copp.solver.copp3_socp.solve_expert

Solve COPP3-SOCP and return Clarabel diagnostics.
API Reference | copp.solver.copp3_socp | User Guide

Syntax

result = copp.solver.copp3_socp.solve_expert(problem, options)

Description

RESULT.profile is available only when RESULT.has_profile is true; its a and b fields are PROBLEM.s_len-by-1 columns. Raw Clarabel vectors are stored as double columns. This call linearizes third-order constraints and mutates the native Robot 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

result

Structured solver result containing the optimized profile and solver 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();
result = copp.solver.copp3_socp.solve_expert(problem, options);

See Also

copp.solver.copp3_socp