COPP C++ API
C++ interface for COPP trajectory optimization
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copp::solver::topp3::Result Struct Reference

Expert third-order Clarabel result. More...

#include <topp3.hpp>

Public Member Functions

bool has_profile () const noexcept

Public Attributes

std::optional< Profile3rdprofile
std::vector< double > x
std::vector< double > z
std::vector< double > s
clarabel::SolverStatus solver_status = clarabel::SolverStatus::Unsolved
double obj_val = 0.0
double obj_val_dual = 0.0
double solve_time = 0.0
std::uint32_t iterations = 0
double r_prim = 0.0
double r_dual = 0.0
clarabel::LinearSolverInfo linsolver
std::optional< double > objective_value
std::vector< double > objective_terms

Detailed Description

Expert third-order Clarabel result.

profile is populated only when the solver status was accepted by the provided options. Raw Clarabel vectors and linear-solver metadata are copied whenever the solve itself succeeds. COPP3 fills objective_value/objective_terms; TOPP3 leaves them empty.

Use normal solve APIs when only the accepted profile matters; use solve_expert when diagnostics, solver status, or objective breakdowns are part of the workflow.

Definition at line 104 of file topp3.hpp.

Member Function Documentation

◆ has_profile()

bool copp::solver::topp3::Result::has_profile ( ) const
inlinenoexcept

Definition at line 121 of file topp3.hpp.

Member Data Documentation

◆ profile

std::optional<Profile3rd> copp::solver::topp3::Result::profile

Definition at line 106 of file topp3.hpp.

◆ x

std::vector<double> copp::solver::topp3::Result::x

Definition at line 107 of file topp3.hpp.

◆ z

std::vector<double> copp::solver::topp3::Result::z

Definition at line 108 of file topp3.hpp.

◆ s

std::vector<double> copp::solver::topp3::Result::s

Definition at line 109 of file topp3.hpp.

◆ solver_status

clarabel::SolverStatus copp::solver::topp3::Result::solver_status = clarabel::SolverStatus::Unsolved

Definition at line 110 of file topp3.hpp.

◆ obj_val

double copp::solver::topp3::Result::obj_val = 0.0

Definition at line 111 of file topp3.hpp.

◆ obj_val_dual

double copp::solver::topp3::Result::obj_val_dual = 0.0

Definition at line 112 of file topp3.hpp.

◆ solve_time

double copp::solver::topp3::Result::solve_time = 0.0

Definition at line 113 of file topp3.hpp.

◆ iterations

std::uint32_t copp::solver::topp3::Result::iterations = 0

Definition at line 114 of file topp3.hpp.

◆ r_prim

double copp::solver::topp3::Result::r_prim = 0.0

Definition at line 115 of file topp3.hpp.

◆ r_dual

double copp::solver::topp3::Result::r_dual = 0.0

Definition at line 116 of file topp3.hpp.

◆ linsolver

clarabel::LinearSolverInfo copp::solver::topp3::Result::linsolver

Definition at line 117 of file topp3.hpp.

◆ objective_value

std::optional<double> copp::solver::topp3::Result::objective_value

Definition at line 118 of file topp3.hpp.

◆ objective_terms

std::vector<double> copp::solver::topp3::Result::objective_terms

Definition at line 119 of file topp3.hpp.


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