Core status, memory, matrix, and shared solver option types. More...

#include <stddef.h>
#include <stdbool.h>
#include <stdint.h>

Data Structures
struct	CoppClarabelLinearSolverInfo
	Linear solver metadata reported by Clarabel. More...
struct	CoppClarabelSettings
	Advanced raw Clarabel solver settings. More...
struct	CoppClarabelOptions
	Shared Clarabel options for COPP SOCP solvers. More...
struct	CoppMatrixViewF64
	Borrowed immutable f64 matrix passed from C to COPP. More...
struct	CoppSliceF64
	Borrowed immutable f64 slice passed from C to COPP. More...
struct	CoppSliceMutF64
	Borrowed mutable f64 slice passed from C to COPP. More...
struct	CoppVecF64
	Library-owned f64 vector returned to C. More...
struct	CoppVecUsize
	Library-owned usize vector returned to C. More...
struct	CoppMatrixF64
	Library-owned column-major f64 matrix returned to C. More...

Macros
#define	COPP_MATRIX_VIEW_F64_COLUMN_MAJOR(data_, rows_, cols_)
	Build a contiguous column-major matrix view.
#define	COPP_MATRIX_VIEW_F64_ROW_MAJOR(data_, rows_, cols_)
	Build a contiguous row-major matrix view.

Enumerations
enum	CoppStatus { COPP_STATUS_OK = 0 , COPP_STATUS_NULL_POINTER = 1 , COPP_STATUS_INVALID_LENGTH = 2 , COPP_STATUS_INVALID_SHAPE = 3 , COPP_STATUS_INVALID_ARGUMENT = 4 , COPP_STATUS_PANIC = 5 , COPP_STATUS_ALLOCATION_FAILED = 6 , COPP_STATUS_IO_ERROR = 100 , COPP_STATUS_CONSTRAINT_NON_INCREASING_S = 200 , COPP_STATUS_CONSTRAINT_NO_MATCH_DIMENSIONS = 201 , COPP_STATUS_CONSTRAINT_NO_MATCH_ORDER = 202 , COPP_STATUS_CONSTRAINT_INVALID_SIGNED_BOUNDS = 203 , COPP_STATUS_CONSTRAINT_OUT_OF_S_BOUNDS = 204 , COPP_STATUS_CONSTRAINT_NON_POSITIVE_A = 205 , COPP_STATUS_CONSTRAINT_NON_POSITIVE_LINEARIZATION_FLOOR = 206 , COPP_STATUS_CONSTRAINT_NO_GIVEN_Q_INFO = 207 , COPP_STATUS_CONSTRAINT_LINEAR_JERK_NOT_AVAILABLE = 208 , COPP_STATUS_CONSTRAINT_NO_DYNAMIC = 209 , COPP_STATUS_CONSTRAINT_INFEASIBLE_REFERENCE = 210 , COPP_STATUS_CONSTRAINT_EMPTY_INTERVAL = 211 , COPP_STATUS_PATH_INVALID_DIMENSION = 300 , COPP_STATUS_PATH_INVALID_RANGE = 301 , COPP_STATUS_PATH_INVALID_ORDER = 302 , COPP_STATUS_PATH_DIMENSION_MISMATCH = 303 , COPP_STATUS_PATH_NOT_ENOUGH_WAYPOINTS = 304 , COPP_STATUS_PATH_OUT_OF_RANGE_S = 305 , COPP_STATUS_PATH_UNSUPPORTED_BOUNDARY = 306 , COPP_STATUS_PATH_SINGULAR_SYSTEM = 307 , COPP_STATUS_PATH_UNSUPPORTED_DERIVATIVE_ORDER = 308 , COPP_STATUS_SOLVER_INFEASIBLE = 400 , COPP_STATUS_SOLVER_UNBOUNDED = 401 , COPP_STATUS_SOLVER_INVALID_INPUT = 402 , COPP_STATUS_SOLVER_INVALID_OPTIONS = 403 , COPP_STATUS_CLARABEL_SOLVER_ERROR = 404 , COPP_STATUS_CLARABEL_SOLVER_STATUS = 405 , COPP_STATUS_SOLVER_OTHER = 499 , COPP_STATUS_ROBOT_DYNAMICS_ERROR = 500 }
	C ABI status code returned by COPP FFI functions. More...
enum	CoppVerbosity { COPP_VERBOSITY_SILENT = 0 , COPP_VERBOSITY_SUMMARY = 1 , COPP_VERBOSITY_DEBUG = 2 , COPP_VERBOSITY_TRACE = 3 }
	C ABI verbosity level for solver diagnostics. More...
enum	CoppClarabelDirectSolveMethod { COPP_CLARABEL_DIRECT_SOLVE_METHOD_AUTO = 0 , COPP_CLARABEL_DIRECT_SOLVE_METHOD_QDLDL = 1 , COPP_CLARABEL_DIRECT_SOLVE_METHOD_FAER = 2 , COPP_CLARABEL_DIRECT_SOLVE_METHOD_MKL = 3 , COPP_CLARABEL_DIRECT_SOLVE_METHOD_PANUA = 4 }
	Direct linear solver method forwarded to Clarabel. More...
enum	CoppClarabelSolverStatus { COPP_CLARABEL_SOLVER_STATUS_UNSOLVED = 0 , COPP_CLARABEL_SOLVER_STATUS_SOLVED = 1 , COPP_CLARABEL_SOLVER_STATUS_PRIMAL_INFEASIBLE = 2 , COPP_CLARABEL_SOLVER_STATUS_DUAL_INFEASIBLE = 3 , COPP_CLARABEL_SOLVER_STATUS_ALMOST_SOLVED = 4 , COPP_CLARABEL_SOLVER_STATUS_ALMOST_PRIMAL_INFEASIBLE = 5 , COPP_CLARABEL_SOLVER_STATUS_ALMOST_DUAL_INFEASIBLE = 6 , COPP_CLARABEL_SOLVER_STATUS_MAX_ITERATIONS = 7 , COPP_CLARABEL_SOLVER_STATUS_MAX_TIME = 8 , COPP_CLARABEL_SOLVER_STATUS_NUMERICAL_ERROR = 9 , COPP_CLARABEL_SOLVER_STATUS_INSUFFICIENT_PROGRESS = 10 , COPP_CLARABEL_SOLVER_STATUS_CALLBACK_TERMINATED = 11 }
	Clarabel solver status returned by SOCP expert results. More...
enum	CoppMatrixLayout { COPP_MATRIX_LAYOUT_COLUMN_MAJOR = 0 , COPP_MATRIX_LAYOUT_ROW_MAJOR = 1 }
	Matrix memory layout used by CoppMatrixViewF64. More...

Functions
const char *	copp_status_message (enum CoppStatus status)
	Return a short static message for a COPP status code.
enum CoppStatus	copp_last_error_code (void)
	Return the status code associated with the current thread's last error.
const char *	copp_last_error_message (void)
	Return the current thread's last detailed error message as UTF-8.
size_t	copp_last_error_message_len (void)
	Return the length in bytes of the current thread's last UTF-8 error message.
enum CoppStatus	copp_last_error_message_copy (char buffer, size_t capacity, size_t out_len)
	Copy the current thread's last UTF-8 error message into a caller buffer.
void	copp_clear_last_error (void)
	Clear the current thread's last detailed error message.
enum CoppStatus	copp_set_last_error_message (enum CoppStatus status, const char *message)
	Set the current thread's last detailed error message from a C string.
enum CoppStatus	copp_set_last_error_message_n (enum CoppStatus status, const char *message, size_t len)
	Set the current thread's last detailed error message from a byte slice.
const char *	copp_version (void)
	Return the COPP library version.
enum CoppStatus	copp_clarabel_default_options (struct CoppClarabelOptions *out_options)
	Write default shared Clarabel options into out_options.
void	copp_vec_f64_free (struct CoppVecF64 vec)
	Release a library-owned f64 vector returned by COPP.
void	copp_vec_usize_free (struct CoppVecUsize vec)
	Release a library-owned usize vector returned by COPP.
void	copp_matrix_f64_free (struct CoppMatrixF64 matrix)
	Release a library-owned f64 matrix returned by COPP.
enum CoppStatus	copp_clarabel_solution_to_profile_2nd (size_t s_len, struct CoppSliceF64 x, struct CoppVecF64 *out_a)
	Extract a second-order COPP profile from a Clarabel primal solution.
enum CoppStatus	copp_clarabel_solution_to_profile_3rd (struct CoppSliceF64 s, struct CoppSliceF64 x, size_t num_stationary_start, size_t num_stationary_end, struct CoppProfile3rd *out_profile)
	Extract a third-order COPP profile from a Clarabel primal solution.

Detailed Description

Core status, memory, matrix, and shared solver option types.

Data Structures

Macros

Enumerations

Functions

Detailed Description