    // Copyright (C) 2015  Davis E. King (davis@dlib.net)
    // License: Boost Software License   See LICENSE.txt for the full license.
    #ifndef DLIB_MPC_Hh_
    #define DLIB_MPC_Hh_

    #include "mpc_abstract.h"
    #include "../matrix.h"
    #include "../algs.h"

    namespace dlib
    {
        template <
            long S_,
            long I_,
            unsigned long horizon_
            >
        class mpc
        {

        public:

            const static long S = S_;
            const static long I = I_;
            const static unsigned long horizon = horizon_;

            mpc(
            )
            {
                A = 0;
                B = 0;
                C = 0;
                Q = 0;
                R = 0;
                lower = 0;
                upper = 0;

                max_iterations = 0;
                eps = 0.01;
                for (unsigned long i = 0; i < horizon; ++i)
                {
                    target[i].set_size(A.nr());
                    target[i] = 0;

                    controls[i].set_size(B.nc());
                    controls[i] = 0;
                }
                lambda = 0;
            }

            mpc (
                const matrix<double,S,S>& A_,
                const matrix<double,S,I>& B_,
                const matrix<double,S,1>& C_,
                const matrix<double,S,1>& Q_,
                const matrix<double,I,1>& R_,
                const matrix<double,I,1>& lower_,
                const matrix<double,I,1>& upper_
            ) : A(A_), B(B_), C(C_), Q(Q_), R(R_), lower(lower_), upper(upper_)
            {
                // make sure requires clause is not broken
                DLIB_ASSERT(A.nr() > 0 && B.nc() > 0,
                    "\t mpc::mpc()"
                    << "\n\t invalid inputs were given to this function"
                    << "\n\t A.nr(): " <<  A.nr()
                    << "\n\t B.nc(): " <<  B.nc()
                    );

                DLIB_ASSERT(A.nr() == A.nc() &&
                            A.nr() == B.nr() &&
                            A.nr() == C.nr() &&
                            A.nr() == Q.nr(),
                    "\t mpc::mpc()"
                    << "\n\t invalid inputs were given to this function"
                    << "\n\t A.nr(): " <<  A.nr()
                    << "\n\t A.nc(): " <<  A.nc()
                    << "\n\t B.nr(): " <<  B.nr()
                    << "\n\t C.nr(): " <<  C.nr()
                    << "\n\t Q.nr(): " <<  Q.nr()
                    );
                DLIB_ASSERT(
                            B.nc() == R.nr() &&
                            B.nc() == lower.nr() &&
                            B.nc() == upper.nr() ,
                    "\t mpc::mpc()"
                    << "\n\t invalid inputs were given to this function"
                    << "\n\t B.nr(): " <<  B.nr()
                    << "\n\t B.nc(): " <<  B.nc()
                    << "\n\t lower.nr(): " <<  lower.nr()
                    << "\n\t upper.nr(): " <<  upper.nr()
                    );
                DLIB_ASSERT(min(Q) >= 0 &&
                            min(R) >  0 &&
                            min(upper-lower) >= 0,
                    "\t mpc::mpc()"
                    << "\n\t invalid inputs were given to this function"
                    << "\n\t min(Q): " << min(Q)
                    << "\n\t min(R): " << min(R)
                    << "\n\t min(upper-lower): " << min(upper-lower)
                    );

                max_iterations = 10000;
                eps = 0.01;
                for (unsigned long i = 0; i < horizon; ++i)
                {
                    target[i].set_size(A.nr());
                    target[i] = 0;

                    controls[i].set_size(B.nc());
                    controls[i] = 0;
                }

                // Bound the maximum eigenvalue of the hessian by computing the trace of the
                // hessian matrix.
                lambda = sum(R)*horizon;
                matrix<double,S,S> temp = diagm(Q);
                for (unsigned long c = 0; c < horizon; ++c)
                {
                    lambda += trace(trans(B)*temp*B);
                    Q_diag[horizon-c-1] = diag(trans(B)*temp*B);
                    temp = trans(A)*temp*A + diagm(Q);
                }

            }

            const matrix<double,S,S>& get_A (
            ) const { return A; }
            const matrix<double,S,I>& get_B (
            ) const { return B; }
            const matrix<double,S,1>& get_C (
            ) const { return C; }
            const matrix<double,S,1>& get_Q (
            ) const { return Q; }
            const matrix<double,I,1>& get_R (
            ) const { return R; }
            const matrix<double,I,1>& get_lower_constraints (
            ) const { return lower; }
            const matrix<double,I,1>& get_upper_constraints (
            ) const { return upper; }

            void set_target (
                const matrix<double,S,1>& val,
                const unsigned long time
            )
            {
                DLIB_ASSERT(time < horizon,
                    "\t void mpc::set_target(eps_)"
                    << "\n\t invalid inputs were given to this function"
                    << "\n\t time: " << time
                    << "\n\t horizon: " << horizon
                    );

                target[time] = val;
            }

            void set_target (
                const matrix<double,S,1>& val
            )
            {
                for (unsigned long i = 0; i < horizon; ++i)
                    target[i] = val;
            }

            void set_last_target (
                const matrix<double,S,1>& val
            )
            {
                set_target(val, horizon-1);
            }

            const matrix<double,S,1>& get_target (
                const unsigned long time
            ) const
            {
                // make sure requires clause is not broken
                DLIB_ASSERT(time < horizon,
                    "\t matrix mpc::get_target(eps_)"
                    << "\n\t invalid inputs were given to this function"
                    << "\n\t time: " << time
                    << "\n\t horizon: " << horizon
                    );

                return target[time];
            }

            double get_target_error_threshold (
            ) const
            {
                return target_error_threshold;
            }

            void set_target_error_threshold (
                const double thresh
            )
            {
                target_error_threshold = thresh;
            }

            unsigned long get_max_iterations (
            ) const { return max_iterations; }

            void set_max_iterations (
                unsigned long max_iter
            )
            {
                max_iterations = max_iter;
            }

            void set_epsilon (
                double eps_
            )
            {
                // make sure requires clause is not broken
                DLIB_ASSERT(eps_ > 0,
                    "\t void mpc::set_epsilon(eps_)"
                    << "\n\t invalid inputs were given to this function"
                    << "\n\t eps_: " << eps_
                    );
                eps = eps_;
            }

            double get_epsilon (
            ) const
            {
                return eps;
            }

            matrix<double,I,1> operator() (
                const matrix<double,S,1>& current_state
            )
            {
                // make sure requires clause is not broken
                DLIB_ASSERT(min(R) > 0 && A.nr() == current_state.size(),
                    "\t matrix mpc::operator(current_state)"
                    << "\n\t invalid inputs were given to this function"
                    << "\n\t min(R): " << min(R)
                    << "\n\t A.nr(): " << A.nr()
                    << "\n\t current_state.size(): " << current_state.size()
                    );

                // Shift the inputs over by one time step so we can use them to warm start the
                // optimizer.
                for (unsigned long i = 1; i < horizon; ++i)
                    controls[i-1] = controls[i];

                solve_linear_mpc(current_state);

                for (unsigned long i = 1; i < horizon; ++i)
                    target[i-1] = target[i];

                return controls[0];
            }

        private:

            // These temporary variables here just to avoid reallocating them on each call to
            // operator().
            matrix<double,S,1> M[horizon];
            matrix<double,I,1> MM[horizon];
            matrix<double,I,1> df[horizon];
            matrix<double,I,1> v[horizon];
            matrix<double,I,1> v_old[horizon];

            void solve_linear_mpc (
                const matrix<double,S,1>& initial_state
            )
            {
                // make it so MM == trans(K)*Q*(M-target)
                M[0] = A*initial_state + C;
                for (unsigned long i = 1; i < horizon; ++i)
                    M[i] = A*M[i-1] + C;
                double min_error_seen = std::numeric_limits<double>::infinity();
                for (unsigned long i = 0; i < horizon; ++i) {
                    M[i] = diagm(Q)*(M[i]-target[i]);
                    if (target_error_threshold >= 0) {
                        const double current_error = dot(M[i]-target[i], M[i]);
                        min_error_seen = std::min(current_error, min_error_seen);
                        // Once our trajectory gets us within target_error_threshold of the target at any time
                        // then we essentially stop caring about what happens at times after that.  This
                        // gives us a "just hit the target, I don't care what happens after the hit" model.
                        if (min_error_seen < target_error_threshold)
                        {
                            // Make it so all future errors now appear to be 0.  E.g. it is as if target[i]
                            // was equal to the state the current control sequence generates at time i.
                            M[i] = 0;
                        }
                    }
                }
                for (long i = (long)horizon-2; i >= 0; --i)
                    M[i] += trans(A)*M[i+1];
                for (unsigned long i = 0; i < horizon; ++i)
                    MM[i] = trans(B)*M[i];

                unsigned long iter = 0;
                for (; iter < max_iterations; ++iter)
                {
                    // compute current gradient and put it into df.
                    // df == H*controls + MM;
                    M[0] = B*controls[0];
                    for (unsigned long i = 1; i < horizon; ++i)
                        M[i] = A*M[i-1] + B*controls[i];
                    for (unsigned long i = 0; i < horizon; ++i)
                        M[i] = diagm(Q)*M[i];
                    for (long i = (long)horizon-2; i >= 0; --i)
                        M[i] += trans(A)*M[i+1];
                    for (unsigned long i = 0; i < horizon; ++i)
                        df[i] = MM[i] + trans(B)*M[i] + diagm(R)*controls[i];

                    // Check the stopping condition, which is the magnitude of the largest element
                    // of the gradient.
                    double max_df = 0;
                    unsigned long max_t = 0;
                    long max_v = 0;
                    for (unsigned long i = 0; i < horizon; ++i)
                    {
                        for (long j = 0; j < controls[i].size(); ++j)
                        {
                            // if this variable isn't an active constraint then we care about it's
                            // derivative.
                            if (!((controls[i](j) <= lower(j) && df[i](j) > 0) ||
                                  (controls[i](j) >= upper(j) && df[i](j) < 0)))
                            {
                                if (std::abs(df[i](j)) > max_df)
                                {
                                    max_df = std::abs(df[i](j));
                                    max_t = i;
                                    max_v = j;
                                }
                            }
                        }
                    }
                    if (max_df < eps)
                        break;

                    // We will start out by doing a little bit of coordinate descent because it
                    // allows us to optimize individual variables exactly.  Since we are warm
                    // starting each iteration with a really good solution this helps speed
                    // things up a lot.
                    const unsigned long smo_iters = 50;
                    if (iter < smo_iters)
                    {
                        if (Q_diag[max_t](max_v) == 0) continue;

                        // Take the optimal step but just for one variable.
                        controls[max_t](max_v) = -(df[max_t](max_v)-Q_diag[max_t](max_v)*controls[max_t](max_v))/Q_diag[max_t](max_v);
                        controls[max_t](max_v) = put_in_range(lower(max_v), upper(max_v), controls[max_t](max_v));

                        // If this is the last SMO iteration then don't forget to initialize v
                        // for the gradient steps.
                        if (iter+1 == smo_iters)
                        {
                            for (unsigned long i = 0; i < horizon; ++i)
                                v[i] = controls[i];
                        }
                    }
                    else
                    {
                        // Take a projected gradient step.
                        for (unsigned long i = 0; i < horizon; ++i)
                        {
                            v_old[i] = v[i];
                            v[i] = dlib::clamp(controls[i] - 1.0/lambda * df[i], lower, upper);
                            controls[i] = dlib::clamp(v[i] + (std::sqrt(lambda)-1)/(std::sqrt(lambda)+1)*(v[i]-v_old[i]), lower, upper);
                        }
                    }
                }
            }

            unsigned long max_iterations;
            double eps;
            double target_error_threshold = -1;

            matrix<double,S,S> A;
            matrix<double,S,I> B;
            matrix<double,S,1> C;
            matrix<double,S,1> Q;
            matrix<double,I,1> R;
            matrix<double,I,1> lower;
            matrix<double,I,1> upper;
            matrix<double,S,1> target[horizon];

            double lambda; // abound on the largest eigenvalue of the hessian matrix.
            matrix<double,I,1> Q_diag[horizon];
            matrix<double,I,1> controls[horizon];

        };

    }

    #endif // DLIB_MPC_Hh_