COPP C ABI
C interface for COPP trajectory optimization
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interpolation.h
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1#ifndef COPP_INTERPOLATION_H
2#define COPP_INTERPOLATION_H
3
4/*
5 * Generated by bindings/c/scripts/generate_headers.ps1.
6 * Do not edit by hand; update src/ffi/c and regenerate.
7 */
8
14
15#include <stdbool.h>
16#include "copp/core.h"
17
18#ifdef __cplusplus
19extern "C" {
20#endif
21
26
51 struct CoppSliceF64 a,
52 struct CoppVecF64 *out_b);
53
83 struct CoppSliceF64 a,
84 double t0,
85 double *out_t_final,
86 struct CoppVecF64 *out_t_s);
87
115 struct CoppSliceF64 a,
116 struct CoppSliceF64 t_s,
117 double t0,
118 double dt,
119 bool include_final,
120 struct CoppVecF64 *out_s_t);
121
134 struct CoppSliceF64 a,
135 struct CoppSliceF64 t_s,
136 struct CoppSliceF64 t_sample,
137 struct CoppVecF64 *out_s_t);
138
175 struct CoppSliceF64 a,
176 struct CoppSliceF64 b,
177 size_t num_stationary_start,
178 size_t num_stationary_end,
179 double t0,
180 double *out_t_final,
181 struct CoppVecF64 *out_t_s);
182
214 struct CoppSliceF64 a,
215 struct CoppSliceF64 b,
216 size_t num_stationary_start,
217 size_t num_stationary_end,
218 struct CoppSliceF64 t_s,
219 double t0,
220 double dt,
221 bool include_final,
222 struct CoppVecF64 *out_s_t);
223
237 struct CoppSliceF64 a,
238 struct CoppSliceF64 b,
239 size_t num_stationary_start,
240 size_t num_stationary_end,
241 struct CoppSliceF64 t_s,
242 struct CoppSliceF64 t_sample,
243 struct CoppVecF64 *out_s_t);
244
276 struct CoppSliceMutF64 a,
277 struct CoppSliceMutF64 b,
278 size_t num_stationary_start,
279 size_t num_stationary_end,
280 double a_min,
281 bool *out_succeed);
282
284
285#ifdef __cplusplus
286}
287#endif
288
289#endif /* COPP_INTERPOLATION_H */
Core status, memory, matrix, and shared solver option types.
CoppStatus
C ABI status code returned by COPP FFI functions.
Definition core.h:34
enum CoppStatus copp_force_positive_a_3rd(struct CoppSliceF64 s, struct CoppSliceMutF64 a, struct CoppSliceMutF64 b, size_t num_stationary_start, size_t num_stationary_end, double a_min, bool *out_succeed)
Adjust mutable TOPP3/COPP3 a and b node profiles in place so interpolated a(s) stays strictly positiv...
enum CoppStatus copp_s_to_t_3rd(struct CoppSliceF64 s, struct CoppSliceF64 a, struct CoppSliceF64 b, size_t num_stationary_start, size_t num_stationary_end, double t0, double *out_t_final, struct CoppVecF64 *out_t_s)
Compute cumulative TOPP3/COPP3 time profile t(s) from node profiles a(s) = dot{s}^2 and b(s) = ddot{s...
enum CoppStatus copp_t_to_s_uniform_3rd(struct CoppSliceF64 s, struct CoppSliceF64 a, struct CoppSliceF64 b, size_t num_stationary_start, size_t num_stationary_end, struct CoppSliceF64 t_s, double t0, double dt, bool include_final, struct CoppVecF64 *out_s_t)
Interpolate s(t) from TOPP3/COPP3 profiles using a uniform time grid.
enum CoppStatus copp_t_to_s_non_uniform_2nd(struct CoppSliceF64 s, struct CoppSliceF64 a, struct CoppSliceF64 t_s, struct CoppSliceF64 t_sample, struct CoppVecF64 *out_s_t)
Interpolate s(t) from TOPP2 profiles using caller-provided time samples.
enum CoppStatus copp_a_to_b_2nd(struct CoppSliceF64 s, struct CoppSliceF64 a, struct CoppVecF64 *out_b)
Compute TOPP2 segment profile b from node profile a.
enum CoppStatus copp_t_to_s_uniform_2nd(struct CoppSliceF64 s, struct CoppSliceF64 a, struct CoppSliceF64 t_s, double t0, double dt, bool include_final, struct CoppVecF64 *out_s_t)
Interpolate s(t) from TOPP2 profiles using a uniform time grid.
enum CoppStatus copp_s_to_t_2nd(struct CoppSliceF64 s, struct CoppSliceF64 a, double t0, double *out_t_final, struct CoppVecF64 *out_t_s)
Compute cumulative TOPP2 time profile t(s) from node profile a(s).
enum CoppStatus copp_t_to_s_non_uniform_3rd(struct CoppSliceF64 s, struct CoppSliceF64 a, struct CoppSliceF64 b, size_t num_stationary_start, size_t num_stationary_end, struct CoppSliceF64 t_s, struct CoppSliceF64 t_sample, struct CoppVecF64 *out_s_t)
Interpolate s(t) from TOPP3/COPP3 profiles using caller-provided time samples.
Borrowed immutable f64 slice passed from C to COPP.
Definition core.h:781
Borrowed mutable f64 slice passed from C to COPP.
Definition core.h:799
Library-owned f64 vector returned to C.
Definition core.h:828