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5b4769ea0a557f919d7ffdc53ae08967ec090a8a
allwpilib/upstream_utils/sleipnir_patches/0010-Use-operator-instead-of-multidimensional-array-subsc.patch
Tyler Veness 5b4769ea0a [upstream_utils] Upgrade to Sleipnir 0.5.1 (#8726) 
There's changes to the diagnostic output and a performance improvement
for autodiff setup. I also updated Java's Options docs to more closely
match upstream.
2026-04-07 23:52:30 -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 10/10] 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 | 76 ++++-----
include/sleipnir/autodiff/variable_matrix.hpp | 158 +++++++++---------
include/sleipnir/optimization/ocp.hpp | 14 +-
include/sleipnir/optimization/problem.hpp | 6 +-
7 files changed, 135 insertions(+), 135 deletions(-)
diff --git a/include/sleipnir/autodiff/hessian.hpp b/include/sleipnir/autodiff/hessian.hpp
index 11af6033d1cf00b27cb9ff796c4a7f16b32df90a..d4cc02f54accd568d052ae5709213d45c4c8917a 100644
--- a/include/sleipnir/autodiff/hessian.hpp
+++ b/include/sleipnir/autodiff/hessian.hpp
@@ -99,9 +99,9 @@ class Hessian {
auto grad = m_graphs[row].generate_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 f1915a0d08c509f4eb4d032d4e6a5e6099b68ebc..edd949eefd018af1b1e091b4b2780fc1a0a492cf 100644
--- a/include/sleipnir/autodiff/jacobian.hpp
+++ b/include/sleipnir/autodiff/jacobian.hpp
@@ -104,9 +104,9 @@ class Jacobian {
auto grad = m_graphs[row].generate_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 3d3b355f9fef7d5b6b57521317f67041e0fb1ad6..130a4f057ea08ab0565b54f8a3556bd81fbc6825 100644
--- a/include/sleipnir/autodiff/variable.hpp
+++ b/include/sleipnir/autodiff/variable.hpp
@@ -68,7 +68,7 @@ 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);
}
@@ -725,7 +725,7 @@ 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));
}
}
@@ -741,7 +741,7 @@ 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);
}
}
@@ -759,7 +759,7 @@ 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 4018606df45941b578c861caf934495f8c9e368e..cf554832b82adb17b4b1d7b56842a77d7bf629dc 100644
--- a/include/sleipnir/autodiff/variable_block.hpp
+++ b/include/sleipnir/autodiff/variable_block.hpp
@@ -49,7 +49,7 @@ 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);
}
}
}
@@ -80,7 +80,7 @@ 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);
}
}
}
@@ -135,7 +135,7 @@ 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;
}
@@ -148,7 +148,7 @@ 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);
}
/// Assigns an Eigen matrix to the block.
@@ -161,7 +161,7 @@ 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);
}
}
@@ -178,7 +178,7 @@ 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));
}
}
}
@@ -192,7 +192,7 @@ 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;
@@ -207,7 +207,7 @@ 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;
@@ -218,13 +218,13 @@ class VariableBlock : public SleipnirBase {
/// @param row The scalar subblock's row.
/// @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);
}
/// Returns a scalar subblock at the given row and column.
@@ -232,11 +232,11 @@ class VariableBlock : public SleipnirBase {
/// @param row The scalar subblock's row.
/// @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);
}
/// Returns a scalar subblock at the given index.
@@ -247,7 +247,7 @@ 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());
}
/// Returns a scalar subblock at the given index.
@@ -256,7 +256,7 @@ class VariableBlock : public SleipnirBase {
/// @return A scalar subblock at the given index.
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());
}
/// Returns a block of the variable matrix.
@@ -272,8 +272,8 @@ 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});
}
/// Returns a block slice of the variable matrix.
@@ -289,8 +289,8 @@ 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});
}
/// Returns a slice of the variable matrix.
@@ -298,10 +298,10 @@ class VariableBlock : public SleipnirBase {
/// @param row_slice The row slice.
/// @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);
}
/// Returns a slice of the variable matrix.
@@ -309,11 +309,11 @@ class VariableBlock : public SleipnirBase {
/// @param row_slice The row slice.
/// @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);
}
/// Returns a slice of the variable matrix.
@@ -326,7 +326,7 @@ class VariableBlock : public SleipnirBase {
/// @param col_slice The column slice.
/// @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,
@@ -350,7 +350,7 @@ class VariableBlock : public SleipnirBase {
/// @param col_slice The column slice.
/// @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 {
@@ -453,7 +453,7 @@ 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;
}
}
@@ -469,7 +469,7 @@ 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);
}
}
@@ -483,7 +483,7 @@ 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;
}
}
@@ -499,7 +499,7 @@ 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);
}
}
@@ -515,7 +515,7 @@ 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;
}
}
@@ -531,7 +531,7 @@ 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);
}
}
@@ -547,7 +547,7 @@ 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;
}
}
@@ -558,7 +558,7 @@ class VariableBlock : public SleipnirBase {
// NOLINTNEXTLINE (google-explicit-constructor)
operator Variable<Scalar>() const {
slp_assert(rows() == 1 && cols() == 1);
- return (*this)[0, 0];
+ return (*this)(0, 0);
}
/// Returns the transpose of the variable matrix.
@@ -569,7 +569,7 @@ 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);
}
}
@@ -591,7 +591,7 @@ class VariableBlock : public SleipnirBase {
/// @param row The row of the element to return.
/// @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.
///
@@ -611,7 +611,7 @@ 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);
}
}
@@ -629,7 +629,7 @@ 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 38b90b4a1c784cfd2fd806536d001db9335ebe2d..e9f90fb12d230e40497e8557b985ff9c82ebaaeb 100644
--- a/include/sleipnir/autodiff/variable_matrix.hpp
+++ b/include/sleipnir/autodiff/variable_matrix.hpp
@@ -154,7 +154,7 @@ 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));
}
}
}
@@ -204,7 +204,7 @@ 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));
}
}
}
@@ -218,7 +218,7 @@ 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));
}
}
}
@@ -262,7 +262,7 @@ 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);
}
}
@@ -278,7 +278,7 @@ 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;
}
@@ -293,7 +293,7 @@ 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));
}
}
}
@@ -303,7 +303,7 @@ class VariableMatrix : public SleipnirBase {
/// @param row The row.
/// @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];
@@ -314,7 +314,7 @@ class VariableMatrix : public SleipnirBase {
/// @param row The row.
/// @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];
@@ -377,7 +377,7 @@ class VariableMatrix : public SleipnirBase {
/// @param row_slice The row slice.
/// @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,
@@ -389,7 +389,7 @@ class VariableMatrix : public SleipnirBase {
/// @param row_slice The row slice.
/// @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());
@@ -407,7 +407,7 @@ class VariableMatrix : public SleipnirBase {
/// @param col_slice The column slice.
/// @param col_slice_length The column slice length.
/// @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) {
@@ -425,7 +425,7 @@ class VariableMatrix : public SleipnirBase {
/// @param col_slice The column slice.
/// @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,
@@ -511,9 +511,9 @@ 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;
}
}
@@ -534,9 +534,9 @@ 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;
}
}
@@ -557,9 +557,9 @@ 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
@@ -580,7 +580,7 @@ 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;
}
}
@@ -597,7 +597,7 @@ 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;
}
}
@@ -615,7 +615,7 @@ 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;
}
}
@@ -632,7 +632,7 @@ 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;
}
}
@@ -650,9 +650,9 @@ 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;
}
}
@@ -666,7 +666,7 @@ 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;
}
}
@@ -685,7 +685,7 @@ 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;
}
}
@@ -704,7 +704,7 @@ 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;
}
}
@@ -723,7 +723,7 @@ 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;
}
}
@@ -737,7 +737,7 @@ 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;
}
}
@@ -757,7 +757,7 @@ 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);
}
}
@@ -777,7 +777,7 @@ 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);
}
}
@@ -797,7 +797,7 @@ 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);
}
}
@@ -813,7 +813,7 @@ 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);
}
}
@@ -829,7 +829,7 @@ 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;
}
}
@@ -849,7 +849,7 @@ 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);
}
}
@@ -869,7 +869,7 @@ 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);
}
}
@@ -889,7 +889,7 @@ 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);
}
}
@@ -905,7 +905,7 @@ 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);
}
}
@@ -921,7 +921,7 @@ 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;
}
}
@@ -937,7 +937,7 @@ 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);
}
}
@@ -948,7 +948,7 @@ 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);
}
/// Returns the transpose of the variable matrix.
@@ -959,7 +959,7 @@ 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);
}
}
@@ -981,7 +981,7 @@ class VariableMatrix : public SleipnirBase {
/// @param row The row of the element to return.
/// @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.
///
@@ -998,7 +998,7 @@ 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);
}
}
@@ -1016,7 +1016,7 @@ 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));
}
}
@@ -1269,7 +1269,7 @@ 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));
}
}
@@ -1402,17 +1402,17 @@ 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;
@@ -1429,15 +1429,15 @@ 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;
@@ -1477,22 +1477,22 @@ 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;
@@ -1623,14 +1623,14 @@ 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);
}
}
@@ -1639,7 +1639,7 @@ 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 5e20b9b8debc13611d5d719b589d8fd896c35a90..e5163f9c2dbbfa0a580d029e61c741e6c9d00fd9 100644
--- a/include/sleipnir/optimization/ocp.hpp
+++ b/include/sleipnir/optimization/ocp.hpp
@@ -123,7 +123,7 @@ 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();
@@ -132,12 +132,12 @@ 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());
}
}
@@ -206,7 +206,7 @@ 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;
@@ -326,7 +326,7 @@ 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;
@@ -363,7 +363,7 @@ 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(
@@ -386,7 +386,7 @@ 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 c4a45f7f954c9e028b1c85c45d5034bde284474f..4e38a082855c07c47f1aa191613114a5a392a4e4 100644
--- a/include/sleipnir/optimization/problem.hpp
+++ b/include/sleipnir/optimization/problem.hpp
@@ -97,7 +97,7 @@ 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();
}
}
@@ -132,8 +132,8 @@ 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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