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[upstream_utils] Upgrade to Sleipnir 0.3.3 (#8463)

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This commit is contained in:
Tyler Veness
2025-12-12 19:40:43 -08:00
committed by GitHub
parent d830c41063
commit cca035787c
58 changed files with 3141 additions and 3990 deletions
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2
upstream_utils/sleipnir.py
View File

@@ -48,7 +48,7 @@ using small_vector = wpi::util::SmallVector<T>;
def main():
name = "sleipnir"
url = "https://github.com/SleipnirGroup/Sleipnir"
tag = "v0.3.2"
tag = "v0.3.3"
sleipnir = Lib(name, url, tag, copy_upstream_src)
sleipnir.main()

139
upstream_utils/sleipnir_patches/0001-Use-fmtlib.patch
View File

@@ -1,16 +1,56 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Wed, 29 May 2024 16:29:55 -0700
Subject: [PATCH 1/8] Use fmtlib
Subject: [PATCH 1/9] Use fmtlib
---
include/sleipnir/optimization/problem.hpp | 1 +
include/sleipnir/util/assert.hpp | 5 ++--
include/sleipnir/util/print.hpp | 31 +++++++++++++----------
3 files changed, 22 insertions(+), 15 deletions(-)
include/sleipnir/autodiff/expression_type.hpp | 9 ++++---
include/sleipnir/optimization/problem.hpp | 1 +
.../optimization/solver/exit_status.hpp | 9 ++++---
include/sleipnir/util/assert.hpp | 5 ++--
include/sleipnir/util/print.hpp | 27 ++++++++++---------
5 files changed, 28 insertions(+), 23 deletions(-)
diff --git a/include/sleipnir/autodiff/expression_type.hpp b/include/sleipnir/autodiff/expression_type.hpp
index 200324a2c38c58dbe07e96c061658c9e65aacce6..2fde6bdf3cf72f46fb633b72e29e66209e9f6a83 100644
--- a/include/sleipnir/autodiff/expression_type.hpp
+++ b/include/sleipnir/autodiff/expression_type.hpp
@@ -4,9 +4,10 @@
#include <stdint.h>
-#include <format>
#include <utility>
+#include <fmt/base.h>
+
namespace slp {
/// Expression type.
@@ -29,12 +30,12 @@ enum class ExpressionType : uint8_t {
/// Formatter for ExpressionType.
template <>
-struct std::formatter<slp::ExpressionType> {
+struct fmt::formatter<slp::ExpressionType> {
/// Parse format string.
///
/// @param ctx Format parse context.
/// @return Format parse context iterator.
- constexpr auto parse(std::format_parse_context& ctx) {
+ constexpr auto parse(fmt::format_parse_context& ctx) {
return m_underlying.parse(ctx);
}
@@ -65,5 +66,5 @@ struct std::formatter<slp::ExpressionType> {
}
private:
- std::formatter<const char*> m_underlying;
+ fmt::formatter<const char*> m_underlying;
};
diff --git a/include/sleipnir/optimization/problem.hpp b/include/sleipnir/optimization/problem.hpp
index 3185466605b6604068e2807e461d07d8c856c505..95a33952a5a368c7c81491dbe849a8096357dc38 100644
index 59acc732dbc5bfe520745089abd156da9a8a2e51..ba45ead1500b45616b74e1d108959127484cf4d6 100644
--- a/include/sleipnir/optimization/problem.hpp
+++ b/include/sleipnir/optimization/problem.hpp
@@ -15,6 +15,7 @@
@@ -21,24 +61,60 @@ index 3185466605b6604068e2807e461d07d8c856c505..95a33952a5a368c7c81491dbe849a809
#include <gch/small_vector.hpp>
#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 e17f4490cc0f6704f0b5d29340ec6dfbbcbb8aee..c1e4d319c197bdad2ace19500fb3a0426060e87b 100644
--- a/include/sleipnir/optimization/solver/exit_status.hpp
+++ b/include/sleipnir/optimization/solver/exit_status.hpp
@@ -4,9 +4,10 @@
#include <stdint.h>
-#include <format>
#include <utility>
+#include <fmt/base.h>
+
namespace slp {
/// Solver exit status. Negative values indicate failure.
@@ -43,12 +44,12 @@ enum class ExitStatus : int8_t {
/// Formatter for ExitStatus.
template <>
-struct std::formatter<slp::ExitStatus> {
+struct fmt::formatter<slp::ExitStatus> {
/// Parse format string.
///
/// @param ctx Format parse context.
/// @return Format parse context iterator.
- constexpr auto parse(std::format_parse_context& ctx) {
+ constexpr auto parse(fmt::format_parse_context& ctx) {
return m_underlying.parse(ctx);
}
@@ -92,5 +93,5 @@ struct std::formatter<slp::ExitStatus> {
}
private:
- std::formatter<const char*> m_underlying;
+ fmt::formatter<const char*> m_underlying;
};
diff --git a/include/sleipnir/util/assert.hpp b/include/sleipnir/util/assert.hpp
index 0846928c3da7a6047a3c271dd2d377a3b755eeab..5d432608def05b6dee6b7cbdb9a0b91a6ab5e1c2 100644
index dd479f11080d67b03dbe72475be974908e96fc2f..4f0203a4b8df2f86e1e15cf1102a51c340665722 100644
--- a/include/sleipnir/util/assert.hpp
+++ b/include/sleipnir/util/assert.hpp
@@ -4,10 +4,11 @@
@@ -3,16 +3,17 @@
#pragma once
#ifdef SLEIPNIR_PYTHON
-#include <format>
#include <source_location>
#include <stdexcept>
+#include <fmt/format.h>
+
/**
* Throw an exception in Python.
*/
@@ -15,7 +16,7 @@
/// Throw an exception in Python.
#define slp_assert(condition) \
do { \
if (!(condition)) { \
auto location = std::source_location::current(); \
@@ -48,33 +124,26 @@ index 0846928c3da7a6047a3c271dd2d377a3b755eeab..5d432608def05b6dee6b7cbdb9a0b91a
location.line(), location.function_name(), #condition)); \
} \
diff --git a/include/sleipnir/util/print.hpp b/include/sleipnir/util/print.hpp
index 797df849f63d960cf10eaf847415595961868ab0..a89b7d4f9864965443405a8e79cddd8dbfc54ad3 100644
index d436bf297b85cf84fad642fa43aa97063e7d6ebb..b2920580eea0297fc387b5168df78a1515a5dd60 100644
--- a/include/sleipnir/util/print.hpp
+++ b/include/sleipnir/util/print.hpp
@@ -4,10 +4,15 @@
@@ -4,47 +4,48 @@
#ifndef SLEIPNIR_DISABLE_DIAGNOSTICS
#include <cstdio>
-#include <print>
#include <system_error>
#include <utility>
+#if __has_include(<fmt/base.h>)
+#include <fmt/base.h>
+#else
+#include <fmt/core.h>
+#endif
+
+#include <fmt/base.h>
#endif
namespace slp {
@@ -15,45 +20,45 @@ namespace slp {
#ifndef SLEIPNIR_DISABLE_DIAGNOSTICS
/**
- * Wrapper around std::print() that squelches write failure exceptions.
+ * Wrapper around fmt::print() that squelches write failure exceptions.
*/
-/// Wrapper around std::print() that squelches write failure exceptions.
+/// Wrapper around fmt::print() that squelches write failure exceptions.
template <typename... T>
-void print(std::format_string<T...> fmt, T&&... args) {
+void print(fmt::format_string<T...> fmt, T&&... args) {
@@ -85,10 +154,8 @@ index 797df849f63d960cf10eaf847415595961868ab0..a89b7d4f9864965443405a8e79cddd8d
}
}
/**
- * Wrapper around std::print() that squelches write failure exceptions.
+ * Wrapper around fmt::print() that squelches write failure exceptions.
*/
-/// Wrapper around std::print() that squelches write failure exceptions.
+/// Wrapper around fmt::print() that squelches write failure exceptions.
template <typename... T>
-void print(std::FILE* f, std::format_string<T...> fmt, T&&... args) {
+void print(std::FILE* f, fmt::format_string<T...> fmt, T&&... args) {
@@ -99,10 +166,8 @@ index 797df849f63d960cf10eaf847415595961868ab0..a89b7d4f9864965443405a8e79cddd8d
}
}
/**
- * Wrapper around std::println() that squelches write failure exceptions.
+ * Wrapper around fmt::println() that squelches write failure exceptions.
*/
-/// Wrapper around std::println() that squelches write failure exceptions.
+/// Wrapper around fmt::println() that squelches write failure exceptions.
template <typename... T>
-void println(std::format_string<T...> fmt, T&&... args) {
+void println(fmt::format_string<T...> fmt, T&&... args) {
@@ -113,10 +178,8 @@ index 797df849f63d960cf10eaf847415595961868ab0..a89b7d4f9864965443405a8e79cddd8d
}
}
/**
- * Wrapper around std::println() that squelches write failure exceptions.
+ * Wrapper around fmt::println() that squelches write failure exceptions.
*/
-/// Wrapper around std::println() that squelches write failure exceptions.
+/// Wrapper around fmt::println() that squelches write failure exceptions.
template <typename... T>
-void println(std::FILE* f, std::format_string<T...> fmt, T&&... args) {
+void println(std::FILE* f, fmt::format_string<T...> fmt, T&&... args) {

62
upstream_utils/sleipnir_patches/0002-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 2/8] Use wpi::SmallVector
Subject: [PATCH 2/9] Use wpi::SmallVector
---
include/sleipnir/autodiff/expression.hpp | 4 ++--
@@ -10,21 +10,21 @@ Subject: [PATCH 2/8] Use wpi::SmallVector
3 files changed, 6 insertions(+), 6 deletions(-)
diff --git a/include/sleipnir/autodiff/expression.hpp b/include/sleipnir/autodiff/expression.hpp
index f5919de6c9c0be044335ce7764ded545215f0486..46814576a3db9f472329b880b94b1ab98d218867 100644
index 36d7e7248a77aaa843f02b262d3865711097a2cb..0e6f31bf77beb6759b8907da9a05e8405c5c5cca 100644
--- a/include/sleipnir/autodiff/expression.hpp
+++ b/include/sleipnir/autodiff/expression.hpp
@@ -33,7 +33,7 @@ struct Expression;
@@ -34,7 +34,7 @@ struct Expression;
template <typename Scalar>
constexpr void inc_ref_count(Expression<Scalar>* expr);
template <typename Scalar>
-constexpr void dec_ref_count(Expression<Scalar>* expr);
+void dec_ref_count(Expression<Scalar>* expr);
/**
* Typedef for intrusive shared pointer to Expression.
@@ -801,7 +801,7 @@ constexpr void inc_ref_count(Expression<Scalar>* expr) {
* @param expr The shared pointer's managed object.
*/
/// Typedef for intrusive shared pointer to Expression.
///
@@ -736,7 +736,7 @@ constexpr void inc_ref_count(Expression<Scalar>* expr) {
/// @tparam Scalar Scalar type.
/// @param expr The shared pointer's managed object.
template <typename Scalar>
-constexpr void dec_ref_count(Expression<Scalar>* expr) {
+void dec_ref_count(Expression<Scalar>* expr) {
@@ -32,45 +32,43 @@ index f5919de6c9c0be044335ce7764ded545215f0486..46814576a3db9f472329b880b94b1ab9
// Expression destructor when expr's refcount reaches zero can cause a stack
// overflow. Instead, we iterate over its children to decrement their
diff --git a/include/sleipnir/autodiff/variable.hpp b/include/sleipnir/autodiff/variable.hpp
index c78af7224b2ef93ad50b238117583e01940c53ce..0a55b906130d7506c80eb150644ac44c222d1368 100644
index cca246d6c33f4a7e3d0a89f5d9bd21a3f7916aeb..40d18f2a680d6537d698c1c774d6996c65a173d8 100644
--- a/include/sleipnir/autodiff/variable.hpp
+++ b/include/sleipnir/autodiff/variable.hpp
@@ -61,7 +61,7 @@ class Variable : public SleipnirBase {
/**
* Constructs an empty Variable.
*/
@@ -53,7 +53,7 @@ class Variable : public SleipnirBase {
Variable() = default;
/// Constructs an empty Variable.
- explicit constexpr Variable(std::nullptr_t) : expr{nullptr} {}
+ explicit Variable(std::nullptr_t) : expr{nullptr} {}
/**
* Constructs a Variable from a scalar type.
@@ -116,7 +116,7 @@ class Variable : public SleipnirBase {
*
* @param expr The autodiff variable.
*/
/// Constructs a Variable from a scalar type.
///
@@ -96,7 +96,7 @@ class Variable : public SleipnirBase {
/// Constructs a Variable pointing to the specified expression.
///
/// @param expr The autodiff variable.
- explicit constexpr Variable(detail::ExpressionPtr<Scalar>&& expr)
+ explicit Variable(detail::ExpressionPtr<Scalar>&& expr)
: expr{std::move(expr)} {}
/**
/// Assignment operator for scalar.
diff --git a/include/sleipnir/autodiff/variable_matrix.hpp b/include/sleipnir/autodiff/variable_matrix.hpp
index bb66bebc01413a291242886366ce329bb5f4b70a..7ddf02c0e2f66aff8da422b874cbe9772f9fd00d 100644
index 4c5a98311b1ea542877f38db086b51fd0b7c00f1..88122498f384a68b2537b24e57c4a291a951e6dd 100644
--- a/include/sleipnir/autodiff/variable_matrix.hpp
+++ b/include/sleipnir/autodiff/variable_matrix.hpp
@@ -1281,14 +1281,14 @@ class VariableMatrix : public SleipnirBase {
*
* @return Const begin iterator.
*/
@@ -1134,12 +1134,12 @@ class VariableMatrix : public SleipnirBase {
/// Returns const begin iterator.
///
/// @return Const begin iterator.
- const_iterator cbegin() const { return const_iterator{m_storage.cbegin()}; }
+ const_iterator cbegin() const { return const_iterator{m_storage.begin()}; }
/**
* Returns const end iterator.
*
* @return Const end iterator.
*/
/// Returns const end iterator.
///
/// @return Const end iterator.
- const_iterator cend() const { return const_iterator{m_storage.cend()}; }
+ const_iterator cend() const { return const_iterator{m_storage.end()}; }
/**
* Returns reverse begin iterator.
/// Returns reverse begin iterator.
///

8
upstream_utils/sleipnir_patches/0003-Use-wpi-byteswap.patch
View File

@@ -1,14 +1,14 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Tue, 28 Jan 2025 22:19:14 -0800
Subject: [PATCH 3/8] Use wpi::byteswap()
Subject: [PATCH 3/9] Use wpi::byteswap()
---
include/sleipnir/util/spy.hpp | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/include/sleipnir/util/spy.hpp b/include/sleipnir/util/spy.hpp
index f9143f2b925064e9df5c763823dcf3d435e7aa28..4b810e54a8038162e03cf08fc8eab52b67b2cdd5 100644
index bf0925e282adffa933d2bc3be8b7441fc4d855d3..49dc97ccea736c51e08b752f863661df54171303 100644
--- a/include/sleipnir/util/spy.hpp
+++ b/include/sleipnir/util/spy.hpp
@@ -12,6 +12,7 @@
@@ -19,8 +19,8 @@ index f9143f2b925064e9df5c763823dcf3d435e7aa28..4b810e54a8038162e03cf08fc8eab52b
namespace slp {
@@ -114,7 +115,7 @@ class Spy {
*/
@@ -106,7 +107,7 @@ class Spy {
/// @param num A 32-bit signed integer.
void write32le(int32_t num) {
if constexpr (std::endian::native != std::endian::little) {
- num = std::byteswap(num);

12
upstream_utils/sleipnir_patches/0004-Replace-std-to_underlying.patch
View File

@@ -1,7 +1,7 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Tue, 28 Jan 2025 22:19:31 -0800
Subject: [PATCH 4/8] Replace std::to_underlying()
Subject: [PATCH 4/9] Replace std::to_underlying()
---
include/sleipnir/optimization/problem.hpp | 8 ++++----
@@ -9,10 +9,10 @@ Subject: [PATCH 4/8] Replace std::to_underlying()
2 files changed, 7 insertions(+), 7 deletions(-)
diff --git a/include/sleipnir/optimization/problem.hpp b/include/sleipnir/optimization/problem.hpp
index 95a33952a5a368c7c81491dbe849a8096357dc38..d20777a5b1912754dda5504313549197e867d34b 100644
index ba45ead1500b45616b74e1d108959127484cf4d6..22e7cdaa945648e2b9effcc30533d6602c839c22 100644
--- a/include/sleipnir/optimization/problem.hpp
+++ b/include/sleipnir/optimization/problem.hpp
@@ -708,11 +708,11 @@ class Problem {
@@ -657,11 +657,11 @@ class Problem {
// Print problem structure
slp::println("\nProblem structure:");
slp::println(" ↳ {} cost function",
@@ -27,7 +27,7 @@ index 95a33952a5a368c7c81491dbe849a8096357dc38..d20777a5b1912754dda5504313549197
if (m_decision_variables.size() == 1) {
slp::print("\n1 decision variable\n");
@@ -724,7 +724,7 @@ class Problem {
@@ -673,7 +673,7 @@ class Problem {
[](const gch::small_vector<Variable<Scalar>>& constraints) {
std::array<size_t, 5> counts{};
for (const auto& constraint : constraints) {
@@ -37,10 +37,10 @@ index 95a33952a5a368c7c81491dbe849a8096357dc38..d20777a5b1912754dda5504313549197
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 9c1f9eb71b9417e138b95fd4d2d678cfb54595d1..032be8fb7b5e4196ff401c77ae9e91f1c966cde6 100644
index 54277542c46e9490a9ef01c43dc8572e9367c97e..c50d7e171bc90ea47108de90471e7d778885f6af 100644
--- a/include/sleipnir/util/print_diagnostics.hpp
+++ b/include/sleipnir/util/print_diagnostics.hpp
@@ -252,9 +252,9 @@ void print_iteration_diagnostics(int iterations, IterationType type,
@@ -238,9 +238,9 @@ void print_iteration_diagnostics(int iterations, IterationType type,
slp::println(
"│{:4} {:4} {:9.3f} {:12e} {:13e} {:12e} {:12e} {:.2e} {:<5} {:.2e} "
"{:.2e} {:2d}│",

20
upstream_utils/sleipnir_patches/0005-Replace-std-views-zip.patch
View File

@@ -1,18 +1,18 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Sat, 8 Feb 2025 13:42:36 -0800
Subject: [PATCH 5/8] Replace std::views::zip()
Subject: [PATCH 5/9] Replace std::views::zip()
---
include/sleipnir/autodiff/adjoint_expression_graph.hpp | 5 ++++-
include/sleipnir/optimization/problem.hpp | 8 +++++---
include/sleipnir/autodiff/gradient_expression_graph.hpp | 5 ++++-
include/sleipnir/optimization/problem.hpp | 8 +++++---
2 files changed, 9 insertions(+), 4 deletions(-)
diff --git a/include/sleipnir/autodiff/adjoint_expression_graph.hpp b/include/sleipnir/autodiff/adjoint_expression_graph.hpp
index 16bea7efeeca78d25b34b0b1242ca19cbd05a482..a77323eee9277fc3c77a11ab57ab5003d9ed4543 100644
--- a/include/sleipnir/autodiff/adjoint_expression_graph.hpp
+++ b/include/sleipnir/autodiff/adjoint_expression_graph.hpp
@@ -171,7 +171,10 @@ class AdjointExpressionGraph {
diff --git a/include/sleipnir/autodiff/gradient_expression_graph.hpp b/include/sleipnir/autodiff/gradient_expression_graph.hpp
index 414b98971580a6e3209eabfffd082de1dd5711c7..d21c1b5ad1b2f79ac4ec4e525e9b7fe7789a0461 100644
--- a/include/sleipnir/autodiff/gradient_expression_graph.hpp
+++ b/include/sleipnir/autodiff/gradient_expression_graph.hpp
@@ -161,7 +161,10 @@ class GradientExpressionGraph {
}
}
} else {
@@ -25,10 +25,10 @@ index 16bea7efeeca78d25b34b0b1242ca19cbd05a482..a77323eee9277fc3c77a11ab57ab5003
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 d20777a5b1912754dda5504313549197e867d34b..5256d08e5f9d8642049d8bb8323d76c7b3bbbef7 100644
index 22e7cdaa945648e2b9effcc30533d6602c839c22..70955fdc7148e5af737d3094a5602024df790b3d 100644
--- a/include/sleipnir/optimization/problem.hpp
+++ b/include/sleipnir/optimization/problem.hpp
@@ -726,9 +726,11 @@ class Problem {
@@ -675,9 +675,11 @@ class Problem {
for (const auto& constraint : constraints) {
++counts[static_cast<uint8_t>(constraint.type())];
}

86
upstream_utils/sleipnir_patches/0006-Replace-std-unreachable.patch Normal file
View File

@@ -0,0 +1,86 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Wed, 3 Dec 2025 23:38:53 -0800
Subject: [PATCH 6/9] Replace std::unreachable()
---
include/sleipnir/autodiff/expression_type.hpp | 6 +++---
.../sleipnir/optimization/solver/exit_status.hpp | 6 +++---
include/sleipnir/util/unreachable.hpp | 16 ++++++++++++++++
3 files changed, 22 insertions(+), 6 deletions(-)
create mode 100644 include/sleipnir/util/unreachable.hpp
diff --git a/include/sleipnir/autodiff/expression_type.hpp b/include/sleipnir/autodiff/expression_type.hpp
index 2fde6bdf3cf72f46fb633b72e29e66209e9f6a83..8a2ae457808b1ae505c19c8f65a5c68e6e11a082 100644
--- a/include/sleipnir/autodiff/expression_type.hpp
+++ b/include/sleipnir/autodiff/expression_type.hpp
@@ -4,10 +4,10 @@
#include <stdint.h>
-#include <utility>
-
#include <fmt/base.h>
+#include "sleipnir/util/unreachable.hpp"
+
namespace slp {
/// Expression type.
@@ -61,7 +61,7 @@ struct fmt::formatter<slp::ExpressionType> {
case NONLINEAR:
return m_underlying.format("nonlinear", ctx);
default:
- std::unreachable();
+ slp::unreachable();
}
}
diff --git a/include/sleipnir/optimization/solver/exit_status.hpp b/include/sleipnir/optimization/solver/exit_status.hpp
index c1e4d319c197bdad2ace19500fb3a0426060e87b..4d43cea244afd6c8b0235b84e9140359451fbf2f 100644
--- a/include/sleipnir/optimization/solver/exit_status.hpp
+++ b/include/sleipnir/optimization/solver/exit_status.hpp
@@ -4,10 +4,10 @@
#include <stdint.h>
-#include <utility>
-
#include <fmt/base.h>
+#include "sleipnir/util/unreachable.hpp"
+
namespace slp {
/// Solver exit status. Negative values indicate failure.
@@ -88,7 +88,7 @@ struct fmt::formatter<slp::ExitStatus> {
case TIMEOUT:
return m_underlying.format("timeout", ctx);
default:
- std::unreachable();
+ slp::unreachable();
}
}
diff --git a/include/sleipnir/util/unreachable.hpp b/include/sleipnir/util/unreachable.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..2e5ec3e716b36e892476fb3accafacbb1ba1fa7d
--- /dev/null
+++ b/include/sleipnir/util/unreachable.hpp
@@ -0,0 +1,16 @@
+// Copyright (c) Sleipnir contributors
+
+#pragma once
+
+namespace slp {
+
+[[noreturn]]
+inline void unreachable() {
+#if defined(_MSC_VER) && !defined(__clang__)
+ __assume(false);
+#else
+ __builtin_unreachable();
+#endif
+}
+
+} // namespace slp

12
upstream_utils/sleipnir_patches/0006-Suppress-clang-tidy-false-positives.patch → upstream_utils/sleipnir_patches/0007-Suppress-clang-tidy-false-positives.patch
View File

@@ -1,20 +1,20 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Mon, 10 Feb 2025 11:37:02 -0800
Subject: [PATCH 6/8] Suppress clang-tidy false positives
Subject: [PATCH 7/9] Suppress clang-tidy false positives
---
include/sleipnir/autodiff/variable.hpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/include/sleipnir/autodiff/variable.hpp b/include/sleipnir/autodiff/variable.hpp
index 0a55b906130d7506c80eb150644ac44c222d1368..30ec62161df75c6948bbf3d65432c852a0d926c2 100644
index 40d18f2a680d6537d698c1c774d6996c65a173d8..2091f339744f8f8980ccb1e44b0b54b06eb32418 100644
--- a/include/sleipnir/autodiff/variable.hpp
+++ b/include/sleipnir/autodiff/variable.hpp
@@ -862,7 +862,7 @@ struct InequalityConstraints {
* @param inequality_constraints The list of InequalityConstraints to
* concatenate.
*/
@@ -745,7 +745,7 @@ struct InequalityConstraints {
///
/// @param inequality_constraints The list of InequalityConstraints to
/// concatenate.
- InequalityConstraints(
+ InequalityConstraints( // NOLINT
std::initializer_list<InequalityConstraints> inequality_constraints) {

8
upstream_utils/sleipnir_patches/0007-Suppress-GCC-12-warning-false-positive.patch → upstream_utils/sleipnir_patches/0008-Suppress-GCC-12-warning-false-positive.patch
View File

@@ -1,17 +1,17 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Mon, 24 Feb 2025 15:12:03 -0800
Subject: [PATCH 7/8] Suppress GCC 12 warning false positive
Subject: [PATCH 8/9] Suppress GCC 12 warning false positive
---
include/sleipnir/autodiff/variable_matrix.hpp | 7 +++++++
1 file changed, 7 insertions(+)
diff --git a/include/sleipnir/autodiff/variable_matrix.hpp b/include/sleipnir/autodiff/variable_matrix.hpp
index 7ddf02c0e2f66aff8da422b874cbe9772f9fd00d..351030b4041027ba63a2e6ec08f2077b3c35b5db 100644
index 88122498f384a68b2537b24e57c4a291a951e6dd..10b3a4cc5ab22e93fe4e0b44d4664adce9228867 100644
--- a/include/sleipnir/autodiff/variable_matrix.hpp
+++ b/include/sleipnir/autodiff/variable_matrix.hpp
@@ -578,6 +578,10 @@ class VariableMatrix : public SleipnirBase {
@@ -503,6 +503,10 @@ class VariableMatrix : public SleipnirBase {
VariableMatrix<Scalar> result(detail::empty, lhs.rows(), rhs.cols());
@@ -22,7 +22,7 @@ index 7ddf02c0e2f66aff8da422b874cbe9772f9fd00d..351030b4041027ba63a2e6ec08f2077b
for (int i = 0; i < lhs.rows(); ++i) {
for (int j = 0; j < rhs.cols(); ++j) {
Variable sum{Scalar(0)};
@@ -637,6 +641,9 @@ class VariableMatrix : public SleipnirBase {
@@ -558,6 +562,9 @@ class VariableMatrix : public SleipnirBase {
result[i, j] = sum;
}
}

331
upstream_utils/sleipnir_patches/0008-Use-operator-instead-of-multidimensional-array-subsc.patch → upstream_utils/sleipnir_patches/0009-Use-operator-instead-of-multidimensional-array-subsc.patch
View File

@@ -1,25 +1,25 @@
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Sat, 12 Apr 2025 16:28:47 -0700
Subject: [PATCH 8/8] Use operator() instead of multidimensional array
Subject: [PATCH 9/9] Use operator() instead of multidimensional array
subscript operator
---
include/sleipnir/autodiff/hessian.hpp | 4 +-
include/sleipnir/autodiff/jacobian.hpp | 4 +-
include/sleipnir/autodiff/variable.hpp | 8 +-
include/sleipnir/autodiff/variable_block.hpp | 74 ++++----
include/sleipnir/autodiff/variable_block.hpp | 76 ++++-----
include/sleipnir/autodiff/variable_matrix.hpp | 158 +++++++++---------
include/sleipnir/optimization/ocp.hpp | 14 +-
include/sleipnir/optimization/problem.hpp | 6 +-
7 files changed, 134 insertions(+), 134 deletions(-)
7 files changed, 135 insertions(+), 135 deletions(-)
diff --git a/include/sleipnir/autodiff/hessian.hpp b/include/sleipnir/autodiff/hessian.hpp
index 629b6b88274f3d0e6126fd68ccbc219618386518..10ee142ff8f02a9b9f2dc73a6b9c9efad7341ad2 100644
index 5c8d18b41c4025f4492e7216f94299785a513552..b52371b182b755f87f4d038dbeb1795704ab730e 100644
--- a/include/sleipnir/autodiff/hessian.hpp
+++ b/include/sleipnir/autodiff/hessian.hpp
@@ -106,9 +106,9 @@ class Hessian {
auto grad = m_graphs[row].generate_gradient_tree(m_wrt);
@@ -98,9 +98,9 @@ class Hessian {
auto grad = m_graphs[row].generate_tree(m_wrt);
for (int col = 0; col < m_wrt.rows(); ++col) {
if (grad[col].expr != nullptr) {
- result[row, col] = std::move(grad[col]);
@@ -31,11 +31,11 @@ index 629b6b88274f3d0e6126fd68ccbc219618386518..10ee142ff8f02a9b9f2dc73a6b9c9efa
}
}
diff --git a/include/sleipnir/autodiff/jacobian.hpp b/include/sleipnir/autodiff/jacobian.hpp
index b7cedd63d554d6ccfa42c6d8deb62da27950cd53..c8e28a826f619bee201d3383a4dda23f148fa0b1 100644
index bb3a0319880bd240497e1e27ca26f0105b50b803..082a6cf6782f376cbb6ce05809e62e8021feb321 100644
--- a/include/sleipnir/autodiff/jacobian.hpp
+++ b/include/sleipnir/autodiff/jacobian.hpp
@@ -114,9 +114,9 @@ class Jacobian {
auto grad = m_graphs[row].generate_gradient_tree(m_wrt);
@@ -104,9 +104,9 @@ class Jacobian {
auto grad = m_graphs[row].generate_tree(m_wrt);
for (int col = 0; col < m_wrt.rows(); ++col) {
if (grad[col].expr != nullptr) {
- result[row, col] = std::move(grad[col]);
@@ -47,19 +47,19 @@ index b7cedd63d554d6ccfa42c6d8deb62da27950cd53..c8e28a826f619bee201d3383a4dda23f
}
}
diff --git a/include/sleipnir/autodiff/variable.hpp b/include/sleipnir/autodiff/variable.hpp
index 30ec62161df75c6948bbf3d65432c852a0d926c2..cb4c1a56ecd16ee2cd27cdd3a866fea3226ce388 100644
index 2091f339744f8f8980ccb1e44b0b54b06eb32418..7616c02b456c755a56f68de86a755d29cd55d91d 100644
--- a/include/sleipnir/autodiff/variable.hpp
+++ b/include/sleipnir/autodiff/variable.hpp
@@ -80,7 +80,7 @@ class Variable : public SleipnirBase {
* @param value The value of the Variable.
*/
@@ -68,7 +68,7 @@ class Variable : public SleipnirBase {
///
/// @param value The value of the Variable.
// NOLINTNEXTLINE (google-explicit-constructor)
- Variable(SleipnirMatrixLike<Scalar> auto value) : expr{value[0, 0].expr} {
+ Variable(SleipnirMatrixLike<Scalar> auto value) : expr{value(0, 0).expr} {
slp_assert(value.rows() == 1 && value.cols() == 1);
}
@@ -740,7 +740,7 @@ auto make_constraints(LHS&& lhs, RHS&& rhs) {
@@ -635,7 +635,7 @@ auto make_constraints(LHS&& lhs, RHS&& rhs) {
for (int row = 0; row < rhs.rows(); ++row) {
for (int col = 0; col < rhs.cols(); ++col) {
// Make right-hand side zero
@@ -68,7 +68,7 @@ index 30ec62161df75c6948bbf3d65432c852a0d926c2..cb4c1a56ecd16ee2cd27cdd3a866fea3
}
}
@@ -756,7 +756,7 @@ auto make_constraints(LHS&& lhs, RHS&& rhs) {
@@ -651,7 +651,7 @@ auto make_constraints(LHS&& lhs, RHS&& rhs) {
for (int row = 0; row < lhs.rows(); ++row) {
for (int col = 0; col < lhs.cols(); ++col) {
// Make right-hand side zero
@@ -77,7 +77,7 @@ index 30ec62161df75c6948bbf3d65432c852a0d926c2..cb4c1a56ecd16ee2cd27cdd3a866fea3
}
}
@@ -774,7 +774,7 @@ auto make_constraints(LHS&& lhs, RHS&& rhs) {
@@ -669,7 +669,7 @@ auto make_constraints(LHS&& lhs, RHS&& rhs) {
for (int row = 0; row < lhs.rows(); ++row) {
for (int col = 0; col < lhs.cols(); ++col) {
// Make right-hand side zero
@@ -87,10 +87,10 @@ index 30ec62161df75c6948bbf3d65432c852a0d926c2..cb4c1a56ecd16ee2cd27cdd3a866fea3
}
diff --git a/include/sleipnir/autodiff/variable_block.hpp b/include/sleipnir/autodiff/variable_block.hpp
index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd724699036165c5b8506 100644
index 4018606df45941b578c861caf934495f8c9e368e..cf554832b82adb17b4b1d7b56842a77d7bf629dc 100644
--- a/include/sleipnir/autodiff/variable_block.hpp
+++ b/include/sleipnir/autodiff/variable_block.hpp
@@ -57,7 +57,7 @@ class VariableBlock : public SleipnirBase {
@@ -49,7 +49,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -99,7 +99,7 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
}
}
}
@@ -92,7 +92,7 @@ class VariableBlock : public SleipnirBase {
@@ -80,7 +80,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -108,7 +108,7 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
}
}
}
@@ -155,7 +155,7 @@ class VariableBlock : public SleipnirBase {
@@ -135,7 +135,7 @@ class VariableBlock : public SleipnirBase {
VariableBlock<Mat>& operator=(ScalarLike auto value) {
slp_assert(rows() == 1 && cols() == 1);
@@ -117,7 +117,7 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
return *this;
}
@@ -170,7 +170,7 @@ class VariableBlock : public SleipnirBase {
@@ -148,7 +148,7 @@ class VariableBlock : public SleipnirBase {
void set_value(Scalar value) {
slp_assert(rows() == 1 && cols() == 1);
@@ -125,8 +125,8 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
+ (*this)(0, 0).set_value(value);
}
/**
@@ -185,7 +185,7 @@ class VariableBlock : public SleipnirBase {
/// Assigns an Eigen matrix to the block.
@@ -161,7 +161,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -135,7 +135,7 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
}
}
@@ -204,7 +204,7 @@ class VariableBlock : public SleipnirBase {
@@ -178,7 +178,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -144,7 +144,7 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
}
}
}
@@ -220,7 +220,7 @@ class VariableBlock : public SleipnirBase {
@@ -192,7 +192,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -153,7 +153,7 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
}
}
return *this;
@@ -237,7 +237,7 @@ class VariableBlock : public SleipnirBase {
@@ -207,7 +207,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -162,10 +162,10 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
}
}
return *this;
@@ -250,13 +250,13 @@ class VariableBlock : public SleipnirBase {
* @param col The scalar subblock's column.
* @return A scalar subblock at the given row and column.
*/
@@ -218,13 +218,13 @@ class VariableBlock : public SleipnirBase {
/// @param row The scalar subblock's row.
/// @param col The scalar subblock's column.
/// @return A scalar subblock at the given row and column.
- Variable<Scalar>& operator[](int row, int col)
+ Variable<Scalar>& operator()(int row, int col)
requires(!std::is_const_v<Mat>)
@@ -178,11 +178,11 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
+ m_col_slice.start + col * m_col_slice.step);
}
/**
@@ -266,11 +266,11 @@ class VariableBlock : public SleipnirBase {
* @param col The scalar subblock's column.
* @return A scalar subblock at the given row and column.
*/
/// Returns a scalar subblock at the given row and column.
@@ -232,11 +232,11 @@ class VariableBlock : public SleipnirBase {
/// @param row The scalar subblock's row.
/// @param col The scalar subblock's column.
/// @return A scalar subblock at the given row and column.
- const Variable<Scalar>& operator[](int row, int col) const {
+ const Variable<Scalar>& operator()(int row, int col) const {
slp_assert(row >= 0 && row < rows());
@@ -193,8 +193,8 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
+ m_col_slice.start + col * m_col_slice.step);
}
/**
@@ -283,7 +283,7 @@ class VariableBlock : public SleipnirBase {
/// Returns a scalar subblock at the given index.
@@ -247,7 +247,7 @@ class VariableBlock : public SleipnirBase {
requires(!std::is_const_v<Mat>)
{
slp_assert(index >= 0 && index < rows() * cols());
@@ -202,17 +202,17 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
+ return (*this)(index / cols(), index % cols());
}
/**
@@ -294,7 +294,7 @@ class VariableBlock : public SleipnirBase {
*/
/// Returns a scalar subblock at the given index.
@@ -256,7 +256,7 @@ class VariableBlock : public SleipnirBase {
/// @return A scalar subblock at the given index.
const Variable<Scalar>& operator[](int index) const {
slp_assert(index >= 0 && index < rows() * cols());
- return (*this)[index / cols(), index % cols()];
+ return (*this)(index / cols(), index % cols());
}
/**
@@ -312,8 +312,8 @@ class VariableBlock : public SleipnirBase {
/// Returns a block of the variable matrix.
@@ -272,8 +272,8 @@ class VariableBlock : public SleipnirBase {
slp_assert(col_offset >= 0 && col_offset <= cols());
slp_assert(block_rows >= 0 && block_rows <= rows() - row_offset);
slp_assert(block_cols >= 0 && block_cols <= cols() - col_offset);
@@ -222,8 +222,8 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
+ {col_offset, col_offset + block_cols, 1});
}
/**
@@ -331,8 +331,8 @@ class VariableBlock : public SleipnirBase {
/// Returns a block slice of the variable matrix.
@@ -289,8 +289,8 @@ class VariableBlock : public SleipnirBase {
slp_assert(col_offset >= 0 && col_offset <= cols());
slp_assert(block_rows >= 0 && block_rows <= rows() - row_offset);
slp_assert(block_cols >= 0 && block_cols <= cols() - col_offset);
@@ -233,11 +233,11 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
+ {col_offset, col_offset + block_cols, 1});
}
/**
@@ -342,10 +342,10 @@ class VariableBlock : public SleipnirBase {
* @param col_slice The column slice.
* @return A slice of the variable matrix.
*/
/// Returns a slice of the variable matrix.
@@ -298,10 +298,10 @@ class VariableBlock : public SleipnirBase {
/// @param row_slice The row slice.
/// @param col_slice The column slice.
/// @return A slice of the variable matrix.
- VariableBlock<Mat> operator[](Slice row_slice, Slice col_slice) {
+ VariableBlock<Mat> operator()(Slice row_slice, Slice col_slice) {
int row_slice_length = row_slice.adjust(m_row_slice_length);
@@ -246,11 +246,11 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
+ return (*this)(row_slice, row_slice_length, col_slice, col_slice_length);
}
/**
@@ -355,11 +355,11 @@ class VariableBlock : public SleipnirBase {
* @param col_slice The column slice.
* @return A slice of the variable matrix.
*/
/// Returns a slice of the variable matrix.
@@ -309,11 +309,11 @@ class VariableBlock : public SleipnirBase {
/// @param row_slice The row slice.
/// @param col_slice The column slice.
/// @return A slice of the variable matrix.
- const VariableBlock<const Mat> operator[](Slice row_slice,
+ const VariableBlock<const Mat> operator()(Slice row_slice,
Slice col_slice) const {
@@ -260,26 +260,26 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
+ return (*this)(row_slice, row_slice_length, col_slice, col_slice_length);
}
/**
@@ -374,7 +374,7 @@ class VariableBlock : public SleipnirBase {
* @param col_slice_length The column slice length.
* @return A slice of the variable matrix.
*/
/// Returns a slice of the variable matrix.
@@ -326,7 +326,7 @@ class VariableBlock : public SleipnirBase {
/// @param col_slice The column slice.
/// @param col_slice_length The column slice length.
/// @return A slice of the variable matrix.
- VariableBlock<Mat> operator[](Slice row_slice, int row_slice_length,
+ VariableBlock<Mat> operator()(Slice row_slice, int row_slice_length,
Slice col_slice, int col_slice_length) {
return VariableBlock{
*m_mat,
@@ -400,7 +400,7 @@ class VariableBlock : public SleipnirBase {
* @param col_slice_length The column slice length.
* @return A slice of the variable matrix.
*/
@@ -350,7 +350,7 @@ class VariableBlock : public SleipnirBase {
/// @param col_slice The column slice.
/// @param col_slice_length The column slice length.
/// @return A slice of the variable matrix.
- const VariableBlock<const Mat> operator[](Slice row_slice,
+ const VariableBlock<const Mat> operator()(Slice row_slice,
int row_slice_length,
Slice col_slice,
int col_slice_length) const {
@@ -519,7 +519,7 @@ class VariableBlock : public SleipnirBase {
@@ -453,7 +453,7 @@ class VariableBlock : public SleipnirBase {
VariableBlock<Mat>& operator*=(const ScalarLike auto& rhs) {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -288,7 +288,7 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
}
}
@@ -537,7 +537,7 @@ class VariableBlock : public SleipnirBase {
@@ -469,7 +469,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -297,7 +297,7 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
}
}
@@ -553,7 +553,7 @@ class VariableBlock : public SleipnirBase {
@@ -483,7 +483,7 @@ class VariableBlock : public SleipnirBase {
VariableBlock<Mat>& operator/=(const ScalarLike auto& rhs) {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -306,7 +306,7 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
}
}
@@ -571,7 +571,7 @@ class VariableBlock : public SleipnirBase {
@@ -499,7 +499,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -315,7 +315,7 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
}
}
@@ -589,7 +589,7 @@ class VariableBlock : public SleipnirBase {
@@ -515,7 +515,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -324,7 +324,7 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
}
}
@@ -607,7 +607,7 @@ class VariableBlock : public SleipnirBase {
@@ -531,7 +531,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -333,7 +333,7 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
}
}
@@ -625,7 +625,7 @@ class VariableBlock : public SleipnirBase {
@@ -547,7 +547,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -342,7 +342,16 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
}
}
@@ -651,7 +651,7 @@ class VariableBlock : public SleipnirBase {
@@ -558,7 +558,7 @@ class VariableBlock : public SleipnirBase {
// NOLINTNEXTLINE (google-explicit-constructor)
operator Variable<Scalar>() const {
slp_assert(rows() == 1 && cols() == 1);
- return (*this)[0, 0];
+ return (*this)(0, 0);
}
/// Returns the transpose of the variable matrix.
@@ -569,7 +569,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -351,16 +360,16 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
}
}
@@ -679,7 +679,7 @@ class VariableBlock : public SleipnirBase {
* @param col The column of the element to return.
* @return An element of the variable matrix.
*/
@@ -591,7 +591,7 @@ class VariableBlock : public SleipnirBase {
/// @param row The row of the element to return.
/// @param col The column of the element to return.
/// @return An element of the variable matrix.
- Scalar value(int row, int col) { return (*this)[row, col].value(); }
+ Scalar value(int row, int col) { return (*this)(row, col).value(); }
/**
* Returns an element of the variable block.
@@ -703,7 +703,7 @@ class VariableBlock : public SleipnirBase {
/// Returns an element of the variable block.
///
@@ -611,7 +611,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -369,7 +378,7 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
}
}
@@ -723,7 +723,7 @@ class VariableBlock : public SleipnirBase {
@@ -629,7 +629,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -379,10 +388,10 @@ index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd72469903616
}
diff --git a/include/sleipnir/autodiff/variable_matrix.hpp b/include/sleipnir/autodiff/variable_matrix.hpp
index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee867024ecddb2 100644
index 10b3a4cc5ab22e93fe4e0b44d4664adce9228867..d90645910d1db545fb34a726aa801e08739318cc 100644
--- a/include/sleipnir/autodiff/variable_matrix.hpp
+++ b/include/sleipnir/autodiff/variable_matrix.hpp
@@ -174,7 +174,7 @@ class VariableMatrix : public SleipnirBase {
@@ -154,7 +154,7 @@ class VariableMatrix : public SleipnirBase {
m_storage.reserve(values.rows() * values.cols());
for (int row = 0; row < values.rows(); ++row) {
for (int col = 0; col < values.cols(); ++col) {
@@ -391,7 +400,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
}
@@ -232,7 +232,7 @@ class VariableMatrix : public SleipnirBase {
@@ -204,7 +204,7 @@ class VariableMatrix : public SleipnirBase {
m_storage.reserve(rows() * cols());
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -400,7 +409,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
}
@@ -248,7 +248,7 @@ class VariableMatrix : public SleipnirBase {
@@ -218,7 +218,7 @@ class VariableMatrix : public SleipnirBase {
m_storage.reserve(rows() * cols());
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -409,7 +418,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
}
@@ -298,7 +298,7 @@ class VariableMatrix : public SleipnirBase {
@@ -262,7 +262,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < values.rows(); ++row) {
for (int col = 0; col < values.cols(); ++col) {
@@ -418,7 +427,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -316,7 +316,7 @@ class VariableMatrix : public SleipnirBase {
@@ -278,7 +278,7 @@ class VariableMatrix : public SleipnirBase {
VariableMatrix& operator=(ScalarLike auto value) {
slp_assert(rows() == 1 && cols() == 1);
@@ -427,7 +436,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
return *this;
}
@@ -333,7 +333,7 @@ class VariableMatrix : public SleipnirBase {
@@ -293,7 +293,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < values.rows(); ++row) {
for (int col = 0; col < values.cols(); ++col) {
@@ -436,61 +445,61 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
}
@@ -345,7 +345,7 @@ class VariableMatrix : public SleipnirBase {
* @param col The column.
* @return The element at the given row and column.
*/
@@ -303,7 +303,7 @@ class VariableMatrix : public SleipnirBase {
/// @param row The row.
/// @param col The column.
/// @return The element at the given row and column.
- Variable<Scalar>& operator[](int row, int col) {
+ Variable<Scalar>& operator()(int row, int col) {
slp_assert(row >= 0 && row < rows());
slp_assert(col >= 0 && col < cols());
return m_storage[row * cols() + col];
@@ -358,7 +358,7 @@ class VariableMatrix : public SleipnirBase {
* @param col The column.
* @return The element at the given row and column.
*/
@@ -314,7 +314,7 @@ class VariableMatrix : public SleipnirBase {
/// @param row The row.
/// @param col The column.
/// @return The element at the given row and column.
- const Variable<Scalar>& operator[](int row, int col) const {
+ const Variable<Scalar>& operator()(int row, int col) const {
slp_assert(row >= 0 && row < rows());
slp_assert(col >= 0 && col < cols());
return m_storage[row * cols() + col];
@@ -431,7 +431,7 @@ class VariableMatrix : public SleipnirBase {
* @param col_slice The column slice.
* @return A slice of the variable matrix.
*/
@@ -377,7 +377,7 @@ class VariableMatrix : public SleipnirBase {
/// @param row_slice The row slice.
/// @param col_slice The column slice.
/// @return A slice of the variable matrix.
- VariableBlock<VariableMatrix> operator[](Slice row_slice, Slice col_slice) {
+ VariableBlock<VariableMatrix> operator()(Slice row_slice, Slice col_slice) {
int row_slice_length = row_slice.adjust(rows());
int col_slice_length = col_slice.adjust(cols());
return VariableBlock{*this, std::move(row_slice), row_slice_length,
@@ -445,7 +445,7 @@ class VariableMatrix : public SleipnirBase {
* @param col_slice The column slice.
* @return A slice of the variable matrix.
*/
@@ -389,7 +389,7 @@ class VariableMatrix : public SleipnirBase {
/// @param row_slice The row slice.
/// @param col_slice The column slice.
/// @return A slice of the variable matrix.
- const VariableBlock<const VariableMatrix> operator[](Slice row_slice,
+ const VariableBlock<const VariableMatrix> operator()(Slice row_slice,
Slice col_slice) const {
int row_slice_length = row_slice.adjust(rows());
int col_slice_length = col_slice.adjust(cols());
@@ -466,7 +466,7 @@ class VariableMatrix : public SleipnirBase {
* @return A slice of the variable matrix.
*
*/
@@ -407,7 +407,7 @@ class VariableMatrix : public SleipnirBase {
/// @param col_slice The column slice.
/// @param col_slice_length The column slice length.
/// @return A slice of the variable matrix.
- VariableBlock<VariableMatrix> operator[](Slice row_slice,
+ VariableBlock<VariableMatrix> operator()(Slice row_slice,
int row_slice_length,
Slice col_slice,
int col_slice_length) {
@@ -486,7 +486,7 @@ class VariableMatrix : public SleipnirBase {
* @param col_slice_length The column slice length.
* @return A slice of the variable matrix.
*/
@@ -425,7 +425,7 @@ class VariableMatrix : public SleipnirBase {
/// @param col_slice The column slice.
/// @param col_slice_length The column slice length.
/// @return A slice of the variable matrix.
- const VariableBlock<const VariableMatrix> operator[](
+ const VariableBlock<const VariableMatrix> operator()(
Slice row_slice, int row_slice_length, Slice col_slice,
int col_slice_length) const {
return VariableBlock{*this, std::move(row_slice), row_slice_length,
@@ -586,9 +586,9 @@ class VariableMatrix : public SleipnirBase {
@@ -511,9 +511,9 @@ class VariableMatrix : public SleipnirBase {
for (int j = 0; j < rhs.cols(); ++j) {
Variable sum{Scalar(0)};
for (int k = 0; k < lhs.cols(); ++k) {
@@ -502,7 +511,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -611,9 +611,9 @@ class VariableMatrix : public SleipnirBase {
@@ -534,9 +534,9 @@ class VariableMatrix : public SleipnirBase {
for (int j = 0; j < rhs.cols(); ++j) {
Variable sum{Scalar(0)};
for (int k = 0; k < lhs.cols(); ++k) {
@@ -514,7 +523,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -636,9 +636,9 @@ class VariableMatrix : public SleipnirBase {
@@ -557,9 +557,9 @@ class VariableMatrix : public SleipnirBase {
for (int j = 0; j < rhs.cols(); ++j) {
Variable sum{Scalar(0)};
for (int k = 0; k < lhs.cols(); ++k) {
@@ -526,7 +535,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
#if __GNUC__ >= 12
@@ -661,7 +661,7 @@ class VariableMatrix : public SleipnirBase {
@@ -580,7 +580,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
@@ -535,7 +544,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -680,7 +680,7 @@ class VariableMatrix : public SleipnirBase {
@@ -597,7 +597,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
@@ -544,7 +553,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -700,7 +700,7 @@ class VariableMatrix : public SleipnirBase {
@@ -615,7 +615,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
@@ -553,7 +562,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -719,7 +719,7 @@ class VariableMatrix : public SleipnirBase {
@@ -632,7 +632,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
@@ -562,7 +571,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -739,9 +739,9 @@ class VariableMatrix : public SleipnirBase {
@@ -650,9 +650,9 @@ class VariableMatrix : public SleipnirBase {
for (int j = 0; j < rhs.cols(); ++j) {
Variable sum{Scalar(0)};
for (int k = 0; k < cols(); ++k) {
@@ -574,7 +583,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -757,7 +757,7 @@ class VariableMatrix : public SleipnirBase {
@@ -666,7 +666,7 @@ class VariableMatrix : public SleipnirBase {
VariableMatrix& operator*=(const ScalarLike auto& rhs) {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < rhs.cols(); ++col) {
@@ -583,7 +592,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -778,7 +778,7 @@ class VariableMatrix : public SleipnirBase {
@@ -685,7 +685,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
@@ -592,7 +601,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -799,7 +799,7 @@ class VariableMatrix : public SleipnirBase {
@@ -704,7 +704,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
@@ -601,7 +610,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -820,7 +820,7 @@ class VariableMatrix : public SleipnirBase {
@@ -723,7 +723,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
@@ -610,7 +619,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -836,7 +836,7 @@ class VariableMatrix : public SleipnirBase {
@@ -737,7 +737,7 @@ class VariableMatrix : public SleipnirBase {
VariableMatrix& operator/=(const ScalarLike auto& rhs) {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -619,7 +628,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -858,7 +858,7 @@ class VariableMatrix : public SleipnirBase {
@@ -757,7 +757,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
@@ -628,7 +637,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -880,7 +880,7 @@ class VariableMatrix : public SleipnirBase {
@@ -777,7 +777,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
@@ -637,7 +646,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -902,7 +902,7 @@ class VariableMatrix : public SleipnirBase {
@@ -797,7 +797,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
@@ -646,7 +655,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -920,7 +920,7 @@ class VariableMatrix : public SleipnirBase {
@@ -813,7 +813,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -655,7 +664,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -938,7 +938,7 @@ class VariableMatrix : public SleipnirBase {
@@ -829,7 +829,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -664,7 +673,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -960,7 +960,7 @@ class VariableMatrix : public SleipnirBase {
@@ -849,7 +849,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
@@ -673,7 +682,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -982,7 +982,7 @@ class VariableMatrix : public SleipnirBase {
@@ -869,7 +869,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
@@ -682,7 +691,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -1004,7 +1004,7 @@ class VariableMatrix : public SleipnirBase {
@@ -889,7 +889,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
@@ -691,7 +700,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -1022,7 +1022,7 @@ class VariableMatrix : public SleipnirBase {
@@ -905,7 +905,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -700,7 +709,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -1040,7 +1040,7 @@ class VariableMatrix : public SleipnirBase {
@@ -921,7 +921,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -709,7 +718,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -1058,7 +1058,7 @@ class VariableMatrix : public SleipnirBase {
@@ -937,7 +937,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
@@ -718,7 +727,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -1071,7 +1071,7 @@ class VariableMatrix : public SleipnirBase {
@@ -948,7 +948,7 @@ class VariableMatrix : public SleipnirBase {
// NOLINTNEXTLINE (google-explicit-constructor)
operator Variable<Scalar>() const {
slp_assert(rows() == 1 && cols() == 1);
@@ -726,8 +735,8 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
+ return (*this)(0, 0);
}
/**
@@ -1084,7 +1084,7 @@ class VariableMatrix : public SleipnirBase {
/// Returns the transpose of the variable matrix.
@@ -959,7 +959,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -736,16 +745,16 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -1112,7 +1112,7 @@ class VariableMatrix : public SleipnirBase {
* @param col The column of the element to return.
* @return An element of the variable matrix.
*/
@@ -981,7 +981,7 @@ class VariableMatrix : public SleipnirBase {
/// @param row The row of the element to return.
/// @param col The column of the element to return.
/// @return An element of the variable matrix.
- Scalar value(int row, int col) { return (*this)[row, col].value(); }
+ Scalar value(int row, int col) { return (*this)(row, col).value(); }
/**
* Returns an element of the variable matrix.
@@ -1133,7 +1133,7 @@ class VariableMatrix : public SleipnirBase {
/// Returns an element of the variable matrix.
///
@@ -998,7 +998,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -754,7 +763,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -1153,7 +1153,7 @@ class VariableMatrix : public SleipnirBase {
@@ -1016,7 +1016,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
@@ -763,7 +772,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -1422,7 +1422,7 @@ VariableMatrix<Scalar> cwise_reduce(
@@ -1253,7 +1253,7 @@ VariableMatrix<Scalar> cwise_reduce(
for (int row = 0; row < lhs.rows(); ++row) {
for (int col = 0; col < lhs.cols(); ++col) {
@@ -772,7 +781,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -1561,17 +1561,17 @@ VariableMatrix<Scalar> solve(const VariableMatrix<Scalar>& A,
@@ -1386,17 +1386,17 @@ VariableMatrix<Scalar> solve(const VariableMatrix<Scalar>& A,
if (A.rows() == 1 && A.cols() == 1) {
// Compute optimal inverse instead of using Eigen's general solver
@@ -795,7 +804,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
VariableMatrix adj_A{{d, -b}, {-c, a}};
auto det_A = a * d - b * c;
@@ -1588,15 +1588,15 @@ VariableMatrix<Scalar> solve(const VariableMatrix<Scalar>& A,
@@ -1413,15 +1413,15 @@ VariableMatrix<Scalar> solve(const VariableMatrix<Scalar>& A,
//
// https://www.wolframalpha.com/input?i=inverse+%7B%7Ba%2C+b%2C+c%7D%2C+%7Bd%2C+e%2C+f%7D%2C+%7Bg%2C+h%2C+i%7D%7D
@@ -820,7 +829,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
auto ae = a * e;
auto af = a * f;
@@ -1636,22 +1636,22 @@ VariableMatrix<Scalar> solve(const VariableMatrix<Scalar>& A,
@@ -1461,22 +1461,22 @@ VariableMatrix<Scalar> solve(const VariableMatrix<Scalar>& A,
//
// https://www.wolframalpha.com/input?i=inverse+%7B%7Ba%2C+b%2C+c%2C+d%7D%2C+%7Be%2C+f%2C+g%2C+h%7D%2C+%7Bi%2C+j%2C+k%2C+l%7D%2C+%7Bm%2C+n%2C+o%2C+p%7D%7D
@@ -859,7 +868,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
auto afk = a * f * k;
auto afl = a * f * l;
@@ -1782,14 +1782,14 @@ VariableMatrix<Scalar> solve(const VariableMatrix<Scalar>& A,
@@ -1607,14 +1607,14 @@ VariableMatrix<Scalar> solve(const VariableMatrix<Scalar>& A,
MatrixXv eigen_A{A.rows(), A.cols()};
for (int row = 0; row < A.rows(); ++row) {
for (int col = 0; col < A.cols(); ++col) {
@@ -876,7 +885,7 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
}
@@ -1798,7 +1798,7 @@ VariableMatrix<Scalar> solve(const VariableMatrix<Scalar>& A,
@@ -1623,7 +1623,7 @@ VariableMatrix<Scalar> solve(const VariableMatrix<Scalar>& A,
VariableMatrix<Scalar> X{detail::empty, A.cols(), B.cols()};
for (int row = 0; row < X.rows(); ++row) {
for (int col = 0; col < X.cols(); ++col) {
@@ -886,10 +895,10 @@ index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee8670
}
diff --git a/include/sleipnir/optimization/ocp.hpp b/include/sleipnir/optimization/ocp.hpp
index 88316894362ff3004627308c81c8f251291eae97..d62432a67af1c75b5cc0bbab54df1d785aec2846 100644
index 091d985234ac8be5c177b9269c7608036f0daddb..e906c194e93a9e26b9cb5c20b720b87828463e80 100644
--- a/include/sleipnir/optimization/ocp.hpp
+++ b/include/sleipnir/optimization/ocp.hpp
@@ -125,7 +125,7 @@ class OCP : public Problem<Scalar> {
@@ -123,7 +123,7 @@ class OCP : public Problem<Scalar> {
if (timestep_method == TimestepMethod::FIXED) {
m_DT = VariableMatrix<Scalar>{1, m_num_steps + 1};
for (int i = 0; i < num_steps + 1; ++i) {
@@ -898,7 +907,7 @@ index 88316894362ff3004627308c81c8f251291eae97..d62432a67af1c75b5cc0bbab54df1d78
}
} else if (timestep_method == TimestepMethod::VARIABLE_SINGLE) {
Variable single_dt = this->decision_variable();
@@ -134,12 +134,12 @@ class OCP : public Problem<Scalar> {
@@ -132,12 +132,12 @@ class OCP : public Problem<Scalar> {
// Set the member variable matrix to track the decision variable
m_DT = VariableMatrix<Scalar>{1, m_num_steps + 1};
for (int i = 0; i < num_steps + 1; ++i) {
@@ -913,7 +922,7 @@ index 88316894362ff3004627308c81c8f251291eae97..d62432a67af1c75b5cc0bbab54df1d78
}
}
@@ -216,7 +216,7 @@ class OCP : public Problem<Scalar> {
@@ -206,7 +206,7 @@ class OCP : public Problem<Scalar> {
for (int i = 0; i < m_num_steps + 1; ++i) {
auto x = X().col(i);
auto u = U().col(i);
@@ -922,7 +931,7 @@ index 88316894362ff3004627308c81c8f251291eae97..d62432a67af1c75b5cc0bbab54df1d78
callback(time, x, u, dt);
time += dt;
@@ -358,7 +358,7 @@ class OCP : public Problem<Scalar> {
@@ -326,7 +326,7 @@ class OCP : public Problem<Scalar> {
// Derivation at https://mec560sbu.github.io/2016/09/30/direct_collocation/
for (int i = 0; i < m_num_steps; ++i) {
@@ -931,7 +940,7 @@ index 88316894362ff3004627308c81c8f251291eae97..d62432a67af1c75b5cc0bbab54df1d78
auto& f = m_dynamics;
@@ -397,7 +397,7 @@ class OCP : public Problem<Scalar> {
@@ -363,7 +363,7 @@ class OCP : public Problem<Scalar> {
auto x_begin = X().col(i);
auto x_end = X().col(i + 1);
auto u = U().col(i);
@@ -940,7 +949,7 @@ index 88316894362ff3004627308c81c8f251291eae97..d62432a67af1c75b5cc0bbab54df1d78
if (m_dynamics_type == DynamicsType::EXPLICIT_ODE) {
this->subject_to(
@@ -422,7 +422,7 @@ class OCP : public Problem<Scalar> {
@@ -386,7 +386,7 @@ class OCP : public Problem<Scalar> {
auto x_begin = X().col(i);
auto x_end = X().col(i + 1);
auto u = U().col(i);
@@ -950,10 +959,10 @@ index 88316894362ff3004627308c81c8f251291eae97..d62432a67af1c75b5cc0bbab54df1d78
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 5256d08e5f9d8642049d8bb8323d76c7b3bbbef7..a5db8e5902e440afd9f9ee1cc44c60872db2e4c1 100644
index 70955fdc7148e5af737d3094a5602024df790b3d..4243d13c9d04eeee948f8e0e7a21d72b6ef0eaa6 100644
--- a/include/sleipnir/optimization/problem.hpp
+++ b/include/sleipnir/optimization/problem.hpp
@@ -98,7 +98,7 @@ class Problem {
@@ -92,7 +92,7 @@ class Problem {
for (int row = 0; row < rows; ++row) {
for (int col = 0; col < cols; ++col) {
m_decision_variables.emplace_back();
@@ -962,7 +971,7 @@ index 5256d08e5f9d8642049d8bb8323d76c7b3bbbef7..a5db8e5902e440afd9f9ee1cc44c6087
}
}
@@ -133,8 +133,8 @@ class Problem {
@@ -125,8 +125,8 @@ class Problem {
for (int row = 0; row < rows; ++row) {
for (int col = 0; col <= row; ++col) {
m_decision_variables.emplace_back();