/*
    * Licensed to the Apache Software Foundation (ASF) under one or more
    * contributor license agreements.  See the NOTICE file distributed with
    * this work for additional information regarding copyright ownership.
    * The ASF licenses this file to You under the Apache License, Version 2.0
    * (the "License"); you may not use this file except in compliance with
    * the License.  You may obtain a copy of the License at
    *
    *      https://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   */
  
  /*
   * This is not the original file distributed by the Apache Software Foundation
   * It has been modified by the Hipparchus project
   */
  
  package org.hipparchus.linear;
  
  import java.util.Arrays;
  
  import org.hipparchus.exception.LocalizedCoreFormats;
  import org.hipparchus.exception.MathIllegalArgumentException;
  import org.hipparchus.util.FastMath;
  
  
  /**
   * Calculates the QR-decomposition of a matrix.
   * <p>The QR-decomposition of a matrix A consists of two matrices Q and R
   * that satisfy: A = QR, Q is orthogonal (Q<sup>T</sup>Q = I), and R is
   * upper triangular. If A is m&times;n, Q is m&times;m and R m&times;n.</p>
   * <p>This class compute the decomposition using Householder reflectors.</p>
   * <p>For efficiency purposes, the decomposition in packed form is transposed.
   * This allows inner loop to iterate inside rows, which is much more cache-efficient
   * in Java.</p>
   * <p>This class is based on the class with similar name from the
   * <a href="http://math.nist.gov/javanumerics/jama/">JAMA</a> library, with the
   * following changes:</p>
   * <ul>
   *   <li>a {@link #getQT() getQT} method has been added,</li>
   *   <li>the {@code solve} and {@code isFullRank} methods have been replaced
   *   by a {@link #getSolver() getSolver} method and the equivalent methods
   *   provided by the returned {@link DecompositionSolver}.</li>
   * </ul>
   *
   * @see <a href="http://mathworld.wolfram.com/QRDecomposition.html">MathWorld</a>
   * @see <a href="http://en.wikipedia.org/wiki/QR_decomposition">Wikipedia</a>
   *
   */
  public class QRDecomposition {
      /**
       * A packed TRANSPOSED representation of the QR decomposition.
       * <p>The elements BELOW the diagonal are the elements of the UPPER triangular
       * matrix R, and the rows ABOVE the diagonal are the Householder reflector vectors
       * from which an explicit form of Q can be recomputed if desired.</p>
       */
      private double[][] qrt;
      /** The diagonal elements of R. */
      private double[] rDiag;
      /** Cached value of Q. */
      private RealMatrix cachedQ;
      /** Cached value of QT. */
      private RealMatrix cachedQT;
      /** Cached value of R. */
      private RealMatrix cachedR;
      /** Cached value of H. */
      private RealMatrix cachedH;
      /** Singularity threshold. */
      private final double threshold;
  
      /**
       * Calculates the QR-decomposition of the given matrix.
       * The singularity threshold defaults to zero.
       *
       * @param matrix The matrix to decompose.
       *
       * @see #QRDecomposition(RealMatrix,double)
       */
      public QRDecomposition(RealMatrix matrix) {
          this(matrix, 0d);
      }
  
      /**
       * Calculates the QR-decomposition of the given matrix.
       *
       * @param matrix The matrix to decompose.
       * @param threshold Singularity threshold.
       */
      public QRDecomposition(RealMatrix matrix,
                             double threshold) {
          this.threshold = threshold;
  
          final int m = matrix.getRowDimension();
          final int n = matrix.getColumnDimension();
         qrt = matrix.transpose().getData();
         rDiag = new double[FastMath.min(m, n)];
         cachedQ  = null;
         cachedQT = null;
         cachedR  = null;
         cachedH  = null;
 
         decompose(qrt);
 
     }
 
     /** Decompose matrix.
      * @param matrix transposed matrix
      */
     protected void decompose(double[][] matrix) {
         for (int minor = 0; minor < FastMath.min(matrix.length, matrix[0].length); minor++) {
             performHouseholderReflection(minor, matrix);
         }
     }
 
     /** Perform Householder reflection for a minor A(minor, minor) of A.
      * @param minor minor index
      * @param matrix transposed matrix
      */
     protected void performHouseholderReflection(int minor, double[][] matrix) {
 
         final double[] qrtMinor = matrix[minor];
 
         /*
          * Let x be the first column of the minor, and a^2 = |x|^2.
          * x will be in the positions qr[minor][minor] through qr[m][minor].
          * The first column of the transformed minor will be (a,0,0,..)'
          * The sign of a is chosen to be opposite to the sign of the first
          * component of x. Let's find a:
          */
         double xNormSqr = 0;
         for (int row = minor; row < qrtMinor.length; row++) {
             final double c = qrtMinor[row];
             xNormSqr += c * c;
         }
         final double a = (qrtMinor[minor] > 0) ? -FastMath.sqrt(xNormSqr) : FastMath.sqrt(xNormSqr);
         rDiag[minor] = a;
 
         if (a != 0.0) {
 
             /*
              * Calculate the normalized reflection vector v and transform
              * the first column. We know the norm of v beforehand: v = x-ae
              * so |v|^2 = <x-ae,x-ae> = <x,x>-2a<x,e>+a^2<e,e> =
              * a^2+a^2-2a<x,e> = 2a*(a - <x,e>).
              * Here <x, e> is now qr[minor][minor].
              * v = x-ae is stored in the column at qr:
              */
             qrtMinor[minor] -= a; // now |v|^2 = -2a*(qr[minor][minor])
 
             /*
              * Transform the rest of the columns of the minor:
              * They will be transformed by the matrix H = I-2vv'/|v|^2.
              * If x is a column vector of the minor, then
              * Hx = (I-2vv'/|v|^2)x = x-2vv'x/|v|^2 = x - 2<x,v>/|v|^2 v.
              * Therefore the transformation is easily calculated by
              * subtracting the column vector (2<x,v>/|v|^2)v from x.
              *
              * Let 2<x,v>/|v|^2 = alpha. From above we have
              * |v|^2 = -2a*(qr[minor][minor]), so
              * alpha = -<x,v>/(a*qr[minor][minor])
              */
             for (int col = minor+1; col < matrix.length; col++) {
                 final double[] qrtCol = matrix[col];
                 double alpha = 0;
                 for (int row = minor; row < qrtCol.length; row++) {
                     alpha -= qrtCol[row] * qrtMinor[row];
                 }
                 alpha /= a * qrtMinor[minor];
 
                 // Subtract the column vector alpha*v from x.
                 for (int row = minor; row < qrtCol.length; row++) {
                     qrtCol[row] -= alpha * qrtMinor[row];
                 }
             }
         }
     }
 
 
     /**
      * Returns the matrix R of the decomposition.
      * <p>R is an upper-triangular matrix</p>
      * @return the R matrix
      */
     public RealMatrix getR() {
 
         if (cachedR == null) {
 
             // R is supposed to be m x n
             final int n = qrt.length;
             final int m = qrt[0].length;
             double[][] ra = new double[m][n];
             // copy the diagonal from rDiag and the upper triangle of qr
             for (int row = FastMath.min(m, n) - 1; row >= 0; row--) {
                 ra[row][row] = rDiag[row];
                 for (int col = row + 1; col < n; col++) {
                     ra[row][col] = qrt[col][row];
                 }
             }
             cachedR = MatrixUtils.createRealMatrix(ra);
         }
 
         // return the cached matrix
         return cachedR;
     }
 
     /**
      * Returns the matrix Q of the decomposition.
      * <p>Q is an orthogonal matrix</p>
      * @return the Q matrix
      */
     public RealMatrix getQ() {
         if (cachedQ == null) {
             cachedQ = getQT().transpose();
         }
         return cachedQ;
     }
 
     /**
      * Returns the transpose of the matrix Q of the decomposition.
      * <p>Q is an orthogonal matrix</p>
      * @return the transpose of the Q matrix, Q<sup>T</sup>
      */
     public RealMatrix getQT() {
         if (cachedQT == null) {
 
             // QT is supposed to be m x m
             final int n = qrt.length;
             final int m = qrt[0].length;
             double[][] qta = new double[m][m];
 
             /*
              * Q = Q1 Q2 ... Q_m, so Q is formed by first constructing Q_m and then
              * applying the Householder transformations Q_(m-1),Q_(m-2),...,Q1 in
              * succession to the result
              */
             for (int minor = m - 1; minor >= FastMath.min(m, n); minor--) {
                 qta[minor][minor] = 1.0d;
             }
 
             for (int minor = FastMath.min(m, n)-1; minor >= 0; minor--){
                 final double[] qrtMinor = qrt[minor];
                 qta[minor][minor] = 1.0d;
                 if (qrtMinor[minor] != 0.0) {
                     for (int col = minor; col < m; col++) {
                         double alpha = 0;
                         for (int row = minor; row < m; row++) {
                             alpha -= qta[col][row] * qrtMinor[row];
                         }
                         alpha /= rDiag[minor] * qrtMinor[minor];
 
                         for (int row = minor; row < m; row++) {
                             qta[col][row] += -alpha * qrtMinor[row];
                         }
                     }
                 }
             }
             cachedQT = MatrixUtils.createRealMatrix(qta);
         }
 
         // return the cached matrix
         return cachedQT;
     }
 
     /**
      * Returns the Householder reflector vectors.
      * <p>H is a lower trapezoidal matrix whose columns represent
      * each successive Householder reflector vector. This matrix is used
      * to compute Q.</p>
      * @return a matrix containing the Householder reflector vectors
      */
     public RealMatrix getH() {
         if (cachedH == null) {
 
             final int n = qrt.length;
             final int m = qrt[0].length;
             double[][] ha = new double[m][n];
             for (int i = 0; i < m; ++i) {
                 for (int j = 0; j < FastMath.min(i + 1, n); ++j) {
                     ha[i][j] = qrt[j][i] / -rDiag[j];
                 }
             }
             cachedH = MatrixUtils.createRealMatrix(ha);
         }
 
         // return the cached matrix
         return cachedH;
     }
 
     /**
      * Get a solver for finding the A &times; X = B solution in least square sense.
      * <p>
      * Least Square sense means a solver can be computed for an overdetermined system,
      * (i.e. a system with more equations than unknowns, which corresponds to a tall A
      * matrix with more rows than columns). In any case, if the matrix is singular
      * within the tolerance set at {@link QRDecomposition#QRDecomposition(RealMatrix,
      * double) construction}, an error will be triggered when
      * the {@link DecompositionSolver#solve(RealVector) solve} method will be called.
      * </p>
      * @return a solver
      */
     public DecompositionSolver getSolver() {
         return new Solver();
     }
 
     /** Specialized solver. */
     private class Solver implements DecompositionSolver {
 
         /** {@inheritDoc} */
         @Override
         public boolean isNonSingular() {
             return !checkSingular(rDiag, threshold, false);
         }
 
         /** {@inheritDoc} */
         @Override
         public RealVector solve(RealVector b) {
             final int n = qrt.length;
             final int m = qrt[0].length;
             if (b.getDimension() != m) {
                 throw new MathIllegalArgumentException(LocalizedCoreFormats.DIMENSIONS_MISMATCH,
                                                        b.getDimension(), m);
             }
             checkSingular(rDiag, threshold, true);
 
             final double[] x = new double[n];
             final double[] y = b.toArray();
 
             // apply Householder transforms to solve Q.y = b
             for (int minor = 0; minor < FastMath.min(m, n); minor++) {
 
                 final double[] qrtMinor = qrt[minor];
                 double dotProduct = 0;
                 for (int row = minor; row < m; row++) {
                     dotProduct += y[row] * qrtMinor[row];
                 }
                 dotProduct /= rDiag[minor] * qrtMinor[minor];
 
                 for (int row = minor; row < m; row++) {
                     y[row] += dotProduct * qrtMinor[row];
                 }
             }
 
             // solve triangular system R.x = y
             for (int row = rDiag.length - 1; row >= 0; --row) {
                 y[row] /= rDiag[row];
                 final double yRow = y[row];
                 final double[] qrtRow = qrt[row];
                 x[row] = yRow;
                 for (int i = 0; i < row; i++) {
                     y[i] -= yRow * qrtRow[i];
                 }
             }
 
             return new ArrayRealVector(x, false);
         }
 
         /** {@inheritDoc} */
         @Override
         public RealMatrix solve(RealMatrix b) {
             final int n = qrt.length;
             final int m = qrt[0].length;
             if (b.getRowDimension() != m) {
                 throw new MathIllegalArgumentException(LocalizedCoreFormats.DIMENSIONS_MISMATCH,
                                                        b.getRowDimension(), m);
             }
             checkSingular(rDiag, threshold, true);
 
             final int columns        = b.getColumnDimension();
             final int blockSize      = BlockRealMatrix.BLOCK_SIZE;
             final int cBlocks        = (columns + blockSize - 1) / blockSize;
             final double[][] xBlocks = BlockRealMatrix.createBlocksLayout(n, columns);
             final double[][] y       = new double[b.getRowDimension()][blockSize];
             final double[]   alpha   = new double[blockSize];
 
             for (int kBlock = 0; kBlock < cBlocks; ++kBlock) {
                 final int kStart = kBlock * blockSize;
                 final int kEnd   = FastMath.min(kStart + blockSize, columns);
                 final int kWidth = kEnd - kStart;
 
                 // get the right hand side vector
                 b.copySubMatrix(0, m - 1, kStart, kEnd - 1, y);
 
                 // apply Householder transforms to solve Q.y = b
                 for (int minor = 0; minor < FastMath.min(m, n); minor++) {
                     final double[] qrtMinor = qrt[minor];
                     final double factor     = 1.0 / (rDiag[minor] * qrtMinor[minor]);
 
                     Arrays.fill(alpha, 0, kWidth, 0.0);
                     for (int row = minor; row < m; ++row) {
                         final double   d    = qrtMinor[row];
                         final double[] yRow = y[row];
                         for (int k = 0; k < kWidth; ++k) {
                             alpha[k] += d * yRow[k];
                         }
                     }
                     for (int k = 0; k < kWidth; ++k) {
                         alpha[k] *= factor;
                     }
 
                     for (int row = minor; row < m; ++row) {
                         final double   d    = qrtMinor[row];
                         final double[] yRow = y[row];
                         for (int k = 0; k < kWidth; ++k) {
                             yRow[k] += alpha[k] * d;
                         }
                     }
                 }
 
                 // solve triangular system R.x = y
                 for (int j = rDiag.length - 1; j >= 0; --j) {
                     final int      jBlock = j / blockSize;
                     final int      jStart = jBlock * blockSize;
                     final double   factor = 1.0 / rDiag[j];
                     final double[] yJ     = y[j];
                     final double[] xBlock = xBlocks[jBlock * cBlocks + kBlock];
                     int index = (j - jStart) * kWidth;
                     for (int k = 0; k < kWidth; ++k) {
                         yJ[k]          *= factor;
                         xBlock[index++] = yJ[k];
                     }
 
                     final double[] qrtJ = qrt[j];
                     for (int i = 0; i < j; ++i) {
                         final double rIJ  = qrtJ[i];
                         final double[] yI = y[i];
                         for (int k = 0; k < kWidth; ++k) {
                             yI[k] -= yJ[k] * rIJ;
                         }
                     }
                 }
             }
 
             return new BlockRealMatrix(n, columns, xBlocks, false);
         }
 
         /**
          * {@inheritDoc}
          * @throws MathIllegalArgumentException if the decomposed matrix is singular.
          */
         @Override
         public RealMatrix getInverse() {
             return solve(MatrixUtils.createRealIdentityMatrix(qrt[0].length));
         }
 
         /**
          * Check singularity.
          *
          * @param diag Diagonal elements of the R matrix.
          * @param min Singularity threshold.
          * @param raise Whether to raise a {@link MathIllegalArgumentException}
          * if any element of the diagonal fails the check.
          * @return {@code true} if any element of the diagonal is smaller
          * or equal to {@code min}.
          * @throws MathIllegalArgumentException if the matrix is singular and
          * {@code raise} is {@code true}.
          */
         private boolean checkSingular(double[] diag, double min, boolean raise) {
             final int len = diag.length;
             for (int i = 0; i < len; i++) {
                 final double d = diag[i];
                 if (FastMath.abs(d) <= min) {
                     if (raise) {
                         throw new MathIllegalArgumentException(LocalizedCoreFormats.SINGULAR_MATRIX);
                     } else {
                         return true;
                     }
                 }
             }
             return false;
         }
 
         /** {@inheritDoc} */
         @Override
         public int getRowDimension() {
             return qrt[0].length;
         }
 
         /** {@inheritDoc} */
         @Override
         public int getColumnDimension() {
             return qrt.length;
         }
 
     }
 }