TOPP/COPP problem descriptors, objectives, and profile ownership. More...

#include <stddef.h>
#include "copp/core.h"
#include "copp/robot.h"

Data Structures
struct	CoppObjective
	Borrowed objective descriptor for COPP solvers. More...
struct	Copp2Problem
	Borrowed value descriptor for a COPP2 problem solved from C. More...
struct	Topp2Problem
	Borrowed value descriptor for a TOPP2 problem solved from C. More...
struct	CoppProfile3rd
	Owned third-order profile returned by TOPP3/COPP3 C ABI solvers. More...
struct	Topp3Problem
	Borrowed value descriptor for a TOPP3 problem solved from C. More...
struct	Copp3Problem
	Borrowed value descriptor for a COPP3 problem solved from C. More...

Enumerations
enum	CoppObjectiveKind { COPP_OBJECTIVE_KIND_TIME = 0 , COPP_OBJECTIVE_KIND_LINEAR = 1 , COPP_OBJECTIVE_KIND_THERMAL_ENERGY = 2 , COPP_OBJECTIVE_KIND_TOTAL_VARIATION_TORQUE = 3 }
	COPP objective descriptor kind shared by second- and third-order solvers. More...

Functions
void	copp_profile_3rd_free (struct CoppProfile3rd profile)
	Release a third-order profile returned by COPP.

Detailed Description

TOPP/COPP problem descriptors, objectives, and profile ownership.

Data Structures