copp.solver.copp2_socp.solve

Solve a COPP2-SOCP problem and return the node a(s) profile.

API Reference | copp.solver.copp2_socp | User Guide

Syntax

a = copp.solver.copp2_socp.solve(problem, options)

a = copp.solver.copp2_socp.solve(problem, options)

Description

solves PROBLEM with default Options. A is returned as a column vector with length PROBLEM.s_len. Each entry stores \(a(k) = (ds/dt)^2\) at one station in PROBLEM.idx_s_interval.

forwards explicit COPP2-SOCP status policy options. This non-expert entry returns only the accepted profile. Use solve_expert() when application code needs raw Clarabel diagnostics.

Input Arguments

`problem`

Problem struct or object for the selected solver namespace.

`options`

Solver options struct or object for the selected solver namespace. Default: copp.solver.copp2_socp.Options()

Output Arguments

`a`

Second-order node profile. Element a(k) stores the squared path speed \((ds/dt)^2\) at station s(k).

Examples

ExampleCommon.setup_path();
ctx = ExampleCommon.second_order_context();
objectives = ExampleCommon.convex_objectives(ctx.dim);
problem = copp.solver.copp2_socp.Problem(ctx.robot, objectives, idx_s_interval=ctx.idx_s_interval, a_boundary=ctx.a_boundary);
options = copp.solver.copp2_socp.Options();
a_profile = copp.solver.copp2_socp.solve(problem, options);
[t_final, ~, s_t] = ExampleCommon.postprocess_topp2(ctx, a_profile);