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https://github.com/wpilibsuite/allwpilib
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[upstream_utils] Upgrade Sleipnir to support Eigen type specializations (#6924)
This commit is contained in:
Tyler Veness
@@ -9,8 +9,8 @@ Subject: [PATCH 4/5] Use wpi::SmallVector
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include/sleipnir/autodiff/ExpressionGraph.hpp | 15 ++++++++-------
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include/sleipnir/autodiff/Hessian.hpp | 4 ++--
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include/sleipnir/autodiff/Jacobian.hpp | 10 +++++-----
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include/sleipnir/autodiff/Variable.hpp | 10 +++++-----
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include/sleipnir/autodiff/VariableMatrix.hpp | 4 ++--
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include/sleipnir/optimization/Constraints.hpp | 11 ++++++-----
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include/sleipnir/optimization/Multistart.hpp | 7 ++++---
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.../sleipnir/optimization/OptimizationProblem.hpp | 8 ++++----
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include/sleipnir/util/Pool.hpp | 7 ++++---
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@@ -19,7 +19,7 @@ Subject: [PATCH 4/5] Use wpi::SmallVector
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src/optimization/solver/InteriorPoint.cpp | 4 ++--
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.../solver/util/FeasibilityRestoration.hpp | 10 +++++-----
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src/optimization/solver/util/Filter.hpp | 4 ++--
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15 files changed, 51 insertions(+), 44 deletions(-)
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15 files changed, 50 insertions(+), 44 deletions(-)
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diff --git a/include/.styleguide b/include/.styleguide
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index 6a7f8ed28f9cb037c9746a7e0ef5e110481d9825..efa36cee1fb593ae810032340c64f1854fbbc523 100644
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@@ -32,7 +32,7 @@ index 6a7f8ed28f9cb037c9746a7e0ef5e110481d9825..efa36cee1fb593ae810032340c64f185
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+ ^wpi/
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}
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diff --git a/include/sleipnir/autodiff/Expression.hpp b/include/sleipnir/autodiff/Expression.hpp
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index e65b689559d01324fc4218c26144521832719025..2be666e7c87731d2633576d4a066efba4906502d 100644
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index dff8e2a6ef24413e3e6356bf0ec57286e50654cf..bdbeb4730223f88cfdc0c424a8f7b852b34742f7 100644
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--- a/include/sleipnir/autodiff/Expression.hpp
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+++ b/include/sleipnir/autodiff/Expression.hpp
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@@ -11,11 +11,12 @@
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@@ -49,7 +49,7 @@ index e65b689559d01324fc4218c26144521832719025..2be666e7c87731d2633576d4a066efba
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namespace sleipnir::detail {
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@@ -415,7 +416,7 @@ inline void IntrusiveSharedPtrDecRefCount(Expression* expr) {
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@@ -427,7 +428,7 @@ inline void IntrusiveSharedPtrDecRefCount(Expression* expr) {
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// Expression destructor when expr's refcount reaches zero can cause a stack
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// overflow. Instead, we iterate over its children to decrement their
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// refcounts and deallocate them.
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@@ -196,53 +196,27 @@ index ac00c11ef8c947cbe95c58081bdbfb42bf901051..0c660156c80f94539383b8f0d01d7853
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Profiler m_profiler;
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};
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diff --git a/include/sleipnir/autodiff/VariableMatrix.hpp b/include/sleipnir/autodiff/VariableMatrix.hpp
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index a7e89e5d7a24fb1295eb3ff04d8f22824c0884f1..bac9fe4f5ecf08bb4c0e3dfa8822125bcf854803 100644
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--- a/include/sleipnir/autodiff/VariableMatrix.hpp
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+++ b/include/sleipnir/autodiff/VariableMatrix.hpp
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@@ -11,13 +11,13 @@
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diff --git a/include/sleipnir/autodiff/Variable.hpp b/include/sleipnir/autodiff/Variable.hpp
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index c04d629f482efe59497570ca1fd9b09a4af2ae1e..d192fb96e7984b7c0ca30262668c41e5e84ca34e 100644
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--- a/include/sleipnir/autodiff/Variable.hpp
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+++ b/include/sleipnir/autodiff/Variable.hpp
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@@ -10,6 +10,7 @@
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#include <vector>
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#include <Eigen/Core>
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+#include <wpi/SmallVector.h>
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#include "sleipnir/autodiff/Variable.hpp"
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#include "sleipnir/autodiff/VariableBlock.hpp"
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#include "sleipnir/util/Assert.hpp"
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#include "sleipnir/util/FunctionRef.hpp"
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#include "sleipnir/util/SymbolExports.hpp"
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-#include "sleipnir/util/small_vector.hpp"
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namespace sleipnir {
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@@ -884,7 +884,7 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
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}
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private:
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- small_vector<Variable> m_storage;
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+ wpi::SmallVector<Variable> m_storage;
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int m_rows = 0;
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int m_cols = 0;
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};
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diff --git a/include/sleipnir/optimization/Constraints.hpp b/include/sleipnir/optimization/Constraints.hpp
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index 80da66bfef55bfc54cfdcd0478432658f60f7610..b940fcc4deb76c282b27564332db5e5935fbfbc6 100644
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--- a/include/sleipnir/optimization/Constraints.hpp
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+++ b/include/sleipnir/optimization/Constraints.hpp
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@@ -8,11 +8,12 @@
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#include <type_traits>
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#include <vector>
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+#include <wpi/SmallVector.h>
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+
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#include "sleipnir/autodiff/Variable.hpp"
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#include "sleipnir/util/Assert.hpp"
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#include "sleipnir/autodiff/Expression.hpp"
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#include "sleipnir/autodiff/ExpressionGraph.hpp"
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@@ -17,7 +18,6 @@
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#include "sleipnir/util/Concepts.hpp"
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#include "sleipnir/util/Print.hpp"
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#include "sleipnir/util/SymbolExports.hpp"
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-#include "sleipnir/util/small_vector.hpp"
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namespace sleipnir {
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@@ -32,8 +33,8 @@ template <typename LHS, typename RHS>
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@@ -445,8 +445,8 @@ template <typename LHS, typename RHS>
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(ScalarLike<std::decay_t<RHS>> || MatrixLike<std::decay_t<RHS>>) &&
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(!std::same_as<std::decay_t<LHS>, double> ||
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!std::same_as<std::decay_t<RHS>, double>)
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@@ -253,7 +227,7 @@ index 80da66bfef55bfc54cfdcd0478432658f60f7610..b940fcc4deb76c282b27564332db5e59
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if constexpr (ScalarLike<std::decay_t<LHS>> &&
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ScalarLike<std::decay_t<RHS>>) {
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@@ -121,7 +122,7 @@ small_vector<Variable> MakeConstraints(LHS&& lhs, RHS&& rhs) {
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@@ -534,7 +534,7 @@ small_vector<Variable> MakeConstraints(LHS&& lhs, RHS&& rhs) {
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*/
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struct SLEIPNIR_DLLEXPORT EqualityConstraints {
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/// A vector of scalar equality constraints.
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@@ -262,7 +236,7 @@ index 80da66bfef55bfc54cfdcd0478432658f60f7610..b940fcc4deb76c282b27564332db5e59
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/**
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* Concatenates multiple equality constraints.
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@@ -183,7 +184,7 @@ struct SLEIPNIR_DLLEXPORT EqualityConstraints {
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@@ -596,7 +596,7 @@ struct SLEIPNIR_DLLEXPORT EqualityConstraints {
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*/
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struct SLEIPNIR_DLLEXPORT InequalityConstraints {
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/// A vector of scalar inequality constraints.
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@@ -271,6 +245,35 @@ index 80da66bfef55bfc54cfdcd0478432658f60f7610..b940fcc4deb76c282b27564332db5e59
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/**
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* Concatenates multiple inequality constraints.
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diff --git a/include/sleipnir/autodiff/VariableMatrix.hpp b/include/sleipnir/autodiff/VariableMatrix.hpp
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index 47452b8988b3a1a96a78d28644200b1c4cdc89c9..57b09913d15e9590873ad7bf62e2baff9fbc5df9 100644
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--- a/include/sleipnir/autodiff/VariableMatrix.hpp
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+++ b/include/sleipnir/autodiff/VariableMatrix.hpp
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@@ -11,6 +11,7 @@
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#include <vector>
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#include <Eigen/Core>
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+#include <wpi/SmallVector.h>
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#include "sleipnir/autodiff/Slice.hpp"
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#include "sleipnir/autodiff/Variable.hpp"
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@@ -18,7 +19,6 @@
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#include "sleipnir/util/Assert.hpp"
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#include "sleipnir/util/FunctionRef.hpp"
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#include "sleipnir/util/SymbolExports.hpp"
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-#include "sleipnir/util/small_vector.hpp"
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namespace sleipnir {
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@@ -946,7 +946,7 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
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}
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private:
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- small_vector<Variable> m_storage;
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+ wpi::SmallVector<Variable> m_storage;
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int m_rows = 0;
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int m_cols = 0;
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};
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diff --git a/include/sleipnir/optimization/Multistart.hpp b/include/sleipnir/optimization/Multistart.hpp
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index 8055713a2492a9c8473f047a2fb9fe7ca57753c3..09b1b2f3bf33c35ae0aeddb9b5d47c0d80c68cec 100644
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--- a/include/sleipnir/optimization/Multistart.hpp
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@@ -305,7 +308,7 @@ index 8055713a2492a9c8473f047a2fb9fe7ca57753c3..09b1b2f3bf33c35ae0aeddb9b5d47c0d
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for (auto& future : futures) {
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diff --git a/include/sleipnir/optimization/OptimizationProblem.hpp b/include/sleipnir/optimization/OptimizationProblem.hpp
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index 7d387e02af386a3cbfaf0294d5be78e73fb05628..b78b3761898088235cf335bf5cc111f4cafbe29a 100644
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index 28b2943f5842229335e79eae14abbda6ff5b7000..e812fa5e3454903d4dfb8572539ebf1b506bdf11 100644
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--- a/include/sleipnir/optimization/OptimizationProblem.hpp
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+++ b/include/sleipnir/optimization/OptimizationProblem.hpp
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@@ -11,6 +11,7 @@
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@@ -316,7 +319,7 @@ index 7d387e02af386a3cbfaf0294d5be78e73fb05628..b78b3761898088235cf335bf5cc111f4
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#include "sleipnir/autodiff/Variable.hpp"
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#include "sleipnir/autodiff/VariableMatrix.hpp"
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@@ -22,7 +23,6 @@
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@@ -21,7 +22,6 @@
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#include "sleipnir/optimization/solver/InteriorPoint.hpp"
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#include "sleipnir/util/Print.hpp"
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#include "sleipnir/util/SymbolExports.hpp"
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@@ -324,7 +327,7 @@ index 7d387e02af386a3cbfaf0294d5be78e73fb05628..b78b3761898088235cf335bf5cc111f4
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namespace sleipnir {
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@@ -359,16 +359,16 @@ class SLEIPNIR_DLLEXPORT OptimizationProblem {
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@@ -358,16 +358,16 @@ class SLEIPNIR_DLLEXPORT OptimizationProblem {
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private:
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// The list of decision variables, which are the root of the problem's
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// expression tree
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