Make Choreo use Sleipnir backend's exit conditions

cmake/modules/FetchSleipnir.cmake

@@ -4,8 +4,8 @@ macro(fetch_sleipnir)
     fetchcontent_declare(
         Sleipnir
         GIT_REPOSITORY https://github.com/SleipnirGroup/Sleipnir.git
-        # main on 2024-01-07
-        GIT_TAG da2bd2bec834ab4154eb5b0010818e7edda37406
+        # main on 2024-01-08
+        GIT_TAG 02c5b2446975b45b38f35f4a40e54f988010d486
     )
 
     fetchcontent_getproperties(Sleipnir)

include/trajopt/TrajectoryGenerationException.h

@@ -3,7 +3,7 @@
 #pragma once
 
 #include <stdexcept>
-#include <string>
+#include <string_view>
 
 #include "trajopt/SymbolExports.h"
 
@@ -22,7 +22,8 @@ class TRAJOPT_DLLEXPORT TrajectoryGenerationException
    *
    * @param message the string message
    */
-  explicit TrajectoryGenerationException(const std::string& message);
+  explicit TrajectoryGenerationException(std::string_view message);
+
   /**
    * @brief Construct a new Trajectory Generation Exception object with a string
    * message.

src/TrajectoryGenerationException.cpp

@@ -2,16 +2,15 @@
 
 #include "trajopt/TrajectoryGenerationException.h"
 
-#include <stdexcept>
 #include <string>
 
 namespace trajopt {
 
 TrajectoryGenerationException::TrajectoryGenerationException(
-    const std::string& message)
-    : logic_error(message) {}
+    std::string_view message)
+    : std::logic_error{std::string{message}} {}
 
 TrajectoryGenerationException::TrajectoryGenerationException(
     const char* message)
-    : logic_error(message) {}
+    : std::logic_error{message} {}
 }  // namespace trajopt

src/optimization/SleipnirOpti.cpp

@@ -7,12 +7,14 @@
 #include <memory>
 #include <vector>
 
+#include <fmt/format.h>
 #include <sleipnir/autodiff/Variable.hpp>
 #include <sleipnir/optimization/Constraints.hpp>
 #include <sleipnir/optimization/OptimizationProblem.hpp>
 
 #include "DebugOptions.h"
 #include "optimization/Cancellation.h"
+#include "trajopt/TrajectoryGenerationException.h"
 
 namespace trajopt {
 
@@ -107,7 +109,13 @@ void SleipnirOpti::Solve() {
   opti.Callback([](const sleipnir::SolverIterationInfo&) -> bool {
     return trajopt::GetCancellationFlag();
   });
-  opti.Solve({.diagnostics = true});
+
+  auto status = opti.Solve({.diagnostics = true});
+
+  if (static_cast<int>(status.exitCondition) < 0) {
+    throw TrajectoryGenerationException{
+        sleipnir::ToMessage(status.exitCondition)};
+  }
 }
 
 double SleipnirOpti::SolutionValue(const SleipnirExpr& expression) const {

src/optimization/algorithms/SwerveDiscreteOptimal.inc

@@ -6,6 +6,8 @@
 #include <string>
 #include <vector>
 
+#include <fmt/format.h>
+
 #include "DebugOptions.h"
 #include "optimization/SwerveTrajoptUtil.h"
 #include "optimization/TrajoptUtil.h"
@@ -25,8 +27,8 @@ SwerveSolution SwerveDiscreteOptimal<Expr, Opti>::Generate() {
     return ConstructSwerveSolution(opti, x, y, theta, vx, vy, omega, ax, ay,
                                    alpha, Fx, Fy, dt, N);
   } catch (const std::exception& e) {
-    throw TrajectoryGenerationException("Error optimizing trajectory: " +
-                                        std::string(e.what()));
+    throw TrajectoryGenerationException{
+        fmt::format("Error optimizing trajectory: {}", e.what())};
   }
 }