COPP C ABI
C interface for COPP trajectory optimization
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interpolation.h
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1#ifndef COPP_INTERPOLATION_H
2#define COPP_INTERPOLATION_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 <stdbool.h>
16#include "copp/core.h"
17
18#ifdef __cplusplus
19extern "C" {
20#endif
21
26
38 struct CoppSliceF64 a,
39 struct CoppVecF64 *out_b);
40
54 struct CoppSliceF64 a,
55 double t0,
56 double *out_t_final,
57 struct CoppVecF64 *out_t_s);
58
70 struct CoppSliceF64 a,
71 struct CoppSliceF64 t_s,
72 double t0,
73 double dt,
74 bool include_final,
75 struct CoppVecF64 *out_s_t);
76
89 struct CoppSliceF64 a,
90 struct CoppSliceF64 t_s,
91 struct CoppSliceF64 t_sample,
92 struct CoppVecF64 *out_s_t);
93
111 struct CoppSliceF64 a,
112 struct CoppSliceF64 b,
113 size_t num_stationary_start,
114 size_t num_stationary_end,
115 double t0,
116 double *out_t_final,
117 struct CoppVecF64 *out_t_s);
118
131 struct CoppSliceF64 a,
132 struct CoppSliceF64 b,
133 size_t num_stationary_start,
134 size_t num_stationary_end,
135 struct CoppSliceF64 t_s,
136 double t0,
137 double dt,
138 bool include_final,
139 struct CoppVecF64 *out_s_t);
140
154 struct CoppSliceF64 a,
155 struct CoppSliceF64 b,
156 size_t num_stationary_start,
157 size_t num_stationary_end,
158 struct CoppSliceF64 t_s,
159 struct CoppSliceF64 t_sample,
160 struct CoppVecF64 *out_s_t);
161
176 struct CoppSliceMutF64 a,
177 struct CoppSliceMutF64 b,
178 size_t num_stationary_start,
179 size_t num_stationary_end,
180 double a_min,
181 bool *out_succeed);
182
184
185#ifdef __cplusplus
186}
187#endif
188
189#endif /* COPP_INTERPOLATION_H */
Core status, memory, matrix, and shared solver option types.
CoppStatus
C ABI status code returned by COPP FFI functions.
Definition core.h:34
enum CoppStatus copp_force_positive_a_3rd(struct CoppSliceF64 s, struct CoppSliceMutF64 a, struct CoppSliceMutF64 b, size_t num_stationary_start, size_t num_stationary_end, double a_min, bool *out_succeed)
Adjust mutable TOPP3/COPP3 a and b node profiles in place so interpolated a(s) stays strictly positiv...
enum CoppStatus copp_s_to_t_3rd(struct CoppSliceF64 s, struct CoppSliceF64 a, struct CoppSliceF64 b, size_t num_stationary_start, size_t num_stationary_end, double t0, double *out_t_final, struct CoppVecF64 *out_t_s)
Compute cumulative TOPP3/COPP3 time profile t(s) from node profiles a(s) = dot{s}^2 and b(s) = ddot{s...
enum CoppStatus copp_t_to_s_uniform_3rd(struct CoppSliceF64 s, struct CoppSliceF64 a, struct CoppSliceF64 b, size_t num_stationary_start, size_t num_stationary_end, struct CoppSliceF64 t_s, double t0, double dt, bool include_final, struct CoppVecF64 *out_s_t)
Interpolate s(t) from TOPP3/COPP3 profiles using a uniform time grid.
enum CoppStatus copp_t_to_s_non_uniform_2nd(struct CoppSliceF64 s, struct CoppSliceF64 a, struct CoppSliceF64 t_s, struct CoppSliceF64 t_sample, struct CoppVecF64 *out_s_t)
Interpolate s(t) from TOPP2 profiles using caller-provided time samples.
enum CoppStatus copp_a_to_b_2nd(struct CoppSliceF64 s, struct CoppSliceF64 a, struct CoppVecF64 *out_b)
Compute TOPP2 segment profile b from node profile a.
enum CoppStatus copp_t_to_s_uniform_2nd(struct CoppSliceF64 s, struct CoppSliceF64 a, struct CoppSliceF64 t_s, double t0, double dt, bool include_final, struct CoppVecF64 *out_s_t)
Interpolate s(t) from TOPP2 profiles using a uniform time grid.
enum CoppStatus copp_s_to_t_2nd(struct CoppSliceF64 s, struct CoppSliceF64 a, double t0, double *out_t_final, struct CoppVecF64 *out_t_s)
Compute cumulative TOPP2 time profile t(s) from node profile a(s).
enum CoppStatus copp_t_to_s_non_uniform_3rd(struct CoppSliceF64 s, struct CoppSliceF64 a, struct CoppSliceF64 b, size_t num_stationary_start, size_t num_stationary_end, struct CoppSliceF64 t_s, struct CoppSliceF64 t_sample, struct CoppVecF64 *out_s_t)
Interpolate s(t) from TOPP3/COPP3 profiles using caller-provided time samples.
Borrowed immutable f64 slice passed from C to COPP.
Definition core.h:708
Borrowed mutable f64 slice passed from C to COPP.
Definition core.h:726
Library-owned f64 vector returned to C.
Definition core.h:743