Root namespace for the C++ facade: paths, robots, constraints, matrices, profiles, errors, objectives, interpolation, and solver entry points. More...

Namespaces
namespace	clarabel
	Clarabel option, raw setting, status, and linear-solver diagnostic types shared by Clarabel-backed TOPP/COPP solvers.
namespace	detail
	Internal helpers for error conversion, no-throw overloads, and small implementation utilities used by the public facade.
namespace	eigen
	Optional Eigen adapters that convert Eigen objects to COPP matrix views or map COPP-owned matrices without changing the core API types.
namespace	interpolation
	Time-conversion helpers for TOPP2/TOPP3 profiles, including s -> t, uniform t -> s, explicit-sample t -> s, and third-order profile slicing.
namespace	objective
	Python-like factory namespace for constructing COPP objective descriptors such as time, linear, thermal-energy, and torque-variation costs.
namespace	solver
	Solver entry namespace containing TOPP2, COPP2, TOPP3, COPP3, reachable-set, RA, LP, and SOCP solver families.

Classes
struct	Boundary2
	Second-order endpoint boundary values. More...
struct	Boundary3
	Third-order endpoint boundary values. More...
class	Constraints
	Owning raw constraint-buffer facade. More...
class	ConstraintsRef
	Non-owning view of a Rust-backed constraint buffer. More...
class	Error
	Exception type thrown by the default C++ API. More...
struct	ErrorInfo
	Lightweight error payload returned by no-throw APIs. More...
class	Expected
	Small C++17 expected-like result used by no-throw overloads. More...
struct	IndexInterval
	Closed station-index interval used by TOPP/COPP problem descriptors. More...
struct	Jet3
	Third-order forward-mode automatic-differentiation scalar. More...
class	Matrix
	Lightweight owned column-major matrix. More...
class	MatrixRef
	Mutable column-major matrix view used by callback APIs. More...
class	MatrixView
	Non-owning view of a two-dimensional double matrix. More...
struct	NoThrowTag
	Tag object selecting no-throw overloads. More...
class	Objective
	Owning objective descriptor used by C++ COPP solver problem objects. More...
class	Path
	Geometric path wrapper backed by Rust Path. More...
struct	PathDerivatives
	Result of path evaluation. More...
struct	Profile3rd
	Owned third-order TOPP/COPP profile. More...
struct	Profile3rdRef
	Borrowed third-order TOPP/COPP profile view. More...
class	Robot
	Robot facade backed by Rust Robot<CppRobotModel>. More...
class	Span
	Non-owning view of a contiguous one-dimensional array. More...
struct	SplineConfig
	Configuration for waypoint spline construction. More...

Typedefs
using	PathParametric = std::function<std::vector<Jet3>(Jet3 s)>
	Scalar-parametric path callback that returns one Jet3 per dimension.
using	PathParametricWriter = std::function<void(Jet3 s, Span<Jet3> q)>
	Allocation-free scalar-parametric path callback that writes one Jet3 per dimension.
using	PathEvaluator2nd
	Batch second-order evaluator callback.
using	PathEvaluator3rd
	Batch third-order evaluator callback.
using	InverseDynamics
	User-supplied inverse dynamics callback.

Enumerations
enum class	Status { ok = 0 , invalid_input , bridge_error }
	Coarse error category reported by the C++ facade. More...
enum class	Verbosity { Silent = 0 , Summary = 1 , Debug = 2 , Trace = 3 }
	Diagnostic verbosity for solver algorithms. More...
enum class	MatrixLayout { ColumnMajor , RowMajor }
	Memory layout for borrowed matrix views. More...
enum class	ObjectiveKind { Time = 0 , Linear = 1 , ThermalEnergy = 2 , TotalVariationTorque = 3 }
	Objective kinds accepted by COPP optimization solvers. More...
enum class	OutOfRangeMode { Error , Clamp }
	Policy for evaluating a path outside its configured s range. More...

Functions
COPP_API std::string	version ()
	Return the Rust crate version backing this C++ facade.
constexpr Jet3	operator+ (Jet3 lhs, Jet3 rhs) noexcept
constexpr Jet3	operator+ (Jet3 lhs, double rhs) noexcept
constexpr Jet3	operator+ (double lhs, Jet3 rhs) noexcept
constexpr Jet3	operator- (Jet3 lhs, Jet3 rhs) noexcept
constexpr Jet3	operator- (Jet3 lhs, double rhs) noexcept
constexpr Jet3	operator- (double lhs, Jet3 rhs) noexcept
constexpr Jet3	operator- (Jet3 value) noexcept
constexpr Jet3	operator* (Jet3 lhs, Jet3 rhs) noexcept
constexpr Jet3	operator* (Jet3 lhs, double rhs) noexcept
constexpr Jet3	operator* (double lhs, Jet3 rhs) noexcept
Jet3	operator/ (double lhs, Jet3 rhs) noexcept
constexpr Jet3	operator/ (Jet3 lhs, double rhs) noexcept
Jet3	operator/ (Jet3 lhs, Jet3 rhs) noexcept
Jet3	sin (Jet3 x) noexcept
Jet3	cos (Jet3 x) noexcept
Jet3	exp (Jet3 x) noexcept
Jet3	log (Jet3 x) noexcept
Jet3	ln (Jet3 x) noexcept
Jet3	sqrt (Jet3 x) noexcept
Jet3	powi (Jet3 x, int n) noexcept

Variables
constexpr NoThrowTag	no_throw {}

Detailed Description

Root namespace for the C++ facade: paths, robots, constraints, matrices, profiles, errors, objectives, interpolation, and solver entry points.

Typedef Documentation

◆ PathParametric

using copp::PathParametric = std::function<std::vector<Jet3>(Jet3 s)>

Scalar-parametric path callback that returns one Jet3 per dimension.

Parameters

s	Seeded path parameter. Use normal arithmetic and COPP math helpers (sin, cos, exp, log, sqrt, powi) to propagate derivatives.

Returns: One Jet3 value per path dimension.

Definition at line 257 of file path.hpp.

◆ PathParametricWriter

using copp::PathParametricWriter = std::function<void(Jet3 s, Span<Jet3> q)>

Allocation-free scalar-parametric path callback that writes one Jet3 per dimension.

Parameters

s	Seeded path parameter.
q	Writable span with length equal to the dimension passed to Path::from_parametric(dim, ...).

Definition at line 264 of file path.hpp.

◆ PathEvaluator2nd

using copp::PathEvaluator2nd

Initial value:

std::function<void(
       Span<const double> s,
       MatrixRef q,
       MatrixRef dq,
       MatrixRef ddq)>

Batch second-order evaluator callback.

The callback receives all query samples at once and must fill q, dq, and ddq. Output matrices have shape (dim x s.size()) and column-major storage. Throw copp::Error or any std::exception to report evaluation failure.

Definition at line 272 of file path.hpp.

◆ PathEvaluator3rd

using copp::PathEvaluator3rd

Initial value:

std::function<void(
       Span<const double> s,
       MatrixRef q,
       MatrixRef dq,
       MatrixRef ddq,
       MatrixRef dddq)>

Batch third-order evaluator callback.

The callback receives all query samples at once and must fill q, dq, ddq, and dddq. Output matrices have shape (dim x s.size()) and column-major storage. A path built from this callback can also be evaluated with evaluate_q and evaluate_up_to_2nd.

Definition at line 284 of file path.hpp.

◆ InverseDynamics

using copp::InverseDynamics

Initial value:

std::function<void(
       Span<const double> q,
       Span<const double> dq,
       Span<const double> ddq,
       Span<double> tau)>

User-supplied inverse dynamics callback.

The callback receives one robot state and must overwrite every entry of tau. Inputs are borrowed for the duration of the call only. Throw copp::Error or another std::exception to report dynamics failures; the bridge converts the exception into a Rust dynamics error and then back into copp::Error at the public call site.

Parameters

q	Joint position vector with length dim.
dq	Joint velocity vector with length dim.
ddq	Joint acceleration vector with length dim.
tau	Writable torque vector with length dim.

copp::InverseDynamics dynamics = [](auto q, auto dq, auto ddq, auto tau) {
    for (std::size_t i = 0; i < tau.size(); ++i) {
        tau[i] = ddq[i] + 0.1 * dq[i] + std::sin(q[i]);
    }
};

Definition at line 38 of file robot.hpp.

Enumeration Type Documentation

◆ Status

enum class copp::Status

strong

Coarse error category reported by the C++ facade.

The C++ layer currently converts Rust bridge failures into Error with a copied diagnostic message. invalid_input is used for user-facing argument and model errors; bridge_error is reserved for lower-level bridge failures.

Enumerator
ok
invalid_input
bridge_error

Definition at line 34 of file core.hpp.

◆ Verbosity

enum class copp::Verbosity

strong

Diagnostic verbosity for solver algorithms.

Values mirror Rust copp::diag::Verbosity. Silent is the default and emits no diagnostic output. Higher levels progressively add summary, debug, and trace messages from the Rust solver core.

Enumerator
Silent
Summary
Debug
Trace

Definition at line 46 of file core.hpp.

◆ MatrixLayout

enum class copp::MatrixLayout

strong

Memory layout for borrowed matrix views.

COPP's Rust implementation and Matrix storage use column-major layout. Row-major views are accepted by selected public C++ functions and copied to column-major storage before crossing the Rust bridge.

Enumerator
ColumnMajor
RowMajor

Definition at line 116 of file core.hpp.

◆ ObjectiveKind

enum class copp::ObjectiveKind

strong

Objective kinds accepted by COPP optimization solvers.

The names mirror Rust/Python CoppObjective. COPP2 currently supports all four standard objectives: time, linear, thermal energy, and total-variation torque.

Enumerator
Time
Linear
ThermalEnergy
TotalVariationTorque

Definition at line 17 of file objective.hpp.

◆ OutOfRangeMode

enum class copp::OutOfRangeMode

strong

Policy for evaluating a path outside its configured s range.

This is forwarded to the Rust path evaluator. Use Clamp for plotting or UI previews; use Error for solver input so invalid station grids are caught early.

Enumerator
Error	Throw copp::Error when any query sample is outside [s_min, s_max].
Clamp	Clamp out-of-range query samples to the nearest endpoint.

Definition at line 296 of file path.hpp.

Function Documentation

◆ version()

COPP_API std::string copp::version ( )

Return the Rust crate version backing this C++ facade.

Returns: A semantic-version string copied from the Rust crate metadata.

std::cout << "COPP version: " << copp::version() << "\n";

copp::version

COPP_API std::string version()

Return the Rust crate version backing this C++ facade.

◆ operator+() [1/3]

Jet3 copp::operator+	(	Jet3	lhs,
		Jet3	rhs )

inlineconstexprnoexcept

Definition at line 61 of file path.hpp.

◆ operator+() [2/3]

Jet3 copp::operator+	(	Jet3	lhs,
		double	rhs )

inlineconstexprnoexcept

Definition at line 71 of file path.hpp.

◆ operator+() [3/3]

Jet3 copp::operator+	(	double	lhs,
		Jet3	rhs )

inlineconstexprnoexcept

Definition at line 76 of file path.hpp.

◆ operator-() [1/4]

Jet3 copp::operator-	(	Jet3	lhs,
		Jet3	rhs )

inlineconstexprnoexcept

Definition at line 81 of file path.hpp.

◆ operator-() [2/4]

Jet3 copp::operator-	(	Jet3	lhs,
		double	rhs )

inlineconstexprnoexcept

Definition at line 91 of file path.hpp.

◆ operator-() [3/4]

Jet3 copp::operator-	(	double	lhs,
		Jet3	rhs )

inlineconstexprnoexcept

Definition at line 96 of file path.hpp.

◆ operator-() [4/4]

Jet3 copp::operator- ( Jet3 value )

inlineconstexprnoexcept

Definition at line 101 of file path.hpp.

◆ operator*() [1/3]

Jet3 copp::operator*	(	Jet3	lhs,
		Jet3	rhs )

inlineconstexprnoexcept

Definition at line 106 of file path.hpp.

◆ operator*() [2/3]

Jet3 copp::operator*	(	Jet3	lhs,
		double	rhs )

inlineconstexprnoexcept

Definition at line 116 of file path.hpp.

◆ operator*() [3/3]

Jet3 copp::operator*	(	double	lhs,
		Jet3	rhs )

inlineconstexprnoexcept

Definition at line 126 of file path.hpp.

◆ operator/() [1/3]

Jet3 copp::operator/	(	double	lhs,
		Jet3	rhs )

inlinenoexcept

Definition at line 131 of file path.hpp.

◆ operator/() [2/3]

Jet3 copp::operator/	(	Jet3	lhs,
		double	rhs )

inlineconstexprnoexcept

Definition at line 146 of file path.hpp.

◆ operator/() [3/3]

Jet3 copp::operator/	(	Jet3	lhs,
		Jet3	rhs )

inlinenoexcept

Definition at line 151 of file path.hpp.

◆ sin()

Jet3 copp::sin ( Jet3 x )

inlinenoexcept

Definition at line 156 of file path.hpp.

◆ cos()

Jet3 copp::cos ( Jet3 x )

inlinenoexcept

Definition at line 169 of file path.hpp.

◆ exp()

Jet3 copp::exp ( Jet3 x )

inlinenoexcept

Definition at line 182 of file path.hpp.

◆ log()

Jet3 copp::log ( Jet3 x )

inlinenoexcept

Definition at line 194 of file path.hpp.

◆ ln()

Jet3 copp::ln ( Jet3 x )

inlinenoexcept

Definition at line 208 of file path.hpp.

◆ sqrt()

Jet3 copp::sqrt ( Jet3 x )

inlinenoexcept

Definition at line 213 of file path.hpp.

◆ powi()

Jet3 copp::powi	(	Jet3	x,
		int	n )

inlinenoexcept

Definition at line 229 of file path.hpp.

Variable Documentation

◆ no_throw

NoThrowTag copp::no_throw {}

inlineconstexpr

Definition at line 612 of file core.hpp.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ PathParametric

◆ PathParametricWriter

◆ PathEvaluator2nd

◆ PathEvaluator3rd

◆ InverseDynamics

Enumeration Type Documentation

◆ Status

◆ Verbosity

◆ MatrixLayout

◆ ObjectiveKind

◆ OutOfRangeMode

Function Documentation

◆ version()

◆ operator+() [1/3]

◆ operator+() [2/3]

◆ operator+() [3/3]

◆ operator-() [1/4]

◆ operator-() [2/4]

◆ operator-() [3/4]

◆ operator-() [4/4]

◆ operator*() [1/3]

◆ operator*() [2/3]

◆ operator*() [3/3]

◆ operator/() [1/3]

◆ operator/() [2/3]

◆ operator/() [3/3]

◆ sin()

◆ cos()

◆ exp()

◆ log()

◆ ln()

◆ sqrt()

◆ powi()

Variable Documentation

◆ no_throw