// Ceres Solver - A fast non-linear least squares minimizer

// Copyright 2015 Google Inc. All rights reserved.

// http://ceres-solver.org/

//

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// modification, are permitted provided that the following conditions are met:

//

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//   this list of conditions and the following disclaimer.

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//   this list of conditions and the following disclaimer in the documentation

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//   used to endorse or promote products derived from this software without

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// Author: sameeragarwal@google.com (Sameer Agarwal)

#include <iostream>  // NO LINT

#include "ceres/callbacks.h"

#include "ceres/program.h"

#include "ceres/stringprintf.h"

#include "glog/logging.h"

namespace ceres {

namespace internal {

using std::string;

StateUpdatingCallback::StateUpdatingCallback(Program* program,

                                             double* parameters)

    : program_(program), parameters_(parameters) {}

StateUpdatingCallback::~StateUpdatingCallback() {}

CallbackReturnType StateUpdatingCallback::operator()(

    const IterationSummary& summary) {

  if (summary.step_is_successful) {

    program_->StateVectorToParameterBlocks(parameters_);

    program_->CopyParameterBlockStateToUserState();

  }

  return SOLVER_CONTINUE;

}

LoggingCallback::LoggingCallback(const MinimizerType minimizer_type,

                                 const bool log_to_stdout)

    : minimizer_type(minimizer_type),

      log_to_stdout_(log_to_stdout) {}

LoggingCallback::~LoggingCallback() {}

CallbackReturnType LoggingCallback::operator()(

    const IterationSummary& summary) {

  string output;

  if (minimizer_type == LINE_SEARCH) {

    const char* kReportRowFormat =

        "% 4d: f:% 8e d:% 3.2e g:% 3.2e h:% 3.2e "

        "s:% 3.2e e:% 3d it:% 3.2e tt:% 3.2e";

    output = StringPrintf(kReportRowFormat,

                          summary.iteration,

                          summary.cost,

                          summary.cost_change,

                          summary.gradient_max_norm,

                          summary.step_norm,

                          summary.step_size,

                          summary.line_search_function_evaluations,

                          summary.iteration_time_in_seconds,

                          summary.cumulative_time_in_seconds);

  } else if (minimizer_type == TRUST_REGION) {

    if (summary.iteration == 0) {

      output = "iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time\n";  // NOLINT

    }

    const char* kReportRowFormat =

        "% 4d % 8e   % 3.2e   % 3.2e  % 3.2e  % 3.2e % 3.2e     % 4d   % 3.2e   % 3.2e";  // NOLINT

    output += StringPrintf(kReportRowFormat,

                           summary.iteration,

                           summary.cost,

                           summary.cost_change,

                           summary.gradient_max_norm,

                           summary.step_norm,

                           summary.relative_decrease,

                           summary.trust_region_radius,

                           summary.linear_solver_iterations,

                           summary.iteration_time_in_seconds,

                           summary.cumulative_time_in_seconds);

  } else {

    LOG(FATAL) << "Unknown minimizer type.";

  }

  if (log_to_stdout_) {

    std::cout << output << std::endl;

  } else {

    VLOG(1) << output;

  }

  return SOLVER_CONTINUE;

}

}  // namespace internal

}  // namespace ceres