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[upstream_utils] Update Sleipnir (#6709)

Browse Source 
Upstream now uses std::format/std::print, so we have to backport it to
fmtlib.
This commit is contained in:
Tyler Veness
2024-06-08 09:50:59 -07:00
committed by GitHub
parent 0606da64c9
commit 300595da9e
11 changed files with 247 additions and 59 deletions
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92
upstream_utils/sleipnir_patches/0001-Remove-using-enum-declarations.patch
View File

@@ -1,7 +1,7 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Wed, 24 Apr 2024 15:56:06 -0700
Subject: [PATCH 1/2] Remove "using enum" declarations
Subject: [PATCH 1/4] Remove "using enum" declarations
---
include/sleipnir/autodiff/Expression.hpp | 161 +++++++-----------
@@ -9,10 +9,10 @@ Subject: [PATCH 1/2] Remove "using enum" declarations
2 files changed, 73 insertions(+), 110 deletions(-)
diff --git a/include/sleipnir/autodiff/Expression.hpp b/include/sleipnir/autodiff/Expression.hpp
index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45d27916cb 100644
index 5b8dc5dca9bd685e6647e79f5fd4699bb9909853..802a8602a125251058cfe22447911999f035efad 100644
--- a/include/sleipnir/autodiff/Expression.hpp
+++ b/include/sleipnir/autodiff/Expression.hpp
@@ -192,8 +192,6 @@ struct SLEIPNIR_DLLEXPORT Expression {
@@ -191,8 +191,6 @@ struct SLEIPNIR_DLLEXPORT Expression {
*/
friend SLEIPNIR_DLLEXPORT ExpressionPtr operator*(const ExpressionPtr& lhs,
const ExpressionPtr& rhs) {
@@ -21,7 +21,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
// Prune expression
if (lhs->IsConstant(0.0)) {
// Return zero
@@ -208,20 +206,22 @@ struct SLEIPNIR_DLLEXPORT Expression {
@@ -207,20 +205,22 @@ struct SLEIPNIR_DLLEXPORT Expression {
}
// Evaluate constant
@@ -50,7 +50,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
}
return MakeExpressionPtr(
@@ -247,8 +247,6 @@ struct SLEIPNIR_DLLEXPORT Expression {
@@ -246,8 +246,6 @@ struct SLEIPNIR_DLLEXPORT Expression {
*/
friend SLEIPNIR_DLLEXPORT ExpressionPtr operator/(const ExpressionPtr& lhs,
const ExpressionPtr& rhs) {
@@ -59,7 +59,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
// Prune expression
if (lhs->IsConstant(0.0)) {
// Return zero
@@ -258,16 +256,17 @@ struct SLEIPNIR_DLLEXPORT Expression {
@@ -257,16 +255,17 @@ struct SLEIPNIR_DLLEXPORT Expression {
}
// Evaluate constant
@@ -80,7 +80,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
}
return MakeExpressionPtr(
@@ -295,8 +294,6 @@ struct SLEIPNIR_DLLEXPORT Expression {
@@ -294,8 +293,6 @@ struct SLEIPNIR_DLLEXPORT Expression {
*/
friend SLEIPNIR_DLLEXPORT ExpressionPtr operator+(const ExpressionPtr& lhs,
const ExpressionPtr& rhs) {
@@ -89,7 +89,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
// Prune expression
if (lhs == nullptr || lhs->IsConstant(0.0)) {
return rhs;
@@ -305,7 +302,8 @@ struct SLEIPNIR_DLLEXPORT Expression {
@@ -304,7 +301,8 @@ struct SLEIPNIR_DLLEXPORT Expression {
}
// Evaluate constant
@@ -99,7 +99,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
return MakeExpressionPtr(lhs->value + rhs->value);
}
@@ -333,8 +331,6 @@ struct SLEIPNIR_DLLEXPORT Expression {
@@ -332,8 +330,6 @@ struct SLEIPNIR_DLLEXPORT Expression {
*/
friend SLEIPNIR_DLLEXPORT ExpressionPtr operator-(const ExpressionPtr& lhs,
const ExpressionPtr& rhs) {
@@ -108,7 +108,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
// Prune expression
if (lhs->IsConstant(0.0)) {
if (rhs->IsConstant(0.0)) {
@@ -348,7 +344,8 @@ struct SLEIPNIR_DLLEXPORT Expression {
@@ -347,7 +343,8 @@ struct SLEIPNIR_DLLEXPORT Expression {
}
// Evaluate constant
@@ -118,7 +118,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
return MakeExpressionPtr(lhs->value - rhs->value);
}
@@ -374,8 +371,6 @@ struct SLEIPNIR_DLLEXPORT Expression {
@@ -373,8 +370,6 @@ struct SLEIPNIR_DLLEXPORT Expression {
* @param lhs Operand of unary minus.
*/
friend SLEIPNIR_DLLEXPORT ExpressionPtr operator-(const ExpressionPtr& lhs) {
@@ -127,7 +127,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
// Prune expression
if (lhs->IsConstant(0.0)) {
// Return zero
@@ -383,7 +378,7 @@ struct SLEIPNIR_DLLEXPORT Expression {
@@ -382,7 +377,7 @@ struct SLEIPNIR_DLLEXPORT Expression {
}
// Evaluate constant
@@ -136,7 +136,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
return MakeExpressionPtr(-lhs->value);
}
@@ -465,8 +460,6 @@ inline void IntrusiveSharedPtrDecRefCount(Expression* expr) {
@@ -463,8 +458,6 @@ inline constexpr void IntrusiveSharedPtrDecRefCount(Expression* expr) {
*/
SLEIPNIR_DLLEXPORT inline ExpressionPtr abs( // NOLINT
const ExpressionPtr& x) {
@@ -145,7 +145,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
// Prune expression
if (x->IsConstant(0.0)) {
// Return zero
@@ -474,12 +467,12 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr abs( // NOLINT
@@ -472,12 +465,12 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr abs( // NOLINT
}
// Evaluate constant
@@ -160,7 +160,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
[](double x, double, double parentAdjoint) {
if (x < 0.0) {
return -parentAdjoint;
@@ -510,20 +503,18 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr abs( // NOLINT
@@ -508,20 +501,18 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr abs( // NOLINT
*/
SLEIPNIR_DLLEXPORT inline ExpressionPtr acos( // NOLINT
const ExpressionPtr& x) {
@@ -183,7 +183,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
[](double x, double, double parentAdjoint) {
return -parentAdjoint / std::sqrt(1.0 - x * x);
},
@@ -542,8 +533,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr acos( // NOLINT
@@ -540,8 +531,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr acos( // NOLINT
*/
SLEIPNIR_DLLEXPORT inline ExpressionPtr asin( // NOLINT
const ExpressionPtr& x) {
@@ -192,7 +192,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
// Prune expression
if (x->IsConstant(0.0)) {
// Return zero
@@ -551,12 +540,12 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr asin( // NOLINT
@@ -549,12 +538,12 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr asin( // NOLINT
}
// Evaluate constant
@@ -207,7 +207,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
[](double x, double, double parentAdjoint) {
return parentAdjoint / std::sqrt(1.0 - x * x);
},
@@ -575,8 +564,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr asin( // NOLINT
@@ -573,8 +562,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr asin( // NOLINT
*/
SLEIPNIR_DLLEXPORT inline ExpressionPtr atan( // NOLINT
const ExpressionPtr& x) {
@@ -216,7 +216,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
// Prune expression
if (x->IsConstant(0.0)) {
// Return zero
@@ -584,12 +571,12 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr atan( // NOLINT
@@ -582,12 +569,12 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr atan( // NOLINT
}
// Evaluate constant
@@ -231,7 +231,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
[](double x, double, double parentAdjoint) {
return parentAdjoint / (1.0 + x * x);
},
@@ -608,8 +595,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr atan( // NOLINT
@@ -606,8 +593,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr atan( // NOLINT
*/
SLEIPNIR_DLLEXPORT inline ExpressionPtr atan2( // NOLINT
const ExpressionPtr& y, const ExpressionPtr& x) {
@@ -240,7 +240,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
// Prune expression
if (y->IsConstant(0.0)) {
// Return zero
@@ -619,12 +604,14 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr atan2( // NOLINT
@@ -617,12 +602,14 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr atan2( // NOLINT
}
// Evaluate constant
@@ -257,7 +257,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
[](double y, double x, double parentAdjoint) {
return parentAdjoint * x / (y * y + x * x);
},
@@ -649,20 +636,18 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr atan2( // NOLINT
@@ -647,20 +634,18 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr atan2( // NOLINT
*/
SLEIPNIR_DLLEXPORT inline ExpressionPtr cos( // NOLINT
const ExpressionPtr& x) {
@@ -280,7 +280,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
[](double x, double, double parentAdjoint) {
return -parentAdjoint * std::sin(x);
},
@@ -680,20 +665,18 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr cos( // NOLINT
@@ -678,20 +663,18 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr cos( // NOLINT
*/
SLEIPNIR_DLLEXPORT inline ExpressionPtr cosh( // NOLINT
const ExpressionPtr& x) {
@@ -303,7 +303,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
[](double x, double, double parentAdjoint) {
return parentAdjoint * std::sinh(x);
},
@@ -711,8 +694,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr cosh( // NOLINT
@@ -709,8 +692,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr cosh( // NOLINT
*/
SLEIPNIR_DLLEXPORT inline ExpressionPtr erf( // NOLINT
const ExpressionPtr& x) {
@@ -312,7 +312,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
// Prune expression
if (x->IsConstant(0.0)) {
// Return zero
@@ -720,12 +701,12 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr erf( // NOLINT
@@ -718,12 +699,12 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr erf( // NOLINT
}
// Evaluate constant
@@ -327,7 +327,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
[](double x, double, double parentAdjoint) {
return parentAdjoint * 2.0 * std::numbers::inv_sqrtpi *
std::exp(-x * x);
@@ -746,20 +727,18 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr erf( // NOLINT
@@ -744,20 +725,18 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr erf( // NOLINT
*/
SLEIPNIR_DLLEXPORT inline ExpressionPtr exp( // NOLINT
const ExpressionPtr& x) {
@@ -350,7 +350,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
[](double x, double, double parentAdjoint) {
return parentAdjoint * std::exp(x);
},
@@ -778,8 +757,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr exp( // NOLINT
@@ -776,8 +755,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr exp( // NOLINT
*/
SLEIPNIR_DLLEXPORT inline ExpressionPtr hypot( // NOLINT
const ExpressionPtr& x, const ExpressionPtr& y) {
@@ -359,7 +359,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
// Prune expression
if (x->IsConstant(0.0)) {
return y;
@@ -788,12 +765,14 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr hypot( // NOLINT
@@ -786,12 +763,14 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr hypot( // NOLINT
}
// Evaluate constant
@@ -376,7 +376,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
[](double x, double y, double parentAdjoint) {
return parentAdjoint * x / std::hypot(x, y);
},
@@ -818,8 +797,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr hypot( // NOLINT
@@ -816,8 +795,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr hypot( // NOLINT
*/
SLEIPNIR_DLLEXPORT inline ExpressionPtr log( // NOLINT
const ExpressionPtr& x) {
@@ -385,7 +385,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
// Prune expression
if (x->IsConstant(0.0)) {
// Return zero
@@ -827,12 +804,12 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr log( // NOLINT
@@ -825,12 +802,12 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr log( // NOLINT
}
// Evaluate constant
@@ -400,7 +400,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
[](double x, double, double parentAdjoint) { return parentAdjoint / x; },
[](const ExpressionPtr& x, const ExpressionPtr&,
const ExpressionPtr& parentAdjoint) { return parentAdjoint / x; },
@@ -846,8 +823,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr log( // NOLINT
@@ -844,8 +821,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr log( // NOLINT
*/
SLEIPNIR_DLLEXPORT inline ExpressionPtr log10( // NOLINT
const ExpressionPtr& x) {
@@ -409,7 +409,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
// Prune expression
if (x->IsConstant(0.0)) {
// Return zero
@@ -855,12 +830,13 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr log10( // NOLINT
@@ -853,12 +828,13 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr log10( // NOLINT
}
// Evaluate constant
@@ -425,7 +425,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
[](double x, double, double parentAdjoint) {
return parentAdjoint / (std::numbers::ln10 * x);
},
@@ -879,8 +855,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr log10( // NOLINT
@@ -877,8 +853,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr log10( // NOLINT
*/
SLEIPNIR_DLLEXPORT inline ExpressionPtr pow( // NOLINT
const ExpressionPtr& base, const ExpressionPtr& power) {
@@ -434,7 +434,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
// Prune expression
if (base->IsConstant(0.0)) {
// Return zero
@@ -895,12 +869,15 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr pow( // NOLINT
@@ -893,12 +867,15 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr pow( // NOLINT
}
// Evaluate constant
@@ -452,7 +452,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
[](double base, double power) { return std::pow(base, power); },
[](double base, double power, double parentAdjoint) {
return parentAdjoint * std::pow(base, power - 1) * power;
@@ -941,10 +918,8 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr pow( // NOLINT
@@ -939,10 +916,8 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr pow( // NOLINT
* @param x The argument.
*/
SLEIPNIR_DLLEXPORT inline ExpressionPtr sign(const ExpressionPtr& x) {
@@ -464,7 +464,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
if (x->value < 0.0) {
return MakeExpressionPtr(-1.0);
} else if (x->value == 0.0) {
@@ -956,7 +931,7 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr sign(const ExpressionPtr& x) {
@@ -954,7 +929,7 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr sign(const ExpressionPtr& x) {
}
return MakeExpressionPtr(
@@ -473,7 +473,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
[](double x, double) {
if (x < 0.0) {
return -1.0;
@@ -982,8 +957,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr sign(const ExpressionPtr& x) {
@@ -980,8 +955,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr sign(const ExpressionPtr& x) {
*/
SLEIPNIR_DLLEXPORT inline ExpressionPtr sin( // NOLINT
const ExpressionPtr& x) {
@@ -482,7 +482,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
// Prune expression
if (x->IsConstant(0.0)) {
// Return zero
@@ -991,12 +964,12 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr sin( // NOLINT
@@ -989,12 +962,12 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr sin( // NOLINT
}
// Evaluate constant
@@ -497,7 +497,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
[](double x, double, double parentAdjoint) {
return parentAdjoint * std::cos(x);
},
@@ -1013,8 +986,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr sin( // NOLINT
@@ -1011,8 +984,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr sin( // NOLINT
* @param x The argument.
*/
SLEIPNIR_DLLEXPORT inline ExpressionPtr sinh(const ExpressionPtr& x) {
@@ -506,7 +506,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
// Prune expression
if (x->IsConstant(0.0)) {
// Return zero
@@ -1022,12 +993,12 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr sinh(const ExpressionPtr& x) {
@@ -1020,12 +991,12 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr sinh(const ExpressionPtr& x) {
}
// Evaluate constant
@@ -521,7 +521,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
[](double x, double, double parentAdjoint) {
return parentAdjoint * std::cosh(x);
},
@@ -1045,10 +1016,8 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr sinh(const ExpressionPtr& x) {
@@ -1043,10 +1014,8 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr sinh(const ExpressionPtr& x) {
*/
SLEIPNIR_DLLEXPORT inline ExpressionPtr sqrt( // NOLINT
const ExpressionPtr& x) {
@@ -533,7 +533,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
if (x->value == 0.0) {
// Return zero
return x;
@@ -1060,7 +1029,7 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr sqrt( // NOLINT
@@ -1058,7 +1027,7 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr sqrt( // NOLINT
}
return MakeExpressionPtr(
@@ -542,7 +542,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
[](double x, double, double parentAdjoint) {
return parentAdjoint / (2.0 * std::sqrt(x));
},
@@ -1079,8 +1048,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr sqrt( // NOLINT
@@ -1077,8 +1046,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr sqrt( // NOLINT
*/
SLEIPNIR_DLLEXPORT inline ExpressionPtr tan( // NOLINT
const ExpressionPtr& x) {
@@ -551,7 +551,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
// Prune expression
if (x->IsConstant(0.0)) {
// Return zero
@@ -1088,12 +1055,12 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr tan( // NOLINT
@@ -1086,12 +1053,12 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr tan( // NOLINT
}
// Evaluate constant
@@ -566,7 +566,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
[](double x, double, double parentAdjoint) {
return parentAdjoint / (std::cos(x) * std::cos(x));
},
@@ -1111,8 +1078,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr tan( // NOLINT
@@ -1109,8 +1076,6 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr tan( // NOLINT
* @param x The argument.
*/
SLEIPNIR_DLLEXPORT inline ExpressionPtr tanh(const ExpressionPtr& x) {
@@ -575,7 +575,7 @@ index b60226ccffef9ac161727483ebca3d53df09dec2..fc503c10a209b4779e204e598d3bae45
// Prune expression
if (x->IsConstant(0.0)) {
// Return zero
@@ -1120,12 +1085,12 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr tanh(const ExpressionPtr& x) {
@@ -1118,12 +1083,12 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr tanh(const ExpressionPtr& x) {
}
// Evaluate constant

4
upstream_utils/sleipnir_patches/0002-Add-implicit-typename.patch
View File

@@ -1,14 +1,14 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Mon, 29 Apr 2024 19:17:18 -0700
Subject: [PATCH 2/2] Add implicit typename
Subject: [PATCH 2/4] Add implicit typename
---
include/sleipnir/util/SmallVector.hpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/include/sleipnir/util/SmallVector.hpp b/include/sleipnir/util/SmallVector.hpp
index a4fd51931bb86b2b689805b2c4c5e0125cc560fc..e301b973f1dcd1f662bd9c9f8fd567053e5ee578 100644
index 5e93ae49e659a29c49728d337323ebbcdd8790d3..dcf02c02b7f7fcfc32197d68f885174a1ae20307 100644
--- a/include/sleipnir/util/SmallVector.hpp
+++ b/include/sleipnir/util/SmallVector.hpp
@@ -152,8 +152,8 @@ class small_vector

116
upstream_utils/sleipnir_patches/0003-Use-fmtlib.patch Normal file
View File

@@ -0,0 +1,116 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Wed, 29 May 2024 16:29:55 -0700
Subject: [PATCH 3/4] Use fmtlib
---
include/.styleguide | 1 +
include/sleipnir/util/Assert.hpp | 5 +++--
include/sleipnir/util/Print.hpp | 27 ++++++++++++++-------------
3 files changed, 18 insertions(+), 15 deletions(-)
diff --git a/include/.styleguide b/include/.styleguide
index f3b2f0cf9e60b3a86b9654ff2b381f9c48734ff6..8251a490677bcf5fd316d5303195b0fa4e599b75 100644
--- a/include/.styleguide
+++ b/include/.styleguide
@@ -8,4 +8,5 @@ cppSrcFileInclude {
includeOtherLibs {
^Eigen/
+ ^fmt/
}
diff --git a/include/sleipnir/util/Assert.hpp b/include/sleipnir/util/Assert.hpp
index ba381ef8f48446e6d07b6d7973a8271cbda8fec9..9999544278c493f263c819811cb4fbcb407b04f1 100644
--- a/include/sleipnir/util/Assert.hpp
+++ b/include/sleipnir/util/Assert.hpp
@@ -3,8 +3,9 @@
#pragma once
#ifdef JORMUNGANDR
-#include <format>
#include <stdexcept>
+
+#include <fmt/format.h>
/**
* Throw an exception in Python.
*/
@@ -12,7 +13,7 @@
do { \
if (!(condition)) { \
throw std::invalid_argument( \
- std::format("{}:{}: {}: Assertion `{}' failed.", __FILE__, __LINE__, \
+ fmt::format("{}:{}: {}: Assertion `{}' failed.", __FILE__, __LINE__, \
__func__, #condition)); \
} \
} while (0);
diff --git a/include/sleipnir/util/Print.hpp b/include/sleipnir/util/Print.hpp
index 339320bce6d017ca85025060ba445b2f025bb225..fcf2e69bfb5a081cd915bdded3caa80cd9c38518 100644
--- a/include/sleipnir/util/Print.hpp
+++ b/include/sleipnir/util/Print.hpp
@@ -2,52 +2,53 @@
#pragma once
-#include <print>
#include <system_error>
#include <utility>
+#include <fmt/core.h>
+
namespace sleipnir {
/**
- * Wrapper around std::print() that squelches write failure exceptions.
+ * 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) {
try {
- std::print(fmt, std::forward<T>(args)...);
+ fmt::print(fmt, std::forward<T>(args)...);
} catch (const std::system_error&) {
}
}
/**
- * Wrapper around std::print() that squelches write failure exceptions.
+ * 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) {
try {
- std::print(f, fmt, std::forward<T>(args)...);
+ fmt::print(f, fmt, std::forward<T>(args)...);
} catch (const std::system_error&) {
}
}
/**
- * Wrapper around std::println() that squelches write failure exceptions.
+ * 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) {
try {
- std::println(fmt, std::forward<T>(args)...);
+ fmt::println(fmt, std::forward<T>(args)...);
} catch (const std::system_error&) {
}
}
/**
- * Wrapper around std::println() that squelches write failure exceptions.
+ * 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) {
try {
- std::println(f, fmt, std::forward<T>(args)...);
+ fmt::println(f, fmt, std::forward<T>(args)...);
} catch (const std::system_error&) {
}
}

42
upstream_utils/sleipnir_patches/0004-Remove-unsupported-constexpr.patch Normal file
View File

@@ -0,0 +1,42 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Mon, 20 May 2024 09:01:54 -0700
Subject: [PATCH 4/4] Remove unsupported constexpr
---
include/sleipnir/autodiff/Expression.hpp | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/include/sleipnir/autodiff/Expression.hpp b/include/sleipnir/autodiff/Expression.hpp
index 802a8602a125251058cfe22447911999f035efad..7aa715a0aa5f4560b4e16cf5f0458f1385b88c7d 100644
--- a/include/sleipnir/autodiff/Expression.hpp
+++ b/include/sleipnir/autodiff/Expression.hpp
@@ -21,8 +21,8 @@ namespace sleipnir::detail {
struct SLEIPNIR_DLLEXPORT Expression;
-inline constexpr void IntrusiveSharedPtrIncRefCount(Expression* expr);
-inline constexpr void IntrusiveSharedPtrDecRefCount(Expression* expr);
+inline void IntrusiveSharedPtrIncRefCount(Expression* expr);
+inline void IntrusiveSharedPtrDecRefCount(Expression* expr);
/**
* Typedef for intrusive shared pointer to Expression.
@@ -409,7 +409,7 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr sqrt(const ExpressionPtr& x);
*
* @param expr The shared pointer's managed object.
*/
-inline constexpr void IntrusiveSharedPtrIncRefCount(Expression* expr) {
+inline void IntrusiveSharedPtrIncRefCount(Expression* expr) {
++expr->refCount;
}
@@ -418,7 +418,7 @@ inline constexpr void IntrusiveSharedPtrIncRefCount(Expression* expr) {
*
* @param expr The shared pointer's managed object.
*/
-inline constexpr void IntrusiveSharedPtrDecRefCount(Expression* expr) {
+inline void IntrusiveSharedPtrDecRefCount(Expression* 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

6
upstream_utils/update_sleipnir.py
View File

@@ -15,8 +15,8 @@ from upstream_utils import (
def main():
upstream_root = clone_repo(
"https://github.com/SleipnirGroup/Sleipnir",
# main on 2024-04-29
"9bac50e0f6c1b9ae20e1f611fb7db2cc305ca4fc",
# main on 2024-06-05
"57005c8b740ab163d3f7ef7e0c7c7c8774f4f925",
shallow=False,
)
wpilib_root = get_repo_root()
@@ -27,6 +27,8 @@ def main():
for f in [
"0001-Remove-using-enum-declarations.patch",
"0002-Add-implicit-typename.patch",
"0003-Use-fmtlib.patch",
"0004-Remove-unsupported-constexpr.patch",
]:
git_am(os.path.join(wpilib_root, "upstream_utils/sleipnir_patches", f))

1
wpimath/src/main/native/thirdparty/sleipnir/.styleguide vendored
View File

@@ -17,7 +17,6 @@ modifiableFileExclude {
includeOtherLibs {
^Eigen/
^catch2/
^fmt/
^pybind11/
^sleipnir/
}

6
wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/autodiff/Expression.hpp vendored
View File

@@ -21,8 +21,7 @@ namespace sleipnir::detail {
struct SLEIPNIR_DLLEXPORT Expression;
inline constexpr void IntrusiveSharedPtrIncRefCount(Expression* expr);
// FIXME: Make constexpr after upgrading to GCC 12+
inline void IntrusiveSharedPtrIncRefCount(Expression* expr);
inline void IntrusiveSharedPtrDecRefCount(Expression* expr);
/**
@@ -410,7 +409,7 @@ SLEIPNIR_DLLEXPORT inline ExpressionPtr sqrt(const ExpressionPtr& x);
*
* @param expr The shared pointer's managed object.
*/
inline constexpr void IntrusiveSharedPtrIncRefCount(Expression* expr) {
inline void IntrusiveSharedPtrIncRefCount(Expression* expr) {
++expr->refCount;
}
@@ -419,7 +418,6 @@ inline constexpr void IntrusiveSharedPtrIncRefCount(Expression* expr) {
*
* @param expr The shared pointer's managed object.
*/
// FIXME: Make constexpr after upgrading to GCC 12+
inline void IntrusiveSharedPtrDecRefCount(Expression* 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

14
wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/autodiff/VariableBlock.hpp vendored
View File

@@ -26,6 +26,8 @@ class VariableBlock {
/**
* Assigns a VariableBlock to the block.
*
* @param values VariableBlock of values.
*/
VariableBlock<Mat>& operator=(const VariableBlock<Mat>& values) {
if (this == &values) {
@@ -56,6 +58,8 @@ class VariableBlock {
/**
* Assigns a VariableBlock to the block.
*
* @param values VariableBlock of values.
*/
VariableBlock<Mat>& operator=(VariableBlock<Mat>&& values) {
if (this == &values) {
@@ -124,6 +128,8 @@ class VariableBlock {
* Assigns a double to the block.
*
* This only works for blocks with one row and one column.
*
* @param value Value to assign.
*/
VariableBlock<Mat>& SetValue(double value) {
Assert(Rows() == 1 && Cols() == 1);
@@ -135,6 +141,8 @@ class VariableBlock {
/**
* Assigns an Eigen matrix to the block.
*
* @param values Eigen matrix of values to assign.
*/
template <typename Derived>
VariableBlock<Mat>& operator=(const Eigen::MatrixBase<Derived>& values) {
@@ -152,6 +160,8 @@ class VariableBlock {
/**
* Sets block's internal values.
*
* @param values Eigen matrix of values.
*/
template <typename Derived>
requires std::same_as<typename Derived::Scalar, double>
@@ -170,6 +180,8 @@ class VariableBlock {
/**
* Assigns a VariableMatrix to the block.
*
* @param values VariableMatrix of values.
*/
VariableBlock<Mat>& operator=(const Mat& values) {
Assert(Rows() == values.Rows());
@@ -185,6 +197,8 @@ class VariableBlock {
/**
* Assigns a VariableMatrix to the block.
*
* @param values VariableMatrix of values.
*/
VariableBlock<Mat>& operator=(Mat&& values) {
Assert(Rows() == values.Rows());

16
wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/autodiff/VariableMatrix.hpp vendored
View File

@@ -137,6 +137,8 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
/**
* Constructs a VariableMatrix from an Eigen matrix.
*
* @param values Eigen matrix of values.
*/
template <typename Derived>
VariableMatrix(const Eigen::MatrixBase<Derived>& values) // NOLINT
@@ -152,6 +154,8 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
/**
* Constructs a VariableMatrix from an Eigen diagonal matrix.
*
* @param values Diagonal matrix of values.
*/
template <typename Derived>
VariableMatrix(const Eigen::DiagonalBase<Derived>& values) // NOLINT
@@ -171,6 +175,8 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
/**
* Assigns an Eigen matrix to a VariableMatrix.
*
* @param values Eigen matrix of values.
*/
template <typename Derived>
VariableMatrix& operator=(const Eigen::MatrixBase<Derived>& values) {
@@ -188,6 +194,8 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
/**
* Sets the VariableMatrix's internal values.
*
* @param values Eigen matrix of values.
*/
template <typename Derived>
requires std::same_as<typename Derived::Scalar, double>
@@ -206,6 +214,8 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
/**
* Constructs a scalar VariableMatrix from a Variable.
*
* @param variable Variable.
*/
VariableMatrix(const Variable& variable) // NOLINT
: m_rows{1}, m_cols{1} {
@@ -214,6 +224,8 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
/**
* Constructs a scalar VariableMatrix from a Variable.
*
* @param variable Variable.
*/
VariableMatrix(Variable&& variable) : m_rows{1}, m_cols{1} { // NOLINT
m_storage.emplace_back(std::move(variable));
@@ -221,6 +233,8 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
/**
* Constructs a VariableMatrix from a VariableBlock.
*
* @param values VariableBlock of values.
*/
VariableMatrix(const VariableBlock<VariableMatrix>& values) // NOLINT
: m_rows{values.Rows()}, m_cols{values.Cols()} {
@@ -233,6 +247,8 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
/**
* Constructs a VariableMatrix from a VariableBlock.
*
* @param values VariableBlock of values.
*/
VariableMatrix(const VariableBlock<const VariableMatrix>& values) // NOLINT
: m_rows{values.Rows()}, m_cols{values.Cols()} {

8
wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/util/Concepts.hpp vendored
View File

@@ -15,6 +15,10 @@ template <typename T>
concept ScalarLike = std::same_as<T, double> || std::same_as<T, int> ||
std::same_as<T, Variable>;
template <typename T>
concept SleipnirMatrixLike = std::same_as<T, VariableMatrix> ||
std::same_as<T, VariableBlock<VariableMatrix>>;
template <typename Derived>
concept EigenMatrixLike =
std::derived_from<Derived, Eigen::MatrixBase<Derived>>;
@@ -23,8 +27,6 @@ template <typename T>
concept EigenSolver = requires(T t) { t.solve(Eigen::VectorXd{}); };
template <typename T>
concept MatrixLike =
std::same_as<T, VariableMatrix> ||
std::same_as<T, VariableBlock<VariableMatrix>> || EigenMatrixLike<T>;
concept MatrixLike = SleipnirMatrixLike<T> || EigenMatrixLike<T>;
} // namespace sleipnir

1
wpimath/src/main/native/thirdparty/sleipnir/src/.styleguide vendored
View File

@@ -8,5 +8,4 @@ cppSrcFileInclude {
includeOtherLibs {
^Eigen/
^fmt/
}