[trajoptlib] Upgrade Sleipnir for faster autodiff and less memory usa…

…ge (#1136)
SleipnirGroup · Jan 9, 2025 · f9108be · f9108be
1 parent 64d2b7d
commit f9108be
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Showing 2 changed files with 244 additions and 15 deletions.
diff --git a/trajoptlib/CMakeLists.txt b/trajoptlib/CMakeLists.txt
@@ -103,8 +103,8 @@ set(BUILD_EXAMPLES OFF)
 fetchcontent_declare(
     Sleipnir
     GIT_REPOSITORY https://github.com/SleipnirGroup/Sleipnir
-    # main on 2025-01-07
-    GIT_TAG fb0c46d547cb7c7801cbbbb6bddd5d7f86061a8f
+    # main on 2025-01-08
+    GIT_TAG 3b3df2fe485743ab73f395158d0225ad87d9e67c
     PATCH_COMMAND
         git apply ${CMAKE_CURRENT_SOURCE_DIR}/cmake/0001-Downgrade-to-C-20.patch
     UPDATE_DISCONNECTED 1

diff --git a/trajoptlib/cmake/0001-Downgrade-to-C-20.patch b/trajoptlib/cmake/0001-Downgrade-to-C-20.patch
@@ -1,18 +1,19 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Tyler Veness <[email protected]>
-Date: Thu, 20 Jun 2024 12:30:54 -0700
+Date: Wed, 8 Jan 2025 23:39:34 -0800
 Subject: [PATCH] Downgrade to C++20
 
 ---
- .styleguide                       |  1 +
- CMakeLists.txt                    | 10 ++++++++++
- cmake/modules/CompilerFlags.cmake |  2 +-
- include/.styleguide               |  1 +
- include/sleipnir/util/Print.hpp   | 27 ++++++++++++++-------------
- 5 files changed, 27 insertions(+), 14 deletions(-)
+ .styleguide                              |  1 +
+ CMakeLists.txt                           | 10 +++++
+ cmake/modules/CompilerFlags.cmake        |  2 +-
+ include/.styleguide                      |  1 +
+ include/sleipnir/autodiff/Expression.hpp | 57 +++++++++++-------------
+ include/sleipnir/util/Print.hpp          | 27 +++++------
+ 6 files changed, 53 insertions(+), 45 deletions(-)
 
 diff --git a/.styleguide b/.styleguide
-index fc51b044a61dd842dca50d013c52baed00612545..2476200a8763368007c3d4029bf326619a7bf0fa 100644
+index 2cf272a115102886134455a87ea5c7dcf7188283..76e25473e77ab7838509eaeeefa7170a06507f8c 100644
 --- a/.styleguide
 +++ b/.styleguide
 @@ -17,6 +17,7 @@ modifiableFileExclude {
@@ -24,7 +25,7 @@ index fc51b044a61dd842dca50d013c52baed00612545..2476200a8763368007c3d4029bf32661
    ^sleipnir/
  }
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index e9668b53d6a0317cf2367b212f5013cbb2aa7ad5..1db191b6492a5f10b657c42c7959a73ef72724e3 100644
+index 04567acbda381aa07914214cbca0a4419fc065ed..5efa843f6e38195fe0717e971ca99cfce0137b68 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
 @@ -114,6 +114,16 @@ endif()
@@ -45,7 +46,7 @@ index e9668b53d6a0317cf2367b212f5013cbb2aa7ad5..1db191b6492a5f10b657c42c7959a73e
      # Catch2 dependency
      fetchcontent_declare(
 diff --git a/cmake/modules/CompilerFlags.cmake b/cmake/modules/CompilerFlags.cmake
-index 9f3fad1ce359897d6e87d5c37efae51d55bcf160..4331baf9394a7f27bde51906c9dd14b8543e4af4 100644
+index bab9de4de2c79abb3195cdd8b3a8b56da665e900..8caa4b1d7c7f4be463b2541fba91561428193d51 100644
 --- a/cmake/modules/CompilerFlags.cmake
 +++ b/cmake/modules/CompilerFlags.cmake
 @@ -22,7 +22,7 @@ macro(compiler_flags target)
@@ -67,12 +68,240 @@ index 8fb61fdf9cc5ceff633d3126f0579eef25a1326f..6a7f8ed28f9cb037c9746a7e0ef5e110
    ^Eigen/
 +  ^fmt/
  }
+diff --git a/include/sleipnir/autodiff/Expression.hpp b/include/sleipnir/autodiff/Expression.hpp
+index d418bdb201aa01a6ee39c3b2442b717d5e21b137..11ca0149e914b3d194b5a207bea5a72273320669 100644
+--- a/include/sleipnir/autodiff/Expression.hpp
++++ b/include/sleipnir/autodiff/Expression.hpp
+@@ -371,8 +371,8 @@ struct BinaryMinusExpression : Expression {
+    * @param lhs Binary operator's left operand.
+    * @param rhs Binary operator's right operand.
+    */
+-  constexpr BinaryMinusExpression(ExpressionType type, ExpressionPtr lhs,
+-                                  ExpressionPtr rhs)
++  BinaryMinusExpression(ExpressionType type, ExpressionPtr lhs,
++                        ExpressionPtr rhs)
+       : Expression{type, std::move(lhs), std::move(rhs)} {
+     value = BinaryMinusExpression::Value(args[0]->value, args[1]->value);
+   }
+@@ -406,8 +406,8 @@ struct BinaryPlusExpression : Expression {
+    * @param lhs Binary operator's left operand.
+    * @param rhs Binary operator's right operand.
+    */
+-  constexpr BinaryPlusExpression(ExpressionType type, ExpressionPtr lhs,
+-                                 ExpressionPtr rhs)
++  BinaryPlusExpression(ExpressionType type, ExpressionPtr lhs,
++                       ExpressionPtr rhs)
+       : Expression{type, std::move(lhs), std::move(rhs)} {
+     value = BinaryPlusExpression::Value(args[0]->value, args[1]->value);
+   }
+@@ -475,8 +475,7 @@ struct DivExpression : Expression {
+    * @param lhs Binary operator's left operand.
+    * @param rhs Binary operator's right operand.
+    */
+-  constexpr DivExpression(ExpressionType type, ExpressionPtr lhs,
+-                          ExpressionPtr rhs)
++  DivExpression(ExpressionType type, ExpressionPtr lhs, ExpressionPtr rhs)
+       : Expression{type, std::move(lhs), std::move(rhs)} {
+     value = DivExpression::Value(args[0]->value, args[1]->value);
+   }
+@@ -512,8 +511,7 @@ struct MultExpression : Expression {
+    * @param lhs Binary operator's left operand.
+    * @param rhs Binary operator's right operand.
+    */
+-  constexpr MultExpression(ExpressionType type, ExpressionPtr lhs,
+-                           ExpressionPtr rhs)
++  MultExpression(ExpressionType type, ExpressionPtr lhs, ExpressionPtr rhs)
+       : Expression{type, std::move(lhs), std::move(rhs)} {
+     value = MultExpression::Value(args[0]->value, args[1]->value);
+   }
+@@ -550,7 +548,7 @@ struct UnaryMinusExpression : Expression {
+    * @param type The expression's type.
+    * @param lhs Unary operator's operand.
+    */
+-  constexpr UnaryMinusExpression(ExpressionType type, ExpressionPtr lhs)
++  UnaryMinusExpression(ExpressionType type, ExpressionPtr lhs)
+       : Expression{type, std::move(lhs)} {
+     value = UnaryMinusExpression::Value(args[0]->value, 0.0);
+   }
+@@ -628,7 +626,7 @@ struct AbsExpression : Expression {
+    * @param type The expression's type.
+    * @param lhs Unary operator's operand.
+    */
+-  constexpr AbsExpression(ExpressionType type, ExpressionPtr lhs)
++  AbsExpression(ExpressionType type, ExpressionPtr lhs)
+       : Expression{type, std::move(lhs)} {
+     value = AbsExpression::Value(args[0]->value, 0.0);
+   }
+@@ -688,7 +686,7 @@ struct AcosExpression : Expression {
+    * @param type The expression's type.
+    * @param lhs Unary operator's operand.
+    */
+-  constexpr AcosExpression(ExpressionType type, ExpressionPtr lhs)
++  AcosExpression(ExpressionType type, ExpressionPtr lhs)
+       : Expression{type, std::move(lhs)} {
+     value = AcosExpression::Value(args[0]->value, 0.0);
+   }
+@@ -736,7 +734,7 @@ struct AsinExpression : Expression {
+    * @param type The expression's type.
+    * @param lhs Unary operator's operand.
+    */
+-  constexpr AsinExpression(ExpressionType type, ExpressionPtr lhs)
++  AsinExpression(ExpressionType type, ExpressionPtr lhs)
+       : Expression{type, std::move(lhs)} {
+     value = AsinExpression::Value(args[0]->value, 0.0);
+   }
+@@ -784,7 +782,7 @@ struct AtanExpression : Expression {
+    * @param type The expression's type.
+    * @param lhs Unary operator's operand.
+    */
+-  constexpr AtanExpression(ExpressionType type, ExpressionPtr lhs)
++  AtanExpression(ExpressionType type, ExpressionPtr lhs)
+       : Expression{type, std::move(lhs)} {
+     value = AtanExpression::Value(args[0]->value, 0.0);
+   }
+@@ -832,8 +830,7 @@ struct Atan2Expression : Expression {
+    * @param lhs Binary operator's left operand.
+    * @param rhs Binary operator's right operand.
+    */
+-  constexpr Atan2Expression(ExpressionType type, ExpressionPtr lhs,
+-                            ExpressionPtr rhs)
++  Atan2Expression(ExpressionType type, ExpressionPtr lhs, ExpressionPtr rhs)
+       : Expression{type, std::move(lhs), std::move(rhs)} {
+     value = Atan2Expression::Value(args[0]->value, args[1]->value);
+   }
+@@ -893,7 +890,7 @@ struct CosExpression : Expression {
+    * @param type The expression's type.
+    * @param lhs Unary operator's operand.
+    */
+-  constexpr CosExpression(ExpressionType type, ExpressionPtr lhs)
++  CosExpression(ExpressionType type, ExpressionPtr lhs)
+       : Expression{type, std::move(lhs)} {
+     value = CosExpression::Value(args[0]->value, 0.0);
+   }
+@@ -939,7 +936,7 @@ struct CoshExpression : Expression {
+    * @param type The expression's type.
+    * @param lhs Unary operator's operand.
+    */
+-  constexpr CoshExpression(ExpressionType type, ExpressionPtr lhs)
++  CoshExpression(ExpressionType type, ExpressionPtr lhs)
+       : Expression{type, std::move(lhs)} {
+     value = CoshExpression::Value(args[0]->value, 0.0);
+   }
+@@ -985,7 +982,7 @@ struct ErfExpression : Expression {
+    * @param type The expression's type.
+    * @param lhs Unary operator's operand.
+    */
+-  constexpr ErfExpression(ExpressionType type, ExpressionPtr lhs)
++  ErfExpression(ExpressionType type, ExpressionPtr lhs)
+       : Expression{type, std::move(lhs)} {
+     value = ErfExpression::Value(args[0]->value, 0.0);
+   }
+@@ -1034,7 +1031,7 @@ struct ExpExpression : Expression {
+    * @param type The expression's type.
+    * @param lhs Unary operator's operand.
+    */
+-  constexpr ExpExpression(ExpressionType type, ExpressionPtr lhs)
++  ExpExpression(ExpressionType type, ExpressionPtr lhs)
+       : Expression{type, std::move(lhs)} {
+     value = ExpExpression::Value(args[0]->value, 0.0);
+   }
+@@ -1083,8 +1080,7 @@ struct HypotExpression : Expression {
+    * @param lhs Binary operator's left operand.
+    * @param rhs Binary operator's right operand.
+    */
+-  constexpr HypotExpression(ExpressionType type, ExpressionPtr lhs,
+-                            ExpressionPtr rhs)
++  HypotExpression(ExpressionType type, ExpressionPtr lhs, ExpressionPtr rhs)
+       : Expression{type, std::move(lhs), std::move(rhs)} {
+     value = HypotExpression::Value(args[0]->value, args[1]->value);
+   }
+@@ -1143,7 +1139,7 @@ struct LogExpression : Expression {
+    * @param type The expression's type.
+    * @param lhs Unary operator's operand.
+    */
+-  constexpr LogExpression(ExpressionType type, ExpressionPtr lhs)
++  LogExpression(ExpressionType type, ExpressionPtr lhs)
+       : Expression{type, std::move(lhs)} {
+     value = LogExpression::Value(args[0]->value, 0.0);
+   }
+@@ -1190,7 +1186,7 @@ struct Log10Expression : Expression {
+    * @param type The expression's type.
+    * @param lhs Unary operator's operand.
+    */
+-  constexpr Log10Expression(ExpressionType type, ExpressionPtr lhs)
++  Log10Expression(ExpressionType type, ExpressionPtr lhs)
+       : Expression{type, std::move(lhs)} {
+     value = Log10Expression::Value(args[0]->value, 0.0);
+   }
+@@ -1241,8 +1237,7 @@ struct PowExpression : Expression {
+    * @param lhs Binary operator's left operand.
+    * @param rhs Binary operator's right operand.
+    */
+-  constexpr PowExpression(ExpressionType type, ExpressionPtr lhs,
+-                          ExpressionPtr rhs)
++  PowExpression(ExpressionType type, ExpressionPtr lhs, ExpressionPtr rhs)
+       : Expression{type, std::move(lhs), std::move(rhs)} {
+     value = PowExpression::Value(args[0]->value, args[1]->value);
+   }
+@@ -1332,7 +1327,7 @@ struct SignExpression : Expression {
+    * @param type The expression's type.
+    * @param lhs Unary operator's operand.
+    */
+-  constexpr SignExpression(ExpressionType type, ExpressionPtr lhs)
++  SignExpression(ExpressionType type, ExpressionPtr lhs)
+       : Expression{type, std::move(lhs)} {
+     value = SignExpression::Value(args[0]->value, 0.0);
+   }
+@@ -1386,7 +1381,7 @@ struct SinExpression : Expression {
+    * @param type The expression's type.
+    * @param lhs Unary operator's operand.
+    */
+-  constexpr SinExpression(ExpressionType type, ExpressionPtr lhs)
++  SinExpression(ExpressionType type, ExpressionPtr lhs)
+       : Expression{type, std::move(lhs)} {
+     value = SinExpression::Value(args[0]->value, 0.0);
+   }
+@@ -1433,7 +1428,7 @@ struct SinhExpression : Expression {
+    * @param type The expression's type.
+    * @param lhs Unary operator's operand.
+    */
+-  constexpr SinhExpression(ExpressionType type, ExpressionPtr lhs)
++  SinhExpression(ExpressionType type, ExpressionPtr lhs)
+       : Expression{type, std::move(lhs)} {
+     value = SinhExpression::Value(args[0]->value, 0.0);
+   }
+@@ -1480,7 +1475,7 @@ struct SqrtExpression : Expression {
+    * @param type The expression's type.
+    * @param lhs Unary operator's operand.
+    */
+-  constexpr SqrtExpression(ExpressionType type, ExpressionPtr lhs)
++  SqrtExpression(ExpressionType type, ExpressionPtr lhs)
+       : Expression{type, std::move(lhs)} {
+     value = SqrtExpression::Value(args[0]->value, 0.0);
+   }
+@@ -1529,7 +1524,7 @@ struct TanExpression : Expression {
+    * @param type The expression's type.
+    * @param lhs Unary operator's operand.
+    */
+-  constexpr TanExpression(ExpressionType type, ExpressionPtr lhs)
++  TanExpression(ExpressionType type, ExpressionPtr lhs)
+       : Expression{type, std::move(lhs)} {
+     value = TanExpression::Value(args[0]->value, 0.0);
+   }
+@@ -1577,7 +1572,7 @@ struct TanhExpression : Expression {
+    * @param type The expression's type.
+    * @param lhs Unary operator's operand.
+    */
+-  constexpr TanhExpression(ExpressionType type, ExpressionPtr lhs)
++  TanhExpression(ExpressionType type, ExpressionPtr lhs)
+       : Expression{type, std::move(lhs)} {
+     value = TanhExpression::Value(args[0]->value, 0.0);
+   }
 diff --git a/include/sleipnir/util/Print.hpp b/include/sleipnir/util/Print.hpp
-index 339320bce6d017ca85025060ba445b2f025bb225..fcf2e69bfb5a081cd915bdded3caa80cd9c38518 100644
+index a746cb77b70f095bb15f4c493295cb925bc74cd3..484d1b2bec7148c5b9affccbf554c7df2b954cc0 100644
 --- a/include/sleipnir/util/Print.hpp
 +++ b/include/sleipnir/util/Print.hpp
-@@ -2,53 +2,54 @@
-
+@@ -3,52 +3,53 @@
  #pragma once
 
  #include <cstdio>