Compact COPP2-SOCP expert result returned to C. More...

#include <copp2.h>

Data Fields
bool	has_a
	Whether a contains an accepted a(s) = (ds/dt)^2 profile.
struct CoppVecF64	a
	Accepted a profile, or an empty vector when has_a == false.
struct CoppVecF64	x
	Raw Clarabel primal solution vector.
struct CoppVecF64	z
	Raw Clarabel dual solution vector.
struct CoppVecF64	s
	Raw Clarabel primal-cone slack vector.
enum CoppClarabelSolverStatus	solver_status
	Final Clarabel solver status.
double	obj_val
	Primal objective value reported by Clarabel.
double	obj_val_dual
	Dual objective value reported by Clarabel.
double	solve_time
	Clarabel solve time in seconds.
uint32_t	iterations
	Number of interior-point iterations.
double	r_prim
	Primal residual reported by Clarabel.
double	r_dual
	Dual residual reported by Clarabel.
struct CoppClarabelLinearSolverInfo	linsolver
	Linear solver metadata reported by Clarabel.
double	objective_value
	Weighted COPP objective value computed from accepted a; NaN otherwise.
struct CoppVecF64	objective_terms
	Per-objective unweighted values computed from accepted a.

Detailed Description

Compact COPP2-SOCP expert result returned to C.

has_a is true only when the Clarabel status is accepted by CoppClarabelOptions. When true, a owns a COPP-allocated vector and the whole result must be released with copp2_socp_result_free. When false, a is empty and diagnostics still describe the Clarabel run.

Definition at line 38 of file copp2.h.

Field Documentation

◆ has_a

bool Copp2SocpResult::has_a

Whether a contains an accepted a(s) = (ds/dt)^2 profile.

Definition at line 42 of file copp2.h.

◆ a

struct CoppVecF64 Copp2SocpResult::a

Accepted a profile, or an empty vector when has_a == false.

Definition at line 46 of file copp2.h.

◆ x

struct CoppVecF64 Copp2SocpResult::x

Raw Clarabel primal solution vector.

Definition at line 50 of file copp2.h.

◆ z

struct CoppVecF64 Copp2SocpResult::z

Raw Clarabel dual solution vector.

Definition at line 54 of file copp2.h.

◆ s

struct CoppVecF64 Copp2SocpResult::s

Raw Clarabel primal-cone slack vector.

Definition at line 58 of file copp2.h.

◆ solver_status

enum CoppClarabelSolverStatus Copp2SocpResult::solver_status

Final Clarabel solver status.

Definition at line 62 of file copp2.h.

◆ obj_val

double Copp2SocpResult::obj_val

Primal objective value reported by Clarabel.

Definition at line 66 of file copp2.h.

◆ obj_val_dual

double Copp2SocpResult::obj_val_dual

Dual objective value reported by Clarabel.

Definition at line 70 of file copp2.h.

◆ solve_time

double Copp2SocpResult::solve_time

Clarabel solve time in seconds.

Definition at line 74 of file copp2.h.

◆ iterations

uint32_t Copp2SocpResult::iterations

Number of interior-point iterations.

Definition at line 78 of file copp2.h.

◆ r_prim

double Copp2SocpResult::r_prim

Primal residual reported by Clarabel.

Definition at line 82 of file copp2.h.

◆ r_dual

double Copp2SocpResult::r_dual

Dual residual reported by Clarabel.

Definition at line 86 of file copp2.h.

◆ linsolver

struct CoppClarabelLinearSolverInfo Copp2SocpResult::linsolver

Linear solver metadata reported by Clarabel.

Definition at line 90 of file copp2.h.

◆ objective_value

double Copp2SocpResult::objective_value

Weighted COPP objective value computed from accepted a; NaN otherwise.

Definition at line 94 of file copp2.h.

◆ objective_terms

struct CoppVecF64 Copp2SocpResult::objective_terms

Per-objective unweighted values computed from accepted a.

Definition at line 98 of file copp2.h.

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

bindings/c/include/copp/copp2.h

COPP C ABI C interface for COPP trajectory optimization

Data Fields