Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-01 02:41:48 +00:00
Code Issues Packages Projects Releases Wiki Activity

[upstream_utils] Upgrade to Sleipnir 0.6.0 (#8923)

Browse Source
This commit is contained in:
Tyler Veness
2026-05-27 21:26:42 -07:00
committed by GitHub
parent 7ff32d7756
commit f1d95ee5f8
37 changed files with 1356 additions and 554 deletions
Download Patch File Download Diff File Expand all files Collapse all files

67
upstream_utils/sleipnir_patches/0001-Use-fmtlib.patch
View File

@@ -7,9 +7,10 @@ Subject: [PATCH 01/10] Use fmtlib
include/sleipnir/autodiff/expression_type.hpp | 16 +++++++----
include/sleipnir/optimization/problem.hpp | 1 +
.../optimization/solver/exit_status.hpp | 16 +++++++----
.../optimization/solver/util/inertia.hpp | 22 ++++++++-------
include/sleipnir/util/assert.hpp | 5 ++--
include/sleipnir/util/print.hpp | 27 ++++++++++---------
5 files changed, 40 insertions(+), 25 deletions(-)
6 files changed, 53 insertions(+), 34 deletions(-)
diff --git a/include/sleipnir/autodiff/expression_type.hpp b/include/sleipnir/autodiff/expression_type.hpp
index 12d0568f628d5b97c0c2f5291851d4b20921f9d3..d06d32dac6c7b6faeedefeaa107cedac8446a3ab 100644
@@ -66,7 +67,7 @@ index 12d0568f628d5b97c0c2f5291851d4b20921f9d3..d06d32dac6c7b6faeedefeaa107cedac
+
+// @endcond
diff --git a/include/sleipnir/optimization/problem.hpp b/include/sleipnir/optimization/problem.hpp
index a9553ffbcfed568c48f7d789d8b127790dfddb91..3de6d5bf89a65fe07784350c3b1a4691dfc0c822 100644
index ccff8b9425b45fd1c790bc4da87b81f501a70d9c..41b44578b1e2783dbceb300b7c72ee0c8d1202df 100644
--- a/include/sleipnir/optimization/problem.hpp
+++ b/include/sleipnir/optimization/problem.hpp
@@ -15,6 +15,7 @@
@@ -131,6 +132,68 @@ index 0a48df7423b5a3dccd8e611e91befd32487fafdc..8786d6d64ac44ac88133df65a79636ec
};
+
+// @endcond
diff --git a/include/sleipnir/optimization/solver/util/inertia.hpp b/include/sleipnir/optimization/solver/util/inertia.hpp
index 49ee606f7e3f02f2f5c24079eb27a412dad3055f..2d2ce114be9c40e645d685b63465b977e0b70439 100644
--- a/include/sleipnir/optimization/solver/util/inertia.hpp
+++ b/include/sleipnir/optimization/solver/util/inertia.hpp
@@ -2,10 +2,10 @@
#pragma once
-#include <format>
#include <limits>
#include <Eigen/Core>
+#include <fmt/format.h>
namespace slp {
@@ -77,14 +77,16 @@ class Inertia {
} // namespace slp
+// @cond Suppress Doxygen
+
/// Formatter for Inertia.
template <>
-struct std::formatter<slp::Inertia> {
+struct fmt::formatter<slp::Inertia> {
/// Parses 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);
}
@@ -95,18 +97,20 @@ struct std::formatter<slp::Inertia> {
/// @param ctx Format context.
/// @return Format context iterator.
template <typename FmtContext>
- auto format(const slp::Inertia& inertia, FmtContext& ctx) const {
+ constexpr auto format(const slp::Inertia& inertia, FmtContext& ctx) const {
auto out = ctx.out();
- out = std::format_to(out, "(");
+ out = fmt::format_to(out, "(");
out = m_underlying.format(inertia.positive, ctx);
- out = std::format_to(out, ", ");
+ out = fmt::format_to(out, ", ");
out = m_underlying.format(inertia.negative, ctx);
- out = std::format_to(out, ", ");
+ out = fmt::format_to(out, ", ");
out = m_underlying.format(inertia.zero, ctx);
- return std::format_to(out, ")");
+ return fmt::format_to(out, ")");
}
private:
- std::formatter<int> m_underlying;
+ fmt::formatter<int> m_underlying;
};
+
+// @endcond
diff --git a/include/sleipnir/util/assert.hpp b/include/sleipnir/util/assert.hpp
index 29dfe5416530a476417de3a4b6434d3b28d73120..783a0e71a1cb54bd1d6d17fa9d2bedd2038a8ef5 100644
--- a/include/sleipnir/util/assert.hpp