Copp_copp3

Files
file	bindings/c/include/copp/copp3.h
	COPP3-SOCP solver APIs.

Data Structures
struct	Copp3SocpResult
	Compact COPP3-SOCP expert result returned to C. More...

Functions
enum CoppStatus	copp3_socp (struct Copp3Problem problem, struct CoppClarabelOptions options, struct CoppProfile3rd *out_profile)
	Solve a COPP3-SOCP problem.
enum CoppStatus	copp3_socp_expert (struct Copp3Problem problem, struct CoppClarabelOptions options, struct Copp3SocpResult *out_result)
	Solve a COPP3-SOCP problem and always return Clarabel diagnostics.
void	copp3_socp_result_free (struct Copp3SocpResult result)
	Release memory owned by a Copp3SocpResult.

Detailed Description

Function Documentation

copp3_socp()

enum CoppStatus copp3_socp	(	struct Copp3Problem	problem,
		struct CoppClarabelOptions	options,
		struct CoppProfile3rd *	out_profile )

Solve a COPP3-SOCP problem.

This C ABI builds an internal COPP3 problem from the borrowed Copp3Problem, forwards options to the Clarabel backend, and returns only the accepted third-order profile.

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

On success, out_profile owns COPP-allocated a and b vectors and must be released with copp_profile_3rd_free.

Example

The example below solves COPP3-SOCP with Clarabel options and releases the accepted third-order profile.

struct CoppClarabelOptions options;
struct Copp3Problem problem = {
    robot, 0, (struct CoppSliceF64){a_seed.data, a_seed.len},
    0.0, 0.0, 0.0, 0.0, 1, 1, 1e-10,
    objectives, num_objectives,
};
struct CoppProfile3rd profile = {{0}, {0}, 0, 0};
 
check(copp_clarabel_default_options(&options));
check(copp3_socp(problem, options, &profile));
copp_profile_3rd_free(profile);

Safety

problem.robot must be a non-null mutable 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 non-zero. If the robot has a stored inverse-dynamics callback, it must remain valid for this call. The solver builds the internal problem by linearizing third-order constraints, which mutates the robot's internal constraint cache. out_profile must be valid for one CoppProfile3rd write.

copp3_socp_expert()

enum CoppStatus copp3_socp_expert	(	struct Copp3Problem	problem,
		struct CoppClarabelOptions	options,
		struct Copp3SocpResult *	out_result )

Solve a COPP3-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_profile == false and the function returns COPP_STATUS_OK.

Use the same advanced-diagnostics pattern as copp2_socp_expert. The result type is Copp3SocpResult, and has_profile replaces has_a.

Safety

Same safety requirements as copp3_socp. out_result must be valid for one Copp3SocpResult write and must later be released with copp3_socp_result_free.

copp3_socp_result_free()

void copp3_socp_result_free

(

struct Copp3SocpResult

result

)

Release memory owned by a Copp3SocpResult.

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