robot.h

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#ifndef COPP_ROBOT_H
#define COPP_ROBOT_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"
#include "copp/path.h"
 
#ifdef __cplusplus
extern "C" {
#endif


typedef struct CoppRobot CoppRobot;

typedef enum CoppStatus (*CoppInverseDynamicsFn)(void *user_data,
                                                 size_t dim,
                                                 const double *q,
                                                 const double *dq,
                                                 const double *ddq,
                                                 double *tau);

enum CoppStatus copp_robot_create(size_t dim, size_t capacity, struct CoppRobot **out_robot);

enum CoppStatus copp_robot_set_inverse_dynamics(struct CoppRobot *robot,
                                                CoppInverseDynamicsFn inverse_dynamics,
                                                void *inverse_dynamics_user_data);

enum CoppStatus copp_robot_clear_inverse_dynamics(struct CoppRobot *robot);

enum CoppStatus copp_robot_append_s(struct CoppRobot *robot, struct CoppSliceF64 s);

enum CoppStatus copp_robot_amax_substitute(struct CoppRobot *robot,
                                           struct CoppSliceF64 amax,
                                           size_t idx_s);

enum CoppStatus copp_robot_dim(const struct CoppRobot *robot, size_t *out_dim);

enum CoppStatus copp_robot_len(const struct CoppRobot *robot, size_t *out_len);

enum CoppStatus copp_robot_capacity(const struct CoppRobot *robot, size_t *out_capacity);

enum CoppStatus copp_robot_is_empty(const struct CoppRobot *robot, bool *out_is_empty);

enum CoppStatus copp_robot_idx_s_start(const struct CoppRobot *robot, size_t *out_idx_s_start);

enum CoppStatus copp_robot_idx_s_end(const struct CoppRobot *robot, size_t *out_idx_s_end);

enum CoppStatus copp_robot_constraint_rows(const struct CoppRobot *robot,
                                           size_t *out_amax_rows,
                                           size_t *out_acc_rows,
                                           size_t *out_jerk_rows);

enum CoppStatus copp_robot_get_s(const struct CoppRobot *robot, size_t idx_s, double *out_s);

enum CoppStatus copp_robot_get_amax(const struct CoppRobot *robot, size_t idx_s, double *out_amax);

enum CoppStatus copp_robot_s_vec(const struct CoppRobot *robot,
                                 size_t idx_s_from,
                                 size_t idx_s_to,
                                 struct CoppVecF64 *out_s);

enum CoppStatus copp_robot_amax_vec(const struct CoppRobot *robot,
                                    size_t idx_s_from,
                                    size_t idx_s_to,
                                    struct CoppVecF64 *out_amax);

enum CoppStatus copp_robot_acc_constraints_at(const struct CoppRobot *robot,
                                              size_t idx_s,
                                              struct CoppMatrixF64 *out_acc_a,
                                              struct CoppMatrixF64 *out_acc_b,
                                              struct CoppMatrixF64 *out_acc_max);

enum CoppStatus copp_robot_jerk_constraints_at(const struct CoppRobot *robot,
                                               size_t idx_s,
                                               struct CoppMatrixF64 *out_jerk_a,
                                               struct CoppMatrixF64 *out_jerk_b,
                                               struct CoppMatrixF64 *out_jerk_c,
                                               struct CoppMatrixF64 *out_jerk_d,
                                               struct CoppMatrixF64 *out_jerk_max);

enum CoppStatus copp_robot_jerk_linear_constraints_at(const struct CoppRobot *robot,
                                                      size_t idx_s,
                                                      struct CoppMatrixF64 *out_jerk_a_linear,
                                                      struct CoppMatrixF64 *out_jerk_b,
                                                      struct CoppMatrixF64 *out_jerk_c,
                                                      struct CoppMatrixF64 *out_jerk_max_linear);

enum CoppStatus copp_robot_clear_constraints(struct CoppRobot *robot, bool keep_idx_s);

enum CoppStatus copp_robot_pop_front_n(struct CoppRobot *robot, size_t n_cols);

enum CoppStatus copp_robot_pop_back_n(struct CoppRobot *robot, size_t n_cols);

enum CoppStatus copp_robot_pop_front_until(struct CoppRobot *robot, size_t idx_s_cut);

enum CoppStatus copp_robot_pop_back_until(struct CoppRobot *robot, size_t idx_s_cut);

enum CoppStatus copp_robot_sample_path_2nd(struct CoppRobot *robot,
                                           const struct CoppPath *path,
                                           size_t idx_s_from,
                                           size_t idx_s_to);

enum CoppStatus copp_robot_sample_path_3rd(struct CoppRobot *robot,
                                           const struct CoppPath *path,
                                           size_t idx_s_from,
                                           size_t idx_s_to);

enum CoppStatus copp_robot_set_q_2nd(struct CoppRobot *robot,
                                     size_t idx_s,
                                     struct CoppMatrixViewF64 q,
                                     struct CoppMatrixViewF64 dq,
                                     struct CoppMatrixViewF64 ddq);

enum CoppStatus copp_robot_set_q_3rd(struct CoppRobot *robot,
                                     size_t idx_s,
                                     struct CoppMatrixViewF64 q,
                                     struct CoppMatrixViewF64 dq,
                                     struct CoppMatrixViewF64 ddq,
                                     struct CoppMatrixViewF64 dddq);

enum CoppStatus copp_add_raw_constraint_1st(struct CoppRobot *robot,
                                            size_t idx_s,
                                            struct CoppMatrixViewF64 amax);

enum CoppStatus copp_add_raw_constraint_2nd(struct CoppRobot *robot,
                                            size_t idx_s,
                                            struct CoppMatrixViewF64 acc_a,
                                            struct CoppMatrixViewF64 acc_b,
                                            struct CoppMatrixViewF64 acc_max);

enum CoppStatus copp_add_raw_constraint_3rd(struct CoppRobot *robot,
                                            size_t idx_s,
                                            struct CoppMatrixViewF64 jerk_a,
                                            struct CoppMatrixViewF64 jerk_b,
                                            struct CoppMatrixViewF64 jerk_c,
                                            struct CoppMatrixViewF64 jerk_d,
                                            struct CoppMatrixViewF64 jerk_max);

enum CoppStatus copp_add_axial_velocity_limits(struct CoppRobot *robot,
                                               size_t start_idx_s,
                                               size_t len,
                                               struct CoppSliceF64 velocity_max,
                                               struct CoppSliceF64 velocity_min);

enum CoppStatus copp_add_axial_velocity_limits_matrix(struct CoppRobot *robot,
                                                      size_t start_idx_s,
                                                      struct CoppMatrixViewF64 velocity_max,
                                                      struct CoppMatrixViewF64 velocity_min);

enum CoppStatus copp_add_axial_acceleration_limits(struct CoppRobot *robot,
                                                   size_t start_idx_s,
                                                   size_t len,
                                                   struct CoppSliceF64 acceleration_max,
                                                   struct CoppSliceF64 acceleration_min);

enum CoppStatus copp_add_axial_acceleration_limits_matrix(struct CoppRobot *robot,
                                                          size_t start_idx_s,
                                                          struct CoppMatrixViewF64 acceleration_max,
                                                          struct CoppMatrixViewF64 acceleration_min);

enum CoppStatus copp_add_axial_torque_limits(struct CoppRobot *robot,
                                             size_t start_idx_s,
                                             size_t len,
                                             struct CoppSliceF64 torque_max,
                                             struct CoppSliceF64 torque_min);

enum CoppStatus copp_add_axial_torque_limits_matrix(struct CoppRobot *robot,
                                                    size_t start_idx_s,
                                                    struct CoppMatrixViewF64 torque_max,
                                                    struct CoppMatrixViewF64 torque_min);

enum CoppStatus copp_add_axial_jerk_limits(struct CoppRobot *robot,
                                           size_t start_idx_s,
                                           size_t len,
                                           struct CoppSliceF64 jerk_max,
                                           struct CoppSliceF64 jerk_min);

enum CoppStatus copp_add_axial_jerk_limits_matrix(struct CoppRobot *robot,
                                                  size_t start_idx_s,
                                                  struct CoppMatrixViewF64 jerk_max,
                                                  struct CoppMatrixViewF64 jerk_min);

void copp_robot_free(struct CoppRobot *robot);

 
#ifdef __cplusplus
}
#endif
 
#endif /* COPP_ROBOT_H */