# # Sequential Quadratic Programming

# (which is just using Newton on a Lagrangian)

import numpy as np
import numpy.linalg as la


# Here's an objective function $f$ and a constraint $g(x)=0$:

# +
def f(vec):
    x = vec[0]
    y = vec[1]
    return (x-2)**4 + 2*(y-1)**2

def g(vec):
    x = vec[0]
    y = vec[1]
    return x + 4*y - 3


# -

# Now define the Lagrangian, its gradient, and its Hessian:

# +

def L(vec):
    lam = vec[2]
    return f(vec) + lam * g(vec)

def grad_L(vec):
    x = vec[0]
    y = vec[1]
    lam = vec[2]
    
    return np.array([
        4*(x-2)**3 + lam,
        4*(y-1) + 4*lam,
        x+4*y-3
        ])

def hess_L(vec):
    x = vec[0]
    y = vec[1]
    lam = vec[2]
    
    return np.array([
        [12*(x-2)**2, 0, 1],
        [0, 4, 4],
        [1, 4, 0]
        ])    


# -

# At this point, we only need to find an *unconstrained* minimum of the Lagrangian!
#
# Let's fix a starting vector `vec`:

vec = np.zeros(3)

# Implement Newton and run this cell in place a number of times (Ctrl-Enter):

vec = vec - la.solve(hess_L(vec), grad_L(vec))
vec

# Let's first check that we satisfy the constraint:

g(vec)

# Next, let's look at a plot:

import matplotlib.pyplot as pt
x, y = np.mgrid[0:4:30j, -3:5:30j]
pt.contour(x, y, f(np.array([x,y])), 20)
pt.contour(x, y, g(np.array([x,y])), levels=[0])
pt.plot(vec[0], vec[1], "o")



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