mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
d5edb4060d
It now uses SQP for problems without inequality constraints, which is faster. main: ``` [ RUN ] Ellipse2dTest.DistanceToPoint 0.203 ms [ OK ] Ellipse2dTest.DistanceToPoint (0 ms) [ RUN ] Ellipse2dTest.FindNearestPoint 0.019 ms [ OK ] Ellipse2dTest.FindNearestPoint (0 ms) ``` upgrade: ``` [ RUN ] Ellipse2dTest.DistanceToPoint 0.197 ms [ OK ] Ellipse2dTest.DistanceToPoint (0 ms) [ RUN ] Ellipse2dTest.FindNearestPoint 0.015 ms [ OK ] Ellipse2dTest.FindNearestPoint (0 ms) ```
60 lines
1.5 KiB
Python
Executable File
60 lines
1.5 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import shutil
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from upstream_utils import Lib, copy_to
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def copy_upstream_src(wpilib_root):
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wpimath = os.path.join(wpilib_root, "wpimath")
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# Delete old install
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for d in [
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"src/main/native/thirdparty/sleipnir/src",
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"src/main/native/thirdparty/sleipnir/include",
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]:
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shutil.rmtree(os.path.join(wpimath, d), ignore_errors=True)
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# Copy Sleipnir source files into allwpilib
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src_files = [os.path.join(dp, f) for dp, dn, fn in os.walk("src") for f in fn]
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src_files = copy_to(
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src_files, os.path.join(wpimath, "src/main/native/thirdparty/sleipnir")
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)
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# Copy Sleipnir header files into allwpilib
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include_files = [
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os.path.join(dp, f)
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for dp, dn, fn in os.walk("include")
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for f in fn
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if not f.endswith("small_vector.hpp")
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]
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include_files = copy_to(
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include_files, os.path.join(wpimath, "src/main/native/thirdparty/sleipnir")
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)
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for filename in [
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".clang-format",
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".clang-tidy",
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".styleguide",
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".styleguide-license",
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]:
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shutil.copyfile(
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filename,
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os.path.join(wpimath, "src/main/native/thirdparty/sleipnir", filename),
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)
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def main():
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name = "sleipnir"
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url = "https://github.com/SleipnirGroup/Sleipnir"
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# main on 2024-12-07
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tag = "01206ab17d741f4c45a7faeb56b8a5442df1681c"
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sleipnir = Lib(name, url, tag, copy_upstream_src)
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sleipnir.main()
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if __name__ == "__main__":
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main()
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