copp::solver::topp2_ra Namespace Reference

Second-order time-optimal reachability-analysis solver plus second-order reachable-set artifacts and options. More...

Classes
struct	Options
	Options shared by TOPP2-RA and TOPP2 reachable-set construction. More...
struct	ReachSet
	Reachable interval result for second-order state a = (ds/dt)^2. More...
class	Problem
	TOPP2 problem descriptor. More...

Functions
COPP_API ReachSet	reach_set_backward (const Problem &problem, const Options &options={})
	Compute backward-only TOPP2 reachable intervals.
Expected< ReachSet >	reach_set_backward (const Problem &problem, const Options &options, NoThrowTag)
Expected< ReachSet >	reach_set_backward (const Problem &problem, NoThrowTag tag)
COPP_API ReachSet	reach_set_bidirectional (const Problem &problem, const Options &options={})
	Compute bidirectional TOPP2 reachable intervals, enforcing both boundaries.
Expected< ReachSet >	reach_set_bidirectional (const Problem &problem, const Options &options, NoThrowTag)
Expected< ReachSet >	reach_set_bidirectional (const Problem &problem, NoThrowTag tag)
COPP_API std::vector< double >	solve (const Problem &problem, const Options &options={})
	Solve TOPP2 with reachability analysis.
Expected< std::vector< double > >	solve (const Problem &problem, const Options &options, NoThrowTag)
Expected< std::vector< double > >	solve (const Problem &problem, NoThrowTag tag)

Detailed Description

Second-order time-optimal reachability-analysis solver plus second-order reachable-set artifacts and options.

Function Documentation

reach_set_backward() [1/3]

COPP_API ReachSet copp::solver::topp2_ra::reach_set_backward	(	const Problem &	problem,
		const Options &	options = {} )

Compute backward-only TOPP2 reachable intervals.

Parameters

problem	Borrowed problem descriptor.
options	Numeric tolerances and verbosity.

Returns

Reachable a interval at each station.

Exceptions

copp::Error

if Rust reachability fails.

reach_set_backward() [2/3]

Expected< ReachSet > copp::solver::topp2_ra::reach_set_backward ( const Problem & problem, const Options & options, NoThrowTag  )

inline

Definition at line 74 of file topp2_ra.hpp.

reach_set_backward() [3/3]

Expected< ReachSet > copp::solver::topp2_ra::reach_set_backward ( const Problem & problem, NoThrowTag tag )

inline

Definition at line 81 of file topp2_ra.hpp.

reach_set_bidirectional() [1/3]

COPP_API ReachSet copp::solver::topp2_ra::reach_set_bidirectional	(	const Problem &	problem,
		const Options &	options = {} )

Compute bidirectional TOPP2 reachable intervals, enforcing both boundaries.

This is the reachable-set diagnostic companion to solve: it keeps both lower and upper interval envelopes instead of selecting one profile.

reach_set_bidirectional() [2/3]

Expected< ReachSet > copp::solver::topp2_ra::reach_set_bidirectional ( const Problem & problem, const Options & options, NoThrowTag  )

inline

Definition at line 91 of file topp2_ra.hpp.

reach_set_bidirectional() [3/3]

Expected< ReachSet > copp::solver::topp2_ra::reach_set_bidirectional ( const Problem & problem, NoThrowTag tag )

inline

Definition at line 98 of file topp2_ra.hpp.

solve() [1/3]

COPP_API std::vector< double > copp::solver::topp2_ra::solve	(	const Problem &	problem,
		const Options &	options = {} )

Solve TOPP2 with reachability analysis.

Returns the node profile a(s) = (ds/dt)^2 over the problem's closed station interval.

copp::solver::topp2_ra::Problem problem{
    robot.constraints(),
    copp::IndexInterval{0, s.size() - 1},
    copp::Boundary2{0.0, 0.0},
};
auto a = copp::solver::topp2_ra::solve(problem);

solve() [2/3]

Expected< std::vector< double > > copp::solver::topp2_ra::solve ( const Problem & problem, const Options & options, NoThrowTag  )

inline

Definition at line 117 of file topp2_ra.hpp.

solve() [3/3]

Expected< std::vector< double > > copp::solver::topp2_ra::solve ( const Problem & problem, NoThrowTag tag )

inline

Definition at line 124 of file topp2_ra.hpp.