Copp_copp2

Files
file	bindings/c/include/copp/copp2.h
	COPP2-SOCP solver APIs.

Data Structures
struct	Copp2SocpResult
	Compact COPP2-SOCP expert result returned to C. More...

Functions
enum CoppStatus	copp2_socp (struct Copp2Problem problem, struct CoppClarabelOptions options, struct CoppVecF64 *out_a)
	Solve a COPP2-SOCP problem.
enum CoppStatus	copp2_socp_expert (struct Copp2Problem problem, struct CoppClarabelOptions options, struct Copp2SocpResult *out_result)
	Solve a COPP2-SOCP problem and always return Clarabel diagnostics.
void	copp2_socp_result_free (struct Copp2SocpResult result)
	Release memory owned by a Copp2SocpResult.

Detailed Description

Function Documentation

copp2_socp()

enum CoppStatus copp2_socp	(	struct Copp2Problem	problem,
		struct CoppClarabelOptions	options,
		struct CoppVecF64 *	out_a )

Solve a COPP2-SOCP problem.

This C ABI builds an internal COPP2 problem from the borrowed Copp2Problem, forwards options to the Clarabel backend, and returns only the optimized a(s) = (ds/dt)^2 profile.

Supported objective kinds are Time, Linear, ThermalEnergy, and TotalVariationTorque. The torque objectives use the robot's stored inverse-dynamics callback when provided, otherwise point dynamics (tau = ddq) is used.

On success, out_a owns a COPP-allocated vector over the closed station interval and must be released with copp_vec_f64_free.

Example

The example below solves COPP2-SOCP with Clarabel options and releases the optimized a(s) profile.

struct CoppClarabelOptions options;
struct Copp2Problem problem = {
    robot, 0, n - 1, 0.0, 0.0, objectives, num_objectives,
};
struct CoppVecF64 a = {0};
 
check(copp_clarabel_default_options(&options));
options.allow_almost_solved = true;
check(copp2_socp(problem, options, &a));
copp_vec_f64_free(a);

Safety

problem.robot must be a non-null handle returned by copp_robot_create and must remain valid for the duration of this call. problem.objectives must be valid for problem.num_objectives reads when problem.num_objectives is non-zero. If the robot has a stored inverse-dynamics callback, it must remain valid for this call. The robot must not be freed or mutated concurrently during the solve. out_a must be valid for one CoppVecF64 write.

copp2_socp_expert()

enum CoppStatus copp2_socp_expert	(	struct Copp2Problem	problem,
		struct CoppClarabelOptions	options,
		struct Copp2SocpResult *	out_result )

Solve a COPP2-SOCP problem and always return Clarabel diagnostics.

This expert entry follows the advanced-diagnostics convention: true runtime failures still return a non-OK CoppStatus, but non-accepted Clarabel statuses are reported inside out_result with has_a == false and the function returns COPP_STATUS_OK.

Example

The example below distinguishes C ABI failures from non-accepted Clarabel solves and then frees all expert buffers.

struct Copp2SocpResult result = {0};
enum CoppStatus status = copp2_socp_expert(problem, options, &result);
if (status != COPP_STATUS_OK) {
    fprintf(stderr, "COPP failed: %s\n", copp_last_error_message());
} else if (!result.has_a) {
    fprintf(stderr,
            "Clarabel status=%d iterations=%u r_prim=%.3e r_dual=%.3e\n",
            (int)result.solver_status,
            result.iterations,
            result.r_prim,
            result.r_dual);
} else {
    printf("accepted profile length: %zu\n", result.a.len);
}
copp2_socp_result_free(result);

Safety

Same safety requirements as copp2_socp. out_result must be valid for one Copp2SocpResult write and must later be released with copp2_socp_result_free.

copp2_socp_result_free()

void copp2_socp_result_free

(

struct Copp2SocpResult

result

)

Release memory owned by a Copp2SocpResult.

Passing an already-freed result is invalid. Prefer freeing the full result with this function instead of freeing result.a manually.