CoppPathOptions Struct Reference

Options for waypoint spline path construction. More...

#include <path.h>

Data Fields
size_t	order
	Spline order.
double	s_min
	Lower bound of the path parameter range.
double	s_max
	Upper bound of the path parameter range.
enum CoppPathOutOfRangeMode	out_of_range_mode
	Behavior for out-of-range path evaluation.
enum CoppPathParametrization	parametrization
	Waypoint parametrization mode.
struct CoppMatrixViewF64	start_state
	Boundary derivatives at s_min, or empty for zero boundary derivatives.
struct CoppMatrixViewF64	end_state
	Boundary derivatives at s_max, or empty for zero boundary derivatives.

Detailed Description

Options for waypoint spline path construction.

start_state and end_state are optional matrix views of shape dim x ((order - 1) / 2). Use an empty matrix view (data = NULL, rows = cols = 0), such as COPP_MATRIX_VIEW_F64_COLUMN_MAJOR(NULL, 0, 0) from C, for zero boundary derivatives.

Field Documentation

order

size_t CoppPathOptions::order

Spline order.

Must be odd and at least 3. Common values are 3, 5, and 7.

s_min

double CoppPathOptions::s_min

Lower bound of the path parameter range.

s_max

double CoppPathOptions::s_max

Upper bound of the path parameter range.

out_of_range_mode

enum CoppPathOutOfRangeMode CoppPathOptions::out_of_range_mode

Behavior for out-of-range path evaluation.

parametrization

enum CoppPathParametrization CoppPathOptions::parametrization

Waypoint parametrization mode.

start_state

struct CoppMatrixViewF64 CoppPathOptions::start_state

Boundary derivatives at s_min, or empty for zero boundary derivatives.

end_state

struct CoppMatrixViewF64 CoppPathOptions::end_state

Boundary derivatives at s_max, or empty for zero boundary derivatives.

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

• bindings/c/include/copp/path.h