Function copp3_socp_expert 

pub fn copp3_socp_expert<'a, M: RobotTorque>(
    problem: &Copp3Problem<'a, M>,
    options: &ClarabelOptions,
) -> Result<(Option<(Vec<f64>, Vec<f64>, (usize, usize))>, DefaultSolution<f64>), CoppError>

Expert COPP3-SOCP API with full Clarabel solution exposure.

Return contract

• Ok((Some(result), solution)): status accepted by options.is_allow(solution.status).
• Ok((None, solution)): solve finished but status not accepted.
• Err(...): input/model/solver-construction runtime failures.

Returns

Returns tuple (Option<Copp3Result>, DefaultSolution<f64>) for diagnostic use.

Errors

Returns CoppError only for true runtime failures.

Contract

• caller must handle None profile for non-accepted statuses;
• status acceptance policy is defined by options.is_allow.

Verbosity behavior

Logging is layered by options.verbosity():

• Silent: no algorithm logs;
• Summary: lifecycle milestones and elapsed time;
• Debug: assembly-level counters and stage summaries;
• Trace: fine-grained stage deltas and solver snapshot diagnostics.