mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
c5db23f296
These are useful for efficiently solving huge, but sparse systems of equations that occur often in optimization problems.
143 lines
3.6 KiB
Python
Executable File
143 lines
3.6 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
|
|
import os
|
|
import re
|
|
import shutil
|
|
|
|
from upstream_utils import (
|
|
setup_upstream_repo,
|
|
comment_out_invalid_includes,
|
|
walk_cwd_and_copy_if,
|
|
am_patches,
|
|
)
|
|
|
|
|
|
def eigen_inclusions(dp, f):
|
|
"""Returns true if the given file in the "Eigen" include directory of the
|
|
Eigen git repo should be copied into allwpilib
|
|
|
|
Keyword arguments:
|
|
dp -- directory path
|
|
f -- filename
|
|
"""
|
|
if not dp.startswith("./Eigen"):
|
|
return False
|
|
|
|
abspath = os.path.join(dp, f)
|
|
|
|
# Exclude NonMPL2.h since all non-MPL2 code will be excluded anyway
|
|
if f == "NonMPL2.h":
|
|
return False
|
|
|
|
# Exclude BLAS support
|
|
if f.endswith("_BLAS.h") or "blas" in f:
|
|
return False
|
|
|
|
# Exclude LAPACK support
|
|
if f.endswith("_LAPACKE.h") or "lapack" in f:
|
|
return False
|
|
|
|
# Exclude MKL support
|
|
if "MKL" in f:
|
|
return False
|
|
|
|
# Include architectures we care about
|
|
if "Core/arch/" in abspath:
|
|
return (
|
|
"arch/AVX/" in abspath
|
|
or "arch/Default" in abspath
|
|
or "arch/NEON" in abspath
|
|
or "arch/SSE" in abspath
|
|
)
|
|
|
|
# Include the following modules
|
|
modules = [
|
|
"Cholesky",
|
|
"Core",
|
|
"Eigenvalues",
|
|
"Householder",
|
|
"IterativeLinearSolvers",
|
|
"Jacobi",
|
|
"LU",
|
|
"OrderingMethods",
|
|
"QR",
|
|
"SVD",
|
|
"SparseCholesky",
|
|
"SparseCore",
|
|
"SparseLU",
|
|
"SparseQR",
|
|
"StlSupport",
|
|
"misc",
|
|
"plugins",
|
|
]
|
|
modules_rgx = r"|".join("/" + m for m in modules)
|
|
|
|
# "Std" matches StdDeque, StdList, and StdVector headers
|
|
if re.search(modules_rgx, abspath) or "Std" in f:
|
|
return True
|
|
else:
|
|
# Exclude all other modules
|
|
return False
|
|
|
|
|
|
def unsupported_inclusions(dp, f):
|
|
"""Returns true if the given file in the "unsupported" include directory of
|
|
the Eigen git repo should be copied into allwpilib
|
|
|
|
Keyword arguments:
|
|
dp -- directory path
|
|
f -- filename
|
|
"""
|
|
if not dp.startswith("./unsupported"):
|
|
return False
|
|
|
|
abspath = os.path.join(dp, f)
|
|
|
|
# Exclude build system and READMEs
|
|
if f == "CMakeLists.txt" or "README" in f:
|
|
return False
|
|
|
|
# Include the MatrixFunctions module
|
|
return "MatrixFunctions" in abspath
|
|
|
|
|
|
def main():
|
|
root, repo = setup_upstream_repo("https://gitlab.com/libeigen/eigen.git", "3.4.0")
|
|
wpimath = os.path.join(root, "wpimath")
|
|
|
|
# Apply patches to original git repo
|
|
prefix = os.path.join(root, "upstream_utils/eigen_patches")
|
|
am_patches(repo, [os.path.join(prefix, "0001-Disable-warnings.patch")])
|
|
|
|
# Delete old install
|
|
for d in [
|
|
"src/main/native/thirdparty/eigen/include/Eigen",
|
|
"src/main/native/thirdparty/eigen/include/unsupported",
|
|
]:
|
|
shutil.rmtree(os.path.join(wpimath, d), ignore_errors=True)
|
|
|
|
# Copy Eigen headers into allwpilib
|
|
eigen_files = walk_cwd_and_copy_if(
|
|
eigen_inclusions,
|
|
os.path.join(wpimath, "src/main/native/thirdparty/eigen/include"),
|
|
)
|
|
|
|
# Copy unsupported headers into allwpilib
|
|
unsupported_files = walk_cwd_and_copy_if(
|
|
unsupported_inclusions,
|
|
os.path.join(wpimath, "src/main/native/thirdparty/eigen/include"),
|
|
)
|
|
|
|
for f in eigen_files:
|
|
comment_out_invalid_includes(
|
|
f, [os.path.join(wpimath, "src/main/native/thirdparty/eigen/include")]
|
|
)
|
|
for f in unsupported_files:
|
|
comment_out_invalid_includes(
|
|
f, [os.path.join(wpimath, "src/main/native/thirdparty/eigen/include")]
|
|
)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|