Sign of update in documentation
In algorithm 44 (source) (Newton's method for unconstrained problem) the sign of the update z_k
is the other way round than in the surrounding text (e.g. here, eq:UnconstrainedUpdate ((10.23) in the pdf), and eq:OriginalUpdate ((10.24) in the pdf).
The same problem exists in the algorithm for the constrained problem.
This is very confusing. I wonder which definition the code is using.