#include <Eigen/Core>
#include "copp/core.hpp"

Namespaces
namespace	copp
	Root namespace for the C++ facade: paths, robots, constraints, matrices, profiles, errors, objectives, interpolation, and solver entry points.
namespace	copp::eigen
	Optional Eigen adapters that convert Eigen objects to COPP matrix views or map COPP-owned matrices without changing the core API types.

Typedefs
using	copp::eigen::ColMajorMatrix = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor>
	Dynamic column-major Eigen matrix type matching copp::Matrix storage.
using	copp::eigen::RowMajorMatrix = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
	Dynamic row-major Eigen matrix accepted by input adapters.
using	copp::eigen::Vector = Eigen::Matrix<double, Eigen::Dynamic, 1>
	Dynamic Eigen vector accepted by Span adapters.

Functions
MatrixView	copp::eigen::matrix_view (const Eigen::Ref< const ColMajorMatrix > &matrix)
	Borrow a column-major Eigen matrix as a COPP matrix view.
MatrixView	copp::eigen::matrix_view (const Eigen::Ref< const RowMajorMatrix > &matrix)
	Borrow a row-major Eigen matrix as a COPP matrix view.
Span< const double >	copp::eigen::span (const Eigen::Ref< const Vector > &vector)
	Borrow a contiguous Eigen vector as Span<const double>.
Eigen::Map< ColMajorMatrix >	copp::eigen::map (Matrix &matrix)
	Map a mutable COPP matrix into Eigen without copying.
Eigen::Map< const ColMajorMatrix >	copp::eigen::map (const Matrix &matrix)
	Map a const COPP matrix into Eigen without copying.
ColMajorMatrix	copp::eigen::copy (const Matrix &matrix)
	Copy a COPP matrix into an owning Eigen column-major matrix.

Namespaces

Typedefs