path.h

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#ifndef COPP_PATH_H
#define COPP_PATH_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"
 
#ifdef __cplusplus
extern "C" {
#endif


typedef struct CoppPath CoppPath;

typedef enum CoppPathOutOfRangeMode {
    COPP_PATH_OUT_OF_RANGE_MODE_ERROR = 0,
    COPP_PATH_OUT_OF_RANGE_MODE_CLAMP = 1,
} CoppPathOutOfRangeMode;

typedef enum CoppPathParametrization {
    COPP_PATH_PARAMETRIZATION_UNIFORM = 0,
} CoppPathParametrization;

typedef struct CoppPathOptions {
    size_t order;
    double s_min;
    double s_max;
    enum CoppPathOutOfRangeMode out_of_range_mode;
    enum CoppPathParametrization parametrization;
    struct CoppMatrixViewF64 start_state;
    struct CoppMatrixViewF64 end_state;
} CoppPathOptions;

typedef enum CoppStatus (*CoppPathEvaluate2ndFn)(void *user_data,
                                                 size_t dim,
                                                 size_t n,
                                                 const double *s,
                                                 double *q,
                                                 double *dq,
                                                 double *ddq);

typedef enum CoppStatus (*CoppPathEvaluate3rdFn)(void *user_data,
                                                 size_t dim,
                                                 size_t n,
                                                 const double *s,
                                                 double *q,
                                                 double *dq,
                                                 double *ddq,
                                                 double *dddq);

enum CoppStatus copp_path_default_options(double s_min,
                                          double s_max,
                                          struct CoppPathOptions *out_options);

enum CoppStatus copp_path_from_waypoints(struct CoppMatrixViewF64 waypoints,
                                         struct CoppPathOptions options,
                                         struct CoppPath **out_path);

enum CoppStatus copp_path_from_evaluator_2nd(size_t dim,
                                             double s_min,
                                             double s_max,
                                             CoppPathEvaluate2ndFn evaluate_2nd,
                                             void *user_data,
                                             struct CoppPath **out_path);

enum CoppStatus copp_path_from_evaluator_3rd(size_t dim,
                                             double s_min,
                                             double s_max,
                                             CoppPathEvaluate2ndFn evaluate_2nd,
                                             CoppPathEvaluate3rdFn evaluate_3rd,
                                             void *user_data,
                                             struct CoppPath **out_path);

enum CoppStatus copp_path_dim(const struct CoppPath *path, size_t *out_dim);

enum CoppStatus copp_path_s_range(const struct CoppPath *path,
                                  double *out_s_min,
                                  double *out_s_max);

enum CoppStatus copp_path_evaluate_up_to_2nd(const struct CoppPath *path,
                                             struct CoppSliceF64 s,
                                             struct CoppMatrixF64 *out_q,
                                             struct CoppMatrixF64 *out_dq,
                                             struct CoppMatrixF64 *out_ddq);

enum CoppStatus copp_path_evaluate_up_to_3rd(const struct CoppPath *path,
                                             struct CoppSliceF64 s,
                                             struct CoppMatrixF64 *out_q,
                                             struct CoppMatrixF64 *out_dq,
                                             struct CoppMatrixF64 *out_ddq,
                                             struct CoppMatrixF64 *out_dddq);

void copp_path_free(struct CoppPath *path);

 
#ifdef __cplusplus
}
#endif
 
#endif /* COPP_PATH_H */