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[upstream_utils] Update Sleipnir (#6709)

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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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6
wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/autodiff/Expression.hpp vendored
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@@ -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
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@@ -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
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@@ -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
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@@ -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