xref: /petsc/src/tao/leastsquares/impls/brgn/brgn.c (revision aaa8cc7d2a5c3913edcbb923e20f154fe9c4aa65)

#include <../src/tao/leastsquares/impls/brgn/brgn.h> /*I "petsctao.h" I*/

#define BRGN_REGULARIZATION_USER   0
#define BRGN_REGULARIZATION_L2PROX 1
#define BRGN_REGULARIZATION_L2PURE 2
#define BRGN_REGULARIZATION_L1DICT 3
#define BRGN_REGULARIZATION_LM     4
#define BRGN_REGULARIZATION_TYPES  5

static const char *BRGN_REGULARIZATION_TABLE[64] = {"user", "l2prox", "l2pure", "l1dict", "lm"};

static PetscErrorCode GNHessianProd(Mat H, Vec in, Vec out)
{
  TAO_BRGN *gn;

  PetscFunctionBegin;
  PetscCall(MatShellGetContext(H, &gn));
  PetscCall(MatMult(gn->subsolver->ls_jac, in, gn->r_work));
  PetscCall(MatMultTranspose(gn->subsolver->ls_jac, gn->r_work, out));
  switch (gn->reg_type) {
  case BRGN_REGULARIZATION_USER:
    PetscCall(MatMult(gn->Hreg, in, gn->x_work));
    PetscCall(VecAXPY(out, gn->lambda, gn->x_work));
    break;
  case BRGN_REGULARIZATION_L2PURE:
    PetscCall(VecAXPY(out, gn->lambda, in));
    break;
  case BRGN_REGULARIZATION_L2PROX:
    PetscCall(VecAXPY(out, gn->lambda, in));
    break;
  case BRGN_REGULARIZATION_L1DICT:
    /* out = out + lambda*D'*(diag.*(D*in)) */
    if (gn->D) {
      PetscCall(MatMult(gn->D, in, gn->y)); /* y = D*in */
    } else {
      PetscCall(VecCopy(in, gn->y));
    }
    PetscCall(VecPointwiseMult(gn->y_work, gn->diag, gn->y)); /* y_work = diag.*(D*in), where diag = epsilon^2 ./ sqrt(x.^2+epsilon^2).^3 */
    if (gn->D) {
      PetscCall(MatMultTranspose(gn->D, gn->y_work, gn->x_work)); /* x_work = D'*(diag.*(D*in)) */
    } else {
      PetscCall(VecCopy(gn->y_work, gn->x_work));
    }
    PetscCall(VecAXPY(out, gn->lambda, gn->x_work));
    break;
  case BRGN_REGULARIZATION_LM:
    PetscCall(VecPointwiseMult(gn->x_work, gn->damping, in));
    PetscCall(VecAXPY(out, 1, gn->x_work));
    break;
  }
  PetscFunctionReturn(PETSC_SUCCESS);
}
static PetscErrorCode ComputeDamping(TAO_BRGN *gn)
{
  const PetscScalar *diag_ary;
  PetscScalar       *damping_ary;
  PetscInt           i, n;

  PetscFunctionBegin;
  /* update damping */
  PetscCall(VecGetArray(gn->damping, &damping_ary));
  PetscCall(VecGetArrayRead(gn->diag, &diag_ary));
  PetscCall(VecGetLocalSize(gn->damping, &n));
  for (i = 0; i < n; i++) damping_ary[i] = PetscClipInterval(diag_ary[i], PETSC_SQRT_MACHINE_EPSILON, PetscSqrtReal(PETSC_MAX_REAL));
  PetscCall(VecScale(gn->damping, gn->lambda));
  PetscCall(VecRestoreArray(gn->damping, &damping_ary));
  PetscCall(VecRestoreArrayRead(gn->diag, &diag_ary));
  PetscFunctionReturn(PETSC_SUCCESS);
}

PetscErrorCode TaoBRGNGetDampingVector(Tao tao, Vec *d)
{
  TAO_BRGN *gn = (TAO_BRGN *)tao->data;

  PetscFunctionBegin;
  PetscCheck(gn->reg_type == BRGN_REGULARIZATION_LM, PetscObjectComm((PetscObject)tao), PETSC_ERR_SUP, "Damping vector is only available if regularization type is lm.");
  *d = gn->damping;
  PetscFunctionReturn(PETSC_SUCCESS);
}

static PetscErrorCode GNObjectiveGradientEval(Tao tao, Vec X, PetscReal *fcn, Vec G, void *ptr)
{
  TAO_BRGN   *gn = (TAO_BRGN *)ptr;
  PetscInt    K; /* dimension of D*X */
  PetscScalar yESum;
  PetscReal   f_reg;

  PetscFunctionBegin;
  /* compute objective *fcn*/
  /* compute first term 0.5*||ls_res||_2^2 */
  PetscCall(TaoComputeResidual(tao, X, tao->ls_res));
  PetscCall(VecDot(tao->ls_res, tao->ls_res, fcn));
  *fcn *= 0.5;
  /* compute gradient G */
  PetscCall(TaoComputeResidualJacobian(tao, X, tao->ls_jac, tao->ls_jac_pre));
  PetscCall(MatMultTranspose(tao->ls_jac, tao->ls_res, G));
  /* add the regularization contribution */
  switch (gn->reg_type) {
  case BRGN_REGULARIZATION_USER:
    PetscCall((*gn->regularizerobjandgrad)(tao, X, &f_reg, gn->x_work, gn->reg_obj_ctx));
    *fcn += gn->lambda * f_reg;
    PetscCall(VecAXPY(G, gn->lambda, gn->x_work));
    break;
  case BRGN_REGULARIZATION_L2PURE:
    /* compute f = f + lambda*0.5*xk'*xk */
    PetscCall(VecDot(X, X, &f_reg));
    *fcn += gn->lambda * 0.5 * f_reg;
    /* compute G = G + lambda*xk */
    PetscCall(VecAXPY(G, gn->lambda, X));
    break;
  case BRGN_REGULARIZATION_L2PROX:
    /* compute f = f + lambda*0.5*(xk - xkm1)'*(xk - xkm1) */
    PetscCall(VecAXPBYPCZ(gn->x_work, 1.0, -1.0, 0.0, X, gn->x_old));
    PetscCall(VecDot(gn->x_work, gn->x_work, &f_reg));
    *fcn += gn->lambda * 0.5 * f_reg;
    /* compute G = G + lambda*(xk - xkm1) */
    PetscCall(VecAXPBYPCZ(G, gn->lambda, -gn->lambda, 1.0, X, gn->x_old));
    break;
  case BRGN_REGULARIZATION_L1DICT:
    /* compute f = f + lambda*sum(sqrt(y.^2+epsilon^2) - epsilon), where y = D*x*/
    if (gn->D) {
      PetscCall(MatMult(gn->D, X, gn->y)); /* y = D*x */
    } else {
      PetscCall(VecCopy(X, gn->y));
    }
    PetscCall(VecPointwiseMult(gn->y_work, gn->y, gn->y));
    PetscCall(VecShift(gn->y_work, gn->epsilon * gn->epsilon));
    PetscCall(VecSqrtAbs(gn->y_work)); /* gn->y_work = sqrt(y.^2+epsilon^2) */
    PetscCall(VecSum(gn->y_work, &yESum));
    PetscCall(VecGetSize(gn->y, &K));
    *fcn += gn->lambda * (yESum - K * gn->epsilon);
    /* compute G = G + lambda*D'*(y./sqrt(y.^2+epsilon^2)),where y = D*x */
    PetscCall(VecPointwiseDivide(gn->y_work, gn->y, gn->y_work)); /* reuse y_work = y./sqrt(y.^2+epsilon^2) */
    if (gn->D) {
      PetscCall(MatMultTranspose(gn->D, gn->y_work, gn->x_work));
    } else {
      PetscCall(VecCopy(gn->y_work, gn->x_work));
    }
    PetscCall(VecAXPY(G, gn->lambda, gn->x_work));
    break;
  }
  PetscFunctionReturn(PETSC_SUCCESS);
}

static PetscErrorCode GNComputeHessian(Tao tao, Vec X, Mat H, Mat Hpre, void *ptr)
{
  TAO_BRGN    *gn = (TAO_BRGN *)ptr;
  PetscInt     i, n, cstart, cend;
  PetscScalar *cnorms, *diag_ary;

  PetscFunctionBegin;
  PetscCall(TaoComputeResidualJacobian(tao, X, tao->ls_jac, tao->ls_jac_pre));
  if (gn->mat_explicit) PetscCall(MatTransposeMatMult(tao->ls_jac, tao->ls_jac, MAT_REUSE_MATRIX, PETSC_DEFAULT, &gn->H));

  switch (gn->reg_type) {
  case BRGN_REGULARIZATION_USER:
    PetscCall((*gn->regularizerhessian)(tao, X, gn->Hreg, gn->reg_hess_ctx));
    if (gn->mat_explicit) PetscCall(MatAXPY(gn->H, 1.0, gn->Hreg, DIFFERENT_NONZERO_PATTERN));
    break;
  case BRGN_REGULARIZATION_L2PURE:
    if (gn->mat_explicit) PetscCall(MatShift(gn->H, gn->lambda));
    break;
  case BRGN_REGULARIZATION_L2PROX:
    if (gn->mat_explicit) PetscCall(MatShift(gn->H, gn->lambda));
    break;
  case BRGN_REGULARIZATION_L1DICT:
    /* calculate and store diagonal matrix as a vector: diag = epsilon^2 ./ sqrt(x.^2+epsilon^2).^3* --> diag = epsilon^2 ./ sqrt(y.^2+epsilon^2).^3,where y = D*x */
    if (gn->D) {
      PetscCall(MatMult(gn->D, X, gn->y)); /* y = D*x */
    } else {
      PetscCall(VecCopy(X, gn->y));
    }
    PetscCall(VecPointwiseMult(gn->y_work, gn->y, gn->y));
    PetscCall(VecShift(gn->y_work, gn->epsilon * gn->epsilon));
    PetscCall(VecCopy(gn->y_work, gn->diag));                    /* gn->diag = y.^2+epsilon^2 */
    PetscCall(VecSqrtAbs(gn->y_work));                           /* gn->y_work = sqrt(y.^2+epsilon^2) */
    PetscCall(VecPointwiseMult(gn->diag, gn->y_work, gn->diag)); /* gn->diag = sqrt(y.^2+epsilon^2).^3 */
    PetscCall(VecReciprocal(gn->diag));
    PetscCall(VecScale(gn->diag, gn->epsilon * gn->epsilon));
    if (gn->mat_explicit) PetscCall(MatDiagonalSet(gn->H, gn->diag, ADD_VALUES));
    break;
  case BRGN_REGULARIZATION_LM:
    /* compute diagonal of J^T J */
    PetscCall(MatGetSize(gn->parent->ls_jac, NULL, &n));
    PetscCall(PetscMalloc1(n, &cnorms));
    PetscCall(MatGetColumnNorms(gn->parent->ls_jac, NORM_2, cnorms));
    PetscCall(MatGetOwnershipRangeColumn(gn->parent->ls_jac, &cstart, &cend));
    PetscCall(VecGetArray(gn->diag, &diag_ary));
    for (i = 0; i < cend - cstart; i++) diag_ary[i] = cnorms[cstart + i] * cnorms[cstart + i];
    PetscCall(VecRestoreArray(gn->diag, &diag_ary));
    PetscCall(PetscFree(cnorms));
    PetscCall(ComputeDamping(gn));
    if (gn->mat_explicit) PetscCall(MatDiagonalSet(gn->H, gn->damping, ADD_VALUES));
    break;
  }
  PetscFunctionReturn(PETSC_SUCCESS);
}

static PetscErrorCode GNHookFunction(Tao tao, PetscInt iter, void *ctx)
{
  TAO_BRGN *gn = (TAO_BRGN *)ctx;

  PetscFunctionBegin;
  /* Update basic tao information from the subsolver */
  gn->parent->nfuncs      = tao->nfuncs;
  gn->parent->ngrads      = tao->ngrads;
  gn->parent->nfuncgrads  = tao->nfuncgrads;
  gn->parent->nhess       = tao->nhess;
  gn->parent->niter       = tao->niter;
  gn->parent->ksp_its     = tao->ksp_its;
  gn->parent->ksp_tot_its = tao->ksp_tot_its;
  gn->parent->fc          = tao->fc;
  PetscCall(TaoGetConvergedReason(tao, &gn->parent->reason));
  /* Update the solution vectors */
  if (iter == 0) {
    PetscCall(VecSet(gn->x_old, 0.0));
  } else {
    PetscCall(VecCopy(tao->solution, gn->x_old));
    PetscCall(VecCopy(tao->solution, gn->parent->solution));
  }
  /* Update the gradient */
  PetscCall(VecCopy(tao->gradient, gn->parent->gradient));

  /* Update damping parameter for LM */
  if (gn->reg_type == BRGN_REGULARIZATION_LM) {
    if (iter > 0) {
      if (gn->fc_old > tao->fc) {
        gn->lambda = gn->lambda * gn->downhill_lambda_change;
      } else {
        /* uphill step */
        gn->lambda = gn->lambda * gn->uphill_lambda_change;
      }
    }
    gn->fc_old = tao->fc;
  }

  /* Call general purpose update function */
  if (gn->parent->ops->update) PetscCall((*gn->parent->ops->update)(gn->parent, gn->parent->niter, gn->parent->user_update));
  PetscFunctionReturn(PETSC_SUCCESS);
}

static PetscErrorCode TaoSolve_BRGN(Tao tao)
{
  TAO_BRGN *gn = (TAO_BRGN *)tao->data;

  PetscFunctionBegin;
  PetscCall(TaoSolve(gn->subsolver));
  /* Update basic tao information from the subsolver */
  tao->nfuncs      = gn->subsolver->nfuncs;
  tao->ngrads      = gn->subsolver->ngrads;
  tao->nfuncgrads  = gn->subsolver->nfuncgrads;
  tao->nhess       = gn->subsolver->nhess;
  tao->niter       = gn->subsolver->niter;
  tao->ksp_its     = gn->subsolver->ksp_its;
  tao->ksp_tot_its = gn->subsolver->ksp_tot_its;
  PetscCall(TaoGetConvergedReason(gn->subsolver, &tao->reason));
  /* Update vectors */
  PetscCall(VecCopy(gn->subsolver->solution, tao->solution));
  PetscCall(VecCopy(gn->subsolver->gradient, tao->gradient));
  PetscFunctionReturn(PETSC_SUCCESS);
}

static PetscErrorCode TaoSetFromOptions_BRGN(Tao tao, PetscOptionItems *PetscOptionsObject)
{
  TAO_BRGN     *gn = (TAO_BRGN *)tao->data;
  TaoLineSearch ls;

  PetscFunctionBegin;
  PetscOptionsHeadBegin(PetscOptionsObject, "least-squares problems with regularizer: ||f(x)||^2 + lambda*g(x), g(x) = ||xk-xkm1||^2 or ||Dx||_1 or user defined function.");
  PetscCall(PetscOptionsBool("-tao_brgn_mat_explicit", "switches the Hessian construction to be an explicit matrix rather than MATSHELL", "", gn->mat_explicit, &gn->mat_explicit, NULL));
  PetscCall(PetscOptionsReal("-tao_brgn_regularizer_weight", "regularizer weight (default 1e-4)", "", gn->lambda, &gn->lambda, NULL));
  PetscCall(PetscOptionsReal("-tao_brgn_l1_smooth_epsilon", "L1-norm smooth approximation parameter: ||x||_1 = sum(sqrt(x.^2+epsilon^2)-epsilon) (default 1e-6)", "", gn->epsilon, &gn->epsilon, NULL));
  PetscCall(PetscOptionsReal("-tao_brgn_lm_downhill_lambda_change", "Factor to decrease trust region by on downhill steps", "", gn->downhill_lambda_change, &gn->downhill_lambda_change, NULL));
  PetscCall(PetscOptionsReal("-tao_brgn_lm_uphill_lambda_change", "Factor to increase trust region by on uphill steps", "", gn->uphill_lambda_change, &gn->uphill_lambda_change, NULL));
  PetscCall(PetscOptionsEList("-tao_brgn_regularization_type", "regularization type", "", BRGN_REGULARIZATION_TABLE, BRGN_REGULARIZATION_TYPES, BRGN_REGULARIZATION_TABLE[gn->reg_type], &gn->reg_type, NULL));
  PetscOptionsHeadEnd();
  /* set unit line search direction as the default when using the lm regularizer */
  if (gn->reg_type == BRGN_REGULARIZATION_LM) {
    PetscCall(TaoGetLineSearch(gn->subsolver, &ls));
    PetscCall(TaoLineSearchSetType(ls, TAOLINESEARCHUNIT));
  }
  PetscCall(TaoSetFromOptions(gn->subsolver));
  PetscFunctionReturn(PETSC_SUCCESS);
}

static PetscErrorCode TaoView_BRGN(Tao tao, PetscViewer viewer)
{
  TAO_BRGN *gn = (TAO_BRGN *)tao->data;

  PetscFunctionBegin;
  PetscCall(PetscViewerASCIIPushTab(viewer));
  PetscCall(TaoView(gn->subsolver, viewer));
  PetscCall(PetscViewerASCIIPopTab(viewer));
  PetscFunctionReturn(PETSC_SUCCESS);
}

static PetscErrorCode TaoSetUp_BRGN(Tao tao)
{
  TAO_BRGN *gn = (TAO_BRGN *)tao->data;
  PetscBool is_bnls, is_bntr, is_bntl;
  PetscInt  i, n, N, K; /* dict has size K*N*/

  PetscFunctionBegin;
  PetscCheck(tao->ls_res, PetscObjectComm((PetscObject)tao), PETSC_ERR_ORDER, "TaoSetResidualRoutine() must be called before setup!");
  PetscCall(PetscObjectTypeCompare((PetscObject)gn->subsolver, TAOBNLS, &is_bnls));
  PetscCall(PetscObjectTypeCompare((PetscObject)gn->subsolver, TAOBNTR, &is_bntr));
  PetscCall(PetscObjectTypeCompare((PetscObject)gn->subsolver, TAOBNTL, &is_bntl));
  PetscCheck((!is_bnls && !is_bntr && !is_bntl) || tao->ls_jac, PetscObjectComm((PetscObject)tao), PETSC_ERR_ORDER, "TaoSetResidualJacobianRoutine() must be called before setup!");
  if (!tao->gradient) PetscCall(VecDuplicate(tao->solution, &tao->gradient));
  if (!gn->x_work) PetscCall(VecDuplicate(tao->solution, &gn->x_work));
  if (!gn->r_work) PetscCall(VecDuplicate(tao->ls_res, &gn->r_work));
  if (!gn->x_old) {
    PetscCall(VecDuplicate(tao->solution, &gn->x_old));
    PetscCall(VecSet(gn->x_old, 0.0));
  }

  if (BRGN_REGULARIZATION_L1DICT == gn->reg_type) {
    if (!gn->y) {
      if (gn->D) {
        PetscCall(MatGetSize(gn->D, &K, &N)); /* Shell matrices still must have sizes defined. K = N for identity matrix, K=N-1 or N for gradient matrix */
        PetscCall(MatCreateVecs(gn->D, NULL, &gn->y));
      } else {
        PetscCall(VecDuplicate(tao->solution, &gn->y)); /* If user does not setup dict matrix, use identity matrix, K=N */
      }
      PetscCall(VecSet(gn->y, 0.0));
    }
    if (!gn->y_work) PetscCall(VecDuplicate(gn->y, &gn->y_work));
    if (!gn->diag) {
      PetscCall(VecDuplicate(gn->y, &gn->diag));
      PetscCall(VecSet(gn->diag, 0.0));
    }
  }
  if (BRGN_REGULARIZATION_LM == gn->reg_type) {
    if (!gn->diag) PetscCall(MatCreateVecs(tao->ls_jac, &gn->diag, NULL));
    if (!gn->damping) PetscCall(MatCreateVecs(tao->ls_jac, &gn->damping, NULL));
  }

  if (!tao->setupcalled) {
    /* Hessian setup */
    if (gn->mat_explicit) {
      PetscCall(TaoComputeResidualJacobian(tao, tao->solution, tao->ls_jac, tao->ls_jac_pre));
      PetscCall(MatTransposeMatMult(tao->ls_jac, tao->ls_jac, MAT_INITIAL_MATRIX, PETSC_DEFAULT, &gn->H));
    } else {
      PetscCall(VecGetLocalSize(tao->solution, &n));
      PetscCall(VecGetSize(tao->solution, &N));
      PetscCall(MatCreate(PetscObjectComm((PetscObject)tao), &gn->H));
      PetscCall(MatSetSizes(gn->H, n, n, N, N));
      PetscCall(MatSetType(gn->H, MATSHELL));
      PetscCall(MatSetOption(gn->H, MAT_SYMMETRIC, PETSC_TRUE));
      PetscCall(MatShellSetOperation(gn->H, MATOP_MULT, (void (*)(void))GNHessianProd));
      PetscCall(MatShellSetContext(gn->H, gn));
    }
    PetscCall(MatSetUp(gn->H));
    /* Subsolver setup,include initial vector and dictionary D */
    PetscCall(TaoSetUpdate(gn->subsolver, GNHookFunction, gn));
    PetscCall(TaoSetSolution(gn->subsolver, tao->solution));
    if (tao->bounded) PetscCall(TaoSetVariableBounds(gn->subsolver, tao->XL, tao->XU));
    PetscCall(TaoSetResidualRoutine(gn->subsolver, tao->ls_res, tao->ops->computeresidual, tao->user_lsresP));
    PetscCall(TaoSetJacobianResidualRoutine(gn->subsolver, tao->ls_jac, tao->ls_jac, tao->ops->computeresidualjacobian, tao->user_lsjacP));
    PetscCall(TaoSetObjectiveAndGradient(gn->subsolver, NULL, GNObjectiveGradientEval, gn));
    PetscCall(TaoSetHessian(gn->subsolver, gn->H, gn->H, GNComputeHessian, gn));
    /* Propagate some options down */
    PetscCall(TaoSetTolerances(gn->subsolver, tao->gatol, tao->grtol, tao->gttol));
    PetscCall(TaoSetMaximumIterations(gn->subsolver, tao->max_it));
    PetscCall(TaoSetMaximumFunctionEvaluations(gn->subsolver, tao->max_funcs));
    for (i = 0; i < tao->numbermonitors; ++i) {
      PetscCall(TaoSetMonitor(gn->subsolver, tao->monitor[i], tao->monitorcontext[i], tao->monitordestroy[i]));
      PetscCall(PetscObjectReference((PetscObject)(tao->monitorcontext[i])));
    }
    PetscCall(TaoSetUp(gn->subsolver));
  }
  PetscFunctionReturn(PETSC_SUCCESS);
}

static PetscErrorCode TaoDestroy_BRGN(Tao tao)
{
  TAO_BRGN *gn = (TAO_BRGN *)tao->data;

  PetscFunctionBegin;
  if (tao->setupcalled) {
    PetscCall(VecDestroy(&tao->gradient));
    PetscCall(VecDestroy(&gn->x_work));
    PetscCall(VecDestroy(&gn->r_work));
    PetscCall(VecDestroy(&gn->x_old));
    PetscCall(VecDestroy(&gn->diag));
    PetscCall(VecDestroy(&gn->y));
    PetscCall(VecDestroy(&gn->y_work));
  }
  PetscCall(VecDestroy(&gn->damping));
  PetscCall(VecDestroy(&gn->diag));
  PetscCall(MatDestroy(&gn->H));
  PetscCall(MatDestroy(&gn->D));
  PetscCall(MatDestroy(&gn->Hreg));
  PetscCall(TaoDestroy(&gn->subsolver));
  gn->parent = NULL;
  PetscCall(PetscFree(tao->data));
  PetscFunctionReturn(PETSC_SUCCESS);
}

/*MC
  TAOBRGN - Bounded Regularized Gauss-Newton method for solving nonlinear least-squares
            problems with bound constraints. This algorithm is a thin wrapper around `TAOBNTL`
            that constructs the Gauss-Newton problem with the user-provided least-squares
            residual and Jacobian. The algorithm offers an L2-norm ("l2pure"), L2-norm proximal point ("l2prox")
            regularizer, and L1-norm dictionary regularizer ("l1dict"), where we approximate the
            L1-norm ||x||_1 by sum_i(sqrt(x_i^2+epsilon^2)-epsilon) with a small positive number epsilon.
            Also offered is the "lm" regularizer which uses a scaled diagonal of J^T J.
            With the "lm" regularizer, `TAOBRGN` is a Levenberg-Marquardt optimizer.
            The user can also provide own regularization function.

  Options Database Keys:
+ -tao_brgn_regularization_type - regularization type ("user", "l2prox", "l2pure", "l1dict", "lm") (default "l2prox")
. -tao_brgn_regularizer_weight  - regularizer weight (default 1e-4)
- -tao_brgn_l1_smooth_epsilon   - L1-norm smooth approximation parameter: ||x||_1 = sum(sqrt(x.^2+epsilon^2)-epsilon) (default 1e-6)

  Level: beginner

.seealso: `Tao`, `TaoBRGNGetSubsolver()`, `TaoBRGNSetRegularizerWeight()`, `TaoBRGNSetL1SmoothEpsilon()`, `TaoBRGNSetDictionaryMatrix()`,
          `TaoBRGNSetRegularizerObjectiveAndGradientRoutine()`, `TaoBRGNSetRegularizerHessianRoutine()`
M*/
PETSC_EXTERN PetscErrorCode TaoCreate_BRGN(Tao tao)
{
  TAO_BRGN *gn;

  PetscFunctionBegin;
  PetscCall(PetscNew(&gn));

  tao->ops->destroy        = TaoDestroy_BRGN;
  tao->ops->setup          = TaoSetUp_BRGN;
  tao->ops->setfromoptions = TaoSetFromOptions_BRGN;
  tao->ops->view           = TaoView_BRGN;
  tao->ops->solve          = TaoSolve_BRGN;

  tao->data                  = gn;
  gn->reg_type               = BRGN_REGULARIZATION_L2PROX;
  gn->lambda                 = 1e-4;
  gn->epsilon                = 1e-6;
  gn->downhill_lambda_change = 1. / 5.;
  gn->uphill_lambda_change   = 1.5;
  gn->parent                 = tao;

  PetscCall(TaoCreate(PetscObjectComm((PetscObject)tao), &gn->subsolver));
  PetscCall(TaoSetType(gn->subsolver, TAOBNLS));
  PetscCall(TaoSetOptionsPrefix(gn->subsolver, "tao_brgn_subsolver_"));
  PetscFunctionReturn(PETSC_SUCCESS);
}

/*@
  TaoBRGNGetSubsolver - Get the pointer to the subsolver inside a `TAOBRGN`

  Collective

  Input Parameters:
+  tao - the Tao solver context
-  subsolver - the `Tao` sub-solver context

  Level: advanced

.seealso: `Tao`, `Mat`, `TAOBRGN`
@*/
PetscErrorCode TaoBRGNGetSubsolver(Tao tao, Tao *subsolver)
{
  TAO_BRGN *gn = (TAO_BRGN *)tao->data;

  PetscFunctionBegin;
  *subsolver = gn->subsolver;
  PetscFunctionReturn(PETSC_SUCCESS);
}

/*@
  TaoBRGNSetRegularizerWeight - Set the regularizer weight for the Gauss-Newton least-squares algorithm

  Collective

  Input Parameters:
+  tao - the `Tao` solver context
-  lambda - L1-norm regularizer weight

  Level: beginner

.seealso: `Tao`, `Mat`, `TAOBRGN`
@*/
PetscErrorCode TaoBRGNSetRegularizerWeight(Tao tao, PetscReal lambda)
{
  TAO_BRGN *gn = (TAO_BRGN *)tao->data;

  /* Initialize lambda here */

  PetscFunctionBegin;
  gn->lambda = lambda;
  PetscFunctionReturn(PETSC_SUCCESS);
}

/*@
  TaoBRGNSetL1SmoothEpsilon - Set the L1-norm smooth approximation parameter for L1-regularized least-squares algorithm

  Collective

  Input Parameters:
+  tao - the `Tao` solver context
-  epsilon - L1-norm smooth approximation parameter

  Level: advanced

.seealso: `Tao`, `Mat`, `TAOBRGN`
@*/
PetscErrorCode TaoBRGNSetL1SmoothEpsilon(Tao tao, PetscReal epsilon)
{
  TAO_BRGN *gn = (TAO_BRGN *)tao->data;

  /* Initialize epsilon here */

  PetscFunctionBegin;
  gn->epsilon = epsilon;
  PetscFunctionReturn(PETSC_SUCCESS);
}

/*@
   TaoBRGNSetDictionaryMatrix - bind the dictionary matrix from user application context to gn->D, for compressed sensing (with least-squares problem)

   Input Parameters:
+  tao  - the `Tao` context
-  dict - the user specified dictionary matrix.  We allow to set a `NULL` dictionary, which means identity matrix by default

    Level: advanced

.seealso: `Tao`, `Mat`, `TAOBRGN`
@*/
PetscErrorCode TaoBRGNSetDictionaryMatrix(Tao tao, Mat dict)
{
  TAO_BRGN *gn = (TAO_BRGN *)tao->data;
  PetscFunctionBegin;
  PetscValidHeaderSpecific(tao, TAO_CLASSID, 1);
  if (dict) {
    PetscValidHeaderSpecific(dict, MAT_CLASSID, 2);
    PetscCheckSameComm(tao, 1, dict, 2);
    PetscCall(PetscObjectReference((PetscObject)dict));
  }
  PetscCall(MatDestroy(&gn->D));
  gn->D = dict;
  PetscFunctionReturn(PETSC_SUCCESS);
}

/*@C
   TaoBRGNSetRegularizerObjectiveAndGradientRoutine - Sets the user-defined regularizer call-back
   function into the algorithm.

   Input Parameters:
+ tao - the Tao context
. func - function pointer for the regularizer value and gradient evaluation
- ctx - user context for the regularizer

   Calling Sequence of `func`:
$  PetscErrorCode (*func)(Tao tao, Vec u, PetscReal val, Vec g, void *ctx)
+  tao - the `Tao` context
.  u - the location at which to compute the objective and gradient
.  val - location to store objective function value
.  g - location to store gradient
-  ctx - user context for the regularizer Hessian

   Level: advanced

.seealso: `Tao`, `Mat`, `TAOBRGN`
@*/
PetscErrorCode TaoBRGNSetRegularizerObjectiveAndGradientRoutine(Tao tao, PetscErrorCode (*func)(Tao, Vec, PetscReal *, Vec, void *), void *ctx)
{
  TAO_BRGN *gn = (TAO_BRGN *)tao->data;

  PetscFunctionBegin;
  PetscValidHeaderSpecific(tao, TAO_CLASSID, 1);
  if (ctx) gn->reg_obj_ctx = ctx;
  if (func) gn->regularizerobjandgrad = func;
  PetscFunctionReturn(PETSC_SUCCESS);
}

/*@C
   TaoBRGNSetRegularizerHessianRoutine - Sets the user-defined regularizer call-back
   function into the algorithm.

   Input Parameters:
+  tao - the `Tao` context
.  Hreg - user-created matrix for the Hessian of the regularization term
.  func - function pointer for the regularizer Hessian evaluation
-  ctx - user context for the regularizer Hessian

   Calling Sequence of `func`:
$  PetscErrorCode (*func)(Tao tao, Vec u, Mat H, void *ctx)
+  tao - the `Tao` context
.  u - the location at which to compute the Hessian
.  Hreg - user-created matrix for the Hessian of the regularization term
-  ctx - user context for the regularizer Hessian

   Level: advanced

  .seealso: `Tao`, `Mat`, `TAOBRGN`
@*/
PetscErrorCode TaoBRGNSetRegularizerHessianRoutine(Tao tao, Mat Hreg, PetscErrorCode (*func)(Tao, Vec, Mat, void *), void *ctx)
{
  TAO_BRGN *gn = (TAO_BRGN *)tao->data;

  PetscFunctionBegin;
  PetscValidHeaderSpecific(tao, TAO_CLASSID, 1);
  if (Hreg) {
    PetscValidHeaderSpecific(Hreg, MAT_CLASSID, 2);
    PetscCheckSameComm(tao, 1, Hreg, 2);
  } else SETERRQ(PetscObjectComm((PetscObject)tao), PETSC_ERR_ARG_WRONG, "NULL Hessian detected! User must provide valid Hessian for the regularizer.");
  if (ctx) gn->reg_hess_ctx = ctx;
  if (func) gn->regularizerhessian = func;
  if (Hreg) {
    PetscCall(PetscObjectReference((PetscObject)Hreg));
    PetscCall(MatDestroy(&gn->Hreg));
    gn->Hreg = Hreg;
  }
  PetscFunctionReturn(PETSC_SUCCESS);
}