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[upstream_utils] Upgrade to Sleipnir 0.3.2 (#8323)

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Also includes a C++ benchmark, which has a Java counterpart in #8236.
This commit is contained in:
Tyler Veness
2025-12-01 12:51:28 -08:00
committed by GitHub
parent feea24251f
commit 08784dc2d1
65 changed files with 5699 additions and 4446 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
upstream_utils/sleipnir.py
View File

@@ -18,8 +18,7 @@ def copy_upstream_src(wpilib_root: Path):
# Copy Sleipnir files into allwpilib
walk_cwd_and_copy_if(
lambda dp, f: (has_prefix(dp, Path("include")) or has_prefix(dp, Path("src")))
and f not in [".styleguide", ".styleguide-license"],
lambda dp, f: (has_prefix(dp, Path("include")) or has_prefix(dp, Path("src"))),
wpimath / "src/main/native/thirdparty/sleipnir",
)
@@ -49,8 +48,7 @@ using small_vector = wpi::util::SmallVector<T>;
def main():
name = "sleipnir"
url = "https://github.com/SleipnirGroup/Sleipnir"
# main on 2025-09-19
tag = "7f89d5547702a09e3617bc31fe5bafe6add04fab"
tag = "v0.3.2"
sleipnir = Lib(name, url, tag, copy_upstream_src)
sleipnir.main()

85
upstream_utils/sleipnir_patches/0001-Use-fmtlib.patch
View File

@@ -4,41 +4,41 @@ Date: Wed, 29 May 2024 16:29:55 -0700
Subject: [PATCH 1/8] Use fmtlib
---
include/.styleguide | 1 +
include/sleipnir/util/assert.hpp | 5 +++--
include/sleipnir/util/print.hpp | 31 ++++++++++++++++++-------------
src/.styleguide | 1 +
src/optimization/problem.cpp | 1 +
5 files changed, 24 insertions(+), 15 deletions(-)
include/sleipnir/optimization/problem.hpp | 1 +
include/sleipnir/util/assert.hpp | 5 ++--
include/sleipnir/util/print.hpp | 31 +++++++++++++----------
3 files changed, 22 insertions(+), 15 deletions(-)
diff --git a/include/.styleguide b/include/.styleguide
index 1b6652d3d5886cf8c9eca0d855c21031775bad7c..4f4c76204071f90bf49eddb8c2aceb583b5e09ba 100644
--- a/include/.styleguide
+++ b/include/.styleguide
@@ -8,5 +8,6 @@ cppSrcFileInclude {
diff --git a/include/sleipnir/optimization/problem.hpp b/include/sleipnir/optimization/problem.hpp
index 3185466605b6604068e2807e461d07d8c856c505..95a33952a5a368c7c81491dbe849a8096357dc38 100644
--- a/include/sleipnir/optimization/problem.hpp
+++ b/include/sleipnir/optimization/problem.hpp
@@ -15,6 +15,7 @@
includeOtherLibs {
^Eigen/
+ ^fmt/
^gch/
}
#include <Eigen/Core>
#include <Eigen/SparseCore>
+#include <fmt/chrono.h>
#include <gch/small_vector.hpp>
#include "sleipnir/autodiff/expression_type.hpp"
diff --git a/include/sleipnir/util/assert.hpp b/include/sleipnir/util/assert.hpp
index 75d8ffca32accbf66ffce30f073de1db2f42469b..53de01928b929793fa77885ec4a6d1a928bdc5a9 100644
index 0846928c3da7a6047a3c271dd2d377a3b755eeab..5d432608def05b6dee6b7cbdb9a0b91a6ab5e1c2 100644
--- a/include/sleipnir/util/assert.hpp
+++ b/include/sleipnir/util/assert.hpp
@@ -3,9 +3,10 @@
#pragma once
@@ -4,10 +4,11 @@
#ifdef SLEIPNIR_PYTHON
#ifdef JORMUNGANDR
-#include <format>
#include <source_location>
#include <stdexcept>
+
+#include <fmt/format.h>
+
/**
* Throw an exception in Python.
*/
@@ -13,7 +14,7 @@
@@ -15,7 +16,7 @@
do { \
if (!(condition)) { \
auto location = std::source_location::current(); \
@@ -48,7 +48,7 @@ index 75d8ffca32accbf66ffce30f073de1db2f42469b..53de01928b929793fa77885ec4a6d1a9
location.line(), location.function_name(), #condition)); \
} \
diff --git a/include/sleipnir/util/print.hpp b/include/sleipnir/util/print.hpp
index fe430352dabf4cd6a890dc8007237c7a261dfd4b..055d5c9fa246201f1d8ae7ddca00b1159aeb2a57 100644
index 797df849f63d960cf10eaf847415595961868ab0..a89b7d4f9864965443405a8e79cddd8dbfc54ad3 100644
--- a/include/sleipnir/util/print.hpp
+++ b/include/sleipnir/util/print.hpp
@@ -4,10 +4,15 @@
@@ -76,8 +76,8 @@ index fe430352dabf4cd6a890dc8007237c7a261dfd4b..055d5c9fa246201f1d8ae7ddca00b115
+ * Wrapper around fmt::print() that squelches write failure exceptions.
*/
template <typename... T>
-inline void print(std::format_string<T...> fmt, T&&... args) {
+inline void print(fmt::format_string<T...> fmt, T&&... args) {
-void print(std::format_string<T...> fmt, T&&... args) {
+void print(fmt::format_string<T...> fmt, T&&... args) {
try {
- std::print(fmt, std::forward<T>(args)...);
+ fmt::print(fmt, std::forward<T>(args)...);
@@ -90,8 +90,8 @@ index fe430352dabf4cd6a890dc8007237c7a261dfd4b..055d5c9fa246201f1d8ae7ddca00b115
+ * Wrapper around fmt::print() that squelches write failure exceptions.
*/
template <typename... T>
-inline void print(std::FILE* f, std::format_string<T...> fmt, T&&... args) {
+inline void print(std::FILE* f, fmt::format_string<T...> fmt, T&&... args) {
-void print(std::FILE* f, std::format_string<T...> fmt, T&&... args) {
+void print(std::FILE* f, fmt::format_string<T...> fmt, T&&... args) {
try {
- std::print(f, fmt, std::forward<T>(args)...);
+ fmt::print(f, fmt, std::forward<T>(args)...);
@@ -104,8 +104,8 @@ index fe430352dabf4cd6a890dc8007237c7a261dfd4b..055d5c9fa246201f1d8ae7ddca00b115
+ * Wrapper around fmt::println() that squelches write failure exceptions.
*/
template <typename... T>
-inline void println(std::format_string<T...> fmt, T&&... args) {
+inline void println(fmt::format_string<T...> fmt, T&&... args) {
-void println(std::format_string<T...> fmt, T&&... args) {
+void println(fmt::format_string<T...> fmt, T&&... args) {
try {
- std::println(fmt, std::forward<T>(args)...);
+ fmt::println(fmt, std::forward<T>(args)...);
@@ -118,34 +118,11 @@ index fe430352dabf4cd6a890dc8007237c7a261dfd4b..055d5c9fa246201f1d8ae7ddca00b115
+ * Wrapper around fmt::println() that squelches write failure exceptions.
*/
template <typename... T>
-inline void println(std::FILE* f, std::format_string<T...> fmt, T&&... args) {
+inline void println(std::FILE* f, fmt::format_string<T...> fmt, T&&... args) {
-void println(std::FILE* f, std::format_string<T...> fmt, T&&... args) {
+void println(std::FILE* f, fmt::format_string<T...> fmt, T&&... args) {
try {
- std::println(f, fmt, std::forward<T>(args)...);
+ fmt::println(f, fmt, std::forward<T>(args)...);
} catch (const std::system_error&) {
}
}
diff --git a/src/.styleguide b/src/.styleguide
index 1b6652d3d5886cf8c9eca0d855c21031775bad7c..4f4c76204071f90bf49eddb8c2aceb583b5e09ba 100644
--- a/src/.styleguide
+++ b/src/.styleguide
@@ -8,5 +8,6 @@ cppSrcFileInclude {
includeOtherLibs {
^Eigen/
+ ^fmt/
^gch/
}
diff --git a/src/optimization/problem.cpp b/src/optimization/problem.cpp
index c3331197e2365934273f57422b79fa18c2b78a5b..09828cdb6d7cddff692b9d17603dc0c11cd5a3ec 100644
--- a/src/optimization/problem.cpp
+++ b/src/optimization/problem.cpp
@@ -11,6 +11,7 @@
#include <Eigen/Core>
#include <Eigen/SparseCore>
+#include <fmt/chrono.h>
#include <gch/small_vector.hpp>
#include "optimization/bounds.hpp"

53
upstream_utils/sleipnir_patches/0002-Use-wpi-SmallVector.patch
View File

@@ -5,37 +5,37 @@ Subject: [PATCH 2/8] Use wpi::SmallVector
---
include/sleipnir/autodiff/expression.hpp | 4 ++--
include/sleipnir/autodiff/variable.hpp | 5 ++---
include/sleipnir/autodiff/variable.hpp | 4 ++--
include/sleipnir/autodiff/variable_matrix.hpp | 4 ++--
3 files changed, 6 insertions(+), 7 deletions(-)
3 files changed, 6 insertions(+), 6 deletions(-)
diff --git a/include/sleipnir/autodiff/expression.hpp b/include/sleipnir/autodiff/expression.hpp
index bb4d8c5641a5b3d633d372674e0a35f857889cd4..53a5f6d68d3153537840c4ff45fe5e5d8b0076b7 100644
index f5919de6c9c0be044335ce7764ded545215f0486..46814576a3db9f472329b880b94b1ab98d218867 100644
--- a/include/sleipnir/autodiff/expression.hpp
+++ b/include/sleipnir/autodiff/expression.hpp
@@ -30,7 +30,7 @@ inline constexpr bool USE_POOL_ALLOCATOR = true;
struct Expression;
inline constexpr void inc_ref_count(Expression* expr);
-inline constexpr void dec_ref_count(Expression* expr);
+inline void dec_ref_count(Expression* expr);
@@ -33,7 +33,7 @@ struct Expression;
template <typename Scalar>
constexpr void inc_ref_count(Expression<Scalar>* expr);
template <typename Scalar>
-constexpr void dec_ref_count(Expression<Scalar>* expr);
+void dec_ref_count(Expression<Scalar>* expr);
/**
* Typedef for intrusive shared pointer to Expression.
@@ -733,7 +733,7 @@ inline constexpr void inc_ref_count(Expression* expr) {
*
@@ -801,7 +801,7 @@ constexpr void inc_ref_count(Expression<Scalar>* expr) {
* @param expr The shared pointer's managed object.
*/
-inline constexpr void dec_ref_count(Expression* expr) {
+inline void dec_ref_count(Expression* expr) {
template <typename Scalar>
-constexpr void dec_ref_count(Expression<Scalar>* expr) {
+void dec_ref_count(Expression<Scalar>* expr) {
// If a deeply nested tree is being deallocated all at once, calling the
// Expression destructor when expr's refcount reaches zero can cause a stack
// overflow. Instead, we iterate over its children to decrement their
diff --git a/include/sleipnir/autodiff/variable.hpp b/include/sleipnir/autodiff/variable.hpp
index f60236811eba45c67a9638e90d5101d877ecc2d0..264f0950f293c67d6e6c7e729887090c050e40e2 100644
index c78af7224b2ef93ad50b238117583e01940c53ce..0a55b906130d7506c80eb150644ac44c222d1368 100644
--- a/include/sleipnir/autodiff/variable.hpp
+++ b/include/sleipnir/autodiff/variable.hpp
@@ -47,7 +47,7 @@ class SLEIPNIR_DLLEXPORT Variable {
@@ -61,7 +61,7 @@ class Variable : public SleipnirBase {
/**
* Constructs an empty Variable.
*/
@@ -43,35 +43,34 @@ index f60236811eba45c67a9638e90d5101d877ecc2d0..264f0950f293c67d6e6c7e729887090c
+ explicit Variable(std::nullptr_t) : expr{nullptr} {}
/**
* Constructs a Variable from a floating point type.
@@ -77,8 +77,7 @@ class SLEIPNIR_DLLEXPORT Variable {
* Constructs a Variable from a scalar type.
@@ -116,7 +116,7 @@ class Variable : public SleipnirBase {
*
* @param expr The autodiff variable.
*/
- explicit constexpr Variable(detail::ExpressionPtr&& expr)
- : expr{std::move(expr)} {}
+ explicit Variable(detail::ExpressionPtr&& expr) : expr{std::move(expr)} {}
- explicit constexpr Variable(detail::ExpressionPtr<Scalar>&& expr)
+ explicit Variable(detail::ExpressionPtr<Scalar>&& expr)
: expr{std::move(expr)} {}
/**
* Assignment operator for double.
diff --git a/include/sleipnir/autodiff/variable_matrix.hpp b/include/sleipnir/autodiff/variable_matrix.hpp
index e1a419ca5356660b3c1c27230d1cb2a86977fb65..349a1550235516f9853609b61feded834ef2894b 100644
index bb66bebc01413a291242886366ce329bb5f4b70a..7ddf02c0e2f66aff8da422b874cbe9772f9fd00d 100644
--- a/include/sleipnir/autodiff/variable_matrix.hpp
+++ b/include/sleipnir/autodiff/variable_matrix.hpp
@@ -1120,14 +1120,14 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
@@ -1281,14 +1281,14 @@ class VariableMatrix : public SleipnirBase {
*
* @return Begin iterator.
* @return Const begin iterator.
*/
- const_iterator cbegin() const { return const_iterator{m_storage.cbegin()}; }
+ const_iterator cbegin() const { return const_iterator{m_storage.begin()}; }
/**
* Returns end iterator.
* Returns const end iterator.
*
* @return End iterator.
* @return Const end iterator.
*/
- const_iterator cend() const { return const_iterator{m_storage.cend()}; }
+ const_iterator cend() const { return const_iterator{m_storage.end()}; }
/**
* Returns number of elements in matrix.
* Returns reverse begin iterator.

19
upstream_utils/sleipnir_patches/0003-Use-wpi-byteswap.patch
View File

@@ -4,22 +4,11 @@ Date: Tue, 28 Jan 2025 22:19:14 -0800
Subject: [PATCH 3/8] Use wpi::byteswap()
---
include/.styleguide | 1 +
include/sleipnir/util/spy.hpp | 3 ++-
2 files changed, 3 insertions(+), 1 deletion(-)
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/include/.styleguide b/include/.styleguide
index 4f4c76204071f90bf49eddb8c2aceb583b5e09ba..03938557c2600a7a1f72c6b93c935602f5acb2b2 100644
--- a/include/.styleguide
+++ b/include/.styleguide
@@ -10,4 +10,5 @@ includeOtherLibs {
^Eigen/
^fmt/
^gch/
+ ^wpi/
}
diff --git a/include/sleipnir/util/spy.hpp b/include/sleipnir/util/spy.hpp
index a2f94803e3744cee771669210d1af883160e9896..74dd7990b03783ce805a186920d5142caeb178c6 100644
index f9143f2b925064e9df5c763823dcf3d435e7aa28..4b810e54a8038162e03cf08fc8eab52b67b2cdd5 100644
--- a/include/sleipnir/util/spy.hpp
+++ b/include/sleipnir/util/spy.hpp
@@ -12,6 +12,7 @@
@@ -28,9 +17,9 @@ index a2f94803e3744cee771669210d1af883160e9896..74dd7990b03783ce805a186920d5142c
#include <Eigen/SparseCore>
+#include <wpi/util/bit.hpp>
#include "sleipnir/util/symbol_exports.hpp"
namespace slp {
@@ -115,7 +116,7 @@ class SLEIPNIR_DLLEXPORT Spy {
@@ -114,7 +115,7 @@ class Spy {
*/
void write32le(int32_t num) {
if constexpr (std::endian::native != std::endian::little) {

78
upstream_utils/sleipnir_patches/0004-Replace-std-to_underlying.patch
View File

@@ -4,51 +4,43 @@ Date: Tue, 28 Jan 2025 22:19:31 -0800
Subject: [PATCH 4/8] Replace std::to_underlying()
---
src/optimization/problem.cpp | 9 ++++-----
src/util/print_diagnostics.hpp | 6 +++---
2 files changed, 7 insertions(+), 8 deletions(-)
include/sleipnir/optimization/problem.hpp | 8 ++++----
include/sleipnir/util/print_diagnostics.hpp | 6 +++---
2 files changed, 7 insertions(+), 7 deletions(-)
diff --git a/src/optimization/problem.cpp b/src/optimization/problem.cpp
index 09828cdb6d7cddff692b9d17603dc0c11cd5a3ec..886de24cc0532d31f1e186150da79e925f212556 100644
--- a/src/optimization/problem.cpp
+++ b/src/optimization/problem.cpp
@@ -7,7 +7,6 @@
#include <memory>
#include <optional>
#include <ranges>
-#include <utility>
diff --git a/include/sleipnir/optimization/problem.hpp b/include/sleipnir/optimization/problem.hpp
index 95a33952a5a368c7c81491dbe849a8096357dc38..d20777a5b1912754dda5504313549197e867d34b 100644
--- a/include/sleipnir/optimization/problem.hpp
+++ b/include/sleipnir/optimization/problem.hpp
@@ -708,11 +708,11 @@ class Problem {
// Print problem structure
slp::println("\nProblem structure:");
slp::println(" ↳ {} cost function",
- types[std::to_underlying(cost_function_type())]);
+ types[static_cast<uint8_t>(cost_function_type())]);
slp::println(" ↳ {} equality constraints",
- types[std::to_underlying(equality_constraint_type())]);
+ types[static_cast<uint8_t>(equality_constraint_type())]);
slp::println(" ↳ {} inequality constraints",
- types[std::to_underlying(inequality_constraint_type())]);
+ types[static_cast<uint8_t>(inequality_constraint_type())]);
#include <Eigen/Core>
#include <Eigen/SparseCore>
@@ -350,11 +349,11 @@ void Problem::print_problem_analysis() {
// Print problem structure
slp::println("\nProblem structure:");
slp::println(" ↳ {} cost function",
- types[std::to_underlying(cost_function_type())]);
+ types[static_cast<uint8_t>(cost_function_type())]);
slp::println(" ↳ {} equality constraints",
- types[std::to_underlying(equality_constraint_type())]);
+ types[static_cast<uint8_t>(equality_constraint_type())]);
slp::println(" ↳ {} inequality constraints",
- types[std::to_underlying(inequality_constraint_type())]);
+ types[static_cast<uint8_t>(inequality_constraint_type())]);
if (m_decision_variables.size() == 1) {
slp::print("\n1 decision variable\n");
@@ -366,7 +365,7 @@ void Problem::print_problem_analysis() {
[](const gch::small_vector<Variable>& constraints) {
std::array<size_t, 5> counts{};
for (const auto& constraint : constraints) {
- ++counts[std::to_underlying(constraint.type())];
+ ++counts[static_cast<uint8_t>(constraint.type())];
}
for (const auto& [count, name] :
std::views::zip(counts, std::array{"empty", "constant", "linear",
diff --git a/src/util/print_diagnostics.hpp b/src/util/print_diagnostics.hpp
index fde36957c0258f6e3cd435ef6224d60407012ff7..82e0e082b0e40153dcb2fcd2c655a412a8a9540a 100644
--- a/src/util/print_diagnostics.hpp
+++ b/src/util/print_diagnostics.hpp
@@ -238,9 +238,9 @@ void print_iteration_diagnostics(int iterations, IterationType type,
if (m_decision_variables.size() == 1) {
slp::print("\n1 decision variable\n");
@@ -724,7 +724,7 @@ class Problem {
[](const gch::small_vector<Variable<Scalar>>& constraints) {
std::array<size_t, 5> counts{};
for (const auto& constraint : constraints) {
- ++counts[std::to_underlying(constraint.type())];
+ ++counts[static_cast<uint8_t>(constraint.type())];
}
for (const auto& [count, name] :
std::views::zip(counts, std::array{"empty", "constant", "linear",
diff --git a/include/sleipnir/util/print_diagnostics.hpp b/include/sleipnir/util/print_diagnostics.hpp
index 9c1f9eb71b9417e138b95fd4d2d678cfb54595d1..032be8fb7b5e4196ff401c77ae9e91f1c966cde6 100644
--- a/include/sleipnir/util/print_diagnostics.hpp
+++ b/include/sleipnir/util/print_diagnostics.hpp
@@ -252,9 +252,9 @@ void print_iteration_diagnostics(int iterations, IterationType type,
slp::println(
"│{:4} {:4} {:9.3f} {:12e} {:13e} {:12e} {:12e} {:.2e} {:<5} {:.2e} "
"{:.2e} {:2d}│",

54
upstream_utils/sleipnir_patches/0005-Replace-std-views-zip.patch
View File

@@ -5,14 +5,14 @@ Subject: [PATCH 5/8] Replace std::views::zip()
---
include/sleipnir/autodiff/adjoint_expression_graph.hpp | 5 ++++-
src/optimization/problem.cpp | 9 +++++----
2 files changed, 9 insertions(+), 5 deletions(-)
include/sleipnir/optimization/problem.hpp | 8 +++++---
2 files changed, 9 insertions(+), 4 deletions(-)
diff --git a/include/sleipnir/autodiff/adjoint_expression_graph.hpp b/include/sleipnir/autodiff/adjoint_expression_graph.hpp
index 33b6eee615141a1d6472f116842d62052ef54dd9..b333aebd3e59fa23eed6046c13d736c3d2eccac7 100644
index 16bea7efeeca78d25b34b0b1242ca19cbd05a482..a77323eee9277fc3c77a11ab57ab5003d9ed4543 100644
--- a/include/sleipnir/autodiff/adjoint_expression_graph.hpp
+++ b/include/sleipnir/autodiff/adjoint_expression_graph.hpp
@@ -158,7 +158,10 @@ class AdjointExpressionGraph {
@@ -171,7 +171,10 @@ class AdjointExpressionGraph {
}
}
} else {
@@ -22,32 +22,24 @@ index 33b6eee615141a1d6472f116842d62052ef54dd9..b333aebd3e59fa23eed6046c13d736c3
+ const auto& node = m_top_list[i];
+
// Append adjoints of wrt to sparse matrix triplets
if (col != -1 && node->adjoint != 0.0) {
if (col != -1 && node->adjoint != Scalar(0)) {
triplets.emplace_back(row, col, node->adjoint);
diff --git a/src/optimization/problem.cpp b/src/optimization/problem.cpp
index 886de24cc0532d31f1e186150da79e925f212556..e32481e9314c9ef472843adb5bedbd993627d5d9 100644
--- a/src/optimization/problem.cpp
+++ b/src/optimization/problem.cpp
@@ -6,7 +6,6 @@
#include <cmath>
#include <memory>
#include <optional>
-#include <ranges>
#include <Eigen/Core>
#include <Eigen/SparseCore>
@@ -367,9 +366,11 @@ void Problem::print_problem_analysis() {
for (const auto& constraint : constraints) {
++counts[static_cast<uint8_t>(constraint.type())];
}
- for (const auto& [count, name] :
- std::views::zip(counts, std::array{"empty", "constant", "linear",
- "quadratic", "nonlinear"})) {
+ for (size_t i = 0; i < counts.size(); ++i) {
+ constexpr std::array names{"empty", "constant", "linear", "quadratic",
+ "nonlinear"};
+ const auto& count = counts[i];
+ const auto& name = names[i];
if (count > 0) {
slp::println(" ↳ {} {}", count, name);
diff --git a/include/sleipnir/optimization/problem.hpp b/include/sleipnir/optimization/problem.hpp
index d20777a5b1912754dda5504313549197e867d34b..5256d08e5f9d8642049d8bb8323d76c7b3bbbef7 100644
--- a/include/sleipnir/optimization/problem.hpp
+++ b/include/sleipnir/optimization/problem.hpp
@@ -726,9 +726,11 @@ class Problem {
for (const auto& constraint : constraints) {
++counts[static_cast<uint8_t>(constraint.type())];
}
- for (const auto& [count, name] :
- std::views::zip(counts, std::array{"empty", "constant", "linear",
- "quadratic", "nonlinear"})) {
+ for (size_t i = 0; i < counts.size(); ++i) {
+ constexpr std::array names{"empty", "constant", "linear",
+ "quadratic", "nonlinear"};
+ const auto& count = counts[i];
+ const auto& name = names[i];
if (count > 0) {
slp::println(" ↳ {} {}", count, name);
}

4
upstream_utils/sleipnir_patches/0006-Suppress-clang-tidy-false-positives.patch
View File

@@ -8,10 +8,10 @@ Subject: [PATCH 6/8] Suppress clang-tidy false positives
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/include/sleipnir/autodiff/variable.hpp b/include/sleipnir/autodiff/variable.hpp
index 264f0950f293c67d6e6c7e729887090c050e40e2..62135a5539308ae69f6b45a64d9337c4c3e96d7b 100644
index 0a55b906130d7506c80eb150644ac44c222d1368..30ec62161df75c6948bbf3d65432c852a0d926c2 100644
--- a/include/sleipnir/autodiff/variable.hpp
+++ b/include/sleipnir/autodiff/variable.hpp
@@ -633,7 +633,7 @@ struct SLEIPNIR_DLLEXPORT InequalityConstraints {
@@ -862,7 +862,7 @@ struct InequalityConstraints {
* @param inequality_constraints The list of InequalityConstraints to
* concatenate.
*/

10
upstream_utils/sleipnir_patches/0007-Suppress-GCC-12-warning-false-positive.patch
View File

@@ -8,12 +8,12 @@ Subject: [PATCH 7/8] Suppress GCC 12 warning false positive
1 file changed, 7 insertions(+)
diff --git a/include/sleipnir/autodiff/variable_matrix.hpp b/include/sleipnir/autodiff/variable_matrix.hpp
index 349a1550235516f9853609b61feded834ef2894b..70bccf4fc078a49e22b6699db1228c765430a121 100644
index 7ddf02c0e2f66aff8da422b874cbe9772f9fd00d..351030b4041027ba63a2e6ec08f2077b3c35b5db 100644
--- a/include/sleipnir/autodiff/variable_matrix.hpp
+++ b/include/sleipnir/autodiff/variable_matrix.hpp
@@ -573,6 +573,10 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
@@ -578,6 +578,10 @@ class VariableMatrix : public SleipnirBase {
VariableMatrix result(VariableMatrix::empty, lhs.rows(), rhs.cols());
VariableMatrix<Scalar> result(detail::empty, lhs.rows(), rhs.cols());
+#if __GNUC__ >= 12
+#pragma GCC diagnostic push
@@ -21,8 +21,8 @@ index 349a1550235516f9853609b61feded834ef2894b..70bccf4fc078a49e22b6699db1228c76
+#endif
for (int i = 0; i < lhs.rows(); ++i) {
for (int j = 0; j < rhs.cols(); ++j) {
Variable sum;
@@ -590,6 +594,9 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
Variable sum{Scalar(0)};
@@ -637,6 +641,9 @@ class VariableMatrix : public SleipnirBase {
result[i, j] = sum;
}
}

724
upstream_utils/sleipnir_patches/0008-Revert-Use-multidimensional-array-subscript-operator.patch → upstream_utils/sleipnir_patches/0008-Use-operator-instead-of-multidimensional-array-subsc.patch
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