path.hpp File Reference

#include <cmath>
#include <functional>
#include <initializer_list>
#include <memory>
#include <optional>
#include <utility>
#include <vector>
#include "copp/core.hpp"

Go to the source code of this file.

Classes
struct	copp::Jet3
	Third-order forward-mode automatic-differentiation scalar. More...
struct	copp::SplineConfig
	Configuration for waypoint spline construction. More...
struct	copp::PathDerivatives
	Result of path evaluation. More...
class	copp::Path
	Geometric path wrapper backed by Rust Path. More...

Namespaces
namespace	copp
	Root namespace for the C++ facade: paths, robots, constraints, matrices, profiles, errors, objectives, interpolation, and solver entry points.
namespace	copp::detail
	Internal helpers for error conversion, no-throw overloads, and small implementation utilities used by the public facade.

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

Enumerations
enum class	copp::OutOfRangeMode { copp::Error , copp::Clamp }
	Policy for evaluating a path outside its configured s range. More...

Functions
COPP_API const void *	copp::detail::path_handle (const Path &path) noexcept
	Return the private bridge handle stored by Path.
constexpr Jet3	copp::operator+ (Jet3 lhs, Jet3 rhs) noexcept
constexpr Jet3	copp::operator+ (Jet3 lhs, double rhs) noexcept
constexpr Jet3	copp::operator+ (double lhs, Jet3 rhs) noexcept
constexpr Jet3	copp::operator- (Jet3 lhs, Jet3 rhs) noexcept
constexpr Jet3	copp::operator- (Jet3 lhs, double rhs) noexcept
constexpr Jet3	copp::operator- (double lhs, Jet3 rhs) noexcept
constexpr Jet3	copp::operator- (Jet3 value) noexcept
constexpr Jet3	copp::operator* (Jet3 lhs, Jet3 rhs) noexcept
constexpr Jet3	copp::operator* (Jet3 lhs, double rhs) noexcept
constexpr Jet3	copp::operator* (double lhs, Jet3 rhs) noexcept
Jet3	copp::operator/ (double lhs, Jet3 rhs) noexcept
constexpr Jet3	copp::operator/ (Jet3 lhs, double rhs) noexcept
Jet3	copp::operator/ (Jet3 lhs, Jet3 rhs) noexcept
Jet3	copp::sin (Jet3 x) noexcept
Jet3	copp::cos (Jet3 x) noexcept
Jet3	copp::exp (Jet3 x) noexcept
Jet3	copp::log (Jet3 x) noexcept
Jet3	copp::ln (Jet3 x) noexcept
Jet3	copp::sqrt (Jet3 x) noexcept
Jet3	copp::powi (Jet3 x, int n) noexcept