From f5682d4a81265607b444c3c5858256bd9d759ccf Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Fri, 21 Jun 2024 13:44:23 -0700
Subject: [PATCH] Upgrade Sleipnir to automatically call Update() in Value()
 (#195)

---
 CMakeLists.txt                         |  4 ++--
 src/optimization/SwerveTrajoptUtil.hpp | 20 ++++++++------------
 src/optimization/TrajoptUtil.hpp       |  4 ++--
 3 files changed, 12 insertions(+), 16 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5c686948..15cf5ccd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -103,8 +103,8 @@ set(BUILD_EXAMPLES OFF)
 fetchcontent_declare(
     Sleipnir
     GIT_REPOSITORY https://github.com/SleipnirGroup/Sleipnir.git
-    # main on 2024-06-18
-    GIT_TAG affeafcd797ad1312b18172dbaed0a69cca6546e
+    # main on 2024-06-20
+    GIT_TAG b060d361b68d23a6499ebd9d08560c073dfac462
     PATCH_COMMAND
         git apply ${CMAKE_CURRENT_SOURCE_DIR}/cmake/0001-Downgrade-to-C-20.patch
     UPDATE_DISCONNECTED 1
diff --git a/src/optimization/SwerveTrajoptUtil.hpp b/src/optimization/SwerveTrajoptUtil.hpp
index 62a68997..2b24e17b 100644
--- a/src/optimization/SwerveTrajoptUtil.hpp
+++ b/src/optimization/SwerveTrajoptUtil.hpp
@@ -170,18 +170,14 @@ inline void ApplyPowerConstraints(sleipnir::OptimizationProblem& problem,
 
 inline SwerveSolution ConstructSwerveSolution(
     const sleipnir::OptimizationProblem& problem,
-    const std::vector<sleipnir::Variable>& x,
-    const std::vector<sleipnir::Variable>& y,
-    const std::vector<sleipnir::Variable>& theta,
-    const std::vector<sleipnir::Variable>& vx,
-    const std::vector<sleipnir::Variable>& vy,
-    const std::vector<sleipnir::Variable>& omega,
-    const std::vector<sleipnir::Variable>& ax,
-    const std::vector<sleipnir::Variable>& ay,
-    const std::vector<sleipnir::Variable>& alpha,
-    const std::vector<std::vector<sleipnir::Variable>>& Fx,
-    const std::vector<std::vector<sleipnir::Variable>>& Fy,
-    const std::vector<sleipnir::Variable>& dt, const std::vector<size_t>& N) {
+    std::vector<sleipnir::Variable>& x, std::vector<sleipnir::Variable>& y,
+    std::vector<sleipnir::Variable>& theta, std::vector<sleipnir::Variable>& vx,
+    std::vector<sleipnir::Variable>& vy, std::vector<sleipnir::Variable>& omega,
+    std::vector<sleipnir::Variable>& ax, std::vector<sleipnir::Variable>& ay,
+    std::vector<sleipnir::Variable>& alpha,
+    std::vector<std::vector<sleipnir::Variable>>& Fx,
+    std::vector<std::vector<sleipnir::Variable>>& Fy,
+    std::vector<sleipnir::Variable>& dt, const std::vector<size_t>& N) {
   std::vector<double> dtPerSamp;
   for (size_t sgmtIdx = 0; sgmtIdx < N.size(); ++sgmtIdx) {
     size_t N_sgmt = N.at(sgmtIdx);
diff --git a/src/optimization/TrajoptUtil.hpp b/src/optimization/TrajoptUtil.hpp
index fd04ffe8..c784e4ce 100644
--- a/src/optimization/TrajoptUtil.hpp
+++ b/src/optimization/TrajoptUtil.hpp
@@ -141,7 +141,7 @@ inline void ApplySet2dConstraint(sleipnir::OptimizationProblem& problem,
 
 inline std::vector<double> RowSolutionValue(
     const sleipnir::OptimizationProblem& problem,
-    const std::vector<sleipnir::Variable>& rowVector) {
+    std::vector<sleipnir::Variable>& rowVector) {
   std::vector<double> valueRowVector;
   valueRowVector.reserve(rowVector.size());
   for (auto& expression : rowVector) {
@@ -152,7 +152,7 @@ inline std::vector<double> RowSolutionValue(
 
 inline std::vector<std::vector<double>> MatrixSolutionValue(
     const sleipnir::OptimizationProblem& problem,
-    const std::vector<std::vector<sleipnir::Variable>>& matrix) {
+    std::vector<std::vector<sleipnir::Variable>>& matrix) {
   std::vector<std::vector<double>> valueMatrix;
   valueMatrix.reserve(matrix.size());
   for (auto& row : matrix) {