robot
A copp.Robot object containing sampled path data, limits, and constraints.
copp.solver.topp2_ra.Problem
Borrowed TOPP2-RA problem descriptor.
Syntax
P = copp.solver.topp2_ra.Problem(ROBOT)
P = ...Problem(ROBOT, idx_s_interval=[I, J],
Description
Problem stores a reference to a copp.Robot plus a closed station interval and boundary values for \(a = (ds/dt)^2\). It does not copy robot constraints. The Robot must remain live for every solve() call.
Shape convention: idx_s_interval is a \(1 \times 2\) vector [idx_s_start, idx_s_final]. a_boundary is a \(1 \times 2\) vector [a_start, a_final]. solve() returns an s_len-by-1 profile column vector.
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]
Properties
robot
Referenced Robot that owns station samples and constraints.
idx_s_interval
Closed 1-based station interval [idx_s_start, idx_s_final].
a_boundary
Endpoint values [a_start, a_final].
s_len
Number of stations covered by idx_s_interval.
Methods
Problem
Construct and validate a TOPP2-RA problem descriptor.
Method Details
Problem
Syntax
P = copp.solver.topp2_ra.Problem(ROBOT)
P = ...Problem(ROBOT, idx_s_interval=[I, J],
covers all currently stored stations in ROBOT and uses a_boundary=[0, 0].
uses a closed 1-based station interval and explicit boundary values. idx_s_interval and a_boundary are both \(1 \times 2\) vectors. Validation is intentionally performed on the MATLAB side for shape, indexing, and finite values before the native solver performs deeper feasibility checks.
Examples
ExampleCommon.setup_path();
ctx = ExampleCommon.second_order_context();
problem = copp.solver.topp2_ra.Problem( ...
ctx.robot, ...
idx_s_interval=ctx.idx_s_interval, ...
a_boundary=ctx.a_boundary);