copp::SplineConfig Struct Reference

Configuration for waypoint spline construction. More...

#include <path.hpp>

Public Attributes
std::size_t	order = 5
double	s_min = 0.0
double	s_max = 1.0
OutOfRangeMode	out_of_range = OutOfRangeMode::Error
std::optional< Matrix >	start_state
	Optional boundary derivatives at s_min.
std::optional< Matrix >	end_state
	Optional boundary derivatives at s_max; same shape convention as start_state.

Detailed Description

Configuration for waypoint spline construction.

The first C++ Path milestone supports the common waypoint-spline case only. Defaults match Rust/Python:

• quintic spline (order = 5)
• uniform waypoint parametrization
• parameter range [0, 1]
• out-of-range queries are errors

Definition at line 314 of file path.hpp.

Member Data Documentation

order

std::size_t copp::SplineConfig::order = 5

Definition at line 316 of file path.hpp.

s_min

double copp::SplineConfig::s_min = 0.0

Definition at line 317 of file path.hpp.

s_max

double copp::SplineConfig::s_max = 1.0

Definition at line 318 of file path.hpp.

out_of_range

OutOfRangeMode copp::SplineConfig::out_of_range = OutOfRangeMode::Error

Definition at line 319 of file path.hpp.

start_state

std::optional<Matrix> copp::SplineConfig::start_state

Optional boundary derivatives at s_min.

Shape is (dim, m) where m = (order - 1) / 2. Column r stores the (r + 1)-th derivative value at the endpoint. std::nullopt means zero boundary derivatives, matching Rust/Python/C defaults.

Definition at line 325 of file path.hpp.

end_state

std::optional<Matrix> copp::SplineConfig::end_state

Optional boundary derivatives at s_max; same shape convention as start_state.

Definition at line 328 of file path.hpp.

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The documentation for this struct was generated from the following file:

• bindings/cpp/include/copp/path.hpp