[wpimath] Replace constexpr coeff() and coeffRef() with operator() (#…

…7391)

upstream_utils/eigen.py

@@ -126,7 +126,8 @@ def copy_upstream_src(wpilib_root):
 def main():
     name = "eigen"
     url = "https://gitlab.com/libeigen/eigen.git"
-    tag = "d14b0a4e531760b6aeccf20b666eaec8bd0b8461"
+    # master on 2024-11-14
+    tag = "0fb2ed140d4fc0108553ecfb25f2d7fc1a9319a1"
 
     eigen = Lib(name, url, tag, copy_upstream_src)
     eigen.main()

upstream_utils/eigen_patches/0001-Disable-warnings.patch

@@ -8,7 +8,7 @@ Subject: [PATCH 1/2] Disable warnings
  1 file changed, 6 insertions(+)
 
 diff --git a/Eigen/src/Core/util/DisableStupidWarnings.h b/Eigen/src/Core/util/DisableStupidWarnings.h
-index 32a427d852355a51dc4263d81498554ff4c3cbba..1182198231ab784346f8d80838363e4a0abba2ba 100644
+index ab0c542d0e24c6ecb77abfc535c8232774cba6d5..7ecd7bf8cc927d07a28c9da4ebbe1ea4d4d2b97b 100644
 --- a/Eigen/src/Core/util/DisableStupidWarnings.h
 +++ b/Eigen/src/Core/util/DisableStupidWarnings.h
 @@ -81,6 +81,12 @@
@@ -23,4 +23,4 @@ index 32a427d852355a51dc4263d81498554ff4c3cbba..1182198231ab784346f8d80838363e4a
 +#endif
  #endif
 
- #if defined __NVCC__
+ #if defined __NVCC__ && defined __CUDACC__

wpimath/src/main/native/include/frc/StateSpaceUtil.h

@@ -41,17 +41,17 @@ constexpr Matrixd<sizeof...(Ts), sizeof...(Ts)> MakeCostMatrix(
   for (int row = 0; row < result.rows(); ++row) {
     for (int col = 0; col < result.cols(); ++col) {
       if (row != col) {
-        result.coeffRef(row, col) = 0.0;
+        result(row, col) = 0.0;
       }
     }
   }
 
   wpi::for_each(
       [&](int i, double tolerance) {
         if (tolerance == std::numeric_limits<double>::infinity()) {
-          result.coeffRef(i, i) = 0.0;
+          result(i, i) = 0.0;
         } else {
-          result.coeffRef(i, i) = 1.0 / (tolerance * tolerance);
+          result(i, i) = 1.0 / (tolerance * tolerance);
         }
       },
       tolerances...);
@@ -78,14 +78,13 @@ constexpr Matrixd<sizeof...(Ts), sizeof...(Ts)> MakeCovMatrix(Ts... stdDevs) {
   for (int row = 0; row < result.rows(); ++row) {
     for (int col = 0; col < result.cols(); ++col) {
       if (row != col) {
-        result.coeffRef(row, col) = 0.0;
+        result(row, col) = 0.0;
       }
     }
   }
 
-  wpi::for_each(
-      [&](int i, double stdDev) { result.coeffRef(i, i) = stdDev * stdDev; },
-      stdDevs...);
+  wpi::for_each([&](int i, double stdDev) { result(i, i) = stdDev * stdDev; },
+                stdDevs...);
 
   return result;
 }
@@ -111,12 +110,12 @@ constexpr Matrixd<N, N> MakeCostMatrix(const std::array<double, N>& costs) {
     for (int col = 0; col < result.cols(); ++col) {
       if (row == col) {
         if (costs[row] == std::numeric_limits<double>::infinity()) {
-          result.coeffRef(row, col) = 0.0;
+          result(row, col) = 0.0;
         } else {
-          result.coeffRef(row, col) = 1.0 / (costs[row] * costs[row]);
+          result(row, col) = 1.0 / (costs[row] * costs[row]);
         }
       } else {
-        result.coeffRef(row, col) = 0.0;
+        result(row, col) = 0.0;
       }
     }
   }
@@ -143,9 +142,9 @@ constexpr Matrixd<N, N> MakeCovMatrix(const std::array<double, N>& stdDevs) {
   for (int row = 0; row < result.rows(); ++row) {
     for (int col = 0; col < result.cols(); ++col) {
       if (row == col) {
-        result.coeffRef(row, col) = stdDevs[row] * stdDevs[row];
+        result(row, col) = stdDevs[row] * stdDevs[row];
       } else {
-        result.coeffRef(row, col) = 0.0;
+        result(row, col) = 0.0;
       }
     }
   }
@@ -334,7 +333,7 @@ constexpr Vectord<Inputs> ClampInputMaxMagnitude(const Vectord<Inputs>& u,
                                                  const Vectord<Inputs>& umax) {
   Vectord<Inputs> result;
   for (int i = 0; i < Inputs; ++i) {
-    result.coeffRef(i) = std::clamp(u.coeff(i), umin.coeff(i), umax.coeff(i));
+    result(i) = std::clamp(u(i), umin(i), umax(i));
   }
   return result;
 }

wpimath/src/main/native/include/frc/ct_matrix.h

@@ -62,7 +62,7 @@ class ct_matrix {
    * @param col Column index.
    */
   constexpr const Scalar& operator()(int row, int col) const {
-    return m_storage.coeff(row, col);
+    return m_storage(row, col);
   }
 
   /**
@@ -71,9 +71,7 @@ class ct_matrix {
    * @param row Row index.
    * @param col Column index.
    */
-  constexpr Scalar& operator()(int row, int col) {
-    return m_storage.coeffRef(row, col);
-  }
+  constexpr Scalar& operator()(int row, int col) { return m_storage(row, col); }
 
   /**
    * Returns reference to matrix element.
@@ -83,7 +81,7 @@ class ct_matrix {
   constexpr const Scalar& operator()(int index) const
     requires(Rows == 1 || Cols == 1)
   {
-    return m_storage.coeff(index);
+    return m_storage(index);
   }
 
   /**
@@ -94,7 +92,7 @@ class ct_matrix {
   constexpr Scalar& operator()(int index)
     requires(Rows == 1 || Cols == 1)
   {
-    return m_storage.coeffRef(index);
+    return m_storage(index);
   }
 
   /**

wpimath/src/main/native/include/frc/geometry/CoordinateSystem.h

@@ -35,12 +35,10 @@ class WPILIB_DLLEXPORT CoordinateSystem {
     // the NWU coordinate system. Each column vector in the change of basis
     // matrix is one of the old basis vectors mapped to its representation in
     // the new basis.
-    Eigen::Matrix3d R{{positiveX.m_axis.coeff(0), positiveY.m_axis.coeff(0),
-                       positiveZ.m_axis.coeff(0)},
-                      {positiveX.m_axis.coeff(1), positiveY.m_axis.coeff(1),
-                       positiveZ.m_axis.coeff(1)},
-                      {positiveX.m_axis.coeff(2), positiveY.m_axis.coeff(2),
-                       positiveZ.m_axis.coeff(2)}};
+    Eigen::Matrix3d R{
+        {positiveX.m_axis(0), positiveY.m_axis(0), positiveZ.m_axis(0)},
+        {positiveX.m_axis(1), positiveY.m_axis(1), positiveZ.m_axis(1)},
+        {positiveX.m_axis(2), positiveY.m_axis(2), positiveZ.m_axis(2)}};
 
     // The change of basis matrix should be a pure rotation. The Rotation3d
     // constructor will verify this by checking for special orthogonality.

wpimath/src/main/native/include/frc/geometry/Pose3d.h

@@ -281,9 +281,9 @@ constexpr Eigen::Matrix3d RotationVectorToMatrix(
   //         [ 0 -c  b]
   // Omega = [ c  0 -a]
   //         [-b  a  0]
-  return Eigen::Matrix3d{{0.0, -rotation.coeff(2), rotation.coeff(1)},
-                         {rotation.coeff(2), 0.0, -rotation.coeff(0)},
-                         {-rotation.coeff(1), rotation.coeff(0), 0.0}};
+  return Eigen::Matrix3d{{0.0, -rotation(2), rotation(1)},
+                         {rotation(2), 0.0, -rotation(0)},
+                         {-rotation(1), rotation(0), 0.0}};
 }
 
 }  // namespace detail

wpimath/src/main/native/include/frc/geometry/Quaternion.h

@@ -299,7 +299,7 @@ class WPILIB_DLLEXPORT Quaternion {
     // 𝑞 = std::cos(θ/2) + std::sin(θ/2) * v̂
     // 𝑞 = std::cos(θ/2) + std::sin(θ/2) / θ * 𝑣⃗
 
-    double theta = gcem::hypot(rvec.coeff(0), rvec.coeff(1), rvec.coeff(2));
+    double theta = gcem::hypot(rvec(0), rvec(1), rvec(2));
     double cos = gcem::cos(theta / 2);
 
     double axial_scalar;
@@ -312,9 +312,8 @@ class WPILIB_DLLEXPORT Quaternion {
       axial_scalar = gcem::sin(theta / 2) / theta;
     }
 
-    return Quaternion{cos, axial_scalar * rvec.coeff(0),
-                      axial_scalar * rvec.coeff(1),
-                      axial_scalar * rvec.coeff(2)};
+    return Quaternion{cos, axial_scalar * rvec(0), axial_scalar * rvec(1),
+                      axial_scalar * rvec(2)};
   }
 
  private:

wpimath/src/main/native/include/frc/geometry/Rotation3d.h

@@ -85,11 +85,10 @@ class WPILIB_DLLEXPORT Rotation3d {
     }
 
     // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Definition
-    Eigen::Vector3d v{{axis.coeff(0) / norm * units::math::sin(angle / 2.0),
-                       axis.coeff(1) / norm * units::math::sin(angle / 2.0),
-                       axis.coeff(2) / norm * units::math::sin(angle / 2.0)}};
-    m_q = Quaternion{units::math::cos(angle / 2.0), v.coeff(0), v.coeff(1),
-                     v.coeff(2)};
+    Eigen::Vector3d v{{axis(0) / norm * units::math::sin(angle / 2.0),
+                       axis(1) / norm * units::math::sin(angle / 2.0),
+                       axis(2) / norm * units::math::sin(angle / 2.0)}};
+    m_q = Quaternion{units::math::cos(angle / 2.0), v(0), v(1), v(2)};
   }
 
   /**
@@ -191,9 +190,9 @@ class WPILIB_DLLEXPORT Rotation3d {
       // rotation is required. Any other vector can be used to generate an
       // orthogonal one.
 
-      double x = gcem::abs(initial.coeff(0));
-      double y = gcem::abs(initial.coeff(1));
-      double z = gcem::abs(initial.coeff(2));
+      double x = gcem::abs(initial(0));
+      double y = gcem::abs(initial(1));
+      double z = gcem::abs(initial(2));
 
       // Find vector that is most orthogonal to initial vector
       Eigen::Vector3d other;

wpimath/src/main/native/include/frc/geometry/Translation2d.h

@@ -60,8 +60,7 @@ class WPILIB_DLLEXPORT Translation2d {
    * @param vector The translation vector to represent.
    */
   constexpr explicit Translation2d(const Eigen::Vector2d& vector)
-      : m_x{units::meter_t{vector.coeff(0)}},
-        m_y{units::meter_t{vector.coeff(1)}} {}
+      : m_x{units::meter_t{vector(0)}}, m_y{units::meter_t{vector(1)}} {}
 
   /**
    * Calculates the distance between two translations in 2D space.

wpimath/src/main/native/include/frc/system/LinearSystem.h

@@ -55,7 +55,7 @@ class LinearSystem {
       if (std::is_constant_evaluated()) {
         for (int row = 0; row < mat.rows(); ++row) {
           for (int col = 0; col < mat.cols(); ++col) {
-            if (!gcem::internal::is_finite(mat.coeff(row, col))) {
+            if (!gcem::internal::is_finite(mat(row, col))) {
               return false;
             }
           }

wpimath/src/main/native/thirdparty/eigen/include/.clang-format

@@ -7,6 +7,8 @@ BasedOnStyle: Google
 ColumnLimit:  120
 StatementMacros:
   - EIGEN_STATIC_ASSERT
+  - EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
+  - EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN
 SortIncludes: false
 AttributeMacros:
 - EIGEN_STRONG_INLINE

wpimath/src/main/native/thirdparty/eigen/include/Eigen/Core

@@ -97,6 +97,11 @@
 // for std::is_nothrow_move_assignable
 #include <type_traits>
 
+// for std::this_thread::yield().
+#if !defined(EIGEN_USE_BLAS) && (defined(EIGEN_HAS_OPENMP) || defined(EIGEN_GEMM_THREADPOOL))
+#include <thread>
+#endif
+
 // for outputting debug info
 #ifdef EIGEN_DEBUG_ASSIGN
 #include <iostream>
@@ -117,8 +122,8 @@
 #include <CL/sycl.hpp>
 #include <map>
 #include <memory>
-#include <utility>
 #include <thread>
+#include <utility>
 #ifndef EIGEN_SYCL_LOCAL_THREAD_DIM0
 #define EIGEN_SYCL_LOCAL_THREAD_DIM0 16
 #endif
@@ -319,6 +324,7 @@ using std::ptrdiff_t;
 #include "src/Core/CwiseNullaryOp.h"
 #include "src/Core/CwiseUnaryView.h"
 #include "src/Core/SelfCwiseBinaryOp.h"
+#include "src/Core/InnerProduct.h"
 #include "src/Core/Dot.h"
 #include "src/Core/StableNorm.h"
 #include "src/Core/Stride.h"

wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Array.h

@@ -117,18 +117,12 @@ class Array : public PlainObjectBase<Array<Scalar_, Rows_, Cols_, Options_, MaxR
    *
    * \sa resize(Index,Index)
    */
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Array() : Base() { EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED }
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-  // FIXME is it still needed ??
-  /** \internal */
-  EIGEN_DEVICE_FUNC Array(internal::constructor_without_unaligned_array_assert)
-      : Base(internal::constructor_without_unaligned_array_assert()){EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED}
+#ifdef EIGEN_INITIALIZE_COEFFS
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr Array() : Base() { EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED }
+#else
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr Array() = default;
 #endif
-
-        EIGEN_DEVICE_FUNC Array(Array && other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_constructible<Scalar>::value)
-      : Base(std::move(other)) {
-  }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr Array(Array&&) = default;
   EIGEN_DEVICE_FUNC Array& operator=(Array&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_assignable<Scalar>::value) {
     Base::operator=(std::move(other));
     return *this;
@@ -232,7 +226,7 @@ class Array : public PlainObjectBase<Array<Scalar_, Rows_, Cols_, Options_, MaxR
   }
 
   /** Copy constructor */
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Array(const Array& other) : Base(other) {}
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr Array(const Array&) = default;
 
  private:
   struct PrivateType {};

wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/ArrayWrapper.h

@@ -65,8 +65,8 @@ class ArrayWrapper : public ArrayBase<ArrayWrapper<ExpressionType> > {
     return m_expression.innerStride();
   }
 
-  EIGEN_DEVICE_FUNC inline ScalarWithConstIfNotLvalue* data() { return m_expression.data(); }
-  EIGEN_DEVICE_FUNC inline const Scalar* data() const { return m_expression.data(); }
+  EIGEN_DEVICE_FUNC constexpr ScalarWithConstIfNotLvalue* data() { return m_expression.data(); }
+  EIGEN_DEVICE_FUNC constexpr const Scalar* data() const { return m_expression.data(); }
 
   EIGEN_DEVICE_FUNC inline const Scalar& coeffRef(Index rowId, Index colId) const {
     return m_expression.coeffRef(rowId, colId);
@@ -144,8 +144,8 @@ class MatrixWrapper : public MatrixBase<MatrixWrapper<ExpressionType> > {
     return m_expression.innerStride();
   }
 
-  EIGEN_DEVICE_FUNC inline ScalarWithConstIfNotLvalue* data() { return m_expression.data(); }
-  EIGEN_DEVICE_FUNC inline const Scalar* data() const { return m_expression.data(); }
+  EIGEN_DEVICE_FUNC constexpr ScalarWithConstIfNotLvalue* data() { return m_expression.data(); }
+  EIGEN_DEVICE_FUNC constexpr const Scalar* data() const { return m_expression.data(); }
 
   EIGEN_DEVICE_FUNC inline const Scalar& coeffRef(Index rowId, Index colId) const {
     return m_expression.derived().coeffRef(rowId, colId);

wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Block.h

@@ -278,7 +278,7 @@ class BlockImpl_dense : public internal::dense_xpr_base<Block<XprType, BlockRows
 
 #ifdef EIGEN_PARSED_BY_DOXYGEN
   /** \sa MapBase::data() */
-  EIGEN_DEVICE_FUNC inline const Scalar* data() const;
+  EIGEN_DEVICE_FUNC constexpr const Scalar* data() const;
   EIGEN_DEVICE_FUNC inline Index innerStride() const;
   EIGEN_DEVICE_FUNC inline Index outerStride() const;
 #endif