formulation.h

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#ifndef COPP_FORMULATION_H
#define COPP_FORMULATION_H
 
/*
 * Generated by bindings/c/scripts/generate_headers.ps1.
 * Do not edit by hand; update src/ffi/c and regenerate.
 */

 
#include <stddef.h>
#include "copp/core.h"
#include "copp/robot.h"
 
#ifdef __cplusplus
extern "C" {
#endif


typedef 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,
} CoppObjectiveKind;

typedef struct CoppObjective {
    enum CoppObjectiveKind kind;
    double weight;
    struct CoppSliceF64 alpha;
    struct CoppSliceF64 beta;
    struct CoppSliceF64 normalize;
} CoppObjective;

typedef struct Copp2Problem {
    const struct CoppRobot *robot;
    size_t idx_s_start;
    size_t idx_s_final;
    double a_start;
    double a_final;
    const struct CoppObjective *objectives;
    size_t num_objectives;
} Copp2Problem;

typedef struct Topp2Problem {
    const struct CoppRobot *robot;
    size_t idx_s_start;
    size_t idx_s_final;
    double a_start;
    double a_final;
} Topp2Problem;

typedef struct CoppProfile3rd {
    struct CoppVecF64 a;
    struct CoppVecF64 b;
    size_t num_stationary_start;
    size_t num_stationary_end;
} CoppProfile3rd;

void copp_profile_3rd_free(struct CoppProfile3rd profile);

typedef struct Topp3Problem {
    struct CoppRobot *robot;
    size_t idx_s_start;
    struct CoppSliceF64 a_linearization;
    double a_start;
    double a_final;
    double b_start;
    double b_final;
    size_t num_stationary_max_start;
    size_t num_stationary_max_end;
    double a_linearization_floor;
} Topp3Problem;

typedef struct Copp3Problem {
    struct CoppRobot *robot;
    size_t idx_s_start;
    struct CoppSliceF64 a_linearization;
    double a_start;
    double a_final;
    double b_start;
    double b_final;
    size_t num_stationary_max_start;
    size_t num_stationary_max_end;
    double a_linearization_floor;
    const struct CoppObjective *objectives;
    size_t num_objectives;
} Copp3Problem;

 
#ifdef __cplusplus
}
#endif
 
#endif /* COPP_FORMULATION_H */