robot
A copp.Robot object containing sampled path data, limits, and constraints.
copp.solver.reach_set2.Problem
Borrowed TOPP2 reachable-set problem descriptor.
Syntax
P = copp.solver.reach_set2.Problem(ROBOT)
P = ...Problem(ROBOT, idx_s_interval=[I,J], a_boundary=[A0,AF])
Description
This class intentionally mirrors topp2_ra.Problem: it stores a live copp.Robot reference, a closed 1-based station interval, and boundary values for \(a = (ds/dt)^2\). The native reach-set routines borrow the Robot only during backward() or bidirectional().
Shape convention matches topp2_ra.Problem: idx_s_interval and a_boundary are \(1 \times 2\) vectors; ReachSet outputs store a_min/a_max as s_len-by-1 columns.
Input Arguments
Name-Value Arguments
idx_s_interval
Closed 1-based station interval [idx_s_start, idx_s_final] covered by the problem. Default: []
a_boundary
Endpoint squared-speed values [a_start, a_final] for the selected station interval. Default: [0, 0]
Methods
Problem
Construct and validate a TOPP2 reach-set descriptor.
Method Details
Problem
Syntax
P = copp.solver.reach_set2.Problem(ROBOT)
P = ...Problem(ROBOT, idx_s_interval=[I,J], a_boundary=[A0,AF])
covers all stored stations and uses a_boundary=[0, 0].
uses a closed 1-based station interval.
Examples
ExampleCommon.setup_path();
ctx = ExampleCommon.second_order_context();
problem = copp.solver.reach_set2.Problem( ...
ctx.robot, ...
idx_s_interval=ctx.idx_s_interval, ...
a_boundary=ctx.a_boundary);