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[upstream_utils] Upgrade to Sleipnir 0.6.4 (#9045)

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This commit is contained in:
Tyler Veness
2026-07-02 15:19:44 -07:00
committed by GitHub
parent 03825ee4d0
commit 023b70268a
5 changed files with 29 additions and 44 deletions
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2
upstream_utils/sleipnir.py
View File

@@ -46,7 +46,7 @@ using small_vector = wpi::util::SmallVector<T>;
def main():
name = "sleipnir"
url = "https://github.com/SleipnirGroup/Sleipnir"
tag = "v0.6.3"
tag = "v0.6.4"
sleipnir = Lib(name, url, tag, copy_upstream_src)
sleipnir.main()

47
upstream_utils/sleipnir_patches/0002-Downgrade-to-Eigen-5.0.1.patch
View File

@@ -5,9 +5,9 @@ Subject: [PATCH 2/2] Downgrade to Eigen 5.0.1
---
include/sleipnir/autodiff/variable.hpp | 20 ++++++--
include/sleipnir/autodiff/variable_block.hpp | 30 +++++++++---
include/sleipnir/autodiff/variable_matrix.hpp | 46 ++++++++++++-------
3 files changed, 69 insertions(+), 27 deletions(-)
include/sleipnir/autodiff/variable_block.hpp | 24 ++++++---
include/sleipnir/autodiff/variable_matrix.hpp | 50 ++++++++++++-------
3 files changed, 66 insertions(+), 28 deletions(-)
diff --git a/include/sleipnir/autodiff/variable.hpp b/include/sleipnir/autodiff/variable.hpp
index ad8baa3b58047f5257c210b88446324cca121d4a..6c692cbe113a3aaf7f02727260ed0b6d1f4a3c23 100644
@@ -55,7 +55,7 @@ index ad8baa3b58047f5257c210b88446324cca121d4a..6c692cbe113a3aaf7f02727260ed0b6d
}
diff --git a/include/sleipnir/autodiff/variable_block.hpp b/include/sleipnir/autodiff/variable_block.hpp
index 55cafb5d48afff2dbdff07516d85759180ef74c7..cf1b2a37614f748db679071df1780a569527983f 100644
index 272e036e7ca6372e9255b24e674e55cd60f8b75c..e744b11070d844514b0d6d1c5fe29c905512c3fc 100644
--- a/include/sleipnir/autodiff/variable_block.hpp
+++ b/include/sleipnir/autodiff/variable_block.hpp
@@ -161,7 +161,7 @@ class VariableBlock : public SleipnirBase {
@@ -89,20 +89,7 @@ index 55cafb5d48afff2dbdff07516d85759180ef74c7..cf1b2a37614f748db679071df1780a56
}
(*this)[i, j] = sum;
}
@@ -470,7 +474,11 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- (*this)[row, col] /= rhs[0, 0];
+ if constexpr (EigenMatrixLike<decltype(rhs)>) {
+ (*this)[row, col] /= rhs(0, 0);
+ } else {
+ (*this)[row, col] /= rhs[0, 0];
+ }
}
}
@@ -500,7 +508,11 @@ class VariableBlock : public SleipnirBase {
@@ -484,7 +488,11 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -115,7 +102,7 @@ index 55cafb5d48afff2dbdff07516d85759180ef74c7..cf1b2a37614f748db679071df1780a56
}
}
@@ -532,7 +544,11 @@ class VariableBlock : public SleipnirBase {
@@ -516,7 +524,11 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -128,7 +115,7 @@ index 55cafb5d48afff2dbdff07516d85759180ef74c7..cf1b2a37614f748db679071df1780a56
}
}
@@ -612,7 +628,7 @@ class VariableBlock : public SleipnirBase {
@@ -596,7 +608,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -138,7 +125,7 @@ index 55cafb5d48afff2dbdff07516d85759180ef74c7..cf1b2a37614f748db679071df1780a56
}
diff --git a/include/sleipnir/autodiff/variable_matrix.hpp b/include/sleipnir/autodiff/variable_matrix.hpp
index 72559959cfc4cb38e099a2268c66088ea19551f5..59393e2eabdf9107de8ff6b554a48d83f8b9ef1e 100644
index 6f632fb7b6575205ef59f936556c98c723238888..59393e2eabdf9107de8ff6b554a48d83f8b9ef1e 100644
--- a/include/sleipnir/autodiff/variable_matrix.hpp
+++ b/include/sleipnir/autodiff/variable_matrix.hpp
@@ -154,7 +154,7 @@ class VariableMatrix : public SleipnirBase {
@@ -168,6 +155,24 @@ index 72559959cfc4cb38e099a2268c66088ea19551f5..59393e2eabdf9107de8ff6b554a48d83
}
}
}
@@ -507,7 +507,7 @@ class VariableMatrix : public SleipnirBase {
for (int j = 0; j < rhs.cols(); ++j) {
Variable sum{Scalar(0)};
for (int k = 0; k < lhs.cols(); ++k) {
- sum += lhs[i, k] * rhs[k, j];
+ sum += lhs(i, k) * rhs[k, j];
}
result[i, j] = sum;
}
@@ -530,7 +530,7 @@ class VariableMatrix : public SleipnirBase {
for (int j = 0; j < rhs.cols(); ++j) {
Variable sum{Scalar(0)};
for (int k = 0; k < lhs.cols(); ++k) {
- sum += lhs[i, k] * rhs[k, j];
+ sum += lhs[i, k] * rhs(k, j);
}
result[i, j] = sum;
}
@@ -573,7 +573,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {

20
wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/autodiff/variable_block.hpp vendored
View File

@@ -465,26 +465,6 @@ class VariableBlock : public SleipnirBase {
return *this;
}
/// Compound matrix division-assignment operator.
///
/// @param rhs Variable to divide.
/// @return Result of division.
VariableBlock<Mat>& operator/=(const MatrixLike auto& rhs) {
slp_assert(rhs.rows() == 1 && rhs.cols() == 1);
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
if constexpr (EigenMatrixLike<decltype(rhs)>) {
(*this)[row, col] /= rhs(0, 0);
} else {
(*this)[row, col] /= rhs[0, 0];
}
}
}
return *this;
}
/// Compound matrix division-assignment operator.
///
/// @param rhs Variable to divide.

2
wpimath/src/test/java/org/wpilib/math/optimization/CurrentManagerTest.java
View File

@@ -35,7 +35,7 @@ class CurrentManagerTest {
// Expected values are from the following program:
//
// #!/usr/bin/env python3
// #!/usr/bin/env python
//
// from scipy.optimize import minimize
//

2
wpimath/src/test/native/cpp/optimization/CurrentManagerTest.cpp
View File

@@ -26,7 +26,7 @@ TEST(CurrentManagerTest, NotEnoughCurrent) {
// Expected values are from the following program:
//
// #!/usr/bin/env python3
// #!/usr/bin/env python
//
// from scipy.optimize import minimize
//