            info = subinfo
+            break  # Better action to take? Geometry step, or simply continue?
+
+        # Does the interpolation set have adequate geometry? It affects improve_geo and
+        # reduce_rho.
+        adequate_geo = all(
+            primasum(primapow2(sim[:, :num_vars]), axis=0) <= 4 * primapow2(delta)
+        )
+
+        # Calculate the linear approximations to the objective and constraint functions.
+        # N.B.: TRSTLP accesses A mostly by columns, so it is more reasonable to save A
+        # instead of A^T.
+        # Zaikun 2023108: According to a test on 2023108, calculating G and
+        # A(:, M_LCON+1:M) by solving the linear systems SIM^T*G = FVAL(1:N)-FVAL(N+1)
+        # and SIM^T*A = CONMAT(:, 1:N)-CONMAT(:, N+1) does not seem to improve or worsen
+        # the performance of COBYLA in terms of the number of function evaluations. The
+        # system was solved by SOLVE in LINALG_MOD based on a QR factorization of SIM
+        # (not necessarily a good algorithm). No preconditioning or scaling was used.
+        g = matprod((fval[:num_vars] - fval[num_vars]), simi)
+        A[:, :m_lcon] = amat.T if amat is not None else amat
+        A[:, m_lcon:] = matprod(
+            (
+                conmat[m_lcon:, :num_vars]
+                - np.tile(conmat[m_lcon:, num_vars], (num_vars, 1)).T
+            ),
+            simi,
+        ).T
+
+        # Calculate the trust-region trial step d. Note that d does NOT depend on cpen.
+        d = trstlp(A, -conmat[:, num_vars], delta, g)
+        dnorm = min(delta, norm(d))
+
+        # Is the trust-region trial step short? N.B.: we compare DNORM with RHO, not
+        # DELTA. Powell's code especially defines SHORTD by SHORTD = (DNORM < 0.5 *
+        # RHO). In our tests 1/10 seems to work better than 1/2 or 1/4, especially for
+        # linearly constrained problems. Note that LINCOA has a slightly more
+        # sophisticated way of defining SHORTD, taking into account whether D causes a
+        # change to the active set. Should we try the same here?
+        shortd = dnorm <= 0.1 * rho
+
+        # Predict the change to F (PREREF) and to the constraint violation (PREREC) due
+        # to D. We have the following in precise arithmetic. They may fail to hold due
+        # to rounding errors.
+        # 1. B[:NUM_CONSTRAINTS] = -CONMAT[:, NUM_VARS] and hence
+        # np.max(np.append(B[:NUM_CONSTRAINTS] - D@A[:, :NUM_CONSTRAINTS], 0)) is the
+        # L-infinity violation of the linearized constraints corresponding to D. When
+        # D=0, the violation is np.max(np.append(B[:NUM_CONSTRAINTS], 0)) =
+        # CVAL[NUM_VARS]. PREREC is the reduction of this violation achieved by D,
+        # which is nonnegative in theory; PREREC = 0 iff B[:NUM_CONSTRAINTS] <= 0, i.e.
+        # the trust-region center satisfies the linearized constraints.
+        # 2. PREREF may be negative or 0, but it is positive when PREREC = 0 and shortd
+        # is False
+        # 3. Due to 2, in theory, max(PREREC, PREREF) > 0 if shortd is False.
+        preref = -inprod(d, g)  # Can be negative
+        prerec = cval[num_vars] - np.max(
+            np.append(0, conmat[:, num_vars] + matprod(d, A))
+        )
+
+        # Evaluate PREREM, which is the predicted reduction in the merit function.
+        # In theory, PREREM >= 0 and it is 0 iff CPEN = 0 = PREREF. This may not be true
+        # numerically.
+        prerem = preref + cpen * prerec
+        trfail = not (prerem > 1.0e-6 * min(cpen, 1) * rho)
+
+        if shortd or trfail:
+            # Reduce DELTA if D is short or if D fails to render PREREM > 0. The latter
+            # can only happen due to rounding errors. This seems quite important for
+            # performance
+            delta *= 0.1
+            if delta <= gamma3 * rho:
+                delta = rho  # set delta to rho when it is close to or below
+        else:
+            # Calculate the next value of the objective and constraint functions.
+            # If X is close to one of the points in the interpolation set, then we do
+            # not evaluate the objective and constraints at X, assuming them to have
+            # the values at the closest point.
+            # N.B.: If this happens, do NOT include X into the filter, as F and CONSTR
+            # are inaccurate.
+            x = sim[:, num_vars] + d
+            distsq[num_vars] = primasum(primapow2(x - sim[:, num_vars]))
+            distsq[:num_vars] = primasum(
+                primapow2(
+                    x.reshape(num_vars, 1)
+                    - (sim[:, num_vars].reshape(num_vars, 1) + sim[:, :num_vars])
+                ),
+                axis=0,
+            )
+            j = np.argmin(distsq)
+            if distsq[j] <= primapow2(1e-4 * rhoend):
+                f = fval[j]
+                constr = conmat[:, j]
+                cstrv = cval[j]
+            else:
+                # Evaluate the objective and constraints at X, taking care of possible
+                # inf/nan values.
+                f, constr = evaluate(calcfc, x, m_nlcon, amat, bvec)
+                cstrv = np.max(np.append(0, constr))
+                nf += 1
+                # Save X, F, CONSTR, CSTRV into the history.
+                savehist(maxhist, x, xhist, f, fhist, cstrv, chist, constr, conhist)
+                # Save X, F, CONSTR, CSTRV into the filter.
+                nfilt, cfilt, ffilt, xfilt, confilt = savefilt(
+                    cstrv,
+                    ctol,
+                    cweight,
+                    f,
+                    x,
+                    nfilt,
+                    cfilt,
+                    ffilt,
+                    xfilt,
+                    constr,
+                    confilt,
+                )
+
+            # Print a message about the function/constraint evaluation according to
+            # iprint
+            fmsg(solver, "Trust region", iprint, nf, delta, f, x, cstrv, constr)
+
+            # Evaluate ACTREM, which is the actual reduction in the merit function
+            actrem = (fval[num_vars] + cpen * cval[num_vars]) - (f + cpen * cstrv)
+
+            # Calculate the reduction  ratio by redrat, which hands inf/nan carefully
+            ratio = redrat(actrem, prerem, eta1)
+
+            # Update DELTA. After this, DELTA < DNORM may hold.
+            # N.B.:
+            # 1. Powell's code uses RHO as the trust-region radius and updates it as
+            #    follows.
+            #    Reduce RHO to GAMMA1*RHO if ADEQUATE_GEO is TRUE and either SHORTD is
+            #    TRUE or RATIO < ETA1, and then revise RHO to RHOEND if its new value is
+            #    not more than GAMMA3*RHOEND; RHO remains unchanged in all other cases;
+            #    in particular, RHO is never increased.
+            # 2. Our implementation uses DELTA as the trust-region radius, while using
+            #    RHO as a lower bound for DELTA. DELTA is updated in a way that is
+            #    typical for trust-region methods, and it is revised to RHO if its new
+            #    value is not more than GAMMA3*RHO. RHO reflects the current resolution
+            #    of the algorithm; its update is essentially the same as the update of
+            #    RHO in Powell's code (see the definition of REDUCE_RHO below). Our
+            #    implementation aligns with UOBYQA/NEWUOA/BOBYQA/LINCOA and improves the
+            #    performance of COBYLA.
+            # 3. The same as Powell's code, we do not reduce RHO unless ADEQUATE_GEO is
+            #    TRUE. This is also how Powell updated RHO in
+            #    UOBYQA/NEWUOA/BOBYQA/LINCOA. What about we also use ADEQUATE_GEO ==
+            #    TRUE as a prerequisite for reducing DELTA? The argument would be that
+            #    the bad (small) value of RATIO may be because of a bad geometry (and
+            #    hence a bad model) rather than an improperly large DELTA, and it might
+            #    be good to try improving the geometry first without reducing DELTA.
+            #    However, according to a test on 20230206, it does not improve the
+            #    performance if we skip the update of DELTA when ADEQUATE_GEO is FALSE
+            #    and RATIO < 0.1. Therefore, we choose to update DELTA without checking
+            #    ADEQUATE_GEO.
+
+            delta = trrad(delta, dnorm, eta1, eta2, gamma1, gamma2, ratio)
+            if delta <= gamma3 * rho:
+                delta = rho  # Set delta to rho when it is close to or below.
+
+            # Is the newly generated X better than the current best point?
+            ximproved = (
+                actrem > 0
+            )  # If ACTREM is NaN, then XIMPROVED should and will be False
+
+            # Set JDROP_TR to the index of the vertex to be replaced with X. JDROP_TR = 0 means there
+            # is no good point to replace, and X will not be included into the simplex; in this case,
+            # the geometry of the simplex likely needs improvement, which will be handled below.
+            jdrop_tr = setdrop_tr(ximproved, d, delta, rho, sim, simi)
+
+            # Update SIM, SIMI, FVAL, CONMAT, and CVAL so that SIM[:, JDROP_TR] is replaced with D.
+            # UPDATEXFC does nothing if JDROP_TR is None, as the algorithm decides to discard X.
+            sim, simi, fval, conmat, cval, subinfo = updatexfc(
+                jdrop_tr, constr, cpen, cstrv, d, f, conmat, cval, fval, sim, simi
+            )
+            # Check whether to break due to damaging rounding in UPDATEXFC
+            if subinfo == DAMAGING_ROUNDING:
+                info = subinfo
+                break  # Better action to take? Geometry step, or a RESCUE as in BOBYQA?
+
+            # Check whether to break due to maxfun, ftarget, etc.
+            subinfo = checkbreak_con(maxfun, nf, cstrv, ctol, f, ftarget, x)
+            if subinfo != INFO_DEFAULT:
+                info = subinfo
+                break
+        # End of if SHORTD or TRFAIL. The normal trust-region calculation ends.
+
+        # Before the next trust-region iteration, we possibly improve the geometry of the simplex or
+        # reduce RHO according to IMPROVE_GEO and REDUCE_RHO. Now we decide these indicators.
+        # N.B.: We must ensure that the algorithm does not set IMPROVE_GEO = True at infinitely many
+        # consecutive iterations without moving SIM[:, NUM_VARS] or reducing RHO. Otherwise, the algorithm
+        # will get stuck in repetitive invocations of GEOSTEP. This is ensured by the following facts:
+        # 1. If an iteration sets IMPROVE_GEO to True, it must also reduce DELTA or set DELTA to RHO.
+        # 2. If SIM[:, NUM_VARS] and RHO remain unchanged, then ADEQUATE_GEO will become True after at
+        # most NUM_VARS invocations of GEOSTEP.
+
+        # BAD_TRSTEP: Is the last trust-region step bad?
+        bad_trstep = shortd or trfail or ratio <= 0 or jdrop_tr is None
+        # IMPROVE_GEO: Should we take a geometry step to improve the geometry of the interpolation set?
+        improve_geo = bad_trstep and not adequate_geo
+        # REDUCE_RHO: Should we enhance the resolution by reducing rho?
+        reduce_rho = bad_trstep and adequate_geo and max(delta, dnorm) <= rho
+
+        # COBYLA never sets IMPROVE_GEO and REDUCE_RHO to True simultaneously.
+        # assert not (IMPROVE_GEO and REDUCE_RHO), 'IMPROVE_GEO or REDUCE_RHO are not both TRUE, COBYLA'
+
+        # If SHORTD or TRFAIL is True, then either IMPROVE_GEO or REDUCE_RHO is True unless ADEQUATE_GEO
+        # is True and max(DELTA, DNORM) > RHO.
+        # assert not (shortd or trfail) or (improve_geo or reduce_rho or (adequate_geo and max(delta, dnorm) > rho)), \
+        #     'If SHORTD or TRFAIL is TRUE, then either IMPROVE_GEO or REDUCE_RHO is TRUE unless ADEQUATE_GEO is TRUE and MAX(DELTA, DNORM) > RHO'
+
+        # Comments on BAD_TRSTEP:
+        # 1. Powell's definition of BAD_TRSTEP is as follows. The one used above seems to work better,
+        # especially for linearly constrained problems due to the factor TENTH (= ETA1).
+        # !bad_trstep = (shortd .or. actrem <= 0 .or. actrem < TENTH * prerem .or. jdrop_tr == 0)
+        # Besides, Powell did not check PREREM > 0 in BAD_TRSTEP, which is reasonable to do but has
+        # little impact upon the performance.
+        # 2. NEWUOA/BOBYQA/LINCOA would define BAD_TRSTEP, IMPROVE_GEO, and REDUCE_RHO as follows. Two
+        # different thresholds are used in BAD_TRSTEP. It outperforms Powell's version.
+        # !bad_trstep = (shortd .or. trfail .or. ratio <= eta1 .or. jdrop_tr == 0)
+        # !improve_geo = bad_trstep .and. .not. adequate_geo
+        # !bad_trstep = (shortd .or. trfail .or. ratio <= 0 .or. jdrop_tr == 0)
+        # !reduce_rho = bad_trstep .and. adequate_geo .and. max(delta, dnorm) <= rho
+        # 3. Theoretically, JDROP_TR > 0 when ACTREM > 0 (guaranteed by RATIO > 0). However, in Powell's
+        # implementation, JDROP_TR may be 0 even RATIO > 0 due to NaN. The modernized code has rectified
+        # this in the function SETDROP_TR. After this rectification, we can indeed simplify the
+        # definition of BAD_TRSTEP by removing the condition JDROP_TR == 0. We retain it for robustness.
+
+        # Comments on REDUCE_RHO:
+        # When SHORTD is TRUE, UOBYQA/NEWUOA/BOBYQA/LINCOA all set REDUCE_RHO to TRUE if the recent
+        # models are sufficiently accurate according to certain criteria. See the paragraph around (37)
+        # in the UOBYQA paper and the discussions about Box 14 in the NEWUOA paper. This strategy is
+        # crucial for the performance of the solvers. However, as of 20221111, we have not managed to
+        # make it work in COBYLA. As in NEWUOA, we recorded the errors of the recent models, and set
+        # REDUCE_RHO to true if they are small (e.g., ALL(ABS(MODERR_REC) <= 0.1 * MAXVAL(ABS(A))*RHO) or
+        # ALL(ABS(MODERR_REC) <= RHO**2)) when SHORTD is TRUE. It made little impact on the performance.
+
+        # Since COBYLA never sets IMPROVE_GEO and REDUCE_RHO to TRUE simultaneously, the following
+        # two blocks are exchangeable: IF (IMPROVE_GEO) ... END IF and IF (REDUCE_RHO) ... END IF.
+
+        # Improve the geometry of the simplex by removing a point and adding a new one.
+        # If the current interpolation set has acceptable geometry, then we skip the geometry step.
+        # The code has a small difference from Powell's original code here: If the current geometry
+        # is acceptable, then we will continue with a new trust-region iteration; however, at the
+        # beginning of the iteration, CPEN may be updated, which may alter the pole point SIM(:, N+1)
+        # by UPDATEPOLE; the quality of the interpolation point depends on SIM(:, N + 1), meaning
+        # that the same interpolation set may have good or bad geometry with respect to different
+        # "poles"; if the geometry turns out bad with the new pole, the original COBYLA code will
+        # take a geometry step, but our code here will NOT do it but continue to take a trust-region
+        # step. The argument is this: even if the geometry step is not skipped in the first place, the
+        # geometry may turn out bad again after the pole is altered due to an update to CPEN; should
+        # we take another geometry step in that case? If no, why should we do it here? Indeed, this
+        # distinction makes no practical difference for CUTEst problems with at most 100 variables
+        # and 5000 constraints, while the algorithm framework is simplified.
+        if improve_geo and not all(
+            primasum(primapow2(sim[:, :num_vars]), axis=0) <= 4 * primapow2(delta)
+        ):
+            # Before the geometry step, updatepole has been called either implicitly by UPDATEXFC or
+            # explicitly after CPEN is updated, so that SIM[:, :NUM_VARS] is the optimal vertex.
+
+            # Decide a vertex to drop from the simplex. It will be replaced with SIM[:, NUM_VARS] + D to
+            # improve the geometry of the simplex.
+            # N.B.:
+            # 1. COBYLA never sets JDROP_GEO = num_vars.
+            # 2. The following JDROP_GEO comes from UOBYQA/NEWUOA/BOBYQA/LINCOA.
+            # 3. In Powell's original algorithm, the geometry of the simplex is considered acceptable
+            # iff the distance between any vertex and the pole is at most 2.1*DELTA, and the distance
+            # between any vertex and the opposite face of the simplex is at least 0.25*DELTA, as
+            # specified in (14) of the COBYLA paper. Correspondingly, JDROP_GEO is set to the index of
+            # the vertex with the largest distance to the pole provided that the distance is larger than
+            # 2.1*DELTA, or the vertex with the smallest distance to the opposite face of the simplex,
+            # in which case the distance must be less than 0.25*DELTA, as the current simplex does not
+            # have acceptable geometry (see (15)--(16) of the COBYLA paper). Once JDROP_GEO is set, the
+            # algorithm replaces SIM(:, JDROP_GEO) with D specified in (17) of the COBYLA paper, which
+            # is orthogonal to the face opposite to SIM(:, JDROP_GEO) and has a length of 0.5*DELTA,
+            # intending to improve the geometry of the simplex as per (14).
+            # 4. Powell's geometry-improving procedure outlined above has an intrinsic flaw: it may lead
+            # to infinite cycling, as was observed in a test on 20240320. In this test, the geometry-
+            # improving point introduced in the previous iteration was replaced with the trust-region
+            # trial point in the current iteration, which was then replaced with the same geometry-
+            # improving point in the next iteration, and so on. In this process, the simplex alternated
+            # between two configurations, neither of which had acceptable geometry. Thus RHO was never
+            # reduced, leading to infinite cycling. (N.B.: Our implementation uses DELTA as the trust
+            # region radius, with RHO being its lower bound. When the infinite cycling occurred in this
+            # test, DELTA = RHO and it could not be reduced due to the requirement that DELTA >= RHO.)
+            jdrop_geo = np.argmax(
+                primasum(primapow2(sim[:, :num_vars]), axis=0), axis=0
+            )
+
+            # Calculate the geometry step D.
+            delbar = delta / 2
+            d = geostep(jdrop_geo, amat, bvec, conmat, cpen, cval, delbar, fval, simi)
+
+            # Calculate the next value of the objective and constraint functions.
+            # If X is close to one of the points in the interpolation set, then we do not evaluate the
+            # objective and constraints at X, assuming them to have the values at the closest point.
+            # N.B.:
+            # 1. If this happens, do NOT include X into the filter, as F and CONSTR are inaccurate.
+            # 2. In precise arithmetic, the geometry improving step ensures that the distance between X
+            # and any interpolation point is at least DELBAR, yet X may be close to them due to
+            # rounding. In an experiment with single precision on 20240317, X = SIM(:, N+1) occurred.
+            x = sim[:, num_vars] + d
+            distsq[num_vars] = primasum(primapow2(x - sim[:, num_vars]))
+            distsq[:num_vars] = primasum(
+                primapow2(
+                    x.reshape(num_vars, 1)
+                    - (sim[:, num_vars].reshape(num_vars, 1) + sim[:, :num_vars])
+                ),
+                axis=0,
+            )
+            j = np.argmin(distsq)
+            if distsq[j] <= primapow2(1e-4 * rhoend):
+                f = fval[j]
+                constr = conmat[:, j]
+                cstrv = cval[j]
+            else:
+                # Evaluate the objective and constraints at X, taking care of possible
+                # inf/nan values.
+                f, constr = evaluate(calcfc, x, m_nlcon, amat, bvec)
+                cstrv = np.max(np.append(0, constr))
+                nf += 1
+                # Save X, F, CONSTR, CSTRV into the history.
+                savehist(maxhist, x, xhist, f, fhist, cstrv, chist, constr, conhist)
+                # Save X, F, CONSTR, CSTRV into the filter.
+                nfilt, cfilt, ffilt, xfilt, confilt = savefilt(
+                    cstrv,
+                    ctol,
+                    cweight,
+                    f,
+                    x,
+                    nfilt,
+                    cfilt,
+                    ffilt,
+                    xfilt,
+                    constr,
+                    confilt,
+                )
+
+            # Print a message about the function/constraint evaluation according to iprint
+            fmsg(solver, "Geometry", iprint, nf, delta, f, x, cstrv, constr)
+            # Update SIM, SIMI, FVAL, CONMAT, and CVAL so that SIM(:, JDROP_GEO) is replaced with D.
+            sim, simi, fval, conmat, cval, subinfo = updatexfc(
+                jdrop_geo, constr, cpen, cstrv, d, f, conmat, cval, fval, sim, simi
+            )
+            # Check whether to break due to damaging rounding in UPDATEXFC
+            if subinfo == DAMAGING_ROUNDING:
+                info = subinfo
+                break  # Better action to take? Geometry step, or simply continue?
+
+            # Check whether to break due to maxfun, ftarget, etc.
+            subinfo = checkbreak_con(maxfun, nf, cstrv, ctol, f, ftarget, x)
+            if subinfo != INFO_DEFAULT:
+                info = subinfo
+                break
+        # end of if improve_geo. The procedure of improving the geometry ends.
+
+        # The calculations with the current RHO are complete. Enhance the resolution of the algorithm
+        # by reducing RHO; update DELTA and CPEN at the same time.
+        if reduce_rho:
+            if rho <= rhoend:
+                info = SMALL_TR_RADIUS
+                break
+            delta = max(0.5 * rho, redrho(rho, rhoend))
+            rho = redrho(rho, rhoend)
+            # THe second (out of two) updates of CPEN, where CPEN decreases or remains the same.
+            # Powell's code: cpen = min(cpen, fcratio(fval, conmat)), which may set CPEN to 0.
+            cpen = np.maximum(cpenmin, np.minimum(cpen, fcratio(conmat, fval)))
+            # Print a message about the reduction of rho according to iprint
+            rhomsg(
+                solver,
+                iprint,
+                nf,
+                fval[num_vars],
+                rho,
+                sim[:, num_vars],
+                cval[num_vars],
+                conmat[:, num_vars],
+                cpen,
+            )
+            conmat, cval, fval, sim, simi, subinfo = updatepole(
+                cpen, conmat, cval, fval, sim, simi
+            )
+            # Check whether to break due to damaging rounding detected in updatepole
+            if subinfo == DAMAGING_ROUNDING:
+                info = subinfo
+                break  # Better action to take? Geometry step, or simply continue?
+        # End of if reduce_rho. The procedure of reducing RHO ends.
+        # Report the current best value, and check if user asks for early termination.
+        if callback:
+            terminate = callback(
+                sim[:, num_vars],
+                fval[num_vars],
+                nf,
+                tr,
+                cval[num_vars],
+                conmat[:, num_vars],
+            )
+            if terminate:
+                info = CALLBACK_TERMINATE
+                break
+    # End of for loop. The iterative procedure ends
+
+    # Return from the calculation, after trying the last trust-region step if it has not been tried yet.
+    # Ensure that D has not been updated after SHORTD == TRUE occurred, or the code below is incorrect.
+    x = sim[:, num_vars] + d
+    if (
+        info == SMALL_TR_RADIUS
+        and shortd
+        and norm(x - sim[:, num_vars]) > 1.0e-3 * rhoend
+        and nf < maxfun
+    ):
+        # Zaikun 20230615: UPDATEXFC or UPDATEPOLE is not called since the last trust-region step. Hence
+        # SIM[:, NUM_VARS] remains unchanged. Otherwise SIM[:, NUM_VARS] + D would not make sense.
+        f, constr = evaluate(calcfc, x, m_nlcon, amat, bvec)
+        cstrv = np.max(np.append(0, constr))
+        nf += 1
+        savehist(maxhist, x, xhist, f, fhist, cstrv, chist, constr, conhist)
+        nfilt, cfilt, ffilt, xfilt, confilt = savefilt(
+            cstrv, ctol, cweight, f, x, nfilt, cfilt, ffilt, xfilt, constr, confilt
+        )
+        # Zaikun 20230512: DELTA has been updated. RHO is only indicative here. TO BE IMPROVED.
+        fmsg(solver, "Trust region", iprint, nf, rho, f, x, cstrv, constr)
+
+    # Return the best calculated values of the variables
+    # N.B.: SELECTX and FINDPOLE choose X by different standards, one cannot replace the other.
+    kopt = selectx(ffilt[:nfilt], cfilt[:nfilt], max(cpen, cweight), ctol)
+    x = xfilt[:, kopt]
+    f = ffilt[kopt]
+    constr = confilt[:, kopt]
+    cstrv = cfilt[kopt]
+
+    # Print a return message according to IPRINT.
+    retmsg(solver, info, iprint, nf, f, x, cstrv, constr)
+    return x, f, constr, cstrv, nf, xhist, fhist, chist, conhist, info
+
+
+def getcpen(amat, bvec, conmat, cpen, cval, delta, fval, rho, sim, simi):
+    """
+    This function gets the penalty parameter CPEN so that PREREM = PREREF + CPEN * PREREC > 0.
+    See the discussions around equation (9) of the COBYLA paper.
+    """
+
+    # Even after nearly all of the pycutest problems were showing nearly bit for bit
+    # identical results between Python and the Fortran bindings, HS102 was still off by
+    # more than machine epsilon. It turned out to be due to the fact that getcpen was
+    # modifying fval, among other. It just goes to show that even when you're nearly
+    # perfect, you can still have non trivial bugs.
+    conmat = conmat.copy()
+    cval = cval.copy()
+    fval = fval.copy()
+    sim = sim.copy()
+    simi = simi.copy()
+
+    # Intermediate variables
+    A = np.zeros((np.size(sim, 0), np.size(conmat, 0)))
+    itol = 1
+
+    # Sizes
+    m_lcon = np.size(bvec) if bvec is not None else 0
+    num_constraints = np.size(conmat, 0)
+    num_vars = np.size(sim, 0)
+
+    # Preconditions
+    if DEBUGGING:
+        assert num_constraints >= 0
+        assert num_vars >= 1
+        assert cpen > 0
+        assert (
+            np.size(conmat, 0) == num_constraints and np.size(conmat, 1) == num_vars + 1
+        )
+        assert not (np.isnan(conmat) | np.isneginf(conmat)).any()
+        assert np.size(cval) == num_vars + 1 and not any(
+            cval < 0 | np.isnan(cval) | np.isposinf(cval)
+        )
+        assert np.size(fval) == num_vars + 1 and not any(
+            np.isnan(fval) | np.isposinf(fval)
+        )
+        assert np.size(sim, 0) == num_vars and np.size(sim, 1) == num_vars + 1
+        assert np.isfinite(sim).all()
+        assert all(np.max(abs(sim[:, :num_vars]), axis=0) > 0)
+        assert np.size(simi, 0) == num_vars and np.size(simi, 1) == num_vars
+        assert np.isfinite(simi).all()
+        assert isinv(sim[:, :num_vars], simi, itol)
+        assert delta >= rho and rho > 0
+
+    # ====================#
+    # Calculation starts #
+    # ====================#
+
+    # Initialize INFO which is needed in the postconditions
+    info = INFO_DEFAULT
+
+    # Increase CPEN if necessary to ensure PREREM > 0. Branch back for the next loop
+    # if this change alters the optimal vertex of the current simplex.
+    # Note the following:
+    # 1. In each loop, CPEN is changed only if PREREC > 0 > PREREF, in which case
+    #    PREREM is guaranteed positive after the update. Note that PREREC >= 0 and
+    #    max(PREREC, PREREF) > 0 in theory. If this holds numerically as well then CPEN
+    #    is not changed only if PREREC = 0 or PREREF >= 0, in which case PREREM is
+    #    currently positive, explaining why CPEN needs no update.
+    # 2. Even without an upper bound for the loop counter, the loop can occur at most
+    #    NUM_VARS+1 times. This is because the update of CPEN does not decrease CPEN,
+    #    and hence it can make vertex J (J <= NUM_VARS) become the new optimal vertex
+    #    only if CVAL[J] is less than CVAL[NUM_VARS], which can happen at most NUM_VARS
+    #    times. See the paragraph below (9) in the COBYLA paper. After the "correct"
+    #    optimal vertex is found, one more loop is needed to calculate CPEN, and hence
+    #    the loop can occur at most NUM_VARS+1 times.
+    for iter in range(num_vars + 1):
+        # Switch the best vertex of the current simplex to SIM[:, NUM_VARS]
+        conmat, cval, fval, sim, simi, info = updatepole(
+            cpen, conmat, cval, fval, sim, simi
+        )
+        # Check whether to exit due to damaging rounding in UPDATEPOLE
+        if info == DAMAGING_ROUNDING:
+            break
+
+        # Calculate the linear approximations to the objective and constraint functions.
+        g = matprod(fval[:num_vars] - fval[num_vars], simi)
+        A[:, :m_lcon] = amat.T if amat is not None else amat
+        A[:, m_lcon:] = matprod(
+            (
+                conmat[m_lcon:, :num_vars]
+                - np.tile(conmat[m_lcon:, num_vars], (num_vars, 1)).T
+            ),
+            simi,
+        ).T
+
+        # Calculate the trust-region trial step D. Note that D does NOT depend on CPEN.
+        d = trstlp(A, -conmat[:, num_vars], delta, g)
+
+        # Predict the change to F (PREREF) and to the constraint violation (PREREC) due
+        # to D.
+        preref = -inprod(d, g)  # Can be negative
+        prerec = cval[num_vars] - np.max(
+            np.append(0, conmat[:, num_vars] + matprod(d, A))
+        )
+
+        # PREREC <= 0 or PREREF >=0 or either is NaN
+        if not (prerec > 0 and preref < 0):
+            break
+
+        # Powell's code defines BARMU = -PREREF / PREREC, and CPEN is increased to
+        # 2*BARMU if and only if it is currently less than 1.5*BARMU, a very
+        # "Powellful" scheme. In our implementation, however, we set CPEN directly to
+        # the maximum between its current value and 2*BARMU while handling possible
+        # overflow. The simplifies the scheme without worsening the performance of
+        # COBYLA.
+        cpen = max(cpen, min(-2 * preref / prerec, REALMAX))
+
+        if findpole(cpen, cval, fval) == num_vars:
+            break
+
+    # ==================#
+    # Calculation ends #
+    # ==================#
+
+    # Postconditions
+    if DEBUGGING:
+        assert cpen >= cpen and cpen > 0
+        assert (
+            preref + cpen * prerec > 0
+            or info == DAMAGING_ROUNDING
+            or not (prerec >= 0 and np.maximum(prerec, preref) > 0)
+            or not np.isfinite(preref)
+        )
+
+    return cpen
+
+
+def fcratio(conmat, fval):
+    """
+    This function calculates the ratio between the "typical change" of F and that of CONSTR.
+    See equations (12)-(13) in Section 3 of the COBYLA paper for the definition of the ratio.
+    """
+
+    # Preconditions
+    if DEBUGGING:
+        assert np.size(fval) >= 1
+        assert np.size(conmat, 1) == np.size(fval)
+
+    # ====================#
+    # Calculation starts #
+    # ====================#
+
+    cmin = np.min(-conmat, axis=1)
+    cmax = np.max(-conmat, axis=1)
+    fmin = min(fval)
+    fmax = max(fval)
+    if any(cmin < 0.5 * cmax) and fmin < fmax:
+        denom = np.min(
+            np.maximum(cmax, 0) - cmin, where=cmin < 0.5 * cmax, initial=np.inf
+        )
+        # Powell mentioned the following alternative in section 4 of his COBYLA paper. According to a test
+        # on 20230610, it does not make much difference to the performance.
+        # denom = np.max(max(*cmax, 0) - cmin, mask=(cmin < 0.5 * cmax))
+        r = (fmax - fmin) / denom
+    else:
+        r = 0
+
+    # ==================#
+    # Calculation ends #
+    # ==================#
+
+    # Postconditions
+    if DEBUGGING:
+        assert r >= 0
+
+    return r