source: branches/2994-AutoDiffForIntervals/HeuristicLab.Problems.DataAnalysis.Regression.Symbolic.Extensions/ConstrainedNLSInternal.cs @ 17325

using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Runtime.InteropServices;
using HeuristicLab.Common;
using HeuristicLab.Encodings.SymbolicExpressionTreeEncoding;
using HeuristicLab.Problems.DataAnalysis.Symbolic.Regression.Extensions;

namespace HeuristicLab.Problems.DataAnalysis.Symbolic.Regression {
  internal class ConstrainedNLSInternal : IDisposable {
    private readonly int maxIterations;
    public int MaxIterations => maxIterations;

    private readonly string solver;
    public string Solver => solver;

    private readonly ISymbolicExpressionTree expr;
    public ISymbolicExpressionTree Expr => expr;

    private readonly IRegressionProblemData problemData;

    public IRegressionProblemData ProblemData => problemData;


    public event Action FunctionEvaluated;
    public event Action<int, double> ConstraintEvaluated;

    private double bestError = double.MaxValue;
    public double BestError => bestError;

    private double curError = double.MaxValue;
    public double CurError => curError;

    private double[] bestSolution;
    public double[] BestSolution => bestSolution;

    private ISymbolicExpressionTree bestTree;
    public ISymbolicExpressionTree BestTree => bestTree;

    private double[] bestConstraintValues;
    public double[] BestConstraintValues => bestConstraintValues;

    private bool disposed = false;


    // for debugging (must be in the same order as processed below)
    public IEnumerable<string> ConstraintDescriptions {
      get {
        foreach (var elem in problemData.IntervalConstraints.Constraints) {
          if (!elem.Enabled) continue;
          if (elem.Interval.UpperBound < double.PositiveInfinity) {
            yield return elem.Expression + " < " + elem.Interval.UpperBound;
          }
          if (elem.Interval.LowerBound > double.NegativeInfinity) {
            yield return "-" + elem.Expression + " < " + (-1) * elem.Interval.LowerBound;
          }
        }
      }
    }

    public bool CheckGradient { get; internal set; }

    // begin internal state
    private IntPtr nlopt;
    private SymbolicDataAnalysisExpressionTreeLinearInterpreter interpreter;
    private readonly NLOpt.nlopt_func calculateObjectiveDelegate; // must hold the delegate to prevent GC
    // private readonly NLOpt.nlopt_precond preconditionDelegate;
    private readonly IntPtr[] constraintDataPtr; // must hold the objects to prevent GC
    private readonly NLOpt.nlopt_func[] calculateConstraintDelegates; // must hold the delegates to prevent GC
    private readonly List<double> thetaValues;
    private readonly IDictionary<string, Interval> dataIntervals;
    private readonly int[] trainingRows;
    private readonly double[] target;
    private readonly ISymbolicExpressionTree preparedTree;
    private readonly ISymbolicExpressionTreeNode[] preparedTreeParameterNodes;
    private readonly List<ConstantTreeNode>[] allThetaNodes;
    public List<ISymbolicExpressionTree> constraintTrees;    // TODO make local in ctor (public for debugging)

    private readonly double[] fi_eval;
    private readonly double[,] jac_eval;
    private readonly ISymbolicExpressionTree scaledTree;
    private readonly VectorAutoDiffEvaluator autoDiffEval;
    private readonly VectorEvaluator eval;
    private readonly bool invalidProblem = false;

    // end internal state


    // for data exchange to/from optimizer in native code
    [StructLayout(LayoutKind.Sequential)]
    private struct ConstraintData {
      public int Idx;
      public ISymbolicExpressionTree Tree;
      public ISymbolicExpressionTreeNode[] ParameterNodes;
    }

    internal ConstrainedNLSInternal(string solver, ISymbolicExpressionTree expr, int maxIterations, IRegressionProblemData problemData, double ftol_rel = 0, double ftol_abs = 0, double maxTime = 0) {
      this.solver = solver;
      this.expr = expr;
      this.maxIterations = maxIterations;
      this.problemData = problemData;
      this.interpreter = new SymbolicDataAnalysisExpressionTreeLinearInterpreter();
      this.autoDiffEval = new VectorAutoDiffEvaluator();
      this.eval = new VectorEvaluator();

      CheckGradient = false;

      var intervalConstraints = problemData.IntervalConstraints;
      dataIntervals = problemData.VariableRanges.GetIntervals();
      trainingRows = problemData.TrainingIndices.ToArray();
      // buffers 
      target = problemData.TargetVariableTrainingValues.ToArray();
      var targetStDev = target.StandardDeviationPop();
      var targetVariance = targetStDev * targetStDev;
      var targetMean = target.Average();
      var pred = interpreter.GetSymbolicExpressionTreeValues(expr, problemData.Dataset, trainingRows).ToArray();

      bestError = targetVariance;

      if (pred.Any(pi => double.IsInfinity(pi) || double.IsNaN(pi))) {
        invalidProblem = true;
      }

      // all trees are linearly scaled (to improve GP performance)
      #region linear scaling
      var predStDev = pred.StandardDeviationPop();
      if (predStDev == 0) {
        invalidProblem = true;
      }
      var predMean = pred.Average();

      var scalingFactor = targetStDev / predStDev;
      var offset = targetMean - predMean * scalingFactor;

      scaledTree = CopyAndScaleTree(expr, scalingFactor, offset);
      #endregion

      // convert constants to variables named theta...
      var treeForDerivation = ReplaceAndExtractParameters(scaledTree, out List<string> thetaNames, out thetaValues); // copies the tree

      // create trees for relevant derivatives
      Dictionary<string, ISymbolicExpressionTree> derivatives = new Dictionary<string, ISymbolicExpressionTree>();
      allThetaNodes = thetaNames.Select(_ => new List<ConstantTreeNode>()).ToArray();
      constraintTrees = new List<ISymbolicExpressionTree>();
      foreach (var constraint in intervalConstraints.Constraints) {
        if (!constraint.Enabled) continue;
        if (constraint.IsDerivation) {
          if (!problemData.AllowedInputVariables.Contains(constraint.Variable))
            throw new ArgumentException($"Invalid constraint: the variable {constraint.Variable} does not exist in the dataset.");
          var df = DerivativeCalculator.Derive(treeForDerivation, constraint.Variable);

          // NLOpt requires constraint expressions of the form c(x) <= 0
          // -> we make two expressions, one for the lower bound and one for the upper bound

          if (constraint.Interval.UpperBound < double.PositiveInfinity) {
            var df_smaller_upper = Subtract((ISymbolicExpressionTree)df.Clone(), CreateConstant(constraint.Interval.UpperBound));
            // convert variables named theta back to constants
            var df_prepared = ReplaceVarWithConst(df_smaller_upper, thetaNames, thetaValues, allThetaNodes);
            constraintTrees.Add(df_prepared);
          }
          if (constraint.Interval.LowerBound > double.NegativeInfinity) {
            var df_larger_lower = Subtract(CreateConstant(constraint.Interval.LowerBound), (ISymbolicExpressionTree)df.Clone());
            // convert variables named theta back to constants
            var df_prepared = ReplaceVarWithConst(df_larger_lower, thetaNames, thetaValues, allThetaNodes);
            constraintTrees.Add(df_prepared);
          }
        } else {
          if (constraint.Interval.UpperBound < double.PositiveInfinity) {
            var f_smaller_upper = Subtract((ISymbolicExpressionTree)treeForDerivation.Clone(), CreateConstant(constraint.Interval.UpperBound));
            // convert variables named theta back to constants
            var df_prepared = ReplaceVarWithConst(f_smaller_upper, thetaNames, thetaValues, allThetaNodes);
            constraintTrees.Add(df_prepared);
          }
          if (constraint.Interval.LowerBound > double.NegativeInfinity) {
            var f_larger_lower = Subtract(CreateConstant(constraint.Interval.LowerBound), (ISymbolicExpressionTree)treeForDerivation.Clone());
            // convert variables named theta back to constants
            var df_prepared = ReplaceVarWithConst(f_larger_lower, thetaNames, thetaValues, allThetaNodes);
            constraintTrees.Add(df_prepared);
          }
        }
      }

      preparedTree = ReplaceVarWithConst(treeForDerivation, thetaNames, thetaValues, allThetaNodes);
      preparedTreeParameterNodes = GetParameterNodes(preparedTree, allThetaNodes);

      var dim = thetaValues.Count;
      fi_eval = new double[target.Length]; // init buffer;
      jac_eval = new double[target.Length, dim]; // init buffer


      var minVal = Math.Min(-1000.0, thetaValues.Min());
      var maxVal = Math.Max(1000.0, thetaValues.Max());
      var lb = Enumerable.Repeat(minVal, thetaValues.Count).ToArray();
      var up = Enumerable.Repeat(maxVal, thetaValues.Count).ToArray();
      nlopt = NLOpt.nlopt_create(GetSolver(solver), (uint)dim);

      NLOpt.nlopt_set_lower_bounds(nlopt, lb);
      NLOpt.nlopt_set_upper_bounds(nlopt, up);
      calculateObjectiveDelegate = new NLOpt.nlopt_func(CalculateObjective); // keep a reference to the delegate (see below)
      NLOpt.nlopt_set_min_objective(nlopt, calculateObjectiveDelegate, IntPtr.Zero); // --> without preconditioning

      //preconditionDelegate = new NLOpt.nlopt_precond(PreconditionObjective);
      //NLOpt.nlopt_set_precond_min_objective(nlopt, calculateObjectiveDelegate, preconditionDelegate, IntPtr.Zero);


      constraintDataPtr = new IntPtr[constraintTrees.Count];
      calculateConstraintDelegates = new NLOpt.nlopt_func[constraintTrees.Count]; // make sure we keep a reference to the delegates (otherwise GC will free delegate objects see https://stackoverflow.com/questions/7302045/callback-delegates-being-collected#7302258)
      for (int i = 0; i < constraintTrees.Count; i++) {
        var constraintData = new ConstraintData() { Idx = i, Tree = constraintTrees[i], ParameterNodes = GetParameterNodes(constraintTrees[i], allThetaNodes) };
        constraintDataPtr[i] = Marshal.AllocHGlobal(Marshal.SizeOf<ConstraintData>());
        Marshal.StructureToPtr(constraintData, constraintDataPtr[i], fDeleteOld: false);
        calculateConstraintDelegates[i] = new NLOpt.nlopt_func(CalculateConstraint);
        NLOpt.nlopt_add_inequality_constraint(nlopt, calculateConstraintDelegates[i], constraintDataPtr[i], 1e-8);
        // NLOpt.nlopt_add_precond_inequality_constraint(nlopt, calculateConstraintDelegates[i], preconditionDelegate, constraintDataPtr[i], 1e-8);
      }

      NLOpt.nlopt_set_ftol_rel(nlopt, ftol_rel);
      NLOpt.nlopt_set_ftol_abs(nlopt, ftol_abs);
      NLOpt.nlopt_set_maxtime(nlopt, maxTime);
      NLOpt.nlopt_set_maxeval(nlopt, maxIterations);
    }


    ~ConstrainedNLSInternal() {
      Dispose(false);
    }


    public enum OptimizationMode { ReadOnly, UpdateParameters, UpdateParametersAndKeepLinearScaling };

    internal void Optimize(OptimizationMode mode) {
      if (invalidProblem) return;
      var x = thetaValues.ToArray();  /* initial guess */
      double minf = double.MaxValue; /* minimum objective value upon return */
      var res = NLOpt.nlopt_optimize(nlopt, x, ref minf);

      if (res < 0 && res != NLOpt.nlopt_result.NLOPT_FORCED_STOP) {
        // throw new InvalidOperationException($"NLOpt failed {res} {NLOpt.nlopt_get_errmsg(nlopt)}");
        return;
      } else /*if ( minf <= bestError ) */{
        bestSolution = x;
        bestError = minf;

        // calculate constraints of final solution
        double[] _ = new double[x.Length];
        bestConstraintValues = new double[calculateConstraintDelegates.Length];
        for (int i = 0; i < calculateConstraintDelegates.Length; i++) {
          bestConstraintValues[i] = calculateConstraintDelegates[i].Invoke((uint)x.Length, x, _, constraintDataPtr[i]);
        }

        // update parameters in tree
        UpdateParametersInTree(scaledTree, x);

        if (mode == OptimizationMode.UpdateParameters) {
          // update original expression (when called from evaluator we want to write back optimized parameters)
          expr.Root.GetSubtree(0).RemoveSubtree(0); // delete old tree
          expr.Root.GetSubtree(0).InsertSubtree(0,
            scaledTree.Root.GetSubtree(0).GetSubtree(0).GetSubtree(0).GetSubtree(0) // insert the optimized sub-tree (without scaling nodes)
            );
        } else if (mode == OptimizationMode.UpdateParametersAndKeepLinearScaling) {
          expr.Root.GetSubtree(0).RemoveSubtree(0); // delete old tree
          expr.Root.GetSubtree(0).InsertSubtree(0, scaledTree.Root.GetSubtree(0).GetSubtree(0)); // insert the optimized sub-tree (including scaling nodes)
        }
      }
      bestTree = expr;
    }


    double CalculateObjective(uint dim, double[] curX, double[] grad, IntPtr data) {
      UpdateThetaValues(curX);
      var sse = 0.0;

      if (grad != null) {
        autoDiffEval.Evaluate(preparedTree, problemData.Dataset, trainingRows,
          preparedTreeParameterNodes, fi_eval, jac_eval);

        // calc sum of squared errors and gradient
        for (int j = 0; j < grad.Length; j++) grad[j] = 0;
        for (int i = 0; i < target.Length; i++) {
          var r = target[i] - fi_eval[i];
          sse += r * r;
          for (int j = 0; j < grad.Length; j++) {
            grad[j] -= 2 * r * jac_eval[i, j];
          }
        }
        // average
        for (int j = 0; j < grad.Length; j++) { grad[j] /= target.Length; }

        #region check gradient
        if (grad != null && CheckGradient) {
          for (int i = 0; i < dim; i++) {
            // make two additional evaluations
            var xForNumDiff = (double[])curX.Clone();
            double delta = Math.Abs(xForNumDiff[i] * 1e-5);
            xForNumDiff[i] += delta;
            UpdateThetaValues(xForNumDiff);
            var evalHigh = eval.Evaluate(preparedTree, problemData.Dataset, trainingRows);
            var mseHigh = MSE(target, evalHigh);
            xForNumDiff[i] = curX[i] - delta;
            UpdateThetaValues(xForNumDiff);
            var evalLow = eval.Evaluate(preparedTree, problemData.Dataset, trainingRows);
            var mseLow = MSE(target, evalLow);

            var numericDiff = (mseHigh - mseLow) / (2 * delta);
            var autoDiff = grad[i];
            if ((Math.Abs(autoDiff) < 1e-10 && Math.Abs(numericDiff) > 1e-2)
              || (Math.Abs(autoDiff) >= 1e-10 && Math.Abs((numericDiff - autoDiff) / numericDiff) > 1e-2))
              throw new InvalidProgramException();
          }
        }
        #endregion
      } else {
        var eval = new VectorEvaluator();
        var prediction = eval.Evaluate(preparedTree, problemData.Dataset, trainingRows);

        // calc sum of squared errors
        sse = 0.0;
        for (int i = 0; i < target.Length; i++) {
          var r = target[i] - prediction[i];
          sse += r * r;
        }
      }

      UpdateBestSolution(sse / target.Length, curX);
      RaiseFunctionEvaluated();

      if (double.IsNaN(sse)) {
        if (grad != null) Array.Clear(grad, 0, grad.Length);
        return double.MaxValue;
      }
      return sse / target.Length;
    }

    // TODO
    // private void PreconditionObjective(uint n, double[] x, double[] v, double[] vpre, IntPtr data) {
    //   UpdateThetaValues(x); // calc H(x)
    //   
    //   autoDiffEval.Evaluate(preparedTree, problemData.Dataset, trainingRows,
    //     preparedTreeParameterNodes, fi_eval, jac_eval);
    //   var k = jac_eval.GetLength(0);
    //   var h = new double[n, n];
    //   
    //   // calc residuals and scale jac_eval
    //   var f = 2.0 / (k*k);
    // 
    //   // approximate hessian H(x) = J(x)^T * J(x)
    //   alglib.rmatrixgemm((int)n, (int)n, k,
    //     f, jac_eval, 0, 0, 1,  // transposed
    //     jac_eval, 0, 0, 0, 
    //     0.0, ref h, 0, 0,
    //     null
    //     );
    //   
    // 
    //   // scale v
    //   alglib.rmatrixmv((int)n, (int)n, h, 0, 0, 0, v, 0, ref vpre, 0, alglib.serial);
    // 
    // 
    //   alglib.spdmatrixcholesky(ref h, (int)n, true);
    // 
    //   var det = alglib.matdet.spdmatrixcholeskydet(h, (int)n, alglib.serial);
    // }


    private double MSE(double[] a, double[] b) {
      Trace.Assert(a.Length == b.Length);
      var sse = 0.0;
      for (int i = 0; i < a.Length; i++) sse += (a[i] - b[i]) * (a[i] - b[i]);
      return sse / a.Length;
    }

    private void UpdateBestSolution(double curF, double[] curX) {
      if (double.IsNaN(curF) || double.IsInfinity(curF)) return;
      else if (curF < bestError) {
        bestError = curF;
        bestSolution = (double[])curX.Clone();
      }
      curError = curF;
    }

    private void UpdateConstraintViolations(int constraintIdx, double value) {
      if (double.IsNaN(value) || double.IsInfinity(value)) return;
      RaiseConstraintEvaluated(constraintIdx, value);
      // else if (curF < bestError) {
      //   bestError = curF;
      //   bestSolution = (double[])curX.Clone();
      // }
    }

    double CalculateConstraint(uint dim, double[] curX, double[] grad, IntPtr data) {
      UpdateThetaValues(curX);
      var intervalEvaluator = new IntervalEvaluator();
      var refIntervalEvaluator = new IntervalInterpreter();

      var constraintData = Marshal.PtrToStructure<ConstraintData>(data);

      if (grad != null) Array.Clear(grad, 0, grad.Length);

      var interval = intervalEvaluator.Evaluate(constraintData.Tree, dataIntervals, constraintData.ParameterNodes,
        out double[] lowerGradient, out double[] upperGradient);

      var refInterval = refIntervalEvaluator.GetSymbolicExpressionTreeInterval(constraintData.Tree, dataIntervals);
      if (Math.Abs(interval.LowerBound - refInterval.LowerBound) > Math.Abs(interval.LowerBound) * 1e-4) throw new InvalidProgramException($"Intervals don't match. {interval.LowerBound} <> {refInterval.LowerBound}");
      if (Math.Abs(interval.UpperBound - refInterval.UpperBound) > Math.Abs(interval.UpperBound) * 1e-4) throw new InvalidProgramException($"Intervals don't match. {interval.UpperBound} <> {refInterval.UpperBound}");

      // we transformed this to a constraint c(x) <= 0, so only the upper bound is relevant for us
      if (grad != null) for (int j = 0; j < grad.Length; j++) { grad[j] = upperGradient[j]; }

      #region check gradient
      if (grad != null && CheckGradient)
        for (int i = 0; i < dim; i++) {
          // make two additional evaluations
          var xForNumDiff = (double[])curX.Clone();
          double delta = Math.Abs(xForNumDiff[i] * 1e-5);
          xForNumDiff[i] += delta;
          UpdateThetaValues(xForNumDiff);
          var evalHigh = intervalEvaluator.Evaluate(constraintData.Tree, dataIntervals, constraintData.ParameterNodes,
            out double[] unusedLowerGradientHigh, out double[] unusedUpperGradientHigh);

          xForNumDiff[i] = curX[i] - delta;
          UpdateThetaValues(xForNumDiff);
          var evalLow = intervalEvaluator.Evaluate(constraintData.Tree, dataIntervals, constraintData.ParameterNodes,
            out double[] unusedLowerGradientLow, out double[] unusedUpperGradientLow);

          var numericDiff = (evalHigh.UpperBound - evalLow.UpperBound) / (2 * delta);
          var autoDiff = grad[i];

          if ((Math.Abs(autoDiff) < 1e-10 && Math.Abs(numericDiff) > 1e-2)
            || (Math.Abs(autoDiff) >= 1e-10 && Math.Abs((numericDiff - autoDiff) / numericDiff) > 1e-2))
            throw new InvalidProgramException();
        }
      #endregion


      UpdateConstraintViolations(constraintData.Idx, interval.UpperBound);
      if (double.IsNaN(interval.UpperBound)) {
        if (grad != null) Array.Clear(grad, 0, grad.Length);
        return double.MaxValue;
      } else return interval.UpperBound;
    }


    void UpdateThetaValues(double[] theta) {
      for (int i = 0; i < theta.Length; ++i) {
        foreach (var constNode in allThetaNodes[i]) constNode.Value = theta[i];
      }
    }

    internal void RequestStop() {
      NLOpt.nlopt_set_force_stop(nlopt, 1); // hopefully NLOpt is thread safe  , val must be <> 0 otherwise no effect
    }

    private void RaiseFunctionEvaluated() {
      FunctionEvaluated?.Invoke();
    }

    private void RaiseConstraintEvaluated(int idx, double value) {
      ConstraintEvaluated?.Invoke(idx, value);
    }


    #region helper

    private static ISymbolicExpressionTree CopyAndScaleTree(ISymbolicExpressionTree tree, double scalingFactor, double offset) {
      var m = (ISymbolicExpressionTree)tree.Clone();

      var add = MakeNode<Addition>(MakeNode<Multiplication>(m.Root.GetSubtree(0).GetSubtree(0), CreateConstant(scalingFactor)), CreateConstant(offset));
      m.Root.GetSubtree(0).RemoveSubtree(0);
      m.Root.GetSubtree(0).AddSubtree(add);
      return m;
    }


    private NLOpt.nlopt_algorithm GetSolver(string solver) {
      if (solver.Contains("MMA")) return NLOpt.nlopt_algorithm.NLOPT_LD_MMA;
      if (solver.Contains("COBYLA")) return NLOpt.nlopt_algorithm.NLOPT_LN_COBYLA;
      if (solver.Contains("CCSAQ")) return NLOpt.nlopt_algorithm.NLOPT_LD_CCSAQ;
      if (solver.Contains("ISRES")) return NLOpt.nlopt_algorithm.NLOPT_GN_ISRES;

      if (solver.Contains("DIRECT_G")) return NLOpt.nlopt_algorithm.NLOPT_GN_DIRECT;
      if (solver.Contains("NLOPT_GN_DIRECT_L")) return NLOpt.nlopt_algorithm.NLOPT_GN_DIRECT_L;
      if (solver.Contains("NLOPT_GN_DIRECT_L_RAND")) return NLOpt.nlopt_algorithm.NLOPT_GN_DIRECT_L_RAND;
      if (solver.Contains("NLOPT_GN_ORIG_DIRECT")) return NLOpt.nlopt_algorithm.NLOPT_GN_DIRECT;
      if (solver.Contains("NLOPT_GN_ORIG_DIRECT_L")) return NLOpt.nlopt_algorithm.NLOPT_GN_ORIG_DIRECT_L;
      if (solver.Contains("NLOPT_GD_STOGO")) return NLOpt.nlopt_algorithm.NLOPT_GD_STOGO;
      if (solver.Contains("NLOPT_GD_STOGO_RAND")) return NLOpt.nlopt_algorithm.NLOPT_GD_STOGO_RAND;
      if (solver.Contains("NLOPT_LD_LBFGS_NOCEDAL")) return NLOpt.nlopt_algorithm.NLOPT_LD_LBFGS_NOCEDAL;
      if (solver.Contains("NLOPT_LD_LBFGS")) return NLOpt.nlopt_algorithm.NLOPT_LD_LBFGS;
      if (solver.Contains("NLOPT_LN_PRAXIS")) return NLOpt.nlopt_algorithm.NLOPT_LN_PRAXIS;
      if (solver.Contains("NLOPT_LD_VAR1")) return NLOpt.nlopt_algorithm.NLOPT_LD_VAR1;
      if (solver.Contains("NLOPT_LD_VAR2")) return NLOpt.nlopt_algorithm.NLOPT_LD_VAR2;
      if (solver.Contains("NLOPT_LD_TNEWTON")) return NLOpt.nlopt_algorithm.NLOPT_LD_TNEWTON;
      if (solver.Contains("NLOPT_LD_TNEWTON_RESTART")) return NLOpt.nlopt_algorithm.NLOPT_LD_TNEWTON_RESTART;
      if (solver.Contains("NLOPT_LD_TNEWTON_PRECOND")) return NLOpt.nlopt_algorithm.NLOPT_LD_TNEWTON_PRECOND;
      if (solver.Contains("NLOPT_LD_TNEWTON_PRECOND_RESTART")) return NLOpt.nlopt_algorithm.NLOPT_LD_TNEWTON_PRECOND_RESTART;
      if (solver.Contains("NLOPT_GN_CRS2_LM")) return NLOpt.nlopt_algorithm.NLOPT_GN_CRS2_LM;
      if (solver.Contains("NLOPT_GN_MLSL")) return NLOpt.nlopt_algorithm.NLOPT_GN_MLSL;
      if (solver.Contains("NLOPT_GD_MLSL")) return NLOpt.nlopt_algorithm.NLOPT_GD_MLSL;
      if (solver.Contains("NLOPT_GN_MLSL_LDS")) return NLOpt.nlopt_algorithm.NLOPT_GN_MLSL_LDS;
      if (solver.Contains("NLOPT_GD_MLSL_LDS")) return NLOpt.nlopt_algorithm.NLOPT_GD_MLSL_LDS;
      if (solver.Contains("NLOPT_LN_NEWUOA")) return NLOpt.nlopt_algorithm.NLOPT_LN_NEWUOA;
      if (solver.Contains("NLOPT_LN_NEWUOA_BOUND")) return NLOpt.nlopt_algorithm.NLOPT_LN_NEWUOA_BOUND;
      if (solver.Contains("NLOPT_LN_NELDERMEAD")) return NLOpt.nlopt_algorithm.NLOPT_LN_NELDERMEAD;
      if (solver.Contains("NLOPT_LN_SBPLX")) return NLOpt.nlopt_algorithm.NLOPT_LN_SBPLX;
      if (solver.Contains("NLOPT_LN_AUGLAG")) return NLOpt.nlopt_algorithm.NLOPT_LN_AUGLAG;
      if (solver.Contains("NLOPT_LD_AUGLAG")) return NLOpt.nlopt_algorithm.NLOPT_LD_AUGLAG;
      if (solver.Contains("NLOPT_LN_BOBYQA")) return NLOpt.nlopt_algorithm.NLOPT_LN_BOBYQA;
      if (solver.Contains("NLOPT_AUGLAG")) return NLOpt.nlopt_algorithm.NLOPT_AUGLAG;
      if (solver.Contains("NLOPT_LD_SLSQP")) return NLOpt.nlopt_algorithm.NLOPT_LD_SLSQP;
      if (solver.Contains("NLOPT_LD_CCSAQ))")) return NLOpt.nlopt_algorithm.NLOPT_LD_CCSAQ;
      if (solver.Contains("NLOPT_GN_ESCH")) return NLOpt.nlopt_algorithm.NLOPT_GN_ESCH;
      if (solver.Contains("NLOPT_GN_AGS")) return NLOpt.nlopt_algorithm.NLOPT_GN_AGS;

      throw new ArgumentException($"Unknown solver {solver}");
    }

    // determines the nodes over which we can calculate the partial derivative
    // this is different from the vector of all parameters because not every tree contains all parameters
    private static ISymbolicExpressionTreeNode[] GetParameterNodes(ISymbolicExpressionTree tree, List<ConstantTreeNode>[] allNodes) {
      // TODO better solution necessary
      var treeConstNodes = tree.IterateNodesPostfix().OfType<ConstantTreeNode>().ToArray();
      var paramNodes = new ISymbolicExpressionTreeNode[allNodes.Length];
      for (int i = 0; i < paramNodes.Length; i++) {
        paramNodes[i] = allNodes[i].SingleOrDefault(n => treeConstNodes.Contains(n));
      }
      return paramNodes;
    }

    private static ISymbolicExpressionTree ReplaceVarWithConst(ISymbolicExpressionTree tree, List<string> thetaNames, List<double> thetaValues, List<ConstantTreeNode>[] thetaNodes) {
      var copy = (ISymbolicExpressionTree)tree.Clone();
      var nodes = copy.IterateNodesPostfix().ToList();
      for (int i = 0; i < nodes.Count; i++) {
        var n = nodes[i] as VariableTreeNode;
        if (n != null) {
          var thetaIdx = thetaNames.IndexOf(n.VariableName);
          if (thetaIdx >= 0) {
            var parent = n.Parent;
            if (thetaNodes[thetaIdx].Any()) {
              // HACK: REUSE CONSTANT TREE NODE IN SEVERAL TREES
              // we use this trick to allow autodiff over thetas when thetas occurr multiple times in the tree (e.g. in derived trees)
              var constNode = thetaNodes[thetaIdx].First();
              var childIdx = parent.IndexOfSubtree(n);
              parent.RemoveSubtree(childIdx);
              parent.InsertSubtree(childIdx, constNode);
            } else {
              var constNode = (ConstantTreeNode)CreateConstant(thetaValues[thetaIdx]);
              var childIdx = parent.IndexOfSubtree(n);
              parent.RemoveSubtree(childIdx);
              parent.InsertSubtree(childIdx, constNode);
              thetaNodes[thetaIdx].Add(constNode);
            }
          }
        }
      }
      return copy;
    }




    private void UpdateParametersInTree(ISymbolicExpressionTree scaledTree, double[] x) {
      var pIdx = 0;
      // here we lose the two last parameters (for linear scaling)
      foreach (var node in scaledTree.IterateNodesPostfix()) {
        if (node is ConstantTreeNode constTreeNode) {
          constTreeNode.Value = x[pIdx++];
        } else if (node is VariableTreeNode varTreeNode) {
          if (varTreeNode.Weight != 1.0) // see ReplaceAndExtractParameters
            varTreeNode.Weight = x[pIdx++];
        }
      }
      if (pIdx != x.Length) throw new InvalidProgramException();
    }

    private static ISymbolicExpressionTree ReplaceAndExtractParameters(ISymbolicExpressionTree tree, out List<string> thetaNames, out List<double> thetaValues) {
      thetaNames = new List<string>();
      thetaValues = new List<double>();
      var copy = (ISymbolicExpressionTree)tree.Clone();
      var nodes = copy.IterateNodesPostfix().ToList();

      int n = 1;
      for (int i = 0; i < nodes.Count; ++i) {
        var node = nodes[i];
        if (node is ConstantTreeNode constantTreeNode) {
          var thetaVar = (VariableTreeNode)new Problems.DataAnalysis.Symbolic.Variable().CreateTreeNode();
          thetaVar.Weight = 1;
          thetaVar.VariableName = $"θ{n++}";

          thetaNames.Add(thetaVar.VariableName);
          thetaValues.Add(constantTreeNode.Value);

          var parent = constantTreeNode.Parent;
          if (parent != null) {
            var index = constantTreeNode.Parent.IndexOfSubtree(constantTreeNode);
            parent.RemoveSubtree(index);
            parent.InsertSubtree(index, thetaVar);
          }
        }
        if (node is VariableTreeNode varTreeNode) {
          if (varTreeNode.Weight == 1) continue; // NOTE: here we assume that we do not tune variable weights when they are originally exactly 1 because we assume that the tree has been parsed and the tree explicitly has the structure w * var

          var thetaVar = (VariableTreeNode)new Problems.DataAnalysis.Symbolic.Variable().CreateTreeNode();
          thetaVar.Weight = 1;
          thetaVar.VariableName = $"θ{n++}";

          thetaNames.Add(thetaVar.VariableName);
          thetaValues.Add(varTreeNode.Weight);

          var parent = varTreeNode.Parent;
          if (parent != null) {
            var index = varTreeNode.Parent.IndexOfSubtree(varTreeNode);
            parent.RemoveSubtree(index);
            var prodNode = MakeNode<Multiplication>();
            varTreeNode.Weight = 1.0;
            prodNode.AddSubtree(varTreeNode);
            prodNode.AddSubtree(thetaVar);
            parent.InsertSubtree(index, prodNode);
          }
        }
      }
      return copy;
    }

    private static ISymbolicExpressionTreeNode CreateConstant(double value) {
      var constantNode = (ConstantTreeNode)new Constant().CreateTreeNode();
      constantNode.Value = value;
      return constantNode;
    }

    private static ISymbolicExpressionTree Subtract(ISymbolicExpressionTree t, ISymbolicExpressionTreeNode b) {
      var sub = MakeNode<Subtraction>(t.Root.GetSubtree(0).GetSubtree(0), b);
      t.Root.GetSubtree(0).RemoveSubtree(0);
      t.Root.GetSubtree(0).InsertSubtree(0, sub);
      return t;
    }
    private static ISymbolicExpressionTree Subtract(ISymbolicExpressionTreeNode b, ISymbolicExpressionTree t) {
      var sub = MakeNode<Subtraction>(b, t.Root.GetSubtree(0).GetSubtree(0));
      t.Root.GetSubtree(0).RemoveSubtree(0);
      t.Root.GetSubtree(0).InsertSubtree(0, sub);
      return t;
    }

    private static ISymbolicExpressionTreeNode MakeNode<T>(params ISymbolicExpressionTreeNode[] fs) where T : ISymbol, new() {
      var node = new T().CreateTreeNode();
      foreach (var f in fs) node.AddSubtree(f);
      return node;
    }

    public void Dispose() {
      Dispose(true);
      GC.SuppressFinalize(this);
    }

    protected virtual void Dispose(bool disposing) {
      if (disposed)
        return;

      if (disposing) {
        // Free any other managed objects here.
      }

      // Free any unmanaged objects here.
      if (nlopt != IntPtr.Zero) {
        NLOpt.nlopt_destroy(nlopt);
        nlopt = IntPtr.Zero;
      }
      if (constraintDataPtr != null) {
        for (int i = 0; i < constraintDataPtr.Length; i++)
          if (constraintDataPtr[i] != IntPtr.Zero) {
            Marshal.FreeHGlobal(constraintDataPtr[i]);
            constraintDataPtr[i] = IntPtr.Zero;
          }
      }

      disposed = true;
    }
    #endregion
  }
}