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[upstream_utils] Upgrade Sleipnir (#7973)

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This commit is contained in:
Tyler Veness
2025-05-27 07:24:15 -07:00
committed by GitHub
parent 5368e8c6ed
commit de718f7ae5
90 changed files with 11188 additions and 7917 deletions
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53
upstream_utils/sleipnir_patches/0005-Replace-std-views-zip.patch Normal file
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@@ -0,0 +1,53 @@
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()
---
include/sleipnir/autodiff/adjoint_expression_graph.hpp | 5 ++++-
src/optimization/problem.cpp | 9 +++++----
2 files changed, 9 insertions(+), 5 deletions(-)
diff --git a/include/sleipnir/autodiff/adjoint_expression_graph.hpp b/include/sleipnir/autodiff/adjoint_expression_graph.hpp
index 4b4f3303faed766d3ac39829870514f50d9a582f..4576e19c9695caf4407fbbb592afe32d8252a0db 100644
--- a/include/sleipnir/autodiff/adjoint_expression_graph.hpp
+++ b/include/sleipnir/autodiff/adjoint_expression_graph.hpp
@@ -155,7 +155,10 @@ class AdjointExpressionGraph {
}
}
} else {
- for (const auto& [col, node] : std::views::zip(m_col_list, m_top_list)) {
+ for (size_t i = 0; i < m_top_list.size(); ++i) {
+ const auto& col = m_col_list[i];
+ const auto& node = m_top_list[i];
+
// Append adjoints of wrt to sparse matrix triplets
if (col != -1 && node->adjoint != 0.0) {
triplets.emplace_back(row, col, node->adjoint);
diff --git a/src/optimization/problem.cpp b/src/optimization/problem.cpp
index c3319fc0a927cf452871a2db08d5edff87ac8eea..5532b3962409e2140132e79241da4fba0f36bc78 100644
--- a/src/optimization/problem.cpp
+++ b/src/optimization/problem.cpp
@@ -6,7 +6,6 @@
#include <cmath>
#include <memory>
#include <optional>
-#include <ranges>
#include <Eigen/Core>
#include <Eigen/SparseCore>
@@ -363,9 +362,11 @@ void Problem::print_problem_analysis() {
for (const auto& constraint : constraints) {
++counts[static_cast<uint8_t>(constraint.type())];
}
- for (const auto& [count, name] :
- std::views::zip(counts, std::array{"empty", "constant", "linear",
- "quadratic", "nonlinear"})) {
+ for (size_t i = 0; i < counts.size(); ++i) {
+ constexpr std::array names{"empty", "constant", "linear", "quadratic",
+ "nonlinear"};
+ const auto& count = counts[i];
+ const auto& name = names[i];
if (count > 0) {
slp::println(" ↳ {} {}", count, name);
}