MoochoPack_NLPAlgoConfigMamaJama.cpp

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// Moocho: Multi-functional Object-Oriented arCHitecture for Optimization
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#include <assert.h>

#include <sstream>
#include <typeinfo>
#include <iostream>

#include "MoochoPack_NLPAlgoConfigMamaJama.hpp"
#include "MoochoPack_NLPAlgo.hpp"
#include "MoochoPack_NLPAlgoContainer.hpp"
#include "IterationPack_AlgorithmSetOptions.hpp"
#include "AbstractLinAlgPack_MatrixSymPosDefCholFactor.hpp"                     // rHL 
//#include "ConstrainedOptPack_MatrixSymPosDefInvCholFactor.hpp"    // .
#include "ConstrainedOptPack_MatrixSymPosDefLBFGS.hpp"        // .
//#include "ConstrainedOptPack_MatrixHessianSuperBasicInitDiagonal.hpp/ | rHL (super basics)
//#include "AbstractLinAlgPack/src/AbstractLinAlgPack_MatrixSymDiagStd.hpp"                          // |

#include "ConstrainedOptPack_VariableBoundsTester.hpp"

#include "NLPInterfacePack_NLPDirect.hpp"

#include "NLPInterfacePack_CalcFiniteDiffProd.hpp"
#include "NLPInterfacePack_NLPVarReductPerm.hpp"

// line search
#include "ConstrainedOptPack_DirectLineSearchArmQuad_Strategy.hpp"
#include "ConstrainedOptPack_DirectLineSearchArmQuad_StrategySetOptions.hpp"
#include "ConstrainedOptPack_MeritFuncNLPL1.hpp"
#include "ConstrainedOptPack_MeritFuncNLPModL1.hpp"

// Basis permutations and direct sparse solvers
#ifndef MOOCHO_NO_BASIS_PERM_DIRECT_SOLVERS
#include "ConstrainedOptPack_DecompositionSystemVarReductPerm.hpp"
#endif

#include "ConstrainedOptPack_QPSolverRelaxedTester.hpp"
#include "ConstrainedOptPack_QPSolverRelaxedTesterSetOptions.hpp"
#include "ConstrainedOptPack_QPSolverRelaxedQPSchur.hpp"
#include "ConstrainedOptPack_QPSolverRelaxedQPSchurSetOptions.hpp"
#include "ConstrainedOptPack_QPSchurInitKKTSystemHessianFull.hpp"
//#include "ConstrainedOptPack_QPSchurInitKKTSystemHessianSuperBasic.hpp"
#ifdef CONSTRAINED_OPTIMIZATION_PACK_USE_QPKWIK
#include "ConstrainedOptPack_QPSolverRelaxedQPKWIK.hpp"
#endif
#ifdef CONSTRAINED_OPTIMIZATION_PACK_USE_QPOPT
//#include "ConstrainedOptPack_QPSolverRelaxedQPOPT.hpp"
#endif

#include "MoochoPack_MoochoAlgorithmStepNames.hpp"

/*
#include "MoochoPack_EvalNewPointStd_StepSetOptions.hpp"
#include "MoochoPack_EvalNewPointTailoredApproach_StepSetOptions.hpp"
#include "MoochoPack_EvalNewPointTailoredApproachCoordinate_Step.hpp"
#include "MoochoPack_EvalNewPointTailoredApproachOrthogonal_Step.hpp"
*/

#include "MoochoPack_ReducedGradientStd_Step.hpp"
#include "MoochoPack_InitFinDiffReducedHessian_Step.hpp"
#include "MoochoPack_InitFinDiffReducedHessian_StepSetOptions.hpp"
#include "MoochoPack_ReducedHessianSerialization_Step.hpp"
#include "MoochoPack_ReducedHessianSerialization_StepSetOptions.hpp"
#include "MoochoPack_ReducedHessianSecantUpdateStd_Step.hpp"
#include "MoochoPack_ReducedHessianSecantUpdateBFGSFull_Strategy.hpp"


//#include "MoochoPack_ReducedHessianSecantUpdateBFGSProjected_Strategy.hpp"
//#include "MoochoPack_ReducedHessianSecantUpdateBFGSProjected_StrategySetOptions.hpp"
//#include "MoochoPack_ReducedHessianSecantUpdateLPBFGS_Strategy.hpp"
//#include "MoochoPack_ReducedHessianSecantUpdateLPBFGS_StrategySetOptions.hpp"
#include "MoochoPack_BFGSUpdate_Strategy.hpp"
#include "MoochoPack_BFGSUpdate_StrategySetOptions.hpp"
#include "MoochoPack_QuasiNormalStepStd_Step.hpp"
#include "MoochoPack_CheckDescentQuasiNormalStep_Step.hpp"
#include "MoochoPack_CheckDecompositionFromPy_Step.hpp"
#include "MoochoPack_CheckDecompositionFromRPy_Step.hpp"
#include "MoochoPack_TangentialStepWithoutBounds_Step.hpp"
#include "MoochoPack_TangentialStepWithInequStd_Step.hpp"
#include "MoochoPack_TangentialStepWithInequStd_StepSetOptions.hpp"
#include "MoochoPack_SetDBoundsStd_AddedStep.hpp"
#include "MoochoPack_QPFailureReinitReducedHessian_Step.hpp"
#include "MoochoPack_CalcDFromYPYZPZ_Step.hpp"
#include "MoochoPack_CalcDFromYPY_Step.hpp"
#include "MoochoPack_CalcDFromZPZ_Step.hpp"
#include "MoochoPack_LineSearchFailureNewDecompositionSelection_Step.hpp"
#include "MoochoPack_LineSearchFilter_Step.hpp"
#include "MoochoPack_LineSearchFilter_StepSetOptions.hpp"
#include "MoochoPack_LineSearchFullStep_Step.hpp"
#include "MoochoPack_LineSearchDirect_Step.hpp"
#include "MoochoPack_LineSearchNLE_Step.hpp"
//#include "MoochoPack_LineSearch2ndOrderCorrect_Step.hpp"
//#include "MoochoPack_LineSearch2ndOrderCorrect_StepSetOptions.hpp"
//#include "MoochoPack_FeasibilityStepReducedStd_Strategy.hpp"
//#include "MoochoPack_FeasibilityStepReducedStd_StrategySetOptions.hpp"
//#include "MoochoPack_QuasiRangeSpaceStepStd_Strategy.hpp"
//#include "MoochoPack_QuasiRangeSpaceStepTailoredApproach_Strategy.hpp"
//#include "MoochoPack_LineSearchWatchDog_Step.hpp"
//#include "MoochoPack_LineSearchWatchDog_StepSetOptions.hpp"
//#include "MoochoPack_LineSearchFullStepAfterKIter_Step.hpp"
//#include "MoochoPack_CalcLambdaIndepStd_AddedStep.hpp"
#include "MoochoPack_CalcReducedGradLagrangianStd_AddedStep.hpp"
#include "MoochoPack_CheckConvergenceStd_AddedStep.hpp"
#include "MoochoPack_CheckConvergenceStd_Strategy.hpp"
#include "MoochoPack_CheckSkipBFGSUpdateStd_StepSetOptions.hpp"
#include "MoochoPack_MeritFunc_DummyUpdate_Step.hpp"
#include "MoochoPack_MeritFunc_PenaltyParamUpdate_AddedStepSetOptions.hpp"
#include "MoochoPack_MeritFunc_PenaltyParamUpdateMultFree_AddedStep.hpp"
//#include "MoochoPack_MeritFunc_PenaltyParamUpdateWithMult_AddedStep.hpp"
//#include "MoochoPack_MeritFunc_PenaltyParamsUpdateWithMult_AddedStep.hpp"
//#include "MoochoPack_MeritFunc_ModifiedL1LargerSteps_AddedStep.hpp"
//#include "MoochoPack_MeritFunc_ModifiedL1LargerSteps_AddedStepSetOptions.hpp"
//#include "MoochoPack_ActSetStats_AddedStep.hpp"
//#include "MoochoPack_NumFixedDepIndep_AddedStep.hpp"

#include "MoochoPack_act_set_stats.hpp"
#include "MoochoPack_qp_solver_stats.hpp"
#include "MoochoPack_quasi_newton_stats.hpp"

//#include "AbstractLinAlgPack_sparse_bounds.hpp"

// Misc utilities
#include "Teuchos_AbstractFactoryStd.hpp"
#include "Teuchos_dyn_cast.hpp"
#include "ReleaseResource_ref_count_ptr.hpp"
#include "Teuchos_Assert.hpp"

// Stuff to read in options
#include "OptionsFromStreamPack_StringToIntMap.hpp"
#include "OptionsFromStreamPack_StringToBool.hpp"

// Stuff for exact reduced hessian
//#include "MoochoPack_ReducedHessianExactStd_Step.hpp"
//#include "MoochoPack_CrossTermExactStd_Step.hpp"
//#include "MoochoPack_DampenCrossTermStd_Step.hpp"

namespace {
  const double INF_BASIS_COND_CHANGE_FRAC      = 1e+20;
}

namespace MoochoPack {

//
// Here is where we define the default values for the algorithm.  These
// should agree with what are in the Moocho.opt.NLPAlgoConfigMamaJama file.
//
NLPAlgoConfigMamaJama::SOptionValues::SOptionValues()
  :max_basis_cond_change_frac_(-1.0)
  ,exact_reduced_hessian_(false)
  ,quasi_newton_(QN_AUTO)
  ,num_lbfgs_updates_stored_(-1)
  ,lbfgs_auto_scaling_(true)
  ,hessian_initialization_(INIT_HESS_AUTO)
  ,qp_solver_type_(QP_AUTO)
  ,reinit_hessian_on_qp_fail_(true)
  ,line_search_method_(LINE_SEARCH_AUTO)
  ,merit_function_type_(MERIT_FUNC_AUTO)
  ,l1_penalty_param_update_(L1_PENALTY_PARAM_AUTO)
  ,full_steps_after_k_(-1)
  ,max_pz_norm_(-1.0)
  ,num_pz_damp_iters_(0)
{}

NLPAlgoConfigMamaJama::NLPAlgoConfigMamaJama()
{}

NLPAlgoConfigMamaJama::~NLPAlgoConfigMamaJama()
{}

// overridden from NLPAlgoConfig

void NLPAlgoConfigMamaJama::set_options( const options_ptr_t& options )
{
  options_ = options;
  decomp_sys_step_builder_.set_options(options);
}

const NLPAlgoConfig::options_ptr_t&
NLPAlgoConfigMamaJama::get_options() const
{
  return options_;
}

void NLPAlgoConfigMamaJama::config_algo_cntr(
  NLPAlgoContainer   *algo_cntr
  ,std::ostream       *trase_out
  )
{
  using Teuchos::RCP;
  using Teuchos::dyn_cast;

  if(trase_out) {
    *trase_out
      << std::endl
      << "*****************************************************************\n"
      << "*** NLPAlgoConfigMamaJama Configuration                       ***\n"
      << "***                                                           ***\n"
      << "*** Here, summary information about how the algorithm is      ***\n"
      << "*** configured is printed so that the user can see how the    ***\n"
      << "*** properties of the NLP and the set options influence       ***\n"
      << "*** how an algorithm is configured.                           ***\n"
      << "*****************************************************************\n";
  }

  // ////////////////////////////////////////////////////////////
  // A. ???

  // /////////////////////////////////////////////////////////////////////////
  // B. Create an algo object, give to algo_cntr, then give algo_cntr to algo

  if(trase_out)
    *trase_out << "\n*** Creating the NLPAlgo algo object ...\n";

  typedef Teuchos::RCP<NLPAlgo> algo_ptr_t;
  algo_ptr_t algo = Teuchos::rcp(new NLPAlgo);
  TEUCHOS_TEST_FOR_EXCEPTION(!algo.get(),std::runtime_error,"Error!");
  if(options_.get()) {
    IterationPack::AlgorithmSetOptions
      opt_setter( algo.get() );
    opt_setter.set_options( *options_ );
  }
  algo_cntr->set_algo(algo);
  algo->set_algo_cntr(algo_cntr);
  
  // /////////////////////////////////////////////
  // C. Configure algo

  // /////////////////////////////////////////////////////
  // C.0 Set the nlp and track objects

  if(trase_out)
    *trase_out << "\n*** Setting the NLP and track objects to the algo object ...\n";

  algo->set_nlp( algo_cntr->get_nlp().get() );
  algo->set_track( algo_cntr->get_track() );

  // ////////////////////////////////////////////////
  // Determine what the options are:

  // Readin the options
  if(options_.get()) {
    readin_options( *options_, &uov_, trase_out );
  }
  else {
    if(trase_out) {
      *trase_out
        << "\n*** Warning, no OptionsFromStream object was set so a default set"
          " of options will be used!\n";
    }
  } 

  NLP &nlp = algo->nlp();
  nlp.initialize(algo->algo_cntr().check_results());
  // Get the dimensions of the NLP
  const size_type
    n   = nlp.n(),
    m   = nlp.m(),
    r   = m, // ToDo: Compute this for real!
    //dof = n - r,
    nb  = nlp.num_bounded_x();

  // Process the NLP
  NLPFirstOrder    *nlp_foi = NULL;
  NLPSecondOrder   *nlp_soi = NULL;
  NLPDirect        *nlp_fod = NULL;
  bool             tailored_approach = false;
  decomp_sys_step_builder_.process_nlp_and_options(
    trase_out, nlp
    ,&nlp_foi, &nlp_soi, &nlp_fod, &tailored_approach
    );

  const int max_dof_quasi_newton_dense
    = decomp_sys_step_builder_.current_option_values().max_dof_quasi_newton_dense_;

  // //////////////////////////////////////////////////////
  // C.1.  Sort out the options

  if(trase_out)
    *trase_out
      << "\n*** Sorting out some of the options given input options ...\n";

  if( m ) {
    if( tailored_approach ) {
      // Change the options for the tailored approach. 
      if(trase_out) {
        *trase_out
          << "\nThis is a tailored approach NLP (NLPDirect) which forces the following options:\n"
          << "merit_function_type         = L1;\n"
          << "l1_penalty_parameter_update = MULT_FREE;\n"
          << "null_space_matrix           = EXPLICIT;\n"
          ;
      }
      cov_.merit_function_type_
        = MERIT_FUNC_L1;
      cov_.l1_penalty_param_update_
        = L1_PENALTY_PARAM_MULT_FREE;
      decomp_sys_step_builder_.current_option_values().null_space_matrix_type_
        = DecompositionSystemStateStepBuilderStd::NULL_SPACE_MATRIX_EXPLICIT;
    }
    
    if( !tailored_approach && uov_.merit_function_type_ != MERIT_FUNC_L1  ) {
      if(trase_out) {
        *trase_out
          << "\nThe only merit function currently supported is:\n"
          << "merit_function_type         = L1;\n"
          ;
      }
      cov_.merit_function_type_   = MERIT_FUNC_L1;
    }
  }
  else {
    if( uov_.line_search_method_ == LINE_SEARCH_NONE ) {
      if(trase_out) {
        *trase_out
          << "\nThere are no equality constraints (m == 0) and line_search_method==NONE so set the following options:\n"
          << "line_search_method          = NONE;\n"
          << "merit_function_type         = L1;\n"
          ;
      }
      cov_.line_search_method_       = LINE_SEARCH_NONE;
      cov_.merit_function_type_      = MERIT_FUNC_L1;
    }
    else {
      if(trase_out) {
        *trase_out
          << "\nThere are no equality constraints (m == 0) and line_search_method==AUTO so set the following options:\n"
          << "line_search_method          = DIRECT;\n"
          << "merit_function_type         = L1;\n"
          ;
      }
      cov_.line_search_method_       = LINE_SEARCH_DIRECT;
      cov_.merit_function_type_      = MERIT_FUNC_L1;
    }
  }

  // Decide what type of quasi-newton update to use
  switch( uov_.quasi_newton_ ) {
    case QN_AUTO: {
      if(trase_out)
        *trase_out
          << "\nquasi_newton == AUTO:"
          << "\nnlp.num_bounded_x() == " << nlp.num_bounded_x() << ":\n";
      if( n - r > max_dof_quasi_newton_dense ) {
        if(trase_out)
          *trase_out
            << "n-r = " << n-r << " > max_dof_quasi_newton_dense = "
            << max_dof_quasi_newton_dense <<  ":\n"
            << "setting quasi_newton == LBFGS\n";
        cov_.quasi_newton_ = QN_LBFGS;
      }
      else {
        if(trase_out)
          *trase_out
            << "n-r = " << n-r << " <= max_dof_quasi_newton_dense = "
            << max_dof_quasi_newton_dense << ":\n"
            << "setting quasi_newton == BFGS\n";
        cov_.quasi_newton_ = QN_BFGS;
      }
      break;
    }
    case QN_BFGS:
    case QN_PBFGS:
    case QN_LBFGS:
    case QN_LPBFGS:
      cov_.quasi_newton_ = uov_.quasi_newton_;
      break;
      default:
      TEUCHOS_TEST_FOR_EXCEPT(true); // Invalid option!
  }

  if( uov_.qp_solver_type_ == QP_AUTO && nb == 0 ) {
    cov_.qp_solver_type_ = QP_AUTO;
  }

  // ToDo: Sort out the rest of the options!

  // Set the default options that where not already set yet
  set_default_options(uov_,&cov_,trase_out);

  // ToDo: Implement the 2nd order correction linesearch
  if( cov_.line_search_method_ == LINE_SEARCH_2ND_ORDER_CORRECT ) {
    if(trase_out)
      *trase_out <<
        "\nline_search_method == 2ND_ORDER_CORRECT:\n"
        "Sorry, the second order corrrection linesearch is not updated yet!\n"
        "setting line_search_method = FILTER ...\n";
    cov_.line_search_method_ = LINE_SEARCH_FILTER;
  }
  if( cov_.line_search_method_ == LINE_SEARCH_WATCHDOG ) {
    if(trase_out)
      *trase_out <<
        "\nline_search_method ==WATCHDOG:\n"
        "Sorry, the watchdog linesearch is not updated yet!\n"
        "setting line_search_method = DIRECT ...\n";
    cov_.line_search_method_ = LINE_SEARCH_DIRECT;
  }
  
  // Adjust the Quasi-Newton if QPKWIK is used!
  if( cov_.qp_solver_type_ == QP_QPKWIK && nb ) {
    if(trase_out)
      *trase_out
        << "\nqp_solver == QPKWIK and nlp.num_bounded_x() == " << nb << " > 0:\n"
        << "Setting quasi_newton == BFGS...\n";
    cov_.quasi_newton_ = QN_BFGS;
  }

  // /////////////////////////////////////////////////////
  // C.1. Create the decomposition system object

  typedef RCP<DecompositionSystem> decomp_sys_ptr_t;
  decomp_sys_ptr_t decomp_sys;
  if(
#ifndef MOOCHO_NO_BASIS_PERM_DIRECT_SOLVERS
    true
#else
    n > m
#endif
    )
  {
    decomp_sys_step_builder_.create_decomp_sys(
      trase_out, nlp, nlp_foi, nlp_soi, nlp_fod, tailored_approach
      ,&decomp_sys
      );
  }

#ifndef MOOCHO_NO_BASIS_PERM_DIRECT_SOLVERS
  RCP<DecompositionSystemVarReductPerm>
    decomp_sys_perm = Teuchos::rcp_dynamic_cast<DecompositionSystemVarReductPerm>(decomp_sys);
#endif

  // /////////////////////////////////////////////////////
  // C.2. Create and set the state object

  if(trase_out)
    *trase_out
      << "\n*** Creating the state object and setting up iteration quantity objects ...\n";

  {
    //
    // Create the state object with the vector spaces
    //

    typedef RCP<NLPAlgoState>   state_ptr_t;
    state_ptr_t
      state = Teuchos::rcp(
        new NLPAlgoState(
          decomp_sys
          ,nlp.space_x()
          ,nlp.space_c()
          ,( m
             ? ( tailored_approach
               ? ( nlp_fod->var_dep().size() 
                 ? nlp.space_x()->sub_space(nlp_fod->var_dep())->clone()
                 : Teuchos::null )
               : decomp_sys->space_range() // could be NULL for BasisSystemPerm
               )
             : Teuchos::null
            )
          ,( m
             ? ( tailored_approach
               ?( nlp_fod->var_indep().size()
                ? nlp.space_x()->sub_space(nlp_fod->var_indep())->clone()
                : Teuchos::null )
               : decomp_sys->space_null() // could be NULL for BasisSystemPerm
               )
             : nlp.space_x()
            )
          )
        );
        
    //
    // Set the iteration quantities for the NLP matrix objects
    //

    decomp_sys_step_builder_.add_iter_quantities(
      trase_out, nlp, nlp_foi, nlp_soi, nlp_fod, tailored_approach, decomp_sys
      ,state
      );

    // Add reduced Hessian

    if( !cov_.exact_reduced_hessian_ ) {
      RCP<Teuchos::AbstractFactory<MatrixSymOp> >
        abstract_factory_rHL = Teuchos::null;
      // Only maintain the orginal matrix if we have inequality constraints and therefore will be
      // needing a QP solver (which may be QPSchur which needs an accurate original matrix for
      // iterative refinement).
      const bool
        maintain_original = nb;
      // Maintain the factor if a QP solver is needed, QPSchur is being used, or we are checking
      // results
      const bool
        maintain_inverse = ( (!nb && m==r) || cov_.qp_solver_type_==QP_QPSCHUR
                   || algo->algo_cntr().check_results() );
      switch( cov_.quasi_newton_ ) {
        case QN_BFGS:
          abstract_factory_rHL = Teuchos::rcp(
            new Teuchos::AbstractFactoryStd<MatrixSymOp,MatrixSymPosDefCholFactor,MatrixSymPosDefCholFactor::PostMod>(
              MatrixSymPosDefCholFactor::PostMod(
                maintain_original      // maintain_original
                ,maintain_inverse      // maintain_factor
                ,true                  // allow_factor      (always!)
                )
              )
            );
          break;
        case QN_LBFGS:
          abstract_factory_rHL = Teuchos::rcp(
            new Teuchos::AbstractFactoryStd<MatrixSymOp,MatrixSymPosDefLBFGS,MatrixSymPosDefLBFGS::PostMod>(
              MatrixSymPosDefLBFGS::PostMod(
                cov_.num_lbfgs_updates_stored_  //
                ,maintain_original              // maintain_original
                ,maintain_inverse               // maintain_inverse
                ,cov_.lbfgs_auto_scaling_       // 
                )
              )
            );
          break;
        default:
          TEUCHOS_TEST_FOR_EXCEPT(true); // Should not be called for now!
      }
      
      state->set_iter_quant(
        rHL_name
        ,Teuchos::rcp(
          new IterQuantityAccessContiguous<MatrixSymOp>(
            1
            ,rHL_name
            ,abstract_factory_rHL
            )
          )
        );
    }
    else {
      TEUCHOS_TEST_FOR_EXCEPT(true); // ToDo: Add rHL for an exact reduced Hessian!
    }
    
    //
    // Set the NLP merit function 
    //

    if( cov_.line_search_method_ != LINE_SEARCH_NONE 
       && cov_.line_search_method_ != LINE_SEARCH_FILTER) {
      RCP<Teuchos::AbstractFactory<MeritFuncNLP> >
        merit_func_factory = Teuchos::null;
      switch( cov_.merit_function_type_ ) {
        case MERIT_FUNC_L1:
          merit_func_factory = Teuchos::rcp(
            new Teuchos::AbstractFactoryStd<MeritFuncNLP,MeritFuncNLPL1>());
          break;
        case MERIT_FUNC_MOD_L1:
        case MERIT_FUNC_MOD_L1_INCR:
          merit_func_factory = Teuchos::rcp(
            new Teuchos::AbstractFactoryStd<MeritFuncNLP,MeritFuncNLPModL1>());
          break;
        default:
          TEUCHOS_TEST_FOR_EXCEPT(true);  // local programming error
      }
      state->set_iter_quant(
        merit_func_nlp_name
        ,Teuchos::rcp(
          new IterQuantityAccessContiguous<MeritFuncNLP>(
            1
            ,merit_func_nlp_name
            ,merit_func_factory
            )
          )
        );
    }

    if (cov_.line_search_method_ == LINE_SEARCH_FILTER)
      {
        // Add the filter iteration quantity
        state->set_iter_quant(
        FILTER_IQ_STRING
        ,Teuchos::rcp(
             new IterQuantityAccessContiguous<Filter_T>(1,FILTER_IQ_STRING)
        )
        );
      }

    if( nb ) {
      // Add bounds on d
      state->set_iter_quant(
        dl_name
        ,Teuchos::rcp(
          new IterQuantityAccessContiguous<VectorMutable>(
            2, dl_name
            , nlp.space_x() ) )
        );
      state->set_iter_quant(
        du_name
        ,Teuchos::rcp(
          new IterQuantityAccessContiguous<VectorMutable>(
            2, du_name
            , nlp.space_x() ) )
        );
      // Add active-set iteration quantity
      state->set_iter_quant(
        act_set_stats_name
        ,Teuchos::rcp(
          new IterQuantityAccessContiguous<ActSetStats>( 1, act_set_stats_name ) )
        );
      // Add QP solver stats iteration quantity
      state->set_iter_quant(
        qp_solver_stats_name
        ,Teuchos::rcp(
          new IterQuantityAccessContiguous<QPSolverStats>( 1, qp_solver_stats_name ) )
        );
    }

    //
    // Resize the number of storage locations (these can be changed later).
    //
    // Also, touch all of the value_type, index_type and vector iteration quantities
    // that we know about so that when state.dump_iter_quant() is called, all of the
    // iteration quantities will be included.
    //
    
    typedef IterQuantityAccessContiguous<value_type>            IQ_scalar_cngs;
    typedef IterQuantityAccessContiguous<VectorMutable>   IQ_vector_cngs;

    dyn_cast<IQ_vector_cngs>(state->x()).resize(2);
    dyn_cast<IQ_scalar_cngs>(state->f()).resize(2);
    if(m) dyn_cast<IQ_vector_cngs>(state->c()).resize(2);
    state->Gf();
    if(m && nlp_foi) state->Gc();

    if( m
#ifndef MOOCHO_NO_BASIS_PERM_DIRECT_SOLVERS
       && decomp_sys_perm.get() == NULL
#endif
      ) state->py();
    if(m) dyn_cast<IQ_vector_cngs>(state->Ypy()).resize(2);
    if( m
#ifndef MOOCHO_NO_BASIS_PERM_DIRECT_SOLVERS
      && decomp_sys_perm.get() == NULL
#endif
      ) state->pz();
    if(m) dyn_cast<IQ_vector_cngs>(state->Zpz()).resize(2);
    dyn_cast<IQ_vector_cngs>(state->d()).resize(2);

    if( n > m ) {
      dyn_cast<IQ_vector_cngs>(state->rGf()).resize(2);
      state->w();
      state->zeta();
      state->qp_grad();
    }
    state->eta();
    
    dyn_cast<IQ_scalar_cngs>(state->alpha()).resize(2);
    dyn_cast<IQ_scalar_cngs>(state->mu()).resize(2);
    dyn_cast<IQ_scalar_cngs>(state->phi()).resize(2);

    dyn_cast<IQ_scalar_cngs>(state->opt_kkt_err()).resize(2);
    dyn_cast<IQ_scalar_cngs>(state->feas_kkt_err()).resize(2);
    if( n > m ) {
      dyn_cast<IQ_vector_cngs>(state->rGL()).resize(2);
    }
    if(m) dyn_cast<IQ_vector_cngs>(state->lambda()).resize(2);
    dyn_cast<IQ_vector_cngs>(state->nu()).resize(2);

    // Set the state object
    algo->set_state( state );
  }

  // /////////////////////////////////////////////////////
  // C.3  Create and set the step objects

  if(trase_out)
    *trase_out << "\n*** Creating and setting the step objects ...\n";

//  typedef RCP<QPSolverRelaxed> qp_solver_ptr_t;
//  qp_solver_ptr_t qp_solver;
//  typedef ConstrainedOptPack::QPSolverRelaxedTester QPSolverRelaxedTester;
//  typedef RCP<QPSolverRelaxedTester> qp_tester_ptr_t;
//  qp_tester_ptr_t qp_tester;
//  typedef RCP<FeasibilityStepReducedStd_Strategy> feasibility_step_strategy_ptr_t;
//  feasibility_step_strategy_ptr_t  feasibility_step_strategy;

  {

    //
    // Create some standard step objects that will be used by many different
    // specific algorithms
    //
    
    typedef RCP<AlgorithmStep>   algo_step_ptr_t;

    // Create the EvalNewPoint step and associated objects
    algo_step_ptr_t                                    eval_new_point_step           = Teuchos::null;
    RCP<CalcFiniteDiffProd>                  calc_fd_prod                  = Teuchos::null;
    RCP<VariableBoundsTester>                bounds_tester                 = Teuchos::null;
    RCP<NewDecompositionSelection_Strategy>  new_decomp_selection_strategy = Teuchos::null;
    decomp_sys_step_builder_.create_eval_new_point(
      trase_out, nlp, nlp_foi, nlp_soi, nlp_fod, tailored_approach, decomp_sys
      ,&eval_new_point_step, &calc_fd_prod, &bounds_tester, &new_decomp_selection_strategy
      );

    // QuasiNormal_Step
    algo_step_ptr_t    quansi_normal_step_step = Teuchos::null;
    if( !tailored_approach ) {
      quansi_normal_step_step = Teuchos::rcp(new QuasiNormalStepStd_Step());
    }

    // Check and change decomposition 
    algo_step_ptr_t    check_decomp_from_py_step  = Teuchos::null;
    algo_step_ptr_t    check_decomp_from_Rpy_step = Teuchos::null;
    if( new_decomp_selection_strategy.get() && cov_.max_basis_cond_change_frac_ < INF_BASIS_COND_CHANGE_FRAC ) {
      check_decomp_from_py_step = Teuchos::rcp(
        new CheckDecompositionFromPy_Step(
          new_decomp_selection_strategy
          ,cov_.max_basis_cond_change_frac_
          ) );
      check_decomp_from_Rpy_step = Teuchos::rcp(
        new CheckDecompositionFromRPy_Step(
          new_decomp_selection_strategy
          ,cov_.max_basis_cond_change_frac_
          ) );
    }

    // CheckDescentQuasiNormalStep
    algo_step_ptr_t    check_descent_quansi_normal_step_step = Teuchos::null;
    if( algo->algo_cntr().check_results() ) {
      check_descent_quansi_normal_step_step = Teuchos::rcp(new CheckDescentQuasiNormalStep_Step(calc_fd_prod));
    }

    // ReducedGradient_Step
    algo_step_ptr_t    reduced_gradient_step = Teuchos::null;
    if( !tailored_approach ) {
      reduced_gradient_step = Teuchos::rcp(new ReducedGradientStd_Step());
    }

    // CheckSkipBFGSUpdate
    algo_step_ptr_t    check_skip_bfgs_update_step = Teuchos::null;
    if(!cov_.exact_reduced_hessian_) {
      RCP<CheckSkipBFGSUpdateStd_Step>
        step = Teuchos::rcp(new CheckSkipBFGSUpdateStd_Step());
      if(options_.get()) {
        CheckSkipBFGSUpdateStd_StepSetOptions
          opt_setter( step.get() );
        opt_setter.set_options( *options_ );
      }
      check_skip_bfgs_update_step = step;
    }

    // ReducedHessian_Step
    algo_step_ptr_t    reduced_hessian_step = Teuchos::null;
    {
      // Get the strategy object that will perform the actual secant update.
      RCP<ReducedHessianSecantUpdate_Strategy>
        secant_update_strategy = Teuchos::null;
      switch( cov_.quasi_newton_ )
      {
          case QN_BFGS:
          case QN_PBFGS:
          case QN_LBFGS:
          case QN_LPBFGS:
        {
          // create and setup the actual BFGS strategy object
          typedef RCP<BFGSUpdate_Strategy> bfgs_strategy_ptr_t;
          bfgs_strategy_ptr_t
            bfgs_strategy = Teuchos::rcp(new BFGSUpdate_Strategy);
          if(options_.get()) { 
            BFGSUpdate_StrategySetOptions
              opt_setter( bfgs_strategy.get() );
            opt_setter.set_options( *options_ );
          }
          switch( cov_.quasi_newton_ ) {
              case QN_BFGS:
              case QN_LBFGS:
            {
              secant_update_strategy = Teuchos::rcp(new ReducedHessianSecantUpdateBFGSFull_Strategy(bfgs_strategy));
              break;
            }
              case QN_PBFGS:
              case QN_LPBFGS:
            {
              TEUCHOS_TEST_FOR_EXCEPTION(
                true, std::logic_error
                ,"NLPAlgoConfigMamaJama::config_algo_cntr(...) : Error, "
                "The quansi_newton options of PBFGS and LPBFGS have not been updated yet!" );
              break;
            }
          }
          break;
        }
        default:
          TEUCHOS_TEST_FOR_EXCEPT(true);
      }
      
      // Finally build the step object
      reduced_hessian_step = Teuchos::rcp(
        new ReducedHessianSecantUpdateStd_Step( secant_update_strategy ) );
      // Add the QuasiNewtonStats iteration quantity
      algo->state().set_iter_quant(
        quasi_newton_stats_name
        ,Teuchos::rcp(new IterQuantityAccessContiguous<QuasiNewtonStats>(
          1
          ,quasi_newton_stats_name
#ifdef _MIPS_CXX
          ,Teuchos::RCP<Teuchos::AbstractFactoryStd<QuasiNewtonStats,QuasiNewtonStats> >(
            new Teuchos::AbstractFactoryStd<QuasiNewtonStats,QuasiNewtonStats>())
#endif
          )
        ));
    }

    // Initialization of the Reduced Hessian
    algo_step_ptr_t  init_red_hess_step = Teuchos::null;
    if(
      cov_.hessian_initialization_ == INIT_HESS_FIN_DIFF_SCALE_IDENTITY
      || cov_.hessian_initialization_ == INIT_HESS_FIN_DIFF_SCALE_DIAGONAL
      || cov_.hessian_initialization_ == INIT_HESS_FIN_DIFF_SCALE_DIAGONAL_ABS
      )
    {
      // InitFinDiffReducedHessian_Step
      Algorithm::poss_type poss;
      TEUCHOS_TEST_FOR_EXCEPT( !( poss = algo->get_step_poss( ReducedHessian_name )  ) );
      InitFinDiffReducedHessian_Step::EInitializationMethod
        init_hess;
      switch( cov_.hessian_initialization_ ) {
        case INIT_HESS_FIN_DIFF_SCALE_IDENTITY:
          init_hess = InitFinDiffReducedHessian_Step::SCALE_IDENTITY;
          break;
        case INIT_HESS_FIN_DIFF_SCALE_DIAGONAL:
          init_hess = InitFinDiffReducedHessian_Step::SCALE_DIAGONAL;
          break;
        case INIT_HESS_FIN_DIFF_SCALE_DIAGONAL_ABS:
          init_hess = InitFinDiffReducedHessian_Step::SCALE_DIAGONAL_ABS;
          break;
        default:
          TEUCHOS_TEST_FOR_EXCEPT(true);  // only local programming error?
      }
      Teuchos::RCP<InitFinDiffReducedHessian_Step>
        _init_red_hess_step = Teuchos::rcp(new InitFinDiffReducedHessian_Step(init_hess));
      if(options_.get()) {
        InitFinDiffReducedHessian_StepSetOptions
          opt_setter( _init_red_hess_step.get() );
        opt_setter.set_options( *options_ );
      }
      init_red_hess_step = _init_red_hess_step;
    }
    else if(cov_.hessian_initialization_==INIT_HESS_SERIALIZE ) {
      Teuchos::RCP<ReducedHessianSerialization_Step>
        _init_red_hess_step = Teuchos::rcp(new ReducedHessianSerialization_Step());
      if(options_.get()) {
        ReducedHessianSerialization_StepSetOptions
          opt_setter( _init_red_hess_step.get() );
        opt_setter.set_options( *options_ );
      }
      init_red_hess_step = _init_red_hess_step;
    }
    
    // NullSpace_Step
    algo_step_ptr_t    set_d_bounds_step    = Teuchos::null;
    algo_step_ptr_t    tangential_step_step = Teuchos::null;
    if( nb == 0 ) {
      Teuchos::RCP<TangentialStepWithoutBounds_Step>
        tangental_step_output_bounds_step
        = Teuchos::rcp(new TangentialStepWithoutBounds_Step());
      tangental_step_output_bounds_step->max_pz_norm(cov_.max_pz_norm_);
      tangental_step_output_bounds_step->num_pz_damp_iters(cov_.num_pz_damp_iters_);
      tangential_step_step = tangental_step_output_bounds_step;
    }
    else {
      // Step object that sets bounds for QP subproblem
      set_d_bounds_step = Teuchos::rcp(new SetDBoundsStd_AddedStep());
      // QP Solver object
      Teuchos::RCP<QPSolverRelaxed>  qp_solver = Teuchos::null;
      switch( cov_.qp_solver_type_ ) {
        case QP_QPSCHUR: {
          using ConstrainedOptPack::QPSolverRelaxedQPSchur;
          using ConstrainedOptPack::QPSolverRelaxedQPSchurSetOptions;
          using ConstrainedOptPack::QPSchurInitKKTSystemHessianFull;
//          using ConstrainedOptPack::QPSchurInitKKTSystemHessianSuperBasic;
          Teuchos::RCP<ConstrainedOptPack::QPSolverRelaxedQPSchur::InitKKTSystem>
            init_kkt_sys = Teuchos::null;
          switch( cov_.quasi_newton_ ) {
            case QN_BFGS:
            case QN_LBFGS:
              init_kkt_sys = Teuchos::rcp(new QPSchurInitKKTSystemHessianFull());
              break;
            case QN_PBFGS:
            case QN_LPBFGS:
              TEUCHOS_TEST_FOR_EXCEPTION(true,std::logic_error,"Error! PBFGS and LPBFGS are not updated yet!");
/*
              init_kkt_sys = new QPSchurInitKKTSystemHessianSuperBasic();
*/
              break;
            default:
              TEUCHOS_TEST_FOR_EXCEPT(true);
          }
          Teuchos::RCP<QPSolverRelaxedQPSchur>
            _qp_solver = Teuchos::rcp(new QPSolverRelaxedQPSchur(init_kkt_sys));
          if(options_.get()) {
            QPSolverRelaxedQPSchurSetOptions
              qp_options_setter(_qp_solver.get());
            qp_options_setter.set_options( *options_ );
          }
          qp_solver = _qp_solver; // give ownership to delete!
          break;
        }
        case QP_QPKWIK: {
#ifdef CONSTRAINED_OPTIMIZATION_PACK_USE_QPKWIK
          using ConstrainedOptPack::QPSolverRelaxedQPKWIK;
          Teuchos::RCP<QPSolverRelaxedQPKWIK>
            _qp_solver = Teuchos::rcp(new QPSolverRelaxedQPKWIK());
          qp_solver = _qp_solver; // give ownership to delete!
#else
          TEUCHOS_TEST_FOR_EXCEPTION(
            true,std::logic_error,"Error! QPKWIK interface is not supported since "
            "CONSTRAINED_OPTIMIZATION_PACK_USE_QPKWIK is not defined!");
#endif
          break;
        }
        case QP_QPOPT: {
          TEUCHOS_TEST_FOR_EXCEPTION(true,std::logic_error,"Error! QPOPT interface is not updated yet!");
/*
#ifdef CONSTRAINED_OPTIMIZATION_PACK_USE_QPOPT
          using ConstrainedOptPack::QPSolverRelaxedQPOPT;
          QPSolverRelaxedQPOPT
            *_qp_solver = new QPSolverRelaxedQPOPT();
          qp_solver = _qp_solver; // give ownership to delete!
#else
          throw std::logic_error(
            "NLPAlgoConfigMamaJama::config_algo_cntr(...) : QPOPT is not supported,"
            " must define CONSTRAINED_OPTIMIZATION_PACK_USE_QPOPT!" );
#endif
*/
          break;
        }
        default:
          TEUCHOS_TEST_FOR_EXCEPT(true);
      }
      // QP solver tester
      Teuchos::RCP<QPSolverRelaxedTester> 
        qp_solver_tester = Teuchos::rcp(new QPSolverRelaxedTester());
      if(options_.get()) {
        QPSolverRelaxedTesterSetOptions
          opt_setter( qp_solver_tester.get() );
        opt_setter.set_options( *options_ );
      }
      // The null-space step
      Teuchos::RCP<TangentialStepWithInequStd_Step>
        tangential_step_with_inequ_step = Teuchos::rcp(
          new TangentialStepWithInequStd_Step(
            qp_solver, qp_solver_tester ) );
      if(options_.get()) {
        TangentialStepWithInequStd_StepSetOptions
          opt_setter( tangential_step_with_inequ_step.get() );
        opt_setter.set_options( *options_ );
      }
      tangential_step_step = tangential_step_with_inequ_step;
      // Step for reinitialization reduced Hessian on QP failure
      tangential_step_step = Teuchos::rcp(
        new QPFailureReinitReducedHessian_Step(tangential_step_step)
        );
    }

    // CalcDFromYPYZPZ_Step
    algo_step_ptr_t    calc_d_from_Ypy_Zpy_step = Teuchos::null;
    {
      calc_d_from_Ypy_Zpy_step = Teuchos::rcp(new CalcDFromYPYZPZ_Step());
    }

    // CalcReducedGradLagrangianStd_AddedStep
    algo_step_ptr_t    calc_reduced_grad_lagr_step = Teuchos::null;
    {
      calc_reduced_grad_lagr_step = Teuchos::rcp(
        new CalcReducedGradLagrangianStd_AddedStep() );
    }

    // CheckConvergence_Step
    algo_step_ptr_t    check_convergence_step = Teuchos::null;
      {
      // Create the strategy object
      RCP<CheckConvergenceStd_Strategy>
        check_convergence_strategy = Teuchos::rcp(new CheckConvergenceStd_Strategy());

      if(options_.get()) 
        {
        CheckConvergence_StrategySetOptions
          opt_setter( check_convergence_strategy.get() );
        opt_setter.set_options( *options_ );
        }
      
      RCP<CheckConvergenceStd_AddedStep>
        _check_convergence_step = Teuchos::rcp(new CheckConvergenceStd_AddedStep(check_convergence_strategy));
      
      check_convergence_step = _check_convergence_step;
      }

    // MeritFuncPenaltyParamUpdate_Step
    algo_step_ptr_t    merit_func_penalty_param_update_step = Teuchos::null;
    if( cov_.line_search_method_ == LINE_SEARCH_FILTER ) {
      // We don't need to update a penalty parameter for the filter method :-)
    }
    else if( cov_.line_search_method_ != LINE_SEARCH_NONE ) {
      RCP<MeritFunc_PenaltyParamUpdate_AddedStep>
        param_update_step = Teuchos::null;
      switch( cov_.merit_function_type_ ) {
        case MERIT_FUNC_L1: {
          switch(cov_.l1_penalty_param_update_) {
            case L1_PENALTY_PARAM_WITH_MULT:
//              param_update_step
//                = Teuchos::rcp(new  MeritFunc_PenaltyParamUpdateWithMult_AddedStep());
              TEUCHOS_TEST_FOR_EXCEPTION(
                true, std::logic_error
                ,"NLPAlgoConfigMamaJama::config_algo_cntr(...) : Error, "
                "The l1_penalty_parameter_update option of MULT_FREE has not been updated yet!" );
              break;
            case L1_PENALTY_PARAM_MULT_FREE:
              param_update_step
                = Teuchos::rcp(new  MeritFunc_PenaltyParamUpdateMultFree_AddedStep());
              break;
            default:
              TEUCHOS_TEST_FOR_EXCEPT(true);
          }
          break;
        }
        case MERIT_FUNC_MOD_L1:
        case MERIT_FUNC_MOD_L1_INCR:
//          param_update_step = new  MeritFunc_PenaltyParamsUpdateWithMult_AddedStep(
//                      Teuchos::rcp_implicit_cast<MeritFuncNLP>(merit_func) );
          TEUCHOS_TEST_FOR_EXCEPTION(
            true, std::logic_error
            ,"NLPAlgoConfigMamaJama::config_algo_cntr(...) : Error, "
            "The merit_function_type options of MODIFIED_L1 and MODIFIED_L1_INCR have not been updated yet!" );
          break;
        default:
          TEUCHOS_TEST_FOR_EXCEPT(true);  // local programming error
      }
      if(options_.get()) {
        MeritFunc_PenaltyParamUpdate_AddedStepSetOptions
          ppu_options_setter( param_update_step.get() );
        ppu_options_setter.set_options( *options_ );
      }
      merit_func_penalty_param_update_step = param_update_step;
    }

    // LineSearchFull_Step
    algo_step_ptr_t    line_search_full_step_step = Teuchos::null;
    {
      line_search_full_step_step = Teuchos::rcp(new LineSearchFullStep_Step(bounds_tester));
    }

    // LineSearch_Step
    algo_step_ptr_t    line_search_step = Teuchos::null;
    if( cov_.line_search_method_ != LINE_SEARCH_NONE ) {
      RCP<DirectLineSearchArmQuad_Strategy>
        direct_line_search = Teuchos::rcp(new  DirectLineSearchArmQuad_Strategy());
      if(options_.get()) {
        ConstrainedOptPack::DirectLineSearchArmQuad_StrategySetOptions
          ls_options_setter( direct_line_search.get(), "DirectLineSearchArmQuadSQPStep" );
        ls_options_setter.set_options( *options_ );
      }
      if( n > m ) {
        switch( cov_.line_search_method_ ) {
          case LINE_SEARCH_DIRECT: {
            line_search_step = Teuchos::rcp(new LineSearchDirect_Step(direct_line_search));
            break;
          }
          case LINE_SEARCH_2ND_ORDER_CORRECT: {
            TEUCHOS_TEST_FOR_EXCEPTION(
              true, std::logic_error
              ,"NLPAlgoConfigMamaJama::config_algo_cntr(...) : Error, "
              "The line_search_method option of 2ND_ORDER_CORRECT has not been updated yet!" );
            break;
          }
          case LINE_SEARCH_WATCHDOG: {
            TEUCHOS_TEST_FOR_EXCEPTION(
              true, std::logic_error
              ,"NLPAlgoConfigMamaJama::config_algo_cntr(...) : Error, "
              "The line_search_method option of WATCHDOG has not been updated yet!" );
            break;
          }
          case LINE_SEARCH_FILTER: {
            Teuchos::RCP<LineSearchFilter_Step> 
              line_search_filter_step = Teuchos::rcp(
                new LineSearchFilter_Step(algo_cntr->get_nlp())
                );
            
            if(options_.get()) 
            {
              LineSearchFilter_StepSetOptions options_setter(line_search_filter_step.get());
              options_setter.set_options(*options_);
            }

            line_search_step = line_search_filter_step;         
            break;
          }
          case LINE_SEARCH_AUTO:
          case LINE_SEARCH_NONE:
          default:
            TEUCHOS_TEST_FOR_EXCEPT(true); // Should not get here!
        }
      }
      else {
        line_search_step = Teuchos::rcp( new LineSearchNLE_Step(direct_line_search) );
      }
    }
    
    // LineSearchFailure
    if( new_decomp_selection_strategy.get() ) {
      line_search_step = Teuchos::rcp(
        new LineSearchFailureNewDecompositionSelection_Step(
          line_search_step
          ,new_decomp_selection_strategy
          )
        );
    }
  
    //
    // Create the algorithm depending on the type of NLP we are trying to solve.
    //

    if( m == 0 ) {

      if( nb == 0 ) {
        //
        // Unconstrained NLP (m == 0, num_bounded_x == 0)
        //
        if(trase_out)
          *trase_out 
            << "\nConfiguring an algorithm for an unconstrained "
            << "NLP (m == 0, num_bounded_x == 0) ...\n";
      }
      else {
        //
        // Simple bound constrained NLP (m == 0, num_bounded_x > 0)
        //
        if(trase_out)
          *trase_out 
            << "\nConfiguring an algorithm for a simple bound constrained "
            << "NLP (m == 0, num_bounded_x > 0) ...\n";
      }

      int step_num       = 0;
  
      // EvalNewPoint
      algo->insert_step( ++step_num, EvalNewPoint_name, eval_new_point_step );
      
      // ReducedGradient
      algo->insert_step( ++step_num, ReducedGradient_name, reduced_gradient_step );

      if( nb == 0 ) {
        
        // CalcReducedGradLagrangian
        algo->insert_step( ++step_num, CalcReducedGradLagrangian_name, calc_reduced_grad_lagr_step );

        // CheckConvergence
        algo->insert_step( ++step_num, CheckConvergence_name, check_convergence_step );

      }

      // ReducedHessian
      algo->insert_step( ++step_num, ReducedHessian_name, reduced_hessian_step );

      // (.-1) Initialize reduced Hessian
      if(init_red_hess_step.get()) {
        algo->insert_assoc_step(
          step_num, IterationPack::PRE_STEP, 1
          ,"ReducedHessianInitialization"
          ,init_red_hess_step
          );
      }
      
      // TangentialStep
      algo->insert_step( ++step_num, TangentialStep_name, tangential_step_step );
      if( nb > 0 ) {
        // SetDBoundsStd
        algo->insert_assoc_step(
          step_num
          ,IterationPack::PRE_STEP
          ,1
          ,"SetDBoundsStd"
          ,set_d_bounds_step
          );
      }

      // CalcDFromZPZ
      algo->insert_step( ++step_num, "CalcDFromZpz", Teuchos::rcp(new CalcDFromZPZ_Step()) );

      if( nb > 0 ) {
        
        // CalcReducedGradLagrangian
        algo->insert_step( ++step_num, CalcReducedGradLagrangian_name, calc_reduced_grad_lagr_step );

        // CheckConvergence
        algo->insert_step( ++step_num, CheckConvergence_name, check_convergence_step );

      }

      // LineSearch
      if( cov_.line_search_method_ == LINE_SEARCH_NONE ) {
        algo->insert_step( ++step_num, LineSearch_name, line_search_full_step_step );
      }
      else {
        // Main line search step
        algo->insert_step( ++step_num, LineSearch_name, line_search_step );
        // Insert presteps
        Algorithm::poss_type
          pre_step_i = 0;
        // (.-?) LineSearchFullStep
        algo->insert_assoc_step(
          step_num
          ,IterationPack::PRE_STEP
          ,++pre_step_i
          ,"LineSearchFullStep"
          ,line_search_full_step_step
          );
        // (.-?) MeritFunc_DummyUpdate
        algo->insert_assoc_step(
          step_num
          ,IterationPack::PRE_STEP
          ,++pre_step_i
          ,"MeritFunc_DummyUpdate"
          ,Teuchos::rcp(new MeritFunc_DummyUpdate_Step())
          );
      }
      
    }
    else if( n == m ) {
      //
      // System of Nonlinear equations (n == m)
      //
      if(trase_out)
        *trase_out 
          << "\nConfiguring an algorithm for a system of nonlinear equations "
          << "NLP (n == m) ...\n";
      
      if(algo->state().get_iter_quant_id(merit_func_nlp_name)!=IterationPack::AlgorithmState::DOES_NOT_EXIST)
        algo->state().erase_iter_quant(merit_func_nlp_name);

      int step_num       = 0;
      int assoc_step_num = 0;
  
      // EvalNewPoint
      algo->insert_step( ++step_num, EvalNewPoint_name, eval_new_point_step );
      if( check_descent_quansi_normal_step_step.get() && tailored_approach && algo->algo_cntr().check_results() )
      {
        algo->insert_assoc_step(
          step_num
          ,IterationPack::POST_STEP
          ,1
          ,"CheckDescentQuasiNormalStep"
          ,check_descent_quansi_normal_step_step
          );
      }
      
      // QuasiNormalStep
      if( !tailored_approach ) {
        algo->insert_step( ++step_num, QuasiNormalStep_name, quansi_normal_step_step );
        assoc_step_num = 0;
        if( check_decomp_from_py_step.get() )
          algo->insert_assoc_step(
            step_num
            ,IterationPack::POST_STEP
            ,++assoc_step_num
            ,"CheckDecompositionFromPy"
            ,check_decomp_from_py_step
            );
        if( check_decomp_from_Rpy_step.get() )
          algo->insert_assoc_step(
            step_num
            ,IterationPack::POST_STEP
            ,++assoc_step_num
            ,"CheckDecompositionFromRPy"
            ,check_decomp_from_Rpy_step
            );
        if( check_descent_quansi_normal_step_step.get() )
          algo->insert_assoc_step(
            step_num
            ,IterationPack::POST_STEP
            ,++assoc_step_num
            ,"CheckDescentQuasiNormalStep"
            ,check_descent_quansi_normal_step_step
            );
      }

      // CheckConvergence
      algo->insert_step( ++step_num, CheckConvergence_name, check_convergence_step );

      // CalcDFromYPY
      algo->insert_step( ++step_num, "CalcDFromYpy", Teuchos::rcp(new CalcDFromYPY_Step()) );
      
      // LineSearch
      if( cov_.line_search_method_ == LINE_SEARCH_NONE ) {
        algo->insert_step( ++step_num, LineSearch_name, line_search_full_step_step );
      }
      else {
        // Main line search step
        algo->insert_step( ++step_num, LineSearch_name, line_search_step );
        // Insert presteps
        Algorithm::poss_type
          pre_step_i = 0;
        // (.-?) LineSearchFullStep
        algo->insert_assoc_step(
          step_num
          ,IterationPack::PRE_STEP
          ,++pre_step_i
          ,"LineSearchFullStep"
          ,line_search_full_step_step
          );
      }

    }
    else if ( m > 0 || nb > 0 ) {
      //
      // General nonlinear NLP ( m > 0 )
      //
      if( nb == 0 ) {
        //
        // Nonlinear equality constrained NLP ( m > 0 && num_bounded_x == 0 )
        //
        if(trase_out)
          *trase_out 
            << "\nConfiguring an algorithm for a nonlinear equality constrained "
            << "NLP ( m > 0 && num_bounded_x == 0) ...\n";
      }
      else {
        //
        // Nonlinear inequality constrained NLP ( num_bounded_x > 0 )
        //
        if(trase_out)
          *trase_out 
            << "\nConfiguring an algorithm for a nonlinear generally constrained "
            << "NLP ( num_bounded_x > 0 ) ...\n";
      }

      int step_num       = 0;
      int assoc_step_num = 0;
  
      // EvalNewPoint
      algo->insert_step( ++step_num, EvalNewPoint_name, eval_new_point_step );
      if( check_descent_quansi_normal_step_step.get() && tailored_approach && algo->algo_cntr().check_results() )
      {
        algo->insert_assoc_step(
          step_num
          ,IterationPack::POST_STEP
          ,1
          ,"CheckDescentQuasiNormalStep"
          ,check_descent_quansi_normal_step_step
          );
      }
      
      // QuasiNormalStep
      if( !tailored_approach ) {
        algo->insert_step( ++step_num, QuasiNormalStep_name, quansi_normal_step_step );
        assoc_step_num = 0;
        if( check_decomp_from_py_step.get() )
          algo->insert_assoc_step(
            step_num
            ,IterationPack::POST_STEP
            ,++assoc_step_num
            ,"CheckDecompositionFromPy"
            ,check_decomp_from_py_step
            );
        if( check_decomp_from_Rpy_step.get() )
          algo->insert_assoc_step(
            step_num
            ,IterationPack::POST_STEP
            ,++assoc_step_num
            ,"CheckDecompositionFromRPy"
            ,check_decomp_from_Rpy_step
            );
        if( check_descent_quansi_normal_step_step.get() )
          algo->insert_assoc_step(
            step_num
            ,IterationPack::POST_STEP
            ,++assoc_step_num
            ,"CheckDescentQuasiNormalStep"
            ,check_descent_quansi_normal_step_step
            );
      }

      // ReducedGradient
      if( !tailored_approach ) {
        algo->insert_step( ++step_num, ReducedGradient_name, reduced_gradient_step );
      }

      if( nb == 0 ) {

        // CalcReducedGradLagrangian
        algo->insert_step( ++step_num, CalcReducedGradLagrangian_name, calc_reduced_grad_lagr_step );

        // CalcLagrangeMultDecomposed
        // Compute these here so that in case we converge we can report them
        if( !tailored_approach ) {
          // ToDo: Insert this step
        }

        // CheckConvergence
        algo->insert_step( ++step_num, CheckConvergence_name, check_convergence_step );
      }

      // ReducedHessian
      algo->insert_step( ++step_num, ReducedHessian_name, reduced_hessian_step );

      // (.-1) Initialize reduced Hessian
      if(init_red_hess_step.get()) {
        algo->insert_assoc_step(
          step_num, IterationPack::PRE_STEP, 1
          ,"ReducedHessianInitialization"
          ,init_red_hess_step
          );
      }

      // (.-1) CheckSkipBFGSUpdate
      algo->insert_assoc_step(
        step_num
        ,IterationPack::PRE_STEP
        ,1
        ,CheckSkipBFGSUpdate_name
        ,check_skip_bfgs_update_step
        );

      // TangentialStep
      algo->insert_step( ++step_num, TangentialStep_name, tangential_step_step );
      if( nb > 0 ) {
        // SetDBoundsStd
        algo->insert_assoc_step(
          step_num
          ,IterationPack::PRE_STEP
          ,1
          ,"SetDBoundsStd"
          ,set_d_bounds_step
          );
      }

      // CalcDFromYPYZPZ
      algo->insert_step( ++step_num, CalcDFromYPYZPZ_name, calc_d_from_Ypy_Zpy_step );
      
      if( nb > 0 ) {

        // CalcReducedGradLagrangian
        algo->insert_step( ++step_num, CalcReducedGradLagrangian_name, calc_reduced_grad_lagr_step );

        // CalcLagrangeMultDecomposed
        // Compute these here so that in case we converge we can report them
        if( !tailored_approach ) {
          // ToDo: Insert this step
        }

        // CheckConvergence
        algo->insert_step( ++step_num, CheckConvergence_name, check_convergence_step );
      }

      // LineSearch
      if( cov_.line_search_method_ == LINE_SEARCH_NONE ) {
        algo->insert_step( ++step_num, LineSearch_name, line_search_full_step_step );
      }
      else {
        // Main line search step
        algo->insert_step( ++step_num, LineSearch_name, line_search_step );
        // Insert presteps
        Algorithm::poss_type
          pre_step_i = 0;
        // (.-?) LineSearchFullStep
        algo->insert_assoc_step(
          step_num
          ,IterationPack::PRE_STEP
          ,++pre_step_i
          ,"LineSearchFullStep"
          ,line_search_full_step_step
          );
        // (.-?) MeritFunc_PenaltyPramUpdate
        if(merit_func_penalty_param_update_step.get()) {
          algo->insert_assoc_step(
            step_num
            ,IterationPack::PRE_STEP
            ,++pre_step_i
            ,"MeritFunc_PenaltyParamUpdate"
            ,merit_func_penalty_param_update_step
            );
        }
      }

    }
    else {
      TEUCHOS_TEST_FOR_EXCEPT(true); // Error, this should not ever be called!
    }
  }
  
}

void NLPAlgoConfigMamaJama::init_algo(NLPAlgoInterface* _algo)
{
  using Teuchos::dyn_cast;

  TEUCHOS_TEST_FOR_EXCEPTION(
    _algo == NULL, std::invalid_argument
    ,"NLPAlgoConfigMamaJama::init_algo(_algo) : Error, "
    "_algo can not be NULL" );

  NLPAlgo              &algo    = dyn_cast<NLPAlgo>(*_algo);
  NLPAlgoState         &state   = algo.rsqp_state();
  NLP                  &nlp     = algo.nlp();

  algo.max_iter( algo.algo_cntr().max_iter() );
  algo.max_run_time( algo.algo_cntr().max_run_time() );

  // Reset the iteration count to zero
  state.k(0);

  // Get organized output of vectors and matrices even if setw is not used by Step objects.
  algo.track().journal_out()
    << std::setprecision(algo.algo_cntr().journal_print_digits())
    << std::scientific;

  // set the first step
  algo.do_step_first(1);

  // The rest of the algorithm should initialize itself
}

// private

void NLPAlgoConfigMamaJama::readin_options(
    const OptionsFromStreamPack::OptionsFromStream     &options
  , SOptionValues                                      *ov
  , std::ostream                                       *trase_out
  )
{
  namespace ofsp = OptionsFromStreamPack;
  using   ofsp::OptionsFromStream;
  typedef   OptionsFromStream::options_group_t    options_group_t;
  using   ofsp::StringToIntMap;
  using   ofsp::StringToBool;

  TEUCHOS_TEST_FOR_EXCEPT( !( ov ) ); // only a local class error

  // Get the options group for "NLPAlgoConfigMamaJama"
  const std::string opt_grp_name = "NLPAlgoConfigMamaJama";
  const OptionsFromStream::options_group_t optgrp = options.options_group( opt_grp_name );
  if( OptionsFromStream::options_group_exists( optgrp ) ) {

    // Define map for options group "MamaJama".
    const int num_opts = 13;
    enum EMamaJama {
      MAX_BASIS_COND_CHANGE_FRAC
      ,EXACT_REDUCED_HESSIAN
      ,QUASI_NEWTON
      ,NUM_LBFGS_UPDATES_STORED
      ,LBFGS_AUTO_SCALING
      ,HESSIAN_INITIALIZATION
      ,QP_SOLVER
      ,REINIT_HESSIAN_ON_QP_FAIL
      ,LINE_SEARCH_METHOD
      ,MERIT_FUNCTION_TYPE
      ,L1_PENALTY_PARAM_UPDATE
      ,MAX_PZ_NORM
      ,NUM_PZ_DAMP_ITERS
    };
    const char* SMamaJama[num_opts] = {
      "max_basis_cond_change_frac"
      ,"exact_reduced_hessian"
      ,"quasi_newton"
      ,"num_lbfgs_updates_stored"
      ,"lbfgs_auto_scaling"
      ,"hessian_initialization"
      ,"qp_solver"
      ,"reinit_hessian_on_qp_fail"
      ,"line_search_method"
      ,"merit_function_type"
      ,"l1_penalty_parameter_update"
      ,"max_pz_norm"
      ,"num_pz_damp_iters"
    };
    StringToIntMap  mama_jama_map(  opt_grp_name, num_opts, SMamaJama );

    options_group_t::const_iterator itr = optgrp.begin();
    for( ; itr != optgrp.end(); ++itr ) {
      switch( (EMamaJama)mama_jama_map( ofsp::option_name(itr) ) ) {
        case MAX_BASIS_COND_CHANGE_FRAC:
          ov->max_basis_cond_change_frac_ = std::atof( ofsp::option_value(itr).c_str() );
          break;
        case EXACT_REDUCED_HESSIAN:
          ov->exact_reduced_hessian_ = StringToBool( "exact_reduced_hessian", ofsp::option_value(itr).c_str() );
          break;
        case QUASI_NEWTON:
        {
          const std::string &opt_val = ofsp::option_value(itr);
          if( opt_val == "AUTO" )
            ov->quasi_newton_ = QN_AUTO;
          else if( opt_val == "BFGS" )
            ov->quasi_newton_ = QN_BFGS;
          else if( opt_val == "PBFGS" )
            ov->quasi_newton_ = QN_PBFGS;
          else if( opt_val == "LBFGS" )
            ov->quasi_newton_ = QN_LBFGS;
          else if( opt_val == "LPBFGS" )
            ov->quasi_newton_ = QN_LPBFGS;
          else
            TEUCHOS_TEST_FOR_EXCEPTION(
              true, std::invalid_argument
              ,"NLPAlgoConfigMamaJama::readin_options(...) : "
              "Error, incorrect value for \"quasi_newton\" "
              ", Only options of BFGS, PBFGS"
              ", LBFGS, LPBFGS and AUTO are avalible."
              );
          break;
        }
        case NUM_LBFGS_UPDATES_STORED:
          ov->num_lbfgs_updates_stored_ = std::atoi( ofsp::option_value(itr).c_str() );
          break;
        case LBFGS_AUTO_SCALING:
          ov->lbfgs_auto_scaling_
            = StringToBool( "lbfgs_auto_scaling", ofsp::option_value(itr).c_str() );
          break;
        case HESSIAN_INITIALIZATION:
        {
          const std::string &opt_val = ofsp::option_value(itr);
          if( opt_val == "IDENTITY" )
            ov->hessian_initialization_ = INIT_HESS_IDENTITY;
          else if( opt_val == "FINITE_DIFF_SCALE_IDENTITY" )
            ov->hessian_initialization_ = INIT_HESS_FIN_DIFF_SCALE_IDENTITY;
          else if( opt_val == "FINITE_DIFF_DIAGONAL" )
            ov->hessian_initialization_ = INIT_HESS_FIN_DIFF_SCALE_DIAGONAL;
          else if( opt_val == "FINITE_DIFF_DIAGONAL_ABS" )
            ov->hessian_initialization_ = INIT_HESS_FIN_DIFF_SCALE_DIAGONAL_ABS;
          else if( opt_val == "AUTO" )
            ov->hessian_initialization_ = INIT_HESS_AUTO;
          else if( opt_val == "SERIALIZE" )
            ov->hessian_initialization_ = INIT_HESS_SERIALIZE;
          else
            TEUCHOS_TEST_FOR_EXCEPTION(
              true, std::invalid_argument
              ,"NLPAlgoConfigMamaJama::readin_options(...) : "
              "Error, incorrect value for \"hessian_initialization\" "
              ", Only options of IDENTITY, SERIALIZE, FINITE_DIFF_SCALE_IDENTITY,"
              " FINITE_DIFF_DIAGONAL, FINITE_DIFF_DIAGONAL_ABS and AUTO"
              " are available"  );
          break;
        }
        case QP_SOLVER:
        {
          const std::string &qp_solver = ofsp::option_value(itr);
          if( qp_solver == "AUTO" ) {
            ov->qp_solver_type_ = QP_AUTO;
          } else if( qp_solver == "QPSOL" ) {
            ov->qp_solver_type_ = QP_QPSOL;
          } else if( qp_solver == "QPOPT" ) {
#ifdef CONSTRAINED_OPTIMIZATION_PACK_USE_QPOPT
            ov->qp_solver_type_ = QP_QPOPT;
#else
            TEUCHOS_TEST_FOR_EXCEPTION(
              true, std::invalid_argument
              ,"NLPAlgoConfigMamaJama::readin_options(...) : QPOPT is not supported,"
              " must define CONSTRAINED_OPTIMIZATION_PACK_USE_QPOPT!" );
#endif
          } else if( qp_solver == "QPKWIK" ) {
#ifdef CONSTRAINED_OPTIMIZATION_PACK_USE_QPKWIK
            ov->qp_solver_type_ = QP_QPKWIK;
#else
            TEUCHOS_TEST_FOR_EXCEPTION(
              true, std::invalid_argument
              ,"NLPAlgoConfigMamaJama::readin_options(...) : QPKWIK is not supported,"
              " must define CONSTRAINED_OPTIMIZATION_PACK_USE_QPKWIK!" );
#endif
          } else if( qp_solver == "QPSCHUR" ) {
            ov->qp_solver_type_ = QP_QPSCHUR;
          } else {
            TEUCHOS_TEST_FOR_EXCEPTION(
              true, std::invalid_argument
              ,"NLPAlgoConfigMamaJama::readin_options(...) : "
              "Error, incorrect value for \"qp_solver\" "
              "Only qp solvers QPOPT, QPSOL, QPKWIK, QPSCHUR and AUTO are avalible."  );
          }
          break;
        }
        case REINIT_HESSIAN_ON_QP_FAIL:
          ov->reinit_hessian_on_qp_fail_ = StringToBool( "reinit_hessian_on_qp_fail", ofsp::option_value(itr).c_str() );
          break;
        case LINE_SEARCH_METHOD:
        {
          const std::string &option = ofsp::option_value(itr);
          if( option == "NONE" ) {
            ov->line_search_method_ = LINE_SEARCH_NONE;
          } else if( option == "DIRECT" ) {
            ov->line_search_method_ = LINE_SEARCH_DIRECT;
          } else if( option == "2ND_ORDER_CORRECT" ) {
            ov->line_search_method_ = LINE_SEARCH_2ND_ORDER_CORRECT;
          } else if( option == "WATCHDOG" ) {
            ov->line_search_method_ = LINE_SEARCH_WATCHDOG;
          } else if( option == "AUTO" ) {
            ov->line_search_method_ = LINE_SEARCH_AUTO;
          } else if( option == "FILTER" ) {
            ov->line_search_method_ = LINE_SEARCH_FILTER;
          } else {
            TEUCHOS_TEST_FOR_EXCEPTION(
              true, std::invalid_argument
              ,"NLPAlgoConfigMamaJama::readin_options(...) : "
              "Error, incorrect value for \"line_search_method\".\n"
              "Only the options NONE, DIRECT, 2ND_ORDER_CORRECT, FILTER, WATCHDOG "
              "and AUTO are avalible." );
          }
          break;
        }
        case MERIT_FUNCTION_TYPE:
        {
          const std::string &option = ofsp::option_value(itr);
          if( option == "L1" )
            ov->merit_function_type_ = MERIT_FUNC_L1;
          else if( option == "MODIFIED_L1" )
            ov->merit_function_type_ = MERIT_FUNC_MOD_L1;
          else if( option == "MODIFIED_L1_INCR" )
            ov->merit_function_type_ = MERIT_FUNC_MOD_L1_INCR;
          else if( option == "AUTO" )
            ov->merit_function_type_ = MERIT_FUNC_AUTO;
          else
            TEUCHOS_TEST_FOR_EXCEPTION(
              true, std::invalid_argument
              ,"NLPAlgoConfigMamaJama::readin_options(...) : "
              "Error, incorrect value for \"merit_function_type\".\n"
              "Only the options L1, MODIFIED_L1, MODIFIED_L1_INCR "
              "and AUTO are avalible." );
          break;
        }
        case L1_PENALTY_PARAM_UPDATE:
        {
          const std::string &option = ofsp::option_value(itr);
          if( option == "WITH_MULT" )
            ov->l1_penalty_param_update_
              = L1_PENALTY_PARAM_WITH_MULT;
          else if( option == "MULT_FREE" )
            ov->l1_penalty_param_update_
              = L1_PENALTY_PARAM_MULT_FREE;
          else if( option == "AUTO" )
            ov->l1_penalty_param_update_
              = L1_PENALTY_PARAM_AUTO;
          else
            TEUCHOS_TEST_FOR_EXCEPTION(
              true, std::invalid_argument
              ,"NLPAlgoConfigMamaJama::readin_options(...) : "
              "Error, incorrect value for \"l1_penalty_param_update\".\n"
              "Only the options WITH_MULT, MULT_FREE and AUTO"
              "are avalible."  );
          break;
        }
        case MAX_PZ_NORM: {
          const std::string &option = ofsp::option_value(itr);
          ov->max_pz_norm_ = std::atof(option.c_str());
          break;
        }
        case NUM_PZ_DAMP_ITERS: {
          const std::string &option = ofsp::option_value(itr);
          ov->num_pz_damp_iters_ = std::atoi(option.c_str());
          break;
        }

        default:
          TEUCHOS_TEST_FOR_EXCEPT(true);  // this would be a local programming error only.
      }
    }
  }
  else {
    if(trase_out)
      *trase_out
        << "\n\n*** Warning!  The options group \"NLPAlgoConfigMamaJama\" was not found.\n"
        << "Using a default set of options instead ... \n";
  }
}

//
// This is where some of the default options are set and the user is alerted to what their
// value is.
//
void NLPAlgoConfigMamaJama::set_default_options( 
  const SOptionValues     &uov
  ,SOptionValues          *cov
  ,std::ostream           *trase_out
  )
{
  if(trase_out)
    *trase_out
      << "\n*** Setting option defaults for options not set by the user or determined some other way ...\n";

  if( cov->max_basis_cond_change_frac_ < 0.0 &&  uov.max_basis_cond_change_frac_ < 0.0 ) {
    if(trase_out)
      *trase_out
        << "\nmax_basis_cond_change_frac < 0 : setting max_basis_cond_change_frac = 1e+4 \n";
    cov->max_basis_cond_change_frac_ = 1e+4;
  }
  else {
    cov->max_basis_cond_change_frac_ = uov.max_basis_cond_change_frac_;
  }
  cov->exact_reduced_hessian_ = uov.exact_reduced_hessian_;
  if( cov->quasi_newton_ == QN_AUTO && uov.quasi_newton_ == QN_AUTO ) {
    if(trase_out)
      *trase_out
        << "\nquasi_newton == AUTO: setting quasi_newton = BFGS\n";
    cov->quasi_newton_ = QN_BFGS;
  }
  else if(cov->quasi_newton_ == QN_AUTO) {
    cov->quasi_newton_ = uov.quasi_newton_;
  }
  if( cov->num_lbfgs_updates_stored_ < 0 && uov.num_lbfgs_updates_stored_ < 0 ) {
    if(trase_out)
      *trase_out
        << "\nnum_lbfgs_updates_stored < 0 : setting num_lbfgs_updates_stored = 10\n";
    cov->num_lbfgs_updates_stored_ = 10;
  }
  else if(cov->num_lbfgs_updates_stored_ < 0) {
    cov->num_lbfgs_updates_stored_ = uov.num_lbfgs_updates_stored_;
  }
  cov->lbfgs_auto_scaling_ = uov.lbfgs_auto_scaling_;
  if( cov->hessian_initialization_ == INIT_HESS_AUTO && uov.hessian_initialization_ == INIT_HESS_AUTO ) {
    if(trase_out)
       *trase_out
        << "\nhessian_initialization == AUTO: setting hessian_initialization = IDENTITY\n";
    cov->hessian_initialization_ = INIT_HESS_IDENTITY;
/*
    if(trase_out)
      *trase_out
        << "\nhessian_initialization == AUTO: setting hessian_initialization = FINITE_DIFF_DIAGONAL_ABS\n";
    cov->hessian_initialization_ = INIT_HESS_FIN_DIFF_SCALE_DIAGONAL_ABS;
*/
  }
  else if(cov->hessian_initialization_ == INIT_HESS_AUTO) {
    cov->hessian_initialization_ = uov.hessian_initialization_;
  }
  if( cov->qp_solver_type_ == QP_AUTO && uov.qp_solver_type_ == QP_AUTO ) {
#ifdef CONSTRAINED_OPTIMIZATION_PACK_USE_QPKWIK
    if(trase_out)
      *trase_out
        << "\nqp_solver_type == AUTO: setting qp_solver_type = QPKWIK\n";
    cov->qp_solver_type_ = QP_QPKWIK;
#else
    if(trase_out)
      *trase_out
        << "\nqp_solver_type == AUTO: setting qp_solver_type = QPSCHUR\n";
    cov->qp_solver_type_ = QP_QPSCHUR;
#endif
  }
  else if(cov->qp_solver_type_ == QP_AUTO) {
    cov->qp_solver_type_ = uov.qp_solver_type_;
  }
  cov->reinit_hessian_on_qp_fail_ = uov.reinit_hessian_on_qp_fail_;
  if( cov->line_search_method_ == LINE_SEARCH_AUTO && uov.line_search_method_ == LINE_SEARCH_AUTO ) {
    if(trase_out)
      *trase_out
        << "\nline_search_method == AUTO: setting line_search_method = FILTER\n";
    cov->line_search_method_ = LINE_SEARCH_FILTER;
  }
  else if(cov->line_search_method_ == LINE_SEARCH_AUTO) {
    cov->line_search_method_ = uov.line_search_method_;
  }
  if( cov->merit_function_type_ == MERIT_FUNC_AUTO && uov.merit_function_type_ == MERIT_FUNC_AUTO ) {
    if(trase_out)
      *trase_out
        << "\nmerit_function_type == AUTO: setting merit_function_type = MODIFIED_L1_INCR\n";
    cov->merit_function_type_ = MERIT_FUNC_MOD_L1_INCR;
  }
  else if(cov->merit_function_type_ == MERIT_FUNC_AUTO) {
    cov->merit_function_type_ = uov.merit_function_type_;
  }
  if( cov->l1_penalty_param_update_ == L1_PENALTY_PARAM_AUTO && uov.l1_penalty_param_update_ == L1_PENALTY_PARAM_AUTO ) {
    if(trase_out)
      *trase_out
        << "\nl1_penalty_param_update == AUTO: setting l1_penalty_param_update = MULT_FREE\n";
    cov->l1_penalty_param_update_ = L1_PENALTY_PARAM_MULT_FREE;
  }
  else if(cov->l1_penalty_param_update_ == L1_PENALTY_PARAM_AUTO) {
    cov->l1_penalty_param_update_ = uov.l1_penalty_param_update_;
  }
  if( cov->full_steps_after_k_ < 0 && uov.full_steps_after_k_ < 0 ) {
    if(trase_out)
      *trase_out
        << "\nfull_steps_after_k < 0 : the line search will never be turned off after so many iterations\n";
  }
  else {
    cov->full_steps_after_k_ = uov.full_steps_after_k_;
  }
  cov->max_pz_norm_ = uov.max_pz_norm_;
  cov->num_pz_damp_iters_ = uov.num_pz_damp_iters_;
  if(trase_out)
    *trase_out
      << "\n*** End setting default options\n";
}

} // end namespace MoochoPack