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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.
46 lines
2.2 KiB
Diff
46 lines
2.2 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: Sat, 8 Feb 2025 13:42:36 -0800
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Subject: [PATCH 05/10] Replace std::views::zip()
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---
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include/sleipnir/autodiff/gradient_expression_graph.hpp | 5 ++++-
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include/sleipnir/optimization/problem.hpp | 8 +++++---
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2 files changed, 9 insertions(+), 4 deletions(-)
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diff --git a/include/sleipnir/autodiff/gradient_expression_graph.hpp b/include/sleipnir/autodiff/gradient_expression_graph.hpp
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index 275c30b76d34efe7ee1608cd4eedfa54ab2dc1ec..c0e3c161343175837abcb25fb22da0c611a44799 100644
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--- a/include/sleipnir/autodiff/gradient_expression_graph.hpp
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+++ b/include/sleipnir/autodiff/gradient_expression_graph.hpp
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@@ -161,7 +161,10 @@ class GradientExpressionGraph {
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}
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}
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} else {
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- for (const auto& [col, node] : std::views::zip(m_col_list, m_top_list)) {
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+ for (size_t i = 0; i < m_top_list.size(); ++i) {
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+ const auto& col = m_col_list[i];
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+ const auto& node = m_top_list[i];
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+
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// Append adjoints of wrt to sparse matrix triplets
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if (col != -1 && node->adjoint != Scalar(0)) {
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triplets.emplace_back(row, col, node->adjoint);
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diff --git a/include/sleipnir/optimization/problem.hpp b/include/sleipnir/optimization/problem.hpp
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index 273363db2cf75c84d81f2fef36dcb2094303ee2e..c4a45f7f954c9e028b1c85c45d5034bde284474f 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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@@ -771,9 +771,11 @@ class Problem {
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for (const auto& constraint : constraints) {
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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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- "quadratic", "nonlinear"})) {
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+ for (size_t i = 0; i < counts.size(); ++i) {
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+ constexpr std::array names{"empty", "constant", "linear",
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+ "quadratic", "nonlinear"};
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+ const auto& count = counts[i];
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+ const auto& name = names[i];
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if (count > 0) {
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slp::println(" ↳ {} {}", count, name);
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}
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