From 91002ae3cc55804be59e92ae0599f6252ca63522 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Thu, 18 Aug 2022 14:03:28 -0700 Subject: [PATCH] [wpimath] Upgrade to Drake 1.6.0 (#4361) --- .../0001-Replace-Eigen-Dense-with-Eigen-Core.patch | 12 ++++++------ ...LIB_DLLEXPORT-to-DARE-function-declarations.patch | 4 ++-- upstream_utils/update_drake.py | 2 +- .../drake/include/drake/common/drake_assert.h | 6 +++--- 4 files changed, 12 insertions(+), 12 deletions(-) diff --git a/upstream_utils/drake_patches/0001-Replace-Eigen-Dense-with-Eigen-Core.patch b/upstream_utils/drake_patches/0001-Replace-Eigen-Dense-with-Eigen-Core.patch index 0b5e558883..dcd2e8f371 100644 --- a/upstream_utils/drake_patches/0001-Replace-Eigen-Dense-with-Eigen-Core.patch +++ b/upstream_utils/drake_patches/0001-Replace-Eigen-Dense-with-Eigen-Core.patch @@ -1,4 +1,4 @@ -From ef037207c433f16721d1f0574bde984b4bdea1f8 Mon Sep 17 00:00:00 2001 +From 02d023c7cdfdfb72ccdbccbac0883b4a1f6ec6d5 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Wed, 18 May 2022 11:13:21 -0700 Subject: [PATCH 1/2] Replace with @@ -12,7 +12,7 @@ Subject: [PATCH 1/2] Replace with 5 files changed, 7 insertions(+), 3 deletions(-) diff --git a/common/is_approx_equal_abstol.h b/common/is_approx_equal_abstol.h -index 9af0c45252..b3f369ca01 100644 +index 9af0c45..b3f369c 100644 --- a/common/is_approx_equal_abstol.h +++ b/common/is_approx_equal_abstol.h @@ -2,7 +2,7 @@ @@ -25,7 +25,7 @@ index 9af0c45252..b3f369ca01 100644 namespace drake { diff --git a/common/test_utilities/eigen_matrix_compare.h b/common/test_utilities/eigen_matrix_compare.h -index a595da9510..c22567d32c 100644 +index a595da9..c22567d 100644 --- a/common/test_utilities/eigen_matrix_compare.h +++ b/common/test_utilities/eigen_matrix_compare.h @@ -4,7 +4,7 @@ @@ -38,7 +38,7 @@ index a595da9510..c22567d32c 100644 #include "drake/common/text_logging.h" diff --git a/math/discrete_algebraic_riccati_equation.cc b/math/discrete_algebraic_riccati_equation.cc -index 901f2ef240..20ea2b7bbe 100644 +index 901f2ef..20ea2b7 100644 --- a/math/discrete_algebraic_riccati_equation.cc +++ b/math/discrete_algebraic_riccati_equation.cc @@ -1,5 +1,8 @@ @@ -51,7 +51,7 @@ index 901f2ef240..20ea2b7bbe 100644 #include "drake/common/drake_throw.h" #include "drake/common/is_approx_equal_abstol.h" diff --git a/math/discrete_algebraic_riccati_equation.h b/math/discrete_algebraic_riccati_equation.h -index 891373ff9d..df7a58b2b8 100644 +index 891373f..df7a58b 100644 --- a/math/discrete_algebraic_riccati_equation.h +++ b/math/discrete_algebraic_riccati_equation.h @@ -3,7 +3,7 @@ @@ -64,7 +64,7 @@ index 891373ff9d..df7a58b2b8 100644 namespace drake { namespace math { diff --git a/math/test/discrete_algebraic_riccati_equation_test.cc b/math/test/discrete_algebraic_riccati_equation_test.cc -index 533ced151d..e4ecfd2eb5 100644 +index 533ced1..e4ecfd2 100644 --- a/math/test/discrete_algebraic_riccati_equation_test.cc +++ b/math/test/discrete_algebraic_riccati_equation_test.cc @@ -1,5 +1,6 @@ diff --git a/upstream_utils/drake_patches/0002-Add-WPILIB_DLLEXPORT-to-DARE-function-declarations.patch b/upstream_utils/drake_patches/0002-Add-WPILIB_DLLEXPORT-to-DARE-function-declarations.patch index 5bc192ef10..1c7b469f48 100644 --- a/upstream_utils/drake_patches/0002-Add-WPILIB_DLLEXPORT-to-DARE-function-declarations.patch +++ b/upstream_utils/drake_patches/0002-Add-WPILIB_DLLEXPORT-to-DARE-function-declarations.patch @@ -1,4 +1,4 @@ -From 7dfb527524f42488a00cf156ada36c51d5e13b3f Mon Sep 17 00:00:00 2001 +From b208372a18b37f6cbc49dd45d15adf63c9b60755 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Wed, 18 May 2022 11:15:27 -0700 Subject: [PATCH 2/2] Add WPILIB_DLLEXPORT to DARE function declarations @@ -8,7 +8,7 @@ Subject: [PATCH 2/2] Add WPILIB_DLLEXPORT to DARE function declarations 1 file changed, 3 insertions(+) diff --git a/math/discrete_algebraic_riccati_equation.h b/math/discrete_algebraic_riccati_equation.h -index df7a58b2b8..55b8442bf4 100644 +index df7a58b..55b8442 100644 --- a/math/discrete_algebraic_riccati_equation.h +++ b/math/discrete_algebraic_riccati_equation.h @@ -4,6 +4,7 @@ diff --git a/upstream_utils/update_drake.py b/upstream_utils/update_drake.py index 08cfbbb127..707b0b10ca 100755 --- a/upstream_utils/update_drake.py +++ b/upstream_utils/update_drake.py @@ -13,7 +13,7 @@ from upstream_utils import ( def main(): root, repo = setup_upstream_repo( - "https://github.com/RobotLocomotion/drake", "v1.3.0" + "https://github.com/RobotLocomotion/drake", "v1.6.0" ) wpimath = os.path.join(root, "wpimath") diff --git a/wpimath/src/main/native/thirdparty/drake/include/drake/common/drake_assert.h b/wpimath/src/main/native/thirdparty/drake/include/drake/common/drake_assert.h index e9c3aa290d..47097ede73 100644 --- a/wpimath/src/main/native/thirdparty/drake/include/drake/common/drake_assert.h +++ b/wpimath/src/main/native/thirdparty/drake/include/drake/common/drake_assert.h @@ -92,9 +92,9 @@ namespace internal { namespace assert { // Allows for specialization of how to bool-convert Conditions used in // assertions, in case they are not intrinsically convertible. See -// symbolic_formula.h for an example use. This is a public interface to -// extend; it is intended to be specialized by unusual Scalar types that -// require special handling. +// common/symbolic/expression/formula.h for an example use. This is a public +// interface to extend; it is intended to be specialized by unusual Scalar +// types that require special handling. template struct ConditionTraits { static constexpr bool is_valid = std::is_convertible_v;