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Module prelude

copp

Module prelude 

Source
Expand description

Commonly used public imports for application code.

Input: none (import-only convenience module).
Output: unified symbols for robot, constraints, solvers, and utility types. Scenario: rapid prototyping and application-layer code with minimal import boilerplate.

Typical usage: use copp::prelude::*;

  1. Robot & constraints — robot::Robot, robot::RobotBasic, robot::RobotTorque, constraints::Constraints.
  2. Solver builders — Problem/options builders for each solver family.
  3. Utility types — InterpolationMode, copp::objectives::CoppObjective, diag::CoppError, diag::Verbosity.
  4. Path & AD — path::Path, path::Jet3, math helpers.
  5. Solver submodules — for calling solver entry functions directly.

Re-exports§

pub use crate::solver::copp2_socp::ClarabelOptions;
pub use crate::solver::copp2_socp::ClarabelOptionsBuilder;
pub use crate::solver::copp2_socp::Copp2Problem;
pub use crate::solver::copp2_socp::Copp2ProblemBuilder;
pub use crate::solver::copp3_socp::Copp3Problem;
pub use crate::solver::copp3_socp::Copp3ProblemBuilder;
pub use crate::solver::topp2_ra::ReachSet2OptionsBuilder;
pub use crate::solver::topp2_ra::Topp2Problem;
pub use crate::solver::topp2_ra::Topp2ProblemBuilder;
pub use crate::solver::topp3_lp::Topp3Problem;
pub use crate::solver::topp3_lp::Topp3ProblemBuilder;
pub use crate::InterpolationMode;
pub use crate::diag::CoppError;
pub use crate::diag::Verbosity;
pub use crate::diag::VerbosityOutput;
pub use crate::diag::set_verbosity_log_file;
pub use crate::diag::set_verbosity_output;
pub use crate::diag::verbosity_output;
pub use crate::path::Jet3;
pub use crate::path::Parametrization;
pub use crate::path::Path;
pub use crate::path::PathDerivatives;
pub use crate::path::SplineConfig;
pub use crate::path::cos;
pub use crate::path::exp;
pub use crate::path::ln;
pub use crate::path::powi;
pub use crate::path::sin;
pub use crate::path::sqrt;
pub use crate::solver::copp2_socp;
pub use crate::solver::copp3_socp;
pub use crate::solver::reach_set2;
pub use crate::solver::topp2_ra;
pub use crate::solver::topp3_lp;
pub use crate::solver::topp3_socp;
pub use crate::robot::*;

Structs§

Constraints
Constraint storage and query object used by TOPP/COPP solvers.

Enums§

CoppObjective
Objective terms for COPP optimization.
Continuous formulation is shared by COPP2/COPP3; discrete form depends on how b and torque are sampled.
Torque notation: