copp.solver.reach_set2.backward

Compute backward-only TOPP2 reachable intervals.
API Reference | copp.solver.reach_set2 | User Guide

Syntax

reach = copp.solver.reach_set2.backward(problem, options)

Description

Returns a ReachSet containing a_max and a_min over PROBLEM.idx_s_interval. Both vectors are PROBLEM.s_len-by-1 double columns.

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.reach_set2.Options()

Output Arguments

reach

Returned value from copp.solver.reach_set2.backward. See Description for its shape and meaning.

Examples

MATLAB
ExampleCommon.setup_path();
ctx = ExampleCommon.second_order_context();
problem = copp.solver.reach_set2.Problem(ctx.robot);
options = copp.solver.reach_set2.Options();
reach_set = copp.solver.reach_set2.backward(problem, options);

See Also

copp.solver.reach_set2