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[upstream_utils] Upgrade Sleipnir (#7973)

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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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25
wpimath/src/test/native/cpp/SleipnirTest.cpp
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@@ -3,24 +3,25 @@
// the WPILib BSD license file in the root directory of this project.
#include <gtest/gtest.h>
#include <sleipnir/optimization/OptimizationProblem.hpp>
#include <sleipnir/optimization/problem.hpp>
TEST(SleipnirTest, Quartic) {
sleipnir::OptimizationProblem problem;
slp::Problem problem;
auto x = problem.DecisionVariable();
x.SetValue(20.0);
auto x = problem.decision_variable();
x.set_value(20.0);
problem.Minimize(sleipnir::pow(x, 4));
problem.minimize(slp::pow(x, 4));
problem.SubjectTo(x >= 1);
problem.subject_to(x >= 1);
auto status = problem.Solve({.diagnostics = true});
EXPECT_EQ(problem.cost_function_type(), slp::ExpressionType::NONLINEAR);
EXPECT_EQ(problem.equality_constraint_type(), slp::ExpressionType::NONE);
EXPECT_EQ(problem.inequality_constraint_type(), slp::ExpressionType::LINEAR);
EXPECT_EQ(status.costFunctionType, sleipnir::ExpressionType::kNonlinear);
EXPECT_EQ(status.equalityConstraintType, sleipnir::ExpressionType::kNone);
EXPECT_EQ(status.inequalityConstraintType, sleipnir::ExpressionType::kLinear);
EXPECT_EQ(status.exitCondition, sleipnir::SolverExitCondition::kSuccess);
auto status = problem.solve({.diagnostics = true});
EXPECT_NEAR(x.Value(), 1.0, 1e-6);
EXPECT_EQ(status, slp::ExitStatus::SUCCESS);
EXPECT_NEAR(x.value(), 1.0, 1e-6);
}