[upstream_utils] Upgrade to Sleipnir 0.5.2

This fixes a bug in Sleipnir's Newton solver (the exit status was inaccurate because unconstrained optimization problems can't be infeasible).

upstream_utils/sleipnir.py

@@ -46,7 +46,7 @@ using small_vector = wpi::util::SmallVector<T>;
 def main():
     name = "sleipnir"
     url = "https://github.com/SleipnirGroup/Sleipnir"
-    tag = "v0.5.1"
+    tag = "v0.5.2"
 
     sleipnir = Lib(name, url, tag, copy_upstream_src)
     sleipnir.main()

upstream_utils/sleipnir_patches/0001-Use-fmtlib.patch

@@ -78,7 +78,7 @@ index a9553ffbcfed568c48f7d789d8b127790dfddb91..3de6d5bf89a65fe07784350c3b1a4691
  
  #include "sleipnir/autodiff/expression_type.hpp"
 diff --git a/include/sleipnir/optimization/solver/exit_status.hpp b/include/sleipnir/optimization/solver/exit_status.hpp
-index 01dddd0d4967268cbbb2c808f7973fafc6be081d..8a7904dd5664dcd66d1332f38902df2252387a58 100644
+index 0a48df7423b5a3dccd8e611e91befd32487fafdc..8786d6d64ac44ac88133df65a79636ec133b1b64 100644
 --- a/include/sleipnir/optimization/solver/exit_status.hpp
 +++ b/include/sleipnir/optimization/solver/exit_status.hpp
 @@ -4,9 +4,10 @@
@@ -93,7 +93,7 @@ index 01dddd0d4967268cbbb2c808f7973fafc6be081d..8a7904dd5664dcd66d1332f38902df22
  namespace slp {
  
  /// Solver exit status. Negative values indicate failure.
-@@ -42,14 +43,16 @@ enum class ExitStatus : int8_t {
+@@ -45,14 +46,16 @@ enum class ExitStatus : int8_t {
  
  }  // namespace slp
  
@@ -112,7 +112,7 @@ index 01dddd0d4967268cbbb2c808f7973fafc6be081d..8a7904dd5664dcd66d1332f38902df22
      return m_underlying.parse(ctx);
    }
  
-@@ -60,7 +63,8 @@ struct std::formatter<slp::ExitStatus> {
+@@ -63,7 +66,8 @@ struct std::formatter<slp::ExitStatus> {
    /// @param ctx Format context.
    /// @return Format context iterator.
    template <typename FmtContext>
@@ -122,7 +122,7 @@ index 01dddd0d4967268cbbb2c808f7973fafc6be081d..8a7904dd5664dcd66d1332f38902df22
      using enum slp::ExitStatus;
  
      switch (exit_status) {
-@@ -93,5 +97,7 @@ struct std::formatter<slp::ExitStatus> {
+@@ -97,5 +101,7 @@ struct std::formatter<slp::ExitStatus> {
    }
  
   private:

upstream_utils/sleipnir_patches/0006-Replace-std-unreachable.patch

@@ -37,7 +37,7 @@ index d06d32dac6c7b6faeedefeaa107cedac8446a3ab..1957fc0339b5538fbdc56a8ea2d8503c
    }
  
 diff --git a/include/sleipnir/optimization/solver/exit_status.hpp b/include/sleipnir/optimization/solver/exit_status.hpp
-index 8a7904dd5664dcd66d1332f38902df2252387a58..ee9bfbc7630513a33297dbeaf39fd695509b5a97 100644
+index 8786d6d64ac44ac88133df65a79636ec133b1b64..d1bf7e62aa844003cfcd7f3df6fd9c9a65563586 100644
 --- a/include/sleipnir/optimization/solver/exit_status.hpp
 +++ b/include/sleipnir/optimization/solver/exit_status.hpp
 @@ -4,10 +4,10 @@
@@ -53,7 +53,7 @@ index 8a7904dd5664dcd66d1332f38902df2252387a58..ee9bfbc7630513a33297dbeaf39fd695
  namespace slp {
  
  /// Solver exit status. Negative values indicate failure.
-@@ -92,7 +92,7 @@ struct fmt::formatter<slp::ExitStatus> {
+@@ -96,7 +96,7 @@ struct fmt::formatter<slp::ExitStatus> {
        case TIMEOUT:
          return m_underlying.format("timeout", ctx);
        default:

wpimath/src/main/java/org/wpilib/math/optimization/solver/ExitStatus.java

@@ -18,21 +18,23 @@ public enum ExitStatus {
   GLOBALLY_INFEASIBLE(-3),
   /** The linear system factorization failed. */
   FACTORIZATION_FAILED(-4),
+  /** The backtracking line search failed, and the problem isn't locally infeasible. */
+  LINE_SEARCH_FAILED(-5),
   /**
    * The solver failed to reach the desired tolerance, and feasibility restoration failed to
    * converge.
    */
-  FEASIBILITY_RESTORATION_FAILED(-5),
+  FEASIBILITY_RESTORATION_FAILED(-6),
   /** The solver encountered nonfinite initial cost, constraints, or derivatives and gave up. */
-  NONFINITE_INITIAL_GUESS(-6),
+  NONFINITE_INITIAL_GUESS(-7),
   /** The solver encountered diverging primal iterates xₖ and/or sₖ and gave up. */
-  DIVERGING_ITERATES(-7),
+  DIVERGING_ITERATES(-8),
   /** The solver returned its solution so far after exceeding the maximum number of iterations. */
-  MAX_ITERATIONS_EXCEEDED(-8),
+  MAX_ITERATIONS_EXCEEDED(-9),
   /**
    * The solver returned its solution so far after exceeding the maximum elapsed wall clock time.
    */
-  TIMEOUT(-9);
+  TIMEOUT(-10);
 
   /** ExitStatus value. */
   public final int value;
@@ -55,11 +57,12 @@ public enum ExitStatus {
       case -2 -> ExitStatus.LOCALLY_INFEASIBLE;
       case -3 -> ExitStatus.GLOBALLY_INFEASIBLE;
       case -4 -> ExitStatus.FACTORIZATION_FAILED;
-      case -5 -> ExitStatus.FEASIBILITY_RESTORATION_FAILED;
-      case -6 -> ExitStatus.NONFINITE_INITIAL_GUESS;
-      case -7 -> ExitStatus.DIVERGING_ITERATES;
-      case -8 -> ExitStatus.MAX_ITERATIONS_EXCEEDED;
-      case -9 -> ExitStatus.TIMEOUT;
+      case -5 -> ExitStatus.LINE_SEARCH_FAILED;
+      case -6 -> ExitStatus.FEASIBILITY_RESTORATION_FAILED;
+      case -7 -> ExitStatus.NONFINITE_INITIAL_GUESS;
+      case -8 -> ExitStatus.DIVERGING_ITERATES;
+      case -9 -> ExitStatus.MAX_ITERATIONS_EXCEEDED;
+      case -10 -> ExitStatus.TIMEOUT;
       default -> null;
     };
   }

wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/optimization/solver/exit_status.hpp

@@ -25,20 +25,23 @@ enum class ExitStatus : int8_t {
   GLOBALLY_INFEASIBLE = -3,
   /// The linear system factorization failed.
   FACTORIZATION_FAILED = -4,
+  /// The backtracking line search failed, and the problem isn't locally
+  /// infeasible.
+  LINE_SEARCH_FAILED = -5,
   /// The solver failed to reach the desired tolerance, and feasibility
   /// restoration failed to converge.
-  FEASIBILITY_RESTORATION_FAILED = -5,
+  FEASIBILITY_RESTORATION_FAILED = -6,
   /// The solver encountered nonfinite initial cost, constraints, or derivatives
   /// and gave up.
-  NONFINITE_INITIAL_GUESS = -6,
+  NONFINITE_INITIAL_GUESS = -7,
   /// The solver encountered diverging primal iterates xₖ and/or sₖ and gave up.
-  DIVERGING_ITERATES = -7,
+  DIVERGING_ITERATES = -8,
   /// The solver returned its solution so far after exceeding the maximum number
   /// of iterations.
-  MAX_ITERATIONS_EXCEEDED = -8,
+  MAX_ITERATIONS_EXCEEDED = -9,
   /// The solver returned its solution so far after exceeding the maximum
   /// elapsed wall clock time.
-  TIMEOUT = -9,
+  TIMEOUT = -10,
 };
 
 }  // namespace slp
@@ -80,11 +83,12 @@ struct fmt::formatter<slp::ExitStatus> {
         return m_underlying.format("globally infeasible", ctx);
       case FACTORIZATION_FAILED:
         return m_underlying.format("factorization failed", ctx);
+      case LINE_SEARCH_FAILED:
+        return m_underlying.format("line search failed", ctx);
       case FEASIBILITY_RESTORATION_FAILED:
         return m_underlying.format("feasibility restoration failed", ctx);
       case NONFINITE_INITIAL_GUESS:
-        return m_underlying.format(
-            "nonfinite initial cost, constraints, or derivatives", ctx);
+        return m_underlying.format("nonfinite initial guess", ctx);
       case DIVERGING_ITERATES:
         return m_underlying.format("diverging iterates", ctx);
       case MAX_ITERATIONS_EXCEEDED:

wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/optimization/solver/newton.hpp

@@ -204,7 +204,7 @@ ExitStatus newton(
         α *= α_reduction_factor;
 
         if (α < α_min) {
-          return ExitStatus::LOCALLY_INFEASIBLE;
+          return ExitStatus::LINE_SEARCH_FAILED;
         }
         continue;
       }
@@ -236,7 +236,7 @@ ExitStatus newton(
           break;
         }
 
-        return ExitStatus::LOCALLY_INFEASIBLE;
+        return ExitStatus::LINE_SEARCH_FAILED;
       }
     }