octave-optim 1.4.1-2 / usr / share / octave / packages / optim-1.4.1 / leasqr.m

## Copyright (C) 1992-1994 Richard Shrager
## Copyright (C) 1992-1994 Arthur Jutan <jutan@charon.engga.uwo.ca>
## Copyright (C) 1992-1994 Ray Muzic <rfm2@ds2.uh.cwru.edu>
## Copyright (C) 2010-2013 Olaf Till <i7tiol@t-online.de>
##
## This program is free software; you can redistribute it and/or modify it under
## the terms of the GNU General Public License as published by the Free Software
## Foundation; either version 3 of the License, or (at your option) any later
## version.
##
## This program is distributed in the hope that it will be useful, but WITHOUT
## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
## details.
##
## You should have received a copy of the GNU General Public License along with
## this program; if not, see <http://www.gnu.org/licenses/>.

## -*- texinfo -*-
## @deftypefn  {Function File} {} leasqr (@var{x}, @var{y}, @var{pin}, @var{F})
## @deftypefnx {Function File} {} leasqr (@var{x}, @var{y}, @var{pin}, @var{F}, @var{stol})
## @deftypefnx {Function File} {} leasqr (@var{x}, @var{y}, @var{pin}, @var{F}, @var{stol}, @var{niter})
## @deftypefnx {Function File} {} leasqr (@var{x}, @var{y}, @var{pin}, @var{F}, @var{stol}, @var{niter}, @var{wt})
## @deftypefnx {Function File} {} leasqr (@var{x}, @var{y}, @var{pin}, @var{F}, @var{stol}, @var{niter}, @var{wt}, @var{dp})
## @deftypefnx {Function File} {} leasqr (@var{x}, @var{y}, @var{pin}, @var{F}, @var{stol}, @var{niter}, @var{wt}, @var{dp}, @var{dFdp})
## @deftypefnx {Function File} {} leasqr (@var{x}, @var{y}, @var{pin}, @var{F}, @var{stol}, @var{niter}, @var{wt}, @var{dp}, @var{dFdp}, @var{options})
## @deftypefnx {Function File} {[@var{f}, @var{p}, @var{cvg}, @var{iter}, @var{corp}, @var{covp}, @var{covr}, @var{stdresid}, @var{Z}, @var{r2}] =} leasqr (@dots{})
## Levenberg-Marquardt nonlinear regression.
##
## Input arguments:
##
## @table @var
## @item x
## Vector or matrix of independent variables.
##
## @item y
## Vector or matrix of observed values.
##
## @item pin
## Vector of initial parameters to be adjusted by leasqr.
##
## @item F
## Name of function or function handle. The function must be of the form
## @code{y = f(x, p)}, with y, x, p of the form @var{y}, @var{x}, @var{pin}.
##
## @item stol
## Scalar tolerance on fractional improvement in scalar sum of squares, i.e.,
## @code{sum ((@var{wt} .* (@var{y}-@var{f}))^2)}.  Set to 0.0001 if
## empty or not given;
##
## @item niter
## Maximum number of iterations.  Set to 20 if empty or not given.
##
## @item wt
## Statistical weights (same dimensions as @var{y}).  These should be
## set to be proportional to @code{sqrt (@var{y}) ^-1}, i.e., the
## covariance matrix of the data is assumed to be proportional to
## diagonal with diagonal equal to @code{(@var{wt}.^2)^-1}.  The constant of
## proportionality will be estimated.  Set to @code{ones (size
## (@var{y}))} if empty or not given.
##
## @item dp
## Fractional increment of @var{p} for numerical partial derivatives.  Set
## to @code{0.001 * ones (size (@var{pin}))} if empty or not given.
##
## @itemize @bullet
## @item dp(j) > 0 means central differences on j-th parameter p(j).
## @item dp(j) < 0 means one-sided differences on j-th parameter p(j).
## @item dp(j) = 0 holds p(j) fixed, i.e., leasqr won't change initial guess: pin(j)
## @end itemize
##
## @item dFdp
## Name of partial derivative function in quotes or function handle. If
## not given or empty, set to @code{dfdp}, a slow but general partial
## derivatives function. The function must be of the form @code{prt =
## dfdp (x, f, p, dp, F [,bounds])}.  For backwards compatibility, the
## function will only be called with an extra 'bounds' argument if the
## 'bounds' option is explicitly specified to leasqr (see dfdp.m).
##
## @item options
## Structure with multiple options. The following fields are recognized:
##
## @table @asis
## @item @qcode{fract_prec}
## Column vector (same length as @var{pin})
## of desired fractional precisions in parameter estimates.
## Iterations are terminated if change in parameter vector (chg)
## relative to current parameter estimate is less than their
## corresponding elements in 'fract_prec', i.e.,
## @code{all (abs (chg) < abs (options.fract_prec .* current_parm_est))} on two
## consecutive iterations. Defaults to @code{zeros (size (@var{pin}))}.
##
## @item @qcode{max_fract_change}
## Column vector (same length as @var{pin}) of maximum fractional step
## changes in parameter vector.
## Fractional change in elements of parameter vector is constrained to
## be at most 'max_fract_change' between sucessive iterations, i.e.,
## @code{abs (chg(i)) = abs (min([chg(i), options.max_fract_change(i) * current param estimate]))}.
## Defaults to @code{Inf * ones (size (@var{pin}))}.
##
## @item @qcode{inequc}
## Cell-array containing up to four entries,
## two entries for linear inequality constraints and/or one or two
## entries for general inequality constraints.  Initial parameters
## must satisfy these constraints.  Either linear or general
## constraints may be the first entries, but the two entries for
## linear constraints must be adjacent and, if two entries are given
## for general constraints, they also must be adjacent.  The two
## entries for linear constraints are a matrix (say m) and a vector
## (say v), specifying linear inequality constraints of the form
## `m.' * parameters + v >= 0'. If the constraints are just bounds,
## it is suggested to specify them in 'options.bounds' instead,
## since then some sanity tests are performed, and since the
## function 'dfdp.m' is guarantied not to violate constraints during
## determination of the numeric gradient only for those constraints
## specified as 'bounds' (possibly with violations due to a certain
## inaccuracy, however, except if no constraints except bounds are
## specified). The first entry for general constraints must be a
## differentiable vector valued function (say h), specifying general
## inequality constraints of the form `h (p[, idx]) >= 0'; p is the
## column vector of optimized paraters and the optional argument idx
## is a logical index. h has to return the values of all constraints
## if idx is not given, and has to return only the indexed
## constraints if idx is given (so computation of the other
## constraints can be spared). If a second entry for general
## constraints is given, it must be a function (say dh) which
## returnes a matrix whos rows contain the gradients of the
## constraint function h with respect to the optimized parameters.
## It has the form jac_h = dh (vh, p, dp, h, idx[, bounds]); p is
## the column vector of optimized parameters, and idx is a logical
## index --- only the rows indexed by idx must be returned (so
## computation of the others can be spared). The other arguments of
## dh are for the case that dh computes numerical gradients: vh is
## the column vector of the current values of the constraint
## function h, with idx already applied. h is a function h (p) to
## compute the values of the constraints for parameters p, it will
## return only the values indexed by idx. dp is a suggestion for
## relative step width, having the same value as the argument 'dp'
## of leasqr above. If bounds were specified to leasqr, they are
## provided in the argument bounds of dh, to enable their
## consideration in determination of numerical gradients. If dh is
## not specified to leasqr, numerical gradients are computed in the
## same way as with 'dfdp.m' (see above). If some constraints are
## linear, they should be specified as linear constraints (or
## bounds, if applicable) for reasons of performance, even if
## general constraints are also specified.
##
## @item @qcode{bounds}
## Two-column-matrix, one row for each
## parameter in @var{pin}. Each row contains a minimal and maximal value
## for each parameter. Default: [-Inf, Inf] in each row. If this
## field is used with an existing user-side function for 'dFdp'
## (see above) the functions interface might have to be changed.
##
## @item @qcode{equc}
## Equality constraints, specified the same
## way as inequality constraints (see field 'options.inequc').
## Initial parameters must satisfy these constraints.
## Note that there is possibly a certain inaccuracy in honoring
## constraints, except if only bounds are specified.
## @emph{Warning}: If constraints (or bounds) are set, returned guesses
## of @var{corp}, @var{covp}, and @var{Z} are generally invalid, even if
## no constraints
## are active for the final parameters. If equality constraints are
## specified, @var{corp}, @var{covp}, and @var{Z} are not guessed at all.
##
## @item @qcode{cpiv}
## Function for complementary pivot algorithm
## for inequality constraints. Defaults to cpiv_bard.  No different
## function is supplied.
##
## @end table
##
## For backwards compatibility, @var{options} can also be a matrix whose
## first and second column contains the values of @qcode{fract_prec} and
## @qcode{max_fract_change}, respectively.
##
## @end table
##
## Output:
##
## @table @var
## @item f
## Column vector of values computed: f = F(x,p).
##
## @item p
## Column vector trial or final parameters, i.e, the solution.
##
## @item cvg
## Scalar: = 1 if convergence, = 0 otherwise.
##
## @item iter
## Scalar number of iterations used.
##
## @item corp
## Correlation matrix for parameters.
##
## @item covp
## Covariance matrix of the parameters.
##
## @item covr
## Diag(covariance matrix of the residuals).
##
## @item stdresid
## Standardized residuals.
##
## @item Z
## Matrix that defines confidence region (see comments in the source).
##
## @item r2
## Coefficient of multiple determination, intercept form.
##
## @end table
##
## Not suitable for non-real residuals.
##
## References:
## Bard, Nonlinear Parameter Estimation, Academic Press, 1974.
## Draper and Smith, Applied Regression Analysis, John Wiley and Sons, 1981.
##
## @end deftypefn

function [f,p,cvg,iter,corp,covp,covr,stdresid,Z,r2]= ...
      leasqr(x,y,pin,F,stol,niter,wt,dp,dFdp,options)

  ## The following two blocks of comments are chiefly from the original
  ## version for Matlab. For later changes the logs of the Octave Forge
  ## svn repository should also be consulted.

  ## A modified version of Levenberg-Marquardt
  ## Non-Linear Regression program previously submitted by R.Schrager.
  ## This version corrects an error in that version and also provides
  ## an easier to use version with automatic numerical calculation of
  ## the Jacobian Matrix. In addition, this version calculates statistics
  ## such as correlation, etc....
  ##
  ## Version 3 Notes
  ## Errors in the original version submitted by Shrager (now called
  ## version 1) and the improved version of Jutan (now called version 2)
  ## have been corrected.
  ## Additional features, statistical tests, and documentation have also been
  ## included along with an example of usage.  BEWARE: Some the the input and
  ## output arguments were changed from the previous version.
  ##
  ##     Ray Muzic     <rfm2@ds2.uh.cwru.edu>
  ##     Arthur Jutan  <jutan@charon.engga.uwo.ca>

  ## Richard I. Shrager (301)-496-1122
  ## Modified by A.Jutan (519)-679-2111
  ## Modified by Ray Muzic 14-Jul-1992
  ##       1) add maxstep feature for limiting changes in parameter estimates
  ##          at each step.
  ##       2) remove forced columnization of x (x=x(:)) at beginning. x
  ##          could be a matrix with the ith row of containing values of
  ##          the independent variables at the ith observation.
  ##       3) add verbose option
  ##       4) add optional return arguments covp, stdresid, chi2
  ##       5) revise estimates of corp, stdev
  ## Modified by Ray Muzic 11-Oct-1992
  ##	1) revise estimate of Vy.  remove chi2, add Z as return values
  ##       (later remark: the current code contains no variable Vy)
  ## Modified by Ray Muzic 7-Jan-1994
  ##       1) Replace ones(x) with a construct that is compatible with versions
  ##          newer and older than v 4.1.
  ##       2) Added global declaration of verbose (needed for newer than v4.x)
  ##       3) Replace return value var, the variance of the residuals
  ##          with covr, the covariance matrix of the residuals.
  ##       4) Introduce options as 10th input argument.  Include
  ##          convergence criteria and maxstep in it.
  ##       5) Correct calculation of xtx which affects coveraince estimate.
  ##       6) Eliminate stdev (estimate of standard deviation of
  ##          parameter estimates) from the return values.  The covp is a
  ##          much more meaningful expression of precision because it
  ##          specifies a confidence region in contrast to a confidence
  ##          interval.. If needed, however, stdev may be calculated as
  ##          stdev=sqrt(diag(covp)).
  ##       7) Change the order of the return values to a more logical order.
  ##       8) Change to more efficent algorithm of Bard for selecting epsL.
  ##       9) Tighten up memory usage by making use of sparse matrices (if 
  ##          MATLAB version >= 4.0) in computation of covp, corp, stdresid.
  ## Modified by Francesco Potortì
  ##       for use in Octave
  ## Added linear inequality constraints with quadratic programming to
  ## this file and special case bounds to this file and to dfdp.m
  ## (24-Feb-2010) and later also general inequality constraints
  ## (12-Apr-2010) (Reference: Bard, Y., 'An eclectic approach to
  ## nonlinear programming', Proc. ANU Sem. Optimization, Canberra,
  ## Austral. Nat. Univ.). Differences from the reference: adaption to
  ## svd-based algorithm, linesearch or stepwidth adaptions to ensure
  ## decrease in objective function omitted to rather start a new
  ## overall cycle with a new epsL, some performance gains from linear
  ## constraints even if general constraints are specified. Equality
  ## constraints also implemented. Olaf Till
  ## Now split into files leasqr.m and __lm_svd__.m.

  __plot_cmds__ (); # flag persistent variables invalid

  global verbose;

  ## argument processing
  ##

  if (nargin < 4)
    print_usage ();
  endif

  if (nargin > 8 && ! isempty (dFdp))
    if (ischar (dFdp))
      dfdp = str2func (dFdp);
    else
      dfdp = dFdp;
    endif
  endif
  
  if (nargin <= 7 || isempty (dp)) dp=.001*(pin*0+1); endif #DT
  if (nargin <= 6 || isempty (wt)) wt = ones (size (y)); endif #SMB modification
  if (nargin <= 5) niter = []; endif
  if (nargin == 4 || isempty (stol)) stol=.0001; endif
  if (ischar (F)) F = str2func (F); endif
  ##

  if (any (size (y) ~= size (wt)))
    error ("dimensions of observations and weights do not match");
  endif
  wtl = wt(:);
  pin=pin(:); dp=dp(:); #change all vectors to columns
  [rows_y, cols_y] = size (y);
  m = rows_y * cols_y; n=length(pin);
  f_pin = F (x, pin);
  if (any (size (f_pin) ~= size (y)))
    error ("dimensions of returned values of model function and of observations do not match");
  endif
  f_pin = y - f_pin;

  dFdp = @ (p, dfdp_hook) - dfdp (x, y(:) - dfdp_hook.f, p, dp, F);

  ## processing of 'options'
  pprec = zeros (n, 1);
  maxstep = Inf * ones (n, 1);
  have_gencstr = false; # no general constraints
  have_genecstr = false; # no general equality constraints
  n_gencstr = 0;
  mc = zeros (n, 0);
  vc = zeros (0, 1); rv = 0;
  emc = zeros (n, 0);
  evc = zeros (0, 1); erv = 0;
  bounds = cat (2, -Inf * ones (n, 1), Inf * ones (n, 1));
  pin_cstr.inequ.lin_except_bounds = [];;
  pin_cstr.inequ.gen = [];;
  pin_cstr.equ.lin = [];;
  pin_cstr.equ.gen = [];;
  dfdp_bounds = {};
  cpiv = @ cpiv_bard;
  eq_idx = []; # numerical index for equality constraints in all
				# constraints, later converted to
				# logical index
  if (nargin > 9)
    if (isnumeric (options)) # backwards compatibility
      tp = options;
      options = struct ("fract_prec", tp(:, 1));
      if (columns (tp) > 1)
	options.max_fract_change = tp(:, 2);
      endif
    endif
    if (isfield (options, "cpiv") && ~isempty (options.cpiv))
      ## As yet there is only one cpiv function distributed with leasqr,
      ## but this may change; the algorithm of cpiv_bard is said to be
      ## relatively fast, but may have disadvantages.
      if (ischar (options.cpiv))
	cpiv = str2func (options.cpiv);
      else
	cpiv = options.cpiv;
      endif
    endif
    if (isfield (options, "fract_prec"))
      pprec = options.fract_prec;
      if (any (size (pprec) ~= [n, 1]))
	error ("fractional precisions: wrong dimensions");
      endif
    endif
    if (isfield (options, "max_fract_change"))
      maxstep = options.max_fract_change;
      if (any (size (maxstep) ~= [n, 1]))
	error ("maximum fractional step changes: wrong dimensions");
      endif
    endif
    if (isfield (options, "inequc"))
      inequc = options.inequc;
      if (isnumeric (inequc{1}))
	mc = inequc{1};
	vc = inequc{2};
	if (length (inequc) > 2)
	  have_gencstr = true;
	  f_gencstr = inequc{3};
	  if (length (inequc) > 3)
	    df_gencstr = inequc{4};
	  else
	    df_gencstr = @ dcdp;
	  endif
	endif
      else
	lid = 0; # no linear constraints
	have_gencstr = true;
	f_gencstr = inequc{1};
	if (length (inequc) > 1)
	  if (isnumeric (inequc{2}))
	    lid = 2;
	    df_gencstr = @ dcdp;
	  else
	    df_gencstr = inequc{2};
	    if (length (inequc) > 2)
	      lid = 3;
	    endif
	  endif
	else
	  df_gencstr = @ dcdp;
	endif
	if (lid)
	  mc = inequc{lid};
	  vc = inequc{lid + 1};
	endif
      endif
      if (have_gencstr)
	if (ischar (f_gencstr))
	  f_gencstr = str2func (f_gencstr);
	endif
	tp = f_gencstr (pin);
	n_gencstr = length (tp);
 	f_gencstr = @ (p, idx) tf_gencstr (p, idx, f_gencstr);
	if (ischar (df_gencstr))
	  df_gencstr = str2func (df_gencstr);
	endif
	if (strcmp (func2str (df_gencstr), "dcdp"))
	  df_gencstr = @ (f, p, dp, idx, db) ...
	      df_gencstr (f(idx), p, dp, ...
			  @ (tp) f_gencstr (tp, idx), db{:});
	else
	  df_gencstr = @ (f, p, dp, idx, db) ...
	      df_gencstr (f(idx), p, dp, ...
			  @ (tp) f_gencstr (tp, idx), idx, db{:});
	endif
      endif
      [rm, cm] = size (mc);
      [rv, cv] = size (vc);
      if (rm ~= n || cm ~= rv || cv ~= 1)
	error ("linear inequality constraints: wrong dimensions");
      endif
      pin_cstr.inequ.lin_except_bounds = mc.' * pin + vc;
      if (have_gencstr)
	pin_cstr.inequ.gen = tp;
      endif
    endif
    if (isfield (options, "equc"))
      equc = options.equc;
      if (isnumeric (equc{1}))
	emc = equc{1};
	evc = equc{2};
	if (length (equc) > 2)
	  have_genecstr = true;
	  f_genecstr = equc{3};
	  if (length (equc) > 3)
	    df_genecstr = equc{4};
	  else
	    df_genecstr = @ dcdp;
	  endif
	endif
      else
	lid = 0; # no linear constraints
	have_genecstr = true;
	f_genecstr = equc{1};
	if (length (equc) > 1)
	  if (isnumeric (equc{2}))
	    lid = 2;
	    df_genecstr = @ dcdp;
	  else
	    df_genecstr = equc{2};
	    if (length (equc) > 2)
	      lid = 3;
	    endif
	  endif
	else
	  df_genecstr = @ dcdp;
	endif
	if (lid)
	  emc = equc{lid};
	  evc = equc{lid + 1};
	endif
      endif
      if (have_genecstr)
	if (ischar (f_genecstr))
	  f_genecstr = str2func (f_genecstr);
	endif
	tp = f_genecstr (pin);
	n_genecstr = length (tp);
	f_genecstr = @ (p, idx) tf_gencstr (p, idx, f_genecstr);
	if (ischar (df_genecstr))
	  df_genecstr = str2func (df_genecstr);
	endif
	if (strcmp (func2str (df_genecstr), "dcdp"))
	  df_genecstr = @ (f, p, dp, idx, db) ...
	      df_genecstr (f, p, dp, ...
			   @ (tp) f_genecstr (tp, idx), db{:});
	else
	  df_genecstr = @ (f, p, dp, idx, db) ...
	      df_genecstr (f, p, dp, ...
			   @ (tp) f_genecstr (tp, idx), idx, db{:});
	endif
      endif
      [erm, ecm] = size (emc);
      [erv, ecv] = size (evc);
      if (erm ~= n || ecm ~= erv || ecv ~= 1)
	error ("linear equality constraints: wrong dimensions");
      endif
      pin_cstr.equ.lin = emc.' * pin + evc;
      if (have_genecstr)
	pin_cstr.equ.gen = tp;
      endif
    endif
    if (isfield (options, "bounds"))
      bounds = options.bounds;
      if (any (size (bounds) ~= [n, 2]))
	error ("bounds: wrong dimensions");
      endif
      idx = bounds(:, 1) > bounds(:, 2);
      tp = bounds(idx, 2);
      bounds(idx, 2) = bounds(idx, 1);
      bounds(idx, 1) = tp;
      ## It is possible to take this decision here, since this frontend
      ## is used only with one certain backend. The backend will check
      ## this again; but it will not reference 'dp' in its message,
      ## thats why the additional check here.
      idx = bounds(:, 1) == bounds(:, 2);
      if (any (idx))
	warning ("leasqr:constraints", "lower and upper bounds identical for some parameters, setting the respective elements of dp to zero");
	dp(idx) = 0;
      endif
      ##
      tp = eye (n);
      lidx = ~isinf (bounds(:, 1));
      uidx = ~isinf (bounds(:, 2));
      mc = cat (2, mc, tp(:, lidx), - tp(:, uidx));
      vc = cat (1, vc, - bounds(lidx, 1), bounds(uidx, 2));
      [rm, cm] = size (mc);
      [rv, cv] = size (vc);
      dfdp_bounds = {bounds};
      dFdp = @ (p, dfdp_hook) - dfdp (x, y(:) - dfdp_hook.f, p, dp, ...
				      F, bounds);
    endif
    ## concatenate inequality and equality constraint functions, mc, and
    ## vc; update eq_idx, rv, n_gencstr, have_gencstr
    if (erv > 0)
      mc = cat (2, mc, emc);
      vc = cat (1, vc, evc);
      eq_idx = rv + 1 : rv + erv;
      rv = rv + erv;
    endif
    if (have_genecstr)
      eq_idx = cat (2, eq_idx, ...
		    rv + n_gencstr + 1 : rv + n_gencstr + n_genecstr);
      nidxi = 1 : n_gencstr;
      nidxe = n_gencstr + 1 : n_gencstr + n_genecstr;
      n_gencstr = n_gencstr + n_genecstr;
      if (have_gencstr)
	f_gencstr = @ (p, idx) cat (1, ...
				    f_gencstr (p, idx(nidxi)), ...
				    f_genecstr (p, idx(nidxe)));
	df_gencstr = @ (f, p, dp, idx, db) ...
	    cat (1, ...
		 df_gencstr (f(nidxi), p, dp, idx(nidxi), db), ...
		 df_genecstr (f(nidxe), p, dp, idx(nidxe), db));
      else
	f_gencstr = f_genecstr;
	df_gencstr = df_genecstr;
	have_gencstr = true;
      endif
    endif
  endif
  if (have_gencstr)
    nidxl = 1:rv;
    nidxh = rv+1:rv+n_gencstr;
    f_cstr = @ (p, idx) ...
	cat (1, mc(:, idx(nidxl)).' * p + vc(idx(nidxl), 1), ...
	     f_gencstr (p, idx(nidxh)));
    ## in the case of this interface, diffp is already zero at fixed;
    ## also in this special case, dfdp_bounds can be filled in directly
    ## --- otherwise it would be a field of hook in the called function
    df_cstr = @ (p, idx, dfdp_hook) ...
	cat (1, mc(:, idx(nidxl)).', ...
	     df_gencstr (dfdp_hook.f(nidxh), p, dp, ...
			 idx(nidxh), ...
			 dfdp_bounds));
  else
    f_cstr = @ (p, idx) mc(:, idx).' * p + vc(idx, 1);
    df_cstr = @ (p, idx, dfdp_hook) mc(:, idx).';
  endif



  ## in a general interface, check for all(fixed) here

  ## passed constraints
  hook.mc = mc; # matrix of linear constraints
  hook.vc = vc; # vector of linear constraints
  hook.f_cstr = f_cstr; # function of all constraints
  hook.df_cstr = df_cstr; # function of derivatives of all constraints
  hook.n_gencstr = n_gencstr; # number of non-linear constraints
  hook.eq_idx = false (size (vc, 1) + n_gencstr, 1);
  hook.eq_idx(eq_idx) = true; # logical index of equality constraints in
				# all constraints
  hook.lbound = bounds(:, 1); # bounds, subset of linear inequality
				# constraints in mc and vc
  hook.ubound = bounds(:, 2);

  ## passed values of constraints for initial parameters
  hook.pin_cstr = pin_cstr;

  ## passed derivative of model function
  hook.dfdp = dFdp;

  ## passed function for complementary pivoting
  hook.cpiv = cpiv;

  ## passed value of residual function for initial parameters
  hook.f_pin = f_pin;

  ## passed options
  hook.max_fract_change = maxstep;
  hook.fract_prec = pprec;
  hook.TolFun = stol;
  hook.MaxIter = niter;
  hook.weights = wt;
  hook.fixed = dp == 0;
  if (verbose)
    hook.Display = "iter";
    hook.plot_cmd = @ (f) 0; # `plot_cmd' is deprecated
    hook.user_interaction = ...
        {@ (p, v, s) ...
         {ifelse(strcmp(s, "iter"),
                 false(__plot_cmds__(x, y, y - v.residual)),
                 false),
          []}{:}};
  else
    hook.Display = "off";
    hook.plot_cmd = @ (f) 0; # `plot_cmd' is deprecated
    hook.user_interaction = {};
  endif

  ## only preliminary, for testing
  hook.testing = false;
  hook.new_s = false;
  if (nargin > 9)
    if (isfield (options, "testing"))
      hook.testing = options.testing;
    endif
    if (isfield (options, "new_s"))
      hook.new_s = options.new_s;
    endif
  endif

  [p, resid, cvg, outp] = __lm_svd__ (@ (p) y - F (x, p), pin, hook);
  f = y - resid;
  iter = outp.niter;
  cvg = cvg > 0;

  if (~cvg) disp(' CONVERGENCE NOT ACHIEVED! '); endif

  if (~(verbose || nargout > 4)) return; endif

  yl = y(:);
  f = f(:);
  ## CALC VARIANCE COV MATRIX AND CORRELATION MATRIX OF PARAMETERS
  ## re-evaluate the Jacobian at optimal values
  jac = dFdp (p, struct ("f", f));
  msk = ~hook.fixed;
  n = sum(msk);           # reduce n to equal number of estimated parameters
  jac = jac(:, msk);	# use only fitted parameters

  ## following section is Ray Muzic's estimate for covariance and correlation
  ## assuming covariance of data is a diagonal matrix proportional to
  ## diag(1/wt.^2).  
  ## cov matrix of data est. from Bard Eq. 7-5-13, and Row 1 Table 5.1 

  tp = wtl.^2;
  if (exist('sparse'))  # save memory
    Q = sparse (1:m, 1:m, 1 ./ tp);
    Qinv = sparse (1:m, 1:m, tp);
  else
    Q = diag (ones (m, 1) ./ tp);
    Qinv = diag (tp);
  endif
  resid = resid(:); # un-weighted residuals
  if (~isreal (resid)) error ("residuals are not real"); endif
  tp = resid.' * Qinv * resid;
  covr = (tp / m) * Q;    #covariance of residuals

  ## Matlab compatibility and avoiding recomputation make the following
  ## logic clumsy.
  compute = 1;
  if (m <= n || any (eq_idx))
    compute = 0;
  else
    Qinv = ((m - n) / tp) * Qinv;
    ## simplified Eq. 7-5-13, Bard; cov of parm est, inverse; outer
    ## parantheses contain inverse of guessed covariance matrix of data
    covpinv = jac.' * Qinv * jac;
    if (exist ('rcond'))
      if (rcond (covpinv) <= eps)
        compute = 0;
      endif
    elseif (rank (covpinv) < n)
      ## above test is not equivalent to 'rcond' and may unnecessarily
      ## reject some matrices
      compute = 0;
    endif
  endif
  if (compute)
    covp = inv (covpinv);
    d=sqrt(diag(covp));
    corp = covp ./ (d * d.');
  else
    covp = NA * ones (n);
    corp = covp;
  endif

  if (exist('sparse'))
    covr=spdiags(covr,0);
  else
    covr=diag(covr);                 # convert returned values to
				# compact storage
  endif
  covr = reshape (covr, rows_y, cols_y);
  stdresid = resid .* abs (wtl) / sqrt (tp / m); # equivalent to resid ./
				# sqrt (covr)
  stdresid = reshape (stdresid, rows_y, cols_y);

  if (~(verbose || nargout > 8)) return; endif

  if (m > n && ~any (eq_idx))
    Z = ((m - n) / (n * resid.' * Qinv * resid)) * covpinv;
  else
    Z = NA * ones (n);
  endif

### alt. est. of cov. mat. of parm.:(Delforge, Circulation, 82:1494-1504, 1990
  ##disp('Alternate estimate of cov. of param. est.')
  ##acovp=resid'*Qinv*resid/(m-n)*inv(jac'*Qinv*jac);

  if (~(verbose || nargout > 9)) return; endif

  ##Calculate R^2, intercept form
  ##
  tp = sumsq (yl - mean (yl));
  if (tp > 0)
    r2 = 1 - sumsq (resid) / tp;
  else
    r2 = NA;
  endif

  ## if someone has asked for it, let them have it
  ##
  if (verbose)
    __plot_cmds__ (x, y, f);
    disp(' Least Squares Estimates of Parameters')
    disp(p.')
    disp(' Correlation matrix of parameters estimated')
    disp(corp)
    disp(' Covariance matrix of Residuals' )
    disp(covr)
    disp(' Correlation Coefficient R^2')
    disp(r2)
    fprintf(" 95%% conf region: F(0.05)(%.0f,%.0f)>= delta_pvec.%s*Z*delta_pvec\n", n, m - n, char (39)); # works with " and '
    Z
    ## runs test according to Bard. p 201.
    n1 = sum (resid > 0);
    n2 = sum (resid < 0);
    nrun=sum(abs(diff(resid > 0)))+1;
    if ((n1 > 10) && (n2 > 10)) # sufficent data for test?
      zed=(nrun-(2*n1*n2/(n1+n2)+1)+0.5)/(2*n1*n2*(2*n1*n2-n1-n2)...
        /((n1+n2)^2*(n1+n2-1)));
      if (zed < 0)
        prob = erfc(-zed/sqrt(2))/2*100;
        disp([num2str(prob),"% chance of fewer than ",num2str(nrun)," runs."]);
      else
        prob = erfc(zed/sqrt(2))/2*100;
        disp([num2str(prob),"% chance of greater than ",num2str(nrun)," runs."]);
      endif
    endif
  endif

endfunction

function ret = tf_gencstr (p, idx, f)

  ## necessary since user function f_gencstr might return [] or a row
  ## vector

  ret = f (p, idx);
  if (isempty (ret))
    ret = zeros (0, 1);
  elseif (size (ret, 2) > 1)
    ret = ret(:);
  endif

endfunction

%!demo
%! % Define functions
%! leasqrfunc = @(x, p) p(1) * exp (-p(2) * x);
%! leasqrdfdp = @(x, f, p, dp, func) [exp(-p(2)*x), -p(1)*x.*exp(-p(2)*x)];
%!
%! % generate test data
%! t = [1:10:100]';
%! p = [1; 0.1];
%! data = leasqrfunc (t, p);
%! 
%! rnd = [0.352509; -0.040607; -1.867061; -1.561283; 1.473191; ...
%!        0.580767;  0.841805;  1.632203; -0.179254; 0.345208];
%!
%! % add noise
%! % wt1 = 1 /sqrt of variances of data
%! % 1 / wt1 = sqrt of var = standard deviation
%! wt1 = (1 + 0 * t) ./ sqrt (data); 
%! data = data + 0.05 * rnd ./ wt1; 
%!
%! % Note by Thomas Walter <walter@pctc.chemie.uni-erlangen.de>:
%! %
%! % Using a step size of 1 to calculate the derivative is WRONG !!!!
%! % See numerical mathbooks why.
%! % A derivative calculated from central differences need: s 
%! %     step = 0.001...1.0e-8
%! % And onesided derivative needs:
%! %     step = 1.0e-5...1.0e-8 and may be still wrong
%!
%! F = leasqrfunc;
%! dFdp = leasqrdfdp; % exact derivative
%! % dFdp = dfdp;     % estimated derivative
%! dp = [0.001; 0.001];
%! pin = [.8; .05]; 
%! stol=0.001; niter=50;
%! minstep = [0.01; 0.01];
%! maxstep = [0.8; 0.8];
%! options = [minstep, maxstep];
%!
%! global verbose;
%! verbose = 1;
%! [f1, p1, kvg1, iter1, corp1, covp1, covr1, stdresid1, Z1, r21] = ...
%!    leasqr (t, data, pin, F, stol, niter, wt1, dp, dFdp, options);

%!demo
%!  %% Example for linear inequality constraints.
%!  %% model function:
%!  F = @ (x, p) p(1) * exp (p(2) * x);
%!  %% independents and dependents:
%!  x = 1:5;
%!  y = [1, 2, 4, 7, 14];
%!  %% initial values:
%!  init = [.25; .25];
%!  %% other configuration (default values):
%!  tolerance = .0001;
%!  max_iterations = 20;
%!  weights = ones (1, 5);
%!  dp = [.001; .001]; % bidirectional numeric gradient stepsize
%!  dFdp = "dfdp"; % function for gradient (numerical)
%!
%!  %% linear constraints, A.' * parametervector + B >= 0
%!  A = [1; -1]; B = 0; % p(1) >= p(2);
%!  options.inequc = {A, B};
%!
%!  %% start leasqr, be sure that 'verbose' is not set
%!  global verbose; verbose = false;
%!  [f, p, cvg, iter] = ...
%!      leasqr (x, y, init, F, tolerance, max_iterations, ...
%!	      weights, dp, dFdp, options)