Ph$bdZddlmZddlmZddlmZmZmZddl Z ddl m Z dgZ d Zddefd Zy) z&Byrd-Omojokun Trust-Region SQP method.)eye) projections)modified_dogleg projected_cgbox_intersectionsN)normequality_constrained_sqpcFtj|\}t|S)N)npshapespeye)xns C:\Users\daisl\Desktop\realtime-object-detection\venv\Lib\site-packages\scipy/optimize/_trustregion_constr/equality_constrained_sqp.pydefault_scalingr s !BA 8Oc  d}d}d}d}d}d}d}d}d}d}d}tj|\}| %tj|tj } |$tj|tj}tj|}| }| }|}|} |}!|}"||}# t |"| \}$}%}&|%j|  }(|||(})t| |"jj|(ztj}*t|!d kDrt|!tjnd }+d d d d},d }-|| ||-|*|+|||,sTt|"|&|!||z|| z||z}.|)j|.| z}/tj|!}0tj|dztjj|.dzz }1| |.z }2||.z }3t!|)|/|$|&|0|1|2|3\}4},|.|4z}5d|)j|5j|5z| jj|5z}6|"j|5|!z}7t|!t|7z }8t#d|8}8|}9|6d kDr|6d|z |8zz }:t#||:}|6 ||8zz};||t|!zz}<||#j|5z}=||=\}>}?|>|t|?zz}@|<|@z }A|A|;z }B|B|krt|.|t|4zkrs|&j|? }Ct%|5|C| |\}D}E}F||#j|5|E|Czzz}G||G\}H}I|H|t|Izz}J|<|Jz }K|K|;z }L|Fr L|k\rG}=H}>I}?L}BB|k\rt#|t|5z|}nZB|k\rt#|t|5z|}n<B|kr7d|z dBz z }M|Mt|5z}N|N||zk\r||z}nN||zk\rN}n||z}B|k\r|=}|>|?}!}||\} }"||}#t |"| \}$}%}&|%j|  }(|||(})d }-t| |"jj|(ztj}*t|!d kDrt|!tjnd }+n|9}d}-|| ||-|*|+|||,sT|| fS#t $r!}'t|'d k(r t d |'|'d }'~'wwxYw)auSolve nonlinear equality-constrained problem using trust-region SQP. Solve optimization problem: minimize fun(x) subject to: constr(x) = 0 using Byrd-Omojokun Trust-Region SQP method described in [1]_. Several implementation details are based on [2]_ and [3]_, p. 549. References ---------- .. [1] Lalee, Marucha, Jorge Nocedal, and Todd Plantenga. "On the implementation of an algorithm for large-scale equality constrained optimization." SIAM Journal on Optimization 8.3 (1998): 682-706. .. [2] Byrd, Richard H., Mary E. Hribar, and Jorge Nocedal. "An interior point algorithm for large-scale nonlinear programming." SIAM Journal on Optimization 9.4 (1999): 877-900. .. [3] Nocedal, Jorge, and Stephen J. Wright. "Numerical optimization" Second Edition (2006). g333333?g?g:0yE>g@g@g?g?g?Nzexpected square matrixzThe 'expected square matrix' error can occur if there are more equality constraints than independent variables. Consider how your constraints are set up, or use factorization_method='SVDFactorization'.rF)niter stop_cond hits_boundarygؗҜ>"3Eq3H!HI"}"}"1c1a#1#'/ G GquuQxnnQ//!##''!*<EE!HQJQ$011E5!" Q )a.>-EFK';/G /.>WT!W_,QUU1X'/$wtF|';;*,??*-@@ 7 7 8}tBx/ /vA/1hIOAq)a!A#g&E)%0LE5!&e)rys8,%$KK % &'+&*%4Vr