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[upstream_utils] Upgrade Sleipnir (#7512)

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It now uses SQP for problems without inequality constraints, which is
faster.

main:
```
[ RUN      ] Ellipse2dTest.DistanceToPoint
0.203 ms
[       OK ] Ellipse2dTest.DistanceToPoint (0 ms)
[ RUN      ] Ellipse2dTest.FindNearestPoint
0.019 ms
[       OK ] Ellipse2dTest.FindNearestPoint (0 ms)
```

upgrade:
```
[ RUN      ] Ellipse2dTest.DistanceToPoint
0.197 ms
[       OK ] Ellipse2dTest.DistanceToPoint (0 ms)
[ RUN      ] Ellipse2dTest.FindNearestPoint
0.015 ms
[       OK ] Ellipse2dTest.FindNearestPoint (0 ms)
```
This commit is contained in:
Tyler Veness
2024-12-07 23:02:39 -08:00
committed by GitHub
parent e08fdeba21
commit d5edb4060d
10 changed files with 968 additions and 73 deletions
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4
upstream_utils/sleipnir.py
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@@ -48,8 +48,8 @@ def copy_upstream_src(wpilib_root):
def main():
name = "sleipnir"
url = "https://github.com/SleipnirGroup/Sleipnir"
# main on 2024-09-18
tag = "8bbce85252bc351c5aacb0de9f50fa31b8b9e1ae"
# main on 2024-12-07
tag = "01206ab17d741f4c45a7faeb56b8a5442df1681c"
sleipnir = Lib(name, url, tag, copy_upstream_src)
sleipnir.main()