fix sleipnir api break

Author: samfreund

.vscode/settings.json

@@ -1,5 +1,8 @@
 {
     "python.testing.unittestEnabled": false,
     "python.testing.pytestEnabled": true,
-    "python.testing.cwd": "photon-lib/py"
+    "python.testing.cwd": "photon-lib/py",
+    "files.associations": {
+        "bitset": "cpp"
+    }
 }

photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp

@@ -156,8 +156,7 @@ struct ProblemState {
 #undef MAKE_ARGV
 };
 
-wpi::expected<constrained_solvepnp::RobotStateMat,
-              sleipnir::SolverExitCondition>
+wpi::expected<constrained_solvepnp::RobotStateMat, slp::ExitStatus>
 constrained_solvepnp::do_optimization(
     bool heading_free, int nTags,
     constrained_solvepnp::CameraCalibration cameraCal,
@@ -173,7 +172,7 @@ constrained_solvepnp::do_optimization(
     if constexpr (VERBOSE) fmt::println("Got unexpected num cols!");
     // TODO find a new error code
     return wpi::unexpected{
-        sleipnir::SolverExitCondition::kNonfiniteInitialCostOrConstraints};
+        slp::ExitStatus::NONFINITE_INITIAL_COST_OR_CONSTRAINTS};
   }
 
   // rescale observations to homogenous pixel coordinates
@@ -203,7 +202,7 @@ constrained_solvepnp::do_optimization(
   auto problemOpt = createProblem(nTags, heading_free);
   if (!problemOpt) {
     return wpi::unexpected{
-        sleipnir::SolverExitCondition::kNonfiniteInitialCostOrConstraints};
+        slp::ExitStatus::NONFINITE_INITIAL_COST_OR_CONSTRAINTS};
   }
 
   ProblemState<3> pState{robot2camera,     field2points, point_observations,
@@ -233,7 +232,7 @@ constrained_solvepnp::do_optimization(
 
     // Check for diverging iterates
     if (x.template lpNorm<Eigen::Infinity>() > 1e20 || !x.allFinite()) {
-      return wpi::unexpected{sleipnir::SolverExitCondition::kDivergingIterates};
+      return wpi::unexpected{slp::ExitStatus::DIVERGING_ITERATES};
     }
 
     GradMat g = pState.calculateGradJ(x);
@@ -254,7 +253,7 @@ constrained_solvepnp::do_optimization(
     auto H_ldlt = H.ldlt();
     if (H_ldlt.info() != Eigen::Success) {
       std::cerr << "LDLT decomp failed! H=" << std::endl << H << std::endl;
-      return wpi::unexpected{sleipnir::SolverExitCondition::kLocallyInfeasible};
+      return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE};
     }
 
     // Make sure H is positive definite (all eigenvalues are > 0)
@@ -278,8 +277,7 @@ constrained_solvepnp::do_optimization(
 
         if (H_ldlt.info() != Eigen::Success) {
           std::cerr << "LDLT decomp failed! H=" << std::endl << H << std::endl;
-          return wpi::unexpected{
-              sleipnir::SolverExitCondition::kLocallyInfeasible};
+          return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE};
         }
 
         // If our eigenvalues aren't positive definite, pick a new δ for next
@@ -289,8 +287,7 @@ constrained_solvepnp::do_optimization(
 
           // If the Hessian perturbation is too high, report failure
           if (δ > 1e20) {
-            return wpi::unexpected{
-                sleipnir::SolverExitCondition::kLocallyInfeasible};
+            return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE};
           }
         } else {
           // Done!
@@ -301,8 +298,7 @@ constrained_solvepnp::do_optimization(
       }
 
       if (i_reg == MAX_REG_STEPS) {
-        return wpi::unexpected{
-            sleipnir::SolverExitCondition::kLocallyInfeasible};
+        return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE};
       }
     } else {
       // std::printf("Already regularized\n");
@@ -345,8 +341,7 @@ constrained_solvepnp::do_optimization(
 
         // If our step size shrank too much, report local infesibility
         if (alpha < α_min_frac * γConstraint) {
-          return wpi::unexpected{
-              sleipnir::SolverExitCondition::kLocallyInfeasible};
+          return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE};
         }
       }
     }

photon-targeting/src/main/native/cpp/photon/estimation/VisionEstimation.cpp

@@ -191,8 +191,7 @@ std::optional<photon::PnpResult> EstimateRobotPoseConstrainedSolvePNP(
       guess2.X().value(), guess2.Y().value(),
       guess2.Rotation().Radians().value()};
 
-  wpi::expected<constrained_solvepnp::RobotStateMat,
-                sleipnir::SolverExitCondition>
+  wpi::expected<constrained_solvepnp::RobotStateMat, slp::ExitStatus>
       result = constrained_solvepnp::do_optimization(
           headingFree, knownTags.size(), cameraCal, robotToCamera, guessMat,
           field2points, pointObservations, gyroTheta.Radians().value(),

photon-targeting/src/main/native/include/photon/constrained_solvepnp/wrap/casadi_wrapper.h

@@ -18,7 +18,7 @@
 #pragma once
 
 #include <Eigen/Core>
-#include <sleipnir/optimization/SolverExitCondition.hpp>
+#include <sleipnir/optimization/solver/exit_status.hpp>
 #include <wpi/expected>
 
 namespace constrained_solvepnp {
@@ -40,7 +40,7 @@ using RobotStateMat = Eigen::Matrix<casadi_real, 3, 1>;
  * to this. The number of columns in field2points and point_observations just be
  * exactly 4x nTags.
  */
-wpi::expected<RobotStateMat, sleipnir::SolverExitCondition> do_optimization(
+wpi::expected<RobotStateMat, slp::ExitStatus> do_optimization(
     bool heading_free, int nTags, CameraCalibration cameraCal,
     // Note that casadi is column major, apparently
     Eigen::Matrix<casadi_real, 4, 4, Eigen::ColMajor> robot2camera,

photon-targeting/src/main/native/jni/ConstrainedSolvepnpJNI.cpp

@@ -84,8 +84,7 @@ Java_org_photonvision_jni_ConstrainedSolvepnpJni_do_1optimization
   std::cout << "observations:\n" << pointObservationsMat << std::endl;
 #endif
 
-  wpi::expected<constrained_solvepnp::RobotStateMat,
-                sleipnir::SolverExitCondition>
+  wpi::expected<constrained_solvepnp::RobotStateMat, slp::ExitStatus>
       result = constrained_solvepnp::do_optimization(
           headingFree, nTags, cameraCal_, robot2cameraMat, xGuessMat,
           field2pointsMat, pointObservationsMat, gyro_θ, gyro_error_scale_fac);