Struct Copp2ProblemBuilder 

pub struct Copp2ProblemBuilder<'a, M: RobotTorque> {
    pub robot: &'a Robot<M>,
    pub idx_s_interval: (usize, usize),
    pub a_boundary: (f64, f64),
    pub objectives: &'a [CoppObjective<'a>],
}

Builder for Copp2Problem.

Fields

robot: &'a Robot<M>

Reference to robot model defining constraints and dynamics.

idx_s_interval: (usize, usize)

Closed station-index interval (idx_s_start, idx_s_final).

a_boundary: (f64, f64)

Endpoint state tuple (a_start, a_final).

objectives: &'a [CoppObjective<'a>]

Objectives for COPP2 optimization.

Implementations

impl<'a, M: RobotTorque> Copp2ProblemBuilder<'a, M>

pub fn new( robot: &'a Robot<M>, idx_s_interval: (usize, usize), a_boundary: (f64, f64), objectives: &'a [CoppObjective<'a>], ) -> Self

Create a COPP2 builder with all required fields.

pub fn build(&self) -> Result<Copp2Problem<'a, M>, CoppError>

Build a validated Copp2Problem.

pub fn validate(&self) -> Result<(), CoppError>

Validate builder fields and objective compatibility.