Remove unused fmtlib prints and formatters (#94)

The optimizer doesn't use fmtlib for anything, so it was removed.

CMakeLists.txt

@@ -91,24 +91,6 @@ cmake_dependent_option(
 
 include(FetchContent)
 
-# fmt dependency
-fetchcontent_declare(
-    fmt
-    GIT_REPOSITORY https://github.com/fmtlib/fmt.git
-    GIT_TAG 10.2.1
-)
-fetchcontent_makeavailable(fmt)
-
-if(
-    ${OPTIMIZER_BACKEND} STREQUAL "casadi"
-    AND ${CMAKE_SYSTEM_NAME} STREQUAL "Linux"
-    AND ${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU"
-)
-    target_compile_definitions(fmt PRIVATE _GLIBCXX_USE_CXX11_ABI=0)
-endif()
-
-target_link_libraries(TrajoptLib PUBLIC fmt::fmt)
-
 if(BUILD_TESTING)
     # Catch2 dependency
     fetchcontent_declare(
@@ -151,13 +133,15 @@ if(${OPTIMIZER_BACKEND} STREQUAL "casadi")
     install(FILES ${CASADI_INSTALL_LIBS} DESTINATION ${CASADI_INSTALL_DEST})
 elseif(${OPTIMIZER_BACKEND} STREQUAL "sleipnir")
     message(STATUS "Using Sleipnir optimizer")
-    include(FetchSleipnir)
-    fetch_sleipnir()
+    fetchcontent_declare(
+        Sleipnir
+        GIT_REPOSITORY https://github.com/SleipnirGroup/Sleipnir.git
+        # main on 2024-02-16
+        GIT_TAG 71994a021395711cc3992603d1a226e2118a3a0a
+    )
+    fetchcontent_makeavailable(Sleipnir)
     target_compile_definitions(TrajoptLib PRIVATE OPTIMIZER_BACKEND_SLEIPNIR)
     target_link_libraries(TrajoptLib PRIVATE Sleipnir)
-
-    # Install Sleipnir manually because EXCLUDE_FROM_ALL was used during import
-    install(TARGETS Sleipnir)
 endif()
 
 target_include_directories(

cmake/modules/TrajoptLibCompilerFlags.cmake

@@ -26,17 +26,6 @@ macro(trajoptlib_compiler_flags target)
                 PRIVATE _GLIBCXX_USE_CXX11_ABI=0
             )
         endif()
-
-        # Disable warning false positives in fmt
-        if(
-            ${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU"
-            AND ${CMAKE_CXX_COMPILER_VERSION} VERSION_GREATER_EQUAL "13"
-        )
-            target_compile_options(
-                ${target}
-                PRIVATE -Wno-dangling-reference -Wno-stringop-overflow
-            )
-        endif()
     else()
         target_compile_options(
             ${target}

examples/Swerve/src/Main.cpp

@@ -5,7 +5,6 @@
 #include <numbers>
 #include <vector>
 
-#include <fmt/core.h>
 #include <trajopt/IncompatibleTrajectoryException.h>
 #include <trajopt/OptimalTrajectoryGenerator.h>
 #include <trajopt/constraint/Constraint.h>
@@ -42,12 +41,6 @@ int main() {
   path.ControlIntervalCounts({4});
 
   // SOLVE
-  try {
-    SwerveSolution solution = OptimalTrajectoryGenerator::Generate(path);
-    fmt::print("[{}]\n", fmt::join(path.CalculateInitialGuess().x, ","));
-    fmt::print("{}\n", solution);
-    // fmt::print("{}\n", HolonomicTrajectory(solution));
-  } catch (const std::exception& e) {
-    fmt::print("{}", e.what());
-  }
+  [[maybe_unused]] SwerveSolution solution =
+      OptimalTrajectoryGenerator::Generate(path);
 }

include/trajopt/constraint/AngularVelocityConstraint.h

@@ -2,11 +2,8 @@
 
 #pragma once
 
-#include <optional>
-
 #include "trajopt/SymbolExports.h"
 #include "trajopt/set/IntervalSet1d.h"
-#include "trajopt/solution/SolutionChecking.h"
 
 namespace trajopt {
 
@@ -16,16 +13,6 @@ namespace trajopt {
 struct TRAJOPT_DLLEXPORT AngularVelocityConstraint {
   /// The angular velocity bounds.
   IntervalSet1d angularVelocityBound;
-
-  /**
-   * Returns an error if the angular velocity is outside the bounds.
-   *
-   * @param angularVelocity The angular velocity.
-   * @param tolerances The tolerances considered to satisfy the constraint.
-   */
-  std::optional<SolutionError> CheckAngularVelocity(
-      double angularVelocity,
-      const SolutionTolerances& tolerances) const noexcept;
 };
 
 }  // namespace trajopt

include/trajopt/constraint/Constraint.h

@@ -2,17 +2,13 @@
 
 #pragma once
 
-#include <optional>
 #include <variant>
 
-#include "trajopt/SymbolExports.h"
-#include "trajopt/constraint/AngularVelocityConstraint.h"
 #include "trajopt/constraint/HeadingConstraint.h"
 #include "trajopt/constraint/LinePointConstraint.h"
 #include "trajopt/constraint/PointLineConstraint.h"
 #include "trajopt/constraint/PointPointConstraint.h"
 #include "trajopt/constraint/TranslationConstraint.h"
-#include "trajopt/solution/SolutionChecking.h"
 
 namespace trajopt {
 
@@ -52,16 +48,4 @@ using Constraint =
     std::variant<TranslationConstraint, HeadingConstraint, LinePointConstraint,
                  PointLineConstraint, PointPointConstraint>;
 
-/**
- * Returns an error if the state doesn't satisfy the constraint.
- *
- * @param x The x coordinate.
- * @param y The y coordinate.
- * @param heading The heading.
- * @param tolerances The tolerances considered to satisfy the constraint.
- */
-std::optional<SolutionError> CheckState(
-    const Constraint& constraint, double x, double y, double heading,
-    const SolutionTolerances& tolerances) noexcept;
-
 }  // namespace trajopt

include/trajopt/constraint/HeadingConstraint.h

@@ -2,11 +2,8 @@
 
 #pragma once
 
-#include <optional>
-
 #include "trajopt/SymbolExports.h"
 #include "trajopt/set/IntervalSet1d.h"
-#include "trajopt/solution/SolutionChecking.h"
 
 namespace trajopt {
 
@@ -16,15 +13,6 @@ namespace trajopt {
 struct TRAJOPT_DLLEXPORT HeadingConstraint {
   /// The heading bound.
   IntervalSet1d headingBound;
-
-  /**
-   * Returns an error if the given heading isn't in the heading region.
-   *
-   * @param theta The heading.
-   * @param tolerances The tolerances considered to satisfy the constraint.
-   */
-  std::optional<SolutionError> CheckHeading(
-      double theta, const SolutionTolerances& tolerances) const noexcept;
 };
 
 }  // namespace trajopt

include/trajopt/constraint/TranslationConstraint.h

@@ -2,11 +2,8 @@
 
 #pragma once
 
-#include <optional>
-
 #include "trajopt/SymbolExports.h"
 #include "trajopt/set/Set2d.h"
-#include "trajopt/solution/SolutionChecking.h"
 
 namespace trajopt {
 
@@ -16,16 +13,6 @@ namespace trajopt {
 struct TRAJOPT_DLLEXPORT TranslationConstraint {
   /// Translation bound.
   Set2d translationBound;
-
-  /**
-   * Returns an error if the given position doesn't satisfy the constraint.
-   *
-   * @param x The position's x component.
-   * @param y The position's y component.
-   * @param tolerances The tolerances considered to satisfy the constraint.
-   */
-  std::optional<SolutionError> CheckTranslation(
-      double x, double y, const SolutionTolerances& tolerances) const noexcept;
 };
 
 }  // namespace trajopt

include/trajopt/constraint/differential/DifferentialCentripetalAccelerationConstraint.h

@@ -2,14 +2,8 @@
 
 #pragma once
 
-#include <optional>
-
-#include <fmt/format.h>
-
 #include "trajopt/SymbolExports.h"
-#include "trajopt/constraint/Constraint.h"
 #include "trajopt/set/IntervalSet1d.h"
-#include "trajopt/solution/SolutionChecking.h"
 
 namespace trajopt {
 
@@ -20,31 +14,5 @@ struct TRAJOPT_DLLEXPORT DifferentialCentripetalAccelerationConstraint {
   /// Acceleration bound.
   IntervalSet1d accelerationBound;
 };
-}  // namespace trajopt
-
-/**
- * Formatter for DifferentialCentripetalAccelerationConstraint.
- */
-//! @cond Doxygen_Suppress
-template <>
-struct fmt::formatter<trajopt::DifferentialCentripetalAccelerationConstraint> {
-  //! @endcond
-  /**
-   * Format string parser.
-   *
-   * @param ctx Format string context.
-   */
-  constexpr auto parse(fmt::format_parse_context& ctx) { return ctx.begin(); }
 
-  /**
-   * Writes out a formatted DifferentialCentripetalAccelerationConstraint.
-   *
-   * @param constraint DifferentialCentripetalAccelerationConstraint instance.
-   * @param ctx Format string context.
-   */
-  auto format([[maybe_unused]] const trajopt::
-                  DifferentialCentripetalAccelerationConstraint& constraint,
-              fmt::format_context& ctx) const {
-    return fmt::format_to(ctx.out(), "diff centrip acceleration bound");
-  }
-};
+}  // namespace trajopt

include/trajopt/constraint/differential/DifferentialConstraint.h

@@ -2,14 +2,10 @@
 
 #pragma once
 
-#include <variant>
-
-#include "trajopt/SymbolExports.h"
 #include "trajopt/constraint/AngularVelocityConstraint.h"
 #include "trajopt/constraint/Constraint.h"
 #include "trajopt/constraint/differential/DifferentialCentripetalAccelerationConstraint.h"
 #include "trajopt/constraint/differential/DifferentialTangentialVelocityConstraint.h"
-#include "trajopt/solution/SolutionChecking.h"
 #include "trajopt/util/AppendVariant.h"
 
 namespace trajopt {
@@ -18,4 +14,5 @@ using DifferentialConstraint =
     decltype(_append_variant(Constraint{}, AngularVelocityConstraint{},
                              DifferentialTangentialVelocityConstraint{},
                              DifferentialCentripetalAccelerationConstraint{}));
+
 }  // namespace trajopt

include/trajopt/constraint/differential/DifferentialTangentialVelocityConstraint.h

@@ -2,12 +2,8 @@
 
 #pragma once
 
-#include <optional>
-
 #include "trajopt/SymbolExports.h"
-#include "trajopt/constraint/Constraint.h"
 #include "trajopt/set/IntervalSet1d.h"
-#include "trajopt/solution/SolutionChecking.h"
 
 namespace trajopt {
 
@@ -18,4 +14,5 @@ struct TRAJOPT_DLLEXPORT DifferentialTangentialVelocityConstraint {
   /// Velocity bound.
   IntervalSet1d velocityBound;
 };
+
 }  // namespace trajopt

include/trajopt/constraint/holonomic/HolonomicConstraint.h

@@ -2,37 +2,14 @@
 
 #pragma once
 
-#include <variant>
-
-#include "trajopt/SymbolExports.h"
 #include "trajopt/constraint/AngularVelocityConstraint.h"
+#include "trajopt/constraint/Constraint.h"
 #include "trajopt/constraint/holonomic/HolonomicVelocityConstraint.h"
-#include "trajopt/solution/SolutionChecking.h"
 #include "trajopt/util/AppendVariant.h"
 
 namespace trajopt {
 
 using HolonomicConstraint = decltype(_append_variant(
     Constraint{}, AngularVelocityConstraint{}, HolonomicVelocityConstraint{}));
 
-/**
- * Returns an error if the given state doesn't satisfy the constraint.
- *
- * @param x The x coordinate.
- * @param y The y coordinate.
- * @param heading The heading.
- * @param velocityX The velocity's x component.
- * @param velocityY The velocity's y component.
- * @param angularVelocity The angular velocity.
- * @param accelerationX The acceleration's x component.
- * @param accelerationY The acceleration's y component.
- * @param angularAcceleration The angular acceleration.
- * @param tolerances The tolerances considered to satisfy the constraint.
- */
-std::optional<SolutionError> CheckState(
-    const HolonomicConstraint& constraint, double x, double y, double heading,
-    double velocityX, double velocityY, double angularVelocity,
-    double accelerationX, double accelerationY, double angularAcceleration,
-    const SolutionTolerances& tolerances) noexcept;
-
 }  // namespace trajopt

include/trajopt/constraint/holonomic/HolonomicVelocityConstraint.h

@@ -2,12 +2,9 @@
 
 #pragma once
 
-#include <optional>
-
 #include "trajopt/SymbolExports.h"
 #include "trajopt/constraint/Constraint.h"
 #include "trajopt/set/Set2d.h"
-#include "trajopt/solution/SolutionChecking.h"
 
 namespace trajopt {
 
@@ -20,17 +17,6 @@ struct TRAJOPT_DLLEXPORT HolonomicVelocityConstraint {
 
   /// Coordinate system.
   CoordinateSystem coordinateSystem;
-
-  /**
-   * Returns an error if the given velocity doesn't satisfy the constraint.
-   *
-   * @param velocityX The velocity's x component.
-   * @param velocityY The velocity's y component.
-   * @param tolerances The tolerances considered to satisfy the constraint.
-   */
-  std::optional<SolutionError> CheckVelocity(
-      double velocityX, double velocityY,
-      const SolutionTolerances& tolerances) const noexcept;
 };
 
 }  // namespace trajopt

include/trajopt/drivetrain/DifferentialDrivetrain.h

@@ -34,4 +34,5 @@ struct TRAJOPT_DLLEXPORT DifferentialDrivetrain {
   /// the right driverail
   DifferentialDriverail right;
 };
+
 }  // namespace trajopt