[upstream_utils] Upgrade to GCEM 1.18.0 (#6805)

upstream_utils/gcem_patches/0002-Add-hypot-x-y-z.patch

@@ -8,7 +8,7 @@ Subject: [PATCH 2/2] Add hypot(x, y, z)
  1 file changed, 82 insertions(+), 3 deletions(-)
 
 diff --git a/include/gcem_incl/hypot.hpp b/include/gcem_incl/hypot.hpp
-index 00e10f899ace8f0da925fa9e46fa3f79f7e83aa0..13ea80c49d374c23434c1f9859bb6474184dc420 100644
+index 22a402066430f4fde68f9d622ccdf7c646a3cbd6..4e7523ab85b75e5daf34a2ea34e1d98f79703ac9 100644
 --- a/include/gcem_incl/hypot.hpp
 +++ b/include/gcem_incl/hypot.hpp
 @@ -27,6 +27,7 @@

upstream_utils/update_gcem.py

@@ -13,7 +13,7 @@
 
 
 def main():
-    upstream_root = clone_repo("https://github.com/kthohr/gcem.git", "v1.17.0")
+    upstream_root = clone_repo("https://github.com/kthohr/gcem.git", "v1.18.0")
     wpilib_root = get_repo_root()
     wpimath = os.path.join(wpilib_root, "wpimath")
 

wpimath/src/main/native/thirdparty/gcem/include/gcem.hpp

@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2023 Keith O'Hara
+  ##   Copyright (C) 2016-2024 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
@@ -35,6 +35,9 @@
 #include "gcem_incl/sgn.hpp"
 
 #include "gcem_incl/abs.hpp"
+#include "gcem_incl/fabs.hpp"
+#include "gcem_incl/fabsf.hpp"
+#include "gcem_incl/fabsl.hpp"
 #include "gcem_incl/ceil.hpp"
 #include "gcem_incl/floor.hpp"
 #include "gcem_incl/trunc.hpp"

wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/abs.hpp

@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2023 Keith O'Hara
+  ##   Copyright (C) 2016-2024 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
@@ -31,7 +31,7 @@ namespace gcem
  * Compile-time absolute value function
  *
  * @param x a real-valued input.
- * @return the absolute value of \c x, \f$ |x| \f$.
+ * @return the absolute value of \c x, \f$ |x| \f$, where the return type is the same as the input type.
  */
 
 template<typename T>

wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/acos.hpp

@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2023 Keith O'Hara
+  ##   Copyright (C) 2016-2024 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/acosh.hpp

@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2023 Keith O'Hara
+  ##   Copyright (C) 2016-2024 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/asin.hpp

@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2023 Keith O'Hara
+  ##   Copyright (C) 2016-2024 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/asinh.hpp

@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2023 Keith O'Hara
+  ##   Copyright (C) 2016-2024 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/atan.hpp

@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2023 Keith O'Hara
+  ##   Copyright (C) 2016-2024 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
@@ -43,21 +43,55 @@ namespace internal
 template<typename T>
 constexpr
 T
-atan_series_order_calc(const T x, const T x_pow, const uint_t order)
+atan_series_order_calc(const T xx, const T x_pow, const uint_t order)
 noexcept
 {
     return( T(1)/( T((order-1)*4 - 1) * x_pow ) \
-              - T(1)/( T((order-1)*4 + 1) * x_pow*x) );
+              - T(1)/( T((order-1)*4 + 1) * x_pow * xx) );
 }
 
+#if __cplusplus >= 201402L // C++14 version
+
+template<typename T>
+constexpr
+T
+atan_series_order(const T x, const T x_pow, const uint_t order_begin, const uint_t max_order)
+noexcept
+{
+    // run in reverse order to sum smallest numbers first
+
+    if (max_order == 1) {
+        return GCEM_HALF_PI - T(1)/x_pow; // use x_pow to avoid a warning
+    }
+
+    T xx = x*x;
+    T res = atan_series_order_calc(xx, pow(x,4*max_order-5), max_order);
+
+    uint_t depth = max_order - 1;
+
+    while (depth > order_begin) {
+        res += atan_series_order_calc(xx, pow(x,4*depth-5), depth);
+
+        --depth;
+    }
+
+    res += GCEM_HALF_PI - T(1)/x;
+
+    return res;
+}
+
+#else // C++11 version
+
 template<typename T>
 constexpr
 T
 atan_series_order(const T x, const T x_pow, const uint_t order, const uint_t max_order)
 noexcept
 {
-    return( order == 1 ? \
-                GCEM_HALF_PI - T(1)/x + atan_series_order(x*x,pow(x,3),order+1,max_order) :
+    return( max_order == 1 ? \
+                T(GCEM_HALF_PI) - T(1)/x :
+            order == 1 ? \
+                T(GCEM_HALF_PI) - T(1)/x + atan_series_order(x*x,pow(x,3),order+1,max_order) :
             // NOTE: x changes to x*x for order > 1
             order < max_order ? \
                 atan_series_order_calc(x,x_pow,order) \
@@ -66,6 +100,8 @@ noexcept
                 atan_series_order_calc(x,x_pow,order) );
 }
 
+#endif
+
 template<typename T>
 constexpr
 T
@@ -85,6 +121,28 @@ noexcept
 
 // CF
 
+#if __cplusplus >= 201402L // C++14 version
+
+template<typename T>
+constexpr
+T
+atan_cf_recur(const T xx, const uint_t depth_begin, const uint_t max_depth)
+noexcept
+{
+    uint_t depth = max_depth - 1;
+    T res = T(2*(depth+1) - 1);
+
+    while (depth > depth_begin - 1) {
+        res = T(2*depth - 1) + T(depth*depth) * xx / res;
+
+        --depth;
+    }
+
+    return res;
+}
+
+#else // C++11 version
+
 template<typename T>
 constexpr
 T
@@ -93,25 +151,27 @@ noexcept
 {
     return( depth < max_depth ? \
             // if
-                T(2*depth - 1) + depth*depth*xx/atan_cf_recur(xx,depth+1,max_depth) :
+                T(2*depth - 1) + T(depth*depth) * xx / atan_cf_recur(xx,depth+1,max_depth) :
             // else
                 T(2*depth - 1) );
 }
 
+#endif
+
 template<typename T>
 constexpr
 T
 atan_cf_main(const T x)
 noexcept
 {
-    return( x < T(0.5) ? x/atan_cf_recur(x*x,1U, 15U ) : 
-            x < T(1)   ? x/atan_cf_recur(x*x,1U, 25U ) : 
-            x < T(1.5) ? x/atan_cf_recur(x*x,1U, 35U ) : 
-            x < T(2)   ? x/atan_cf_recur(x*x,1U, 45U ) : 
-                         x/atan_cf_recur(x*x,1U, 52U ) );
+    return( x < T(0.5) ? x/atan_cf_recur(x*x, 1U, 15U ) : 
+            x < T(1)   ? x/atan_cf_recur(x*x, 1U, 25U ) : 
+            x < T(1.5) ? x/atan_cf_recur(x*x, 1U, 35U ) : 
+            x < T(2)   ? x/atan_cf_recur(x*x, 1U, 45U ) : 
+                         x/atan_cf_recur(x*x, 1U, 52U ) );
 }
 
-//
+// choose between series expansion and continued fraction
 
 template<typename T>
 constexpr
@@ -122,6 +182,8 @@ noexcept
     return( x > T(2.5) ? atan_series_main(x) : atan_cf_main(x) );
 }
 
+// check input
+
 template<typename T>
 constexpr
 T

wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/atan2.hpp

@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2023 Keith O'Hara
+  ##   Copyright (C) 2016-2024 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/atanh.hpp

@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2023 Keith O'Hara
+  ##   Copyright (C) 2016-2024 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/beta.hpp

@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2023 Keith O'Hara
+  ##   Copyright (C) 2016-2024 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/binomial_coef.hpp

@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2023 Keith O'Hara
+  ##   Copyright (C) 2016-2024 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/ceil.hpp

@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2023 Keith O'Hara
+  ##   Copyright (C) 2016-2024 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/copysign.hpp

@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2023 Keith O'Hara
+  ##   Copyright (C) 2016-2024 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/cos.hpp

@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2023 Keith O'Hara
+  ##   Copyright (C) 2016-2024 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/cosh.hpp

@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2023 Keith O'Hara
+  ##   Copyright (C) 2016-2024 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/erf.hpp

@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2023 Keith O'Hara
+  ##   Copyright (C) 2016-2024 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
@@ -37,6 +37,28 @@ namespace internal
 // see
 // http://functions.wolfram.com/GammaBetaErf/Erf/10/01/0007/
 
+#if __cplusplus >= 201402L // C++14 version
+
+template<typename T>
+constexpr
+T
+erf_cf_large_recur(const T x, const int depth_end)
+noexcept
+{
+    int depth = GCEM_ERF_MAX_ITER - 1;
+    T res = x;
+
+    while (depth > depth_end - 1) {
+        res = x + 2 * depth / res;
+
+        --depth;
+    }
+
+    return res;
+}
+
+#else // C++11 version
+
 template<typename T>
 constexpr
 T
@@ -45,11 +67,13 @@ noexcept
 {
     return( depth < GCEM_ERF_MAX_ITER ? \
             // if
-                x + 2*depth/erf_cf_large_recur(x,depth+1) :
+                x + 2 * depth / erf_cf_large_recur(x,depth+1) :
             // else
                 x );
 }
 
+#endif
+
 template<typename T>
 constexpr
 T
@@ -63,6 +87,28 @@ noexcept
 // see
 // http://functions.wolfram.com/GammaBetaErf/Erf/10/01/0005/
 
+#if __cplusplus >= 201402L // C++14 version
+
+template<typename T>
+constexpr
+T
+erf_cf_small_recur(const T xx, const int depth_end)
+noexcept
+{
+    int depth = GCEM_ERF_MAX_ITER - 1;
+    T res = T(2*(depth+1) - 1) - 2 * xx;
+
+    while (depth > depth_end - 1) {
+        res = T(2*depth - 1) - 2 * xx + 4 * depth * xx / res;
+
+        --depth;
+    }
+
+    return res;
+}
+
+#else // C++11 version
+
 template<typename T>
 constexpr
 T
@@ -71,12 +117,14 @@ noexcept
 {
     return( depth < GCEM_ERF_MAX_ITER ? \
             // if
-                (2*depth - T(1)) - 2*xx \
-                    + 4*depth*xx / erf_cf_small_recur(xx,depth+1) :
+                (2*depth - T(1)) - 2 * xx \
+                    + 4 * depth * xx / erf_cf_small_recur(xx,depth+1) :
             // else
                 (2*depth - T(1)) - 2*xx );
 }
 
+#endif
+
 template<typename T>
 constexpr
 T