Documentation update.

Update the documentation to reflect the new trust region solver
logging style.

Change-Id: Id2d6b9efeee86c690c349a225d344e9f97ddbcdf

docs/source/building.rst

@@ -134,55 +134,55 @@ This runs Ceres for a maximum of 10 iterations using the
 this.
 
 .. code-block:: bash
-
-   0: f: 4.185660e+06 d: 0.00e+00 g: 1.09e+08 h: 0.00e+00 rho: 0.00e+00 mu: 1.00e+04 li:  0 it: 8.73e-02 tt: 2.61e-01
-   1: f: 1.062590e+05 d: 4.08e+06 g: 8.99e+06 h: 5.36e+02 rho: 9.82e-01 mu: 3.00e+04 li:  1 it: 1.85e-01 tt: 4.46e-01
-   2: f: 4.992817e+04 d: 5.63e+04 g: 8.32e+06 h: 3.19e+02 rho: 6.52e-01 mu: 3.09e+04 li:  1 it: 1.74e-01 tt: 6.20e-01
-   3: f: 1.899774e+04 d: 3.09e+04 g: 1.60e+06 h: 1.24e+02 rho: 9.77e-01 mu: 9.26e+04 li:  1 it: 1.74e-01 tt: 7.94e-01
-   4: f: 1.808729e+04 d: 9.10e+02 g: 3.97e+05 h: 6.39e+01 rho: 9.51e-01 mu: 2.78e+05 li:  1 it: 1.73e-01 tt: 9.67e-01
-   5: f: 1.803399e+04 d: 5.33e+01 g: 1.48e+04 h: 1.23e+01 rho: 9.99e-01 mu: 8.33e+05 li:  1 it: 1.75e-01 tt: 1.14e+00
-   6: f: 1.803390e+04 d: 9.02e-02 g: 6.35e+01 h: 8.00e-01 rho: 1.00e+00 mu: 2.50e+06 li:  1 it: 1.75e-01 tt: 1.32e+00
-
-   Ceres Solver Report
-   -------------------
-                                        Original                  Reduced
-   Parameter blocks                        22122                    22122
-   Parameters                              66462                    66462
-   Residual blocks                         83718                    83718
-   Residual                               167436                   167436
-
-   Minimizer                        TRUST_REGION
-
-   Dense linear algebra library            EIGEN
-   Trust region strategy     LEVENBERG_MARQUARDT
-
-                                           Given                     Used
-   Linear solver                     DENSE_SCHUR              DENSE_SCHUR
-   Threads                                     1                        1
-   Linear solver threads                       1                        1
-   Linear solver ordering              AUTOMATIC                22106, 16
-
-   Cost:
-   Initial                          4.185660e+06
-   Final                            1.803390e+04
-   Change                           4.167626e+06
-
-   Minimizer iterations                        6
-   Successful steps                            6
-   Unsuccessful steps                          0
-
-   Time (in seconds):
-   Preprocessor                            0.173
-
-     Residual evaluation                   0.115
-     Jacobian evaluation                   0.498
-     Linear solver                         0.517
-   Minimizer                               1.242
-
-   Postprocessor                           0.003
-   Total                                   1.437
-
-   Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.769750e-09 <= 1.000000e-06)
+    iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
+       0  4.185660e+06    0.00e+00    1.09e+08   0.00e+00   0.00e+00  1.00e+04       0    7.59e-02    3.37e-01
+       1  1.062590e+05    4.08e+06    8.99e+06   5.36e+02   9.82e-01  3.00e+04       1    1.65e-01    5.03e-01
+       2  4.992817e+04    5.63e+04    8.32e+06   3.19e+02   6.52e-01  3.09e+04       1    1.45e-01    6.48e-01
+       3  1.899774e+04    3.09e+04    1.60e+06   1.24e+02   9.77e-01  9.26e+04       1    1.43e-01    7.92e-01
+       4  1.808729e+04    9.10e+02    3.97e+05   6.39e+01   9.51e-01  2.78e+05       1    1.45e-01    9.36e-01
+       5  1.803399e+04    5.33e+01    1.48e+04   1.23e+01   9.99e-01  8.33e+05       1    1.45e-01    1.08e+00
+       6  1.803390e+04    9.02e-02    6.35e+01   8.00e-01   1.00e+00  2.50e+06       1    1.50e-01    1.23e+00
+
+    Ceres Solver v1.10.0 Solve Report
+    ----------------------------------
+                                         Original                  Reduced
+    Parameter blocks                        22122                    22122
+    Parameters                              66462                    66462
+    Residual blocks                         83718                    83718
+    Residual                               167436                   167436
+
+    Minimizer                        TRUST_REGION
+
+    Dense linear algebra library            EIGEN
+    Trust region strategy     LEVENBERG_MARQUARDT
+
+                                            Given                     Used
+    Linear solver                     DENSE_SCHUR              DENSE_SCHUR
+    Threads                                     1                        1
+    Linear solver threads                       1                        1
+    Linear solver ordering              AUTOMATIC                22106, 16
+
+    Cost:
+    Initial                          4.185660e+06
+    Final                            1.803390e+04
+    Change                           4.167626e+06
+
+    Minimizer iterations                        6
+    Successful steps                            6
+    Unsuccessful steps                          0
+
+    Time (in seconds):
+    Preprocessor                            0.261
+
+      Residual evaluation                   0.082
+      Jacobian evaluation                   0.412
+      Linear solver                         0.442
+    Minimizer                               1.051
+
+    Postprocessor                           0.002
+    Total                                   1.357
+
+    Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.769766e-09 <= 1.000000e-06)
 
 .. section-osx:
 

docs/source/faqs.rst

@@ -169,16 +169,16 @@ Solving
 
      ./bin/bundle_adjuster --input ../data/problem-16-22106-pre.txt
 
-
-     0: f: 4.185660e+06 d: 0.00e+00 g: 2.16e+07 h: 0.00e+00 rho: 0.00e+00 mu: 1.00e+04 li:  0 it: 9.20e-02 tt: 3.35e-01
-     1: f: 1.980525e+05 d: 3.99e+06 g: 5.34e+06 h: 2.40e+03 rho: 9.60e-01 mu: 3.00e+04 li:  1 it: 1.99e-01 tt: 5.34e-01
-     2: f: 5.086543e+04 d: 1.47e+05 g: 2.11e+06 h: 1.01e+03 rho: 8.22e-01 mu: 4.09e+04 li:  1 it: 1.61e-01 tt: 6.95e-01
-     3: f: 1.859667e+04 d: 3.23e+04 g: 2.87e+05 h: 2.64e+02 rho: 9.85e-01 mu: 1.23e+05 li:  1 it: 1.63e-01 tt: 8.58e-01
-     4: f: 1.803857e+04 d: 5.58e+02 g: 2.69e+04 h: 8.66e+01 rho: 9.93e-01 mu: 3.69e+05 li:  1 it: 1.62e-01 tt: 1.02e+00
-     5: f: 1.803391e+04 d: 4.66e+00 g: 3.11e+02 h: 1.02e+01 rho: 1.00e+00 mu: 1.11e+06 li:  1 it: 1.61e-01 tt: 1.18e+00
-
-     Ceres Solver Report
-     -------------------
+     iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
+        0  4.185660e+06    0.00e+00    2.16e+07   0.00e+00   0.00e+00  1.00e+04       0    7.50e-02    3.58e-01
+        1  1.980525e+05    3.99e+06    5.34e+06   2.40e+03   9.60e-01  3.00e+04       1    1.84e-01    5.42e-01
+        2  5.086543e+04    1.47e+05    2.11e+06   1.01e+03   8.22e-01  4.09e+04       1    1.53e-01    6.95e-01
+        3  1.859667e+04    3.23e+04    2.87e+05   2.64e+02   9.85e-01  1.23e+05       1    1.71e-01    8.66e-01
+        4  1.803857e+04    5.58e+02    2.69e+04   8.66e+01   9.93e-01  3.69e+05       1    1.61e-01    1.03e+00
+        5  1.803391e+04    4.66e+00    3.11e+02   1.02e+01   1.00e+00  1.11e+06       1    1.49e-01    1.18e+00
+
+     Ceres Solver v1.10.0 Solve Report
+     ----------------------------------
                                           Original                  Reduced
      Parameter blocks                        22122                    22122
      Parameters                              66462                    66462
@@ -190,7 +190,7 @@ Solving
      Sparse linear algebra library    SUITE_SPARSE
      Trust region strategy     LEVENBERG_MARQUARDT
 
-                                              Given                     Used
+                                             Given                     Used
      Linear solver                    SPARSE_SCHUR             SPARSE_SCHUR
      Threads                                     1                        1
      Linear solver threads                       1                        1
@@ -206,15 +206,15 @@ Solving
      Unsuccessful steps                          0
 
      Time (in seconds):
-     Preprocessor                            0.243
+     Preprocessor                            0.283
 
-       Residual evaluation                   0.053
-       Jacobian evaluation                   0.435
-       Linear solver                         0.371
-     Minimizer                               0.940
+       Residual evaluation                   0.061
+       Jacobian evaluation                   0.361
+       Linear solver                         0.382
+     Minimizer                               0.895
 
      Postprocessor                           0.002
-     Total                                   1.221
+     Total                                   1.220
 
      Termination:                   NO_CONVERGENCE (Maximum number of iterations reached.)
 
@@ -225,17 +225,18 @@ Solving
    .. code-block:: bash
 
      Time (in seconds):
-     Preprocessor                            0.243
+     Preprocessor                            0.283
 
-       Residual evaluation                   0.053
-       Jacobian evaluation                   0.435
-       Linear solver                         0.371
-     Minimizer                               0.940
+       Residual evaluation                   0.061
+       Jacobian evaluation                   0.361
+       Linear solver                         0.382
+     Minimizer                               0.895
 
      Postprocessor                           0.002
-     Total                                   1.221
+     Total                                   1.220
 
-  Which tell us that of the total 1.2 seconds, about .4 seconds was
+
+  Which tell us that of the total 1.2 seconds, about .3 seconds was
   spent in the linear solver and the rest was mostly spent in
   preprocessing and jacobian evaluation.
 
@@ -256,17 +257,19 @@ Solving
    .. code-block:: bash
 
      Time (in seconds):
-     Preprocessor                            0.058
+     Preprocessor                            0.051
 
-       Residual evaluation                   0.050
-       Jacobian evaluation                   0.416
-       Linear solver                         0.360
-     Minimizer                               0.903
+       Residual evaluation                   0.053
+       Jacobian evaluation                   0.344
+       Linear solver                         0.372
+     Minimizer                               0.854
 
      Postprocessor                           0.002
-     Total                                   0.998
+     Total                                   0.935
+
+
 
-  The preprocessor time has gone down by more than 4x!.
+  The preprocessor time has gone down by more than 5.5x!.
 
 Further Reading
 ===============

docs/source/solving.rst

@@ -1377,28 +1377,29 @@ elimination group [LiSaad]_.
 
    .. code-block:: bash
 
-      0: f: 1.250000e+01 d: 0.00e+00 g: 5.00e+00 h: 0.00e+00 rho: 0.00e+00 mu: 1.00e+04 li:  0 it: 6.91e-06 tt: 1.91e-03
-      1: f: 1.249750e-07 d: 1.25e+01 g: 5.00e-04 h: 5.00e+00 rho: 1.00e+00 mu: 3.00e+04 li:  1 it: 2.81e-05 tt: 1.99e-03
-      2: f: 1.388518e-16 d: 1.25e-07 g: 1.67e-08 h: 5.00e-04 rho: 1.00e+00 mu: 9.00e+04 li:  1 it: 1.00e-05 tt: 2.01e-03
+      iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
+         0  4.185660e+06    0.00e+00    1.09e+08   0.00e+00   0.00e+00  1.00e+04       0    7.59e-02    3.37e-01
+         1  1.062590e+05    4.08e+06    8.99e+06   5.36e+02   9.82e-01  3.00e+04       1    1.65e-01    5.03e-01
+         2  4.992817e+04    5.63e+04    8.32e+06   3.19e+02   6.52e-01  3.09e+04       1    1.45e-01    6.48e-01
 
    Here
 
-   #. ``f`` is the value of the objective function.
-   #. ``d`` is the change in the value of the objective function if
-      the step computed in this iteration is accepted.
-   #. ``g`` is the max norm of the gradient.
-   #. ``h`` is the change in the parameter vector.
-   #. ``rho`` is the ratio of the actual change in the objective
+   #. ``cost`` is the value of the objective function.
+   #. ``cost_change`` is the change in the value of the objective
+      function if the step computed in this iteration is accepted.
+   #. ``|gradient|`` is the max norm of the gradient.
+   #. ``|step|`` is the change in the parameter vector.
+   #. ``tr_ratio`` is the ratio of the actual change in the objective
       function value to the change in the the value of the trust
       region model.
-   #. ``mu`` is the size of the trust region radius.
-   #. ``li`` is the number of linear solver iterations used to compute
-      the trust region step. For direct/factorization based solvers it
-      is always 1, for iterative solvers like ``ITERATIVE_SCHUR`` it
-      is the number of iterations of the Conjugate Gradients
-      algorithm.
-   #. ``it`` is the time take by the current iteration.
-   #. ``tt`` is the the total time taken by the minimizer.
+   #. ``tr_radius`` is the size of the trust region radius.
+   #. ``ls_iter`` is the number of linear solver iterations used to
+      compute the trust region step. For direct/factorization based
+      solvers it is always 1, for iterative solvers like
+      ``ITERATIVE_SCHUR`` it is the number of iterations of the
+      Conjugate Gradients algorithm.
+   #. ``iter_time`` is the time take by the current iteration.
+   #. ``total_time`` is the the total time taken by the minimizer.
 
    For ``LINE_SEARCH_MINIMIZER`` the progress display looks like
 

docs/source/tutorial.rst

@@ -133,11 +133,12 @@ gives us
 
 .. code-block:: bash
 
-      0: f: 1.250000e+01 d: 0.00e+00 g: 5.00e+00 h: 0.00e+00 rho: 0.00e+00 mu: 1.00e+04 li:  0 it: 6.91e-06 tt: 1.91e-03
-      1: f: 1.249750e-07 d: 1.25e+01 g: 5.00e-04 h: 5.00e+00 rho: 1.00e+00 mu: 3.00e+04 li:  1 it: 2.81e-05 tt: 1.99e-03
-      2: f: 1.388518e-16 d: 1.25e-07 g: 1.67e-08 h: 5.00e-04 rho: 1.00e+00 mu: 9.00e+04 li:  1 it: 1.00e-05 tt: 2.01e-03
-   Ceres Solver Report: Iterations: 2, Initial cost: 1.250000e+01, Final cost: 1.388518e-16, Termination: CONVERGENCE.
-   x : 5 -> 10
+   iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
+      0  4.512500e+01    0.00e+00    9.50e+00   0.00e+00   0.00e+00  1.00e+04       0    5.33e-04    3.46e-03
+      1  4.511598e-07    4.51e+01    9.50e-04   9.50e+00   1.00e+00  3.00e+04       1    5.00e-04    4.05e-03
+      2  5.012552e-16    4.51e-07    3.17e-08   9.50e-04   1.00e+00  9.00e+04       1    1.60e-05    4.09e-03
+   Ceres Solver Report: Iterations: 2, Initial cost: 4.512500e+01, Final cost: 5.012552e-16, Termination: CONVERGENCE
+   x : 0.5 -> 10
 
 Starting from a :math:`x=5`, the solver in two iterations goes to 10
 [#f2]_. The careful reader will note that this is a linear problem and
@@ -373,21 +374,64 @@ gives us:
 
 .. code-block:: bash
 
- Initial x1 = 3, x2 = -1, x3 = 0, x4 = 1
-    0: f: 1.075000e+02 d: 0.00e+00 g: 1.55e+02 h: 0.00e+00 rho: 0.00e+00 mu: 1.00e+04 li:  0 it: 0.00e+00 tt: 0.00e+00
-    1: f: 5.036190e+00 d: 1.02e+02 g: 2.00e+01 h: 2.16e+00 rho: 9.53e-01 mu: 3.00e+04 li:  1 it: 0.00e+00 tt: 0.00e+00
-    2: f: 3.148168e-01 d: 4.72e+00 g: 2.50e+00 h: 6.23e-01 rho: 9.37e-01 mu: 9.00e+04 li:  1 it: 0.00e+00 tt: 0.00e+00
-    3: f: 1.967760e-02 d: 2.95e-01 g: 3.13e-01 h: 3.08e-01 rho: 9.37e-01 mu: 2.70e+05 li:  1 it: 0.00e+00 tt: 0.00e+00
-    4: f: 1.229900e-03 d: 1.84e-02 g: 3.91e-02 h: 1.54e-01 rho: 9.37e-01 mu: 8.10e+05 li:  1 it: 0.00e+00 tt: 0.00e+00
-    5: f: 7.687123e-05 d: 1.15e-03 g: 4.89e-03 h: 7.69e-02 rho: 9.37e-01 mu: 2.43e+06 li:  1 it: 0.00e+00 tt: 0.00e+00
-    6: f: 4.804625e-06 d: 7.21e-05 g: 6.11e-04 h: 3.85e-02 rho: 9.37e-01 mu: 7.29e+06 li:  1 it: 0.00e+00 tt: 0.00e+00
-    7: f: 3.003028e-07 d: 4.50e-06 g: 7.64e-05 h: 1.92e-02 rho: 9.37e-01 mu: 2.19e+07 li:  1 it: 0.00e+00 tt: 0.00e+00
-    8: f: 1.877006e-08 d: 2.82e-07 g: 9.54e-06 h: 9.62e-03 rho: 9.37e-01 mu: 6.56e+07 li:  1 it: 0.00e+00 tt: 0.00e+00
-    9: f: 1.173223e-09 d: 1.76e-08 g: 1.19e-06 h: 4.81e-03 rho: 9.37e-01 mu: 1.97e+08 li:  1 it: 0.00e+00 tt: 0.00e+00
-   10: f: 7.333425e-11 d: 1.10e-09 g: 1.49e-07 h: 2.40e-03 rho: 9.37e-01 mu: 5.90e+08 li:  1 it: 0.00e+00 tt: 0.00e+00
-   11: f: 4.584044e-12 d: 6.88e-11 g: 1.86e-08 h: 1.20e-03 rho: 9.37e-01 mu: 1.77e+09 li:  1 it: 0.00e+00 tt: 0.00e+00
- Ceres Solver Report: Iterations: 12, Initial cost: 1.075000e+02, Final cost: 4.584044e-12, Termination: CONVERGENCE.
- Final x1 = 0.00116741, x2 = -0.000116741, x3 = 0.000190535, x4 = 0.000190535
+    Initial x1 = 3, x2 = -1, x3 = 0, x4 = 1
+    iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
+       0  1.075000e+02    0.00e+00    1.55e+02   0.00e+00   0.00e+00  1.00e+04       0    4.95e-04    2.30e-03
+       1  5.036190e+00    1.02e+02    2.00e+01   2.16e+00   9.53e-01  3.00e+04       1    4.39e-05    2.40e-03
+       2  3.148168e-01    4.72e+00    2.50e+00   6.23e-01   9.37e-01  9.00e+04       1    9.06e-06    2.43e-03
+       3  1.967760e-02    2.95e-01    3.13e-01   3.08e-01   9.37e-01  2.70e+05       1    8.11e-06    2.45e-03
+       4  1.229900e-03    1.84e-02    3.91e-02   1.54e-01   9.37e-01  8.10e+05       1    6.91e-06    2.48e-03
+       5  7.687123e-05    1.15e-03    4.89e-03   7.69e-02   9.37e-01  2.43e+06       1    7.87e-06    2.50e-03
+       6  4.804625e-06    7.21e-05    6.11e-04   3.85e-02   9.37e-01  7.29e+06       1    5.96e-06    2.52e-03
+       7  3.003028e-07    4.50e-06    7.64e-05   1.92e-02   9.37e-01  2.19e+07       1    5.96e-06    2.55e-03
+       8  1.877006e-08    2.82e-07    9.54e-06   9.62e-03   9.37e-01  6.56e+07       1    5.96e-06    2.57e-03
+       9  1.173223e-09    1.76e-08    1.19e-06   4.81e-03   9.37e-01  1.97e+08       1    7.87e-06    2.60e-03
+      10  7.333425e-11    1.10e-09    1.49e-07   2.40e-03   9.37e-01  5.90e+08       1    6.20e-06    2.63e-03
+      11  4.584044e-12    6.88e-11    1.86e-08   1.20e-03   9.37e-01  1.77e+09       1    6.91e-06    2.65e-03
+      12  2.865573e-13    4.30e-12    2.33e-09   6.02e-04   9.37e-01  5.31e+09       1    5.96e-06    2.67e-03
+      13  1.791438e-14    2.69e-13    2.91e-10   3.01e-04   9.37e-01  1.59e+10       1    7.15e-06    2.69e-03
+
+    Ceres Solver v1.10.0 Solve Report
+    ----------------------------------
+                                         Original                  Reduced
+    Parameter blocks                            4                        4
+    Parameters                                  4                        4
+    Residual blocks                             4                        4
+    Residual                                    4                        4
+
+    Minimizer                        TRUST_REGION
+
+    Dense linear algebra library            EIGEN
+    Trust region strategy     LEVENBERG_MARQUARDT
+
+                                            Given                     Used
+    Linear solver                        DENSE_QR                 DENSE_QR
+    Threads                                     1                        1
+    Linear solver threads                       1                        1
+
+    Cost:
+    Initial                          1.075000e+02
+    Final                            1.791438e-14
+    Change                           1.075000e+02
+
+    Minimizer iterations                       14
+    Successful steps                           14
+    Unsuccessful steps                          0
+
+    Time (in seconds):
+    Preprocessor                            0.002
+
+      Residual evaluation                   0.000
+      Jacobian evaluation                   0.000
+      Linear solver                         0.000
+    Minimizer                               0.001
+
+    Postprocessor                           0.000
+    Total                                   0.005
+
+    Termination:                      CONVERGENCE (Gradient tolerance reached. Gradient max norm: 3.642190e-11 <= 1.000000e-10)
+
+    Final x1 = 0.000292189, x2 = -2.92189e-05, x3 = 4.79511e-05, x4 = 4.79511e-05
 
 It is easy to see that the optimal solution to this problem is at
 :math:`x_1=0, x_2=0, x_3=0, x_4=0` with an objective function value of
@@ -461,24 +505,24 @@ gives us:
 
 .. code-block:: bash
 
-    0: f: 1.211734e+02 d: 0.00e+00 g: 3.61e+02 h: 0.00e+00 rho: 0.00e+00 mu: 1.00e+04 li:  0 it: 0.00e+00 tt: 0.00e+00
-    1: f: 1.211734e+02 d:-2.21e+03 g: 3.61e+02 h: 7.52e-01 rho:-1.87e+01 mu: 5.00e+03 li:  1 it: 0.00e+00 tt: 0.00e+00
-    2: f: 1.211734e+02 d:-2.21e+03 g: 3.61e+02 h: 7.51e-01 rho:-1.86e+01 mu: 1.25e+03 li:  1 it: 0.00e+00 tt: 0.00e+00
-    3: f: 1.211734e+02 d:-2.19e+03 g: 3.61e+02 h: 7.48e-01 rho:-1.85e+01 mu: 1.56e+02 li:  1 it: 0.00e+00 tt: 0.00e+00
-    4: f: 1.211734e+02 d:-2.02e+03 g: 3.61e+02 h: 7.22e-01 rho:-1.70e+01 mu: 9.77e+00 li:  1 it: 0.00e+00 tt: 0.00e+00
-    5: f: 1.211734e+02 d:-7.34e+02 g: 3.61e+02 h: 5.78e-01 rho:-6.32e+00 mu: 3.05e-01 li:  1 it: 0.00e+00 tt: 0.00e+00
-    6: f: 3.306595e+01 d: 8.81e+01 g: 4.10e+02 h: 3.18e-01 rho: 1.37e+00 mu: 9.16e-01 li:  1 it: 0.00e+00 tt: 0.00e+00
-    7: f: 6.426770e+00 d: 2.66e+01 g: 1.81e+02 h: 1.29e-01 rho: 1.10e+00 mu: 2.75e+00 li:  1 it: 0.00e+00 tt: 0.00e+00
-    8: f: 3.344546e+00 d: 3.08e+00 g: 5.51e+01 h: 3.05e-02 rho: 1.03e+00 mu: 8.24e+00 li:  1 it: 0.00e+00 tt: 0.00e+00
-    9: f: 1.987485e+00 d: 1.36e+00 g: 2.33e+01 h: 8.87e-02 rho: 9.94e-01 mu: 2.47e+01 li:  1 it: 0.00e+00 tt: 0.00e+00
-   10: f: 1.211585e+00 d: 7.76e-01 g: 8.22e+00 h: 1.05e-01 rho: 9.89e-01 mu: 7.42e+01 li:  1 it: 0.00e+00 tt: 0.00e+00
-   11: f: 1.063265e+00 d: 1.48e-01 g: 1.44e+00 h: 6.06e-02 rho: 9.97e-01 mu: 2.22e+02 li:  1 it: 0.00e+00 tt: 0.00e+00
-   12: f: 1.056795e+00 d: 6.47e-03 g: 1.18e-01 h: 1.47e-02 rho: 1.00e+00 mu: 6.67e+02 li:  1 it: 0.00e+00 tt: 0.00e+00
-   13: f: 1.056751e+00 d: 4.39e-05 g: 3.79e-03 h: 1.28e-03 rho: 1.00e+00 mu: 2.00e+03 li:  1 it: 0.00e+00 tt: 0.00e+00
- Ceres Solver Report: Iterations: 13, Initial cost: 1.211734e+02, Final cost: 1.056751e+00, Termination: CONVERGENCE.
- Initial m: 0 c: 0
- Final   m: 0.291861 c: 0.131439
-
+    iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
+       0  1.211734e+02    0.00e+00    3.61e+02   0.00e+00   0.00e+00  1.00e+04       0    5.34e-04    2.56e-03
+       1  1.211734e+02   -2.21e+03    0.00e+00   7.52e-01  -1.87e+01  5.00e+03       1    4.29e-05    3.25e-03
+       2  1.211734e+02   -2.21e+03    0.00e+00   7.51e-01  -1.86e+01  1.25e+03       1    1.10e-05    3.28e-03
+       3  1.211734e+02   -2.19e+03    0.00e+00   7.48e-01  -1.85e+01  1.56e+02       1    1.41e-05    3.31e-03
+       4  1.211734e+02   -2.02e+03    0.00e+00   7.22e-01  -1.70e+01  9.77e+00       1    1.00e-05    3.34e-03
+       5  1.211734e+02   -7.34e+02    0.00e+00   5.78e-01  -6.32e+00  3.05e-01       1    1.00e-05    3.36e-03
+       6  3.306595e+01    8.81e+01    4.10e+02   3.18e-01   1.37e+00  9.16e-01       1    2.79e-05    3.41e-03
+       7  6.426770e+00    2.66e+01    1.81e+02   1.29e-01   1.10e+00  2.75e+00       1    2.10e-05    3.45e-03
+       8  3.344546e+00    3.08e+00    5.51e+01   3.05e-02   1.03e+00  8.24e+00       1    2.10e-05    3.48e-03
+       9  1.987485e+00    1.36e+00    2.33e+01   8.87e-02   9.94e-01  2.47e+01       1    2.10e-05    3.52e-03
+      10  1.211585e+00    7.76e-01    8.22e+00   1.05e-01   9.89e-01  7.42e+01       1    2.10e-05    3.56e-03
+      11  1.063265e+00    1.48e-01    1.44e+00   6.06e-02   9.97e-01  2.22e+02       1    2.60e-05    3.61e-03
+      12  1.056795e+00    6.47e-03    1.18e-01   1.47e-02   1.00e+00  6.67e+02       1    2.10e-05    3.64e-03
+      13  1.056751e+00    4.39e-05    3.79e-03   1.28e-03   1.00e+00  2.00e+03       1    2.10e-05    3.68e-03
+    Ceres Solver Report: Iterations: 13, Initial cost: 1.211734e+02, Final cost: 1.056751e+00, Termination: CONVERGENCE
+    Initial m: 0 c: 0
+    Final   m: 0.291861 c: 0.131439
 
 Starting from parameter values :math:`m = 0, c=0` with an initial
 objective function value of :math:`121.173` Ceres finds a solution