COPP C++ API
C++ interface for COPP trajectory optimization
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topp3_lp.hpp
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1#pragma once
2
3#include "copp/clarabel.hpp"
6
8{
9
12
17 COPP_API Profile3rd solve(const Problem &problem, const clarabel::Options &options = {});
19 const Problem &problem,
20 const clarabel::Options &options,
22 {
23 return detail::expected_from([&] { return solve(problem, options); });
24 }
25 inline Expected<Profile3rd> solve(const Problem &problem, NoThrowTag tag)
26 {
27 return solve(problem, clarabel::Options{}, tag);
28 }
29
34 COPP_API Result solve_expert(const Problem &problem, const clarabel::Options &options = {});
36 const Problem &problem,
37 const clarabel::Options &options,
39 {
40 return detail::expected_from([&] { return solve_expert(problem, options); });
41 }
42 inline Expected<Result> solve_expert(const Problem &problem, NoThrowTag tag)
43 {
44 return solve_expert(problem, clarabel::Options{}, tag);
45 }
46
47} // namespace copp::solver::topp3_lp
Small C++17 expected-like result used by no-throw overloads.
Definition core.hpp:527
Prepared TOPP3 problem descriptor.
Definition topp3.hpp:43
#define COPP_API
Definition core.hpp:23
auto expected_from(Fn &&fn) -> Expected< typename std::decay< decltype(fn())>::type >
Definition core.hpp:580
Third-order time-optimal Clarabel LP backend over a pre-linearized topp3::Problem.
copp::solver::topp3::Result Result
Definition topp3_lp.hpp:11
copp::solver::topp3::Problem Problem
Definition topp3_lp.hpp:10
COPP_API Result solve_expert(const Problem &problem, const clarabel::Options &options={})
Solve TOPP3-LP and always return Clarabel diagnostics.
COPP_API Profile3rd solve(const Problem &problem, const clarabel::Options &options={})
Solve TOPP3-LP and return an accepted third-order profile.
Tag object selecting no-throw overloads.
Definition core.hpp:608
Owned third-order TOPP/COPP profile.
Shared Clarabel options for COPP/TOPP SOCP-style solvers.
Definition clarabel.hpp:117
Expert third-order Clarabel result.
Definition topp3.hpp:105