sleipnirgroup-jormungandr 0.0.1.dev474__tar.gz → 0.0.1.dev475__tar.gz

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev475}/CMakeLists.txt

@@ -120,6 +120,17 @@ endif()
 
 target_link_libraries(Sleipnir PUBLIC Eigen3::Eigen)
 
+# small_vector dependency
+fetchcontent_declare(
+    small_vector
+    GIT_REPOSITORY https://github.com/gharveymn/small_vector.git
+    # main on 2025-05-15
+    GIT_TAG b19a9c477cad5e58f8aed59dbe9be1c30e4b9826
+)
+fetchcontent_makeavailable(small_vector)
+
+target_link_libraries(Sleipnir PUBLIC small_vector)
+
 if(BUILD_TESTING AND NOT CMAKE_CROSSCOMPILING)
     # Catch2 dependency
     fetchcontent_declare(
@@ -325,7 +336,10 @@ if(BUILD_PYTHON)
             ${CMAKE_CURRENT_SOURCE_DIR}/include
             ${CMAKE_CURRENT_SOURCE_DIR}/jormungandr/cpp
     )
-    target_link_libraries(_jormungandr PUBLIC Threads::Threads Eigen3::Eigen)
+    target_link_libraries(
+        _jormungandr
+        PUBLIC Threads::Threads Eigen3::Eigen small_vector
+    )
 
     # Suppress compiler warnings in nanobind
     if(${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU")

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev475}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: sleipnirgroup-jormungandr
-Version: 0.0.1.dev474
+Version: 0.0.1.dev475
 Summary: A linearity-exploiting sparse nonlinear constrained optimization problem solver that uses the interior-point method.
 License: Copyright (c) Sleipnir contributors
         
@@ -187,6 +187,7 @@ See the [examples](https://github.com/SleipnirGroup/Sleipnir/tree/main/examples)
   * On Linux, install via `sudo apt install python`
   * On macOS, install via `brew install python`
 * [Eigen](https://gitlab.com/libeigen/eigen)
+* [small_vector](https://github.com/gharveymn/small_vector)
 * [nanobind](https://github.com/wjakob/nanobind) (build only)
 * [Catch2](https://github.com/catchorg/Catch2) (tests only)
 
@@ -293,7 +294,7 @@ For quadratic problems, we compute the Lagrangian Hessian and constraint Jacobia
 
 #### Use a performant linear algebra library with fast sparse solvers
 
-[Eigen](https://gitlab.com/libeigen/eigen/) provides these. It also has no required dependencies, which makes cross compilation much easier.
+[Eigen](https://gitlab.com/libeigen/eigen) provides these. It also has no required dependencies, which makes cross compilation much easier.
 
 #### Use a pool allocator for autodiff expression nodes
 

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev475}/README.md

@@ -165,6 +165,7 @@ See the [examples](https://github.com/SleipnirGroup/Sleipnir/tree/main/examples)
   * On Linux, install via `sudo apt install python`
   * On macOS, install via `brew install python`
 * [Eigen](https://gitlab.com/libeigen/eigen)
+* [small_vector](https://github.com/gharveymn/small_vector)
 * [nanobind](https://github.com/wjakob/nanobind) (build only)
 * [Catch2](https://github.com/catchorg/Catch2) (tests only)
 
@@ -271,7 +272,7 @@ For quadratic problems, we compute the Lagrangian Hessian and constraint Jacobia
 
 #### Use a performant linear algebra library with fast sparse solvers
 
-[Eigen](https://gitlab.com/libeigen/eigen/) provides these. It also has no required dependencies, which makes cross compilation much easier.
+[Eigen](https://gitlab.com/libeigen/eigen) provides these. It also has no required dependencies, which makes cross compilation much easier.
 
 #### Use a pool allocator for autodiff expression nodes
 

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev475}/cmake/modules/Pybind11Mkdoc.cmake

@@ -32,13 +32,22 @@ function(pybind11_mkdoc target headers)
     list(FILTER eigen_dirs INCLUDE REGEX "\\$<BUILD_INTERFACE:.*>")
     list(TRANSFORM eigen_dirs PREPEND "-I")
 
+    get_target_property(
+        small_vector_dirs
+        small_vector
+        INTERFACE_INCLUDE_DIRECTORIES
+    )
+    list(FILTER small_vector_dirs INCLUDE REGEX "\\$<BUILD_INTERFACE:.*>")
+    list(TRANSFORM small_vector_dirs PREPEND "-I")
+
     add_custom_command(
         OUTPUT ${CMAKE_CURRENT_SOURCE_DIR}/jormungandr/cpp/docstrings.hpp
         COMMAND
             ${env_vars} ${Python3_EXECUTABLE} -m pybind11_mkdoc ${headers} -o
             ${CMAKE_CURRENT_SOURCE_DIR}/jormungandr/cpp/docstrings.hpp
             -I/usr/lib/clang/`clang++ --version | grep -E -o '[0-9]+' | head
-            -1`/include ${target_dirs} ${eigen_dirs} -std=c++23
+            -1`/include ${target_dirs} ${eigen_dirs} ${small_vector_dirs}
+            -std=c++23
         DEPENDS ${headers}
         USES_TERMINAL
     )

{sleipnirgroup_jormungandr-0.0.1.dev474/src → sleipnirgroup_jormungandr-0.0.1.dev475/include}/.styleguide

@@ -8,4 +8,5 @@ cppSrcFileInclude {
 
 includeOtherLibs {
   ^Eigen/
+  ^gch/
 }

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev475}/include/sleipnir/autodiff/adjoint_expression_graph.hpp

@@ -6,11 +6,11 @@
 #include <utility>
 
 #include <Eigen/SparseCore>
+#include <gch/small_vector.hpp>
 
 #include "sleipnir/autodiff/expression_graph.hpp"
 #include "sleipnir/autodiff/variable.hpp"
 #include "sleipnir/autodiff/variable_matrix.hpp"
-#include "sleipnir/util/small_vector.hpp"
 
 namespace slp::detail {
 
@@ -101,8 +101,9 @@ class AdjointExpressionGraph {
    * @param wrt Vector of variables with respect to which to compute the
    *   Jacobian.
    */
-  void append_adjoint_triplets(small_vector<Eigen::Triplet<double>>& triplets,
-                               int row, const VariableMatrix& wrt) const {
+  void append_adjoint_triplets(
+      gch::small_vector<Eigen::Triplet<double>>& triplets, int row,
+      const VariableMatrix& wrt) const {
     // Read docs/algorithms.md#Reverse_accumulation_automatic_differentiation
     // for background on reverse accumulation automatic differentiation.
 
@@ -165,10 +166,10 @@ class AdjointExpressionGraph {
 
  private:
   // Topological sort of graph from parent to child
-  small_vector<Expression*> m_top_list;
+  gch::small_vector<Expression*> m_top_list;
 
   // List that maps nodes to their respective column
-  small_vector<int> m_col_list;
+  gch::small_vector<int> m_col_list;
 };
 
 }  // namespace slp::detail

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev475}/include/sleipnir/autodiff/expression.hpp

@@ -11,10 +11,11 @@
 #include <numbers>
 #include <utility>
 
+#include <gch/small_vector.hpp>
+
 #include "sleipnir/autodiff/expression_type.hpp"
 #include "sleipnir/util/intrusive_shared_ptr.hpp"
 #include "sleipnir/util/pool.hpp"
-#include "sleipnir/util/small_vector.hpp"
 
 namespace slp::detail {
 
@@ -694,7 +695,7 @@ inline constexpr void dec_ref_count(Expression* expr) {
   // Expression destructor when expr's refcount reaches zero can cause a stack
   // overflow. Instead, we iterate over its children to decrement their
   // refcounts and deallocate them.
-  small_vector<Expression*> stack;
+  gch::small_vector<Expression*> stack;
   stack.emplace_back(expr);
 
   while (!stack.empty()) {

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev475}/include/sleipnir/autodiff/expression_graph.hpp

@@ -4,8 +4,9 @@
 
 #include <ranges>
 
+#include <gch/small_vector.hpp>
+
 #include "sleipnir/autodiff/expression.hpp"
-#include "sleipnir/util/small_vector.hpp"
 
 namespace slp::detail {
 
@@ -16,8 +17,9 @@ namespace slp::detail {
  *
  * @param root The root node of the expression.
  */
-inline small_vector<Expression*> topological_sort(const ExpressionPtr& root) {
-  small_vector<Expression*> list;
+inline gch::small_vector<Expression*> topological_sort(
+    const ExpressionPtr& root) {
+  gch::small_vector<Expression*> list;
 
   // If the root type is a constant, Update() is a no-op, so there's no work
   // to do
@@ -26,7 +28,7 @@ inline small_vector<Expression*> topological_sort(const ExpressionPtr& root) {
   }
 
   // Stack of nodes to explore
-  small_vector<Expression*> stack;
+  gch::small_vector<Expression*> stack;
 
   // Enumerate incoming edges for each node via depth-first search
   stack.emplace_back(root.get());
@@ -73,7 +75,7 @@ inline small_vector<Expression*> topological_sort(const ExpressionPtr& root) {
  *
  * @param list Topological sort of graph from parent to child.
  */
-inline void update_values(const small_vector<Expression*>& list) {
+inline void update_values(const gch::small_vector<Expression*>& list) {
   // Traverse graph from child to parent and update values
   for (auto& node : list | std::views::reverse) {
     auto& lhs = node->args[0];

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev475}/include/sleipnir/autodiff/hessian.hpp

@@ -5,12 +5,12 @@
 #include <utility>
 
 #include <Eigen/SparseCore>
+#include <gch/small_vector.hpp>
 
 #include "sleipnir/autodiff/adjoint_expression_graph.hpp"
 #include "sleipnir/autodiff/variable.hpp"
 #include "sleipnir/autodiff/variable_matrix.hpp"
 #include "sleipnir/util/concepts.hpp"
-#include "sleipnir/util/small_vector.hpp"
 #include "sleipnir/util/symbol_exports.hpp"
 
 namespace slp {
@@ -154,16 +154,16 @@ class SLEIPNIR_DLLEXPORT Hessian {
   VariableMatrix m_variables;
   VariableMatrix m_wrt;
 
-  small_vector<detail::AdjointExpressionGraph> m_graphs;
+  gch::small_vector<detail::AdjointExpressionGraph> m_graphs;
 
   Eigen::SparseMatrix<double> m_H{m_variables.rows(), m_wrt.rows()};
 
   // Cached triplets for gradients of linear rows
-  small_vector<Eigen::Triplet<double>> m_cached_triplets;
+  gch::small_vector<Eigen::Triplet<double>> m_cached_triplets;
 
   // List of row indices for nonlinear rows whose graients will be computed in
   // Value()
-  small_vector<int> m_nonlinear_rows;
+  gch::small_vector<int> m_nonlinear_rows;
 };
 
 }  // namespace slp

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev475}/include/sleipnir/autodiff/jacobian.hpp

@@ -5,12 +5,12 @@
 #include <utility>
 
 #include <Eigen/SparseCore>
+#include <gch/small_vector.hpp>
 
 #include "sleipnir/autodiff/adjoint_expression_graph.hpp"
 #include "sleipnir/autodiff/variable.hpp"
 #include "sleipnir/autodiff/variable_matrix.hpp"
 #include "sleipnir/util/concepts.hpp"
-#include "sleipnir/util/small_vector.hpp"
 #include "sleipnir/util/symbol_exports.hpp"
 
 namespace slp {
@@ -143,16 +143,16 @@ class SLEIPNIR_DLLEXPORT Jacobian {
   VariableMatrix m_variables;
   VariableMatrix m_wrt;
 
-  small_vector<detail::AdjointExpressionGraph> m_graphs;
+  gch::small_vector<detail::AdjointExpressionGraph> m_graphs;
 
   Eigen::SparseMatrix<double> m_J{m_variables.rows(), m_wrt.rows()};
 
   // Cached triplets for gradients of linear rows
-  small_vector<Eigen::Triplet<double>> m_cached_triplets;
+  gch::small_vector<Eigen::Triplet<double>> m_cached_triplets;
 
   // List of row indices for nonlinear rows whose graients will be computed in
   // Value()
-  small_vector<int> m_nonlinear_rows;
+  gch::small_vector<int> m_nonlinear_rows;
 };
 
 }  // namespace slp

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev475}/include/sleipnir/autodiff/variable.hpp

@@ -11,12 +11,12 @@
 #include <vector>
 
 #include <Eigen/Core>
+#include <gch/small_vector.hpp>
 
 #include "sleipnir/autodiff/expression.hpp"
 #include "sleipnir/autodiff/expression_graph.hpp"
 #include "sleipnir/util/assert.hpp"
 #include "sleipnir/util/concepts.hpp"
-#include "sleipnir/util/small_vector.hpp"
 #include "sleipnir/util/symbol_exports.hpp"
 
 #ifndef SLEIPNIR_DISABLE_DIAGNOSTICS
@@ -256,7 +256,7 @@ class SLEIPNIR_DLLEXPORT Variable {
 
   /// Used to update the value of this variable based on the values of its
   /// dependent variables
-  small_vector<detail::Expression*> m_graph;
+  gch::small_vector<detail::Expression*> m_graph;
 
   /// Used for lazy initialization of m_graph
   bool m_graph_initialized = false;
@@ -495,8 +495,8 @@ template <typename LHS, typename RHS>
   requires(ScalarLike<LHS> || MatrixLike<LHS>) &&
           (ScalarLike<RHS> || MatrixLike<RHS>) &&
           (SleipnirType<LHS> || SleipnirType<RHS>)
-small_vector<Variable> make_constraints(LHS&& lhs, RHS&& rhs) {
-  small_vector<Variable> constraints;
+gch::small_vector<Variable> make_constraints(LHS&& lhs, RHS&& rhs) {
+  gch::small_vector<Variable> constraints;
 
   if constexpr (ScalarLike<LHS> && ScalarLike<RHS>) {
     constraints.emplace_back(lhs - rhs);
@@ -558,7 +558,7 @@ small_vector<Variable> make_constraints(LHS&& lhs, RHS&& rhs) {
  */
 struct SLEIPNIR_DLLEXPORT EqualityConstraints {
   /// A vector of scalar equality constraints.
-  small_vector<Variable> constraints;
+  gch::small_vector<Variable> constraints;
 
   /**
    * Concatenates multiple equality constraints.
@@ -619,7 +619,7 @@ struct SLEIPNIR_DLLEXPORT EqualityConstraints {
  */
 struct SLEIPNIR_DLLEXPORT InequalityConstraints {
   /// A vector of scalar inequality constraints.
-  small_vector<Variable> constraints;
+  gch::small_vector<Variable> constraints;
 
   /**
    * Concatenates multiple inequality constraints.

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev475}/include/sleipnir/autodiff/variable_matrix.hpp

@@ -11,6 +11,7 @@
 #include <vector>
 
 #include <Eigen/Core>
+#include <gch/small_vector.hpp>
 
 #include "sleipnir/autodiff/slice.hpp"
 #include "sleipnir/autodiff/variable.hpp"
@@ -18,7 +19,6 @@
 #include "sleipnir/util/assert.hpp"
 #include "sleipnir/util/concepts.hpp"
 #include "sleipnir/util/function_ref.hpp"
-#include "sleipnir/util/small_vector.hpp"
 #include "sleipnir/util/symbol_exports.hpp"
 
 namespace slp {
@@ -1029,7 +1029,8 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
 
     constexpr iterator() noexcept = default;
 
-    explicit constexpr iterator(small_vector<Variable>::iterator it) noexcept
+    explicit constexpr iterator(
+        gch::small_vector<Variable>::iterator it) noexcept
         : m_it{it} {}
 
     constexpr iterator& operator++() noexcept {
@@ -1048,7 +1049,7 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
     constexpr reference operator*() const noexcept { return *m_it; }
 
    private:
-    small_vector<Variable>::iterator m_it;
+    gch::small_vector<Variable>::iterator m_it;
   };
 
   class const_iterator {
@@ -1062,7 +1063,7 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
     constexpr const_iterator() noexcept = default;
 
     explicit constexpr const_iterator(
-        small_vector<Variable>::const_iterator it) noexcept
+        gch::small_vector<Variable>::const_iterator it) noexcept
         : m_it{it} {}
 
     constexpr const_iterator& operator++() noexcept {
@@ -1081,7 +1082,7 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
     constexpr const_reference operator*() const noexcept { return *m_it; }
 
    private:
-    small_vector<Variable>::const_iterator m_it;
+    gch::small_vector<Variable>::const_iterator m_it;
   };
 
 #endif  // DOXYGEN_SHOULD_SKIP_THIS
@@ -1170,7 +1171,7 @@ class SLEIPNIR_DLLEXPORT VariableMatrix {
   }
 
  private:
-  small_vector<Variable> m_storage;
+  gch::small_vector<Variable> m_storage;
   int m_rows = 0;
   int m_cols = 0;
 };

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev475}/include/sleipnir/optimization/multistart.hpp

@@ -6,9 +6,10 @@
 #include <future>
 #include <span>
 
+#include <gch/small_vector.hpp>
+
 #include "sleipnir/optimization/solver/exit_status.hpp"
 #include "sleipnir/util/function_ref.hpp"
-#include "sleipnir/util/small_vector.hpp"
 
 namespace slp {
 
@@ -48,14 +49,14 @@ MultistartResult<DecisionVariables> Multistart(
         const DecisionVariables& initial_guess)>
         solve,
     std::span<const DecisionVariables> initial_guesses) {
-  small_vector<std::future<MultistartResult<DecisionVariables>>> futures;
+  gch::small_vector<std::future<MultistartResult<DecisionVariables>>> futures;
   futures.reserve(initial_guesses.size());
 
   for (const auto& initial_guess : initial_guesses) {
     futures.emplace_back(std::async(std::launch::async, solve, initial_guess));
   }
 
-  small_vector<MultistartResult<DecisionVariables>> results;
+  gch::small_vector<MultistartResult<DecisionVariables>> results;
   results.reserve(futures.size());
 
   for (auto& future : futures) {

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev475}/include/sleipnir/optimization/problem.hpp

@@ -11,6 +11,7 @@
 #include <utility>
 
 #include <Eigen/Core>
+#include <gch/small_vector.hpp>
 
 #include "sleipnir/autodiff/expression_type.hpp"
 #include "sleipnir/autodiff/variable.hpp"
@@ -18,7 +19,6 @@
 #include "sleipnir/optimization/solver/exit_status.hpp"
 #include "sleipnir/optimization/solver/iteration_info.hpp"
 #include "sleipnir/optimization/solver/options.hpp"
-#include "sleipnir/util/small_vector.hpp"
 #include "sleipnir/util/symbol_exports.hpp"
 
 namespace slp {
@@ -320,19 +320,19 @@ class SLEIPNIR_DLLEXPORT Problem {
  private:
   // The list of decision variables, which are the root of the problem's
   // expression tree
-  small_vector<Variable> m_decision_variables;
+  gch::small_vector<Variable> m_decision_variables;
 
   // The cost function: f(x)
   std::optional<Variable> m_f;
 
   // The list of equality constraints: cₑ(x) = 0
-  small_vector<Variable> m_equality_constraints;
+  gch::small_vector<Variable> m_equality_constraints;
 
   // The list of inequality constraints: cᵢ(x) ≥ 0
-  small_vector<Variable> m_inequality_constraints;
+  gch::small_vector<Variable> m_inequality_constraints;
 
   // The iteration callbacks
-  small_vector<std::function<bool(const IterationInfo& info)>>
+  gch::small_vector<std::function<bool(const IterationInfo& info)>>
       m_iteration_callbacks;
 
   void print_exit_conditions([[maybe_unused]] const Options& options);

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev475}/include/sleipnir/util/pool.hpp

@@ -5,7 +5,8 @@
 #include <cstddef>
 #include <memory>
 
-#include "sleipnir/util/small_vector.hpp"
+#include <gch/small_vector.hpp>
+
 #include "sleipnir/util/symbol_exports.hpp"
 
 namespace slp {
@@ -103,8 +104,8 @@ class SLEIPNIR_DLLEXPORT PoolResource {
   }
 
  private:
-  small_vector<std::unique_ptr<std::byte[]>> m_buffer;
-  small_vector<void*> m_free_list;
+  gch::small_vector<std::unique_ptr<std::byte[]>> m_buffer;
+  gch::small_vector<void*> m_free_list;
   size_t blocks_per_chunk;
 
   /**

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev475}/pyproject.toml

@@ -1,7 +1,7 @@
 [project]
 name = "sleipnirgroup-jormungandr"
 description = "A linearity-exploiting sparse nonlinear constrained optimization problem solver that uses the interior-point method."
-version = "0.0.1.dev474"
+version = "0.0.1.dev475"
 readme = "README.md"
 requires-python = ">=3.9"
 dependencies = [ "matplotlib", "numpy", "scipy" ]

{sleipnirgroup_jormungandr-0.0.1.dev474/include → sleipnirgroup_jormungandr-0.0.1.dev475/src}/.styleguide

@@ -6,10 +6,7 @@ cppSrcFileInclude {
   \.cpp$
 }
 
-licenseUpdateExclude {
-  include/sleipnir/util/small_vector\.hpp$
-}
-
 includeOtherLibs {
   ^Eigen/
+  ^gch/
 }

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev475}/src/optimization/problem.cpp

@@ -11,6 +11,7 @@
 
 #include <Eigen/Core>
 #include <Eigen/SparseCore>
+#include <gch/small_vector.hpp>
 
 #include "sleipnir/autodiff/expression_type.hpp"
 #include "sleipnir/autodiff/gradient.hpp"
@@ -24,7 +25,6 @@
 #include "sleipnir/optimization/solver/options.hpp"
 #include "sleipnir/optimization/solver/sqp.hpp"
 #include "sleipnir/util/print.hpp"
-#include "sleipnir/util/small_vector.hpp"
 #include "sleipnir/util/spy.hpp"
 #include "util/print_diagnostics.hpp"
 #include "util/setup_profiler.hpp"
@@ -60,7 +60,7 @@ ExitStatus Problem::solve(const Options& options, [[maybe_unused]] bool spy) {
     return ExitStatus::SUCCESS;
   }
 
-  small_vector<SetupProfiler> ad_setup_profilers;
+  gch::small_vector<SetupProfiler> ad_setup_profilers;
   ad_setup_profilers.emplace_back("setup").start();
 
   VariableMatrix x_ad{m_decision_variables};
@@ -340,19 +340,20 @@ void Problem::print_problem_analysis() {
     slp::print("\n{} decision variables\n", m_decision_variables.size());
   }
 
-  auto print_constraint_types = [](const small_vector<Variable>& constraints) {
-    std::array<size_t, 5> counts{};
-    for (const auto& constraint : constraints) {
-      ++counts[std::to_underlying(constraint.type())];
-    }
-    for (const auto& [count, name] :
-         std::views::zip(counts, std::array{"empty", "constant", "linear",
-                                            "quadratic", "nonlinear"})) {
-      if (count > 0) {
-        slp::println("  ↳ {} {}", count, name);
-      }
-    }
-  };
+  auto print_constraint_types =
+      [](const gch::small_vector<Variable>& constraints) {
+        std::array<size_t, 5> counts{};
+        for (const auto& constraint : constraints) {
+          ++counts[std::to_underlying(constraint.type())];
+        }
+        for (const auto& [count, name] :
+             std::views::zip(counts, std::array{"empty", "constant", "linear",
+                                                "quadratic", "nonlinear"})) {
+          if (count > 0) {
+            slp::println("  ↳ {} {}", count, name);
+          }
+        }
+      };
 
   // Print constraint types
   if (m_equality_constraints.size() == 1) {

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev475}/src/optimization/solver/interior_point.cpp

@@ -10,6 +10,7 @@
 
 #include <Eigen/Core>
 #include <Eigen/SparseCore>
+#include <gch/small_vector.hpp>
 
 #include "optimization/regularized_ldlt.hpp"
 #include "optimization/solver/util/error_estimate.hpp"
@@ -21,7 +22,6 @@
 #include "sleipnir/optimization/solver/iteration_info.hpp"
 #include "sleipnir/optimization/solver/options.hpp"
 #include "sleipnir/util/assert.hpp"
-#include "sleipnir/util/small_vector.hpp"
 #include "util/print_diagnostics.hpp"
 #include "util/scope_exit.hpp"
 #include "util/scoped_profiler.hpp"
@@ -59,7 +59,7 @@ ExitStatus interior_point(
     const Options& options, Eigen::VectorXd& x) {
   const auto solve_start_time = std::chrono::steady_clock::now();
 
-  small_vector<SolveProfiler> solve_profilers;
+  gch::small_vector<SolveProfiler> solve_profilers;
   solve_profilers.emplace_back("solver");
   solve_profilers.emplace_back("  ↳ setup");
   solve_profilers.emplace_back("  ↳ iteration");
@@ -224,7 +224,7 @@ ExitStatus interior_point(
   };
 
   // Kept outside the loop so its storage can be reused
-  small_vector<Eigen::Triplet<double>> triplets;
+  gch::small_vector<Eigen::Triplet<double>> triplets;
 
   RegularizedLDLT solver{num_decision_variables, num_equality_constraints};
 

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev475}/src/optimization/solver/newton.cpp

@@ -10,6 +10,7 @@
 
 #include <Eigen/Core>
 #include <Eigen/SparseCore>
+#include <gch/small_vector.hpp>
 
 #include "optimization/regularized_ldlt.hpp"
 #include "optimization/solver/util/error_estimate.hpp"
@@ -34,7 +35,7 @@ ExitStatus newton(const NewtonMatrixCallbacks& matrix_callbacks,
                   const Options& options, Eigen::VectorXd& x) {
   const auto solve_start_time = std::chrono::steady_clock::now();
 
-  small_vector<SolveProfiler> solve_profilers;
+  gch::small_vector<SolveProfiler> solve_profilers;
   solve_profilers.emplace_back("solver");
   solve_profilers.emplace_back("  ↳ setup");
   solve_profilers.emplace_back("  ↳ iteration");

{sleipnirgroup_jormungandr-0.0.1.dev474 → sleipnirgroup_jormungandr-0.0.1.dev475}/src/optimization/solver/sqp.cpp

@@ -10,6 +10,7 @@
 
 #include <Eigen/Core>
 #include <Eigen/SparseCore>
+#include <gch/small_vector.hpp>
 
 #include "optimization/regularized_ldlt.hpp"
 #include "optimization/solver/util/error_estimate.hpp"
@@ -20,7 +21,6 @@
 #include "sleipnir/optimization/solver/iteration_info.hpp"
 #include "sleipnir/optimization/solver/options.hpp"
 #include "sleipnir/util/assert.hpp"
-#include "sleipnir/util/small_vector.hpp"
 #include "util/print_diagnostics.hpp"
 #include "util/scope_exit.hpp"
 #include "util/scoped_profiler.hpp"
@@ -50,7 +50,7 @@ ExitStatus sqp(const SQPMatrixCallbacks& matrix_callbacks,
                const Options& options, Eigen::VectorXd& x) {
   const auto solve_start_time = std::chrono::steady_clock::now();
 
-  small_vector<SolveProfiler> solve_profilers;
+  gch::small_vector<SolveProfiler> solve_profilers;
   solve_profilers.emplace_back("solver");
   solve_profilers.emplace_back("  ↳ setup");
   solve_profilers.emplace_back("  ↳ iteration");
@@ -156,7 +156,7 @@ ExitStatus sqp(const SQPMatrixCallbacks& matrix_callbacks,
   Filter filter;
 
   // Kept outside the loop so its storage can be reused
-  small_vector<Eigen::Triplet<double>> triplets;
+  gch::small_vector<Eigen::Triplet<double>> triplets;
 
   RegularizedLDLT solver{num_decision_variables, num_equality_constraints};