Borrowed value descriptor for a COPP2 problem solved from C. More...

#include <formulation.h>

Data Fields
const struct CoppRobot *	robot
	Robot handle that owns the station-indexed constraint storage.
size_t	idx_s_start
	Closed start station index.
size_t	idx_s_final
	Closed final station index.
double	a_start
	Boundary value a(idx_s_start) = (ds/dt)^2.
double	a_final
	Boundary value a(idx_s_final) = (ds/dt)^2.
const struct CoppObjective *	objectives
	Objective descriptor array.
size_t	num_objectives
	Number of objective descriptors.

Detailed Description

Borrowed value descriptor for a COPP2 problem solved from C.

This is not an owning handle. robot and objectives are borrowed only during the solver call, and the solver does not store those pointers after the call returns.

Example

The example below describes a COPP2 problem over the full station grid and borrows an objective array for one solver call.

struct Copp2Problem problem = {
    robot,
    0,
    n - 1,
    0.0,
    0.0,
    objectives,
    2,
};

Definition at line 132 of file formulation.h.

Field Documentation

◆ robot

const struct CoppRobot* Copp2Problem::robot

Robot handle that owns the station-indexed constraint storage.

Definition at line 136 of file formulation.h.

◆ idx_s_start

size_t Copp2Problem::idx_s_start

Closed start station index.

Definition at line 140 of file formulation.h.

◆ idx_s_final

size_t Copp2Problem::idx_s_final

Closed final station index.

Definition at line 144 of file formulation.h.

◆ a_start

double Copp2Problem::a_start

Boundary value a(idx_s_start) = (ds/dt)^2.

Definition at line 148 of file formulation.h.

◆ a_final

double Copp2Problem::a_final

Boundary value a(idx_s_final) = (ds/dt)^2.

Definition at line 152 of file formulation.h.

◆ objectives

const struct CoppObjective* Copp2Problem::objectives

Objective descriptor array.

Definition at line 156 of file formulation.h.

◆ num_objectives

size_t Copp2Problem::num_objectives

Number of objective descriptors.

Definition at line 160 of file formulation.h.

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

bindings/c/include/copp/formulation.h

COPP C ABI C interface for COPP trajectory optimization

Data Fields