copp.solver.copp2_socp.solve_expert

Solve COPP2-SOCP and return Clarabel diagnostics.
API Reference | copp.solver.copp2_socp | User Guide

Syntax

result = copp.solver.copp2_socp.solve_expert(problem, options)

Description

Returns a Result object. RESULT.a is available only when RESULT.has_a is true; raw Clarabel vectors and status fields are still returned for non-accepted statuses.

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

result

Structured solver result containing the optimized profile and solver metadata.

Examples

MATLAB
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();
result = copp.solver.copp2_socp.solve_expert(problem, options);
a_profile = result.a;

See Also

copp.solver.copp2_socp