copp.solver.copp3_socp.solve

Solve a COPP3-SOCP problem and return a Profile3rd.
API Reference | copp.solver.copp3_socp | User Guide

Syntax

profile = copp.solver.copp3_socp.solve(problem, options)

Description

PROFILE.a and PROFILE.b are PROBLEM.s_len-by-1 double column vectors. This call linearizes third-order constraints using PROBLEM.a_linearization and mutates the native Robot's third-order cache.

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.copp3_socp.Options()

Output Arguments

profile

Third-order profile object containing a, b, and stationary-node metadata.

Examples

MATLAB
ExampleCommon.setup_path();
ctx = ExampleCommon.third_order_context();
a_seed = ExampleCommon.solve_topp2_seed(ctx.robot, ctx.n);
objectives = ExampleCommon.convex_objectives(ctx.dim);
problem = copp.solver.copp3_socp.Problem(ctx.robot, objectives, a_seed, idx_s_start=1, a_boundary=ctx.a_boundary, b_boundary=ctx.b_boundary, num_stationary_max=ctx.num_stationary_max);
options = copp.solver.copp3_socp.Options();
profile = copp.solver.copp3_socp.solve(problem, options);

See Also

copp.solver.copp3_socp