scipy 1.16.2__cp312-cp312-win_arm64.whl

scipy/optimize/_linprog_ip.py

@@ -0,0 +1,1141 @@
+"""Interior-point method for linear programming
+
+The *interior-point* method uses the primal-dual path following algorithm
+outlined in [1]_. This algorithm supports sparse constraint matrices and
+is typically faster than the simplex methods, especially for large, sparse
+problems. Note, however, that the solution returned may be slightly less
+accurate than those of the simplex methods and will not, in general,
+correspond with a vertex of the polytope defined by the constraints.
+
+    .. versionadded:: 1.0.0
+
+References
+----------
+.. [1] Andersen, Erling D., and Knud D. Andersen. "The MOSEK interior point
+       optimizer for linear programming: an implementation of the
+       homogeneous algorithm." High performance optimization. Springer US,
+       2000. 197-232.
+"""
+# Author: Matt Haberland
+
+import numpy as np
+import scipy as sp
+import scipy.sparse as sps
+from warnings import warn
+from scipy.linalg import LinAlgError
+from ._optimize import OptimizeWarning, OptimizeResult, _check_unknown_options
+from ._linprog_util import _postsolve
+has_umfpack = True
+has_cholmod = True
+try:
+    import sksparse  # noqa: F401
+    from sksparse.cholmod import cholesky as cholmod  # noqa: F401
+    from sksparse.cholmod import analyze as cholmod_analyze
+    from sksparse.cholmod import CholmodTypeConversionWarning
+    from warnings import catch_warnings
+except ImportError:
+    has_cholmod = False
+try:
+    import scikits.umfpack  # test whether to use factorized  # noqa: F401
+except ImportError:
+    has_umfpack = False
+
+
+def _get_solver(M, sparse=False, lstsq=False, sym_pos=True,
+                cholesky=True, permc_spec='MMD_AT_PLUS_A'):
+    """
+    Given solver options, return a handle to the appropriate linear system
+    solver.
+
+    Parameters
+    ----------
+    M : 2-D array
+        As defined in [4] Equation 8.31
+    sparse : bool (default = False)
+        True if the system to be solved is sparse. This is typically set
+        True when the original ``A_ub`` and ``A_eq`` arrays are sparse.
+    lstsq : bool (default = False)
+        True if the system is ill-conditioned and/or (nearly) singular and
+        thus a more robust least-squares solver is desired. This is sometimes
+        needed as the solution is approached.
+    sym_pos : bool (default = True)
+        True if the system matrix is symmetric positive definite
+        Sometimes this needs to be set false as the solution is approached,
+        even when the system should be symmetric positive definite, due to
+        numerical difficulties.
+    cholesky : bool (default = True)
+        True if the system is to be solved by Cholesky, rather than LU,
+        decomposition. This is typically faster unless the problem is very
+        small or prone to numerical difficulties.
+    permc_spec : str (default = 'MMD_AT_PLUS_A')
+        Sparsity preservation strategy used by SuperLU. Acceptable values are:
+
+        - ``NATURAL``: natural ordering.
+        - ``MMD_ATA``: minimum degree ordering on the structure of A^T A.
+        - ``MMD_AT_PLUS_A``: minimum degree ordering on the structure of A^T+A.
+        - ``COLAMD``: approximate minimum degree column ordering.
+
+        See SuperLU documentation.
+
+    Returns
+    -------
+    solve : function
+        Handle to the appropriate solver function
+
+    """
+    try:
+        if sparse:
+            if lstsq:
+                def solve(r, sym_pos=False):
+                    return sps.linalg.lsqr(M, r)[0]
+            elif cholesky:
+                # TODO: revert this suppress_warning once the warning bug fix in
+                # sksparse is merged/released
+                # Suppress spurious warning bug from sksparse with csc_array gh-22089
+                # try:
+                #     # Will raise an exception in the first call,
+                #     # or when the matrix changes due to a new problem
+                #     _get_solver.cholmod_factor.cholesky_inplace(M)
+                # except Exception:
+                #     _get_solver.cholmod_factor = cholmod_analyze(M)
+                #     _get_solver.cholmod_factor.cholesky_inplace(M)
+                with catch_warnings(
+                    action='ignore', category=CholmodTypeConversionWarning
+                ):
+                    try:
+                        # Will raise an exception in the first call,
+                        # or when the matrix changes due to a new problem
+                        _get_solver.cholmod_factor.cholesky_inplace(M)
+                    except Exception:
+                        _get_solver.cholmod_factor = cholmod_analyze(M)
+                        _get_solver.cholmod_factor.cholesky_inplace(M)
+                solve = _get_solver.cholmod_factor
+            else:
+                if has_umfpack and sym_pos:
+                    solve = sps.linalg.factorized(M)
+                else:  # factorized doesn't pass permc_spec
+                    solve = sps.linalg.splu(M, permc_spec=permc_spec).solve
+
+        else:
+            if lstsq:  # sometimes necessary as solution is approached
+                def solve(r):
+                    return sp.linalg.lstsq(M, r)[0]
+            elif cholesky:
+                L = sp.linalg.cho_factor(M)
+
+                def solve(r):
+                    return sp.linalg.cho_solve(L, r)
+            else:
+                # this seems to cache the matrix factorization, so solving
+                # with multiple right hand sides is much faster
+                def solve(r, sym_pos=sym_pos):
+                    if sym_pos:
+                        return sp.linalg.solve(M, r, assume_a="pos")
+                    else:
+                        return sp.linalg.solve(M, r)
+    # There are many things that can go wrong here, and it's hard to say
+    # what all of them are. It doesn't really matter: if the matrix can't be
+    # factorized, return None. get_solver will be called again with different
+    # inputs, and a new routine will try to factorize the matrix.
+    except KeyboardInterrupt:
+        raise
+    except Exception:
+        return None
+    return solve
+
+
+def _get_delta(A, b, c, x, y, z, tau, kappa, gamma, eta, sparse=False,
+               lstsq=False, sym_pos=True, cholesky=True, pc=True, ip=False,
+               permc_spec='MMD_AT_PLUS_A'):
+    """
+    Given standard form problem defined by ``A``, ``b``, and ``c``;
+    current variable estimates ``x``, ``y``, ``z``, ``tau``, and ``kappa``;
+    algorithmic parameters ``gamma and ``eta;
+    and options ``sparse``, ``lstsq``, ``sym_pos``, ``cholesky``, ``pc``
+    (predictor-corrector), and ``ip`` (initial point improvement),
+    get the search direction for increments to the variable estimates.
+
+    Parameters
+    ----------
+    As defined in [4], except:
+    sparse : bool
+        True if the system to be solved is sparse. This is typically set
+        True when the original ``A_ub`` and ``A_eq`` arrays are sparse.
+    lstsq : bool
+        True if the system is ill-conditioned and/or (nearly) singular and
+        thus a more robust least-squares solver is desired. This is sometimes
+        needed as the solution is approached.
+    sym_pos : bool
+        True if the system matrix is symmetric positive definite
+        Sometimes this needs to be set false as the solution is approached,
+        even when the system should be symmetric positive definite, due to
+        numerical difficulties.
+    cholesky : bool
+        True if the system is to be solved by Cholesky, rather than LU,
+        decomposition. This is typically faster unless the problem is very
+        small or prone to numerical difficulties.
+    pc : bool
+        True if the predictor-corrector method of Mehrota is to be used. This
+        is almost always (if not always) beneficial. Even though it requires
+        the solution of an additional linear system, the factorization
+        is typically (implicitly) reused so solution is efficient, and the
+        number of algorithm iterations is typically reduced.
+    ip : bool
+        True if the improved initial point suggestion due to [4] section 4.3
+        is desired. It's unclear whether this is beneficial.
+    permc_spec : str (default = 'MMD_AT_PLUS_A')
+        (Has effect only with ``sparse = True``, ``lstsq = False``, ``sym_pos =
+        True``.) A matrix is factorized in each iteration of the algorithm.
+        This option specifies how to permute the columns of the matrix for
+        sparsity preservation. Acceptable values are:
+
+        - ``NATURAL``: natural ordering.
+        - ``MMD_ATA``: minimum degree ordering on the structure of A^T A.
+        - ``MMD_AT_PLUS_A``: minimum degree ordering on the structure of A^T+A.
+        - ``COLAMD``: approximate minimum degree column ordering.
+
+        This option can impact the convergence of the
+        interior point algorithm; test different values to determine which
+        performs best for your problem. For more information, refer to
+        ``scipy.sparse.linalg.splu``.
+
+    Returns
+    -------
+    Search directions as defined in [4]
+
+    References
+    ----------
+    .. [4] Andersen, Erling D., and Knud D. Andersen. "The MOSEK interior point
+           optimizer for linear programming: an implementation of the
+           homogeneous algorithm." High performance optimization. Springer US,
+           2000. 197-232.
+
+    """
+    if A.shape[0] == 0:
+        # If there are no constraints, some solvers fail (understandably)
+        # rather than returning empty solution. This gets the job done.
+        lstsq, sym_pos, cholesky = False, True, False
+    n_x = len(x)
+
+    # [4] Equation 8.8
+    r_P = b * tau - A.dot(x)
+    r_D = c * tau - A.T.dot(y) - z
+    r_G = c.dot(x) - b.transpose().dot(y) + kappa
+    mu = (x.dot(z) + tau * kappa) / (n_x + 1)
+
+    #  Assemble M from [4] Equation 8.31
+    Dinv = x / z
+
+    if sparse:
+        M = A.dot(sps.diags_array(Dinv, format="csc").dot(A.T))
+    else:
+        M = A.dot(Dinv.reshape(-1, 1) * A.T)
+    solve = _get_solver(M, sparse, lstsq, sym_pos, cholesky, permc_spec)
+
+    # pc: "predictor-corrector" [4] Section 4.1
+    # In development this option could be turned off
+    # but it always seems to improve performance substantially
+    n_corrections = 1 if pc else 0
+
+    i = 0
+    alpha, d_x, d_z, d_tau, d_kappa = 0, 0, 0, 0, 0
+    while i <= n_corrections:
+        # Reference [4] Eq. 8.6
+        rhatp = eta(gamma) * r_P
+        rhatd = eta(gamma) * r_D
+        rhatg = eta(gamma) * r_G
+
+        # Reference [4] Eq. 8.7
+        rhatxs = gamma * mu - x * z
+        rhattk = gamma * mu - tau * kappa
+
+        if i == 1:
+            if ip:  # if the correction is to get "initial point"
+                # Reference [4] Eq. 8.23
+                rhatxs = ((1 - alpha) * gamma * mu -
+                          x * z - alpha**2 * d_x * d_z)
+                rhattk = ((1 - alpha) * gamma * mu -
+                    tau * kappa -
+                    alpha**2 * d_tau * d_kappa)
+            else:  # if the correction is for "predictor-corrector"
+                # Reference [4] Eq. 8.13
+                rhatxs -= d_x * d_z
+                rhattk -= d_tau * d_kappa
+
+        # sometimes numerical difficulties arise as the solution is approached
+        # this loop tries to solve the equations using a sequence of functions
+        # for solve. For dense systems, the order is:
+        # 1. scipy.linalg.cho_factor/scipy.linalg.cho_solve,
+        # 2. scipy.linalg.solve w/ sym_pos = True,
+        # 3. scipy.linalg.solve w/ sym_pos = False, and if all else fails
+        # 4. scipy.linalg.lstsq
+        # For sparse systems, the order is:
+        # 1. sksparse.cholmod.cholesky (if available)
+        # 2. scipy.sparse.linalg.factorized (if umfpack available)
+        # 3. scipy.sparse.linalg.splu
+        # 4. scipy.sparse.linalg.lsqr
+        solved = False
+        while not solved:
+            try:
+                # [4] Equation 8.28
+                p, q = _sym_solve(Dinv, A, c, b, solve)
+                # [4] Equation 8.29
+                u, v = _sym_solve(Dinv, A, rhatd -
+                                  (1 / x) * rhatxs, rhatp, solve)
+                if np.any(np.isnan(p)) or np.any(np.isnan(q)):
+                    raise LinAlgError
+                solved = True
+            except (LinAlgError, ValueError, TypeError) as e:
+                # Usually this doesn't happen. If it does, it happens when
+                # there are redundant constraints or when approaching the
+                # solution. If so, change solver.
+                if cholesky:
+                    cholesky = False
+                    warn(
+                        "Solving system with option 'cholesky':True "
+                        "failed. It is normal for this to happen "
+                        "occasionally, especially as the solution is "
+                        "approached. However, if you see this frequently, "
+                        "consider setting option 'cholesky' to False.",
+                        OptimizeWarning, stacklevel=5)
+                elif sym_pos:
+                    sym_pos = False
+                    warn(
+                        "Solving system with option 'sym_pos':True "
+                        "failed. It is normal for this to happen "
+                        "occasionally, especially as the solution is "
+                        "approached. However, if you see this frequently, "
+                        "consider setting option 'sym_pos' to False.",
+                        OptimizeWarning, stacklevel=5)
+                elif not lstsq:
+                    lstsq = True
+                    warn(
+                        "Solving system with option 'sym_pos':False "
+                        "failed. This may happen occasionally, "
+                        "especially as the solution is "
+                        "approached. However, if you see this frequently, "
+                        "your problem may be numerically challenging. "
+                        "If you cannot improve the formulation, consider "
+                        "setting 'lstsq' to True. Consider also setting "
+                        "`presolve` to True, if it is not already.",
+                        OptimizeWarning, stacklevel=5)
+                else:
+                    raise e
+                solve = _get_solver(M, sparse, lstsq, sym_pos,
+                                    cholesky, permc_spec)
+        # [4] Results after 8.29
+        d_tau = ((rhatg + 1 / tau * rhattk - (-c.dot(u) + b.dot(v))) /
+                 (1 / tau * kappa + (-c.dot(p) + b.dot(q))))
+        d_x = u + p * d_tau
+        d_y = v + q * d_tau
+
+        # [4] Relations between  after 8.25 and 8.26
+        d_z = (1 / x) * (rhatxs - z * d_x)
+        d_kappa = 1 / tau * (rhattk - kappa * d_tau)
+
+        # [4] 8.12 and "Let alpha be the maximal possible step..." before 8.23
+        alpha = _get_step(x, d_x, z, d_z, tau, d_tau, kappa, d_kappa, 1)
+        if ip:  # initial point - see [4] 4.4
+            gamma = 10
+        else:  # predictor-corrector, [4] definition after 8.12
+            beta1 = 0.1  # [4] pg. 220 (Table 8.1)
+            gamma = (1 - alpha)**2 * min(beta1, (1 - alpha))
+        i += 1
+
+    return d_x, d_y, d_z, d_tau, d_kappa
+
+
+def _sym_solve(Dinv, A, r1, r2, solve):
+    """
+    An implementation of [4] equation 8.31 and 8.32
+
+    References
+    ----------
+    .. [4] Andersen, Erling D., and Knud D. Andersen. "The MOSEK interior point
+           optimizer for linear programming: an implementation of the
+           homogeneous algorithm." High performance optimization. Springer US,
+           2000. 197-232.
+
+    """
+    # [4] 8.31
+    r = r2 + A.dot(Dinv * r1)
+    v = solve(r)
+    # [4] 8.32
+    u = Dinv * (A.T.dot(v) - r1)
+    return u, v
+
+
+def _get_step(x, d_x, z, d_z, tau, d_tau, kappa, d_kappa, alpha0):
+    """
+    An implementation of [4] equation 8.21
+
+    References
+    ----------
+    .. [4] Andersen, Erling D., and Knud D. Andersen. "The MOSEK interior point
+           optimizer for linear programming: an implementation of the
+           homogeneous algorithm." High performance optimization. Springer US,
+           2000. 197-232.
+
+    """
+    # [4] 4.3 Equation 8.21, ignoring 8.20 requirement
+    # same step is taken in primal and dual spaces
+    # alpha0 is basically beta3 from [4] Table 8.1, but instead of beta3
+    # the value 1 is used in Mehrota corrector and initial point correction
+    i_x = d_x < 0
+    i_z = d_z < 0
+    alpha_x = alpha0 * np.min(x[i_x] / -d_x[i_x]) if np.any(i_x) else 1
+    alpha_tau = alpha0 * tau / -d_tau if d_tau < 0 else 1
+    alpha_z = alpha0 * np.min(z[i_z] / -d_z[i_z]) if np.any(i_z) else 1
+    alpha_kappa = alpha0 * kappa / -d_kappa if d_kappa < 0 else 1
+    alpha = np.min([1, alpha_x, alpha_tau, alpha_z, alpha_kappa])
+    return alpha
+
+
+def _get_message(status):
+    """
+    Given problem status code, return a more detailed message.
+
+    Parameters
+    ----------
+    status : int
+        An integer representing the exit status of the optimization::
+
+         0 : Optimization terminated successfully
+         1 : Iteration limit reached
+         2 : Problem appears to be infeasible
+         3 : Problem appears to be unbounded
+         4 : Serious numerical difficulties encountered
+
+    Returns
+    -------
+    message : str
+        A string descriptor of the exit status of the optimization.
+
+    """
+    messages = (
+        ["Optimization terminated successfully.",
+         "The iteration limit was reached before the algorithm converged.",
+         "The algorithm terminated successfully and determined that the "
+         "problem is infeasible.",
+         "The algorithm terminated successfully and determined that the "
+         "problem is unbounded.",
+         "Numerical difficulties were encountered before the problem "
+         "converged. Please check your problem formulation for errors, "
+         "independence of linear equality constraints, and reasonable "
+         "scaling and matrix condition numbers. If you continue to "
+         "encounter this error, please submit a bug report."
+         ])
+    return messages[status]
+
+
+def _do_step(x, y, z, tau, kappa, d_x, d_y, d_z, d_tau, d_kappa, alpha):
+    """
+    An implementation of [4] Equation 8.9
+
+    References
+    ----------
+    .. [4] Andersen, Erling D., and Knud D. Andersen. "The MOSEK interior point
+           optimizer for linear programming: an implementation of the
+           homogeneous algorithm." High performance optimization. Springer US,
+           2000. 197-232.
+
+    """
+    x = x + alpha * d_x
+    tau = tau + alpha * d_tau
+    z = z + alpha * d_z
+    kappa = kappa + alpha * d_kappa
+    y = y + alpha * d_y
+    return x, y, z, tau, kappa
+
+
+def _get_blind_start(shape):
+    """
+    Return the starting point from [4] 4.4
+
+    References
+    ----------
+    .. [4] Andersen, Erling D., and Knud D. Andersen. "The MOSEK interior point
+           optimizer for linear programming: an implementation of the
+           homogeneous algorithm." High performance optimization. Springer US,
+           2000. 197-232.
+
+    """
+    m, n = shape
+    x0 = np.ones(n)
+    y0 = np.zeros(m)
+    z0 = np.ones(n)
+    tau0 = 1
+    kappa0 = 1
+    return x0, y0, z0, tau0, kappa0
+
+
+def _indicators(A, b, c, c0, x, y, z, tau, kappa):
+    """
+    Implementation of several equations from [4] used as indicators of
+    the status of optimization.
+
+    References
+    ----------
+    .. [4] Andersen, Erling D., and Knud D. Andersen. "The MOSEK interior point
+           optimizer for linear programming: an implementation of the
+           homogeneous algorithm." High performance optimization. Springer US,
+           2000. 197-232.
+
+    """
+
+    # residuals for termination are relative to initial values
+    x0, y0, z0, tau0, kappa0 = _get_blind_start(A.shape)
+
+    # See [4], Section 4 - The Homogeneous Algorithm, Equation 8.8
+    def r_p(x, tau):
+        return b * tau - A.dot(x)
+
+    def r_d(y, z, tau):
+        return c * tau - A.T.dot(y) - z
+
+    def r_g(x, y, kappa):
+        return kappa + c.dot(x) - b.dot(y)
+
+    # np.dot unpacks if they are arrays of size one
+    def mu(x, tau, z, kappa):
+        return (x.dot(z) + np.dot(tau, kappa)) / (len(x) + 1)
+
+    obj = c.dot(x / tau) + c0
+
+    def norm(a):
+        return np.linalg.norm(a)
+
+    # See [4], Section 4.5 - The Stopping Criteria
+    r_p0 = r_p(x0, tau0)
+    r_d0 = r_d(y0, z0, tau0)
+    r_g0 = r_g(x0, y0, kappa0)
+    mu_0 = mu(x0, tau0, z0, kappa0)
+    rho_A = norm(c.T.dot(x) - b.T.dot(y)) / (tau + norm(b.T.dot(y)))
+    rho_p = norm(r_p(x, tau)) / max(1, norm(r_p0))
+    rho_d = norm(r_d(y, z, tau)) / max(1, norm(r_d0))
+    rho_g = norm(r_g(x, y, kappa)) / max(1, norm(r_g0))
+    rho_mu = mu(x, tau, z, kappa) / mu_0
+    return rho_p, rho_d, rho_A, rho_g, rho_mu, obj
+
+
+def _display_iter(rho_p, rho_d, rho_g, alpha, rho_mu, obj, header=False):
+    """
+    Print indicators of optimization status to the console.
+
+    Parameters
+    ----------
+    rho_p : float
+        The (normalized) primal feasibility, see [4] 4.5
+    rho_d : float
+        The (normalized) dual feasibility, see [4] 4.5
+    rho_g : float
+        The (normalized) duality gap, see [4] 4.5
+    alpha : float
+        The step size, see [4] 4.3
+    rho_mu : float
+        The (normalized) path parameter, see [4] 4.5
+    obj : float
+        The objective function value of the current iterate
+    header : bool
+        True if a header is to be printed
+
+    References
+    ----------
+    .. [4] Andersen, Erling D., and Knud D. Andersen. "The MOSEK interior point
+           optimizer for linear programming: an implementation of the
+           homogeneous algorithm." High performance optimization. Springer US,
+           2000. 197-232.
+
+    """
+    if header:
+        print("Primal Feasibility ",
+              "Dual Feasibility   ",
+              "Duality Gap        ",
+              "Step            ",
+              "Path Parameter     ",
+              "Objective          ")
+
+    # no clue why this works
+    fmt = '{0:<20.13}{1:<20.13}{2:<20.13}{3:<17.13}{4:<20.13}{5:<20.13}'
+    print(fmt.format(
+        float(rho_p),
+        float(rho_d),
+        float(rho_g),
+        alpha if isinstance(alpha, str) else float(alpha),
+        float(rho_mu),
+        float(obj)))
+
+
+def _ip_hsd(A, b, c, c0, alpha0, beta, maxiter, disp, tol, sparse, lstsq,
+            sym_pos, cholesky, pc, ip, permc_spec, callback, postsolve_args):
+    r"""
+    Solve a linear programming problem in standard form:
+
+    Minimize::
+
+        c @ x
+
+    Subject to::
+
+        A @ x == b
+            x >= 0
+
+    using the interior point method of [4].
+
+    Parameters
+    ----------
+    A : 2-D array
+        2-D array such that ``A @ x``, gives the values of the equality
+        constraints at ``x``.
+    b : 1-D array
+        1-D array of values representing the RHS of each equality constraint
+        (row) in ``A`` (for standard form problem).
+    c : 1-D array
+        Coefficients of the linear objective function to be minimized (for
+        standard form problem).
+    c0 : float
+        Constant term in objective function due to fixed (and eliminated)
+        variables. (Purely for display.)
+    alpha0 : float
+        The maximal step size for Mehrota's predictor-corrector search
+        direction; see :math:`\beta_3`of [4] Table 8.1
+    beta : float
+        The desired reduction of the path parameter :math:`\mu` (see  [6]_)
+    maxiter : int
+        The maximum number of iterations of the algorithm.
+    disp : bool
+        Set to ``True`` if indicators of optimization status are to be printed
+        to the console each iteration.
+    tol : float
+        Termination tolerance; see [4]_ Section 4.5.
+    sparse : bool
+        Set to ``True`` if the problem is to be treated as sparse. However,
+        the inputs ``A_eq`` and ``A_ub`` should nonetheless be provided as
+        (dense) arrays rather than sparse matrices.
+    lstsq : bool
+        Set to ``True`` if the problem is expected to be very poorly
+        conditioned. This should always be left as ``False`` unless severe
+        numerical difficulties are frequently encountered, and a better option
+        would be to improve the formulation of the problem.
+    sym_pos : bool
+        Leave ``True`` if the problem is expected to yield a well conditioned
+        symmetric positive definite normal equation matrix (almost always).
+    cholesky : bool
+        Set to ``True`` if the normal equations are to be solved by explicit
+        Cholesky decomposition followed by explicit forward/backward
+        substitution. This is typically faster for moderate, dense problems
+        that are numerically well-behaved.
+    pc : bool
+        Leave ``True`` if the predictor-corrector method of Mehrota is to be
+        used. This is almost always (if not always) beneficial.
+    ip : bool
+        Set to ``True`` if the improved initial point suggestion due to [4]_
+        Section 4.3 is desired. It's unclear whether this is beneficial.
+    permc_spec : str (default = 'MMD_AT_PLUS_A')
+        (Has effect only with ``sparse = True``, ``lstsq = False``, ``sym_pos =
+        True``.) A matrix is factorized in each iteration of the algorithm.
+        This option specifies how to permute the columns of the matrix for
+        sparsity preservation. Acceptable values are:
+
+        - ``NATURAL``: natural ordering.
+        - ``MMD_ATA``: minimum degree ordering on the structure of A^T A.
+        - ``MMD_AT_PLUS_A``: minimum degree ordering on the structure of A^T+A.
+        - ``COLAMD``: approximate minimum degree column ordering.
+
+        This option can impact the convergence of the
+        interior point algorithm; test different values to determine which
+        performs best for your problem. For more information, refer to
+        ``scipy.sparse.linalg.splu``.
+    callback : callable, optional
+        If a callback function is provided, it will be called within each
+        iteration of the algorithm. The callback function must accept a single
+        `scipy.optimize.OptimizeResult` consisting of the following fields:
+
+            x : 1-D array
+                Current solution vector
+            fun : float
+                Current value of the objective function
+            success : bool
+                True only when an algorithm has completed successfully,
+                so this is always False as the callback function is called
+                only while the algorithm is still iterating.
+            slack : 1-D array
+                The values of the slack variables. Each slack variable
+                corresponds to an inequality constraint. If the slack is zero,
+                the corresponding constraint is active.
+            con : 1-D array
+                The (nominally zero) residuals of the equality constraints,
+                that is, ``b - A_eq @ x``
+            phase : int
+                The phase of the algorithm being executed. This is always
+                1 for the interior-point method because it has only one phase.
+            status : int
+                For revised simplex, this is always 0 because if a different
+                status is detected, the algorithm terminates.
+            nit : int
+                The number of iterations performed.
+            message : str
+                A string descriptor of the exit status of the optimization.
+    postsolve_args : tuple
+        Data needed by _postsolve to convert the solution to the standard-form
+        problem into the solution to the original problem.
+
+    Returns
+    -------
+    x_hat : float
+        Solution vector (for standard form problem).
+    status : int
+        An integer representing the exit status of the optimization::
+
+         0 : Optimization terminated successfully
+         1 : Iteration limit reached
+         2 : Problem appears to be infeasible
+         3 : Problem appears to be unbounded
+         4 : Serious numerical difficulties encountered
+
+    message : str
+        A string descriptor of the exit status of the optimization.
+    iteration : int
+        The number of iterations taken to solve the problem
+
+    References
+    ----------
+    .. [4] Andersen, Erling D., and Knud D. Andersen. "The MOSEK interior point
+           optimizer for linear programming: an implementation of the
+           homogeneous algorithm." High performance optimization. Springer US,
+           2000. 197-232.
+    .. [6] Freund, Robert M. "Primal-Dual Interior-Point Methods for Linear
+           Programming based on Newton's Method." Unpublished Course Notes,
+           March 2004. Available 2/25/2017 at:
+           https://ocw.mit.edu/courses/sloan-school-of-management/15-084j-nonlinear-programming-spring-2004/lecture-notes/lec14_int_pt_mthd.pdf
+
+    """
+
+    iteration = 0
+
+    # default initial point
+    x, y, z, tau, kappa = _get_blind_start(A.shape)
+
+    # first iteration is special improvement of initial point
+    ip = ip if pc else False
+
+    # [4] 4.5
+    rho_p, rho_d, rho_A, rho_g, rho_mu, obj = _indicators(
+        A, b, c, c0, x, y, z, tau, kappa)
+    go = rho_p > tol or rho_d > tol or rho_A > tol  # we might get lucky : )
+
+    if disp:
+        _display_iter(rho_p, rho_d, rho_g, "-", rho_mu, obj, header=True)
+    if callback is not None:
+        x_o, fun, slack, con = _postsolve(x/tau, postsolve_args)
+        res = OptimizeResult({'x': x_o, 'fun': fun, 'slack': slack,
+                              'con': con, 'nit': iteration, 'phase': 1,
+                              'complete': False, 'status': 0,
+                              'message': "", 'success': False})
+        callback(res)
+
+    status = 0
+    message = "Optimization terminated successfully."
+
+    if sparse:
+        A = sps.csc_array(A)
+
+    while go:
+
+        iteration += 1
+
+        if ip:  # initial point
+            # [4] Section 4.4
+            gamma = 1
+
+            def eta(g):
+                return 1
+        else:
+            # gamma = 0 in predictor step according to [4] 4.1
+            # if predictor/corrector is off, use mean of complementarity [6]
+            # 5.1 / [4] Below Figure 10-4
+            gamma = 0 if pc else beta * np.mean(z * x)
+            # [4] Section 4.1
+
+            def eta(g=gamma):
+                return 1 - g
+
+        try:
+            # Solve [4] 8.6 and 8.7/8.13/8.23
+            d_x, d_y, d_z, d_tau, d_kappa = _get_delta(
+                A, b, c, x, y, z, tau, kappa, gamma, eta,
+                sparse, lstsq, sym_pos, cholesky, pc, ip, permc_spec)
+
+            if ip:  # initial point
+                # [4] 4.4
+                # Formula after 8.23 takes a full step regardless if this will
+                # take it negative
+                alpha = 1.0
+                x, y, z, tau, kappa = _do_step(
+                    x, y, z, tau, kappa, d_x, d_y,
+                    d_z, d_tau, d_kappa, alpha)
+                x[x < 1] = 1
+                z[z < 1] = 1
+                tau = max(1, tau)
+                kappa = max(1, kappa)
+                ip = False  # done with initial point
+            else:
+                # [4] Section 4.3
+                alpha = _get_step(x, d_x, z, d_z, tau,
+                                  d_tau, kappa, d_kappa, alpha0)
+                # [4] Equation 8.9
+                x, y, z, tau, kappa = _do_step(
+                    x, y, z, tau, kappa, d_x, d_y, d_z, d_tau, d_kappa, alpha)
+
+        except (LinAlgError, FloatingPointError,
+                ValueError, ZeroDivisionError):
+            # this can happen when sparse solver is used and presolve
+            # is turned off. Also observed ValueError in AppVeyor Python 3.6
+            # Win32 build (PR #8676). I've never seen it otherwise.
+            status = 4
+            message = _get_message(status)
+            break
+
+        # [4] 4.5
+        rho_p, rho_d, rho_A, rho_g, rho_mu, obj = _indicators(
+            A, b, c, c0, x, y, z, tau, kappa)
+        go = rho_p > tol or rho_d > tol or rho_A > tol
+
+        if disp:
+            _display_iter(rho_p, rho_d, rho_g, alpha, rho_mu, obj)
+        if callback is not None:
+            x_o, fun, slack, con = _postsolve(x/tau, postsolve_args)
+            res = OptimizeResult({'x': x_o, 'fun': fun, 'slack': slack,
+                                  'con': con, 'nit': iteration, 'phase': 1,
+                                  'complete': False, 'status': 0,
+                                  'message': "", 'success': False})
+            callback(res)
+
+        # [4] 4.5
+        inf1 = (rho_p < tol and rho_d < tol and rho_g < tol and tau < tol *
+                max(1, kappa))
+        inf2 = rho_mu < tol and tau < tol * min(1, kappa)
+        if inf1 or inf2:
+            # [4] Lemma 8.4 / Theorem 8.3
+            if b.transpose().dot(y) > tol:
+                status = 2
+            else:  # elif c.T.dot(x) < tol: ? Probably not necessary.
+                status = 3
+            message = _get_message(status)
+            break
+        elif iteration >= maxiter:
+            status = 1
+            message = _get_message(status)
+            break
+
+    x_hat = x / tau
+    # [4] Statement after Theorem 8.2
+    return x_hat, status, message, iteration
+
+
+def _linprog_ip(c, c0, A, b, callback, postsolve_args, maxiter=1000, tol=1e-8,
+                disp=False, alpha0=.99995, beta=0.1, sparse=False, lstsq=False,
+                sym_pos=True, cholesky=None, pc=True, ip=False,
+                permc_spec='MMD_AT_PLUS_A', **unknown_options):
+    r"""
+    Minimize a linear objective function subject to linear
+    equality and non-negativity constraints using the interior point method
+    of [4]_. Linear programming is intended to solve problems
+    of the following form:
+
+    Minimize::
+
+        c @ x
+
+    Subject to::
+
+        A @ x == b
+            x >= 0
+
+    User-facing documentation is in _linprog_doc.py.
+
+    Parameters
+    ----------
+    c : 1-D array
+        Coefficients of the linear objective function to be minimized.
+    c0 : float
+        Constant term in objective function due to fixed (and eliminated)
+        variables. (Purely for display.)
+    A : 2-D array
+        2-D array such that ``A @ x``, gives the values of the equality
+        constraints at ``x``.
+    b : 1-D array
+        1-D array of values representing the right hand side of each equality
+        constraint (row) in ``A``.
+    callback : callable, optional
+        Callback function to be executed once per iteration.
+    postsolve_args : tuple
+        Data needed by _postsolve to convert the solution to the standard-form
+        problem into the solution to the original problem.
+
+    Options
+    -------
+    maxiter : int (default = 1000)
+        The maximum number of iterations of the algorithm.
+    tol : float (default = 1e-8)
+        Termination tolerance to be used for all termination criteria;
+        see [4]_ Section 4.5.
+    disp : bool (default = False)
+        Set to ``True`` if indicators of optimization status are to be printed
+        to the console each iteration.
+    alpha0 : float (default = 0.99995)
+        The maximal step size for Mehrota's predictor-corrector search
+        direction; see :math:`\beta_{3}` of [4]_ Table 8.1.
+    beta : float (default = 0.1)
+        The desired reduction of the path parameter :math:`\mu` (see [6]_)
+        when Mehrota's predictor-corrector is not in use (uncommon).
+    sparse : bool (default = False)
+        Set to ``True`` if the problem is to be treated as sparse after
+        presolve. If either ``A_eq`` or ``A_ub`` is a sparse matrix,
+        this option will automatically be set ``True``, and the problem
+        will be treated as sparse even during presolve. If your constraint
+        matrices contain mostly zeros and the problem is not very small (less
+        than about 100 constraints or variables), consider setting ``True``
+        or providing ``A_eq`` and ``A_ub`` as sparse matrices.
+    lstsq : bool (default = False)
+        Set to ``True`` if the problem is expected to be very poorly
+        conditioned. This should always be left ``False`` unless severe
+        numerical difficulties are encountered. Leave this at the default
+        unless you receive a warning message suggesting otherwise.
+    sym_pos : bool (default = True)
+        Leave ``True`` if the problem is expected to yield a well conditioned
+        symmetric positive definite normal equation matrix
+        (almost always). Leave this at the default unless you receive
+        a warning message suggesting otherwise.
+    cholesky : bool (default = True)
+        Set to ``True`` if the normal equations are to be solved by explicit
+        Cholesky decomposition followed by explicit forward/backward
+        substitution. This is typically faster for problems
+        that are numerically well-behaved.
+    pc : bool (default = True)
+        Leave ``True`` if the predictor-corrector method of Mehrota is to be
+        used. This is almost always (if not always) beneficial.
+    ip : bool (default = False)
+        Set to ``True`` if the improved initial point suggestion due to [4]_
+        Section 4.3 is desired. Whether this is beneficial or not
+        depends on the problem.
+    permc_spec : str (default = 'MMD_AT_PLUS_A')
+        (Has effect only with ``sparse = True``, ``lstsq = False``, ``sym_pos =
+        True``, and no SuiteSparse.)
+        A matrix is factorized in each iteration of the algorithm.
+        This option specifies how to permute the columns of the matrix for
+        sparsity preservation. Acceptable values are:
+
+        - ``NATURAL``: natural ordering.
+        - ``MMD_ATA``: minimum degree ordering on the structure of A^T A.
+        - ``MMD_AT_PLUS_A``: minimum degree ordering on the structure of A^T+A.
+        - ``COLAMD``: approximate minimum degree column ordering.
+
+        This option can impact the convergence of the
+        interior point algorithm; test different values to determine which
+        performs best for your problem. For more information, refer to
+        ``scipy.sparse.linalg.splu``.
+    unknown_options : dict
+        Optional arguments not used by this particular solver. If
+        `unknown_options` is non-empty a warning is issued listing all
+        unused options.
+
+    Returns
+    -------
+    x : 1-D array
+        Solution vector.
+    status : int
+        An integer representing the exit status of the optimization::
+
+         0 : Optimization terminated successfully
+         1 : Iteration limit reached
+         2 : Problem appears to be infeasible
+         3 : Problem appears to be unbounded
+         4 : Serious numerical difficulties encountered
+
+    message : str
+        A string descriptor of the exit status of the optimization.
+    iteration : int
+        The number of iterations taken to solve the problem.
+
+    Notes
+    -----
+    This method implements the algorithm outlined in [4]_ with ideas from [8]_
+    and a structure inspired by the simpler methods of [6]_.
+
+    The primal-dual path following method begins with initial 'guesses' of
+    the primal and dual variables of the standard form problem and iteratively
+    attempts to solve the (nonlinear) Karush-Kuhn-Tucker conditions for the
+    problem with a gradually reduced logarithmic barrier term added to the
+    objective. This particular implementation uses a homogeneous self-dual
+    formulation, which provides certificates of infeasibility or unboundedness
+    where applicable.
+
+    The default initial point for the primal and dual variables is that
+    defined in [4]_ Section 4.4 Equation 8.22. Optionally (by setting initial
+    point option ``ip=True``), an alternate (potentially improved) starting
+    point can be calculated according to the additional recommendations of
+    [4]_ Section 4.4.
+
+    A search direction is calculated using the predictor-corrector method
+    (single correction) proposed by Mehrota and detailed in [4]_ Section 4.1.
+    (A potential improvement would be to implement the method of multiple
+    corrections described in [4]_ Section 4.2.) In practice, this is
+    accomplished by solving the normal equations, [4]_ Section 5.1 Equations
+    8.31 and 8.32, derived from the Newton equations [4]_ Section 5 Equations
+    8.25 (compare to [4]_ Section 4 Equations 8.6-8.8). The advantage of
+    solving the normal equations rather than 8.25 directly is that the
+    matrices involved are symmetric positive definite, so Cholesky
+    decomposition can be used rather than the more expensive LU factorization.
+
+    With default options, the solver used to perform the factorization depends
+    on third-party software availability and the conditioning of the problem.
+
+    For dense problems, solvers are tried in the following order:
+
+    1. ``scipy.linalg.cho_factor``
+
+    2. ``scipy.linalg.solve`` with option ``sym_pos=True``
+
+    3. ``scipy.linalg.solve`` with option ``sym_pos=False``
+
+    4. ``scipy.linalg.lstsq``
+
+    For sparse problems:
+
+    1. ``sksparse.cholmod.cholesky`` (if scikit-sparse and SuiteSparse are installed)
+
+    2. ``scipy.sparse.linalg.factorized``
+        (if scikit-umfpack and SuiteSparse are installed)
+
+    3. ``scipy.sparse.linalg.splu`` (which uses SuperLU distributed with SciPy)
+
+    4. ``scipy.sparse.linalg.lsqr``
+
+    If the solver fails for any reason, successively more robust (but slower)
+    solvers are attempted in the order indicated. Attempting, failing, and
+    re-starting factorization can be time consuming, so if the problem is
+    numerically challenging, options can be set to  bypass solvers that are
+    failing. Setting ``cholesky=False`` skips to solver 2,
+    ``sym_pos=False`` skips to solver 3, and ``lstsq=True`` skips
+    to solver 4 for both sparse and dense problems.
+
+    Potential improvements for combating issues associated with dense
+    columns in otherwise sparse problems are outlined in [4]_ Section 5.3 and
+    [10]_ Section 4.1-4.2; the latter also discusses the alleviation of
+    accuracy issues associated with the substitution approach to free
+    variables.
+
+    After calculating the search direction, the maximum possible step size
+    that does not activate the non-negativity constraints is calculated, and
+    the smaller of this step size and unity is applied (as in [4]_ Section
+    4.1.) [4]_ Section 4.3 suggests improvements for choosing the step size.
+
+    The new point is tested according to the termination conditions of [4]_
+    Section 4.5. The same tolerance, which can be set using the ``tol`` option,
+    is used for all checks. (A potential improvement would be to expose
+    the different tolerances to be set independently.) If optimality,
+    unboundedness, or infeasibility is detected, the solve procedure
+    terminates; otherwise it repeats.
+
+    The expected problem formulation differs between the top level ``linprog``
+    module and the method specific solvers. The method specific solvers expect a
+    problem in standard form:
+
+    Minimize::
+
+        c @ x
+
+    Subject to::
+
+        A @ x == b
+            x >= 0
+
+    Whereas the top level ``linprog`` module expects a problem of form:
+
+    Minimize::
+
+        c @ x
+
+    Subject to::
+
+        A_ub @ x <= b_ub
+        A_eq @ x == b_eq
+         lb <= x <= ub
+
+    where ``lb = 0`` and ``ub = None`` unless set in ``bounds``.
+
+    The original problem contains equality, upper-bound and variable constraints
+    whereas the method specific solver requires equality constraints and
+    variable non-negativity.
+
+    ``linprog`` module converts the original problem to standard form by
+    converting the simple bounds to upper bound constraints, introducing
+    non-negative slack variables for inequality constraints, and expressing
+    unbounded variables as the difference between two non-negative variables.
+
+
+    References
+    ----------
+    .. [4] Andersen, Erling D., and Knud D. Andersen. "The MOSEK interior point
+           optimizer for linear programming: an implementation of the
+           homogeneous algorithm." High performance optimization. Springer US,
+           2000. 197-232.
+    .. [6] Freund, Robert M. "Primal-Dual Interior-Point Methods for Linear
+           Programming based on Newton's Method." Unpublished Course Notes,
+           March 2004. Available 2/25/2017 at
+           https://ocw.mit.edu/courses/sloan-school-of-management/15-084j-nonlinear-programming-spring-2004/lecture-notes/lec14_int_pt_mthd.pdf
+    .. [8] Andersen, Erling D., and Knud D. Andersen. "Presolving in linear
+           programming." Mathematical Programming 71.2 (1995): 221-245.
+    .. [9] Bertsimas, Dimitris, and J. Tsitsiklis. "Introduction to linear
+           programming." Athena Scientific 1 (1997): 997.
+    .. [10] Andersen, Erling D., et al. Implementation of interior point methods
+            for large scale linear programming. HEC/Universite de Geneve, 1996.
+
+    """
+
+    _check_unknown_options(unknown_options)
+
+    # These should be warnings, not errors
+    if (cholesky or cholesky is None) and sparse and not has_cholmod:
+        if cholesky:
+            warn("Sparse cholesky is only available with scikit-sparse. "
+                 "Setting `cholesky = False`",
+                 OptimizeWarning, stacklevel=3)
+        cholesky = False
+
+    if sparse and lstsq:
+        warn("Option combination 'sparse':True and 'lstsq':True "
+             "is not recommended.",
+             OptimizeWarning, stacklevel=3)
+
+    if lstsq and cholesky:
+        warn("Invalid option combination 'lstsq':True "
+             "and 'cholesky':True; option 'cholesky' has no effect when "
+             "'lstsq' is set True.",
+             OptimizeWarning, stacklevel=3)
+
+    valid_permc_spec = ('NATURAL', 'MMD_ATA', 'MMD_AT_PLUS_A', 'COLAMD')
+    if permc_spec.upper() not in valid_permc_spec:
+        warn("Invalid permc_spec option: '" + str(permc_spec) + "'. "
+             "Acceptable values are 'NATURAL', 'MMD_ATA', 'MMD_AT_PLUS_A', "
+             "and 'COLAMD'. Reverting to default.",
+             OptimizeWarning, stacklevel=3)
+        permc_spec = 'MMD_AT_PLUS_A'
+
+    # This can be an error
+    if not sym_pos and cholesky:
+        raise ValueError(
+            "Invalid option combination 'sym_pos':False "
+            "and 'cholesky':True: Cholesky decomposition is only possible "
+            "for symmetric positive definite matrices.")
+
+    cholesky = cholesky or (cholesky is None and sym_pos and not lstsq)
+
+    x, status, message, iteration = _ip_hsd(A, b, c, c0, alpha0, beta,
+                                            maxiter, disp, tol, sparse,
+                                            lstsq, sym_pos, cholesky,
+                                            pc, ip, permc_spec, callback,
+                                            postsolve_args)
+
+    return x, status, message, iteration