    // The contents of this file are in the public domain. See LICENSE_FOR_EXAMPLE_PROGRAMS.txt
    /*

        This is an example illustrating the use the general purpose non-linear
        least squares optimization routines from the dlib C++ Library.

        This example program will demonstrate how these routines can be used for data fitting.
        In particular, we will generate a set of data and then use the least squares
        routines to infer the parameters of the model which generated the data.
    */

    #include <dlib/optimization.h>
    #include <iostream>
    #include <vector>

    using namespace std;
    using namespace dlib;

    // ----------------------------------------------------------------------------------------

    typedef matrix<double,2,1> input_vector;
    typedef matrix<double,3,1> parameter_vector;

    // ----------------------------------------------------------------------------------------

    // We will use this function to generate data.  It represents a function of 2 variables
    // and 3 parameters.   The least squares procedure will be used to infer the values of
    // the 3 parameters based on a set of input/output pairs.
    double model (
        const input_vector& input,
        const parameter_vector& params
    )
    {
        const double p0 = params(0);
        const double p1 = params(1);
        const double p2 = params(2);

        const double i0 = input(0);
        const double i1 = input(1);

        const double temp = p0*i0 + p1*i1 + p2;

        return temp*temp;
    }

    // ----------------------------------------------------------------------------------------

    // This function is the "residual" for a least squares problem.   It takes an input/output
    // pair and compares it to the output of our model and returns the amount of error.  The idea
    // is to find the set of parameters which makes the residual small on all the data pairs.
    double residual (
        const std::pair<input_vector, double>& data,
        const parameter_vector& params
    )
    {
        return model(data.first, params) - data.second;
    }

    // ----------------------------------------------------------------------------------------

    // This function is the derivative of the residual() function with respect to the parameters.
    parameter_vector residual_derivative (
        const std::pair<input_vector, double>& data,
        const parameter_vector& params
    )
    {
        parameter_vector der;

        const double p0 = params(0);
        const double p1 = params(1);
        const double p2 = params(2);

        const double i0 = data.first(0);
        const double i1 = data.first(1);

        const double temp = p0*i0 + p1*i1 + p2;

        der(0) = i0*2*temp;
        der(1) = i1*2*temp;
        der(2) = 2*temp;

        return der;
    }

    // ----------------------------------------------------------------------------------------

    int main()
    {
        try
        {
            // randomly pick a set of parameters to use in this example
            const parameter_vector params = 10*randm(3,1);
            cout << "params: " << trans(params) << endl;

            // Now lets generate a bunch of input/output pairs according to our model.
            std::vector<std::pair<input_vector, double> > data_samples;
            input_vector input;
            for (int i = 0; i < 1000; ++i)
            {
                input = 10*randm(2,1);
                const double output = model(input, params);

                // save the pair
                data_samples.push_back(make_pair(input, output));
            }

            // Before we do anything, lets make sure that our derivative function defined above matches
            // the approximate derivative computed using central differences (via derivative()).
            // If this value is big then it means we probably typed the derivative function incorrectly.
            cout << "derivative error: " << length(residual_derivative(data_samples[0], params) -
                                                   derivative(&residual)(data_samples[0], params) ) << endl;

            // Now lets use the solve_least_squares_lm() routine to figure out what the
            // parameters are based on just the data_samples.
            parameter_vector x;
            x = 1;

            cout << "Use Levenberg-Marquardt" << endl;
            // Use the Levenberg-Marquardt method to determine the parameters which
            // minimize the sum of all squared residuals.
            solve_least_squares_lm(objective_delta_stop_strategy(1e-7).be_verbose(),
                                   &residual,
                                   &residual_derivative,
                                   data_samples,
                                   x);

            // Now x contains the solution.  If everything worked it will be equal to params.
            cout << "inferred parameters: "<< trans(x) << endl;
            cout << "solution error:      "<< length(x - params) << endl;
            cout << endl;

            x = 1;
            cout << "Use Levenberg-Marquardt, approximate derivatives" << endl;
            // If we didn't create the residual_derivative function then we could
            // have used this method which numerically approximates the derivatives for you.
            solve_least_squares_lm(objective_delta_stop_strategy(1e-7).be_verbose(),
                                   &residual,
                                   derivative(&residual),
                                   data_samples,
                                   x);

            // Now x contains the solution.  If everything worked it will be equal to params.
            cout << "inferred parameters: "<< trans(x) << endl;
            cout << "solution error:      "<< length(x - params) << endl;
            cout << endl;

            x = 1;
            cout << "Use Levenberg-Marquardt/quasi-newton hybrid" << endl;
            // This version of the solver uses a method which is appropriate for problems
            // where the residuals don't go to zero at the solution.  So in these cases
            // it may provide a better answer.
            solve_least_squares(objective_delta_stop_strategy(1e-7).be_verbose(),
                                &residual,
                                &residual_derivative,
                                data_samples,
                                x);

            // Now x contains the solution.  If everything worked it will be equal to params.
            cout << "inferred parameters: "<< trans(x) << endl;
            cout << "solution error:      "<< length(x - params) << endl;

        }
        catch (std::exception& e)
        {
            cout << e.what() << endl;
        }
    }

    // Example output:
    /*
    params: 8.40188 3.94383 7.83099

    derivative error: 9.78267e-06
    Use Levenberg-Marquardt
    iteration: 0   objective: 2.14455e+10
    iteration: 1   objective: 1.96248e+10
    iteration: 2   objective: 1.39172e+10
    iteration: 3   objective: 1.57036e+09
    iteration: 4   objective: 2.66917e+07
    iteration: 5   objective: 4741.9
    iteration: 6   objective: 0.000238674
    iteration: 7   objective: 7.8815e-19
    iteration: 8   objective: 0
    inferred parameters: 8.40188 3.94383 7.83099

    solution error:      0

    Use Levenberg-Marquardt, approximate derivatives
    iteration: 0   objective: 2.14455e+10
    iteration: 1   objective: 1.96248e+10
    iteration: 2   objective: 1.39172e+10
    iteration: 3   objective: 1.57036e+09
    iteration: 4   objective: 2.66917e+07
    iteration: 5   objective: 4741.87
    iteration: 6   objective: 0.000238701
    iteration: 7   objective: 1.0571e-18
    iteration: 8   objective: 4.12469e-22
    inferred parameters: 8.40188 3.94383 7.83099

    solution error:      5.34754e-15

    Use Levenberg-Marquardt/quasi-newton hybrid
    iteration: 0   objective: 2.14455e+10
    iteration: 1   objective: 1.96248e+10
    iteration: 2   objective: 1.3917e+10
    iteration: 3   objective: 1.5572e+09
    iteration: 4   objective: 2.74139e+07
    iteration: 5   objective: 5135.98
    iteration: 6   objective: 0.000285539
    iteration: 7   objective: 1.15441e-18
    iteration: 8   objective: 3.38834e-23
    inferred parameters: 8.40188 3.94383 7.83099

    solution error:      1.77636e-15
    */