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[upstream_utils] Upgrade Sleipnir to fix unused parameter warnings (#6803)

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This commit is contained in:
Tyler Veness
2024-07-07 06:43:44 -07:00
committed by GitHub
parent 32ed9c5f0b
commit 6478ba6e3f
20 changed files with 342 additions and 212 deletions
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58
upstream_utils/sleipnir_patches/0004-Use-wpi-SmallVector.patch
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@@ -1,7 +1,7 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Sun, 16 Jun 2024 12:08:49 -0700
Subject: [PATCH 4/4] Use wpi::SmallVector
Subject: [PATCH 4/5] Use wpi::SmallVector
---
include/.styleguide | 1 +
@@ -32,7 +32,7 @@ index 6a7f8ed28f9cb037c9746a7e0ef5e110481d9825..efa36cee1fb593ae810032340c64f185
+ ^wpi/
}
diff --git a/include/sleipnir/autodiff/Expression.hpp b/include/sleipnir/autodiff/Expression.hpp
index 758433270a1cbe1b33f8b41d3e971b58de711e18..f9be904cf289ad5f5538d9c91b7f2e96ea7d3ab2 100644
index e65b689559d01324fc4218c26144521832719025..2be666e7c87731d2633576d4a066efba4906502d 100644
--- a/include/sleipnir/autodiff/Expression.hpp
+++ b/include/sleipnir/autodiff/Expression.hpp
@@ -11,11 +11,12 @@
@@ -49,7 +49,7 @@ index 758433270a1cbe1b33f8b41d3e971b58de711e18..f9be904cf289ad5f5538d9c91b7f2e96
namespace sleipnir::detail {
@@ -423,7 +424,7 @@ inline void IntrusiveSharedPtrDecRefCount(Expression* expr) {
@@ -415,7 +416,7 @@ inline void IntrusiveSharedPtrDecRefCount(Expression* expr) {
// Expression destructor when expr's refcount reaches zero can cause a stack
// overflow. Instead, we iterate over its children to decrement their
// refcounts and deallocate them.
@@ -59,7 +59,7 @@ index 758433270a1cbe1b33f8b41d3e971b58de711e18..f9be904cf289ad5f5538d9c91b7f2e96
while (!stack.empty()) {
diff --git a/include/sleipnir/autodiff/ExpressionGraph.hpp b/include/sleipnir/autodiff/ExpressionGraph.hpp
index 56fe6bd5734ce2eec43f3c4c3e70c2ed41b32a21..4683089037271df7bcf0894f5a158c6c4607fe87 100644
index c614195d82ad022dfd0c3f6f8240b042c0056c2f..714bcbb82907e754138347334c7fca8a7ccf055d 100644
--- a/include/sleipnir/autodiff/ExpressionGraph.hpp
+++ b/include/sleipnir/autodiff/ExpressionGraph.hpp
@@ -4,10 +4,11 @@
@@ -197,7 +197,7 @@ index ac00c11ef8c947cbe95c58081bdbfb42bf901051..0c660156c80f94539383b8f0d01d7853
Profiler m_profiler;
};
diff --git a/include/sleipnir/autodiff/VariableMatrix.hpp b/include/sleipnir/autodiff/VariableMatrix.hpp
index f080a877a482d8a45a56ff38a0b969ef81b5809d..e691e209afed43d9384c2828243972d41e59ed59 100644
index a7e89e5d7a24fb1295eb3ff04d8f22824c0884f1..bac9fe4f5ecf08bb4c0e3dfa8822125bcf854803 100644
--- a/include/sleipnir/autodiff/VariableMatrix.hpp
+++ b/include/sleipnir/autodiff/VariableMatrix.hpp
@@ -11,13 +11,13 @@
@@ -225,12 +225,12 @@ index f080a877a482d8a45a56ff38a0b969ef81b5809d..e691e209afed43d9384c2828243972d4
int m_cols = 0;
};
diff --git a/include/sleipnir/optimization/Constraints.hpp b/include/sleipnir/optimization/Constraints.hpp
index 3b7315a851eff59dabc9a11334d09ef0b7337881..a33039b8996ded92014fa96dfacc9c80fd612c79 100644
index 80da66bfef55bfc54cfdcd0478432658f60f7610..b940fcc4deb76c282b27564332db5e5935fbfbc6 100644
--- a/include/sleipnir/optimization/Constraints.hpp
+++ b/include/sleipnir/optimization/Constraints.hpp
@@ -6,11 +6,12 @@
#include <concepts>
@@ -8,11 +8,12 @@
#include <type_traits>
#include <vector>
+#include <wpi/SmallVector.h>
+
@@ -242,7 +242,7 @@ index 3b7315a851eff59dabc9a11334d09ef0b7337881..a33039b8996ded92014fa96dfacc9c80
namespace sleipnir {
@@ -30,8 +31,8 @@ template <typename LHS, typename RHS>
@@ -32,8 +33,8 @@ template <typename LHS, typename RHS>
(ScalarLike<std::decay_t<RHS>> || MatrixLike<std::decay_t<RHS>>) &&
(!std::same_as<std::decay_t<LHS>, double> ||
!std::same_as<std::decay_t<RHS>, double>)
@@ -253,7 +253,7 @@ index 3b7315a851eff59dabc9a11334d09ef0b7337881..a33039b8996ded92014fa96dfacc9c80
if constexpr (ScalarLike<std::decay_t<LHS>> &&
ScalarLike<std::decay_t<RHS>>) {
@@ -119,7 +120,7 @@ small_vector<Variable> MakeConstraints(LHS&& lhs, RHS&& rhs) {
@@ -121,7 +122,7 @@ small_vector<Variable> MakeConstraints(LHS&& lhs, RHS&& rhs) {
*/
struct SLEIPNIR_DLLEXPORT EqualityConstraints {
/// A vector of scalar equality constraints.
@@ -261,8 +261,8 @@ index 3b7315a851eff59dabc9a11334d09ef0b7337881..a33039b8996ded92014fa96dfacc9c80
+ wpi::SmallVector<Variable> constraints;
/**
* Constructs an equality constraint from a left and right side.
@@ -153,7 +154,7 @@ struct SLEIPNIR_DLLEXPORT EqualityConstraints {
* Concatenates multiple equality constraints.
@@ -183,7 +184,7 @@ struct SLEIPNIR_DLLEXPORT EqualityConstraints {
*/
struct SLEIPNIR_DLLEXPORT InequalityConstraints {
/// A vector of scalar inequality constraints.
@@ -270,9 +270,9 @@ index 3b7315a851eff59dabc9a11334d09ef0b7337881..a33039b8996ded92014fa96dfacc9c80
+ wpi::SmallVector<Variable> constraints;
/**
* Constructs an inequality constraint from a left and right side.
* Concatenates multiple inequality constraints.
diff --git a/include/sleipnir/optimization/Multistart.hpp b/include/sleipnir/optimization/Multistart.hpp
index d905cafd5fce57dc53665caf50997ada00db4ebe..6935590a75db6eb3f1ecbd35c805cb7849bc3d9c 100644
index 8055713a2492a9c8473f047a2fb9fe7ca57753c3..09b1b2f3bf33c35ae0aeddb9b5d47c0d80c68cec 100644
--- a/include/sleipnir/optimization/Multistart.hpp
+++ b/include/sleipnir/optimization/Multistart.hpp
@@ -6,9 +6,10 @@
@@ -287,8 +287,8 @@ index d905cafd5fce57dc53665caf50997ada00db4ebe..6935590a75db6eb3f1ecbd35c805cb78
namespace sleipnir {
@@ -43,14 +44,14 @@ MultistartResult<DecisionVariables> Multistart(
function_ref<MultistartResult<DecisionVariables>(const DecisionVariables&)>
@@ -44,14 +45,14 @@ MultistartResult<DecisionVariables> Multistart(
const DecisionVariables& initialGuess)>
solve,
std::span<const DecisionVariables> initialGuesses) {
- small_vector<std::future<MultistartResult<DecisionVariables>>> futures;
@@ -305,10 +305,10 @@ index d905cafd5fce57dc53665caf50997ada00db4ebe..6935590a75db6eb3f1ecbd35c805cb78
for (auto& future : futures) {
diff --git a/include/sleipnir/optimization/OptimizationProblem.hpp b/include/sleipnir/optimization/OptimizationProblem.hpp
index 32ef0bf6fb0cbcba84c82031644e935a44815ed2..7dc4c50b035b1848b9b0177d10a4445a021a744e 100644
index 7d387e02af386a3cbfaf0294d5be78e73fb05628..b78b3761898088235cf335bf5cc111f4cafbe29a 100644
--- a/include/sleipnir/optimization/OptimizationProblem.hpp
+++ b/include/sleipnir/optimization/OptimizationProblem.hpp
@@ -12,6 +12,7 @@
@@ -11,6 +11,7 @@
#include <utility>
#include <Eigen/Core>
@@ -316,7 +316,7 @@ index 32ef0bf6fb0cbcba84c82031644e935a44815ed2..7dc4c50b035b1848b9b0177d10a4445a
#include "sleipnir/autodiff/Variable.hpp"
#include "sleipnir/autodiff/VariableMatrix.hpp"
@@ -23,7 +24,6 @@
@@ -22,7 +23,6 @@
#include "sleipnir/optimization/solver/InteriorPoint.hpp"
#include "sleipnir/util/Print.hpp"
#include "sleipnir/util/SymbolExports.hpp"
@@ -324,7 +324,7 @@ index 32ef0bf6fb0cbcba84c82031644e935a44815ed2..7dc4c50b035b1848b9b0177d10a4445a
namespace sleipnir {
@@ -360,16 +360,16 @@ class SLEIPNIR_DLLEXPORT OptimizationProblem {
@@ -359,16 +359,16 @@ class SLEIPNIR_DLLEXPORT OptimizationProblem {
private:
// The list of decision variables, which are the root of the problem's
// expression tree
@@ -343,9 +343,9 @@ index 32ef0bf6fb0cbcba84c82031644e935a44815ed2..7dc4c50b035b1848b9b0177d10a4445a
+ wpi::SmallVector<Variable> m_inequalityConstraints;
// The user callback
std::function<bool(const SolverIterationInfo&)> m_callback =
std::function<bool(const SolverIterationInfo& info)> m_callback =
diff --git a/include/sleipnir/util/Pool.hpp b/include/sleipnir/util/Pool.hpp
index 02d8e190178973a1e2edc94225754fb6e2199bf4..95b4d2e97e05b5983720e4abd87f1dbb973dd7f4 100644
index 441fa701d4972bc14973c6269d56d4a124deaee5..1951bd1ee8f3bee8d4a3c044c99354b0fd10031d 100644
--- a/include/sleipnir/util/Pool.hpp
+++ b/include/sleipnir/util/Pool.hpp
@@ -5,8 +5,9 @@
@@ -359,7 +359,7 @@ index 02d8e190178973a1e2edc94225754fb6e2199bf4..95b4d2e97e05b5983720e4abd87f1dbb
namespace sleipnir {
@@ -76,8 +77,8 @@ class SLEIPNIR_DLLEXPORT PoolResource {
@@ -78,8 +79,8 @@ class SLEIPNIR_DLLEXPORT PoolResource {
}
private:
@@ -405,7 +405,7 @@ index f3b2f0cf9e60b3a86b9654ff2b381f9c48734ff6..ad739cea6dce6f6cb586f538d1d30b92
+ ^wpi/
}
diff --git a/src/optimization/solver/InteriorPoint.cpp b/src/optimization/solver/InteriorPoint.cpp
index 0d3c8fa23b113a8ae42ae17dc3a8daa5b017cfb2..06187b7260182f02860b1419727b2ca71ff48c9a 100644
index 817e3d1dcb808c36192ea5b483eee1a08dbb5e2f..1470eb235bfdac363557c207ac0eaedb6c73d295 100644
--- a/src/optimization/solver/InteriorPoint.cpp
+++ b/src/optimization/solver/InteriorPoint.cpp
@@ -9,6 +9,7 @@
@@ -434,7 +434,7 @@ index 0d3c8fa23b113a8ae42ae17dc3a8daa5b017cfb2..06187b7260182f02860b1419727b2ca7
RegularizedLDLT solver;
diff --git a/src/optimization/solver/util/FeasibilityRestoration.hpp b/src/optimization/solver/util/FeasibilityRestoration.hpp
index 37adf64ea483b1acd4a4d5db8697e1b2fc701e72..76af452517d75ae67e0511584c89f99c552989af 100644
index c324ef093cc7dc8ce93af2cba337042a65b28475..0f13676aea0e80549ef1ef43e4972d5498acaa18 100644
--- a/src/optimization/solver/util/FeasibilityRestoration.hpp
+++ b/src/optimization/solver/util/FeasibilityRestoration.hpp
@@ -8,6 +8,7 @@
@@ -453,7 +453,7 @@ index 37adf64ea483b1acd4a4d5db8697e1b2fc701e72..76af452517d75ae67e0511584c89f99c
namespace sleipnir {
@@ -66,7 +66,7 @@ inline void FeasibilityRestoration(
@@ -65,7 +65,7 @@ inline void FeasibilityRestoration(
constexpr double ρ = 1000.0;
@@ -462,7 +462,7 @@ index 37adf64ea483b1acd4a4d5db8697e1b2fc701e72..76af452517d75ae67e0511584c89f99c
fr_decisionVariables.reserve(decisionVariables.size() +
2 * equalityConstraints.size() +
2 * inequalityConstraints.size());
@@ -82,7 +82,7 @@ inline void FeasibilityRestoration(
@@ -81,7 +81,7 @@ inline void FeasibilityRestoration(
fr_decisionVariables.emplace_back();
}
@@ -471,7 +471,7 @@ index 37adf64ea483b1acd4a4d5db8697e1b2fc701e72..76af452517d75ae67e0511584c89f99c
VariableMatrix xAD{std::span{it, it + decisionVariables.size()}};
it += decisionVariables.size();
@@ -158,7 +158,7 @@ inline void FeasibilityRestoration(
@@ -157,7 +157,7 @@ inline void FeasibilityRestoration(
}
// cₑ(x) - pₑ + nₑ = 0
@@ -480,7 +480,7 @@ index 37adf64ea483b1acd4a4d5db8697e1b2fc701e72..76af452517d75ae67e0511584c89f99c
fr_equalityConstraints.assign(equalityConstraints.begin(),
equalityConstraints.end());
for (size_t row = 0; row < fr_equalityConstraints.size(); ++row) {
@@ -167,7 +167,7 @@ inline void FeasibilityRestoration(
@@ -166,7 +166,7 @@ inline void FeasibilityRestoration(
}
// cᵢ(x) - s - pᵢ + nᵢ = 0