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[upstream_utils] Upgrade Sleipnir (#8235)

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This commit is contained in:
Tyler Veness
2025-09-20 11:21:06 -07:00
committed by GitHub
parent ee3d55e848
commit 3dbdfa1839
28 changed files with 403 additions and 260 deletions
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63
upstream_utils/sleipnir_patches/0001-Use-fmtlib.patch
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@@ -4,10 +4,12 @@ Date: Wed, 29 May 2024 16:29:55 -0700
Subject: [PATCH 1/8] Use fmtlib
---
include/.styleguide | 1 +
include/sleipnir/util/print.hpp | 31 ++++++++++++++++++-------------
src/optimization/problem.cpp | 2 +-
3 files changed, 20 insertions(+), 14 deletions(-)
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(-)
diff --git a/include/.styleguide b/include/.styleguide
index 1b6652d3d5886cf8c9eca0d855c21031775bad7c..4f4c76204071f90bf49eddb8c2aceb583b5e09ba 100644
@@ -20,6 +22,31 @@ index 1b6652d3d5886cf8c9eca0d855c21031775bad7c..4f4c76204071f90bf49eddb8c2aceb58
+ ^fmt/
^gch/
}
diff --git a/include/sleipnir/util/assert.hpp b/include/sleipnir/util/assert.hpp
index 75d8ffca32accbf66ffce30f073de1db2f42469b..53de01928b929793fa77885ec4a6d1a928bdc5a9 100644
--- a/include/sleipnir/util/assert.hpp
+++ b/include/sleipnir/util/assert.hpp
@@ -3,9 +3,10 @@
#pragma once
#ifdef JORMUNGANDR
-#include <format>
#include <source_location>
#include <stdexcept>
+
+#include <fmt/format.h>
/**
* Throw an exception in Python.
*/
@@ -13,7 +14,7 @@
do { \
if (!(condition)) { \
auto location = std::source_location::current(); \
- throw std::invalid_argument(std::format( \
+ throw std::invalid_argument(fmt::format( \
"{}:{}: {}: Assertion `{}' failed.", location.file_name(), \
location.line(), location.function_name(), #condition)); \
} \
diff --git a/include/sleipnir/util/print.hpp b/include/sleipnir/util/print.hpp
index fe430352dabf4cd6a890dc8007237c7a261dfd4b..055d5c9fa246201f1d8ae7ddca00b1159aeb2a57 100644
--- a/include/sleipnir/util/print.hpp
@@ -99,16 +126,26 @@ index fe430352dabf4cd6a890dc8007237c7a261dfd4b..055d5c9fa246201f1d8ae7ddca00b115
} 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 31115490867146ec166604bcc61731d7891a9f22..81863808d329a53d4162ce0624a3b8e8afc32dfc 100644
index c3331197e2365934273f57422b79fa18c2b78a5b..09828cdb6d7cddff692b9d17603dc0c11cd5a3ec 100644
--- a/src/optimization/problem.cpp
+++ b/src/optimization/problem.cpp
@@ -335,7 +335,7 @@ void Problem::print_exit_conditions([[maybe_unused]] const Options& options) {
slp::println(" ↳ executed {} iterations", options.max_iterations);
}
if (std::isfinite(options.timeout.count())) {
- slp::println(" ↳ {} elapsed", options.timeout);
+ slp::println(" ↳ {} elapsed", options.timeout.count());
}
}
@@ -11,6 +11,7 @@
#include <Eigen/Core>
#include <Eigen/SparseCore>
+#include <fmt/chrono.h>
#include <gch/small_vector.hpp>
#include "optimization/bounds.hpp"