copp::solver::copp2_socp::Problem Class Reference

COPP2-SOCP problem descriptor. More...

#include <copp2_socp.hpp>

Public Member Functions
	Problem (const Robot &robot, std::vector< Objective > objectives, IndexInterval idx_s_interval, Boundary2 a_boundary={})
	Problem (const Robot &robot, std::initializer_list< Objective > objectives, IndexInterval idx_s_interval, Boundary2 a_boundary={})
const Robot &	robot () const noexcept
const std::vector< Objective > &	objectives () const noexcept
IndexInterval	idx_s_interval () const noexcept
Boundary2	a_boundary () const noexcept
std::size_t	s_len () const noexcept

Detailed Description

COPP2-SOCP problem descriptor.

The problem borrows a Robot and owns a copy of the objective descriptors. The referenced robot must outlive the problem and solver calls. Construction validates the closed station interval, boundary values, and objective vector lengths against the current robot state.

Torque objectives use the robot's installed inverse-dynamics callback when present. Without a callback, the robot uses point-mass dynamics (tau = ddq).

Definition at line 25 of file copp2_socp.hpp.

Constructor & Destructor Documentation

Problem() [1/2]

copp::solver::copp2_socp::Problem::Problem	(	const Robot &	robot,
		std::vector< Objective >	objectives,
		IndexInterval	idx_s_interval,
		Boundary2	a_boundary = {} )

Problem() [2/2]

copp::solver::copp2_socp::Problem::Problem	(	const Robot &	robot,
		std::initializer_list< Objective >	objectives,
		IndexInterval	idx_s_interval,
		Boundary2	a_boundary = {} )

Member Function Documentation

robot()

const Robot & copp::solver::copp2_socp::Problem::robot ( ) const

inlinenoexcept

Definition at line 40 of file copp2_socp.hpp.

objectives()

const std::vector< Objective > & copp::solver::copp2_socp::Problem::objectives ( ) const

inlinenoexcept

Definition at line 41 of file copp2_socp.hpp.

idx_s_interval()

IndexInterval copp::solver::copp2_socp::Problem::idx_s_interval ( ) const

inlinenoexcept

Definition at line 42 of file copp2_socp.hpp.

a_boundary()

Boundary2 copp::solver::copp2_socp::Problem::a_boundary ( ) const

inlinenoexcept

Definition at line 43 of file copp2_socp.hpp.

s_len()

std::size_t copp::solver::copp2_socp::Problem::s_len ( ) const

inlinenoexcept

Definition at line 44 of file copp2_socp.hpp.

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

• bindings/cpp/include/copp/solver/copp2_socp.hpp