COPP C ABI
C interface for COPP trajectory optimization
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CoppJet3 Struct Reference

C-compatible third-order automatic-differentiation scalar. More...

#include <path.h>

Data Fields

double v
 Function value.
double d1
 First derivative with respect to s.
double d2
 Second derivative with respect to s.
double d3
 Third derivative with respect to s.

Detailed Description

C-compatible third-order automatic-differentiation scalar.

v stores the scalar value, while d1, d2, and d3 store derivatives with respect to the path parameter s. Parametric path callbacks receive a seeded value (d1 = 1) and should return one CoppJet3 per path dimension.

Definition at line 45 of file path.h.

Field Documentation

◆ v

double CoppJet3::v

Function value.

Definition at line 49 of file path.h.

◆ d1

double CoppJet3::d1

First derivative with respect to s.

Definition at line 53 of file path.h.

◆ d2

double CoppJet3::d2

Second derivative with respect to s.

Definition at line 57 of file path.h.

◆ d3

double CoppJet3::d3

Third derivative with respect to s.

Definition at line 61 of file path.h.


The documentation for this struct was generated from the following file:
  • bindings/c/include/copp/path.h