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08784dc2d1f2eaf3f80ef4a29b2675f23ed0254e
allwpilib/upstream_utils/sleipnir_patches/0008-Use-operator-instead-of-multidimensional-array-subsc.patch
Tyler Veness 08784dc2d1 [upstream_utils] Upgrade to Sleipnir 0.3.2 (#8323) 
Also includes a C++ benchmark, which has a Java counterpart in #8236.
2025-12-01 13:51:28 -07:00

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From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Sat, 12 Apr 2025 16:28:47 -0700
Subject: [PATCH 8/8] Use operator() instead of multidimensional array
subscript operator
---
include/sleipnir/autodiff/hessian.hpp | 4 +-
include/sleipnir/autodiff/jacobian.hpp | 4 +-
include/sleipnir/autodiff/variable.hpp | 8 +-
include/sleipnir/autodiff/variable_block.hpp | 74 ++++----
include/sleipnir/autodiff/variable_matrix.hpp | 158 +++++++++---------
include/sleipnir/optimization/ocp.hpp | 14 +-
include/sleipnir/optimization/problem.hpp | 6 +-
7 files changed, 134 insertions(+), 134 deletions(-)
diff --git a/include/sleipnir/autodiff/hessian.hpp b/include/sleipnir/autodiff/hessian.hpp
index 629b6b88274f3d0e6126fd68ccbc219618386518..10ee142ff8f02a9b9f2dc73a6b9c9efad7341ad2 100644
--- a/include/sleipnir/autodiff/hessian.hpp
+++ b/include/sleipnir/autodiff/hessian.hpp
@@ -106,9 +106,9 @@ class Hessian {
auto grad = m_graphs[row].generate_gradient_tree(m_wrt);
for (int col = 0; col < m_wrt.rows(); ++col) {
if (grad[col].expr != nullptr) {
- result[row, col] = std::move(grad[col]);
+ result(row, col) = std::move(grad[col]);
} else {
- result[row, col] = Variable{Scalar(0)};
+ result(row, col) = Variable{Scalar(0)};
}
}
}
diff --git a/include/sleipnir/autodiff/jacobian.hpp b/include/sleipnir/autodiff/jacobian.hpp
index b7cedd63d554d6ccfa42c6d8deb62da27950cd53..c8e28a826f619bee201d3383a4dda23f148fa0b1 100644
--- a/include/sleipnir/autodiff/jacobian.hpp
+++ b/include/sleipnir/autodiff/jacobian.hpp
@@ -114,9 +114,9 @@ class Jacobian {
auto grad = m_graphs[row].generate_gradient_tree(m_wrt);
for (int col = 0; col < m_wrt.rows(); ++col) {
if (grad[col].expr != nullptr) {
- result[row, col] = std::move(grad[col]);
+ result(row, col) = std::move(grad[col]);
} else {
- result[row, col] = Variable{Scalar(0)};
+ result(row, col) = Variable{Scalar(0)};
}
}
}
diff --git a/include/sleipnir/autodiff/variable.hpp b/include/sleipnir/autodiff/variable.hpp
index 30ec62161df75c6948bbf3d65432c852a0d926c2..cb4c1a56ecd16ee2cd27cdd3a866fea3226ce388 100644
--- a/include/sleipnir/autodiff/variable.hpp
+++ b/include/sleipnir/autodiff/variable.hpp
@@ -80,7 +80,7 @@ class Variable : public SleipnirBase {
* @param value The value of the Variable.
*/
// NOLINTNEXTLINE (google-explicit-constructor)
- Variable(SleipnirMatrixLike<Scalar> auto value) : expr{value[0, 0].expr} {
+ Variable(SleipnirMatrixLike<Scalar> auto value) : expr{value(0, 0).expr} {
slp_assert(value.rows() == 1 && value.cols() == 1);
}
@@ -740,7 +740,7 @@ auto make_constraints(LHS&& lhs, RHS&& rhs) {
for (int row = 0; row < rhs.rows(); ++row) {
for (int col = 0; col < rhs.cols(); ++col) {
// Make right-hand side zero
- constraints.emplace_back(lhs - rhs[row, col]);
+ constraints.emplace_back(lhs - rhs(row, col));
}
}
@@ -756,7 +756,7 @@ auto make_constraints(LHS&& lhs, RHS&& rhs) {
for (int row = 0; row < lhs.rows(); ++row) {
for (int col = 0; col < lhs.cols(); ++col) {
// Make right-hand side zero
- constraints.emplace_back(lhs[row, col] - rhs);
+ constraints.emplace_back(lhs(row, col) - rhs);
}
}
@@ -774,7 +774,7 @@ auto make_constraints(LHS&& lhs, RHS&& rhs) {
for (int row = 0; row < lhs.rows(); ++row) {
for (int col = 0; col < lhs.cols(); ++col) {
// Make right-hand side zero
- constraints.emplace_back(lhs[row, col] - rhs[row, col]);
+ constraints.emplace_back(lhs(row, col) - rhs(row, col));
}
}
diff --git a/include/sleipnir/autodiff/variable_block.hpp b/include/sleipnir/autodiff/variable_block.hpp
index d1b5ac928890dba3052918fc828371dedf26158d..c5351fec9f18f47e2fdfd724699036165c5b8506 100644
--- a/include/sleipnir/autodiff/variable_block.hpp
+++ b/include/sleipnir/autodiff/variable_block.hpp
@@ -57,7 +57,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- (*this)[row, col] = values[row, col];
+ (*this)(row, col) = values(row, col);
}
}
}
@@ -92,7 +92,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- (*this)[row, col] = values[row, col];
+ (*this)(row, col) = values(row, col);
}
}
}
@@ -155,7 +155,7 @@ class VariableBlock : public SleipnirBase {
VariableBlock<Mat>& operator=(ScalarLike auto value) {
slp_assert(rows() == 1 && cols() == 1);
- (*this)[0, 0] = value;
+ (*this)(0, 0) = value;
return *this;
}
@@ -170,7 +170,7 @@ class VariableBlock : public SleipnirBase {
void set_value(Scalar value) {
slp_assert(rows() == 1 && cols() == 1);
- (*this)[0, 0].set_value(value);
+ (*this)(0, 0).set_value(value);
}
/**
@@ -185,7 +185,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- (*this)[row, col] = values[row, col];
+ (*this)(row, col) = values(row, col);
}
}
@@ -204,7 +204,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- (*this)[row, col].set_value(values[row, col]);
+ (*this)(row, col).set_value(values(row, col));
}
}
}
@@ -220,7 +220,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- (*this)[row, col] = values[row, col];
+ (*this)(row, col) = values(row, col);
}
}
return *this;
@@ -237,7 +237,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- (*this)[row, col] = std::move(values[row, col]);
+ (*this)(row, col) = std::move(values(row, col));
}
}
return *this;
@@ -250,13 +250,13 @@ class VariableBlock : public SleipnirBase {
* @param col The scalar subblock's column.
* @return A scalar subblock at the given row and column.
*/
- Variable<Scalar>& operator[](int row, int col)
+ Variable<Scalar>& operator()(int row, int col)
requires(!std::is_const_v<Mat>)
{
slp_assert(row >= 0 && row < rows());
slp_assert(col >= 0 && col < cols());
- return (*m_mat)[m_row_slice.start + row * m_row_slice.step,
- m_col_slice.start + col * m_col_slice.step];
+ return (*m_mat)(m_row_slice.start + row * m_row_slice.step,
+ m_col_slice.start + col * m_col_slice.step);
}
/**
@@ -266,11 +266,11 @@ class VariableBlock : public SleipnirBase {
* @param col The scalar subblock's column.
* @return A scalar subblock at the given row and column.
*/
- const Variable<Scalar>& operator[](int row, int col) const {
+ const Variable<Scalar>& operator()(int row, int col) const {
slp_assert(row >= 0 && row < rows());
slp_assert(col >= 0 && col < cols());
- return (*m_mat)[m_row_slice.start + row * m_row_slice.step,
- m_col_slice.start + col * m_col_slice.step];
+ return (*m_mat)(m_row_slice.start + row * m_row_slice.step,
+ m_col_slice.start + col * m_col_slice.step);
}
/**
@@ -283,7 +283,7 @@ class VariableBlock : public SleipnirBase {
requires(!std::is_const_v<Mat>)
{
slp_assert(index >= 0 && index < rows() * cols());
- return (*this)[index / cols(), index % cols()];
+ return (*this)(index / cols(), index % cols());
}
/**
@@ -294,7 +294,7 @@ class VariableBlock : public SleipnirBase {
*/
const Variable<Scalar>& operator[](int index) const {
slp_assert(index >= 0 && index < rows() * cols());
- return (*this)[index / cols(), index % cols()];
+ return (*this)(index / cols(), index % cols());
}
/**
@@ -312,8 +312,8 @@ class VariableBlock : public SleipnirBase {
slp_assert(col_offset >= 0 && col_offset <= cols());
slp_assert(block_rows >= 0 && block_rows <= rows() - row_offset);
slp_assert(block_cols >= 0 && block_cols <= cols() - col_offset);
- return (*this)[Slice{row_offset, row_offset + block_rows, 1},
- Slice{col_offset, col_offset + block_cols, 1}];
+ return (*this)({row_offset, row_offset + block_rows, 1},
+ {col_offset, col_offset + block_cols, 1});
}
/**
@@ -331,8 +331,8 @@ class VariableBlock : public SleipnirBase {
slp_assert(col_offset >= 0 && col_offset <= cols());
slp_assert(block_rows >= 0 && block_rows <= rows() - row_offset);
slp_assert(block_cols >= 0 && block_cols <= cols() - col_offset);
- return (*this)[Slice{row_offset, row_offset + block_rows, 1},
- Slice{col_offset, col_offset + block_cols, 1}];
+ return (*this)({row_offset, row_offset + block_rows, 1},
+ {col_offset, col_offset + block_cols, 1});
}
/**
@@ -342,10 +342,10 @@ class VariableBlock : public SleipnirBase {
* @param col_slice The column slice.
* @return A slice of the variable matrix.
*/
- VariableBlock<Mat> operator[](Slice row_slice, Slice col_slice) {
+ VariableBlock<Mat> operator()(Slice row_slice, Slice col_slice) {
int row_slice_length = row_slice.adjust(m_row_slice_length);
int col_slice_length = col_slice.adjust(m_col_slice_length);
- return (*this)[row_slice, row_slice_length, col_slice, col_slice_length];
+ return (*this)(row_slice, row_slice_length, col_slice, col_slice_length);
}
/**
@@ -355,11 +355,11 @@ class VariableBlock : public SleipnirBase {
* @param col_slice The column slice.
* @return A slice of the variable matrix.
*/
- const VariableBlock<const Mat> operator[](Slice row_slice,
+ const VariableBlock<const Mat> operator()(Slice row_slice,
Slice col_slice) const {
int row_slice_length = row_slice.adjust(m_row_slice_length);
int col_slice_length = col_slice.adjust(m_col_slice_length);
- return (*this)[row_slice, row_slice_length, col_slice, col_slice_length];
+ return (*this)(row_slice, row_slice_length, col_slice, col_slice_length);
}
/**
@@ -374,7 +374,7 @@ class VariableBlock : public SleipnirBase {
* @param col_slice_length The column slice length.
* @return A slice of the variable matrix.
*/
- VariableBlock<Mat> operator[](Slice row_slice, int row_slice_length,
+ VariableBlock<Mat> operator()(Slice row_slice, int row_slice_length,
Slice col_slice, int col_slice_length) {
return VariableBlock{
*m_mat,
@@ -400,7 +400,7 @@ class VariableBlock : public SleipnirBase {
* @param col_slice_length The column slice length.
* @return A slice of the variable matrix.
*/
- const VariableBlock<const Mat> operator[](Slice row_slice,
+ const VariableBlock<const Mat> operator()(Slice row_slice,
int row_slice_length,
Slice col_slice,
int col_slice_length) const {
@@ -519,7 +519,7 @@ class VariableBlock : public SleipnirBase {
VariableBlock<Mat>& operator*=(const ScalarLike auto& rhs) {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- (*this)[row, col] *= rhs;
+ (*this)(row, col) *= rhs;
}
}
@@ -537,7 +537,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- (*this)[row, col] /= rhs[0, 0];
+ (*this)(row, col) /= rhs(0, 0);
}
}
@@ -553,7 +553,7 @@ class VariableBlock : public SleipnirBase {
VariableBlock<Mat>& operator/=(const ScalarLike auto& rhs) {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- (*this)[row, col] /= rhs;
+ (*this)(row, col) /= rhs;
}
}
@@ -571,7 +571,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- (*this)[row, col] += rhs[row, col];
+ (*this)(row, col) += rhs(row, col);
}
}
@@ -589,7 +589,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- (*this)[row, col] += rhs;
+ (*this)(row, col) += rhs;
}
}
@@ -607,7 +607,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- (*this)[row, col] -= rhs[row, col];
+ (*this)(row, col) -= rhs(row, col);
}
}
@@ -625,7 +625,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- (*this)[row, col] -= rhs;
+ (*this)(row, col) -= rhs;
}
}
@@ -651,7 +651,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- result[col, row] = (*this)[row, col];
+ result(col, row) = (*this)(row, col);
}
}
@@ -679,7 +679,7 @@ class VariableBlock : public SleipnirBase {
* @param col The column of the element to return.
* @return An element of the variable matrix.
*/
- Scalar value(int row, int col) { return (*this)[row, col].value(); }
+ Scalar value(int row, int col) { return (*this)(row, col).value(); }
/**
* Returns an element of the variable block.
@@ -703,7 +703,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- result[row, col] = value(row, col);
+ result(row, col) = value(row, col);
}
}
@@ -723,7 +723,7 @@ class VariableBlock : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- result[row, col] = unary_op((*this)[row, col]);
+ result(row, col) = unary_op((*this)(row, col));
}
}
diff --git a/include/sleipnir/autodiff/variable_matrix.hpp b/include/sleipnir/autodiff/variable_matrix.hpp
index 351030b4041027ba63a2e6ec08f2077b3c35b5db..55788ce18fcfaa8631ea46b021ee867024ecddb2 100644
--- a/include/sleipnir/autodiff/variable_matrix.hpp
+++ b/include/sleipnir/autodiff/variable_matrix.hpp
@@ -174,7 +174,7 @@ class VariableMatrix : public SleipnirBase {
m_storage.reserve(values.rows() * values.cols());
for (int row = 0; row < values.rows(); ++row) {
for (int col = 0; col < values.cols(); ++col) {
- m_storage.emplace_back(values[row, col]);
+ m_storage.emplace_back(values(row, col));
}
}
}
@@ -232,7 +232,7 @@ class VariableMatrix : public SleipnirBase {
m_storage.reserve(rows() * cols());
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- m_storage.emplace_back(values[row, col]);
+ m_storage.emplace_back(values(row, col));
}
}
}
@@ -248,7 +248,7 @@ class VariableMatrix : public SleipnirBase {
m_storage.reserve(rows() * cols());
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- m_storage.emplace_back(values[row, col]);
+ m_storage.emplace_back(values(row, col));
}
}
}
@@ -298,7 +298,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < values.rows(); ++row) {
for (int col = 0; col < values.cols(); ++col) {
- (*this)[row, col] = values[row, col];
+ (*this)(row, col) = values(row, col);
}
}
@@ -316,7 +316,7 @@ class VariableMatrix : public SleipnirBase {
VariableMatrix& operator=(ScalarLike auto value) {
slp_assert(rows() == 1 && cols() == 1);
- (*this)[0, 0] = value;
+ (*this)(0, 0) = value;
return *this;
}
@@ -333,7 +333,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < values.rows(); ++row) {
for (int col = 0; col < values.cols(); ++col) {
- (*this)[row, col].set_value(values[row, col]);
+ (*this)(row, col).set_value(values(row, col));
}
}
}
@@ -345,7 +345,7 @@ class VariableMatrix : public SleipnirBase {
* @param col The column.
* @return The element at the given row and column.
*/
- Variable<Scalar>& operator[](int row, int col) {
+ Variable<Scalar>& operator()(int row, int col) {
slp_assert(row >= 0 && row < rows());
slp_assert(col >= 0 && col < cols());
return m_storage[row * cols() + col];
@@ -358,7 +358,7 @@ class VariableMatrix : public SleipnirBase {
* @param col The column.
* @return The element at the given row and column.
*/
- const Variable<Scalar>& operator[](int row, int col) const {
+ const Variable<Scalar>& operator()(int row, int col) const {
slp_assert(row >= 0 && row < rows());
slp_assert(col >= 0 && col < cols());
return m_storage[row * cols() + col];
@@ -431,7 +431,7 @@ class VariableMatrix : public SleipnirBase {
* @param col_slice The column slice.
* @return A slice of the variable matrix.
*/
- VariableBlock<VariableMatrix> operator[](Slice row_slice, Slice col_slice) {
+ VariableBlock<VariableMatrix> operator()(Slice row_slice, Slice col_slice) {
int row_slice_length = row_slice.adjust(rows());
int col_slice_length = col_slice.adjust(cols());
return VariableBlock{*this, std::move(row_slice), row_slice_length,
@@ -445,7 +445,7 @@ class VariableMatrix : public SleipnirBase {
* @param col_slice The column slice.
* @return A slice of the variable matrix.
*/
- const VariableBlock<const VariableMatrix> operator[](Slice row_slice,
+ const VariableBlock<const VariableMatrix> operator()(Slice row_slice,
Slice col_slice) const {
int row_slice_length = row_slice.adjust(rows());
int col_slice_length = col_slice.adjust(cols());
@@ -466,7 +466,7 @@ class VariableMatrix : public SleipnirBase {
* @return A slice of the variable matrix.
*
*/
- VariableBlock<VariableMatrix> operator[](Slice row_slice,
+ VariableBlock<VariableMatrix> operator()(Slice row_slice,
int row_slice_length,
Slice col_slice,
int col_slice_length) {
@@ -486,7 +486,7 @@ class VariableMatrix : public SleipnirBase {
* @param col_slice_length The column slice length.
* @return A slice of the variable matrix.
*/
- const VariableBlock<const VariableMatrix> operator[](
+ const VariableBlock<const VariableMatrix> operator()(
Slice row_slice, int row_slice_length, Slice col_slice,
int col_slice_length) const {
return VariableBlock{*this, std::move(row_slice), row_slice_length,
@@ -586,9 +586,9 @@ class VariableMatrix : public SleipnirBase {
for (int j = 0; j < rhs.cols(); ++j) {
Variable sum{Scalar(0)};
for (int k = 0; k < lhs.cols(); ++k) {
- sum += lhs(i, k) * rhs[k, j];
+ sum += lhs(i, k) * rhs(k, j);
}
- result[i, j] = sum;
+ result(i, j) = sum;
}
}
@@ -611,9 +611,9 @@ class VariableMatrix : public SleipnirBase {
for (int j = 0; j < rhs.cols(); ++j) {
Variable sum{Scalar(0)};
for (int k = 0; k < lhs.cols(); ++k) {
- sum += lhs[i, k] * rhs(k, j);
+ sum += lhs(i, k) * rhs(k, j);
}
- result[i, j] = sum;
+ result(i, j) = sum;
}
}
@@ -636,9 +636,9 @@ class VariableMatrix : public SleipnirBase {
for (int j = 0; j < rhs.cols(); ++j) {
Variable sum{Scalar(0)};
for (int k = 0; k < lhs.cols(); ++k) {
- sum += lhs[i, k] * rhs[k, j];
+ sum += lhs(i, k) * rhs(k, j);
}
- result[i, j] = sum;
+ result(i, j) = sum;
}
}
#if __GNUC__ >= 12
@@ -661,7 +661,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
- result[row, col] = lhs[row, col] * rhs;
+ result(row, col) = lhs(row, col) * rhs;
}
}
@@ -680,7 +680,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
- result[row, col] = lhs[row, col] * rhs;
+ result(row, col) = lhs(row, col) * rhs;
}
}
@@ -700,7 +700,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
- result[row, col] = rhs[row, col] * lhs;
+ result(row, col) = rhs(row, col) * lhs;
}
}
@@ -719,7 +719,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
- result[row, col] = rhs[row, col] * lhs;
+ result(row, col) = rhs(row, col) * lhs;
}
}
@@ -739,9 +739,9 @@ class VariableMatrix : public SleipnirBase {
for (int j = 0; j < rhs.cols(); ++j) {
Variable sum{Scalar(0)};
for (int k = 0; k < cols(); ++k) {
- sum += (*this)[i, k] * rhs[k, j];
+ sum += (*this)(i, k) * rhs(k, j);
}
- (*this)[i, j] = sum;
+ (*this)(i, j) = sum;
}
}
@@ -757,7 +757,7 @@ class VariableMatrix : public SleipnirBase {
VariableMatrix& operator*=(const ScalarLike auto& rhs) {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < rhs.cols(); ++col) {
- (*this)[row, col] *= rhs;
+ (*this)(row, col) *= rhs;
}
}
@@ -778,7 +778,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
- result[row, col] = lhs[row, col] / rhs;
+ result(row, col) = lhs(row, col) / rhs;
}
}
@@ -799,7 +799,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
- result[row, col] = lhs[row, col] / rhs;
+ result(row, col) = lhs(row, col) / rhs;
}
}
@@ -820,7 +820,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
- result[row, col] = lhs[row, col] / rhs;
+ result(row, col) = lhs(row, col) / rhs;
}
}
@@ -836,7 +836,7 @@ class VariableMatrix : public SleipnirBase {
VariableMatrix& operator/=(const ScalarLike auto& rhs) {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- (*this)[row, col] /= rhs;
+ (*this)(row, col) /= rhs;
}
}
@@ -858,7 +858,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
- result[row, col] = lhs[row, col] + rhs[row, col];
+ result(row, col) = lhs(row, col) + rhs(row, col);
}
}
@@ -880,7 +880,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
- result[row, col] = lhs[row, col] + rhs[row, col];
+ result(row, col) = lhs(row, col) + rhs(row, col);
}
}
@@ -902,7 +902,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
- result[row, col] = lhs[row, col] + rhs[row, col];
+ result(row, col) = lhs(row, col) + rhs(row, col);
}
}
@@ -920,7 +920,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- (*this)[row, col] += rhs[row, col];
+ (*this)(row, col) += rhs(row, col);
}
}
@@ -938,7 +938,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- (*this)[row, col] += rhs;
+ (*this)(row, col) += rhs;
}
}
@@ -960,7 +960,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
- result[row, col] = lhs[row, col] - rhs[row, col];
+ result(row, col) = lhs(row, col) - rhs(row, col);
}
}
@@ -982,7 +982,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
- result[row, col] = lhs[row, col] - rhs[row, col];
+ result(row, col) = lhs(row, col) - rhs(row, col);
}
}
@@ -1004,7 +1004,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
- result[row, col] = lhs[row, col] - rhs[row, col];
+ result(row, col) = lhs(row, col) - rhs(row, col);
}
}
@@ -1022,7 +1022,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- (*this)[row, col] -= rhs[row, col];
+ (*this)(row, col) -= rhs(row, col);
}
}
@@ -1040,7 +1040,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- (*this)[row, col] -= rhs;
+ (*this)(row, col) -= rhs;
}
}
@@ -1058,7 +1058,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < result.rows(); ++row) {
for (int col = 0; col < result.cols(); ++col) {
- result[row, col] = -lhs[row, col];
+ result(row, col) = -lhs(row, col);
}
}
@@ -1071,7 +1071,7 @@ class VariableMatrix : public SleipnirBase {
// NOLINTNEXTLINE (google-explicit-constructor)
operator Variable<Scalar>() const {
slp_assert(rows() == 1 && cols() == 1);
- return (*this)[0, 0];
+ return (*this)(0, 0);
}
/**
@@ -1084,7 +1084,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- result[col, row] = (*this)[row, col];
+ result(col, row) = (*this)(row, col);
}
}
@@ -1112,7 +1112,7 @@ class VariableMatrix : public SleipnirBase {
* @param col The column of the element to return.
* @return An element of the variable matrix.
*/
- Scalar value(int row, int col) { return (*this)[row, col].value(); }
+ Scalar value(int row, int col) { return (*this)(row, col).value(); }
/**
* Returns an element of the variable matrix.
@@ -1133,7 +1133,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- result[row, col] = value(row, col);
+ result(row, col) = value(row, col);
}
}
@@ -1153,7 +1153,7 @@ class VariableMatrix : public SleipnirBase {
for (int row = 0; row < rows(); ++row) {
for (int col = 0; col < cols(); ++col) {
- result[row, col] = unary_op((*this)[row, col]);
+ result(row, col) = unary_op((*this)(row, col));
}
}
@@ -1422,7 +1422,7 @@ VariableMatrix<Scalar> cwise_reduce(
for (int row = 0; row < lhs.rows(); ++row) {
for (int col = 0; col < lhs.cols(); ++col) {
- result[row, col] = binary_op(lhs[row, col], rhs[row, col]);
+ result(row, col) = binary_op(lhs(row, col), rhs(row, col));
}
}
@@ -1561,17 +1561,17 @@ VariableMatrix<Scalar> solve(const VariableMatrix<Scalar>& A,
if (A.rows() == 1 && A.cols() == 1) {
// Compute optimal inverse instead of using Eigen's general solver
- return B[0, 0] / A[0, 0];
+ return B(0, 0) / A(0, 0);
} else if (A.rows() == 2 && A.cols() == 2) {
// Compute optimal inverse instead of using Eigen's general solver
//
// [a b]⁻¹ ___1___ [ d −b]
// [c d] = ad − bc [−c a]
- const auto& a = A[0, 0];
- const auto& b = A[0, 1];
- const auto& c = A[1, 0];
- const auto& d = A[1, 1];
+ const auto& a = A(0, 0);
+ const auto& b = A(0, 1);
+ const auto& c = A(1, 0);
+ const auto& d = A(1, 1);
VariableMatrix adj_A{{d, -b}, {-c, a}};
auto det_A = a * d - b * c;
@@ -1588,15 +1588,15 @@ VariableMatrix<Scalar> solve(const VariableMatrix<Scalar>& A,
//
// https://www.wolframalpha.com/input?i=inverse+%7B%7Ba%2C+b%2C+c%7D%2C+%7Bd%2C+e%2C+f%7D%2C+%7Bg%2C+h%2C+i%7D%7D
- const auto& a = A[0, 0];
- const auto& b = A[0, 1];
- const auto& c = A[0, 2];
- const auto& d = A[1, 0];
- const auto& e = A[1, 1];
- const auto& f = A[1, 2];
- const auto& g = A[2, 0];
- const auto& h = A[2, 1];
- const auto& i = A[2, 2];
+ const auto& a = A(0, 0);
+ const auto& b = A(0, 1);
+ const auto& c = A(0, 2);
+ const auto& d = A(1, 0);
+ const auto& e = A(1, 1);
+ const auto& f = A(1, 2);
+ const auto& g = A(2, 0);
+ const auto& h = A(2, 1);
+ const auto& i = A(2, 2);
auto ae = a * e;
auto af = a * f;
@@ -1636,22 +1636,22 @@ VariableMatrix<Scalar> solve(const VariableMatrix<Scalar>& A,
//
// https://www.wolframalpha.com/input?i=inverse+%7B%7Ba%2C+b%2C+c%2C+d%7D%2C+%7Be%2C+f%2C+g%2C+h%7D%2C+%7Bi%2C+j%2C+k%2C+l%7D%2C+%7Bm%2C+n%2C+o%2C+p%7D%7D
- const auto& a = A[0, 0];
- const auto& b = A[0, 1];
- const auto& c = A[0, 2];
- const auto& d = A[0, 3];
- const auto& e = A[1, 0];
- const auto& f = A[1, 1];
- const auto& g = A[1, 2];
- const auto& h = A[1, 3];
- const auto& i = A[2, 0];
- const auto& j = A[2, 1];
- const auto& k = A[2, 2];
- const auto& l = A[2, 3];
- const auto& m = A[3, 0];
- const auto& n = A[3, 1];
- const auto& o = A[3, 2];
- const auto& p = A[3, 3];
+ const auto& a = A(0, 0);
+ const auto& b = A(0, 1);
+ const auto& c = A(0, 2);
+ const auto& d = A(0, 3);
+ const auto& e = A(1, 0);
+ const auto& f = A(1, 1);
+ const auto& g = A(1, 2);
+ const auto& h = A(1, 3);
+ const auto& i = A(2, 0);
+ const auto& j = A(2, 1);
+ const auto& k = A(2, 2);
+ const auto& l = A(2, 3);
+ const auto& m = A(3, 0);
+ const auto& n = A(3, 1);
+ const auto& o = A(3, 2);
+ const auto& p = A(3, 3);
auto afk = a * f * k;
auto afl = a * f * l;
@@ -1782,14 +1782,14 @@ VariableMatrix<Scalar> solve(const VariableMatrix<Scalar>& A,
MatrixXv eigen_A{A.rows(), A.cols()};
for (int row = 0; row < A.rows(); ++row) {
for (int col = 0; col < A.cols(); ++col) {
- eigen_A[row, col] = A[row, col];
+ eigen_A(row, col) = A(row, col);
}
}
MatrixXv eigen_B{B.rows(), B.cols()};
for (int row = 0; row < B.rows(); ++row) {
for (int col = 0; col < B.cols(); ++col) {
- eigen_B[row, col] = B[row, col];
+ eigen_B(row, col) = B(row, col);
}
}
@@ -1798,7 +1798,7 @@ VariableMatrix<Scalar> solve(const VariableMatrix<Scalar>& A,
VariableMatrix<Scalar> X{detail::empty, A.cols(), B.cols()};
for (int row = 0; row < X.rows(); ++row) {
for (int col = 0; col < X.cols(); ++col) {
- X[row, col] = eigen_X[row, col];
+ X(row, col) = eigen_X(row, col);
}
}
diff --git a/include/sleipnir/optimization/ocp.hpp b/include/sleipnir/optimization/ocp.hpp
index 88316894362ff3004627308c81c8f251291eae97..d62432a67af1c75b5cc0bbab54df1d785aec2846 100644
--- a/include/sleipnir/optimization/ocp.hpp
+++ b/include/sleipnir/optimization/ocp.hpp
@@ -125,7 +125,7 @@ class OCP : public Problem<Scalar> {
if (timestep_method == TimestepMethod::FIXED) {
m_DT = VariableMatrix<Scalar>{1, m_num_steps + 1};
for (int i = 0; i < num_steps + 1; ++i) {
- m_DT[0, i] = dt.count();
+ m_DT(0, i) = dt.count();
}
} else if (timestep_method == TimestepMethod::VARIABLE_SINGLE) {
Variable single_dt = this->decision_variable();
@@ -134,12 +134,12 @@ class OCP : public Problem<Scalar> {
// Set the member variable matrix to track the decision variable
m_DT = VariableMatrix<Scalar>{1, m_num_steps + 1};
for (int i = 0; i < num_steps + 1; ++i) {
- m_DT[0, i] = single_dt;
+ m_DT(0, i) = single_dt;
}
} else if (timestep_method == TimestepMethod::VARIABLE) {
m_DT = this->decision_variable(1, m_num_steps + 1);
for (int i = 0; i < num_steps + 1; ++i) {
- m_DT[0, i].set_value(dt.count());
+ m_DT(0, i).set_value(dt.count());
}
}
@@ -216,7 +216,7 @@ class OCP : public Problem<Scalar> {
for (int i = 0; i < m_num_steps + 1; ++i) {
auto x = X().col(i);
auto u = U().col(i);
- auto dt = this->dt()[0, i];
+ auto dt = this->dt()(0, i);
callback(time, x, u, dt);
time += dt;
@@ -358,7 +358,7 @@ class OCP : public Problem<Scalar> {
// Derivation at https://mec560sbu.github.io/2016/09/30/direct_collocation/
for (int i = 0; i < m_num_steps; ++i) {
- Variable h = dt()[0, i];
+ Variable h = dt()(0, i);
auto& f = m_dynamics;
@@ -397,7 +397,7 @@ class OCP : public Problem<Scalar> {
auto x_begin = X().col(i);
auto x_end = X().col(i + 1);
auto u = U().col(i);
- Variable dt = this->dt()[0, i];
+ Variable dt = this->dt()(0, i);
if (m_dynamics_type == DynamicsType::EXPLICIT_ODE) {
this->subject_to(
@@ -422,7 +422,7 @@ class OCP : public Problem<Scalar> {
auto x_begin = X().col(i);
auto x_end = X().col(i + 1);
auto u = U().col(i);
- Variable dt = this->dt()[0, i];
+ Variable dt = this->dt()(0, i);
if (m_dynamics_type == DynamicsType::EXPLICIT_ODE) {
x_end = rk4<const decltype(m_dynamics)&, VariableMatrix<Scalar>,
diff --git a/include/sleipnir/optimization/problem.hpp b/include/sleipnir/optimization/problem.hpp
index 5256d08e5f9d8642049d8bb8323d76c7b3bbbef7..a5db8e5902e440afd9f9ee1cc44c60872db2e4c1 100644
--- a/include/sleipnir/optimization/problem.hpp
+++ b/include/sleipnir/optimization/problem.hpp
@@ -98,7 +98,7 @@ class Problem {
for (int row = 0; row < rows; ++row) {
for (int col = 0; col < cols; ++col) {
m_decision_variables.emplace_back();
- vars[row, col] = m_decision_variables.back();
+ vars(row, col) = m_decision_variables.back();
}
}
@@ -133,8 +133,8 @@ class Problem {
for (int row = 0; row < rows; ++row) {
for (int col = 0; col <= row; ++col) {
m_decision_variables.emplace_back();
- vars[row, col] = m_decision_variables.back();
- vars[col, row] = m_decision_variables.back();
+ vars(row, col) = m_decision_variables.back();
+ vars(col, row) = m_decision_variables.back();
}
}
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