Topp2Problem Struct Reference

Borrowed value descriptor for a TOPP2 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.

Detailed Description

Borrowed value descriptor for a TOPP2 problem solved from C.

This is not an owning handle. robot is borrowed only during TOPP2 solver calls such as topp2_ra and copp_reach_set2_*, and no pointer is stored after the call returns.

Example

The example below describes a TOPP2 problem over the full station grid with zero boundary accelerations.

struct Topp2Problem problem = {robot, 0, n - 1, 0.0, 0.0};

Definition at line 178 of file formulation.h.

Field Documentation

robot

const struct CoppRobot* Topp2Problem::robot

Robot handle that owns the station-indexed constraint storage.

Definition at line 182 of file formulation.h.

idx_s_start

size_t Topp2Problem::idx_s_start

Closed start station index.

Definition at line 186 of file formulation.h.

idx_s_final

size_t Topp2Problem::idx_s_final

Closed final station index.

Definition at line 190 of file formulation.h.

a_start

double Topp2Problem::a_start

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

Definition at line 194 of file formulation.h.

a_final

double Topp2Problem::a_final

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

Definition at line 198 of file formulation.h.

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

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