COPP C++ API
C++ interface for COPP trajectory optimization
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copp::solver::copp3_socp Namespace Reference

Third-order convex-objective Clarabel SOCP backend with COPP objective support and expert objective/solver diagnostics. More...

Classes

class  Problem
 COPP3-SOCP problem descriptor. More...

Typedefs

using Result = copp::solver::topp3::Result
using StationaryBounds = copp::solver::topp3::StationaryBounds

Functions

COPP_API Profile3rd solve (const Problem &problem, const clarabel::Options &options={})
 Solve COPP3-SOCP and return an accepted third-order profile.
Expected< Profile3rdsolve (const Problem &problem, const clarabel::Options &options, NoThrowTag)
Expected< Profile3rdsolve (const Problem &problem, NoThrowTag tag)
COPP_API Result solve_expert (const Problem &problem, const clarabel::Options &options={})
 Solve COPP3-SOCP and always return Clarabel diagnostics.
Expected< Resultsolve_expert (const Problem &problem, const clarabel::Options &options, NoThrowTag)
Expected< Resultsolve_expert (const Problem &problem, NoThrowTag tag)

Detailed Description

Third-order convex-objective Clarabel SOCP backend with COPP objective support and expert objective/solver diagnostics.

Typedef Documentation

◆ Result

◆ StationaryBounds

Function Documentation

◆ solve() [1/3]

COPP_API Profile3rd copp::solver::copp3_socp::solve ( const Problem & problem,
const clarabel::Options & options = {} )

Solve COPP3-SOCP and return an accepted third-order profile.

Non-accepted Clarabel statuses are surfaced as copp::Error unless the provided clarabel::Options explicitly allows them.

◆ solve() [2/3]

Expected< Profile3rd > copp::solver::copp3_socp::solve ( const Problem & problem,
const clarabel::Options & options,
NoThrowTag  )
inline

Definition at line 93 of file copp3_socp.hpp.

◆ solve() [3/3]

Expected< Profile3rd > copp::solver::copp3_socp::solve ( const Problem & problem,
NoThrowTag tag )
inline

Definition at line 100 of file copp3_socp.hpp.

◆ solve_expert() [1/3]

COPP_API Result copp::solver::copp3_socp::solve_expert ( const Problem & problem,
const clarabel::Options & options = {} )

Solve COPP3-SOCP and always return Clarabel diagnostics.

The returned Result::profile is optional. Raw x/z/s vectors and solver status are still available when a profile is not accepted.

◆ solve_expert() [2/3]

Expected< Result > copp::solver::copp3_socp::solve_expert ( const Problem & problem,
const clarabel::Options & options,
NoThrowTag  )
inline

Definition at line 110 of file copp3_socp.hpp.

◆ solve_expert() [3/3]

Expected< Result > copp::solver::copp3_socp::solve_expert ( const Problem & problem,
NoThrowTag tag )
inline

Definition at line 117 of file copp3_socp.hpp.