scipy 1.16.2__cp314-cp314t-win_arm64.whl

scipy/_lib/cobyqa/subsolvers/optim.py

@@ -0,0 +1,1203 @@
+import inspect
+
+import numpy as np
+from scipy.linalg import qr
+
+from ..utils import get_arrays_tol
+
+
+TINY = np.finfo(float).tiny
+EPS = np.finfo(float).eps
+
+
+def tangential_byrd_omojokun(grad, hess_prod, xl, xu, delta, debug, **kwargs):
+    r"""
+    Minimize approximately a quadratic function subject to bound constraints in
+    a trust region.
+
+    This function solves approximately
+
+    .. math::
+
+        \min_{s \in \mathbb{R}^n} \quad g^{\mathsf{T}} s + \frac{1}{2}
+        s^{\mathsf{T}} H s \quad \text{s.t.} \quad
+        \left\{ \begin{array}{l}
+            l \le s \le u\\
+            \lVert s \rVert \le \Delta,
+        \end{array} \right.
+
+    using an active-set variation of the truncated conjugate gradient method.
+
+    Parameters
+    ----------
+    grad : `numpy.ndarray`, shape (n,)
+        Gradient :math:`g` as shown above.
+    hess_prod : callable
+        Product of the Hessian matrix :math:`H` with any vector.
+
+            ``hess_prod(s) -> `numpy.ndarray`, shape (n,)``
+
+        returns the product :math:`H s`.
+    xl : `numpy.ndarray`, shape (n,)
+        Lower bounds :math:`l` as shown above.
+    xu : `numpy.ndarray`, shape (n,)
+        Upper bounds :math:`u` as shown above.
+    delta : float
+        Trust-region radius :math:`\Delta` as shown above.
+    debug : bool
+        Whether to make debugging tests during the execution.
+
+    Returns
+    -------
+    `numpy.ndarray`, shape (n,)
+        Approximate solution :math:`s`.
+
+    Other Parameters
+    ----------------
+    improve_tcg : bool, optional
+        If True, a solution generated by the truncated conjugate gradient
+        method that is on the boundary of the trust region is improved by
+        moving around the trust-region boundary on the two-dimensional space
+        spanned by the solution and the gradient of the quadratic function at
+        the solution (default is True).
+
+    Notes
+    -----
+    This function implements Algorithm 6.2 of [1]_. It is assumed that the
+    origin is feasible with respect to the bound constraints and that `delta`
+    is finite and positive.
+
+    References
+    ----------
+    .. [1] T. M. Ragonneau. *Model-Based Derivative-Free Optimization Methods
+       and Software*. PhD thesis, Department of Applied Mathematics, The Hong
+       Kong Polytechnic University, Hong Kong, China, 2022. URL:
+       https://theses.lib.polyu.edu.hk/handle/200/12294.
+    """
+    if debug:
+        assert isinstance(grad, np.ndarray) and grad.ndim == 1
+        assert inspect.signature(hess_prod).bind(grad)
+        assert isinstance(xl, np.ndarray) and xl.shape == grad.shape
+        assert isinstance(xu, np.ndarray) and xu.shape == grad.shape
+        assert isinstance(delta, float)
+        assert isinstance(debug, bool)
+        tol = get_arrays_tol(xl, xu)
+        assert np.all(xl <= tol)
+        assert np.all(xu >= -tol)
+        assert np.isfinite(delta) and delta > 0.0
+    xl = np.minimum(xl, 0.0)
+    xu = np.maximum(xu, 0.0)
+
+    # Copy the arrays that may be modified by the code below.
+    n = grad.size
+    grad = np.copy(grad)
+    grad_orig = np.copy(grad)
+
+    # Calculate the initial active set.
+    free_bd = ((xl < 0.0) | (grad < 0.0)) & ((xu > 0.0) | (grad > 0.0))
+
+    # Set the initial iterate and the initial search direction.
+    step = np.zeros_like(grad)
+    sd = np.zeros_like(step)
+    sd[free_bd] = -grad[free_bd]
+
+    k = 0
+    reduct = 0.0
+    boundary_reached = False
+    while k < np.count_nonzero(free_bd):
+        # Stop the computations if sd is not a descent direction.
+        grad_sd = grad @ sd
+        if grad_sd >= -10.0 * EPS * n * max(1.0, np.linalg.norm(grad)):
+            break
+
+        # Set alpha_tr to the step size for the trust-region constraint.
+        try:
+            alpha_tr = _alpha_tr(step, sd, delta)
+        except ZeroDivisionError:
+            break
+
+        # Stop the computations if a step along sd is expected to give a
+        # relatively small reduction in the objective function.
+        if -alpha_tr * grad_sd <= 1e-8 * reduct:
+            break
+
+        # Set alpha_quad to the step size for the minimization problem.
+        hess_sd = hess_prod(sd)
+        curv_sd = sd @ hess_sd
+        if curv_sd > TINY * abs(grad_sd):
+            alpha_quad = max(-grad_sd / curv_sd, 0.0)
+        else:
+            alpha_quad = np.inf
+
+        # Stop the computations if the reduction in the objective function
+        # provided by an unconstrained step is small.
+        alpha = min(alpha_tr, alpha_quad)
+        if -alpha * (grad_sd + 0.5 * alpha * curv_sd) <= 1e-8 * reduct:
+            break
+
+        # Set alpha_bd to the step size for the bound constraints.
+        i_xl = (xl > -np.inf) & (sd < -TINY * np.abs(xl - step))
+        i_xu = (xu < np.inf) & (sd > TINY * np.abs(xu - step))
+        all_alpha_xl = np.full_like(step, np.inf)
+        all_alpha_xu = np.full_like(step, np.inf)
+        all_alpha_xl[i_xl] = np.maximum(
+            (xl[i_xl] - step[i_xl]) / sd[i_xl],
+            0.0,
+        )
+        all_alpha_xu[i_xu] = np.maximum(
+            (xu[i_xu] - step[i_xu]) / sd[i_xu],
+            0.0,
+        )
+        alpha_xl = np.min(all_alpha_xl)
+        alpha_xu = np.min(all_alpha_xu)
+        alpha_bd = min(alpha_xl, alpha_xu)
+
+        # Update the iterate.
+        alpha = min(alpha, alpha_bd)
+        if alpha > 0.0:
+            step[free_bd] = np.clip(
+                step[free_bd] + alpha * sd[free_bd],
+                xl[free_bd],
+                xu[free_bd],
+            )
+            grad += alpha * hess_sd
+            reduct -= alpha * (grad_sd + 0.5 * alpha * curv_sd)
+
+        if alpha < min(alpha_tr, alpha_bd):
+            # The current iteration is a conjugate gradient iteration. Update
+            # the search direction so that it is conjugate (with respect to H)
+            # to all the previous search directions.
+            beta = (grad[free_bd] @ hess_sd[free_bd]) / curv_sd
+            sd[free_bd] = beta * sd[free_bd] - grad[free_bd]
+            sd[~free_bd] = 0.0
+            k += 1
+        elif alpha < alpha_tr:
+            # The iterate is restricted by a bound constraint. Add this bound
+            # constraint to the active set, and restart the calculations.
+            if alpha_xl <= alpha:
+                i_new = np.argmin(all_alpha_xl)
+                step[i_new] = xl[i_new]
+            else:
+                i_new = np.argmin(all_alpha_xu)
+                step[i_new] = xu[i_new]
+            free_bd[i_new] = False
+            sd[free_bd] = -grad[free_bd]
+            sd[~free_bd] = 0.0
+            k = 0
+        else:
+            # The current iterate is on the trust-region boundary. Add all the
+            # active bounds to the working set to prepare for the improvement
+            # of the solution, and stop the iterations.
+            if alpha_xl <= alpha:
+                i_new = _argmin(all_alpha_xl)
+                step[i_new] = xl[i_new]
+                free_bd[i_new] = False
+            if alpha_xu <= alpha:
+                i_new = _argmin(all_alpha_xu)
+                step[i_new] = xu[i_new]
+                free_bd[i_new] = False
+            boundary_reached = True
+            break
+
+    # Attempt to improve the solution on the trust-region boundary.
+    if kwargs.get("improve_tcg", True) and boundary_reached:
+        step_base = np.copy(step)
+        step_comparator = grad_orig @ step_base + 0.5 * step_base @ hess_prod(
+            step_base
+        )
+
+        while np.count_nonzero(free_bd) > 0:
+            # Check whether a substantial reduction in the objective function
+            # is possible, and set the search direction.
+            step_sq = step[free_bd] @ step[free_bd]
+            grad_sq = grad[free_bd] @ grad[free_bd]
+            grad_step = grad[free_bd] @ step[free_bd]
+            grad_sd = -np.sqrt(max(step_sq * grad_sq - grad_step**2.0, 0.0))
+            sd[free_bd] = grad_step * step[free_bd] - step_sq * grad[free_bd]
+            sd[~free_bd] = 0.0
+            if grad_sd >= -1e-8 * reduct or np.any(
+                grad_sd >= -TINY * np.abs(sd[free_bd])
+            ):
+                break
+            sd[free_bd] /= -grad_sd
+
+            # Calculate an upper bound for the tangent of half the angle theta
+            # of this alternative iteration. The step will be updated as:
+            # step = cos(theta) * step + sin(theta) * sd.
+            temp_xl = np.zeros(n)
+            temp_xu = np.zeros(n)
+            temp_xl[free_bd] = (
+                step[free_bd] ** 2.0 + sd[free_bd] ** 2.0 - xl[free_bd] ** 2.0
+            )
+            temp_xu[free_bd] = (
+                step[free_bd] ** 2.0 + sd[free_bd] ** 2.0 - xu[free_bd] ** 2.0
+            )
+            temp_xl[temp_xl > 0.0] = (
+                np.sqrt(temp_xl[temp_xl > 0.0]) - sd[temp_xl > 0.0]
+            )
+            temp_xu[temp_xu > 0.0] = (
+                np.sqrt(temp_xu[temp_xu > 0.0]) + sd[temp_xu > 0.0]
+            )
+            dist_xl = np.maximum(step - xl, 0.0)
+            dist_xu = np.maximum(xu - step, 0.0)
+            i_xl = temp_xl > TINY * dist_xl
+            i_xu = temp_xu > TINY * dist_xu
+            all_t_xl = np.ones(n)
+            all_t_xu = np.ones(n)
+            all_t_xl[i_xl] = np.minimum(
+                all_t_xl[i_xl],
+                dist_xl[i_xl] / temp_xl[i_xl],
+            )
+            all_t_xu[i_xu] = np.minimum(
+                all_t_xu[i_xu],
+                dist_xu[i_xu] / temp_xu[i_xu],
+            )
+            t_xl = np.min(all_t_xl)
+            t_xu = np.min(all_t_xu)
+            t_bd = min(t_xl, t_xu)
+
+            # Calculate some curvature information.
+            hess_step = hess_prod(step)
+            hess_sd = hess_prod(sd)
+            curv_step = step @ hess_step
+            curv_sd = sd @ hess_sd
+            curv_step_sd = step @ hess_sd
+
+            # For a range of equally spaced values of tan(0.5 * theta),
+            # calculate the reduction in the objective function that would be
+            # obtained by accepting the corresponding angle.
+            n_samples = 20
+            n_samples = int((n_samples - 3) * t_bd + 3)
+            t_samples = np.linspace(t_bd / n_samples, t_bd, n_samples)
+            sin_values = 2.0 * t_samples / (1.0 + t_samples**2.0)
+            all_reduct = sin_values * (
+                grad_step * t_samples
+                - grad_sd
+                - t_samples * curv_step
+                + sin_values
+                * (t_samples * curv_step_sd - 0.5 * (curv_sd - curv_step))
+            )
+            if np.all(all_reduct <= 0.0):
+                # No reduction in the objective function is obtained.
+                break
+
+            # Accept the angle that provides the largest reduction in the
+            # objective function, and update the iterate.
+            i_max = np.argmax(all_reduct)
+            cos_value = (1.0 - t_samples[i_max] ** 2.0) / (
+                1.0 + t_samples[i_max] ** 2.0
+            )
+            step[free_bd] = (
+                cos_value * step[free_bd] + sin_values[i_max] * sd[free_bd]
+            )
+            grad += (cos_value - 1.0) * hess_step + sin_values[i_max] * hess_sd
+            reduct += all_reduct[i_max]
+
+            # If the above angle is restricted by bound constraints, add them
+            # to the working set, and restart the alternative iteration.
+            # Otherwise, the calculations are terminated.
+            if t_bd < 1.0 and i_max == n_samples - 1:
+                if t_xl <= t_bd:
+                    i_new = _argmin(all_t_xl)
+                    step[i_new] = xl[i_new]
+                    free_bd[i_new] = False
+                if t_xu <= t_bd:
+                    i_new = _argmin(all_t_xu)
+                    step[i_new] = xu[i_new]
+                    free_bd[i_new] = False
+            else:
+                break
+
+        # Ensure that the alternative iteration improves the objective
+        # function.
+        if grad_orig @ step + 0.5 * step @ hess_prod(step) > step_comparator:
+            step = step_base
+
+    if debug:
+        assert np.all(xl <= step)
+        assert np.all(step <= xu)
+        assert np.linalg.norm(step) < 1.1 * delta
+    return step
+
+
+def constrained_tangential_byrd_omojokun(
+    grad,
+    hess_prod,
+    xl,
+    xu,
+    aub,
+    bub,
+    aeq,
+    delta,
+    debug,
+    **kwargs,
+):
+    r"""
+    Minimize approximately a quadratic function subject to bound and linear
+    constraints in a trust region.
+
+    This function solves approximately
+
+    .. math::
+
+        \min_{s \in \mathbb{R}^n} \quad g^{\mathsf{T}} s + \frac{1}{2}
+        s^{\mathsf{T}} H s \quad \text{s.t.} \quad
+        \left\{ \begin{array}{l}
+            l \le s \le u,\\
+            A_{\scriptscriptstyle I} s \le b_{\scriptscriptstyle I},\\
+            A_{\scriptscriptstyle E} s = 0,\\
+            \lVert s \rVert \le \Delta,
+        \end{array} \right.
+
+    using an active-set variation of the truncated conjugate gradient method.
+
+    Parameters
+    ----------
+    grad : `numpy.ndarray`, shape (n,)
+        Gradient :math:`g` as shown above.
+    hess_prod : callable
+        Product of the Hessian matrix :math:`H` with any vector.
+
+            ``hess_prod(s) -> `numpy.ndarray`, shape (n,)``
+
+        returns the product :math:`H s`.
+    xl : `numpy.ndarray`, shape (n,)
+        Lower bounds :math:`l` as shown above.
+    xu : `numpy.ndarray`, shape (n,)
+        Upper bounds :math:`u` as shown above.
+    aub : `numpy.ndarray`, shape (m_linear_ub, n)
+        Coefficient matrix :math:`A_{\scriptscriptstyle I}` as shown above.
+    bub : `numpy.ndarray`, shape (m_linear_ub,)
+        Right-hand side :math:`b_{\scriptscriptstyle I}` as shown above.
+    aeq : `numpy.ndarray`, shape (m_linear_eq, n)
+        Coefficient matrix :math:`A_{\scriptscriptstyle E}` as shown above.
+    delta : float
+        Trust-region radius :math:`\Delta` as shown above.
+    debug : bool
+        Whether to make debugging tests during the execution.
+
+    Returns
+    -------
+    `numpy.ndarray`, shape (n,)
+        Approximate solution :math:`s`.
+
+    Other Parameters
+    ----------------
+    improve_tcg : bool, optional
+        If True, a solution generated by the truncated conjugate gradient
+        method that is on the boundary of the trust region is improved by
+        moving around the trust-region boundary on the two-dimensional space
+        spanned by the solution and the gradient of the quadratic function at
+        the solution (default is True).
+
+    Notes
+    -----
+    This function implements Algorithm 6.3 of [1]_. It is assumed that the
+    origin is feasible with respect to the bound and linear constraints, and
+    that `delta` is finite and positive.
+
+    References
+    ----------
+    .. [1] T. M. Ragonneau. *Model-Based Derivative-Free Optimization Methods
+       and Software*. PhD thesis, Department of Applied Mathematics, The Hong
+       Kong Polytechnic University, Hong Kong, China, 2022. URL:
+       https://theses.lib.polyu.edu.hk/handle/200/12294.
+    """
+    if debug:
+        assert isinstance(grad, np.ndarray) and grad.ndim == 1
+        assert inspect.signature(hess_prod).bind(grad)
+        assert isinstance(xl, np.ndarray) and xl.shape == grad.shape
+        assert isinstance(xu, np.ndarray) and xu.shape == grad.shape
+        assert (
+            isinstance(aub, np.ndarray)
+            and aub.ndim == 2
+            and aub.shape[1] == grad.size
+        )
+        assert (
+            isinstance(bub, np.ndarray)
+            and bub.ndim == 1
+            and bub.size == aub.shape[0]
+        )
+        assert (
+            isinstance(aeq, np.ndarray)
+            and aeq.ndim == 2
+            and aeq.shape[1] == grad.size
+        )
+        assert isinstance(delta, float)
+        assert isinstance(debug, bool)
+        tol = get_arrays_tol(xl, xu)
+        assert np.all(xl <= tol)
+        assert np.all(xu >= -tol)
+        assert np.all(bub >= -tol)
+        assert np.isfinite(delta) and delta > 0.0
+    xl = np.minimum(xl, 0.0)
+    xu = np.maximum(xu, 0.0)
+    bub = np.maximum(bub, 0.0)
+
+    # Copy the arrays that may be modified by the code below.
+    n = grad.size
+    grad = np.copy(grad)
+    grad_orig = np.copy(grad)
+
+    # Calculate the initial active set.
+    free_xl = (xl < 0.0) | (grad < 0.0)
+    free_xu = (xu > 0.0) | (grad > 0.0)
+    free_ub = (bub > 0.0) | (aub @ grad > 0.0)
+    n_act, q = qr_tangential_byrd_omojokun(aub, aeq, free_xl, free_xu, free_ub)
+
+    # Set the initial iterate and the initial search direction.
+    step = np.zeros_like(grad)
+    sd = -q[:, n_act:] @ (q[:, n_act:].T @ grad)
+    resid = np.copy(bub)
+
+    k = 0
+    reduct = 0.0
+    boundary_reached = False
+    while k < n - n_act:
+        # Stop the computations if sd is not a descent direction.
+        grad_sd = grad @ sd
+        if grad_sd >= -10.0 * EPS * n * max(1.0, np.linalg.norm(grad)):
+            break
+
+        # Set alpha_tr to the step size for the trust-region constraint.
+        try:
+            alpha_tr = _alpha_tr(step, sd, delta)
+        except ZeroDivisionError:
+            break
+
+        # Stop the computations if a step along sd is expected to give a
+        # relatively small reduction in the objective function.
+        if -alpha_tr * grad_sd <= 1e-8 * reduct:
+            break
+
+        # Set alpha_quad to the step size for the minimization problem.
+        hess_sd = hess_prod(sd)
+        curv_sd = sd @ hess_sd
+        if curv_sd > TINY * abs(grad_sd):
+            alpha_quad = max(-grad_sd / curv_sd, 0.0)
+        else:
+            alpha_quad = np.inf
+
+        # Stop the computations if the reduction in the objective function
+        # provided by an unconstrained step is small.
+        alpha = min(alpha_tr, alpha_quad)
+        if -alpha * (grad_sd + 0.5 * alpha * curv_sd) <= 1e-8 * reduct:
+            break
+
+        # Set alpha_bd to the step size for the bound constraints.
+        i_xl = free_xl & (xl > -np.inf) & (sd < -TINY * np.abs(xl - step))
+        i_xu = free_xu & (xu < np.inf) & (sd > TINY * np.abs(xu - step))
+        all_alpha_xl = np.full_like(step, np.inf)
+        all_alpha_xu = np.full_like(step, np.inf)
+        all_alpha_xl[i_xl] = np.maximum(
+            (xl[i_xl] - step[i_xl]) / sd[i_xl],
+            0.0,
+        )
+        all_alpha_xu[i_xu] = np.maximum(
+            (xu[i_xu] - step[i_xu]) / sd[i_xu],
+            0.0,
+        )
+        alpha_xl = np.min(all_alpha_xl)
+        alpha_xu = np.min(all_alpha_xu)
+        alpha_bd = min(alpha_xl, alpha_xu)
+
+        # Set alpha_ub to the step size for the linear constraints.
+        aub_sd = aub @ sd
+        i_ub = free_ub & (aub_sd > TINY * np.abs(resid))
+        all_alpha_ub = np.full_like(bub, np.inf)
+        all_alpha_ub[i_ub] = resid[i_ub] / aub_sd[i_ub]
+        alpha_ub = np.min(all_alpha_ub, initial=np.inf)
+
+        # Update the iterate.
+        alpha = min(alpha, alpha_bd, alpha_ub)
+        if alpha > 0.0:
+            step = np.clip(step + alpha * sd, xl, xu)
+            grad += alpha * hess_sd
+            resid = np.maximum(0.0, resid - alpha * aub_sd)
+            reduct -= alpha * (grad_sd + 0.5 * alpha * curv_sd)
+
+        if alpha < min(alpha_tr, alpha_bd, alpha_ub):
+            # The current iteration is a conjugate gradient iteration. Update
+            # the search direction so that it is conjugate (with respect to H)
+            # to all the previous search directions.
+            grad_proj = q[:, n_act:] @ (q[:, n_act:].T @ grad)
+            beta = (grad_proj @ hess_sd) / curv_sd
+            sd = beta * sd - grad_proj
+            k += 1
+        elif alpha < alpha_tr:
+            # The iterate is restricted by a bound/linear constraint. Add this
+            # constraint to the active set, and restart the calculations.
+            if alpha_xl <= alpha:
+                i_new = np.argmin(all_alpha_xl)
+                step[i_new] = xl[i_new]
+                free_xl[i_new] = False
+            elif alpha_xu <= alpha:
+                i_new = np.argmin(all_alpha_xu)
+                step[i_new] = xu[i_new]
+                free_xu[i_new] = False
+            else:
+                i_new = np.argmin(all_alpha_ub)
+                free_ub[i_new] = False
+            n_act, q = qr_tangential_byrd_omojokun(
+                aub,
+                aeq,
+                free_xl,
+                free_xu,
+                free_ub,
+            )
+            sd = -q[:, n_act:] @ (q[:, n_act:].T @ grad)
+            k = 0
+        else:
+            # The current iterate is on the trust-region boundary. Add all the
+            # active bound/linear constraints to the working set to prepare for
+            # the improvement of the solution, and stop the iterations.
+            if alpha_xl <= alpha:
+                i_new = _argmin(all_alpha_xl)
+                step[i_new] = xl[i_new]
+                free_xl[i_new] = False
+            if alpha_xu <= alpha:
+                i_new = _argmin(all_alpha_xu)
+                step[i_new] = xu[i_new]
+                free_xu[i_new] = False
+            if alpha_ub <= alpha:
+                i_new = _argmin(all_alpha_ub)
+                free_ub[i_new] = False
+            n_act, q = qr_tangential_byrd_omojokun(
+                aub,
+                aeq,
+                free_xl,
+                free_xu,
+                free_ub,
+            )
+            boundary_reached = True
+            break
+
+    # Attempt to improve the solution on the trust-region boundary.
+    if kwargs.get("improve_tcg", True) and boundary_reached and n_act < n:
+        step_base = np.copy(step)
+        while n_act < n:
+            # Check whether a substantial reduction in the objective function
+            # is possible, and set the search direction.
+            step_proj = q[:, n_act:] @ (q[:, n_act:].T @ step)
+            grad_proj = q[:, n_act:] @ (q[:, n_act:].T @ grad)
+            step_sq = step_proj @ step_proj
+            grad_sq = grad_proj @ grad_proj
+            grad_step = grad_proj @ step_proj
+            grad_sd = -np.sqrt(max(step_sq * grad_sq - grad_step**2.0, 0.0))
+            sd = q[:, n_act:] @ (
+                q[:, n_act:].T @ (grad_step * step - step_sq * grad)
+            )
+            if grad_sd >= -1e-8 * reduct or np.any(
+                grad_sd >= -TINY * np.abs(sd)
+            ):
+                break
+            sd /= -grad_sd
+
+            # Calculate an upper bound for the tangent of half the angle theta
+            # of this alternative iteration for the bound constraints. The step
+            # will be updated as:
+            # step += (cos(theta) - 1) * step_proj + sin(theta) * sd.
+            temp_xl = np.zeros(n)
+            temp_xu = np.zeros(n)
+            dist_xl = np.maximum(step - xl, 0.0)
+            dist_xu = np.maximum(xu - step, 0.0)
+            temp_xl[free_xl] = sd[free_xl] ** 2.0 - dist_xl[free_xl] * (
+                dist_xl[free_xl] - 2.0 * step_proj[free_xl]
+            )
+            temp_xu[free_xu] = sd[free_xu] ** 2.0 - dist_xu[free_xu] * (
+                dist_xu[free_xu] + 2.0 * step_proj[free_xu]
+            )
+            temp_xl[temp_xl > 0.0] = (
+                np.sqrt(temp_xl[temp_xl > 0.0]) - sd[temp_xl > 0.0]
+            )
+            temp_xu[temp_xu > 0.0] = (
+                np.sqrt(temp_xu[temp_xu > 0.0]) + sd[temp_xu > 0.0]
+            )
+            i_xl = temp_xl > TINY * dist_xl
+            i_xu = temp_xu > TINY * dist_xu
+            all_t_xl = np.ones(n)
+            all_t_xu = np.ones(n)
+            all_t_xl[i_xl] = np.minimum(
+                all_t_xl[i_xl],
+                dist_xl[i_xl] / temp_xl[i_xl],
+            )
+            all_t_xu[i_xu] = np.minimum(
+                all_t_xu[i_xu],
+                dist_xu[i_xu] / temp_xu[i_xu],
+            )
+            t_xl = np.min(all_t_xl)
+            t_xu = np.min(all_t_xu)
+            t_bd = min(t_xl, t_xu)
+
+            # Calculate an upper bound for the tangent of half the angle theta
+            # of this alternative iteration for the linear constraints.
+            temp_ub = np.zeros_like(resid)
+            aub_step = aub @ step_proj
+            aub_sd = aub @ sd
+            temp_ub[free_ub] = aub_sd[free_ub] ** 2.0 - resid[free_ub] * (
+                resid[free_ub] + 2.0 * aub_step[free_ub]
+            )
+            temp_ub[temp_ub > 0.0] = (
+                np.sqrt(temp_ub[temp_ub > 0.0]) + aub_sd[temp_ub > 0.0]
+            )
+            i_ub = temp_ub > TINY * resid
+            all_t_ub = np.ones_like(resid)
+            all_t_ub[i_ub] = np.minimum(
+                all_t_ub[i_ub],
+                resid[i_ub] / temp_ub[i_ub],
+            )
+            t_ub = np.min(all_t_ub, initial=1.0)
+            t_min = min(t_bd, t_ub)
+
+            # Calculate some curvature information.
+            hess_step = hess_prod(step_proj)
+            hess_sd = hess_prod(sd)
+            curv_step = step_proj @ hess_step
+            curv_sd = sd @ hess_sd
+            curv_step_sd = step_proj @ hess_sd
+
+            # For a range of equally spaced values of tan(0.5 * theta),
+            # calculate the reduction in the objective function that would be
+            # obtained by accepting the corresponding angle.
+            n_samples = 20
+            n_samples = int((n_samples - 3) * t_min + 3)
+            t_samples = np.linspace(t_min / n_samples, t_min, n_samples)
+            sin_values = 2.0 * t_samples / (1.0 + t_samples**2.0)
+            all_reduct = sin_values * (
+                grad_step * t_samples
+                - grad_sd
+                - sin_values
+                * (
+                    0.5 * t_samples**2.0 * curv_step
+                    - 2.0 * t_samples * curv_step_sd
+                    + 0.5 * curv_sd
+                )
+            )
+            if np.all(all_reduct <= 0.0):
+                # No reduction in the objective function is obtained.
+                break
+
+            # Accept the angle that provides the largest reduction in the
+            # objective function, and update the iterate.
+            i_max = np.argmax(all_reduct)
+            cos_value = (1.0 - t_samples[i_max] ** 2.0) / (
+                1.0 + t_samples[i_max] ** 2.0
+            )
+            step = np.clip(
+                step + (cos_value - 1.0) * step_proj + sin_values[i_max] * sd,
+                xl,
+                xu,
+            )
+            grad += (cos_value - 1.0) * hess_step + sin_values[i_max] * hess_sd
+            resid = np.maximum(
+                0.0,
+                resid
+                - (cos_value - 1.0) * aub_step
+                - sin_values[i_max] * aub_sd,
+            )
+            reduct += all_reduct[i_max]
+
+            # If the above angle is restricted by bound constraints, add them
+            # to the working set, and restart the alternative iteration.
+            # Otherwise, the calculations are terminated.
+            if t_min < 1.0 and i_max == n_samples - 1:
+                if t_xl <= t_min:
+                    i_new = _argmin(all_t_xl)
+                    step[i_new] = xl[i_new]
+                    free_xl[i_new] = False
+                if t_xu <= t_min:
+                    i_new = _argmin(all_t_xu)
+                    step[i_new] = xu[i_new]
+                    free_xl[i_new] = False
+                if t_ub <= t_min:
+                    i_new = _argmin(all_t_ub)
+                    free_ub[i_new] = False
+                n_act, q = qr_tangential_byrd_omojokun(
+                    aub,
+                    aeq,
+                    free_xl,
+                    free_xu,
+                    free_ub,
+                )
+            else:
+                break
+
+        # Ensure that the alternative iteration improves the objective
+        # function.
+        if grad_orig @ step + 0.5 * step @ hess_prod(
+            step
+        ) > grad_orig @ step_base + 0.5 * step_base @ hess_prod(step_base):
+            step = step_base
+
+    if debug:
+        tol = get_arrays_tol(xl, xu)
+        assert np.all(xl <= step)
+        assert np.all(step <= xu)
+        assert np.all(aub @ step <= bub + tol)
+        assert np.all(np.abs(aeq @ step) <= tol)
+        assert np.linalg.norm(step) < 1.1 * delta
+    return step
+
+
+def normal_byrd_omojokun(aub, bub, aeq, beq, xl, xu, delta, debug, **kwargs):
+    r"""
+    Minimize approximately a linear constraint violation subject to bound
+    constraints in a trust region.
+
+    This function solves approximately
+
+    .. math::
+
+        \min_{s \in \mathbb{R}^n} \quad \frac{1}{2} \big( \lVert \max \{
+        A_{\scriptscriptstyle I} s - b_{\scriptscriptstyle I}, 0 \} \rVert^2 +
+        \lVert A_{\scriptscriptstyle E} s - b_{\scriptscriptstyle E} \rVert^2
+        \big) \quad \text{s.t.}
+        \quad
+        \left\{ \begin{array}{l}
+            l \le s \le u,\\
+            \lVert s \rVert \le \Delta,
+        \end{array} \right.
+
+    using a variation of the truncated conjugate gradient method.
+
+    Parameters
+    ----------
+    aub : `numpy.ndarray`, shape (m_linear_ub, n)
+        Matrix :math:`A_{\scriptscriptstyle I}` as shown above.
+    bub : `numpy.ndarray`, shape (m_linear_ub,)
+        Vector :math:`b_{\scriptscriptstyle I}` as shown above.
+    aeq : `numpy.ndarray`, shape (m_linear_eq, n)
+        Matrix :math:`A_{\scriptscriptstyle E}` as shown above.
+    beq : `numpy.ndarray`, shape (m_linear_eq,)
+        Vector :math:`b_{\scriptscriptstyle E}` as shown above.
+    xl : `numpy.ndarray`, shape (n,)
+        Lower bounds :math:`l` as shown above.
+    xu : `numpy.ndarray`, shape (n,)
+        Upper bounds :math:`u` as shown above.
+    delta : float
+        Trust-region radius :math:`\Delta` as shown above.
+    debug : bool
+        Whether to make debugging tests during the execution.
+
+    Returns
+    -------
+    `numpy.ndarray`, shape (n,)
+        Approximate solution :math:`s`.
+
+    Other Parameters
+    ----------------
+    improve_tcg : bool, optional
+        If True, a solution generated by the truncated conjugate gradient
+        method that is on the boundary of the trust region is improved by
+        moving around the trust-region boundary on the two-dimensional space
+        spanned by the solution and the gradient of the quadratic function at
+        the solution (default is True).
+
+    Notes
+    -----
+    This function implements Algorithm 6.4 of [1]_. It is assumed that the
+    origin is feasible with respect to the bound constraints and that `delta`
+    is finite and positive.
+
+    References
+    ----------
+    .. [1] T. M. Ragonneau. *Model-Based Derivative-Free Optimization Methods
+       and Software*. PhD thesis, Department of Applied Mathematics, The Hong
+       Kong Polytechnic University, Hong Kong, China, 2022. URL:
+       https://theses.lib.polyu.edu.hk/handle/200/12294.
+    """
+    if debug:
+        assert isinstance(aub, np.ndarray) and aub.ndim == 2
+        assert (
+            isinstance(bub, np.ndarray)
+            and bub.ndim == 1
+            and bub.size == aub.shape[0]
+        )
+        assert (
+            isinstance(aeq, np.ndarray)
+            and aeq.ndim == 2
+            and aeq.shape[1] == aub.shape[1]
+        )
+        assert (
+            isinstance(beq, np.ndarray)
+            and beq.ndim == 1
+            and beq.size == aeq.shape[0]
+        )
+        assert isinstance(xl, np.ndarray) and xl.shape == (aub.shape[1],)
+        assert isinstance(xu, np.ndarray) and xu.shape == (aub.shape[1],)
+        assert isinstance(delta, float)
+        assert isinstance(debug, bool)
+        tol = get_arrays_tol(xl, xu)
+        assert np.all(xl <= tol)
+        assert np.all(xu >= -tol)
+        assert np.isfinite(delta) and delta > 0.0
+    xl = np.minimum(xl, 0.0)
+    xu = np.maximum(xu, 0.0)
+
+    # Calculate the initial active set.
+    m_linear_ub, n = aub.shape
+    grad = np.r_[aeq.T @ -beq, np.maximum(0.0, -bub)]
+    free_xl = (xl < 0.0) | (grad[:n] < 0.0)
+    free_xu = (xu > 0.0) | (grad[:n] > 0.0)
+    free_slack = bub < 0.0
+    free_ub = (bub > 0.0) | (aub @ grad[:n] - grad[n:] > 0.0)
+    n_act, q = qr_normal_byrd_omojokun(
+        aub,
+        free_xl,
+        free_xu,
+        free_slack,
+        free_ub,
+    )
+
+    # Calculate an upper bound on the norm of the slack variables. It is not
+    # used in the original algorithm, but it may prevent undesired behaviors
+    # engendered by computer rounding errors.
+    delta_slack = np.sqrt(beq @ beq + grad[n:] @ grad[n:])
+
+    # Set the initial iterate and the initial search direction.
+    step = np.zeros(n)
+    sd = -q[:, n_act:] @ (q[:, n_act:].T @ grad)
+    resid = bub + grad[n:]
+
+    k = 0
+    reduct = 0.0
+    boundary_reached = False
+    while k < n + m_linear_ub - n_act:
+        # Stop the computations if sd is not a descent direction.
+        grad_sd = grad @ sd
+        if grad_sd >= -10.0 * EPS * n * max(1.0, np.linalg.norm(grad)):
+            break
+
+        # Set alpha_tr to the step size for the trust-region constraint.
+        try:
+            alpha_tr = _alpha_tr(step, sd[:n], delta)
+        except ZeroDivisionError:
+            alpha_tr = np.inf
+
+        # Prevent undesired behaviors engendered by computer rounding errors by
+        # considering the trust-region constraint on the slack variables.
+        try:
+            alpha_tr = min(alpha_tr, _alpha_tr(grad[n:], sd[n:], delta_slack))
+        except ZeroDivisionError:
+            pass
+
+        # Stop the computations if a step along sd is expected to give a
+        # relatively small reduction in the objective function.
+        if -alpha_tr * grad_sd <= 1e-8 * reduct:
+            break
+
+        # Set alpha_quad to the step size for the minimization problem.
+        hess_sd = np.r_[aeq.T @ (aeq @ sd[:n]), sd[n:]]
+        curv_sd = sd @ hess_sd
+        if curv_sd > TINY * abs(grad_sd):
+            alpha_quad = max(-grad_sd / curv_sd, 0.0)
+        else:
+            alpha_quad = np.inf
+
+        # Stop the computations if the reduction in the objective function
+        # provided by an unconstrained step is small.
+        alpha = min(alpha_tr, alpha_quad)
+        if -alpha * (grad_sd + 0.5 * alpha * curv_sd) <= 1e-8 * reduct:
+            break
+
+        # Set alpha_bd to the step size for the bound constraints.
+        i_xl = free_xl & (xl > -np.inf) & (sd[:n] < -TINY * np.abs(xl - step))
+        i_xu = free_xu & (xu < np.inf) & (sd[:n] > TINY * np.abs(xu - step))
+        i_slack = free_slack & (sd[n:] < -TINY * np.abs(grad[n:]))
+        all_alpha_xl = np.full_like(step, np.inf)
+        all_alpha_xu = np.full_like(step, np.inf)
+        all_alpha_slack = np.full_like(bub, np.inf)
+        all_alpha_xl[i_xl] = np.maximum(
+            (xl[i_xl] - step[i_xl]) / sd[:n][i_xl],
+            0.0,
+        )
+        all_alpha_xu[i_xu] = np.maximum(
+            (xu[i_xu] - step[i_xu]) / sd[:n][i_xu],
+            0.0,
+        )
+        all_alpha_slack[i_slack] = np.maximum(
+            -grad[n:][i_slack] / sd[n:][i_slack],
+            0.0,
+        )
+        alpha_xl = np.min(all_alpha_xl)
+        alpha_xu = np.min(all_alpha_xu)
+        alpha_slack = np.min(all_alpha_slack, initial=np.inf)
+        alpha_bd = min(alpha_xl, alpha_xu, alpha_slack)
+
+        # Set alpha_ub to the step size for the linear constraints.
+        aub_sd = aub @ sd[:n] - sd[n:]
+        i_ub = free_ub & (aub_sd > TINY * np.abs(resid))
+        all_alpha_ub = np.full_like(bub, np.inf)
+        all_alpha_ub[i_ub] = resid[i_ub] / aub_sd[i_ub]
+        alpha_ub = np.min(all_alpha_ub, initial=np.inf)
+
+        # Update the iterate.
+        alpha = min(alpha, alpha_bd, alpha_ub)
+        if alpha > 0.0:
+            step = np.clip(step + alpha * sd[:n], xl, xu)
+            grad += alpha * hess_sd
+            resid = np.maximum(0.0, resid - alpha * aub_sd)
+            reduct -= alpha * (grad_sd + 0.5 * alpha * curv_sd)
+
+        if alpha < min(alpha_tr, alpha_bd, alpha_ub):
+            # The current iteration is a conjugate gradient iteration. Update
+            # the search direction so that it is conjugate (with respect to H)
+            # to all the previous search directions.
+            grad_proj = q[:, n_act:] @ (q[:, n_act:].T @ grad)
+            beta = (grad_proj @ hess_sd) / curv_sd
+            sd = beta * sd - grad_proj
+            k += 1
+        elif alpha < alpha_tr:
+            # The iterate is restricted by a bound/linear constraint. Add this
+            # constraint to the active set, and restart the calculations.
+            if alpha_xl <= alpha:
+                i_new = np.argmin(all_alpha_xl)
+                step[i_new] = xl[i_new]
+                free_xl[i_new] = False
+            elif alpha_xu <= alpha:
+                i_new = np.argmin(all_alpha_xu)
+                step[i_new] = xu[i_new]
+                free_xu[i_new] = False
+            elif alpha_slack <= alpha:
+                i_new = np.argmin(all_alpha_slack)
+                free_slack[i_new] = False
+            else:
+                i_new = np.argmin(all_alpha_ub)
+                free_ub[i_new] = False
+            n_act, q = qr_normal_byrd_omojokun(
+                aub, free_xl, free_xu, free_slack, free_ub
+            )
+            sd = -q[:, n_act:] @ (q[:, n_act:].T @ grad)
+            k = 0
+        else:
+            # The current iterate is on the trust-region boundary. Add all the
+            # active bound constraints to the working set to prepare for the
+            # improvement of the solution, and stop the iterations.
+            if alpha_xl <= alpha:
+                i_new = _argmin(all_alpha_xl)
+                step[i_new] = xl[i_new]
+                free_xl[i_new] = False
+            if alpha_xu <= alpha:
+                i_new = _argmin(all_alpha_xu)
+                step[i_new] = xu[i_new]
+                free_xu[i_new] = False
+            boundary_reached = True
+            break
+
+    # Attempt to improve the solution on the trust-region boundary.
+    if kwargs.get("improve_tcg", True) and boundary_reached:
+        step_base = np.copy(step)
+        free_bd = free_xl & free_xu
+        grad = aub.T @ np.maximum(aub @ step - bub, 0.0) + aeq.T @ (
+            aeq @ step - beq
+        )
+        sd = np.zeros(n)
+        while np.count_nonzero(free_bd) > 0:
+            # Check whether a substantial reduction in the objective function
+            # is possible, and set the search direction.
+            step_sq = step[free_bd] @ step[free_bd]
+            grad_sq = grad[free_bd] @ grad[free_bd]
+            grad_step = grad[free_bd] @ step[free_bd]
+            grad_sd = -np.sqrt(max(step_sq * grad_sq - grad_step**2.0, 0.0))
+            sd[free_bd] = grad_step * step[free_bd] - step_sq * grad[free_bd]
+            sd[~free_bd] = 0.0
+            if grad_sd >= -1e-8 * reduct or np.any(
+                grad_sd >= -TINY * np.abs(sd[free_bd])
+            ):
+                break
+            sd[free_bd] /= -grad_sd
+
+            # Calculate an upper bound for the tangent of half the angle theta
+            # of this alternative iteration. The step will be updated as:
+            # step = cos(theta) * step + sin(theta) * sd.
+            temp_xl = np.zeros(n)
+            temp_xu = np.zeros(n)
+            temp_xl[free_bd] = (
+                step[free_bd] ** 2.0 + sd[free_bd] ** 2.0 - xl[free_bd] ** 2.0
+            )
+            temp_xu[free_bd] = (
+                step[free_bd] ** 2.0 + sd[free_bd] ** 2.0 - xu[free_bd] ** 2.0
+            )
+            temp_xl[temp_xl > 0.0] = (
+                np.sqrt(temp_xl[temp_xl > 0.0]) - sd[temp_xl > 0.0]
+            )
+            temp_xu[temp_xu > 0.0] = (
+                np.sqrt(temp_xu[temp_xu > 0.0]) + sd[temp_xu > 0.0]
+            )
+            dist_xl = np.maximum(step - xl, 0.0)
+            dist_xu = np.maximum(xu - step, 0.0)
+            i_xl = temp_xl > TINY * dist_xl
+            i_xu = temp_xu > TINY * dist_xu
+            all_t_xl = np.ones(n)
+            all_t_xu = np.ones(n)
+            all_t_xl[i_xl] = np.minimum(
+                all_t_xl[i_xl],
+                dist_xl[i_xl] / temp_xl[i_xl],
+            )
+            all_t_xu[i_xu] = np.minimum(
+                all_t_xu[i_xu],
+                dist_xu[i_xu] / temp_xu[i_xu],
+            )
+            t_xl = np.min(all_t_xl)
+            t_xu = np.min(all_t_xu)
+            t_bd = min(t_xl, t_xu)
+
+            # For a range of equally spaced values of tan(0.5 * theta),
+            # calculate the reduction in the objective function that would be
+            # obtained by accepting the corresponding angle.
+            n_samples = 20
+            n_samples = int((n_samples - 3) * t_bd + 3)
+            t_samples = np.linspace(t_bd / n_samples, t_bd, n_samples)
+            resid_ub = np.maximum(aub @ step - bub, 0.0)
+            resid_eq = aeq @ step - beq
+            step_proj = np.copy(step)
+            step_proj[~free_bd] = 0.0
+            all_reduct = np.empty(n_samples)
+            for i in range(n_samples):
+                sin_value = 2.0 * t_samples[i] / (1.0 + t_samples[i] ** 2.0)
+                step_alt = np.clip(
+                    step + sin_value * (sd - t_samples[i] * step_proj),
+                    xl,
+                    xu,
+                )
+                resid_ub_alt = np.maximum(aub @ step_alt - bub, 0.0)
+                resid_eq_alt = aeq @ step_alt - beq
+                all_reduct[i] = 0.5 * (
+                    resid_ub @ resid_ub
+                    + resid_eq @ resid_eq
+                    - resid_ub_alt @ resid_ub_alt
+                    - resid_eq_alt @ resid_eq_alt
+                )
+            if np.all(all_reduct <= 0.0):
+                # No reduction in the objective function is obtained.
+                break
+
+            # Accept the angle that provides the largest reduction in the
+            # objective function, and update the iterate.
+            i_max = np.argmax(all_reduct)
+            cos_value = (1.0 - t_samples[i_max] ** 2.0) / (
+                1.0 + t_samples[i_max] ** 2.0
+            )
+            sin_value = (2.0 * t_samples[i_max]
+                         / (1.0 + t_samples[i_max] ** 2.0))
+            step[free_bd] = cos_value * step[free_bd] + sin_value * sd[free_bd]
+            grad = aub.T @ np.maximum(aub @ step - bub, 0.0) + aeq.T @ (
+                aeq @ step - beq
+            )
+            reduct += all_reduct[i_max]
+
+            # If the above angle is restricted by bound constraints, add them
+            # to the working set, and restart the alternative iteration.
+            # Otherwise, the calculations are terminated.
+            if t_bd < 1.0 and i_max == n_samples - 1:
+                if t_xl <= t_bd:
+                    i_new = _argmin(all_t_xl)
+                    step[i_new] = xl[i_new]
+                    free_bd[i_new] = False
+                if t_xu <= t_bd:
+                    i_new = _argmin(all_t_xu)
+                    step[i_new] = xu[i_new]
+                    free_bd[i_new] = False
+            else:
+                break
+
+        # Ensure that the alternative iteration improves the objective
+        # function.
+        resid_ub = np.maximum(aub @ step - bub, 0.0)
+        resid_ub_base = np.maximum(aub @ step_base - bub, 0.0)
+        resid_eq = aeq @ step - beq
+        resid_eq_base = aeq @ step_base - beq
+        if (
+            resid_ub @ resid_ub + resid_eq @ resid_eq
+            > resid_ub_base @ resid_ub_base + resid_eq_base @ resid_eq_base
+        ):
+            step = step_base
+
+    if debug:
+        assert np.all(xl <= step)
+        assert np.all(step <= xu)
+        assert np.linalg.norm(step) < 1.1 * delta
+    return step
+
+
+def qr_tangential_byrd_omojokun(aub, aeq, free_xl, free_xu, free_ub):
+    n = free_xl.size
+    identity = np.eye(n)
+    q, r, _ = qr(
+        np.block(
+            [
+                [aeq],
+                [aub[~free_ub, :]],
+                [-identity[~free_xl, :]],
+                [identity[~free_xu, :]],
+            ]
+        ).T,
+        pivoting=True,
+    )
+    n_act = np.count_nonzero(
+        np.abs(np.diag(r))
+        >= 10.0
+        * EPS
+        * n
+        * np.linalg.norm(r[: np.min(r.shape), : np.min(r.shape)], axis=0)
+    )
+    return n_act, q
+
+
+def qr_normal_byrd_omojokun(aub, free_xl, free_xu, free_slack, free_ub):
+    m_linear_ub, n = aub.shape
+    identity_n = np.eye(n)
+    identity_m = np.eye(m_linear_ub)
+    q, r, _ = qr(
+        np.block(
+            [
+                [
+                    aub[~free_ub, :],
+                    -identity_m[~free_ub, :],
+                ],
+                [
+                    np.zeros((m_linear_ub - np.count_nonzero(free_slack), n)),
+                    -identity_m[~free_slack, :],
+                ],
+                [
+                    -identity_n[~free_xl, :],
+                    np.zeros((n - np.count_nonzero(free_xl), m_linear_ub)),
+                ],
+                [
+                    identity_n[~free_xu, :],
+                    np.zeros((n - np.count_nonzero(free_xu), m_linear_ub)),
+                ],
+            ]
+        ).T,
+        pivoting=True,
+    )
+    n_act = np.count_nonzero(
+        np.abs(np.diag(r))
+        >= 10.0
+        * EPS
+        * (n + m_linear_ub)
+        * np.linalg.norm(r[: np.min(r.shape), : np.min(r.shape)], axis=0)
+    )
+    return n_act, q
+
+
+def _alpha_tr(step, sd, delta):
+    step_sd = step @ sd
+    sd_sq = sd @ sd
+    dist_tr_sq = delta**2.0 - step @ step
+    temp = np.sqrt(max(step_sd**2.0 + sd_sq * dist_tr_sq, 0.0))
+    if step_sd <= 0.0 and sd_sq > TINY * abs(temp - step_sd):
+        alpha_tr = max((temp - step_sd) / sd_sq, 0.0)
+    elif abs(temp + step_sd) > TINY * dist_tr_sq:
+        alpha_tr = max(dist_tr_sq / (temp + step_sd), 0.0)
+    else:
+        raise ZeroDivisionError
+    return alpha_tr
+
+
+def _argmax(x):
+    return np.flatnonzero(x >= np.max(x))
+
+
+def _argmin(x):
+    return np.flatnonzero(x <= np.min(x))