Copp3Problem Struct Reference

Borrowed value descriptor for a COPP3 problem solved from C. More...

#include <formulation.h>

Data Fields
struct CoppRobot *	robot
	Mutable robot handle that owns station-indexed constraint storage.
size_t	idx_s_start
	Start station index.
struct CoppSliceF64	a_linearization
	Reference profile a[k] used to linearize third-order constraints.
double	a_start
	Boundary value a(idx_s_start) = dot{s}^2.
double	a_final
	Boundary value a(idx_s_final) = dot{s}^2.
double	b_start
	Boundary value b(idx_s_start) = ddot{s}.
double	b_final
	Boundary value b(idx_s_final) = ddot{s}.
size_t	num_stationary_max_start
	User-input stationary upper bound at the start.
size_t	num_stationary_max_end
	User-input stationary upper bound at the end.
double	a_linearization_floor
	Denominator floor used when linearizing third-order constraints.
const struct CoppObjective *	objectives
	Objective descriptor array.
size_t	num_objectives
	Number of objective descriptors.

Detailed Description

Borrowed value descriptor for a COPP3 problem solved from C.

This extends Topp3Problem with borrowed objective descriptors. It is not an owning handle; all pointers are used only during the solver call.

Field Documentation

robot

struct CoppRobot* Copp3Problem::robot

Mutable robot handle that owns station-indexed constraint storage.

idx_s_start

size_t Copp3Problem::idx_s_start

Start station index.

The final index is derived from a_linearization.len - 1.

a_linearization

struct CoppSliceF64 Copp3Problem::a_linearization

Reference profile a[k] used to linearize third-order constraints.

a_start

double Copp3Problem::a_start

Boundary value a(idx_s_start) = dot{s}^2.

a_final

double Copp3Problem::a_final

Boundary value a(idx_s_final) = dot{s}^2.

b_start

double Copp3Problem::b_start

Boundary value b(idx_s_start) = ddot{s}.

b_final

double Copp3Problem::b_final

Boundary value b(idx_s_final) = ddot{s}.

num_stationary_max_start

size_t Copp3Problem::num_stationary_max_start

User-input stationary upper bound at the start.

num_stationary_max_end

size_t Copp3Problem::num_stationary_max_end

User-input stationary upper bound at the end.

a_linearization_floor

double Copp3Problem::a_linearization_floor

Denominator floor used when linearizing third-order constraints.

objectives

const struct CoppObjective* Copp3Problem::objectives

Objective descriptor array.

num_objectives

size_t Copp3Problem::num_objectives

Number of objective descriptors.

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The documentation for this struct was generated from the following file:

• bindings/c/include/copp/formulation.h