mirror of
https://github.com/wpilibsuite/allwpilib
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5b4769ea0a
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.
90 lines
3.7 KiB
Diff
90 lines
3.7 KiB
Diff
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
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From: Tyler Veness <calcmogul@gmail.com>
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Date: Tue, 28 Jan 2025 22:19:31 -0800
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Subject: [PATCH 04/10] Replace std::to_underlying()
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---
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include/sleipnir/optimization/problem.hpp | 9 +++++----
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include/sleipnir/util/print_diagnostics.hpp | 3 ++-
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include/sleipnir/util/to_underlying.hpp | 14 ++++++++++++++
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3 files changed, 21 insertions(+), 5 deletions(-)
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create mode 100644 include/sleipnir/util/to_underlying.hpp
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diff --git a/include/sleipnir/optimization/problem.hpp b/include/sleipnir/optimization/problem.hpp
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index 3de6d5bf89a65fe07784350c3b1a4691dfc0c822..273363db2cf75c84d81f2fef36dcb2094303ee2e 100644
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--- a/include/sleipnir/optimization/problem.hpp
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+++ b/include/sleipnir/optimization/problem.hpp
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@@ -37,6 +37,7 @@
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#include "sleipnir/util/profiler.hpp"
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#include "sleipnir/util/spy.hpp"
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#include "sleipnir/util/symbol_exports.hpp"
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+#include "sleipnir/util/to_underlying.hpp"
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namespace slp {
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@@ -752,11 +753,11 @@ class Problem {
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// Print problem structure
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slp::println("\nProblem structure:");
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slp::println(" ↳ {} cost function",
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- types[std::to_underlying(cost_function_type())]);
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+ types[slp::to_underlying(cost_function_type())]);
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slp::println(" ↳ {} equality constraints",
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- types[std::to_underlying(equality_constraint_type())]);
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+ types[slp::to_underlying(equality_constraint_type())]);
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slp::println(" ↳ {} inequality constraints",
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- types[std::to_underlying(inequality_constraint_type())]);
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+ types[slp::to_underlying(inequality_constraint_type())]);
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if (m_decision_variables.size() == 1) {
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slp::print("\n1 decision variable\n");
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@@ -768,7 +769,7 @@ class Problem {
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[](const gch::small_vector<Variable<Scalar>>& constraints) {
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std::array<size_t, 5> counts{};
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for (const auto& constraint : constraints) {
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- ++counts[std::to_underlying(constraint.type())];
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+ ++counts[slp::to_underlying(constraint.type())];
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}
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for (const auto& [count, name] :
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std::views::zip(counts, std::array{"empty", "constant", "linear",
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diff --git a/include/sleipnir/util/print_diagnostics.hpp b/include/sleipnir/util/print_diagnostics.hpp
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index e16ef1b03e675b7ccb8db6781568eec7a44aace7..69cb99957cc7da5abc4162c53a229f7f642bbe4b 100644
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--- a/include/sleipnir/util/print_diagnostics.hpp
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+++ b/include/sleipnir/util/print_diagnostics.hpp
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@@ -17,6 +17,7 @@
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#include "sleipnir/util/print.hpp"
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#include "sleipnir/util/profiler.hpp"
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+#include "sleipnir/util/to_underlying.hpp"
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namespace slp {
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@@ -239,7 +240,7 @@ void print_iteration_diagnostics(int iterations, IterationType type,
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slp::println(
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"│{:4} {:4} {:9.3f} {:12e} {:13e} {:12e} {:12e} {:.2e} {:<5} {:.2e} "
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"{:.2e} {:2d}│",
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- iterations, ITERATION_TYPES[std::to_underlying(type)], to_ms(time), error,
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+ iterations, ITERATION_TYPES[slp::to_underlying(type)], to_ms(time), error,
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cost, infeasibility, complementarity, μ, power_of_10(δ), primal_α, dual_α,
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backtracks);
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}
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diff --git a/include/sleipnir/util/to_underlying.hpp b/include/sleipnir/util/to_underlying.hpp
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new file mode 100644
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index 0000000000000000000000000000000000000000..3f9b4835b912c5a0d998c43828f255c61d0f573e
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--- /dev/null
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+++ b/include/sleipnir/util/to_underlying.hpp
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@@ -0,0 +1,14 @@
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+// Copyright (c) Sleipnir contributors
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+
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+#pragma once
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+
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+#include <type_traits>
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+
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+namespace slp {
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+
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+template <typename Enum>
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+constexpr std::underlying_type_t<Enum> to_underlying(Enum e) noexcept {
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+ return static_cast<std::underlying_type_t<Enum>>(e);
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+}
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+
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+} // namespace slp
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