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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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54
upstream_utils/sleipnir_patches/0005-Replace-std-views-zip.patch
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@@ -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);
}