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[upstream_utils] Upgrade to Sleipnir 0.5.0 (#8711)

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This commit is contained in:
Tyler Veness
2026-03-29 20:39:18 -07:00
committed by GitHub
parent 962168acf1
commit f3757bdeae
47 changed files with 2413 additions and 980 deletions
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17
wpimath/src/test/native/cpp/optimization/NonlinearProblemTest.cpp
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@@ -135,14 +135,7 @@ TEST(ProblemTest, Minimum2DDistanceWithLinearConstraint) {
EXPECT_EQ(problem.equality_constraint_type(), slp::ExpressionType::LINEAR);
EXPECT_EQ(problem.inequality_constraint_type(), slp::ExpressionType::NONE);
#if defined(__linux__) && defined(__aarch64__)
// FIXME: Fails on Linux aarch64 with "line search failed"
EXPECT_EQ(problem.solve({.diagnostics = true}),
slp::ExitStatus::LINE_SEARCH_FAILED);
return;
#else
EXPECT_EQ(problem.solve({.diagnostics = true}), slp::ExitStatus::SUCCESS);
#endif
EXPECT_NEAR(x.value(), 2.5, 1e-2);
EXPECT_NEAR(y.value(), 2.5, 1e-2);
@@ -208,13 +201,11 @@ TEST(ProblemTest, WachterAndBieglerLineSearchFailure) {
EXPECT_EQ(problem.equality_constraint_type(), slp::ExpressionType::QUADRATIC);
EXPECT_EQ(problem.inequality_constraint_type(), slp::ExpressionType::LINEAR);
// FIXME: Fails with "line search failed"
EXPECT_EQ(problem.solve({.diagnostics = true}),
slp::ExitStatus::LINE_SEARCH_FAILED);
EXPECT_EQ(problem.solve({.diagnostics = true}), slp::ExitStatus::SUCCESS);
// EXPECT_EQ(x.value(), 1.0);
// EXPECT_EQ(s1.value(), 0.0);
// EXPECT_EQ(s2.value(), 0.5);
EXPECT_NEAR(x.value(), 1.0, 1e-6);
EXPECT_NEAR(s1.value(), 0.0, 1e-6);
EXPECT_NEAR(s2.value(), 0.5, 1e-6);
if (auto output = testing::internal::GetCapturedStdout(); HasFailure()) {
fmt::println("{}", output);