Reorganize utilities

examples/CurrentManager/include/CurrentManager.hpp

@@ -5,7 +5,6 @@
 #include <span>
 #include <vector>
 
-#include <sleipnir/SymbolExports.hpp>
 #include <sleipnir/optimization/OptimizationProblem.hpp>
 #include <units/current.h>
 
@@ -15,7 +14,7 @@
  * which subsystem gets less current if the current budget is exceeded.
  * Subsystems with a smaller tolerance are given higher priority.
  */
-class SLEIPNIR_DLLEXPORT CurrentManager {
+class CurrentManager {
  public:
   /**
    * Constructs a CurrentManager.

include/sleipnir/autodiff/Expression.hpp

@@ -9,10 +9,10 @@
 #include <utility>
 #include <vector>
 
-#include "sleipnir/IntrusiveSharedPtr.hpp"
-#include "sleipnir/Pool.hpp"
-#include "sleipnir/SymbolExports.hpp"
 #include "sleipnir/autodiff/ExpressionType.hpp"
+#include "sleipnir/util/IntrusiveSharedPtr.hpp"
+#include "sleipnir/util/Pool.hpp"
+#include "sleipnir/util/SymbolExports.hpp"
 
 namespace sleipnir::detail {
 

include/sleipnir/autodiff/ExpressionGraph.hpp

@@ -4,9 +4,9 @@
 
 #include <vector>
 
-#include "sleipnir/SymbolExports.hpp"
 #include "sleipnir/autodiff/Expression.hpp"
 #include "sleipnir/autodiff/Variable.hpp"
+#include "sleipnir/util/SymbolExports.hpp"
 
 namespace sleipnir::detail {
 

include/sleipnir/autodiff/ExpressionType.hpp

@@ -4,7 +4,7 @@
 
 #include <iosfwd>
 
-#include "sleipnir/SymbolExports.hpp"
+#include "sleipnir/util/SymbolExports.hpp"
 
 namespace sleipnir {
 

include/sleipnir/autodiff/Gradient.hpp

@@ -6,10 +6,10 @@
 
 #include <Eigen/SparseCore>
 
-#include "sleipnir/SymbolExports.hpp"
 #include "sleipnir/autodiff/Jacobian.hpp"
 #include "sleipnir/autodiff/Profiler.hpp"
 #include "sleipnir/autodiff/Variable.hpp"
+#include "sleipnir/util/SymbolExports.hpp"
 
 namespace sleipnir {
 

include/sleipnir/autodiff/Hessian.hpp

@@ -5,10 +5,10 @@
 #include <Eigen/Core>
 #include <Eigen/SparseCore>
 
-#include "sleipnir/SymbolExports.hpp"
 #include "sleipnir/autodiff/Jacobian.hpp"
 #include "sleipnir/autodiff/Profiler.hpp"
 #include "sleipnir/autodiff/Variable.hpp"
+#include "sleipnir/util/SymbolExports.hpp"
 
 namespace sleipnir {
 

include/sleipnir/autodiff/Jacobian.hpp

@@ -6,11 +6,11 @@
 
 #include <Eigen/SparseCore>
 
-#include "sleipnir/SymbolExports.hpp"
 #include "sleipnir/autodiff/Expression.hpp"
 #include "sleipnir/autodiff/ExpressionGraph.hpp"
 #include "sleipnir/autodiff/Profiler.hpp"
 #include "sleipnir/autodiff/Variable.hpp"
+#include "sleipnir/util/SymbolExports.hpp"
 
 namespace sleipnir {
 

include/sleipnir/autodiff/Profiler.hpp

@@ -4,7 +4,7 @@
 
 #include <chrono>
 
-#include "sleipnir/SymbolExports.hpp"
+#include "sleipnir/util/SymbolExports.hpp"
 
 namespace sleipnir {
 

include/sleipnir/autodiff/Variable.hpp

@@ -7,8 +7,8 @@
 #include <Eigen/Core>
 #include <Eigen/SparseCore>
 
-#include "sleipnir/SymbolExports.hpp"
 #include "sleipnir/autodiff/Expression.hpp"
+#include "sleipnir/util/SymbolExports.hpp"
 
 namespace sleipnir {
 

include/sleipnir/autodiff/VariableBlock.hpp

@@ -9,8 +9,8 @@
 
 #include <Eigen/Core>
 
-#include "sleipnir/SymbolExports.hpp"
 #include "sleipnir/autodiff/Variable.hpp"
+#include "sleipnir/util/SymbolExports.hpp"
 
 namespace sleipnir {
 

include/sleipnir/autodiff/VariableMatrix.hpp

@@ -11,9 +11,9 @@
 
 #include <Eigen/Core>
 
-#include "sleipnir/SymbolExports.hpp"
 #include "sleipnir/autodiff/Variable.hpp"
 #include "sleipnir/autodiff/VariableBlock.hpp"
+#include "sleipnir/util/SymbolExports.hpp"
 
 namespace sleipnir {
 

include/sleipnir/control/OCPSolver.hpp

@@ -7,9 +7,9 @@
 
 #include <Eigen/Core>
 
-#include "sleipnir/SymbolExports.hpp"
 #include "sleipnir/autodiff/VariableMatrix.hpp"
 #include "sleipnir/optimization/OptimizationProblem.hpp"
+#include "sleipnir/util/SymbolExports.hpp"
 
 namespace sleipnir {
 

include/sleipnir/optimization/Constraints.hpp

@@ -4,9 +4,9 @@
 
 #include <vector>
 
-#include "sleipnir/SymbolExports.hpp"
 #include "sleipnir/autodiff/Variable.hpp"
 #include "sleipnir/autodiff/VariableMatrix.hpp"
+#include "sleipnir/util/SymbolExports.hpp"
 
 namespace sleipnir {
 

include/sleipnir/optimization/OptimizationProblem.hpp

@@ -13,14 +13,14 @@
 #include <Eigen/Core>
 #include <Eigen/SparseCore>
 
-#include "sleipnir/SymbolExports.hpp"
 #include "sleipnir/autodiff/Variable.hpp"
 #include "sleipnir/autodiff/VariableMatrix.hpp"
 #include "sleipnir/optimization/Constraints.hpp"
 #include "sleipnir/optimization/SolverConfig.hpp"
 #include "sleipnir/optimization/SolverExitCondition.hpp"
 #include "sleipnir/optimization/SolverIterationInfo.hpp"
 #include "sleipnir/optimization/SolverStatus.hpp"
+#include "sleipnir/util/SymbolExports.hpp"
 
 namespace sleipnir {
 

include/sleipnir/optimization/SolverConfig.hpp

@@ -5,7 +5,7 @@
 #include <chrono>
 #include <limits>
 
-#include "sleipnir/SymbolExports.hpp"
+#include "sleipnir/util/SymbolExports.hpp"
 
 namespace sleipnir {
 

include/sleipnir/optimization/SolverExitCondition.hpp

@@ -4,7 +4,7 @@
 
 #include <iosfwd>
 
-#include "sleipnir/SymbolExports.hpp"
+#include "sleipnir/util/SymbolExports.hpp"
 
 namespace sleipnir {
 

include/sleipnir/optimization/SolverStatus.hpp

@@ -2,9 +2,9 @@
 
 #pragma once
 
-#include "sleipnir/SymbolExports.hpp"
 #include "sleipnir/autodiff/Expression.hpp"
 #include "sleipnir/optimization/SolverExitCondition.hpp"
+#include "sleipnir/util/SymbolExports.hpp"
 
 namespace sleipnir {
 

include/sleipnir/Pool.hpp → include/sleipnir/util/Pool.hpp

@@ -8,7 +8,7 @@
 #include <memory>
 #include <vector>
 
-#include "sleipnir/SymbolExports.hpp"
+#include "sleipnir/util/SymbolExports.hpp"
 
 namespace sleipnir {
 

include/sleipnir/util/Spy.hpp

@@ -0,0 +1,48 @@
+// Copyright (c) Sleipnir contributors
+
+#pragma once
+
+#include <iosfwd>
+#include <string_view>
+
+#include <Eigen/SparseCore>
+
+#include "sleipnir/util/SymbolExports.hpp"
+
+namespace sleipnir {
+
+/**
+ * Write the sparsity pattern of a sparse matrix to a file.
+ *
+ * Each character represents an element with "." representing zero, "+"
+ * representing positive, and "-" representing negative. Here's an example for a
+ * 3x3 identity matrix.
+ *
+ * "+.."
+ * ".+."
+ * "..+"
+ *
+ * @param[in] filename The filename.
+ * @param[in] mat The sparse matrix.
+ */
+SLEIPNIR_DLLEXPORT void Spy(std::string_view filename,
+                            const Eigen::SparseMatrix<double>& mat);
+
+/**
+ * Write the sparsity pattern of a sparse matrix to a file.
+ *
+ * Each character represents an element with '.' representing zero, '+'
+ * representing positive, and '-' representing negative. Here's an example for a
+ * 3x3 identity matrix.
+ *
+ * "+.."
+ * ".+."
+ * "..+"
+ *
+ * @param[out] file A file stream.
+ * @param[in] mat The sparse matrix.
+ */
+SLEIPNIR_DLLEXPORT void Spy(std::ostream& file,
+                            const Eigen::SparseMatrix<double>& mat);
+
+}  // namespace sleipnir

src/autodiff/Variable.cpp

@@ -4,7 +4,6 @@
 
 #include <fmt/core.h>
 
-#include "sleipnir/SymbolExports.hpp"
 #include "sleipnir/autodiff/Expression.hpp"
 #include "sleipnir/autodiff/ExpressionGraph.hpp"
 

src/optimization/OptimizationProblem.cpp

@@ -11,18 +11,19 @@
 
 #include <fmt/core.h>
 
-#include "Filter.hpp"
-#include "RegularizedLDLT.hpp"
-#include "ScopeExit.hpp"
+#include "optimization/Filter.hpp"
+#include "optimization/RegularizedLDLT.hpp"
 #include "sleipnir/autodiff/Expression.hpp"
 #include "sleipnir/autodiff/Gradient.hpp"
 #include "sleipnir/autodiff/Hessian.hpp"
 #include "sleipnir/autodiff/Jacobian.hpp"
 #include "sleipnir/autodiff/Variable.hpp"
 #include "sleipnir/optimization/SolverExitCondition.hpp"
-#include "sleipnir/util/AutodiffUtil.hpp"
-#include "sleipnir/util/SparseMatrixBuilder.hpp"
-#include "sleipnir/util/SparseUtil.hpp"
+#include "sleipnir/util/Spy.hpp"
+#include "util/AutodiffUtil.hpp"
+#include "util/ScopeExit.hpp"
+#include "util/SparseMatrixBuilder.hpp"
+#include "util/SparseUtil.hpp"
 
 using namespace sleipnir;
 

src/optimization/RegularizedLDLT.hpp

@@ -8,9 +8,9 @@
 #include <Eigen/SparseCholesky>
 #include <Eigen/SparseCore>
 
-#include "Inertia.hpp"
-#include "sleipnir/util/SparseMatrixBuilder.hpp"
-#include "sleipnir/util/SparseUtil.hpp"
+#include "optimization/Inertia.hpp"
+#include "util/SparseMatrixBuilder.hpp"
+#include "util/SparseUtil.hpp"
 
 namespace sleipnir {
 

src/util/AutodiffUtil.cpp

@@ -1,6 +1,6 @@
 // Copyright (c) Sleipnir contributors
 
-#include "sleipnir/util/AutodiffUtil.hpp"
+#include "util/AutodiffUtil.hpp"
 
 #include <cassert>
 

include/sleipnir/util/AutodiffUtil.hpp → src/util/AutodiffUtil.hpp

@@ -6,7 +6,6 @@
 
 #include <Eigen/Core>
 
-#include "sleipnir/SymbolExports.hpp"
 #include "sleipnir/autodiff/Variable.hpp"
 
 namespace sleipnir {
@@ -17,30 +16,30 @@ namespace sleipnir {
  * @param[out] dest The std::vector<Variable>.
  * @param[in] src The Eigen::VectorXd.
  */
-SLEIPNIR_DLLEXPORT void SetAD(std::vector<Variable>& dest,
-                              const Eigen::Ref<const Eigen::VectorXd>& src);
+void SetAD(std::vector<Variable>& dest,
+           const Eigen::Ref<const Eigen::VectorXd>& src);
 
 /**
  * Assigns an Eigen::VectorXd to an Eigen::Vector<Variable>.
  *
  * @param[out] dest The Eigen::Vector<Variable>.
  * @param[in] src The Eigen::VectorXd.
  */
-SLEIPNIR_DLLEXPORT void SetAD(Eigen::Ref<VectorXvar> dest,
-                              const Eigen::Ref<const Eigen::VectorXd>& src);
+void SetAD(Eigen::Ref<VectorXvar> dest,
+           const Eigen::Ref<const Eigen::VectorXd>& src);
 
 /**
  * Returns a std::vector<Variable> as an Eigen::VectorXd.
  *
  * @param src The std::vector<Variable>.
  */
-SLEIPNIR_DLLEXPORT Eigen::VectorXd GetAD(std::vector<Variable> src);
+Eigen::VectorXd GetAD(std::vector<Variable> src);
 
 /**
  * Returns an Eigen::Vector<Variable> as an Eigen::VectorXd.
  *
  * @param src The Eigen::Vector<Variable>.
  */
-SLEIPNIR_DLLEXPORT Eigen::VectorXd GetAD(Eigen::Ref<VectorXvar> src);
+Eigen::VectorXd GetAD(Eigen::Ref<VectorXvar> src);
 
 }  // namespace sleipnir