[upstream_utils] Upgrade Sleipnir and use wpi::SmallVector (wpilibsui…

…te#6748)
Gold856 · Jun 21, 2024 · 2586575 · 2586575
1 parent e2893fc
commit 2586575
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Showing 29 changed files with 780 additions and 596 deletions.
diff --git a/upstream_utils/sleipnir_patches/0001-Remove-using-enum-declarations.patch b/upstream_utils/sleipnir_patches/0001-Remove-using-enum-declarations.patch
@@ -9,7 +9,7 @@ Subject: [PATCH 1/4] Remove "using enum" declarations
  2 files changed, 73 insertions(+), 110 deletions(-)
 
 diff --git a/include/sleipnir/autodiff/Expression.hpp b/include/sleipnir/autodiff/Expression.hpp
-index 5b8dc5dca9bd685e6647e79f5fd4699bb9909853..802a8602a125251058cfe22447911999f035efad 100644
+index 99997da577f5d4de81dc0c6de3cc7225676f5aa3..0f306e3b2dccbe63367be7856d051d943a09f910 100644
 --- a/include/sleipnir/autodiff/Expression.hpp
 +++ b/include/sleipnir/autodiff/Expression.hpp
 @@ -191,8 +191,6 @@ struct SLEIPNIR_DLLEXPORT Expression {

diff --git a/upstream_utils/sleipnir_patches/0002-Add-implicit-typename.patch b/upstream_utils/sleipnir_patches/0002-Add-implicit-typename.patch
diff --git a/...ls/sleipnir_patches/0003-Use-fmtlib.patch → ...ls/sleipnir_patches/0002-Use-fmtlib.patch b/...ls/sleipnir_patches/0003-Use-fmtlib.patch → ...ls/sleipnir_patches/0002-Use-fmtlib.patch
@@ -1,48 +1,23 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Tyler Veness <calcmogul@gmail.com>
 Date: Wed, 29 May 2024 16:29:55 -0700
-Subject: [PATCH 3/4] Use fmtlib
+Subject: [PATCH 2/4] Use fmtlib
 
 ---
- include/.styleguide              |  1 +
- include/sleipnir/util/Assert.hpp |  5 +++--
- include/sleipnir/util/Print.hpp  | 27 ++++++++++++++-------------
- 3 files changed, 18 insertions(+), 15 deletions(-)
+ include/.styleguide             |  1 +
+ include/sleipnir/util/Print.hpp | 27 ++++++++++++++-------------
+ 2 files changed, 15 insertions(+), 13 deletions(-)
 
 diff --git a/include/.styleguide b/include/.styleguide
-index f3b2f0cf9e60b3a86b9654ff2b381f9c48734ff6..8251a490677bcf5fd316d5303195b0fa4e599b75 100644
+index 8fb61fdf9cc5ceff633d3126f0579eef25a1326f..6a7f8ed28f9cb037c9746a7e0ef5e110481d9825 100644
 --- a/include/.styleguide
 +++ b/include/.styleguide
-@@ -8,4 +8,5 @@ cppSrcFileInclude {
+@@ -12,4 +12,5 @@ licenseUpdateExclude {
 
  includeOtherLibs {
    ^Eigen/
 +  ^fmt/
  }
-diff --git a/include/sleipnir/util/Assert.hpp b/include/sleipnir/util/Assert.hpp
-index ba381ef8f48446e6d07b6d7973a8271cbda8fec9..9999544278c493f263c819811cb4fbcb407b04f1 100644
---- a/include/sleipnir/util/Assert.hpp
-+++ b/include/sleipnir/util/Assert.hpp
-@@ -3,8 +3,9 @@
- #pragma once
-
- #ifdef JORMUNGANDR
--#include <format>
- #include <stdexcept>
-+
-+#include <fmt/format.h>
- /**
-  * Throw an exception in Python.
-  */
-@@ -12,7 +13,7 @@
-   do {                                                                         \
-     if (!(condition)) {                                                        \
-       throw std::invalid_argument(                                             \
--          std::format("{}:{}: {}: Assertion `{}' failed.", __FILE__, __LINE__, \
-+          fmt::format("{}:{}: {}: Assertion `{}' failed.", __FILE__, __LINE__, \
-                       __func__, #condition));                                  \
-     }                                                                          \
-   } while (0);
 diff --git a/include/sleipnir/util/Print.hpp b/include/sleipnir/util/Print.hpp
 index 339320bce6d017ca85025060ba445b2f025bb225..fcf2e69bfb5a081cd915bdded3caa80cd9c38518 100644
 --- a/include/sleipnir/util/Print.hpp

diff --git a/...s/0004-Remove-unsupported-constexpr.patch → ...s/0003-Remove-unsupported-constexpr.patch b/...s/0004-Remove-unsupported-constexpr.patch → ...s/0003-Remove-unsupported-constexpr.patch
@@ -1,14 +1,14 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Tyler Veness <calcmogul@gmail.com>
 Date: Mon, 20 May 2024 09:01:54 -0700
-Subject: [PATCH 4/4] Remove unsupported constexpr
+Subject: [PATCH 3/4] Remove unsupported constexpr
 
 ---
  include/sleipnir/autodiff/Expression.hpp | 8 ++++----
  1 file changed, 4 insertions(+), 4 deletions(-)
 
 diff --git a/include/sleipnir/autodiff/Expression.hpp b/include/sleipnir/autodiff/Expression.hpp
-index 802a8602a125251058cfe22447911999f035efad..7aa715a0aa5f4560b4e16cf5f0458f1385b88c7d 100644
+index 0f306e3b2dccbe63367be7856d051d943a09f910..758433270a1cbe1b33f8b41d3e971b58de711e18 100644
 --- a/include/sleipnir/autodiff/Expression.hpp
 +++ b/include/sleipnir/autodiff/Expression.hpp
 @@ -21,8 +21,8 @@ namespace sleipnir::detail {