COPP C ABI
C interface for COPP trajectory optimization
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copp2.h
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1#ifndef COPP_COPP2_H
2#define COPP_COPP2_H
3
4/*
5 * Generated by bindings/c/scripts/generate_headers.ps1.
6 * Do not edit by hand; update src/ffi/c and regenerate.
7 */
8
14
15#include <stddef.h>
16#include <stdbool.h>
17#include <stdint.h>
18#include "copp/core.h"
19#include "copp/formulation.h"
20
21#ifdef __cplusplus
22extern "C" {
23#endif
24
29
100
126 struct CoppClarabelOptions options,
127 struct CoppVecF64 *out_a);
128
143 struct CoppClarabelOptions options,
144 struct Copp2SocpResult *out_result);
145
153
155
156#ifdef __cplusplus
157}
158#endif
159
160#endif /* COPP_COPP2_H */
Core status, memory, matrix, and shared solver option types.
TOPP/COPP problem descriptors, objectives, and profile ownership.
void copp2_socp_result_free(struct Copp2SocpResult result)
Release memory owned by a Copp2SocpResult.
enum CoppStatus copp2_socp_expert(struct Copp2Problem problem, struct CoppClarabelOptions options, struct Copp2SocpResult *out_result)
Solve a COPP2-SOCP problem and always return Clarabel diagnostics.
enum CoppStatus copp2_socp(struct Copp2Problem problem, struct CoppClarabelOptions options, struct CoppVecF64 *out_a)
Solve a COPP2-SOCP problem.
CoppClarabelSolverStatus
Clarabel solver status returned by SOCP expert results.
Definition core.h:318
CoppStatus
C ABI status code returned by COPP FFI functions.
Definition core.h:34
Borrowed value descriptor for a COPP2 problem solved from C.
Definition formulation.h:97
Compact COPP2-SOCP expert result returned to C.
Definition copp2.h:38
struct CoppVecF64 objective_terms
Per-objective unweighted values computed from accepted a.
Definition copp2.h:98
double objective_value
Weighted COPP objective value computed from accepted a; NaN otherwise.
Definition copp2.h:94
struct CoppVecF64 z
Raw Clarabel dual solution vector.
Definition copp2.h:54
double solve_time
Clarabel solve time in seconds.
Definition copp2.h:74
struct CoppVecF64 a
Accepted a profile, or an empty vector when has_a == false.
Definition copp2.h:46
struct CoppClarabelLinearSolverInfo linsolver
Linear solver metadata reported by Clarabel.
Definition copp2.h:90
struct CoppVecF64 x
Raw Clarabel primal solution vector.
Definition copp2.h:50
struct CoppVecF64 s
Raw Clarabel primal-cone slack vector.
Definition copp2.h:58
enum CoppClarabelSolverStatus solver_status
Final Clarabel solver status.
Definition copp2.h:62
bool has_a
Whether a contains an accepted a(s) = (ds/dt)^2 profile.
Definition copp2.h:42
double obj_val_dual
Dual objective value reported by Clarabel.
Definition copp2.h:70
double obj_val
Primal objective value reported by Clarabel.
Definition copp2.h:66
uint32_t iterations
Number of interior-point iterations.
Definition copp2.h:78
double r_dual
Dual residual reported by Clarabel.
Definition copp2.h:86
double r_prim
Primal residual reported by Clarabel.
Definition copp2.h:82
Linear solver metadata reported by Clarabel.
Definition core.h:372
Shared Clarabel options for COPP SOCP solvers.
Definition core.h:565
Library-owned f64 vector returned to C.
Definition core.h:743