Remove backend abstraction and Rust feature flag

SleipnirGroup · Jun 21, 2024 · eecc916 · eecc916
1 parent 71dc585
commit eecc916
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Showing 19 changed files with 324 additions and 719 deletions.
diff --git a/.github/workflows/build-rust.yml b/.github/workflows/build-rust.yml
@@ -13,30 +13,21 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - artifact-name: Rust Native - Windows x86_64 (Sleipnir)
-            optimizer_backend: sleipnir
+          - artifact-name: Windows x86_64
             os: windows-2022
-            cmake-env:
             cargo-build-flags:
-          - artifact-name: Rust Native - Windows aarch64 (Sleipnir)
-            optimizer_backend: sleipnir
+          - artifact-name: Windows aarch64
             os: windows-2022
-            cmake-env:
             cargo-build-flags: --target aarch64-pc-windows-msvc
-          - artifact-name: Rust Native - macOS universal (Sleipnir)
-            optimizer_backend: sleipnir
+          - artifact-name: macOS universal
             os: macOS-14
             cmake_env:
             cargo-build-flags:
-          - artifact-name: Rust Native - Linux x86_64 (Sleipnir)
-            optimizer_backend: sleipnir
+          - artifact-name: Linux x86_64
             os: ubuntu-24.04
-            cmake-env:
             cargo-build-flags:
-          - artifact-name: Rust Native - Linux aarch64 (Sleipnir)
-            optimizer_backend: sleipnir
+          - artifact-name: Linux aarch64
             os: ubuntu-24.04
-            cmake-env:
             cargo-build-flags: --target aarch64-unknown-linux-gnu
 
     name: "${{ matrix.artifact-name }}"
@@ -46,11 +37,11 @@ jobs:
       - uses: actions/checkout@v4
 
       - name: Set up Windows aarch64 Rust compiler
-        if: matrix.artifact-name == 'Rust Native - Windows aarch64 (Sleipnir)'
+        if: matrix.artifact-name == 'Windows aarch64'
         run: rustup target install aarch64-pc-windows-msvc
 
       - name: Set up Linux aarch64 Rust compiler
-        if: matrix.artifact-name == 'Rust Native - Linux aarch64 (Sleipnir)'
+        if: matrix.artifact-name == 'Linux aarch64'
         run: |
           sudo apt-get update -q
           sudo apt-get install -y g++-14-aarch64-linux-gnu
@@ -67,8 +58,8 @@ jobs:
       - run: sudo xcode-select -switch /Applications/Xcode_15.3.app
         if: startsWith(matrix.os, 'macOS')
 
-      - run: ${{matrix.cmake-env }} cargo build ${{ matrix.cargo-build-flags }} --features ${{ matrix.optimizer_backend }}
+      - run: cargo build ${{ matrix.cargo-build-flags }}
 
-      - run: cargo run --example swerve --features ${{ matrix.optimizer_backend }}
-        if: matrix.artifact-name != 'Rust Native - Windows aarch64 (Sleipnir)' &&
-            matrix.artifact-name != 'Rust Native - Linux aarch64 (Sleipnir)'
+      - run: cargo run --example swerve
+        if: matrix.artifact-name != 'Windows aarch64' &&
+            matrix.artifact-name != 'Linux aarch64'
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -13,23 +13,19 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - artifact-name: Native - Windows x86_64 (Sleipnir)
+          - artifact-name: Windows x86_64
             # FIXME: Tests give "Exit code 0xc0000135" for missing DLLs
             cmake-args: "-DCMAKE_GENERATOR_PLATFORM=x64 -DBUILD_TESTING=OFF"
-            optimizer_backend: sleipnir
             os: windows-2022
-          - artifact-name: Native - Windows aarch64 (Sleipnir)
+          - artifact-name: Windows aarch64
             # FIXME: Tests give "Exit code 0xc0000135" for missing DLLs
             cmake-args: "-DCMAKE_GENERATOR_PLATFORM=ARM64 -DBUILD_TESTING=OFF"
-            optimizer_backend: sleipnir
             os: windows-2022
-          - artifact-name: Native - macOS universal (Sleipnir)
+          - artifact-name: macOS universal
             cmake-args: -DCMAKE_OSX_ARCHITECTURES="x86_64;arm64"
-            optimizer_backend: sleipnir
             os: macOS-14
-          - artifact-name: Native - Linux x86_64 (Sleipnir)
+          - artifact-name: Linux x86_64
             cmake-args:
-            optimizer_backend: sleipnir
             os: ubuntu-24.04
 
     name: "${{ matrix.artifact-name }}"
@@ -47,7 +43,7 @@ jobs:
       - run: sudo xcode-select -switch /Applications/Xcode_15.3.app
         if: startsWith(matrix.os, 'macOS')
 
-      - run: cmake -B build -S . -DBUILD_EXAMPLES=ON ${{ matrix.cmake-args }} -DOPTIMIZER_BACKEND=${{ matrix.optimizer_backend }}
+      - run: cmake -B build -S . -DBUILD_EXAMPLES=ON ${{ matrix.cmake-args }}
       - run: cmake --build build --config RelWithDebInfo --parallel 4
       - run: ctest --test-dir build -C RelWithDebInfo --output-on-failure
       - run: cmake --install build --config RelWithDebInfo --prefix pkg

diff --git a/.github/workflows/lint-format.yml b/.github/workflows/lint-format.yml
@@ -102,4 +102,4 @@ jobs:
 
       - run: cargo fmt --check
 
-      - run: cargo clippy --features sleipnir -- -D warnings
+      - run: cargo clippy -- -D warnings
diff --git a/.github/workflows/sanitizers.yml b/.github/workflows/sanitizers.yml
@@ -15,15 +15,12 @@ jobs:
         include:
           - sanitizer-name: asan
             cmake-args: "-DCMAKE_BUILD_TYPE=Asan"
-            optimizer_backend: sleipnir
           - sanitizer-name: tsan
             cmake-args: "-DCMAKE_BUILD_TYPE=Tsan"
-            optimizer_backend: sleipnir
           - sanitizer-name: ubsan
             cmake-args: "-DCMAKE_BUILD_TYPE=Ubsan"
-            optimizer_backend: sleipnir
 
-    name: "${{ matrix.sanitizer-name }} with ${{ matrix.optimizer_backend }}"
+    name: ${{ matrix.sanitizer-name }}
     runs-on: ubuntu-24.04
 
     steps:
@@ -34,6 +31,6 @@ jobs:
           sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-14 200
           sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-14 200
 
-      - run: cmake -B build -S . -DBUILD_EXAMPLES=ON ${{ matrix.cmake-args }} -DOPTIMIZER_BACKEND=${{ matrix.optimizer_backend }}
+      - run: cmake -B build -S . -DBUILD_EXAMPLES=ON ${{ matrix.cmake-args }}
       - run: cmake --build build --config RelWithDebInfo --parallel $(nproc)
       - run: ctest --test-dir build -C RelWithDebInfo --output-on-failure
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -94,36 +94,27 @@ if(BUILD_TESTING)
     fetchcontent_makeavailable(Catch2)
 endif()
 
-set(OPTIMIZER_BACKEND "sleipnir" CACHE STRING "Optimizer backend")
-set_property(CACHE OPTIMIZER_BACKEND PROPERTY STRINGS sleipnir)
-
-if(${OPTIMIZER_BACKEND} STREQUAL "sleipnir")
-    message(STATUS "Using Sleipnir optimizer")
-
-    set(BUILD_TESTING_SAVE ${BUILD_TESTING})
-    set(BUILD_EXAMPLES_SAVE ${BUILD_EXAMPLES})
-
-    set(BUILD_TESTING OFF)
-    set(BUILD_EXAMPLES OFF)
-
-    fetchcontent_declare(
-        Sleipnir
-        GIT_REPOSITORY https://github.com/SleipnirGroup/Sleipnir.git
-        # main on 2024-06-18
-        GIT_TAG affeafcd797ad1312b18172dbaed0a69cca6546e
-        PATCH_COMMAND
-            git apply
-            ${CMAKE_CURRENT_SOURCE_DIR}/cmake/0001-Downgrade-to-C-20.patch
-        UPDATE_DISCONNECTED 1
-    )
-    fetchcontent_makeavailable(Sleipnir)
+set(BUILD_TESTING_SAVE ${BUILD_TESTING})
+set(BUILD_EXAMPLES_SAVE ${BUILD_EXAMPLES})
+
+set(BUILD_TESTING OFF)
+set(BUILD_EXAMPLES OFF)
+
+fetchcontent_declare(
+    Sleipnir
+    GIT_REPOSITORY https://github.com/SleipnirGroup/Sleipnir.git
+    # main on 2024-06-18
+    GIT_TAG affeafcd797ad1312b18172dbaed0a69cca6546e
+    PATCH_COMMAND
+        git apply ${CMAKE_CURRENT_SOURCE_DIR}/cmake/0001-Downgrade-to-C-20.patch
+    UPDATE_DISCONNECTED 1
+)
+fetchcontent_makeavailable(Sleipnir)
 
-    set(BUILD_TESTING ${BUILD_TESTING_SAVE})
-    set(BUILD_EXAMPLES ${BUILD_EXAMPLES_SAVE})
+set(BUILD_TESTING ${BUILD_TESTING_SAVE})
+set(BUILD_EXAMPLES ${BUILD_EXAMPLES_SAVE})
 
-    target_compile_definitions(TrajoptLib PRIVATE OPTIMIZER_BACKEND_SLEIPNIR)
-    target_link_libraries(TrajoptLib PRIVATE Sleipnir)
-endif()
+target_link_libraries(TrajoptLib PUBLIC Sleipnir)
 
 target_include_directories(
     TrajoptLib

diff --git a/Cargo.toml b/Cargo.toml
@@ -12,9 +12,5 @@ serde_json = "1.0"
 cxx-build = "1.0"
 cmake = "0.1"
 
-[features]
-default = []
-sleipnir = []
-
 [[example]]
 name = "swerve"
diff --git a/README.md b/README.md
@@ -43,8 +43,8 @@ On Windows, open a [Developer PowerShell](https://learn.microsoft.com/en-us/visu
 git clone [email protected]:SleipnirGroup/TrajoptLib
 cd TrajoptLib
 
-# Configure with Sleipnir backend; automatically downloads library dependencies
-cmake -B build -S . -DOPTIMIZER_BACKEND=sleipnir
+# Configure
+cmake -B build -S .
 
 # Build
 cmake --build build
@@ -78,5 +78,5 @@ On Windows, open a [Developer PowerShell](https://learn.microsoft.com/en-us/visu
 git clone [email protected]:SleipnirGroup/TrajoptLib
 cd TrajoptLib
 
-cargo build --features sleipnir  # Sleipnir backend
+cargo build
 ```
diff --git a/build.rs b/build.rs
@@ -7,18 +7,12 @@ fn main() {
         .profile("Release")
         .define("BUILD_TESTING", "OFF");
 
-    if cfg!(feature = "sleipnir") {
+    cmake_config.define("BUILD_SHARED_LIBS", "OFF");
+
+    if cfg!(target_os = "windows") {
         cmake_config
-            .define("OPTIMIZER_BACKEND", "sleipnir")
-            .define("BUILD_SHARED_LIBS", "OFF");
-
-        if cfg!(target_os = "windows") {
-            cmake_config
-                .generator("Visual Studio 17 2022")
-                .cxxflag("/EHsc");
-        }
-    } else {
-        panic!("Select an optimizer backend via cargo `--features sleipnir`.");
+            .generator("Visual Studio 17 2022")
+            .cxxflag("/EHsc");
     }
 
     let cmake_dest = cmake_config.build();
@@ -43,10 +37,8 @@ fn main() {
     );
     println!("cargo:rustc-link-lib=trajoptrust");
     println!("cargo:rustc-link-lib=TrajoptLib");
-    if cfg!(feature = "sleipnir") {
-        println!("cargo:rustc-link-lib=Sleipnir");
-        println!("cargo:rustc-link-lib=fmt");
-    }
+    println!("cargo:rustc-link-lib=Sleipnir");
+    println!("cargo:rustc-link-lib=fmt");
 
     println!("cargo:rerun-if-changed=src/trajoptlibrust.hpp");
     println!("cargo:rerun-if-changed=src/trajoptlibrust.cpp");

diff --git a/src/OptimalTrajectoryGenerator.cpp b/src/OptimalTrajectoryGenerator.cpp
@@ -2,21 +2,14 @@
 
 #include "trajopt/OptimalTrajectoryGenerator.hpp"
 
-#if defined(OPTIMIZER_BACKEND_SLEIPNIR)
-#include "optimization/SleipnirOpti.hpp"
-#endif
-
 #include "optimization/algorithms/SwerveDiscreteOptimal.hpp"
 
 namespace trajopt {
 
 expected<SwerveSolution, std::string> OptimalTrajectoryGenerator::Generate(
     const SwervePathBuilder& path, bool diagnostics, int64_t handle) {
-#if defined(OPTIMIZER_BACKEND_SLEIPNIR)
-  SwerveDiscreteOptimal<SleipnirExpr, SleipnirOpti> problem(
-#endif
-      path.GetPath(), path.GetControlIntervalCounts(),
-      path.CalculateInitialGuess(), handle);
+  SwerveDiscreteOptimal problem(path.GetPath(), path.GetControlIntervalCounts(),
+                                path.CalculateInitialGuess(), handle);
   return problem.Generate(diagnostics);
 }
 

diff --git a/src/optimization/HolonomicTrajoptUtil.hpp b/src/optimization/HolonomicTrajoptUtil.hpp
@@ -2,6 +2,8 @@
 
 #pragma once
 
+#include <sleipnir/optimization/OptimizationProblem.hpp>
+
 #include "optimization/TrajoptUtil.hpp"
 #include "trajopt/constraint/HeadingConstraint.hpp"
 #include "trajopt/constraint/LinePointConstraint.hpp"
@@ -12,30 +14,31 @@
 
 namespace trajopt {
 
-template <typename Expr, typename Opti>
-  requires OptiSys<Expr, Opti>
-void ApplyHolonomicConstraint(Opti& opti, const Expr& x, const Expr& y,
-                              const Expr& theta, const Expr& vx, const Expr& vy,
-                              const Expr& omega, const Expr& ax, const Expr& ay,
-                              const Expr& alpha,
-                              const HolonomicConstraint& constraint) {
+inline void ApplyHolonomicConstraint(
+    sleipnir::OptimizationProblem& problem, const sleipnir::Variable& x,
+    const sleipnir::Variable& y, const sleipnir::Variable& theta,
+    const sleipnir::Variable& vx, const sleipnir::Variable& vy,
+    const sleipnir::Variable& omega, const sleipnir::Variable& ax,
+    const sleipnir::Variable& ay, const sleipnir::Variable& alpha,
+    const HolonomicConstraint& constraint) {
   if (std::holds_alternative<HolonomicVelocityConstraint>(constraint)) {
     const auto& velocityHolonomicConstraint =
         std::get<HolonomicVelocityConstraint>(constraint);
-    ApplySet2dConstraint(opti, vx, vy,
+    ApplySet2dConstraint(problem, vx, vy,
                          velocityHolonomicConstraint.velocityBound);
   } else if (std::holds_alternative<AngularVelocityConstraint>(constraint)) {
     const auto& angularVelocityConstraint =
         std::get<AngularVelocityConstraint>(constraint);
     ApplyIntervalSet1dConstraint(
-        opti, omega, angularVelocityConstraint.angularVelocityBound);
+        problem, omega, angularVelocityConstraint.angularVelocityBound);
   } else if (std::holds_alternative<TranslationConstraint>(constraint)) {
-    ApplyConstraint(opti, x, y, theta,
+    ApplyConstraint(problem, x, y, theta,
                     std::get<TranslationConstraint>(constraint));
   } else if (std::holds_alternative<HeadingConstraint>(constraint)) {
-    ApplyConstraint(opti, x, y, theta, std::get<HeadingConstraint>(constraint));
+    ApplyConstraint(problem, x, y, theta,
+                    std::get<HeadingConstraint>(constraint));
   } else if (std::holds_alternative<LinePointConstraint>(constraint)) {
-    ApplyConstraint(opti, x, y, theta,
+    ApplyConstraint(problem, x, y, theta,
                     std::get<LinePointConstraint>(constraint));
   } else if (std::holds_alternative<PointAtConstraint>(constraint)) {
     auto pointAtConstraint = std::get<PointAtConstraint>(constraint);
@@ -60,12 +63,12 @@ void ApplyHolonomicConstraint(Opti& opti, const Expr& x, const Expr& y,
     auto dot = hx * ux + hy * uy;
 
     ApplyIntervalSet1dConstraint(
-        opti, dot, IntervalSet1d(std::cos(headingTolerance), 1.0));
+        problem, dot, IntervalSet1d(std::cos(headingTolerance), 1.0));
   } else if (std::holds_alternative<PointLineConstraint>(constraint)) {
-    ApplyConstraint(opti, x, y, theta,
+    ApplyConstraint(problem, x, y, theta,
                     std::get<PointLineConstraint>(constraint));
   } else if (std::holds_alternative<PointPointConstraint>(constraint)) {
-    ApplyConstraint(opti, x, y, theta,
+    ApplyConstraint(problem, x, y, theta,
                     std::get<PointPointConstraint>(constraint));
   }  // TODO: Investigate a way to condense the code above
 }

diff --git a/src/optimization/OptiSys.hpp b/src/optimization/OptiSys.hpp
Original file line number	Diff line number	Diff line change
Expand Up		@@ -102,4 +102,4 @@ jobs:

		- run: cargo fmt --check

		- run: cargo clippy --features sleipnir -- -D warnings
		- run: cargo clippy -- -D warnings