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.

Definition at line 68 of file path.h.

Field Documentation

◆ order

size_t CoppPathOptions::order

Spline order.

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

Definition at line 72 of file path.h.

◆ s_min

double CoppPathOptions::s_min

Lower bound of the path parameter range.

Definition at line 76 of file path.h.

◆ s_max

double CoppPathOptions::s_max

Upper bound of the path parameter range.

Definition at line 80 of file path.h.

◆ out_of_range_mode

enum CoppPathOutOfRangeMode CoppPathOptions::out_of_range_mode

Behavior for out-of-range path evaluation.

Definition at line 84 of file path.h.

◆ parametrization

enum CoppPathParametrization CoppPathOptions::parametrization

Waypoint parametrization mode.

Definition at line 88 of file path.h.

◆ start_state

struct CoppMatrixViewF64 CoppPathOptions::start_state

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

Definition at line 92 of file path.h.

◆ end_state

struct CoppMatrixViewF64 CoppPathOptions::end_state

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

Definition at line 96 of file path.h.

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

bindings/c/include/copp/path.h

COPP C ABI C interface for COPP trajectory optimization

Data Fields