Optimizer.h

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/*

             *
            ***
           *****
   *********************       Mercenaries Engineering SARL
     *****************              Copyright (C) 2025
       *************
         *********        http://www.mercenaries-engineering.com
        ***********
       ****     ****
      **           **

*/
#pragma once

#include "Plug.h"
#include <ImathVec.h>

namespace maquina
{

class EvaluationEngine;
class NodeDelegate;

/* Optimize a graph values.
 * 
 * Optimize multiple output graph values by modifying multiple graph inputs.
 *
 * A single optimizer::solve() call can be performed at the same time.
 */ 
class MAQUINA_EXPORT Optimizer
{
public:
  enum class LogLevel
  {
    silent,
    summary,
    details
  };

  Optimizer(LogLevel log_level = LogLevel::silent);

  enum Axis
  {
    x_axis = 1,
    y_axis = 2,
    z_axis = 4
  };

  void add_param_float(Plug& plug, double default_value, double initial_step);
  void add_param_rotation_axis(int axes, std::shared_ptr<NodeDelegate> nd_);
  void add_param_rotation(std::shared_ptr<NodeDelegate> nd_);
  void add_param_translation(std::shared_ptr<NodeDelegate> nd_, double initial_step);

  void add_output_rotation(const Plug& plug, const Imath::Quatd& goal);
  void add_output_translation(const Plug& plug, const Imath::V3d& goal);

  double solve(double error_threshold = 0.00001, int max_iterations = 1000);

  static const double rotation_initial_step;

private:

  struct Parameter
  {
    enum class Mode { float_, rotation_axes, rotation, translation };

    Parameter(std::shared_ptr<NodeDelegate> nd, std::optional<Plug> plug, Mode mode, int axes, const Imath::V3d& initial_value,
      double _initial_step);

    int _dim() const;
    std::shared_ptr<NodeDelegate> _nd;
    std::optional<Plug> _plug;
    Imath::Eulerd::Order _rotate_order;
    Mode _mode;
    int _axes;
    Imath::V3d _initial_value;
    double _initial_step;
  };

  struct Objective
  {
    enum class Mode { rotation, translation };
    Objective(const Plug& _plug, const Imath::Quatd& goal_rotation, const Imath::V3d& goal_translation, Mode mode);

    Plug _plug;
    Imath::Quatd _goal_rotation;
    Imath::V3d _goal_translation;
    Mode _mode;
  };

private:

  static double _f(const std::vector<double> &x, std::vector<double> &grad, void* _data);

  int _count = 0;
  std::vector<double> _x;
  std::vector<Parameter> _parameters;
  std::vector<Objective> _objectives;
  std::shared_ptr<maquina::EvaluationEngine> _ee;
  maquina::Plug _optimizer_inputs;
  LogLevel _log_level;
};

}