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[upstream_utils] Upgrade to Sleipnir 0.5.1 (#8726)

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There's changes to the diagnostic output and a performance improvement
for autodiff setup. I also updated Java's Options docs to more closely
match upstream.
This commit is contained in:
Tyler Veness
2026-04-07 23:52:30 -07:00
committed by GitHub
parent 719e9dddc0
commit 5b4769ea0a
12 changed files with 184 additions and 127 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
upstream_utils/sleipnir.py
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@@ -46,7 +46,7 @@ using small_vector = wpi::util::SmallVector<T>;
def main():
name = "sleipnir"
url = "https://github.com/SleipnirGroup/Sleipnir"
tag = "v0.5.0"
tag = "v0.5.1"
sleipnir = Lib(name, url, tag, copy_upstream_src)
sleipnir.main()

2
upstream_utils/sleipnir_patches/0001-Use-fmtlib.patch
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@@ -66,7 +66,7 @@ index 12d0568f628d5b97c0c2f5291851d4b20921f9d3..d06d32dac6c7b6faeedefeaa107cedac
+
+// @endcond
diff --git a/include/sleipnir/optimization/problem.hpp b/include/sleipnir/optimization/problem.hpp
index 42e572b6c13bba6d5f7592d2b7ffbe1879b1d99b..bb0bb21bb932f77f95c7779241784c4c54d6fe93 100644
index a9553ffbcfed568c48f7d789d8b127790dfddb91..3de6d5bf89a65fe07784350c3b1a4691dfc0c822 100644
--- a/include/sleipnir/optimization/problem.hpp
+++ b/include/sleipnir/optimization/problem.hpp
@@ -15,6 +15,7 @@

8
upstream_utils/sleipnir_patches/0004-Replace-std-to_underlying.patch
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@@ -11,7 +11,7 @@ Subject: [PATCH 04/10] Replace std::to_underlying()
create mode 100644 include/sleipnir/util/to_underlying.hpp
diff --git a/include/sleipnir/optimization/problem.hpp b/include/sleipnir/optimization/problem.hpp
index bb0bb21bb932f77f95c7779241784c4c54d6fe93..61c5de59d8c5f4d582eff4f650c66c8d50e181a0 100644
index 3de6d5bf89a65fe07784350c3b1a4691dfc0c822..273363db2cf75c84d81f2fef36dcb2094303ee2e 100644
--- a/include/sleipnir/optimization/problem.hpp
+++ b/include/sleipnir/optimization/problem.hpp
@@ -37,6 +37,7 @@
@@ -22,7 +22,7 @@ index bb0bb21bb932f77f95c7779241784c4c54d6fe93..61c5de59d8c5f4d582eff4f650c66c8d
namespace slp {
@@ -696,11 +697,11 @@ class Problem {
@@ -752,11 +753,11 @@ class Problem {
// Print problem structure
slp::println("\nProblem structure:");
slp::println(" ↳ {} cost function",
@@ -37,7 +37,7 @@ index bb0bb21bb932f77f95c7779241784c4c54d6fe93..61c5de59d8c5f4d582eff4f650c66c8d
if (m_decision_variables.size() == 1) {
slp::print("\n1 decision variable\n");
@@ -712,7 +713,7 @@ class Problem {
@@ -768,7 +769,7 @@ class Problem {
[](const gch::small_vector<Variable<Scalar>>& constraints) {
std::array<size_t, 5> counts{};
for (const auto& constraint : constraints) {
@@ -47,7 +47,7 @@ index bb0bb21bb932f77f95c7779241784c4c54d6fe93..61c5de59d8c5f4d582eff4f650c66c8d
for (const auto& [count, name] :
std::views::zip(counts, std::array{"empty", "constant", "linear",
diff --git a/include/sleipnir/util/print_diagnostics.hpp b/include/sleipnir/util/print_diagnostics.hpp
index f44663c6d283e6b1658a330c79e39de0dc9b428e..698a8df43d4236bb6740e8cf7872d2e1f5df8c31 100644
index e16ef1b03e675b7ccb8db6781568eec7a44aace7..69cb99957cc7da5abc4162c53a229f7f642bbe4b 100644
--- a/include/sleipnir/util/print_diagnostics.hpp
+++ b/include/sleipnir/util/print_diagnostics.hpp
@@ -17,6 +17,7 @@

4
upstream_utils/sleipnir_patches/0005-Replace-std-views-zip.patch
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@@ -25,10 +25,10 @@ index 275c30b76d34efe7ee1608cd4eedfa54ab2dc1ec..c0e3c161343175837abcb25fb22da0c6
if (col != -1 && node->adjoint != Scalar(0)) {
triplets.emplace_back(row, col, node->adjoint);
diff --git a/include/sleipnir/optimization/problem.hpp b/include/sleipnir/optimization/problem.hpp
index 61c5de59d8c5f4d582eff4f650c66c8d50e181a0..6acd2f655a4b35d087ff365c2a2917b015b03b32 100644
index 273363db2cf75c84d81f2fef36dcb2094303ee2e..c4a45f7f954c9e028b1c85c45d5034bde284474f 100644
--- a/include/sleipnir/optimization/problem.hpp
+++ b/include/sleipnir/optimization/problem.hpp
@@ -715,9 +715,11 @@ class Problem {
@@ -771,9 +771,11 @@ class Problem {
for (const auto& constraint : constraints) {
++counts[slp::to_underlying(constraint.type())];
}

2
upstream_utils/sleipnir_patches/0010-Use-operator-instead-of-multidimensional-array-subsc.patch
View File

@@ -959,7 +959,7 @@ index 5e20b9b8debc13611d5d719b589d8fd896c35a90..e5163f9c2dbbfa0a580d029e61c741e6
if (m_dynamics_type == DynamicsType::EXPLICIT_ODE) {
x_end = rk4<const decltype(m_dynamics)&, VariableMatrix<Scalar>,
diff --git a/include/sleipnir/optimization/problem.hpp b/include/sleipnir/optimization/problem.hpp
index 6acd2f655a4b35d087ff365c2a2917b015b03b32..e05ef004e999787a923860b2d173702e3ca4045a 100644
index c4a45f7f954c9e028b1c85c45d5034bde284474f..4e38a082855c07c47f1aa191613114a5a392a4e4 100644
--- a/include/sleipnir/optimization/problem.hpp
+++ b/include/sleipnir/optimization/problem.hpp
@@ -97,7 +97,7 @@ class Problem {