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[upstream_utils] Upgrade to Sleipnir 0.6.0 (#8923)

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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
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2
wpimath/src/test/java/org/wpilib/math/optimization/FlywheelOCPTest.java
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@@ -103,7 +103,7 @@ class FlywheelOCPTest {
// steady-states.
assertEquals(u, problem.U().value(0, k), 2.0);
} else {
assertEquals(u, problem.U().value(0, k), 1e-4);
assertEquals(u, problem.U().value(0, k), 2e-4);
}
}

5
wpimath/src/test/java/org/wpilib/math/optimization/solver/ExitStatusTest.java
View File

@@ -27,13 +27,16 @@ class ExitStatusTest {
problem.minimize(x.times(x));
problem.addCallback(info -> false);
x.setValue(1.0);
assertEquals(ExitStatus.SUCCESS, problem.solve());
problem.addCallback(info -> true);
x.setValue(1.0);
assertEquals(ExitStatus.CALLBACK_REQUESTED_STOP, problem.solve());
problem.clearCallbacks();
problem.addCallback(info -> false);
x.setValue(1.0);
assertEquals(ExitStatus.SUCCESS, problem.solve());
}
@@ -187,6 +190,7 @@ class ExitStatusTest {
try (var problem = new Problem()) {
var x = problem.decisionVariable();
x.setValue(1.0);
problem.minimize(x.times(x));
@@ -207,6 +211,7 @@ class ExitStatusTest {
try (var problem = new Problem()) {
var x = problem.decisionVariable();
x.setValue(1.0);
problem.minimize(x.times(x));