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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
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85
upstream_utils/sleipnir_patches/0001-Use-fmtlib.patch
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@@ -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"