Files
file	bindings/c/include/copp/formulation.h
	TOPP/COPP problem descriptors, objectives, and profile ownership.

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

Enumeration Type Documentation

COPP objective descriptor kind shared by second- and third-order solvers.

Enumerator
COPP_OBJECTIVE_KIND_TIME	Time objective: weight * integral dt.
COPP_OBJECTIVE_KIND_LINEAR	Linear objective over solver-specific profile variables. For COPP2, alpha is node-based over a and beta is interval-based over second-order b. For COPP3, both alpha and beta are node-based over third-order a and b.
COPP_OBJECTIVE_KIND_THERMAL_ENERGY	Thermal-energy objective.
COPP_OBJECTIVE_KIND_TOTAL_VARIATION_TORQUE	Total-variation torque objective.

void copp_profile_3rd_free ( struct CoppProfile3rd profile )

Release a third-order profile returned by COPP.

Warning: Safety profile must either be empty/null or have been returned by a successful third-order C ABI solver call. Passing arbitrary pointers or modified capacity fields is invalid.