Output.hxx

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/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *\
 * Copyright (c) 2025, Davide Stocco and Enrico Bertolazzi.                                      *
 *                                                                                               *
 * The Pipal project is distributed under the MIT License.                                       *
 *                                                                                               *
 * Davide Stocco                                                               Enrico Bertolazzi *
 * University of Trento                                                     University of Trento *
 * e-mail: davide.stocco@unitn.it                             e-mail: enrico.bertolazzi@unitn.it *
\* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
 
#pragma once
 
#ifndef INCLUDE_PIPAL_OUTPUT_HXX
#define INCLUDE_PIPAL_OUTPUT_HXX
 
namespace Pipal
{

  template <typename Real>
  class Output
  {
    static_assert(std::is_floating_point_v<Real>,
      "Pipal::Output<Real>: Real must be a floating-point type.");
 
    using MicroSeconds = std::chrono::microseconds;
    using SteadyClock  = std::chrono::steady_clock;
    using TimePoint    = SteadyClock::time_point;
 
    std::ostream & s{std::cout}; 
    std::string    l;            
    std::string    q;            
    std::string    n;            
    TimePoint      t;            
 
  public:
  Output() {
    this->t = SteadyClock::now();
    this->l = "======+=========================+====================================+=========================+===========================================================================+=======================";
    this->q = "Iter. |  Objective     Infeas.  |  Pen. Par.   I.P. Par.  Opt. Error |    Merit     P.I.P. Err.|    Shift    ||P.Step||  ||D.Step||   Lin. Red.    Quad. Red.    Quality   | Pri. Step.  Dual Step.";
    this->n = "-----------  ---------- | ----------  ----------  ----------  -----------  -----------  ----------- | ----------  ----------";
  }

  ~Output() = default;

  void
  printHeader(Input<Real> const & i, Iterate<Real> const & z) const {
    this->s
      << "Problem name\n"
      << "============\n"
      << "  " << i.name << '\n'
      << '\n';
 
    this->s
      << "Problem size\n"
      << "============\n"
      << "  Number of variables....................... : " << i.nV << '\n'
      << "  Number of equality constraints............ : " << i.nE << '\n'
      << "  Number of inequality constraints.......... : " << i.nI << '\n'
      << '\n';
 
    this->s
      << "Problem sparsity\n"
      << "================\n"
      << "  Nonzeros in Hessian of Lagrangian......... : " << z.Hnnz  << '\n'
      << "  Nonzeros in equality constraint Jacobian.. : " << z.JEnnz << '\n'
      << "  Nonzeros in inequality constraint Jacobian : " << z.JInnz << '\n'
      << '\n';
  }

  void
  printBreak(Counter const & c) const {
    if (c.k % 20 == 0) {
      this->s
        << this->l << '\n'
        << this->q << '\n'
        << this->l << '\n';
    }
  }

  void
  printDirection(
    Iterate<Real>   const & z,
    Direction<Real> const & d
  ) const {
    this->s
      << std::scientific << std::setprecision(4) << std::showpos << z.phi << "  " << std::noshowpos
      << z.kkt[2] << " | " << z.shift << "  " << d.x_norm << "  " << d.l_norm << "  " << std::showpos
      << d.ltred << "  " << d.qtred << "  " << d.m << std::noshowpos << " | ";
  }

  void
  printIterate(
    Counter       const & c,
    Iterate<Real> const & z
  ) const {
    this->s
      << std::setw(5) << c.k << " | " << std::scientific << std::setprecision(4) << std::showpos << z.f
      << std::noshowpos << "  " << z.v << " | " << z.rho << "  " << z.mu << "  " << z.kkt[1] << " | ";
  }

  void
  printAcceptance(Acceptance<Real> const & a ) const {
    this->s << std::scientific << std::setprecision(4) << a.p << "  " << a.d;
    if (a.s == 1) { this->s << " SOC"; }
    this->s << '\n';
  }

  void
  printFooter(
    Counter       const & c,
    Iterate<Real> const & z,
    Integer       const   b
  ) const {
    this->printIterate(c, z);
    this->s
      << this->n << '\n' << this->l << '\n'
      << '\n';
 
    this->s
      << "Final result\n"
      << "============\n";
    switch (b) {
      case 0:  this->s << "  EXIT: No termination message set\n";        break;
      case 1:  this->s << "  EXIT: Optimal solution found\n";            break;
      case 2:  this->s << "  EXIT: Infeasible stationary point found\n"; break;
      case 3:  this->s << "  EXIT: Iteration limit reached\n";           break;
      case 4:  this->s << "  EXIT: Invalid bounds\n";                    break;
      case 5:  this->s << "  EXIT: Function evaluation error\n";         break;
      default: this->s << "  EXIT: Unknown termination\n";               break;
    }
 
    this->s
      << '\n'
      << "Final values\n"
      << "============\n" << std::showpos
      << "  Objective function........................ : " << z.fu     << '\n'
      << "  Feasibility violation..................... : " << z.vu     << '\n'
      << "  Optimality error (feasibility)............ : " << z.kkt(0) << '\n'
      << "  Optimality error (penalty)................ : " << z.kkt(1) << '\n'
      << "  Optimality error (penalty-interior-point). : " << z.kkt(2) << '\n'
      << "  Penalty parameter......................... : " << z.rho    << '\n'
      << "  Interior-point parameter.................. : " << z.mu     << '\n'
      << std::noshowpos
      << '\n';
 
    this->s
      << "Final counters" << '\n'
      << "==============" << '\n'
      << "  Iterations................................ : " << c.k << '\n'
      << "  Function evaluations...................... : " << c.f << '\n'
      << "  Gradient evaluations...................... : " << c.g << '\n'
      << "  Hessian evaluations....................... : " << c.H << '\n'
      << "  Matrix factorizations..................... : " << c.M << '\n'
      << "  CPU millseconds........................... : "
      << std::scientific << std::setprecision(4)
      << std::chrono::duration_cast<MicroSeconds>(SteadyClock::now() - this->t).count()/1.0e3
      << '\n';
    }
  }; // class Output
 
} // namespace Pipal
 
#endif // INCLUDE_PIPAL_OUTPUT_HXX