copp::solver::copp3_socp::Problem Class Reference

COPP3-SOCP problem descriptor. More...

#include <copp3_socp.hpp>

Public Member Functions
	Problem (Robot &robot, std::vector< Objective > objectives, Span< const double > a_linearization, std::size_t idx_s_start=0, Boundary3 boundary={}, StationaryBounds num_stationary_max={}, double a_linearization_floor=1.0e-10)
	Problem (Robot &robot, std::initializer_list< Objective > objectives, Span< const double > a_linearization, std::size_t idx_s_start=0, Boundary3 boundary={}, StationaryBounds num_stationary_max={}, double a_linearization_floor=1.0e-10)
	Problem (Robot &robot, std::vector< Objective > objectives, Span< const double > a_linearization, std::size_t idx_s_start, Boundary3 boundary, std::size_t symmetric_num_stationary_max, double a_linearization_floor=1.0e-10)
Robot &	robot () const noexcept
const std::vector< Objective > &	objectives () const noexcept
const std::vector< double > &	a_linearization () const noexcept
std::size_t	idx_s_start () const noexcept
std::size_t	idx_s_final () const noexcept
Boundary3	boundary () const noexcept
StationaryBounds	num_stationary_max () const noexcept
StationaryBounds	num_stationary () const noexcept
double	a_linearization_floor () const noexcept
std::size_t	s_len () const noexcept

Detailed Description

COPP3-SOCP problem descriptor.

Construction borrows a mutable Robot, owns objective descriptors and a_linearization, infers the final station, and immediately linearizes third-order constraints in the robot's constraint cache. This class is intentionally independent rather than inheriting from TOPP3, matching Rust's separate Copp3Problem.

copp::solver::copp3_socp::Problem problem{
    robot,
    {copp::objective::Time(1.0)},
    a_linearization,
    0,
    copp::Boundary3{0.25, 0.25, 0.0, 0.0},
};

Definition at line 35 of file copp3_socp.hpp.

Constructor & Destructor Documentation

Problem() [1/3]

copp::solver::copp3_socp::Problem::Problem	(	Robot &	robot,
		std::vector< Objective >	objectives,
		Span< const double >	a_linearization,
		std::size_t	idx_s_start = 0,
		Boundary3	boundary = {},
		StationaryBounds	num_stationary_max = {},
		double	a_linearization_floor = 1.0e-10 )

Problem() [2/3]

copp::solver::copp3_socp::Problem::Problem	(	Robot &	robot,
		std::initializer_list< Objective >	objectives,
		Span< const double >	a_linearization,
		std::size_t	idx_s_start = 0,
		Boundary3	boundary = {},
		StationaryBounds	num_stationary_max = {},
		double	a_linearization_floor = 1.0e-10 )

Problem() [3/3]

copp::solver::copp3_socp::Problem::Problem	(	Robot &	robot,
		std::vector< Objective >	objectives,
		Span< const double >	a_linearization,
		std::size_t	idx_s_start,
		Boundary3	boundary,
		std::size_t	symmetric_num_stationary_max,
		double	a_linearization_floor = 1.0e-10 )

Member Function Documentation

robot()

Robot & copp::solver::copp3_socp::Problem::robot ( ) const

inlinenoexcept

Definition at line 65 of file copp3_socp.hpp.

objectives()

const std::vector< Objective > & copp::solver::copp3_socp::Problem::objectives ( ) const

inlinenoexcept

Definition at line 66 of file copp3_socp.hpp.

a_linearization()

const std::vector< double > & copp::solver::copp3_socp::Problem::a_linearization ( ) const

inlinenoexcept

Definition at line 67 of file copp3_socp.hpp.

idx_s_start()

std::size_t copp::solver::copp3_socp::Problem::idx_s_start ( ) const

inlinenoexcept

Definition at line 68 of file copp3_socp.hpp.

idx_s_final()

std::size_t copp::solver::copp3_socp::Problem::idx_s_final ( ) const

inlinenoexcept

Definition at line 69 of file copp3_socp.hpp.

boundary()

Boundary3 copp::solver::copp3_socp::Problem::boundary ( ) const

inlinenoexcept

Definition at line 70 of file copp3_socp.hpp.

num_stationary_max()

StationaryBounds copp::solver::copp3_socp::Problem::num_stationary_max ( ) const

inlinenoexcept

Definition at line 71 of file copp3_socp.hpp.

num_stationary()

StationaryBounds copp::solver::copp3_socp::Problem::num_stationary ( ) const

inlinenoexcept

Definition at line 72 of file copp3_socp.hpp.

a_linearization_floor()

double copp::solver::copp3_socp::Problem::a_linearization_floor ( ) const

inlinenoexcept

Definition at line 73 of file copp3_socp.hpp.

s_len()

std::size_t copp::solver::copp3_socp::Problem::s_len ( ) const

inlinenoexcept

Definition at line 74 of file copp3_socp.hpp.

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

• bindings/cpp/include/copp/solver/copp3_socp.hpp