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[upstream_utils] Fix Eigen tag #8283

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Merged
merged 1 commit into from
Oct 10, 2025
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[upstream_utils] Fix Eigen tag #8283

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3 changes: 1 addition & 2 deletions upstream_utils/eigen.py
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Expand Up @@ -145,8 +145,7 @@ def copy_upstream_src(wpilib_root: Path):
def main():
name = "eigen"
url = "https://gitlab.com/libeigen/eigen.git"
# 5.0.0 release as of 2025-09-23
tag = "d65cda87c1a673047b59b20a9f9e165a452f91e9"
tag = "5.0.0"

eigen = Lib(name, url, tag, copy_upstream_src)
eigen.main()
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4 changes: 2 additions & 2 deletions wpimath/src/main/native/thirdparty/eigen/include/Eigen/Version
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Expand Up @@ -7,8 +7,8 @@
#define EIGEN_MAJOR_VERSION 5
#define EIGEN_MINOR_VERSION 0
#define EIGEN_PATCH_VERSION 0
#define EIGEN_PRERELEASE_VERSION
#define EIGEN_BUILD_VERSION
#define EIGEN_PRERELEASE_VERSION ""
#define EIGEN_BUILD_VERSION ""
#define EIGEN_VERSION_STRING "5.0.0"

#endif // EIGEN_VERSION_H
27 changes: 19 additions & 8 deletions wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/CoreEvaluators.h
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Expand Up @@ -1048,22 +1048,33 @@ struct ternary_evaluator<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3>, IndexBased
Data m_d;
};

// specialization for expressions like (a < b).select(c, d) to enable full vectorization
template <typename Arg1, typename Arg2, typename Scalar, typename CmpLhsType, typename CmpRhsType, ComparisonName cmp>
struct evaluator<CwiseTernaryOp<scalar_boolean_select_op<Scalar, Scalar, bool>, Arg1, Arg2,
CwiseBinaryOp<scalar_cmp_op<Scalar, Scalar, cmp, false>, CmpLhsType, CmpRhsType>>>
: public ternary_evaluator<
CwiseTernaryOp<scalar_boolean_select_op<Scalar, Scalar, Scalar>, Arg1, Arg2,
CwiseBinaryOp<scalar_cmp_op<Scalar, Scalar, cmp, true>, CmpLhsType, CmpRhsType>>> {
struct scalar_boolean_select_spec {
using DummyTernaryOp = scalar_boolean_select_op<Scalar, Scalar, bool>;
using DummyArg3 = CwiseBinaryOp<scalar_cmp_op<Scalar, Scalar, cmp, false>, CmpLhsType, CmpRhsType>;
using DummyXprType = CwiseTernaryOp<DummyTernaryOp, Arg1, Arg2, DummyArg3>;

using TernaryOp = scalar_boolean_select_op<Scalar, Scalar, Scalar>;
using Arg3 = CwiseBinaryOp<scalar_cmp_op<Scalar, Scalar, cmp, true>, CmpLhsType, CmpRhsType>;
// only use the typed comparison if it is vectorized
static constexpr bool UseTyped = functor_traits<scalar_cmp_op<Scalar, Scalar, cmp, true>>::PacketAccess;
using CondScalar = std::conditional_t<UseTyped, Scalar, bool>;

using TernaryOp = scalar_boolean_select_op<Scalar, Scalar, CondScalar>;
using Arg3 = CwiseBinaryOp<scalar_cmp_op<Scalar, Scalar, cmp, UseTyped>, CmpLhsType, CmpRhsType>;
using XprType = CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3>;

using Base = ternary_evaluator<XprType>;
};

// specialization for expressions like (a < b).select(c, d) to enable full vectorization
template <typename Arg1, typename Arg2, typename Scalar, typename CmpLhsType, typename CmpRhsType, ComparisonName cmp>
struct evaluator<CwiseTernaryOp<scalar_boolean_select_op<Scalar, Scalar, bool>, Arg1, Arg2,
CwiseBinaryOp<scalar_cmp_op<Scalar, Scalar, cmp, false>, CmpLhsType, CmpRhsType>>>
: public scalar_boolean_select_spec<Arg1, Arg2, Scalar, CmpLhsType, CmpRhsType, cmp>::Base {
using Helper = scalar_boolean_select_spec<Arg1, Arg2, Scalar, CmpLhsType, CmpRhsType, cmp>;
using Base = typename Helper::Base;
using DummyXprType = typename Helper::DummyXprType;
using Arg3 = typename Helper::Arg3;
using XprType = typename Helper::XprType;

EIGEN_DEVICE_FUNC explicit evaluator(const DummyXprType& xpr)
: Base(XprType(xpr.arg1(), xpr.arg2(), Arg3(xpr.arg3().lhs(), xpr.arg3().rhs()))) {}
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8 changes: 8 additions & 0 deletions wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/ProductEvaluators.h
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Expand Up @@ -1272,6 +1272,14 @@ template <typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
struct generic_product_impl<Lhs, Rhs, HomogeneousShape, MatrixShape, ProductTag>
: generic_product_impl<typename Lhs::PlainObject, Rhs, DenseShape, MatrixShape, ProductTag> {};

template <typename Lhs, typename Rhs, int ProductTag>
struct generic_product_impl<Lhs, Rhs, PermutationShape, HomogeneousShape, ProductTag>
: generic_product_impl<Lhs, Rhs, PermutationShape, DenseShape, ProductTag> {};

template <typename Lhs, typename Rhs, int ProductTag>
struct generic_product_impl<Lhs, Rhs, HomogeneousShape, PermutationShape, ProductTag>
: generic_product_impl<Lhs, Rhs, DenseShape, PermutationShape, ProductTag> {};

} // end namespace internal

} // end namespace Eigen
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25 changes: 7 additions & 18 deletions wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/functors/BinaryFunctors.h
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Expand Up @@ -207,20 +207,9 @@ struct functor_traits<scalar_cmp_op<LhsScalar, RhsScalar, cmp, UseTypedComparato
};
};

template <typename LhsScalar, typename RhsScalar, bool UseTypedComparators>
struct typed_cmp_helper {
static constexpr bool SameType = is_same<LhsScalar, RhsScalar>::value;
static constexpr bool IsNumeric = is_arithmetic<typename NumTraits<LhsScalar>::Real>::value;
static constexpr bool UseTyped = UseTypedComparators && SameType && IsNumeric;
using type = typename conditional<UseTyped, LhsScalar, bool>::type;
};

template <typename LhsScalar, typename RhsScalar, bool UseTypedComparators>
using cmp_return_t = typename typed_cmp_helper<LhsScalar, RhsScalar, UseTypedComparators>::type;

template <typename LhsScalar, typename RhsScalar, bool UseTypedComparators>
struct scalar_cmp_op<LhsScalar, RhsScalar, cmp_EQ, UseTypedComparators> : binary_op_base<LhsScalar, RhsScalar> {
using result_type = cmp_return_t<LhsScalar, RhsScalar, UseTypedComparators>;
using result_type = std::conditional_t<UseTypedComparators, LhsScalar, bool>;
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator()(const LhsScalar& a, const RhsScalar& b) const {
return a == b ? result_type(1) : result_type(0);
}
Expand All @@ -233,7 +222,7 @@ struct scalar_cmp_op<LhsScalar, RhsScalar, cmp_EQ, UseTypedComparators> : binary

template <typename LhsScalar, typename RhsScalar, bool UseTypedComparators>
struct scalar_cmp_op<LhsScalar, RhsScalar, cmp_LT, UseTypedComparators> : binary_op_base<LhsScalar, RhsScalar> {
using result_type = cmp_return_t<LhsScalar, RhsScalar, UseTypedComparators>;
using result_type = std::conditional_t<UseTypedComparators, LhsScalar, bool>;
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator()(const LhsScalar& a, const RhsScalar& b) const {
return a < b ? result_type(1) : result_type(0);
}
Expand All @@ -246,7 +235,7 @@ struct scalar_cmp_op<LhsScalar, RhsScalar, cmp_LT, UseTypedComparators> : binary

template <typename LhsScalar, typename RhsScalar, bool UseTypedComparators>
struct scalar_cmp_op<LhsScalar, RhsScalar, cmp_LE, UseTypedComparators> : binary_op_base<LhsScalar, RhsScalar> {
using result_type = cmp_return_t<LhsScalar, RhsScalar, UseTypedComparators>;
using result_type = std::conditional_t<UseTypedComparators, LhsScalar, bool>;
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator()(const LhsScalar& a, const RhsScalar& b) const {
return a <= b ? result_type(1) : result_type(0);
}
Expand All @@ -259,7 +248,7 @@ struct scalar_cmp_op<LhsScalar, RhsScalar, cmp_LE, UseTypedComparators> : binary

template <typename LhsScalar, typename RhsScalar, bool UseTypedComparators>
struct scalar_cmp_op<LhsScalar, RhsScalar, cmp_GT, UseTypedComparators> : binary_op_base<LhsScalar, RhsScalar> {
using result_type = cmp_return_t<LhsScalar, RhsScalar, UseTypedComparators>;
using result_type = std::conditional_t<UseTypedComparators, LhsScalar, bool>;
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator()(const LhsScalar& a, const RhsScalar& b) const {
return a > b ? result_type(1) : result_type(0);
}
Expand All @@ -272,7 +261,7 @@ struct scalar_cmp_op<LhsScalar, RhsScalar, cmp_GT, UseTypedComparators> : binary

template <typename LhsScalar, typename RhsScalar, bool UseTypedComparators>
struct scalar_cmp_op<LhsScalar, RhsScalar, cmp_GE, UseTypedComparators> : binary_op_base<LhsScalar, RhsScalar> {
using result_type = cmp_return_t<LhsScalar, RhsScalar, UseTypedComparators>;
using result_type = std::conditional_t<UseTypedComparators, LhsScalar, bool>;
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator()(const LhsScalar& a, const RhsScalar& b) const {
return a >= b ? result_type(1) : result_type(0);
}
Expand All @@ -285,7 +274,7 @@ struct scalar_cmp_op<LhsScalar, RhsScalar, cmp_GE, UseTypedComparators> : binary

template <typename LhsScalar, typename RhsScalar, bool UseTypedComparators>
struct scalar_cmp_op<LhsScalar, RhsScalar, cmp_UNORD, UseTypedComparators> : binary_op_base<LhsScalar, RhsScalar> {
using result_type = cmp_return_t<LhsScalar, RhsScalar, UseTypedComparators>;
using result_type = std::conditional_t<UseTypedComparators, LhsScalar, bool>;
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator()(const LhsScalar& a, const RhsScalar& b) const {
return !(a <= b || b <= a) ? result_type(1) : result_type(0);
}
Expand All @@ -298,7 +287,7 @@ struct scalar_cmp_op<LhsScalar, RhsScalar, cmp_UNORD, UseTypedComparators> : bin

template <typename LhsScalar, typename RhsScalar, bool UseTypedComparators>
struct scalar_cmp_op<LhsScalar, RhsScalar, cmp_NEQ, UseTypedComparators> : binary_op_base<LhsScalar, RhsScalar> {
using result_type = cmp_return_t<LhsScalar, RhsScalar, UseTypedComparators>;
using result_type = std::conditional_t<UseTypedComparators, LhsScalar, bool>;
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator()(const LhsScalar& a, const RhsScalar& b) const {
return a != b ? result_type(1) : result_type(0);
}
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3 changes: 0 additions & 3 deletions wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SparseCore/SparseMatrixBase.h
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Expand Up @@ -227,9 +227,6 @@ class SparseMatrixBase : public EigenBase<Derived> {
using Nested = typename Derived::Nested;
using NestedCleaned = typename internal::remove_all<Nested>::type;

/// For converting `0's` to the matrices numerical type
using Scalar = typename Derived::Scalar;

if (Flags & RowMajorBit) {
Nested nm(m.derived());
internal::evaluator<NestedCleaned> thisEval(nm);
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