copp.solver.topp3_socp.solve_expert

Solve TOPP3-SOCP and return raw Clarabel diagnostics.
API Reference | copp.solver.topp3_socp | User Guide

Syntax

result = copp.solver.topp3_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.

PROBLEM may be the shared copp.solver.topp3.Problem descriptor or the solver-specific topp3_socp.Problem facade.

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.topp3_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);
problem = copp.solver.topp3_socp.Problem(ctx.robot, 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.topp3_socp.Options();
result = copp.solver.topp3_socp.solve_expert(problem, options);

See Also

copp.solver.topp3_socp