Function copp3_socp 

pub fn copp3_socp<'a, M: RobotTorque>(
    problem: &Copp3Problem<'a, M>,
    options: &ClarabelOptions,
) -> Result<(Vec<f64>, Vec<f64>, (usize, usize)), CoppError>

Strict COPP3-SOCP API for production use.

Purpose

Use this entry when caller only needs a valid profile (a,b,num_stationary) and treats non-accepted solver statuses as hard failures.

Contract

• Internally calls copp3_socp_expert.
• Returns Ok((a,b,num_stationary)) iff options.is_allow(solution.status) is true.
• Returns Err(CoppError::ClarabelSolverStatus(...)) when status is not accepted.

Returns

Returns accepted COPP3 profile (a, b, num_stationary).

Errors

Returns CoppError on model/solver failures and non-accepted solver status.

Notes

For workflows requiring low-level diagnostics (status and raw Clarabel solution fields), prefer copp3_socp_expert.