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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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78
upstream_utils/sleipnir_patches/0004-Replace-std-to_underlying.patch
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@@ -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}│",