scipy 1.16.2__cp312-cp312-win_arm64.whl

scipy/interpolate/_fitpack_repro.py

@@ -0,0 +1,996 @@
+""" Replicate FITPACK's logic for constructing smoothing spline functions and curves.
+
+    Currently provides analogs of splrep and splprep python routines, i.e.
+    curfit.f and parcur.f routines (the drivers are fpcurf.f and fppara.f, respectively)
+
+    The Fortran sources are from
+    https://github.com/scipy/scipy/blob/maintenance/1.11.x/scipy/interpolate/fitpack/
+
+    .. [1] P. Dierckx, "Algorithms for smoothing data with periodic and
+        parametric splines, Computer Graphics and Image Processing",
+        20 (1982) 171-184.
+        :doi:`10.1016/0146-664X(82)90043-0`.
+    .. [2] P. Dierckx, "Curve and surface fitting with splines", Monographs on
+         Numerical Analysis, Oxford University Press, 1993.
+    .. [3] P. Dierckx, "An algorithm for smoothing, differentiation and integration
+         of experimental data using spline functions",
+         Journal of Computational and Applied Mathematics, vol. I, no 3, p. 165 (1975).
+         https://doi.org/10.1016/0771-050X(75)90034-0
+"""
+import warnings
+import operator
+import numpy as np
+
+from ._bsplines import (
+    _not_a_knot, make_interp_spline, BSpline, fpcheck, _lsq_solve_qr
+)
+from . import _dierckx      # type: ignore[attr-defined]
+
+
+#    cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccc
+#    c  part 1: determination of the number of knots and their position     c
+#    c  **************************************************************      c
+#
+# https://github.com/scipy/scipy/blob/maintenance/1.11.x/scipy/interpolate/fitpack/fpcurf.f#L31
+
+
+# Hardcoded in curfit.f
+TOL = 0.001
+MAXIT = 20
+
+
+def _get_residuals(x, y, t, k, w):
+    # FITPACK has (w*(spl(x)-y))**2; make_lsq_spline has w*(spl(x)-y)**2
+    w2 = w**2
+
+    # inline the relevant part of
+    # >>> spl = make_lsq_spline(x, y, w=w2, t=t, k=k)
+    # NB:
+    #     1. y is assumed to be 2D here. For 1D case (parametric=False),
+    #        the call must have been preceded by y = y[:, None] (cf _validate_inputs)
+    #     2. We always sum the squares across axis=1:
+    #         * For 1D (parametric=False), the last dimension has size one,
+    #           so the summation is a no-op.
+    #         * For 2D (parametric=True), the summation is actually how the
+    #           'residuals' are defined, see Eq. (42) in Dierckx1982
+    #           (the reference is in the docstring of `class F`) below.
+    _, _, c = _lsq_solve_qr(x, y, t, k, w)
+    c = np.ascontiguousarray(c)
+    spl = BSpline(t, c, k)
+    residuals = _compute_residuals(w2, spl(x), y)
+    fp = residuals.sum()
+    if np.isnan(fp):
+        raise ValueError(_iermesg[1])
+    return residuals, fp
+
+
+def _compute_residuals(w2, splx, y):
+    delta = ((splx - y)**2).sum(axis=1)
+    return w2 * delta
+
+
+def add_knot(x, t, k, residuals):
+    """Add a new knot.
+
+    (Approximately) replicate FITPACK's logic:
+      1. split the `x` array into knot intervals, ``t(j+k) <= x(i) <= t(j+k+1)``
+      2. find the interval with the maximum sum of residuals
+      3. insert a new knot into the middle of that interval.
+
+    NB: a new knot is in fact an `x` value at the middle of the interval.
+    So *the knots are a subset of `x`*.
+
+    This routine is an analog of
+    https://github.com/scipy/scipy/blob/v1.11.4/scipy/interpolate/fitpack/fpcurf.f#L190-L215
+    (cf _split function)
+
+    and https://github.com/scipy/scipy/blob/v1.11.4/scipy/interpolate/fitpack/fpknot.f
+    """
+    new_knot = _dierckx.fpknot(x, t, k, residuals)
+
+    idx_t = np.searchsorted(t, new_knot)
+    t_new = np.r_[t[:idx_t], new_knot, t[idx_t:]]
+    return t_new
+
+
+def _validate_inputs(x, y, w, k, s, xb, xe, parametric):
+    """Common input validations for generate_knots and make_splrep.
+    """
+    x = np.asarray(x, dtype=float)
+    y = np.asarray(y, dtype=float)
+
+    if w is None:
+        w = np.ones_like(x, dtype=float)
+    else:
+        w = np.asarray(w, dtype=float)
+        if w.ndim != 1:
+            raise ValueError(f"{w.ndim = } not implemented yet.")
+        if (w < 0).any():
+            raise ValueError("Weights must be non-negative")
+
+    if y.ndim == 0 or y.ndim > 2:
+        raise ValueError(f"{y.ndim = } not supported (must be 1 or 2.)")
+
+    parametric = bool(parametric)
+    if parametric:
+        if y.ndim != 2:
+            raise ValueError(f"{y.ndim = } != 2 not supported with {parametric =}.")
+    else:
+        if y.ndim != 1:
+            raise ValueError(f"{y.ndim = } != 1 not supported with {parametric =}.")
+        # all _impl functions expect y.ndim = 2
+        y = y[:, None]
+
+    if w.shape[0] != x.shape[0]:
+        raise ValueError(f"Weights is incompatible: {w.shape =} != {x.shape}.")
+
+    if x.shape[0] != y.shape[0]:
+        raise ValueError(f"Data is incompatible: {x.shape = } and {y.shape = }.")
+    if x.ndim != 1 or (x[1:] < x[:-1]).any():
+        raise ValueError("Expect `x` to be an ordered 1D sequence.")
+
+    k = operator.index(k)
+
+    if s < 0:
+        raise ValueError(f"`s` must be non-negative. Got {s = }")
+
+    if xb is None:
+        xb = min(x)
+    if xe is None:
+        xe = max(x)
+
+    return x, y, w, k, s, xb, xe
+
+
+def generate_knots(x, y, *, w=None, xb=None, xe=None, k=3, s=0, nest=None):
+    """Generate knot vectors until the Least SQuares (LSQ) criterion is satified.
+
+    Parameters
+    ----------
+    x, y : array_like
+        The data points defining the curve ``y = f(x)``.
+    w : array_like, optional
+        Weights.
+    xb : float, optional
+        The boundary of the approximation interval. If None (default),
+        is set to ``x[0]``.
+    xe : float, optional
+        The boundary of the approximation interval. If None (default),
+        is set to ``x[-1]``.
+    k : int, optional
+        The spline degree. Default is cubic, ``k = 3``.
+    s : float, optional
+        The smoothing factor. Default is ``s = 0``.
+    nest : int, optional
+        Stop when at least this many knots are placed.
+
+    Yields
+    ------
+    t : ndarray
+        Knot vectors with an increasing number of knots.
+        The generator is finite: it stops when the smoothing critetion is
+        satisfied, or when then number of knots exceeds the maximum value:
+        the user-provided `nest` or `x.size + k + 1` --- which is the knot vector
+        for the interpolating spline.
+
+    Examples
+    --------
+    Generate some noisy data and fit a sequence of LSQ splines:
+
+    >>> import numpy as np
+    >>> import matplotlib.pyplot as plt
+    >>> from scipy.interpolate import make_lsq_spline, generate_knots
+    >>> rng = np.random.default_rng(12345)
+    >>> x = np.linspace(-3, 3, 50)
+    >>> y = np.exp(-x**2) + 0.1 * rng.standard_normal(size=50)
+
+    >>> knots = list(generate_knots(x, y, s=1e-10))
+    >>> for t in knots[::3]:
+    ...     spl = make_lsq_spline(x, y, t)
+    ...     xs = xs = np.linspace(-3, 3, 201)
+    ...     plt.plot(xs, spl(xs), '-', label=f'n = {len(t)}', lw=3, alpha=0.7)
+    >>> plt.plot(x, y, 'o', label='data')
+    >>> plt.plot(xs, np.exp(-xs**2), '--')
+    >>> plt.legend()
+
+    Note that increasing the number of knots make the result follow the data
+    more and more closely.
+
+    Also note that a step of the generator may add multiple knots:
+
+    >>> [len(t) for t in knots]
+    [8, 9, 10, 12, 16, 24, 40, 48, 52, 54]
+
+    Notes
+    -----
+    The routine generates successive knots vectors of increasing length, starting
+    from ``2*(k+1)`` to ``len(x) + k + 1``, trying to make knots more dense
+    in the regions where the deviation of the LSQ spline from data is large.
+
+    When the maximum number of knots, ``len(x) + k + 1`` is reached
+    (this happens when ``s`` is small and ``nest`` is large), the generator
+    stops, and the last output is the knots for the interpolation with the
+    not-a-knot boundary condition.
+
+    Knots are located at data sites, unless ``k`` is even and the number of knots
+    is ``len(x) + k + 1``. In that case, the last output of the generator
+    has internal knots at Greville sites, ``(x[1:] + x[:-1]) / 2``.
+
+    .. versionadded:: 1.15.0
+
+    """
+    if s == 0:
+        if nest is not None or w is not None:
+            raise ValueError("s == 0 is interpolation only")
+        t = _not_a_knot(x, k)
+        yield t
+        return
+
+    x, y, w, k, s, xb, xe = _validate_inputs(
+        x, y, w, k, s, xb, xe, parametric=np.ndim(y) == 2
+    )
+
+    yield from _generate_knots_impl(x, y, w=w, xb=xb, xe=xe, k=k, s=s, nest=nest)
+
+
+def _generate_knots_impl(x, y, *, w=None, xb=None, xe=None, k=3, s=0, nest=None):
+
+    acc = s * TOL
+    m = x.size    # the number of data points
+
+    if nest is None:
+        # the max number of knots. This is set in _fitpack_impl.py line 274
+        # and fitpack.pyf line 198
+        nest = max(m + k + 1, 2*k + 3)
+    else:
+        if nest < 2*(k + 1):
+            raise ValueError(f"`nest` too small: {nest = } < 2*(k+1) = {2*(k+1)}.")
+
+    nmin = 2*(k + 1)    # the number of knots for an LSQ polynomial approximation
+    nmax = m + k + 1  # the number of knots for the spline interpolation
+
+    # start from no internal knots
+    t = np.asarray([xb]*(k+1) + [xe]*(k+1), dtype=float)
+    n = t.shape[0]
+    fp = 0.0
+    fpold = 0.0
+
+    # c  main loop for the different sets of knots. m is a safe upper bound
+    # c  for the number of trials.
+    for _ in range(m):
+        yield t
+
+        # construct the LSQ spline with this set of knots
+        fpold = fp
+        residuals, fp = _get_residuals(x, y, t, k, w=w)
+        fpms = fp - s
+
+        # c  test whether the approximation sinf(x) is an acceptable solution.
+        # c  if f(p=inf) < s accept the choice of knots.
+        if (abs(fpms) < acc) or (fpms < 0):
+            return
+
+        # ### c  increase the number of knots. ###
+
+        # c  determine the number of knots nplus we are going to add.
+        if n == nmin:
+            # the first iteration
+            nplus = 1
+        else:
+            delta = fpold - fp
+            npl1 = int(nplus * fpms / delta) if delta > acc else nplus*2
+            nplus = min(nplus*2, max(npl1, nplus//2, 1))
+
+        # actually add knots
+        for j in range(nplus):
+            t = add_knot(x, t, k, residuals)
+
+            # check if we have enough knots already
+
+            n = t.shape[0]
+            # c  if n = nmax, sinf(x) is an interpolating spline.
+            # c  if n=nmax we locate the knots as for interpolation.
+            if n >= nmax:
+                t = _not_a_knot(x, k)
+                yield t
+                return
+
+            # c  if n=nest we cannot increase the number of knots because of
+            # c  the storage capacity limitation.
+            if n >= nest:
+                yield t
+                return
+
+            # recompute if needed
+            if j < nplus - 1:
+                residuals, _ = _get_residuals(x, y, t, k, w=w)
+
+    # this should never be reached
+    return
+
+
+#   cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccc
+#   c  part 2: determination of the smoothing spline sp(x).                c
+#   c  ***************************************************                 c
+#   c  we have determined the number of knots and their position.          c
+#   c  we now compute the b-spline coefficients of the smoothing spline    c
+#   c  sp(x). the observation matrix a is extended by the rows of matrix   c
+#   c  b expressing that the kth derivative discontinuities of sp(x) at    c
+#   c  the interior knots t(k+2),...t(n-k-1) must be zero. the corres-     c
+#   c  ponding weights of these additional rows are set to 1/p.            c
+#   c  iteratively we then have to determine the value of p such that      c
+#   c  f(p)=sum((w(i)*(y(i)-sp(x(i))))**2) be = s. we already know that    c
+#   c  the least-squares kth degree polynomial corresponds to p=0, and     c
+#   c  that the least-squares spline corresponds to p=infinity. the        c
+#   c  iteration process which is proposed here, makes use of rational     c
+#   c  interpolation. since f(p) is a convex and strictly decreasing       c
+#   c  function of p, it can be approximated by a rational function        c
+#   c  r(p) = (u*p+v)/(p+w). three values of p(p1,p2,p3) with correspond-  c
+#   c  ing values of f(p) (f1=f(p1)-s,f2=f(p2)-s,f3=f(p3)-s) are used      c
+#   c  to calculate the new value of p such that r(p)=s. convergence is    c
+#   c  guaranteed by taking f1>0 and f3<0.                                 c
+#   cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccc
+
+
+def prodd(t, i, j, k):
+    res = 1.0
+    for s in range(k+2):
+        if i + s != j:
+            res *= (t[j] - t[i+s])
+    return res
+
+
+def disc(t, k):
+    """Discontinuity matrix: jumps of k-th derivatives of b-splines at internal knots.
+
+    See Eqs. (9)-(10) of Ref. [1], or, equivalently, Eq. (3.43) of Ref. [2].
+
+    This routine assumes internal knots are all simple (have multiplicity =1).
+
+    Parameters
+    ----------
+    t : ndarray, 1D, shape(n,)
+        Knots.
+    k : int
+        The spline degree
+
+    Returns
+    -------
+    disc : ndarray, shape(n-2*k-1, k+2)
+        The jumps of the k-th derivatives of b-splines at internal knots,
+        ``t[k+1], ...., t[n-k-1]``.
+    offset : ndarray, shape(2-2*k-1,)
+        Offsets
+    nc : int
+
+    Notes
+    -----
+
+    The normalization here follows FITPACK:
+    (https://github.com/scipy/scipy/blob/maintenance/1.11.x/scipy/interpolate/fitpack/fpdisc.f#L36)
+
+    The k-th derivative jumps are multiplied by a factor::
+
+        (delta / nrint)**k / k!
+
+    where ``delta`` is the length of the interval spanned by internal knots, and
+    ``nrint`` is one less the number of internal knots (i.e., the number of
+    subintervals between them).
+
+    References
+    ----------
+    .. [1] Paul Dierckx, Algorithms for smoothing data with periodic and parametric
+           splines, Computer Graphics and Image Processing, vol. 20, p. 171 (1982).
+           :doi:`10.1016/0146-664X(82)90043-0`
+
+    .. [2] Tom Lyche and Knut Morken, Spline methods,
+        http://www.uio.no/studier/emner/matnat/ifi/INF-MAT5340/v05/undervisningsmateriale/
+
+    """
+    n = t.shape[0]
+
+    # the length of the base interval spanned by internal knots & the number
+    # of subintervas between these internal knots
+    delta = t[n - k - 1] - t[k]
+    nrint = n - 2*k - 1
+
+    matr = np.empty((nrint - 1, k + 2), dtype=float)
+    for jj in range(nrint - 1):
+        j = jj + k + 1
+        for ii in range(k + 2):
+            i = jj + ii
+            matr[jj, ii] = (t[i + k + 1] - t[i]) / prodd(t, i, j, k)
+        # NB: equivalent to
+        # row = [(t[i + k + 1] - t[i]) / prodd(t, i, j, k) for i in range(j-k-1, j+1)]
+        # assert (matr[j-k-1, :] == row).all()
+
+    # follow FITPACK
+    matr *= (delta/ nrint)**k
+
+    # make it packed
+    offset = np.array([i for i in range(nrint-1)], dtype=np.int64)
+    nc = n - k - 1
+    return matr, offset, nc
+
+
+class F:
+    """ The r.h.s. of ``f(p) = s``.
+
+    Given scalar `p`, we solve the system of equations in the LSQ sense:
+
+        | A     |  @ | c | = | y |
+        | B / p |    | 0 |   | 0 |
+
+    where `A` is the matrix of b-splines and `b` is the discontinuity matrix
+    (the jumps of the k-th derivatives of b-spline basis elements at knots).
+
+    Since we do that repeatedly while minimizing over `p`, we QR-factorize
+    `A` only once and update the QR factorization only of the `B` rows of the
+    augmented matrix |A, B/p|.
+
+    The system of equations is Eq. (15) Ref. [1]_, the strategy and implementation
+    follows that of FITPACK, see specific links below.
+
+    References
+    ----------
+    [1] P. Dierckx, Algorithms for Smoothing Data with Periodic and Parametric Splines,
+        COMPUTER GRAPHICS AND IMAGE PROCESSING vol. 20, pp 171-184 (1982.)
+        https://doi.org/10.1016/0146-664X(82)90043-0
+
+    """
+    def __init__(self, x, y, t, k, s, w=None, *, R=None, Y=None):
+        self.x = x
+        self.y = y
+        self.t = t
+        self.k = k
+        w = np.ones_like(x, dtype=float) if w is None else w
+        if w.ndim != 1:
+            raise ValueError(f"{w.ndim = } != 1.")
+        self.w = w
+        self.s = s
+
+        if y.ndim != 2:
+            raise ValueError(f"F: expected y.ndim == 2, got {y.ndim = } instead.")
+
+        # ### precompute what we can ###
+
+        # https://github.com/scipy/scipy/blob/maintenance/1.11.x/scipy/interpolate/fitpack/fpcurf.f#L250
+        # c  evaluate the discontinuity jump of the kth derivative of the
+        # c  b-splines at the knots t(l),l=k+2,...n-k-1 and store in b.
+        b, b_offset, b_nc = disc(t, k)
+
+        # the QR factorization of the data matrix, if not provided
+        # NB: otherwise, must be consistent with x,y & s, but this is not checked
+        if R is None and Y is None:
+            R, Y, _ = _lsq_solve_qr(x, y, t, k, w)
+
+        # prepare to combine R and the discontinuity matrix (AB); also r.h.s. (YY)
+        # https://github.com/scipy/scipy/blob/maintenance/1.11.x/scipy/interpolate/fitpack/fpcurf.f#L269
+        # c  the rows of matrix b with weight 1/p are rotated into the
+        # c  triangularised observation matrix a which is stored in g.
+        nc = t.shape[0] - k - 1
+        nz = k + 1
+        if R.shape[1] != nz:
+            raise ValueError(f"Internal error: {R.shape[1] =} != {k+1 =}.")
+
+        # r.h.s. of the augmented system
+        z = np.zeros((b.shape[0], Y.shape[1]), dtype=float)
+        self.YY = np.r_[Y[:nc], z]
+
+        # l.h.s. of the augmented system
+        AA = np.zeros((nc + b.shape[0], self.k+2), dtype=float)
+        AA[:nc, :nz] = R[:nc, :]
+        # AA[nc:, :] = b.a / p  # done in __call__(self, p)
+        self.AA  = AA
+        self.offset = np.r_[np.arange(nc, dtype=np.int64), b_offset]
+
+        self.nc = nc
+        self.b = b
+
+    def __call__(self, p):
+        # https://github.com/scipy/scipy/blob/maintenance/1.11.x/scipy/interpolate/fitpack/fpcurf.f#L279
+        # c  the row of matrix b is rotated into triangle by givens transformation
+
+        # copy the precomputed matrices over for in-place work
+        # R = PackedMatrix(self.AB.a.copy(), self.AB.offset.copy(), nc)
+        AB = self.AA.copy()
+        offset = self.offset.copy()
+        nc = self.nc
+
+        AB[nc:, :] = self.b / p
+        QY = self.YY.copy()
+
+        # heavy lifting happens here, in-place
+        _dierckx.qr_reduce(AB, offset, nc, QY, startrow=nc)
+
+        # solve for the coefficients
+        c = _dierckx.fpback(AB, nc, QY)
+
+        spl = BSpline(self.t, c, self.k)
+        residuals = _compute_residuals(self.w**2, spl(self.x), self.y)
+        fp = residuals.sum()
+
+        self.spl = spl   # store it
+
+        return fp - self.s
+
+
+def fprati(p1, f1, p2, f2, p3, f3):
+    """The root of r(p) = (u*p + v) / (p + w) given three points and values,
+    (p1, f2), (p2, f2) and (p3, f3).
+
+    The FITPACK analog adjusts the bounds, and we do not
+    https://github.com/scipy/scipy/blob/maintenance/1.11.x/scipy/interpolate/fitpack/fprati.f
+
+    NB: FITPACK uses p < 0 to encode p=infinity. We just use the infinity itself.
+    Since the bracket is ``p1 <= p2 <= p3``, ``p3`` can be infinite (in fact,
+    this is what the minimizer starts with, ``p3=inf``).
+    """
+    h1 = f1 * (f2 - f3)
+    h2 = f2 * (f3 - f1)
+    h3 = f3 * (f1 - f2)
+    if p3 == np.inf:
+        return -(p2*h1 + p1*h2) / h3
+    return -(p1*p2*h3 + p2*p3*h1 + p1*p3*h2) / (p1*h1 + p2*h2 + p3*h3)
+
+
+class Bunch:
+    def __init__(self, **kwargs):
+        self.__dict__.update(**kwargs)
+
+
+_iermesg1 = """error. a theoretically impossible result was found during
+the iteration process for finding a smoothing spline with
+fp = s. probably causes : s too small.
+"""
+
+_iermesg = {
+1: _iermesg1 + """the weighted sum of squared residuals is becoming NaN
+""",
+2: _iermesg1 + """there is an approximation returned but the corresponding
+weighted sum of squared residuals does not satisfy the
+condition abs(fp-s)/s < tol.
+""",
+3: """error. the maximal number of iterations maxit (set to 20
+by the program) allowed for finding a smoothing spline
+with fp=s has been reached. probably causes : s too small
+there is an approximation returned but the corresponding
+weighted sum of squared residuals does not satisfy the
+condition abs(fp-s)/s < tol.
+"""
+}
+
+
+def root_rati(f, p0, bracket, acc):
+    """Solve `f(p) = 0` using a rational function approximation.
+
+    In a nutshell, since the function f(p) is known to be monotonically decreasing, we
+       - maintain the bracket (p1, f1), (p2, f2) and (p3, f3)
+       - at each iteration step, approximate f(p) by a rational function
+         r(p) = (u*p + v) / (p + w)
+         and make a step to p_new to the root of f(p): r(p_new) = 0.
+         The coefficients u, v and w are found from the bracket values p1..3 and f1...3
+
+    The algorithm and implementation follows
+    https://github.com/scipy/scipy/blob/maintenance/1.11.x/scipy/interpolate/fitpack/fpcurf.f#L229
+    and
+    https://github.com/scipy/scipy/blob/maintenance/1.11.x/scipy/interpolate/fitpack/fppara.f#L290
+
+    Note that the latter is for parametric splines and the former is for 1D spline
+    functions. The minimization is indentical though [modulo a summation over the
+    dimensions in the computation of f(p)], so we reuse the minimizer for both
+    d=1 and d>1.
+    """
+    # Magic values from
+    # https://github.com/scipy/scipy/blob/maintenance/1.11.x/scipy/interpolate/fitpack/fpcurf.f#L27
+    con1 = 0.1
+    con9 = 0.9
+    con4 = 0.04
+
+    # bracketing flags (follow FITPACK)
+    # https://github.com/scipy/scipy/blob/maintenance/1.11.x/scipy/interpolate/fitpack/fppara.f#L365
+    ich1, ich3 = 0, 0
+
+    (p1, f1), (p3, f3)  = bracket
+    p = p0
+
+    for it in range(MAXIT):
+        p2, f2 = p, f(p)
+
+        # c  test whether the approximation sp(x) is an acceptable solution.
+        if abs(f2) < acc:
+            ier, converged = 0, True
+            break
+
+        # c  carry out one more step of the iteration process.
+        if ich3 == 0:
+            if f2 - f3 <= acc:
+                # c  our initial choice of p is too large.
+                p3 = p2
+                f3 = f2
+                p = p*con4
+                if p <= p1:
+                     p = p1*con9 + p2*con1
+                continue
+            else:
+                if f2 < 0:
+                    ich3 = 1
+
+        if ich1 == 0:
+            if f1 - f2 <= acc:
+                # c  our initial choice of p is too small
+                p1 = p2
+                f1 = f2
+                p = p/con4
+                if p3 != np.inf and p <= p3:
+                     p = p2*con1 + p3*con9
+                continue
+            else:
+                if f2 > 0:
+                    ich1 = 1
+
+        # c  test whether the iteration process proceeds as theoretically expected.
+        # [f(p) should be monotonically decreasing]
+        if f1 <= f2 or f2 <= f3:
+            ier, converged = 2, False
+            break
+
+        # actually make the iteration step
+        p = fprati(p1, f1, p2, f2, p3, f3)
+
+        # c  adjust the value of p1,f1,p3 and f3 such that f1 > 0 and f3 < 0.
+        if f2 < 0:
+            p3, f3 = p2, f2
+        else:
+            p1, f1 = p2, f2
+
+    else:
+        # not converged in MAXIT iterations
+        ier, converged = 3, False
+
+    if ier != 0:
+        warnings.warn(RuntimeWarning(_iermesg[ier]), stacklevel=2)
+
+    return Bunch(converged=converged, root=p, iterations=it, ier=ier)
+
+
+def _make_splrep_impl(x, y, *, w=None, xb=None, xe=None, k=3, s=0, t=None, nest=None):
+    """Shared infra for make_splrep and make_splprep.
+    """
+    acc = s * TOL
+    m = x.size    # the number of data points
+
+    if nest is None:
+        # the max number of knots. This is set in _fitpack_impl.py line 274
+        # and fitpack.pyf line 198
+        nest = max(m + k + 1, 2*k + 3)
+    else:
+        if nest < 2*(k + 1):
+            raise ValueError(f"`nest` too small: {nest = } < 2*(k+1) = {2*(k+1)}.")
+        if t is not None:
+            raise ValueError("Either supply `t` or `nest`.")
+
+    if t is None:
+        gen = _generate_knots_impl(x, y, w=w, k=k, s=s, xb=xb, xe=xe, nest=nest)
+        t = list(gen)[-1]
+    else:
+        fpcheck(x, t, k)
+
+    if t.shape[0] == 2 * (k + 1):
+        # nothing to optimize
+        _, _, c = _lsq_solve_qr(x, y, t, k, w)
+        return BSpline(t, c, k)
+
+    ### solve ###
+
+    # c  initial value for p.
+    # https://github.com/scipy/scipy/blob/maintenance/1.11.x/scipy/interpolate/fitpack/fpcurf.f#L253
+    R, Y, _ = _lsq_solve_qr(x, y, t, k, w)
+    nc = t.shape[0] -k -1
+    p = nc / R[:, 0].sum()
+
+    # ### bespoke solver ####
+    # initial conditions
+    # f(p=inf) : LSQ spline with knots t   (XXX: reuse R, c)
+    _, fp = _get_residuals(x, y, t, k, w=w)
+    fpinf = fp - s
+
+    # f(p=0): LSQ spline without internal knots
+    _, fp0 = _get_residuals(x, y, np.array([xb]*(k+1) + [xe]*(k+1)), k, w)
+    fp0 = fp0 - s
+
+    # solve
+    bracket = (0, fp0), (np.inf, fpinf)
+    f = F(x, y, t, k=k, s=s, w=w, R=R, Y=Y)
+    _ = root_rati(f, p, bracket, acc)
+
+    # solve ALTERNATIVE: is roughly equivalent, gives slightly different results
+    # starting from scratch, that would have probably been tolerable;
+    # backwards compatibility dictates that we replicate the FITPACK minimizer though.
+ #   f = F(x, y, t, k=k, s=s, w=w, R=R, Y=Y)
+ #   from scipy.optimize import root_scalar
+ #   res_ = root_scalar(f, x0=p, rtol=acc)
+ #   assert res_.converged
+
+    # f.spl is the spline corresponding to the found `p` value
+    return f.spl
+
+
+def make_splrep(x, y, *, w=None, xb=None, xe=None, k=3, s=0, t=None, nest=None):
+    r"""Create a smoothing B-spline function with bounded error, minimizing derivative jumps.
+
+    Given the set of data points ``(x[i], y[i])``, determine a smooth spline
+    approximation of degree ``k`` on the interval ``xb <= x <= xe``.
+
+    Parameters
+    ----------
+    x, y : array_like, shape (m,)
+        The data points defining a curve ``y = f(x)``.
+    w : array_like, shape (m,), optional
+        Strictly positive 1D array of weights, of the same length as `x` and `y`.
+        The weights are used in computing the weighted least-squares spline
+        fit. If the errors in the y values have standard-deviation given by the
+        vector ``d``, then `w` should be ``1/d``.
+        Default is ``np.ones(m)``.
+    xb, xe : float, optional
+        The interval to fit.  If None, these default to ``x[0]`` and ``x[-1]``,
+        respectively.
+    k : int, optional
+        The degree of the spline fit. It is recommended to use cubic splines,
+        ``k=3``, which is the default. Even values of `k` should be avoided,
+        especially with small `s` values.
+    s : float, optional
+        The smoothing condition. The amount of smoothness is determined by
+        satisfying the LSQ (least-squares) constraint::
+
+            sum((w * (g(x)  - y))**2 ) <= s
+
+        where ``g(x)`` is the smoothed fit to ``(x, y)``. The user can use `s`
+        to control the tradeoff between closeness to data and smoothness of fit.
+        Larger `s` means more smoothing while smaller values of `s` indicate less
+        smoothing.
+        Recommended values of `s` depend on the weights, `w`. If the weights
+        represent the inverse of the standard deviation of `y`, then a good `s`
+        value should be found in the range ``(m-sqrt(2*m), m+sqrt(2*m))`` where
+        ``m`` is the number of datapoints in `x`, `y`, and `w`.
+        Default is ``s = 0.0``, i.e. interpolation.
+    t : array_like, optional
+        The spline knots. If None (default), the knots will be constructed
+        automatically.
+        There must be at least ``2*k + 2`` and at most ``m + k + 1`` knots.
+    nest : int, optional
+        The target length of the knot vector. Should be between ``2*(k + 1)``
+        (the minimum number of knots for a degree-``k`` spline), and
+        ``m + k + 1`` (the number of knots of the interpolating spline).
+        The actual number of knots returned by this routine may be slightly
+        larger than `nest`.
+        Default is None (no limit, add up to ``m + k + 1`` knots).
+
+    Returns
+    -------
+    spl : a `BSpline` instance
+        For `s=0`,  ``spl(x) == y``.
+        For non-zero values of `s` the `spl` represents the smoothed approximation
+        to `(x, y)`, generally with fewer knots.
+
+    See Also
+    --------
+    generate_knots : is used under the hood for generating the knots
+    make_splprep : the analog of this routine for parametric curves
+    make_interp_spline : construct an interpolating spline (``s = 0``)
+    make_lsq_spline : construct the least-squares spline given the knot vector
+    splrep : a FITPACK analog of this routine
+
+    References
+    ----------
+    .. [1] P. Dierckx, "Algorithms for smoothing data with periodic and
+        parametric splines, Computer Graphics and Image Processing",
+        20 (1982) 171-184.
+    .. [2] P. Dierckx, "Curve and surface fitting with splines", Monographs on
+        Numerical Analysis, Oxford University Press, 1993.
+
+    Notes
+    -----
+    This routine constructs the smoothing spline function, :math:`g(x)`, to
+    minimize the sum of jumps, :math:`D_j`, of the ``k``-th derivative at the
+    internal knots (:math:`x_b < t_i < x_e`), where
+
+    .. math::
+
+        D_i = g^{(k)}(t_i + 0) - g^{(k)}(t_i - 0)
+
+    Specifically, the routine constructs the spline function :math:`g(x)` which
+    minimizes
+
+    .. math::
+
+            \sum_i | D_i |^2 \to \mathrm{min}
+
+    provided that
+
+    .. math::
+
+           \sum_{j=1}^m (w_j \times (g(x_j) - y_j))^2 \leqslant s ,
+
+    where :math:`s > 0` is the input parameter.
+
+    In other words, we balance maximizing the smoothness (measured as the jumps
+    of the derivative, the first criterion), and the deviation of :math:`g(x_j)`
+    from the data :math:`y_j` (the second criterion).
+
+    Note that the summation in the second criterion is over all data points,
+    and in the first criterion it is over the internal spline knots (i.e.
+    those with ``xb < t[i] < xe``). The spline knots are in general a subset
+    of data, see `generate_knots` for details.
+
+    Also note the difference of this routine to `make_lsq_spline`: the latter
+    routine does not consider smoothness and simply solves a least-squares
+    problem
+
+    .. math::
+
+        \sum w_j \times (g(x_j) - y_j)^2 \to \mathrm{min}
+
+    for a spline function :math:`g(x)` with a _fixed_ knot vector ``t``.
+
+    .. versionadded:: 1.15.0
+    """  # noqa:E501
+    if s == 0:
+        if t is not None or w is not None or nest is not None:
+            raise ValueError("s==0 is for interpolation only")
+        return make_interp_spline(x, y, k=k)
+
+    x, y, w, k, s, xb, xe = _validate_inputs(x, y, w, k, s, xb, xe, parametric=False)
+
+    spl = _make_splrep_impl(x, y, w=w, xb=xb, xe=xe, k=k, s=s, t=t, nest=nest)
+
+    # postprocess: squeeze out the last dimension: was added to simplify the internals.
+    spl.c = spl.c[:, 0]
+    return spl
+
+
+def make_splprep(x, *, w=None, u=None, ub=None, ue=None, k=3, s=0, t=None, nest=None):
+    r"""
+    Create a smoothing parametric B-spline curve with bounded error, minimizing derivative jumps.
+
+    Given a list of N 1D arrays, `x`, which represent a curve in
+    N-dimensional space parametrized by `u`, find a smooth approximating
+    spline curve ``g(u)``.
+
+    Parameters
+    ----------
+    x : array_like, shape (m, ndim)
+        Sampled data points representing the curve in ``ndim`` dimensions.
+        The typical use is a list of 1D arrays, each of length ``m``.
+    w : array_like, shape(m,), optional
+        Strictly positive 1D array of weights.
+        The weights are used in computing the weighted least-squares spline
+        fit. If the errors in the `x` values have standard deviation given by
+        the vector d, then `w` should be 1/d. Default is ``np.ones(m)``.
+    u : array_like, optional
+        An array of parameter values for the curve in the parametric form.
+        If not given, these values are calculated automatically, according to::
+
+            v[0] = 0
+            v[i] = v[i-1] + distance(x[i], x[i-1])
+            u[i] = v[i] / v[-1]
+
+    ub, ue : float, optional
+        The end-points of the parameters interval. Default to ``u[0]`` and ``u[-1]``.
+    k : int, optional
+        Degree of the spline. Cubic splines, ``k=3``, are recommended.
+        Even values of `k` should be avoided especially with a small ``s`` value.
+        Default is ``k=3``
+    s : float, optional
+        A smoothing condition.  The amount of smoothness is determined by
+        satisfying the conditions::
+
+            sum((w * (g(u) - x))**2) <= s,
+
+        where ``g(u)`` is the smoothed approximation to ``x``.  The user can
+        use `s` to control the trade-off between closeness and smoothness
+        of fit.  Larger ``s`` means more smoothing while smaller values of ``s``
+        indicate less smoothing.
+        Recommended values of ``s`` depend on the weights, ``w``.  If the weights
+        represent the inverse of the standard deviation of ``x``, then a good
+        ``s`` value should be found in the range ``(m - sqrt(2*m), m + sqrt(2*m))``,
+        where ``m`` is the number of data points in ``x`` and ``w``.
+    t : array_like, optional
+        The spline knots. If None (default), the knots will be constructed
+        automatically.
+        There must be at least ``2*k + 2`` and at most ``m + k + 1`` knots.
+    nest : int, optional
+        The target length of the knot vector. Should be between ``2*(k + 1)``
+        (the minimum number of knots for a degree-``k`` spline), and
+        ``m + k + 1`` (the number of knots of the interpolating spline).
+        The actual number of knots returned by this routine may be slightly
+        larger than `nest`.
+        Default is None (no limit, add up to ``m + k + 1`` knots).
+
+    Returns
+    -------
+    spl : a `BSpline` instance
+        For `s=0`,  ``spl(u) == x``.
+        For non-zero values of ``s``, `spl` represents the smoothed approximation
+        to ``x``, generally with fewer knots.
+    u : ndarray
+        The values of the parameters
+
+    See Also
+    --------
+    generate_knots : is used under the hood for generating the knots
+    make_splrep : the analog of this routine 1D functions
+    make_interp_spline : construct an interpolating spline (``s = 0``)
+    make_lsq_spline : construct the least-squares spline given the knot vector
+    splprep : a FITPACK analog of this routine
+
+    Notes
+    -----
+    Given a set of :math:`m` data points in :math:`D` dimensions, :math:`\vec{x}_j`,
+    with :math:`j=1, ..., m` and :math:`\vec{x}_j = (x_{j; 1}, ..., x_{j; D})`,
+    this routine constructs the parametric spline curve :math:`g_a(u)` with
+    :math:`a=1, ..., D`, to minimize the sum of jumps, :math:`D_{i; a}`, of the
+    ``k``-th derivative at the internal knots (:math:`u_b < t_i < u_e`), where
+
+    .. math::
+
+        D_{i; a} = g_a^{(k)}(t_i + 0) - g_a^{(k)}(t_i - 0)
+
+    Specifically, the routine constructs the spline function :math:`g(u)` which
+    minimizes
+
+    .. math::
+
+            \sum_i \sum_{a=1}^D | D_{i; a} |^2 \to \mathrm{min}
+
+    provided that
+
+    .. math::
+
+        \sum_{j=1}^m \sum_{a=1}^D (w_j \times (g_a(u_j) - x_{j; a}))^2 \leqslant s
+
+    where :math:`u_j` is the value of the parameter corresponding to the data point
+    :math:`(x_{j; 1}, ..., x_{j; D})`, and :math:`s > 0` is the input parameter.
+
+    In other words, we balance maximizing the smoothness (measured as the jumps
+    of the derivative, the first criterion), and the deviation of :math:`g(u_j)`
+    from the data :math:`x_j` (the second criterion).
+
+    Note that the summation in the second criterion is over all data points,
+    and in the first criterion it is over the internal spline knots (i.e.
+    those with ``ub < t[i] < ue``). The spline knots are in general a subset
+    of data, see `generate_knots` for details.
+
+    .. versionadded:: 1.15.0
+
+    References
+    ----------
+    .. [1] P. Dierckx, "Algorithms for smoothing data with periodic and
+        parametric splines, Computer Graphics and Image Processing",
+        20 (1982) 171-184.
+    .. [2] P. Dierckx, "Curve and surface fitting with splines", Monographs on
+        Numerical Analysis, Oxford University Press, 1993.
+    """  # noqa:E501
+    x = np.stack(x, axis=1)
+
+    # construct the default parametrization of the curve
+    if u is None:
+        dp = (x[1:, :] - x[:-1, :])**2
+        u = np.sqrt((dp).sum(axis=1)).cumsum()
+        u = np.r_[0, u / u[-1]]
+
+    if s == 0:
+        if t is not None or w is not None or nest is not None:
+            raise ValueError("s==0 is for interpolation only")
+        return make_interp_spline(u, x.T, k=k, axis=1), u
+
+    u, x, w, k, s, ub, ue = _validate_inputs(u, x, w, k, s, ub, ue, parametric=True)
+
+    spl = _make_splrep_impl(u, x, w=w, xb=ub, xe=ue, k=k, s=s, t=t, nest=nest)
+
+    # posprocess: `axis=1` so that spl(u).shape == np.shape(x)
+    # when `x` is a list of 1D arrays (cf original splPrep)
+    cc = spl.c.T
+    spl1 = BSpline(spl.t, cc, spl.k, axis=1)
+
+    return spl1, u